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

Abstract

The present invention relates to the technical field of soil detection devices, and proposes a soil detection device and a soil detection method for coal mining subsidence reclamation land. The device can be used to match a large range of coal mining subsidence reclamation land to form an autonomous multi-point sampling operation, and the sampling points can be pre-processed during the sampling process, the sampling efficiency is high, the samples can be pre-screened, the sampling quality is good, and it is more practical. The device includes a mounting frame and a sampling system. The mounting frame is fixedly connected to a storage frame. The storage frame and the mounting frame are both equipped with two lifting wheel assemblies. The sampling system includes a swivel frame. The swivel frame is rotatably connected between the mounting frame and the storage frame. A first servo motor is installed on the mounting frame. The first servo motor is used for rotation adjustment of the swivel frame. Three fixed cylinders are fixedly connected to the swivel frame. Sampling cylinders are slidably connected in the three fixed cylinders. A guide synchronization assembly is installed on the storage frame. The three sampling cylinders are all matched with the guide synchronization assembly. An optical camera is installed on the storage frame.

Description

Technical Field

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

[0002] As we all know, coal mining subsidence reclamation land refers to land that has been renovated and repaired through a series of engineering technologies and biological measures after surface collapse caused by coal mining, making it available for use. Coal mining subsidence reclamation land is of great significance to repairing the ecological environment, protecting arable land resources, promoting economic transformation, increasing employment opportunities, maintaining social stability and realizing resource recycling. In order to facilitate the management and detection of coal mining subsidence reclamation land, we proposed a soil detection device and soil detection method for coal mining subsidence reclamation land.

[0003] After searching, the Chinese patent publication number CN119804011A and 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, wherein the former is roughly described as including a base plate, a fixing frame is fixedly installed on the top surface of the base plate, a mounting frame is fixedly installed on the top surface of the fixing frame, a motor is fixedly installed inside the mounting frame, a sampling tube 1 is installed on the bottom surface of the connecting cover, and a surface soil sampling assembly is arranged inside the sampling tube 1. When in use, the electric telescopic rod 2 can drive the connecting plate 1 to move toward the direction of the limiting frame 1 during the contraction process, and drive the two brackets 2 to move toward the direction of the sampling tube 2. When the protective pad contacts one end of the sampling tube 2, it drives the sampling tube 2 to move toward the outside of the sampling tube 1 until the two sampling tubes 2 are inserted into the sampling tube. After collecting the soil on both sides of sampling tube one, the soil on both sides of sampling tube one can be collected into the interior of sampling tube two, thereby achieving the purpose of collecting surface soil. The latter can be roughly described as including a device body, a base fixed at the bottom end of the device body, a soil detector provided at the top end of the device body, a display screen installed at the top end of the soil detector, a control button provided on one side of the display screen, the top end of the device body is located on one side of the soil detector and is connected to a rotating disk, a fixing frame is fixed on the outer wall of the rotating disk, and when in use, the output end of the No. 3 motor drives the No. 3 rod to rotate, the No. 3 rod drives the connecting sleeve to move, the movement of the connecting sleeve drives the moving rod to make a fan-shaped motion, the moving rod drives the moving plate to move downward, the downward movement of the moving plate drives the moving wheel to move downward, the moving wheel is in close contact with the ground, and the user can drive the device body to move to the designated position through the moving wheel.

[0004] Although the above-mentioned existing technical solutions can be used to match soil formation detection, in actual situations, coal mining subsidence areas are mostly very large areas. Therefore, if it is necessary to judge the soil conditions of the entire coal mining subsidence reclamation land, it is inevitable that multi-area sampling is required. At the same time, since the area is too large, the number of samples will also be very large. Therefore, how to quickly and selectively sample is the prerequisite for efficient sampling and high-quality detection. Summary of the Invention

[0005] In response to the shortcomings of the existing technology, the present invention provides a soil detection device and soil detection method for coal mining subsidence reclamation land, which can be used to form autonomous multi-point sampling operations in a large range of coal mining subsidence reclamation land, and can pre-process the sampling points during the sampling process. The sampling efficiency is high, the samples can be pre-screened, the sampling quality is good, and it is more practical.

[0006] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: a soil detection device for coal mining subsidence reclamation land, comprising a mounting frame and a sampling system, wherein the mounting frame is fixedly connected to a storage frame, and the storage frame and the mounting frame are both equipped with two lifting wheel assemblies, and the sampling system comprises a swivel frame, the swivel 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 rotation adjustment of the swivel frame, three fixed cylinders are fixedly connected to the swivel frame, and sampling cylinders are slidably connected in the three fixed cylinders, a guide synchronization assembly is installed on the storage frame, and the three sampling cylinders are matched with the guide synchronization assembly, an optical camera is installed on the storage frame, and transparent arc plates are provided on the three sampling cylinders, a downward drive assembly is installed on the mounting frame, and the three sampling cylinders are fixedly connected with an insertion plate matching the downward drive assembly, a storage assembly is installed in the storage frame, and a cleaning assembly is installed on the mounting frame.

