Intelligent robot system for detecting moisture content and dry density of backfill soil

Abstract

The invention discloses an intelligent robot system for detecting moisture content and dry density of backfill soil, comprising a cabinet, a mechanical arm, a sample rack, a weighing and sampling module, a horizontal moving module, a bag removing module, an aluminum box collecting module and a control computer. The cabinet is directly placed on the ground, the control computer is arranged on the outer wall of the cabinet, the mechanical arm is connected to the lower surface of the top plate of the cabinet, the sample rack, the weighing and sampling module, the horizontal moving module and the aluminum box collecting module are arranged in sequence from right to left inside the cabinet, the right end of the horizontal moving module is located below the weighing and sampling module, the bag removing module is connected to the cabinet and arranged above the horizontal moving module, the mechanical arm, the weighing and sampling module, the horizontal moving module and the aluminum box collecting module are all connected to the control computer; the fully automatic detection system of the invention adopts the mechanical arm to grab the backfill soil sample, and utilizes a multi-channel high-precision weighing sensor to weigh multiple samples at one time, thereby eliminating the influence of human errors and improving the test efficiency.

Description

Technical Field

[0001] The invention relates to the technical field of geotechnical engineering measurement, and in particular to an intelligent robot system for detecting moisture content and dry density of backfill soil. Background Art

[0002] Moisture content is one of the three basic physical indicators of soil, and it has a very obvious impact on the physical and mechanical properties of soil. The accuracy of its value is of great significance to determine the physical and mechanical properties of soil. Usually, the moisture content test is to manually weigh a certain weight of soil sample and put it into a designated aluminum box container, put it on a balance for weighing, and then put it into an oven for drying. The completely dried soil is weighed again, and the difference between the values ​​before and after is divided by the weight of the original wet soil sample to get the moisture content of the soil sample; dry density refers to the density when there is no water in the pores of the soil. Dry density reflects the porosity of the soil, and can therefore be used to calculate the porosity of the soil. It is often calculated by the density and moisture content of the soil.

[0003] When calculating the moisture content and dry density of backfill soil, a project often requires many sampling points to ensure the accuracy of the final data. The number of samples is large, the amount of soil samples to be tested is large, the testing efficiency is low, and the manual operation is labor-intensive, making it difficult to avoid the impact of human errors. Summary of the invention

[0004] The technical problem to be solved by the present invention is that the existing detection of backfill soil moisture content and dry density has a large workload and low efficiency; and manual operation is difficult to avoid the influence of human errors; in view of the above problems, an intelligent detection robot system for backfill soil moisture content and dry density is proposed, including a cabinet, a mechanical arm, a sample rack, a weighing and sampling module, a horizontal moving module, a bag removing module, an aluminum box collecting module and a control computer. The cabinet is directly placed on the ground, and the control computer is arranged on the outer wall of the cabinet. The mechanical arm is connected to the lower surface of the top plate of the cabinet. The sample rack, the weighing and sampling module, the horizontal moving module and the aluminum box collecting module are arranged in sequence from right to left inside the cabinet. The right end of the horizontal moving module is located below the weighing and sampling module. The bag removing module is connected to the cabinet and arranged above the horizontal moving module. The mechanical arm, the weighing and sampling module, the horizontal moving module and the aluminum box collecting module are all connected to the control computer.

[0005] The technical solution of the present invention can save a lot of manpower and improve the detection efficiency by setting a structure for the mechanical arm to clamp the backfill soil sample. At the same time, a mechanical arm slide is provided to cooperate with the six-axis mechanical arm body. The composite clamping claws at the front end of the mechanical arm can respectively clamp the backfill soil samples at different stages and place them at appropriate positions in the cabinet to complete the subsequent detection process; by setting the structure of the weighing and sampling module, the mass of all the backfill soil in the sample bag can be weighed and calculated, and the wet density of the backfill soil sample can be calculated in combination with the volume of the ring knife. A blade is provided in the bag breaking bin to break the sample bag and then further sample it. Under the vibration of the forward vibrator, an appropriate amount of backfill soil finally falls into the aluminum box of the horizontal moving module. At the same time, the backfill soil in each sample bag can be sampled as two samples after being divided into two bins to improve the accuracy of the final detection data. The perforated gate is installed, and only fine backfill soil can be passed. After sampling, the first electric push rod pushes the perforated gate to move, and the excess and large-volume backfill soil eventually falls into the waste collection bucket; by setting the structure of the bag-removing module, after the sample bag is broken, the mechanical arm clamps the hanging rod and cooperates with the hook slot of the bag-removing plate, and the sample bag will eventually fall into the waste collection bucket. At the same time, the retaining plate is blocked on the left to prevent the residual backfill soil in the sample bag from splashing into the aluminum box and affecting the data accuracy; by setting the structure of the control computer, the work of all structures in the system is comprehensively controlled to make the system run stably and orderly, eliminating the influence of human errors; at the same time, the control computer obtains the relevant data of the backfill soil sample in real time, and combined with the relevant data set in advance, the moisture content and dry density of the backfill soil sample and other relevant data can be quickly obtained, saving a lot of manpower and improving the efficiency of data detection.

[0006] Preferably, a mounting platform is provided in the middle of the interior of the cabinet, a through hole is provided in the middle of the mounting platform, a bag removing module is provided above the through hole, a waste collection bucket is provided below the through hole, a mounting hole for a weighing and sampling module is provided on the right side of the through hole, a cabinet door is provided on the front wall of the cabinet corresponding to the position of the waste collection bucket, openings are provided on the side walls on both sides of the cabinet corresponding to the positions of the sample rack and the aluminum box collection module, the mounting platform is used to fix and connect other structures, the through hole in the middle of the mounting platform corresponds to the waste collection bucket, the sample bag falls into the waste collection bucket from the through hole through the bag removing module, the mounting hole is used to install the weighing and sampling module, the weighing and sampling module exists independently and is not connected to the cabinet, the forward vibrator inside the weighing and sampling module will not affect other structures when working, the waste collection bucket can be taken out after the cabinet door is opened, and the bracket of the weighing and sampling module can also be fixed to the ground, and the openings on the side walls on both sides are convenient for placing the sample rack and taking the aluminum box tray.

