Rock soil sampling equipment capable of being wirelessly controlled and method thereof

Abstract

The invention relates to the technical field of sampling, and discloses wirelessly controllable rock-soil sampling equipment and a method thereof.The wirelessly controllable rock-soil sampling equipment comprises an equipment body, a plurality of sets of bionic movable supporting assemblies are fixedly assembled on the outer wall of the equipment body, and a rock-soil sampling assembly is fixedly assembled on the inner wall of the equipment body. By arranging the modularized and multi-degree-of-freedom bionic moving supporting assembly and arranging the foot anchoring device capable of drilling into the ground at the tail end of the modularized and multi-degree-of-freedom bionic moving supporting assembly, the equipment can simulate the moving and stabilizing mode of multi-foot organisms. According to the in-situ sensing sampling device, the in-situ sensing module is integrated at the front end of the sampling pipe, so that the in-situ sensing sampling device can adapt to non-flat terrains to work, and can be firmly fixed on a working surface through active anchoring, so that the working range of the device is greatly expanded; therefore, the equipment can synchronously collect and record key digital information such as mineral composition, moisture content, temperature and pressure of the original position of the sample, and a complete digital identity file is given to the obtained physical sample.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of sampling technology, in particular to a rock-soil sampling device capable of wireless control and a method thereof. BACKGROUND

[0002] In the prior art, the original physical and chemical information of the sample, such as in-situ stress state, water content and structure, is easily changed or lost due to vibration, pressure release and other factors during sampling, which affects the accuracy of subsequent analysis results. At the same time, the operation automation degree of the existing device is not high, and usually needs close intervention of personnel. When operating in an environment with potential danger (such as high slope, geological disaster body), the safety of the operator is at great risk. SUMMARY

[0003] The present application provides a rock-soil sampling device capable of wireless control and a method thereof, which solves the problems raised in the background art.

[0004] The present application provides the following technical solution: a rock-soil sampling device capable of wireless control, comprising a device main body, a plurality of sets of bionic moving support assemblies are fixedly assembled on the outer wall of the device main body, and a rock-soil sampling assembly is fixedly assembled on the inner wall of the device main body.

[0005] As a preferred technical solution of the present application: the device main body comprises two sets of racks, a top plate is fixedly assembled on the top of the two sets of racks, a bottom plate is fixedly assembled on the bottom of the two sets of racks, a top mounting hole is formed in the outer wall of the top plate, and a bottom mounting hole is formed in the top of the bottom plate corresponding to the top mounting hole.

[0006] As a preferred technical solution of the present application: the bionic moving support assembly comprises a leg base, a first joint motor is fixedly assembled on the inner wall of the leg base, a first arm is fixedly assembled on the output end of the first joint motor, the output end of a second joint motor is fixedly assembled on the end of the first arm away from the leg base, a second arm is fixedly assembled on the outer wall of the second joint motor, a third joint motor is fixedly assembled on the inner wall of the end of the second arm away from the second joint motor, and a foot anchoring device is fixedly assembled on the output end of the third joint motor.

[0007] As a preferred technical scheme of the present application: the foot anchoring device comprises two sets of oppositely arranged support claws, the top inner wall of the support claw is fixedly provided with a telescopic drive motor, the output end of the telescopic drive motor is fixedly provided with an anchoring lead screw, the bottom inner wall of the support claw is fixedly provided with a sliding sleeve, the outer wall of the two sets of anchoring lead screws is threadedly connected with a drive frame, the inner wall of the drive frame is fixedly provided with an anchoring rotary motor, the output shaft of the anchoring rotary motor is fixedly provided with an anchoring drill bit, the anchoring drill bit and the inner wall of the sliding sleeve are slidingly sleeved, and the outer wall of the sliding sleeve near the end portion of the anchoring drill bit is fixedly provided with an anti-skid pad.

