Soil detection device and soil detection method for coal mining collapse reclamation land

Abstract

The invention relates to the technical field of soil detection devices, and provides a soil detection device and a soil detection method for a coal mining collapse reclamation land, which can be matched with a large range of coal mining collapse reclamation land to form autonomous multi-point sampling operation, can perform pretreatment on sampling points in the sampling process, and is relatively high in sampling efficiency. The device can perform primary screening on samples, is better in sampling quality and more practical, and comprises a mounting frame and a sampling system, the mounting frame is fixedly connected with a storage frame, the storage frame and the mounting frame are each provided with two lifting wheel assemblies, the sampling system comprises a rotating ring frame, and the rotating ring frame is rotatably connected between the mounting frame and the storage frame; a first servo motor is mounted on the mounting frame and used for rotation adjustment of the swivel frame, three fixing cylinders are fixedly connected to the swivel frame, sampling cylinders are slidably connected into the three fixing cylinders, a guide synchronization assembly is mounted on the storage frame, the three sampling cylinders are matched with the guide synchronization assembly, and an optical camera is mounted on the storage frame.

Description

Technical Field

[0001] The present invention relates to the technical field of soil detection devices, and particularly relates to a soil detection device and a soil detection method for coal mining subsidence reclamation land. Background Art

[0002] As is well known, coal mining subsidence reclamation land refers to the land that has been rectified and restored through a series of engineering technologies and biological measures to make it available for use after the surface subsidence caused by coal mining. Coal mining subsidence reclamation land is of great significance for restoring the ecological environment, protecting arable land resources, promoting economic transformation, increasing employment opportunities, maintaining social stability, and realizing resource recycling. To facilitate the treatment and detection of the treatment situation of coal mining subsidence reclamation land, we have proposed a soil detection device and a soil detection method for coal mining subsidence reclamation land.

[0003] After retrieval, the patent with the Chinese patent publication number CN119804011A and the patent with the Chinese patent publication number CN112014149B respectively disclose a surface soil sampling device for soil detection and a surface soil sampling device for soil detection. The former is roughly described as including a bottom plate, on the top surface of which a fixed frame is fixedly installed, on the top surface of the fixed frame an installation frame is fixedly installed, inside the installation frame a motor is fixedly installed, at the bottom surface of the connection cover a sampling tube one is installed, and inside the sampling tube one a surface soil sampling assembly is provided. When in use, during the contraction process of the electric telescopic rod two, it can drive the connecting plate one to move towards the direction of the limiting frame one, drive the two support rods two to move towards the direction of the sampling tube two. When the protective pad touches one end of the sampling tube two, it drives the sampling tube two to move outwards of the sampling tube one until the two sampling tubes two are inserted into the soil on both sides of the sampling tube one, then the soil on both sides of the sampling tube one can be collected into the inside of the sampling tube two, thus achieving the purpose of being able to collect surface soil. The latter is roughly described as including a device main body, at the bottom end of which a base is fixed, at the top end of the device main body a soil detector is provided, at the top of the soil detector a display screen is installed, on one side of the display screen control buttons are provided, at the top end of the device main body on one side of the soil detector a rotating disk is connected, and on the outer wall of the rotating disk a fixed frame is fixed. When in use, the output end of the third motor drives the third rod to rotate, the third rod drives the connecting sleeve to move, the connecting sleeve moving drives the moving rod to make a sector movement, the moving rod drives the moving plate to move downwards, the moving plate moving downwards drives the moving wheel to move downwards, the moving wheel is in close contact with the ground, and the user can drive the device main body to move to a specified position through the moving wheel.

[0004] Although the above-mentioned prior art solutions can be used in conjunction with soil formation detection, in actual situations, most coal mining subsidence areas are very large. Therefore, if it is necessary to judge the soil conditions of the entire coal mining subsidence reclamation area, multi-region sampling is inevitable. At the same time, due to the overly large area, the number of samples will also be very large. Therefore, how to sample quickly and selectively is the prerequisite for high-efficiency sampling and high-quality detection. Summary of the Invention

[0005] Aiming at the deficiencies of the prior art, the present invention provides a soil detection device and a soil detection method for coal mining subsidence reclamation land, which can form an autonomous multi-point sampling operation for a large range of coal mining subsidence reclamation land, and can preprocess the sampling points during the sampling process, with relatively high sampling efficiency, can perform primary screening on the samples, and has relatively good sampling quality and is more practical.

[0006] To achieve the above object, the present invention provides the following technical solution: A soil detection device for coal mining subsidence reclamation land includes a mounting frame, and also includes a sampling system. The mounting frame is fixedly connected with a storage frame. Both the storage frame and the mounting frame are equipped with two lifting wheel assemblies. The sampling system includes a rotating ring frame, and the rotating ring frame is rotatably connected between the mounting frame and the storage frame. A first servo motor is installed on the mounting frame, and the first servo motor is used for adjusting the rotation of the rotating ring frame. Three fixed cylinders are fixedly connected to the rotating ring frame. Sampling cylinders are slidably connected in the three fixed cylinders. A guiding synchronization component is installed on the storage frame, and the three sampling cylinders are all matched with the guiding synchronization component. An optical camera is installed on the storage frame. Transparent arc plates are arranged on the three sampling cylinders. A downward pressing driving component is installed on the mounting frame. Insertion plates matched with the downward pressing driving component are fixedly connected to the three sampling cylinders. A storage component is installed in the storage frame, and a cleaning component is installed on the mounting frame.

[0007] Preferably, the guiding synchronization component includes a rotating cylinder, the rotating cylinder is rotatably connected to the storage frame, three communication ports are opened on the rotating cylinder, connecting cylinders are fixedly connected in the three communication ports, the three connecting cylinders are respectively slidably connected to the three sampling cylinders, connecting springs are fixedly connected to the three sampling cylinders, and the three connecting springs are respectively fixedly connected to the three connecting cylinders. A semi-circular top port is opened on the storage frame, and the three communication ports are all matched with the semi-circular top port.

