Full-automatic placing device for geological exploration sensor

Abstract

The invention relates to geological exploration equipment, in particular to a geological exploration sensor full-automatic placing device which comprises a storage bin assembly, a manipulator assembly and a placing and soil pressing assembly, the placing and soil pressing assembly comprises a guide cylinder, a soil pressing sleeve, a placing cylinder and a sensor limiting piece, the guide cylinder is connected to the side wall of the soil pressing sleeve, and the placing cylinder is connected to the side wall of the soil pressing sleeve. The top of the guide cylinder is open, the bottom of the guide cylinder is communicated with an inner cavity of the soil pressing sleeve, when the geological exploration sensor is placed in the guide cylinder through the mechanical claw handle, the geological exploration sensor enters the soil pressing sleeve along the guide cylinder, the sensor limiting piece is arranged in the soil pressing sleeve, and the sensor limiting piece is arranged on the soil pressing sleeve. When the placing cylinder moves downwards, the geological exploration sensor is pushed and pressed into the ground, and when the soil pressing sleeve moves downwards, hilling soil near the geological exploration sensor is compacted. The full-automatic placing device for the geological prospecting sensor can be automatically operated, and the accuracy and reliability of installation of the geological prospecting sensor are improved.

Description

Technical Field

[0001] The invention relates to geological prospecting equipment, in particular to a fully automatic placing device for geological prospecting sensors. Background Art

[0002] Existing geological sensor installation devices mostly rely on manual operation when installing geological sensors. The operation process is time-consuming and labor-intensive. Especially in remote areas or complex terrains, the installation efficiency is low, the operation is difficult, and the labor intensity of operators is high. In addition, manual operation equipment is prone to inaccurate sensor placement due to human operation errors, which in turn affects the accuracy of exploration data. In addition, the traditional device is large in size and weight, and is inconvenient to carry, which limits its use in field environments. Summary of the invention

[0003] The object of the present invention is to provide a fully automatic placing device for geological exploration sensors which can operate automatically and improve the accuracy and reliability of geological exploration sensor installation.

[0004] In order to achieve the above object, the present invention provides a fully automatic placement device for geological exploration sensors.

[0005] Including storage bin components, manipulator components, and soil compaction components.

[0006] The storage bin assembly is used to store a plurality of geological exploration sensors.

[0007] The manipulator assembly includes a mechanical claw, which is suitable for grabbing the geological exploration sensor and placing the geological exploration sensor in the soil placement and compaction assembly.

[0008] The placing and compacting soil assembly comprises a guide cylinder, a soil compacting sleeve, a placing cylinder, and a sensor stopper. The soil compacting sleeve is a cylinder with a hole at the bottom. The guide cylinder is connected to the side wall of the soil compacting sleeve. The top of the guide cylinder is open, and the bottom is connected to the inner cavity of the soil compacting sleeve. The soil compacting sleeve is vertically arranged, and the guide cylinder is inclined. When the mechanical claw places the geological exploration sensor in the guide cylinder, the geological exploration sensor enters the soil compacting sleeve along the guide cylinder. The sensor stopper is arranged in the soil compacting sleeve. The sensor stopper is used to limit the geological exploration sensor to remain vertically placed or release the geological exploration sensor. The placing cylinder is arranged in the soil compacting sleeve, and the placing cylinder is located above the geological exploration sensor. The placing cylinder is suitable for moving up and down in the vertical direction. When the placing cylinder moves downward, the geological exploration sensor is pushed into the ground. The soil compacting sleeve is suitable for moving up and down in the vertical direction. When the soil compacting sleeve moves downward, the soil near the geological exploration sensor is compacted.

[0009] Furthermore, the placing and compacting earth assembly also includes a first cylinder and multiple second cylinders, the piston rod of the first cylinder is connected to the placing cylinder, the first cylinder drives the placing cylinder to move up and down, the piston rods of the multiple second cylinders are connected to the earth compacting sleeve, and the second cylinder drives the earth compacting sleeve to move up and down.

