Deep well stratified sampling robot and sampling method

Abstract

The invention discloses a deep well stratified sampling robot and a sampling method, and particularly relates to the field of deep well sampling devices.The sampling robot comprises a main machine body, a hoisting disc is fixedly arranged on the side face of the main machine body, a vibration base is installed at the top of the main machine body, a mounting disc is rotationally installed on the vibration base, and a sampling barrel is installed on the mounting disc; a supporting mechanism is installed at the bottom of the main machine body. A guide rail assembly is installed on the installation disc, a base is installed at the output end of the guide rail assembly, a mechanical arm assembly is installed on the base, and a first driver is installed on the mechanical arm assembly. Through high integration of the mounting disc, the sampling barrel and the supporting mechanism, a deep well stratified sampling robot system with powerful functions and high automation is formed, the system can adapt to underground operation of a certain depth and also support various sampling operations, high integration and intelligence are achieved, the influence of human factors is reduced, and the working efficiency is improved. The accuracy of a sampling result is ensured.

Description

Technical Field

[0001] This invention relates to the field of deep well sampling equipment technology, and more specifically, to a deep well stratified sampling robot and sampling method. Background Technology

[0002] Deep well soil sampling (especially stratified precision sampling) provides core data on the vertical stratification, physicochemical properties, mechanics, and geochemistry of deep soil layers, offering crucial support to multiple professional fields such as meteorological services, earthquake services, and marine meteorological services. Its impact focuses on "data completion, model optimization, risk prediction, and precise decision-making." The core value of deep well soil sampling lies in providing "deep-stratified-precise" soil data, filling the "shallow subsurface data gap" in various professional services. It serves as a key link between "surface observation" and "subsurface environment," providing irreplaceable deep data support for scientific decision-making in various fields.

[0003] Traditional deep-well soil stratification sampling methods rely mainly on manual operation, which has many limitations. First, manual sampling is labor-intensive and inefficient, making it difficult to meet the needs of large-scale, high-efficiency monitoring. Second, manual sampling may damage the soil structure and affect the representativeness of the soil samples. In addition, well exploration operations require a high level of technical and operational skills. If staff do not follow relevant safety regulations, not only will operational errors and accidents occur, but the results are also easily affected by human factors, such as the selection of sampling locations and the control of sampling depth, which can affect the accuracy of the sampling results. Summary of the Invention

[0004] The present invention provides a deep well stratified sampling robot and sampling method, which aims to solve the problem that the existing manual stratified sampling method for deep well soil is affected by human factors, which affects the accuracy of the sampling results.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a deep well stratified sampling robot, comprising a main body, a lifting plate fixedly mounted on the side of the main body, a vibration seat mounted on the top of the main body, an installation plate rotatably mounted on the vibration seat, a sampling cylinder mounted on the installation plate, and a support mechanism mounted on the bottom of the main body; a guide rail assembly mounted on the installation plate, a base mounted on the output end of the guide rail assembly, a robotic arm assembly mounted on the base, a driver one mounted on the robotic arm assembly, and a driver two mounted on the output end of the robotic arm assembly; one end of the sampling cylinder is connected to a sampling shaft, and the sampling shaft is connected to the output end of the driver two; a sampling cavity is opened at the end of the sampling cylinder away from the sampling shaft; the support mechanism includes a fixed shaft, an extension cylinder fixedly mounted on the outer periphery of the fixed shaft, a rotating block mounted on the extension cylinder, and a rod assembly rotatably mounted on the rotating block; the main body is connected to the output end of an external hoisting crane through the lifting plate, the rotating block drives the rod assembly to insert into the inner wall of the well, and the guide rail assembly drives the sampling cylinder to move laterally through the base to sample the soil in the well.

[0006] In a preferred embodiment, a limiting groove is provided on one side of the sampling cylinder, and a locking pin assembly is provided on the outer side of the sampling shaft. The locking pin assembly includes a spring and a pin. One end of the pin is connected to the sampling shaft through the spring, and the other end of the pin is movably disposed inside the limiting groove. A drill tooth is fixedly provided at the end of the sampling cylinder away from the sampling shaft.

