Undisturbed automatic exploratory well sampling robot

Abstract

The utility model discloses an undisturbed automatic exploratory well sampling robot which comprises an operation unit, the operation unit is connected with a lifting system and a robot body through cables, the lifting system comprises a first steel cable and a second steel cable, the lifting system is connected with a sample feeding mechanism through the second steel cable, and the lifting system is connected with the robot body through the first steel cable. The robot body comprises a supporting mechanism and a sampling mechanism. The undisturbed automatic exploratory well sampling robot has the advantages of being stable in supporting, capable of sampling at multiple positions at the same depth, free of disturbance or slight disturbance to soil samples in the sampling process and high in sampling and sample sending parallel operation efficiency, and meanwhile has the advantages of being small in size, light in weight and high in automation degree. The undisturbed automatic exploratory well sampling robot replaces traditional manual sampling, and automatic sampling is achieved.

Description

Technical Field

[0001] This utility model belongs to the field of disturbed soil well sampling technology, and relates to an undisturbed automatic well sampling robot. Background Technology

[0002] Traditional exploratory well sampling involves drilling a well to a depth of 10m to 50m in Luoyang, where workers manually collect samples from the ground. However, this method carries a significant risk of worker injury or death, and can easily lead to major casualties and substantial economic losses.

[0003] It is necessary to select robots to replace operators for well sampling. For example, application CN209894525U provides a non-disturbance soil well sampling robot. In addition, application CN110068478B discloses a well sampling method based on a non-disturbance soil well sampling robot. They proposed a non-disturbance soil well sampling robot with support airbag expansion support. However, this robot has the inconvenience of needing to configure air source equipment for field operations. Specifically, when using parallel sampling and delivery operations, there is a problem that the swing during single steel wire delivery causes secondary disturbance to the sampling. In addition, the use of robot groove sampling has the problem of soil sampling disturbance and low sampling efficiency caused by the reverse action of robot groove force fluctuation and instability of airbag support device.

[0004] An automatic soil sampling robot with publication number CN111781009B, an automatic soil sampling robot with publication number CN117232892B, and a novel soil sampling robot with publication number CN116713970A all propose to adopt a wheeled or tracked vehicle structure. They are mostly used in vertical downward working conditions. However, due to their large size and complex structure, they are not suitable for working on the well wall of exploration wells. In addition, sampling and delivery cannot be carried out in parallel, resulting in low efficiency. Utility Model Content

[0005] The purpose of this invention is to provide a non-disturbing automatic well sampling robot, which features automated sampling with the characteristics of non-disturbing soil sample collection, multi-directional wellbore orientation, and parallel sampling and delivery.

[0006] The technical solution adopted by this utility model is a disturbance-free automatic well sampling robot, including an operating unit. The operating unit is connected to a lifting system and a robot body via a cable. The lifting system includes a first steel cable and a second steel cable. The lifting system is connected to a sample delivery mechanism via the second steel cable. The lifting system is connected to the robot body via the first steel cable. The robot body includes a support mechanism and a sampling mechanism.

[0007] The features of this utility model also include:

[0008] The lifting system includes a lifting support frame. Several lifting lugs are provided on the top crossbeam of the lifting support frame. Several lifting lugs are fixedly connected to a winch box. A first winch motor is fixedly connected inside the winch box. A gearbox is provided on one side of the winch box. The gearbox is provided with a first gear pair and a second gear pair that mesh externally. The rotating shaft of the first winch motor is connected to the upper wheel of the first gear pair. The axle of the lower wheel of the first gear pair is connected to the first winch wheel. A first steel cable is wound around the first winch wheel.

[0009] A second winch motor is also fixed inside the winch box. The rotating shaft of the second winch motor is connected to the upper wheel of the second gear pair. The lower wheel of the second gear pair is connected to the axle of the second winch wheel. The second steel cable is wound around the second winch wheel.

[0010] The winch box also has a first guide rod and a second guide rod fixed inside. Both the first guide rod and the second guide rod are located at the bottom of the winch box. The first guide rod has a first guide wheel rotatably mounted at both ends, and the second guide rod has a second guide wheel rotatably mounted in the middle. The first steel cable is wound on the first guide wheel, and the second steel cable is wound on the second guide wheel.

[0011] The support mechanism includes a first support plate, and the sample delivery mechanism includes a guide plate. The guide plate passes through the center of the first support plate, and both ends of the guide plate coincide with the edge of the first support plate. A first steel cable is fixedly connected to the overlapping part of the first support plate and the guide plate. A second steel cable passes through the guide plate at the center of the first support plate and is connected to a lifting plate. Several ratchet rods are fixedly connected to the side of the lifting plate away from the lifting system. Each ratchet rod is fixedly connected with a ratchet. The lifting plate, ratchet rods and ratchets can lock the soil sample together.

[0012] The support mechanism also includes a second support plate. The edges of the first and second support plates are connected to four first support links, which are equidistantly distributed. On the side of each first support link away from the lifting system, a third support plate and a fourth support plate are sequentially fixed. A support motor is fixed to the bottom of the fourth support plate. Several drive forks are fixed to the rotating shaft of the support motor. Each drive fork is located between the third and fourth support plates. Each drive fork is slidably connected to a first drive arm. The other end of each first drive arm is hinged to a first support claw. Each first support claw is located outside the third and fourth support plates. A drive rod is connected in a groove inside each first drive arm.

