Undisturbed automatic exploratory well sampling robot and sampling method

Abstract

The invention discloses an undisturbed automatic exploratory well sampling robot which comprises an operation unit, the operation unit is connected with a lifting system and a robot body through cables, the lifting system comprises a first steel cable and a second steel cable, the lifting system is connected with a sample feeding mechanism through the second steel cable, and the lifting system is connected with the robot body through the first steel cable. The robot body comprises a supporting mechanism and a sampling mechanism, and the sampling mechanism is located in the supporting mechanism. The invention further discloses a sampling method of the robot. The lifting system is controlled to enable the robot body to descend, support and fix; the robot body is controlled to deflect, feed and sample, after sampling is finished, the lifting system descends and grabs the soil sample buckled by the robot body, and the lifting system sends the soil sample back to the exploratory well opening. The robot and the sampling method have the characteristics of stable support, sampling at multiple positions at the same depth, no disturbance to soil samples in the sampling process, and high sampling and sample sending parallel operation efficiency.

Description

Technical Field

[0001] The invention belongs to the technical field of disturbed soil well sampling, relates to a non-disturbance automatic well sampling robot, and also relates to a non-disturbance automatic well sampling method. Background Art

[0002] Traditional well sampling involves drilling a well to a depth of 10m to 50m underground with a Luoyang shovel, and workers go deep into the well to manually take samples. However, this method has a high risk of casualties among workers, which can easily cause major casualties and economic losses. It is necessary to use robots to replace workers to take samples. For example, the application with publication number CN209894525U provides a non-disturbance well sampling robot. In addition, the application with publication number CN110068478B discloses a well sampling method based on a non-disturbance well sampling robot. They proposed a non-disturbance well sampling robot supported by a supporting airbag expansion support. However, the robot has the problem of inconvenience caused by the need to configure air source equipment for field operations. Specifically, when sampling and delivering samples in parallel, there is a problem of secondary disturbance to the sampling caused by the swing in the single steel wire delivery. In addition, the use of robot groove sampling has the problem of soil sampling disturbance and low sampling efficiency caused by the reverse effect of the robot groove force fluctuation and the instability of the airbag support device.

[0003] An automatic soil sampling robot with publication number CN111781009B, an automatic soil sampling robot with publication number CN117232892B, and a new soil sampling robot with publication number CN116713970A all propose to adopt a wheeled or tracked body structure, and their usage scenarios are mostly vertical downward working conditions on the ground. However, due to their large size and complex structure, they are not suitable for working on the well wall in the exploration well, and there is a problem that sampling and sample delivery cannot be performed in parallel, resulting in low efficiency. Summary of the invention

[0004] The purpose of the present invention is to provide a non-disturbance automatic well sampling robot, which has the characteristics of non-disturbance to soil samples, multi-directional well wall direction, and automatic sampling of sampling and sample delivery in parallel.

[0005] Another object of the present invention is to provide a disturbance-free automatic well sampling method.

[0006] The first technical solution adopted by the present invention is a disturbance-free automatic well exploration sampling robot, which includes an operating unit, the operating unit is connected to a lifting system and a robot body through a cable, the lifting system includes a first steel cable and a second steel cable, the lifting system is connected to a sample delivery mechanism through the second steel cable, the lifting system is connected to the robot body through the first steel cable, the robot body includes a supporting mechanism and a sampling mechanism, and the sampling mechanism is located inside the supporting mechanism.

[0007] The present invention is characterized in that: The lifting system includes a lifting bracket, a plurality of lifting ears are arranged on the top crossbeam of the lifting bracket, a winch box is fixedly connected to the plurality of lifting ears, a first winch motor is fixedly connected to the winch box, a gear box is arranged on one side of the winch box, a first gear pair and a second gear pair are arranged in the gear box, a rotating shaft of the first winch motor is connected to an upper wheel of the first gear pair, a first winch wheel is connected to the axle of a lower wheel of the first gear pair, and a first steel cable is wound on the first winch wheel; A second hoisting motor is also fixedly connected in the hoisting box, a rotating shaft of the second hoisting motor is connected to the upper wheel of the second gear pair, a second hoisting wheel is connected to the axle of the lower wheel of the second gear pair, and the second steel cable is wound on the second hoisting wheel.

[0008] The first guide rod and the second guide rod are also fixed in the winch box. The first guide rod and the second guide rod are both located at the bottom of the winch box. First guide wheels are rotatably provided at both ends of the first guide rod, and a second guide wheel is rotatably provided in the middle of the second guide rod. The first steel cable is wound on the first guide wheel, and the second steel cable is wound on the second guide wheel.

[0009] The supporting mechanism includes a first supporting plate, and the sample feeding mechanism includes a guide plate, which passes through the center of the first supporting plate, and the two ends of the guide plate coincide with the edge of the first supporting plate. The first supporting plate and the guide plate coincide with each other, and the first steel cable is fixedly connected to the first supporting plate. The second steel cable passes through the guide plate at the center of the first supporting plate and is connected to a lifting plate. A plurality of ratchet rods are fixedly connected to the side of the lifting plate away from the lifting system, and each ratchet rod is fixed with a ratchet, and soil samples can be engaged between the lifting plate, the ratchet rod and the ratchet.

[0010] The supporting mechanism also includes a second supporting plate, four first supporting links are commonly connected to the edges of the first supporting plate and the second supporting plate at relative positions, the four first supporting links are equidistantly distributed, each first supporting link is also sequentially fixedly connected to a third supporting plate and a fourth supporting plate on a side away from the lifting system, a supporting motor is fixedly connected to the bottom of the fourth supporting plate, a plurality of driving forks are fixedly connected to the rotating shaft of the supporting motor, each driving fork is located between the third supporting plate and the fourth supporting plate, each driving fork is slidably connected to a first driving arm, the other end of each first driving arm is hingedly connected to a first supporting claw, each first supporting claw is located on the outside of the third supporting plate and the fourth supporting plate, and a driving rod is connected to the built-in groove of each first driving arm.

[0011] The driving rod is connected to the first support plate, the second support plate, the third support plate and the fourth support plate in a rotational manner from top to bottom in a vertical direction, each driving rod is fixedly connected to a second driving arm between the first support plate and the second support plate, and the other end of each second driving arm is hingedly connected to a second supporting claw; The sampling mechanism includes a fifth support plate, which is an integrated roller structure with the second support plate. The fifth support plate is fixedly connected to two second support rods and two third support rods. The other ends of the two second support rods and the third support rods are fixedly connected to a sixth support plate. The sixth support plate is an integrated roller structure with the third support plate. The sixth support plate is coaxially connected to the third support plate with a rotating motor.