[0007] Preferably, the guiding synchronization component includes a rotating cylinder, which is rotatably connected to the storage rack. Three communicating ports are opened on the rotating cylinder, and connecting cylinders are fixedly connected to the three communicating ports. The three connecting cylinders are slidingly connected to the three sampling cylinders respectively. The three sampling cylinders are fixedly connected with connecting springs, and the three connecting springs are fixedly connected to the three connecting cylinders respectively. A semi-circular top port is opened on the storage rack, and the three communicating ports are matched with the semi-circular top port.

[0008] Preferably, the downward drive assembly includes a lifting frame, which is slidably connected between the storage rack and the mounting rack, and an electric telescopic rod is installed in the mounting rack, the telescopic rod of the electric telescopic rod is connected to a hinged frame, and the hinged frame is connected to the lifting frame, and the lifting frame is fixedly connected with an inner driving arc plate and an outer driving arc plate, and the inner driving arc plate and the outer driving arc plate are both matched with the insertion plate, and both ends of the inner driving arc plate are fixedly connected with a gradient arc plate that matches the insertion plate.

[0009] Preferably, the storage assembly includes a central rotating rack, a second servo motor and a plurality of external fixing racks, the central rotating rack is rotatably connected to the storage rack, the second servo motor is installed outside the storage rack, the output shaft of the second servo motor is transmission-connected to the central rotating rack, a sliding rack is slidably connected inside the central rotating rack, an electric push rod is installed outside the central rotating rack, the push rod of the electric push rod is connected to the sliding rack, a pick-up and place structure is installed on the sliding rack, a plurality of the external fixing racks are fixedly connected to the storage rack, a plurality of the external fixing racks are detachably connected with sampling boxes with snaps, and the pick-up and place structure is used to adjust the positions of a plurality of sampling boxes between the external fixing rack and the semi-dome opening.

[0010] Preferably, the picking and placing structure includes a first parallel rod and a second parallel rod, the first parallel rod and the second parallel rod are both rotatably connected to the sliding frame, and 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 the insertion rod, the first parallel rod is fixedly connected to the overhanging plate, the overhanging plate is provided with a strip hole, 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 to the driving cylinder, the sleeve spring is fixedly connected to the driving rod, a pushing surface matching the driving cylinder is provided 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 provided in the picking and placing frame, and multiple sampling boxes are provided with iron bars matching the strong magnet.

[0011] Preferably, the cleaning assembly includes a first cantilever arm and a second cantilever arm, the first cantilever arm and the second cantilever arm are both rotatably connected to the mounting frame, an electric adjustment rod and a mounting vertical frame are installed on the first cantilever arm, the electric adjustment rod is hinged to the mounting frame, the mounting vertical frame is rotatably connected to the second cantilever arm, a counterweight plate is rotatably connected to the mounting vertical frame, the counterweight plate is rotatably connected to a plurality of centrifugal hammers, a torque motor is installed on the mounting vertical frame, and the torque motor is used for rotationally driving the counterweight plate.

[0012] Preferably, the four lifting wheel assemblies all include an arc-shaped mounting cylinder, the two arc-shaped mounting cylinders on the front side are fixedly connected to the mounting rack, the two arc-shaped mounting cylinders on the rear side are fixedly connected to the storage rack, the four arc-shaped mounting cylinders are connected to arc-shaped rods, the four arc-shaped mounting cylinders are installed with third servo motors outside, the output shafts of the four third servo motors are installed with driving gears, the four driving gears are engaged with driven racks, the four driven racks are respectively connected to four arc-shaped rods, the four arc-shaped rods are rotatably connected to off-road wheels, the four arc-shaped rods are installed with fourth servo motors, and the four fourth servo motors are respectively used for rotational driving of the four off-road wheels.

[0013] Preferably, one end of the three sampling cylinders away from the rotating cylinder is fixedly connected to a shoveling cylinder, the three shoveling cylinders are provided with a side entry port, and a plurality of crushing arc knives are fixedly connected to the three side entry ports.

[0014] Preferably, a guide tube is slidably connected to the storage rack, the top opening of the guide tube matches the semicircular top opening, the mounting rack is provided with an external discharge opening matching the guide tube, the lifting rack is provided with a through strip opening matching the guide tube, a transverse spring is fixedly connected to the storage rack, the transverse spring is connected to the guide tube, multiple sampling boxes are provided with side openings, multiple side openings are slidably connected with side doors, multiple side doors are fixedly connected with closing springs, multiple closing springs are respectively fixedly connected to multiple sampling boxes, and the guide tube is fixedly connected with a push frame matching the side door.

[0015] A soil detection method for a soil detection device for coal mining subsidence reclamation land, comprising the following steps:

[0016] S1. Before use, install the control system and power supply assembly in the storage rack, and debug the control system for the operation control of the lifting wheel assembly, the first servo motor, the guide synchronization assembly, the downward pressure drive assembly, the storage assembly, and the cleaning assembly;

[0017] 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 assembly operates to pre-process the sampling point, and then the lifting wheel assembly operates to move the sampling system to an area on the coal mining subsidence reclamation land where the cleaning assembly has completed processing;

[0018] S3. The first servo motor is powered on to realize the rotation of the rotating ring frame. The rotation of the rotating ring frame realizes the synchronous rotation of the three sampling tubes. According to the sampling depth, the downward driving assembly is operated to rotate the sampling tube to the lowermost side of the three sampling tubes to form an auxiliary downward push, so as to facilitate the sampling operation of the sampling tube relative to the soil;

[0019] S4. After the sampling tube rotates and passes the bottom, soil extraction is completed. During the process of the sampling tube rotating and rising, the transparent arc plate on the sampling tube rotates and passes the position of the optical camera. Since the tilt direction of the sampling tube changes during the rotation, the soil in the sampling tube slides through the transparent arc plate under the action of its own gravity. The optical camera forms an image of the soil passing through the transparent arc plate and analyzes it to achieve pre-screening of the soil.

