Intelligent farmland soil detecting and sampling manipulator device

Abstract

The invention relates to the technical field of sampling manipulators, in particular to an intelligent farmland soil detection sampling manipulator device which comprises a following frame, a sampling manipulator is mounted on the following frame on one side of a discharge port of a sample discharger, and a large-diameter sampling container is clamped at the clamping end of the sampling manipulator. The sampling manipulator controls the large-diameter sampling container to receive soil discharged by the sample discharging device and transfer the soil to the position of a detection instrument arranged on the ground, and field detection is completed through manual auxiliary operation; an impurity discharging mechanism and a main driving part for driving the impurity discharging mechanism to rotate are mounted in the following frame; the lower end of the impurity discharging mechanism extends to the lower part of the following frame and is connected with a combined sampler; and a downward drilling device is fixed at the bottom of the combined sampler. Through the operation mode of single-time drilling and multi-depth sampling, repeated disturbance of traditional multi-drilling-hole sampling on a farmland soil structure can be avoided, and meanwhile full-depth-range sampling can be completed without repeated drilling.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of sampling manipulators, in particular to an intelligent farmland soil detection sampling manipulator device. BACKGROUND

[0002] At present, farmland soil sampling equipment has evolved from traditional manual Luoyang shovel sampling to mechanized and automated equipment. For example, a novel soil sampling robot disclosed in patent CN116713970A cooperates a base assembly, a roller assembly and a sampling assembly, uses a tracked chassis to realize movement on complex roads, and uses a columnar coring manipulator to complete soil sampling, which to some extent improves the problem of low efficiency of the traditional sampling method.

[0003] However, the above-mentioned novel soil sampling robot still has obvious deficiencies in the scene of layered sampling and sample delivery in farmland, and cannot meet the demand of precision agriculture for simultaneous analysis of multiple-depth soil. First, the sampling depth is single and the layered capability is missing.

[0004] The sampling assembly of the robot relies on a pull rope to be lowered to a preset depth, and then a columnar coring manipulator is used to obtain a single-depth soil sample in a single operation. If soil profile samples at different depths are needed, the lowering depth of the sampling assembly needs to be adjusted multiple times and the sampling operation needs to be repeated, which not only leads to a complicated sampling process and a long time consumption, but also easily causes spatial correlation of samples at different depths to be reduced due to device position deviation or soil disturbance during multiple sampling processes, thereby affecting the true reflection of subsequent detection data on the characteristics of the soil profile.

[0005] Second, the sample delivery and detection are not well connected.

[0006] After the robot obtains the soil sample, the sampling assembly needs to be lifted to the ground by the pull rope, the sample in the columnar coring manipulator is taken out by hand, and then transferred to the detection equipment, lacking an automatic delivery channel from sampling to detection. During this process, the sample is exposed to the external environment and is easily affected by air humidity and impurities. At the same time, the manual transfer link increases the sample loss and detection delay. Especially in the large-scale farmland multi-point sampling scene, the efficiency bottleneck caused by manual intervention is more prominent, and it cannot meet the demand of quickly obtaining soil detection data.

[0007] Therefore, it is necessary to design a layered non-interference soil sampling manipulator assembly structure that can realize multi-depth simultaneous sampling, independent delivery of each layer of samples without interference, and automatic connection with the detection link. SUMMARY

[0008] The technical scheme adopted by the present application to solve one of the above technical problems is: an intelligent farmland soil detection sampling mechanical arm device, the top of the device is installed on the lifting end of a matched lifting equipment and is controlled to lift by the lifting equipment during work, the device comprises a following frame, the top of the following frame is fixedly connected with the lifting end of the matched lifting equipment, a sample distributor is installed on the top of the following frame, a sampling mechanical arm is installed on the following frame at one side of the discharge port of the sample distributor, the clamping end of the sampling mechanical arm clamps a large-diameter sampling container, the sampling mechanical arm controls the large-diameter sampling container to receive the soil discharged by the sample distributor and is transferred to the position of a detection instrument arranged on the ground and completes on-site detection by manual auxiliary operation, a foreign matter discharging mechanism and a general driving element for driving the foreign matter discharging mechanism to rotate are installed in the following frame, the lower end of the foreign matter discharging mechanism extends below the following frame and is connected with a combined sampler, and a downward drill is fixed to the bottom of the combined sampler.

[0009] Before work, the device is fixed as a whole by the adjustable supporting legs matched with the lifting equipment, and at the same time, the horizontal calibration system on the following frame is started, the following frame is finely adjusted by the supporting legs to make the horizontal error of the following frame ≤0.5°, and the influence of the vibration of the lifting equipment and the unevenness of the ground is greatly weakened. The installation and fixation of the sampling mechanical arm are implemented to meet the requirements of resisting certain wind load.

[0010] Existing electromagnetic locking is built in the connecting joints of the large arm and the small arm of the sampling mechanical arm and the connecting joint of the small arm and the clamping end, respectively: when the mechanical arm completes the clamping of the sampling container and is in the static sampling state (the most significant working condition of wind load), the external control center sends a signal to make the electromagnetic locking pin pop out, insert into the locking hole of the corresponding joint, lock the joint into a rigid state, avoid the unexpected rotation of the joint under the action of wind load, reduce the overturning moment generated by wind load, and enable the mechanical arm to work stably under the wind load of 6 levels.

[0011] Additionally, it should be noted that this solution is specifically suitable for sampling farmland topsoil (depth ≤ 100cm) and loam and clay soils—in this scenario, the soil itself has strong cohesion, naturally possessing a certain degree of borehole wall stability, and there are no obvious rock or gravel layers within a depth of 100cm, making large-scale collapse unlikely to occur within a short period after drilling (≤ 1.5 hours). To ensure borehole wall stability, the structure of the auger drill rod of the debris removal mechanism is optimized: the pitch of the auger blades is reduced to 35mm, and at the same time, on the outer edge of the auger blades... The 5mm wide and 2mm thick carbide scraper is welded to the borehole. During drilling, the spiral blades not only discharge soil, but the scraper can also slightly compact the borehole wall, enhancing the structural strength of the surface soil. In addition, the interval between drilling and sampling is controlled. Sampling is started from bottom to top within 10 minutes after drilling is completed, and the sampling process is controlled at 8-10 minutes per point. 8-10 points are divided at a depth of 100cm, and the total operation time is ≤1 hour, which is much shorter than the natural instability time of the borehole wall, thus avoiding borehole wall collapse.

[0012] It needs to be clarified that this solution is not intended for transporting untreated moist soil, but rather for scenarios requiring soil moisture pretreatment and an anti-clogging design for the transport channel. Firstly, a low-temperature control component (including a 25W heating element and temperature sensor, with a temperature range of 35-40℃) is added to the outside of the mixing blades of the sampling pulverizer. During mixing, the soil is dried at a low temperature, controlling the moisture content below 18% (this moisture content range is permissible for farmland soil sampling and testing, and will not damage soil testing indicators). Secondly, the structure of the soil sample pickup and lifting pipe assembly is optimized: the inner diameter of the lifting riser is increased from 50mm to 65mm, and a high-frequency vibrator (vibration frequency 250Hz) is installed on the horizontal pipe section. The system, with an amplitude of 0.3mm, starts synchronously during negative pressure conveying, which can break down the agglomeration structure of soil particles and prevent clumping. A 3mm aperture filter screen is added to the suction pipe inlet (which can be retracted and cleaned by a telescopic cylinder) to intercept insufficiently crushed lumpy soil. Simultaneously, the negative pressure value of the blow-suction dual-purpose spiral air pump can be dynamically adjusted according to soil moisture (feedback from a moisture sensor at the suction pipe inlet): when the moisture content is 15%-18%, the negative pressure value is adjusted to -0.09MPa; when the moisture content is 10%-15%, it is adjusted to -0.06MPa, ensuring smooth conveying of soils with different moisture levels. The application scenario is further limited to a single sampling and conveying time of ≤15 seconds to avoid prolonged soil retention in the pipe. Testing showed that, even when processing sticky soil with a moisture content of 18%, the conveying blockage rate was ≤0.2% in this application scenario, completely solving the blockage problem of negative pressure conveying of moist soil. Furthermore, all pretreatment measures do not affect the accuracy of soil testing results, meeting the technical requirements for farmland soil testing.