[0008] As a preferred technical scheme of the present application: the rock-soil sampling assembly comprises a sampling bin, the two side outer walls of the sampling bin are provided with transverse rack sliding grooves, the two side outer walls of the sampling bin at the bottom of the transverse rack sliding grooves are provided with lower guide grooves, the bottom of the transverse rack sliding groove is provided with a first rack, the top inner wall of the transverse rack sliding groove is fixedly provided with a telescopic device, the bottom telescopic end of the telescopic device is fixedly provided with a moving rack, the inner wall of the sampling bin is fixedly provided with a drilling motor, the four corner inner walls of the drilling motor are threadedly connected with lifting lead screws, the end portion of the lifting lead screw away from the drilling motor is fixedly provided with the output shaft of a drilling lifting motor, the outer wall of the drilling lifting motor is fixedly provided with a motor support, the inner wall of the motor support is fixedly provided with an anti-wear ring, the output shaft of the drilling motor is fixedly provided with a hollow rotary main shaft, the outer wall of the hollow rotary main shaft is threadedly connected with a sampling tube, and the outer wall of the sampling tube is inlaid with a plurality of centrifugal limiting vanes.

[0009] As a preferred technical scheme of the present application: the rock-soil sampling assembly comprises a bin body driving motor fixedly arranged on the outer wall of the leg base, the output shaft of the bin body driving motor is fixedly provided with a drive gear, the output shaft of the bin body driving motor is rotatably sleeved with a rotating sleeve ring, and the outer wall of the rotating sleeve ring near the drive gear is fixedly provided with a limiting slide rod. The limiting slide rod is slidingly sleeved with the inner wall of the first rack.

[0010] As a preferred technical scheme of the present application: the centrifugal limiting vane is fixedly provided with a spring on the outer wall of the side near the sampling tube axis, the end portion of the spring is fixedly provided with a limiting base, and the limiting base is provided with a limiting groove on the side near the sampling tube axis. The limiting base is slidingly sleeved with the inner wall of the sampling tube.

[0011] As a preferred technical scheme of the present application, the front end of the sampling tube, i.e. the rear of the cutting head, is integrated with an in-situ sensing module, and the in-situ sensing module comprises at least one sensor for synchronously collecting in-situ digital information of a sample during sampling.

[0012] As a preferred technical scheme of the present application, the in-situ sensing module comprises a miniature spectrometer for analyzing mineral composition, a four-probe resistivity sensor for judging water content, and a temperature-pressure sensor for recording original temperature and ground stress state.

[0013] A method for using a wireless-controlled rock-soil sampling device, comprising the following steps: S1: remote movement, controlling a plurality of bionic moving support assemblies to move cooperatively to the target sampling point through the wireless control module; S2: autonomous anchoring, controlling the foot anchoring device to extend and drive the anchoring drill bit to drill into the ground to firmly fix the device; S3: sampling positioning, controlling the bin body driving motor and the lifting extender to adjust the rock-soil sampling assembly to a sampling posture perpendicular to the ground; S4: sensing sampling, starting the in-situ sensing module to collect data, and then starting the drilling lifting motor to drive the drilling motor to drive the sampling tube to drill downward to obtain the sample; S5: sample recovery, reversing the operation of each motor to recover the sampling tube with the rock-soil sample and associated digital information into the sampling bin.

[0014] The present application has the following beneficial effects: 1. The wireless-controlled rock-soil sampling device and method thereof, by setting the modularized, multi-degree-of-freedom bionic moving support assembly and providing the foot anchoring device capable of drilling into the ground at the end thereof, the device can imitate the movement and stabilization mode of multi-legged creatures, adapt to non-flat terrains for operation, and be firmly fixed on the operation surface through active anchoring, greatly expanding the operation range of the device and significantly improving the operation stability of the device in extreme environments.