[0013] The drive rod is connected to the first support plate, the second support plate, the third support plate and the fourth support plate in a vertical direction from top to bottom. Each drive rod is fixed between the first support plate and the second support plate, and the other end of each second drive arm is hinged to a second support claw.

[0014] The sampling mechanism includes a fifth support plate, which is an integrated roller structure with the second support plate. The fifth support plate is fixedly connected to two second support rods and two third support rods. The other ends of the two second support rods and the third support rods are fixedly connected to a sixth support plate, which is an integrated roller structure with the third support plate. The sixth support plate and the third support plate are coaxially connected to a rotary motor.

[0015] The third support link is fixedly connected to the first forward / reverse gearbox, and the adjacent third support link is fixedly connected to the second forward / reverse gearbox. One end of the first forward / reverse gearbox is fixedly connected to the forward / reverse reduction mechanism by bolts. The forward / reverse reduction mechanism and the second forward / reverse gearbox are connected by an forward / reverse transmission shaft through internal and external splines. The bottom of the forward / reverse reduction mechanism is fixedly connected to the forward / reverse motor. The first forward / reverse gearbox and the second forward / reverse gearbox are also rotatably connected to forward / reverse lead screw pairs. The other ends of the two forward / reverse lead screw pairs are respectively connected to the two second support links by integrated bearings. The two bearings are respectively fixed inside the two second support links.

[0016] The lead screw pair is also slidably connected to a main spindle support arm. The two main spindle support arms are connected to a deflection gearbox via built-in bearings. The two deflection gearboxes are rotatably connected to a deflection reduction mechanism via a deflection drive shaft. A deflection motor is installed at one end of the deflection reduction mechanism. The two deflection gearboxes are also connected to the main spindle motor via bolts. A soil sample cutting tool is keyed to the end of the deflection gearbox away from the main spindle motor.

[0017] The beneficial effects of this utility model are:

[0018] 1. The present invention relates to an undisturbed automatic well sampling robot, which adopts a crank-connecting rod multi-point rigid-flexible support structure. A support spring is set between the drive arm and the support claw, which realizes reliable support when the well wall has irregular roundness and can absorb impact loads, reducing disturbance to the soil sample. This support structure solves the problem of soil sample disturbance caused by unstable support during the sampling process.

[0019] 2. The present invention provides a non-disturbance automatic well sampling robot that uses a special soil sampling tool with a large diameter ratio and multiple main cutting points. The soil sampling tool is cylindrical and includes three main tool holders, each with two cutting heads. This solves the problems of existing technologies where soil samples cannot be rotated for cutting, actively fed, and have no or minimal radial disturbance, thus improving the survival rate and efficiency of soil sampling.

[0020] 3. This utility model of a disturbance-free automatic well sampling robot proposes an integrated structure for advancing, retreating, deflecting, and rotating. The sampling device is equipped with a deflection motor and a deflection mechanism, which can deflect the sampling or delivery direction of the soil sample cutting blade. The rotation motor can achieve soil sampling at four locations at the same depth in the well, realizing multi-directional well wall sampling at the same depth, thereby improving the number of samples and sampling efficiency at the same depth.

[0021] This utility model of a disturbance-free automatic well sampling robot features stable support, multi-location sampling at the same depth, minimal or no disturbance to the soil sample during the sampling process, and high efficiency of parallel sampling and delivery. It is also small in size, light in weight, and highly automated. This utility model of a disturbance-free automatic well sampling robot replaces traditional manual sampling and realizes automated sampling. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the overall structure of the undisturbed automatic well sampling robot of this utility model;

[0023] Figure 2 This is a schematic diagram of the interactive interface structure of the operating unit of the non-disturbing automatic well sampling robot of this utility model;

[0024] Figure 3 This is a schematic diagram of the sampling and lifting system of the non-disturbing automatic well sampling robot of this utility model;

[0025] Figure 4 This is a schematic diagram of the internal structure of the winch box of the non-disturbing automatic well sampling robot of this utility model;

[0026] Figure 5 This is a schematic diagram of the soil sample grasping mechanism of the non-disturbance automatic well sampling robot of this utility model;

[0027] Figure 6 This is a schematic diagram of the sampling robot body structure in the non-disturbance automatic well sampling robot of this utility model;

[0028] Figure 7 This is the schematic diagram of the support mechanism structure of the non-disturbing automatic well sampling robot of this utility model;

[0029] Figure 8 This is a schematic diagram of the overall structure of the sampling mechanism of the non-disturbing automatic well sampling robot of this utility model;

[0030] Figure 9 This is a schematic diagram of the internal structure of the sampling mechanism of the non-disturbing automatic well sampling robot of this utility model;

[0031] Figure 10 This is a schematic diagram of the sampling tool structure of the non-disturbing automatic well sampling robot of this utility model.

