A fluidized soil compactness detection robot and a method of using the same

Abstract

The application belongs to the field of backfill soil compactness detection, and specifically discloses a fluidized solidified soil compactness detection robot and a use method thereof, which comprises: a soil taking part arranged below a wire track transmission part and used for taking sample soil from a target position; a sand pouring part arranged at the lower end of the wire track transmission part and located behind the soil taking part, and used for pouring standard sand into a soil pit after soil taking, and measuring the volume of the sample soil by the mass and density of the poured standard sand; a wire track transmission part arranged on a trolley chassis part and located above the soil taking part and the sand pouring cylinder part, and used for driving the soil taking part and the sand pouring cylinder part and weighing the sample soil; and the trolley chassis part is a walking unit of the robot and is also used for lifting the wire track transmission part. The application can detect the soil compactness on a construction site, and greatly improves the detection efficiency and precision.

Description

TECHNICAL FIELD

[0001] The application belongs to the field of backfill soil density detection, and particularly relates to a flow state solidified soil density detection robot and a use method thereof. BACKGROUND

[0002] The flow state solidified soil is a green new type of soil material, and the backfill soil density is one of important quality control indexes, which directly affects the bearing capacity, stability and durability of the backfill soil. In the process of engineering construction such as building, road and bridge, it is of great significance to ensure the appropriate density of the flow state solidified soil for improving the engineering quality and preventing problems such as settlement and cracks. Although the traditional soil density detection method is widely used, it has defects such as complicated operation, manual error and long detection period due to its artificial dependence and time lag. Therefore, how to improve the detection efficiency and precision has become a problem to be solved in the field of civil engineering. SUMMARY

[0003] In view of the defects of the prior art, the purpose of the application is to provide a flow state solidified soil density detection robot, which adopts advanced sensors and control technology, can detect the soil density on the construction site, and generate accurate data reports through automatic means, greatly improving the detection efficiency and precision, and solving the problems of traditional manual detection.

[0004] Another purpose of the application is to provide a use method of the flow state solidified soil density detection robot. After the trolley moves to the target position, the equipment is stably placed on the ground by using the jacking oil cylinder. The soil taking part is started, the outer ring is inserted into the soil by rotating, the cutting ring cooperates with the pneumatic knocking hammer to complete the soil sample collection, and then the soil sample is conveyed into the hopper for weighing and humidity detection. The sand pouring cylinder part is lowered to the soil pit through the scissor type lifting part to pour sand into the soil pit after taking soil, the standard sand quality poured in is measured by using the tension sensor, and the soil sample volume is calculated combined with the density of the sand. The wire rail transmission part is responsible for the movement coordination between modules, and ensures the smooth connection of each link. In the whole process, the robot realizes efficient and accurate detection of the soil sample density through precise mechanical and sensing devices, and the operation is simple and the result is reliable.

[0005] In order to achieve the above purpose, the following technical measures are adopted in the application.

[0006] A flow state solidified soil density detection robot comprises:

[0007] A soil taking part is arranged below the wire rail transmission part, and is used for taking out sample soil from the target position;

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

[0009] The wire rail transmission part is provided on the chassis 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 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.

[0012] Further, the ring knife soil taking part comprises a soil taking frame transmission part and a ring knife part, the soil taking frame transmission part comprises a connecting rod a, a wire rail a, a stepping motor b, a screw rod b, a sliding block a, a steel wire fixing piece a, a steel wire fixing piece b, a steel wire ring, a ring knife soil taking frame and a steel wire fixing ring a; the connecting rod a is connected with the sliding block a with and without thread respectively at both ends; 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 screw rod b is installed on the wire rail a through bearing interference fit at both ends; the two sliding blocks a are installed on the wire rail a and the screw rod b; the sliding block a connected with the steel wire fixing piece a on the right side has thread, the screw rod b rotation can drive the sliding block a with thread to rotate; while the sliding block a connected with the steel wire fixing piece b has no thread, that is, the screw rod b rotation cannot drive the sliding block a without thread to rotate, while the left side is opposite; the steel wire fixing piece a and the steel wire fixing piece b are installed on the sliding block a; the steel wire fixing piece a has a steel wire fixing ring on one side and a round hole on the other side for passing through the steel wire; the steel wire fixing piece b has round holes on both sides; the steel wire ring is installed on the steel wire passing through the steel wire fixing piece b, and the steel wire ring cannot pass through the hole on the steel wire fixing piece b; the ring knife soil taking frame is located outside the ring knife sleeve and is fixed with the ring knife sleeve, at the same time, the ring knife soil taking frame is located in the outer ring of the soil taking and is used to support the ring knife soil taking part not to tilt on the ground; the steel wire fixing ring a is installed on the soil taking frame, and the steel wire fixing ring a is connected with the steel wire fixing ring on the steel wire fixing piece a through the steel wire passing through the steel wire ring, the steel wire fixing piece b and one side of the steel wire fixing piece a.

[0013] The process of pulling up and putting down the ring knife soil taking part comprises: when one side of the screw rod b rotates and the other side of the screw rod b does not rotate, that is, two connected sliding blocks a move, while the other two connected sliding blocks a do not move, and then the two sliding blocks a on the same side approach and move away, and since the steel wire ring cannot pass through the hole on the steel wire fixing piece b, the two sliding blocks a on the same side approach, and then the ring knife soil taking part is put down; while the two sliding blocks a on the same side move away, the ring knife soil taking part is pulled up, and when the two screw rods b rotate in the same direction, the ring knife soil taking part is moved.