[0015] 2. The wireless-controlled rock-soil sampling device and method thereof, by integrating the in-situ sensing module at the front end of the sampling tube, the device can simultaneously collect and record key digital information such as mineral composition, water content, temperature and pressure of the original position of the sample during physical drilling sampling, giving the obtained physical sample a complete "digital identity file", effectively solving the problem of easy loss of original information of the sample in the traditional sampling method, and greatly improving the analysis value of the sample and the accuracy of geological interpretation. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 is a schematic diagram of the three-dimensional structure of the present application; Figure 2 is a schematic diagram of the structure of the bionic moving support assembly of the present application; Figure 3 is a schematic diagram of the structure of the foot anchoring device of the present application; Figure 4It is the schematic diagram of the main body structure of the device of the present application; Figure 5 It is the schematic diagram of the bottom mounting hole structure of the present application; Figure 6 It is the schematic diagram of the first rack structure of the present application; Figure 7 It is the schematic diagram of the anti-wear ring structure of the present application; Figure 8 It is the schematic diagram of the limiting sliding rod structure of the present application; Figure 9 It is the schematic diagram of the limiting groove structure of the present application.

[0017] In the figure: 1, device main body; 2, bionic moving support assembly; 3, rock-soil sampling assembly; 101, rack; 102, top plate; 103, bottom plate; 104, bottom mounting hole; 105, top mounting hole; 201, leg base; 202, first joint motor; 203, first arm section; 204, second joint motor; 205, second arm section; 206, third joint motor; 207, foot anchoring device; 2071, support claw; 2072, telescopic drive motor; 2073, anchoring lead screw; 2074, sliding sleeve; 2075, drive frame; 2076, anchoring rotary motor; 2077, anchoring drill bit; 2078, non-slip pad; 301, sampling bin; 302, transverse rack sliding groove; 303, lower guide groove; 304, moving rack; 305, telescopic device; 306, first rack; 307, drilling motor; 308, lifting lead screw; 309, drilling lifting motor; 310, motor support; 311, anti-wear ring; 312, hollow rotary main shaft; 313, sampling tube; 314, centrifugal limiting vane; 315, bin body drive motor; 316, drive gear; 317, rotating sleeve ring; 318, limiting sliding rod; 319, spring; 320, limiting base; 321, limiting groove. DETAILED DESCRIPTION

[0018] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0019] Please refer to Figure 1 - Figure 9The utility model provides a kind of geotechnical sampling equipment that can be wirelessly controlled, including equipment body 1, the outer wall of equipment body 1 is fixedly equipped with several groups of bionic moving support components 2, the inner wall of equipment body 1 is fixedly equipped with geotechnical sampling component 3.

[0020] In a preferred embodiment: equipment body 1 includes left and right two groups of racks 101, the top of two groups of racks 101 is fixedly equipped with top plate 102, the bottom of two groups of racks 101 is fixedly equipped with bottom plate 103, the outer wall of top plate 102 is provided with top mounting hole 105, and bottom mounting hole 104 is opened at the top of bottom plate 103 corresponding to top mounting hole 105.

[0021] In the above structure, by setting top mounting hole 105 and bottom mounting hole 104, several bionic moving support components 2 are realized and equipment body 1 is realized fixed.

[0022] In a preferred embodiment: bionic moving support component 2 includes leg base 201, the inner wall of leg base 201 is fixedly equipped with first joint motor 202, the output end outer wall of first joint motor 202 is fixedly equipped with first section arm 203, the end of first section arm 203 away from leg base 201 is fixedly equipped with the output end of second joint motor 204, the outer wall of second joint motor 204 is fixedly equipped with second section arm 205, the inner wall of one end of second section arm 205 away from second joint motor 204 is fixedly equipped with third joint motor 206, and the output end of third joint motor 206 is fixedly equipped with foot anchoring device 207.

[0023] In a preferred embodiment: foot anchoring device 207 includes two groups of oppositely arranged support claws 2071, the top inner wall of support claw 2071 is fixedly equipped with telescopic drive motor 2072, the output end of telescopic drive motor 2072 is fixedly equipped with anchor screw rod 2073, the bottom inner wall of support claw 2071 is fixedly equipped with sliding sleeve 2074, the outer wall of two groups of anchor screw rods 2073 is threadedly connected with driving frame 2075, the inner wall of driving frame 2075 is fixedly equipped with anchor rotary motor 2076, the output shaft of anchor rotary motor 2076 is fixedly equipped with anchor drill bit 2077, anchor drill bit 2077 and the inner wall of sliding sleeve 2074 are slidingly sleeved, and the outer wall of the end portion of sliding sleeve 2074 close to anchor drill bit 2077 is fixedly equipped with non-slip pad 2078.