[0007] In a preferred embodiment, a depth sensor is fixedly installed on one side of the rotating block, and the depth sensor is used to detect the depth of the main body in the well. The insertion rod assembly includes a support rod, one end of which is fixedly provided with a chuck, and a barbed rod is detachably installed on the chuck.

[0008] In a preferred embodiment, a driver three is fixedly mounted on the extension cylinder, and the output end of the driver three is connected to the rotating block. A pressure sensor one is installed between the rotating block and the support rod.

[0009] In a preferred embodiment, a turntable is installed at the bottom of the main body, and the turntable is located below the support mechanism. A rotating seat is rotatably mounted on the turntable, and a compensation mechanism is detachably mounted on the rotating seat.

[0010] In a preferred embodiment, the compensation mechanism includes a mounting box, an adapter seat is fixedly provided on one side of the mounting box, a driver four is installed at one end of the adapter seat, a driver five is rotatably installed on the adapter seat, and a telescopic column component is installed at the output end of the driver five.

[0011] In a preferred embodiment, a pressure sensor 2 is installed between the mounting box and the telescopic column component, and a bottom corner plate is fixedly provided at the end of the telescopic column component away from the driver 5, and an anchor rod mechanism is detachably installed on the bottom corner plate.

[0012] In a preferred embodiment, the anchor bolt mechanism includes a rod body, which is mounted on the bottom corner plate via a limiting plate, and a tapered cylinder is provided at the end of the rod body away from the limiting plate.

[0013] In a preferred embodiment, the rod body is internally threaded with a threaded rod, and a spike is fixedly provided at one end of the threaded rod corresponding to the conical cylinder. An elastic plate is fixed between the rod body and the conical cylinder. A drive motor is detachably installed on the bottom corner plate, and the output end of the drive motor is connected to the threaded rod.

[0014] This invention also provides a sampling method for a deep well stratified sampling robot, comprising the following steps: S1: First, install the lifting crane outside the wellhead of the deep well. Then, fix the main body on the conveying end of the lifting crane using the lifting plate. The lifting crane will then convey the main body downwards and stop descending when it reaches the sampling position. S2: The rotating block drives the insertion rod assembly to be inserted into the inner wall of the well, supporting and positioning the main body; S3: The compensation mechanism is rotated to the rear of the sampling cylinder by rotating the seat. The driver four drives the driver five to flip. The driver five drives the telescopic column component to extend its retractable output end, so that the bottom corner plate tilts and abuts against the inner wall of the deep well. S4: The drive motor drives the threaded rod to rotate, causing the rod to move closer to or further away from the conical cylinder. When it moves closer, the elastic sheet deforms and protrudes outward, causing the elastic sheet to expand and be positioned in the soil inside the deep well wall. S5: The base drives the sampling tube to move laterally closer to the soil in the well. At the same time, the vibrating seat drives the structure on the mounting plate to vibrate slightly, so that the sampled soil in the sampling chamber is effectively separated from the surrounding soil. S6: Retract the insertion rod assembly, press the pin axis into the sampling chamber to release the locking between the sampling cylinder and the sampling shaft, raise the main body to remove the soil sample from the sampling chamber, and repeat the above steps to sample soil layers at different depths in the well.

[0015] The beneficial effects of this invention are as follows: This invention integrates the mounting plate, sampling cylinder, and support mechanism to form a powerful and highly automated deep well stratified sampling robot system. This system can not only adapt to downhole operations at a certain depth, but also supports a variety of sampling operations. It achieves high integration and intelligence, reduces the influence of human factors, and ensures the accuracy of sampling results. Compared with manual sampling, it significantly improves production efficiency, can complete a large number of sampling tasks in a short time, greatly improves work progress, and reduces labor costs.

[0016] This invention allows the pin shaft to be pressed into the sampling cavity by pressing the pin shaft into the sampling cavity, thereby releasing the locking between the sampling cylinder and the sampling shaft. The sampling cylinder can rotate relative to the sampling shaft or move freely axially, making it convenient to remove the sampled soil from the sampling cavity.

