Modularized geological soil sampling device based on quadruped robot

Abstract

The invention discloses a modularized geological soil sampling device based on a quadruped robot, and relates to the field of geological exploration equipment, the modularized geological soil sampling device comprises a machine body, an overturning assembly, a reciprocating assembly, a soil drilling assembly and a collecting assembly, the machine body is installed on the top of the quadruped robot and serves as a supporting platform of the whole sampling device, and the overturning assembly is installed on the machine body; the overturning assembly is arranged above the machine body in an overturning mode, one side of the overturning assembly is hinged to the machine body, the reciprocating assembly is fixedly connected to the top of an inner cavity of a framework of the overturning assembly, and the soil drilling assembly is fixedly connected with the sliding end of the reciprocating assembly and moves back and forth in the axis direction of the reciprocating assembly. The collecting assembly is arranged on the side, close to the working end of the soil drilling assembly, of the machine body and used for receiving and storing collected soil samples. The device is ingenious in conception and convenient to use, the quadruped robot serves as a motion carrier, and autonomous collection and classified storage of soil samples are achieved.

Description

Technical Field

[0001] The present invention relates to the field of geological exploration equipment, and particularly to a modular geological soil sampling device based on a quadruped robot. Background Art

[0002] With the continuous increase in the demands of geological exploration and environmental monitoring, soil sampling plays an important role in mineral resource development, geological disaster assessment, and environmental science research. Traditional soil sampling methods mainly rely on manual operation, which have problems such as low efficiency, poor sampling accuracy, and high labor intensity. Especially in complex terrains or harsh environments, manual sampling faces many difficulties and risks.

[0003] In recent years, the development of robot technology has provided new solutions for soil sampling. However, most existing sampling robots are based on wheeled or tracked designs and are difficult to adapt to soft, rugged, or complex terrains, resulting in limited sampling efficiency and quality. In addition, the existing sampling devices are large, heavy, inconvenient to operate, and have unstable sampling quality, making it difficult to meet the actual needs.

[0004] Therefore, how to provide a modular geological soil sampling device based on a quadruped robot, which is ingeniously conceived and easy to use, uses the quadruped robot as a motion carrier to achieve autonomous collection and classified storage of soil samples, has become a technical problem that needs to be solved urgently by those skilled in the art. Summary of the Invention

[0005] The purpose of the present invention is to provide a modular geological soil sampling device based on a quadruped robot, which is ingeniously conceived and easy to use, uses the quadruped robot as a motion carrier to achieve autonomous collection and classified storage of soil samples.

[0006] To solve the above technical problems, the present invention adopts the following technical solutions:

[0007] A modular geological soil sampling device based on a quadruped robot of the present invention includes a fuselage, a flipping assembly, a reciprocating assembly, a soil drilling assembly, and a collection assembly. The fuselage is installed on the top of the quadruped robot and serves as a support platform for the entire sampling device. The flipping assembly is rotatably arranged above the fuselage, and one side of the flipping assembly is hinged to the fuselage. The reciprocating assembly is fixedly connected to the top of the inner cavity of the flipping assembly frame. The soil drilling assembly is fixedly connected to the sliding end of the reciprocating assembly and reciprocates along the axis direction of the reciprocating assembly. The collection assembly is arranged on one side of the fuselage close to the working end of the soil drilling assembly for receiving and storing the collected soil samples.

[0008] Preferably, the flipping assembly includes a support frame, a first connecting rod, a second connecting rod, an electric push cylinder and an aluminum profile, the support frame is formed by welding a plurality of square tubes, the aluminum profile is horizontally arranged on the top of the support frame, the tail of the support frame is hingedly connected to the front of the fuselage through the first connecting rod, the front of the support frame is hingedly connected to the front of the fuselage through the second connecting rod, the first connecting rod and the second connecting rod are located on the same side, the support frame, the first connecting rod, the second connecting rod and the fuselage together constitute a four-bar mechanism, the fixed end of the electric push cylinder is hingedly connected to the tail of the fuselage, the telescopic end of the electric push cylinder is hingedly connected to the middle part of the first connecting rod, and is used to drive the support frame to flip and rotate.

