Fluidized solidified soil compactness detection robot and use method thereof

Abstract

The invention belongs to the field of backfill compactness detection, and particularly discloses a flow-state solidified soil compactness detection robot and a using method thereof.The flow-state solidified soil compactness detection robot comprises a soil taking part, a screw rail transmission part and a control part, the sand filling part is arranged at the lower end of the wire rail transmission part, is positioned behind the soil sampling part, and is used for filling standard sand into the soil pit after soil sampling and measuring the volume of the sampled soil according to the mass of the filled standard sand and the density of the standard sand; the wire rail transmission part is arranged on the trolley chassis part, is positioned above the soil sampling part and the sand filling cylinder part, and is used for transmitting the soil sampling part and the sand filling cylinder part and weighing the mass of the sampled soil at the same time; and the trolley chassis part is a walking unit of the robot and is also used for lifting the wire rail transmission part. According to the invention, the soil compactness can be detected on the construction site, and the detection efficiency and precision are greatly improved.

Description

Technical Field

[0001] The invention belongs to the field of backfill soil density detection, and in particular relates to a fluidized solidified soil density detection robot, and also relates to a method for using the fluidized solidified soil density detection robot. Background Art

[0002] Fluidized solidified soil is a new type of green geotechnical material. The density of its backfill soil is one of the important quality control indicators, which directly affects the bearing capacity, stability and durability of the backfill soil. In the construction process of buildings, roads, bridges and other projects, ensuring the appropriate density of fluidized solidified soil is of great significance for improving project quality and preventing settlement, cracks and other problems. Although traditional soil density detection methods are widely used, due to their manual dependence and time lag, they have disadvantages such as cumbersome operation, manual errors, and long detection cycles. Therefore, how to improve detection efficiency and accuracy has become a problem that needs to be solved urgently in the field of civil engineering. Summary of the invention

[0003] In view of the defects of the above-mentioned prior art, the purpose of the present invention is to provide a fluidized solidified soil density detection robot, which adopts advanced sensors and control technologies, can detect the soil density at the construction site, and generate accurate data reports through automated means, thereby greatly improving the efficiency and accuracy of detection and solving the problems existing in traditional manual detection.

[0004] Another object of the present invention is to provide a method for using a fluidized solidified soil density detection robot. After the trolley moves to the target position, the lifting cylinder is used to stably place the device on the ground. The soil-taking part is started, and the outer ring of the soil-taking is inserted into the soil by rotation. The ring knife cooperates with the pneumatic percussion hammer to complete the soil sample collection, and then the soil sample is transferred to the hopper for weighing and humidity detection. The sand-filling barrel part is lowered to the soil pit through the scissor-type lifting part to fill the soil pit after soil taking. The mass of the standard sand poured is measured by a tension sensor, and the volume of the soil sample is calculated based on the density of the sand. The wire rail transmission part is responsible for the movement and coordination between the modules to ensure the smooth connection of each link. During the whole process, the robot realizes efficient and accurate detection of the density of the soil sample through precise machinery and sensing devices. The operation is simple and the results are reliable.

[0005] In order to achieve the above-mentioned purpose, the present invention adopts the following technical measures:

[0006] A fluidized solidified soil density detection robot, comprising:

[0007] A soil taking part, which is arranged below the wire track transmission part and is used to take out sample soil from a target position;

[0008] The sand filling part is arranged at the lower end of the wire rail transmission part and located behind the soil taking part, and is used to fill the soil pit after soil taking, and measure the volume of the sample soil taken by the mass of the filled standard sand and the density of the standard sand;

[0009] A wire rail transmission part is arranged on the chassis part of the trolley, located above the soil taking part and the sand filling cylinder part, and is used to drive the soil taking part and the sand filling cylinder part, and weigh the mass of the sample soil at the same time;

[0010] The trolley chassis is the walking unit of the robot and is also used to lift the wire rail transmission part.

[0011] Optionally, the soil taking part includes a soil taking outer ring part and a ring knife soil taking part, and the soil taking outer ring part includes a soil taking frame, a stepper motor a, a screw rod a, a lifting ring, a reduction motor, a gear, a rack ring, a bearing and a soil taking outer ring, the soil taking frame is installed at the lower end of the slider b, and the stepper motor a is installed in the groove above the soil taking frame for driving the screw rod a; both ends of the screw rod a are installed in the soil taking frame through bearing interference fit, and both ends of the lifting ring are ball blocks, which are respectively installed with the screw rod a on both sides; the stepper motor a drives the screw rod a to rotate, thereby driving the lifting ring to rise and fall; the reduction motor is installed on the lifting ring, and the output shaft of the reduction motor is connected to the gear; the gear is meshed with the rack ring; the rack ring is installed outside the soil taking outer ring; the soil taking outer ring is installed in the lifting ring through bearing interference fit.

[0012] Furthermore, the ring knife soil-taking part includes a soil-taking frame transmission part and a ring knife part, and the soil-taking frame transmission part includes a connecting rod a, a wire rail a, a stepping motor b, a screw rod b, a slider a, a wire fixing piece a, a wire fixing piece b, a wire ring, a ring knife soil-taking frame and a wire fixing ring a; the two ends of the connecting rod a are respectively connected to the slider a with a thread inside and the slider a without a thread inside; the wire rail b is installed in the middle of the soil-taking frame; the stepping motor b is installed on the side of the wire rail b, and is used to drive the screw rod b; the two ends of the screw rod b are installed on the wire rail a through bearing interference fit; the two sliders a are installed on the wire rail a and the screw rod b; the slider a connected to the wire fixing piece a on the right side has threads, and the rotation of the screw rod b can drive the threaded slider a to rotate; and the slider a connected to the wire fixing piece b has no threads inside Thread, that is, the rotation of the screw rod b cannot drive the non-threaded slider a to rotate, while the left side is the opposite; the wire fixing piece a and the wire fixing piece b are installed on the slider a; the wire fixing piece a has a wire fixing ring on one side and a round hole on the other side for passing the wire; both sides of the wire fixing piece b have round holes; the wire ring is installed on the steel wire passing through the wire fixing piece b, and the wire ring cannot pass through the hole on the wire fixing piece b; the ring knife soil taking frame is located outside the ring knife sleeve and fixed to the ring knife sleeve. At the same time, the ring knife soil taking frame is located inside the soil taking outer ring, and is used to support the ring knife soil taking part from tipping over on the ground; the wire fixing ring a is installed on the soil taking frame, and the wire fixing ring a is connected to the wire fixing ring on the wire fixing piece a by passing the steel wire through the wire ring, the wire fixing piece b and one side of the wire fixing piece a;

[0013] The process of pulling up and lowering the soil-taking part of the ring knife includes: when the screw rod b on one side rotates and the screw rod b on the other side does not rotate, the two connected sliders a are moved, and the other two connected sliders a do not move, thereby realizing the approach and distance between the two sliders a on the same side. Since the wire ring cannot pass through the hole on the wire fixing member b, the soil-taking part of the ring knife is lowered when the two sliders a on the same side are approached; and when the two sliders a on the same side are away from each other, the soil-taking part of the ring knife is pulled up, and when the two screw rods b rotate in the same direction, the soil-taking part of the ring knife is moved.