[0032] In the diagram, 1. Operating unit; 2. Lifting system; 2-1. Lifting bracket; 2-2. Sample feeding mechanism; 2-2-1. Guide plate; 2-2-2. Guide disc; 2-2-3. Lifting disc; 2-2-4. Pawl lever; 2-2-5. Pawl; 2-3. First steel cable; 2-4. Second steel cable; 2-5. First winch; 2-6. Second winch; 2-7. Gearbox; 2-7-1. First gear pair; 2-7-2. Second gear pair; 2-8. First winch... 2-9. Second winch motor; 2-10. Winch box; 2-11-1. First guide rod; 2-11-2. Second guide rod; 2-12-1. First guide wheel; 2-12-2. Second guide wheel; 2-13. Lifting lug; 3. Robot body; 3-1. Support mechanism; 3-1-1. First support plate; 3-1-2. Second support plate; 3-1-3. Third support plate; 3-1-4. Fourth support plate; 3-1-5. Support motor; 3-1-6. 3-1-7. Drive fork; 3-1-8. First drive arm; 3-1-9. Drive rod; 3-1-10. First support link; 3-1-11. Second drive arm; 3-1-12. First support claw; 3-1-12. Second support claw; 3-2. Sampling mechanism; 3-2-1. Fifth support plate; 3-2-2. Sixth support plate; 3-2-3. Second support link; 3-2-4. Rotary motor; 3-2-5. Spindle motor; 3-2-6. Forward / backward motor; 3-2-7. Advance... 3-2-7-1. Reverse speed reduction mechanism; 3-2-7-2. First forward / reverse gearbox; 3-2-7-2. Second forward / reverse gearbox; 3-2-7-3. Forward / reverse transmission shaft; 3-2-8. Forward / reverse lead screw pair; 3-2-9. Deflection motor; 3-2-10. Deflection speed reduction mechanism; 3-2-10-1. Deflection gearbox; 3-2-10-2. Deflection transmission shaft; 3-2-11. Main spindle support arm; 3-2-12. Soil sample cutting tool; 3-2-13. Third support connecting rod; 4. Soil sample. Detailed Implementation

[0033] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments.

[0034] like Figure 1 As shown, the undisturbed automatic well sampling robot includes an operating unit 1. The operating unit 1 is connected to a lifting system 2 and a robot body 3 via cables. The lifting system 2 includes a first steel cable 2-3 and a second steel cable 2-4. The lifting system 2 is connected to a sample delivery mechanism 2-2 via the second steel cable 2-4. The lifting system 2 is connected to the robot body 3 via the first steel cable 2-3. The robot body 3 includes a support mechanism 3-1 and a sampling mechanism 3-2. Figure 2 As shown, the operation unit 1 includes a lifting monitoring interface, a sampling robot monitoring interface, and a sample delivery monitoring interface.

[0035] like Figure 3As shown, the lifting system 2 includes a lifting support 2-1. Several lifting lugs 2-13 are provided on the top crossbeam of the lifting support 2-1. The several lifting lugs 2-13 are collectively fixed to a winch box 2-10. Figure 4 As shown, a first winch motor 2-8 is fixedly connected inside the winch box 2-10. A gearbox 2-7 is provided on one side of the winch box 2-10. The gearbox 2-7 is provided with a first gear pair 2-7-1 and a second gear pair 2-7-2 that mesh externally. The rotating shaft of the first winch motor 2-8 is connected to the upper wheel of the first gear pair 2-7-1. The axle of the lower wheel of the first gear pair 2-7-1 is connected to the first winch wheel 2-5. The first steel cable 2-3 is wound around the first winch wheel 2-5.

[0036] like Figure 4 As shown, a second winch motor 2-9 is also fixedly connected inside the winch box 2-10. The rotating shaft of the second winch motor 2-9 is connected to the upper wheel of the second gear pair 2-7-2. The lower wheel axle of the second gear pair 2-7-2 is connected to the second winch wheel 2-6. The second steel cable 2-4 is wound around the second winch wheel 2-6. A first guide rod 2-11-1 and a second guide rod 2-11-2 are also fixedly connected inside the winch box 2-10. Both the first guide rod 2-11-1 and the second guide rod 2-11-2 are located at the bottom of the winch box 2-10. The first guide wheel 2-12-1 is rotatably mounted at both ends of the first guide rod 2-11-1, and the second guide wheel 2-12-2 is rotatably mounted in the middle of the second guide rod 2-11-2. The first steel cable 2-3 is wound around the first guide wheel 2-12-1, and the second steel cable 2-4 is wound around the second guide wheel 2-12-2.

[0037] like Figure 5 As shown, the support mechanism 3-1 includes a first support plate 3-1-1, and the sample delivery mechanism 2-2 includes a guide plate 2-2-1. The guide plate 2-2-1 passes through the center of the first support plate 3-1-1, and both ends of the guide plate 2-2-1 coincide with the edge of the first support plate 3-1-1. A first steel cable 2-3 is fixedly connected to the overlapping part of the first support plate 3-1-1 and the guide plate 2-2-1, respectively. A second steel cable 2-4 passes through the guide plate 2-2-1 at the center of the first support plate 3-1-1 and is connected to a lifting plate 2-2-3. Several pawl rods 2-2-4 are fixedly connected to the side of the lifting plate 2-2-3 away from the lifting system 2. Each pawl rod 2-2-4 is fixedly connected to a pawl 2-2-5. The soil sample 4 can be locked between the lifting plate 2-2-3, the pawl rods 2-2-4 and the pawls 2-2-5.