[0009] Preferably, the reciprocating assembly includes a linear guide, a lead screw, a lead screw nut, a first bearing seat, a second bearing seat, a first slider, a first servo motor, a first reducer, a first gear and a second gear. The linear guide, the first bearing seat and the second bearing seat are all fastened to the bottom of the aluminum profile by bolts, and the first bearing seat and the second bearing seat are respectively located at two ends of the linear guide, the two ends of the lead screw are rotatably connected to the first bearing seat and the second bearing seat through bearings, and the end of the lead screw close to the first bearing seat is provided with a second gear, the first slider is slidably mounted on the linear guide, the lead screw nut is threadedly mounted on the lead screw, and the lead screw nut is fixedly connected to the first slider, the power output end of the first servo motor is fixedly connected to the power input end of the first reducer through a coupling, the power output end of the first reducer is provided with a first gear, and after the first servo motor, the first reducer and the first gear are assembled, they are fastened to the bottom of the aluminum profile by bolts, and the first gear is meshed and transmitted with the second gear.

[0010] Preferably, the soil drilling assembly includes a connecting plate, a third bearing seat, a push rod, a push rod fixing seat, a second servo motor, a second reducer, a third gear, a fourth gear, a drill bit connecting sleeve and a drill bit assembly, the connecting plate is sleeved on the lead screw nut and is fastened to the lead screw nut by bolts, the top of the connecting plate is fixedly connected to the bottom of the first sliding block, the third bearing seat is fixedly mounted on the connecting plate, the drill bit connecting sleeve is rotatably connected to the third bearing seat through a double-row angular contact bearing, and the fourth gear is provided at one end of the drill bit connecting sleeve close to the first bearing seat, and the other end of the drill bit connecting sleeve is connected to the third bearing seat. The end is threadedly connected with the drill bit assembly, the power output end of the second servo motor is fixedly connected to the power input end of the second reducer through a coupling, the power output end of the second reducer is provided with a third gear, and the second servo motor, the second reducer and the third gear are fixedly mounted on the connecting plate after assembly, and the third gear is meshingly connected with the fourth gear; the push rod fixing seat is fixedly connected to the bottom of the first bearing seat, the fixed end of the push rod is fixedly connected to the push rod fixing seat, and the push head end of the push rod passes through the drill bit connecting sleeve and is slidably connected in the inner cavity of the drill bit assembly.

[0011] Preferably, the drill bit assembly includes a drill pipe and a spiral drill bit, one end of the drill pipe is threadedly connected to the drill bit connecting sleeve, and the other end of the drill pipe is threadedly connected to the spiral drill bit, and the interior of the spiral drill bit is hollow and communicated with the inner cavity of the drill pipe.

[0012] Preferably, the soil drilling assembly also includes an end cover, which is fastened to the side of the third bearing seat close to the fourth gear by bolts, and the end cover is provided with an opening matching the drill bit connecting sleeve.

[0013] Preferably, the collection assembly includes a mounting base, a stepping motor, a second slider, a guide rod, a supporting plate, a sample box, and an n-shaped guard plate. The mounting base is fixedly connected to the front side of the fuselage. The stepping motor is installed on one side of the mounting base. A driving pulley is provided at the power output end of the stepping motor. A driven pulley matching the driving pulley is provided on the other side of the mounting base. The driving pulley and the driven pulley are connected by a belt drive. The second slider is slidably connected to the mounting base through the guide rod. Through holes allowing the belt to pass through are provided on both the mounting base and the second slider. The second slider is positioned and connected to the belt and is used to drive the second slider to reciprocate along the length direction of the guide rod. The supporting plate is fixedly connected to the top of the second slider. A plurality of sample boxes are arranged side by side on the top of the supporting plate. The n-shaped guard plate is fixedly connected to the mounting base and is located above the sample box. A storage opening for storing soil samples is provided at the center of the top of the n-shaped guard plate.

