Robot soil conditioner

Abstract

The robot soil conditioner comprises a workbench, and a debugging area and a test area are arranged on the top face of the workbench; a station conversion column, a debugging table and a first mechanical arm are arranged in the debugging area, four stations are arranged on the four side faces of the station conversion column, and the four stations are the collection station, the humidity detection station, the water adding station and the drying station. The debugging table comprises a bottom base and an adjusting seat, the adjusting seat is slidably clamped on the bottom base, a pushing air cylinder is arranged on the bottom base, and a debugging glass plate and scraping equipment are arranged on the adjusting seat; a soil adjusting scraper is mounted at the tail end of the mechanical arm I; and test equipment is arranged in the test area. The soil conditioner can comprehensively and accurately identify the soil type and accurately detect the soil humidity, the water adding amount is calculated according to the soil characteristics and target requirements, full and uniform mixing of soil is achieved by simulating the manual soil conditioning action, meanwhile, automatic test detection is achieved, multiple times of adjustment can be conducted according to the detection result, and the working efficiency is improved. And it is ensured that the soil adjusting result meets the standard requirement, the automation degree of equipment is high, and labor cost and personal errors are reduced.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of soil conditioning, and particularly relates to a robot soil conditioner. BACKGROUND

[0002] In the field of soil-related experiments and engineering applications, soil conditioning is a basic and key operation link. For a long time, soil conditioning work mainly relies on manual operation. In the process of manual soil conditioning, the operator needs to judge the soil type by relying on his own experience, such as distinguishing different types of soil such as loess, clay or sand by observing the intuitive characteristics of soil particle shape, color, texture, etc. After determining the soil type, the soil humidity needs to be further perceived, and the amount of water to be added is estimated according to experience, and then a spatula or other tools are used to manually stir and mix on a glass plate or other flat surface until the soil reaches the required humidity and uniformity.

[0003] However, this traditional manual soil conditioning method has many significant drawbacks. First, the manual judgment of soil type and humidity is greatly affected by individual experience differences. Different operators may have different judgments on the same soil sample, and even the same operator may have inconsistent results at different times or states, which makes it difficult to ensure the accuracy and stability of the soil conditioning results. Second, the manual estimation of water addition lacks accuracy and can only give a rough range, making it difficult to achieve precise water addition and easily causing too much or too little water, which affects the final performance of the soil. Third, the uniformity and consistency of manual soil conditioning actions are difficult to control, and different batches of conditioned soil may have large differences in uniformity, which cannot meet the requirements of experiments and production that require high consistency of soil quality. In addition, manual soil conditioning is labor-intensive and inefficient, especially in large-scale experimental or production scenarios, which requires a large amount of manpower and time, increasing the cost and time period. SUMMARY

[0004] The present application aims to solve the above technical problems in the prior art and provides a robot soil conditioner with a clever and reasonable structure design and strong practicality. The soil conditioner of the present application can comprehensively and accurately identify the soil type, accurately detect the soil humidity, and calculate the water addition amount according to the soil characteristics and target requirements. Through simulating the manual soil conditioning action, the soil is fully and uniformly mixed, and at the same time, the device has automatic test detection and can make multiple adjustments according to the test results to ensure that the soil conditioning results meet the standard requirements. The device has high automation degree, reduces labor cost and human error.

[0005] In order to solve the above technical problems, the present application adopts the following technical solutions: A robotic soil adjuster includes a workbench with a debugging area and a test area on its top surface. The debugging area includes a workstation conversion column, a debugging platform, and a robotic arm. The workstation conversion column is connected to a conversion motor, and its four sides form four workstations. The conversion motor drives the workstation conversion column to rotate, enabling the switching between the four workstations. The four workstations are a data collection workstation, a humidity detection workstation, a water addition workstation, and a drying workstation. The data collection workstation is equipped with data collection equipment, the humidity detection workstation with humidity testing equipment, the water addition workstation with water addition equipment, and the drying workstation with drying equipment. The debugging platform includes a base and an adjustment seat. The adjustment seat is slidably engaged with the base. A push cylinder is mounted on the base, which pushes the adjustment seat to slide along the base for adjustment. The adjustment seat is equipped with a debugging glass plate and a scraping device. A soil adjusting scraper is mounted at the end of the robotic arm. Test equipment is located in the test area.

[0006] The workstation switching column is driven by a switching motor located inside the workbench, enabling rapid and accurate switching between the four workstations. The test platform is located in front of the workstation switching column. After each switching, the corresponding workstation is moved to the top of the test platform, where the equipment at each workstation processes the soil. Each of the four workstations is equipped with corresponding equipment to meet the four processing requirements: soil collection, moisture detection, water addition and adjustment, and drying, demonstrating strong adaptability and flexibility.

[0007] The test glass plate is used to hold soil samples for soil conditioning. The scraping device can automatically scrape the conditioned soil from the test glass plate and fill it into the test container of the testing equipment, improving the automation level of the equipment. The test platform is designed with a base and an adjustment seat, with the adjustment seat slidingly engaged with the base. A push cylinder can push the adjustment seat towards the testing equipment so that the scraping device can automatically scrape the soil and fill it into the test container.

[0008] The soil mixing process adopts a biomimetic design, simulating the action of manually mixing soil with a scraper on a test glass plate. Driven by the control system, the robotic arm drives the end-effector scraper to perform reciprocating scraping and stirring actions on the test glass plate according to the preset trajectory and force, so as to fully mix the soil sample after adding water on the test glass plate and ensure uniform soil moisture and composition.

[0009] Furthermore, the data acquisition device includes a guide plate, a guide screw, and a camera. The guide plate is fixedly connected to the side of the workstation conversion column. The camera is a high-definition camera, which is slidably connected to the guide screw via a connecting block. The connecting block is fixed to the guide screw by two limiting nuts. Both ends of the guide screw are fixedly connected to the guide plate via support plates. A guide sleeve is provided on the connecting block, and the guide sleeve slides and engages with the guide plate. The data acquisition device uses a high-definition camera to photograph and analyze the soil on the adjustment glass plate using image recognition technology. The acquired soil sample image information is transmitted to the built-in image recognition algorithm module of the robotic soil adjuster. This module analyzes the soil particle shape, color, texture, and other characteristics to automatically determine the soil type, such as loess, clay, or sand, and records the recognition results in the system database. Furthermore, the entire acquisition device has a reasonable and ingenious structural design, and the installation height of the high-definition camera can be adjusted according to actual needs to meet different shooting and sampling requirements. When it is necessary to adjust the height of the high-definition camera, loosen the limit nut and move the connecting block up and down along the guide screw to adjust the height of the high-definition camera. After the height adjustment is completed, tighten the upper and lower limit nuts. As the connecting block moves along the guide screw, it will drive the guide sleeve to slide synchronously along the guide plate, which improves the stability and reliability of the high-definition camera height adjustment process.