[0038] like Figure 6 As shown, the robot body 3 includes a support mechanism 3-1 and a sampling mechanism 3-2, as follows: Figure 7As shown, the support mechanism 3-1 also includes a second support plate 3-1-2. The edges of the first support plate 3-1-1 and the second support plate 3-1-2 are connected by four first support links 3-1-9, which are equidistantly distributed. Each first support link 3-1-9 is further fixed to a third support plate 3-1-3 and a fourth support plate 3-1-4 on the side furthest from the lifting system 2. A support motor 3-1-5 is fixed to the bottom of the fourth support plate 3-1-4, and the rotation shaft of the support motor 3-1-5... Several drive forks 3-1-6 are fixedly connected to the upper part. Each drive fork 3-1-6 is located between the third support plate 3-1-3 and the fourth support plate 3-1-4. Each drive fork 3-1-6 is slidably connected to a first drive arm 3-1-7. The other end of each first drive arm 3-1-7 is hinged to a first support claw 3-1-11. Each first support claw 3-1-11 is located outside the third support plate 3-1-3 and the fourth support plate 3-1-4. Each first drive arm 3-1-7 has a drive rod 3-1-8 connected in its built-in groove. The drive rod 3-1-8 is rotatably connected to the first support plate 3-1-1, the second support plate 3-1-2, the third support plate 3-1-3 and the fourth support plate 3-1-4 in a vertical direction from top to bottom. Each drive rod 3-1-8 is fixedly connected to a second drive arm 3-1-10 between the first support plate 3-1-1 and the second support plate 3-1-2. The other end of each second drive arm 3-1-10 is hinged to a second support claw 3-1-12.

[0039] like Figure 8 As shown, the sampling mechanism 3-2 includes a fifth support plate 3-2-1. The fifth support plate 3-2-1 and the second support plate 3-1-2 are integrated roller structures. The fifth support plate 3-2-1 is fixedly connected to two second support rods 3-2-3 and two third support rods 3-2-13. The other ends of the two second support rods 3-2-3 and the third support rods 3-2-13 are fixedly connected to a sixth support plate 3-2-2. The sixth support plate 3-2-2 and the third support plate 3-1-3 are integrated roller structures. The sixth support plate 3-2-2 and the third support plate 3-1-3 are coaxially connected to a rotary motor 3-2-4.

[0040] like Figure 9As shown, the third support link 3-2-13 is fixedly connected to the first forward / reverse gearbox 3-2-7-1, and the adjacent third support link 3-2-13 is fixedly connected to the second forward / reverse gearbox 3-2-7-2. One end of the first forward / reverse gearbox 3-2-7-1 is fixedly connected to the forward / reverse reduction mechanism 3-2-7 by bolts. The forward / reverse reduction mechanism 3-2-7 and the second forward / reverse gearbox 3-2-7-2 are connected by an forward / reverse transmission shaft 3-2-7-3 through internal and external splines. The bottom of the forward / reverse reduction mechanism 3-2-7 is fixedly connected to the forward / reverse motor 3-2-6. The first forward / reverse gearbox 3-2-7-1 and the second forward / reverse gearbox 3-2-7-2 are also rotatably connected to forward / reverse lead screw pairs 3-2-8 respectively. The other ends of the two forward / reverse lead screw pairs 3-2-8 are respectively connected to the two second support links 3-2-3 by integrated bearings. The two bearings are respectively fixed inside the two second support links 3-2-3.

[0041] Two lead screw pairs 3-2-8 are slidably connected to main spindle support arms 3-2-11. The two main spindle support arms 3-2-11 are connected to deflection gearboxes 3-2-10-1 via built-in bearings. A deflection reduction mechanism 3-2-10 is rotatably connected between the two deflection gearboxes 3-2-10-1 via a deflection drive shaft 3-2-10-2. A deflection motor 3-2-9 is installed at one end of the deflection reduction mechanism 3-2-10. A main spindle motor 3-2-5 is also bolted between the two deflection gearboxes 3-2-10-1. A soil sample cutting tool 3-2-12 is keyed to the end of the deflection gearboxes 3-2-10-1 away from the main spindle motor 3-2-5. Figure 10 As shown, the soil sample cutting tool 3-2-12 is cylindrical and includes three main tool holders, each with two cutting heads.

[0042] Example 1

[0043] like Figure 1 As shown, the undisturbed automatic well sampling robot includes an operating unit 1. The operating unit 1 is connected to a lifting system 2 and a robot body 3 via cables. The lifting system 2 includes a first steel cable 2-3 and a second steel cable 2-4. The lifting system 2 is connected to a sample delivery mechanism 2-2 via the second steel cable 2-4. The lifting system 2 is connected to the robot body 3 via the first steel cable 2-3. The robot body 3 includes a support mechanism 3-1 and a sampling mechanism 3-2. Figure 2 As shown, the operation unit 1 includes a lifting monitoring interface, a sampling robot monitoring interface, and a sample delivery monitoring interface.