[0012] The third supporting link is fixedly connected to the first advance and retreat gear box, the adjacent third supporting link is fixedly connected to the second advance and retreat gear box, one end of the first advance and retreat gear box is fixedly connected to the advance and retreat reduction mechanism by bolts, the advance and retreat reduction mechanism and the second advance and retreat gear box are connected with an advance and retreat transmission shaft by internal and external splines, the bottom of the advance and retreat reduction mechanism is fixedly connected to the advance and retreat motor, the first advance and retreat gear box and the second advance and retreat gear box are also rotatably connected to the advance and retreat screw pairs respectively, the other ends of the two advance and retreat screw pairs are respectively connected to the two second supporting links by integrated bearings, and the two bearings are respectively fixed in the two second supporting links.

[0013] A spindle support arm is also slidably connected to the advance and retract screw pair, and the two spindle support arms are connected to a deflection gear box through a built-in bearing. A deflection reduction mechanism is rotatably connected between the two deflection gear boxes through a deflection transmission shaft. A deflection motor is arranged at one end of the deflection reduction mechanism, and the two deflection gear boxes are also connected to the spindle motor through bolts. A soil sample cutting knife is keyed to the end of the deflection gear box away from the spindle motor.

[0014] The first technical solution adopted by the present invention is a non-disturbance automatic well sampling method, which adopts a non-disturbance automatic well sampling robot, and specifically includes the following steps: Step 1: Confirm the soil sample location and sampling task. The operating unit connects the lifting system and the robot body through cables, and installs the lifting system at the wellhead. Step 2: Determine the well data setting according to the operation site, control the lifting system through the operating unit, and make the robot body descend to the preset well depth position, and support and fix it on the well wall; Step 3, the robot body is controlled by the operating unit to deflect, feed and sample, and after the sampling is completed, the robot body retreats; Step 4, grab the soil sample taken by the robot body, then the lifting system rises and sends the soil sample back to the wellhead; Step 5, repeat steps 3-4 until four samplings are completed at the same well depth; Step 6: If the sampling task is completed, the process ends; if the sampling task is not completed, the process proceeds to the next well depth and steps 2-5 are repeated.

[0015] The present invention is characterized in that: Step 2 is as follows: Step 201, by operating the sampling robot monitoring interface of the operation unit, setting the "support+" action instruction, the support motor of the robot body transmits the support driving power to the four first support claws through the driving fork and the four first driving arms; Step 202, the support motor transmits the support driving power to the four second support claws through the drive fork, the four first drive arms, the four drive rods and the four second drive arms at the same time; Step 203, a supporting force is formed between the first driving arm and the second driving arm in the supporting mechanism and the wall of the exploration well, thereby realizing fixed support of the robot body at a preset exploration well depth position; Step 3 is as follows: Step 301, by operating the sampling robot monitoring interface of the operation unit, set the "deflection +" action command, the deflection motor rotates to drive the deflection reduction mechanism, and realizes the deflection of the main shaft motor and the soil sample cutter in the sampling or sample delivery direction. The default initial deflection position of the robot is the sample delivery direction toward the exploration well head, and the robot body is set to the "deflection -" action command to realize the deflection of the soil sample cutter toward the exploration well wall sampling direction; Step 302, by operating the lifting monitoring interface of the operation unit, setting the feed speed of the robot body, "feed +" action command, the advance and retreat motor) rotates to drive the advance and retreat screw pair to rotate, and realizes the feed action and feed speed control of the rotating motor, the deflection motor, the deflection reduction mechanism, the spindle support arm and the soil sample cutting knife; Step 303, by operating the sampling robot monitoring interface of the operation unit, setting the robot body cutting speed "+ / -" action command, the spindle motor rotates to drive the soil sample cutting knife to perform the soil sample cutting action; Step 304, after the soil sample feeding and cutting operations are completed, the micro-deflection and rotation "+ / -" action instructions are set by operating the sampling robot monitoring interface of the operation unit to realize the deduction action of the soil sample cutting knife on the soil sample; Step 305, after the soil sample is taken, the robot body is set to "deflect -" action command by operating the sampling robot monitoring interface of the operation unit to deflect the soil sample to the sampling direction of the exploration well wall, so as to facilitate the sample delivery mechanism to grab the soil sample; Step 306, by operating the sampling robot monitoring interface of the operation unit, setting the robot body "support-" action instruction, the anti-support action can be performed to separate the robot body from the exploration well wall; Step 4 is as follows: Step 401, after the sample delivery mechanism grabs the soil sample, the robot body "sample delivery +", "sample delivery distance" and "sample delivery speed" instructions are set in sequence through the sample delivery monitoring interface of the operation unit, and the second winch motor drives the second winch wheel to rotate through the second gear pair in the gear box, and the second steel cable wound on the second winch wheel guides the second steel cable along the second guide wheel until it descends to the preset exploration well depth position of the sample delivery mechanism; Step 402, the ratchet and the ratchet rod are opened by the deadweight of the sample delivery mechanism. When the sample delivery mechanism is lifted, the ratchet and the ratchet rod are closed by the pulling force of the second steel cable through the lifting plate, thereby grabbing the soil sample. Step 403, by operating the sample delivery monitoring interface of the operation unit, set the robot body "sample delivery -", "sample delivery distance" and "sample delivery speed" instructions in sequence to achieve the lifting and delivery of soil samples to the surface of the exploration well; Step 5 is specifically as follows: during the soil sample lifting process, by operating the sampling robot monitoring interface of the operation unit, the robot body "rotation + / -" and rotation speed action instructions are set, and the rotating motor drives the sixth drive support plate, the second support connecting rod, the third support connecting rod, the fifth support plate, and the second support plate, and then drives the advance and retreat reduction mechanism, the advance and retreat screw pair, the deflection motor, the deflection reduction mechanism, and the spindle support arm to rotate, and further drives the soil sample cutting knife to rotate, so as to realize the control of the four sampling positions of the sampling device.

[0016] The beneficial effects of the present invention are: 1. The disturbance-free automatic well sampling robot of the present invention adopts a crank-connecting rod multi-point rigid-flexible support structure, and a support spring is arranged between the driving arm and the support claw, so as to realize reliable support when the roundness of the well wall is irregular, and can absorb impact loads, thereby reducing the disturbance to the soil sample. The support structure solves the problem of soil sample disturbance caused by unstable support of the sampling equipment during the sampling process.

[0017] 2. The disturbance-free automatic well sampling robot of the present invention adopts a special soil sampling tool with a large diameter ratio and multi-point main cutting. The soil sampling tool is cylindrical and includes 3 main tool holders, each of which is provided with two cutting heads. It solves the problems in the prior art that the soil samples cannot be cut in a rotating manner, actively fed, and radially undisturbed or micro-disturbed, thereby improving the survival rate and efficiency of soil sampling.

[0018] 3. The disturbance-free automatic well sampling robot of the present invention proposes an integrated structure of advance, retreat, deflection and rotation. The sampling device is provided with a deflection motor and a deflection mechanism, which can realize the deflection of the sampling or sample delivery direction of the soil sample cutter. The rotating motor can realize soil sampling at four positions at the same depth of the well, and realizes multi-directional well wall sampling at the same depth position, thereby improving the sampling quantity and sampling efficiency at the same depth.

