A direct-push soil auto-sampling robot

Abstract

The application discloses a direct-push type automatic soil sampling robot and relates to the technical field of soil sampling.The direct-push type automatic soil sampling robot comprises a tracked sampling vehicle, a motorized transposition rotary table is fixedly installed on the top of the tracked sampling vehicle, a transposition support is fixedly installed on the top of the driving end of the motorized transposition rotary table, hydraulic frames are fixedly installed on the two sides of the transposition support, vertically-arranged hydraulic push rods are fixedly installed on the one side of the hydraulic frames, guide sliding rails are fixedly installed on the bottom of the hydraulic frames, and guide sliding blocks are slidingly installed on the one side of the guide sliding rails.The cutting assembly is arranged, so that if there are sundries, the cutting motor is started to drive a plurality of cutting knives at the bottom end of the sampling outer tube to rotate and cut the sundries, the sundries of the soil no longer hinder the pushing of the sampling outer tube, the sampling outer tube and the sampling inner cylinder can be smoothly pushed into the soil to perform sampling, and thus it is guaranteed that the soil samples of each sampling point can reach the standard.

Description

Technical Field

[0001] This invention relates to the field of soil sampling technology, and specifically to a direct-push automatic soil sampling robot. Background Technology

[0002] Drilling sampling is the foundation of soil pollution investigation. Ensuring the original state of soil samples is the core of drilling sampling and a prerequisite for ensuring the accuracy and reliability of the investigation and understanding the soil pollution status of a plot. Currently, direct-push drilling is a widely used low-disturbance soil drilling sampling technology. This technology is a point drilling technique that uses the pressure of the carrier and the impact force of an external vibratory hammer (driven by a hydraulic cylinder) to drill into the formation to collect soil samples through penetration, advancement, and vibration. This technology has the advantages of fast drilling speed and low disturbance.

[0003] Existing direct-push soil sampling equipment suffers from severe obstruction from debris such as stones and plant roots in the soil, leading to many sampling sites becoming unusable or samples failing to meet testing standards. To address this, a direct-push automatic soil sampling robot is proposed. Summary of the Invention

[0004] The purpose of this invention is to address the problem that the presence of debris such as stones and plant roots in the soil can severely hinder the insertion of a direct-push soil sampling device, leading to the failure of many sampling locations or the collection of samples that do not meet the standards for testing. This invention provides a direct-push automatic soil sampling robot.

[0005] To achieve the above objectives, the present invention specifically adopts the following technical solution: A direct-push type automatic soil sampling robot includes a tracked sampling vehicle. An electric rotating platform is fixedly mounted on the top of the tracked sampling vehicle. A positioning bracket is fixedly mounted on the top of the drive end of the electric rotating platform. Hydraulic frames are fixedly mounted on both sides of the positioning bracket. A vertically arranged hydraulic push rod is fixedly mounted on one side of each hydraulic frame. A guide rail is fixedly mounted on the bottom of each hydraulic frame. A guide slider is slidably mounted on one side of each guide rail. A gearbox is fixedly mounted on the telescopic end of one of the hydraulic push rods. The gearbox is fixedly mounted on the guide slider on the same side. An assembly hole is provided at the bottom of the gearbox. A sampling outer tube is fixedly mounted inside the assembly hole. A coaxial sampling inner cylinder is provided inside the sampling outer tube. The top of the sampling outer tube and the sampling inner cylinder located inside the gearbox are fixedly mounted on the same C-shaped fixed track frame.

[0006] Furthermore, a pressure sensor is fixedly installed at the telescopic end of the hydraulic push rod located on the other side. The pressure sensor is fixedly installed on the guide slider on the same side, and multiple evenly distributed pressure measuring rods are fixedly installed at the bottom of the pressure sensor.

