A self-compensating balancing mechanism for a ground probing device

Abstract

The application discloses a foundation sounding device of a self-compensation balance mechanism, which comprises a base, a supporting and positioning mechanism and a bottom plate, the supporting and positioning mechanism is installed on the base in a matrix mode, the bottom plate is hinged to the base through an extension link, a fixing frame is arranged on the bottom plate, a sounding mechanism is arranged on the fixing frame, an X-direction balance compensation mechanism and a Y-direction balance compensation mechanism are arranged on the base, the X-direction balance compensation mechanism is connected with the bottom of the bottom plate, and the Y-direction balance compensation mechanism is connected with the bottom of the bottom plate. Through integration of the X-direction balance compensation mechanism and the Y-direction balance compensation mechanism, a multi-dimensional dynamic balance system is constructed, the X-direction balance compensation mechanism is used for fine adjustment of the level of the bottom plate and direct correction of the perpendicularity of the sounding mechanism, the Y-direction balance compensation mechanism balances the whole machine by generating a reverse torque to prevent overturning. The two mechanisms work cooperatively to realize automatic and real-time compensation of forward and backward and left and right tilting, and the detection efficiency and detection precision are improved.

Description

Technical Field

[0001] This invention belongs to the field of foundation bearing capacity testing technology, and particularly relates to a foundation penetration test device with a self-compensating balancing mechanism. Background Technology

[0002] The foundation is the soil or rock mass that supports the foundation of a building. It is classified into two types according to its formation: natural foundation (directly utilizing natural soil layers) and artificial foundation (artificially treated when the bearing capacity of the natural soil layer is insufficient). After foundation treatment, the bearing capacity must be tested to ensure it meets design requirements and avoid safety hazards such as building subsidence and collapse due to insufficient foundation bearing capacity. Penetration testing is a common method for evaluating foundation bearing capacity and is widely used in engineering surveys. However, traditional penetration testing devices heavily rely on the initial flatness of the work site. On foundations with uneven hardness, the equipment is prone to tilting, causing the probe to lose its verticality. Currently, static and passive methods such as manual padding and adjusting outriggers are often used for adjustment. This is not only inefficient but also unable to correct for new tilting caused by dynamic factors such as ground subsidence and equipment vibration during the penetration test, leading to data distortion and operational risks.

[0003] In the prior art, relevant patent applications have disclosed static cone penetration testing devices for foundation bearing capacity. For example, patent CN202510522351.7 discloses a static cone penetration testing device for foundation bearing capacity. By adjusting the components, the balance state of the static cone penetration testing device is adjusted accordingly, so that the probe and probe are perpendicular to the ground, which facilitates the subsequent detection of foundation bearing capacity and improves the accuracy of the test results. However, the stabilization system (legs and ground anchors) is mainly leveled and anchored before the test, which is a kind of "static" stabilization method and is difficult to cope with the instantaneous and small foundation changes that may occur during the test. Summary of the Invention

[0004] To solve the above-mentioned technical problems, the present invention provides a ground penetration test device with a self-compensating balancing mechanism.

[0005] The present invention is achieved through the following technical solutions.

[0006] The present invention provides a ground penetration test device with a self-compensating balancing mechanism, comprising a base, a support positioning mechanism and a bottom plate. The support positioning mechanism is matrix-mounted on the base. The bottom plate is hinged to the base via a telescopic rod. A fixing frame is provided on the bottom plate. A penetration mechanism is provided on the fixing frame. An X-axis balancing compensation mechanism and a Y-axis balancing compensation mechanism are provided on the base. The X-axis balancing compensation mechanism is connected to the bottom of the bottom plate, and the Y-axis balancing compensation mechanism is connected to the bottom of the bottom plate.

[0007] Preferably, the support and positioning mechanism includes a bracket, a first motor is fixed to the top of the bracket, the output shaft of the first motor is connected to a first lead screw, and the bottom of the first lead screw is rotatably mounted on the surface of the base.