[0019] The non-disturbance automatic well sampling robot of the present invention has the characteristics of stable support, sampling at multiple positions at the same depth, no disturbance or micro-disturbance to soil samples during the sampling process, and high efficiency of parallel operation of sampling and sample delivery. It also has the characteristics of small size, light weight, and high degree of automation. The non-disturbance automatic well sampling robot of the present invention replaces traditional manual sampling and realizes automatic sampling. The non-disturbance automatic well sampling method of the present invention has the characteristics of simple process, convenient operation, and high degree of visualization. It can realize parallel operation of sampling and sample delivery, and can perform 4 samplings at the same well depth, ensuring the adequacy of the sampled samples and the consistency of the data. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic diagram of the overall structure of the non-disturbance automatic well exploration sampling robot of the present invention; Figure 2 This is a schematic diagram of the interactive interface structure of the non-disturbance automatic well sampling robot operation unit of the present invention; Figure 3 It is a schematic diagram of the structure of the sampling and lifting system of the non-disturbance automatic well sampling robot of the present invention; Figure 4 This is a schematic diagram of the internal structure of the winch box of the non-disturbance automatic well sampling robot of the present invention; Figure 5 It is a schematic diagram of the soil sample grabbing mechanism of the non-disturbance automatic well sampling robot of the present invention; Figure 6 It is a schematic diagram of the main structure of the sampling robot in the non-disturbance automatic well exploration sampling robot of the present invention; Figure 7 This is the intention of the supporting mechanism structure group of the non-disturbance automatic well sampling robot of the present invention; Figure 8 This is a schematic diagram of the overall structure of the sampling mechanism of the non-disturbance automatic well sampling robot of the present invention; Fig. 9 This is a schematic diagram of the internal structure of the sampling mechanism of the non-disturbance automatic well sampling robot of the present invention; Fig.10 This is a schematic diagram of the sampling tool structure of the non-disturbance automatic well sampling robot of the present invention; Fig.11 1 is a flow chart of the non-disturbance automatic well sampling method of the present invention; Fig.12 It is the flow chart 2 of the disturbance-free automatic well exploration sampling method of the present invention.

[0021] In the figure, 1. operating unit; 2. lifting system; 2-1. lifting bracket; 2-2. sample feeding mechanism; 2-2-1. guide plate; 2-2-2. guide plate; 2-2-3. lifting plate; 2-2-4. ratchet rod; 2-2-5. ratchet; 2-3. first steel cable; 2-4. second steel cable; 2-5. first winch wheel; 2-6. second winch wheel; 2-7. gear box; 2-7-1. first gear pair; 2-7-2. second gear pair; 2-8. first winch motor 2-9. Second hoisting motor; 2-10. Hoisting box; 2-11-1. First guide rod; 2-11-2. Second guide rod; 2-12-1. First guide wheel; 2-12-2. Second guide wheel; 2-13. Lifting lug; 3. Robot body; 3-1. Support mechanism; 3-1-1. First support plate; 3-1-2. Second support plate; 3-1-3. Third support plate; 3-1-4. Fourth support plate; 3-1-5. Support motor; 3-1-6. Driving fork; 3-1-7. First driving arm; 3-1-8. Driving rod; 3-1-9. First supporting link; 3-1-10. Second driving arm; 3-1-11. First supporting claw; 3-1-12. Second supporting claw; 3-2. Sampling mechanism; 3-2-1. Fifth supporting plate; 3-2-2. Sixth supporting plate; 3-2-3. Second supporting link; 3-2-4. Rotating motor; 3-2-5. Spindle motor; 3-2-6. Advance and retraction motor; 3-2-7. Advance Reverse reduction mechanism; 3-2-7-1. First advance and retreat gearbox; 3-2-7-2. Second advance and retreat gearbox; 3-2-7-3. Advance and retreat transmission shaft; 3-2-8. Advance and retreat screw pair; 3-2-9. Deflection motor; 3-2-10. Deflection reduction mechanism; 3-2-10-1. Deflection gearbox; 3-2-10-2. Deflection transmission shaft; 3-2-11. Spindle support arm; 3-2-12. Soil sample cutting knife; 3-2-13. Third support connecting rod; 4. Soil sample. DETAILED DESCRIPTION

[0022] The present invention is described in detail below with reference to the accompanying drawings and specific embodiments.

[0023] like Figure 1 As shown, the disturbance-free automatic well sampling robot includes an operating unit 1, which is connected to a lifting system 2 and a robot body 3 through a cable, the lifting system 2 includes a first steel cable 2-3 and a second steel cable 2-4, the lifting system 2 is connected to a sample delivery mechanism 2-2 through the second steel cable 2-4, the lifting system 2 is connected to a robot body 3 through the first steel cable 2-3, the robot body 3 includes a support mechanism 3-1 and a sampling mechanism 3-2, and the sampling mechanism 3-2 is located in the support mechanism 3-1. Figure 2 As shown, the operating unit 1 includes a lifting monitoring interface, a sampling robot monitoring interface and a sample delivery monitoring interface.

[0024] like Figure 3 As shown, the lifting system 2 includes a lifting bracket 2-1, and a plurality of lifting ears 2-13 are arranged on the top cross beam of the lifting bracket 2-1. The plurality of lifting ears 2-13 are fixedly connected to a winch box 2-10. Figure 4 As shown, the first hoisting motor 2-8 is fixedly connected to the hoisting box 2-10, and a gear box 2-7 is arranged on one side of the hoisting box 2-10. The gear box 2-7 is provided with a first externally meshing gear pair 2-7-1 and a second gear pair 2-7-2. The rotating shaft of the first hoisting motor 2-8 is connected to the upper wheel of the first gear pair 2-7-1, and the lower wheel axle of the first gear pair 2-7-1 is connected to the first hoisting wheel 2-5, and the first steel cable 2-3 is wound on the first hoisting wheel 2-5.

[0025] like Figure 4 As shown, a second hoisting motor 2-9 is also fixedly connected in the hoisting box 2-10. The second hoisting motor 2-9 and the first hoisting motor 2-8 are located in the same horizontal plane. The rotating shaft of the second hoisting motor 2-9 is connected to the upper wheel of the second gear pair 2-7-2, and the lower wheel axle of the second gear pair 2-7-2 is connected to the second hoisting wheel 2-6. The second steel cable 2-4 is wound on the second hoisting wheel 2-6. The first guide rod 2-11-1 and the second guide rod 2-11-2 are also fixed in the winch box 2-10. The first guide rod 2-11-1 and the second guide rod 2-11-2 are both located at the bottom of the winch box 2-10. The first guide rod 2-11-1 is rotatably provided with a first guide wheel 2-12-1 at both ends, and the second guide rod 2-11-2 is rotatably provided with a second guide wheel 2-12-2 in the middle. The first steel cable 2-3 is wound around the first guide wheel 2-12-1, and the second steel cable 2-4 is wound around the second guide wheel 2-12-2.