[0014] Further, the ring knife part includes a ring knife sleeve, a pneumatic hammer, a knocking cylinder, a ring knife, a U-shaped pin, a connecting column, a U-shaped pull ring, an internal spring and a large spring. The ring knife sleeve is installed in the ring knife frame to guide the ring knife to prevent the ring knife from tilting during insertion into the soil. The knocking cylinder is installed inside the ring knife sleeve and does not separate from the bottom of the ring knife sleeve. The pneumatic hammer is installed inside the knocking cylinder to knock the ring knife into the soil. The ring knife is connected to the knocking cylinder through the U-shaped pin. The upper end of the U-shaped pin is installed at the bottom of the knocking cylinder, and the lower end is used to connect the knocking cylinder and the ring knife. The upper end of the U-shaped pin has a clamping groove for clamping the U-shaped pull ring. The connecting column is connected to the U-shaped pull ring at the top. When the two ends of the U-shaped pull ring are clamped in the upper end of the U-shaped pin, the two U-shaped pins are pulled. The internal spring is installed at both ends of the U-shaped pin. The large spring is connected to the bottom of the knocking cylinder and the steel sheet inside the ring knife at both ends.

[0015] When the ring knife reaches the maximum insertion depth, the ring knife and the knocking cylinder will separate. The separation process includes: when the soil lifts the connecting column, the two ends of the U-shaped pull ring will be separated from the clamping groove in the upper end of the U-shaped pin. Under the action of the internal spring, the two U-shaped pins will be separated from the holes of the knocking cylinder and the ring knife, thereby realizing the separation of the ring knife and the knocking cylinder. After separation, the ring knife part will move to the side close to the stepper motor b under the traction of the transmission part of the soil sampling frame, except for the ring knife. The ring knife remains in the soil and is taken out together with the soil sampling outer ring in the subsequent process.

[0016] Optionally, the sand pouring cylinder part includes a steel wire fixing ring b, a tension sensor, a steel wire connecting seat, a scissor lifting part and a sand pouring cylinder outlet part. The upper end of the steel wire fixing ring b is a short wire 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 pouring cylinder. The tension sensor is installed at both ends of the steel wire fixing ring b and the steel wire connecting seat through the steel wire to measure the tension of the steel wire and the standard sand mass in the sand pouring cylinder.

[0017] The scissor 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 oil cylinder and a hinged seat. The upper connecting plate is connected to the sliding block c. The connecting rod b is installed at both ends of the upper connecting plate and the lower connecting plate through the connecting pin a. The two connecting rods b are connected at the center through the connecting pin b. The push rod is installed on the lower connecting plate and connected to one end of the connecting rod b. The hinged seat is installed on the lower connecting plate to fix the long hydraulic oil cylinder. The long hydraulic oil cylinder is hinged at both ends to the hinged seat and the connecting rod b. The long hydraulic oil cylinder is used to push the connecting rod b to move to control the lifting of the lower connecting plate, thereby controlling the lifting of the sand pouring cylinder.

[0018] Further, the sand pouring cylinder sand outlet part includes a sand pouring cylinder for containing standard sand, a sand blocking plate installed inside the sand pouring cylinder, a solenoid valve installed on the upper end of a sand leakage hopper, a sand leakage hopper inlet aligned with the sand outlet hole in the sand blocking plate for controlling the outflow of standard sand, the sand leakage hopper installed at the bottom of the sand pouring cylinder for dispersing the outflow of standard sand to prevent accumulation, a fixed frame a installed on the sand leakage hopper, a photoelectric sensor installed in the fixed frame a, a floating ball installed in the hole on the sand leakage hopper below the photoelectric sensor, and a relay installed on the sand leakage hopper for controlling the on-off of the solenoid valve. When the sand in the pit is filled, the sand at the top will lift the floating ball, the lifted floating ball will block the light reception in the photoelectric sensor, thereby triggering the relay to control the solenoid valve to be turned off, thereby stopping the sand pouring.

[0019] Optionally, the wire rail transmission part includes a fixed frame b for installing the screw rod and wire rail, a stepper motor c, a sliding block b, a screw rod c, a wire rail b, a stepper motor d, a screw rod d, a sliding block c, and a wire rail c, the stepper motor c, the sliding block b, the screw rod c, the wire rail b, the stepper motor d, the screw rod d, the sliding block c, and the wire rail c constitute the same screw rod and wire rail structure, 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 interference fit of the bearing, the sliding block b is installed on the wire rail b and the screw rod c, the stepper motor c drives the screw rod c to rotate, thereby driving the sliding block b to move; the wire rail c is also installed in the fixed frame b, the sliding block b is connected with the soil taking frame, for transferring the soil taking part after taking soil to the upper of the hopper, while being below the guide pipe coaxial with the soil taking outer ring; the sliding block c is connected with the upper connecting plate, for transferring the sand pouring cylinder part to the upper of the pit left after taking soil.

[0020] Further, it also includes a soil pressing part, which includes a hopper, an electronic scale, a guide pipe, a soil humidity sensor, and a rigid chain part, the electronic scale is installed on the bottom of the fixed frame b, for weighing the mass of the sample soil in the hopper; the hopper is installed on the electronic scale, for containing the sample soil; the guide pipe is installed in the fixed frame b and above the hopper, for guiding the soil pressing plate and preventing the rigid chain from bending; the soil humidity sensor is installed in the hopper, for measuring the humidity of the sample soil in the hopper;

[0021] The rigid chain part includes a chain shell, a stepping motor e, a chain wheel, a rigid chain and a soil pressing plate, the chain shell is installed on the fixed frame b, the stepping motor e is installed in the chain shell, and the output shaft of the stepping motor e is connected with the chain wheel; the chain wheel is engaged with the chain pin shaft of the rigid chain; the stepping motor e drives the chain wheel to rotate, so that the rigid chain is stretched out or retracted; the rigid chain is installed in the chain shell, the last link of the rigid chain is connected with the soil pressing plate through the pin shaft; the soil pressing plate is connected with the rigid chain and is installed in the guide pipe; the rigid chain is stretched out, pushes the soil pressing plate downward to the soil taking outer ring, and then the sample soil in the soil taking outer ring is pressed into the hopper.