[0007] Preferably, the mechanical arm comprises a six-axis collaborative mechanical arm body, one end of the six-axis collaborative mechanical arm body is connected to a slider of a mechanical arm slide, the mechanical arm slide is arranged on the lower surface of the cabinet top plate, and the other end of the six-axis collaborative mechanical arm body is provided with a connecting plate, and a first fixing member and a second fixing member are arranged on the connecting plate, the first fixing member is connected to a first clamping jaw, and the second fixing member is connected to eight second clamping jaws, the six-axis collaborative mechanical arm body can move freely within a certain range, and since the distance between the left and right ends of the cabinet is relatively long, the mechanical arm slide can drive the six-axis collaborative mechanical arm body to move along the left and right directions, thereby realizing the six-axis collaborative mechanical arm body to move arbitrarily inside the cabinet, the first clamping jaw of the six-axis collaborative mechanical arm body is used to clamp the hanging rod of the sample rack, move the sample bag and place it on the weighing and sampling module, the second clamping jaw is used to clamp the aluminum box, clamp the empty aluminum box from the aluminum box tray and place it on the horizontal moving module, take an appropriate amount of soil sample, and then clamp the aluminum box containing the soil sample and place it in the aluminum box tray.

[0008] Preferably, the sample rack is arranged at the rightmost end of the mounting platform, the sample rack is in the shape of a step, ten hanging rods are arranged on the sample rack, four hooks are arranged equidistantly below the hanging rods, the hooks are L-shaped, the hooks face the left, a clamping block is arranged above the hanging rods, and the sample rack is a detachable structure. When the samples on the entire sample rack are further sampled, the whole sample rack can be removed and a new sample rack can be placed to improve efficiency. After further sampling, the samples on each sample rack just correspond to an entire aluminum box tray. The hooks below the hanging rods are used to place the sample bags, and the clamping block above the hanging rods matches the first clamping jaw of the robot arm to facilitate the first clamping jaw to grasp.

[0009] In the preferred embodiment of the technical solution of the present invention, the weighing sample preparation module includes a fixed plate, which is arranged in the mounting hole through a bracket, and the bracket is directly placed on the ground. Four first weighing sensors are arranged on the upper surface of the fixed plate, and each first weighing sensor is provided with a weighing bin, and each weighing bin corresponds to a bag breaking bin, which is arranged above the through hole of the fixed plate and below the weighing bin. A blade is arranged in the bag breaking bin, and a gate plate with a hole is arranged between the outlet of the bag breaking bin and the through hole of the fixed plate, and the gate plate with a hole is connected to the movable end of the first electric push rod. The first electric push rod is arranged on the upper surface of the fixed plate, and four binary bins are arranged under the through hole of the fixed plate. A forward vibrator bin is arranged under the two outlets of each binary bin, and the outlet of the forward vibrator bin is located above the horizontal moving module. The forward vibrator bin is connected to the forward vibrator, and the forward vibrator is connected to the bracket through the fixed seat. The first clamping claw of the mechanical arm clamps the hanger and places the sample bag in the weighing bin. The weighing bin weighs the mass of the sample bag and the wet soil to obtain the data m0g, which is combined with the ring knife volume Vcm of the backfill soil sample. 3 and the mass of the sample bag m b g, the wet density of the backfill soil sample can be calculated by the control computer After weighing, the robot arm moves horizontally to the left, so that the sample bag enters the bag-breaking bin. A blade is set in the bag-breaking bin to break the bag. The blade is set in the left and right directions. After the bag is broken, the backfill soil sample in the sample bag enters the bag-breaking bin and falls on the perforated gate plate. The large volume of backfill soil sample will remain on the perforated gate plate. The small backfill soil sample passes through the gate plate into the second bin and then falls into the forward vibrator bin. The forward vibrator works to make the backfill soil sample gradually move forward and fall from the outlet at the front of the forward vibrator bin into the aluminum box of the horizontal moving module. The second weighing sensor weighs in real time until the mass of the fallen backfill soil sample reaches m h g. The forward vibrator stops working, the horizontal moving module moves to the leftmost end, and then the forward vibrator continues to work. At the same time, the first electric push rod starts to push the perforated gate plate to move. The remaining backfill soil samples on the perforated gate plate all fall into the forward vibrator silo through the two-division bin. As the forward vibrator vibrates, they all enter the waste collection bucket. The fixed plate falls directly to the ground through the bracket and is independent of the cabinet, so as to avoid the forward vibrator affecting other structures when working. At the same time, it can also promote the blade to break the sample bag and make the backfill soil sample fall smoothly from the perforated gate plate and move to the left along the forward vibrator silo.

[0010] Preferably, the horizontal moving module includes two synchronous belt slides, the synchronous bag slides are arranged in parallel on both sides of the through hole, the sliders of the two synchronous belt slides are connected to the base plate, eight second weighing sensors are evenly arranged on the base plate, each second weighing sensor is provided with a fixing hole, the fixing hole is used to place the aluminum box, the two synchronous belt slides move synchronously in the left and right directions, initially, the sliders of the two synchronous belt slides move to the leftmost end, the robot arm clamps a row of empty aluminum boxes in the aluminum box tray through the second clamping claw, and places them in the fixing hole, and then the two synchronous belt slides move synchronously to the right, so that the aluminum box is displaced to the bottom of the weighing sample preparation module, and some of the fallen backfill soil samples are received. When the mass of the received backfill soil samples reaches m h After g, the vibration is stopped, and the two synchronous belt slides move the aluminum box to the far left again. The robotic arm clamps the aluminum box and places it on the original position of the aluminum box tray, and re-clamps another row of empty aluminum boxes and places them in the fixed holes.

[0011] Preferably, when the base plate is located at the rightmost end, the fixing hole is located below the outlet of the forward vibrator silo; when the base plate is located at the leftmost end, the fixing hole is located on the left side of the bagging module. The base plate is located at the rightmost end, and the aluminum box placed in the fixing hole can receive the fallen backfill soil sample. The base plate is moved to the rightmost end, which can prevent the excess backfill soil sample from falling into the aluminum box when being discharged into the waste collection bucket, affecting the accuracy of the test data, and also prevent the backfill soil sample remaining in the sample bag from entering the aluminum box when the robotic arm is bagging, affecting the data.

[0012] The preferred technical solution of the present invention is that the bag removing module includes a bag removing plate and a soil retaining plate. A hook groove is arranged above the bag removing plate, and the soil retaining plate is located on the left side of the bag removing plate. Neither the bag removing plate nor the soil retaining plate will affect the normal movement of the horizontal moving module in the left and right directions. The soil retaining plate is arranged on the left side to prevent part of the residual backfill soil sample from entering the aluminum box when the sample bag is being removed from the bag, thereby affecting the data. The hook groove on the bag removing plate matches the hook under the hanger. After the sample bag is broken and the backfill soil sample enters the bag breaking silo, the robotic arm clamps the hanging rod and moves upward, then translates to the left until the bag removing plate and the soil retaining plate are in place, moves downward, keeps the hook and the hook groove at the same horizontal height, slowly translates to the right, the lower end of the hook gradually gets stuck in the hook groove and continues to translate to the right, and the sample bag is blocked by the bag removing plate and remains motionless, and finally the sample bag falls off the hook and falls into the waste collection bucket below from the through hole.