[0026] like Figure 5 As shown, the supporting mechanism 3-1 includes a first supporting plate 3-1-1, and the sample feeding mechanism 2-2 includes a guide piece 2-2-1, the guide piece 2-2-1 passes through the center of the first supporting plate 3-1-1, and the two ends of the guide piece 2-2-1 coincide with the edge of the first supporting plate 3-1-1, and the first steel cable 2-3 is fixedly connected to the overlapping parts of the first supporting plate 3-1-1 and the guide piece 2-2-1, and the second steel cable 2-4 passes through the guide piece 2-2-1 at the center of the first supporting plate 3-1-1 and is connected to a lifting plate 2-2-3, and a plurality of ratchet rods 2-2-4 are fixedly connected to the lifting plate 2-2-3 away from the lifting system 2, and each ratchet rod 2-2-4 is fixedly connected to a ratchet 2-2-5, and the lifting plate 2-2-3, the ratchet rod 2-2-4 and the ratchet 2-2-5 can be engaged with the soil sample 4.

[0027] like Figure 6 As shown, the robot body 3 includes a supporting mechanism 3-1 and a sampling mechanism 3-2, and the sampling mechanism 3-2 is located inside the supporting mechanism 3-1. Figure 7As shown, the support mechanism 3-1 also includes a second support plate 3-1-2, and the first support plate 3-1-1 and the second support plate 3-1-2 are commonly connected to four first support links 3-1-9 at relative positions on their edges. The four first support links 3-1-9 are equidistantly distributed, and each first support link 3-1-9 is also sequentially fixedly connected to a third support plate 3-1-3 and a fourth support plate 3-1-4 on the side away from the lifting system 2. A support motor 3-1-5 is fixedly connected to the bottom of the fourth support plate 3-1-4, and the support motor 3-1-5 has a rotating shaft A plurality of driving forks 3-1-6 are fixedly connected thereto, each driving fork 3-1-6 is located between the third support plate 3-1-3 and the fourth support plate 3-1-4, each driving fork 3-1-6 is slidably connected to a first driving arm 3-1-7, the other end of each first driving arm 3-1-7 is hingedly connected to a first supporting claw 3-1-11, each first supporting claw 3-1-11 is located on the outside of the third support plate 3-1-3 and the fourth support plate 3-1-4, and a driving rod 3-1-8 is connected to the built-in groove of each first driving arm 3-1-7. The driving rod 3-1-8 is rotated from top to bottom in the vertical direction and is connected to the first support plate 3-1-1, the second support plate 3-1-2, the third support plate 3-1-3 and the fourth support plate 3-1-4 in sequence. Each driving rod 3-1-8 is fixedly connected to the first support plate 3-1-1 and the second support plate 3-1-2 with a second driving arm 3-1-10, and the other end of each second driving arm 3-1-10 is hingedly connected to the second support claw 3-1-12.

[0028] like Figure 8 As shown, the sampling mechanism 3-2 includes a fifth support plate 3-2-1, the fifth support plate 3-2-1 and the second support plate 3-1-2 are integrated roller structures, the fifth support plate 3-2-1 is fixedly connected with two second support links 3-2-3 and two third support links 3-2-13, the other ends of the two second support links 3-2-3 and the third support links 3-2-13 are fixedly connected with a sixth support plate 3-2-2, the sixth support plate 3-2-2 and the third support plate 3-1-3 are integrated roller structures, and the sixth support plate 3-2-2 and the third support plate 3-1-3 are coaxially connected with a rotating motor 3-2-4.

[0029] like Fig. 9As shown, the third supporting link 3-2-13 is fixedly connected to the first advance and retreat gearbox 3-2-7-1, the adjacent third supporting link 3-2-13 is fixedly connected to the second advance and retreat gearbox 3-2-7-2, one end of the first advance and retreat gearbox 3-2-7-1 is fixedly connected to the advance and retreat reduction mechanism 3-2-7 by bolts, the advance and retreat reduction mechanism 3-2-7 and the second advance and retreat gearbox 3-2-7-2 are connected with the advance and retreat transmission shaft 3-2-7-3 by internal and external splines, the bottom of the advance and retreat reduction mechanism 3-2-7 is fixedly connected to the advance and retreat motor 3-2-6, the first advance and retreat gearbox 3-2-7-1 and the second advance and retreat gearbox 3-2-7-2 are also rotatably connected to the advance and retreat screw pairs 3-2-8 respectively, the other ends of the two advance and retreat screw pairs 3-2-8 are respectively connected to the two second supporting links 3-2-3 by integrated bearings, and the two bearings are respectively fixed in the two second supporting links 3-2-3.

[0030] The two advance and retreat screw pairs 3-2-8 are also slidably connected with a spindle support arm 3-2-11, and the two spindle support arms 3-2-11 are connected with a deflection gear box 3-2-10-1 through a built-in bearing. The two deflection gear boxes 3-2-10-1 are rotatably connected with a deflection reduction mechanism 3-2-10 through a deflection transmission shaft 3-2-10-2. A deflection motor 3-2-9 is arranged at one end of the deflection reduction mechanism 3-2-10. The two deflection gear boxes 3-2-10-1 are also connected with a spindle motor 3-2-5 through bolts. The end of the deflection gear box 3-2-10-1 away from the spindle motor 3-2-5 is key-connected with a soil sample cutting knife 3-2-12, such as Fig.10 As shown, the soil sample cutting tool 3-2-12 is cylindrical and includes three main tool holders, each of which is provided with two cutting tool heads.

[0031] Example 1 like Figure 1 As shown, the disturbance-free automatic well sampling robot includes an operating unit 1, which is connected to a lifting system 2 and a robot body 3 through a cable, the lifting system 2 includes a first steel cable 2-3 and a second steel cable 2-4, the lifting system 2 is connected to a sample delivery mechanism 2-2 through the second steel cable 2-4, the lifting system 2 is connected to a robot body 3 through the first steel cable 2-3, the robot body 3 includes a support mechanism 3-1 and a sampling mechanism 3-2, and the sampling mechanism 3-2 is located in the support mechanism 3-1. Figure 2 As shown, the operating unit 1 includes a lifting monitoring interface, a sampling robot monitoring interface and a sample delivery monitoring interface.

[0032] Example 2 The non-disturbance automatic well sampling robot of Example 1 is used, as Figure 3 As shown, the lifting system 2 includes a lifting bracket 2-1, and a plurality of lifting ears 2-13 are arranged on the top cross beam of the lifting bracket 2-1. The plurality of lifting ears 2-13 are fixedly connected to a winch box 2-10. Figure 4 As shown, the first hoisting motor 2-8 is fixedly connected to the hoisting box 2-10, and a gear box 2-7 is arranged on one side of the hoisting box 2-10. The gear box 2-7 is provided with a first externally meshing gear pair 2-7-1 and a second gear pair 2-7-2. The rotating shaft of the first hoisting motor 2-8 is connected to the upper wheel of the first gear pair 2-7-1, and the lower wheel axle of the first gear pair 2-7-1 is connected to the first hoisting wheel 2-5, and the first steel cable 2-3 is wound on the first hoisting wheel 2-5.