[0022] Optionally, the trolley chassis part includes a lifting plate, a jacking oil cylinder, a bottom plate, a drive motor and a trolley wheel, the lifting plate is installed on the side of the fixed frame b, the bottom of the jacking oil cylinder is installed on the bottom plate, the upper end of the jacking oil cylinder is connected with the lifting plate, and the fixed frame b is jacked up or lowered; the drive motor is installed at the lower end of the bottom plate, and the output shaft of the drive motor is connected with the trolley wheel, so as to drive the trolley wheel.

[0023] Correspondingly, the application also protects a use method of the flow state solidified soil compactness detection robot, which comprises the following steps:

[0024] S1. Positioning and preparation:

[0025] The trolley chassis part first drives the trolley wheel by the drive motor to move the robot to the target position to be detected;

[0026] The fixed frame b is adjusted in height by the jacking oil cylinder, and the fixed frame b is lowered to the ground, so that the robot is stable and ready to work;

[0027] A sufficient amount of special sand for the sand pouring method is poured into the sand pouring cylinder;

[0028] S2. Soil taking operation:

[0029] The soil taking outer ring part: the soil taking outer ring is rotated by the lead screw a driven by the stepping motor a, the height of the lifting ring is adjusted, the gear is rotated by the speed reducer, the gear is engaged with the rack ring, and the soil taking outer ring is inserted into the soil and rotated downward, in this process, the sawtooth at the bottom of the soil taking outer ring helps to smoothly insert into the soil;

[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 are separated, the separated ring knife part is moved to the side close to the stepping motor b under the traction of the soil taking frame transmission part, then the soil taking outer ring is taken out together with the ring knife, and is transferred to the upper side of the hopper through the lead rail transmission part, at the same time, the soil taking outer ring is below the guide pipe and coaxial with the guide pipe.

[0031] The stepping motor e drives the chain wheel to rotate, and then drives the rigid chain to extend, pushes the soil pressing plate downward into the soil taking outer ring, and then pushes the sample soil in the soil taking outer ring out to the hopper, and prepares for subsequent measurement operation, at this time, the cutting ring and the soil sample are removed together from the soil;

[0032] S3. Sand filling operation:

[0033] The sand filling cylinder part is transferred to above the soil pit only by the wire rail transmission part after being taken out from the soil taking outer ring, the sand filling cylinder is controlled by the scissor type lifting part, the height of the sand filling cylinder is adjusted through the extension and contraction of the long hydraulic oil cylinder, and the butt joint of the sand filling cylinder and the soil pit is ensured;

[0034] Standard sand measurement: the tension sensor is used to monitor the tension of the steel wire in real time, and then the mass of the standard sand in the sand filling cylinder is calculated, the standard sand is filled into the soil pit, the sand filling mass is calculated, and the volume of the extracted soil sample is calculated according to the mass of the sand and the known density;

[0035] S4. Mass measurement and data calculation:

[0036] Soil sample mass weighing: after the soil sample is extracted, the electronic scale is used to accurately weigh the mass of the soil sample in the hopper, and the mass and volume data of the soil sample are used for subsequent soil density calculation;

[0037] Sand filling volume calculation: the mass of the standard sand filled, the density of the sand and the change of the volume after the sand is filled are combined to calculate the volume of the soil in the soil pit;

[0038] S5. Movement and repeated work:

[0039] After completing a measurement, the trolley chassis part moves through the driving motor control trolley wheel to automatically drive to the next position to be measured.

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

[0041] 1. High automation and efficiency: the robot completes a series of complex processes such as soil taking, sand filling, volume measurement and mass weighing through automatic operation, avoids errors and tedious steps that may occur in traditional manual detection, and greatly improves work efficiency. The robot can complete multiple tasks in a short time, and is suitable for high-frequency soil density detection requirements.

[0042] 2. Accurate soil density measurement: the sand filling method combined with high-precision tension sensor and electronic scale measurement system can accurately calculate the volume and mass of the soil sample. The mass and density change 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 error.

[0043] 3. The intact soil sampling method: the robot adopts the ring knife soil sampling method, which can extract representative soil samples without damaging the soil structure. This is crucial for backfill soil density testing, as intact soil samples can better reflect the actual properties of the soil.

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

[0045] 5. High safety: through automation and remote control operation, the opportunity for operators to directly contact soil samples is reduced, and the safety risk of on-site operation is reduced. In addition, the robot can work in harsh environments such as wet, dirty, and heavily polluted sites, thereby improving the safety and reliability of the operation. BRIEF DESCRIPTION OF DRAWINGS

[0046] In order to more clearly illustrate the technical solutions of the present application, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor based on these drawings.

