Collapsible loess sampling robot suitable for deep well

Abstract

The collapsible loess sampling robot comprises a lifting mechanism, the lifting mechanism is arranged at a well mouth and connected with a sampling mechanism, a vibration mechanism is arranged on the sampling mechanism, a supporting mechanism is arranged at the bottom of the sampling mechanism, and the sampling mechanism, the vibration mechanism and the supporting mechanism are all arranged in the deep well. The lifting mechanism, the sampling mechanism and the vibrating mechanism are electrically connected with the control platform. The soil sampling depth recording device is reasonable in structure and simple and convenient to operate, and solves the problem of inaccurate soil sampling depth recording in the prior art.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the technical field of sampling robot, concretely relates to collapsible loess sampling robot suitable for deep well. BACKGROUND

[0002] In the geotechnical engineering investigation industry, collapsible loess usually needs to be artificially explored and sampled for indoor test analysis. The current conventional exploration sampling method usually needs to rely on manual operation, is easily affected by human factors, such as the selection of sampling position and the control of sampling depth, has certain limitations, and thus the accuracy of the sampling result can be affected. When the thickness of collapsible loess is large, the precision, quality and safety of manual sampling often become a headache problem for engineers, and the precision and consistency of sampling are affected due to the operation of the workers, which usually affects the effect of the sample and the reliability of the data.

[0003] The sampling robot has the characteristics of high precision, high efficiency, no personal safety problem and repeatability, and has significant application advantages in collapsible loess deep well sampling. The sampling robot can automatically complete the whole process of collapsible loess sampling, realizes accurate control of the sampling position and depth, improves the accuracy of the sampling result, does not cause damage to the soil structure during the sampling process of the robot, ensures the representativeness of the collapsible loess test sample and the reliability of the test result, and can reduce the labor intensity and improve the sampling efficiency. UTILITY MODEL CONTENTS

[0004] The utility model aims at providing collapsible loess sampling robot suitable for deep well, and solves the problem of poor controllability of the existing deep well operation manual sampling, easy human factors and low safety, which further affects the sampling effect of the sample.

[0005] The utility model adopts the technical scheme that the collapsible loess sampling robot suitable for deep well comprises a lifting mechanism, the lifting mechanism is arranged at a well mouth, the lifting mechanism is connected with a sampling mechanism, a vibrating mechanism is arranged on the sampling mechanism, a supporting mechanism is arranged at the bottom of the sampling mechanism, the sampling mechanism, the vibrating mechanism and the supporting mechanism are arranged in a deep well, and the lifting mechanism, the sampling mechanism and the vibrating mechanism are electrically connected with a control platform.

[0006] The utility model has the characteristics that,

[0007] The sampling mechanism comprises a feeding mechanism, a rotating mechanism is slidably arranged on the feeding mechanism, and a cutter is arranged on the rotating mechanism.

[0008] The feeding mechanism comprises a bottom plate, a linear motor is arranged on the bottom plate, a slide rail is horizontally arranged on the upper surface of the bottom plate, a sliding block is slidably assembled in the slide rail, the extending end of the linear motor is connected with the sliding block, a supporting plate is vertically arranged on the sliding block, and the rotating mechanism is arranged on the supporting plate.

[0009] The rotating mechanism comprises a motor base horizontally arranged on the support plate, and a rotating motor arranged on the motor base; an output shaft of the rotating motor is connected with the cutter; the cutter comprises a sleeve, a groove is spirally arranged on the outer wall of the sleeve, the top end of the sleeve is open, a cutting edge is arranged around the opening, and a soil sensor is arranged in the sleeve.

[0010] The vibrating mechanism comprises a vibrating plate in the shape of a circular ring, a base plate fixed on the vibrating plate, and a plurality of vibrating springs uniformly arranged on the lower surface of the vibrating plate.

[0011] The support mechanism comprises a support platform arranged below the vibrating plate, and the support mechanism is connected with the vibrating mechanism through the support platform; the support platform is in the shape of a cylinder, a plurality of spring seats are arranged on the outer wall of the support platform in the radial direction, the vibrating springs are fixed on the spring seats, a vibrating motor is fixed on the outer wall of the support platform, and the output shaft of the vibrating motor is connected with the lower surface of the vibrating plate.