[0007] Furthermore, an annular protective shell is fixedly installed on the top of the tracked sampling vehicle, and an electric sample rotating stage is fixedly installed inside the tracked sampling vehicle. The drive end of the electric sample rotating stage extends into the interior of the annular protective shell and is fixedly installed with multiple evenly distributed sample cylinders. A sealing cover is fixedly installed on the top of the annular protective shell, and a discharge hole corresponding to the position of the sample cylinder is opened on the top of the sealing cover.

[0008] Furthermore, a circulating suction pump is fixedly installed on the top of the gearbox, and a suction pipe is fixedly installed on the air delivery end of the circulating suction pump. A suction hole is opened at the top of the sampling inner cylinder, and the bottom end of the suction pipe extends into the interior of the gearbox and communicates with the suction hole.

[0009] Furthermore, a fastening circulating air pump, an annular air pipe, and multiple control air valves are fixedly installed on the top of the drive end of the electric sample rotating stage. The air supply end of the fastening circulating air pump is connected to the annular air pipe. The multiple control air valves are located on one side of the multiple sample cylinders and are all connected to the annular air pipe. An air supply pipe is fixedly installed on one end of each control air valve. A cylindrical air cushion is fixedly installed inside each sample cylinder. One end of each of the multiple air supply pipes extends into the interior of the multiple sample cylinders and is connected to the multiple cylindrical air cushions.

[0010] Furthermore, a cutting assembly is provided between the outer sampling tube and the inner sampling cylinder. The cutting assembly is used to cut debris when the outer sampling tube and the inner sampling cylinder are pushed into the soil. The sampling assembly includes a cutting tube rotatably installed between the outer sampling tube and the inner sampling cylinder. An assembly ring is fixedly installed at the bottom end of the cutting tube. Thin-walled bearings are fixedly installed between the bottom ends of the outer sampling tube and the inner sampling cylinder and the assembly ring. Multiple evenly distributed cutting blades are fixedly installed at the bottom of the assembly ring. A driven gear ring is fixedly installed at the top end of the cutting tube. The driven gear ring is located inside the C-shaped fixed track frame. A transmission gear is rotatably installed inside the gearbox. The transmission gear meshes with the driven gear ring. A cutting motor is fixedly installed at the top of the gearbox. The output shaft of the cutting motor extends into the gearbox and is drivenly connected to the transmission gear.

[0011] Furthermore, the bottom of the assembly ring is provided with an annular assembly groove, and a blade mounting ring is placed inside the annular assembly groove. Multiple cutting blades are fixedly installed at the bottom of the blade mounting ring. Multiple threaded grooves are provided inside the annular assembly groove, and multiple insertion holes corresponding to the positions of the threaded grooves are provided on the blade mounting ring. The same hexagonal bolt passes through the threaded grooves and insertion holes located at the same location.

[0012] Furthermore, a protective ring is fitted onto the assembly ring, and an elastic retaining ring is fixedly installed on the inner wall of the protective ring. An annular retaining groove adapted to the elastic retaining ring is opened on the side wall of the assembly ring. The interior of the protective ring is provided with multiple clearance holes adapted to the cutting blade and multiple hexagonal positioning grooves adapted to the hexagonal bolt.