[0014] Furthermore, the ring cutter part includes a ring cutter sleeve, a pneumatic percussion hammer, a percussion tube, a ring cutter, a U-shaped pin, a connecting column, a U-shaped pull ring, an internal spring and a large spring, wherein the ring cutter sleeve is installed in a ring cutter soil taking frame, and is used to guide the ring cutter to prevent the ring cutter from tilting during the insertion into the soil; the percussion tube is installed inside the ring cutter sleeve and will not detach from the bottom of the ring cutter sleeve; the pneumatic percussion hammer is installed inside the percussion tube, and is used to knock the ring cutter into the soil; the ring cutter is connected to the percussion tube through the U-shaped pin; the upper end of the U-shaped pin is installed at the bottom of the percussion tube, and the lower end is used to connect the percussion tube and the ring cutter, and the upper end of the U-shaped pin is provided with a slot for clamping the U-shaped pull ring; the top end of the connecting column is connected to the U-shaped pull ring, and when the two ends of the U-shaped pull ring are clamped at the upper end of the U-shaped pin, it is used to pull the two U-shaped pins; the two ends of the internal spring are installed in the U-shaped pin; the two ends of the large spring are respectively connected to the bottom of the percussion tube and the steel sheet in the ring cutter;

[0015] When the ring knife reaches the maximum insertion depth, the ring knife and the knocking tube will separate, and the separation process includes: when the soil lifts the connecting column, the two ends of the U-shaped pull ring will disengage from the slots at the upper end of the U-shaped pin, and under the action of the built-in spring, the two U-shaped pins will disengage from the holes of the knocking tube and the ring knife, thereby realizing the separation of the ring knife and the knocking tube; the separated ring knife part, except the ring knife, will be moved to the side close to the stepper motor b under the traction of the soil extraction frame transmission part; and the ring knife will remain in the soil and will be taken out together with the removal of the soil extraction outer ring later.

[0016] Optionally, the sand filling cylinder part includes a steel wire fixing ring b, a tension sensor, a steel wire connecting seat, a scissor-type lifting part and a sand filling cylinder outlet part, the upper end of the steel wire fixing ring b is a short screw rod, which is installed at the lower end of the lower connecting plate through a nut; the steel wire connecting seat is installed on the sand filling cylinder; the two ends of the tension sensor are installed on the steel wire fixing ring b and the steel wire connecting seat through steel wires, and are used to measure the tension on the steel wire, and then measure the standard sand quality in the sand filling cylinder;

[0017] The scissor-type lifting part includes an upper connecting plate, a lower connecting plate, a connecting pin a, a connecting rod b, a connecting pin b, a push rod, a long hydraulic cylinder and an articulated seat. The upper connecting plate is connected to a slider c, and the two ends of the connecting rod b are respectively mounted on the bottom of the upper connecting plate and the top of the lower connecting plate through a connecting pin a, and the centers of the two connecting rods b are connected through a connecting pin b; the push rod is mounted on the lower connecting plate and connected to one end of the connecting rod b; the articulated seat is mounted on the lower connecting plate and is used to fix the long hydraulic cylinder; the two ends of the long hydraulic cylinder are respectively articulated with the articulated seat and the connecting rod b, and the telescopic long hydraulic cylinder is used to push the connecting rod b to move to control the lifting and lowering of the lower connecting plate, thereby controlling the lifting and lowering of the sand filling barrel.

[0018] Furthermore, the sand outlet part of the sand filling cylinder includes a sand filling cylinder, a sand retaining plate, an electromagnetic valve, a sand hopper, a fixing frame a, a float, a photoelectric sensor and a relay. The sand filling cylinder is used to hold standard sand; the sand retaining plate is installed inside the sand filling cylinder, and the electromagnetic valve is installed at the upper end of the sand hopper. The inlet of the sand hopper is aligned with the outlet hole in the sand retaining plate to control the outflow of standard sand; the sand hopper is installed at the bottom of the sand filling cylinder to disperse the outflowing standard sand to prevent accumulation; the fixing frame a is installed on the sand hopper, the photoelectric sensor is installed in the fixing frame a, and the float is installed in the hole on the sand hopper and is located below the photoelectric sensor; the relay is installed on the sand hopper to control the on and off of the electromagnetic valve; when the sand in the pit is full, the sand on the top will lift the float, and the lifted float will block the light reception in the photoelectric sensor, thereby triggering the relay to control the electromagnetic valve to disconnect, thereby stopping the sand filling.

[0019] Optionally, the wire rail transmission part includes a fixed frame b, a stepper motor c, a slider b, a screw rod c, a wire rail b, a stepper motor d, a screw rod d, a slider c and a wire rail c, wherein the fixed frame b is used to install the screw rod and wire rail; the stepper motor c, the slider b, the screw rod c and the wire rail b have the same screw rod and wire rail structure as the stepper motor d, the screw rod d, the slider c and the wire rail c, wherein the wire rail b is installed in the fixed frame b, the stepper motor c is installed on the side of the wire rail c, the screw rod c is installed in the wire rail b through a bearing interference fit, the slider b is installed on the wire rail b and the screw rod c, the stepper motor c drives the screw rod c to rotate, and then drives the slider b to move; the wire rail c is also installed in the fixed frame b, the slider b is connected to the soil taking frame, and is used to transfer the soil taking part after the soil is taken to the top of the hopper, and is located below the guide pipe, and the guide pipe is coaxial with the soil taking outer ring; the slider c is connected to the upper connecting plate, and is used to transfer the sand filling barrel part to the top of the soil pit left after the soil is taken.

[0020] Furthermore, it also includes a soil pressing part, which includes a hopper, an electronic scale, a guide tube, a soil moisture sensor and a rigid chain part. The electronic scale is installed at the upper end of the bottom of the fixed frame b and is used to weigh the mass of the sample soil in the hopper; the hopper is installed on the electronic scale and is used to hold the sample soil; the guide tube is installed in the fixed frame b and is located directly above the hopper, and is used to guide the soil pressing plate to prevent the rigid chain from bending; the soil moisture sensor is installed in the hopper and is used to measure the moisture of the sample soil in the hopper;

[0021] The rigid chain part includes a chain case, a stepper motor e, a sprocket, a rigid chain and a soil pressing plate, the chain case is installed on a fixed frame b, the stepper motor e is installed in the chain case, the output shaft of the stepper motor e is connected to the sprocket; the sprocket is engaged with the chain pin of the rigid chain; the stepper motor e drives the sprocket to rotate, thereby realizing the extension and retraction of the rigid chain; the rigid chain is installed in the chain case, and the end link of the rigid chain is connected to the soil pressing plate through the pin; the soil pressing plate is connected to the rigid chain and installed in a guide tube; the rigid chain extends out to push the soil pressing plate downward to the outer ring of soil extraction, thereby pressing the sample soil in the outer ring of soil extraction into the hopper.

[0022] Optionally, the trolley chassis part includes a lifting plate, a lifting cylinder, a base plate, a driving motor and a small wheel. The lifting plate is installed on the side of the fixed frame b, the bottom of the lifting cylinder is installed on the base plate, and the upper end of the lifting cylinder is connected to the lifting plate for lifting or lowering the fixed frame b; the driving motor is installed at the lower end of the base plate, and the output shaft of the driving motor is connected to the small wheel for driving the small wheel.

