Shallow sea organism sampling robot based on cuttlefish bionics

Abstract

The utility model relates to the technical field of underwater sampling robots, and particularly discloses a squid bionics-based shallow sea organism sampling robot which comprises a bionic main body, prefabricated connecting pieces are arranged on the front side and the rear side of the bionic main body, and a detachable picking storage bin and a detachable floating collection bin are respectively arranged on the prefabricated connecting pieces on the two sides. A mechanical arm connected with the bionic body is further arranged on the side adjacent to the picking storage bin, a bin door plate capable of being automatically opened and closed is arranged on the picking storage bin and connected with the mechanical arm in a matched mode, and the floating collecting bin and the picking storage bin are symmetrical in weight. According to the shallow sea organism sampling robot based on cuttlefish bionics, the motion mode of bionic benthos is adopted, so that disturbance of the robot to surrounding water bodies in the seabed operation process is remarkably reduced. Through the synergistic effect of the bionic appearance and the flexible driving mechanism, the robot can carry out fine operation under the condition that the stable posture is kept.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of underwater sampling robots, in particular to a shallow sea biological sampling robot based on cuttlefish bionics. BACKGROUND

[0002] In the field of shallow sea biological sampling, traditional sampling equipment is difficult to meet the efficient and high-quality collection needs of benthic organisms and plankton at the same time, and there are obvious technical limitations. The existing shallow sea sampling tools are mostly designed with rigid structure, which can easily cause large disturbance to the surrounding water during movement, which not only may disturb the benthic organisms and cause collection difficulties, but also can destroy the natural distribution state of the plankton community, affecting the representativeness of the sample.

[0003] For benthic organism sampling, the conventional equipment has high integration degree of clamping and storage structure, low freedom degree of clamping components, and is difficult to realize flexible clamping, which can easily cause mechanical damage to soft or fragile organisms; and after sampling, the sample can be taken out only by recovering the whole equipment, which can easily cause cross contamination of water during the process, affecting the integrity of the sample.

[0004] For plankton sampling, the traditional method mostly relies on passive filtration or trawl collection. Passive filtration is difficult to form a stable directional water flow, has low sampling efficiency, and cannot accurately separate plankton of different particle sizes. Trawl collection can easily damage the structure of plankton individuals due to mechanical friction, and needs real-time manual control and adjustment, which has insufficient operation flexibility and automation. In addition, the traditional equipment has single function, and if benthic and plankton sampling needs to be carried out at the same time, different equipment needs to be replaced, which is complicated to operate and has low operation efficiency, and is difficult to meet the needs of synchronous sampling of multiple types of organisms in shallow sea. CONTENT OF THE INVENTION

[0005] The present application aims to provide a shallow sea biological sampling robot based on cuttlefish bionics to solve the problems in the background art.

[0006] To achieve the above-mentioned purpose, the present application provides the following technical scheme: a shallow sea biological sampling robot based on cuttlefish bionics, comprising a bionic main body, prefabricated connecting pieces are arranged on the front and back sides of the bionic main body, a detachable picking and storing bin and a plankton collecting bin are respectively arranged on the prefabricated connecting pieces on both sides, a mechanical hand connected with the bionic main body is further arranged on the side adjacent to the picking and storing bin, an automatic opening and closing bin door plate is arranged on the picking and storing bin and connected with the mechanical hand in cooperation, and the weight of the plankton collecting bin is symmetrical to that of the picking and storing bin.

[0007] Preferably, the picking and storing bin comprises a storing bin body, a driving gear is arranged on the side surface of the storing bin body, a rack is arranged on the top of the bin door plate, and the driving gear is connected with the rack through a driven gear shaft arranged on one side of the picking and storing bin.

[0008] Preferably, the plankton collecting bin comprises a collecting bin body, one side of the collecting bin body is provided with a filter plate, and the other side of the collecting bin body opposite to the filter plate is provided with a water suction fan.

[0009] Preferably, the bottom of the picking storage bin and the plankton collecting bin is provided in a dovetail groove shape, and the prefabricated connecting piece is provided in a dovetail sliding rod which is in sliding connection with the dovetail groove.

[0010] Preferably, a clamping groove is formed on the dovetail sliding rod, and then a first limiting piece and a second limiting piece are respectively inserted into the clamping groove.

[0011] Preferably, the second limiting piece is provided in a hollow shape.