[0020] S5. After screening, the soil is assisted by the guiding synchronization component to be sent to the storage component for storage for subsequent testing. The soil that is not needed by the screening will be thrown away instead of being sent to the storage component. After sampling at 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.

[0021] Compared with the prior art, the present invention provides a soil detection device and soil detection method for coal mining subsidence reclamation land, which has the following beneficial effects:

[0022] (1) In the present invention, through the design of the sampling system, the corresponding sampling structure is formed by the soil of the coal mining subsidence reclamation land, which can realize repeated sampling, and the supporting optical camera can form an image acquisition of the sample, which is convenient for the preliminary screening of the sample to ensure the improved sampling quality, which is more practical.

[0023] (2) In the present invention, a movable carrier structure of the soil detection device for coal mining subsidence reclamation land is formed by the cooperation of the mounting frame, the storage frame and the lifting wheel assembly, which facilitates the position adjustment of the sampling system and can be used to form an autonomous multi-point sampling operation in a large range of coal mining subsidence reclamation land.

[0024] (3) In the present invention, by equipping the downward driving assembly, the extension degree of the sampling tube relative to the fixed tube can be adjusted, so as to facilitate the adjustment of the sampling depth of the sampling tube to the soil of the coal mining subsidence reclamation land, thereby realizing the collection of soil at different depths.

[0025] (4) In the present invention, the soil samples collected by the sampling system can be stored through the design of the storage component, the storage quantity of the samples is larger, and the practicality is better.

[0026] (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-processed, and the surface soil is driven away by the ejection method to facilitate the sampling operation of the subsequent sampling system. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a schematic diagram of the overall three-dimensional structure of the present invention;

[0028] Figure 2This is a partially cutaway perspective structural diagram of the present invention's installation of an arc-shaped cylinder, an arc-shaped rod, a driving gear, and the like;

[0029] Figure 3 This is a schematic diagram of the three-dimensional structure of the mounting rack, storage rack, and swivel rack of the present invention;

[0030] Figure 4 For the present invention Figure 3 Schematic diagram of the local enlarged structure at A in the middle;

[0031] Figure 5 It is a partially cutaway three-dimensional structural diagram of the storage rack, external fixing rack and sliding rack of the present invention;

[0032] Figure 6 Schematic diagram of the three-dimensional structure of the sliding frame, the electric push rod and the first parallel rod of the present invention;

[0033] Figure 7 A partially cutaway perspective structural diagram of the sliding frame, the first parallel rod, and the second parallel rod in cooperation with each other according to the present invention;

[0034] Figure 8 It is a partially cutaway three-dimensional structural diagram of the transparent arc plate, the insert plate and the rotating cylinder of the present invention;

[0035] Figure 9 It is a partially cutaway perspective structural diagram of the storage rack, guide tube, and transverse spring of the present invention;

[0036] Figure 10 This is a schematic diagram of the three-dimensional structure of the guide tube and the push frame of the present invention;

[0037] Figure 11 It is a partially cutaway perspective structural diagram of the sampling box, the side door and the closing spring of the present invention;

[0038] Figure 12 It is a schematic diagram of the three-dimensional structure of the present invention as a whole from the rear side;

[0039] Figure 13 It is a schematic diagram of the three-dimensional structure of the present invention as a whole when viewed from the rear side;

[0040] Figure 14 It is a partially cutaway perspective structural diagram of the mounting frame, lifting frame, and electric telescopic rod of the present invention;

[0041] Figure 15 It is a schematic diagram of the soil sampling principle of the present invention relative to coal mining subsidence reclamation land.

[0042] In the figure: 1. Mounting frame; 2. Storage frame; 3. Rotating ring 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. Connecting port; 12. Connecting cylinder; 13. Connecting spring; 14. Semi-dome port; 15. Lifting frame; 16. Electric telescopic rod; 17. Articulated frame; 18. Inner drive arc plate; 19. Outer drive arc plate; 20. Gradual arc plate; 21. Intermediate rotating frame; 22. Second servo motor; 23. External fixed frame; 24. Sliding frame; 25. Electric push rod; 26. Sampling box; 27. First parallel rod; 28. Second parallel rod; 29. ​​Positioning spring; 30. Driving rod; 3 1. Insert rod; 32. Extended plate; 33. Drive cylinder; 34. Spring sleeve; 35. Push surface; 36. Pick-up and placement frame; 37. Strong magnet; 38. Iron bar; 39. First cantilever arm; 40. Second cantilever arm; 41. Electric adjustment rod; 42. Install vertical frame; 43. Counterweight plate; 44. Centrifugal hammer; 45. Torque motor; 46. Install arc cylinder; 47. Arc rod; 48. Third servo motor; 49. Drive gear; 50. Driven rack; 51. Off-road wheel; 52. Fourth servo motor; 53. Shovel cylinder; 54. Side entry; 55. Crushing arc knife; 56. Guide pipe; 57. External discharge port; 58. Horizontal spring; 59. Side door; 60. Closing spring; 61. Push frame. DETAILED DESCRIPTION