[0013] Preferably, the aluminum box collecting module is arranged at the leftmost end of the installation platform, and the aluminum box collecting module comprises a tray rack, and the tray rack has four layers, and each layer has a tray frame, and each tray frame has an aluminum box tray, and each tray frame is connected to the movable end of a second electric push rod, and the second electric push rod is arranged on the tray rack, and aluminum box holes are arranged in an array on the aluminum box tray, and the aluminum box holes are arranged in ten rows, with eight holes in each row, and an aluminum box is placed in each aluminum box hole, and each bag of backfill soil sample is divided into two aluminum box samples after passing through the weighing sample preparation module, so the number of aluminum box samples finally prepared by each sample rack corresponds to the number of aluminum boxes in an aluminum box tray, which is convenient for control The computer is used to number them to avoid errors in the detection data caused by incorrect correspondence between the previous and subsequent data. When the aluminum box samples in an aluminum box tray are full, the electric push rod pulls the tray frame to recycle the aluminum box tray into the tray rack, and then the tray frame of another layer is pushed out by the second electric push rod connected to it. When all the sample bags are further sampled, each aluminum box tray is manually placed in the oven for drying. After complete drying, they are placed in the tray rack in turn, and the system is started. The second electric push rod pushes out the dried aluminum box tray layer by layer, and the second gripper of the robotic arm successively grabs the entire row of aluminum boxes and places them in the fixed holes. The second weighing sensor weighs the mass of the dried backfill soil sample as m d g, combined with the second weighing sensor weighing the mass of the backfill soil sample before drying, which is m h g, the control computer calculates the moisture content of the backfill soil sample in the aluminum box Through the moisture content w and the corresponding wet density ρ, the control computer can further calculate the dry density of the backfill soil sample in the aluminum box. .

[0014] Compared with the prior art, the present invention has the following beneficial effects:

[0015] 1. The technical solution of the present invention can save a lot of manpower and improve the detection efficiency by setting up a structure for a robotic arm to clamp the backfill soil sample. At the same time, a robotic arm slide is provided to cooperate with the six-axis robotic arm body. The composite clamping claws at the front end of the robotic arm can respectively clamp the backfill soil samples at different stages and place them at appropriate positions in the cabinet to complete the subsequent detection process.

[0016] 2. The technical solution of the present invention can weigh and calculate the mass of all backfill soil in the sample bag by setting the structure of the weighing and sampling module. Combined with the volume of the ring knife, the wet density of the backfill soil sample can be calculated. A blade is set in the bag breaking bin to break the sample bag and then further sample it. Under the vibration of the forward vibrator, an appropriate amount of backfill soil will eventually fall into the aluminum box of the horizontal moving module. At the same time, the backfill soil in each sample bag can be sampled as two samples after passing through the binary bin to improve the accuracy of the final test data. A perforated gate plate is set between the bag breaking bin and the binary bin, which can only pass fine backfill soil. After the sampling is completed, the first electric push rod pushes the perforated gate plate to move, and the excess and large-volume backfill soil eventually falls into the waste collection bucket.

[0017] 3. The technical solution of the present invention, by setting up the structure of the bag stripping module, after the sample bag is broken, the mechanical arm clamping hanging rod cooperates with the hook slot of the bag stripping plate, and the sample bag will eventually fall into the waste collection bucket. At the same time, the retaining plate is blocked on the left side to prevent the backfill soil remaining in the sample bag from splashing into the aluminum box and affecting the data accuracy.

[0018] 4. The technical solution of the present invention, by setting up the structure of the control computer, comprehensively controls the work of all structures in the system, so that the system can run stably and orderly, and eliminate the influence of human errors; at the same time, the control computer obtains the relevant data of the backfill soil sample in real time, and combined with the relevant data set in advance, the moisture content and dry density of the backfill soil sample and other relevant data can be quickly obtained, saving a lot of manpower and improving the efficiency of data detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic front view of a housing with a hidden portion of the present invention;

[0020] Figure 2 It is a three-dimensional schematic diagram of the present invention;

[0021] Figure 3 It is a three-dimensional schematic diagram of the cabinet body with hidden parts of the housing and the cabinet door;

[0022] Figure 4 This is a partial enlarged schematic diagram of the robotic arm;

[0023] Figure 5 is a three-dimensional schematic diagram of a sample rack;

[0024] Figure 6It is a three-dimensional schematic diagram of the weighing sample preparation module;

[0025] Figure 7 It is a three-dimensional schematic diagram of the horizontal moving module and the bag removing module;

[0026] Figure 8 It is a three-dimensional schematic diagram of the aluminum box collection module;

[0027] Wherein: cabinet 1, installation platform 11, waste collection bucket 12, cabinet door 13, through hole 14, installation hole 15, robot arm 2, six-axis collaborative robot arm body 21, robot arm slide 22, connecting plate 23, first fixing part 24, second fixing part 25, first clamping claw 26, second clamping claw 27, sample rack 3, hanging rod 31, hook 32, clamping block 33, weighing sample preparation module 4, fixing plate 41, first weighing sensor 42, weighing bin 43, bag breaking bin 44 , perforated gate plate 45, first electric push rod 46, second bin 47, forward vibrator bin 48, forward vibrator 49, horizontal moving module 5, synchronous belt slide 51, base plate 52, second weighing sensor 53, fixing hole 54, bag removing module 6, bag removing plate 61, retaining plate 62, hook slot 63, aluminum box collecting module 7, pallet rack 71, pallet frame 72, aluminum box pallet 73, second electric push rod 74, aluminum box hole 75, aluminum box 76, control computer 8. DETAILED DESCRIPTION

[0028] The following will be combined with the attached embodiment of the present invention Figure 1-8 , the technical solutions in the embodiments of the present invention are described in detail. Example 1

[0029] like Figure 1-8 As shown, the present invention is an intelligent robot system for detecting moisture content and dry density of backfill soil, including a cabinet 1, a robotic arm 2, a sample rack 3, a weighing and sampling module 4, a horizontal movement module 5, a bag removing module 6, an aluminum box collecting module 7 and a control computer 8.

[0030] The cabinet 1 falls to the ground, and a control computer 8 is disposed on the outer wall of the cabinet 1. The control computer 8 is connected to the robotic arm 2, the weighing and sampling module 4, the horizontal moving module 5 and the aluminum box collecting module 7, and is used for receiving data from each structure and sending instructions to each structure to perform corresponding work. The control computer 8 is an existing product, that is, a general-purpose computer.