[0013] This invention relies on a blower-suction dual-purpose spiral air pump to deliver and pulverize soil under negative pressure. The specific applicable working conditions are loam / clay soil sampling in the cultivated layer of farmland (depth ≤ 100cm) with a soil moisture content of 8%-18%, and the single sampling amount is controlled at 50-100g. Under this working condition, the soil has the characteristics of being easy to pulverize and not agglomerating: loam / clay soil with a moisture content of 8%-18% has neither the high stickiness of muddy soil (the soil will not stick to the pipe wall due to excessive moisture) nor the dust of dry soil (the pipe will not be blocked due to excessively fine particles). After being stirred by the sampling pulverizer, it can form uniform particles with a particle size of 2-5mm, which is fully suitable for negative pressure conveying requirements.

[0014] Meanwhile, the operating conditions limit the single sampling amount to 50-100g. This sampling amount can meet the sample size requirements for farmland soil testing (such as organic matter, pH value, and nutrient content testing), and can also avoid soil accumulation and blockage in the soil sample pickup lift tube assembly due to excessive sampling amount.

[0015] In addition, the operating conditions also include real-time cleaning requirements for the conveying channel: after each negative pressure conveying is completed, the positive pressure mode (pressure 0.12-0.15MPa) of the blow-suction dual-purpose spiral air pump is immediately started to blow the lifting riser, horizontal pipe section, and corrugated telescopic sampling pipe for 15-20 seconds to ensure that there is no residual soil in the pipe; and during continuous sampling, after every 3 sampling points are completed, the suction pipe opening is controlled to retract into the installation cavity, and the telescopic cylinder drives the suction pipe opening to move back and forth 2 times, which, together with the positive pressure blowing, cleans any small clumps that may remain on the filter screen (3mm aperture) to further reduce the probability of blockage.

[0016] A further optimization based on any of the above technical solutions is as follows: the combined sampler is connected to the bottom inlet of the sampler through a soil sample picking and lifting tube assembly placed in the central cavity of the waste removal mechanism, and is used to break up the soil at a specified depth and transport it to the surface.

[0017] A further optimization based on any of the above technical solutions is as follows: the sample dispenser includes a blow-suction dual-purpose spiral air pump fixedly installed on the following frame. The bottom inlet end of the blow-suction dual-purpose spiral air pump is movably and sealedly rotatably connected to the top outlet end of the soil sample pickup and lifting pipe assembly. The top outlet end of the blow-suction dual-purpose spiral air pump is connected to a sample discharging bend, and the outlet end of the sample discharging bend is used to discharge soil samples outward.

[0018] The sampling robot, the main drive unit, and the sorting device are all connected to the control center on the external lifting equipment.

[0019] A further optimization based on any of the above technical solutions is as follows: the impurity removal mechanism includes a vertically arranged main riser with a sealed top. The main riser has a central cavity inside. The top of the main riser moves through the through hole at the bottom of the following frame and extends into its interior. Limiting discs are coaxially fixed to the outer walls of the main riser above and below the bottom plate of the following frame. The two limiting discs are used to abut against the plane of the bottom plate. Helical blades are welded to the outer walls of the main riser. The helical blades and the main riser form a helical drill rod. The combined sampler is coaxially fixed to the bottom of the main riser. The outer walls of the main riser inside the following frame are connected to the main drive component.

[0020] A further optimization based on any of the above technical solutions is that the downward drilling tool adopts a spiral drill bit, and the top of the spiral drill bit is coaxially and fixedly connected to the bottom of the combined sampler.

[0021] A further optimization based on any of the above technical solutions is as follows: the main drive component includes a drive motor fixed to the top of the base plate of the following frame, a drive pulley is mounted on the top of the motor shaft of the drive motor, a driven pulley is coaxially fixed to the outer side wall of the main riser inside the following frame, the driven pulley and the drive pulley are connected by a toothed belt, and the drive motor has a built-in controller.

[0022] A further optimization based on any of the above technical solutions is that the maximum outer diameter of the combined sampler in its stored state is smaller than the outer diameter of the spiral blade and smaller than the outer diameter of the spiral drill bit, and the outer diameter of the spiral blade matches the outer diameter of the spiral drill bit as needed.

[0023] A further optimization based on any of the above technical solutions is as follows: The combined sampler includes a secondary short pipe coaxially fixed to the bottom of the main riser. The mounting cavity of the secondary short pipe is connected to the central cavity. The bottom of the secondary short pipe is coaxially fixed to the top of the auger bit via a flange. Three through slots are axially spaced on the secondary short pipe, and the three through slots connect the mounting cavity and its exterior. A scraper is fixedly installed in the mounting cavity corresponding to one of the oppositely arranged through slots. The scraper is used to scrape away the surface soil on the borehole wall to expose the soil at the current depth, thereby improving the accuracy of soil sampling. A sampling pulverizer is installed in the mounting cavity on the side corresponding to the second through slot opposite to the scraper. The sampling pulverizer is used to mix and pulverize the soil at the sampling location on the borehole wall, so that the sample discharge device and soil sample pickup lifting pipe assembly can work together with negative pressure suction to lift the soil particles to the ground and discharge them into the large-diameter sampling container.

[0024] A further optimization based on any of the above technical solutions is as follows: the soil sample collection lifting pipe assembly includes a vertically and fixedly installed lifting riser. The top of the lifting riser extends outward from the upper side of the main riser and is bent integrally before being vertically installed again. Its top vertical section rotates on a fixed axis and is sealed and inserted into the bottom inlet of the blow-suction dual-purpose spiral air pump. The bottom of the lifting riser is horizontally bent to form a flat pipe section facing the third through slot. A corrugated telescopic sampling pipe is fixedly connected to the end of the flat pipe section. The outer end of the sampling tube extends to the outside of the through slot and is fixedly connected to a suction pipe opening. A connecting seat is fixed on the outer wall of the suction pipe opening. Telescopic cylinders are respectively installed above and below the flat pipe section inside the installation cavity. The telescopic cylinders are fixedly installed relative to the lifting riser. The telescopic ends of both telescopic cylinders extend movably to the outside of the lifting riser and are fixedly connected to the connecting seat. The two telescopic cylinders drive the suction pipe opening toward the crushed soil position on the inner wall of the borehole by telescopic movement, and complete soil sampling by using negative pressure.

[0025] A further optimization based on any of the above technical solutions is as follows: the impurity scraper includes a first positioning seat fixedly installed in the installation cavity. On the first positioning seat, scraper cylinders are horizontally arranged and synchronously extend and retract at intervals from top to bottom. The extension and retraction ends of the two scraper cylinders extend to the outside of the corresponding through slot and are fixedly connected to the arc-shaped baffle plate. A scraper is fixed on the outer wall of the arc-shaped baffle plate. The scraper is used to follow the fixed axis rotation of the auxiliary short pipe and complete the scraping of the surface soil of the borehole inner wall. The scraped soil layer falls downward into the bottom of the borehole.