[0017] This invention uses a driver to rotate a rotating block, causing the support rod to swing away from the fixed axis. The chuck abuts against the inner wall of the deep well, and the barbed rod penetrates the soil to provide additional stable support.

[0018] This invention, by setting up a compensation mechanism and an anchor bolt mechanism, can provide reverse compensation support from the rear when the sampling tube is sampling, thus solving the problem of the main body of the sampling tube tilting backward during sampling due to the decrease in the gripping force of deep soil. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the overall top three-dimensional structure of the present invention.

[0020] Figure 2 This is a schematic diagram of the overall bottom three-dimensional structure of the present invention.

[0021] Figure 3 This is a three-dimensional structural diagram of the installation disk of the present invention.

[0022] Figure 4 This is a schematic diagram of the cross-sectional structure of the sampling cylinder of the present invention.

[0023] Figure 5 This is a schematic diagram of the top three-dimensional structure of the support mechanism of the present invention.

[0024] Figure 6 This is a schematic diagram of the bottom three-dimensional structure of the support mechanism of the present invention.

[0025] Figure 7 This is a three-dimensional structural diagram of the support rod of the present invention.

[0026] Figure 8 This is a three-dimensional structural diagram of the compensation mechanism of the present invention.

[0027] Figure 9 This is a side view of the compensation mechanism of the present invention.

[0028] Figure 10 This is a three-dimensional structural diagram of the anchor bolt mechanism of the present invention.

[0029] Figure 11 This is a schematic diagram of the sampling method of the present invention.

[0030] The attached figures are labeled as follows: 1. Main body; 11. Lifting plate; 2. Vibration seat; 3. Mounting plate; 31. Guide rail assembly; 32. Base; 33. Robotic arm assembly; 331. Driver 1; 34. Driver 2; 4. Sampling cylinder; 41. Sampling shaft; 42. Limiting slot; 43. Locking pin assembly; 44. Sampling chamber; 45. Drill teeth; 5. Support mechanism; 51. Fixed shaft; 52. Extension cylinder; 53. Rotating block; 531. Depth sensor; 532. Driver 3; 5 4. Support rod; 541. Chuck; 542. Barbed rod; 55. Pressure sensor one; 6. Compensation mechanism; 61. Mounting box; 62. Pressure sensor two; 63. Adapter; 631. Driver four; 64. Driver five; 65. Telescopic column component; 66. Base plate; 7. Turntable; 71. Rotating seat; 8. Anchor bolt mechanism; 81. Rod body; 82. Limiting plate; 83. Threaded rod; 84. Spike; 85. Conical cylinder; 86. Elastic sheet; 9. Drive motor. Detailed Implementation

[0031] The present application will now be described in further detail with reference to the accompanying drawings. It should be noted that the following specific embodiments are only used to further illustrate the present application and should not be construed as limiting the scope of protection of the present application. Those skilled in the art can make some non-essential improvements and adjustments to the present application based on the above application content.

[0032] Refer to the instruction manual appendix Figure 1 and Figure 2 A deep well stratified sampling robot includes a main body 1, a lifting plate 11 fixedly mounted on the side of the main body 1, a vibration seat 2 mounted on the top of the main body 1, an installation plate 3 rotatably mounted on the vibration seat 2, a sampling cylinder 4 mounted on the installation plate 3, and a support mechanism 5 mounted on the bottom of the main body 1; in conjunction with... Figure 3 and Figure 4 The structure shown includes a guide rail assembly 31 mounted on the mounting plate 3, a base 32 mounted on the output end of the guide rail assembly 31, a robotic arm assembly 33 mounted on the base 32, a driver 1 331 mounted on the robotic arm assembly 33, and a driver 2 34 mounted on the output end of the robotic arm assembly 33. One end of the sampling cylinder 4 is connected to a sampling shaft 41, which is connected to the output end of the driver 2 34. A sampling cavity 44 is formed at the end of the sampling cylinder 4 furthest from the sampling shaft 41. (The last sentence appears to be incomplete and possibly refers to an attachment or appendix.) Figure 5 and Figure 6 The structure shown includes a support mechanism 5 with a fixed shaft 51. An extension cylinder 52 is fixedly mounted on the outer periphery of the fixed shaft 51. A rotating block 53 is mounted on the extension cylinder 52. An insertion rod assembly is rotatably mounted on the rotating block 53. The main body 1 is connected to the output end of the external hoisting machine through the hoisting plate 11. The rotating block 53 drives the insertion rod assembly to insert into the inner wall of the well. The guide rail assembly 31 drives the sampling cylinder 4 to move laterally through the base 32 to sample the soil in the well.