[0023] Accordingly, the present invention also protects a method for using the aforementioned fluidized solidified soil density detection robot, comprising the following steps:

[0024] S1. Positioning and preparation:

[0025] The chassis of the robot first drives the small wheels through the driving motor to move the robot to the target position that needs to be detected;

[0026] The height of the fixed frame b is adjusted by the lifting cylinder, and the fixed frame b is lowered to the ground to ensure that the robot is stable and ready to start working;

[0027] Pour a sufficient amount of special sand for sand filling method into the sand filling cylinder;

[0028] S2. Soil extraction operation:

[0029] The outer ring of soil extraction: The outer ring of soil extraction drives the screw a to rotate through the stepper motor a, driving the lifting ring to adjust the height of the outer ring of soil extraction. The reduction motor drives the gear to rotate, and the gear meshes with the rack ring to help the outer ring of soil extraction insert into the soil and rotate downward. In this process, the serrated shape at the bottom of the outer ring of soil extraction helps to insert into the soil smoothly.

[0030] The ring knife is knocked into the soil by the cooperation of the pneumatic knocking hammer and the knocking cylinder. When the ring knife reaches the maximum depth, the ring knife and the knocking cylinder will be separated. The separated ring knife part will be moved to the side close to the stepper motor b under the traction of the soil taking frame transmission part after the ring knife is removed. Then the soil taking outer ring is taken out together with the ring knife. After being taken out, it is transported to the top of the hopper through the wire rail transmission part and is at the bottom of the guide tube. The guide tube is coaxial with the soil taking outer ring.

[0031] The stepper motor e drives the sprocket to rotate, and then drives the rigid chain to extend, pushing the soil pressing plate down to the outer ring of the soil sampling, and then pressing the sample soil in the outer ring of the soil sampling into the hopper, preparing for subsequent measurement operations. At this time, the ring cutter and the soil sample are removed from the soil together;

[0032] S3. Sand filling operation:

[0033] After the outer ring of the soil is taken out, the sand filling cylinder is only transferred to the top of the soil pit by the wire rail transmission part. The sand filling cylinder is controlled by the scissor-type lifting part. The height of the sand filling cylinder is adjusted by the extension and contraction of the long hydraulic cylinder to ensure the docking of the sand filling cylinder and the soil pit.

[0034] Standard sand measurement: The tension sensor is used to monitor the tension of the steel wire in real time, and then calculate the mass of the standard sand in the sand filling tube. The standard sand is poured into the soil pit, and the mass of the sand is calculated. According to the mass of the sand and the known density, the volume of the soil sample taken out is calculated;

[0035] S4. Quality measurement and data calculation:

[0036] Weighing soil sample quality: After the soil sample is extracted, the electronic scale is used to accurately weigh the mass of the soil sample in the hopper. The mass and volume data of the soil sample are used for subsequent soil density calculation;

[0037] Calculation of sand filling volume: Calculate the soil volume in the pit based on the standard sand mass, sand density and volume change after sand filling;

[0038] S5. Moving and repetitive work:

[0039] After completing a measurement, the chassis of the trolley controls the wheels to move through the drive motor and automatically drives to the next location that needs to be measured.

[0040] Compared with the prior art, the present invention has the following advantages and effects:

[0041] 1. Automation and high efficiency: The robot completes a series of complex processes such as soil extraction, sand filling, volume measurement, and mass weighing through automated operations, avoiding the errors and cumbersome steps that may occur in traditional manual testing, greatly improving work efficiency. The robot can complete multiple tasks in a relatively short period of time and is suitable for high-frequency soil density testing needs.

[0042] 2. Accurate soil density measurement: The sand filling method combined with a high-precision tension sensor and electronic scale measurement system can accurately calculate the volume and mass of the soil sample. The mass and density changes of the standard sand can accurately reflect the actual density of the soil. This measurement method is more accurate and reliable than traditional manual operation and avoids human errors.

[0043] 3. Complete and intact soil sampling method: The robot uses a ring knife to extract soil, which can extract representative soil samples without destroying the soil structure. This is crucial for backfill soil density testing, because complete soil samples can better reflect the actual characteristics of the soil.

[0044] 4. Strong adaptability and high flexibility: The chassis of the robot can move freely under different ground conditions, and the robot can flexibly adjust the height and position of the soil extraction and sand filling parts to adapt to a variety of working environments. Whether on flat land or slightly irregular ground, the robot can operate stably.

[0045] 5. High safety: Through automation and remote control operations, the operator's chance of direct contact with soil samples is reduced, reducing the safety risks of on-site operations. In addition, the robot can work in harsh environments, such as wet, dirty, heavily polluted sites, thereby improving the safety and reliability of operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the technical solution of the present invention, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0047] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0048] Figure 2 Another perspective view of the overall structure of the present invention;

[0049] Figure 3 It is a schematic diagram of the structure of the soil taking part of the present invention;

[0050] Figure 4 This is a schematic diagram of the outer ring structure of the soil extraction of the present invention;

[0051] Figure 5 This is a schematic diagram of the overall structure of the ring cutter soil taking device of the present invention;

[0052] Figure 6 This is a schematic diagram of the transmission structure of the soil rack of the present invention;

[0053] Figure 7 This is a structural detail diagram of the steel wire connector of the present invention;

[0054] Figure 8 It is a schematic diagram of the structure of the ring cutter part of the present invention;

[0055] Fig. 9 This is a structural detail diagram of the ring cutter connection of the present invention;

[0056] Fig.10 It is a cross-sectional view of the connection of the ring cutter of the present invention;

[0057] Fig.11 This is a schematic diagram of the overall structure of the sand filling tube of the present invention;

[0058] Fig.12 This is a schematic diagram of the scissor-type lifting structure of the present invention;

[0059] Fig.13 This is an exploded view of the bottom structure of the sand filling tube of the present invention;

[0060] Fig.14 It is a structural schematic diagram of the wire rail transmission part of the present invention;

[0061] Fig.15 This is an exploded view of the soil compaction part of the present invention;

[0062] Fig.16 It is a schematic diagram of the internal structure of the hopper of the present invention;

[0063] Fig.17 This is an exploded view of the rigid chain structure of the present invention;

[0064] Fig.18 It is a schematic diagram of the structure of the chassis part of the trolley of the present invention.

[0065] Description of reference numerals:

[0066] 1000- Soil collection part:

[0067] 1100-Excavation outer ring part:

[0068] 1101- soil rack; 1102- stepping motor a; 1103- screw rod a; 1104- lifting ring; 1105- reduction motor; 1106- gear; 1107- rack ring; 1108- bearing; 1109- soil outer ring;

[0069] 1200-Ring knife soil taking part:

[0070] 1210-Transmission part of soil rack:

[0071] 1211-wire rail a; 1212-stepping motor b; 1213-screw rod b; 1214-slider a; 1215-steel wire fixing part a; 1216-steel wire fixing part b; 1217-steel wire ring; 1218-ring knife soil taking frame; 1219-steel wire fixing ring a;

[0072] 1220-Ring knife part:

[0073] 1201-connecting rod a; 1221-ring knife sleeve; 1222-pneumatic percussion hammer; 1223-percussion cylinder; 1224-ring knife; 1225-U-shaped pin; 1226-connecting column; 1227-U-shaped pull ring; 1228-internal spring; 1229-large spring;

[0074] 2000-Sand filling cylinder part:

[0075] 2001-wire fixing ring b; 2002-tension sensor; 2003-wire connecting seat;

[0076] 2100-Scissor lift part:

[0077] 2101-upper connecting plate; 2102-lower connecting plate; 2103-connecting pin a; 2104-connecting rod b; 2105-connecting pin b; 2106-push rod; 2107-long hydraulic cylinder; 2108-hinged seat;

[0078] 2200-Sand filling tube sand outlet part:

[0079] 2201-sand filling cylinder; 2202-sand retaining plate; 2203-solenoid valve; 2204-sand funnel; 2205-fixed frame a; 2206-floating ball; 2207-photoelectric sensor; 2208-relay;

[0080] 3000-Wire rail transmission part:

[0081] 3001-fixed frame b; 3002-stepping motor c; 3003-slider b; 3004-screw rod c; 3005-wire track b; 3006-stepping motor d; 3007-screw rod d; 3008-slider c; 3009-wire track c;

[0082] 3100-Soil pressing part:

[0083] 3101- hopper; 3102- electronic scale; 3103- guide tube; 3104- soil moisture sensor;

[0084] 3110-Rigid chain part:

[0085] 3111-chain housing; 3112-stepping motor e; 3113-sprocket; 3114-rigid chain; 3115-soil pressing plate;

[0086] 4000-Car chassis part:

[0087] 4001-lifting plate; 4002-lifting cylinder; 4003-bottom plate; 4004-driving motor; 4005-small wheel. DETAILED DESCRIPTION

[0089] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0090] Example 1

[0091] This embodiment provides a fluidized solidified soil density detection robot, such as Figure 1 , Figure 2 As shown, it includes four parts, namely a soil taking part 1000, a sand filling barrel part 2000, a wire rail transmission part 3000 and a trolley chassis part 4000; the trolley chassis part 4000 is the walking unit of the device, and can also lift and lower the fixed frame b3001; the wire rail transmission part 3000 is arranged on the trolley chassis part 4000, located above the soil taking part 1000 and the sand filling barrel part 2000, and is used to drive the soil taking part 1000 and the sand filling barrel part 2000, and can weigh the mass of the sample soil; the soil taking part 1000 is arranged at the lower end of the wire rail transmission part 3000 and located in the middle of the trolley chassis part 4000, and can take out the sample soil from the target position; the sand filling part 2000 is arranged at the lower end of the wire rail transmission part 3000 and located behind the soil taking part 1000, and can fill standard sand into the soil pit after soil taking, and the volume of the sample soil taken can be measured by the mass of the filled standard sand and the density of the standard sand.

[0092] like Figure 3 As shown, the soil taking part 1000 is composed of a soil taking outer ring part 1100 and a ring cutter soil taking part 1200 .

[0093] like Figure 4As shown, the soil-excavating outer ring part 1100 is composed of a soil-excavating frame 1101, a stepping motor a1102, a screw rod a1103, a lifting ring 1104, a reduction motor 1105, a gear 1106, a rack ring 1107, a bearing 1108 and a soil-excavating outer ring 1109. The soil rack 1101 is fixedly installed at the lower end of the slider b3003, and the stepper motor a1102 is fixedly installed in the groove above the soil rack 1101, which is used to drive the screw rod a1103; both ends of the screw rod a1103 are installed in the soil rack 1101 through bearing interference fit, and both ends of the lifting ring 1104 are ball blocks, which are respectively installed with the screw rod a1103 on both sides. The stepper motor a1102 drives the screw rod a1103 to rotate, thereby driving the lifting ring 1104 to rise and fall; the reduction motor 1105 is fixedly installed on the lifting ring 1104, and the output shaft of the reduction motor 1105 is fixed to the gear 1106, and the gear 1106 is fixed to the rack ring 1 107 are meshed; the rack ring 1107 is fixedly mounted on the outside of the soil-taking outer ring 1109; the soil-taking outer ring 1109 is installed in the lifting ring 1104 through the interference fit of the bearing 1108, and the bottom of the soil-taking outer ring 1109 is serrated, which is convenient for the soil-taking outer ring 1109 to rotate and insert into the soil; the reduction motor 1105 drives the gear 1106 to rotate, thereby driving the rack ring 1107 to rotate, and then driving the soil-taking outer ring 1109 to rotate. At the same time, the lifting ring 1104 can drive the soil-taking outer ring 1109 to rise and fall, so that the soil-taking outer ring 1109 can be rotated downward when inserted into the soil, which is convenient for the soil-taking outer ring 1109 to be inserted into the soil for soil taking.

[0094] like Figure 5 , Figure 6 , Figure 7As shown, the soil-taking ring knife part 1200 is composed of a soil-taking frame transmission part 1210 and a soil-taking ring knife part 1220. The soil-taking frame transmission part 1210 is composed of a connecting rod a1201, a wire rail a1211, a stepping motor b1212, a screw rod b1213, a slider a1214, a steel wire fixing part a1215, a steel wire fixing part b1216, a steel wire ring 1217, a soil-taking ring knife frame 1218 and a steel wire fixing ring a1219. The soil-taking frame transmission part 1210 is used to move the separated soil-taking ring knife part 1220 away after the soil-taking ring knife 1224 is inserted into the soil, so as to prevent the separated soil-taking ring knife part 1220 from hindering the soil in the soil-taking outer ring 1109 from being pressed out. The two ends of the connecting rod a1201 are respectively fixed to the slider a1214 with and without threads inside; the wire rail b1211 is fixedly installed in the middle of the soil rack 1101; the stepping motor b1212 is fixedly installed on the side of the wire rail b1211, and is used to drive the screw rod b1213; the two ends of the screw rod b1213 are installed on the wire rail a1211 through bearing interference fit; the two sliders a1214 are installed on the wire rail a1211 and the screw rod b1213. It is worth mentioning that the slider a1214 on the right side fixedly connected to the wire fixing piece a1215 is threaded, and the rotation of the screw rod b1213 can drive the threaded slider a1214 to rotate; while the slider a1214 fixedly connected to the wire fixing piece b1216 has no threads inside, that is, the rotation of the screw rod b1213 cannot drive the non-threaded slider a1214 to rotate, while the left side is the opposite; the wire fixing piece a1215 and the wire The fixing member b1216 is fixed on the slider a1214; the wire fixing member a1215 has a wire fixing ring on one side and a round hole on the other side for passing the wire; and both sides of the wire fixing member b1216 have round holes; the wire ring 1217 is fixed on the wire passing through the wire fixing member b1216, and the wire ring 1217 cannot pass through the hole on the wire fixing member b1216; the ring cutter soil taking frame 1218 is located outside the ring cutter sleeve 1221 and is connected to the ring cutter sleeve 1221 is welded and fixed, and at the same time, the ring knife soil taking frame 1218 is located in the soil taking outer ring 1109, which is used to support the ring knife soil taking part 1200 from tipping over on the ground; the wire fixing ring a1219 is fixedly welded on the soil taking frame 1218, and the wire fixing ring a1219 is connected to the wire fixing ring on the wire fixing member a1215 by passing the wire through the wire ring 1217, the wire fixing member b1216 and one side of the wire fixing member a1215.It is worth mentioning that in the process of pulling up and lowering the ring cutter soil taking part 1200, when the screw rod b1213 on one side rotates and the screw rod b1213 on the other side does not rotate, the two connected sliders a1214 can be moved, and the other two connected sliders a1214 do not move, so that the two sliders a1214 on the same side can be brought close to and away from each other. Since the wire ring 1217 cannot pass through the hole on the wire fixing member b1216, the ring cutter soil taking part 1200 is lowered when the two sliders a1214 on the same side are close to each other, and the ring cutter soil taking part 1200 is pulled up when the two sliders a1214 on the same side are away from each other. When the two screw rods b1213 rotate in the same direction, the ring cutter soil taking part 1200 can be moved.