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

[0048] Figure 2 It is another view of the overall structure of the present application;

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

[0050] Figure 4 It is a schematic diagram of the outer ring structure of the soil sampling part of the present application;

[0051] Figure 5 It is a schematic diagram of the overall structure of the ring knife soil sampling of the present application;

[0052] Figure 6 It is a schematic diagram of the transmission structure of the soil sampling frame of the present application;

[0053] Figure 7 It is a detailed view of the steel wire connecting piece structure of the present application;

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

[0055] Figure 9 It is a detailed view of the ring knife connection structure of the present application;

[0056] Figure 10 is a cross-sectional view of the ring cutter connection of the present application;

[0057] Figure 11 is a schematic diagram of the overall structure of the sand filling cylinder of the present application;

[0058] Figure 12 is a schematic diagram of the scissor lifting structure of the present application;

[0059] Figure 13 is an exploded view of the bottom structure of the sand filling cylinder of the present application;

[0060] Figure 14 is a schematic diagram of the wire rail transmission part structure of the present application;

[0061] Figure 15 is an exploded view of the soil pressing part of the present application;

[0062] Figure 16 is a schematic diagram of the internal structure of the hopper of the present application;

[0063] Figure 17 is an exploded view of the rigid chain structure of the present application;

[0064] Figure 18 is a schematic diagram of the trolley chassis part structure of the present application.

[0065] BRIEF DESCRIPTION OF THE DRAWINGS:

[0066] 1000 - earth taking part:

[0067] 1100 - earth taking outer ring part:

[0068] 1101 - earth taking frame; 1102 - step motor a; 1103 - screw a; 1104 - lifting ring; 1105 - speed reducer motor; 1106 - gear; 1107 - rack circle; 1108 - bearing; 1109 - earth taking outer ring;

[0069] 1200 - ring cutter earth taking part:

[0070] 1210 - earth taking frame transmission part:

[0071] 1211 - wire rail a; 1212 - step motor b; 1213 - screw b; 1214 - slider a; 1215 - wire fixing piece a; 1216 - wire fixing piece b; 1217 - wire ring; 1218 - ring cutter earth taking frame; 1219 - wire fixing ring a;

[0072] 1220 - ring cutter part:

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

[0074] 2000-sand filling cylinder part:

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

[0076] 2100-scissor lifting part:

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

[0078] 2200-sand filling cylinder sand outlet part:

[0079] 2201-sand filling cylinder; 2202-sand blocking plate; 2203-solenoid valve; 2204-sand leakage hopper; 2205-fixing frame a; 2206-floating ball; 2207-optoelectronic sensor; 2208-relay;

[0080] 3000-wire rail transmission part:

[0081] 3001-fixing frame b; 3002-step motor c; 3003-sliding block b; 3004-screw rod c; 3005-wire rail b; 3006-step motor d; 3007-screw rod d; 3008-sliding block c; 3009-wire rail c;

[0082] 3100-soil pressing part:

[0083] 3101-hopper; 3102-electronic scale; 3103-guiding pipe; 3104-soil humidity sensor;

[0084] 3110-rigid chain part:

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

[0086] 4000-trolley chassis part:

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

[0088] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. 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 making creative efforts are within the scope of protection of the present invention.

[0089] Example 1

[0090] This embodiment provides a fluidized solidified soil density detection robot, such as Figure 1 、 Figure 2 As shown, it includes four parts, namely the soil taking part 1000, the sand filling barrel part 2000, the wire rail transmission part 3000 and the 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, for driving 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.

[0091] like Figure 3 As shown, the soil-borrowing part 1000 is composed of a soil-borrowing outer ring part 1100 and a ring cutter soil-boring part 1200 .

[0092] like Figure 4As shown, the soil taking outer ring part 1100 is composed of a soil taking frame 1101, a stepping motor a 1102, a screw rod a 1103, a lifting ring 1104, a speed reducer motor 1105, a gear 1106, a rack ring 1107, a bearing 1108 and a soil taking outer ring 1109. The soil taking frame 1101 is fixedly installed at the lower end of the sliding block b3003, the stepping motor a 1102 is fixedly installed in the slot above the soil taking frame 1101 and is used to drive the screw rod a 1103; the screw rod a 1103 is installed in the soil taking frame 1101 through interference fit at both ends, the lifting ring 1104 is a ball block at both ends and is installed with the screw rod a 1103 at both sides, the stepping motor a 1102 drives the screw rod a 1103 to rotate and then drives the lifting ring 1104 to lift; the speed reducer motor 1105 is fixedly installed on the lifting ring 1104, the output shaft of the speed reducer motor 1105 is fixed with the gear 1106, the gear 1106 is engaged with the rack ring 1107; the rack ring 1107 is fixedly installed outside the soil taking outer ring 1109; the soil taking outer ring 1109 is installed in the lifting ring 1104 through interference fit of the bearing 1108, the bottom of the soil taking outer ring 1109 is serrated, which facilitates the rotation of the soil taking outer ring 1109 to insert into the soil; the speed reducer motor 1105 drives the gear 1106 to rotate and then drives the rack ring 1107 to rotate and then drives the soil taking outer ring 1109 to rotate, at the same time, the lifting of the lifting ring 1104 can drive the soil taking outer ring 1109 to lift, and then the soil taking outer ring 1109 can be rotated downward when inserted into the soil, which facilitates the insertion of the soil taking outer ring 1109 into the soil to take soil.