[0033] It should be noted that the conveying end of the existing lifting crane is a rod or rope type. The main body 1 can be equipped with corresponding electrical equipment such as power switch and PLC controller. The vibration seat 2 is equipped with a vibration motor. The main body 1 and the vibration seat 2 are elastically connected by spring column. The guide rail assembly 31 adopts the existing linear guide rail technology. The robotic arm assembly 33 is a telescopic arm component with adjustable included angle. Driver 1 331 and Driver 2 34 are both rotary drivers, such as motors. The robotic arm assembly 33 consists of a set of fixed arms and a set of movable arms. The fixed arms are detachably installed on the base 32 by screws. Driver 1 331 can drive the movable arm to rotate. Driver 2 34 is installed at one end of the movable arm. Driver 2 34 drives the sampling cylinder 4 to rotate through the sampling shaft 41. Multiple sets of extension cylinders 52 are arranged around the fixed shaft 51.

[0034] In this embodiment, the specific implementation scenario is as follows: First, the lifting crane is installed outside the wellhead of the deep well. The main body 1 is fixed on the conveying end of the lifting crane by the lifting plate 11. The lifting crane conveys the main body 1 downwards. After reaching the sampling position, it stops descending. First, the rotating block 53 drives the insertion rod assembly to be inserted into the inner wall of the well to support and position the main body 1. Then, the base 32 drives the sampling cylinder 4 to move laterally closer to the soil in the well. At the same time, the vibrating seat 2 drives the structure on the mounting plate 3 to vibrate slightly, so that the sampled soil in the sampling chamber 44 is effectively separated from the surrounding soil. Finally, the insertion rod assembly is retracted and the main body 1 is raised and taken out. The soil samples from sampling chamber 44 are repeated to sample soil layers at different depths within the well. Through the high integration of mounting plate 3, sampling cylinder 4, and support mechanism 5, a powerful and highly automated deep well stratified sampling robot system is formed. This system can not only adapt to downhole operations at a certain depth, but also supports various sampling operations, achieving high integration and intelligence, reducing the influence of human factors, and ensuring the accuracy of sampling results. Compared with manual sampling, it significantly improves production efficiency, can complete a large number of sampling tasks in a short time, greatly improves work progress, and reduces labor costs.

[0035] Refer to the instruction manual appendix Figure 4 A limiting groove 42 is provided on one side of the sampling cylinder 4, and a locking pin assembly 43 is provided on the outer side of the sampling shaft 41. The locking pin assembly 43 includes a spring and a pin. One end of the pin is connected to the sampling shaft 41 through the spring, and the other end of the pin is movably located inside the limiting groove 42. A drill tooth 45 is fixedly provided at the end of the sampling cylinder 4 away from the sampling shaft 41.

[0036] It should be noted that the limiting groove 42 is a through groove with open ends. One end of the pin is slidably set inside one side of the sampling shaft 41. The pin is limited by setting it into an L-shape, U-shape or other shapes. The pin enters the limiting groove 42 to make the sampling cylinder 4 and the sampling shaft 41 locked together. Pressing the pin into the sampling cavity 44 can make the pin enter the sampling cavity 44, release the locking between the sampling cylinder 4 and the sampling shaft 41, and the sampling cylinder 4 can rotate or move freely axially relative to the sampling shaft 41.

[0037] Refer to the instruction manual appendix Figure 6 and Figure 7 A depth sensor 531 is fixedly installed on one side of the rotating block 53, and the depth sensor 531 is used to detect the depth of the main body 1 in the well. The insertion rod assembly includes a support rod 54, and a chuck 541 is fixedly provided at one end of the support rod 54. A barbed rod 542 is detachably installed on the chuck 541.