[0014] Preferably, the sample box includes a sample box body, a left box cover, and a right box cover. The left box cover and the right box cover are symmetrically and hingedly connected to the top opening side of the sample box body. A first guide post is provided at the top of the left box cover. A second guide post is provided at the bottom of the right box cover. Guide grooves matching the first guide post and the second guide post are symmetrically provided on the n-shaped guard plate. The guide grooves bulge upward near the storage opening for guiding the opening and closing actions of the left box cover and the right box cover.

[0015] Compared with the prior art, the beneficial technical effects of the present invention are as follows:

[0016] The modular geological soil sampling device based on a quadruped robot of the present invention uses a quadruped robot as a moving carrier, realizing an effective combination with the existing quadruped robot. At the same time, through the coordinated work of the flipping assembly, the reciprocating assembly, the soil drilling assembly, and the collection assembly, the device realizes the autonomous collection and classified storage of soil samples. Description of the Drawings

[0017] The present invention will be further described below with reference to the drawings.

[0018] Figure 1 It is a schematic diagram of the overall structure of a modular geological soil sampling device based on a quadruped robot of the present invention Figure 1 ;

[0019] Figure 2 It is a schematic diagram of the overall structure of a modular geological soil sampling device based on a quadruped robot of the present invention Figure 2 ;

[0020] Figure 3 Schematic diagram of the connection structure between the flipping component and the fuselage of the present invention;

[0021] Figure 4 Schematic diagram of the structure of the reciprocating component of the present invention Figure 1 ;

[0022] Figure 5 Schematic diagram of the structure of the reciprocating component of the present invention Figure 2 ;

[0023] Figure 6 Schematic diagram of the connection structure between the reciprocating component and the support frame of the present invention;

[0024] Figure 7 Schematic diagram of the structure of the soil drilling component of the present invention Figure 1 ;

[0025] Figure 8 Schematic diagram of the structure of the soil drilling component of the present invention Figure 2 ;

[0026] Figure 9 Schematic diagram of the connection structure between the soil drilling component and the reciprocating component of the present invention;

[0027] Figure 10 Schematic diagram of the structure of the collection component of the present invention Figure 1 ;

[0028] Figure 11 Schematic diagram of the structure of the collection component of the present invention Figure 2 ;

[0029] Figure 12 Cross-sectional view of the structure of the collection component of the present invention;

[0030] Figure 13 Schematic diagram of the connection structure of the mounting base, the second slider and the guide rod of the present invention.

[0031] Explanation of reference numerals: 1, fuselage; 2, flipping component; 201, support frame; 202, first connecting rod; 203, second connecting rod; 204, electric push cylinder; 205, aluminum profile;

[0032] 3, reciprocating component; 301, linear guide rail; 302, lead screw; 303, lead screw nut; 304, first bearing seat; 305, second bearing seat; 306, first slider; 307, first servo motor; 308, first reducer; 309, first gear; 310, second gear;

[0033] 4. Soil Drilling Assembly; 401. Connecting Plate; 402. Third Bearing Block; 403. Push Rod; 404. Push Rod Fixed Seat; 405. Second Servo Motor; 406. Second Reducer; 407. Third Gear; 408. Fourth Gear; 409. Drill Bit Connecting Sleeve; 410. Drill Bit Assembly; 4101. Drill Pipe; 4102. Helical Drill Bit; 411. End Cover

[0034] 5. Collection Assembly; 501. Installation Base; 502. Stepper Motor; 503. Second Slide Block; 504. Guide Rod; 505. Support Plate; 506. Sample Box; 5061. Sample Box Body; 5062. Left Box Cover; 5063. Right Box Cover; 5064. First Guide Post; 5065. Second Guide Post; 507. N-shaped Guard Plate; 5071. Guide Groove; 508. Driving Pulley; 509. Driven Pulley; 510. Storage Opening Detailed Embodiment