[0012] The bottom surface of the support platform is provided with a push rod mounting seat, an electric push rod is arranged on the push rod mounting seat, two push rod mounting seats are provided with connecting seats on the outer sides thereof, the connecting seats are in the shape of inverted L-shaped bending, the horizontal part of the connecting seat is fixed on the bottom surface of the support platform, a plurality of C-shaped buckles are arranged on the vertical part of the connecting seat, the C-shaped buckles are connected with the support rods, the telescopic end of the electric push rod is fixedly connected with the middle part of the support rod, and a position sensor is arranged on the support rod.

[0013] The lifting mechanism comprises a support frame arranged above the well mouth, a crane system arranged on the support frame, a hook arranged on the lifting rope of the crane system, and an ear arranged on the outer wall of the support platform, and the hook is connected with the ear.

[0014] The control platform is provided with a plc control system, the plc control system is electrically connected with the crane system, the electric push rod, the vibrating motor, the rotating motor, the linear motor, the soil sensor and the position sensor, the plc control system is electrically connected with a touch screen upper computer, and the touch screen upper computer is electrically connected with a power supply.

[0015] The utility model discloses a collapsible loess sampling robot for deep well, which can ensure the accuracy of sampling results and make the sampling data more perfect. When the sampling mechanism is fixed by the support mechanism, the vibrating mechanism shakes off the residual soil and impurities on the surface of the sleeve during sampling, reduces the radial disturbance, and protects the integrity of the soil sample. The sampling robot can quickly and accurately enter the deep well for sampling, greatly improves the sampling speed and efficiency, and provides more accurate data support for geological exploration and real-time environmental data acquisition in the well. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 Figure 2 is a side view of the collapsible loess sampling robot of the utility model assembled for deep well;

[0017] Figure 2 Figure 2 is a side view of the collapsible loess sampling robot of the utility model assembled for deep well;

[0018] Figure 3 Figure 2 is a side view of the collapsible loess sampling robot of the utility model assembled for deep well;

[0019] Figure 4 Figure 2 is a side view of the collapsible loess sampling robot of the utility model assembled for deep well;

[0020] Figure 5 Figure 2 is a side view of the collapsible loess sampling robot of the utility model assembled for deep well.

[0021] In the figure, 1. Control platform, 2. Lifting mechanism, 3. Sampling mechanism, 4. Vibration mechanism, 5. Support mechanism, 31. Rotary mechanism, 32. Feeding mechanism, 33. Tool, 41. Vibration spring, 42. Vibration motor, 43. Support platform, 51. Electric push rod, 52. Support rod, 53. Push rod mounting seat, 54. Connecting seat, 55. C-shaped buckle. DETAILED DESCRIPTION

[0022] The utility model will be described in further detail below in combination with the drawings and specific embodiments.

[0023] Embodiment 1

[0024] The collapsible loess sampling robot of the utility model for deep well, as shown in Figure 1 and Figure 2 shown, including lifting mechanism 2, lifting mechanism 2 is set in the well mouth, lifting mechanism 2 is connected with sampling mechanism 3, sampling mechanism 3 is provided with vibration mechanism 4, sampling mechanism 3 bottom is provided with support mechanism 5, sampling mechanism 3, vibration mechanism 4, support mechanism 5 all are provided in deep well, lifting mechanism 2, sampling mechanism 3, vibration mechanism 4 all are electrically connected with control platform 1.

[0025] Embodiment 2

[0026] The collapsible loess sampling robot of the utility model for deep well, including lifting mechanism 2, lifting mechanism 2 is set in the well mouth, lifting mechanism 2 is connected with sampling mechanism 3, sampling mechanism 3 is provided with vibration mechanism 4, sampling mechanism 3 bottom is provided with support mechanism 5, sampling mechanism 3, vibration mechanism 4, support mechanism 5 all are provided in deep well, lifting mechanism 2, sampling mechanism 3, vibration mechanism 4 all are electrically connected with control platform 1. On the basis of embodiment 1, the sampling mechanism 3 in this embodiment includes feeding mechanism 32, as Figure 3 shown, feeding mechanism 32 is provided with rotary mechanism 31 slidingly, rotary mechanism 31 is provided with tool 33 on.