[0010] Furthermore, the humidity testing equipment includes a linear module, a mounting base, and a humidity sensor. The mounting base is fixedly connected to the slider of the linear module. A limit ring is provided on the top of the humidity sensor. The mounting base is equipped with a vertical guide sleeve and a fastening ring. The humidity sensor is vertically limited within the vertical guide sleeve and the fastening ring. The limit ring is supported on the top surface of the fastening ring. A notch is provided on the fastening ring, through which a fastening bolt is connected. The humidity sensor can automatically rise and fall. The linear module drives the humidity sensor to move vertically, achieving precise adjustment of the humidity sensor's position in the vertical direction. This allows for humidity detection of soil at different depths, and the detected soil humidity data is transmitted in real time to the system control unit of the robotic soil adjuster. The system control unit, combined with the identified soil type, automatically calculates the amount of water required to achieve the target humidity based on a preset mathematical model. The overall structural design is ingenious and reasonable. The mounting base and slider screw fixation ensure a firm connection and achieve a stable connection between the humidity sensor and the linear module one. This allows the linear module one to realize the automatic lifting and lowering operation of the humidity sensor. The vertical guide sleeve and the fastening ring on the mounting base are provided with through holes to facilitate the vertical penetration of the humidity sensor. The humidity sensor is doubly limited. The vertical guide sleeve provides vertical guidance and initial limitation for the sensor, while the fastening ring further fixes the sensor. The limiting ring is supported on the top surface of the fastening ring, realizing the precise positioning of the humidity sensor and ensuring the positional stability of the sensor during use. This allows for more accurate measurement of humidity data. The notch on the fastening ring and the through-bolt design ensure a tight and fixed connection of the humidity sensor, enhancing the connection strength and reliability between the humidity sensor and the mounting base, improving the operational stability of the equipment, and the bolt tightening also facilitates actual disassembly and assembly, making it convenient for the humidity sensor to be disassembled, cleaned, or replaced for maintenance.

[0011] Furthermore, the water addition equipment includes a water storage tank, a water pump, a flow control valve, and a water addition pipe. The water storage tank, water pump, and flow control valve are all fixed to the side of the workstation conversion column. The water storage tank is connected to the inlet of the water pump via a connecting pipe, and the outlet of the water pump is connected to the inlet of the flow control valve via a connecting pipe. The outlet of the flow control valve is connected to the water addition pipe, and a nozzle is connected to the end of the water addition pipe. A reinforcing support is installed on the water addition pipe, and the reinforcing support is fixed to the workstation conversion column with screws. This water addition equipment achieves quantitative water addition. The system control unit precisely controls the pumping and injection process of the water pump according to the calculated required water volume, and adjusts the water flow rate and speed through the flow control valve to ensure that the required amount of water is accurately added to the soil sample. The water storage tank provides a stable water source for the water addition process, and the water storage tank is also equipped with a water replenishment port for timely water replenishment. The water pump draws water from the storage tank, pressurizes it, and outputs it, ensuring that the water reaches the nozzle at a certain pressure and flow rate through the flow control valve and the water addition pipe. The reinforced support increases the stability of the water supply pipe, effectively limiting its shaking and deformation, and extending its service life.

[0012] Furthermore, the drying equipment includes a blower, a heating chamber, and a drying plate. The blower's outlet is connected to the heating chamber, and the heating chamber's outlet is connected to the drying plate via an air supply pipe. Air supply holes are evenly distributed on the bottom surface of the drying plate. When the cone penetration depth detected in the test slightly exceeds the standard range, the system control unit activates the drying equipment to perform a slight drying treatment on the soil sample. After drying, soil conditioning and testing are performed again until the cone penetration depth meets the standard range. The blower, as the power source, delivers airflow to the heating chamber. The heating chamber is equipped with conventional heating devices such as electric heating rods to heat the airflow delivered by the blower, making the air entering the drying plate hot air. The hot air is then blown out from the air supply holes to dry the soil.

[0013] Furthermore, a working plate is provided on the adjusting seat, and the working plate is fixedly connected to the adjusting seat through a column. The debugging glass plate is placed on the working plate, and a positioning column is provided on the working plate. A positioning edge is provided on the side of the debugging glass plate, and a positioning hole is provided on the positioning edge. The positioning hole and the positioning column are inserted one by one, and the top of the positioning column extends through the positioning hole. A guide bucket is provided at the end of the debugging glass plate near the test equipment. The guide bucket is fixed to the adjusting seat with screws. The screw fixing method can not only ensure the installation is firm, but also facilitate the disassembly, cleaning or replacement and maintenance of the guide bucket. The top of the guide bucket extends upward to form a U-shaped enclosure. The opening of the U-shaped enclosure faces the debugging glass plate, and the bottom of the guide bucket is tapered. The positioning posts and positioning holes are inserted one-to-one, enabling precise installation and positioning of the test glass plate on the work plate. This facilitates the quick and accurate placement of the test glass plate. The positioning posts extend beyond the positioning holes by a certain length, enhancing positioning stability and effectively preventing the test glass plate from shifting or shaking during use. This ensures precise positioning between the equipment on the workstation conversion column and the test platform after rotation, and also guarantees the relative positional accuracy between the test platform and the test container. This facilitates the subsequent scraping equipment to scrape and push the soil from the test glass plate into the test container. The guide bucket plays a guiding role. When the scraping equipment scrapes the soil from the test glass plate into the test container, the constricted opening and U-shaped baffle design prevents soil splashing and makes it easier for the soil to enter the test container smoothly.

[0014] Furthermore, the scraping device includes a linear module two, a connecting rod, and a scraper. One end of the connecting rod is fixedly connected to the slider of the linear module two, and the other end of the connecting rod is fixedly connected to the scraper screw. The scraper is placed on the end of the test glass plate away from the test equipment. A pad is provided on the working plate, which is attached to the side of the test glass plate. The height of the pad is flush with the height of the test glass plate. The scraper is placed on the pad, and the linear module two drives the scraper to move along the length of the test glass plate from one end to the other, scraping and pushing the soil on the test glass plate into the test container for the subsequent test process. In the initial state, the scraper is located on the pad. When the scraping device is started, the scraper moves from the pad to the test glass plate. The design of no height difference and no gap between the pad and the test glass plate provides a stable support platform for the scraper, so that the scraper remains stable during the scraping process. The screw fixing design between the scraper and the connecting rod ensures the connection between the two, and the screw fixing also facilitates the disassembly of the scraper, making it easy to disassemble, clean, and maintain and replace the scraper.

