A new type of soil sampling robot

Abstract

This invention discloses a novel soil sampling robot, belonging to the field of soil sampling technology. It includes a base assembly, a roller assembly, and a sampling assembly. The roller assembly is fixedly mounted on the base assembly, and the sampling assembly is connected to the roller assembly via a rope. The roller assembly includes a rope guide and a guide frame positioned in front of the rope guide. The sampling assembly includes a support arm and a columnar core-taking manipulator. This invention provides a novel deep soil sampling robot capable of adapting to various complex road access and construction sites, unaffected by external power supply, easy to operate, and capable of real-time monitoring. It eliminates several problems in existing technologies, such as low sampling efficiency, limited functionality, high manpower requirements, and unsuitability for complex road access and construction sites.

Description

Technical Field

[0001] This invention relates to the field of soil sampling technology, and specifically to a novel soil sampling robot. Background Technology

[0002] In existing technologies, deep soil sampling is carried out using the traditional Luoyang shovel. This sampling method has the following problems: 1. Because the Luoyang shovel relies on a winch to lift the shovel head to a certain height and then let it fall freely under its own weight, it relies on impact force to penetrate the soil for sampling. The sampling depth is shallow, the work efficiency is low, and the function is limited; 2. Because the Luoyang shovel head has no monitoring facilities, it is impossible to monitor the soil sampling situation in the well in real time. The sampling is uncontrollable and requires the cooperation of many people, which requires a lot of manpower; 3. Because the Luoyang shovel relies on a winch for operating power, it is not suitable for construction work on complex roads. Summary of the Invention

[0003] The purpose of this invention is to provide a novel soil depth sampling robot that can adapt to various complex road access and construction, is not restricted by external power sources, is easy to operate, and can be monitored in real time, thereby solving the problems mentioned in the background art.

[0004] The technical solution adopted in this invention is as follows:

[0005] A novel soil sampling robot includes a base assembly, a roller assembly, and a sampling assembly 8. The roller assembly is fixedly mounted on the base assembly. The sampling assembly 8 is connected to the roller assembly via a pull rope 7. The roller assembly includes a rope arranger 5 and an inlet frame 6 located in front of the rope arranger 5. The sampling assembly 8 includes a support arm 81 and a columnar core-taking manipulator 82.

[0006] The base assembly includes a base 1, a tracked chassis 2, a diesel engine 3, and a leveling support frame 4. The tracked chassis 2 is located at the bottom of the base 1, and the diesel engine 3 is fixed to the base 1 by bolts. The leveling support frame 4 includes a hydraulic cylinder and is fixed to the support arms at the front and rear ends of the base 1.

[0007] The rope guide 5 is fixedly installed on the middle part of the base 1, and the guide frame 6 is fixedly installed on the front end of the base 1. The guide frame 6 includes a column and a forward-extending arc-shaped extension frame fixed at the top of the column. A support rod is provided between the column and the arc-shaped extension frame. The pull rope 7 led out from the rope guide 5 is located on the arc-shaped extension frame.

[0008] The sampling assembly 8 also includes a welding support 83, a rotary motor a84, a lead screw a85, and a gear 86. The welding support 83 includes an upper plate, a lower plate, and a connecting rod connecting the upper and lower plates. The rotary motor a84 is inverted and installed in the middle of the upper plate of the welding support 83. The upper end of the lead screw a85 is connected to the output shaft of the rotary motor a84 via a coupling, and the lower end of the lead screw a85 is connected to the lower plate of the welding support 83 via a bearing. There are three support arms 81, which are evenly installed around the lead screw a85. The upper end of the support arm 81 is fixed with a gear 86 by bolts, and the upper end of the support arm 81 is hinged to the lower plate of the welding support 83 via a fixing frame 87. The gear 86 meshes with the lead screw a85. A connecting plate 88 is fixedly provided on the lower plate of the welding support 83, and the columnar core-taking robot 82 is installed on the connecting plate 88.