[0027] The feeding mechanism 32 comprises a bottom plate, a linear motor arranged on the bottom plate, a slide rail horizontally arranged on the upper surface of the bottom plate, a slide block slidingly arranged in the slide rail, the slide block connected with the extending end of the linear motor, a support plate vertically arranged on the slide block, and the rotary mechanism 31 arranged on the support plate. The rotary mechanism 31 comprises a motor base horizontally arranged on the support plate, and a rotary motor arranged on the motor base; the output shaft of the rotary motor is connected with the cutter 33. The cutter 33 comprises a sleeve, a groove spirally arranged on the outer wall of the sleeve, an opening arranged at the top end of the sleeve, a cutting edge annularly arranged at the opening, and a soil sensor arranged in the sleeve for soil sampling. The cutting edge can rapidly and accurately cut the soil to ensure the accuracy and integrity of the sampling. The groove assists in cutting the soil body and smoothly turning out the soil body, and the sampling resistance is reduced through the groove, thereby greatly reducing the energy consumption.

[0028] Embodiment 3

[0029] The utility model discloses to the collapsible loess sampling robot of deep well, including elevating system 2, elevating system 2 sets up at the well mouth, elevating system 2 connects sampling mechanism 3, and sampling mechanism 3 is provided with vibration mechanism 4, and sampling mechanism 3 bottom is provided with support mechanism 5, and sampling mechanism 3, vibration mechanism 4, support mechanism 5 all are provided in deep well, and elevating system 2, sampling mechanism 3, vibration mechanism 4 all are electrically connected control platform 1. Sampling mechanism 3 includes feeding mechanism 32, and rotary mechanism 31 is slidably arranged on feeding mechanism 32, and cutter 33 is arranged on rotary mechanism 31. Feeding mechanism 32 comprises a bottom plate, a linear motor arranged on the bottom plate, a slide rail horizontally arranged on the upper surface of the bottom plate, a slide block slidingly arranged in the slide rail, the slide block connected with the extending end of the linear motor, a support plate vertically arranged on the slide block, and the rotary mechanism 31 arranged on the support plate. The rotary mechanism 31 comprises a motor base horizontally arranged on the support plate, and a rotary motor arranged on the motor base; the output shaft of the rotary motor is connected with the cutter 33. The cutter 33 comprises a sleeve, a groove spirally arranged on the outer wall of the sleeve, an opening arranged at the top end of the sleeve, a cutting edge annularly arranged at the opening, and a soil sensor arranged in the sleeve for soil sampling. On the basis of embodiment 2, the vibration mechanism 4 in the embodiment comprises a vibration plate, the vibration plate is circular, a fixed bottom plate is arranged on the vibration plate, the slide rail axis on the bottom plate coincides with the diameter of the vibration plate, and a plurality of vibration springs 41 are evenly arranged on the circumferential surface of the lower surface of the vibration plate, as shown in the drawing, for generating slight vibration after the cutter is fed in place to ensure that the sampling part can be completely separated from the soil structure. Figure 4