[0010] Furthermore, the sensor limiter includes at least two limit plates and at least two third cylinders, the third cylinders corresponding to the limit plates one by one, the two ends of the limit plate being a first end and a second end respectively, the first end of each limit plate being connected to a piston rod of the third cylinder through a group of connecting rod mechanisms, the second end of each limit plate being provided with an arc-shaped groove, the limit plates being arranged in pairs in the soil pressing sleeve, the third cylinders acting synchronously, and the second end of the limit plate being driven to swing up and down when the piston rod of the third cylinder is retracted or extended, and when the second end of the limit plate swings upward, the arc-shaped groove is stuck on the cylindrical outer wall of the geological exploration sensor, and when the second end of the limit plate swings downward, the arc-shaped groove leaves the cylindrical outer wall of the geological exploration sensor.

[0011] Furthermore, the storage bin assembly includes multiple trays, which are used to hold the geological exploration sensors. The trays are placed in two rows, each row is divided into multiple layers, and each layer is provided with multiple trays. Each layer of the trays is suitable for moving up and down in the vertical direction.

[0012] Furthermore, the storage bin assembly also includes a driving element, a first screw, a second screw, a plurality of first lifting nuts, a plurality of second lifting nuts, and a plurality of supporting plates. The first screw and the second screw are both vertically arranged. The driving element is used to drive the first screw and the second screw to rotate. Each layer of the tray is respectively arranged on one of the supporting plates. Each of the two ends of the supporting plate along the length direction is respectively connected to a first lifting nut and a second lifting nut. Each of the first lifting nuts is threadedly connected to the first screw, and each of the second lifting nuts is threadedly connected to the second screw. The driving element drives the first screw and the second screw to rotate so that the first lifting nut and the second lifting nut move up and down, thereby moving the supporting plate up and down. The supporting plate stops when it moves to the position where the geological exploration sensor is captured.

[0013] Furthermore, the driving element includes a first servo motor and a worm gear mechanism, the first servo motor is connected to the first screw, the first screw is connected to the second screw through the worm gear mechanism, the first servo motor drives the first screw to rotate, and the first screw drives the second screw to rotate synchronously through the worm gear mechanism.

[0014] Furthermore, the storage bin assembly also includes two groups of load-bearing plate positioning structures, the two groups of load-bearing plate positioning structures are respectively used to position the load-bearing plates in two rows, each group of the load-bearing plate positioning structures includes a first load-bearing plate positioning member and a second load-bearing plate positioning member, the first load-bearing plate positioning member and the second load-bearing plate positioning member are respectively located on both sides of the load-bearing plate, the first load-bearing plate positioning member and the second load-bearing plate positioning member have the same structure, wherein the first load-bearing plate positioning member includes a positioning bracket and a plurality of electromagnetic locks, the electromagnetic locks are connected to the positioning bracket, and the plurality of electromagnetic locks are arranged in sequence from top to bottom in the vertical direction, the position of each electromagnetic lock corresponds to the height of each load-bearing plate when the geological exploration sensor is grasped, when the geological exploration sensor is grasped, the lock core of the electromagnetic lock extends to the bottom of the load-bearing plate, and the lock core of the electromagnetic lock is retracted when the geological exploration sensor is grasped.

[0015] Furthermore, the manipulator assembly also includes a first mounting frame, a column, a first guide rail, a second guide rail, and a second mounting frame. The column is rotatably connected to the first mounting frame, and the first mounting frame is suitable for moving relative to the first guide rail. The claw hand is connected to the second mounting frame, and the second mounting frame is suitable for moving relative to the second guide rail. The second guide rail is suitable for moving up and down relative to the column. The first guide rail is arranged between the two rows of pallets, and the extension direction of the first guide rail is consistent with the arrangement direction of the pallets on each layer.