[0038] It should be noted that the chuck 541 and the barb 542 are perpendicular to each other, and the barb 542 is a conical barb component.

[0039] Refer to the instruction manual appendix Figure 6 and Figure 7 A driver 532 is fixedly installed on the extension tube 52, and the output end of the driver 532 is connected to the rotating block 53. A pressure sensor 55 is installed between the rotating block 53 and the support rod 54.

[0040] It should be noted that the driver 3 532 can drive the rotating block 53 to rotate, and the pressure sensor 1 55 is used to detect the support pressure of the support rod 54.

[0041] In this embodiment, the specific implementation scenario is as follows: pressing the pin shaft into the sampling cavity 44 allows the pin shaft to enter the sampling cavity 44, releasing the lock between the sampling cylinder 4 and the sampling shaft 41. The sampling cylinder 4 can rotate relative to the sampling shaft 41 or move freely axially, facilitating the removal of the sampled soil from the sampling cavity 44. The pressure sensor 55 is used to detect the support pressure of the support rod 54. The driver 532 drives the rotating block 53 to rotate, causing the support rod 54 to swing away from the fixed shaft 51. The chuck 541 abuts against the inner wall of the deep well, and the barbed rod 542 pierces into the soil to provide additional stable support.

[0042] Due to the high humidity in the deep well, the cohesion and internal friction angle of the deep soil decrease. The deep soil cannot provide sufficient reaction force for the support mechanism 5, and it is easy to "slip" under the vibration of the vibrating seat 2 and the lateral sampling force of the sampling cylinder 4. When the vibrating seat 2 is working, the periodic micro-vibration will be transmitted to the deep well wall soil, causing the deep soil to "liquefy" locally. The originally dense soil structure becomes loose, and the support point of the support mechanism 5 changes from "rigid support" to "flexible support". It cannot resist the horizontal force of lateral sampling. In addition, when the sampling cylinder 4 is fed laterally, the cutting soil will be subjected to the reaction force of the soil. This reaction force is forward in the horizontal direction. There is a vertical distance between the support point of the support mechanism 5 and the force point of the sampling system, which forms an overturning moment that pushes the main body 1 to tilt backward around the support point. The grip of the deep soil decreases, and the friction of the support point is not enough to offset the overturning moment generated by the lateral force, causing the main body 1 to tilt backward.

[0043] To solve this problem, the following technical solution is also provided: (Refer to the appendix of the instruction manual) Figure 2 and Figure 7 The main body 1 has a turntable 7 installed at the bottom, and the turntable 7 is located below the support mechanism 5. A rotating seat 71 is rotatably mounted on the turntable 7, and a compensation mechanism 6 is detachably mounted on the rotating seat 71.

[0044] It should be noted that the fixed shaft 51 is fixedly connected to the turntable 7. A servo motor is installed inside the main body 1. The output shaft of the servo motor passes through the fixed shaft 51 and the turntable 7. The output shaft is connected to the rotating seat 71. The compensation mechanism 6 is set at an angle, and the compensation mechanism 6 is located below the support mechanism 5 so that there will be no interference.

[0045] Refer to the instruction manual appendix Figure 2 and Figure 8 The compensation mechanism 6 includes a mounting box 61, a converter 63 is fixedly provided on one side of the mounting box 61, a driver 631 is installed at one end of the converter 63, a driver 64 is rotatably installed on the converter 63, and a telescopic column component 65 is installed at the output end of the driver 64.

[0046] It should be noted that the fourth driver 631 can drive the fifth driver 64 to flip, and the fifth driver 64 can drive the telescopic column component 65 to extend and retract.

[0047] Refer to the instruction manual appendix Figure 8 and Figure 9 A pressure sensor 62 is installed between the mounting box 61 and the telescopic column component 65. A bottom corner plate 66 is fixedly installed at the end of the telescopic column component 65 away from the driver 64. An anchor rod mechanism 8 is detachably installed on the bottom corner plate 66.

[0048] It should be noted that pressure sensor 62 is used to detect the pressure of telescopic column component 65, and bottom corner plate 66 is installed on the telescopic output end of telescopic column component 65.

