Wireless seismograph field burying equipment and working method

Abstract

The application relates to the technical field of geological exploration, in particular to a wireless seismograph field burying equipment and a working method, which comprises a module square warehouse, a drum stock bin is arranged in the module square warehouse, a cloth drilling integrated machine and a mechanical hand are arranged on one side of the drum stock bin; the drum stock bin comprises a drum stock bin support, one end of the central shaft of the drum stock bin support is connected with a driven chain wheel, one rotary disc is arranged on the inner side of each of the two drum stock bin supports, the two rotary discs are hinged with the outer side wall of a code frame, and the wireless seismograph is placed in the code frame; the cloth drilling integrated machine comprises a moving platform back plate, a guide rail is arranged on the outer side of the moving platform back plate, a first hydraulic cylinder is arranged on the top of the guide rail, a hydraulic motor is arranged on the top of a fixed connecting plate, an oil cylinder is hinged on the outer side of the fixed connecting plate, the oil cylinder is hinged with a lower pressing semicylinder, a soil pressing outer sleeve and a limiting cylinder are arranged below the lower pressing semicylinder, and the side wall of the limiting cylinder is connected with a slide guide cylinder; the mechanical hand can clamp the wireless seismograph in the code frame and send the wireless seismograph into the cloth drilling integrated machine.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of geological exploration, in particular to a field burying device of a wireless seismograph and a working method thereof. BACKGROUND

[0002] The wireless seismograph is a wireless node type geological instrument integrating sensors, acquisition stations, batteries, controls, storage, wireless transmission and state indication, and mainly functions for digital acquisition of sensor signals, local storage, automatic networking, and high-speed wireless data transmission. Meanwhile, the wireless seismograph has the characteristics of stability and reliability, strong anti-interference, real-time transmission, easy expansion, small volume, low power consumption, long continuous working time (more than 200 hours), and the like, greatly improves the quality and work efficiency of field data acquisition, and is especially suitable for complex exploration environments such as rivers, water networks and fields. RTK (Real-time kinematic) is a real-time dynamic measurement method that can obtain centimeter-level positioning accuracy in the field. Its appearance greatly improves the efficiency of field work.

[0003] At present, the burying work of the traditional wireless seismograph is usually completed by manual carrying, which has low work efficiency, consumes a lot of manpower, is high in cost, and has large manual positioning error, and cannot realize large-area burying task in the field.

[0004] CN202210371021.9 discloses an automatic laying device for a wireless node instrument, which comprises a frame, a stock bin, a punching and feeding mechanism, and a discharging mechanism. The stock bin comprises a central shaft, a small stock bin, and a rotating disc. The rotating disc drives the small stock bin to rotate together. The node instrument is placed in the small stock bin. The falling node instrument falls into the feeding mechanism. The punching and feeding mechanism comprises an auger bit, a drilling machine, a first sliding table, a receiving claw, and a conversion arm. The receiving claw receives the node instrument falling from the small stock bin. After the bit punches, the conversion arm sends the receiving claw above the hole. The discharging mechanism comprises a second sliding table, a discharging cylinder, a soil pressing fixed disc, and a four-claw air claw. The four-claw air claw is used to grab the node instrument on the receiving claw and put it into the hole. After the node instrument is put into the hole, the discharging cylinder controls the soil pressing fixed disc to run to cultivate and compact the hole.

[0005] CN202220212584.9 discloses a wireless node instrument mechanization laying device, which comprises a mobile trolley, a driving mechanism and a laying mechanism. The driving mechanism comprises a hydraulic source and a hydraulic cylinder, and the laying mechanism comprises a tunneling barrel, a feeding barrel and a soil returning mechanism. The hydraulic source is installed on the mobile trolley, and a hopper and a support are also installed on the mobile trolley. The bottom of the support is installed on the side end of the mobile trolley by welding, the top end of the support extends to the outside of the mobile trolley, and the hydraulic cylinder is installed on the top end of the support. The telescopic end of the hydraulic cylinder is connected with the tunneling barrel, the tunneling barrel is telescopically arranged in the feeding barrel, and the soil returning mechanism is telescopically arranged in the tunneling barrel. An upwardly inclined feeding port is arranged on the side end face of the feeding barrel. The utility model can realize semi-automatic operation, automatically convey the node instrument to the specified position, and lay it. The laying depth and speed can be set according to the needs, and only one person is needed for operation during the laying operation.

[0006] Although the above-mentioned device has a simple structure, the off-road capability of the vehicle body is poor, the applicable terrain range is small, the hopper capacity is small, the laying process is complicated and the efficiency is low, the device itself needs to be towed by a trailer, has no power source and is heavy in the field work. The operator cannot directly observe the operation picture, which affects the judgment. SUMMARY

[0007] The traditional manual burying method not only has low efficiency, but also needs to consume a large amount of manpower, and it is difficult to perform large-area burying tasks. The existing automatic laying device has the problems of complex burying process and poor obstacle crossing capability. The present application provides a wireless seismograph field burying device and a working method.