[0016] Furthermore, the manipulator assembly also includes a rotary drive motor and a rotary base. The rotary drive motor drives the rotary base to rotate through gear transmission, and the column is connected to the rotary base.

[0017] Furthermore, the manipulator assembly also includes a second servo motor, a third screw, and a sliding block. The third screw is vertically arranged, the second servo motor is connected to the third screw, the sliding block is threadedly connected to the third screw, the second guide rail is connected to the sliding block, and the second servo motor drives the third screw to rotate, so that the sliding block moves up and down relative to the third screw.

[0018] The fully automatic placement device for geological exploration sensors of the present invention has at least the following beneficial effects:

[0019] The present invention discloses a fully automatic placement device for geological exploration sensors. Since the device comprises a storage bin component, a manipulator component and a placement and compaction component, the placement and compaction of the geological exploration sensors can be fully automatic, which greatly reduces the workload of manual operation, reduces the labor intensity of operators and improves work efficiency. Meanwhile, the storage bin component, the manipulator component and the placement and compaction component are modularly designed, and each module can be conveniently replaced, upgraded and applied. In addition, since the device fully automatically places the geological exploration sensors through a precise mechanical structure, it ensures that the geological exploration sensors can be stably placed in complex terrains, avoids placement deviations caused by manual operation, and improves the accuracy and reliability of the installation of the geological exploration sensors. Moreover, the device of the present invention can also place different types of geological exploration sensors for different tasks, and is suitable for geological exploration tasks of different scales and types.

[0020] The fully automatic placement device for geological exploration sensors of the present invention will be described in detail below with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a three-dimensional structural diagram of the fully automatic placement device for geological exploration sensors of the present invention;

[0022] Figure 2 It is a three-dimensional structural diagram of the fully automatic placement device for geological exploration sensors of the present invention from another direction;

[0023] Figure 3 It is a structural diagram of the storage bin assembly in the fully automatic placement device for geological exploration sensors of the present invention;

[0024] Figure 4 It is a structural diagram of the manipulator assembly in the fully automatic placement device for geological exploration sensors of the present invention;

[0025] Figure 5 It is a schematic diagram of the main structure of placing the soil compaction assembly in the fully automatic placing device for geological exploration sensors of the present invention;

[0026] Figure 6 It is a partial structural schematic diagram of placing the soil compaction component in the fully automatic placing device for geological exploration sensors of the present invention. DETAILED DESCRIPTION

[0027] like Figure 1 , Figure 2 , Figure 5 , Figure 6 As shown, the fully automatic placement device of a geological exploration sensor of the present invention comprises a storage bin component 01, a manipulator component 02, and a soil pressing component 03.

[0028] The storage bin component 01 is used to store a plurality of geological exploration sensors 05.

[0029] The manipulator assembly 02 includes a manipulator gripper 21, which is suitable for grabbing the geological exploration sensor 05 and placing the geological exploration sensor 05 in the soil compaction assembly 03.