[0030] Embodiment 4

[0031] ​The utility model is suitable for collapsible loess sampling robot of deep well, including lifting mechanism 2, lifting mechanism 2 sets up at well mouth, lifting mechanism 2 connects sampling mechanism 3, sets up vibrating mechanism 4 on sampling mechanism 3, sampling mechanism 3 bottom sets up support mechanism 5, sampling mechanism 3, vibrating mechanism 4, support mechanism 5 all set up in deep well, lifting mechanism 2, sampling mechanism 3, vibrating mechanism 4 all electric connection control platform 1. Sampling mechanism 3 includes feed mechanism 32, and the rotation mechanism 31 is slidably arranged on the feed mechanism 32, and the cutter 33 is arranged on the rotation mechanism 31. The feed mechanism 32 includes a bottom plate, a linear motor is arranged on the bottom plate, a slide rail is horizontally formed on the upper surface of the bottom plate, a slide block is slidably assembled in the slide rail, the extending end of the linear motor is connected with the slide block, a support plate is vertically arranged on the slide block, and the rotation mechanism 31 is arranged on the support plate. The rotation mechanism 31 includes a motor base, the motor base is horizontally arranged on the support plate, and a rotary motor is arranged on the motor base; the output shaft of the rotary motor is connected with the cutter 33; the cutter 33 includes a sleeve, a groove is spirally formed on the outer wall of the sleeve, the top end of the sleeve is open, a cutting edge is annularly arranged on the opening, a soil sensor is arranged in the sleeve, the vibrating mechanism 4 includes a vibrating plate, the vibrating plate is annular, a bottom plate is fixed on the vibrating plate, the axis of the slide rail on the bottom plate coincides with the diameter of the vibrating plate, and a plurality of vibrating springs 41 are uniformly arranged on the circumferential surface of the lower surface of the vibrating plate. On the basis of embodiment 3, the support mechanism 5 in the embodiment includes a support platform 43, the support platform 43 is located below the annular vibrating plate, and the support mechanism 5 is connected with the vibrating mechanism 4 through the support platform 43. The support platform 43 is in the shape of a cylinder, a plurality of spring seats are radially arranged on the outer wall of the support platform 43, the vibrating springs 41 are fixed on the spring seats, the vibrating motor 42 is fixed on the outer wall of the support platform 43, and the output shaft of the vibrating motor 42 is connected with the lower surface of the vibrating plate. The vibrating spring 41 can make the sampling part and the surrounding soil more fully separated during sampling, avoid the influence of soil structure on sampling, and improve the accuracy and reliability of sampling. The slight vibration can effectively reduce the sampling resistance, so that the soil sample is more easily cut off and separated by the sampling tool, thereby ensuring the integrity and representativeness of the sampling.

[0032] As Figure 5 shown, the bottom surface of the support platform 43 is provided with a push rod mounting seat 53, the push rod mounting seat 53 is provided with an electric push rod 51, the outer sides of the two push rod mounting seats 53 are provided with connecting seats 54, the connecting seats 54 are in the shape of inverted L-shaped bending, the horizontal part of the inverted L-shaped bending is fixed on the bottom surface of the support platform 43, the vertical part of the inverted L-shaped bending is provided with a plurality of C-shaped buckles 55, the C-shaped buckles 55 are clamped with support rods 52, the bottom end surface of the support rod 52 is provided with barbs, and the barbs are inserted into the soil to form stable support and increase the stability of the support rod 52. The telescopic end of the electric push rod 51 is fixedly connected with the middle part of the support rod 52, and the support rod 52 is provided with a position sensor.