[0044] Example 2

[0045] The undisturbed automated well sampling robot of Example 1 is used, such as Figure 3As shown, the lifting system 2 includes a lifting support 2-1. Several lifting lugs 2-13 are provided on the top crossbeam of the lifting support 2-1. The several lifting lugs 2-13 are collectively fixed to a winch box 2-10. Figure 4 As shown, a first winch motor 2-8 is fixedly connected inside the winch box 2-10. A gearbox 2-7 is provided on one side of the winch box 2-10. The gearbox 2-7 is provided with a first gear pair 2-7-1 and a second gear pair 2-7-2 that mesh externally. The rotating shaft of the first winch motor 2-8 is connected to the upper wheel of the first gear pair 2-7-1. The axle of the lower wheel of the first gear pair 2-7-1 is connected to the first winch wheel 2-5. The first steel cable 2-3 is wound around the first winch wheel 2-5.

[0046] like Figure 4 As shown, a second winch motor 2-9 is also fixedly connected inside the winch box 2-10. The rotating shaft of the second winch motor 2-9 is connected to the upper wheel of the second gear pair 2-7-2. The lower wheel axle of the second gear pair 2-7-2 is connected to the second winch wheel 2-6. The second steel cable 2-4 is wound around the second winch wheel 2-6. A first guide rod 2-11-1 and a second guide rod 2-11-2 are also fixedly connected inside the winch box 2-10. Both the first guide rod 2-11-1 and the second guide rod 2-11-2 are located at the bottom of the winch box 2-10. The first guide wheel 2-12-1 is rotatably mounted at both ends of the first guide rod 2-11-1, and the second guide wheel 2-12-2 is rotatably mounted in the middle of the second guide rod 2-11-2. The first steel cable 2-3 is wound around the first guide wheel 2-12-1, and the second steel cable 2-4 is wound around the second guide wheel 2-12-2. The lifting system 2 uses a second steel cable 2-4 to lift the sample delivery mechanism 2-2. The lifting process is guided by two first steel cables 2-3 to ensure that the sample delivery mechanism 2-2 accurately reaches the set angle position for grabbing soil samples.

[0047] Example 3

[0048] The undisturbed automated well sampling robot of Example 2 is used, such as Figure 5 As shown, the support mechanism 3-1 includes a first support plate 3-1-1, and the sample delivery mechanism 2-2 includes a guide plate 2-2-1. The guide plate 2-2-1 passes through the center of the first support plate 3-1-1, and both ends of the guide plate 2-2-1 coincide with the edge of the first support plate 3-1-1. A first steel cable 2-3 is fixedly connected to the overlapping part of the first support plate 3-1-1 and the guide plate 2-2-1, respectively. A second steel cable 2-4 passes through the guide plate 2-2-1 at the center of the first support plate 3-1-1 and is connected to a lifting plate 2-2-3. Several pawl rods 2-2-4 are fixedly connected to the side of the lifting plate 2-2-3 away from the lifting system 2. Each pawl rod 2-2-4 is fixedly connected to a pawl 2-2-5. The soil sample 4 can be locked between the lifting plate 2-2-3, the pawl rods 2-2-4 and the pawls 2-2-5.

[0049] like Figure 6 As shown, the robot body 3 includes a support mechanism 3-1 and a sampling mechanism 3-2, as follows: Figure 7 As shown, the support mechanism 3-1 also includes a second support plate 3-1-2. The edges of the first support plate 3-1-1 and the second support plate 3-1-2 are connected by four first support links 3-1-9, which are equidistantly distributed. Each first support link 3-1-9 is further fixed to a third support plate 3-1-3 and a fourth support plate 3-1-4 on the side furthest from the lifting system 2. A support motor 3-1-5 is fixed to the bottom of the fourth support plate 3-1-4, and the rotation shaft of the support motor 3-1-5... Several drive forks 3-1-6 are fixedly connected to the upper part. Each drive fork 3-1-6 is located between the third support plate 3-1-3 and the fourth support plate 3-1-4. Each drive fork 3-1-6 is slidably connected to a first drive arm 3-1-7. The other end of each first drive arm 3-1-7 is hinged to a first support claw 3-1-11. Each first support claw 3-1-11 is located outside the third support plate 3-1-3 and the fourth support plate 3-1-4. Each first drive arm 3-1-7 has a drive rod 3-1-8 connected in its built-in groove. The drive rod 3-1-8 is vertically rotated from top to bottom and is connected to the first support plate 3-1-1, the second support plate 3-1-2, the third support plate 3-1-3, and the fourth support plate 3-1-4. Each drive rod 3-1-8 is fixed between the first support plate 3-1-1 and the second support plate 3-1-2 and has a second drive arm 3-1-10 fixedly connected between the other end of each second drive arm 3-1-10 and a second support claw 3-1-12. The support motor (3-1-5) is driven in both clockwise and counterclockwise directions, driving several drive arms connected to the drive rod (3-1-8) to enable the extension or retraction of several support claws of the sampling robot to detach from the well wall.