[0015] Furthermore, the testing equipment includes a mounting frame, a test container, a cone penetrator, and a moving cylinder. A container mounting base is provided on the test area, and the test container is secured within the mounting base. The cone penetrator is positioned directly above the test container. The top of the cylindrical body of the cone penetrator is equipped with a lower support ring and a top support ring, with a gap between the upper and top support rings to create an insertion gap between the lower support ring, the top support ring, and the cylindrical body. The moving cylinder is fixed to the mounting frame and connected to a limiting end plate. The limiting end plate is connected to two pull-out blocks, which are inserted and limited within the insertion gap. When the moving cylinder completely removes the pull-out blocks from the insertion gap, the cone penetrator automatically falls. A dovetail slider is provided on the top of the limiting end plate, and a dovetail groove is provided on the mounting frame. The dovetail slider limits… The positioning bracket is inserted into the dovetail groove, and the container placement seat facilitates the precise positioning of the test container in the test area, ensuring vertical alignment with the cone penetrator above. In the initial state, the pull-out block limits and supports the cone penetrator. When an experiment is required, the moving cylinder drives the pull-out block to move. After the pull-out block is completely removed from the insertion gap, the cone penetrator automatically falls and acts on the soil in the test container below. The design of the dovetail groove and dovetail slider ensures that when the moving cylinder drives the pull-out block to move through the limiting end plate, the dovetail slider is always limited within the dovetail groove and slides synchronously along the dovetail groove, thereby improving the stability and reliability of the equipment. It ensures that the pull-out block always makes a horizontal linear movement, preventing deviation or jamming during the movement of the pull-out block, and ensuring that the pull-out block can be smoothly inserted into or pulled out of the insertion gap.

[0016] Furthermore, the experimental equipment also includes a lifting assembly, which comprises a lifting motor, an adjusting screw, a positioning guide sleeve, and a guide rod. The lifting motor is fixed to the mounting frame and connected to the adjusting screw. The cylindrical body is vertically limited within the positioning guide sleeve, which has an extension handle threaded onto the adjusting screw. The guide rod is fixedly connected to the mounting frame, and the bottom end of the adjusting screw is connected to the guide rod via a bearing. A positioning nut is located below the adjusting screw, and a guide groove is provided on the guide rod. One end of the extension handle is slidably limited within the guide groove. The structure is ingeniously and reasonably designed, and the positioning guide sleeve provides a guiding function, ensuring that the cone penetrator always acts vertically on the soil. Moreover, the cone penetrator of this application completes the experiment during vertical descent. During operation, the upper part of the column is always partially confined within the positioning guide sleeve, thus cooperating with the design of the lower support ring at the top of the column. When the cone penetrator needs to be reset, the lifting motor starts and drives the adjusting screw to rotate, causing the extension handle to rise vertically along the adjusting screw. The extension handle drives the positioning guide sleeve to move upward synchronously. When the positioning guide sleeve moves upward and touches the lower support ring, it will lift the lower support ring and drive the cone penetrator to move upward synchronously. When the top support ring touches the mounting bracket, the cone penetrator moves into place. The moving cylinder starts and drives the two pull-out blocks to move towards the cone penetrator until the pull-out blocks are inserted and limited into the insertion gap. A clearance space is formed between the two pull-out blocks, which matches the column to ensure smooth insertion and removal of the pull-out blocks.

[0017] Furthermore, it also includes a cleaning station, which is located on one side of the workbench. The cleaning station is divided into Zone 1 and Zone 2. Zone 1 is located between the workbench and Zone 2. Zone 1 is equipped with a robotic arm 2 and a workpiece placement area. The end of the robotic arm 2 is equipped with a mechanical gripper. Zone 2 is equipped with an ultrasonic cleaning chamber and a drying chamber. The drying chamber is equipped with a grid filter plate and a drain outlet at the bottom of the drying chamber. Baffles are installed between Zone 1 and the workbench, between Zone 1 and Zone 2, and between the ultrasonic cleaning chamber and the drying chamber.

[0018] The cleaning station is divided into zones, forming a complete, streamlined workflow from placing and gripping the workpieces to ultrasonic cleaning and drying. The workpiece placement area holds the workpieces to be cleaned. A robotic gripper at one end of the robotic arm grips the workpieces from the placement area and places them into the ultrasonic cleaning chamber for ultrasonic cleaning. After ultrasonic cleaning, the workpieces are then removed from the ultrasonic cleaning chamber and placed into the drying chamber for drying. The entire process requires no manual operation, greatly improving the efficiency and accuracy of the cleaning operation.

[0019] The present invention, by adopting the above-described technical solution, has the following beneficial effects: This invention boasts a high degree of automation, with all stages—soil collection, type identification, humidity detection, water addition calculation, soil conditioning, and testing—operated automatically. Utilizing a high-definition camera and image recognition algorithms within the control system, it accurately analyzes soil particle shape, color, and texture to precisely determine soil type, providing a reliable basis for subsequent humidity detection and water addition calculation. Equipped with a height-adjustable humidity sensor, it can detect humidity at different depths, comprehensively reflecting the actual soil moisture status. Combining the identified soil type with a preset mathematical model within the control system, it accurately calculates the amount of water required to achieve the target humidity, ensuring accurate water addition. The soil conditioning process employs a biomimetic design, simulating the action of manually conditioning soil on a glass plate with a scraper. Driven by the control system, a robotic arm moves the end-effector scraper along a preset trajectory and force, performing reciprocating scraping and stirring operations to thoroughly mix the soil sample after water addition, ensuring uniform soil moisture and composition. After soil adjustment, the jacking cylinder pushes the adjusting seat into position, ensuring precise positioning of the adjustment glass plate and the test container. The scraping device scrapes and pushes the evenly mixed soil into the test container, and then rolls and flattens the soil in the test container. After the soil is flattened, the test container is positioned directly below the cone penetrator, and the test experiment is automatically performed. The cone penetration depth of the cone penetrator is checked and compared in real time with the preset standard range value. Based on the comparison results, the amount of water added is adjusted or drying treatment is performed in a timely manner. Through multiple adjustments, it is ensured that the final soil adjustment result fully meets the standard requirements.