[0030] The soil compacting assembly 03 includes a guide cylinder 31, a soil compacting sleeve 32, a placement cylinder 33, and a sensor stopper 34. The soil compacting sleeve 32 is a cylinder with a bottom opening. The guide cylinder 31 is connected to the side wall of the soil compacting sleeve 32. The top of the guide cylinder 31 is open, and the bottom is connected to the inner cavity of the soil compacting sleeve 32. The soil compacting sleeve 32 is vertically arranged, and the guide cylinder 31 is inclined. When the mechanical claw hand 21 places the geological exploration sensor 05 in the guide cylinder 31, the geological exploration sensor 05 enters the soil compacting sleeve 32 along the guide cylinder 31. The sensor stopper 34 is arranged in the soil compacting sleeve 32. The device limiter 34 is used to limit the geological exploration sensor 05 to remain in a vertical position or release the geological exploration sensor 05. The placing tube 33 is arranged in the soil pressing sleeve 32. The placing tube 33 is located above the geological exploration sensor 05. The placing tube 33 is suitable for moving up and down in the vertical direction. When the placing tube 33 moves downward, it pushes the geological exploration sensor 05. The geological exploration sensor 05 passes through the bottom opening of the soil pressing sleeve 32 and enters the ground. The soil pressing sleeve 32 is suitable for moving up and down in the vertical direction. When the soil pressing sleeve 32 moves downward, the soil near the geological exploration sensor 05 is compacted. When the fully automatic placement device of a geological exploration sensor of the present invention is used, the mechanical claw hand 21 grabs the geological exploration sensor 05 in the storage bin component 01 and places the geological exploration sensor 05 in the guide cylinder 31 for placing the soil pressing component 03. The geological exploration sensor 05 enters the soil pressing sleeve 32 along the guide cylinder 31. The sensor limiter 34 keeps the geological exploration sensor 05 vertical. The placement cylinder 33 moves downward to push the geological exploration sensor 05 into the ground, and then moves upward to reset. The soil pressing sleeve 32 moves downward to compact the soil near the geological exploration sensor 05, and then resets. The placement of the geological exploration sensor 05 is completed.

[0031] The present invention discloses a fully automatic placement device for geological exploration sensors. As the device comprises a storage bin component 01, a manipulator component 02, and a placement and compaction component 03, the placement and compaction of geological exploration sensors can be fully automated, which greatly reduces the workload of manual operation, reduces the labor intensity of operators, and improves work efficiency. Meanwhile, the storage bin component 01, the manipulator component 02, and the placement and compaction component 03 are modularly designed, and each module can be conveniently replaced, upgraded, and applied. In addition, as the device fully automatically places geological exploration sensors through a precise mechanical structure, it ensures that the geological exploration sensors can be stably placed in complex terrains, avoids placement deviations caused by manual operation, and improves the accuracy and reliability of the installation of geological exploration sensors. Moreover, the device of the present invention can also place different types of geological exploration sensors for different tasks, and is suitable for geological exploration tasks of different scales and types.

[0032] Optionally, the soil pressing assembly 03 also includes a first cylinder 331 and multiple second cylinders 321. The piston rod of the first cylinder 331 is connected to the placing cylinder 33, and the first cylinder 331 drives the placing cylinder 33 to move up and down. The multiple second cylinders 321 are arranged along the circumference of the soil pressing sleeve 32. The piston rods of the multiple second cylinders 321 are connected to the soil pressing sleeve 32, and the second cylinders 321 drive the soil pressing sleeve 32 to move up and down.

[0033] Optionally, the sensor limiter 34 includes two or more limiter plates 341 and two or more third cylinders 342, the third cylinders 342 correspond to the limiter plates 341 one by one, each third cylinder 342 is vertically arranged, the two ends of the limiter plates 341 are respectively a first end and a second end, the first end of each limiter plate 341 is connected to a piston rod of the third cylinder 342 through a set of connecting rod mechanisms, the second end of each limiter plate 341 is provided with an arc-shaped groove 343, and the limiter plates 34 The pairs are arranged in the soil pressing sleeve 32, and the third cylinders 342 act synchronously. When the piston rod of the third cylinder 342 is retracted or extended, the second end of the limit plate 341 is driven to swing up and down. When the second end of the limit plate 341 swings upward, the arc-shaped groove 343 is stuck on the cylindrical outer wall of the geological exploration sensor 05 to ensure that the geological exploration sensor 05 is placed vertically. When the second end of the limit plate 341 swings downward, the arc-shaped groove 343 leaves the cylindrical outer wall of the geological exploration sensor 05. Specifically, a fully automatic placement device for a geological exploration sensor of the present invention also includes a mounting frame 07, a cylinder body of a first cylinder 331 is connected to the mounting frame 07, a cylinder body of a second cylinder 321 is hinged to the mounting frame 07, a piston rod of the second cylinder 321 is hinged to a soil pressing sleeve 32, a cylinder body of a third cylinder 342 is connected to the soil pressing sleeve 32, a sensor limiter 34 includes a limiter plate 341 and a third cylinder 342, and the limiter plate 341 is controlled to move by the third cylinder 342. The structure is simple and automatic control is easy to achieve. An arc-shaped groove 343 is provided on the limiter plate 341. When positioning the geological exploration sensor 05, the arc-shaped groove 343 is stuck on the cylindrical outer wall of the geological exploration sensor 05, so that the geological exploration sensor 05 is positioned firmly and avoids damage.