[0033] Embodiment 5

[0034] The utility model is suitable for collapsible loess sampling robot of deep well, including elevating system 2, elevating system 2 sets up at well mouth, elevating system 2 connects sampling mechanism 3, sets up vibrating mechanism 4 on sampling mechanism 3, sampling mechanism 3 bottom sets up support mechanism 5, sampling mechanism 3, vibrating mechanism 4, support mechanism 5 all set up in deep well, elevating system 2, sampling mechanism 3, vibrating mechanism 4 all electric connection control platform 1. Sampling mechanism 3 includes feed mechanism 32, and the rotary mechanism 31 is slidably arranged on the feed mechanism 32, and the cutter 33 is arranged on the rotary mechanism 31. The feed mechanism 32 includes a bottom plate, a linear motor is arranged on the bottom plate, a slide rail is horizontally formed on the upper surface of the bottom plate, a slide block is slidably assembled inside the slide rail, the extending end of the linear motor is connected with the slide block, a support plate is vertically arranged on the slide block, and the rotary mechanism 31 is arranged on the support plate. The rotary mechanism 31 includes a motor base, which is horizontally arranged on the support plate, and a rotary motor is arranged on the motor base; the output shaft of the rotary motor is connected with the cutter 33; the cutter 33 includes a sleeve, a groove is spirally formed on the outer wall of the sleeve, the top end of the sleeve is open, a cutting edge is annularly arranged on the opening, a soil sensor is arranged in the sleeve, the vibrating mechanism 4 includes a vibrating plate, which is in the shape of a circular ring, a bottom plate is fixed on the vibrating plate, the axis of the slide rail on the bottom plate coincides with the diameter of the vibrating plate, and a plurality of vibrating springs 41 are uniformly arranged on the circumferential surface of the lower surface of the vibrating plate. On the basis of embodiment 3, the support mechanism 5 in the embodiment includes a support platform 43, which is located below the circular ring-shaped vibrating plate, and the support mechanism 5 is connected with the vibrating mechanism 4 through the support platform 43. The support platform 43 is in the shape of a cylinder, a plurality of spring seats are radially arranged on the outer wall of the support platform 43, the vibrating springs 41 are fixed on the spring seats, a vibrating motor 42 is fixed on the outer wall of the support platform 43, and the output shaft of the vibrating motor 42 is connected with the lower surface of the vibrating plate. A push rod mounting seat 53 is oppositely arranged on the bottom surface of the support platform 43, an electric push rod 51 is arranged on the push rod mounting seat 53, connecting seats 54 are oppositely arranged on the outer sides of the two push rod mounting seats 53, and the connecting seats 54 are in the shape of an inverted L-shaped bend; the horizontal part of the inverted L-shaped bend is fixed on the bottom surface of the support platform 43, a plurality of C-shaped buckles 55 are arranged on the vertical part of the inverted L-shaped bend, the C-shaped buckles 55 are clamped with support rods 52, barbs are arranged at the bottom end surface of the support rods 52, the telescopic end of the electric push rod 51 is fixedly connected with the middle part of the support rods 52, and position sensors are arranged on the support rods 52. On the basis of embodiment 4, the elevating system 2 in the embodiment includes a support frame, which is arranged above the well mouth, a crane system is arranged on the support frame, a lifting hook is arranged on the lifting rope of the crane system, lifting lugs are oppositely arranged on the outer wall of the support platform 43, the lifting hook is clamped with the lifting lugs, the support frame stably supports the crane system, the lifting safety is ensured, the lifting distance is not limited by the device, and the sampling mechanism 3 can be continuously and stably lifted during construction.

[0035] Embodiment 6

[0036] On the basis of embodiment 5, the control platform 1 adopts a plc control system in this embodiment to control the lifting, sampling and rotating processes, control the lifting action of the cutter, carry out soil sampling at the predetermined position, and ensure the smoothness of the rotating process of the cutter, so as to obtain high-quality soil samples. The plc control system is electrically connected with the crane system, the electric push rod, the vibration motor, the rotating motor, the linear motor, the soil sensor and the position sensor respectively, the plc control system is electrically connected with the touch screen upper computer, and the touch screen upper computer is electrically connected with the power supply. When sampling, the touch screen upper computer is started, the plc control system controls the feeding operation of the linear motor, the rotating speed and steering operation of the output shaft of the vibration motor and the rotating motor, the crane system and the electric push rod run downward to the target depth under the action of the position sensor, the soil sensor monitors the physical properties of the soil in real time, such as humidity, density and soil type, ensures the representativeness and accuracy of each sample, and is used for collecting and recording soil sampling data.

[0037] The working principle of the collapsible loess sampling robot suitable for deep wells is that the supporting mechanism 5 ensures good balance and stability during operation, and after the supporting mechanism is stably positioned, the sampling mechanism collects soil samples, the sleeve is deep into the inner wall of the deep well for sampling under the action of the linear motor, the soil sensor is arranged in the sleeve, and sampling data is more perfect; the upper end of the vibration spring 41 is connected with the feeding mechanism 32 through the vibration plate, the lower end of the vibration spring 41 is connected with the supporting platform 43, the vibration mechanism makes the separation between the sampling mechanism and the surrounding soil more sufficient, effectively reduces the influence of the soil structure on the sample, and thus significantly improves the accuracy and reliability of sampling. These slight vibrations not only help to reduce the resistance in the sampling process, but also make the soil sample more easily cut and separated, ensuring the integrity and representativeness of the sample.

[0038] The working process of the collapsible loess sampling robot suitable for deep wells is that before sampling, the supporting rod 52 is inserted into the ground to be fixed through the crane system, so that the overall stability is achieved; the linear motor drives the cutter to realize linear motion on the slide rail, the rotating motor drives the cutter to rotate, the cutting edge rotates to cut the soil into the sleeve, after sampling is completed, the lifting mechanism drives the sampling mechanism to return to the ground, and after the operation is completed, the soil sample is taken out from the sleeve with a small shovel.