[0008] Preferably, the pressing drive assembly includes a lifting frame which is slidably connected between the storage frame and the mounting frame. An electric telescopic rod is installed in the mounting frame. A hinged frame is connected to the telescopic rod of the electric telescopic rod, and the hinged frame is connected to the lifting frame. An inner driving arc plate and an outer driving arc plate are fixedly connected to the lifting frame. Both the inner driving arc plate and the outer driving arc plate match the insertion plate. Gradient arc plates matching the insertion plate are fixedly connected to both ends of the inner driving arc plate.

[0009] Preferably, the storage assembly includes a transfer frame, a second servo motor and a plurality of external hanging fixing frames. The transfer frame is rotatably connected in the storage frame. The second servo motor is installed outside the storage frame, and the output shaft of the second servo motor is in transmission connection with the transfer frame. A sliding frame is slidably connected in the transfer frame. An electric push rod is installed outside the transfer frame, and the push rod of the electric push rod is connected to the sliding frame. A picking and placing structure is installed on the sliding frame. A plurality of the external hanging fixing frames are fixedly connected in the storage frame, and sampling boxes are detachably snap-connected in the plurality of external hanging fixing frames. The picking and placing structure is used for adjusting the positions of the plurality of sampling boxes between the external hanging fixing frames and the semi-circular top opening.

[0010] Preferably, the picking and placing structure includes a first parallel rod and a second parallel rod. Both the first parallel rod and the second parallel rod are rotatably connected to the sliding frame. A positioning tension spring is connected between the first parallel rod and the sliding frame. The first parallel rod is connected to a driving rod. The driving rod is fixedly connected to an insertion rod. The first parallel rod is fixedly connected to an outer extension plate. A strip hole is formed in the outer extension plate, and the insertion rod is inserted into the strip hole. The driving rod is slidably connected to a driving cylinder. A sleeve spring is fixedly connected in the driving cylinder, and the sleeve spring is fixedly connected to the driving rod. A pushing surface matching the driving cylinder is arranged in the transfer frame. The driving cylinder is slidably connected to the sliding frame. The first parallel rod is connected to a picking and placing frame. The picking and placing frame is connected to the second parallel rod. A strong magnet is arranged in the picking and placing frame. Iron bar blocks matching the strong magnet are arranged on a plurality of sampling boxes.

[0011] Preferably, the cleaning assembly includes a first suspension arm and a second suspension arm. Both the first suspension arm and the second suspension arm are rotatably connected to the mounting frame. An electric adjusting rod and a mounting vertical frame are installed on the first suspension arm. The electric adjusting rod is hinged to the mounting frame. The mounting vertical frame is rotatably connected to the second suspension arm. A counterweight disk is rotatably connected to the mounting vertical frame. A plurality of centrifugal hammers are rotatably connected to the counterweight disk. A torque motor is installed on the mounting vertical frame, and the torque motor is used for driving the rotation of the counterweight disk.

[0012] Preferably, each of the four lifting wheel assemblies includes a mounting arc cylinder. The two mounting arc cylinders at the front side are fixedly connected to the mounting frame, and the two mounting arc cylinders at the rear side are fixedly connected to the storage frame. Arc rods are connected inside the four mounting arc cylinders. Third servo motors are installed outside the four mounting arc cylinders. Driving gears are installed on the output shafts of the four third servo motors. The four driving gears are each engaged with a driven rack. The four driven racks are respectively connected to the four arc rods. Off-road wheels are rotatably connected to the four arc rods. Fourth servo motors are installed on the four arc rods, and the four fourth servo motors are respectively used for driving the rotation of the four off-road wheels.

[0013] Preferably, shoveling cylinders are fixedly connected to one ends of the three sampling cylinders away from the rotating cylinder. Side inlets are formed in the three shoveling cylinders. A plurality of crushing arc knives are fixedly connected in the three side inlets.

[0014] Preferably, a guiding pipe is slidably connected inside the storage frame. The top opening of the guiding pipe matches the semi-circular top opening. The mounting frame is provided with an outer discharge port matching the guiding pipe. The lifting frame is provided with a passing strip opening matching the guiding pipe. A horizontally arranged spring is fixedly connected inside the storage frame. The horizontally arranged spring is connected to the guiding pipe. Side openings are provided on a plurality of the sampling boxes. Side doors are slidably connected inside the plurality of side openings. A plurality of closing springs are fixedly connected to the plurality of side doors. The plurality of closing springs are respectively fixedly connected inside the plurality of sampling boxes. The guiding pipe is fixedly connected with a pushing frame matching the side door.

[0015] A soil detection method for a soil detection device for coal mining subsidence reclamation land includes the following steps: S1. Before use, a control system and a power supply component are installed in the storage frame in a supporting manner, and the control system is debugged for the operation control of the lifting wheel assembly, the first servo motor, the guiding synchronization component, the downward pressing drive component, the storage component, and the cleaning component. S2. During use, the lifting wheel assembly operates to move the soil detection device for coal mining subsidence reclamation land to a corresponding sampling point on the coal mining subsidence reclamation land. Then, the cleaning component operates to preprocess the sampling point. Then, the lifting wheel assembly operates to move the sampling system to the area on the coal mining subsidence reclamation land where the cleaning component has completed the treatment. S3. The first servo motor is powered on and operates to realize the rotational movement of the rotating ring frame. The rotation of the rotating ring frame realizes the synchronous rotation of the three sampling cylinders. According to the sampling depth, the downward pressing drive component operates to enable one of the three sampling cylinders rotated to the lowermost side to form an auxiliary downward push, so as to facilitate the sampling operation of the sampling cylinder relative to the soil. S4. After the sampling cylinder rotates past the lowermost side, soil extraction is formed. During the process of the sampling cylinder rotating and rising, the transparent arc plate on the sampling cylinder will rotate past the position where the optical camera is located. And because the inclination direction of the sampling cylinder itself will change during the rotation process, the soil in the sampling cylinder will slide past the transparent arc plate under the action of its own gravity. The optical camera captures and analyzes the images of the soil passing through the transparent arc plate to achieve preliminary screening of the soil. S5. The soil after screening is assisted by the guiding synchronization component and sent into the storage component for storage, in preparation for subsequent detection. The soil that is not needed for screening will be discarded and not sent into the storage component. After sampling at a single sampling point is completed, the lifting wheel component operates to enter the next sampling point, and the foregoing steps are repeated to complete multi-point sampling.