[0026] A further optimization based on any of the above technical solutions is as follows: The sampling crusher includes a second positioning seat fixed in the mounting cavity on the opposite side of the first positioning seat. Horizontally arranged and synchronously extending feed cylinders are fixed at intervals from top to bottom on the second positioning seat. The extending ends of the two feed cylinders extend to the outside of the corresponding through slots and are fixedly connected to an arc-shaped push plate. A stirring motor is fixedly connected to the center of the outer wall of the arc-shaped push plate. A stirring blade is fixedly connected to the end of the motor shaft of the stirring motor. The stirring blade is used to move radially with the feed cylinders and to drill holes and crush the soil inside the borehole after scraping. Most of the crushed soil remains in the current borehole awaiting negative pressure sampling.

[0027] A further optimization based on any of the above technical solutions is that the scraper cylinder, feed cylinder, and telescopic cylinder all adopt engineering-specific electric cylinders suitable for use in harsh environments below the stratum.

[0028] A method for sampling at multiple points at different depths within the same borehole using an intelligent farmland soil testing and sampling robot includes the following steps: (1) The external lifting equipment is in place and connected to the device. The control center controls the lifting equipment to lift the device according to the drilling requirements, and starts the main drive to drive the spiral drill rod and the bottom spiral drill bit to rotate and drill vertically downward. During the drilling process, the spiral blades continuously discharge soil. (2) After the auger bit reaches the maximum sampling depth, continue drilling downwards to create a 50-100cm waste receiving area. (3) After drilling is completed, keep the auger bit at the maximum depth position and let it idle. During the idle process, transport all the soil remaining in the borehole to the ground. The soil discharged from the borehole should be cleaned up by manpower in a timely manner. (4) Control the upper lifting equipment to lift the auger bit to the lowest sampling depth, which will be the first sampling point for bottom-up sampling; (5) The scraper of the combined sampler on the inner wall of the auger extends out and rotates with the main riser of the auger. During the rotation, the scraper scrapes the soil at the current depth of the inner wall in a circumferential manner, and the soil falls to the bottom of the borehole and accumulates. (6) After the scraping and cleaning is completed, the sampling crusher extends to the hole wall of the drilled hole at the corresponding position, and feeds and stirs the soil on the hole wall to complete the soil crushing. Then, the sample discharger and soil sample picking and lifting pipe group work together with negative pressure suction to lift the soil particles to the ground and discharge them into the large-diameter sampling container. The samples are then transferred to the testing instrument by the robot arm to realize on-site testing. (7) After each negative pressure transport of soil samples, the positive pressure of the blow-suction dual-purpose spiral air pump is used to blow away the soil samples remaining in the soil sample collection and lifting pipe assembly. (8) Following steps (4)-(7), continue to lift the auger rod and auger bit upward to the second sampling depth, and repeat the operation to complete the sampling and delivery of the second point; (9) Repeat step (8) until soil sampling is completed at all locations; (10) Soil samples collected at each sampling point are collected above the ground, and on-site soil sample testing is completed and the test results are recorded. A new large-diameter sampling container is configured separately for each sampling.

[0029] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. This invention, through a single-drilling + multi-depth sampling operation mode, can avoid the repeated disturbance of farmland soil structure caused by traditional multi-drilling sampling, and at the same time, it can complete sampling of the full depth range without repeated drilling. While protecting farmland soil, it improves the overall sampling operation efficiency and is suitable for the needs of large-scale batch sampling scenarios in farmland.

[0030] 2. This invention employs multiple safeguards, including a scraper to remove disturbed soil from the surface of the borehole, positive pressure blowing to clean the conveying channel after sampling, and the use of a new container for each sampling. These measures effectively prevent cross-contamination of soil at different depths and confusion of samples from different locations, ensuring sample purity, providing a reliable sample basis for subsequent on-site testing, and guaranteeing the accuracy of test results.

[0031] 3. This invention coordinates the lifting equipment, main drive components, and various sampling components through a control center, eliminating the need for manual intervention in sampling position adjustment and sample transfer throughout the entire process, thus significantly reducing the labor intensity of operators; moreover, the sampling components can adapt to the crushing and sampling needs of soils with different textures, and can operate stably in farmland with different terrains, possessing a strong level of operational automation and environmental adaptability.

[0032] 4. In this invention, each sampling point corresponds to a clear depth record. Combined with the real-time recording of on-site test results, a complete traceability chain of depth-sample-test data can be formed, which is convenient for subsequent soil profile research or farmland fertility management. At the same time, the parameters of each operation step can be preset and adjusted, and the operation process can be monitored and reproduced, improving the standardization and controllability of sampling operations. Attached Figure Description

[0033] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the accompanying drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. In all the drawings, similar elements or components are generally identified by similar reference numerals. The elements or components in the drawings are not necessarily drawn to scale.

[0034] Figure 1 This is a three-dimensional structural diagram of the present invention.

[0035] Figure 2 This is a schematic diagram of the elevation structure of the present invention in its working state.

[0036] Figure 3 This is a schematic diagram of the internal lifting riser wiring structure of the main riser of the present invention.

[0037] Figure 4 This is a side view of the combined sampler and down-drilling device of the present invention.

[0038] Figure 5 for Figure 4 A structural diagram of the first state.

[0039] Figure 6 for Figure 4 A schematic diagram of the second state.

[0040] Figure 7 This is a schematic diagram of the internal cross-sectional structure of the combined sampler and the down-drilling tool of the present invention.

[0041] Figure 8 This is a top view of the combined sampler and down-drilling device of the present invention.

[0042] Figure 9 This is a partial three-dimensional structural diagram of the present invention.

[0043] In the diagram, 1. Follower frame; 2. Sampling robot; 3. Large-diameter sampling container; 4. Dual-purpose blow-suction spiral air pump; 5. Sampling bend; 6. Main riser; 7. Central cavity; 8. Limiting plate; 9. Spiral blades; 10. Drive motor; 11. Drive pulley; 12. Driven pulley; 13. Toothed belt; 14. Secondary short pipe; 15. Mounting cavity; 16. Flange; 17. Through slot; 18. Lifting riser; 19. 20. Flat pipe section; 21. Corrugated telescopic sampling pipe; 22. Suction pipe inlet; 23. Connecting seat; 24. Telescopic cylinder; 25. First positioning seat; 26. Scraper cylinder; 27. Arc-shaped baffle plate; 28. Scraper; 29. ​​Second positioning seat; 30. Feed cylinder; 31. Arc-shaped push plate; 32. Mixing motor; 33. Mixing blade; 34. Drill hole; 35. Ground; 36. Reserved waste receiving area; 37. Spiral drill bit. Detailed Implementation

[0044] The embodiments of the technical solution of the present invention will now be described in detail with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and are therefore merely examples and should not be used to limit the scope of protection of the present invention. The specific structure of the present invention is as follows: Figures 1-9 As shown in the image.

[0045] Example 1: An intelligent farmland soil testing and sampling robot device. The top of the device is installed on the lifting end of a matching lifting device, and its lifting and lowering are controlled by the lifting device during operation. The device includes a following frame 1, the top of which is fixedly connected to the lifting end of the matching lifting device. A sampler is installed on the top of the following frame 1. A sampling robot 2 is installed on the following frame 1 on one side of the discharge port of the sampler. The gripping end of the sampling robot 2 holds a large-diameter sampling container 3. The sampling robot 2 controls the large-diameter sampling container 3 to receive the soil discharged by the sampler and transfer it to the testing instrument configured on the ground 34 for on-site testing. A debris removal mechanism and a main drive component for driving its rotation are installed inside the following frame 1. The lower end of the debris removal mechanism extends to the bottom of the following frame 1 and is connected to the combined sampler. A downward drill is fixed at the bottom of the combined sampler.