[0039] The collapsible loess sampling robot suitable for deep wells has stable structure, the lifting mechanism, the sampling mechanism, the vibration mechanism and the supporting mechanism cooperate with each other, the collection of the soil sample is more simple and convenient and time-saving, the accuracy and consistency in the soil sampling process can be effectively ensured, the integrity and efficiency of soil sampling are improved, the operation is stable, the production efficiency is high, and the sampling task can be efficiently and accurately completed in various complex soil environments.

Claims

1. A robot for sampling collapsible loess in deep wells, characterized in that, It includes a lifting mechanism (2), which is set at the wellhead. The lifting mechanism (2) is connected to the sampling mechanism (3). A vibration mechanism (4) is set on the sampling mechanism (3). A support mechanism (5) is set at the bottom of the sampling mechanism (3). The sampling mechanism (3), vibration mechanism (4), and support mechanism (5) are all set inside the deep well. The lifting mechanism (2), sampling mechanism (3), and vibration mechanism (4) are all electrically connected to the control platform (1). The sampling mechanism (3) includes a feeding mechanism (32), a rotating mechanism (31) is slidably arranged on the feeding mechanism (32), and a cutting tool (33) is arranged on the rotating mechanism (31). The feeding mechanism (32) includes a base plate, a linear motor is provided on the base plate, a slide rail is horizontally opened on the upper surface of the base plate, a slider is slidably assembled inside the slide rail, the extended end of the linear motor is connected to the slider, a support plate is vertically provided on the slider, and a rotating mechanism (31) is provided on the support plate. The rotating mechanism (31) includes a motor base, which is horizontally mounted on a support plate. A rotating motor is mounted on the motor base. The output shaft of the rotating motor is connected to a cutter (33). The cutter (33) includes a sleeve. A groove is spirally opened around the outer wall of the sleeve. The top of the sleeve is open. A cutting edge is arranged around the opening. A soil sensor is installed inside the sleeve. The vibration mechanism (4) includes a vibrating plate, which is circular. A base plate is fixed on the vibrating plate, and the axis of the slide rail on the base plate coincides with the diameter of the vibrating plate. Several vibration springs (41) are evenly distributed on the lower surface of the vibrating plate. The support mechanism (5) includes a support platform (43), which is located below the annular vibrating plate. The support mechanism (5) is connected to the vibration mechanism (4) through the support platform (43). The support platform (43) is cylindrical, and several spring seats are radially arranged on the outer wall of the support platform (43). Vibration springs (41) are fixed on the spring seats. Vibration motors (42) are fixed relative to each other on the outer wall of the support platform (43). The output shaft of the vibration motors (42) is connected to the lower surface of the vibrating plate. The bottom surface of the support platform (43) is provided with push rod mounting seats (53) facing each other. Electric push rods (51) are provided on the push rod mounting seats (53). Connecting seats (54) are provided on the outer sides of the two push rod mounting seats (53). The connecting seats (54) adopt an inverted L-shaped bend. The horizontal part of the inverted L-shaped bend is fixed on the bottom surface of the support platform (43). Several C-shaped buckles (55) are provided on the vertical part of the inverted L-shaped bend. The support rod (52) is snapped into the C-shaped buckles (55). The telescopic end of the electric push rod (51) is fixedly connected to the middle part of the support rod (52). A position sensor is provided on the support rod (52). The lifting mechanism (2) includes a support frame, which is set above the wellhead. A hoisting system is set on the support frame, and a hook is installed at the hoisting rope of the hoisting system. Lifting lugs are set opposite to the outer wall of the support platform (43), and the hooks are engaged with the lifting lugs. The control platform (1) is equipped with a PLC control system. The PLC control system is electrically connected to the crane system, electric push rod (51), vibration motor (42), rotary motor, linear motor, soil sensor, and position sensor. The PLC control system is electrically connected to the touch screen host computer, and the touch screen host computer is electrically connected to the power supply.

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