[0009] The cylindrical core-taking robot 82 includes a 90-degree rotary cylinder 821, a motion support 822, a motor b823, a lead screw b824, a motion block 825, a motor c826, a rotating shaft 827, and a serrated sampling cylinder 828. The 90-degree rotary cylinder 821 is mounted on a connecting plate 88. The motion support 822 is fixedly connected to the rotating shaft of the 90-degree rotary cylinder 821. The motion support 822 is U-shaped. The motor b823 is mounted on the outer left side of the motion support 822. The lead screw b824... The output shaft of motor b823 is connected to the motor b823 via a coupling, and lead screw b824 is mounted in motion support 822 via bearing. The motion block 825 is provided with a threaded hole, and its thread is installed on lead screw b824. Motor c826 is mounted on the left end of motion block 825. The left end of rotating shaft 827 moves through motion block 825 and is connected to the output shaft of motor c826. The right end of rotating shaft 827 is connected to sawtooth sampling cylinder 828. The right end opening of sawtooth sampling cylinder 828 is provided with sawtooth.

[0010] A camera 9 is mounted on the connecting plate 88 by bolts.

[0011] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are:

[0012] This invention provides a novel soil deep sampling robot for the field of soil sampling. It is adaptable to various complex road access and construction sites, unaffected by external power sources, easy to operate, and capable of real-time monitoring. This eliminates several problems associated with existing technologies, such as low sampling efficiency, limited functionality, high manpower requirements, and unsuitability for complex road access and construction sites. The sampling assembly in this invention features a simple and novel structure, a compact design when retracted, and easy insertion into small-diameter holes. It provides stable operation during sampling, ensuring convenient, rapid, and efficient sampling. Furthermore, the roller assembly allows the sampling assembly to be lowered into deeper holes for sampling, facilitating control of the sampling assembly. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of the structure of the present invention;

[0014] Figure 2 This is a top view of the present invention;

[0015] Figure 3 This is a schematic diagram of the base assembly of the present invention;

[0016] Figure 4 This is a schematic diagram of the roller assembly of the present invention;

[0017] Figure 5 This is a schematic diagram of the sampling assembly of the present invention;

[0018] Figure 6 This is a bottom view of the sampling assembly of the present invention;

[0019] Figure 7 This is a schematic diagram of the working state of the sampling assembly of the present invention;

[0020] Figure 8 This is a schematic diagram illustrating the working principle of the present invention;

[0021] The following components are shown in the diagram: 1. Base; 2. Tracked chassis; 3. Diesel engine; 4. Leveling support frame; 5. Rope guide; 6. Guide frame; 7. Pull rope; 8. Sampling assembly; 9. Camera; 81. Support arm; 82. Columnar core-taking robot; 83. Welded support; 84. Rotary motor a; 85. Lead screw a; 86. Gear; 87. Fixing frame; 88. Connecting plate; 821. 90-degree rotary cylinder; 822. Motion support; 823. Motor b; 824. Lead screw b; 825. Motion block; 826. Motor c; 827. Rotating shaft; 828. Serrated sampling cylinder. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0023] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0024] Example 1

[0025] like Figure 1-6 This embodiment provides a novel soil sampling robot, including a base assembly, a roller assembly, and a sampling assembly 8. The roller assembly is fixedly installed on the base assembly, and the sampling assembly 8 is connected to the roller assembly via a pull rope 7. The roller assembly includes a rope arranger 5 and an inlet frame 6 disposed in front of the rope arranger 5. The sampling assembly 8 includes a support arm 81 and a columnar core-taking manipulator 82.

[0026] The base assembly includes a base 1, a tracked chassis 2, a diesel engine 3, and a leveling support frame 4. The tracked chassis 2 is located at the bottom of the base 1, and the diesel engine 3 is fixed to the base 1 by bolts. The leveling support frame 4 includes a hydraulic cylinder and is fixed to the support arms at the front and rear ends of the base 1.

[0027] The rope guide 5 is fixedly installed on the middle part of the base 1, and the guide frame 6 is fixedly installed on the front end of the base 1. The guide frame 6 includes a column and a forward-extending arc-shaped extension frame fixed at the top of the column. A support rod is provided between the column and the arc-shaped extension frame. The pull rope 7 led out from the rope guide 5 is located on the arc-shaped extension frame.