[0035] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0036] As Figure 1-13 shown, a modular geological soil sampling device based on a quadruped robot includes a fuselage 1, a flipping assembly 2, a reciprocating assembly 3, a soil drilling assembly 4 and a collection assembly 5. The fuselage 1 is installed on the top of the quadruped robot and serves as a support platform for the entire sampling device. The flipping assembly 2 is rotatably arranged above the fuselage 1, and one side of the flipping assembly 2 is hinged to the fuselage 1. The reciprocating assembly 3 is fixedly connected to the top of the inner cavity of the frame of the flipping assembly 2. The soil drilling assembly 4 is fixedly connected to the sliding end of the reciprocating assembly 3 and reciprocates along the axis direction of the reciprocating assembly 3. The collection assembly 5 is arranged on one side of the fuselage 1 close to the working end of the soil drilling assembly 4 for receiving and storing the collected soil samples.

[0037] Specifically, the present invention uses a quadruped robot as a moving carrier. By installing the fuselage 1 on the top of the quadruped robot, an effective combination with the existing quadruped robot is achieved. It not only makes full use of the high mobility and stability of the quadruped robot in complex terrains, but also significantly expands the applicable range of the device of the present invention. By cooperating with different models of quadruped robots, the present invention can efficiently complete soil sampling tasks in a variety of complex environments, thus having a broader application prospect.

[0038] Specifically, the flipping assembly 2 includes a support frame 201, a first connecting rod 202, a second connecting rod 203, an electric push cylinder 204, and an aluminum profile 205. The support frame 201 is formed by welding multiple square tubes. The aluminum profile 205 is horizontally arranged at the top of the support frame 201. The tail of the support frame 201 is hingedly connected to the front of the fuselage 1 through the first connecting rod 202. The front of the support frame 201 is hingedly connected to the front of the fuselage 1 through the second connecting rod 203. The first connecting rod 202 and the second connecting rod 203 are on the same side. The support frame 201, the first connecting rod 202, the second connecting rod 203, and the fuselage 1 together form a four-bar mechanism. The fixed end of the electric push cylinder 204 is hingedly connected to the tail of the fuselage 1, and the telescopic end of the electric push cylinder 204 is hingedly connected to the middle of the first connecting rod 202 and is used to drive the support frame 201 to flip and rotate.

[0039] Specifically, the support frame 201 realizes the flipping motion through the four-bar mechanism formed by the first connecting rod 202, the second connecting rod 203, and the fuselage 1. Through the telescopic action of the electric push cylinder 204, the rotational motion of the four-bar mechanism is driven, thereby completing the conversion of the support frame 201 from the lying state to the vertical working state. The design of the four-bar mechanism not only ensures the stability and reliability of the support frame 201 during the flipping process but also improves the adaptability and operation stability of the entire device under complex terrain conditions.

[0040] Specifically, the reciprocating assembly 3 includes a linear guide 301, a lead screw 302, a lead screw nut 303, a first bearing seat 304, a second bearing seat 305, a first slider 306, a first servo motor 307, a first reducer 308, a first gear 309 and a second gear 310. The linear guide 301, the first bearing seat 304 and the second bearing seat 305 are all fastened to the bottom of the aluminum profile 205 by bolts, and the first bearing seat 304 and the second bearing seat 305 are respectively located at the two ends of the linear guide 301, and the two ends of the lead screw 302 are rotatably connected to the first bearing seat 304 and the second bearing seat 305 by bearings, and the lead screw 302 is close to the first bearing seat 30 4 is provided with a second gear 310, the first slider 306 is slidably mounted on the linear guide 301, the lead screw nut 303 is threadedly mounted on the lead screw 302, the lead screw nut 303 is fixedly connected to the first slider 306, the power output end of the first servo motor 307 is fixedly connected to the power input end of the first reducer 308 through a coupling, the power output end of the first reducer 308 is provided with a first gear 309, after the first servo motor 307, the first reducer 308 and the first gear 309 are assembled, they are fastened to the bottom of the aluminum profile 205 by bolts, and the first gear 309 is meshed and transmission-connected with the second gear 310.