[0031] like Figure 1-3 As shown, a mounting platform 11 is provided in the middle of the cabinet 1, and the mounting platform 11 is used to install various parts of the structure. A through hole 14 and a mounting hole 15 are provided in the middle of the mounting platform 11, and the mounting hole 15 is located on the right side of the through hole 14. The mounting hole 15 is used to place and install the weighing and sampling module 4, and the weighing and sampling module 4 is placed on the ground through the bracket, and a bag removing module 6 is provided on the through hole 14.

[0032] A waste collection bucket 12 is provided below the through hole 14. The sample bag falls directly into the waste collection bucket 12 after being unbaked by the unbagging module 6. The waste collection bucket 12 is also used to receive excess and some large-volume backfill soil samples. A cabinet door 13 is provided on the front wall of the cabinet body 1, and the cabinet door 13 corresponds to the position of the waste collection bucket 12.

[0033] The waste collection barrel 12 can be taken out by opening the cabinet door 13, and the waste inside can be cleaned and put back into the cabinet 1 for the next work. At the same time, the cabinet door 13 extends to the right, so opening the cabinet door 13 is also convenient for assisting in fixing or disassembling the bracket of the weighing sample preparation module 4. The shell of the cabinet 1 is located above the cabinet door 13 and an observation and maintenance port is also provided to facilitate observation of the various structures, maintenance and inspection, and cleaning of related structures.

[0034] The left and right sides of the mounting platform 11 are solid platforms, the sample rack 3 is mounted on the right side, and the aluminum box collection module 7 is mounted on the left side. The cabinet 1 is provided with a plurality of columns in the through hole 14, the mounting hole 15 and the corners to enhance the strength of the cabinet 1. Openings are provided on both side walls of the cabinet 1 to facilitate taking out the sample rack 3 and the aluminum box collection module 7.

[0035] like Figure 1-4 As shown, the robot arm 2 is arranged inside the cabinet 1 and connected to the lower surface of its top plate. The robot arm 2 includes a six-axis collaborative robot arm body 21 and a robot arm slide 22, the robot arm slide 22 is connected to the lower surface of the top plate of the cabinet 1, and one end of the six-axis collaborative robot arm body 21 is connected to the slider of the robot arm slide 22.

[0036] The six-axis collaborative robot arm body 21 and the robot arm slide 22 are both existing products, wherein the specific model of the six-axis collaborative robot arm body 21 is FR5, and the specific model of the robot arm slide 22 is QFB140.

[0037] The six-axis collaborative robot arm body 21 can move in any direction, but since the left and right lengths of the cabinet 1 in this system are relatively large, the moving distance of the six-axis collaborative robot arm body 21 itself is insufficient, so a robot arm slide 22 is provided. The six-axis collaborative robot arm body 21 and the robot arm slide 22 cooperate with each other, and the six-axis collaborative robot arm body 21 can move arbitrarily inside the cabinet 1 and clamp related objects.

[0038] The other end of the six-axis collaborative robot arm body 21 is a composite clamp, which is used to clamp different objects. The other end of the six-axis collaborative robot arm body 21 is fixedly connected to the connecting plate 23 through a flange. The connecting plate 23 is provided with a first fixing member 24 and a second fixing member 25. The first fixing member 24 is used to fix the first clamp 26, and the second fixing member 25 is used to fix the eight second clamps 27.

[0039] The first clamping jaw 26 and the second clamping jaw 27 are both cylinder clamping jaws, which are prior art. The specific model of the first clamping jaw 26 is MHZ2-40D, and the specific model of the second clamping jaw 27 is MHZ2-20D.

[0040] The first clamp 26 is used to clamp the hanger 31 from the sample rack 3, and the second clamp 27 is used to clamp a whole row of eight aluminum boxes 76 from the aluminum box collection module 7 and place them on the horizontal moving module 5. After the aluminum box 76 receives an appropriate amount of backfill soil sample, it is clamped and placed back into the aluminum box collection module 7.

[0041] like Figure 1 and Figure 5 As shown, the sample rack 3 is arranged at the right end of the mounting platform 11. The overall structure of the sample rack 3 is a right-angled trapezoidal shape. The high side is in contact with the mounting platform 11, and the hypotenuse is in a step-like shape for placing the hanging rod 31. The area below the hanging rod 31 is empty, and ten hanging rods 31 can be placed on the sample rack 3.

[0042] Four hooks 32 for placing sample bags are arranged equidistantly below the hanging rod 31. The hooks 32 are L-shaped and face the left side. The sample bags contain backfill soil samples. The backfill soil samples are collected by the ring knife method. The ring knife volume Vcm of the backfill soil samples collected is 3 , that is, the volume of the backfill soil sample in the sample bag is Vcm 3 , the mass of the sample bag is known to be m b g, input the above data through the control computer 8.

[0043] Since each hanging rod 31 needs to hang four bags of backfill soil samples with a large mass, a clamping block 33 is arranged above the hanging rod 31 to cooperate with the first clamping jaw 26 of the robot arm 2. Grooves can be arranged on the side walls of the clamping block 33, and protrusions can be arranged at the corresponding positions of the first clamping jaw 26, so as to stably clamp the hanging rod 31, so that the backfill soil in the sample bag can be smoothly placed at the designated position and complete the subsequent experimental detection process.

[0044] A plurality of sample racks 3 may be provided. When all sample bags hung on the entire sample rack 3 have completed further sampling, the entire sample rack 3 may be removed and a new sample rack 3 may be placed to further improve efficiency and save time.

[0045] like Figure 1 and Figure 6 As shown, the weighing and sampling module 4 includes a fixing plate 41, which is connected and fixed to the bracket. The bracket is directly placed on the ground and arranged in the mounting hole 15 of the mounting platform 11. The weighing and sampling module 4 and the cabinet 1 exist independently of each other, and the weighing and sampling module 4 will not affect other structures when working.

[0046] Four first weighing sensors 42 are provided on the upper surface of the fixed plate 41. The first weighing sensors 42 are used to weigh the total mass m0g of the sample bag and the backfill soil sample therein. Each first weighing sensor 42 is provided with a weighing bin 43 for placing the sample bag. The mass of the weighing bin 43 has been removed by the control computer 8. The first weighing sensor 42 is an existing product, and the specific model is TC-06.