[0033] like Figure 4 As shown, a second hoisting motor 2-9 is also fixedly connected in the hoisting box 2-10. The second hoisting motor 2-9 and the first hoisting motor 2-8 are located in the same horizontal plane. The rotating shaft of the second hoisting motor 2-9 is connected to the upper wheel of the second gear pair 2-7-2, and the lower wheel axle of the second gear pair 2-7-2 is connected to the second hoisting wheel 2-6. The second steel cable 2-4 is wound on the second hoisting wheel 2-6. The first guide rod 2-11-1 and the second guide rod 2-11-2 are also fixed in the hoisting box 2-10. The first guide rod 2-11-1 and the second guide rod 2-11-2 are both located at the bottom of the hoisting box 2-10. The first guide wheels 2-12-1 are rotatably provided at both ends of the first guide rod 2-11-1, and the second guide wheel 2-12-2 is rotatably provided in the middle of the second guide rod 2-11-2. The first steel cable 2-3 is wound on the first guide wheel 2-12-1, and the second steel cable 2-4 is wound on the second guide wheel 2-12-2. Among them, the lifting system 2 uses the second steel cable 2-4 to realize the lifting and lowering of the sample delivery mechanism 2-2. The lifting process realizes the guiding function of the sample delivery mechanism 2-2 through the two first steel cables 2-3, ensuring that the sample delivery mechanism 2-2 accurately reaches the set angle position for grabbing soil samples.

[0034] Example 3 The non-disturbance automatic well sampling robot of Example 2 is used, as Figure 5 As shown, the supporting mechanism 3-1 includes a first supporting plate 3-1-1, and the sample feeding mechanism 2-2 includes a guide piece 2-2-1, the guide piece 2-2-1 passes through the center of the first supporting plate 3-1-1, and the two ends of the guide piece 2-2-1 coincide with the edge of the first supporting plate 3-1-1, and the first steel cable 2-3 is fixedly connected to the overlapping parts of the first supporting plate 3-1-1 and the guide piece 2-2-1, and the second steel cable 2-4 passes through the guide piece 2-2-1 at the center of the first supporting plate 3-1-1 and is connected to a lifting plate 2-2-3, and a plurality of ratchet rods 2-2-4 are fixedly connected to the lifting plate 2-2-3 away from the lifting system 2, and each ratchet rod 2-2-4 is fixedly connected to a ratchet 2-2-5, and the lifting plate 2-2-3, the ratchet rod 2-2-4 and the ratchet 2-2-5 can be engaged with the soil sample 4.

[0035] like Figure 6As shown, the robot body 3 includes a supporting mechanism 3-1 and a sampling mechanism 3-2, and the sampling mechanism 3-2 is located inside the supporting mechanism 3-1. Figure 7 As shown, the support mechanism 3-1 also includes a second support plate 3-1-2, and the first support plate 3-1-1 and the second support plate 3-1-2 are commonly connected to four first support links 3-1-9 at relative positions on their edges. The four first support links 3-1-9 are equidistantly distributed, and each first support link 3-1-9 is also sequentially fixedly connected to a third support plate 3-1-3 and a fourth support plate 3-1-4 on the side away from the lifting system 2. A support motor 3-1-5 is fixedly connected to the bottom of the fourth support plate 3-1-4, and the support motor 3-1-5 has a rotating shaft A plurality of driving forks 3-1-6 are fixedly connected thereto, each driving fork 3-1-6 is located between the third support plate 3-1-3 and the fourth support plate 3-1-4, each driving fork 3-1-6 is slidably connected to a first driving arm 3-1-7, the other end of each first driving arm 3-1-7 is hingedly connected to a first supporting claw 3-1-11, each first supporting claw 3-1-11 is located on the outside of the third support plate 3-1-3 and the fourth support plate 3-1-4, and a driving rod 3-1-8 is connected to the built-in groove of each first driving arm 3-1-7. The driving rod 3-1-8 is rotated from top to bottom in the vertical direction and is connected to the first support plate 3-1-1, the second support plate 3-1-2, the third support plate 3-1-3 and the fourth support plate 3-1-4 in sequence. Each driving rod 3-1-8 is fixedly connected to the second support plate 3-1-10 between the first support plate 3-1-1 and the second support plate 3-1-2. The other end of each second driving arm 3-1-10 is hingedly connected to the second support claw 3-1-12, wherein the support motor (3-1-5) is driven in a clockwise and counterclockwise bidirectional manner, driving a plurality of driving arms connected to the driving rod (3-1-8) to realize the extension and support of a plurality of support claws of the sampling robot or the retraction and separation from the exploration well wall.

[0036] Example 4 The non-disturbance automatic well sampling robot of Example 3 is used, as Figure 8 As shown, Figure 8 As shown, the sampling mechanism 3-2 includes a fifth support plate 3-2-1, the fifth support plate 3-2-1 and the second support plate 3-1-2 are integrated roller structures, the fifth support plate 3-2-1 is fixedly connected with two second support links 3-2-3 and two third support links 3-2-13, the other ends of the two second support links 3-2-3 and the third support links 3-2-13 are fixedly connected with a sixth support plate 3-2-2, the sixth support plate 3-2-2 and the third support plate 3-1-3 are integrated roller structures, and the sixth support plate 3-2-2 and the third support plate 3-1-3 are coaxially connected with a rotating motor 3-2-4.

[0037] like Fig. 9As shown, the third supporting link 3-2-13 is fixedly connected to the first advance and retreat gearbox 3-2-7-1, the adjacent third supporting link 3-2-13 is fixedly connected to the second advance and retreat gearbox 3-2-7-2, one end of the first advance and retreat gearbox 3-2-7-1 is fixedly connected to the advance and retreat reduction mechanism 3-2-7 by bolts, the advance and retreat reduction mechanism 3-2-7 and the second advance and retreat gearbox 3-2-7-2 are connected with the advance and retreat transmission shaft 3-2-7-3 by internal and external splines, the bottom of the advance and retreat reduction mechanism 3-2-7 is fixedly connected to the advance and retreat motor 3-2-6, the first advance and retreat gearbox 3-2-7-1 and the second advance and retreat gearbox 3-2-7-2 are also rotatably connected to the advance and retreat screw pairs 3-2-8 respectively, the other ends of the two advance and retreat screw pairs 3-2-8 are respectively connected to the two second supporting links 3-2-3 by integrated bearings, and the two bearings are respectively fixed in the two second supporting links 3-2-3.