[0095] like Figure 8 , Fig. 9 , Fig.10As shown, the ring cutter part 1220 is composed of a ring cutter sleeve 1221, a pneumatic percussion hammer 1222, a percussion cylinder 1223, a ring cutter 1224, a U-shaped pin 1225, a connecting column 1226, a U-shaped pull ring 1227, a built-in spring 1228 and a large spring 1229. The ring cutter sleeve 1221 is welded and fixed in the ring cutter soil taking frame 1218, and is used to guide the ring cutter 1224 to prevent the ring cutter sleeve 1221 from tilting during the insertion into the soil. The percussion cylinder 1223 is installed inside the ring cutter sleeve 1221 and will not be separated from the bottom of the ring cutter sleeve 1221. The pneumatic percussion hammer 1222 is fixedly installed inside the percussion cylinder 1223, and is used to knock the ring cutter 1224 into the soil. The ring cutter 1224 is connected to the percussion cylinder 1223 through the U-shaped pin 1225. After the ring cutter 1224 is inserted into the soil, a specific volume of soil can be taken out for easy inspection. The upper end of the U-shaped pin 1225 is installed at the bottom of the knocking tube 1223, and the lower end is used to connect the knocking tube 1223 and the ring knife 1224. The upper end of the U-shaped pin 1225 is provided with a slot, which can clamp the U-shaped pull ring 1227. The top of the connecting column 1226 is fixed to the U-shaped pull ring 1227. When the two ends of the U-shaped pull ring 1227 are clamped on the upper end of the U-shaped pin 1225, the two U-shaped pins 1225 can be pulled. The two ends of the built-in spring 1228 are fixed in the U-shaped pin 1225, and the built-in spring 1228 is in a compressed state. The two ends of the large spring 1229 are respectively fixed to the bottom of the knocking tube 1223 and the steel sheet in the ring knife 1224, and the large spring 1229 is in a compressed state. It is worth mentioning that when the ring cutter 1224 reaches the maximum insertion depth, the ring cutter 1224 and the knocking tube 1223 will separate, and the separation process is as follows: when the soil lifts up the connecting column 1226, the two ends of the U-shaped pull ring 1227 will be disengaged from the slots at the upper ends of the U-shaped pins 1225, and under the action of the built-in spring 1228, the two U-shaped pins 1225 will be disengaged from the holes of the knocking tube 1223 and the ring cutter 1224, thereby realizing the separation of the ring cutter 1224 and the knocking tube 1223. The separated ring cutter part 1220 (except the ring cutter 1224) will be moved to the side close to the stepping motor b1212 under the traction of the soil taking frame transmission part 1210 to prevent the separated ring cutter part 1220 from interfering with the subsequent soil compaction work; while the ring cutter 1224 will remain in the soil and will be taken out together with the removal of the soil taking outer ring 1109.

[0096] like Fig.11As shown, the sand filling cylinder part 2000 is composed of a wire fixing ring b2001, a tension sensor 2002, a wire connection seat 2003, a scissor-type lifting part 2100 and a sand filling cylinder outlet part 2200. The upper end of the wire fixing ring b2001 is a short screw rod, which is fixed to the lower end of the lower connecting plate 2102 by a nut. The wire connection seat 2003 is welded to the sand filling cylinder 2201. The two ends of the tension sensor 2002 are fixed to the wire fixing ring b2001 and the wire connection seat 2003 by steel wires, which is used to measure the tension on the steel wire, and then measure the mass of the standard sand in the sand filling cylinder 2201. By calculating the difference in the mass of the standard sand in the sand filling cylinder 2201 before and after sand filling, and combining it with the density of the standard sand, the volume of the sample soil taken out is calculated.

[0097] like Fig.12 As shown, the scissor lift part 2100 is composed of an upper connecting plate 2101, a lower connecting plate 2102, a connecting pin a2103, a connecting rod b2104, a connecting pin b2105, a push rod 2106, a long hydraulic cylinder 2107 and an articulated seat 2108. The upper connecting plate 2101 is fixedly connected to the slider c3007. The two ends of the connecting rod b2104 are respectively fixed to the bottom of the upper connecting plate 2101 and the top of the lower connecting plate 2102 by the connecting pin a2103, and the centers of the two connecting rods b2104 are connected by the connecting pin b2105. The push rod 2106 is installed on the lower connecting plate 2102 and connected to one end of the connecting rod b2104. The articulated seat 2108 is fixedly installed on the lower connecting plate 2102 and is used to fix the long hydraulic cylinder 2107. The two ends of the long hydraulic cylinder 2107 are respectively hingedly connected to the hinge seat 2108 and the connecting rod b2104. The extension and retraction of the long hydraulic cylinder 2107 can push the connecting rod b2104 to move, thereby controlling the lifting of the lower connecting plate 2102 and further controlling the lifting of the sand filling cylinder 2201.

[0098] like Fig.13As shown, the sand outlet part 2200 of the sand filling cylinder is composed of a sand filling cylinder 2201, a sand retaining plate 2202, a solenoid valve 2203, a sand funnel 2204, a fixing frame a2205, a float 2206, a photoelectric sensor 2207 and a relay 2208. The sand filling cylinder 2201 is used to hold standard sand. The sand retaining plate 2202 is fixedly welded inside the sand filling cylinder 2201. The solenoid valve 2203 is fixedly installed at the upper end of the sand funnel 2204, and the inlet of the sand funnel 2204 is aligned with the discharge hole in the sand retaining plate 2202 to control the outflow of standard sand. The sand funnel 2204 is welded and fixed to the bottom of the sand filling cylinder 2201 to disperse the outflowing standard sand to prevent accumulation. The fixing frame a2205 is welded and fixed on the sand funnel 2204. The photoelectric sensor 2207 is fixedly installed in the fixing frame a2205. The float 2206 is installed in the hole on the sand funnel 2204 and is located below the photoelectric sensor 2207. The relay 2208 is fixedly installed on the sand funnel 2204 and is used to control the on and off of the solenoid valve 2203. It is worth mentioning that when the sand in the pit is full, the sand on the top will lift the float 2206, and the lifted float 2206 will block the light reception in the photoelectric sensor 2207, thereby triggering the relay 2208 to control the solenoid valve 2203 to disconnect, thereby stopping the sand filling.

[0099] like Fig.14 As shown, the wire rail transmission part 3000 is composed of a fixed frame b3001, a stepper motor c3002, a slider b3003, a screw rod c3004, a wire rail b3005, a stepper motor d3006, a screw rod d3007, a slider c3008 and a wire rail c3009. The fixed frame b3001 is used to install the screw rod wire rail. The screw rod wire rail structure composed of the stepper motor c3002, the slider b3003, the screw rod c3004 and the wire rail b3005 is the same as the stepper motor d3006, the screw rod d3007, the slider c3008 and the wire rail c3009. One of them is described: the wire rail b3005 is fixedly installed in the fixed frame b3001. The stepper motor c3002 is fixedly installed on the side of the wire rail c3005. The screw rod c3004 is installed in the wire rail b3005 through the interference fit of the bearing. The slider b3003 is installed on the wire rail b3005 and the screw rod c3004. The stepper motor c3002 drives the screw rod c3004 to rotate, thereby driving the slider b3003 to move. The wire rail c3009 is also fixedly installed in the fixed frame b3001. The slider b3003 is connected to the soil taking frame 1101, and is used to transfer the soil taking part 1000 after taking the soil to the top of the hopper 3101, and is located below the guide tube 3103, and the guide tube 3103 is coaxial with the soil taking outer ring 1109. The slider c3008 is fixed to the upper connecting plate 2101, and is used to transfer the sand filling barrel part 2000 to the top of the soil pit left after taking the soil.