[0043] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0044] For examples, see Figures 1-15A soil detection device for coal mining subsidence reclamation land includes a mounting frame 1 and a sampling system. The mounting frame 1 is fixedly connected to a storage frame 2. The storage frame 2 and the mounting frame 1 are both equipped with two lifting wheel assemblies. The four lifting wheel assemblies each include an arc-shaped mounting cylinder 46. The two arc-shaped mounting cylinders 46 on the front side are both fixedly connected to the mounting frame 1, and the two arc-shaped mounting cylinders 46 on the rear side are both fixedly connected to the storage frame 2. The four arc-shaped mounting cylinders 46 are each connected to an arc rod 47. The four arc-shaped mounting cylinders 46 are each equipped with a third servo motor 48. The output shafts of the four third servo motors 48 are each equipped with a driving gear 49. The four driving gears 49 are each engaged with a driven rack 50. The four driven racks 50 are respectively connected to the four arc rods 47. The four arc rods 47 are The four arc-shaped rods 47 are rotatably connected with off-road wheels 51, and a fourth servo motor 52 is installed on each of the four arc-shaped 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 mounting frame 1, the storage frame 2 and the lifting wheel assembly, a movable carrier structure of the soil detection device for coal mining subsidence reclamation land is formed, which is convenient for position adjustment 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 swivel frame 3, which 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. The first servo motor 4 is used for rotation adjustment of the swivel frame 3. Three fixed cylinders 5 are fixedly connected to the swivel frame 3. The three fixed cylinders 5 are all slidably connected with sampling cylinders 6. The ends of the sampling barrels 6 away from the rotating barrel 10 are fixedly connected to the shovel barrels 53, and the three shovel barrels 53 are all provided with side entrances 54. A plurality of crushing arc knives 55 are fixedly connected to the three side entrances 54. When the shovel barrels 53 come into contact with the soil of the coal mining subsidence reclamation land, the soil can be better scooped, and the shoveled soil enters the shovel barrel 53 through the side entrances 54. During this process, the crushing arc knives 55 in the side entrances 54 can assist in crushing the soil, so that the soil sample entering the shovel barrel 53 has a looser form, reducing the occurrence of blockage of the sampling barrel 6 by the soil sample. A guiding synchronization component is installed on the storage rack 2, and the guiding synchronization component includes a rotating barrel 10. The rotating barrel 10 is rotatably connected to the storage rack 2. The rotating barrel 1 0 is provided with three communication ports 11, and the three communication ports 11 are fixedly connected with a connecting tube 12, and the three connecting tubes 12 are respectively slidably connected with the three sampling tubes 6, and the three sampling tubes 6 are fixedly connected with a connecting spring 13, and the three connecting springs 13 are respectively fixedly connected with the three connecting tubes 12. A semi-circular top port 14 is provided on the storage rack 2, and the three communication ports 11 are matched with the semi-circular top port 14. The three sampling tubes 6 are matched with the guide synchronization component. An optical camera 7 is installed on the storage rack 2, and a transparent arc plate 8 is provided on the three sampling tubes 6. Through the design of the sampling system, the corresponding sampling structure is formed by matching the soil of the coal mining subsidence reclamation land, which can realize repeated sampling, and the matching optical camera 7 can form an image acquisition of the sample, which is convenient for the preliminary screening of the sample.To ensure improved sampling quality, more practical.