[0020] This application is also equipped with a cleaning station module to achieve efficient and thorough cleaning of the test equipment, improve the automation level and utilization efficiency of the equipment. It adopts an ultrasonic cleaning chamber, which quickly removes soil residues adhering to the surface of the equipment through the cavitation effect generated by high frequency vibration. The cleaning efficiency is high and the effect is good. After cleaning, the robotic arm drives the mechanical gripper at the end to grab the cleaned parts and put them into the drying chamber for drying. In actual use, hot air or cold air can also be delivered into the drying chamber for air drying assistance, shortening the drying time. Attached Figure Description

[0021] The present invention will be further described below with reference to the accompanying drawings: Figure 1 This is a schematic diagram of the structure of a robotic soil adjuster according to the present invention; Figure 2 for Figure 1 A structural diagram from another perspective; Figure 3 This is a schematic diagram showing the positional distribution of the four workstations on the workstation conversion column in this invention; Figure 4 for Figure 3 A structural diagram from another perspective; Figure 5This is a schematic diagram of the humidity sensor in this invention; Figure 6 This is a schematic diagram of the mounting base in this invention; Figure 7 This is a schematic diagram of the connection structure between the cone penetrator and the limiting cylinder in this invention; Figure 8 for Figure 7 A structural diagram from another perspective; Figure 9 This is a schematic diagram of the cone penetrator in this invention; Figure 10 Exploded view of the cone penetrator in this invention; Figure 11 This is a schematic diagram of the connection structure between the positioning guide sleeve and the adjusting screw in this invention. Figure 12 This is a schematic diagram showing the positional structure between the adjustment glass plate and the test container when the scraping device of the present invention scrapes and delivers soil to the test container; Figure 13 This is a schematic diagram of the installation structure of the container mounting base in the test area according to the present invention; Figure 14 This is a schematic diagram of the state structure of the push cylinder adjusting seat when it moves in this invention; Figure 15 This is a schematic diagram of the installation structure of the scraping device on the test stand in this invention; Figure 16 This is a schematic diagram of the structure of the debugging glass plate in this invention.

[0022] In the diagram: 1-Workbench; 2-Test Area; 3-Debugging Area; 4-Workstation Conversion Column; 5-Debugging Platform; 6-Robotic Arm 1; 7-Data Acquisition Station; 8-Humidity Detection Station; 9-Water Addition Station; 10-Drying Station; 11-Base; 12-Adjusting Seat; 13-Pushing Cylinder; 14-Debugging Glass Plate; 15-Scraping Equipment; 16-Soil Adjusting Scraper; 17-Guide Plate; 18-Guide Screw; 19-Camera; 20-Connecting Block; 21-Limit Nut; 22-Support Plate; 23-Guide Sleeve; 24-Linear... Module 1; 25-Mounting base; 26-Humidity sensor; 27-Limit ring; 28-Vertical guide sleeve; 29-Fastening ring; 30-Notch; 31-Fastening bolt; 32-Water tank; 33-Water pump; 34-Flow control valve; 35-Water inlet pipe; 36-Connecting pipe; 37-Nozzle; 38-Reinforcing support; 39-Blower; 40-Heating box; 41-Drying plate; 42-Air supply pipe; 43-Air supply hole; 44-Water inlet; 47-Positioning post; 48-Positioning edge; 49-Positioning hole; 50-Guide hopper; 51-U-shaped enclosure; 52-Linear module two; 53-Connecting rod; 54-Scraper; 55-Washing table; 56-Area one; 57-Area two; 58-Robotic arm two; 59-Workpiece placement area; 60-Robotic gripper; 61-Drain outlet; 62-Baffle plate; 63-Clearing space; 64-Ultrasonic cleaning chamber; 65-Drying chamber; 66-Grid filter plate; 67-Working plate; 68-Column; 69-Padded block; 70-Connecting rod shaft; 71-Guide seat; 72-Guide arc groove; 73-Guide ring; 74-Mounting frame 75-Test container; 76-Cone penetrator; 77-Moving cylinder; 78-Top support ring; 79-Limiting end plate; 80-Pull-out block; 81-Dovetail slide; 82-Dovetail slider; 83-Lifting motor; 84-Adjusting screw; 85-Positioning guide sleeve; 86-Guide rod; 87-Cone probe; 88-Columnar body; 89-Extension handle; 90-Guide slide; 91-Lower support ring; 92-Positioning nut; 93-Container mounting seat; 94-Slide; 95-Protrusion; 96-Base; 97-Connecting plate. Detailed Implementation

[0023] like Figures 1 to 16As shown, this invention discloses a robotic soil adjuster, comprising a workbench 1, with a debugging area 3 and a test area 2 arranged on the top surface of the workbench 1; the debugging area 3 is equipped with a workstation conversion column 4, a debugging platform 5, and a robotic arm 6. The workstation conversion column 4 is connected to a conversion motor, and its four sides form four workstations. The conversion motor drives the workstation conversion column 4 to rotate, realizing the conversion of the four workstations; the four workstations are a data collection workstation 7, a humidity detection workstation 8, a water addition workstation 9, and a drying workstation 10. The data collection workstation 7 is equipped with a data collection device, which collects data on humidity... Humidity testing equipment is installed at the humidity detection station 8, water supply equipment is installed at the water supply station 9, and drying equipment is installed at the drying station 10. The debugging platform 5 includes a base 11 and an adjustment seat 12. The adjustment seat 12 is slidably engaged with the base 11. A push cylinder 13 is installed on the base 11. The push cylinder 13 pushes the adjustment seat 12 to slide and adjust along the base 11. An debugging glass plate 14 and a scraping device 15 are installed on the adjustment seat 12. A soil scraper 16 is installed at the end of the robotic arm 6. Testing equipment is installed in the test area 2.