[0093] As Figure 5 、 Figure 6 、 Figure 7As shown, the cutting ring soil sampling part 1200 is composed of a soil sampling frame transmission part 1210 and a cutting ring part 1220. The soil sampling frame transmission part 1210 is composed of a connecting rod a 1201, a wire rail a 1211, a stepping motor b 1212, a screw rod b 1213, a sliding block a 1214, a steel wire fixing part a 1215, a steel wire fixing part b 1216, a steel wire ring 1217, a cutting ring soil sampling frame 1218, and a steel wire fixing ring a 1219. The soil sampling frame transmission part 1210 is used to insert the cutting ring 1224 into the soil and move the separated cutting ring part 1220 away to prevent the separated cutting ring part 1220 from hindering the pressing of the soil in the soil sampling outer ring 1109. The connecting rod a 1201 is fixed at both ends with the sliding block a 1214 with and without internal threads; the wire rail b 1211 is fixedly installed in the middle of the soil sampling frame 1101; the stepping motor b 1212 is fixedly installed on the side of the wire rail b 1211 and is used to drive the screw rod b 1213; the screw rod b 1213 is installed on the wire rail a 1211 through bearing interference fit at both ends; the two sliding blocks a 1214 are installed on the wire rail a 1211 and the screw rod b 1213. It is worth mentioning that the sliding block a 1214 on the right side fixedly connected with the steel wire fixing part a 1215 has threads, and the rotation of the screw rod b 1213 can drive the threaded sliding block a 1214 to rotate; while the sliding block a 1214 fixedly connected with the steel wire fixing part b 1216 has no threads, i.e. the rotation of the screw rod b 1213 cannot drive the sliding block a 1214 without threads to rotate, while the left side is the opposite; the steel wire fixing part a 1215 and the steel wire fixing part b 1216 are fixed on the sliding block a 1214; the steel wire fixing part a 1215 has a steel wire fixing ring on one side and a round hole on the other side, through which the steel wire can pass; while the steel wire fixing part b 1216 has round holes on both sides; the steel wire ring 1217 is fixed on the steel wire passing through the steel wire fixing part b 1216, and the steel wire ring 1217 cannot pass through the hole on the steel wire fixing part b 1216; the cutting ring soil sampling frame 1218 is located outside the cutting ring sleeve 1221 and is welded and fixed with the cutting ring sleeve 1221, at the same time, the cutting ring soil sampling frame 1218 is located inside the soil sampling outer ring 1109 and is used to support the cutting ring soil sampling part 1200 on the ground without tilting; the steel wire fixing ring a 1219 is fixedly welded on the soil sampling frame 1218, and the steel wire fixing ring a 1219 is connected with the steel wire fixing ring on the steel wire fixing part a 1215 through the steel wire passing through the steel wire ring 1217, the steel wire fixing part b 1216 and one side of the steel wire fixing part a 1215.It is worth mentioning that the process of lifting and lowering the cutting ring soil taking part 1200, when one side of the screw b 1213 rotates while the other side of the screw b 1213 does not rotate, the two connected sliders a 1214 move, the other two connected sliders a 1214 do not move, and then the two sliders a 1214 on the same side approach and move away, and because the steel wire ring 1217 cannot pass through the hole on the steel wire fixing part b 1216, the two sliders a 1214 on the same side approach, and the cutting ring soil taking part 1200 is lowered; when the two sliders a 1214 on the same side move away, the cutting ring soil taking part 1200 is lifted. When the two screws b 1213 rotate in the same direction, the cutting ring soil taking part 1200 can be moved.

[0094] As Figure 8 , Figure 9 , Figure 10As shown, the cutting ring part 1220 is composed of a cutting ring sleeve 1221, a pneumatic hammer 1222, a knocking cylinder 1223, a cutting ring 1224, a U-shaped pin 1225, a connecting column 1226, a U-shaped pull ring 1227, an internal spring 1228 and a large spring 1229. The cutting ring sleeve 1221 is welded and fixed in the cutting ring frame 1218, which is used to guide the cutting ring 1224 to prevent the cutting ring sleeve 1221 from tilting during the process of inserting into the soil. The knocking cylinder 1223 is installed inside the cutting ring sleeve 1221 and will not be separated from the bottom of the cutting ring sleeve 1221. The pneumatic hammer 1222 is fixedly installed inside the knocking cylinder 1223, which is used to knock the cutting ring 1224 into the soil. The cutting ring 1224 is connected with the knocking cylinder 1223 through the U-shaped pin 1225, and the cutting ring 1224 is inserted into the soil to take out a specific volume of soil for inspection. The upper end of the U-shaped pin 1225 is installed at the bottom of the knocking cylinder 1223, and the lower end is used to connect the knocking cylinder 1223 and the cutting ring 1224. The upper end of the U-shaped pin 1225 is provided with a clamping groove, which can clamp the U-shaped pull ring 1227. The top end of the connecting column 1226 is fixed with 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 internal spring 1228 is fixed at both ends in the U-shaped pin 1225, and the internal spring 1228 is in a compressed state. The large spring 1229 is fixed at both ends with the steel sheet in the knocking cylinder 1223 and the cutting ring 1224, respectively, and the large spring 1229 is in a compressed state. It is worth mentioning that when the cutting ring 1224 reaches the maximum insertion depth, the cutting ring 1224 and the knocking cylinder 1223 will be separated, and the separation process is as follows: when the soil lifts the top of the connecting column 1226, the two ends of the U-shaped pull ring 1227 will be separated from the clamping groove on the upper end of the U-shaped pin 1225, and under the action of the internal spring 1228, the two U-shaped pins 1225 will be separated from the holes of the knocking cylinder 1223 and the cutting ring 1224, thereby realizing the separation of the cutting ring 1224 and the knocking cylinder 1223. The separated cutting ring part 1220 (except the cutting ring 1224) will be moved to the side close to the stepping motor b 1212 under the traction of the soil taking frame transmission part 1210, so as to prevent the separated cutting ring part 1220 from interfering with the subsequent soil pressing work; and the cutting ring 1224 remains in the soil and is taken out together with the soil taking outer ring 1109.

[0095] As Figure 11As shown, the sand filling cylinder 2000 consists of a wire retaining ring b2001, a tension sensor 2002, a wire connector 2003, a scissor-type lifting section 2100, and a sand filling cylinder outlet 2200. The upper end of the wire retaining ring b2001 is a short screw, which is fixed to the lower end of the lower connecting plate 2102 via a nut. The wire connector 2003 is welded to the sand filling cylinder 2201. The tension sensor 2002 is fixed to the wire retaining ring b2001 and the wire connector 2003 via steel wire at both ends. It measures the tension applied to the wire and, in turn, the mass of the standard sand within the sand filling cylinder 2201. By calculating the difference in mass between the standard sand within 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 removed is calculated.