[0013] The beneficial effects of this invention are as follows: 1. The present invention, by setting up a cutting component, enables the cutting motor to start when there are stones, plant roots or other debris in the soil, driving multiple cutting blades at the bottom of the sampling outer tube to rotate and cut the debris, so that the debris in the soil no longer obstructs the pushing of the sampling outer tube, and the sampling outer tube and sampling inner tube can be pushed smoothly into the soil for sampling, thereby ensuring that each sampling point can obtain a soil sample that meets the standard. 2. This invention, by setting pressure-measuring rods, allows the hydraulic push rod to drive the pressure sensor and pressure-measuring rods to descend before sampling, so that multiple pressure-measuring rods can be inserted into the soil at the sampling location. This allows multiple pressure-measuring rods to conduct pre-exploration, and the pressure sensor monitors the pressure state of each pressure-measuring rod in real time, thereby detecting whether there are stones, roots, or other debris in the soil layer at the current location, which facilitates the operation of the subsequent cutting components. 3. This invention sets up a cylindrical air cushion so that when the soil sample falls into the sample cylinder, the cylindrical air cushion is in a contracted and shrunken state, which facilitates the falling of the soil. Then, the gas supply pipe at this location is opened, and the tightened circulating air pump supplies air to the cylindrical air cushion in the sample cylinder through the annular air pipe, the control air valve, and the air supply pipe on the same side, causing the cylindrical air cushion to expand and compress and tighten the soil sample inside, so that the soil maintains external binding force and prevents the internal structure of the soil from disintegrating. 4. By setting a protective ring, after the cutting blade is replaced, the protective ring is re-attached to the assembly ring, and the elastic retaining ring is inserted into the annular assembly groove for limiting. At this time, multiple cutting blades are respectively inserted into the respective clearance holes, so that the protective ring supports the root of the cutting blade, improving the structural strength of the cutting blade. At the same time, it allows each hexagonal bolt to be inserted into the hexagonal positioning groove, preventing the hexagonal bolts from loosening and providing sealing protection for the hexagonal bolts. Attached Figure Description

[0014] Figure 1 This is a three-dimensional structural schematic diagram of the present invention; Figure 2 This is a three-dimensional structural diagram of the electric rotating stage and sampling component of the present invention. Figure 3 This is a three-dimensional structural diagram of the gearbox and sampling outer tube of the present invention. Figure 4 This is a schematic diagram of the internal three-dimensional structure of the gearbox of the present invention; Figure 5 This is a three-dimensional structural diagram of the sampling outer tube, sampling inner tube, and cutting tube of the present invention. Figure 6 This is a three-dimensional structural diagram of the assembly ring and blade mounting ring of the present invention. Figure 7 This is the present invention. Figure 6 Schematic diagram of the structure at point A in the middle; Figure 8 This is a schematic diagram of the three-dimensional structure of the protective ring of the present invention; Figure 9 This is a schematic diagram of the three-dimensional structure of the annular protective shell of the present invention; Figure 10 This is a schematic diagram of the internal three-dimensional structure of the annular protective shell of the present invention; Reference numerals: 1. Tracked sampling vehicle; 2. Electric rotating table; 3. Rotation bracket; 4. Hydraulic frame; 5. Hydraulic push rod; 6. Guide rail; 7. Guide slider; 8. Gearbox; 9. Sampling outer tube; 10. Sampling inner cylinder; 1001. Suction hole; 11. C-shaped fixed track frame; 12. Cutting tube; 13. Assembly ring; 1301. Annular assembly groove; 1302. Annular slot; 14. Thin-walled bearing; 15. Cutting blade; 16. Transmission gear; 17. Driven gear ring; 18. Cutting electric... 19. Circulating suction pump; 20. Suction pipe; 21. Blade mounting ring; 22. Hex bolt; 23. Protective ring; 2301. Clearance hole; 2302. Hexagonal positioning groove; 24. Elastic retaining ring; 25. Annular protective shell; 26. Electric sample rotating stage; 27. Sample cylinder; 28. Cylindrical air cushion; 29. ​​Fastening circulating air pump; 30. Annular air pipe; 31. Control air valve; 32. Air delivery pipe; 33. Pressure sensor; 34. Pressure measuring rod; 35. Sealing cover plate; 3501. Discharge hole. Detailed Implementation

[0015] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0016] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0017] It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, the terms "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0018] In the description of the embodiments of the present invention, it should be noted that the terms "inner", "outer", "upper", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product of the invention is usually placed when in use. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting the present invention.