[0008] Preferably, a mounting plate is threaded onto the first lead screw, the side of the mounting plate is attached to and slidably disposed on the side wall of the bracket, a plug rod is connected to the bottom of the mounting plate, and a through hole is provided on the base for the plug rod to pass through.

[0009] Preferably, the fixing frame includes two columns connected to the base plate, a crossbeam connecting the two columns, a ball bearing slide mounted on the crossbeam, and a top plate connecting the tops of the two columns.

[0010] Preferably, the probing mechanism includes a support plate, with side plates connected to both sides of the support plate, a probe rod rotatably mounted on the bottom of the support plate, and a first clearance hole for the probe rod to pass through on the base.

[0011] Preferably, the bottom of the support plate is connected to two layers of stabilizing plates via connecting columns, the upper end of the probe rod is rotatably mounted on the stabilizing plates, and a second motor is mounted on the support plate.

[0012] Preferably, the X-axis balance compensation mechanism includes two sets of rotating seats fixed on the base. Each set of rotating seats is equipped with a rotating shaft, and a connecting seat is sleeved on the rotating shaft. One end of the connecting seat is connected to the bottom of the base plate.

[0013] Preferably, the X-axis balance compensation mechanism further includes a third motor, the output shaft of which is connected to a worm gear, and a worm wheel is sleeved on one end of one of the rotating shafts, the worm gear meshing with the worm wheel.

[0014] Preferably, the base is provided with grooves and sliding grooves symmetrically arranged about the grooves. The Y-axis balance compensation mechanism includes a second lead screw rotatably disposed inside the groove. A lead screw seat is threadedly connected to the second lead screw, and a counterweight is installed on the lead screw seat.

[0015] Preferably, the Y-axis balance compensation mechanism further includes a fourth motor, which is disposed at the end of the base, and sliders are installed at both ends of the bottom of the counterweight, the sliders being slidably installed inside the slide groove.

[0016] The beneficial effects of this invention are as follows: 1. This invention constructs a multi-dimensional dynamic balancing system by integrating an X-axis balancing compensation mechanism and a Y-axis balancing compensation mechanism. The X-axis balancing compensation mechanism is used to fine-tune the level of the base plate and directly correct the verticality of the probe mechanism; the Y-axis balancing compensation mechanism balances the whole machine by generating a reverse torque to prevent overturning. The two work together to achieve automatic and real-time compensation for front-to-back and left-to-right tilting.

[0017] 2. In this invention, the core components such as the support and positioning mechanism, the fixing frame, and the probing mechanism are rigidly connected to the base and the bottom plate in a matrix or parallel manner. Multiple support and positioning mechanisms can work synchronously to quickly anchor the device to the ground. The probing mechanism is driven by a ball bearing slide, which makes the lifting and lowering smooth and precise, so that the equipment can be positioned quickly, has good overall rigidity, and a clear force transmission path.

[0018] 3. The telescopic rod of this invention plays a key stabilizing and limiting role in the leveling process of the base plate, preventing excessive deflection of the base plate and increasing the stability of the base plate rotation. The top plate at the top of the fixed frame mechanically limits the upward stroke of the penetration mechanism. The probe rod obtains double support through the stabilizing plate, which enhances its stability during rotation and penetration. In summary, this device improves the overall stability during foundation penetration. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is a schematic diagram of the supporting positioning mechanism of the present invention; Figure 3 This is a schematic diagram of the structure of the fixing frame and the probing mechanism of the present invention; Figure 4 This is a schematic diagram of the structure of the base plate, X-axis balance compensation mechanism, and telescopic rod of the present invention; Figure 5 This is a schematic diagram of the X-axis balance compensation mechanism of the present invention; Figure 6 This is a schematic diagram of the structure of the base of the present invention; Figure 7 This is a schematic diagram of the Y-axis balance compensation mechanism of the present invention.