[0096] like Figure 12 As shown, the scissor lift section 2100 consists 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 ends of the connecting rod b2104 are fixed to the bottom of the upper connecting plate 2101 and the top of the lower connecting plate 2102 via connecting pin a2103. The centers of the two connecting rods b2104 are connected by a connecting pin b2105. The push rod 2106 is mounted on the lower connecting plate 2102 and connected to one end of the connecting rod b2104. The articulated seat 2108 is fixed to the lower connecting plate 2102 and is used to secure 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 the lifting of the sand filling cylinder 2201.

[0097] like Figure 13As shown, the sand pouring cylinder sand outlet part 2200 is composed of a sand pouring cylinder 2201, a sand blocking plate 2202, a solenoid valve 2203, a sand leakage hopper 2204, a fixed frame a 2205, a floating ball 2206, a photoelectric sensor 2207, and a relay 2208. The sand pouring cylinder 2201 is used to hold standard sand. The sand blocking plate 2202 is fixedly welded inside the sand pouring cylinder 2201. The solenoid valve 2203 is fixedly installed on the upper end of the sand leakage hopper 2204, the inlet of the sand leakage hopper 2204 is aligned with the outlet hole in the sand blocking plate 2202, and is used to control the outflow of standard sand. The sand leakage hopper 2204 is fixedly welded at the bottom of the sand pouring cylinder 2201, and is used to disperse the outflowing standard sand to prevent accumulation. The fixed frame a 2205 is fixedly welded on the sand leakage hopper 2204. The photoelectric sensor 2207 is fixedly installed in the fixed frame a 2205. The floating ball 2206 is installed in the hole on the sand leakage hopper 2204 and is located below the photoelectric sensor 2207. The relay 2208 is fixedly installed on the sand leakage hopper 2204 and is used to control the on-off of the solenoid valve 2203. It is worth mentioning that when the sand in the pit is filled, the sand at the top will lift the floating ball 2206, and the lifted floating ball 2206 will block the light reception in the photoelectric sensor 2207, thereby triggering the relay 2208 to control the solenoid valve 2203 to be turned off, thereby stopping the sand pouring.

[0098] As shown in Figure 14 , the wire rail transmission part 3000 is composed of a fixed frame b 3001, a stepping motor c 3002, a sliding block b 3003, a lead screw c 3004, a wire rail b 3005, a stepping motor d 3006, a lead screw d 3007, a sliding block c 3008, and a wire rail c 3009. The fixed frame b 3001 is used to install the lead screw wire rail. The stepping motor c 3002, the sliding block b 3003, the lead screw c 3004, and the wire rail b 3005 and the stepping motor d 3006, the lead screw d 3007, the sliding block c 3008, and the wire rail c 3009 are the same structure of the lead screw wire rail. One of them is described: the wire rail b 3005 is fixedly installed in the fixed frame b 3001. The stepping motor c 3002 is fixedly installed on the side of the wire rail c 3005. The lead screw c 3004 is installed in the wire rail b 3005 by interference fit of the bearing. The sliding block b 3003 is installed on the wire rail b 3005 and the lead screw c 3004. The stepping motor c 3002 drives the lead screw c 3004 to rotate, thereby driving the sliding block b 3003 to move. The wire rail c 3009 is also fixedly installed in the fixed frame b 3001. The sliding block b 3003 is connected with the soil taking frame 1101, and is used to transfer the soil taking part 1000 after taking the soil to the upper side of the hopper 3101, while being below the guide pipe 3103, and the guide pipe 3103 is coaxial with the soil taking outer ring 1109. The sliding block c 3008 is fixed with the upper connecting plate 2101, and is used to transfer the sand pouring cylinder part 2000 to the soil pit left after taking the soil.

[0099] As shown in Figure 15 ,Figure 16 、 Figure 17 As shown, the soil compacting unit 3100 consists of a hopper 3101, an electronic scale 3102, a guide tube 3103, a soil moisture sensor 3104, and a rigid chain unit 3110. The rigid chain unit 3110 comprises a chain housing 3111, a stepper motor e 3112, a sprocket 3113, a rigid chain 3114, and a soil compacting plate 3115. The electronic scale 3102 is fixedly mounted on the bottom upper end of the fixed frame b 3001 and is used to weigh the mass of the soil sample in the hopper 3101. The hopper 3101 is fixedly mounted on the electronic scale 3102 and is used to hold the soil sample. The guide tube 3103 is fixedly mounted within the fixed frame b 3001 and located directly above the hopper 3101. It guides the soil compacting plate 3115 and prevents the rigid chain 3114 from bending. The soil moisture sensor 3104 is fixedly mounted within the hopper 3101 and is used to measure the moisture content of the soil sample within the hopper 3101. The chain housing 3111 is fixedly mounted on the fixed frame b3001. A stepper motor e3112 is fixedly mounted within the chain housing 3111. The output shaft of the stepper motor e3112 is connected to the sprocket 3113. The sprocket 3113 engages with the chain pin of the rigid chain 3114. The stepper motor e3112 drives the sprocket 3113 to rotate, thereby extending and retracting the rigid chain 3114. The rigid chain 3114 is mounted within the chain housing 3111. The end links of the rigid chain 3114 are fixedly connected to the pressure plate 3115 via a pin. The pressure plate 3115 is connected to the rigid chain 3114 and mounted within the guide tube 3103. When the rigid chain 3114 is extended, it pushes the pressure plate 3115 downward into the outer ring 1109 for soil sampling. The sample soil within the outer ring 1109 is then pressed out into the hopper 3101. It is worth noting that after the ring cutter 1224 is separated from the knocking cylinder 1223, it will be removed along with the outer ring 1109. Therefore, the mass of the sample soil in the hopper 3101 must be subtracted from the mass of the ring cutter 1224. The sample soil in the ring cutter 1224 can be retested to obtain the best results.