[0008] To solve the above technical problems, the present application provides the following technical solutions:

[0009] A wireless seismograph field burying device comprises a module square warehouse, a drum hopper is arranged in the module square warehouse, a drilling and laying integrated machine and a mechanical hand are arranged on one side of the drum hopper;

[0010] The drum hopper comprises drum hopper supports arranged on both sides of the drum hopper, a center shaft is arranged in the center of the drum hopper supports, one end of the center shaft is connected with a driven sprocket, the driven sprocket is connected with a motor arranged at the lower part of the drum hopper through a chain transmission, one rotary disc is arranged on the inner side of each of the two drum hopper supports, the two rotary discs are hingedly connected with the outer side wall of a code frame, and a wireless seismograph is arranged in the code frame;

[0011] The drilling and paving integrated machine comprises a moving platform back plate, the outer side of the moving platform back plate is provided with a guide rail, the top of the guide rail is provided with a first hydraulic cylinder, the first hydraulic cylinder is connected with a fixed connecting plate in a controllable manner, the top of the fixed connecting plate is provided with a hydraulic motor, the lower portion of the fixed connecting plate is provided with a Jiaolong drill bit, the hydraulic motor is connected with the Jiaolong drill bit in a controllable manner, the outer side of the fixed connecting plate is hingedly connected with an oil cylinder, the oil cylinder is hingedly connected with a downward pressing half cylinder, the oil cylinder is connected with the downward pressing half cylinder in a controllable manner, the downward pressing half cylinder is located at the outer side of the Jiaolong drill bit, the lower portion of the downward pressing half cylinder is provided with a soil pressing outer sleeve, the lower portion of the soil pressing outer sleeve is provided with a limiting cylinder, and the side wall of the limiting cylinder is connected with a slide guide cylinder.

[0012] The mechanical hand can clamp the wireless seismograph in the code frame and send it into the drilling and paving integrated machine.

[0013] Further, the number of code frames is multiple, all the code frames are uniformly distributed along the circumferential direction of the roller stock bin support, and the outer side walls of all the code frames are hingedly connected with the rotating disc.

[0014] Further, the motor drives the driven sprocket to rotate through the chain, so as to drive the central shaft to rotate, the central shaft drives the rotating disc to rotate, and all the code frames rotate while keeping a horizontal state.

[0015] Further, the side wall of the soil pressing outer sleeve is further provided with a second hydraulic cylinder, the inner side wall of the lower portion of the limiting cylinder is uniformly provided with multiple limiting teeth in the circumferential direction, the outer side wall of the bottom of the limiting cylinder is sleeved with a soil gathering ring, the outer side of the soil gathering ring is connected with a soil pushing spring, and the inner side of the soil gathering ring is provided with a soil pushing cam; the third hydraulic cylinder is connected with the soil pushing cam through a gear and a rack, the soil pushing cam is controlled to rotate, so as to pull the soil gathering ring to expand outward, and when the soil pushing cam rotates to retract, the soil gathering ring can retract inward under the elastic force of the soil pushing spring.

[0016] Further, the upper central portion of the inner side of the moving platform back plate is provided with two transverse locking pulleys in the longitudinal direction, the two transverse locking pulleys are connected through synchronous pulley transmission, the upper central portion of the inner side of the moving platform back plate is further provided with a transverse swing rail, the upper longitudinal locking pulley can drive the entire drilling and paving integrated machine to swing transversely through a locking shaft along the transverse swing rail, the lower transverse locking pulley is provided with a transverse locking motor, and the two transverse locking pulleys, the synchronous pulley, the transverse swing rail and the transverse locking motor jointly form a gravity transverse positioning device.

[0017] Further, the left side and / or the right side of the mobile platform backboard is equipped with a cantilever frame, the upper part and the lower part of the cantilever frame are respectively equipped with a longitudinal locking pulley, the two longitudinal locking pulleys are connected through synchronous pulley transmission, the upper longitudinal locking pulley is provided with a longitudinal locking motor; the lower part of the cantilever frame is provided with a pitching swing track, the lower longitudinal locking pulley can drive the whole drill cloth integrated machine to swing longitudinally through the locking shaft along the pitching swing track; the two longitudinal locking pulleys, the synchronous pulley, the pitching swing track and the longitudinal locking motor jointly constitute a gravity longitudinal positioning device.

[0018] Further, the middle lower part and the middle upper part of the mobile platform backboard are respectively hinged with a first lifting connecting rod and a second lifting connecting rod, the lower ends of the first lifting connecting rod and the second lifting connecting rod are hinged through a connecting rod, the middle part of the connecting rod is hinged with the middle part of a lifting hydraulic cylinder, and the end part of the lifting hydraulic cylinder is hinged with the middle part of the first lifting connecting rod; the first lifting connecting rod and the second lifting connecting rod can be controlled to move through the control of the lifting hydraulic cylinder, and then the movement of the mobile platform backboard is controlled, so that the movement and the lifting of the drill cloth integrated machine are controlled.

[0019] Further, the bottom of the manipulator is provided with a rotary base, the rotary base is fixed on the base of the module square warehouse, one side of the rotary base is provided with a driving motor, the upper part of the rotary base is provided with a linear guide rail, the top of the linear guide rail is provided with a servo motor, the linear guide rail is provided with a telescopic arm which can move up and down along the linear guide rail, the end part of the telescopic arm is provided with an execution end joint, and the end part of the execution end joint is provided with a rotary air claw.

[0020] Further, the module square warehouse is arranged on the chassis of the vehicle body.