[0045] It should be further explained that a downward drive assembly is installed on the mounting frame 1, and the three sampling tubes 6 are fixedly connected with an insertion plate 9 that matches the downward drive assembly. The downward drive assembly includes a lifting frame 15, which is slidably connected between the storage rack 2 and the mounting frame 1, and an electric telescopic rod 16 is installed in the mounting frame 1, and the telescopic rod of the electric telescopic rod 16 is connected to a hinged frame 17, which is connected to the lifting frame 15, and the lifting frame 15 is fixedly connected with an inner drive arc plate 18 and an outer drive arc plate 19, which are both matched with the insertion plate 9, and both ends of the inner drive arc plate 18 are fixedly connected with a gradient arc plate 20 that matches the insertion plate 9 By equipping the downward driving assembly, the extension degree of the sampling tube 6 relative to the fixed tube 5 can be adjusted to facilitate the sampling depth adjustment of the sampling tube 6 to the soil of the coal mining subsidence reclamation land, thereby realizing the collection of soil at different depths. A storage assembly is installed in the storage rack 2, and the storage assembly includes a transfer rack 21, a second servo motor 22 and a plurality of external fixed racks 23. The transfer rack 21 is rotatably connected in the storage rack 2, and the second servo motor 22 is installed outside the storage rack 2. The output shaft of the second servo motor 22 is transmission-connected to the transfer rack 21. A sliding rack 24 is slidably connected in the transfer rack 21, and an electric push rod 25 is installed outside the transfer rack 21. The push rod of the electric push rod 25 is connected to the sliding rack 24 Then, a pick-and-place structure is installed on the sliding frame 24, and multiple external fixing frames 23 are fixedly connected to the storage frame 2. Sampling boxes 26 are detachably connected in multiple external fixing frames 23. The pick-and-place structure is used to adjust the positions of multiple sampling boxes 26 between the external fixing frame 23 and the semi-dome opening 14. The pick-and-place structure includes 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, and the driving rod 30 is fixedly connected to an insertion rod 31. The first parallel rod 27 is fixedly connected to an overhanging plate 32, and the overhanging plate 32 A strip hole is provided on the top, and the insertion rod 31 is inserted into the strip hole. The driving rod 30 is slidably connected to the driving cylinder 33, and a sleeve spring 34 is fixedly connected to 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 provided in the transfer frame 21, and the driving cylinder 33 is slidably connected to the sliding frame 24. The first parallel rod 27 is connected to the pick-up and placement rack 36, and the pick-up and placement rack 36 is connected to the second parallel rod 28. A strong magnet 37 is provided in the pick-up and placement rack 36, and multiple sampling boxes 26 are provided with iron bars 38 matching the strong magnets 37. Through the design of the storage component, the soil samples collected by the sampling system can be stored, the storage quantity of samples is larger, and the practicality is better.

[0046] It should be further explained that a cleaning assembly is installed on the mounting frame 1, and the cleaning assembly includes a first suspension arm 39 and a second suspension arm 40, and the first suspension arm 39 and the second suspension arm 40 are both rotatably connected to the mounting frame 1, and an electric adjustment rod 41 and a mounting vertical frame 42 are installed on the first suspension arm 39, and the electric adjustment rod 41 is hinged to the mounting frame 1, and the mounting vertical frame 42 is rotatably connected to the second suspension arm 40, and a counterweight plate 43 is rotatably connected to the mounting vertical frame 42, and a plurality of centrifugal hammers 44 are rotatably connected to the counterweight plate 43, and a torque motor 45 is installed on the mounting vertical frame 42, and the torque motor 45 is used for driving the rotation of the counterweight plate 43. Through the design of the cleaning assembly, the sampling target point of the coal mining subsidence reclamation land can be pre-processed, and the ejection method is used to form the expulsion of the surface soil to facilitate the sampling operation of the subsequent sampling system. A guide tube 56 is slidably connected in the storage rack 2, and the top opening of the guide tube 56 matches the semicircular top opening 14, and the mounting frame 1 is provided with an external discharge port 5 matching the guide tube 56. 7, the lifting frame 15 is provided with a through-strip opening that matches the guide tube 56, a transverse spring 58 is fixedly connected in the storage rack 2, the transverse spring 58 is connected to the guide tube 56, a plurality of sampling boxes 26 are provided with side openings, a plurality of side openings are slidably connected with side doors 59, a plurality of side doors 59 are fixedly connected with closing springs 60, a 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 that matches the side door 59, in actual use, when it is necessary to When the soil sample in the sampling tube 6 is thrown away, the side door 59 on the sampling tube 6 does not come into contact with the push frame 61. At this time, under the action of the horizontal spring 58, the guide tube 56 is located directly below the semi-dome opening 14. When the first servo motor 4 controls the sampling tube 6 to rotate to the highest position, the soil sample in the sampling tube 6 will fall into the guide tube 56 under the action of its own gravity, and will eventually be discharged through the external discharge port 57 under the guidance of the guide tube 56, so as to be used for re-sampling of the sampling tube 6.

[0047] The first servo motor 4, the electric telescopic rod 16, the second servo motor 22, the electric push rod 25, the electric adjustment rod 41, the torque motor 45, the third servo motor 48, the fourth servo motor 52, the control system and the power supply assembly in this embodiment are all conventional devices purchased on the market and well known to those skilled in the art. In the present invention, we only use them and do not improve their structure and function. For those skilled in the art, their setting method, installation method and electrical connection method only need to be debugged according to the requirements of the instruction manual, and will not be described in detail here.