[0100] like Figure 18 As shown, the trolley chassis 4000 is composed of a lifting plate 4001, a lifting cylinder 4002, a base plate 4003, a drive motor 4004, and small wheels 4005. The lifting plate 4001 is welded to the side of the fixed frame b3001. The base plate 4003 is used to support the entire device. The bottom of the lifting cylinder 4002 is fixed to the base plate 4003. The upper end of the lifting cylinder 4002 is connected to the lifting plate 4001 and is used to lift or lower the fixed frame b3001. When the device needs to work, the lifting cylinder 4002 is lowered to place the fixed frame b3001 on the ground. After completing the work, the fixed frame b3001 is lifted. The drive motor 4004 is fixedly mounted on the lower end of the base plate 4003. The output shaft of the drive motor 4004 is fixed to the small wheels 4005 and is used to drive the small wheels 4005.

[0101] Example 2

[0102] A method of using the flow state solidified soil compactness detection robot described in Example 1, comprising the following steps:

[0103] S1. Positioning and preparation:

[0104] The trolley chassis part 4000 first moves the robot to the target position to be detected by driving the trolley wheels 4005 through the driving motor 4004.

[0105] The fixed frame b3001 is adjusted in height by the jacking oil cylinder 4002, and the fixed frame b3001 is lowered to the ground to ensure that the robot is stable and ready to start work.

[0106] A sufficient amount of sand for the sand filling method is poured into the sand filling cylinder 2201.

[0107] S2. Soil sampling operation:

[0108] The outer ring part 1100 of the soil sampling part 1000: The outer ring 1109 of the soil sampling part 1000 is rotated by the stepper motor a1102 driving the screw a1103, which drives the lifting ring 1104 to adjust the height of the outer ring 1109. The gear 1106 is driven to rotate by the reduction motor 1105, and the gear 1106 is engaged with the rack ring 1107 to help the outer ring 1109 insert into the soil and rotate downward. During this process, the sawtooth design at the bottom of the outer ring 1109 helps to smoothly insert into the soil.

[0109] The cutting ring 1224 is knocked into the soil by the cooperation of the pneumatic knocking hammer 1222 and the knocking cylinder 1223, and when the cutting ring 1224 reaches the maximum depth, the cutting ring 1224 and the knocking cylinder 1223 will be separated, and the separated cutting ring part 1220 (excluding the cutting ring 1224) will be moved away to the side close to the stepper motor b1212 under the traction of the soil sampling frame transmission part 1210. Then the outer ring 1109 is taken out together with the cutting ring 1224, and after being taken out, it is transferred to the above of the hopper 3101 through the wire rail transmission part 3000, at the same time being below the guide pipe 3103, and the guide pipe 3103 is coaxial with the outer ring 1109.

[0110] The stepper motor e3112 drives the chain wheel 3113 to rotate, and then drives the rigid chain 3114 to extend, pushing the soil pressing plate 3115 downward into the outer ring 1109. Then the sample soil in the outer ring 1109 is pressed into the hopper 3101. Prepare for subsequent measurement operation. At this time, the cutting ring 1224 and the soil sample are removed together.

[0111] S3. Sand filling operation:

[0112] Sand filling cylinder part 2000 is only transferred to the top of the soil pit by wire rail transmission part 3000 after being taken out of the soil outer ring 1109. Sand filling cylinder 2201 is controlled by scissor-lift part 2100, and the height of sand filling cylinder 2201 is adjusted by the extension and retraction of long hydraulic cylinder 2107 to ensure the butt joint of sand filling cylinder 2201 and the soil pit.

[0113] Standard sand measurement: Tension sensor 2002 is used to monitor the tension of the steel wire in real time, and then the mass of the standard sand in sand filling cylinder 2201 is calculated. The standard sand is filled into the soil pit, and the sand mass is calculated. According to the mass of the sand and the known density, the volume of the extracted soil sample is calculated.

[0114] S4. Mass measurement and data calculation:

[0115] Soil sample mass weighing: After the soil sample is extracted, electronic scale 3102 is used to accurately weigh the mass of the soil sample in hopper 3101. The mass and volume data of the soil sample are used for subsequent soil density calculation.

[0116] Sand filling volume calculation: The mass of the standard sand filled, the density of the sand, and the change of the volume after sand filling are combined to calculate the soil volume in the soil pit. This process is controlled by tension sensor 2002 and sensor system.

[0117] S5. Movement and repetition work:

[0118] After completing a measurement, trolley chassis part 4000 controls trolley wheel 4005 to move by driving motor 4004, and automatically drives to the next measurement position.

[0119] At the next measurement position, the above steps are repeated until all soil sampling and density measurement are completed.

[0120] The above is only a specific embodiment of the present application, but the protection scope of the present application is not limited thereto, any person skilled in the art can understand the transformation or replacement within the technical range disclosed by the present application, which should be covered within the scope of the present application.