[0016] Compared with the prior art, the present invention provides a soil detection device and a soil detection method for coal mining subsidence reclamation land, having the following beneficial effects: (1) In the present invention, through the design of the sampling system, a corresponding sampling structure is formed in combination with the soil of the coal mining subsidence reclamation land, which can achieve repeated sampling. And with the supporting optical camera, image acquisition of the samples can be carried out, which is convenient for preliminary screening of the samples to ensure improved sampling quality and is more practical.

[0017] (2) In the present invention, through the cooperation of the mounting frame, the storage frame and the lifting wheel component, a movable carrier structure of the soil detection device for coal mining subsidence reclamation land is formed, which is convenient for adjusting the position of the sampling system and can form an autonomous multi-point sampling operation in combination with a large range of coal mining subsidence reclamation land.

[0018] (3) In the present invention, through the provision of the pressing drive component, the extension degree of the sampling cylinder relative to the fixed cylinder can be adjusted, so as to facilitate the adjustment of the sampling depth of the soil in the coal mining subsidence reclamation land by the sampling cylinder and realize the collection of soils at different depths.

[0019] (4) In the present invention, through the design of the storage component, the soil samples collected by the sampling system can be stored, and the storage quantity of the samples is larger and the practicability is better.

[0020] (5) In the present invention, through the design of the cleaning component, the sampling target point of the coal mining subsidence reclamation land can be pre-treated, and the surface soil is driven away by the throwing method to facilitate the sampling operation of the subsequent sampling system. Description of the Drawings

[0021] Figure 1 is a three-dimensional structure schematic diagram of the whole of the present invention; Figure 2 is a three-dimensional structure schematic diagram of a partial section in cooperation with the installation of the arc cylinder, the arc rod and the drive gear, etc. of the present invention; Figure 3 Schematic diagram of the three-dimensional structure of the mounting rack, storage rack, swivel rack, etc. of the present invention in cooperation; Figure 4 For the present invention Figure 3 Partial enlarged structural schematic diagram at position A in the present invention; Figure 5 Schematic diagram of the three-dimensional structure of the partial cross-section of the storage rack, external hanging fixing rack, sliding rack, etc. of the present invention in cooperation; Figure 6 Schematic diagram of the three-dimensional structure of the sliding rack, electric push rod, first parallel rod, etc. of the present invention in cooperation; Figure 7 Schematic diagram of the three-dimensional structure of the partial cross-section of the sliding rack, first parallel rod, second parallel rod, etc. of the present invention in cooperation; Figure 8 Schematic diagram of the three-dimensional structure of the partial cross-section of the transparent arc plate, insertion plate, rotating cylinder, etc. of the present invention in cooperation; Figure 9 Schematic diagram of the three-dimensional structure of the partial cross-section of the storage rack, guide pipe, horizontal spring, etc. of the present invention in cooperation; Figure 10 Schematic diagram of the three-dimensional structure of the cooperation between the guide pipe and the push frame of the present invention; Figure 11 Schematic diagram of the three-dimensional structure of the partial cross-section of the sampling box, side door, closing spring, etc. of the present invention in cooperation; Figure 12 Schematic diagram of the three-dimensional structure of the rear side view of the whole of the present invention; Figure 13 Schematic diagram of the three-dimensional structure of the rear side upward view of the whole of the present invention; Figure 14 Schematic diagram of the three-dimensional structure of the partial cross-section of the mounting rack, lifting rack, electric telescopic rod, etc. of the present invention in cooperation; Figure 15 Schematic diagram of the soil sampling principle of the present invention with respect to the coal mining subsidence reclamation land.

[0022] In the figure: 1, mounting frame; 2, storage rack; 3, swivel frame; 4, first servo motor; 5, fixed cylinder; 6, sampling cylinder; 7, optical camera; 8, transparent arc plate; 9, insertion plate; 10, rotating cylinder; 11, communication port; 12, connecting cylinder; 13, connecting spring; 14, semi-circular top port; 15, lifting frame; 16, electric telescopic rod; 17, hinge frame; 18, inner driving arc plate; 19, outer driving arc plate; 20, gradient arc plate; 21, transfer frame; 22, second servo motor; 23, external hanging fixed frame; 24, sliding frame; 25, electric push rod; 26, sampling box; 27, first parallel rod; 28, second parallel rod; 29, positioning tension spring; 30, driving rod; 31, insertion rod; 32, extension plate; 33, driving cylinder; 34, sleeve spring; 35, pushing surface; 36, picking and placing frame; 37, strong magnet; 38, iron bar block; 39, first suspension arm; 40, second suspension arm; 41, electric adjusting rod; 42, mounting vertical frame; 43, counterweight disk; 44, centrifugal hammer; 45, torque motor; 46, mounting arc cylinder; 47, arc rod; 48, third servo motor; 49, driving gear; 50, driven rack; 51, off-road wheel; 52, fourth servo motor; 53, earth-moving cylinder; 54, side entrance; 55, crushing arc knife; 56, guiding pipe; 57, external discharge port; 58, horizontally arranged spring; 59, side door; 60, closing spring; 61, pushing frame. Detailed implementation manner