[0020] In the diagram: 1-Base, 11-First clearance hole, 12-Through hole, 13-Groove, 14-Slide groove, 2-Support positioning mechanism, 21-Bracket, 22-First motor, 23-First lead screw, 24-Mounting plate, 25-Insertion rod, 3-Base plate, 31-Second clearance hole, 4-Fixed frame, 41-Column, 42-Top plate, 43-Crossbeam, 44-Ball slide, 5-Probe mechanism, 51-Support plate, 52-Second motor, 53-Side plate, 54-Probe rod, 55-Connecting column, 56-Stabilizing plate, 6-X-direction balance compensation mechanism, 61-Third motor, 62-Worm, 63-Worm wheel, 64-Rotating seat, 65-Rotating shaft, 66-Connecting seat, 7-Y-direction balance compensation mechanism, 71-Fourth motor, 72-Second lead screw, 73-Lead screw seat, 74-Counterweight, 75-Slider, 8-Telescopic rod. Detailed Implementation

[0021] The technical solution of the present invention is further described below, but the scope of protection is not limited to what is described.

[0022] Example: like Figures 1 to 7 As shown, a ground penetration test device with a self-compensating balancing mechanism includes a base 1, a support and positioning mechanism 2, a rotatably mounted base plate 3, an X-axis balancing compensation mechanism 6 mounted on the base 1, and a Y-axis balancing compensation mechanism 7 movably mounted on the base 1.

[0023] The central axis of the base plate 3 is aligned with the central axis of the base 1, and the base plate 3 is located at the center of the base 1.

[0024] Optionally, at least two symmetrically arranged rubber-metal laminated vibration isolators can be added between the base 1 and the bottom plate 3 to reduce vibration transmission and ensure the stability of the base 1 during operation.

[0025] The base 1 serves as the basic load-bearing component; multiple wheels are installed at the bottom of the base 1, including two driving wheels at the front end and two driven wheels at the rear end. To facilitate the movement of this device, an inclined handrail can be connected to one end of the base 1.

[0026] Four support positioning mechanisms 2 are provided. The four support positioning mechanisms 2 are installed in a matrix on the base 1 and do not interfere with the operation of the walking wheels. They are used to fix the device in the position to be probed to ensure the stability of the device during use.

[0027] The support and positioning mechanism 2 includes a U-shaped bracket 21. A first motor 22 is fixed on the top of the bracket 21. The four first motors 22 operate synchronously. The control method adopted is preferably parallel control. The four first motors 22 receive the same instruction from the same motion controller (like a pulse source) and respond to the overall instruction independently and in parallel.

[0028] The output shaft of the first motor 22 is connected to a first lead screw 23, and the bottom of the first lead screw 23 is rotatably mounted on the surface of the base 1. The first motor 22 is configured as a forward and reverse motor, and the output shaft of the first motor 22 is connected to the top of the first lead screw 23 via a coupling.

[0029] The outer wall of the first lead screw 23 is threaded with a mounting plate 24. The side of the mounting plate 24 is attached to and slidably disposed on the side wall of the bracket 21. The side wall of the bracket 21 limits the mounting plate 24 to ensure that the mounting plate 24 only moves up and down. The bottom of the mounting plate 24 is connected to a rod 25 for insertion into the foundation. The bottom of the rod 25 is a conical tip to facilitate quick piercing and penetration into the soil. The base 1 is provided with a through hole 12 for the rod 25 to pass through. The through hole 12 is coaxially arranged with the rod 25.

[0030] The first motor 22 drives the first lead screw 23 to rotate, and the first lead screw 23 drives the mounting plate 24 to move downward in a straight line. The bottom end of the plug 25 connected to the bottom of the mounting plate 24 passes through the through hole 12 and approaches the ground until it is inserted into the ground a certain distance, so that the base 1 is in a stable state.