[0050] Example 4

[0051] The undisturbed automated well sampling robot described in Example 3, such as Figure 8 As shown, Figure 8 As shown, the sampling mechanism 3-2 includes a fifth support plate 3-2-1. The fifth support plate 3-2-1 and the second support plate 3-1-2 are integrated roller structures. The fifth support plate 3-2-1 is fixedly connected to two second support rods 3-2-3 and two third support rods 3-2-13. The other ends of the two second support rods 3-2-3 and the third support rods 3-2-13 are fixedly connected to a sixth support plate 3-2-2. The sixth support plate 3-2-2 and the third support plate 3-1-3 are integrated roller structures. The sixth support plate 3-2-2 and the third support plate 3-1-3 are coaxially connected to a rotary motor 3-2-4.

[0052] like Figure 9As shown, the third support link 3-2-13 is fixedly connected to the first forward / reverse gearbox 3-2-7-1, and the adjacent third support link 3-2-13 is fixedly connected to the second forward / reverse gearbox 3-2-7-2. One end of the first forward / reverse gearbox 3-2-7-1 is fixedly connected to the forward / reverse reduction mechanism 3-2-7 by bolts. The forward / reverse reduction mechanism 3-2-7 and the second forward / reverse gearbox 3-2-7-2 are connected by an forward / reverse transmission shaft 3-2-7-3 through internal and external splines. The bottom of the forward / reverse reduction mechanism 3-2-7 is fixedly connected to the forward / reverse motor 3-2-6. The first forward / reverse gearbox 3-2-7-1 and the second forward / reverse gearbox 3-2-7-2 are also rotatably connected to forward / reverse lead screw pairs 3-2-8 respectively. The other ends of the two forward / reverse lead screw pairs 3-2-8 are respectively connected to the two second support links 3-2-3 by integrated bearings. The two bearings are respectively fixed inside the two second support links 3-2-3.

[0053] Example 5

[0054] The undisturbed automatic well sampling robot of Embodiment 4 has two forward and backward lead screw pairs 3-2-8 with main shaft support arms 3-2-11 slidably connected to them. The two main shaft support arms 3-2-11 are connected to deflection gearboxes 3-2-10-1 via built-in bearings. A deflection reduction mechanism 3-2-10 is rotatably connected between the two deflection gearboxes 3-2-10-1 via a deflection transmission shaft 3-2-10-2. A deflection motor 3-2-9 is installed at one end of the deflection reduction mechanism 3-2-10. A main shaft motor 3-2-5 is also bolted between the two deflection gearboxes 3-2-10-1. A soil sample cutting blade 3-2-12 is keyed to the end of the deflection gearboxes 3-2-10-1 away from the main shaft motor 3-2-5. Figure 10 As shown, the soil sample cutting tool 3-2-12 is cylindrical and includes three main tool holders, each with two cutting heads.

[0055] Example 6

[0056] Using the undisturbed automatic well sampling robot of Embodiment 5, the operator sets a "Support+" action command through the sampling robot monitoring interface of the operation unit 1. The support motor 3-1-5 of the robot body 3 transmits the support drive power to the four first support claws 3-1-11 via the drive fork 3-1-6 and the four first drive arms 3-1-7; simultaneously, the support drive power is transmitted to the four second support claws 3-1-12 via the drive fork 3-1-6, the four first drive arms 3-1-7, the four drive rods 3-1-8, and the four second drive arms 3-1-10. The first drive arms 3-1-7 and the second drive arms 3-1-10 in the support mechanism 3-1 form a support force with the well wall, thereby achieving fixed support of the robot body 3 at the preset well depth. Setting a "Support-" action command for the robot body 3 allows for a reverse action, achieving separation of the robot body 3 from the well wall. A support spring is installed between the drive arm and the support claw. When the well wall has an irregular roundness, it can ensure effective support between the support claw and the well wall. At the same time, the support spring can absorb some of the impact load when the robot body feeds and samples, reducing the disturbance to the soil sample.

[0057] The operator uses the monitoring interface of the sampling robot in operating unit 1 to set the "Deflection+" action command. The deflection motor 3-2-9 rotates, driving the deflection reduction mechanism 3-2-10 to deflect the sampling or delivery direction of the main spindle motor 3-2-5 and the soil sample cutting blade 3-2-12. The robot's default initial deflection position is towards the wellhead in the delivery direction. Setting the "Deflection-" action command on the robot body 3 deflects the soil sample cutting blade towards the well wall in the sampling direction.

[0058] Operators use the lifting and monitoring interface of operating unit 1 to set the feed speed of robot body 3 and issue the "feed+" action command. The forward / backward motor 3-2-6 rotates, driving the forward / backward lead screw pair 3-2-8 to rotate, thus controlling the feed actions and feed speed of rotary motor 3-2-4, deflection motor 3-2-9, deflection reduction mechanism 3-2-10, main spindle support arm 3-2-11, and soil sample cutting tool 3-2-12. The feed amount and feed speed of the soil sample cutting tool have a certain impact on soil sample disturbance and should be set in conjunction with expert database data and the specific characteristics of the soil sample to reduce the disturbance impact of the feed speed on soil sample cutting.

[0059] The operator uses the monitoring interface of the sampling robot in the operation unit 1 to set the cutting speed "+ / -" action command of the robot body 3. The spindle motor 3-2-5 rotates to drive the soil cutting blade 3-2-12 to perform soil cutting action. The cutting speed of the soil cutting blade has a certain impact on soil sampling disturbance. It should be set in conjunction with expert database data and soil sample specificity to reduce the impact of feed speed on soil cutting disturbance.