[0034] Alternatively, if Figure 3As shown, the storage bin assembly 01 includes a plurality of trays 11, and the trays 11 are used to hold geological exploration sensors 05. The trays 11 are placed in two rows, each row is divided into multiple layers, and multiple trays are arranged on each layer. Each layer of trays 11 is suitable for moving up and down in the vertical direction. After the mechanical claw 21 of the manipulator assembly 02 grabs the geological exploration sensors 05 in the upper layer of trays 11, the lower layer of trays 11 moves upward, and the mechanical claw 21 grabs the next layer. Through two rows and multiple layers of trays, a large number of geological exploration sensors 05 of various specifications can be stored in the storage bin assembly 01, so that the geological exploration sensor fully automatic placement device of the present invention is suitable for geological exploration tasks of different scales and types, and can automatically realize the lifting of the trays. Each layer of trays 11 is suitable for moving up and down in the vertical direction, which is convenient for the manipulator assembly 02 to grab when a large number of geological exploration sensors 05 are stored.

[0035] Optionally, the storage bin assembly 01 also includes a driving element, a first screw 13, a second screw 14, a plurality of first lifting nuts 15, a plurality of second lifting nuts 16, and a plurality of supporting plates 17. The first screw 13 and the second screw 14 are both vertically arranged, and the driving element is used to drive the first screw 13 and the second screw 14 to rotate. Each layer of the tray 11 is respectively arranged on a supporting plate 17, and each supporting plate 17 is respectively connected to a first lifting nut 15 and a second lifting nut 16 at both ends along the length direction. Each first lifting nut 15 is threadedly connected to the first screw 13, and each second lifting nut 16 is threadedly connected to the second screw 14. The driving element drives the first screw 13 and the second screw 14 to rotate so that the first lifting nut 15 and the second lifting nut 16 move up and down, thereby moving the supporting plate 17 up and down, and the supporting plate 17 stops when it moves to the position where the geological exploration sensor 05 is captured. Specifically, it also includes multiple first sliding bars and multiple second sliding bars 19. A first guide block and a second guide block are respectively arranged on both sides of the supporting plate 17. The first guide block and the second guide block are respectively sleeved on the first sliding bar and the second sliding bar 19. When the supporting plate 17 moves up and down, the first guide block and the second guide block respectively move up and down relative to the first sliding bar and the second sliding bar 19 to ensure that the supporting plate 17 moves up and down in the vertical direction.

[0036] Optionally, the driving element includes a first servo motor 121 and a worm gear mechanism 122. The first servo motor 121 is connected to the first screw 13, and the first screw 13 is connected to the second screw 14 through the worm gear mechanism 122. The first servo motor 121 drives the first screw 13 to rotate, and the first screw 13 drives the second screw 14 to rotate synchronously through the worm gear mechanism 122. The driving element samples the first servo motor 121 and the worm gear mechanism 122 to ensure that the first lifting nut 15 and the second lifting nut 16 move up and down synchronously, and prevent the load-bearing plate 17 from tilting during the up and down movement.