[0048] In summary, the working principle of the soil detection device and 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 to control the operation of the first servo motor 4, the electric telescopic rod 16, the second servo motor 22, the electric push rod 25, the electric adjustment rod 41, the torque motor 45, the third servo motor 48 and the fourth servo motor 52. When in use, the lifting wheel assembly is operated 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 control the first servo motor 4, the electric telescopic rod 16, the second servo motor 22, the electric push rod 25, the electric adjustment rod 41, the torque motor 45, the third servo motor 48 and the fourth servo motor 52. The four servo motors 52 are powered on to realize the rotation drive of the off-road wheels 51, and the off-road wheels 51 roll 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 is operated to pre-process the sampling point. During the processing, the torque motor 45 is powered on to realize the rotation drive of the counterweight plate 43. The rotation of the counterweight plate 43 drives the rotation of multiple centrifugal hammers 44. Then the electric adjustment rod 41 is powered on to control the first suspension arm 39 to rotate and fall. The rotation and fall of the first suspension arm 39 will cause the installation vertical frame 42 to form a follow-up fall, and in the action of the second suspension arm 40 The vertical state of the mounting frame 42 can be maintained by using the centrifugal hammer 44. As the height of the centrifugal hammer 44 decreases, the centrifugal hammer 44 will form a rotational interference with the surface 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. After the surface soil is driven away to a suitable depth, the electric adjustment 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 is operated to move the sampling system to the area where the cleaning assembly has completed the processing on the coal mining subsidence reclamation land, and then the first servo motor 4 is powered on and operated. Now the rotating ring frame 3 rotates, and the rotating ring frame 3 rotates to realize the synchronous rotation of the three sampling barrels 6. According to the sampling depth, the electric telescopic rod 16 in the downward driving assembly is powered on to operate, so that the relative height of the lifting frame 15 between the mounting frame 1 and the storage rack 2 is reduced. Thereafter, when the three sampling barrels 6 rotate again, as the insertion plate 9 rotates through the gradual arc plate 20 and the inner driving arc plate 18, a relative push will be formed. This pushing effect will enable the sampling barrel 6 that rotates to the lowermost side among the three sampling barrels 6 to form an auxiliary downward push, so as to facilitate the sampling operation of the sampling barrel 6 relative to the soil.

[0049] Furthermore, after the sampling tube 6 rotates and passes the lowermost side, the shovel tube 53 will form relative interference with the soil, and the soil in the interfered area will enter the shovel tube 53 under the action of inertia, that is, the soil is extracted. Since the sampling tube 6 forms an arc-shaped sampling trajectory relative to the soil during the rotation sampling process, a single sampling point can be comprehensively sampled within a certain height range and width range to improve the sampling quality of the soil sample, eliminate the shortcomings of excessive concentration and singleness of the sampling points in traditional drilling sampling, and ensure the comprehensive and comprehensive generalization of the sampled soil to the sampling point. In the process of the sampling tube 6 rotating and rising, the transparent arc plate 8 on the sampling tube 6 will rotate past the position of the optical camera 7, and due to the inclination of the sampling tube 6 itself during the rotation process The direction will change, so the soil in the sampling tube 6 will slide through the transparent arc plate 8 under the action of its own gravity, and the optical camera 7 will collect and analyze the image of the soil passing through the transparent arc plate 8 to achieve pre-screening of the soil. When the optical camera 7 is in operation, it will emit different detection lights to illuminate the sampled soil samples. At the same time, the optical camera 7 will also collect images of the soil in the irradiation environment to improve the screening effect of the soil. During the soil screening process, the sampling tube 6 can be repeatedly swung through the corresponding target area of ​​the optical camera 7 by controlling the operating state of the first servo motor 4, so that the soil sample in the sampling tube 6 can form a complete and comprehensive light detection. If the soil sample is determined to be qualified or not after preliminary screening by the optical camera 7, When the soil collected before has a high degree of similarity, the soil sample is not stored as a sample. The first servo motor 4 works to control the sampling cylinder 6 to rotate through the highest position, so that the corresponding connecting port 11 of the sampling cylinder 6 overlaps with the semi-dome port 14 up and down. At the same time, the guide tube 56 cooperates with the falling soil to form an auxiliary guide for throwing away. When the soil in the sampling cylinder 6 is a storable sample, the control of the taking and placing structure takes out the sampling box 26 in the external fixing frame 23 from the external fixing frame 23 and assists in moving it to the bottom of the semi-dome port 14. When the sampling box 26 moves to the bottom of the semi-dome port 14, the side door 59 will contact the push frame 61. Since the elastic force of the set closing spring 60 is greater than the elastic force of the horizontal spring 58, after the side door 59 contacts the push frame 61, When the sampling box 26 moves further, the side door 59 will first overcome the elastic force of the horizontal spring 58 to push the guide tube 56 away from the bottom of the semi-circular top opening 14, and when the guide tube 56 is pushed away to the limit position, the sampling box 26 will move further to cause the side door 59 to move relative to the side opening, so that the side opening is exposed. Thereafter, 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 control pick-up and place structure will transfer the sampling box 26 directly below the semi-circular top opening 14 to its original location in the external fixing frame 23. The soil sample in the sampling box 26 can be prepared for further detailed testing in the subsequent laboratory. After sampling at a single sampling point is completed, the lifting wheel assembly moves to the next sampling point.Repeat the above steps to complete multi-point sampling.