[0019] like Figures 1 to 10 As shown, a direct-push automatic soil sampling robot includes a tracked sampling vehicle 1, such as... Figure 1 , Figure 2 As shown, an electric rotating platform 2 is fixedly installed on the top of the tracked sampling vehicle 1. A rotating bracket 3 is fixedly installed on the top of the drive end of the electric rotating platform 2. Hydraulic frames 4 are fixedly installed on both sides of the rotating bracket 3. A vertically arranged hydraulic push rod 5 is fixedly installed on one side of each hydraulic frame 4. A guide rail 6 is fixedly installed at the bottom of each hydraulic frame 4. A guide slider 7 is slidably installed on one side of each guide rail 6. Figure 3 As shown, a gearbox 8 is fixedly installed on the telescopic end of one of the hydraulic push rods 5. The gearbox 8 is fixedly installed on the guide slider 7 on the same side. An assembly hole is provided at the bottom of the gearbox 8. A sampling outer tube 9 is fixedly installed inside the assembly hole. A coaxial sampling inner cylinder 10 is provided inside the sampling outer tube 9. Figure 4 As shown, the outer sampling tube 9 and the inner sampling cylinder 10 are fixedly mounted on the top of one end inside the gearbox 8 with the same C-shaped fixed track frame 11.

[0020] More specifically, when the direct-push automatic soil sampling robot is in use, the tracked sampling vehicle 1 carries the complete set of equipment to the designated location, the electric rotating table 2 drives the rotating bracket 3 to rotate, and the hydraulic frame 4 and hydraulic push rod 5 drive the sampling outer tube 9 to rotate above the sampling point. The hydraulic push rod 5 on the same side drives the gearbox 8 to descend along the guide rail 6, thereby driving the sampling outer tube 9 to press down and push it into the soil for sampling.

[0021] like Figure 2 As shown, specifically, a pressure sensor 33 is fixedly installed on the telescopic end of the hydraulic push rod 5 located on the other side. The pressure sensor 33 is fixedly installed on the guide slider 7 on the same side. Multiple evenly distributed pressure measuring rods 34 are fixedly installed on the bottom of the pressure sensor 33.

[0022] In this embodiment, the bottom of the pressure sensor 33 is provided with multiple sensing ends, which are respectively connected to multiple pressure measuring rods 34. The ring array formed by the multiple pressure measuring rods 34 is similar in size to the outer diameter of the sampling outer tube 9.

[0023] More specifically, by setting pressure-measuring rods 34, before sampling, the hydraulic push rod 5 drives the pressure sensor 33 and the pressure-measuring rods 34 to descend, so that multiple pressure-measuring rods 34 are inserted into the soil at the sampling location. This allows multiple pressure-measuring rods 34 to conduct pre-exploration, and the pressure sensor 33 monitors the pressure state of each pressure-measuring rod 34 in real time, thereby detecting whether there are stones, roots, or other debris in the soil layer at the current location, which facilitates the operation of the subsequent cutting components.

[0024] like Figure 3 , Figure 5 As shown, a circulating suction pump 19 is fixedly installed on the top of the gearbox 8, and a suction pipe 20 is fixedly installed on the air delivery end of the circulating suction pump 19. A suction hole 1001 is opened at the top of the sampling inner cylinder 10, and the bottom end of the suction pipe 20 extends into the interior of the gearbox 8 and is connected to the suction hole 1001.

[0025] More specifically, by setting up a circulating suction pump 19, after the sampling outer tube 9 is pushed into the soil, the circulating suction pump 19 draws air from inside the sampling inner cylinder 10 through the suction pipe 20, creating a negative pressure at the top of the sampling inner cylinder 10. This prevents the soil sample from slipping out of the sampling inner cylinder 10 when the sampling outer tube 9 is pulled out. At the same time, when the sample is unloaded and collected, the circulating suction pump 19 supplies air into the sampling inner cylinder 10 to increase the air pressure inside the sampling inner cylinder 10, facilitating the unloading of the soil.