[0037] Optionally, the storage bin assembly 01 also includes two groups of load-bearing plate positioning structures, which are used to position two rows of load-bearing plates 17 respectively, and each group of load-bearing plate positioning structures includes a first load-bearing plate positioning member and a second load-bearing plate positioning member, and the first load-bearing plate positioning member and the second load-bearing plate positioning member are respectively located on both sides of the load-bearing plate 17, and the first load-bearing plate positioning member and the second load-bearing plate positioning member have the same structure, wherein the first load-bearing plate positioning member includes a positioning bracket 181 and a plurality of electromagnetic locks 182, and the electromagnetic lock 182 is connected to the positioning bracket 181, and the plurality of electromagnetic locks 182 are arranged in sequence from top to bottom in the vertical direction, and the position of each electromagnetic lock 182 corresponds to the height of each load-bearing plate 17 when the geological exploration sensor 05 is grasped, and when the geological exploration sensor 05 is grasped, the lock core of the electromagnetic lock 182 extends to the bottom of the load-bearing plate 17, and the lock core of the electromagnetic lock 182 is retracted when the geological exploration sensor 05 is completely grasped. Specifically, the positioning bracket 181 includes lateral support plates and multiple horizontal support plates connected to each other, and each electromagnetic lock 182 is respectively arranged on a horizontal support plate. The support plate 17 is positioned at a specific height by the support plate positioning structure to ensure that when the mechanical claw 21 of the manipulator assembly 02 grabs the geological exploration sensor 05 in the tray 11, the position of the tray 11 is stable.

[0038] Alternatively, if Figure 4 As shown, the manipulator assembly 02 also includes a first mounting frame 22, a column 23, a first guide rail 24, a second guide rail 25, and a second mounting frame 26. The column 23 is rotatably connected to the first mounting frame 22, and the first mounting frame 22 is suitable for moving relative to the first guide rail 24. The claw hand 21 is connected to the second mounting frame 26, and the second mounting frame 26 is suitable for moving relative to the second guide rail 25. The second guide rail 25 is connected to the column 23, and the second guide rail 25 is suitable for moving up and down relative to the column 23. The first guide rail 24 is arranged between two columns of trays 11, and the extension direction of the first guide rail 24 is consistent with the arrangement direction of each layer of trays 11. By moving the first mounting frame 22 relative to the first guide rail 24, moving the second mounting frame 26 relative to the second guide rail 25, moving the second guide rail 25 up and down relative to the column 23, and rotating the column 23 relative to the first mounting frame 22, the claw hand 21 can grab the geological exploration sensor 05 in each column, each layer, and each tray 11 and put it into the guide cylinder 31.

[0039] Optionally, the manipulator assembly 02 also includes a rotary drive motor 27 and a rotary base 28. The rotary drive motor 27 drives the rotary base 28 to rotate through gear transmission. The column 23 is connected to the rotary base 28, thereby realizing the rotation of the column 23 relative to the first mounting frame 22.

[0040] The robot assembly 02 also includes a second servo motor 291, a third screw 292, and a sliding block 293. The third screw 292 is vertically arranged, the second servo motor 291 is connected to the third screw 292, the sliding block 293 is threadedly connected to the third screw 292, and the second guide rail 25 is connected to the sliding block 293. The second servo motor 291 drives the third screw 292 to rotate, so that the sliding block 293 moves up and down relative to the third screw 292, thereby realizing the up and down movement of the second guide rail 25 relative to the column 23.

[0041] Optionally, a fully automatic placement device for geological exploration sensors of the present invention further includes an RTK measuring instrument 06 and a carrier. The RTK measuring instrument 06 provides high-precision and high-real-time positioning data, and can accurately locate the position of the carrier for installing the geological exploration sensor. The carrier is used to transport the fully automatic placement device for geological exploration sensors of the present invention. During actual use, the carrier can be replaced according to the terrain, which is convenient for coping with work on various complex terrains, is suitable for various harsh environments, and improves the applicability of field operations.

[0042] The embodiments described above are merely descriptions of preferred implementation modes of the present invention and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should all fall within the protection scope determined by the claims of the present invention.