[0024] The workstation switching column 4 is driven by a switching motor located inside the workbench 1, enabling rapid and accurate switching between the four workstations. The test bench 5 is located in front of the workstation switching column 4. After each switching, the workstation switching column 4 moves the corresponding workstation above the test bench 5, where the equipment at the workstation performs the appropriate treatment on the soil. Each of the four workstations is equipped with corresponding equipment to meet the four treatment requirements of soil collection, moisture detection, water addition and adjustment, and drying, demonstrating strong adaptability and flexibility. The bottom of the workstation conversion column 4 is provided with a connecting rod shaft 70, which extends into the workbench 1 and connects to the motor shaft of the conversion motor. A guide ring 73 is provided on the connecting rod shaft 70, and the guide ring 73 is limited and supported on the workbench 1. Two guide seats 71 are provided opposite each other in the debugging area 3. A guide arc groove 72 is provided in the guide seat 71. A guide ring groove is formed between the guide arc grooves 72 of the two guide seats 71. The guide ring 73 is limited to rotation within the guide ring groove. The guide ring groove is formed between the two guide seats 71, so that the guide ring 73 can only rotate along the guide ring groove, which improves the stability of the workstation conversion column 4 during the workstation conversion process and makes the equipment operation safer and more reliable. Moreover, the limited support of the guide ring 73 on the workbench 1 also facilitates the installation and positioning of the workstation conversion column 4 on the workbench 1.

[0025] The push cylinder 13 can push the adjusting seat 12 toward the test container 75, thereby pushing the adjustment glass plate 14 toward the test container 75. A connecting plate 97 is provided on the adjusting seat 12, and the connecting plate 97 is connected to the push cylinder 13. Two protrusions 95 are provided on the base 11, and a slide 94 is formed between the two protrusions 95. The connecting plate 97 is slidably engaged in the slide 94. When the push cylinder 13 pushes the adjusting seat 12 to move, the connecting plate 97 is always guided and restricted by the slide 94, which improves the stability and reliability of the adjusting seat 12 during the movement and adjustment process. The bottom support of the adjustment seat 12 is limited on the bottom surface of the base 11. The bottom of the container placement seat 93 is provided with a base 96. The height of the base 96 is flush with the height of the adjustment seat 12. When the adjustment seat 12 moves, part of the adjustment seat 12 will move out of the base 11 and move towards the test container 75, and gradually move to support the base 96, thereby improving the overall structural stability and balance of the adjustment seat 12 after it moves.

[0026] The adjustment glass plate 14 is used to hold soil samples for soil conditioning. The scraping device 15 can automatically scrape the conditioned soil from the adjustment glass plate 14 and fill it into the test container 75 of the test equipment, improving the automation level of the equipment. The adjustment table 5 is designed as a base 11 and an adjustment seat 12, with the adjustment seat 12 slidably engaged with the base 11. The push cylinder 13 can push the adjustment seat 12 towards the test equipment so that the scraping device 15 can automatically scrape the soil and fill it into the test container 75. The soil conditioning process adopts a biomimetic design, simulating the action of manually adjusting soil on the adjustment glass plate 14 with a scraper. Driven by the control system, the robotic arm 6 drives the soil conditioning scraper 16 at the end to perform reciprocating scraping and stirring actions on the adjustment glass plate 14 according to a preset trajectory and force, so that the soil sample after adding water is fully conditioned on the adjustment glass plate 14, ensuring uniform soil moisture and composition.

[0027] The data acquisition device includes a guide plate 17, a guide screw 18, and a camera 19. The guide plate 17 is fixedly connected to the side of the workstation conversion column 4. The camera 19 is a high-definition camera, which is slidably connected to the guide screw 18 via a connecting block 20. The connecting block 20 is fixed to the guide screw 18 by two limiting nuts 21. The two ends of the guide screw 18 are fixedly connected to the guide plate 17 via support plates 22. A guide sleeve 23 is provided on the connecting block 20, which slidably engages with the guide plate 17. The data acquisition device uses the high-definition camera 19 to photograph and analyze the soil on the adjustment glass plate 14 using image recognition technology. The acquired soil sample image information is transmitted to the built-in image recognition algorithm module of the robotic soil adjuster system. This module analyzes the soil particle shape, color, texture, and other characteristics to automatically determine the soil type, such as loess, clay, or sand, and records the recognition results in the system database. Furthermore, the entire acquisition device has a reasonable and ingenious structural design, and the installation height of the high-definition camera 19 can be adjusted according to actual needs to meet different shooting and sampling requirements. When it is necessary to adjust the height of the high-definition camera 19, loosen the limit nut 21 and move the connecting block 20 up and down along the guide screw 18 to adjust the height of the high-definition camera 19. After the height adjustment is completed, tighten the upper and lower limit nuts 21. As the connecting block 20 moves along the guide screw 18, it will drive the guide sleeve 23 to slide synchronously along the guide plate 17, which improves the stability and reliability of the high-definition camera 19 height adjustment process.

[0028] The humidity testing equipment includes a linear module 24, a mounting base 25, and a humidity sensor 26. The mounting base 25 is fixedly connected to the slider of the linear module 24. A limit ring 27 is provided on the top of the humidity sensor 26. A vertical guide sleeve 28 and a fastening ring 29 are provided on the mounting base 25. The humidity sensor 26 is vertically limited within the vertical guide sleeve 28 and the fastening ring 29. The limit ring 27 is supported on the top surface of the fastening ring 29. A notch 30 is provided on the fastening ring 29, and a fastening bolt 31 is connected through the notch 30. The humidity sensor 26 can be automatically raised and lowered. The linear module 24 drives the humidity sensor 26 to move in the vertical direction, realizing precise adjustment of the vertical position of the humidity sensor 26. This allows for humidity detection of soil at different depths, and the detected soil humidity data is transmitted in real time to the system control unit of the robotic soil adjuster. The system control unit, combined with the identified soil type, automatically calculates the amount of water required to achieve the target humidity based on a preset mathematical model. The overall structural design is ingenious and reasonable. The mounting base 25 and the slider screw fixation ensure a firm connection and achieve a stable connection between the humidity sensor 26 and the linear module 24. This allows the linear module 24 to automatically raise and lower the humidity sensor 26. The mounting base 25 has through holes in the vertical guide sleeve 28 and the fastening ring 29 to facilitate the vertical penetration of the humidity sensor 26, providing double limiting for the humidity sensor 26. The vertical guide sleeve 28 provides vertical guidance and initial limitation for the sensor, while the fastening ring 29 further fixes the sensor. The limiting ring 27 supports the top surface of the fastening ring 29, achieving precise positioning of the humidity sensor 26 and ensuring the positional stability of the sensor during use, thereby enabling more accurate measurement of humidity data. The notch 30 on the fastening ring 29 and the through-bolt 31 design ensure a clamping and fixed connection of the humidity sensor 26, enhancing the connection strength and reliability between the humidity sensor 26 and the mounting base 25, improving the operational stability of the equipment, and the bolt tightening also facilitates actual disassembly and assembly, making it convenient for the humidity sensor 26 to be disassembled, cleaned, or replaced for maintenance.