[0041] Specifically, the design of the positioning connection between the screw nut 303 and the first slider 306 can effectively prevent the screw nut 303 from rotating circumferentially during the rotation of the screw 302, thereby ensuring that the drilling assembly 4 can slide stably and smoothly along the axial direction of the screw 302 with the screw nut 303.

[0042] Specifically, the soil drilling assembly 4 includes a connecting plate 401, a third bearing block 402, a push rod 403, a push rod fixing seat 404, a second servo motor 405, a second reducer 406, a third gear 407, a fourth gear 408, a drill bit connecting sleeve 409 and a drill bit assembly 410. The connecting plate 401 is sleeved on the lead screw nut 303 and is fixedly connected to the lead screw nut 303 by bolts. The top of the connecting plate 401 is fixedly connected to the bottom of the first slider 306. The third bearing block 402 is fixedly installed on the connecting plate 401. The drill bit connecting sleeve 409 is rotatably connected to the third bearing block 402 through a double-row angular contact bearing, and a fourth gear 408 is arranged at one end of the drill bit connecting sleeve 409 close to the first bearing block 304. The other end of the drill bit connecting sleeve 409 is threadedly connected to the drill bit assembly 410. The power output end of the second servo motor 405 is fixedly connected to the power input end of the second reducer 406 through a coupling. A third gear 407 is arranged at the power output end of the second reducer 406. After the second servo motor 405, the second reducer 406 and the third gear 407 are assembled, they are fixedly installed on the connecting plate 401, and the third gear 407 is in meshing transmission connection with the fourth gear 408. The push rod fixing seat 404 is fixedly connected to the bottom of the first bearing block 304. The fixed end of the push rod 403 is fixedly connected to the push rod fixing seat 404. The push head end of the push rod 403 passes through the drill bit connecting sleeve 409 and is slidably connected to the inner cavity of the drill bit assembly 410.

[0043] Specifically, the drill bit assembly 410 includes a drill pipe 4101 and a spiral drill bit 4102. One end of the drill pipe 4101 is threadedly connected to the drill bit connecting sleeve 409, and the other end of the drill pipe 4101 is threadedly connected to the spiral drill bit 4102. The inside of the spiral drill bit 4102 is hollow and is communicated with the inner cavity of the drill pipe 4101.

[0044] Specifically, the soil drilling assembly 4 further includes an end cover 411. The end cover 411 is fixedly connected to one side of the third bearing block 402 close to the fourth gear 408 by bolts, and an opening matching the drill bit connecting sleeve 409 is provided on the end cover 411.

[0045] Specifically, the setting of the end cover 411 provides an axial auxiliary fixing function for the drill bit connecting sleeve 409, so that the drill pipe 4101 and the spiral drill bit 4102 can remain stable during the rotation process, effectively avoiding displacement or loosening caused by external forces or vibrations.

[0046] Specifically, the collection component 5 includes a mounting base 501, a stepper motor 502, a second slider 503, a guide rod 504, a support plate 505, a sample box 506, and an n-shaped guard plate 507. The mounting base 501 is fixedly connected to the front side of the fuselage 1. The stepper motor 502 is installed on one side of the mounting base 501. A driving pulley 508 is provided at the power output end of the stepper motor 502. A driven pulley 509 matching the driving pulley 508 is provided on the other side of the mounting base 501. The driving pulley 508 and the driven pulley 509 are connected by a belt drive. The second slider 503 is slidably connected to the mounting base 501 through the guide rod 504. Through holes allowing the belt to pass through are provided on both the mounting base 501 and the second slider 503. The second slider 503 is positioned and connected to the belt and is used to drive the second slider 503 to reciprocate along the length direction of the guide rod 504. The support plate 505 is fixedly connected to the top of the second slider 503. A plurality of the sample boxes 506 are arranged side by side on the top of the support plate 505. The n-shaped guard plate 507 is fixedly connected to the mounting base 501 and is located above the sample box 506. A storage opening 510 for storing soil samples is provided at the central position of the top of the n-shaped guard plate 507.