[0100] like Fig.15 , Fig.16 , Fig.17 As shown, the soil pressing part 3100 is composed of a hopper 3101, an electronic scale 3102, a guide tube 3103, a soil moisture sensor 3104 and a rigid chain part 3110; wherein the rigid chain part 3110 is composed of a chain housing 3111, a stepper motor e3112, a sprocket 3113, a rigid chain 3114 and a soil pressing plate 3115. The electronic scale 3102 is fixedly mounted on the upper bottom of the fixed frame b3001, and is used to weigh the mass of the sample soil in the hopper 3101. The hopper 3101 is fixedly mounted on the electronic scale 3102, and is used to hold the sample soil. The guide tube 3103 is fixedly mounted in the fixed frame b3001 and is located directly above the hopper 3101, and is used to guide the soil pressing plate 3115 to prevent the rigid chain 3114 from bending. The soil moisture sensor 3104 is fixedly mounted in the hopper 3101, and is used to measure the moisture of the sample soil in the hopper 3101. The chain housing 3111 is fixedly mounted on the fixed frame b3001. The stepper motor e3112 is fixedly mounted in the chain housing 3111, and the output shaft of the stepper motor e3112 is connected to the sprocket 3113. The sprocket 3113 is meshed with the chain pin of the rigid chain 3114. The stepper motor e3112 drives the sprocket 3113 to rotate, thereby realizing the extension and retraction of the rigid chain 3114. The rigid chain 3114 is mounted in the chain housing 3111, and the end link of the rigid chain 3114 is fixedly connected to the soil pressing plate 3115 through the pin. The soil pressing plate 3115 is connected to the rigid chain 3114 and is mounted in the guide tube 3103. When the rigid chain 3114 is extended, the soil pressing plate 3115 can be pushed downward into the soil taking outer ring 1109. Then, the sample soil in the soil taking outer ring 1109 is pressed out into the hopper 3101. It is worth mentioning that, after the ring cutter 1224 is separated from the knocking tube 1223, it will be taken out together with the outer ring 1109, so the mass of the sample soil is obtained by subtracting the mass of the ring cutter 1224 from the mass in the hopper 3101. The sample soil in the ring cutter 1224 can be tested again to find the best result.

[0101] like Fig.18 As shown, the chassis part 4000 of the trolley is composed of a lifting plate 4001, a lifting cylinder 4002, a bottom plate 4003, a driving motor 4004 and a small wheel 4005. The lifting plate 4001 is welded to the side of the fixed frame b3001. The bottom of the lifting cylinder 4002 is fixed on the bottom plate 4003, and the upper end of the lifting cylinder 4002 is connected to the lifting plate 4001, which is used to lift or put down the fixed frame b3001. When the device needs to work, the lifting cylinder 4002 descends and the fixed frame b3001 is placed on the ground. After the work is completed, the fixed frame b3001 is lifted. The driving motor 4004 is fixedly installed at the lower end of the bottom plate 4003, and the output shaft of the driving motor 4004 is fixed to the small wheel 4005, which is used to drive the small wheel 4005.

[0102] Example 2

[0103] A method for using the fluidized solidified soil density detection robot described in Example 1 comprises the following steps:

[0104] S1. Positioning and preparation:

[0105] The chassis part 4000 of the trolley first drives the wheels 4005 through the driving motor 4004 to move the robot to the target position that needs to be detected.

[0106] The height of the fixed frame b3001 is adjusted by the lifting cylinder 4002, and the fixed frame b3001 is lowered to the ground to ensure that the robot is stable and ready to start working.

[0107] Pour a sufficient amount of special sand for the sand filling method into the sand filling tube 2201.

[0108] S2. Soil extraction operation:

[0109] Soil extraction outer ring part 1100: The soil extraction outer ring 1109 of the soil extraction part 1000 drives the screw rod a1103 to rotate through the stepping motor a1102, driving the lifting ring 1104 to adjust the height of the soil extraction outer ring 1109. The reduction motor 1105 drives the gear 1106 to rotate, and the gear 1106 meshes with the rack ring 1107 to help the soil extraction outer ring 1109 insert into the soil and rotate downward. In this process, the serrated design at the bottom of the soil extraction outer ring 1109 helps to smoothly insert into the soil.

[0110] The ring cutter 1224 is knocked into the soil by the cooperation of the pneumatic percussion hammer 1222 and the percussion tube 1223. When the ring cutter 1224 reaches the maximum depth, the ring cutter 1224 and the percussion tube 1223 will separate, and the separated ring cutter part 1220 (except the ring cutter 1224) will be moved to the side close to the stepper motor b1212 under the pull of the soil taking frame transmission part 1210. Then the soil taking outer ring 1109 is taken out together with the ring cutter 1224, and after being taken out, it is transported to the top of the hopper 3101 through the wire rail transmission part 3000, and is at the same time located below the guide tube 3103, and the guide tube 3103 is coaxial with the soil taking outer ring 1109.

[0111] The stepper motor e3112 drives the sprocket 3113 to rotate, and then drives the rigid chain 3114 to extend, pushing the soil pressing plate 3115 downward to the outer ring 1109 of the soil sampling. Then the sample soil in the outer ring 1109 is pressed out into the hopper 3101. Prepare for subsequent measurement operations. At this time, the ring knife 1224 and the soil sample are removed from the soil together.

[0112] S3. Sand filling operation:

[0113] After the outer ring 1109 is taken out, the sand filling barrel 2000 is only transferred to the top of the earth pit by the wire rail transmission part 3000. The sand filling barrel 2201 is controlled by the scissor-type lifting part 2100, and the height of the sand filling barrel 2201 is adjusted by the extension and contraction of the long hydraulic cylinder 2107 to ensure that the sand filling barrel 2201 is docked with the earth pit.

[0114] Standard sand measurement: The tension sensor 2002 is used to monitor the tension of the steel wire in real time, and then calculate the mass of the standard sand in the sand filling tube 2201. The standard sand is poured into the soil pit, and the mass of the sand is calculated. According to the mass of the sand and the known density, the volume of the soil sample taken out is calculated.

[0115] S4. Quality measurement and data calculation:

[0116] Weighing the soil sample mass: After the soil sample is extracted, the electronic scale 3102 is used to accurately weigh the mass of the soil sample in the hopper 3101. The mass and volume data of the soil sample are used for subsequent soil density calculation.

[0117] Calculation of sand filling volume: The volume of soil in the pit is calculated by combining the standard sand mass, sand density and volume change after sand filling. This process is controlled by the tension sensor 2002 and the sensor system.

[0118] S5. Moving and repetitive work:

[0119] After completing a measurement, the chassis part 4000 of the trolley controls the small wheels 4005 to move through the driving motor 4004 and automatically drives to the next position that needs to be measured.

[0120] At the next measuring location, repeat the above steps until all soil samples are taken and density measurements are completed.