[0046] When this technical solution is in operation, the supporting lifting equipment provides vertical lifting power for the entire intelligent farmland soil testing and sampling robot. The lifting action is transmitted to functional components such as the sampler, sampling robot 2, debris removal mechanism, main drive, combined sampler, and downward drill through the following frame 1, ensuring that the vertical position of each component can be adjusted synchronously to adapt to different sampling depth requirements. Secondly, the main drive drives the debris removal mechanism to rotate, which drives the combined sampler and downward drill at the bottom to rotate synchronously. The downward drill performs soil drilling 33, and the debris removal mechanism completes the discharge of soil in the hole during the drilling 33 process. In addition, after the combined sampler obtains soil samples at a specified depth, the sampler transports the samples to the large-diameter sampling container 3. The sampling robot 2 holds the large-diameter sampling container 3 to receive the samples and transfers them to the matching testing instrument on the ground 34 to complete on-site testing, forming a continuous and intelligent operation process of drilling 33, sampling, transportation, and testing.

[0047] This system integrates drilling (downward drilling tool), waste removal (waste removal mechanism), sampling (combined sampler), sample transport (sample sorting device), sample transfer (sampling robot 2), and on-site testing (with external testing instruments) functions onto a unified carrier called the following frame 1. This avoids coordination errors caused by the dispersed placement of multiple devices, reduces the equipment's footprint (34), and improves operational flexibility in complex farmland environments. The sampling robot 2 directly connects the sample sorting device and the testing instruments, eliminating the need for manual intervention in the sample transfer process. This avoids sample contamination, loss, and testing delays caused by manual transport, while also reducing the labor intensity of operators, meeting the needs of modern agricultural automation.

[0048] A further optimization based on any of the above technical solutions is as follows: the combined sampler is connected to the bottom inlet end of the sampler through a soil sample picking and lifting tube group placed in the central cavity 7 of the waste removal mechanism, and is used to break up the soil at a specified depth and transport it to the ground surface 34.

[0049] The sample discharge device includes a blow-suction dual-purpose spiral air pump 4 fixedly installed on the following frame 1. The bottom inlet end of the blow-suction dual-purpose spiral air pump 4 is movably and sealedly rotatably connected to the top outlet end of the soil sample pickup and lifting pipe assembly. The top outlet end of the blow-suction dual-purpose spiral air pump 4 is connected to a sample discharge bend 5. The outlet end of the sample discharge bend 5 is used to discharge soil samples outward.

[0050] The sampling robot 2, the main drive unit, and the sorting device are all connected to the control center on the external lifting equipment.

[0051] Soil samples (after crushing) acquired at a specified depth by the combined sampler are transported through a directional conveying channel formed by the soil sample pickup and lifting tube assembly within the central cavity 7 of the waste removal mechanism. The discharge device employs a blow-suction dual-purpose spiral air pump 4, which generates negative pressure suction through its internal spiral structure, transporting the sample to the bottom inlet end of the soil sample pickup and lifting tube assembly. Next, the negative pressure suction generated by its internal spiral structure draws the soil sample from the soil sample pickup and lifting tube assembly, and then directionally discharges it through the discharge bend 5 at the top outlet end to the large-diameter sampling container 3. Simultaneously, the bottom inlet end of the blow-suction dual-purpose spiral air pump 4 and the top outlet end of the soil sample pickup and lifting tube assembly are connected by a movable and sealed connection. The sealed rotating connection allows the soil removal mechanism to rotate the soil sample pickup and lifting tube assembly (adapting to borehole 33 and sampling action), while preventing soil particles from leaking or external impurities from entering the transport channel during sample transport. Finally, the sampling robot 2, the main drive unit, and the sample feeder are all connected to the control center of the external lifting equipment. The control center can synchronously coordinate the actions of each component according to the preset existing program or real-time detection requirements (e.g., when the main drive unit drives the soil removal mechanism to rotate borehole 33, the sample feeder starts to suction and remove soil impurities under negative pressure; during sampling, the control center instructs the sampling robot 2 to adjust the position of the large-diameter sampling container 3 to receive the sample), realizing fully automated control of the entire process.

[0052] The soil sample pickup and lifting tube assembly is placed inside the central cavity 7 of the debris removal mechanism. The structural space of the debris removal mechanism is used to achieve a concealed arrangement of the delivery channel, avoiding damage to the delivery tube from farmland gravel and weeds. At the same time, the central cavity 7 provides protection for the delivery channel and reduces the corrosion of the delivery tube caused by changes in soil moisture. The movable and sealed rotating connection design of the blow-suction dual-purpose spiral air pump 4 solves the problem of sealing the connection between the rotating parts and the fixed delivery parts, ensuring that there is no leakage or contamination during sample delivery.

[0053] The sample feeder uses a dual-purpose blow-suction spiral air pump 4, which has both negative pressure suction function to transport soil samples and positive pressure blowing function to clean residual soil in the transport channel, avoiding cross-contamination of samples at different depths, improving the accuracy of sample detection, and has more comprehensive functions without the need for additional cleaning equipment.

[0054] A further optimization based on any of the above technical solutions is as follows: The impurity removal mechanism includes a vertically arranged main riser 6 with a sealed top. The main riser 6 has a central cavity 7 inside. The top of the main riser 6 moves through the through hole at the bottom of the following frame 1 and extends into it. Limiting discs 8 are coaxially fixed to the outer walls of the main riser 6 above and below the bottom plate of the following frame 1. The two limiting discs 8 are used to abut against the plane of the bottom plate. Spiral blades 9 are welded to the outer walls of the main riser 6. The spiral blades 9 and the main riser 6 form a spiral drill rod. The combined sampler is coaxially fixed to the bottom of the main riser 6. The outer wall of the main riser 6 inside the following frame 1 is connected to the main drive component.

[0055] The specific working mechanism of the debris removal mechanism is as follows: First, the debris removal mechanism uses the vertically arranged main riser 6 as its core carrier. The central cavity 7 inside the main riser 6 provides installation space for the soil sample pickup and lifting tube assembly, realizing the coaxial arrangement of the debris removal channel and the sampling channel, saving radial space. Second, the top of the main riser 6 moves through the through hole at the bottom of the following frame 1, and is pressed against the bottom plate plane of the following frame 1 by two coaxially fixed limiting plates 8. This achieves both the movable connection between the main riser 6 and the following frame 1 (allowing the main riser 6 to rotate around its own axis) and restricts the vertical displacement of the main riser 6, ensuring that the main riser 6 only rotates under the drive of the main drive component, avoiding rotational movement. There is vertical movement; furthermore, the spiral blades 9 welded to the outer wall of the main riser 6 form a spiral drill rod with the main riser 6. When the main drive unit drives the main riser 6 to rotate, the spiral drill rod rotates synchronously. The spiral blades 9 transport the soil cut by the downward drill during the drilling process of the borehole 33 upward, realizing the discharge of debris in the hole (i.e., the debris removal function); finally, the combined sampler is coaxially fixed at the bottom of the main riser 6. When the main riser 6 rotates, it drives the combined sampler to rotate synchronously, providing rotational power for the scraping and crushing of the material in the sampling action of the combined sampler, while ensuring the coaxiality of the combined sampler and the spiral drill rod, avoiding inaccurate sampling depth caused by the deviation of the sampling position from the center of the borehole 33.

[0056] The central cavity 7 inside the main riser 6 and the external spiral blades 9 form a coaxial layout of the inner sampling channel and the outer waste discharge channel. Compared with the traditional parallel sampling and waste discharge channel design, the radial dimension of the waste discharge mechanism is greatly reduced, the diameter of the borehole 33 is reduced, the disturbance range of farmland soil is reduced, and the farmland topsoil structure is protected.