[0026] like Figure 1 , Figure 10 As shown, an annular protective shell 25 is fixedly installed on the top of the tracked sampling vehicle 1. An electric sample rotating stage 26 is fixedly installed inside the tracked sampling vehicle 1. The drive end of the electric sample rotating stage 26 extends into the interior of the annular protective shell 25 and is fixedly installed with multiple evenly distributed sample cylinders 27, as shown. Figure 9 As shown, a sealing cover plate 35 is fixedly installed on the top of the annular protective shell 25, and a discharge hole 3501 corresponding to the position of the sample cylinder 27 is opened on the top of the sealing cover plate 35.

[0027] More specifically, by setting the sample tube 27, the sampling inner tube 10 containing the soil sample will be reset together with the sampling outer tube 9. Then, the electric rotating stage 2 drives the sampling outer tube 9 to rotate above the discharge hole 3501. The electric sample rotating stage 26 drives the sample tube 27 array to rotate, so that an empty sample tube 27 rotates to the bottom of the sampling outer tube 9. Then, the sampling outer tube 9 discharges the soil sample, which slides into the sample tube 27 for storage, thus completing a single soil sampling.

[0028] In this embodiment, the sample cylinders 27 are evenly distributed on the electric sample rotating stage 26 with a space of one unit distance left so that all the sample cylinders 27 can be stored at the bottom of the sealing cover plate 35.

[0029] like Figure 10 As shown, specifically, a fastening circulating air pump 29, an annular air pipe 30, and multiple control air valves 31 are fixedly installed on the top of the drive end of the electric sample rotating stage 26. The air supply end of the fastening circulating air pump 29 is connected to the annular air pipe 30. The multiple control air valves 31 are located on one side of the multiple sample cylinders 27 and are all connected to the annular air pipe 30. One end of each control air valve 31 is fixedly installed with an air supply pipe 32. A cylindrical air cushion 28 is fixedly installed inside each sample cylinder 27. One end of each of the multiple air supply pipes 32 extends into the interior of the multiple sample cylinders 27 and is connected to the multiple cylindrical air cushions 28.

[0030] More specifically, by setting up a cylindrical air cushion 28, when the soil sample falls into one of the sample cylinders 27, the cylindrical air cushion 28 is in a contracted and shrunken state, which facilitates the falling of the soil. Then, the gas supply pipe 32 at that location is opened, and the tightened circulating air pump 29 supplies air to the cylindrical air cushion 28 in the sample cylinder 27 through the annular air pipe 30, the control air valve 31, and the air supply pipe 32 on the same side, causing the cylindrical air cushion 28 to expand and compress and tighten the soil sample inside, so that the soil maintains external binding force and prevents the internal structure of the soil from disintegrating.

[0031] A cutting assembly is provided between the outer sampling tube 9 and the inner sampling cylinder 10. This cutting assembly is used to cut debris when the outer sampling tube 9 and the inner sampling cylinder 10 are pushed into the soil. Figure 4 , Figure 5 As shown, specifically, the sampling assembly includes a cutting tube 12 rotatably mounted between the outer sampling tube 9 and the inner sampling cylinder 10. An assembly ring 13 is fixedly mounted at the bottom end of the cutting tube 12. Thin-walled bearings 14 are fixedly mounted between the bottom ends of both the outer sampling tube 9 and the inner sampling cylinder 10 and the assembly ring 13. Multiple evenly distributed cutting blades 15 are fixedly mounted at the bottom of the assembly ring 13. A driven gear ring 17 is fixedly mounted at the top end of the cutting tube 12. The driven gear ring 17 is located inside the C-shaped fixed track frame 11. A transmission gear 16 is rotatably mounted inside the gearbox 8, and the transmission gear 16 meshes with the driven gear ring 17. Figure 3 As shown, a cutting motor 18 is fixedly mounted on the top of the gearbox 8, and the output shaft of the cutting motor 18 extends into the interior of the gearbox 8 and is driven by the transmission gear 16.