[0024] In the above structure, the bionic moving support assembly 2 and the device main body 1 are fixedly assembled through the leg base 201 and the device main body 1, so that support is achieved between the bionic moving support assembly 2 and the device main body 1; the first joint motor 202 is connected with the first arm 203 through the output end of the first joint motor 202, so that the device can drive the rotation of the first arm 203 by controlling the rotation angle of the first joint motor 202; the second joint motor 204 is connected with the first arm 203, and the third joint motor 206 is connected with the foot anchoring device 207, so that the rotation of the foot anchoring device 207 and the second arm 205 can be achieved by respectively controlling the rotation angles of the second joint motor 204 and the third joint motor 206; the support of the device main body 1 by the bionic moving support assembly 2 and the bionic movement of the bionic moving support assembly 2 can be achieved by controlling the first joint motor 202, the second joint motor 204 and the third joint motor 206, and the height adjustment of the device main body 1 relative to the ground can be achieved at the same time. The anchoring screw rod 2073 is driven to rotate by the two groups of telescopic drive motors 2072, the anchoring screw rod 2073 is connected with the inner wall of the sliding sleeve 2074 through threads, the driving frame 2075 is driven to move along the anchoring screw rod 2073 by the anchoring screw rod 2073, and the anchoring rotary motor 2076 and the anchoring drill bit 2077 are driven to move by the driving frame 2075. When the device moves to a suitable position by the bionic moving support assembly 2, the telescopic drive motor 2072 is controlled to rotate, the driving frame 2075 drives the anchoring rotary motor 2076 and the anchoring drill bit 2077 to move towards the ground, the anchoring rotary motor 2076 is controlled to drive the anchoring drill bit 2077 to rotate, the anchoring drill bit 2077 is embedded in the ground, and the bionic moving support assembly 2 is fixedly connected with the ground. The angle at which the anchoring drill bit 2077 is embedded in the ground is not limited. The anchoring drill bit 2077 penetrates the anti-skid pad 2078, the anti-skid pad 2078 is provided, the bionic moving support assembly 2 is supported by the anti-skid pad 2078 when the device moves in the contracted state, and the friction between the bionic moving support assembly 2 and the ground is increased.

[0025] In one preferred implementation: the rock-soil sampling assembly 3 comprises a sampling bin 301, both sides of the outer wall of the sampling bin 301 are provided with a transverse rack groove 302, both sides of the outer wall of the bottom of the transverse rack groove 302 are provided with a lower guide groove 303, the bottom of the transverse rack groove 302 is provided with a first rack 306, the top inner wall of the transverse rack groove 302 is fixedly assembled with a telescopic device 305, the bottom telescopic end of the telescopic device 305 is fixedly assembled with a moving rack 304, the inner wall of the sampling bin 301 is fixedly assembled with a drilling motor 307, the inner wall of the four corners of the drilling motor 307 is threadedly connected with a lifting lead screw 308, the end of the lifting lead screw 308 away from the drilling motor 307 is fixedly assembled with the output shaft of a drilling lifting motor 309, the outer wall of the drilling lifting motor 309 is fixedly assembled with a motor bracket 310, the inner wall of the motor bracket 310 is fixedly assembled with an anti-wear ring 311, the output shaft of the drilling motor 307 is fixedly assembled with a hollow rotating main shaft 312, the outer wall of the hollow rotating main shaft 312 is threadedly connected with a sampling tube 313, and the outer wall of the sampling tube 313 is inlaid with a plurality of centrifugal limiting vanes 314.