[0021] The wireless seismograph field burying equipment and the working method thereof, comprising the following steps:

[0022] (1) the motor rotates, drives the driven sprocket to rotate through the chain, drives the center shaft to rotate, drives the turntable to rotate, and then drives the code frame to rotate, and the wireless seismograph in the code frame is taken out through the manipulator;

[0023] (2) the first lifting connecting rod and the second lifting connecting rod can be controlled to move through the control of the lifting hydraulic cylinder, and the drill cloth integrated machine is moved to the required position; at this time, the locking pulleys of the gravity longitudinal positioning device and the gravity transverse positioning device are in the force-unloading relaxation state, and with the change of the position of the connecting rod, the angles of the gravity longitudinal positioning device and the gravity transverse positioning device also change under the action of gravity, but are always perpendicular to the sea level and are not affected by the position of the vehicle and the inclination angle of the ground, and when the final laying position is determined, the locking motor works, and the position of the whole drill cloth integrated machine is locked.

[0024] (3) The third hydraulic cylinder controls the rotation of the soil shifting cam, thereby pulling the soil gathering ring outward to shift the soil and stones on the ground; the first hydraulic cylinder drives the fixed connecting plate to move downward along the guide rail, the oil cylinder lifts the lower half cylinder, the hydraulic motor drives the Longjulong drill bit to rotate and drill, and the Longjulong drill bit is lifted and retracted after drilling;

[0025] (4) The wireless seismic instrument is placed at the opening of the slide guide cylinder by the mechanical hand, and the wireless geological detector falls into the limiting cylinder along the slide guide cylinder under the action of gravity; the limiting teeth of the limiting cylinder catch the wireless geological detector and keep the same coaxial position with the limiting cylinder, thereby completing the preparation work before burying;

[0026] (5) When the second hydraulic cylinder controls the limiting cylinder to be lifted upward, the limiting teeth of the limiting cylinder are retracted along the inner wall of the soil pressing outer sleeve, the wireless geological detector falls down, the discharge operation is completed, the oil cylinder returns the lower half cylinder to the original position, and the compaction operation is performed; when the limiting cylinder moves downward, the limiting teeth are reset to receive the next wireless geological detector;

[0027] (6) After the burying work is completed, the soil shifting cam is rotated again to be retracted, and the soil gathering ring is retracted inward under the elastic force of the soil shifting spring to gather the soil around the wireless geological detector, thereby completing the laying work;

[0028] (7) The steps (1) to (6) are repeated to complete the burying work at the burying point; the first lifting connecting rod and the second lifting connecting rod are moved by controlling the lifting hydraulic cylinder, the drill and laying integrated machine is retracted, and the next burying point is reached.

[0029] Compared with the prior art, the wireless seismic instrument field burying device and working method have at least the following beneficial effects:

[0030] (1) The wireless seismic instrument field burying device is especially suitable for the geological exploration industry in the northwest region of China, and can store and bury the seismic instrument in the extreme environment (Gobi, desert) in the field. The device as a whole comprises a chassis, a module square warehouse, a roller warehouse, a mechanical hand and a drill and laying integrated machine, can automatically bury the seismic instrument from the warehouse to the specified position through various mechanisms, the whole process does not need human intervention, and the burying efficiency is greatly improved.

[0031] (2) The wireless seismic instrument field burying device can automatically bury the wireless seismic instrument in the field, simplifies the overall structure of the device, improves the burying efficiency of the device, further improves the terrain passing rate of the device, improves the burying accuracy of the seismic instrument, and has a higher laying efficiency than similar devices on the market, and finally realizes large-area popularization and application in the geological exploration field.

[0032] (3) The wireless seismograph field burying equipment of the application adopts a professional off-road vehicle chassis, which can greatly improve the field operation ability of the equipment, and can smoothly pass through complex terrains, and the chassis itself is provided with a power take-off device, which can provide power source for the carriage, and the whole equipment has strong power and better flexibility.

[0033] (4) The drum silo has large capacity, simple structure, greatly improved storage density, high space utilization rate, better stability, and easier material taking and placing operation.

[0034] (5) The mechanical hand can replace manual material taking and placing operation, and four degrees of freedom make it very flexible, accurate positioning, higher efficiency, and further reduce the burden of the operator.

[0035] (6) The drilling and cloth integrated machine is located at the front of the carriage and parallel to the driver's cabin, so that the driver can observe the operation in real time, and the whole vehicle center of gravity is more balanced and the layout is more reasonable. The drilling and cloth integrated machine can directly complete the cloth placing and soil pressing operation after drilling, without the need for repositioning, which optimizes the operation process and reduces the cloth placing time. The existence of the connecting rod mechanism and the gravity positioning device can adjust the angle to ensure vertical burying on the ground with slope, without affecting the stress, which is more suitable and has better cloth placing effect.

[0036] (7) Except for the travel distance between adjacent burying points, the single seismograph burying time can be controlled within 25s, and the burying efficiency is high.

[0037] (8) The whole equipment has high modularity, and the appropriate chassis and the positions of various mechanisms can be replaced according to different terrains and operation requirements. The whole carriage can be selected to be arranged on a wheeled chassis or a tracked chassis according to the actual operation environment, and the drilling and cloth integrated machine can also be replaced in the positions between the four corners of the carriage.