[0032] More specifically, if debris such as stones or plant roots are detected in the soil, the cutting motor 18 is activated, driving the cutting tube 12 to rotate at high speed through the transmission gear 16 and the driven gear ring 17. This, in turn, drives the multiple cutting blades 15 at the bottom of the sampling outer tube 9 to rotate and cut the debris, so that the debris in the soil no longer obstructs the pushing of the sampling outer tube 9. This allows the sampling outer tube 9 and the sampling inner tube 10 to be smoothly pushed into the soil for sampling, thereby ensuring that each sampling point can obtain a soil sample that meets the standards.

[0033] like Figure 7 As shown, the bottom of the assembly ring 13 has an annular assembly groove 1301, and the blade mounting ring 21 is placed inside the annular assembly groove 1301. Multiple cutting blades 15 are fixedly installed at the bottom of the blade mounting ring 21. Multiple threaded grooves are opened inside the annular assembly groove 1301. Multiple insertion holes corresponding to the positions of the threaded grooves are opened on the blade mounting ring 21. The same hexagonal bolt 22 passes through the threaded grooves and insertion holes located at the same location.

[0034] More specifically, by setting the blade mounting ring 21, the cutting blade 15 is mounted on the bottom of the assembly ring 13 via the blade mounting ring 21. When the cutting blade 15 needs to be replaced, each hexagonal bolt 22 can be unscrewed, the blade mounting ring 21 can be removed from the annular assembly groove 1301, and then a new blade mounting ring 21 and cutting blade 15 can be installed and the hexagonal bolts 22 can be tightened to complete the replacement of the cutting blade 15. This allows the cutting blade 15 to be replaced modularly, ensuring the cutting performance of the cutting assembly.

[0035] like Figure 3 , Figure 8 As shown, specifically, a protective ring 23 is sleeved on the assembly ring 13, and an elastic retaining ring 24 is fixedly installed on the inner wall of the protective ring 23. An annular retaining groove 1302 adapted to the elastic retaining ring 24 is opened on the side wall of the assembly ring 13. The interior of the protective ring 23 is provided with multiple clearance holes 2301 adapted to the cutting blade 15 and multiple hexagonal positioning grooves 2302 adapted to the hexagonal bolts 22.

[0036] More specifically, by setting up a protective ring 23, the protective ring 23 must be removed before each replacement of the cutting blade 15. After the replacement is completed, the protective ring 23 is re-attached to the assembly ring 13, and the elastic retaining ring 24 is inserted into the annular assembly groove 1301 for limiting. At this time, multiple cutting blades 15 are respectively inserted into the respective clearance holes 2301, so that the protective ring 23 supports the root of the cutting blade 15, improving the structural strength of the cutting blade 15. At the same time, it causes each hexagonal bolt 22 to be inserted into the hexagonal positioning groove 2302, preventing the hexagonal bolts 22 from loosening and providing sealing protection for the hexagonal bolts 22.