[0029] The water supply equipment includes a water storage tank 32, a water pump 33, a flow control valve 34, and a water supply pipe 35. The water storage tank 32, water pump 33, and flow control valve 34 are all fixed to the side of the workstation conversion column 4. The water storage tank 32 is connected to the inlet of the water pump 33 via a connecting pipe 36, and the outlet of the water pump 33 is connected to the inlet of the flow control valve 34 via the connecting pipe 36. The outlet of the flow control valve 34 is connected to the water supply pipe 35, and a nozzle 37 is connected to the end of the water supply pipe 35. A reinforcing support 38 is installed on the water supply pipe 35, and the reinforcing support 38 is fixed to the workstation conversion column 4 with screws. This water supply equipment achieves quantitative water supply. The system control unit precisely controls the pumping and injection process of the water pump 33 according to the calculated required water volume, and adjusts the water flow rate and speed through the flow control valve 34 to ensure that the required amount of water is accurately added to the soil sample. The water storage tank 32 provides a stable water source for the water filling process, and is also equipped with a water inlet 44 to ensure timely replenishment of the water source. The water pump 33 draws water from the water storage tank 32, pressurizes it, and outputs it, ensuring that the water reaches the nozzle 37 at a certain pressure and flow rate through the flow control valve 34 and the water filling pipe 35. The water pump 33 is a high-precision water pump. The reinforcing support 38 increases the stability of the water filling pipe 35, effectively limiting its shaking and deformation, and extending its service life.

[0030] The drying equipment includes a blower 39, a heating chamber 40, and a drying plate 41. The outlet of the blower 39 is connected to the heating chamber 40, and the outlet of the heating chamber 40 is connected to the drying plate 41 via an air supply pipe 42. Air supply holes 43 are evenly distributed on the bottom surface of the drying plate 41. When the cone penetration depth detected in the test slightly exceeds the standard range, the system control unit starts the drying equipment to perform a slight drying treatment on the soil sample. After drying, the soil is adjusted and tested again until the cone penetration depth meets the standard range. The blower 39 serves as a power source, delivering airflow into the heating chamber 40. The heating chamber 40 is equipped with conventional heating devices such as electric heating rods to heat the airflow delivered by the blower 39, making the air entering the drying plate 41 hot air. The hot air is then blown out from the air supply holes 43 to dry the soil.

[0031] A working plate 67 is provided on the adjusting base 12. The working plate 67 is fixedly connected to the adjusting base 12 via a column 68. The debugging glass plate 14 is placed on the working plate 67. The column 68 connects and fixes the adjusting base 12 and the working plate 67, and raises the working plate 67 to create a certain space between the adjusting base 12 and the working plate 67, providing space for the installation and layout of the linear module 52. The working plate 67 is provided with a positioning post 47, and the side of the debugging glass plate 14 is provided with a positioning edge 48, on which positioning holes 49 are provided. The positioning holes 49 and positioning posts 47 are inserted one-to-one, and the top of the positioning post 47 extends through the positioning hole 49. A guide bucket 50 is provided at the end of the test equipment near the test glass plate 14. The guide bucket 50 is fixed to the adjusting seat 12 with screws. The screws are detachable, which can ensure the installation is firm and facilitate the disassembly, cleaning or replacement of the guide bucket 50. The top of the guide bucket 50 extends upward to form a U-shaped enclosure 51. The opening of the U-shaped enclosure 51 faces the test glass plate 14. The bottom of the guide bucket 50 is tapered. The positioning posts 47 and positioning holes 49 are inserted one-to-one, enabling precise installation and positioning of the debugging glass plate 14 on the working plate 67. This facilitates the quick and accurate placement of the debugging glass plate 14. Furthermore, the top of the positioning post 47 extends beyond the positioning hole 49, enhancing positioning stability and effectively preventing the debugging glass plate 14 from shifting or shaking during use. This ensures precise positioning between the equipment on the workstation conversion post 4 and the debugging platform 5 after rotation, and also guarantees the relative positional accuracy between the debugging platform 5 and the test container 75. This facilitates the subsequent scraping device 15 to place the debugging glass plate 14... The soil on plate 4 is scraped and pushed into the test container 75. The guide bucket 50 can play a guiding role. When the push cylinder 13 pushes the adjusting seat 12 to move and contact the side wall of the test container 75, the guide bucket 50 is located above the center of the test container 75. Under vertical projection, the bottom constricted section of the guide bucket 59 is completely inside the test container 75. Therefore, when the scraping device 15 scrapes the soil on the adjustment glass plate 14 into the test container 75, the constricted section and U-shaped barrier 51 design can prevent soil splashing and make it easier for the soil to enter the test container 75 smoothly.

[0032] The scraping device 15 includes a linear module 2 52, a connecting rod 53, and a scraper 54. One end of the connecting rod 53 is fixedly connected to the slider of the linear module 2 52, and the other end of the connecting rod 53 is fixedly connected to the scraper 54 with screws. The scraper 54 is located on the end of the test glass plate 14 away from the test equipment. A pad 69 is provided on the working plate 67. The pad 69 is attached to the side end of the test glass plate 14, and the height of the pad 69 is flush with the height of the test glass plate 14. The scraper 54 is placed on the pad 69. The linear module 2 52 drives the scraper 54 to move along the length of the test glass plate 14, moving from one end of the test glass plate 14 to the guide bucket 50 at the other end, scraping and pushing the soil on the test glass plate 14 into the test container 75. After the soil is scraped into the test container 75, it is rolled and leveled to prepare for the subsequent test process. In the initial state, the scraper 54 is located on the pad 69. When the scraping device 15 is started, the scraper 54 moves from the pad 69 to the test glass plate 14. The design of no height difference and no gap between the pad 69 and the test glass plate 14 provides a stable support platform for the scraper 54, so that the scraper 54 remains stable during the scraping process. The screw fixing design between the scraper 54 and the connecting rod 53 can ensure the connection between the two, and the screw fixing also facilitates the disassembly of the scraper 54, making it easy to disassemble, clean, and maintain and replace the scraper 54.