[0060] After the soil sample feeding and cutting operations are completed, the operator uses the sampling robot monitoring interface of the operating unit 1 to set micro-deflection and rotation "+ / -" action commands to realize the soil sample cutting blade 3-2-12's snatching action on the soil sample. After the soil sample is snatched, the robot body 3 is set with a "deflection-" action command to deflect the soil sample toward the well wall for sampling, making it easier for the sample delivery mechanism 2-2 to grab the soil sample.

[0061] After the sampling mechanism 2-2 grabs the soil sample, the operator sets the "sampling+" setting, sampling distance, and sampling speed commands for the robot body 3 via the sampling monitoring interface of the operation unit 1. The second winch motor 2-9 drives the second winch wheel 2-6 to rotate via the second gear pair 2-7-2 in the gearbox 2-7. The second steel cable 2-4, wound around the second winch wheel 2-6, is guided by the second guide wheel 2-12-2 until it descends to the preset well depth position of the sampling mechanism 2-2. The weight of the sampling mechanism 2-2 causes the pawl 2-2-5 and pawl rod 2-2-4 to open. When the sampling mechanism is lifted, the pawl 2-2-5 and pawl rod 2-2-4, under the traction force of the second steel cable 2-4, are driven to close by the lifting plate 2-2-3, thus achieving the grabbing of the soil sample. Set the robot body 3 to "sampling-", sampling distance and sampling speed commands to realize the lifting and delivery of soil sample 4 to the surface of the exploration well.

[0062] During the lifting of soil sample 4, the operator uses the sampling robot monitoring interface of the operation unit 1 to set the robot body 3's "rotation + / -" and rotation speed commands. The rotary motor 3-2-4 drives the sixth drive support plate 3-2-2, the second support connecting rod 3-2-3, the third support connecting rod 3-2-13, the fifth support plate 3-2-1, and the second support plate 3-1-2, which in turn drive the forward and backward deceleration mechanism 3-2-7, the forward and backward lead screw pair 3-2-8, the deflection motor 3-2-9, the deflection deceleration mechanism 3-2-10, and the main shaft support arm 3-2-11 to rotate, further driving the soil sample cutting blade 3-2-12 to rotate. This allows control of the four sampling positions of the sampling device. After reaching the sampling position, sampling and sample delivery operations continue. Four samples can be taken at the same well depth in a single operation.

[0063] After sampling is completed at the same well depth, the operator can use the "Support-" actuation command on the sampling robot monitoring interface of the operation unit 1 to separate the sampling robot's support claw from the well wall. By setting the "lifting distance", "lifting speed" and "lifting + / -" commands on the robot body 3 during well exploration through the lifting monitoring interface, the sampling robot can be lowered to the next preset well depth position to continue sampling and delivery at the next well depth position.

Claims

1. A undisturbed automatic well sampling robot, characterized in that, The system includes an operating unit (1), which is connected to a lifting system (2) and a robot body (3) via cables. The lifting system (2) includes a first steel cable (2-3) and a second steel cable (2-4). The lifting system (2) is connected to a sample delivery mechanism (2-2) via the second steel cable (2-4). The lifting system (2) is connected to the robot body (3) via the first steel cable (2-3). The robot body (3) includes a support mechanism (3-1) and a sampling mechanism (3-2).

2. The undisturbed automatic well sampling robot according to claim 1, characterized in that, The lifting system (2) includes a lifting bracket (2-1). Several lifting lugs (2-13) are provided on the top crossbeam of the lifting bracket (2-1). Several lifting lugs (2-13) are fixedly connected to a winch box (2-10). A first winch motor (2-8) is fixedly connected inside the winch box (2-10). A gearbox (2-7) is provided on one side of the winch box (2-10). The gearbox (2-7) is provided with a first gear pair (2-7-1) and a second gear pair (2-7-2) that mesh externally. The rotating shaft of the first winch motor (2-8) is connected to the upper wheel of the first gear pair (2-7-1). A first winch wheel (2-5) is connected to the axle of the lower wheel of the first gear pair (2-7-1). The first steel cable (2-3) is wound around the first winch wheel (2-5).

3. The undisturbed automatic well sampling robot according to claim 2, characterized in that, The winch box (2-10) is also fixedly connected to a second winch motor (2-9). The rotating shaft of the second winch motor (2-9) is connected to the upper wheel of the second gear pair (2-7-2). The lower wheel axle of the second gear pair (2-7-2) is connected to a second winch wheel (2-6). The second steel cable (2-4) is wound around the second winch wheel (2-6).

4. The undisturbed automatic well sampling robot according to claim 3, characterized in that, The winch box (2-10) is also fixedly connected to a first guide rod (2-11-1) and a second guide rod (2-11-2). The first guide rod (2-11-1) and the second guide rod (2-11-2) are both located at the bottom of the winch box (2-10). The first guide rod (2-11-1) is rotatably equipped with a first guide wheel (2-12-1) at both ends. The second guide rod (2-11-2) is rotatably equipped with a second guide wheel (2-12-2) in the middle. The first steel cable (2-3) is wound on the first guide wheel (2-12-1), and the second steel cable (2-4) is wound on the second guide wheel (2-12-2).