[0038] The wireless seismograph field burying equipment and the working method of the application will be further described below with reference to the accompanying drawings. DETAILED DESCRIPTION

[0039] Figure 1 It is a perspective view of the wireless seismograph field burying equipment;

[0040] Figure 2 It is a front view of the wireless seismograph field burying equipment;

[0041] Figure 3 It is a left view of the wireless seismograph field burying equipment;

[0042] Figure 4 It is an assembly view of the module square bin;

[0043] Figure 5 It is a perspective view of the drum silo;

[0044] Figure 6 is a perspective view of the mechanical arm;

[0045] Figure 7 is a perspective view of the drill cloth all-in-one machine;

[0046] Figure 8 is a left view of the drill cloth all-in-one machine;

[0047] Figure 9 is a rear view of the drill cloth all-in-one machine;

[0048] Figure 10 is a bottom view of the drill cloth all-in-one machine.

[0049] Wherein, 1 - vehicle body, 2 - module square warehouse, 3 - drum material warehouse, 4 - drill cloth all-in-one machine, 5 - mechanical arm;

[0050] 31 - wireless seismograph, 32 - code frame, 33 - motor, 34 - chain, 35 - driven sprocket, 36 - drum material warehouse support;

[0051] 41 - first hydraulic cylinder, 42 - hydraulic motor, 43 - fixed connection plate, 44 - slide guide cylinder, 45 - second hydraulic cylinder, 46 - soil shifting tension spring, 47 - limiting cylinder, 48 - soil pressing outer cylinder, 49 - oil cylinder, 410 - lower pressing half cylinder, 411 - drill head, 412 - third hydraulic cylinder, 413 - first lifting connecting rod, 414 - lifting hydraulic cylinder, 415 - longitudinal locking pulley, 416 - pitching swing track, 417 - cantilever frame, 418 - synchronous pulley, 419 - longitudinal locking motor, 420 - moving platform back plate, 421 - transverse locking motor, 422 - transverse locking pulley, 423 - connecting rod shaft, 424 - rolling swing track, 425 - compartment plate support, 426 - soil gathering ring, 427 - soil shifting cam, 428 - second lifting connecting rod;

[0052] 51 - servo motor, 52 - linear guide rail, 53 - driving motor, 54 - rotary base; 55 - rotating air claw, 56 - execution end joint, 57 - telescopic arm. DETAILED DESCRIPTION

[0053] As shown in Figures 1-4 , a wireless seismograph field burying equipment includes a module square warehouse 2, the module square warehouse 2 is provided with a drum material warehouse 3, one side of the drum material warehouse 3 is provided with a drill cloth all-in-one machine 4 and a mechanical arm 5;

[0054] As shown in Figure 5As shown, the roller hopper 3 includes roller hopper supports 36 located on both sides of the roller hopper 3. A central shaft is passed through the center of the roller hopper support 36. One end of the central shaft is connected to a driven sprocket 35. The driven sprocket 35 is connected to a motor 33 located at the bottom of the roller hopper 3 via chain drive. Each of the two roller hopper supports 36 has a turntable on its inner side. Both turntables are hinged to the outer wall of the code frame 32. A wireless seismograph 31 is placed inside the code frame 32.

[0055] like Figures 7-10 As shown, the drilling and cloth integrated machine 4 includes a mobile platform back plate 420. The outer side of the mobile platform back plate 420 is equipped with a guide rail. The top of the guide rail is equipped with a first hydraulic cylinder 41. The first hydraulic cylinder 41 can control the fixed connecting plate 43 to move up and down along the guide rail. The top of the fixed connecting plate 43 is equipped with a hydraulic motor 42. The bottom of the fixed connecting plate 43 is provided with a auger drill bit 411. The hydraulic motor 42 can control the auger drill bit 411 to rotate. The outer side of the fixed connecting plate 43 is hinged with a hydraulic cylinder 49. The hydraulic cylinder 49 is hinged with a lower pressure semi-cylinder 410. The hydraulic cylinder 49 can control the lower pressure semi-cylinder 410 to rotate along the hinge axis. The lower pressure semi-cylinder 410 is located outside the auger drill bit 411. The bottom of the lower pressure semi-cylinder 410 is provided with a soil pressing outer sleeve 48. The bottom of the soil pressing outer sleeve 48 is provided with a limiting sleeve 47. The side wall of the limiting sleeve 47 is connected to the slide guide sleeve 44.

[0056] The robotic arm 5 can grasp the wireless seismograph 31 inside the code frame 32 and send it into the drilling and fabric integrated machine 4.

[0057] There are six stacking frames 32, all of which are evenly distributed along the circumferential direction of the roller hopper support 36. The outer side walls of all stacking frames 32 are hinged to the turntable. The roller hopper support 36 provides support and protection for the entire hopper.

[0058] Motor 33 drives driven sprocket 35 to rotate via chain 34, which in turn drives the central shaft to rotate. The central shaft drives the turntable to rotate, which in turn drives all the code frames 32 to rotate. The code frames 32 remain horizontal during rotation. Motor 33 is a CH-18 model motor, which provides power for the rotation of the code frames 32.