[0023] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0024] For the embodiment, please refer to Figures 1 - 15, a soil detection device for coal mining subsidence reclamation land, including an installation frame 1, and also including a sampling system. The installation frame 1 is fixedly connected with a storage frame 2. Both the storage frame 2 and the installation frame 1 are equipped with two lifting wheel assemblies. The four lifting wheel assemblies all include an installation arc cylinder 46. The two installation arc cylinders 46 on the front side are fixedly connected with the installation frame 1, and the two installation arc cylinders 46 on the rear side are fixedly connected with the storage frame 2. An arc rod 47 is connected inside each of the four installation arc cylinders 46. A third servo motor 48 is installed outside each of the four installation arc cylinders 46. A driving gear 49 is installed on the output shaft of each of the four third servo motors 48. Each of the four driving gears 49 meshes with a driven rack 50. The four driven racks 50 are respectively connected with the four arc rods 47. Each of the four arc rods 47 is rotatably connected with an off-road wheel 51. A fourth servo motor 52 is installed on each of the four arc rods 47. The four fourth servo motors 52 are respectively used for driving the rotation of the four off-road wheels 51. Through the cooperation of the installation frame 1, the storage frame 2 and the lifting wheel assemblies, a movable carrier structure of the soil detection device for coal mining subsidence reclamation land is formed, which is convenient for adjusting the position of the sampling system and can form an autonomous multi-point sampling operation for a large range of coal mining subsidence reclamation land. The sampling system includes a rotating ring frame 3. The rotating ring frame 3 is rotatably connected between the installation frame 1 and the storage frame 2. A first servo motor 4 is installed on the installation frame 1. The first servo motor 4 is used for adjusting the rotation of the rotating ring frame 3. Three fixed cylinders 5 are fixedly connected to the rotating ring frame 3. A sampling cylinder 6 is slidably connected inside each of the three fixed cylinders 5. One end of each of the three sampling cylinders 6 far from the rotating cylinder 10 is fixedly connected with a soil shoveling cylinder 53. A side inlet 54 is opened on each of the three soil shoveling cylinders 53. A plurality of crushing arc knives 55 are fixedly connected inside each of the three side inlets 54. When the soil shoveling cylinder 53 contacts the soil of the coal mining subsidence reclamation land, it can shovel the soil better. The shoveled soil enters the soil shoveling cylinder 53 through the side inlet 54. During this process, the crushing arc knives 55 inside the side inlet 54 can assist in crushing the soil, so that the soil sample entering the soil shoveling cylinder 53 has a relatively loose form, reducing the occurrence of the soil sample blocking the sampling cylinder 6. A guiding synchronization component is installed on the storage frame 2. The guiding synchronization component includes a rotating cylinder 10. The rotating cylinder 10 is rotatably connected with the storage frame 2. Three communication ports 11 are opened on the rotating cylinder 10. A connecting cylinder 12 is fixedly connected inside each of the three communication ports 11. The three connecting cylinders 12 are respectively slidably connected with the three sampling cylinders 6. Each of the three sampling cylinders 6 is fixedly connected with a connecting spring 13. The three connecting springs 13 are respectively fixedly connected with the three connecting cylinders 12. A semi-circular top opening 14 is opened on the storage frame 2. The three communication ports 11 are all matched with the semi-circular top opening 14. The three sampling cylinders 6 are all matched with the guiding synchronization component. An optical camera 7 is installed on the storage frame 2. A transparent arc plate 8 is arranged on each of the three sampling cylinders 6. Through the design of the sampling system, a corresponding sampling structure is formed for the soil of the coal mining subsidence reclamation land, which can realize repeated sampling, and the supporting optical camera 7 can collect images of the samples, facilitating the preliminary screening of the samples.To ensure improved sampling quality and be more practical.

[0025] It should be further noted that a downward pressing drive assembly is installed on the mounting frame 1, and insertion plates 9 matching the downward pressing drive assembly are fixedly connected to all three sampling cylinders 6. The downward pressing drive assembly includes a lifting frame 15, which is slidably connected between the storage frame 2 and the mounting frame 1. An electric telescopic rod 16 is installed inside the mounting frame 1. The telescopic rod of the electric telescopic rod 16 is connected with a hinge frame 17, and the hinge frame 17 is connected to the lifting frame 15. An inner driving arc plate 18 and an outer driving arc plate 19 are fixedly connected to the lifting frame 15. Both the inner driving arc plate 18 and the outer driving arc plate 19 match the insertion plate 9. Gradual arc plates 20 matching the insertion plate 9 are fixedly connected to both ends of the inner driving arc plate 18. Through the provision of the downward pressing drive assembly, the extension degree of the sampling cylinder 6 relative to the fixed cylinder 5 can be adjusted, so as to facilitate the adjustment of the sampling depth of the sampling cylinder 6 for the soil of the coal mining subsidence reclamation area and realize the collection of soils at different depths. A storage assembly is installed inside the storage frame 2. The storage assembly includes a transfer frame 21, a second servo motor 22 and a plurality of externally hung fixing frames 23. The transfer frame 21 is rotatably connected inside the storage frame 2. The second servo motor 22 is installed outside the storage frame 2, and the output shaft of the second servo motor 22 is in transmission connection with the transfer frame 21. A sliding frame 24 is slidably connected inside the transfer frame 21. An electric push rod 25 is installed outside the transfer frame 21, and the push rod of the electric push rod 25 is connected to the sliding frame 24. A picking and placing structure is installed on the sliding frame 24. A plurality of externally hung fixing frames 23 are all fixedly connected inside the storage frame 2, and sampling boxes 26 can be detachably buckled and connected inside the plurality of externally hung fixing frames 23. The picking and placing structure is used for the position adjustment of the plurality of sampling boxes 26 between the externally hung fixing frames 23 and the semi-circular top opening 14. The picking and placing structure includes a first parallel rod 27 and a second parallel rod 28. Both the first parallel rod 27 and the second parallel rod 28 are rotatably connected to the sliding frame 24, and a positioning tension spring 29 is connected between the first parallel rod 27 and the sliding frame 24. The first parallel rod 27 is connected with a driving rod 30, the driving rod 30 is fixedly connected with an insertion rod 31, the first parallel rod 27 is fixedly connected with an outward extending plate 32, a strip-shaped hole is formed in the outward extending plate 32, and the insertion rod 31 is inserted into the strip-shaped hole. The driving rod 30 is slidably connected with a driving cylinder 33, a sleeve spring 34 is fixedly connected inside the driving cylinder 33, and the sleeve spring 34 is fixedly connected with the driving rod 30. A pushing surface 35 matching the driving cylinder 33 is arranged inside the transfer frame 21. The driving cylinder 33 is slidably connected with the sliding frame 24. The first parallel rod 27 is connected with a picking and placing frame 36, the picking and placing frame 36 is connected with the second parallel rod 28, a strong magnet 37 is arranged inside the picking and placing frame 36, and iron bar blocks 38 matching the strong magnet 37 are arranged on all the plurality of sampling boxes 26. Through the design of the storage assembly, the soil samples collected by the sampling system can be stored, and the storage quantity of the samples is larger and the practicability is better.