[0031] The base plate 3 rotates at a small angle in the front-to-back direction. Two parallel fixed frames 4 are installed on the base plate 3. A liftable probing mechanism 5 is installed between the two fixed frames 4. By driving the probing mechanism 5 to descend and penetrate into the soil layer, the bearing capacity of the foundation is tested using the bottom of the probe rod 54.

[0032] Each of the fixed frames 4 includes two columns 41 connected to the corner of the base plate 3. There are four columns 41 in total, and the four columns 41 are arranged in a matrix. Two parallel crossbeams 43 are connected between two columns 41 in the same fixed frame 4 to increase the stability of the columns 41. A ball bearing slide 44 for driving the probing mechanism 5 to rise and fall is installed on the crossbeams 43. The ball bearing slide 44 is arranged vertically. Compared with driving mechanisms such as cylinders or oil cylinders, the ball bearing slide 44 can drive the probing mechanism 5 to descend steadily and slowly, avoiding equipment damage caused by high-speed probing. A top plate 42 is connected between the tops of the two columns 41 to limit the lifting height of the probing mechanism 5.

[0033] The penetration mechanism 5 includes a support plate 51, with side plates 53 connected to both sides of the support plate 51. The side plates 53 are fixed on the slide of the ball bearing slide 44. A probe rod 54 for foundation penetration is rotatably mounted on the bottom of the support plate 51. The probe rod 54 is made of high-strength alloy steel with an HRC greater than 60, and its surface is coated with a tungsten carbide nano-coating (thickness 50μm). The cone tip angle of the probe rod 54 is 60±2°, and the maximum penetration depth is 0-10m.

[0034] The bottom of the probe 54 is conical, and the inside of the probe 54 is equipped with a cone tip resistance sensor with an error of ≤0.5%FS to collect data on the resistance when the probe 54 moves. The side wall of the probe 54 is equipped with a friction sensor to collect data on the friction force when the probe 54 moves.

[0035] The bottom of the support plate 51 is connected to two layers of stabilizing plates 56 via connecting columns 55. The upper end of the outer wall of the probe rod 54 is rotatably mounted on the stabilizing plates 56. A second motor 52 for driving the probe rod 54 to rotate is installed on the support plate 51.

[0036] The second motor 52 drives the probe rod 54 to rotate through a transmission mechanism. The transmission mechanism includes two bevel gears respectively sleeved on the output shaft of the second motor 52 and on the outer wall of the upper end of the probe rod 54, and the two bevel gears mesh.

[0037] In addition, as an optional solution in this embodiment, at least two buffer components, such as spring dampers, are provided on the surface of the base plate 3. The buffer components are located directly below the side plate 53. Because the height of the bottom of the side plate 53 is less than the height of the bottom of the stabilizing plate 56, the distance between the side plate 53 and the base plate 3 is always less than the distance between the stabilizing plate 56 and the base plate 3; this prevents interference between the side plate 53 and the base plate 3 caused by excessive descent of the probe 54.

[0038] A second clearance hole 31 is provided at the center of the base plate 3, and a first clearance hole 11 is provided at the center of the base 1. The first clearance hole 11 and the second clearance hole 31 are coaxially arranged, and the inner diameter of both is larger than the diameter of the probe rod 54.

[0039] The X-axis balance compensation mechanism 6 is connected to the bottom of the base plate 3 and is used to fine-tune the levelness of the base plate 3 to correct the verticality of the probe mechanism 5.

[0040] The adjustment accuracy of the X-axis balance compensation mechanism 6 is 0.01°, and the response time is less than or equal to 200ms.

[0041] The X-axis balance compensation mechanism 6 includes two sets of rotating seats 64 fixed on the base 1. The two sets of rotating seats 64 are symmetrically arranged about the center of the base plate 3, and the axes of the two sets of rotating seats 64 are parallel to the side of the base plate 3. Each set of rotating seats 64 has two seats. A rotating shaft 65 is rotatably mounted on each set of rotating seats 64. A connecting seat 66 is sleeved on the outer wall of the rotating shaft 65. The connecting seat 66 is located between the two rotating seats 64, and the top of the connecting seat 66 is connected to the bottom of the base plate 3.

