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CN-117845864-B - Static sounding autonomous penetration system based on bionics

CN117845864BCN 117845864 BCN117845864 BCN 117845864BCN-117845864-B

Abstract

The invention discloses a bionic-based static cone penetration system, which comprises a controller, an upper expansion device, a loading device, a lower expansion device and a static cone penetration probe, wherein the upper expansion device comprises an elastic membrane surrounding a hollow cylinder with a water permeable hole, the loading device comprises four groups of hydraulic loading units, and the lower expansion device comprises six metal blades capable of expanding and contracting radially. The elastic membrane is filled with water to expand and squeeze surrounding soil mass, so as to provide the counter force required by the extension of the loading device. The probe can vertically penetrate into soil and change the advancing direction by controlling four groups of hydraulic loading units in the loading device. When the metal blade is unfolded, the soil bearing capacity above the metal blade provides the counterforce required by the loading device when the loading device is shortened. The invention does not need to arrange a counterforce device on the ground surface and a probe rod between the loading device and the static sounding probe. The invention has small disturbance to the surrounding environment, can be used for places which are difficult to reach by large machinery, and expands the application range of static sounding test sites.

Inventors

  • JIA RUI
  • WANG JUNTONG
  • QIAO XIAOLI
  • WU ZHONGPING
  • Chu zhenxing

Assignees

  • 天津大学

Dates

Publication Date
20260505
Application Date
20240131

Claims (6)

  1. 1. The bionic-based static sounding autonomous penetration system comprises a controller, an upper expansion device (3), a loading device (2), a lower expansion device (4) and a static sounding probe (1), and is characterized in that, The upper expansion device (3) comprises an expansion device shell, the expansion device shell is composed of an expansion device base (11), an expansion device side wall and an expansion device top plate (12), the expansion device top plate (12) is provided with a water injection hole (19), the expansion device side wall comprises a hollow cylinder (13), the cylinder wall of the hollow cylinder (13) is provided with a water permeable hole (14), the periphery of the hollow cylinder (13) is coated with an elastic membrane (15), the upper end and the lower end of the hollow cylinder (13) are respectively fixedly connected with the expansion device base (11) and the expansion device top plate (12), the upper end and the lower end of the elastic membrane (15) are respectively connected with the expansion device base (11) and the expansion device top plate (12) in a sealing mode, when the upper expansion device (3) is required to provide counter force, pressure water is injected into the hollow cylinder (13) through the water injection hole (19), and the pressure water is filled into the elastic membrane (15) through the water permeable hole (14); The loading device (2) comprises a loading device shell, wherein the loading device shell is composed of a loading device base (5), a loading device side wall (7) and a loading device top plate (6), the loading device side wall (7) is made of a circumferentially rigid and axially telescopic material, four groups of hydraulic loading units are respectively arranged between the loading device base (5) and the loading device top plate (6) according to front-back symmetry and bilateral symmetry, and each group of hydraulic loading units comprises a hydraulic cylinder (8), a piston (9) and a piston rod (10); the expansion device comprises a hollow cylinder barrel (13), a loading device top plate (6), an expansion device base (11), a hollow cylinder barrel (11), a loading device top plate (6) and a hydraulic cylinder (8), wherein the expansion device base (11) is fixedly connected with the loading device top plate (6), a steel pipe (26) penetrates through the expansion device top plate (12) to the loading device top plate (6) sequentially through the hollow cylinder barrel (13) and the expansion device base (11), and a hydraulic pipeline of the hydraulic cylinder (8) is externally connected to a hydraulic pump through the steel pipe (26); A bearing hole (24) is formed in the center of the bottom surface of the loading device base (5), and six radial linear sliding grooves (23) are formed in the periphery of the bearing hole; The lower expansion and contraction device (4) comprises six metal blades (17) and a central rotating shaft (16) driven by a servo motor (25), wherein a rotating arm frame is fixed on the central rotating shaft (16), the rotating arm frame comprises six fixed rods (18), one end of each fixed rod (18) is fixed with the central rotating shaft (16), transmission and execution mechanisms are respectively arranged between the six fixed rods (18) and the six metal blades (17) in a one-to-one correspondence manner, each transmission and execution mechanism comprises a connecting rod (22), one end of each connecting rod (22) is hinged with the other end of each fixed rod (18) through a hinge shaft (21), the other end of each connecting rod (22) is hinged with a sliding block (20) through a hinge (27), and the sliding blocks (20) are embedded in the linear sliding grooves (23) and are in sliding fit with the linear sliding grooves (23), and each metal blade (17) is respectively hinged with the hinge shaft (21) and the hinge (27) in the same transmission and execution mechanism; The static cone penetration test probe (1) comprises a cone tip resistance sensor, a side wall friction resistance sensor, a pore water pressure sensor and a inclinometer sensor which are all connected with the controller, and the servo motor (25), the hydraulic pump and the water injection pipe are all connected with the controller.
  2. 2. The autonomous penetration system for cone penetration based on bionics according to claim 1, characterized by the fact that the six fixing bars (18) and the six metal blades (17) are all arranged radially.
  3. 3. The autonomous penetration system for static penetration into the skin according to claim 1, wherein after driving the servo motor (25), the rotating arm frame rotates synchronously under the driving of the central rotating shaft (16), and the fixing rod (18) pulls the connecting rod (22) in the transmission and execution mechanism, so that the hinge (27) is close to or far from the central rotating shaft (16), thereby driving the metal blade (17) to be unfolded and retracted in the plane thereof.
  4. 4. The bionic-based static cone penetration system according to claim 1, wherein bearings are arranged on the top plate of the static cone penetration probe (1), and two ends of the central rotating shaft (16) are respectively supported between the loading device base (5) and the top plate of the static cone penetration probe (1) through the bearings.
  5. 5. The autonomous penetration system for static penetration according to claim 1, characterized in that the change of the penetration direction of the static penetration probe (1) is achieved by controlling the extension amplitude of the four piston rods (10) in the loading device (2).
  6. 6. The autonomous penetration system for cone penetration of static electricity according to claim 1, characterized in that the electric wires of the servo motor (25) are connected to a power source through the steel tube (26).