[0038] Example 5 The disturbance-free automatic well sampling robot of Example 4 is adopted, and the two advance and retreat screw pairs 3-2-8 are also slidably connected with the main shaft support arms 3-2-11, and the two main shaft support arms 3-2-11 are connected with the deflection gear boxes 3-2-10-1 through the built-in bearings, and the two deflection gear boxes 3-2-10-1 are rotatably connected with the deflection reduction mechanism 3-2-10 through the deflection transmission shaft 3-2-10-2, and the deflection reduction mechanism 3-2-10 is provided with a deflection motor 3-2-9 at one end, and the two deflection gear boxes 3-2-10-1 are also connected with the main shaft motor 3-2-5 through bolts, and the deflection gear box 3-2-10-1 is keyed to the end away from the main shaft motor 3-2-5. Fig.10 As shown, the soil sample cutting tool 3-2-12 is cylindrical and includes three main tool holders, each of which is provided with two cutting tool heads.

[0039] Example 6 The non-disturbance automatic well sampling robot of Example 5 is used, as Fig.11 , Fig.12As shown, sampling preparation is carried out, and the sampling setting subroutine, lifting subroutine, sampling sample program, sample delivery program, rotation subroutine, etc. are started in sequence. The specific operation is that the operator sets the "support +" action instruction by operating the sampling robot monitoring interface of the operation unit 1, and the support motor 3-1-5 of the robot body 3 transmits the support driving power to the four first support claws 3-1-11 through the driving fork 3-1-6 and the four first driving arms 3-1-7; at the same time, the support driving power is transmitted to the four second support claws 3-1-12 through the driving fork 3-1-6, the four first driving arms 3-1-7, the four driving rods 3-1-8 and the four second driving arms 3-1-10. The first driving arm 3-1-7 and the second driving arm 3-1-10 in the support mechanism 3-1 form a supporting force with the exploration well wall, thereby realizing the fixed support of the robot body 3 at the preset exploration well depth position. Setting the "support -" action instruction of the robot body 3 can perform a reverse action to realize the separation of the robot body 3 from the exploration well wall. Among them, a support spring is arranged between the driving arm and the support claw, which can ensure effective support between the support claw and the exploration well wall when the roundness of the exploration well wall is irregular; at the same time, the support spring can absorb part of the impact load when the robot body 3 feeds and samples, thereby reducing the disturbance to the soil sample.

[0040] The operator sets the "deflection +" action command by operating the sampling robot monitoring interface of the operation unit 1, and the deflection motor 3-2-9 rotates to drive the deflection reduction mechanism 3-2-10 to realize the deflection of the sampling or sample delivery direction of the spindle motor 3-2-5 and the soil sample cutter 3-2-12; the default initial deflection position of the robot is the sample delivery direction toward the wellhead. Set the robot body 3 "deflection -" action command to realize the deflection of the soil sample cutter toward the well wall sampling direction.

[0041] The operator sets the feed speed of the robot body 3 and the "feed+" action command by operating the lifting monitoring interface of the operation unit 1, and the advance and retreat motor 3-2-6 rotates to drive the advance and retreat screw pair 3-2-8 to rotate, thereby realizing the feed action and feed speed control of the rotating motor 3-2-4, the deflection motor 3-2-9, the deflection reduction mechanism 3-2-10, the spindle support arm 3-2-11 and the soil sample cutting knife 3-2-12. Among them, the feed amount and feed speed of the soil sample cutting knife have a certain influence on the soil sample sampling disturbance, and should be set in combination with the expert database data and the soil sample characteristics to reduce the disturbance effect of the feed speed on the soil sample cutting.

[0042] The operator sets the cutting speed "+ / -" action command of the robot body 3 by operating the sampling robot monitoring interface of the operation unit 1, and the spindle motor 3-2-5 rotates to drive the soil sample cutting knife 3-2-12 to perform the soil sample cutting action. The cutting speed of the soil sample cutting knife has a certain influence on the soil sample sampling disturbance, and should be set in combination with the expert database data and the soil sample specificity to reduce the disturbance effect of the feed speed on the soil sample cutting.

[0043] After the soil sample feeding and cutting operations are completed, the operator sets the micro-deflection and rotation "+ / -" action instructions through the sampling robot monitoring interface of the operation unit 1 to realize the soil sample cutting knife 3-2-12 to deduct the soil sample. After the soil sample is deducted, the robot body 3 is set to "deflect -" action instruction to realize the soil sample deflection to the sampling direction of the exploration well wall, so that the sample delivery mechanism 2-2 can grab the soil sample.

[0044] After the sample delivery mechanism 2-2 grabs the soil sample, the operator sets the robot body 3 "sample delivery +", sample delivery distance and sample delivery speed instructions by operating the sample delivery monitoring interface of the operation unit 1. The second hoisting motor 2-9 drives the second hoisting wheel 2-6 to rotate through the second gear pair 2-7-2 in the gear box 2-7. The second steel cable 2-4 wound on the second hoisting wheel 2-6 guides the second steel cable 2-4 along the second guide wheel 2-12-2 until it descends to the preset exploration depth position of the sample delivery mechanism 2-2. The ratchet 2-2-5 and the ratchet rod 2-2-4 are opened by the deadweight of the sample delivery mechanism 2-2. When the sample delivery mechanism is lifted, the ratchet 2-2-5 and the ratchet rod 2-2-4 are driven to close through the lifting plate 2-2-3 under the traction force of the second steel cable 2-4, thereby grabbing the soil sample. The robot body 3 is set with "sample delivery -", sample delivery distance and sample delivery speed instructions to realize the lifting and sample delivery of the soil sample 4 to the surface of the exploration well.

[0045] During the lifting process of soil sample 4, the operator sets the robot body 3 "rotation + / -" and rotation speed action instructions by operating the sampling robot monitoring interface of the operation unit 1, and the rotating motor 3-2-4 drives the sixth driving support plate 3-2-2, the second supporting connecting rod 3-2-3, the third supporting connecting rod 3-2-13, the fifth supporting plate 3-2-1, and the second supporting plate 3-1-2, and then drives the advance and retreat speed reduction mechanism 3-2-7, the advance and retreat screw pair 3-2-8, the deflection motor 3-2-9, the deflection speed reduction mechanism 3-2-10, and the main shaft support arm 3-2-11 to rotate, and further drives the soil sample cutting knife 3-2-12 to rotate, so as to realize the control of the 4 sampling positions of the sampling device. After reaching the sampling position, the sampling and sample delivery actions are continued, and the same exploration well depth position can be sampled 4 times at a time.

[0046] After completing sampling at the same exploration well depth, the operator can use the "support-" actuation command on the sampling robot monitoring interface of the operating unit 1 to separate the supporting claws of the sampling robot from the wall of the exploration well; through the lifting and lowering monitoring interface, the robot body 3 can be set to set the "lifting distance", "lifting speed" and "lifting + / -" commands when exploring the well, so that the sampling robot can descend to the next preset exploration well depth position and continue sampling and sample delivery at the next exploration well depth position.

