A docking mechanism suitable for water sample collection

Abstract

The invention relates to an abutting joint mechanism suitable for water sample collection. The abutting joint mechanism includes an upper part and a lower part. The upper part is a passive abutting joint structure, and includes a linear pushing bar, a two-degree-freedom plane translation unit, a bellows coupler and an upper abutting joint. The upper abutting joint is connected to the two-degree-freedom plane translation unit through the bellows coupler, achieving translation movement of the upper abutting joint in the horizontal plane. The linear pushing bar achieves translation movement of the upper abutting joint in the vertical direction. The lower part is a water sample collection unit and includes a layered water sampler and a lower abutting joint. The lower abutting joint is fixed tothe top of the layered water sampler, and is provided with a pipeline inside used for extracting a water sample in the layered water sampler. The disclosed abutting joint mechanism has characteristics of a simple and compact structure and definite movement manners, can achieve three-dimensional translation movement in a high movement speed and a large movement range, thus achieving rapid and accurate abutting. The abutting joint mechanism is suitable for automatic water sample collection in unmanned surface boats.

Description

technical field [0001] The invention relates to the fields of mechanics and robotics, in particular to a docking mechanism suitable for collecting water samples. Background technique [0002] Obtaining representative and effective samples from the water body environment, that is, water sample collection, is an important part of water quality monitoring in marine environmental monitoring. The precision of the sampling process and the precision of the sampling tools directly affect the results of water quality analysis and determination. At present, there are three main methods of water sample collection: sampling bottle sampling, electronically controlled multi-bottle water sampling device sampling, and pump water sampling. Due to the development of unmanned surface platforms such as unmanned surface vehicles and unmanned submarines, these platforms are required to realize automatic water sample collection. Therefore, automatic improvement is carried out on the existing man...

AI Technical Summary

Problems solved by technology

However, the existing automatic docking devices generally have the disadvantages of large volume, large mass, and large driving torque, and are not suitable for automatic water sample collection systems for unmanned surface vehicles.

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