[0057] The main riser 6 is coaxially fixed to the bottom of the combined sampler, ensuring that the sampling center of the combined sampler is completely coincident with the center of the borehole 33 of the auger rod. This avoids the sampling position deviation caused by the separation of the traditional borehole 33 device and the sampling device (such as the sampling device deviating from the center of the borehole 33, resulting in a large deviation between the obtained sample depth and the actual required depth). It is especially suitable for farmland soil profile stratification detection scenarios, ensuring that the depth of each sampling point deviates from the preset depth, and improving the accuracy of the detection data in reflecting the characteristics of the soil profile.

[0058] A further optimization based on any of the above technical solutions is that the downward drilling tool adopts a spiral drill bit 36, and the top of the spiral drill bit 36 ​​is coaxially fixed to the bottom of the combined sampler.

[0059] The downward drilling tool uses a spiral drill bit 36, the top of which is coaxially fixed to the bottom of the combined sampler, forming a coaxial transmission chain of the spiral drill bit 36, the combined sampler, and the main riser 6. When the main drive unit drives the main riser 6 to rotate, the main riser 6 drives the combined sampler to rotate synchronously, and the combined sampler further drives the spiral drill bit 36 ​​to rotate. At the same time, the supporting lifting equipment drives the following frame 1 and the entire device to move vertically downward. Under the combined action of rotation and vertical feed, the spiral drill bit 36 ​​cuts the farmland soil and forms a borehole 3. 3. During rotation, the spiral structure of the auger bit 36 ​​transports the cut soil upwards to the spiral blades 9 of the debris removal mechanism, and then the spiral blades 9 continue to transport the soil upwards to the ground surface 34, completing the synchronous operation of drilling 33 and debris removal. In addition, the coaxial connection between the auger bit 36 ​​and the combined sampler ensures that the center of the borehole 33 of the auger bit 36 ​​is completely coincident with the sampling center of the combined sampler, avoiding the inability of the combined sampler to accurately obtain soil samples at a specified depth on the inner wall of the borehole 33 due to center deviation.

[0060] A further optimization based on any of the above technical solutions is as follows: the main drive component includes a drive motor 10 fixed to the top of the base plate of the following frame 1, a drive pulley 11 mounted on the top of the motor shaft of the drive motor 10, a driven pulley 12 coaxially fixed to the outer side wall of the main riser 6 inside the following frame 1, the driven pulley 12 and the drive pulley 11 being connected by a toothed belt 13, and the drive motor 10 having a built-in controller.

[0061] The main drive unit uses a drive motor 10 as its power source. The drive motor 10 is fixed to the top of the base plate of the following frame 1 to ensure stable installation of the power source. A drive pulley 11 is mounted on the top of the motor shaft of the drive motor 10, and a driven pulley 12 is coaxially fixed to the outer wall of the main riser 6. The drive pulley 11 and the driven pulley 12 are connected by a toothed belt 13. When the drive motor 10 starts, the motor shaft drives the drive pulley 11 to rotate, and the drive pulley 11 drives the driven pulley 12 to rotate synchronously through the toothed belt 13. The main riser 6 rotates around its own axis, thereby driving the spiral drill rod, combined sampler, and spiral drill bit 36 ​​(downward drill bit) of the debris removal mechanism to rotate synchronously, thus providing power for drilling 33, debris removal, and sampling. In addition, the drive motor 10 has a built-in controller that can receive signal commands from the external lifting equipment control center to achieve precise control of motor speed and direction (such as forward rotation when drilling 33 and reverse rotation when cleaning). At the same time, the built-in controller can realize motor overload protection (such as automatically reducing the speed or stopping the machine when the soil resistance is too high) to avoid motor damage.

[0062] A further optimization based on any of the above technical solutions is that the maximum outer diameter of the combined sampler in its stored state is smaller than the outer diameter of the spiral blade 9 and smaller than the outer diameter of the spiral drill bit 36, and the outer diameter of the spiral blade 9 and the outer diameter of the spiral drill bit 36 ​​are matched as needed.

[0063] First, the maximum outer diameter of the combined sampler in its retracted state is smaller than the outer diameter of the spiral blade 9 and smaller than the outer diameter of the auger bit 36. This ensures that during the drilling process of borehole 33, the auger bit 36 ​​first cuts the soil to form borehole 33 (the diameter of borehole 33 is equal to the outer diameter of the auger bit 36). The spiral blade 9 rotates with the main riser 6 to discharge the debris upwards (the outer diameter of the spiral blade 9 is matched with the diameter of borehole 33, which can fully scrape away the debris from the borehole wall). Because the combined sampler has a smaller outer diameter, it can move freely inside borehole 33 (such as rotating and extending the sampling component), avoiding interference between the combined sampler and the borehole wall (such as damage caused by the soil on the borehole wall when the sampling component is not extended). Secondly, the outer diameter of the spiral blade 9 is matched with the outer diameter of the spiral drill bit 36 ​​as needed (e.g., the outer diameter of the spiral blade 9 is equal to or slightly smaller than the outer diameter of the spiral drill bit 36, with a difference of ≤5mm), ensuring that the spiral blade 9 can cover the inner wall of the borehole 33 formed by the spiral drill bit 36, fully conveying the soil inside the borehole 33 upwards, avoiding soil residue between the borehole wall and the spiral blade 9, and providing a clean borehole wall environment for subsequent sampling by the combined sampler; at the same time, the small outer diameter design of the combined sampler in the storage state also facilitates the upward lifting of the device after the borehole 33 is completed, avoiding borehole wall collapse or damage to sampling components caused by the combined sampler hooking onto the soil on the borehole wall.

[0064] A further optimization based on any of the above technical solutions is as follows: the combined sampler includes a secondary short pipe 14 coaxially fixed to the bottom of the main riser 6, the mounting cavity 15 of the secondary short pipe 14 communicating with the central cavity 7, the bottom of the secondary short pipe 14 being coaxially fixed to the top of the auger bit 36 ​​via a flange 16, and three through slots 17 spaced axially on the secondary short pipe 14, the three through slots 17 communicating with the mounting cavity 15 and its exterior, with one of the through slots 17 corresponding to the mounting cavity 15. An internally fixed scraper is installed. The scraper is used to scrape away the surface soil on the inner wall of the borehole 33 to expose the soil at the current depth, thereby improving the accuracy of soil sampling. A sampling pulverizer is installed in the mounting cavity 15 on the side corresponding to the second through slot 17 opposite to the scraper. The sampling pulverizer is used to mix and pulverize the soil at the sampling position on the inner wall of the borehole 33, so that the sample discharge device and soil sample pickup lifting pipe assembly can work together with negative pressure suction to lift the soil particles to the ground 34 and discharge them into the large-diameter sampling container 3.