[0042] The X-axis balance compensation mechanism 6 also includes a third motor 61, which is a forward and reverse rotating motor. The output shaft of the third motor 61 is connected to a worm gear 62, and a worm wheel 63 is sleeved on the outer wall of one end of one of the rotating shafts 65. The worm gear 62 meshes with the worm wheel 63.

[0043] The third motor 61 drives the worm gear 62 to rotate, the worm gear 62 drives the worm wheel 63 to rotate, the worm wheel 63 drives the shaft 65 connected to it to rotate, and then drives the base plate 3 to rotate through the connecting seat 66 until the probe 54 is perpendicular to the ground.

[0044] The rotation direction of the base plate 3 is perpendicular to the movement direction of the Y-axis balance compensation mechanism 7, and a plurality of telescopic rods 8 arranged in a matrix are rotatably connected between the surface of the base 1 and the bottom edge of the base plate 3.

[0045] The telescopic rods 8 are arranged in a matrix of four. Ear seats are installed on the bottom of the base plate 3 and the base 1. The telescopic rod 8 includes a telescopic rod, and ear plates are connected to both ends of the rod. The two ear plates are respectively hinged to the two ear seats.

[0046] During the adjustment process, the two telescopic rods 8 on one side of the base plate 3 are in a stretched state, while the two telescopic rods 8 on the other side of the base plate 3 are in a compressed state. The setting of the telescopic rods 8 can ensure the stability of the base plate 3 during rotation.

[0047] The telescopic rod 8 is made of carbon fiber-epoxy resin composite material, which reduces weight by 40% while maintaining axial stiffness ≥800N / mm, thus avoiding metal fatigue.

[0048] The telescopic rod 8 is designed with a hydraulic damping structure. The damping coefficient is adjusted by the size of the oil throttling orifice to suppress the vibration during the leveling process of the base plate.

[0049] The Y-axis balancing compensation mechanism 7 is used to generate a reverse torque to balance the probe mechanism 5; two sets of the Y-axis balancing compensation mechanism 7 are symmetrically arranged about the base plate 3.

[0050] The formula for balancing the torque in the Y direction is: In the formula, The compensation torque generated by the Y-axis balancing compensation mechanism (unit: Nm); The mass of the counterweight in the Y-axis balancing compensation mechanism is (in kg); g is the acceleration due to gravity, taken as 9.8 m / s². 2 ; The offset distance of the counterweight relative to the center of the device (unit: m); The penetration resistance encountered by the probe during its penetration into the foundation (unit: N). This is the height of the center of gravity of the device. The tilt angle of the device caused by factors such as uneven foundation hardness, vibration, and subsidence is quantified by formula to determine the relationship between the displacement of the counterweight and the anti-overturning capacity.

[0051] The base 1 is provided with grooves 13 and sliding grooves 14 symmetrically arranged about the grooves 13. The Y-axis balance compensation mechanism 7 includes a second lead screw 72 rotatably disposed inside the groove 13. A lead screw seat 73 is threadedly connected to the outer wall of the second lead screw 72. A counterweight 74 is installed on the lead screw seat 73. The moving speed of the counterweight 74 is controlled between 0.1-5m / s and the maximum compensation torque is 500N.m.

[0052] If the device tilts to the right, it will drive the left counterweight 74 to move to the left; if it tilts to the left, it will drive the right counterweight 74 to move to the right.

[0053] The base 1 is equipped with a fourth motor 71 that drives the second lead screw 72 to rotate. The output shaft of the motor is connected to one end of the second lead screw 72. The fourth motor 71 is also a forward and reverse motor. The bottom ends of the counterweight 74 are equipped with sliders 75. The sliders 75 are slidably installed inside the slide groove 14 to ensure the stability of the counterweight 74 movement.