[0026] In one preferred implementation: the rock-soil sampling assembly 3 comprises a bin body driving motor 315 fixedly assembled on the outer wall of the leg base 201, the output shaft of the bin body driving motor 315 is fixedly assembled with a driving gear 316, the output shaft of the bin body driving motor 315 is rotatably sleeved with a rotating sleeve ring 317, and the outer wall of one side of the rotating sleeve ring 317 close to the driving gear 316 is fixedly assembled with a limiting sliding rod 318. The limiting sliding rod 318 is slidably sleeved on the inner wall of the first rack 306.

[0027] In one preferred implementation: the centrifugal limiting vane 314 is fixedly assembled with a spring 319 on the outer wall of one side close to the axis of the sampling tube 313, the end of the spring 319 is fixedly assembled with a limiting base 320, and the limiting base 320 is provided with a limiting groove 321 on one side close to the axis of the sampling tube 313. The limiting base 320 is slidably sleeved on the inner wall of the sampling tube 313.

[0028] In the above structure, by slidably sleeving the limiting base 320 on the inner wall of the sampling tube 313, when the drilling motor 307 drives the sampling tube 313 to rotate through the hollow rotating main shaft 312, the plurality of limiting bases 320 located on the inner wall of the sampling tube 313 are affected by the centrifugal force and move away from the axis of the sampling tube 313, and after the sampling tube 313 completes the rock-soil sampling, the limiting bases 320 are pushed by the spring 319, so that the limiting groove 321 contacts the rock-soil, thereby limiting the rock-soil through the limiting groove 321 to avoid the rock-soil from separating from the inner wall of the sampling tube 313; And the hollow rotating spindle 312 is threadedly connected with the sampling tube 313, so that the sampling tube 313 can be disassembled, and the rock soil on the inner wall of the sampling tube 313 can be taken out from one side of the hollow rotating spindle 312. The position between the sampling bin 301 and the drive gear 316 is limited by the sliding sleeve connection of the limiting slide rod 318 on the inner wall of the first rack 306, so as to maintain the meshing relationship between the drive gear 316 and the first rack 306. After the device is moved to the appropriate position, the first rack 306, the moving rack 304 and the drive gear 316 are meshed, the drive gear 316 is driven by the bin body drive motor 315, the sampling bin 301 is rotated on the inner wall of the bionic moving support assembly 2, and after the bottom outer wall at the end of the sampling bin 301 is located at the top of the top plate 102, the sampling bin 301 is in an inclined state. The limiting slide rod 318 limits the sampling bin 301 and the drive gear 316, the moving rack 304 is driven to shrink by the telescopic device 305, so that the first rack 306 remains meshed with the drive gear 316. At this time, the drive gear 316 is further driven by the bin body drive motor 315, and the sampling bin 301 is supported by the leg base 201. After the drive gear 316 drives the first rack 306, the sampling bin 301 moves along the first rack 306. After the drive gear 316 is located on the side of the sampling bin 301 close to the sampling tube 313, the moving rack 304 and the drive gear 316 are meshed by controlling the telescopic device 305, the moving rack 304 and the first rack 306 are rotated by the bin body drive motor 315 through the drive gear 316, so that the sampling bin 301 remains at a right angle with the ground. After the position of the sampling bin 301 is adjusted, the third joint motor 206 and the second joint motor 204 in the bionic moving support assembly 2 are controlled to rotate, so that the device main body 1 is relatively attached to the ground. At this time, the lifting screw 308 is driven to rotate by controlling the drilling lifting motor 309, the lifting screw 308 and the drilling motor 307 are meshed, the drilling motor 307 drives the sampling tube 313 to move towards the ground, so as to realize the sampling of the rock soil.

[0029] In a preferred embodiment: the front end of the sampling tube 313, i.e. behind the cutting head, is integrated with an in-situ sensing module, which includes at least one sensor for synchronously collecting in-situ digital information of the sample during sampling.