[0065] The structure and sampling pretreatment principle of the combined sampler: First, the combined sampler uses the auxiliary short pipe 14 as its core carrier. The auxiliary short pipe 14 is coaxially fixed to the bottom of the main riser 6, and its mounting cavity 15 is connected to the central cavity 7 of the main riser 6, providing space for the installation of the impurity scraper and the sampling pulverizer, while also providing a channel for the sampling end of the soil sample pickup and lifting tube assembly (located in the central cavity 7). The bottom of the auxiliary short pipe 14 is coaxially fixed to the top of the auger drill bit 36 ​​through the flange 16, ensuring the coaxiality of the combined sampler and the auger drill bit 36 ​​and avoiding sampling position deviation. Second, the three through slots 17 axially spaced on the auxiliary short pipe 14 provide external interfaces (connecting the mounting cavity 15 and the inside of the borehole 33) for the extension and operation of the impurity scraper and the sampling pulverizer, as well as for the sampling of the soil sample pickup and lifting tube assembly. Furthermore, the impurity scraper is installed on the first The sampling pulverizer extends from the through-slot 17 into the installation cavity 15 corresponding to the first through-slot 17 during operation, reaching the inner wall of the borehole 33. As the main riser 6 drives the combined sampler to rotate, it scrapes away the surface soil on the inner wall of the borehole 33 (this surface soil may be residual soil from other depths or soil disturbed by the borehole 33), exposing the undisturbed soil at the current depth to ensure the accuracy of subsequent sampling. Finally, the sampling pulverizer is installed in the installation cavity 15 corresponding to the second through-slot 17. After the scraper completes scraping, it extends from the through-slot 17 into the soil at the current depth of the borehole wall, stirring and pulverizing the soil into fine particles. This allows the negative pressure generated by the sampler to efficiently attract and transport the soil particles to the large-diameter sampling container 3 on the ground 34 through the soil sample pickup and lifting pipe assembly, avoiding sampling difficulties or transport blockages caused by soil clumping.

[0066] This invention achieves step-by-step sampling pretreatment: by using a scraper and a pulverizer to remove surface soil first and then pulverize the target soil, it ensures that the sample obtained is pure soil at the current depth that has not been disturbed. At the same time, the pulverized soil particles are easier to transport under negative pressure, which solves the problems of low sample purity and transport blockage caused by the integrated sampling and transport of traditional sampling devices, and improves sampling quality and transport efficiency.

[0067] Impurity scraper: It is responsible for cleaning the borehole wall before sampling, scraping away the surface disturbed soil on the inner wall of borehole 33 to expose the target soil at the current depth. It is a key pretreatment component to ensure the accuracy and purity of sample depth. Its scraping range (such as scraping width and depth) directly affects the representativeness of the sample.

[0068] Sampling pulverizer: It mixes and pulverizes the target soil into fine particles, reduces the particle size of the soil, reduces the resistance during negative pressure transportation, and avoids soil clumping that blocks the soil sample pickup lift assembly. It is a key pretreatment component for improving sample transportation efficiency, and its pulverization effect (e.g., particle size ≤ 5mm) directly determines the smoothness of transportation.

[0069] In farmland soil sampling and testing scenarios, this technical solution has the following functions: Deep pretreatment: The impurity scraper and sampling pulverizer are synchronously adjusted to the specified depth along with the combined sampler, and only the soil on the borehole wall at the current sampling depth is scraped and pulverized. This avoids the soil disturbance at other depths caused by the full borehole wall pretreatment of traditional sampling devices (such as scraping from the bottom to the top of the borehole). It is especially suitable for multi-depth continuous sampling scenarios of farmland soil profiles (such as one sampling point every 10cm). It can ensure that the soil at each sampling point is an undisturbed sample exclusive to that depth, and improve the accuracy of soil profile detection data.

[0070] Suitable for clay soils: The mixing and crushing action of the sampling crusher can break down the clay soil (high moisture content, easy to clump) in farmland into fine particles, and at the same time destroy the clay structure of the soil. This avoids the soil adhering to the inner wall of the soil sample pick-up lifting pipe assembly, which can cause conveying blockage. It can reduce the blockage rate and ensure the smoothness of sampling operations in clay soil farmland.

[0071] A further optimization based on any of the above technical solutions is as follows: The soil sample collection lifting pipe assembly includes a vertically and fixedly installed lifting riser 18. The top of the lifting riser 18 extends outward from the upper side of the main riser 6, bends integrally, and then rises vertically again. The top vertical section rotates on a fixed axis and is sealed and inserted into the bottom inlet of the blow-suction dual-purpose spiral air pump 4. The bottom of the lifting riser 18 is horizontally bent to form a flat pipe section 19 and is positioned towards the third through slot 17. A corrugated telescopic sampling pipe 20 is fixedly connected to the end of the flat pipe section 19. The outer end of the corrugated telescopic sampling pipe 20... The material extends to the outside of the through slot 17 and is fixedly connected to a suction pipe 21. A connecting seat 22 is fixed on the outer wall of the suction pipe 21. Telescopic cylinders 23 are respectively provided above and below the flat pipe 19 inside the mounting cavity 15. The telescopic cylinders 23 are fixedly arranged relative to the lifting riser 18. The telescopic ends of the two telescopic cylinders 23 extend to the outside of the lifting riser 18 and are fixedly connected to the connecting seat 22. The two telescopic cylinders 23 drive the suction pipe 21 toward the crushed soil position on the inner wall of the borehole 33 by telescopic movement, and complete soil sampling by using negative pressure.

[0072] The soil sample collection lifting pipe assembly uses the lifting riser 18 as the core rigid transport carrier. Its top vertical section employs a fixed-axis rotating, sealed insert structure that connects to the bottom inlet of the blow-suction dual-purpose spiral air pump 4. This rotational fit allows the lifting riser 18 to rotate synchronously with the main riser 6 to prevent pipe twisting, while a sealing structure (such as a rotating sealing ring) prevents negative pressure leakage, ensuring stable transmission of the negative pressure generated by the air pump. The bottom horizontally curved flat pipe section 19 faces the third through slot 17 of the combined sampler, and its end is fixed to the suction pipe port 21 via a corrugated telescopic sampling pipe 20. This corrugated pipe can achieve flexible compensation through its own deformation. Simultaneously... The two telescopic cylinders 23, which are fixed above and below the horizontal pipe section 19 and the lifting riser 18, synchronously drive the connecting seat 22 on the outside of the suction pipe port 21 at their telescopic ends, causing the suction pipe port 21 to move radially to the soil area inside the borehole 33 after crushing. At this time, the blow-suction dual-purpose spiral air pump 4 starts the negative pressure mode. The negative pressure is applied to the suction pipe port 21 through the lifting riser 18, the horizontal pipe section 19, and the corrugated telescopic sampling pipe 20 in sequence, sucking in the crushed soil particles and conveying them upward along the conveying channel. Finally, the samples are discharged to the large-diameter sampling container 3 through the air pump and the discharge bend 5, completing the directional, sealed, and precise delivery of underground soil samples to the ground surface 34.

[0073] Adjusting the power transmission: The telescopic cylinder 23 is fixed relative to the lifting riser 18 through the bracket. The two telescopic cylinders 23 are located above and below the flat pipe section 19, respectively. After their telescopic ends pass through the internal space of the mounting cavity 15, they are fixedly connected to the connecting seat 22 on the outer wall of the suction pipe port 21, forming a rigid adjustment link between the lifting riser 18, the telescopic cylinder 23, and the suction pipe port 21.

[0074] Flexible adaptation and compensation: The corrugated telescopic sampling tube 20 between the flat tube section 19 and the suction port 21 has axial extension and radial bending capabilities. When the suction port 21 moves with the telescopic cylinder 23, it can compensate for the positional changes between the suction port 21 and the flat tube section 19 through its own deformation (such as the corrugated tube stretching when the suction port 21 extends and contracting when it retracts). This avoids the pipe body being pulled and damaged due to rigid connection, and also maintains the sealing continuity of the conveying channel (no seams on the inner wall of the corrugated tube, and no leakage of soil particles).

[0075] The negative pressure creates an adsorption force at the suction pipe opening 21, drawing the crushed soil particles into the suction pipe opening 21. Subsequently, the soil particles are transported upward along the corrugated expansion and contraction sampling pipe 20, the horizontal pipe section 19, and the lifting riser pipe 18 under the influence of airflow. Finally, they enter the blow-suction dual-purpose spiral air pump 4 and are discharged to the large-diameter sampling container 3 through the discharge bend pipe 5.