[0047] Specifically, the sample box 506 includes a sample box body 5061, a left box cover 5062, and a right box cover 5063. The left box cover 5062 and the right box cover 5063 are symmetrically hinged to the top opening side of the sample box body 5061. A first guide post 5064 is provided at the top of the left box cover 5062. A second guide post 5065 is provided at the bottom of the right box cover 5063. Guide grooves 5071 matching the first guide post 5064 and the second guide post 5065 are symmetrically provided on the n-shaped guard plate 507. The guide grooves 5071 are convex upward at positions close to the storage opening 510 for guiding the opening and closing actions of the left box cover 5062 and the right box cover 5063.

[0048] The using process of the present invention is as follows:

[0049] First, the present invention is brought to the designated sampling location by the quadruped robot. At this time, the entire sampling device is in the initial state. The support frame 201 is in a lying state. The soil drilling component 4 is located on the side of the reciprocating component 3 away from the collection component 5. The sample box 506 is in the closed state, and sampling operations are ready to be carried out.

[0050] Secondly, the electric push cylinder 204 is activated, and its telescopic end pushes the first connecting rod 202. Through the four-bar mechanism composed of the support frame 201, the first connecting rod 202, the second connecting rod 203, and the fuselage 1, the support frame 201 is flipped from the lying state to the vertical working state. This process ensures that the soil drilling assembly 4 is perpendicular to the ground, providing a stable posture for the subsequent soil drilling operation;

[0051] Thirdly, the first servo motor 307 is activated, driving the first gear 309 to rotate through the first reducer 308. The first gear 309 meshes with the second gear 310 for transmission, driving the lead screw 302 to rotate. The lead screw nut 303 moves axially under the rotation of the lead screw 302, driving the first slider 306 fixedly connected thereto to slide along the linear guide rail 301. Since the connecting plate 401 is fixedly connected to the lead screw nut 303 and the first slider 306, the soil drilling assembly 4 moves smoothly along the axis direction of the reciprocating assembly 3 to a position close to the ground. At this time, the second servo motor 405 is activated, driving the third gear 407 to rotate through the second reducer 406. The third gear 407 meshes with the fourth gear 408 for transmission, driving the drill bit connecting sleeve 409 to rotate, and then driving the drill pipe 4101 and the screw drill bit 4102 to rotate. The screw drill bit 4102 drills into the soil during rotation, collects soil samples, and pushes the samples into the inner cavity of the drill pipe 4101 for storage;

[0052] Then, the first servo motor 307 runs in the reverse direction, driving the soil drilling assembly 4 to move upward along the linear guide rail 301. At the same time, the second servo motor 405 rotates in the reverse direction, driving the screw drill bit 4102 to rotate in the reverse direction until the screw drill bit 4102 completely disengages from the soil. At this time, both the first servo motor 307 and the second servo motor 405 stop rotating, and the electric push cylinder 204 acts in the reverse direction, restoring the support frame 201 from the vertical working state to the lying state;

[0053] Finally, the first servo motor 307 continues to rotate in the reverse direction, driving the soil drilling assembly 4 to move further towards the direction close to the push rod 403. Supported by the push rod fixed seat 404, the push rod 403 pushes out the soil sample in the drill pipe 4101 from the end of the screw drill bit 4102. At this time, the stepping motor 502 starts, drives the belt transmission through the driving pulley 508 and the driven pulley 509, and drives the second slider 503 to slide along the guide rod 504. The second slider 503 drives the supporting plate 505 and the sample box 506 thereon to move below the storage opening 510. At this time, the left lid 5062 and the right lid 5063 of the sample box 506 are automatically opened under the guidance of the guiding groove 5071 on the n-shaped guard plate 507, and the soil sample falls into the sample box 506 through the storage opening 510. Subsequently, the stepping motor 502 continues to drive the second slider 503 to move, so that the current sample box 506 moves away from below the storage opening 510, and the left lid 5062 and the right lid 5063 are automatically closed under the guidance of the guiding groove 5071, completing the storage of the sample. The whole device returns to the initial state, ready for the next sampling task.

[0054] It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or device.