[0047] From this, the wet density of the backfill soil sample can be calculated as ρg / cm 3 , sample bag mass m b g, total mass of the sample bag and its internal backfill soil sample m0g, ring knife volume Vcm 3 The wet density of the backfill soil sample is ρg / cm 3 The relationship between them is: When the weighing data of the first weighing sensor 42 is transmitted to the control computer 8, the control computer can calculate the wet density of the backfill soil in each sample bag in combination with the set data.

[0048] The fixed plate 41 is also provided with four through holes, and a bag breaking bin 44 is provided above each through hole. The bag breaking bin 44 is connected to the fixed plate 41 through other rods or connecting blocks. The outlet below the bag breaking bin 44 corresponds to the through hole. Each bag breaking bin 44 corresponds to a weighing bin 43 and is located below the weighing bin 43. Blades for bag breaking are provided in the bag breaking bin 44. The blades are arranged in the left and right directions, and the setting height of the blades is flush with the bottom surface of the weighing bin 43.

[0049] A perforated gate plate 45 is provided between the outlets below the four bag-breaking silos 44 and the corresponding through holes. The perforated gate plate 45 fits with the outlet below each bag-breaking silo 44. The holes on the perforated gate plate 45 can pass through small backfill soil samples, while large pieces or large volumes of sample soil will be retained by the perforated gate plate 45. The perforated gate plate 45 is connected to the movable end of the first electric push rod 46, and the first electric push rod 46 is connected to the fixed plate 41. The first electric push rod 46 is an existing product, and the specific model is TG-300B.

[0050] A binary bin 47 is fixedly provided below the four through holes of the fixed plate 41. The entrance of the binary bin 47 corresponds to the through hole, and the outlet below it is divided into two. A forward vibrator bin 48 is provided below the two outlets of each binary bin 47. The forward vibrator bin 48 is connected to the forward vibrator 49, and the forward vibrator 49 is connected and fixed to the bracket through a fixing seat. The forward vibrator 49 is an existing product, and the specific model is ZV-100.

[0051] The backfill soil sample gradually moves forward through the vibration of the forward vibrator 49 , falls from the outlet at the front end of the forward vibrator silo 48 , and falls onto the horizontal moving module 5 , the rightmost end of which is located below the outlet of the forward vibrator silo 48 .

[0052] The weighing and sampling module 4 is directly placed on the ground without being connected to the cabinet 1, so as to avoid the vibration of the forward vibrator 49 during operation affecting other structures and causing errors in the final detection data. At the same time, the vibration can also prevent the backfill soil on the perforated gate plate 45 from blocking the holes and preventing the backfill soil from falling.

[0053] like Figure 1 and Figure 7-8 As shown, the horizontal moving module 5 includes two synchronous belt slides 51, which are existing products, specifically model 60-TBD. The synchronous bag slides 51 are arranged in parallel on the mounting platform 11 and are located on both sides of the through hole 14. The sliders of the two synchronous belt slides 51 are connected to the same base plate 52, and eight second weighing sensors 53 are evenly arranged on the base plate 52. The second weighing sensors 53 are existing products, specifically model TC-02.

[0054] Each second weighing sensor 53 is provided with a fixing hole 54 for placing the aluminum box 76. The two synchronous belt slides 51 run synchronously, which can drive the base plate 52 to move left or right at the same time. When the base plate 52 is located at the rightmost end, the fixing hole 54 is located below the outlet of the forward vibrator silo 48; when the base plate 52 is located at the leftmost end, the fixing hole 54 is located on the left side of the bag removing module 6.

[0055] Under the action of the forward vibrator 49, when the mass of the backfill soil sample falling into the aluminum box 76 reaches a certain amount, such as 20g, it indicates that the sampling of the aluminum box 76 is completed, and the corresponding forward vibrator 49 stops working. After all sampling is completed, the base plate 52 drives the aluminum box 76 to move to the far left together. After waiting for the data to stabilize, the second weighing sensor 53 weighs the mass m of the backfill soil sample in the aluminum box 76. h g.

[0056] At the same time, the first electric push rod 46 drives the perforated gate plate 45 to move. The backfill soil remaining on the perforated gate plate 45 will not move with it due to the influence of the broken bag silo 44, and will eventually fall into the forward vibrator silo 48 below through the second bin 47. Under the vibration of the forward vibrator 49, all of it will eventually fall into the waste collection bucket 12.

[0057] The second weighing sensor 53 is placed on the aluminum box 76, and after the data is stable, the control computer 8 records the data as m i g, but the displayed data is zero, so weigh the mass of the backfill soil sample m h g does not include the mass of the aluminum box 76 and is the net mass of the backfill soil sample.

[0058] The bag removing module 6 is connected to the mounting platform 11 and is arranged above the horizontal moving module 5. The bag removing module 6 includes a bag removing plate 61 and a soil retaining plate 62. The soil retaining plate 62 is located on the left side of the bag removing plate 61. A hook groove 63 is arranged above the bag removing plate 61. The hook groove 63 matches the hook 33 of the hanging rod 31.

[0059] like Figure 7 As shown, the aluminum box collecting module 7 is arranged at the leftmost end of the installation platform 11, and the aluminum box collecting module 7 includes a four-layer tray rack 71, each layer of the tray rack 71 is provided with a tray frame 72, and each tray frame 72 is provided with an aluminum box tray 73, and aluminum box holes 75 are arranged in an array on the aluminum box tray 73, and the aluminum box holes 75 are arranged in ten rows, with eight holes in each row, and an aluminum box 76 is placed in each aluminum box hole 75.

[0060] Each layer of the pallet rack 71 is provided with a second electric push rod 74, which is an existing product, specifically model DK-550-550. The movable end of the second electric push rod 74 is connected to the pallet frame 72, and the pallet frame 72 can be extended or retracted into the pallet rack 71 under the action of the second electric push rod 74.

[0061] The tray rack 71 starts sampling from the bottom aluminum box tray 73 and goes up in sequence. When all the aluminum boxes 76 in the aluminum box tray 73 are sampled and filled with a proper amount of backfill soil, they are manually taken out as a whole and placed in a baking oven for drying to remove moisture. After drying, they are placed in the corresponding tray frame 72 in sequence.

[0062] The robot arm 2 sequentially grasps the entire row of aluminum boxes 76 through the second clamping claw 27 and places them in the fixing hole 54. The dried aluminum boxes 76 are weighed again. The second weighing sensor 53 weighs the mass m of the backfill soil sample. d g, note that m at this time d g is the displayed data, the mass m of the aluminum box 76 has been removed i g,m d g is the net mass of the backfill soil sample after drying.