[0054] When in use, move the device to the position to be probed (the ground is horizontal), and run the four first motors 22 simultaneously. The first motors 22 drive the first lead screw 23 to rotate. The first lead screw 23 drives the mounting plate 24 to move straight down. The bottom end of the insertion rod 25 connected to the bottom of the mounting plate 24 passes through the through hole 12 and approaches the ground until it is inserted into the ground a certain distance, so that the base 1 is in a stable state. Then, the bearing capacity of the foundation is tested. The second motor 52 drives the probe rod 54 to rotate, and the ball bearing slide 44 drives the probe mechanism 5 to move down as a whole. After the bottom end of the probe rod 54 passes through the second clearance hole 31 on the base plate 3 and the first clearance hole 11 on the base 1, it contacts the foundation. With the cooperation of rotation and descent, the bottom end of the probe rod 54 penetrates into the soil layer. The cone tip resistance sensor and side wall friction sensor inside the probe rod 54 can collect data on the resistance and friction during movement and transmit it to the internal detection system of the external system to determine the bearing capacity of the foundation at that location. During the detection process, high-precision tilt sensors installed on the probe mechanism 5 or the fixed frame 4 measure the verticality of the probe rod 54 in real time. Specifically, the high-precision tilt sensors are installed on the top plate 42 in the fixed frame 4, and each top plate 42 has a high-precision tilt sensor installed at both ends of its surface. In this embodiment, a total of four high-precision tilt sensors are provided. The four high-precision tilt sensors achieve real-time tilt detection through a data fusion algorithm (such as Kalman filtering) and trigger the threshold setting of the compensation mechanism (automatically activated when the tilt angle is ≥0.5°).

[0055] If the probe rod 54 tilts (is not perpendicular to the ground) due to factors such as vibration, ground subsidence, and wind generated during the operation of the device, the verticality of the probe rod 54 will be automatically adjusted by the X-axis balance compensation mechanism 6 and the Y-axis balance compensation mechanism 7. When the probe 54 tilts in the front-back direction, the third motor 61 is activated. The third motor 61 drives the worm gear 62 to rotate, the worm gear 62 drives the worm wheel 63 to rotate, and the worm wheel 63 drives the rotating shaft 65 connected to it to rotate. This, in turn, drives the base plate 3 to rotate through the connecting seat 66 until the probe 54 is perpendicular to the ground. During the adjustment process, the two telescopic rods 8 on one side of the base plate 3 are in a stretched state, and the two telescopic rods 8 on the other side of the base plate 3 are in a compressed state. When the probe 54 tilts to the left or right, one of the Y-axis balance compensation mechanisms 7 is activated (the right Y-axis balance compensation mechanism 7 is activated when tilting to the left, and the left Y-axis balance compensation mechanism 7 is activated when tilting to the right), that is, the fourth motor 71 is activated. The fourth motor 71 drives the second lead screw 72 to run, the second lead screw 72 drives the lead screw seat 73 to move, and the lead screw seat 73 drives the counterweight block 74 away from the fixed frame 4 to correct the torque and ensure the balance of the base 1, thereby achieving the balance and verticality of the probe 54.

[0056] Through field tests and experiments, on uneven foundations (such as the junction of clay and sand), the verticality deviation of the probe reached 2.5° when compensation was not enabled, and the deviation was ≤0.3° after compensation was enabled, and the standard deviation of data fluctuation was reduced by 60%.

[0057] Compared with the manual pad adjustment method, this device can reduce the positioning time from 15 minutes to 5 minutes, and the working efficiency of this device is increased by 3 times. Because the verticality is guaranteed, the wear of the probe 54 is reduced, and the life of the probe 54 is extended.