[0121] The above description is only a specific implementation of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be understood by anyone familiar with the technology within the technical scope disclosed by the present invention should be included in the scope of the present invention.

Claims

1. A fluidized solidified soil density detection robot, characterized in that: include: A soil taking part, which is arranged below the wire track transmission part and is used to take out sample soil from a target position; The sand filling part is arranged at the lower end of the wire rail transmission part and located behind the soil taking part, and is used to fill the soil pit after soil taking, and measure the volume of the sample soil taken by the mass of the filled standard sand and the density of the standard sand; A wire rail transmission part is arranged on the chassis part of the trolley, located above the soil taking part and the sand filling cylinder part, and is used to drive the soil taking part and the sand filling cylinder part, and weigh the mass of the sample soil at the same time; The trolley chassis is the walking unit of the robot and is also used to lift the wire rail transmission part.

2. The fluidized solidified soil density detection robot according to claim 1, characterized in that: The soil taking part includes a soil taking outer ring part and a ring cutter soil taking part. The soil taking outer ring part includes a soil taking frame, a stepper motor a, a screw rod a, a lifting ring, a reduction motor, a gear, a rack ring, a bearing and a soil taking outer ring. The soil taking frame is installed at the lower end of the slider b, and the stepper motor a is installed in the upper groove of the soil taking frame to drive the screw rod a; the two ends of the screw rod a are installed in the soil taking frame through bearing interference fit, and the two ends of the lifting ring are ball blocks, which are respectively installed with the screw rod a on both sides; the stepper motor a drives the screw rod a to rotate, thereby driving the lifting ring to rise and fall; the reduction motor is installed on the lifting ring, and the output shaft of the reduction motor is connected to the gear; the gear is meshed with the rack ring; the rack ring is installed outside the soil taking outer ring; the soil taking outer ring is installed in the lifting ring through bearing interference fit.

3. The fluidized solidified soil density detection robot according to claim 2, characterized in that: The ring knife soil-taking part includes a soil-taking frame transmission part and a ring knife part, and the soil-taking frame transmission part includes a connecting rod a, a wire rail a, a stepping motor b, a screw rod b, a slider a, a wire fixing piece a, a wire fixing piece b, a wire ring, a ring knife soil-taking frame and a wire fixing ring a; the two ends of the connecting rod a are respectively connected to the slider a with a thread inside and the slider a without a thread inside; the wire rail b is installed in the middle of the soil-taking frame; the stepping motor b is installed on the side of the wire rail b, and is used to drive the screw rod b; the two ends of the screw rod b are installed on the wire rail a through bearing interference fit; the two sliders a are installed on the wire rail a and the screw rod b; the slider a connected to the wire fixing piece a on the right side has threads, and the rotation of the screw rod b can drive the slider a with threads to rotate; and the slider a connected to the wire fixing piece b has no threads inside , that is, the rotation of the screw rod b cannot drive the non-threaded slider a to rotate, while the left side is the opposite; the wire fixing piece a and the wire fixing piece b are installed on the slider a; the wire fixing piece a has a wire fixing ring on one side and a round hole on the other side for passing the wire; both sides of the wire fixing piece b have round holes; the wire ring is installed on the steel wire passing through the wire fixing piece b, and the wire ring cannot pass through the hole on the wire fixing piece b; the ring knife soil taking frame is located outside the ring knife sleeve and fixed to the ring knife sleeve, and at the same time, the ring knife soil taking frame is located inside the soil taking outer ring, and is used to support the ring knife soil taking part from tipping over on the ground; the wire fixing ring a is installed on the soil taking frame, and the wire fixing ring a is connected to the wire fixing ring on the wire fixing piece a by passing the wire through the wire ring, the wire fixing piece b and one side of the wire fixing piece a; The process of pulling up and lowering the soil-taking part of the ring knife includes: when the screw rod b on one side rotates and the screw rod b on the other side does not rotate, the two connected sliders a are moved, and the other two connected sliders a do not move, thereby realizing the approach and distance between the two sliders a on the same side. Since the wire ring cannot pass through the hole on the wire fixing member b, the soil-taking part of the ring knife is lowered when the two sliders a on the same side are approached; and when the two sliders a on the same side are away from each other, the soil-taking part of the ring knife is pulled up, and when the two screw rods b rotate in the same direction, the soil-taking part of the ring knife is moved.

4. The fluidized solidified soil density detection robot according to claim 2, characterized in that: The ring knife part includes a ring knife sleeve, a pneumatic percussion hammer, a percussion tube, a ring knife, a U-shaped pin, a connecting column, a U-shaped pull ring, an internal spring and a large spring, wherein the ring knife sleeve is installed in a ring knife soil taking frame, and is used to guide the ring knife to prevent the ring knife from tilting during the insertion into the soil; the percussion tube is installed inside the ring knife sleeve and will not detach from the bottom of the ring knife sleeve; the pneumatic percussion hammer is installed inside the percussion tube, and is used to knock the ring knife into the soil; the ring knife is connected to the percussion tube through the U-shaped pin; the upper end of the U-shaped pin is installed at the bottom of the percussion tube, and the lower end is used to connect the percussion tube and the ring knife, and the upper end of the U-shaped pin is provided with a slot for clamping the U-shaped pull ring; the top end of the connecting column is connected to the U-shaped pull ring, and when the two ends of the U-shaped pull ring are clamped at the upper end of the U-shaped pin, it is used to pull the two U-shaped pins; the two ends of the internal spring are installed in the U-shaped pin; the two ends of the large spring are respectively connected to the bottom of the percussion tube and the steel sheet in the ring knife; When the ring knife reaches the maximum insertion depth, the ring knife and the knocking tube will separate, and the separation process includes: when the soil lifts the connecting column, the two ends of the U-shaped pull ring will disengage from the slots at the upper end of the U-shaped pin, and under the action of the built-in spring, the two U-shaped pins will disengage from the holes of the knocking tube and the ring knife, thereby realizing the separation of the ring knife and the knocking tube; the separated ring knife part, except the ring knife, will be moved to the side close to the stepper motor b under the traction of the soil extraction frame transmission part; and the ring knife will remain in the soil and will be taken out together with the removal of the soil extraction outer ring later.

5. The fluidized solidified soil density detection robot according to claim 1, characterized in that: The sand filling cylinder part includes a wire fixing ring b, a tension sensor, a wire connecting seat, a scissor-type lifting part and a sand filling cylinder outlet part. The upper end of the wire fixing ring b is a short screw rod, which is installed at the lower end of the lower connecting plate through a nut; the wire connecting seat is installed on the sand filling cylinder; the two ends of the tension sensor are installed on the wire fixing ring b and the wire connecting seat through steel wires, and are used to measure the tension on the steel wire, and then measure the standard sand quality in the sand filling cylinder; The scissor-type lifting part includes an upper connecting plate, a lower connecting plate, a connecting pin a, a connecting rod b, a connecting pin b, a push rod, a long hydraulic cylinder and an articulated seat. The upper connecting plate is connected to a slider c, and the two ends of the connecting rod b are respectively mounted on the bottom of the upper connecting plate and the top of the lower connecting plate through a connecting pin a, and the centers of the two connecting rods b are connected through a connecting pin b; the push rod is mounted on the lower connecting plate and connected to one end of the connecting rod b; the articulated seat is mounted on the lower connecting plate and is used to fix the long hydraulic cylinder; the two ends of the long hydraulic cylinder are respectively articulated with the articulated seat and the connecting rod b, and the telescopic long hydraulic cylinder is used to push the connecting rod b to move to control the lifting and lowering of the lower connecting plate, thereby controlling the lifting and lowering of the sand filling barrel.