[0049] Refer to the instruction manual appendix Figure 9 and Figure 10 The anchor bolt mechanism 8 includes a rod body 81, which is mounted on the bottom corner plate 66 via a limiting plate 82. A tapered cylinder 85 is provided at the end of the rod body 81 away from the limiting plate 82.

[0050] It should be noted that the conical cylinder 85 is a conical component, the bottom corner plate 66 abuts against the inner wall of the deep well, and the rod 81 extends into the soil inside the inner wall of the deep well.

[0051] Refer to the instruction manual appendix Figure 9 and Figure 10 The rod body 81 is internally threaded with a threaded rod 83. The threaded rod 83 is fixedly provided with a spike 84 at one end corresponding to the tapered cylinder 85. An elastic plate 86 is fixedly provided between the rod body 81 and the tapered cylinder 85. A drive motor 9 is detachably installed on the bottom corner plate 66, and the output end of the drive motor 9 is connected to the threaded rod 83.

[0052] It should be noted that the drive motor 9 drives the threaded rod 83 to rotate, causing the rod body 81 to move closer to or further away from the conical cylinder 85. When they move closer, the elastic plate 86 deforms and protrudes outward.

[0053] In this embodiment, the specific implementation scenario is as follows: At the depth of the deep well, after being supported and positioned by the support rod 54, the compensation mechanism 6 is rotated to the rear of the sampling cylinder 4 via the rotating seat 71. The driver 4 631 drives the driver 5 64 to flip, causing the telescopic column component 65 to extend its retractable output end, causing the bottom corner plate 66 to tilt and abut against the inner wall of the deep well. By setting the anchor bolt mechanism 8, when the bottom corner plate 66 abuts against the inner wall of the deep well, the rod 81 extends into the soil inside the deep well. The pressure sensor 2 62 is used to detect the extension. The pressure of the shrinking column component 65 drives the motor 9 to rotate the threaded rod 83, causing the rod body 81 to move closer to or further away from the conical cylinder 85. When they move closer, the elastic plate 86 deforms and protrudes outward, causing the elastic plate 86 to expand and be positioned in the soil inside the deep well wall. When the sampling cylinder 4 takes a sample, it can provide a reverse compensation support force from the rear. It can also rotate the compensation mechanism 6 to the position with the greatest pressure according to the pressure data of the pressure sensor 55 to share the support pressure, thus solving the problem of the main body 1 tilting backward when the sampling cylinder 4 is taking a sample due to the decrease in the grip of the deep soil.

[0054] Working principle: First, install the lifting crane outside the wellhead of the deep well. Then, fix the main body 1 on the conveying end of the lifting crane using the lifting plate 11. The lifting crane will then convey the main body 1 downwards and stop descending when it reaches the sampling position.

[0055] Second, the rotating block 53 drives the insertion rod assembly to be inserted into the inner wall of the well to support and position the main body 1. The driver 532 drives the rotating block 53 to rotate, causing the support rod 54 to swing away from the fixed shaft 51. The chuck 541 abuts against the inner wall of the deep well, and the barbed rod 542 pierces into the soil to provide additional stable support.

[0056] Third, the compensation mechanism 6 is then rotated to the rear of the sampling cylinder 4 via the rotating seat 71. The driver 4 631 drives the driver 5 64 to flip. The driver 5 64 drives the telescopic column component 65 to extend its retractable output end, so that the bottom corner plate 66 tilts and abuts against the inner wall of the deep well.

[0057] Fourth, the threaded rod 83 is rotated by the drive motor 9, so that the rod body 81 and the conical cylinder 85 are closer or further apart. When they are close, the elastic plate 86 deforms and protrudes outward, so that the elastic plate 86 expands and is positioned in the soil inside the deep well wall. When the sampling cylinder 4 takes a sample, it can provide a reverse compensating support force from the rear.

[0058] Fifth, the sampling cylinder 4 is then moved laterally by the base 32 to approach the soil in the well. At the same time, the vibrating seat 2 drives the structure on the mounting plate 3 to vibrate slightly, so that the sampled soil in the sampling chamber 44 is effectively separated from the surrounding soil.