[0033] The testing equipment includes a mounting frame 74, a test container 75, a cone penetrator 76, and a moving cylinder 77. A container mounting base 93 is provided on the test area 2. The test container 75 is locked within the container mounting base 93. The cone penetrator 76 is positioned directly above the test container 75. The cone penetrator 76 includes a cylindrical body 88 and a cone probe 87. The cone probe 87 is threadedly fixed to the cylindrical body 88, facilitating disassembly and cleaning of the cone probe 87 and ensuring the overall structural stability after assembly. A lower support ring 91 and a top support ring 78 are provided at the top of the cylindrical body 88 of the cone penetrator 76. A gap exists between the upper support ring and the top support ring 78, creating an insertion gap between the lower support ring 91, the top support ring 78, and the cylindrical body 88. The moving cylinder 77 is fixed on the mounting frame 74 and connected to a limiting end plate 79. The limiting end plate 79 is connected to two pull-out blocks 80. Block 80 is inserted and limited within the insertion gap. When the moving cylinder 77 completely removes the pull block 80 from the insertion gap, the cone penetrator 76 automatically falls. A dovetail slider 82 is provided on the top of the limiting end plate 79, and a dovetail groove 81 is provided on the mounting frame 74. The dovetail slider 82 is limited and engaged in the dovetail groove 81. The container mounting seat 93 facilitates the precise positioning of the test container 75 in the test area 2 to ensure vertical correspondence with the cone penetrator 76 above. In the initial state, the two pull blocks 80 limit and support the cone penetrator 76. When an experiment is required, the moving cylinder 77 drives the two pull blocks 80 to move. After the pull blocks 80 are completely removed from the insertion gap, the cone penetrator 76 automatically falls and acts on the soil sample in the test container 75 below. The displacement sensor built into the cone penetrator 76 detects the cone penetration depth of the cone probe 87 in real time and transmits the data to the system control unit. The system control unit compares the detected cone penetration depth data with the preset standard range value. If the cone penetration depth does not reach the standard range, the control unit recalculates the amount of water to be added based on the degree of deviation, starts the water supply equipment to add water again, and repeats the soil adjustment and testing. If the cone penetration depth slightly exceeds the standard range, the drying equipment is started to slightly dry the soil sample. After drying, the soil adjustment and testing are repeated until the cone penetration depth meets the standard range. The design of the dovetail groove 81 and the dovetail slider 82 ensures that when the moving cylinder 77 drives the pull block 80 to move through the limiting end plate 79, the dovetail slider 82 is always limited within the dovetail groove 81 and slides synchronously along the dovetail groove 81, thereby improving the stability and reliability of the equipment, ensuring that the pull block 80 always makes a horizontal linear movement, preventing the pull block 80 from deviating or getting stuck during movement, and ensuring that the pull block 80 can be smoothly inserted into or pulled out of the insertion gap.

[0034] The experimental equipment also includes a lifting assembly, which comprises a lifting motor 83, an adjusting screw 84, a positioning guide sleeve 85, and a guide rod 86. The lifting motor 83 is fixed on the mounting frame 74 and connected to the adjusting screw 84. The cylindrical body 88 is vertically limited within the positioning guide sleeve 85, which has an extension handle 89 threaded onto the adjusting screw 84. The guide rod 86 is fixedly connected to the mounting frame 74. The bottom end of the adjusting screw 84 is connected to the guide rod 86 via a bearing. A positioning nut 92 is located below the adjusting screw 84. The guide rod 86 has a guide groove 90, and one end of the extension handle 89 is slidably limited within the guide groove 90. The structure is ingeniously and reasonably designed. The positioning guide sleeve 85 provides a guiding function, ensuring that the cone penetrator 76 always acts vertically on the soil. Furthermore, when the cone penetrator 76 of this application completes the experiment by falling vertically, the upper part of the cylindrical body 88 also... Part of the cone penetrator 76 is ultimately limited within the positioning guide sleeve 85, and the lower support ring 91 is always positioned above the positioning guide sleeve 85. This design complements the lower support ring 91 at the top of the columnar body 88. When the cone penetrator 76 needs to be reset, the lifting motor 83 starts and drives the adjusting screw 84 to rotate, causing the extension handle 89 to rise vertically along the adjusting screw 84. The extension handle 89 drives the positioning guide sleeve 85 to move upward synchronously. When the positioning guide sleeve 85 moves upward and touches the lower support ring 91, it will lift the lower support ring 91 and drive the cone penetrator 76 to move upward synchronously. When the top support ring 78 touches the mounting bracket 74, the cone penetrator 76 moves into place. The moving cylinder 77 starts and drives the two pull-out blocks 80 to move towards the cone penetrator 76 until the pull-out blocks 80 are inserted and limited to the insertion gap. A clearance space 63 is formed between the two pull-out blocks 80. The clearance space 63 matches the columnar body 88 to ensure the smooth insertion and removal of the pull-out blocks 80.

[0035] The equipment in this application also includes a cleaning table 55, which is located on one side of the workbench 1. The cleaning table 55 is divided into two areas: area one 56 and area two 57. Area one 56 is located between the workbench 1 and area two 57. A robotic arm two 58 and a workpiece placement area 59 are provided in area one 56. A mechanical gripper 60 is installed at the end of the robotic arm two 58. An ultrasonic cleaning chamber 64 and a drying chamber 65 are provided in area two 57. A grid filter plate 66 is provided in the drying chamber 65, and a drain outlet 61 is provided at the bottom of the drying chamber 65. Baffles 62 are provided between area one 56 and the workbench 1, between area one 56 and area two 57, and between the ultrasonic cleaning chamber 64 and the drying chamber 65. The ultrasonic cleaning chamber 64 performs ultrasonic cleaning on the placed workpiece, quickly removing dirt and impurities from the surface of the workpiece, achieving efficient and thorough cleaning. Compared with traditional cleaning methods, ultrasonic cleaning has the advantages of fast cleaning speed, good cleaning effect, and less damage to the workpiece. The grid filter plate 66 is used to place the workpiece. Moisture on the surface of the workpiece can drip down through the holes in the grid filter plate 66 and then be discharged from the drain outlet 61. The design of the baffle plate 62 can separate different areas and clearly divide them. It can effectively prevent water splashes and stains generated during the cleaning process from spreading to other areas, avoid contaminating the workbench 1 and other equipment, and reduce the impact of the cleaning operation on other areas.

[0036] The cleaning station 55 is divided into zones, forming a complete, streamlined operation area from placing and gripping the workpieces to ultrasonic cleaning and drying. The workpiece placement area 59 is used to place the workpieces to be cleaned. A mechanical gripper 60 is installed at the end of the robotic arm 6 to grip the workpieces in the placement area 59 and place them into the ultrasonic cleaning chamber 64 for ultrasonic cleaning. After ultrasonic cleaning, the workpieces are then gripped from the ultrasonic cleaning chamber 64 and placed into the drying chamber 65 for drying. The entire process requires no manual operation, greatly improving the efficiency and accuracy of the cleaning operation.