[0026] It should be further noted that a cleaning component is installed on the mounting frame 1. The cleaning component includes a first suspension arm 39 and a second suspension arm 40. Both the first suspension arm 39 and the second suspension arm 40 are rotatably connected to the mounting frame 1. An electric adjusting rod 41 and a mounting vertical frame 42 are installed on the first suspension arm 39. The electric adjusting rod 41 is hinged to the mounting frame 1, and the mounting vertical frame 42 is rotatably connected to the second suspension arm 40. A counterweight disk 43 is rotatably connected to the mounting vertical frame 42, and a plurality of centrifugal hammers 44 are rotatably connected to the counterweight disk 43. A torque motor 45 is installed on the mounting vertical frame 42, and the torque motor 45 is used to drive the rotation of the counterweight disk 43. Through the design of the cleaning component, pretreatment can be formed on the sampling target points of the coal mining subsidence reclamation land, and the surface soil can be driven away by the throwing method to facilitate the sampling operation of the subsequent sampling system. A guiding pipe 56 is slidably connected in the storage rack 2. The top opening of the guiding pipe 56 is matched with the semi-circular top opening 14. The mounting frame 1 is provided with an outer discharge port 57 that is matched with the guiding pipe 56. The lifting frame 15 is provided with a passing strip opening that is matched with the guiding pipe 56. A horizontal spring 58 is fixedly connected in the storage rack 2, and the horizontal spring 58 is connected to the guiding pipe 56. Side openings are provided on a plurality of sampling boxes 26, and side doors 59 are slidably connected in a plurality of side openings. A plurality of side doors 59 are fixedly connected with closing springs 60, and a plurality of closing springs 60 are respectively fixedly connected in a plurality of sampling boxes 26. The guiding pipe 56 is fixedly connected with a pushing frame 61 that is matched with the side door 59. During actual use, when it is necessary to throw away the soil sample in the sampling cylinder 6, the side door 59 on the sampling cylinder 6 is not in contact with the pushing frame 61. At this time, under the action of the horizontal spring 58, the guiding pipe 56 is located directly below the semi-circular top opening 14. When the first servo motor 4 operates to control the sampling cylinder 6 to rotate past the highest position, the soil sample in the sampling cylinder 6 will fall into the guiding pipe 56 under the action of its own gravity, and will finally be discharged through the outer discharge port 57 under the guiding action of the guiding pipe 56 for the sampling cylinder 6 to sample again.

[0027] The first servo motor 4, electric telescopic rod 16, second servo motor 22, electric push rod 25, electric adjusting rod 41, torque motor 45, third servo motor 48, fourth servo motor 52, control system and power supply component in this embodiment are all conventional devices well-known to those skilled in the art and purchased on the market. In the present invention, we only use them and do not improve their structures and functions. Their setting methods, installation methods and electrical connection methods can be debugged and operated by those skilled in the art as long as they follow the requirements of their operation manuals. Therefore, no further description will be given here.

[0028] In summary, the working principle of the soil detection device and the soil detection method for coal mining subsidence reclamation land is as follows. Before use, a control system and a power supply component are installed in the storage rack 2, and the control system is debugged for the operation control of the first servo motor 4, the electric telescopic rod 16, the second servo motor 22, the electric push rod 25, the electric adjusting rod 41, the torque motor 45, the third servo motor 48, and the fourth servo motor 52. When in use, the lifting wheel assembly operates to move the soil detection device for coal mining subsidence reclamation land to the corresponding sampling point on the coal mining subsidence reclamation land. The fourth servo motor 52 is controlled to be powered on and operate to drive the rotation of the off-road wheel 51. The off-road wheel 51 rolls on the coal mining subsidence reclamation land to form the movement of the soil detection device for coal mining subsidence reclamation land. The cleaning component operates to preprocess the sampling point. During the processing, the torque motor 45 is powered on and operates to drive the rotation of the counterweight disk 43. The rotation of the counterweight disk 43 drives the rotation of multiple centrifugal hammers 44. Then, the electric adjusting rod 41 is powered on and operates to control the first suspension arm 39 to rotate and drop. The rotation and drop of the first suspension arm 39 will cause the installation vertical frame 42 to follow and drop, and under the action of the second suspension arm 40, the installation vertical frame 42 can maintain an upright state. As the height of the centrifugal hammer 44 decreases, the centrifugal hammer 44 will form a rotational interference with the surface soil of the coal mining subsidence reclamation land. Under the action of the rotational inertia of the centrifugal hammer 44, the surface soil of the coal mining subsidence reclamation land can be driven away until the surface soil is driven away to an appropriate depth. Then, the electric adjusting rod 41 controls the centrifugal hammer 44 to rise, and then the torque motor 45 is powered off and stops working. Then, the lifting wheel assembly operates to move the sampling system to the area on the coal mining subsidence reclamation land where the cleaning component has completed the processing. Then, the first servo motor 4 is powered on and operates to realize the rotational movement of the rotating ring frame 3. The rotation of the rotating ring frame 3 realizes the synchronous rotation of the three sampling cylinders 6. According to the sampling depth, the electric telescopic rod 16 in the downward pressing drive component is powered on and operates to realize the relative height reduction of the lifting frame 15 between the installation frame 1 and the storage rack 2. After that, when the three sampling cylinders 6 rotate again, as the insertion plate 9 rotates past the gradient arc plate 20 and the inner drive arc plate 18, a relative push will be formed. This pushing effect will enable the sampling cylinder 6 that rotates to the lowest side among the three sampling cylinders 6 to form an auxiliary downward push to facilitate the sampling operation of the sampling cylinder 6 relative to the soil.