Claims

1. Non-disturbance automatic well sampling robot, characterized by: The invention comprises an operating unit (1), wherein the operating unit (1) is connected to a lifting system (2) and a robot body (3) via a cable, wherein the lifting system (2) comprises a first steel cable (2-3) and a second steel cable (2-4), wherein the lifting system (2) is connected to a sample delivery mechanism (2-2) via the second steel cable (2-4), wherein the lifting system (2) is connected to a robot body (3) via the first steel cable (2-3), wherein the robot body (3) comprises a supporting mechanism (3-1) and a sampling mechanism (3-2), wherein the sampling mechanism (3-2) is located inside the supporting mechanism (3-1).

2. The non-disturbance automatic well sampling robot according to claim 1 is characterized in that: The lifting system (2) comprises a lifting bracket (2-1), a plurality of lifting ears (2-13) are arranged on the top cross beam of the lifting bracket (2-1), a plurality of the lifting ears (2-13) are commonly fixedly connected to a hoisting box (2-10), a first hoisting motor (2-8) is fixedly connected inside the hoisting box (2-10), a gear box (2-7) is arranged on one side of the hoisting box (2-10), a first gear pair (2-7-1) and a second gear pair (2-7-2) are arranged in the gear box (2-7), a rotating shaft of the first hoisting motor (2-8) is connected to an upper wheel of the first gear pair (2-7-1), a first hoisting wheel (2-5) is connected to the lower wheel axle of the first gear pair (2-7-1), and the first steel cable (2-3) is wound on the first hoisting wheel (2-5); A second hoisting motor (2-9) is also fixedly connected in the hoisting box (2-10); the rotating shaft of the second hoisting motor (2-9) is connected to the upper wheel of the second gear pair (2-7-2); the axle of the lower wheel of the second gear pair (2-7-2) is connected to the second hoisting wheel (2-6); and the second steel cable (2-4) is wound on the second hoisting wheel (2-6).

3. The non-disturbance automatic well sampling robot according to claim 2 is characterized in that: A first guide rod (2-11-1) and a second guide rod (2-11-2) are also fixedly connected in the hoisting box (2-10); the first guide rod (2-11-1) and the second guide rod (2-11-2) are both located at the bottom of the hoisting box (2-10); first guide wheels (2-12-1) are rotatably provided at both ends of the first guide rod (2-11-1); a second guide wheel (2-12-2) is rotatably provided in the middle of the second guide rod (2-11-2); the first steel cable (2-3) is wound around the first guide wheel (2-12-1); and the second steel cable (2-4) is wound around the second guide wheel (2-12-2).

4. The non-disturbance automatic well sampling robot according to claim 1, characterized in that: The support mechanism (3-1) comprises a first support plate (3-1-1), and the sample feeding mechanism (2-2) comprises a guide plate (2-2-1), wherein the guide plate (2-2-1) passes through the center of the first support plate (3-1-1), and the two ends of the guide plate (2-2-1) coincide with the edge of the first support plate (3-1-1), and the first steel cable (2-3) is fixedly connected to the overlapped position of the first support plate (3-1-1) and the guide plate (2-2-1), and the second The steel cable (2-4) passes through the guide plate (2-2-1) at the center of the first support plate (3-1-1) and is connected to a lifting plate (2-2-3). A plurality of ratchet rods (2-2-4) are fixedly connected to the lifting plate (2-2-3) away from the lifting system (2). Each ratchet rod (2-2-4) is fixedly connected to a ratchet (2-2-5). A soil sample (4) can be engaged between the lifting plate (2-2-3), the ratchet rod (2-2-4) and the ratchet (2-2-5).

5. The non-disturbance automatic well sampling robot according to claim 4 is characterized in that: The support mechanism (3-1) also includes a second support plate (3-1-2), four first support links (3-1-9) are commonly connected at the relative positions of the edges of the first support plate (3-1-1) and the second support plate (3-1-2), the four first support links (3-1-9) are equidistantly distributed, and each of the first support links (3-1-9) is also sequentially fixedly connected to a third support plate (3-1-3) and a fourth support plate (3-1-4) on a side away from the lifting system (2), a support motor (3-1-5) is fixedly connected to the bottom of the fourth support plate (3-1-4), and a rotation axis of the support motor (3-1-5) is provided. A plurality of driving forks (3-1-6) are fixedly connected thereto, each of the driving forks (3-1-6) is located between the third support plate (3-1-3) and the fourth support plate (3-1-4), each of the driving forks (3-1-6) is slidably connected to a first driving arm (3-1-7), the other end of each of the first driving arms (3-1-7) is hingedly connected to a first supporting claw (3-1-11), each of the first supporting claws (3-1-11) is located outside the third support plate (3-1-3) and the fourth support plate (3-1-4), and a driving rod (3-1-8) is connected to the built-in groove of each of the first driving arms (3-1-7).

6. The non-disturbance automatic well sampling robot according to claim 5 is characterized in that: The driving rod (3-1-8) is rotatably connected with a first support plate (3-1-1), a second support plate (3-1-2), a third support plate (3-1-3) and a fourth support plate (3-1-4) in sequence from top to bottom along the vertical direction; each driving rod (3-1-8) is fixedly connected with a second driving arm (3-1-10) between the first support plate (3-1-1) and the second support plate (3-1-2); and the other end of each second driving arm (3-1-10) is hingedly connected with a second supporting claw (3-1-12); The sampling mechanism (3-2) comprises a fifth support plate (3-2-1), the fifth support plate (3-2-1) and the second support plate (3-1-2) are an integrated roller structure, the fifth support plate (3-2-1) is fixedly connected with two second support links (3-2-3) and two third support links (3-2-13), the other ends of the two second support links (3-2-3) and the third support links (3-2-13) are fixedly connected with a sixth support plate (3-2-2), the sixth support plate (3-2-2) and the third support plate (3-1-3) are an integrated roller structure, and the sixth support plate (3-2-2) and the third support plate (3-1-3) are coaxially connected with a rotating motor (3-2-4).

7. The non-disturbance automatic well sampling robot according to claim 6 is characterized in that: The third supporting connecting rod (3-2-13) is fixedly connected to a first advance and retreat gearbox (3-2-7-1), and the adjacent third supporting connecting rod (3-2-13) is fixedly connected to a second advance and retreat gearbox (3-2-7-2). One end of the first advance and retreat gearbox (3-2-7-1) is fixedly connected to an advance and retreat speed reduction mechanism (3-2-7) by bolts, and an advance and retreat transmission shaft (3-2-7) is connected between the advance and retreat speed reduction mechanism (3-2-7) and the second advance and retreat gearbox (3-2-7-2) by internal and external splines. -7-3), the forward and backward speed reduction mechanism (3-2-7) is fixedly connected to the bottom of the forward and backward motor (3-2-6), the first forward and backward gear box (3-2-7-1) and the second forward and backward gear box (3-2-7-2) are also rotatably connected to the forward and backward lead screw pairs (3-2-8), the other ends of the two forward and backward lead screw pairs (3-2-8) are respectively connected to the two second supporting connecting rods (3-2-3) by integrated bearings, and the two bearings are respectively fixed in the two second supporting connecting rods (3-2-3).