[0076] A further optimization based on any of the above technical solutions is as follows: The impurity scraper includes a first positioning seat 24 fixedly installed in the mounting cavity 15. On the first positioning seat 24, scraper cylinders 25 are horizontally arranged and synchronously extend and retract at intervals from top to bottom. The extension and retraction ends of the two scraper cylinders 25 extend to the outside of the corresponding through slot 17 and are fixedly connected to the arc-shaped baffle plate 26. A scraper 27 is fixed on the outer wall of the arc-shaped baffle plate 26. The scraper 27 is used to follow the fixed axis rotation of the auxiliary short pipe 14 and complete the scraping of the surface soil of the inner wall of the borehole 33. The scraped soil layer falls downward into the bottom of the borehole 33.

[0077] The impurity scraper is fixed with the first positioning seat 24 as the reference. The overall structure is stably installed in the mounting cavity 15 of the auxiliary short tube 14 of the combined sampler through the first positioning seat 24. After receiving the synchronous extension and retraction command from the external control center, the two horizontal scraper cylinders 25 fixed at intervals from top to bottom on the first positioning seat 24 extend synchronously and pass through the corresponding through slot 17, pushing the arc-shaped baffle 26 fixed thereto to move towards the inner wall of the drill hole 33 until the scraper 27 fixed on the outer wall of the arc-shaped baffle 26 is tightly attached to the inner wall of the drill hole 33; when the main riser 6 drives the auxiliary short tube 14 to rotate on a fixed axis, the scraper 27 rotates circumferentially in sync with the auxiliary short tube 14, using the cutting edge to circumferentially cut and scrape away the surface soil (including soil from other depths remaining during drilling of borehole 33 and disturbed loose soil) on the inner wall of borehole 33. During this process, the arc-shaped baffle plate 26 can prevent the scraped soil particles from splashing into the installation cavity 15, ensuring that the scraped soil layer slides down the inner wall of borehole 33 under the action of gravity, and finally falls into the pre-drilled waste receiving area 35 at the bottom of borehole 33, completing the cleaning of the surface soil of the borehole wall at the current sampling depth, and providing a clean borehole wall environment for the subsequent sampling crusher to obtain pure target soil.

[0078] The scraper 27 scrapes material only from the inner wall of the borehole 33 at the current sampling depth. Through synchronous rotation with the auxiliary short tube 14, it can achieve 360° cleaning of the borehole wall at this depth without dead angles, accurately remove surface disturbed soil, and avoid soil from non-target depths or contaminated soil from being mixed into subsequent samples. This ensures the correspondence and purity of the sample depth and solves the problem of deep samples being contaminated by shallow soil caused by one-time cleaning of the entire borehole wall in traditional sampling devices.

[0079] By guiding the scraped soil to fall into the reserved waste area at the bottom, the cleaning and sampling depth can be isolated. Even in deep sampling scenarios, it can prevent the scraped soil from the upper layer from contaminating the lower sampling area. The cross-contamination rate of samples is low, ensuring that the deep soil samples truly reflect the characteristics of the corresponding depth, and providing a reliable sample basis for the stratification study of farmland soil profiles (such as the analysis of fertility differences between the topsoil and plow pan).

[0080] A further optimization based on any of the above technical solutions is as follows: The sampling crusher includes a second positioning seat 28 fixed in the mounting cavity 15 on the opposite side of the first positioning seat 24. Horizontally arranged and synchronously extending feed cylinders 29 are fixed at intervals from top to bottom on the first positioning seat 24. The telescopic ends of the two feed cylinders 29 extend to the outside of the corresponding through slot 17 and are fixedly connected to the arc-shaped push plate 30. A stirring motor 31 is fixedly connected to the center of the outer wall of the arc-shaped push plate 30. A stirring blade 32 is fixedly connected to the end of the motor shaft of the stirring motor 31. The stirring blade 32 is used for the feed cylinders 29 to move radially and to drill holes in the soil inside the drill hole 33 after scraping and to crush the internal soil. Most of the crushed soil remains in the current drill hole to await negative pressure sampling.

[0081] The sampling pulverizer is supported by a second positioning seat 28 fixed on the opposite side of the first positioning seat 24 inside the mounting cavity 15. Two horizontal feed cylinders 29, spaced apart from top to bottom on the second positioning seat 28, receive synchronous extension commands and extend their extension ends outward through the corresponding through slots 17, driving the arc-shaped push plate 30 fixed thereto to move towards the inner wall of the drill hole 33. When the push plate moves to the preset position, the stirring motor 31 fixed at the center of the outer wall of the arc-shaped push plate 30 starts, and the motor shaft drives the end-end stirring blades 32 to rotate at high speed, simultaneously feeding... Cylinder 29 continues to advance slowly, causing the rotating mixing blade 32 to perform radial drilling on the inner wall of the borehole 33 after it has been cleaned by the impurity scraper. The mixing blade 32, through its multi-layer spiral cutting edge design, cuts, crushes, and mixes the soil on the borehole wall during the drilling process, pulverizing the lumpy soil into fine particles with a particle size of ≤5mm. After the operation is completed, feed cylinder 29 drives the mixing blade 32 to retract, while most of the pulverized soil remains in the newly formed cavity, forming a locally enriched sampling area, waiting for the negative pressure adsorption sampling of the soil sample pick-up lift tube assembly.

[0082] The mixing blade 32 uses multiple sets of staggered tungsten carbide alloy blades, which form a three-dimensional cutting space when rotating at high speed. This can fully break and mix soil particles, making the physical properties of the crushed soil sample uniform and eliminating the influence of natural soil aggregates on subsequent tests (such as moisture content and organic matter content). The homogenization of the sample is improved compared with traditional sampling.

[0083] By controlling the retraction speed and angle of the mixing blade 32, a large amount of pulverized soil is retained in the drilling area to form local accumulation, which significantly improves the soil capture rate during negative pressure sampling and reduces repeated operations caused by insufficient sampling.

[0084] Further optimizations based on any of the above technical solutions include: scraper cylinder 25, feed cylinder 29, and telescopic cylinder 23 all adopt engineering-specific electric cylinders suitable for use in harsh environments below the stratum.

[0085] Example 2: This example differs from Example 1 in that it also includes the following technical features: A method for sampling at multiple points at different depths within the same borehole 33 using an intelligent farmland soil testing and sampling robot includes the following steps: (1) External lifting equipment connection device, control center drives the spiral drill rod and drill bit to drill vertically 33, and spiral blades 9 discharge soil; (2) After drilling to the maximum sampling depth, continue drilling for another 50-100cm to form a reserved waste receiving area 35; (3) Drilling 33 is completed. The drill bit is suspended at the maximum depth and rotates freely. The remaining soil in the hole is discharged to the ground 34 and cleaned up manually. (4) Raise the drill bit to the lowest sampling depth as the first sampling point; (5) The scraper of the combined sampler extends and rotates with the main riser 6, and the scraper 27 scrapes the soil on the hole wall at the current depth in a circumferential manner, and the soil falls to the bottom of the hole; (6) The sampling crusher extends to the cleaned hole wall, feeds and crushes the soil, and the sample discharger and the lifting pipe group work together to send the soil sample to the large-diameter sampling container 3 under negative pressure, and then transfers it to the testing instrument by the robot arm; (7) After each sampling, use a blower to blow the riser assembly under positive pressure to remove residual soil; (8) Raise the drill bit to the next sampling depth and repeat steps (4)-(7) to complete the second sampling point; (9) Repeat step (8) until all points have been sampled; (10) Samples at each location were tested and recorded on-site at ground level 34, and a new container was used for each sampling.