[0063] Therefore, the control computer 8 combines the undried backfill soil sample mass m h g, and the corresponding wet density ρg / cm 3 , the moisture content w% can be calculated, the moisture content w% and the mass of the backfill soil sample after drying m d g and the mass of the backfill soil sample before drying m h The relationship between g is: , and the dry density of the backfill soil sample ρ d g / cm 3 、Wet density ρg / cm 3 , and the moisture content w% is: .

[0064] It should be noted that after taking out the aluminum box tray 73 for drying, it needs to be matched one by one when put back in again to avoid incorrect data matching, which will lead to incorrect monitoring data. A sample rack 3 has ten hanging rods 31, and four sample bags are hung under each hanging rod 31. Each sample bag is divided into two when sampling and enters two aluminum boxes 76. Therefore, when a sample rack 3 is sampled, it can just correspond to an entire aluminum box tray 73.

[0065] The wet density of the backfill soil in the same sample bag is the same, and the moisture content and dry density may vary, but the difference will not be large. If the difference is too large, it means that there is a problem with this set of data and it cannot be used as a reference. Dividing a sample bag into two can not only provide more data samples, but also verify each other and improve the accuracy of data detection.

[0066] The movement process of the robot arm and the backfill soil sample is as follows: the base plate 52 initially moves to the far left under the drive of the synchronous belt slide 51, the robot arm 2 moves to the right to the upper left side of the horizontal moving module 5, and the second clamp 27 clamps the entire row of aluminum boxes 76 on the aluminum box tray 73 and places them in the fixed hole 54 of the horizontal moving module 5, and then the base plate 52 moves to the far right, and the composite clamp of the robot arm 2 is lifted and then synchronously moves to between the sample rack 3 and the weighing sample preparation module 4.

[0067] The robot arm 2 clamps the hanging rod 31 with four sample bags through the first clamp 26, and then raises the height and moves to the left, puts the four sample bags into four weighing bins 43 respectively, and slowly lowers the height of the first clamp 26 to weigh the sample bags and the backfill soil samples inside. After the weighing is completed, the robot arm 2 continues to translate to the left, pulling the sample bags into the bag breaking bin 44, and the blade in the bag breaking bin 44 cuts the sample bags.

[0068] The backfill soil falls from the sample bag into the bag breaking bin 44. Affected by the perforated gate plate 45, only a part of the fine backfill soil continues to fall, and falls into the forward vibrator bin 48 through the binary bin 47. Under the action of the forward vibrator 49, it falls into the aluminum box 76 of the horizontal moving module 5 from the outlet at the front of the forward vibrator bin 48.

[0069] When the backfill soil in the aluminum box 76 reaches a certain amount, it indicates that the sampling is completed, and the horizontal moving module 5 drives it to move to the leftmost end, and then the first electric push rod 46 pushes the perforated gate plate 45 to move, so that the backfill soil remaining above the perforated gate plate 45 also falls into the forward vibrator silo 48. At this time, the backfill soil in the forward vibrator silo 48 is redundant, and under the action of the forward vibrator 49, it all falls into the waste collection bucket 12.

[0070] During this process, the robot arm 2 translates to between the bag stripping plate 61 and the retaining plate 62, and then slowly lowers its height so that the hook 32 under the hanging rod 31 corresponds to the hook slot 63 of the bag stripping plate 61. The robot arm 2 slowly translates to the right, and the hook 32 gradually gets stuck in the hook slot 63 and passes through it, while the sample bag is blocked and cannot move together, and finally falls into the waste collection bucket 12.

[0071] After the bag is removed, the robot arm 2 is raised and translated to the right, and the clamped hanging rod 31 is placed on the corresponding position of the sample rack 3. After being raised, it is translated to the space above the aluminum box 76 of the horizontal moving module 5, and the height is slowly lowered. Eight aluminum boxes 76 are clamped at the same time by the second clamp 27, and placed at the corresponding position of the aluminum box tray 73. The above steps are then repeated to further sample all the sample bags.

[0072] The method of using the intelligent robot system for detecting moisture content and dry density of backfill soil in this embodiment is as follows:

[0073] Step 1: Preparation work, hang the sample bag containing backfill soil on the hook 32 of the hanging rod 31, entrust the number (read from the laboratory LIMS) on the software of the control computer 8, select the number of steps and points, and correspond each sample bag number with the position on the sample rack; set the number and position of the aluminum box tray 73, correspond the aluminum box tray 73 with its position, set the number and position of the empty aluminum boxes 76 in the aluminum box tray 73, put the empty aluminum boxes 76 in the aluminum box tray 73, and correspond the aluminum boxes 76 to the numbers one by one; at the same time, set the ring knife volume Vcm for obtaining the backfill soil 3 , sample bag mass m b g.

[0074] For example, the sample bag is a plastic bag, the sample rack 3 is provided with ten rows of hanging rods 31, each hanging rod 31 is provided with four hooks 32 for hanging four sample bags respectively, each sample bag is made into two aluminum box 76 samples after being weighed by the sample preparation module 4, one hanging rod 31 is clamped at a time, and eight aluminum box 76 samples are made in total.

[0075] In the original record:

[0076] Step number - refers to the backfill soil category, for example: numbered S1,

[0077] Point number - take several points in each step, and take two sample bags of backfill soil from each point (i.e. two ring knife samples, use the ring knife to take soil, the ring knife volume is Vcm 3 ), for example: 1 step point 1 two sample bags of backfill soil are numbered S1-P1.1, S1-P1.2,

[0078] Test number: Two parallel aluminum box 76 samples are prepared for each bag of backfill soil. For example, two aluminum box samples are prepared from the first sample bag of backfill soil at step 1, numbered S1-P1.1-1# and S1-P1.1-2#.

[0079] Step 2: Start the test, start the system, the robot arm 2 picks up an empty aluminum box 76 from the aluminum box tray 73 and places it on the horizontal moving module 5, and the second weighing sensor 53 weighs the mass of the aluminum box 76 as m. i g, and then the horizontal moving module 5 moves to the rightmost end and is located below the weighing and sample preparation module 4.

[0080] Specifically: the system is started by controlling the computer 8. The base plate 52 of the horizontal moving module 5 is initially moved to the leftmost side by the synchronous belt slide 51. The robot arm 2 moves rightward to the upper leftmost side of the horizontal moving module 5. The second clamping claw 27 clamps the aluminum box tray 73 with a whole row of aluminum boxes 76 and places them in the fixing hole 54 of the horizontal moving module 5. The second weighing sensor 53 weighs the mass of the aluminum box 76 as m. i g, the control computer 8 will record the mass of the aluminum box 76 at the corresponding number. After the recording is completed, it will be displayed as zero. The data displayed on the backfill soil sample weighed subsequently is the net mass. Then the base plate 52 moves to the rightmost end. At this time, the aluminum box 76 is located below the outlet of the forward vibrator silo 48 of the weighing and sampling module 4. The composite clamp of the robotic arm 2 is lifted and then moved synchronously to between the sample rack 3 and the weighing and sampling module 4.