[0055] The embodiments described above are only descriptions of the preferred modes of the present invention, and do not limit the scope of the present invention. Without departing from the design spirit of the present invention, various deformations and improvements made by those of ordinary skill in the art to the technical solutions of the present invention shall fall within the protection scope determined by the claims of the present invention.

Claims

1. A modular geological soil sampling device based on a quadruped robot, characterized in that: The invention comprises a body (1), a flip assembly (2), a reciprocating assembly (3), a soil drilling assembly (4) and a collecting assembly (5); the body (1) is mounted on the top of a quadruped robot and serves as a supporting platform for the entire sampling device; the flip assembly (2) is arranged on the top of the body (1) in a flip manner, and one side of the flip assembly (2) is hingedly connected to the body (1); the reciprocating assembly (3) is fixedly connected to the top of the inner cavity of the flip assembly (2) frame; the soil drilling assembly (4) is fixedly connected to the sliding end of the reciprocating assembly (3) and reciprocates along the axial direction of the reciprocating assembly (3); the collecting assembly (5) is arranged on one side of the body (1) close to the working end of the soil drilling assembly (4) and is used to receive and store the collected soil samples.

2. A modular geological soil sampling device based on a quadruped robot according to claim 1, characterized in that: The flip assembly (2) comprises a support frame (201), a first connecting rod (202), a second connecting rod (203), an electric push cylinder (204) and an aluminum profile (205); the support frame (201) is formed by welding a plurality of square tubes; the aluminum profile (205) is horizontally arranged on the top of the support frame (201); the rear of the support frame (201) is hingedly connected to the front of the fuselage (1) through the first connecting rod (202); the front of the support frame (201) is hingedly connected to the front of the fuselage (1) through the second connecting rod (203); The front part of the fuselage (1) is hingedly connected, the first connecting rod (202) and the second connecting rod (203) are located on the same side, the support frame (201), the first connecting rod (202), the second connecting rod (203) and the fuselage (1) together form a four-bar mechanism, the fixed end of the electric push cylinder (204) is hingedly connected to the tail of the fuselage (1), the telescopic end of the electric push cylinder (204) is hingedly connected to the middle part of the first connecting rod (202), and is used to drive the support frame (201) to flip and rotate.

3. A modular geological soil sampling device based on a quadruped robot according to claim 2, characterized in that: The reciprocating assembly (3) comprises a linear guide rail (301), a lead screw (302), a lead screw nut (303), a first bearing seat (304), a second bearing seat (305), a first slider (306), a first servo motor (307), a first reducer (308), a first gear (309) and a second gear (310). The linear guide rail (301), the first bearing seat (304) and the second bearing seat (305) are all fastened to the bottom of the aluminum profile (205) by bolts, and the first bearing seat (304) and the second bearing seat (305) are respectively located at two ends of the linear guide rail (301), and the two ends of the lead screw (302) are rotatably connected to the first bearing seat (304) and the second bearing seat (305) by bearings, and the lead screw (302) is close to the first bearing seat. A second gear (310) is provided at one end of the (304), the first slider (306) is slidably mounted on the linear guide rail (301), the lead screw nut (303) is threadedly mounted on the lead screw (302), the lead screw nut (303) and the first slider (306) are fixedly connected together, the power output end of the first servo motor (307) is fixedly connected to the power input end of the first reducer (308) through a coupling, the power output end of the first reducer (308) is provided with a first gear (309), after the first servo motor (307), the first reducer (308) and the first gear (309) are assembled, they are fastened to the bottom of the aluminum profile (205) by bolts, and the first gear (309) is meshed and transmission-connected with the second gear (310).