6. The fluidized solidified soil density detection robot according to claim 5, characterized in that: The sand outlet part of the sand filling cylinder includes a sand filling cylinder, a sand retaining plate, an electromagnetic valve, a sand hopper, a fixing frame a, a float, a photoelectric sensor and a relay. The sand filling cylinder is used to hold standard sand; the sand retaining plate is installed inside the sand filling cylinder, and the electromagnetic valve is installed at the upper end of the sand hopper. The inlet of the sand hopper is aligned with the outlet hole in the sand retaining plate to control the outflow of standard sand; the sand hopper is installed at the bottom of the sand filling cylinder to disperse the outflowing standard sand to prevent accumulation; the fixing frame a is installed on the sand hopper, the photoelectric sensor is installed in the fixing frame a, and the float is installed in the hole on the sand hopper and is located below the photoelectric sensor; the relay is installed on the sand hopper to control the on and off of the electromagnetic valve; when the sand in the pit is full, the sand on the top will lift the float, and the lifted float will block the light reception in the photoelectric sensor, thereby triggering the relay to control the electromagnetic valve to disconnect, thereby stopping the sand filling.

7. The fluidized solidified soil density detection robot according to claim 1, characterized in that: The wire rail transmission part includes a fixed frame b, a stepper motor c, a slider b, a screw rod c, a wire rail b, a stepper motor d, a screw rod d, a slider c and a wire rail c, wherein the fixed frame b is used to install the screw rod and wire rail; the stepper motor c, the slider b, the screw rod c and the wire rail b have the same screw rod and wire rail structure as the stepper motor d, the screw rod d, the slider c and the wire rail c, wherein the wire rail b is installed in the fixed frame b, the stepper motor c is installed on the side of the wire rail c, the screw rod c is installed in the wire rail b through a bearing interference fit, the slider b is installed on the wire rail b and the screw rod c, the stepper motor c drives the screw rod c to rotate, and then drives the slider b to move; the wire rail c is also installed in the fixed frame b, the slider b is connected to the soil taking frame, and is used to transfer the soil taking part after the soil is taken to the top of the hopper, and is located below the guide pipe, and the guide pipe is coaxial with the soil taking outer ring; the slider c is connected to the upper connecting plate, and is used to transfer the sand filling barrel part to the top of the soil pit left after the soil is taken.

8. The fluidized solidified soil density detection robot according to claim 7, characterized in that: It also includes a soil pressing part, which includes a hopper, an electronic scale, a guide tube, a soil moisture sensor and a rigid chain part. The electronic scale is installed at the upper end of the bottom of the fixed frame b and is used to weigh the mass of the sample soil in the hopper; the hopper is installed on the electronic scale and is used to hold the sample soil; the guide tube is installed in the fixed frame b and is located directly above the hopper, and is used to guide the soil pressing plate to prevent the rigid chain from bending; the soil moisture sensor is installed in the hopper and is used to measure the moisture of the sample soil in the hopper; The rigid chain part includes a chain case, a stepper motor e, a sprocket, a rigid chain and a soil pressing plate, the chain case is installed on a fixed frame b, the stepper motor e is installed in the chain case, the output shaft of the stepper motor e is connected to the sprocket; the sprocket is engaged with the chain pin of the rigid chain; the stepper motor e drives the sprocket to rotate, thereby realizing the extension and retraction of the rigid chain; the rigid chain is installed in the chain case, and the end link of the rigid chain is connected to the soil pressing plate through the pin; the soil pressing plate is connected to the rigid chain and installed in a guide tube; the rigid chain extends out to push the soil pressing plate downward to the outer ring of soil extraction, thereby pressing the sample soil in the outer ring of soil extraction into the hopper.

9. The fluidized solidified soil density detection robot according to claim 1, characterized in that: The chassis part of the trolley includes a lifting plate, a lifting cylinder, a bottom plate, a driving motor and a small wheel. The lifting plate is installed on the side of the fixed frame b, the bottom of the lifting cylinder is installed on the bottom plate, and the upper end of the lifting cylinder is connected to the lifting plate for lifting or lowering the fixed frame b; the driving motor is installed at the lower end of the bottom plate, and the output shaft of the driving motor is connected to the small wheel for driving the small wheel.

10. A method for using the fluidized solidified soil density detection robot according to any one of claims 1 to 9, characterized in that: The following steps are involved: S1. Positioning and preparation: The chassis of the robot first drives the small wheels through the driving motor to move the robot to the target position that needs to be detected; The height of the fixed frame b is adjusted by the lifting cylinder, and the fixed frame b is lowered to the ground to ensure that the robot is stable and ready to start working; Pour a sufficient amount of special sand for sand filling method into the sand filling cylinder; S2. Soil extraction operation: The outer ring of soil extraction: The outer ring of soil extraction drives the screw a to rotate through the stepper motor a, driving the lifting ring to adjust the height of the outer ring of soil extraction. The reduction motor drives the gear to rotate, and the gear meshes with the rack ring to help the outer ring of soil extraction insert into the soil and rotate downward. In this process, the serrated shape at the bottom of the outer ring of soil extraction helps to insert into the soil smoothly. The ring knife is knocked into the soil by the cooperation of the pneumatic knocking hammer and the knocking cylinder. When the ring knife reaches the maximum depth, the ring knife and the knocking cylinder will be separated. The separated ring knife part will be moved to the side close to the stepper motor b under the traction of the soil taking frame transmission part after the ring knife is removed. Then the soil taking outer ring is taken out together with the ring knife. After being taken out, it is transported to the top of the hopper through the wire rail transmission part and is at the bottom of the guide tube. The guide tube is coaxial with the soil taking outer ring. The stepper motor e drives the sprocket to rotate, and then drives the rigid chain to extend, pushing the soil pressing plate down to the outer ring of the soil sampling, and then pressing the sample soil in the outer ring of the soil sampling into the hopper, preparing for subsequent measurement operations. At this time, the ring cutter and the soil sample are removed from the soil together; S3. Sand filling operation: After the outer ring of the soil is taken out, the sand filling cylinder is only transferred to the top of the soil pit by the wire rail transmission part. The sand filling cylinder is controlled by the scissor-type lifting part. The height of the sand filling cylinder is adjusted by the extension and contraction of the long hydraulic cylinder to ensure the docking of the sand filling cylinder and the soil pit. Standard sand measurement: The tension sensor is used to monitor the tension of the steel wire in real time, and then calculate the mass of the standard sand in the sand filling tube. The standard sand is poured into the soil pit, and the mass of the sand is calculated. According to the mass of the sand and the known density, the volume of the soil sample taken out is calculated; S4. Quality measurement and data calculation: Weighing soil sample quality: After the soil sample is extracted, the electronic scale is used to accurately weigh the mass of the soil sample in the hopper. The mass and volume data of the soil sample are used for subsequent soil density calculation; Calculation of sand filling volume: Calculate the soil volume in the pit based on the standard sand mass, sand density and volume change after sand filling; S5. Moving and repetitive work: After completing a measurement, the chassis of the trolley controls the wheels to move through the drive motor and automatically drives to the next location that needs to be measured.

Images