[0029] Further, after the sampling cylinder 6 rotates past the lowermost side, the soil shoveling cylinder 53 will form relative interference with the soil, and the soil in the interfered area will enter the soil shoveling cylinder 53 under the action of inertia, that is, the extraction of the soil is formed. Since the sampling cylinder 6 forms an arc-shaped sampling trajectory relative to the soil during the rotation sampling process, comprehensive sampling can be carried out within a certain height range and width range for a single sampling point, so as to improve the sampling quality of the soil sample, eliminate the disadvantages of overly concentrated and single sampling points in traditional drilling sampling, and ensure the comprehensive and comprehensive generalization of the sampled soil for the sampling point. During the process of the sampling cylinder 6 rotating and rising, the transparent arc plate 8 on the sampling cylinder 6 will rotate past the position where the optical camera 7 is located, and since the inclination direction of the sampling cylinder 6 itself will change during the rotation process, the soil in the sampling cylinder 6 will slide past the transparent arc plate 8 under the action of its own gravity. The optical camera 7 performs image acquisition and analysis on the soil passing through the transparent arc plate 8 to achieve pre-screening of the soil. When the optical camera 7 operates, it will emit different detection lights to irradiate the sampled soil sample, and at the same time, the optical camera 7 will also perform image acquisition on the soil imaging in the irradiation environment to improve the soil screening effect. During the soil screening process, the repeated swinging of the sampling cylinder 6 past the corresponding target area of the optical camera 7 can be realized by controlling the operating state of the first servo motor 4, so that the soil sample in the sampling cylinder 6 can form a complete and comprehensive light detection. If it is initially determined by the optical camera 7 that the soil sample is qualified or has a high similarity with the previously collected soil, then this soil sample will not be stored as a sample. The first servo motor 4 works to control the sampling cylinder 6 to rotate past the highest position, so that the communication port 11 corresponding to the sampling cylinder 6 coincides with the semi-circular top port 14 up and down, and at the same time, the guiding pipe 56 cooperates with the falling soil to form auxiliary guiding and throwing away. When the soil in the sampling cylinder 6 is a sample that can be stored, the picking and placing structure is controlled to take out the sampling box 26 in the external hanging fixing frame 23 from the external hanging fixing frame 23 and assist in moving it to directly below the semi-circular top port 14. Since when the sampling box 26 moves to directly below the semi-circular top port 14, the side door 59 will contact the pushing frame 61, and since the elastic force of the set closing spring 60 is greater than the elastic force of the horizontally arranged spring 58, after the side door 59 contacts the pushing frame 61, when the sampling box 26 moves further, the side door 59 will first overcome the elastic force of the horizontally arranged spring 58 to push the guiding pipe 56 away from directly below the semi-circular top port 14. And when the guiding pipe 56 is pushed to the limit position, further movement of the sampling box 26 will cause the side door 59 to form relative movement with respect to the side opening, exposing the side opening. After that, when the sampling cylinder 6 rotates to the uppermost side again, the soil sample in the sampling cylinder 6 will fall into the sampling box 26 through the side opening. Then, the picking and placing structure is controlled to transfer and reset the sampling box 26 directly below the semi-circular top port 14 to its original external hanging fixing frame 23. The soil sample located in the sampling box 26 can be used for further detailed detection in the subsequent laboratory. After the sampling of a single sampling point is completed, the lifting wheel assembly operates to enter the next sampling point.Repeat the foregoing steps to complete multi-point sampling.

[0030] Further, the process of taking out the sampling box 26 in the external hanging fixing frame 23 by the picking and placing structure and assisting its movement to directly below the semi-circular top opening 14 is as follows: First, the second servo motor 22 is powered on and runs to drive the rotation of the transfer frame 21, so that the picking and placing frame 36 and the corresponding external hanging fixing frame 23 are at the same rotation angle. Then, the electric push rod 25 works to control the sliding frame 24 to form a relative sliding with respect to the transfer frame 21, so that the driving cylinder 33 contacts the pushing surface 35 and generates an interaction force. Along with the increase in the relative force between the driving cylinder 33 and the pushing surface 35, under the transmission action of the sleeve spring 34, the driving rod 30 will move relative to the sliding frame 24. Under the transmission action of the insertion rod 31 and the extension plate 32, the moving driving rod 30 will drive the first parallel rod 27 to move, so that the first parallel rod 27 forms a relative rotation with respect to the sliding frame 24 until the picking and placing frame 36 contacts and presses against the corresponding external hanging fixing frame 23. After that, the electric push rod 25 continues to push the sliding frame 24 to move, the sleeve spring 34 will be compressed, the picking and placing frame 36 will maintain the pressing state with the external hanging fixing frame 23 and move relative to the external hanging fixing frame 23, while the first parallel rod 27 and the second parallel rod 28 will not further rotate relative to the sliding frame 24. When the picking and placing frame 36 moves relative to the external hanging fixing frame 23, the strong magnet 37 and the iron bar block 38 will approach and completely contact each other. After that, the picking and placing frame 36 will form a magnetic positioning with the corresponding sampling box 26. Then, the electric push rod 25 controls the sliding frame 24 to move away from the pushing surface 35, and the picking and placing frame 36 will drive the sampling box 26 to pull out relative to the external hanging fixing frame 23 where it is located. When the driving cylinder 33 is completely separated from the pushing surface 35, under the pulling action of the positioning pull spring 29, the first parallel rod 27 will rotate and retract into the sliding frame 24, and the sampling box 26 on the picking and placing frame 36 will also move into the transfer frame 21. Then, the second servo motor 22 is powered on and runs to drive the rotation of the transfer frame 21, and controls the attitude adjustment of the sampling box 26 on the picking and placing frame 36, so that the side door 59 is on the upper side of the sampling box 26. Then, the electric push rod 25 continues to control the sliding frame 24 to move away from the pushing surface 35, and the sampling box 26 can be inserted into the necking section of the semi-circular top opening 14 opened on the storage rack 2 until the sampling box 26 enters directly below the semi-circular top opening 14. The process of the picking and placing structure resetting the sampling box 26 directly below the semi-circular top opening 14 to its original external hanging fixing frame 23 is as follows: The electric push rod 25 is powered on and runs to realize the close movement of the sliding frame 24 relative to the pushing surface 35. During this process, the second servo motor 22 runs to drive the rotation and alignment of the sampling box 26 relative to its original external hanging fixing frame 23. Then, the electric push rod 25 continues to run until the picking and placing frame 36 contacts the external hanging fixing frame 23 again. Then, along with the sliding frame 24 continuing to approach the pushing surface 35, the sampling box 26 on the picking and placing frame 36 will be inserted into the corresponding external hanging fixing frame 23. When the sampling box 26 forms a relative insertion and reset with respect to the external hanging fixing frame 23,The second servo motor 22 controls the turntable 21 to rotate, so that the picking and placing frame 36 rotates away from the sampling box 26, as shown in the appendix. Figure 5 As shown, a rotating-away arc surface is provided on the picking and placing frame 36. During this process, the strong magnet 37 will move relatively away from the iron bar 38 that originally had a magnetic interaction, so that the magnetic adsorption effect between the strong magnet 37 and the iron bar 38 fails. Then, through the coordinated operation of the second servo motor 22 and the electric push rod 25, the relative position adjustment of the picking and placing frame 36 relative to another externally mounted fixed frame 23 can be achieved, facilitating the picking, placing and conveying operations of another sampling box 26, as shown in the appendix. Figure 15 The figure shows a schematic diagram of the principle of the present invention for soil sampling in coal mining subsidence reclamation areas. The lower side of the cross-country wheel 51 is the coal mining subsidence reclamation area. The depression in the middle of the coal mining subsidence reclamation area is the pit formed after the centrifugal hammer 44 pre-treats the surface soil. The arrow in the pit is the direction of the rotational movement of the sampling cylinder 6. Combining this figure, it can be clearly judged that the sampling range of the sampling cylinder 6 covers the entire arc surface from the right side to the left side in the pit. That is, during the rotational sampling process of the sampling cylinder 6, an arc-shaped sampling trajectory is formed relative to the soil. In this way, comprehensive sampling can be carried out within a certain height range and width range for a single sampling point, ensuring the sampling efficiency and improving the sampling quality of soil samples at the same time.