[0059] The side wall of the soil pressing outer sleeve 48 is also provided with a second hydraulic cylinder 45, the inner side wall of the lower part of the limiting cylinder 47 is uniformly distributed with a plurality of limiting teeth in the circumferential direction, the outer side wall of the bottom of the limiting cylinder 47 is sleeved with a soil gathering ring 426, the outer side of the soil gathering ring 426 is connected with the soil pushing spring 46, and the inner side of the soil gathering ring 426 is provided with a soil pushing cam 427; the third hydraulic cylinder 412 is connected with the soil pushing cam 427 through a gear and a rack, the rotation of the soil pushing cam 427 is controlled, so as to pull the soil gathering ring 426 to expand outward; when the soil pushing cam 427 is retracted, the soil gathering ring 426 can be retracted inward under the elastic force of the soil pushing spring 46. The soil pushing spring 46, the third hydraulic cylinder 412, the soil gathering ring 426 and the soil pushing cam 427 jointly constitute a soil pushing and cultivating device.

[0060] The soil pressing outer sleeve 48 mainly plays a protection and support role. The oil cylinder 49 can control the rotation of the lower pressing half-cylinder 410 along the hinge shaft, thereby completing the conversion of drilling and soil pressing operations.

[0061] The left side and / or the right side of the moving platform back plate 420 is provided with a cantilever frame 417, the upper part and the lower part of the cantilever frame 417 are each provided with a longitudinal locking pulley 415, the two longitudinal locking pulleys 415 are drivingly connected through a synchronous pulley 418, the upper longitudinal locking pulley 415 is provided with a longitudinal locking motor 419, and the lower part of the cantilever frame 417 is provided with a pitching swing track 416, the lower longitudinal locking pulley 415 can drive the whole drilling and laying integrated machine 4 to swing longitudinally along the pitching swing track 416 through a locking shaft. The two longitudinal locking pulleys 415, the synchronous pulley 418, the pitching swing track 416 and the longitudinal locking motor 419 jointly constitute a gravity longitudinal positioning device.

[0062] The swinging angle of the longitudinal locking pulley 415 along the pitching swing track 416 is-10°-10°. When the position of the mechanism is within a reasonable laying angle under the action of its own gravity, the longitudinal locking motor 419 is started to drive the upper longitudinal locking pulley 415 to rotate, the tension of the synchronous pulley 418 is increased, the lower longitudinal locking pulley 415 is locked with the shaft at the same time, and the laying operation is started.

[0063] The upper central part of the inner side surface of the moving platform back plate 420 is provided with two transverse locking pulleys 422 in the longitudinal direction, the two transverse locking pulleys 422 are drivingly connected through a synchronous pulley 418, the upper central part of the inner side surface of the moving platform back plate 420 is also provided with a yaw swing track 424, the upper longitudinal locking pulley 415 can drive the whole drilling and laying integrated machine 4 to swing transversely along the yaw swing track 424 through a locking shaft, the lower transverse locking pulley 422 is provided with a transverse locking motor 421, and the two transverse locking pulleys 422, the synchronous pulley 418, the yaw swing track 424 and the transverse locking motor 421 jointly constitute a gravity transverse positioning device.

[0064] The working principle of the gravity transverse positioning device is the same as that of the gravity longitudinal positioning device, and the swing angle of the transverse locking pulley 422 along the lateral swing rail 424 is-20°~20°.

[0065] The middle lower part and the middle upper part of the moving platform back plate 420 are respectively hinged with a first lifting connecting rod 413 and a second lifting connecting rod 428, the lower ends of the first lifting connecting rod 413 and the second lifting connecting rod 428 are hinged through a connecting rod, the middle part of the connecting rod is hinged with the middle part of a lifting hydraulic cylinder 414, and the end part of the lifting hydraulic cylinder 414 is hinged with the middle part of the first lifting connecting rod 413; the movement of the first lifting connecting rod 413 and the second lifting connecting rod 428 can be controlled by controlling the lifting hydraulic cylinder 414, and the movement of the moving platform back plate 420 is controlled, so as to control the movement and lifting of the drill cloth integrated machine 4. The lifting hydraulic cylinder 414 is connected with the carriage and provides power for the first lifting connecting rod 413. The moving platform back plate 420 plays a role of connection and fixation. The first lifting connecting rod 413, the second lifting connecting rod 428 and the lifting hydraulic cylinder 414 are each one set on the left and right sides of the moving platform back plate 420. The two sets of first lifting connecting rods 413 are connected through a connecting rod shaft 423. The compartment plate support 425 plays a role of connection and support for the drill cloth integrated machine 4.

[0066] Among them, the first hydraulic cylinder 41 is an E110*340 hydraulic cylinder, the hydraulic motor 42 is a BMR type hydraulic motor, the second hydraulic cylinder 45 is a 25X100 hydraulic cylinder, the oil cylinder 49 is a ROB-CA oil cylinder, and the third hydraulic cylinder 4-2 is a 25X30 hydraulic cylinder.

[0067] As shown in Figure 6 The bottom of the manipulator 5 is provided with a rotary base 54, the rotary base 54 is fixed on the base of the module square bin 2, one side of the rotary base 54 is provided with a driving motor 53, the upper part of the rotary base 54 is provided with a linear guide rail 52, the top of the linear guide rail 52 is provided with a servo motor 51, the linear guide rail 52 is provided with a telescopic arm 57 which can move up and down along the linear guide rail 52, the end part of the telescopic arm 57 is provided with an execution end joint 56, and the end part of the execution end joint 56 is provided with a rotary air claw 55.