Description

Static sounding autonomous penetration system based on bionics Technical Field The invention relates to the field of geotechnical in-situ test, in particular to a bionic-based static sounding autonomous penetration system which is suitable for carrying out static sounding tests on places which are difficult to reach by large machines and is used for carrying out soil layer division, estimating physical and mechanical property indexes of soil and the like. Background Before various engineering projects are designed and constructed, the physical and mechanical properties of foundation soil are required to be measured through in-situ test or indoor test, and compared with the indoor test, the in-situ test has the advantages of reflecting the characteristics of soil under the natural stress state, along with large measurement range, short test period and the like. Static cone penetration is an in-situ test technique that utilizes quasi-static force to press a conical probe into the earth through a series of probe rods at a constant rate, and measures cone tip resistance, sidewall friction resistance and pore water pressure suffered by the probe in the penetration process. The test result of static sounding can be used for soil layer division, soil body classification and estimation of physical and mechanical property indexes of each soil layer, and is one of the most widely applied in-situ test technologies in the field of geotechnical engineering at present. The penetration depth of the static penetration test mainly depends on the capability of penetration equipment and the size of a reaction force which can be provided, so that a traditional static penetration system often comprises a huge reaction force device, and the reaction force device has the function of fixing a pressurizing device and providing the reaction force required by a probe in the penetration process and can be divided into dead weight type and anchor type. In some places, the condition of using a large counter-force device is not provided, such as places which are difficult to reach by human beings, deep sea, deep space and the like, and large machines, so that the traditional static penetration system greatly limits the applicable place range of the static penetration test. Bionics is a discipline that is engineered to achieve and effectively employ biological functions. The razor clam living in shallow sea, the tide is in water, the tide is removed, the razor clam drills into sand, the outer crust is firstly used for supporting soil bodies on two sides, then the inner mollusk rod drills downwards, after the inner mollusk rod drills into a certain depth, the outer crust is contracted and moves downwards along the inner mollusk rod, and accordingly the razor clam can continuously drill into sand in a beach. The earthworms complete the movement by means of the alternate contraction of the longitudinal muscles and the ring muscles and the cooperation of the body surface bristles, when the earthworms advance, the bristles at the back of the body are nailed into the soil and do not move, at the same time, the ring muscles shrink, the longitudinal muscles relax, the body stretches forwards, and then the bristles at the front end of the body are nailed into the soil and do not move, at the same time, the longitudinal muscles shrink, the ring muscles relax, and the body shortens forwards and advances. Based on the principles of 'razor clam drilling sand' and 'earthworm moving', the invention provides a static sounding autonomous penetration system. The traditional static penetration system requires a huge counter-force device and a series of probe rods, and only vertical penetration can be realized. Disclosure of Invention Aiming at the prior art, the invention provides a bionic-based static sounding autonomous penetration system, which can provide counter force by using a surrounding rock-soil body, so that a counter force device and a probe rod are not needed, and the direction can be changed in the penetration process. Compared with the traditional penetration system, the autonomous penetration system has the advantages of small disturbance to the surrounding environment, low energy consumption and low cost. In order to solve the technical problems, the invention provides a bionic-based static sounding autonomous penetration system, which comprises an upper expansion device, a loading device, a lower expansion device and a static sounding probe; The upper expansion device comprises an expansion device shell, wherein the expansion device shell is composed of an expansion device base, an expansion device side wall and an expansion device top plate, the expansion device top plate is provided with a water injection hole, the expansion device side wall comprises a hollow cylinder, the wall of the hollow cylinder is provided with a water penetration hole, and the periphery of the hollow cylinder is coated with an elastic membrane; The loading device