[0050] Furthermore, the process of the taking and placing structure taking out the sampling box 26 in the external fixing frame 23 from the external fixing frame 23 and assisting in moving it to the position just below the semi-circular top opening 14 is as follows: first, the second servo motor 22 is powered on to realize the rotation drive of the intermediate rotating frame 21, so that the taking and placing frame 36 and the corresponding external fixing frame 23 are at the same rotation angle, and then the electric push rod 25 works to control the sliding frame 24 to slide relative to the intermediate rotating frame 21, so that the driving cylinder 33 contacts the pushing surface 35 and generates an interaction force. With the increase of the relative force between the driving cylinder 33 and the pushing surface 35, the driving rod 30 will move relative to the sliding frame 24 under the transmission action of the sleeve spring 34, and under the transmission action of the insertion rod 31 and the outward extension plate 32, the moving driving rod 30 will The first parallel rod 27 forms a motion drive, causing the first parallel rod 27 to rotate relative to the sliding frame 24 until the pick-up and placement rack 36 forms a mutual contact and abutment with the corresponding external fixing frame 23, and then the electric push rod 25 continues to push the sliding frame 24 to move, the sleeve spring 34 will be compressed, and the pick-up and placement rack 36 will maintain a tight state with the external fixing frame 23 and move relative to the external 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 pick-up and placement rack 36 forms a relative movement with respect to the external fixing frame 23, the strong magnet 37 and the iron bar 38 will approach each other and fully contact each other, and then the pick-up and placement rack 36 forms a mutual magnetic positioning with the corresponding sampling box 26, and then the electric push rod 25 The rod 25 controls the sliding frame 24 to move away from the pushing surface 35, and the pick-up and placement rack 36 drives the sampling box 26 to be pulled away from the external fixed frame 23 where it is located. When the driving cylinder 33 is completely separated from the pushing surface 35, the first parallel rod 27 is rotated and stored in the sliding frame 24 under the pulling action of the positioning tension spring 29, and the sampling box 26 on the pick-up and placement rack 36 will also move into the transfer rack 21. After that, the second servo motor 22 is powered on to realize the rotation drive of the transfer rack 21, controlling the sampling box 26 on the pick-up and placement rack 36 to adjust its posture so that the side door 59 is on the upper side of the sampling box 26, and then the electric push rod 25 continues to control the sliding frame 24 to move away from the pushing surface 35, so that the sampling box 26 can be formed relative to the necking section of the semicircular top opening 14 on the storage rack 2 Insert until the sampling box 26 enters just below the semi-dome opening 14. The process of the pick-and-place structure resetting the sampling box 26 just below the semi-dome opening 14 to the external fixing frame 23 where it was originally located is that the electric push rod 25 is powered on to realize the approach movement of the sliding frame 24 relative to the pushing surface 35. During this process, the second servo motor 22 is driven to realize the rotation alignment of the sampling box 26 relative to the external fixing frame 23 where it was originally located. Then the electric push rod 25 continues to operate until the pick-and-place frame 36 contacts the external fixing frame 23 again. Then, as the sliding frame 24 continues to approach the pushing surface 35, the sampling box 26 on the pick-and-place frame 36 will be inserted into the corresponding external fixing frame 23. When the sampling box 26 is relatively inserted and reset relative to the external fixing frame 23,The second servo motor 22 controls the rotating frame 21 to rotate, so that the pick-and-place frame 36 rotates and separates relative to the sampling box 26. Figure 5 As shown, the pick-up and placement rack 36 is provided with a rotating arc surface. During this process, the strong magnet 37 will be relatively away from the iron bar 38 that originally had a magnetic effect, so that the magnetic attraction between the strong magnet 37 and the iron bar 38 is invalid. After that, the second servo motor 22 and the electric push rod 25 are used in conjunction with each other to realize the relative position adjustment of the pick-up and placement rack 36 relative to the other external fixing rack 23, so as to facilitate the pick-up and delivery of the other sampling box 26. Figure 15 The figure shows a schematic diagram of the principle of soil sampling in coal mining subsidence reclamation land according to the present invention, wherein the lower side of the off-road wheel 51 is the coal mining subsidence reclamation land, and the depression in the middle of the coal mining subsidence reclamation land is a pit formed after the centrifugal hammer 44 pre-processes the surface soil. The arrow in the pit is the direction of rotation of the sampling tube 6. Combined with the figure, it can be obviously judged that the sampling range of the sampling tube 6 covers the entire arc surface from the right to the left side of the pit, that is, the sampling tube 6 forms an arc-shaped sampling trajectory relative to the soil during the rotation sampling process. In this way, comprehensive sampling can be formed for a single sampling point within a certain height range and width range, thereby ensuring the sampling efficiency while also improving the sampling quality of the soil sample.