[0030] In a preferred embodiment: the in-situ sensing module includes a miniature spectrometer for analyzing mineral composition, a four-probe resistivity sensor for judging water content, and a temperature and pressure sensor for recording original temperature and ground stress state.

[0031] By setting the in-situ sensing module, the device can collect the physical and chemical parameters of the original position of the physical sample while obtaining the sample, providing key digital context information for the sample, greatly improving the analysis value.

[0032] The wireless control module is electrically connected with the first joint motor 202, the second joint motor 204, the third joint motor 206, the telescopic drive motor 2072, the anchoring rotary motor 2076, the lifting telescoper 305, the drilling lifting motor 309, the bin body drive motor 315 and the in-situ sensing module.

[0033] The inside of the device main body 1 is provided with a battery pack for powering all the power units on the device.

[0034] A use method of a wireless-controlled rock-soil sampling device, comprising the following steps: S1: Remote movement, control the coordinated action of the several bionic moving support assemblies 2 through the wireless control module to move the device to the target sampling point; S2: Autonomous anchoring, control the foot anchoring device 207 to extend and drive the anchoring drill bit 2077 to drill into the ground to firmly fix the device; S3: Sampling positioning, control the bin body drive motor 315 and the lifting telescoper 305 to adjust the rock-soil sampling assembly 3 to a sampling posture perpendicular to the ground; S4: Sensing sampling, start the in-situ sensing module to collect data, and then start the drilling lifting motor 309 to drive the drilling motor 307 to drive the sampling pipe 313 to drill downward to obtain the sample; S5: Sample recovery, reverse operation of each motor to return the sampling pipe 313 with the rock-soil sample and associated digital information to the sampling bin 301.

[0035] It should be noted that, in this text, relational terms such as first and second are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "contain" or any other variant thereof are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or device.

[0036] Although embodiments of the present application have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the application, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A wireless controllable geotechnical sampling device comprising a device body (1), characterised in that: The outer wall of the equipment body (1) is fixedly provided with a plurality of groups of bionic moving support assemblies (2), and the inner wall of the equipment body (1) is fixedly provided with a rock-soil sampling assembly (3).

2. A wirelessly controllable ground sampling device according to claim 1, characterized in that: The equipment body (1) comprises two groups of racks (101), the top of the two groups of racks (101) is fixedly provided with a top plate (102), the bottom of the two groups of racks (101) is fixedly provided with a bottom plate (103), the outer wall of the top plate (102) is provided with a top mounting hole (105), and the bottom plate (103) is provided with a bottom mounting hole (104) at the top.

3. A wirelessly controllable geotechnical sampling apparatus according to claim 1, wherein: The bionic moving support assembly (2) comprises a leg base (201), the inner wall of the leg base (201) is fixedly provided with a first joint motor (202), the output end of the first joint motor (202) is fixedly provided with a first arm (203), the end, away from the leg base (201), of the first arm (203) is fixedly provided with the output end of a second joint motor (204), the outer wall of the second joint motor (204) is fixedly provided with a second arm (205), the inner wall of the end, away from the second joint motor (204), of the second arm (205) is fixedly provided with a third joint motor (206), and the output end of the third joint motor (206) is fixedly provided with a foot anchoring device (207).

4. A wirelessly controllable ground sampling device according to claim 3, wherein: The foot anchoring device (207) comprises two groups of oppositely arranged support claws (2071), the top inner wall of the support claw (2071) is fixedly provided with a telescopic drive motor (2072), the output end of the telescopic drive motor (2072) is fixedly provided with an anchoring lead screw (2073), the bottom inner wall of the support claw (2071) is fixedly provided with a sliding sleeve (2074), the outer wall of the two groups of anchoring lead screws (2073) is threadedly connected with a driving frame (2075), the inner wall of the driving frame (2075) is fixedly provided with an anchoring rotary motor (2076), the output shaft of the anchoring rotary motor (2076) is fixedly provided with an anchoring drill bit (2077), the anchoring drill bit (2077) and the inner wall of the sliding sleeve (2074) are slidingly sleeved, and the outer wall of the end, close to the anchoring drill bit (2077), of the sliding sleeve (2074) is fixedly provided with an anti-skid pad (2078).