[0037] In summary: Before sampling: The tracked sampling vehicle 1 carries the complete set of equipment to the designated location. The electric rotating platform 2 drives the rotating bracket 3 to rotate. Through the hydraulic frame 4 and hydraulic push rod 5, the sampling outer tube 9 is rotated to above the sampling point. The hydraulic push rod 5 drives the pressure sensor 33 and pressure measuring rod 34 to descend, so that multiple pressure measuring rods 34 are inserted into the soil at the sampling point. Multiple pressure measuring rods 34 are used for pre-exploration. The pressure sensor 33 monitors the pressure state of each pressure measuring rod 34 in real time, thereby detecting whether there are stones, roots or other debris in the soil layer at the current location. During sampling: The hydraulic push rod 5 on the same side drives the gearbox 8 to descend along the guide rail 6, thereby pressing down the sampling outer tube 9 and pushing it into the soil for sampling. The circulating suction pump 19 draws air from the inside of the sampling inner cylinder 10 through the suction pipe 20, creating a negative pressure at the top of the sampling inner cylinder 10. The sampling inner cylinder 10, which contains the soil sample, will reset together with the sampling outer tube 9. Then, the electric rotating stage 2 drives the sampling outer tube 9 to rotate above the discharge hole 3501. The electric sample rotating stage 26 drives the sample cylinders 27 array to rotate, so that an empty sample cylinder 27 rotates to the bottom of the sampling outer tube 9. Then, the sampling outer tube 9 discharges the soil sample, allowing it to slide into the sample cylinder 27 for collection. After that, the gas supply pipe 32 at this location is opened and tightened. The circulating air pump 29 supplies air to the cylindrical air cushion 28 in the sample tube 27 through the annular air pipe 30, the control air valve 31, and the air supply pipe 32 on the same side. This causes the cylindrical air cushion 28 to expand and compress the soil sample inside, keeping the soil under external binding force. If there are stones, plant roots, or other debris in the soil, the cutting motor 18 starts and drives the cutting tube 12 to rotate at high speed through the transmission gear 16 and the driven gear ring 17. This, in turn, drives the multiple cutting blades 15 at the bottom of the sampling outer tube 9 to rotate and cut the debris. This prevents the debris in the soil from obstructing the insertion of the sampling outer tube 9, allowing the sampling outer tube 9 and the sampling inner tube 10 to be smoothly pushed into the soil for sampling. This ensures that each sampling point can obtain a soil sample that meets the standards. After sampling: When it is necessary to replace the cutting blade 15, first remove the protective ring 23, unscrew each hex bolt 22, remove the blade mounting ring 21 from the annular assembly groove 1301, then replace the new blade mounting ring 21 with the cutting blade 15 and tighten the hex bolt 22, reattach the protective ring 23 to the assembly ring 13, and insert the elastic retaining ring 24 into the annular assembly groove 1301 for limiting, thus completing the replacement of the cutting blade 15.

[0038] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed invention. The scope of protection claimed by the appended claims and their equivalents is defined.

Claims

1. A direct-push automatic soil sampling robot, characterized in that, The system includes a tracked sampling vehicle (1), on the top of which is a motorized rotating platform (2). A rotating bracket (3) is fixedly mounted on the top of the drive end of the motorized rotating platform (2). Hydraulic frames (4) are fixedly mounted on both sides of the rotating bracket (3). Vertically arranged hydraulic push rods (5) are fixedly mounted on one side of each hydraulic frame (4). Guide rails (6) are fixedly mounted on the bottom of each hydraulic frame (4). Guide sliders (7) are slidably mounted on one side of each guide rail (6). A gearbox (8) is fixedly mounted on the telescopic end of one of the hydraulic push rods (5). The guide slider (7) is fixedly installed on the same side. The bottom of the gearbox (8) is provided with an assembly hole. The sampling outer tube (9) is fixedly installed inside the assembly hole. The sampling inner cylinder (10) is coaxially arranged inside the sampling outer tube (9). The sampling outer tube (9) and the sampling inner cylinder (10) are fixedly installed with the same C-shaped fixed track frame (11) at the top of one end inside the gearbox (8). A cutting component is provided between the sampling outer tube (9) and the sampling inner cylinder (10). The cutting component is used to cut debris when the sampling outer tube (9) and the sampling inner cylinder (10) are pushed into the soil.