Claims

1. A fully automatic placement device for geological exploration sensors, characterized in that: It includes a storage bin component (01), a manipulator component (02), and a soil compaction component (03). The storage bin assembly (01) is used to store a plurality of geological exploration sensors (05). The manipulator assembly (02) comprises a manipulator gripper (21), wherein the manipulator gripper (21) is adapted to grasp the geological exploration sensor (05) and place the geological exploration sensor (05) in the soil compaction assembly (03). The placing and compacting soil assembly (03) comprises a guide cylinder (31), a compacting soil sleeve (32), a placing cylinder (33), and a sensor stopper (34). The compacting soil sleeve (32) is a cylinder with a bottom opening. The guide cylinder (31) is connected to the side wall of the compacting soil sleeve (32). The top of the guide cylinder (31) is open, and the bottom is connected to the inner cavity of the compacting soil sleeve (32). The compacting soil sleeve (32) is vertically arranged, and the guide cylinder (31) is inclined. When the mechanical claw (21) places the geological exploration sensor (05) in the guide cylinder (31), the geological exploration sensor (05) enters the compacting soil sleeve (32) along the guide cylinder (31). The sensor stopper (34) is arranged in the soil pressing sleeve (32), the sensor limiter (34) is used to limit the geological exploration sensor (05) to remain vertically placed or release the geological exploration sensor (05), the placing tube (33) is arranged in the soil pressing sleeve (32), the placing tube (33) is located above the geological exploration sensor (05), the placing tube (33) is suitable for moving up and down in the vertical direction, and when the placing tube (33) moves downward, the geological exploration sensor (05) is pushed into the ground, and the soil pressing sleeve (32) is suitable for moving up and down in the vertical direction, and when the soil pressing sleeve (32) moves downward, the soil near the geological exploration sensor (05) is compacted.

2. The fully automatic placement device for geological exploration sensors according to claim 1 is characterized in that: The placing and compacting soil assembly (03) further comprises a first cylinder (331) and a plurality of second cylinders (321); the piston rod of the first cylinder (331) is connected to the placing cylinder (33); the first cylinder (331) drives the placing cylinder (33) to move up and down; the piston rods of the plurality of second cylinders (321) are connected to the compacting soil sleeve (32); the second cylinders (321) drives the compacting soil sleeve (32) to move up and down.

3. The fully automatic placement device for geological exploration sensors according to claim 1 is characterized in that: The sensor limiter (34) comprises at least two limiter plates (341) and at least two third cylinders (342). The third cylinders (342) correspond to the limiter plates (341) one by one. The two ends of the limiter plates (341) are respectively a first end and a second end. The first end of each limiter plate (341) is connected to a piston rod of the third cylinder (342) through a set of connecting rod mechanisms. The second end of each limiter plate (341) is provided with an arc-shaped groove (343). The limiter plates (341) are arranged in a pair Inside the soil pressing sleeve (32), each of the third cylinders (342) operates synchronously, and when the piston rod of the third cylinder (342) is retracted or extended, it drives the second end of the limit plate (341) to swing up and down. When the second end of the limit plate (341) swings upward, the arc-shaped groove (343) is stuck on the cylindrical outer wall of the geological exploration sensor (05). When the second end of the limit plate (341) swings downward, the arc-shaped groove (343) leaves the cylindrical outer wall of the geological exploration sensor (05).

4. The fully automatic placement device for geological exploration sensors according to claim 1 is characterized in that: The storage bin assembly (01) comprises a plurality of trays (11), wherein the trays (11) are used to hold the geological exploration sensors (05), and the trays (11) are arranged in two rows, each row is divided into multiple layers, and each layer is provided with multiple trays, and each layer of the trays (11) is suitable for moving up and down in the vertical direction.