8. The non-disturbance automatic well sampling robot according to claim 7 is characterized in that: The two advance and retreat screw pairs (3-2-8) are also slidably connected with a main shaft support arm (3-2-11), the two main shaft support arms (3-2-11) are connected with a deflection gear box (3-2-10-1) via a built-in bearing, the two deflection gear boxes (3-2-10-1) are rotatably connected with a deflection reduction mechanism (3-2-10) via a deflection transmission shaft (3-2-10-2), a deflection motor (3-2-9) is arranged at one end of the deflection reduction mechanism (3-2-10), the two deflection gear boxes (3-2-10-1) are also connected with a main shaft motor (3-2-5) via bolts, and a soil sample cutting knife (3-2-12) is key-connected to one end of the deflection gear box (3-2-10-1) away from the main shaft motor (3-2-5).

9. A non-disturbance automatic well sampling method, using the non-disturbance automatic well sampling robot according to any one of claims 1 to 8, characterized in that: The specific steps include: Step 1, confirming the position of the soil sample (4) and the sampling task, the operating unit (1) connects the lifting system (2) and the robot body (3) through a cable, and installs the lifting system (2) at the wellhead; Step 2, determining the well exploration data setting according to the operation site, and controlling the lifting system (2) through the operating unit (1) to make the robot body (3) descend to a preset well exploration depth position, and support and fix it on the well exploration wall; Step 3, controlling the robot body (3) to deflect, feed and sample by means of the operating unit (1); after the sampling is completed, the robot body (3) retreats and separates from the well wall; Step 4, grab the soil sample (4) taken by the robot body (3), then the lifting system (2) rises and sends the soil sample (4) back to the wellhead; Step 5, repeat steps 3-4 until four samplings are completed at the same well depth; Step 6: If the sampling task is completed, the process ends; if the sampling task is not completed, the process proceeds to the next well depth and steps 2-5 are repeated.

10. The non-disturbance automatic well sampling method according to claim 9, characterized in that: The step 2 is specifically as follows: Step 201, by operating the operation unit (1) to access the robot monitoring interface, a "support+" action instruction is set, and the support motor (3-1-5) of the robot body (3) transmits the support drive power to the four first support claws (3-1-11) via the drive fork (3-1-6) and the four first drive arms (3-1-7); Step 202, the support motor (3-1-5) simultaneously transmits the support driving power to the four second support claws (3-1-12) via the drive fork (3-1-6), the four first drive arms (3-1-7), the four drive rods (3-1-8) and the four second drive arms (3-1-10); Step 203, the first driving arm (3-1-7) and the second driving arm (3-1-10) in the supporting mechanism (3-1) form a supporting force with the wall of the exploration well, thereby realizing fixed support of the robot body (3) at a preset exploration well depth position; The step 3 is specifically as follows: Step 301, by operating the sampling robot monitoring interface of the operation unit (1), setting the "deflection +" action command, the deflection motor (3-2-9) rotates to drive the deflection reduction mechanism (3-2-10), so as to realize the deflection of the main shaft motor (3-2-5) and the soil sample cutting knife (3-2-12) in the sampling or sample delivery direction. The robot defaults to an initial deflection position in the sample delivery direction toward the wellhead, and sets the robot body (3) to a "deflection -" action command, so as to realize the deflection of the soil sample cutting knife toward the well wall for sampling; Step 302, by operating the lifting monitoring interface of the operation unit (1), setting the feed speed of the robot body (3), the "feed+" action instruction, the advance and retreat motor (3-2-6) rotates to drive the advance and retreat screw pair (3-2-8) to rotate, and realizes the feed action and feed speed control of the rotating motor (3-2-4), the deflection motor (3-2-9), the deflection reduction mechanism (3-2-10), the spindle support arm (3-2-11) and the soil sample cutting knife (3-2-12); Step 303, by operating the sampling robot monitoring interface of the operation unit (1), setting the robot body (3) cutting speed "+ / -" action instruction, the spindle motor (3-2-5) rotates to drive the soil sample cutting knife (3-2-12) to perform the soil sample cutting action; Step 304, after the soil sample feeding and cutting operations are completed, the sampling robot monitoring interface of the operating unit (1) is operated to set the micro deflection and rotation "+ / -" action instructions to realize the deduction action of the soil sample cutting knife (3-2-12) on the soil sample (4); Step 305, after the soil sample (4) is taken, the sampling robot monitoring interface of the operation unit (1) is operated to set the robot body (3) with a "deflection -" action instruction, so that the soil sample (4) is deflected to the sampling direction toward the wall of the exploration well, so as to facilitate the sample delivery mechanism (2-2) to grab the soil sample; Step 306, by operating the sampling robot monitoring interface of the operation unit (1), setting the robot body (3) "support-" action instruction, the anti-support action can be performed to achieve the separation of the robot body (3) and the exploration well wall; The step 4 is specifically as follows: Step 401, after the sample delivery mechanism (2-2) grabs the soil sample, the sample delivery monitoring interface of the operation unit (1) is operated to sequentially set the robot body (3) with the instructions of "sample delivery +", "sample delivery distance" and "sample delivery speed", and the second hoisting motor (2-9) drives the second hoisting wheel (2-6) to rotate via the second gear pair (2-7-2) in the gear box (2-7), and the second steel cable (2-4) wound around the second hoisting wheel (2-6) is guided along the second guide wheel (2-12-2) until it descends to the preset exploration well depth position of the sample delivery mechanism (2-2); Step 402, the ratchet (2-2-5) and the ratchet rod (2-2-4) are opened by the deadweight of the sample delivery mechanism (2-2); when the sample delivery mechanism is lifted, the ratchet (2-2-5) and the ratchet rod (2-2-4) are driven to close by the lifting plate (2-2-3) under the traction force of the second steel cable (2-4), thereby grabbing the soil sample (4); Step 403, by operating the sample delivery monitoring interface of the operation unit (1), the robot body (3) is sequentially set to "sample delivery -", "sample delivery distance" and "sample delivery speed" instructions to achieve the lifting and delivery of the soil sample (4) to the surface of the exploration well; Step 5 specifically comprises: during the lifting process of the soil sample (4), by operating the sampling robot monitoring interface of the operation unit (1), setting the "rotation + / -" and rotation speed action instructions of the robot body (3), the rotating motor (3-2-4) drives the sixth driving support plate (3-2-2), the second supporting connecting rod (3-2-3), the third supporting connecting rod (3-2-13), the fifth supporting plate (3-2-1), and the second supporting plate (3-1-2), thereby driving the advance and retreat speed reduction mechanism (3-2-7), the advance and retreat screw pair (3-2-8), the deflection motor (3-2-9), the deflection speed reduction mechanism (3-2-10), and the main shaft support arm (3-2-11) to rotate, further driving the soil sample cutting knife (3-2-12) to rotate, thereby realizing the control of the four sampling positions of the sampling device.

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