[0086] Balancing sampling efficiency with farmland protection: By using a single-drilling 33+ multi-depth sampling mode, the repeated disturbance of farmland soil structure caused by traditional multi-drilling 33 sampling is avoided, reducing damage to the topsoil. At the same time, the bottom-up sampling sequence, combined with the design of a reserved waste receiving area 35, allows sampling of the entire depth range to be completed without repeated drilling 33. Compared with the traditional drilling 33-sampling-filling-re-drilling 33 process, the overall operation efficiency is improved, making it suitable for the needs of large-scale batch sampling of farmland.

[0087] Dual assurance of sample purity and detection accuracy: Through a full-process pretreatment of impurity removal scraping - crushing - negative pressure sampling - channel cleaning, the impurity removal scraper removes disturbed soil from the surface of the hole wall around the perimeter, avoiding cross-contamination of soil across depths; after sampling, the blowing and suction pump blows the riser tube assembly under positive pressure to thoroughly remove residual soil and prevent sample confusion from different points; and each sampling uses a new container to further ensure sample uniqueness, providing a reliable sample basis for accurate detection of soil fertility, heavy metal content, etc.

[0088] Highly automated and adaptable: The entire process is controlled by the central control unit, which coordinates the lifting equipment, main drive components, and sampling components. No manual intervention is required for sampling position adjustment or sample transfer, reducing the labor intensity of operators. At the same time, the spiral blades remove impurities in 9 stages, and the sampling pulverizer is adapted to the pulverization needs of different soil textures (clay, loam, sandy soil). The negative pressure sampling is adapted to various soil particle sizes, and it can operate stably in farmland with different terrains such as plains and hills. Its adaptability is better than traditional manual or semi-automatic sampling equipment.

[0089] Excellent data traceability and operational controllability: Each sampling point corresponds to a clear depth record, which, together with the real-time recording of on-site test results, forms a complete traceability chain of depth-sample-test data, facilitating subsequent soil profile stratification studies or farmland fertility zoning management; and the action parameters of each step (such as drilling depth, scraping range, negative pressure value) can be preset and adjusted through the control center, making the operation process monitorable and reproducible, avoiding random errors in manual operation, and improving the standardization of sampling operations.

[0090] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention. For those skilled in the art, any alternative improvements or transformations made to the implementation of the present invention fall within the protection scope of the present invention.

[0091] Any aspects of this invention not described in detail are well-known to those skilled in the art.

Claims

1. An intelligent farmland soil testing and sampling robotic arm device, wherein the top of the device is mounted on the lifting end of a matching lifting device and its lifting is controlled by the lifting device during operation, characterized in that: The device includes a following frame, the top of which is fixedly connected to the lifting end of a matching lifting device. A sampler is installed on the top of the following frame. A sampling manipulator is installed on the following frame on one side of the discharge port of the sampler. The gripping end of the sampling manipulator holds a large-diameter sampling container. The sampling manipulator controls the large-diameter sampling container to receive the soil discharged by the sampler and transfer it to the location of the detection instrument configured on the ground. The on-site detection is completed with manual assistance. A debris removal mechanism and a main drive component for driving its rotation are installed inside the following frame. The lower end of the debris removal mechanism extends to the bottom of the following frame and is connected to the combined sampler. A downward drilling device is fixed at the bottom of the combined sampler.

2. The intelligent farmland soil testing and sampling robotic arm device according to claim 1 is characterized in that: The combined sampler is connected to the bottom inlet of the sampler via a soil sample pickup and lifting tube assembly placed in the central cavity of the waste removal mechanism, and is used to break up the soil at a specified depth and transport it to the surface. The sample dispenser includes a blow-suction dual-purpose spiral air pump fixedly installed on the follower frame. The bottom inlet end of the blow-suction dual-purpose spiral air pump is movably and sealedly rotatably connected to the top outlet end of the soil sample pickup and lifting tube assembly. The top outlet end of the blow-suction dual-purpose spiral air pump is connected to a sample dispenser bend, and the outlet end of the sample dispenser bend is used to discharge soil samples outward.

3. The intelligent farmland soil testing and sampling robotic arm device according to claim 2 is characterized in that: The debris removal mechanism includes a vertically arranged main riser with a sealed top. The main riser has a central cavity inside. The top of the main riser moves through a through hole at the bottom of the following frame and extends into it. Limiting discs are coaxially fixed to the outer walls of the main riser above and below the bottom plate of the following frame. The two limiting discs are used to abut against the plane of the bottom plate. Helical blades are welded to the outer walls of the main riser. The helical blades and the main riser form a helical drill rod. The combined sampler is coaxially fixed to the bottom of the main riser. The outer walls of the main riser inside the following frame are connected to the main drive component.

4. The intelligent farmland soil testing and sampling robotic arm device according to claim 3 is characterized in that: The downward drilling tool uses a auger bit, and the top of the auger bit is coaxially fixed to the bottom of the combined sampler.

5. The intelligent farmland soil testing and sampling robotic arm device according to claim 4 is characterized in that: The main drive unit includes a drive motor fixed to the top of the base plate of the following frame, a drive pulley mounted on the top of the motor shaft of the drive motor, a driven pulley coaxially fixed to the outer side wall of the main riser inside the following frame, the driven pulley and the drive pulley being connected by a toothed belt, and the drive motor having a built-in controller.

6. The intelligent farmland soil testing and sampling robotic arm device according to claim 5 is characterized in that: The maximum outer diameter of the combined sampler in its stowed state is smaller than the outer diameter of the helical blade and smaller than the outer diameter of the auger bit; the outer diameter of the helical blade and the outer diameter of the auger bit are matched as needed.

7. The intelligent farmland soil testing and sampling robotic arm device according to claim 6 is characterized in that: The combined sampler includes a secondary short pipe coaxially fixed to the bottom of the main riser. The mounting cavity of the secondary short pipe is connected to the central cavity. The bottom of the secondary short pipe is coaxially fixed to the top of the auger bit via a flange. Three through slots are axially spaced on the secondary short pipe, and the three through slots connect the mounting cavity and its exterior. A scraper is fixedly installed in the mounting cavity corresponding to one of the opposite through slots. The scraper is used to scrape away the surface soil on the borehole wall to expose the soil at the current depth, thereby improving the accuracy of soil sampling. A sampling pulverizer is installed in the mounting cavity on the side corresponding to the second through slot opposite to the scraper. The sampling pulverizer is used to mix and pulverize the soil at the sampling location on the borehole wall so that the sample discharge device and soil sample pickup lifter assembly can work together with negative pressure suction to lift the soil particles to the ground and discharge them into the large-diameter sampling container.

8. The intelligent farmland soil testing and sampling robotic arm device according to claim 7 is characterized in that: The soil sample collection lifting tube assembly includes a vertically and fixedly installed lifting riser. The top of the lifting riser extends outward from the upper side of the main riser, bends integrally, and then rises vertically again. The top vertical section rotates on a fixed axis and is sealed and inserted into the bottom inlet of the blow-suction dual-purpose spiral air pump. The bottom of the lifting riser is horizontally bent to form a flat pipe section and is positioned towards the third through slot. A corrugated telescopic sampling tube is fixedly connected to the end of the flat pipe section. The outer end of the corrugated telescopic sampling tube extends to the outside of the through slot and is fixedly connected to a suction pipe opening. A connecting seat is fixed on the outer wall of the suction pipe opening. Telescopic cylinders are respectively installed above and below the flat pipe section inside the installation cavity. The telescopic cylinders are fixedly installed relative to the lifting riser. The telescopic ends of both telescopic cylinders extend movably to the outside of the lifting riser and are fixedly connected to the connecting seat. The two telescopic cylinders, through telescopic movement, drive the suction pipe opening towards the location of the crushed soil on the inner wall of the borehole and complete soil sampling using negative pressure.

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