5. The fully automatic placement device for geological exploration sensors according to claim 4 is characterized in that: The storage bin assembly (01) further comprises a driving element, a first screw rod (13), a second screw rod (14), a plurality of first lifting nuts (15), a plurality of second lifting nuts (16), and a plurality of bearing plates (17), wherein the first screw rod (13) and the second screw rod (14) are both vertically arranged, and the driving element is used to drive the first screw rod (13) and the second screw rod (14) to rotate, and each layer of the tray (11) is respectively arranged on one of the bearing plates (17), and each of the bearing plates (17) is respectively connected to one of the first lifting nuts at both ends along the length direction. The first lifting nut (15) and the second lifting nut (16) are each threadedly connected to the first screw rod (13), and the second lifting nut (16) is each threadedly connected to the second screw rod (14). The driving element drives the first screw rod (13) and the second screw rod (14) to rotate so that the first lifting nut (15) and the second lifting nut (16) move up and down, thereby moving the supporting plate (17) up and down. The supporting plate (17) stops when it moves to the position where the geological exploration sensor (05) is grasped.

6. The fully automatic placement device for geological exploration sensors according to claim 5 is characterized in that: The driving element comprises a first servo motor (121) and a worm gear mechanism (122); the first servo motor (121) is connected to the first screw (13); the first screw (13) is connected to the second screw (14) via the worm gear mechanism (122); the first servo motor (121) drives the first screw (13) to rotate; and the first screw (13) drives the second screw (14) to rotate synchronously via the worm gear mechanism (122).

7. The fully automatic placement device for geological exploration sensors according to claim 6 is characterized in that: The storage bin assembly (01) further comprises two groups of carrier plate positioning structures, the two groups of carrier plate positioning structures respectively positioning two rows of carrier plates (17), each group of the carrier plate positioning structures comprises a first carrier plate positioning member and a second carrier plate positioning member, the first carrier plate positioning member and the second carrier plate positioning member are respectively located on both sides of the carrier plate (17), the first carrier plate positioning member and the second carrier plate positioning member have the same structure, wherein the first carrier plate positioning member comprises a positioning bracket (181) and a plurality of electromagnetic locks (182), The electromagnetic lock (182) is connected to the positioning bracket (181), and a plurality of the electromagnetic locks (182) are arranged in sequence from top to bottom in the vertical direction. The position of each electromagnetic lock (182) corresponds to the height of each bearing plate (17) when the geological exploration sensor (05) is grasped. When the geological exploration sensor (05) is grasped, the lock core of the electromagnetic lock (182) extends to the bottom of the bearing plate (17), and when the geological exploration sensor (05) is grasped, the lock core of the electromagnetic lock (182) is retracted.

8. The fully automatic placement device for geological exploration sensors according to claim 1 is characterized in that: The robot assembly (02) also includes a first mounting frame (22), a column (23), a first guide rail (24), a second guide rail (25), and a second mounting frame (26); the column (23) is rotatably connected to the first mounting frame (22); the first mounting frame (22) is suitable for moving relative to the first guide rail (24); the robot gripper (21) is connected to the second mounting frame (26); the second mounting frame (26) is suitable for moving relative to the second guide rail (25); the second guide rail (25) is suitable for moving up and down relative to the column (23); the first guide rail (24) is arranged between two rows of pallets (11); and the extension direction of the first guide rail (24) is consistent with the arrangement direction of the pallets (11) at each layer.

9. The fully automatic placement device for geological exploration sensors according to claim 8 is characterized in that: The manipulator assembly (02) further comprises a rotary drive motor (27) and a rotary base (28); the rotary drive motor (27) drives the rotary base (28) to rotate via gear transmission; and the column (23) is connected to the rotary base (28).

10. The fully automatic placement device for geological exploration sensors according to claim 9 is characterized in that: The robot assembly (02) also includes a second servo motor (291), a third screw (292), and a sliding block (293). The third screw (292) is vertically arranged. The second servo motor (291) is connected to the third screw (292). The sliding block (293) is threadedly connected to the third screw (292). The second guide rail (25) is connected to the sliding block (293). The second servo motor (291) drives the third screw (292) to rotate, so that the sliding block (293) moves up and down relative to the third screw (292).

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