[0081] Step 3: The robot arm 2 clamps a hanging rod 31, and puts the four sample bags hanging under the hanging rod 31 into the weighing bin 43 of the weighing sample preparation module 4. The total mass of the sample bag and the backfill soil is m0g. According to the set ring knife volume Vcm 3 , sample bag mass m b g, the wet density of the backfill soil can be calculated .

[0082] Specifically: the robot arm 2 clamps the hanging rod 31 of the first row of the sample rack 3 through the first clamp 26, and then lifts it up and moves to the left, and puts the four sample bags hanging under the hanging rod 31 into the four weighing bins 43 of the weighing sample preparation module 4 respectively, and slowly lowers the height of the first clamp 26 to weigh the sample bag and the backfill soil sample inside it. After the weighing data of the first weighing sensor 42 stabilizes, the robot arm 2 stops descending, and the weighing process is completed at this time. The total mass of the sample bag and the backfill soil weighed by the first weighing sensor 42 is m0g.

[0083] The total mass of the sample bag and backfill soil is m0g, and the mass of the sample bag is m b g and ring knife volume Vcm 3 , the wet density of the backfill soil sample can be calculated , where ρ is wet density (g / cm 3 ).

[0084] Step 4: the robot arm 2 moves the sample bag to the bag breaking bin 44 , breaks the sample bag, and further samples the sample; at the same time, the robot arm 2 removes the sample bag under the hanging rod 31 through the bag removing module 6 .

[0085] Specifically: Then the robot arm 2 translates to the left and moves the sample bag to the bag breaking bin 44. The blade arranged in the bag breaking bin 44 cuts the sample bag. After the bag is broken, the backfill soil in the sample bag falls from the bag breaking bin 44 onto the perforated gate plate 45. Some fine backfill soil falls from the holes of the perforated gate plate 45, passes through a binary bin 47 and falls into two forward vibrator bins 48 respectively. Under the action of the forward vibrator 49, this part of the backfill soil gradually moves forward and falls into the aluminum box 76 of the horizontal moving module 5 from the outlet at the front of the forward vibrator bin 48. The second weighing sensor 53 in the horizontal moving module 5 weighs in real time until the mass of the backfill soil falls reaches the preset value (20g). The forward vibrator 49 corresponding to the aluminum box 76 stops working. When the backfill soil in all aluminum boxes 76 reaches the preset value (20g), the sampling work is completed.

[0086] After the bag is broken, the robot arm 2 slowly raises its height, moves the composite clamp to between the bag stripping plate 61 and the retaining plate 62, and then slowly lowers its height so that the hook 32 under the hanging rod 31 corresponds to the hook slot 63 of the bag stripping plate 61. The robot arm 2 slowly translates to the right, and the hook 32 gradually gets stuck in the hook slot 63 and passes through it, while the sample bag is blocked and cannot move together, and finally falls into the waste collection bucket 12, and the bag stripping work is completed.

[0087] Step 5: The horizontal moving module 5 moves to the leftmost end. After stabilization, the second weighing sensor 53 weighs the backfill soil mass in the aluminum box 76 as m h g. The robot arm 2 clamps the aluminum box 76 and places it on the corresponding position of the aluminum box tray 73. At the same time, the weighing sample preparation module 4 cleans up the excess backfill soil. After cleaning, repeat the above steps.

[0088] After sampling and bagging are completed, the horizontal moving module 5 drives the aluminum box 76 to move to the leftmost end through the synchronous belt slide 51, and then pauses to wait for the second weighing sensor 53 to finally weigh the backfill soil mass in the aluminum box 76 as m h g,m h g is not necessarily the preset value (20g). The backfill soil in the aluminum box 76 may increase or decrease due to various reasons. It should be weighed again after stabilization to make the data more accurate. Then the robot arm 2 moves to the top of the horizontal moving module 5, and the second clamp 27 clamps the aluminum box 76 on the horizontal moving module 5 and places it in the corresponding aluminum box tray 73.

[0089] When the aluminum box 76 starts to move to the left, the first electric push rod 46 pushes the perforated gate plate 45 to move, and the perforated gate plate 45 and the outlet of the broken bag bin 44 are gradually staggered. The large volume of backfill soil remaining on the perforated gate plate 45 falls from the through hole of the fixed plate 41, and falls into a forward vibrator bin 48 after passing through the binary bin 47. At the same time, the forward vibrator 49 starts working again, so that the excess and just-fallen backfill soil in the forward vibrator bin 48 is gradually displaced forward, and then falls from the outlet of the forward vibrator bin 48 and directly falls into the waste collection bucket 12. When the excess backfill soil is cleaned up, the above steps are repeated until all sample bags on the sample rack are further sampled.

[0090] Step 6: After all sample bags are sampled, the aluminum box tray 73 is taken out and placed in a baking oven for drying and dehydration. After drying, the aluminum box tray 73 is returned to the corresponding position. The robot arm 2 clamps the aluminum box 76 and places it on the horizontal moving module 5 for re-weighing. The mass of the backfill soil after drying is weighed by the second weighing sensor 53 as m d g, combined with the mass before drying m h g, the moisture content of the backfill soil sample can be calculated , combined with the wet density ρg / cm 3 , the dry density of the backfill soil sample can be calculated .

[0091] Specifically: After all the sample bags on the sample rack 3 have been sampled, the aluminum box collection module 7 is taken out of the cabinet 1, and the aluminum box tray 73 is taken out and placed in a baking oven for drying and dehydration. After the drying is completed, the aluminum box tray 73 is placed in the corresponding tray frame 72, and then the aluminum box collection module 7 is placed in the cabinet 1 as a whole. The second electric push rod 74 pushes out the tray frame 72 at the bottom layer, and the robot arm 2 clamps the aluminum box 76 in the aluminum box tray 73 through the second clamp 27 for re-weighing. The second weighing sensor 53 weighs the mass of the backfill soil sample after drying as m d g, m at this time d g is the displayed data, and the corresponding aluminum box 76 mass m has been removed i g,m d g is the net mass of the backfill soil sample after drying.

[0092] Repeat the operation to weigh all the aluminum boxes 76 in the aluminum box tray 73 in turn. When the aluminum box tray 73 has multiple layers, the weighing order is from bottom to top, which is the same as the sampling order.

[0093] The mass of the backfill soil sample before drying m h g and the mass after drying m d g, the moisture content of the backfill soil sample can be calculated , where w is moisture content (%).