[0028] The sampling assembly 8 also includes a welding support 83, a rotary motor a84, a lead screw a85, and a gear 86. The welding support 83 includes an upper plate, a lower plate, and a connecting rod connecting the upper and lower plates. The rotary motor a84 is inverted and installed in the middle of the upper plate of the welding support 83. The upper end of the lead screw a85 is connected to the output shaft of the rotary motor a84 via a coupling, and the lower end of the lead screw a85 is connected to the lower plate of the welding support 83 via a bearing. There are three support arms 81, which are evenly installed around the lead screw a85. The upper end of the support arm 81 is fixed with a gear 86 by bolts, and the upper end of the support arm 81 is hinged to the lower plate of the welding support 83 via a fixing frame 87. The gear 86 meshes with the lead screw a85. A connecting plate 88 is fixedly provided on the lower plate of the welding support 83, and the columnar core-taking robot 82 is installed on the connecting plate 88.

[0029] The fixed frame 87 is arranged in an inverted "U" shape. Its bottom end is welded to the lower plate of the welding support 83, and its upper horizontal section moves through the center of the gear 86. That is, the rotation of the lead screw a85 will drive the gear 86 to rotate around the horizontal section of the fixed frame 87. The rotating gear 86 will drive the support arm fixedly connected to it to rotate around the horizontal section of the fixed frame 87 as the rotation center line.

[0030] The lower plate edge of the welding support 83 is evenly distributed with three "U"-shaped grooves, and the three support arms 81 are movably placed in the three grooves.

[0031] The cylindrical core-taking robot 82 includes a 90-degree rotary cylinder 821, a motion support 822, a motor b823, a lead screw b824, a motion block 825, a motor c826, a rotating shaft 827, and a serrated sampling cylinder 828. The 90-degree rotary cylinder 821 is mounted on a connecting plate 88. The motion support 822 is fixedly connected to the rotating shaft of the 90-degree rotary cylinder 821. The motion support 822 is U-shaped. The motor b823 is mounted on the outer left side of the motion support 822. The lead screw b824... The output shaft of motor B823 is connected via a coupling, and lead screw B824 is mounted in motion support 822 via bearings. Motion block 825 has a threaded hole, with its threads threaded onto lead screw B824. Motor C826 is mounted on the left end of motion block 825. The left end of rotating shaft 827 movably passes through motion block 825 and is connected to the output shaft of motor C826. The right end of rotating shaft 827 is connected to sawtooth sampling cylinder 828, which has sawtooth teeth at its right end opening. A 90-degree rotating cylinder 821 controls the rotation of motion support 822, thus moving sawtooth sampling cylinder 828 from a vertical position to a horizontal position for sampling. Motor B823 controls the forward or backward movement of sawtooth sampling cylinder 828 in the horizontal position. Motor C826 controls the rotation of sawtooth sampling cylinder 828, allowing the sawtooth end of the cylinder to easily enter the soil for sampling.

[0032] A camera 9 is bolted to the connecting plate 88. The camera is used to observe the sampling process in real time.

[0033] The working principle of this invention is as follows: Figure 7-8 The soil sampling robot travels to the vicinity of the pre-drilled hole. The tracked chassis moves back and forth and left and right to adjust the sampling assembly 8 so that it is aligned with the hole. The leveling support frame 4 is then placed on the ground and leveled. The sampling assembly 8 is lowered to the preset depth by the rotation of the drum of the rope reel 5. The rotary motor a controls the three support arms 81 to rotate upward and extend. The support arms are securely fixed by the perimeter of the well wall. The 90-degree rotary cylinder 821 controls the columnar core sampling manipulator to rotate upward and level. The motor b 823 controls the extension of the serrated sampling cylinder with serrated front end. The motor c 826 controls the serrated sampling cylinder to rotate and grab the soil sample. After grabbing the soil sample, the serrated sampling cylinder retracts. The support arms close to release the perimeter support of the well wall, raising the sampling assembly back to the ground and removing the soil sample.

[0034] This invention provides a novel soil deep sampling robot that can adapt to various complex road access and construction sites, is not restricted by external power sources, is easy to operate, and can be monitored in real time. It eliminates many problems in existing technologies, such as low work efficiency, limited functionality, high manpower requirements, and unsuitability for complex road access and construction sites.