[0068] The driving motor 53 drives the base to realize 360-degree rotation. The rotary air claw 55 is responsible for taking and placing the wireless seismograph. The telescopic arm 57 is provided with a linear motor, and the execution end joint 56 can realize the rotation of the end mechanical arm. The whole manipulator 5 has four degrees of freedom. When the wireless seismograph in the drum bin 3 is transported to the grabbing position, the rotary air claw 55 is opened, the wireless seismograph in the tray hole 31 is grabbed, and under the driving of the manipulator 5, it is sent into the drill cloth integrated machine 4, and the taking and feeding process is completed.

[0069] The module square warehouse 2 is arranged on the chassis of the vehicle body 1. The vehicle body 1 is Iveco CLW5041XLCNJ6. The overall vehicle size is 3360x1640x1550mm, and the front-mounted rear-drive + automatic transmission can provide excellent off-road performance and can cope with extreme environments such as the Gobi Desert. The power take-off in the chassis can also output power to the external compartment of the vehicle, providing a power source for subsequent devices.

[0070] The drum magazine 3 has a total of 6 layers, and each layer can store 36 seismographs. The entire drum magazine can store 216 seismographs. The code frame of each layer can rotate around the center shaft to orderly send the seismographs to the designated position. When the drum magazine rotates by a specified angle, the mechanical hand 5 will grab the seismograph in the code frame and send it into the slide guide cylinder 44 of the drilling and laying integrated machine 4 located at the front end of the compartment, completing the material taking and feeding operation.

[0071] The drilling and laying integrated machine 4 integrates the drilling mechanism and the cloth laying mechanism, and uses a hydraulic power source. The drilling part uses a hydraulic motor 2 to drive the Jiaolong drill bit 411, making the drilling more stable and reliable. After drilling and punching, the passage in the slide guide cylinder 44 is opened, and the seismograph slides along the passage and falls into the already punched hole. Finally, the shifting mechanism is switched to the compaction device to press the seismograph into the soil, realizing the compaction operation of the seismograph. The drilling and laying integrated machine 4 is fixed by a four-bar linkage and installed on the cantilever frame 417, and is connected to the locking disc externally. The cantilever frame 417 and the moving platform back plate 420 are pre-set with horizontal and left-right two swing tracks. When the locking mechanism is released, the entire device can always ensure the position is vertical by relying on its own gravity, so that the attitude of the seismograph can always be perpendicular to the sea level even in the face of uneven ground. When working, the locking mechanism will lock the attitude of the drilling and laying integrated machine, ensuring that the device will not change position due to stress, improving the operation reliability. A distance sensor is installed at the bottom of the tail plate of the drilling and laying integrated machine 4, which can ensure that the drilling and laying integrated machine 4 is always at a specified distance of 2-3cm from the ground when working, ensuring the burying quality.

[0072] The vehicle driver is responsible for finding the stake number (burying point) through the RTK Beidou positioning system. During the journey, the mechanical hand 5 in the compartment grabs the seismograph in the drum magazine, completing the preparation work. After arriving at the designated position, the driver presses the one-key start button (manual mode can also be adopted), the drilling and laying integrated machine 4 completes the drilling, the mechanical hand 5 feeds the material, and the compaction device completes the compaction link, completing the burying. Each device retreats, the vehicle moves forward, the driver finds the next burying point, and the mechanical hand 5 continues to grab the next seismograph. The entire laying process is visual and controllable, and does not require too much intervention, providing great convenience for the operator. The positioning accuracy of RTK can reach centimeter level, and the double positioning method of manual + GPS can greatly increase the burying accuracy. The entire equipment has high modularity and can adapt to most field operation environments.

[0073] The working method of the wireless seismograph field burying equipment comprises the following steps:

[0074] (1) The motor 33 rotates to drive the driven sprocket 35 to rotate, thereby driving the central shaft to rotate, the central shaft drives the rotating disc to rotate, and the code frame 32 is driven to rotate, and the wireless seismograph 31 in the code frame 32 is taken out by the mechanical arm 5;

[0075] (2) The first lifting connecting rod 413 and the second lifting connecting rod 428 are controlled to move by controlling the lifting hydraulic cylinder 414, and the drill cloth integrated machine 4 is moved to a required position; at this time, the locking pulleys of the gravity longitudinal position adjusting device and the gravity transverse position adjusting device are in the force-unloading relaxation state, the fixed connecting plate 43, the lower pressing half cylinder 410 and the Jiaolong drill bit 4-11 can swing in two directions at will, and with the change of the connecting rod position, the angles of the gravity longitudinal position adjusting device and the gravity transverse position adjusting device also change under the action of gravity, but are always perpendicular to the sea level and are not affected by the vehicle position and the ground inclination angle, and when the final laying position is determined, the locking motor works and the position of the whole drill cloth integrated machine 4 is locked;

[0076] (3) The third hydraulic cylinder 412 controls the rotation of the soil shifting cam 427, so as to pull the soil gathering ring 426 to expand outward and shift the soil and stones on the ground; the first hydraulic cylinder 41 drives the fixed connecting plate 43 to move downward along the guide rail, the oil cylinder 49 lifts the lower pressing half cylinder 410, the hydraulic motor 42 drives the Jiaolong drill bit 411 to rotate to drill and dig soil, and after the drilling is completed, the Jiaolong drill bit 411 is lifted and retracted;

[0077] (4) The wireless geology detector is placed at the opening of the slide guide cylinder 44 by the mechanical arm 5, and under the action of gravity, the wireless geology detector falls into the limiting cylinder 47 along the slide guide cylinder 44, the limiting teeth of the limiting cylinder 47 catch the wireless geology detector and keep the coaxial position with the limiting cylinder 47, and the preparation work before burying is completed;