4. A modular geological soil sampling device based on a quadruped robot according to claim 3, characterized in that: The soil drilling assembly (4) comprises a connecting plate (401), a third bearing seat (402), a push rod (403), a push rod fixing seat (404), a second servo motor (405), a second reducer (406), a third gear (407), a fourth gear (408), a drill bit connecting sleeve (409) and a drill bit assembly (410). The connecting plate (401) is sleeved on the lead screw nut (303) and is fastened to the lead screw nut (303) by bolts. The top of the connecting plate (401) is fixedly connected to the bottom of the first sliding block (306). The third bearing seat (402) is fixedly mounted on the connecting plate (401). The drill bit connecting sleeve (409) is rotatably connected to the third bearing seat (402) by a double-row angular contact bearing. The fourth gear (408) is provided at one end of the drill bit connecting sleeve (409) close to the first bearing seat (304). The other end of the head connecting sleeve (409) is threadedly connected to the drill head assembly (410), the power output end of the second servo motor (405) is fixedly connected to the power input end of the second reducer (406) through a coupling, and the power output end of the second reducer (406) is provided with a third gear (407). After the second servo motor (405), the second reducer (406) and the third gear (407) are assembled, they are fixedly installed on the connecting plate (401), and the third gear (407) is meshed and connected with the fourth gear (408); the push rod fixing seat (404) is fixedly connected to the bottom of the first bearing seat (304), the fixed end of the push rod (403) is fixedly connected to the push rod fixing seat (404), and the push head end of the push rod (403) passes through the drill head connecting sleeve (409) and is slidably connected in the inner cavity of the drill head assembly (410).

5. A modular geological soil sampling device based on a quadruped robot according to claim 4, characterized in that: The drill bit assembly (410) comprises a drill pipe (4101) and a spiral drill bit (4102), one end of the drill pipe (4101) is threadedly connected to the drill bit connecting sleeve (409), and the other end of the drill pipe (4101) is threadedly connected to the spiral drill bit (4102), and the interior of the spiral drill bit (4102) is hollow and communicated with the inner cavity of the drill pipe (4101).

6. A modular geological soil sampling device based on a quadruped robot according to claim 4, characterized in that: The soil drilling assembly (4) further comprises an end cover (411), wherein the end cover (411) is fastened to a side of the third bearing seat (402) close to the fourth gear (408) by means of bolts, and an opening matching the drill bit connecting sleeve (409) is provided on the end cover (411).

7. A modular geological soil sampling device based on a quadruped robot according to claim 1, characterized in that: The collecting assembly (5) comprises a mounting base (501), a stepping motor (502), a second slider (503), a guide rod (504), a supporting plate (505), a sample box (506) and an N-shaped guard plate (507); the mounting base (501) is fixedly connected to the front side of the fuselage (1); the stepping motor (502) is mounted on one side of the mounting base (501); a driving pulley (508) is arranged at the power output end of the stepping motor (502); a driven pulley (509) matching the driving pulley (508) is arranged on the other side of the mounting base (501); the driving pulley (508) and the driven pulley (509) are connected by a belt transmission; the second slider (503) is slidably connected to the guide rod (504) via the guide rod (504). The mounting base (501), the mounting base (501) and the second slider (503) are provided with through holes for allowing the belt to pass through. The second slider (503) is connected to the belt for positioning and is used to drive the second slider (503) to slide back and forth along the length direction of the guide rod (504). The support plate (505) is fixedly connected to the top of the second slider (503). A plurality of sample boxes (506) are arranged side by side on the top of the support plate (505). The N-shaped guard plate (507) is fixedly connected to the mounting base (501), and the N-shaped guard plate (507) is located above the sample box (506). A storage port (510) for storing soil samples is provided at the center of the top of the N-shaped guard plate (507).

8. A modular geological soil sampling device based on a quadruped robot according to claim 7, characterized in that: The sample box (506) comprises a sample box body (5061), a left box cover (5062) and a right box cover (5063); the left box cover (5062) and the right box cover (5063) are hingedly connected to the top opening side of the sample box body (5061) in a mirror-symmetrical manner; a first guide column (5064) is arranged at the top of the left box cover (5062); a second guide column (5065) is arranged at the bottom of the right box cover (5063); guide grooves (5071) matching the first guide column (5064) and the second guide column (5065) are symmetrically arranged on the N-shaped guard plate (507); the guide grooves (5071) are protruded upward near the storage port (510) to guide the opening and closing actions of the left box cover (5062) and the right box cover (5063).

Images