[0031] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principle and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A soil detection device for coal mining subsidence reclamation land, comprising a mounting frame (1), characterized in that: The invention also comprises a sampling system, wherein the mounting frame (1) is fixedly connected to a storage frame (2), and the storage frame (2) and the mounting frame (1) are both installed with two lifting wheel assemblies. The sampling system comprises a swivel frame (3), and the swivel frame (3) is rotatably connected between the mounting frame (1) and the storage frame (2). A first servo motor (4) is installed on the mounting frame (1), and the first servo motor (4) is used for rotation adjustment of the swivel frame (3). The swivel frame (3) is fixedly connected to three fixed cylinders (5), and the three fixed cylinders (5) are 5) are all slidably connected with sampling tubes (6), a guide synchronization component is installed on the storage rack (2), and the three sampling tubes (6) are matched with the guide synchronization component, an optical camera (7) is installed on the storage rack (2), and transparent arc plates (8) are provided on the three sampling tubes (6), a downward pressure drive component is installed on the mounting frame (1), and the three sampling tubes (6) are fixedly connected with an insertion plate (9) matching the downward pressure drive component, a storage component is installed in the storage rack (2), and a cleaning component is installed on the mounting frame (1).

2. A soil detection device for coal mining subsidence reclamation land according to claim 1, characterized in that: The guide synchronization component comprises a rotating cylinder (10), the rotating cylinder (10) is rotatably connected to the storage rack (2), three communication ports (11) are provided on the rotating cylinder (10), the three communication ports (11) are fixedly connected to connection cylinders (12), the three connection cylinders (12) are respectively slidably connected to the three sampling cylinders (6), the three sampling cylinders (6) are fixedly connected to connection springs (13), the three connection springs (13) are respectively fixedly connected to the three connection cylinders (12), the storage rack (2) is provided with a semi-circular top port (14), the three communication ports (11) are matched with the semi-circular top port (14).

3. A soil detection device for coal mining subsidence reclamation land according to claim 2, characterized in that: The downward drive assembly comprises a lifting frame (15), the lifting frame (15) is slidably connected between the storage frame (2) and the mounting frame (1), and an electric telescopic rod (16) is installed in the mounting frame (1), the telescopic rod of the electric telescopic rod (16) is connected to an articulated frame (17), the articulated frame (17) is connected to the lifting frame (15), and the lifting frame (15) is fixedly connected to an inner driving arc plate (18) and an outer driving arc plate (19), the inner driving arc plate (18) and the outer driving arc plate (19) are both matched with the insertion plate (9), and both ends of the inner driving arc plate (18) are fixedly connected to a gradient arc plate (20) matching the insertion plate (9).

4. The soil detection device for coal mining subsidence reclamation land according to claim 3 is characterized in that: The storage assembly comprises a central rotating frame (21), a second servo motor (22) and a plurality of external fixed frames (23); the central rotating frame (21) is rotatably connected to the storage frame (2); the second servo motor (22) is installed outside the storage frame (2); the output shaft of the second servo motor (22) is drivingly connected to the central rotating frame (21); a sliding frame (24) is slidably connected to the central rotating frame (21); an electric push rod (25) is installed outside the central rotating frame (21); the push rod of the electric push rod (25) is connected to the sliding frame (24); a pick-up and placement structure is installed on the sliding frame (24); the plurality of external fixed frames (23) are all fixedly connected to the storage frame (2); the plurality of external fixed frames (23) are all detachably buckled with sampling boxes (26); the pick-up and placement structure is used for adjusting the positions of the plurality of sampling boxes (26) between the external fixed frames (23) and the semi-circular top opening (14).