5. The undisturbed automatic well sampling robot according to claim 1, characterized in that, The support mechanism (3-1) includes a first support plate (3-1-1), and the sample feeding mechanism (2-2) includes a guide plate (2-2-1). The guide plate (2-2-1) passes through the center of the first support plate (3-1-1), and both ends of the guide plate (2-2-1) coincide with the edges of the first support plate (3-1-1). A first steel cable (2-3) is fixedly connected to the overlapping points of the first support plate (3-1-1) and the guide plate (2-2-1). The second... A steel cable (2-4) passes through a guide plate (2-2-1) at the center of the first support plate (3-1-1) and is connected to a lifting plate (2-2-3). Several pawl rods (2-2-4) are fixedly connected to the side of the lifting plate (2-2-3) away from the lifting system (2). Each pawl rod (2-2-4) is fixedly connected to a pawl (2-2-5). Soil sample (4) can be locked between the lifting plate (2-2-3), the pawl rod (2-2-4) and the pawl (2-2-5).

6. The undisturbed automatic well sampling robot according to claim 5, characterized in that, The support mechanism (3-1) further includes a second support plate (3-1-2). The edges of the first support plate (3-1-1) and the second support plate (3-1-2) are connected by four first support links (3-1-9). The four first support links (3-1-9) are equidistantly distributed. On the side of each first support link (3-1-9) away from the lifting system (2), a third support plate (3-1-3) and a fourth support plate (3-1-4) are sequentially fixed. A support motor (3-1-5) is fixedly connected to the bottom of the fourth support plate (3-1-4). The rotation shaft of the support motor (3-1-5) is... Several drive forks (3-1-6) are fixedly connected to the upper part. Each drive fork (3-1-6) is located between the third support plate (3-1-3) and the fourth support plate (3-1-4). Each drive fork (3-1-6) is slidably connected to a first drive arm (3-1-7). The other end of each first drive arm (3-1-7) is hinged to a first support claw (3-1-11). Each first support claw (3-1-11) is located outside the third support plate (3-1-3) and the fourth support plate (3-1-4). Each first drive arm (3-1-7) has a drive rod (3-1-8) connected in a built-in groove.

7. The undisturbed automatic well sampling robot according to claim 6, characterized in that, The drive rod (3-1-8) is rotatably connected to the first support plate (3-1-1), the second support plate (3-1-2), the third support plate (3-1-3), and the fourth support plate (3-1-4) in a vertical direction from top to bottom. Each drive rod (3-1-8) has a second drive arm (3-1-10) fixed between the first support plate (3-1-1) and the second support plate (3-1-2). The other end of each second drive arm (3-1-10) is hinged to a second support claw (3-1-12).

8. The undisturbed automatic well sampling robot according to claim 6, characterized in that, The sampling mechanism (3-2) includes a fifth support plate (3-2-1), which is an integrated roller structure with the second support plate (3-1-2). The fifth support plate (3-2-1) is fixedly connected to two second support rods (3-2-3) and two third support rods (3-2-13). The other end of the two second support rods (3-2-3) and the third support rods (3-2-13) is fixedly connected to a sixth support plate (3-2-2), which is an integrated roller structure with the third support plate (3-1-3). The sixth support plate (3-2-2) and the third support plate (3-1-3) are coaxially connected to a rotary motor (3-2-4).

9. The undisturbed automatic well sampling robot according to claim 8, characterized in that, The third support link (3-2-13) is fixedly connected to a first forward / reverse gearbox (3-2-7-1), and a second forward / reverse gearbox (3-2-7-2) is fixedly connected to the adjacent third support link (3-2-13). One end of the first forward / reverse gearbox (3-2-7-1) is fixedly connected to a forward / reverse reduction mechanism (3-2-7) by bolts. The forward / reverse reduction mechanism (3-2-7) and the second forward / reverse gearbox (3-2-7-2) are connected by a forward / reverse transmission shaft (3-2) via internal and external splines. -7-3), the bottom of the forward and backward deceleration mechanism (3-2-7) is fixedly connected to the forward and backward motor (3-2-6), the first forward and backward gearbox (3-2-7-1) and the second forward and backward gearbox (3-2-7-2) are also rotatably connected to forward and backward lead screw pairs (3-2-8), the other end of the two forward and backward lead screw pairs (3-2-8) are respectively connected to the two second support connecting rods (3-2-3) by integrated bearings, and the two bearings are respectively fixed in the two second support connecting rods (3-2-3).

10. The undisturbed automatic well sampling robot according to claim 9, characterized in that, Two lead screw pairs (3-2-8) are slidably connected to a main shaft support arm (3-2-11). The two main shaft support arms (3-2-11) are connected to a deflection gearbox (3-2-10-1) via an internal bearing. A deflection reduction mechanism (3-2-10) is rotatably connected between the two deflection gearboxes (3-2-10-1) via a deflection transmission shaft (3-2-10-2). A deflection motor (3-2-9) is provided at one end of the deflection reduction mechanism (3-2-10). A main shaft motor (3-2-5) is also connected between the two deflection gearboxes (3-2-10-1) via bolts. A soil sample cutting tool (3-2-12) is keyed to the end of the deflection gearbox (3-2-10-1) away from the main shaft motor (3-2-5).

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