Claims

1. A ground penetration test device with a self-compensating balancing mechanism, characterized in that: It includes a base (1), a support and positioning mechanism (2) and a base plate (3). The support and positioning mechanism (2) is installed in a matrix on the base (1). The base plate (3) is hinged to the base (1) through a telescopic rod (8). A fixing frame (4) is provided on the base plate. A probing mechanism (5) is provided on the fixing frame (4). An X-axis balance compensation mechanism (6) and a Y-axis balance compensation mechanism (7) are provided on the base (1). The X-axis balance compensation mechanism (6) is connected to the bottom of the base plate (3), and the Y-axis balance compensation mechanism (7) is connected to the bottom of the base plate (3).

2. The ground penetration test device with a self-compensating balancing mechanism as described in claim 1, characterized in that: The support positioning mechanism (2) includes a bracket (21), a first motor (22) is fixed on the top of the bracket (21), the output shaft of the first motor (22) is connected to a first lead screw (23), and the bottom of the first lead screw (23) is rotatably mounted on the surface of the base (1).

3. The ground penetration test device with a self-compensating balancing mechanism as described in claim 2, characterized in that: The first lead screw (23) is threaded with a mounting plate (24). The side of the mounting plate (24) is attached to and slidably disposed on the side wall of the bracket (21). The bottom of the mounting plate (24) is connected with a plug rod (25). The base (1) has a through hole (12) for the plug rod (25) to pass through.

4. The ground penetration test device with a self-compensating balancing mechanism as described in claim 1, characterized in that: The fixing frame (4) includes two columns (41) connected to the base plate (3), a crossbeam (43) connecting the two columns (41), a ball bearing slide (44) installed on the crossbeam (43), and a top plate (42) connecting the tops of the two columns (41).

5. The ground penetration test device with a self-compensating balancing mechanism as described in claim 1, characterized in that: The probing mechanism (5) includes a support plate (51), with side plates (53) connected to both sides of the support plate (51). A probe (54) is rotatably mounted on the bottom of the support plate (51), and a first clearance hole (11) is provided on the base (1) for the probe (54) to pass through.

6. The ground penetration test device with a self-compensating balancing mechanism as described in claim 5, characterized in that: The bottom of the support plate (51) is connected to two layers of stabilizing plates (56) via connecting columns (55). The upper end of the probe (54) is rotatably mounted on the stabilizing plates (56). A second motor (52) is mounted on the support plate (51).

7. The ground penetration test device with a self-compensating balancing mechanism as described in claim 1, characterized in that: The X-axis balance compensation mechanism (6) includes two sets of rotating seats (64) fixed on the base (1). Each set of rotating seats (64) is equipped with a rotating shaft (65). A connecting seat (66) is sleeved on the rotating shaft (65). One end of the connecting seat (66) is connected to the bottom of the base plate (3).

8. The ground penetration test device with a self-compensating balancing mechanism as described in claim 7, characterized in that: The X-axis balance compensation mechanism (6) also includes a third motor (61), the output shaft of which is connected to a worm (62), and a worm wheel (63) is sleeved on one end of one of the rotating shafts (65), and the worm (62) meshes with the worm wheel (63).

9. A ground penetration test device with a self-compensating balancing mechanism as described in claim 1, characterized in that: The base (1) is provided with a groove (13) and a sliding groove (14) symmetrically arranged about the groove (13). The Y-axis balance compensation mechanism (7) includes a second lead screw (72) rotatably arranged inside the groove (13). A lead screw seat (73) is threadedly connected to the second lead screw (72). A counterweight (74) is installed on the lead screw seat (73).

10. A ground penetration test device with a self-compensating balancing mechanism as described in claim 9, characterized in that: The Y-axis balance compensation mechanism (7) also includes a fourth motor (71), which is located at the end of the base (1). The bottom ends of the counterweight (74) are equipped with sliders (75), which are slidably installed inside the slide groove (14).

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