5. The soil detection device for coal mining subsidence reclamation land according to claim 4 is characterized in that: The pick-and-place structure comprises a first parallel rod (27) and a second parallel rod (28), the first parallel rod (27) and the second parallel rod (28) are both rotatably connected to the sliding frame (24), and a positioning tension spring (29) is connected between the first parallel rod (27) and the sliding frame (24), the first parallel rod (27) is connected to a driving rod (30), the driving rod (30) is fixedly connected to an insertion rod (31), the first parallel rod (27) is fixedly connected to an extension plate (32), the extension plate (32) is provided with a strip hole, the insertion rod (31) is inserted into the strip hole, and the driving rod (30) slides A driving cylinder (33) is connected, a sleeve spring (34) is fixedly connected inside the driving cylinder (33), the sleeve spring (34) is fixedly connected to the driving rod (30), a pushing surface (35) matching the driving cylinder (33) is arranged inside the intermediate transfer frame (21), the driving cylinder (33) is slidably connected to the sliding frame (24), the first parallel rod (27) is connected to a pick-up and release frame (36), the pick-up and release frame (36) is connected to the second parallel rod (28), a strong magnet (37) is arranged inside the pick-up and release frame (36), and a plurality of sampling boxes (26) are all provided with iron bars (38) matching the strong magnet (37).

6. The soil detection device for coal mining subsidence reclamation land according to claim 5 is characterized in that: The cleaning assembly comprises a first cantilever arm (39) and a second cantilever arm (40), the first cantilever arm (39) and the second cantilever arm (40) are both rotatably connected to the mounting frame (1), an electric adjustment rod (41) and a mounting vertical frame (42) are mounted on the first cantilever arm (39), the electric adjustment rod (41) is hinged to the mounting frame (1), the mounting vertical frame (42) is rotatably connected to the second cantilever arm (40), a counterweight plate (43) is rotatably connected to the mounting vertical frame (42), the counterweight plate (43) is rotatably connected to a plurality of centrifugal hammers (44), and a torque motor (45) is mounted on the mounting vertical frame (42), the torque motor (45) is used for rotationally driving the counterweight plate (43).

7. The soil detection device for coal mining subsidence reclamation land according to claim 6 is characterized in that: The four lifting wheel assemblies each comprise an arc-shaped mounting cylinder (46), the two arc-shaped mounting cylinders (46) on the front side are each fixedly connected to the mounting frame (1), the two arc-shaped mounting cylinders (46) on the rear side are each fixedly connected to the storage frame (2), the four arc-shaped mounting cylinders (46) are each connected to an arc-shaped rod (47), the four arc-shaped mounting cylinders (46) are each externally mounted with a third servo motor (48), the output shafts of the four third servo motors (48) are each mounted with a driving gear (49), the four driving gears (49) are each meshed with a driven rack (50), the four driven racks (50) are respectively connected to the four arc-shaped rods (47), the four arc-shaped rods (47) are each rotatably connected to an off-road wheel (51), the four arc-shaped rods (47) are each mounted with a fourth servo motor (52), and the four fourth servo motors (52) are respectively used for rotationally driving the four off-road wheels (51).

8. The soil detection device for coal mining subsidence reclamation land according to claim 7 is characterized in that: One end of each of the three sampling cylinders (6) away from the rotating cylinder (10) is fixedly connected to a shoveling cylinder (53), each of the three shoveling cylinders (53) is provided with a side entrance (54), and each of the three side entrances (54) is fixedly connected to a plurality of crushing arc knives (55).

9. The soil detection device for coal mining subsidence reclamation land according to claim 8, characterized in that: A guide tube (56) is slidably connected inside the storage rack (2), and the top opening of the guide tube (56) matches the semicircular top opening (14). The mounting frame (1) is provided with an external discharge opening (57) matching the guide tube (56). The lifting frame (15) is provided with a through strip opening matching the guide tube (56). A transverse spring (58) is fixedly connected inside the storage rack (2), and the transverse spring (58) is connected to the guide tube (56). A plurality of sampling boxes (26) are provided with side openings, and a side door (59) is slidably connected inside the plurality of side openings. A plurality of side doors (59) are fixedly connected with a closing spring (60), and the plurality of closing springs (60) are respectively fixedly connected in a plurality of sampling boxes (26). The guide tube (56) is fixedly connected with a push frame (61) matching the side door (59).

10. A soil detection method for a soil detection device for coal mining subsidence reclamation land, characterized in that: A soil detection device for coal mining subsidence reclamation land according to any one of claims 1 to 9 is used, comprising the following steps: S1. Before use, a control system and a power supply assembly are installed in the storage rack (2), and the control system is debugged to control the operation of the lifting wheel assembly, the first servo motor (4), the guide synchronization assembly, the downward pressure drive assembly, the storage assembly, and the cleaning assembly; S2. When in use, the lifting wheel assembly operates to move the soil detection device for coal mining subsidence reclamation land to the corresponding sampling point on the coal mining subsidence reclamation land, and then the cleaning assembly operates to pre-process the sampling point, and then the lifting wheel assembly operates to move the sampling system to the area on the coal mining subsidence reclamation land where the cleaning assembly completes the processing; S3, the first servo motor (4) is powered on to realize the rotational movement of the rotating ring frame (3), and the rotation of the rotating ring frame (3) realizes the synchronous rotation of the three sampling tubes (6). According to the sampling depth, the downward driving component is operated so that the sampling tube (6) that rotates to the bottom of the three sampling tubes (6) can form an auxiliary push-down operation to facilitate the sampling operation of the sampling tube (6) relative to the soil; S4, after the sampling tube (6) rotates and passes the bottom, the soil is extracted. During the process of the sampling tube (6) rotating and rising, the transparent arc plate (8) on the sampling tube (6) rotates and passes the position where the optical camera (7) is located. Since the tilt direction of the sampling tube (6) changes during the rotation process, the soil in the sampling tube (6) slides through the transparent arc plate (8) under the action of its own gravity. The optical camera (7) collects and analyzes the image of the soil passing through the transparent arc plate (8) to achieve soil pre-screening; S5. After the screening, the soil is guided and assisted by the synchronous component to be sent to the storage component for storage for subsequent testing. The unwanted soil will be thrown away without being sent to the storage component. After the sampling of a single sampling point is completed, the lifting wheel component moves to the next sampling point, and the above steps are repeated to complete multi-point sampling.

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