Claims

1. A novel soil sampling robot, comprising a base assembly, a roller assembly, and a sampling assembly (8), characterized in that, The roller assembly is fixedly mounted on the base assembly. The sampling assembly (8) is connected to the roller assembly via a pull rope (7). The roller assembly includes a rope arranger (5) and an inlet frame (6) located in front of the rope arranger (5). The sampling assembly (8) includes a support arm (81) and a columnar core-taking robot (82). The sampling assembly (8) further includes a welding support (83), a rotary motor a (84), a lead screw a (85), and a gear (86). The welding support (83) includes an upper plate, a lower plate, and a connecting rod connecting the upper and lower plates. The rotary motor a (84) is installed upside down on the middle of the upper plate of the welding support (83). The upper end of the lead screw a (85) is connected to the output shaft of the rotary motor a (84) through a coupling, and the lower end of the lead screw a (85) is connected to the lower plate of the welding support (83) through a bearing. There are three support arms (81), which are evenly installed around the lead screw a (85). A gear (86) is fixed to the upper end of the support arm (81) by bolts, and the upper end of the support arm (81) is hinged to the lower plate of the welding support (83) by a fixing frame (87). The gear (86) meshes with the lead screw a (85). A connecting plate (88) is fixed on the lower plate of the welding support (83), and the columnar core-taking robot (82) is installed on the connecting plate (88). The fixed frame (87) is arranged in an inverted "U" shape. Its bottom end is welded to the lower plate of the welding support (83). Its upper horizontal section moves through the center of the gear (86). That is, the rotation of the screw a (85) will drive the gear (86) to rotate around the horizontal section of the fixed frame (87). The rotating gear (86) will drive the support arm fixedly connected to it to rotate around the horizontal section of the fixed frame (87) as the rotation center line. The lower plate edge of the welding support (83) is evenly distributed with three "U"-shaped grooves, and the three support arms (81) are movably placed in the three grooves.

2. The novel soil sampling robot according to claim 1, characterized in that: The base assembly includes a base (1), a tracked chassis (2), a diesel engine (3), and a leveling support frame (4). The tracked chassis (2) is located at the bottom of the base (1), and the diesel engine (3) is fixed to the base (1) by bolts. The leveling support frame (4) includes a hydraulic cylinder and is fixed to the support arms at the front and rear ends of the base (1).

3. The novel soil sampling robot according to claim 2, characterized in that: The rope guide (5) is fixedly installed on the middle part of the base (1), and the guide frame (6) is fixedly installed on the front end of the base (1). The guide frame (6) includes a column and a forward-extending arc-shaped extension frame fixed at the top of the column. A support rod is provided between the column and the arc-shaped extension frame. The pull rope (7) led out from the rope guide (5) is located on the arc-shaped extension frame.

4. A novel soil sampling robot according to claim 3, characterized in that: The cylindrical core-taking manipulator (82) includes a 90-degree rotary cylinder (821), a motion support (822), a motor b (823), a lead screw b (824), a motion block (825), a motor c (826), a rotating shaft (827), and a sawtooth sampling cylinder (828). The 90-degree rotary cylinder (821) is mounted on a connecting plate (88), and the motion support (822) is fixedly connected to the rotating shaft of the 90-degree rotary cylinder (821). The motion support (822) is U-shaped, and the motor b (823) is mounted on the outer side of the left end of the motion support (822). The lead screw b (824) 824) is connected to the output shaft of motor b (823) via a coupling, and lead screw b (824) is mounted in motion support (822) via bearing. The motion block (825) is provided with a threaded hole, and its thread is installed on lead screw b (824). Motor c (826) is mounted on the left end of motion block (825). The left end of rotating shaft (827) moves through motion block (825) and is connected to the output shaft of motor c (826). The right end of rotating shaft (827) is connected to sawtooth sampling cylinder (828). The right end opening of sawtooth sampling cylinder (828) is provided with sawtooth.

5. A novel soil sampling robot according to claim 4, characterized in that: A camera (9) is mounted on the connecting plate (88) by bolts.

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