Claims

1. A fluidized solidified soil density detection robot, characterized in that: include: A soil sampling part is provided below the wire track transmission part and is used to take out sample soil from a target location; The sand filling part is arranged at the lower end of the wire rail transmission part and is located behind the soil sampling part, and is used to fill the soil pit after soil sampling, and measure the volume of the sample soil by the mass of the filled standard sand and the density of the standard sand; The wire rail transmission part is provided on the chassis 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; The soil taking part includes a soil taking outer ring part and a ring cutter 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 to drive 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; The ring cutter soil-taking part includes a soil-taking frame transmission part and a ring cutter 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 part a, a wire fixing part b, a wire ring, a ring cutter 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 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 part 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 part b has no threads inside, That is, the rotation of the screw rod b cannot drive the unthreaded slider a to rotate, while the opposite is true on the left; 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 circular hole on the other side for passing the steel wire; both sides of the wire fixing piece b have circular 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 is fixed to the ring knife sleeve. At the same time, the ring knife soil taking frame is located inside the outer ring of the soil taking frame, used to support the ring knife soil taking part on the ground so that it does not fall over; 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; 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 achieving the two sliders a on the same side to approach and move away, and because 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 approach; and when the two sliders a on the same side move 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; 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. The ring cutter sleeve is installed in the ring cutter soil taking frame 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 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; the upper end of the U-shaped pin is provided with a card slot for clamping the U-shaped pull ring; the top of the connecting column is connected to the U-shaped pull ring, and when both 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; both 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; When the ring knife reaches the maximum insertion depth, the ring knife and the knocking tube will separate. The separation process includes: when the soil lifts the connecting column, the two ends of the U-shaped pull ring will disengage from the card 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 ring knife part after separation will be moved to the side close to the stepper motor b under the traction of the soil taking frame transmission part except the ring knife; the ring knife will remain in the soil and will be taken out together with the outer ring of the soil taking later; The wire rail transmission part includes a fixed frame b, a stepping motor c, a slider b, a screw rod c, a wire rail b, a stepping motor d, a screw rod d, a slider c and a wire rail c.

2. The fluidized solidified soil density detection robot according to claim 1, characterized in that: 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 exerted on the steel wire, thereby measuring 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 the slider c, and the two ends of the connecting rod b are respectively installed at the bottom of the upper connecting plate and the top of the lower connecting plate through the connecting pin a, and the centers of the two connecting rods b are connected by the connecting pin b; the push rod is installed on the lower connecting plate and connected to one end of the connecting rod b; the articulated seat is installed on the lower connecting plate for fixing 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 long hydraulic cylinder is telescopically connected 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.

3. The fluidized solidified soil density detection robot according to claim 2, 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 discharge 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 sand filling.

4. The fluidized solidified soil density detection robot according to claim 1, characterized in that: The fixed frame b is used to install the screw rod and wire rail; the screw rod and wire rail structure composed of the stepping motor c, slider b, screw rod c and wire rail b is the same as the stepping motor d, screw rod d, slider c and wire rail c, wherein the wire rail b is installed in the fixed frame b, the stepping 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 stepping 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 at the same time below the guide tube, and the guide tube 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.

5. The fluidized solidified soil density detection robot according to claim 4, characterized in that: It also includes a soil compacting 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 to guide the soil compacting plate and prevent the rigid chain from bending; the soil moisture sensor is installed in the hopper and is used to measure the moisture content 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, and 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 the guide tube; the rigid chain extends to push the soil pressing plate downward to the outer ring of the soil taking, thereby pressing the sample soil in the outer ring of the soil taking into the hopper.

6. The fluidized solidified soil density detection robot according to claim 1, characterized in that: The trolley chassis includes a lifting plate, a lifting cylinder, a base plate, a driving motor and a trolley 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 trolley wheel for driving the trolley wheel.

7. A method for using the fluidized solidified soil density detection robot according to any one of claims 1 to 6, characterized in that: The following steps are involved: S1. Positioning and Preparation: The chassis of the robot first drives the wheels through the drive motor to move the robot to the target position to be detected; The height of the fixed frame B is adjusted by the jacking cylinder, and the fixed frame B is lowered to the ground to ensure that the robot is stable and ready to start working; Pour sufficient amount of special sand for sand filling method into the sand filling cylinder; S2. Soil extraction operation: The outer ring of the soil-taking device: The outer ring of the soil-taking device drives the screw rod a to rotate through the stepper motor a, which drives the lifting ring to adjust the height of the outer ring of the soil-taking device. The reduction motor drives the gear to rotate, and the gear engages with the rack ring to help the outer ring of the soil-taking device insert into the soil and rotate downward. During this process, the serrated bottom of the outer ring of the soil-taking device helps it to insert into the soil smoothly. The ring knife is knocked into the soil by the cooperation of the pneumatic hammer and the knocking cylinder. When the ring knife reaches the maximum depth, the ring knife and the knocking cylinder will separate. The separated ring knife part will be moved to the side close to the stepper motor b under the pull of the soil rack transmission part after the ring knife is removed. Then the soil 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 placed below the guide tube. The guide tube is coaxial with the soil outer ring. The stepper motor e drives the sprocket to rotate, which in turn 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 together; S3. Sand filling operation: After the outer ring of the soil is taken out, the sand filling barrel is only transferred to the top of the soil pit by the wire rail transmission part. The sand filling barrel is controlled by the scissor-type lifting part. The height of the sand filling barrel is adjusted by the extension and contraction of the long hydraulic cylinder to ensure the docking of the sand filling barrel 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 cylinder. The standard sand is poured into the soil pit, and the mass of the sand is calculated. Based on 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: Soil sample mass weighing: After the soil sample is extracted, an electronic scale is used to accurately weigh the soil sample mass 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 mass of standard sand poured in, the density of the sand, and the change in volume after sand filling; S5. Moving and Repeating Work: After completing a measurement, the chassis of the trolley controls the wheels through the drive motor to move and automatically drives to the next location that needs to be measured.

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