[0078] (5) When the second hydraulic cylinder 45 controls the limiting cylinder 47 to lift upward, the limiting teeth of the limiting cylinder 47 retract along the inner wall of the soil pressing outer sleeve 48, the wireless geology detector falls down, the discharging operation is completed, the oil cylinder 49 returns the lower pressing half cylinder 410 to the original position to perform the compaction operation, and when the limiting cylinder 47 moves downward, the limiting teeth reset to prepare to receive the next wireless geology detector;

[0079] (6) After the burying work is completed, the soil shifting cam 427 rotates again to retract, and the soil gathering ring 426 retracts inward under the elastic force of the soil shifting spring 46 to gather the soil around the wireless geology detector, and the laying work is completed;

[0080] (7) According to steps (1)-(6), the cycle is repeated until the embedding work of the embedding point is completed; the first lifting connecting rod 413 and the second lifting connecting rod 428 are controlled to move by controlling the lifting hydraulic cylinder 414, the drill cloth integrated machine 4 is retracted, and the next embedding point is reached.

[0081] The above-described embodiments are merely preferred embodiments of the present application and are not intended to limit the scope of the present application. Various modifications and improvements to the technical solutions of the present application made by those of ordinary skill in the art without departing from the design spirit of the present application shall fall within the protection scope of the present application as defined by the claims.

Claims

1. A wireless seismograph field storage device, characterized in that: It includes a modular square silo (2), which is equipped with a roller silo (3). A drilling and fabric cutting machine (4) and a robotic arm (5) are provided on one side of the roller silo (3). The roller hopper (3) includes roller hopper supports (36) located on both sides of the roller hopper (3). A central shaft is provided through the center of the roller hopper support (36). One end of the central shaft is connected to a driven sprocket (35). The driven sprocket (35) is connected to a motor (33) located at the bottom of the roller hopper (3) via chain drive. Each of the two roller hopper supports (36) has a turntable on its inner side. Both turntables are hinged to the outer wall of the code frame (32). A wireless seismograph (31) is placed inside the code frame (32). The drilling and fabric integrated machine (4) includes a mobile platform back plate (420). The outer side of the mobile platform back plate (420) is equipped with a guide rail. The top of the guide rail is equipped with a first hydraulic cylinder (41). The first hydraulic cylinder (41) can control the fixed connecting plate (43) to move up and down along the guide rail. The top of the fixed connecting plate (43) is equipped with a hydraulic motor (42). The bottom of the fixed connecting plate (43) is provided with a auger drill bit (411). The hydraulic motor (42) can control the auger drill bit (411) to rotate. A hydraulic cylinder (49) is hinged to the outside of the connecting plate (43). The hydraulic cylinder (49) is hinged to the lower pressure semi-cylinder (410). The hydraulic cylinder (49) can control the lower pressure semi-cylinder (410) to rotate along the hinge axis. The lower pressure semi-cylinder (410) is located outside the auger drill bit (411). A soil pressing outer sleeve (48) is provided below the lower pressure semi-cylinder (410). A limiting sleeve (47) is provided below the soil pressing outer sleeve (48). The side wall of the limiting sleeve (47) is connected to the slide guide sleeve (44). The side wall of the soil-pressing outer sleeve (48) is also provided with a second hydraulic cylinder (45). Multiple limiting teeth are evenly distributed along the circumferential direction on the lower inner side wall of the limiting sleeve (47). A soil-gathering ring (426) is sleeved on the bottom outer side wall of the limiting sleeve (47). The outer side of the soil-gathering ring (426) is connected to the soil-dispensing spring (46). A soil-dispensing cam (427) is provided on the inner side of the soil-gathering ring (426). The third hydraulic cylinder (412) is connected to the soil-dispensing cam (427) through a gear rack and pinion, and controls the rotation of the soil-dispensing cam (427), thereby pulling the soil-gathering ring (426) to expand outward. When the soil-dispensing cam (427) rotates and retracts, the soil-gathering ring (426) can retract inward under the elastic force of the soil-dispensing spring (46). The robotic arm (5) can grasp the wireless seismograph (31) inside the code frame (32) and send it into the drilling and fabric integrated machine (4).

2. The wireless seismograph field storage device according to claim 1, characterized in that: The number of the code frames (32) is multiple, and all the code frames (32) are evenly distributed along the circumferential direction of the roller hopper support (36). The outer side wall of all the code frames (32) is hinged to the turntable.

3. The wireless seismograph field storage device according to claim 2, characterized in that: The motor (33) drives the driven sprocket (35) to rotate via the chain, thereby driving the central shaft to rotate. The central shaft drives the turntable to rotate, which in turn drives all the code frames (32) to rotate. The code frames (32) always remain horizontal when rotating.

4. The wireless seismograph field storage device according to claim 1, characterized in that: Two transverse locking pulleys (422) are provided in the upper center of the inner side of the mobile platform back plate (420) along the longitudinal direction. The two transverse locking pulleys (422) are connected by a synchronous pulley (418). A transverse swaying track (424) is also provided in the upper center of the inner side of the mobile platform back plate (420). The upper longitudinal locking pulley (415) can drive the entire drilling and cloth integrated machine (4) to sway laterally along the transverse swaying track (424) via a locking shaft. A transverse locking motor (421) is provided on the lower transverse locking pulley (422). The two transverse locking pulleys (422), the synchronous pulley (418), the transverse swaying track (424) and the transverse locking motor (421) together form a gravity transverse adjustment device.