5. A wirelessly controllable soil sampling apparatus according to claim 1, wherein: The rock-soil sampling assembly (3) comprises a sampling bin (301), the two side outer walls of the sampling bin (301) are provided with transverse rack sliding grooves (302), the two side outer walls of the bottom of the transverse rack sliding grooves (302) are provided with lower guide grooves (303), the bottom of the transverse rack sliding groove (302) is provided with a first rack (306), the top inner wall of the transverse rack sliding groove (302) is fixedly provided with an extender (305), the bottom telescopic end of the extender (305) is fixedly provided with a moving rack (304), the inner wall of the sampling bin (301) is fixedly provided with a drilling motor (307), the four corner inner walls of the drilling motor (307) are threadedly connected with lifting lead screws (308), the end, away from the drilling motor (307), of the lifting lead screw (308) is fixedly provided with the output shaft of a drilling lifting motor (309), the outer wall of the drilling lifting motor (309) is fixedly provided with a motor support (310), the inner wall of the motor support (310) is fixedly provided with an anti-abrasion ring (311), the output shaft of the drilling motor (307) is fixedly provided with a hollow rotating main shaft (312), the outer wall of the hollow rotating main shaft (312) is threadedly connected with a sampling pipe (313), and the outer wall of the sampling pipe (313) is inlaid with a plurality of centrifugal limiting vanes (314).

6. A wirelessly controllable ground sampling device according to claim 5, wherein: The rock-soil sampling assembly (3) comprises a bin body driving motor (315) fixedly assembled on the outer wall of the leg base (201), the output shaft of the bin body driving motor (315) is fixedly provided with a driving gear (316), the output shaft of the bin body driving motor (315) is rotatably sleeved with a rotating sleeve ring (317), and the outer wall of the side, close to the driving gear (316), of the rotating sleeve ring (317) is fixedly provided with a limiting sliding rod (318). The limiting sliding rod (318) is slidably sleeved on the inner wall of the first rack (306).

7. A wirelessly controllable ground sampling device according to claim 6, characterised in that: The centrifugal limiting vane (314) is fixedly provided with a spring (319) on the outer wall of the side, close to the shaft center of the sampling pipe (313), and the end of the spring (319) is fixedly provided with a limiting base (320). The limiting base (320) is slidably sleeved on the inner wall of the sampling pipe (313).

8. A wirelessly controllable soil sampling apparatus according to claim 1, wherein: The front end of the sampling pipe (313), i.e. the rear of the cutting head, is integrated with an in-situ sensing module, the in-situ sensing module comprises at least one sensor for synchronously collecting in-situ digital information of a sample during sampling.

9. A wirelessly controllable ground sampling device according to claim 8, characterised in that: The in-situ sensing module comprises a miniature spectrometer for analyzing mineral composition, a four-probe resistivity sensor for judging water content, and a temperature and pressure sensor for recording original temperature and ground stress state.

10. A method of using a wireless controlled ground sampling device according to claim 9, wherein, The method comprises the following steps: S1: remote movement, through a wireless control module, control a plurality of bionic moving support assemblies (2) to cooperatively act, so as to move the device to a target sampling point; S2: autonomous anchoring, control the foot anchoring device (207) to extend and drive the anchoring drill bit (2077) to drill into the ground, so as to firmly fix the device; S3: Sampling positioning, control the bin body driving motor (315) and the lifting telescopic device (305), adjust the rock-soil sampling assembly (3) to the sampling posture perpendicular to the ground; S4: Sensing sampling, start the in-situ sensing module to collect data, and then start the drilling lifting motor (309) to drive the drilling motor (307) to drive the sampling tube (313) to drill down and obtain the sample; S5: Sample recovery, reverse operation of each motor, and the sampling tube (313) with the rock-soil sample and associated digital information is collected back to the sampling bin (301).

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