2. The direct-push automatic soil sampling robot according to claim 1, characterized in that, The sampling assembly includes a cutting tube (12) rotatably mounted between the outer sampling tube (9) and the inner sampling cylinder (10). An assembly ring (13) is fixedly mounted at the bottom end of the cutting tube (12). Thin-walled bearings (14) are fixedly mounted between the bottom ends of the outer sampling tube (9) and the inner sampling cylinder (10) and the assembly ring (13). Multiple evenly distributed cutting blades (15) are fixedly mounted at the bottom of the assembly ring (13). A driven gear ring (17) is fixedly mounted at the top end of the cutting tube (12). The driven gear ring (17) is located inside the C-shaped fixed track frame (11). A transmission gear (16) is rotatably mounted inside the gearbox (8). The transmission gear (16) meshes with the driven gear ring (17). A cutting motor (18) is fixedly mounted at the top of the gearbox (8). The output shaft of the cutting motor (18) extends into the gearbox (8) and is drivenly connected to the transmission gear (16).

3. The direct-push automatic soil sampling robot according to claim 2, characterized in that, The bottom of the assembly ring (13) is provided with an annular assembly groove (1301), and a blade mounting ring (21) is placed inside the annular assembly groove (1301). Multiple cutting blades (15) are fixedly installed at the bottom of the blade mounting ring (21). Multiple threaded grooves are provided inside the annular assembly groove (1301). Multiple insertion holes corresponding to the positions of the threaded grooves are provided on the blade mounting ring (21). The same hexagonal bolt (22) passes through the threaded grooves and insertion holes located at the same location.

4. The direct-push automatic soil sampling robot according to claim 3, characterized in that, A protective ring (23) is fitted onto the assembly ring (13). An elastic retaining ring (24) is fixedly installed on the inner wall of the protective ring (23). An annular retaining groove (1302) adapted to the elastic retaining ring (24) is opened on the side wall of the assembly ring (13). The interior of the protective ring (23) is provided with a plurality of clearance holes (2301) adapted to the cutting blade (15) and a plurality of hexagonal positioning grooves (2302) adapted to the hexagonal bolt (22).

5. The direct-push automatic soil sampling robot according to claim 1, characterized in that, A circulating suction pump (19) is fixedly installed on the top of the gearbox (8). A suction pipe (20) is fixedly installed on the gas delivery end of the circulating suction pump (19). A suction hole (1001) is opened at the top of the sampling inner cylinder (10). The bottom end of the suction pipe (20) extends into the interior of the gearbox (8) and is connected to the suction hole (1001).

6. The direct-push automatic soil sampling robot according to claim 1, characterized in that, The tracked sampling vehicle (1) is fixedly equipped with an annular protective shell (25) on its top. An electric sample rotating stage (26) is fixedly installed inside the tracked sampling vehicle (1). The drive end of the electric sample rotating stage (26) extends into the interior of the annular protective shell (25) and is fixedly equipped with a plurality of evenly distributed sample tubes (27). A sealing cover plate (35) is fixedly installed on the top of the annular protective shell (25). The top of the sealing cover plate (35) is provided with a discharge hole (3501) corresponding to the position of the sample tube (27).

7. The direct-push type automatic soil sampling robot according to claim 6, characterized in that, The top of the drive end of the electric sample rotating stage (26) is fixedly installed with a fastening circulating air pump (29), an annular air pipe (30) and multiple control air valves (31). The air supply end of the fastening circulating air pump (29) is connected to the annular air pipe (30). The multiple control air valves (31) are located on one side of the multiple sample cylinders (27) and are all connected to the annular air pipe (30). One end of each control air valve (31) is fixedly installed with an air supply pipe (32). A cylindrical air cushion (28) is fixedly installed inside each sample cylinder (27). One end of each of the multiple air supply pipes (32) extends into the interior of the multiple sample cylinders (27) and is connected to the multiple cylindrical air cushions (28).

8. The direct-push automatic soil sampling robot according to claim 1, characterized in that, A pressure sensor (33) is fixedly installed on the telescopic end of the hydraulic push rod (5) located on the other side. The pressure sensor (33) is fixedly installed on the guide slider (7) on the same side. Multiple evenly distributed pressure measuring rods (34) are fixedly installed on the bottom of the pressure sensor (33).

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