5. The wireless seismograph field storage device according to claim 1, characterized in that: The mobile platform backplate (420) is equipped with a cantilever (417) on the left and / or right sides. The upper and lower parts of the cantilever (417) are each equipped with a longitudinal locking pulley (415). The two longitudinal locking pulleys (415) are connected by a synchronous pulley (418). The longitudinal locking pulley (415) located above is equipped with a longitudinal locking motor (419). The lower part of the cantilever (417) is provided with a longitudinal swing track (416). The longitudinal locking pulley (415) located below can drive the entire drilling and cloth integrated machine (4) to swing longitudinally along the longitudinal swing track (416) through the locking shaft. The two longitudinal locking pulleys (415), the synchronous pulley (418), the longitudinal swing track (416) and the longitudinal locking motor (419) together form a gravity longitudinal adjustment device.

6. The wireless seismograph field storage device according to claim 1, characterized in that: The lower middle part and the upper middle part of the mobile platform back plate (420) are respectively hinged with a first lifting link (413) and a second lifting link (428). The lower ends of the first lifting link (413) and the second lifting link (428) are hinged by a link. The middle part of the link is hinged to the middle part of the lifting hydraulic cylinder (414). The end of the lifting hydraulic cylinder (414) is hinged to the middle part of the first lifting link (413). By controlling the lifting hydraulic cylinder (414), the first lifting link (413) and the second lifting link (428) can be moved, thereby controlling the movement of the mobile platform back plate (420), and thus controlling the movement and lifting of the drilling and cloth integrated machine (4).

7. The wireless seismograph field storage device according to claim 1, characterized in that: The bottom of the robotic arm (5) is provided with a rotating base (54), which is fixed on the base of the module container (2). A drive motor (53) is provided on one side of the rotating base (54), and a linear guide rail (52) is provided above the rotating base (54). A servo motor (51) is provided on the top of the linear guide rail (52). A telescopic arm (57) that can move up and down along the linear guide rail (52) is provided on the linear guide rail (52). An execution end joint (56) is provided at the end of the telescopic arm (57), and a rotating pneumatic gripper (55) is installed at the end of the execution end joint (56).

8. The wireless seismograph field storage device according to claim 1, characterized in that: The modular container (2) is mounted on the chassis of the vehicle body (1).

9. The operating method of the wireless seismograph field storage device according to any one of claims 1-8, characterized in that, Includes the following steps: (1) The motor (33) rotates, which drives the driven sprocket (35) to rotate through the chain, thereby driving the central shaft to rotate. The central shaft drives the turntable to rotate, which in turn drives the code frame (32) to rotate. The wireless seismograph (31) inside the code frame (32) is taken out by the robot arm (5). (2) By controlling the lifting hydraulic cylinder (414), the first lifting link (413) and the second lifting link (428) can be moved to move the drilling and cloth machine (4) to the required position. At this time, the locking pulleys of the gravity longitudinal adjustment device and the gravity lateral adjustment device are in a relaxed state. As the position of the link changes, the angle of the gravity longitudinal adjustment device and the gravity lateral adjustment device will also change under the action of gravity, but they will always be perpendicular to the sea level and will not be affected by the vehicle position and the tilt angle of the ground. When the final placement position is determined, the locking motor works and the position of the entire drilling and cloth machine (4) is locked. (3) The third hydraulic cylinder (412) controls the rotation of the soil-removing cam (427), thereby pulling the soil-collecting ring (426) outward to remove the soil and stones on the ground; the first hydraulic cylinder (41) drives the fixed connecting plate (43) to move downward along the guide rail, the oil cylinder (49) lifts the lower semi-cylinder (410), the hydraulic motor (42) drives the auger drill bit (411) to rotate and drill the hole to dig the soil, and after the drilling is completed, the auger drill bit (411) is lifted and retracted; (4) The wireless seismograph (31) is placed at the opening of the guide tube (44) by the robotic arm (5). Under the action of gravity, the wireless geological detector falls into the limiting tube (47) along the guide tube (44). The limiting teeth of the limiting tube (47) will catch the wireless geological detector and keep it coaxial with the limiting tube (47), thus completing the preparatory work before burial. (5) When the second hydraulic cylinder (45) controls the limit cylinder (47) to lift upward, the limit teeth of the limit cylinder (47) retract along the inner wall of the soil compaction outer sleeve (48), the wireless geological detector falls down, and the material discharge operation is completed. The oil cylinder (49) returns the lower pressing semi-cylinder (410) to its position and performs the compaction operation. When the limit cylinder (47) moves downward, the limit teeth return to their position, ready to receive the next wireless geological detector. (6) After the burial work is completed, the soil-removing cam (427) rotates and retracts again, and the soil-gathering ring (426) retracts inward under the elastic force of the soil-removing tension spring (46), gathering the soil around the wireless geological detector to complete the deployment work. (7) Repeat steps (1) to (6) until the burial work at the burial point is completed; by controlling the lifting hydraulic cylinder (414), the first lifting link (413) and the second lifting link (428) can be moved to retract the drilling and cloth machine (4) and move to the next burial point.

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