[0094] Wet density of backfill soil sample ρg / cm 3 The dry density of the backfill soil sample can be calculated by combining the moisture content w%. , where ρ d ——Dry density (g / cm 3 ).

[0095] Step 7: After all the aluminum box 76 samples have been tested, shut down the system and clean up all parts of the structure for the next test;

[0096] Specifically: after the inspection is completed, the system is shut down by controlling the computer 8, all the backfill soil samples in the aluminum boxes 76 are emptied and cleaned, and the weighing and sampling module 4 is checked for any residual backfill soil by observing the inspection port, and is cleaned up in time, and all the waste after the above cleaning is put into the waste collection bucket 12, and then the cabinet door 13 is opened, the waste collection bucket 12 is taken out and all the waste inside is cleaned up, and the empty waste collection bucket 12 is put back in place, the cabinet door is closed, and waits for the next use.

[0097] The above embodiments are only for illustrating the technical idea of ​​the present invention, and cannot be used to limit the protection scope of the present invention. Any changes made on the basis of the technical solution in accordance with the technical idea proposed by the present invention shall fall within the protection scope of the present invention.

Claims

1. Intelligent detection robot system for moisture content and dry density of backfill soil, characterized by: The invention comprises a cabinet (1), a mechanical arm (2), a sample rack (3), a weighing sample preparation module (4), a horizontal movement module (5), a bag removal module (6), an aluminum box collection module (7) and a control computer (8). The cabinet (1) is directly placed on the ground. A mounting platform (11) is provided in the middle of the cabinet (1). A through hole (14) is provided in the middle of the mounting platform (11). A mounting hole (15) for the weighing sample preparation module (4) is provided on the right side of the through hole (14). The control computer (8) is arranged on the outer wall of the cabinet (1). The mechanical arm (2) is connected to the lower surface of the top plate of the cabinet (1). The sample rack (3), the weighing sample preparation module (4), the horizontal movement module (5) and the aluminum box collection module (7) are arranged in sequence from right to left in the cabinet (1). The module (7) comprises a sample rack (3) arranged at the rightmost end of the mounting platform (11), the sample rack (3) being in the shape of a step, ten hanging rods (31) being arranged on the sample rack (3), four hooks (32) being arranged equidistantly below the hanging rods (31), the hooks (32) being in an L-shape, the hooks (32) facing the left, a clamping block (33) being arranged above the hanging rods (31), the right end of the horizontal moving module (5) being located below the weighing sample preparation module (4), the weighing sample preparation module (4) comprising a fixing plate (41), the fixing plate (41) being arranged in the mounting hole (15) through a bracket, the bracket being directly placed on the ground, four first weighing sensors (42) being arranged on the upper surface of the fixing plate (41), each of the first weighing sensors (42) having a A weighing bin (43) is provided, each weighing bin (43) corresponds to a bag breaking bin (44), the bag breaking bin (44) is arranged above the through hole of the fixed plate (41) and below the weighing bin (43), a blade is arranged inside the bag breaking bin (44), a gate plate (45) with a hole is provided between the outlet of the bag breaking bin (44) and the through hole of the fixed plate (41), the gate plate (45) with a hole is connected to the movable end of a first electric push rod (46), the first electric push rod (46) is arranged on the upper surface of the fixed plate (41), four binary bins (47) are arranged below the through hole of the fixed plate (41), a forward vibrator bin (48) is provided below the two outlets of each binary bin (47), and the forward vibrator bin The outlet of the (48) is located above the horizontal moving module (5), the forward vibrator bin (48) is connected to the forward vibrator (49), and the forward vibrator (49) is connected to the bracket through a fixing seat. The horizontal moving module (5) includes two synchronous belt slides (51), and the synchronous belt slides (51) are arranged in parallel on both sides of the through hole (14). The sliders of the two synchronous belt slides (51) are connected to the base plate (52), and eight second weighing sensors (53) are evenly arranged on the base plate (52). Each second weighing sensor (53) is provided with a fixing hole (54). When the base plate (52) is located at the rightmost end, the fixing hole (54) is located below the outlet of the forward vibrator bin (48);When the base plate (52) is located at the leftmost end, the fixing hole (54) is located on the left side of the bag removing module (6), the bag removing module (6) is connected to the cabinet (1) and is arranged above the horizontal moving module (5), and the mechanical arm (2), the weighing sample preparation module (4), the horizontal moving module (5) and the aluminum box collecting module (7) are all connected to the control computer (8). ; 2. The intelligent robot system for detecting moisture content and dry density of backfill soil according to claim 1 is characterized in that: The bag removal module (6) is arranged above the through hole (14), a waste collection bucket (12) is arranged below the through hole (14), a cabinet door (13) is arranged at a position of the front wall of the cabinet (1) corresponding to the waste collection bucket (12), and openings are arranged at the side walls of both sides of the cabinet (1) corresponding to the positions of the sample rack (3) and the aluminum box collection module (7).

3. The intelligent robot system for detecting moisture content and dry density of backfill soil according to claim 1 is characterized in that: The robot arm (2) comprises a six-axis collaborative robot arm body (21), one end of the six-axis collaborative robot arm body (21) is connected to a slider of a robot arm slide (22), the robot arm slide (22) is arranged on the lower surface of the top plate of the cabinet (1), the other end of the six-axis collaborative robot arm body (21) is provided with a connecting plate (23), a first fixing member (24) and a second fixing member (25) are arranged on the connecting plate (23), the first fixing member (24) is connected to a first clamping claw (26), and the second fixing member (25) is connected to eight second clamping claws (27).

4. The intelligent robot system for detecting moisture content and dry density of backfill soil according to claim 1 is characterized in that: The bag stripping module (6) comprises a bag stripping plate (61) and a soil retaining plate (62); a hooking groove (63) is arranged above the bag stripping plate (61); and the soil retaining plate (62) is located on the left side of the bag stripping plate (61).

5. The intelligent robot system for detecting moisture content and dry density of backfill soil according to claim 1 is characterized in that: The aluminum box collection module (7) is arranged at the leftmost end of the installation platform (11). The aluminum box collection module (7) comprises a tray rack (71). The tray rack (71) has four layers. Each layer has a tray frame (72). Each tray frame (72) has an aluminum box tray (73). Each tray frame (72) is connected to the movable end of a second electric push rod (74). The second electric push rod (74) is arranged on the tray rack (71). Aluminum box holes (75) are arranged in an array on the aluminum box tray (73). The aluminum box holes (75) are arranged in ten rows, with eight holes in each row. An aluminum box (76) is placed in each aluminum box hole (75).

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