[0051] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the 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 includes a sampling system, wherein the mounting frame (1) is fixedly connected to the storage frame (2), and the storage frame (2) and the mounting frame (1) are both equipped with two lifting wheel assemblies. The sampling system includes 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). Three fixed cylinders (5) are fixedly connected to the swivel frame (3), and the three fixed cylinders (5) are all slidably connected with sampling cylinders (6). The storage frame (2) is equipped with a swivel frame (3). There is a guide synchronization component, the three sampling barrels (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 barrels (6). When the sampling barrel (6) rotates and rises, the transparent arc plates (8) on the sampling barrel (6) will rotate through the position where the optical camera (7) is located. A downward driving component is installed on the mounting rack (1), and an insertion plate (9) that matches the downward driving component is fixedly connected to the three sampling barrels (6). A storage component is installed in the storage rack (2), and a cleaning component is installed on the mounting rack (1); The guide synchronization assembly includes a rotating cylinder (10), the rotating cylinder (10) is rotatably connected to the storage rack (2), the rotating cylinder (10) is provided with three communication ports (11), the three communication ports (11) are fixedly connected to a connecting cylinder (12), the three connecting cylinders (12) are respectively slidably connected to the three sampling cylinders (6), the three sampling cylinders (6) are fixedly connected to a connecting spring (13), the three connecting springs (13) are respectively fixedly connected to the three connecting 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-dome mouth (14), the storage assembly includes a transfer rack (21), a second servo motor (22) and a plurality of external fixing racks (23), the transfer rack (21) is rotatably connected in the storage rack (2), the second servo motor (22) is installed outside the storage rack (2), the output shaft of the second servo motor (22) is transmission-connected to the transfer rack (21), the transfer rack (21) is slidably connected with a sliding rack (24), the transfer rack (21) is installed with an electric push rod (25) outside, the push rod of the electric push rod (25) is connected to the sliding rack ( 24) connection, a pick-and-place structure is installed on the sliding frame (24), multiple external fixing frames (23) are fixedly connected to the storage frame (2), and multiple external fixing frames (23) are detachably connected to the sampling box (26), and the pick-and-place structure is used for adjusting the position of multiple sampling boxes (26) between the external fixing frame (23) and the semicircular top opening (14), and a guide tube (56) is slidably connected to the storage frame (2), and the top opening of the guide tube (56) matches the semicircular top opening (14), and the mounting frame (1) is provided with an external row matching the guide tube (56). A storage rack (2) is fixedly connected with a transverse spring (58), the transverse spring (58) is connected to the guide tube (56), a plurality of sampling boxes (26) are provided with side openings, a plurality of side openings are slidably connected with side doors (59), a plurality of side doors (59) are fixedly connected with closing springs (60), a plurality of closing springs (60) are respectively fixedly connected in a plurality of sampling boxes (26), a guide tube (56) is fixedly connected with a push frame (61) matched with the side door (59), and the elastic force of the closing spring (60) is greater than the elastic force of the transverse spring (58).

2. The soil detection device for coal mining subsidence reclamation land according to claim 1, characterized in that: The downward driving assembly includes 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 a hinge frame (17), the hinge frame (17) is connected to the lifting frame (15), and the lifting frame (15) is fixedly connected with 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 with a gradient arc plate (20) matched with the insertion plate (9).

3. The soil detection device for coal mining subsidence reclamation land according to claim 2, characterized in that: The pick-and-place structure includes 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), a strip hole is provided on the extension plate (32), 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 to 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 provided in 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 the pick-up and placement frame (36), the pick-up and placement frame (36) is connected to the second parallel rod (28), a strong magnet (37) is provided in the pick-up and placement frame (36), and multiple sampling boxes (26) are provided with iron bars (38) matching the strong magnet (37).

4. The soil detection device for coal mining subsidence reclamation land according to claim 3, characterized in that: The cleaning assembly comprises a first suspension arm (39) and a second suspension arm (40), the first suspension arm (39) and the second suspension 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 suspension 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 suspension 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), a torque motor (45) is mounted on the mounting vertical frame (42), and the torque motor (45) is used for driving the counterweight plate (43) in rotation.

5. The soil detection device for coal mining subsidence reclamation land according to claim 4, characterized in that: The four lifting wheel assemblies each include an arc-shaped mounting cylinder (46), the two arc-shaped mounting cylinders (46) on the front side are fixedly connected to the mounting frame (1), the two arc-shaped mounting cylinders (46) on the rear side are fixedly connected to the storage frame (2), the four arc-shaped mounting cylinders (46) are connected to an arc-shaped rod (47), the four arc-shaped mounting cylinders (46) are 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 engaged 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 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 driving the four off-road wheels (51) in rotation.

6. The soil detection device for coal mining subsidence reclamation land according to claim 5, characterized in that: The ends of the three sampling cylinders (6) away from the rotating cylinder (10) are all fixedly connected to a shoveling cylinder (53), and the three shoveling cylinders (53) are all provided with a side entrance (54), and a plurality of crushing arc knives (55) are fixedly connected to the three side entrances (54).

7. The soil detection device for coal mining subsidence reclamation land according to claim 6, characterized in that: The lifting frame (15) is provided with a passage opening matching the guide tube (56).

8. A soil detection method for a soil detection device for coal mining subsidence reclamation land, characterized in that: The soil detection device for coal mining subsidence reclamation land according to any one of claims 1 to 7 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. 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 assembly operates to pre-process the sampling point, and then the lifting wheel assembly operates to move the sampling system to an area on the coal mining subsidence reclamation land where the cleaning assembly has completed processing; S3, the first servo motor (4) is powered on to realize the rotation of the rotating ring frame (3), and the rotation of the rotating ring frame (3) realizes the synchronous rotation of the three sampling cylinders (6). According to the sampling depth, the downward driving component is operated so that the sampling cylinder (6) rotated to the bottom of the three sampling cylinders (6) can form an auxiliary push-down operation to facilitate the sampling operation of the sampling cylinder (6) relative to the soil; S4, after the sampling tube (6) rotates and passes the bottom side, the soil is extracted. 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 pre-screening of the soil; S5. After screening, the soil is assisted by the guiding synchronization component to be sent to the storage component for storage for subsequent testing. The soil that is not needed by the screening will be thrown away instead of being sent to the storage component. After sampling at 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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