[0037] The above are merely specific embodiments of the present invention, but the technical features of the present invention are not limited thereto. Any simple changes, equivalent substitutions, or modifications made based on the present invention to solve essentially the same technical problems and achieve essentially the same technical effects are all covered within the protection scope of the present invention.

Claims

1. A robotic soil adjuster, characterized in that: Includes a workbench, the top surface of which is provided with a debugging area and a testing area; The debugging area is equipped with a workstation conversion column, a debugging platform and a robotic arm. The workstation conversion column is connected to a conversion motor. The four sides of the workstation conversion column are four workstations. The conversion motor drives the workstation conversion column to rotate, thereby realizing the conversion of the four workstations. The four workstations are a data collection workstation, a humidity detection workstation, a water addition workstation, and a drying workstation. The data collection workstation is equipped with data collection equipment, the humidity detection workstation is equipped with humidity testing equipment, the water addition workstation is equipped with water addition equipment, and the drying workstation is equipped with drying equipment. The debugging platform includes a base and an adjustment seat. The adjustment seat is slidably engaged with the base. A push cylinder is provided on the base. The push cylinder pushes the adjustment seat to slide along the base for adjustment. An debugging glass plate and a scraping device are provided on the adjustment seat. The end of the robotic arm is equipped with a soil adjusting scraper; The test area is equipped with test equipment.

2. The robotic soil adjuster according to claim 1, characterized in that: The acquisition device includes a guide plate, a guide screw, and a camera. The guide plate is fixedly connected to the side of the workstation conversion column. The camera is slidably connected to the guide screw via a connecting block. The connecting block is fixed to the guide screw by two limiting nuts. The two ends of the guide screw are fixedly connected to the guide plate via support plates. A guide sleeve is provided on the connecting block, and the guide sleeve is slidably engaged with the guide plate.

3. The robotic soil adjuster according to claim 1, characterized in that: The humidity testing equipment includes a linear module, a mounting base, and a humidity sensor. The mounting base is fixedly connected to the slider of the linear module. A limit ring is provided on the top of the humidity sensor. A vertical guide sleeve and a fastening ring are provided on the mounting base. The humidity sensor is vertically limited within the vertical guide sleeve and the fastening ring. The limit ring is limited and supported on the top surface of the fastening ring. A notch is provided on the fastening ring, and a fastening bolt is passed through the notch.

4. The robotic soil adjuster according to claim 1, characterized in that: The water supply equipment includes a water storage tank, a water pump, a flow control valve, and a water supply pipe. The water storage tank is connected to the inlet of the water pump through a connecting pipe, and the outlet of the water pump is connected to the inlet of the flow control valve through a connecting pipe. The outlet of the flow control valve is connected to the water supply pipe, and a nozzle is connected to the end of the water supply pipe. A reinforcing support is provided on the water supply pipe, and the reinforcing support is fixed to the workstation conversion column with screws.

5. A robotic soil adjuster according to claim 1, characterized in that: The drying equipment includes a blower, a heating chamber, and a drying plate. The outlet of the blower is connected to the heating chamber, and the outlet of the heating chamber is connected to the drying plate through an air supply pipe. Air supply holes are evenly arranged on the bottom surface of the drying plate.

6. The robotic soil adjuster according to claim 1, characterized in that: A working plate is provided on the adjusting seat. The working plate is fixedly connected to the adjusting seat via a column. The debugging glass plate is placed on the working plate. A positioning column is provided on the working plate. A positioning edge is provided on the side of the debugging glass plate. A positioning hole is provided on the positioning edge. The positioning hole and the positioning column are inserted into each other. The top of the positioning column extends through the positioning hole. A guide bucket is provided at the end of the debugging glass plate near the test equipment. The guide bucket is fixed to the adjusting seat with screws. The top of the guide bucket extends upward to form a U-shaped enclosure. The opening of the U-shaped enclosure faces the debugging glass plate. The bottom of the guide bucket is tapered.

7. A robotic soil adjuster according to claim 6, characterized in that: The scraping device includes a linear module two, a connecting rod, and a scraper. One end of the connecting rod is fixedly connected to the slider of the linear module two, and the other end of the connecting rod is fixedly connected to the scraper screw. The scraper is located on the end of the test glass plate away from the test device. A pad is provided on the working plate. The pad is attached to the side of the test glass plate. The height of the pad is flush with the height of the test glass plate. The scraper is placed on the pad.

8. A robotic soil adjuster according to claim 1, characterized in that: The testing equipment includes a mounting frame, a test container, a cone penetrator, and a moving cylinder. A container mounting base is provided on the test area, and the test container is locked in the container mounting base. The cone penetrator is located directly above the test container. The top of the cylindrical body of the cone penetrator is provided with a lower support ring and a top support ring, forming an insertion gap between the lower support ring, the top support ring, and the cylindrical body. The moving cylinder is fixed on the mounting frame and connected to a limiting end plate. The limiting end plate is connected to two pull-out blocks, which are inserted and limited within the insertion gap. When the moving cylinder completely removes the pull-out blocks from the insertion gap, the cone penetrator automatically falls. A dovetail slider is provided on the top of the limiting end plate, and a dovetail groove is provided on the mounting frame. The dovetail slider is locked in the dovetail groove.

9. A robotic soil adjuster according to claim 8, characterized in that: The testing equipment also includes a lifting assembly, which comprises a lifting motor, an adjusting screw, a positioning guide sleeve, and a guide rod. The lifting motor is fixed on the mounting frame and connected to the adjusting screw. The cylindrical body is vertically limited within the positioning guide sleeve. An extension handle is provided on the positioning guide sleeve and threaded onto the adjusting screw. The guide rod is fixedly connected to the mounting frame. The bottom end of the adjusting screw is connected to the guide rod via a bearing. A positioning nut is provided below the adjusting screw. A guide groove is provided on the guide rod, and one end of the extension handle is slidably limited within the guide groove.

10. A robotic soil adjuster according to claim 1, characterized in that: It also includes a cleaning station, which is located on one side of the workbench. The cleaning station is divided into two areas. Area one is equipped with a robotic arm and a workpiece placement area. The end of the robotic arm is equipped with a mechanical gripper. Area two is equipped with an ultrasonic cleaning chamber and a drying chamber. The drying chamber is equipped with a grid filter plate and a drain outlet at the bottom. Baffles are provided between area one and the workbench, between area one and area two, and between the ultrasonic cleaning chamber and the drying chamber.

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