[0059] 6. Finally, retract the insertion rod assembly and press the pin shaft into the sampling chamber 44 to allow the pin shaft to enter the sampling chamber 44, thereby releasing the lock between the sampling cylinder 4 and the sampling shaft 41. The sampling cylinder 4 can rotate relative to the sampling shaft 41 or move freely axially to raise the main body 1 and remove the soil sample from the sampling chamber 44. Repeat the above steps to sample soil layers at different depths in the well.

[0060] Refer to the instruction manual appendix Figure 11 The present invention also provides a sampling method for a deep well stratified sampling robot, comprising the following steps: S1: First, install the lifting crane outside the wellhead of the deep well. Then, fix the main body 1 on the conveying end of the lifting crane using the lifting plate 11. The lifting crane will then convey the main body 1 downwards and stop descending when it reaches the sampling position. S2: The rotating block 53 drives the insertion rod assembly to be inserted into the inner wall of the well, thus supporting and positioning the main body 1. S3: The compensation mechanism 6 is rotated to the rear of the sampling cylinder 4 by rotating seat 71. The driver 4 631 drives the driver 5 64 to flip. The driver 5 64 drives the telescopic column component 65 to extend its retractable output end, so that the bottom corner plate 66 tilts and abuts against the inner wall of the deep well. S4: Drive the threaded rod 83 to rotate by the drive motor 9, so that the rod body 81 and the conical cylinder 85 are closer or further apart. When they are close, the elastic plate 86 deforms and protrudes outward, so that the elastic plate 86 expands and is positioned in the soil inside the deep well wall. S5: The base 32 drives the sampling cylinder 4 to move laterally closer to the soil in the well. At the same time, the vibrating seat 2 drives the structure on the mounting plate 3 to vibrate slightly, so that the sampled soil in the sampling chamber 44 is effectively separated from the surrounding soil. S6: Retract the insertion rod assembly, press the pin axis into the sampling chamber 44 to release the locking between the sampling cylinder 4 and the sampling shaft 41, raise the main body 1 to remove the soil sample from the sampling chamber 44, and repeat the above steps to sample soil layers at different depths in the well.

[0061] The above embodiments merely illustrate several implementation methods of the present invention, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention.

Claims

1. A deep well stratified sampling robot, comprising a main body (1), wherein a lifting platform (11) is fixedly provided on the side of the main body (1), characterized in that: A vibration seat (2) is installed on the top of the main body (1), an installation plate (3) is rotatably installed on the vibration seat (2), a sampling cylinder (4) is installed on the installation plate (3), and a support mechanism (5) is installed at the bottom of the main body (1). The mounting plate (3) is equipped with a guide rail assembly (31), the output end of the guide rail assembly (31) is equipped with a base (32), the base (32) is equipped with a robotic arm assembly (33), the robotic arm assembly (33) is equipped with a driver one (331), and the output end of the robotic arm assembly (33) is equipped with a driver two (34). One end of the sampling cylinder (4) is connected to a sampling shaft (41), and the sampling shaft (41) is connected to the output end of the second driver (34). A sampling cavity (44) is opened at the end of the sampling cylinder (4) away from the sampling shaft (41). The support mechanism (5) includes a fixed shaft (51), an extension cylinder (52) is fixedly provided on the outer periphery of the fixed shaft (51), a rotating block (53) is installed on the extension cylinder (52), and a plug rod assembly is rotatably installed on the rotating block (53). The main body (1) is connected to the output end of the external hoist via the hoisting plate (11). The rotating block (53) drives the insertion rod assembly to insert into the inner wall of the well. The guide rail assembly (31) drives the sampling tube (4) to move laterally via the base (32) to sample the soil in the well.

2. The deep well stratified sampling robot according to claim 1, characterized in that: A limiting groove (42) is provided on one side of the sampling cylinder (4), and a locking pin assembly (43) is provided on the outside of the sampling shaft (41). The locking pin assembly (43) includes a spring and a pin. One end of the pin is connected to the sampling shaft (41) through the spring, and the other end of the pin is movably located inside the limiting groove (42). A drill tooth (45) is fixedly provided at the end of the sampling cylinder (4) away from the sampling shaft (41).

3. The deep well stratified sampling robot according to claim 2, characterized in that: A depth sensor (531) is fixedly installed on one side of the rotating block (53), and the depth sensor (531) is used to detect the depth of the main body (1) in the well. The insertion rod assembly includes a support rod (54), and a chuck (541) is fixedly provided at one end of the support rod (54). A barb rod (542) is detachably installed on the chuck (541).

4. The deep well stratified sampling robot according to claim 3, characterized in that: A driver three (532) is fixedly installed on the extension tube (52), and the output end of the driver three (532) is connected to the rotating block (53). A pressure sensor one (55) is installed between the rotating block (53) and the support rod (54).

5. A deep well stratified sampling robot according to claim 4, characterized in that: The main body (1) has a turntable (7) installed at the bottom, and the turntable (7) is located below the support mechanism (5). A rotating seat (71) is rotatably provided on the turntable (7), and a compensation mechanism (6) is detachably installed on the rotating seat (71).

6. The deep well stratified sampling robot according to claim 5, characterized in that: The compensation mechanism (6) includes a mounting box (61), a converter seat (63) is fixedly provided on one side of the mounting box (61), a driver four (631) is installed at one end of the converter seat (63), a driver five (64) is rotatably installed on the converter seat (63), and a telescopic column component (65) is installed at the output end of the driver five (64).

7. A deep well stratified sampling robot according to claim 6, characterized in that: Pressure sensor 2 (62) is installed between the mounting box (61) and the telescopic column component (65). A bottom corner plate (66) is fixedly provided at the end of the telescopic column component (65) away from the driver 5 (64). An anchor rod mechanism (8) is detachably installed on the bottom corner plate (66).

8. A deep well stratified sampling robot according to claim 7, characterized in that: The anchor bolt mechanism (8) includes a rod body (81), which is mounted on the bottom corner plate (66) via a limiting plate (82). A tapered cylinder (85) is provided at one end of the rod body (81) away from the limiting plate (82).

9. A deep well stratified sampling robot according to claim 8, characterized in that: The rod body (81) is internally threaded with a threaded rod (83). The threaded rod (83) is fixedly provided with a spike (84) at one end corresponding to the conical cylinder (85). An elastic sheet (86) is fixedly provided between the rod body (81) and the conical cylinder (85). A drive motor (9) is detachably installed on the bottom corner plate (66), and the output end of the drive motor (9) is connected to the threaded rod (83).

10. A sampling method for a deep well stratified sampling robot as described in claim 9, characterized in that, Includes the following steps: S1: First, install the hoist outside the wellhead of the deep well. Then, fix the main body (1) on the conveying end of the hoist using the hoisting plate (11). The hoist will then convey the main body (1) downwards and stop descending when it reaches the sampling position. S2: The rod assembly is inserted into the well wall by rotating the block (53) to support and position the main body (1); S3: The compensation mechanism (6) is rotated to the rear of the sampling cylinder (4) by rotating the seat (71). The driver four (631) drives the driver five (64) to flip. The driver five (64) drives the telescopic column component (65) to extend its retractable output end, so that the bottom corner plate (66) tilts and abuts against the inner wall of the deep well. S4: Drive the threaded rod (83) to rotate by the drive motor (9), so that the rod body (81) and the conical cylinder (85) are close or far apart. When they are close, the elastic plate (86) deforms outward and protrudes, so that the elastic plate (86) expands and is positioned in the soil inside the deep well wall. S5: The sampling tube (4) is moved laterally by the base (32) and moves closer to the soil in the well. At the same time, the vibrating seat (2) drives the structure on the mounting plate (3) to vibrate slightly, so that the sampled soil in the sampling chamber (44) is effectively separated from the surrounding soil. S6: Retract the insertion rod assembly, press the pin axis into the sampling chamber (44), release the locking between the sampling cylinder (4) and the sampling shaft (41), raise the main body (1) to take out the sampled soil from the sampling chamber (44), and repeat the above steps to sample soil layers at different depths in the well.

Images