[0012] Preferably, the mechanical hand uses a pincer type mechanical hand.

[0013] Compared with the prior art, the beneficial effects of the present application are that the shallow sea biological sampling robot based on cuttlefish bionics adopts the motion mode of bionic seabed organisms, so that the disturbance of the robot to the surrounding water body is significantly reduced during seabed operation. Through the synergistic effect of the bionic shape and the flexible driving mechanism, the robot can perform fine operation while maintaining a stable posture.

[0014] The sampling and clamping system adopts a mechanical hand with high degrees of freedom, which can realize multi-angle in a narrow space. The picking storage bin is provided with a bin door plate which can be controlled to open and close to cooperate with the mechanical hand, so that the stable capture, sealing and storage of biological samples can be realized. The picking storage bin can be removed from the robot, moved to a designated position and taken out of the sample, which significantly reduces the mechanical damage and water cross contamination risk of the sample in the sampling, transfer and storage process.

[0015] The robot system has a modular design, and the sampling and collecting bin is a replaceable and detachable structure, which is convenient for quick replacement and maintenance in multiple sampling or different task scenarios. This structure not only improves the operation efficiency and applicability of the system, but also enables the sampled samples to be sealed and stored in situ, ensuring their integrity and representativeness.

[0016] In addition, it also has superior technical effects in the aspect of plankton sampling. The water suction fan is also provided on one side of the robot, which can form a directional water flow, so that the seawater passes through the multi-stage filter plate arranged at the rear to realize automatic screening and capture of plankton. Through reasonable flow field control and filter screen density design, efficient sampling can be realized without damaging the structure of plankton individuals. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 It is a perspective view of the bionic main body in a preferred embodiment of the present application;

[0018] Figure 2A side view structural schematic diagram of the bionic main body in a preferred embodiment of the present application;

[0019] Figure 3 A bottom view structural schematic diagram of the bionic main body in a preferred embodiment of the present application;

[0020] Figure 4 A structural schematic diagram of the prefabricated connecting piece in a preferred embodiment of the present application;

[0021] Figure 5 A structural schematic diagram of the picking storage bin in a preferred embodiment of the present application;

[0022] Figure 6 A top view structural schematic diagram of the plankton collecting bin in a preferred embodiment of the present application;

[0023] Figure 7 A bottom view structural schematic diagram of the plankton collecting bin in a preferred embodiment of the present application;

[0024] Figure 8 A structural schematic diagram of the mechanical hand in a preferred embodiment of the present application.

[0025] In the figure: 1, bionic main body; 2, prefabricated connecting piece; 3, mechanical hand; 4, picking storage bin, 41, storage bin body, 42, driving gear, 43, driven gear shaft, 44, rack, 45, bin door plate; 5, plankton collecting bin, 51, collecting bin body, 52, water absorption fan page, 53, filter plate; 6, clamping groove; 7, first limiting piece; 8, second limiting piece. DETAILED DESCRIPTION

[0026] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the present application.

[0027] Please refer to Figures 1-8 The present application provides a technical solution: a shallow sea biological sampling robot based on squid bionics, which comprises a bionic main body 1, prefabricated connecting pieces 2 are arranged on the front and back sides of the bionic main body 1, the prefabricated connecting pieces 2 are used for conveniently and quickly connecting or dismounting picking storage bins 4 and plankton collecting bins 5, the picking storage bins 4 and the plankton collecting bins 5 are respectively arranged on the prefabricated connecting pieces 2 on the two sides, the picking storage bins 4 are used for placing relatively large samples; and the plankton collecting bins 5 are used for collecting plankton.

[0028] The side adjacent to the picking storage bin 4 is also provided with a pincer type mechanical hand 3 connected with the bionic main body 1, and the picking storage bin 4 is provided with an automatically opening and closing bin door plate 45 connected with the mechanical hand 3. A sensing module is arranged on the mechanical hand 3. The mechanical hand 3 includes a rotating disc connected with a rudder, a supporting arm is arranged on the rotating disc, a small arm connected with the rudder is connected to one end of the supporting arm, and a mechanical pincer claw connected with a motor is arranged at the free end of the small arm. The multi-degree-of-freedom mechanical pincer claw is driven by a plurality of groups of rudders and connecting rod systems, and can realize flexible movement in the horizontal, pitching and opening and closing directions. The end of the claw body is covered with a flexible polymer material, which reduces the physical damage to the sample when clamping soft or fragile biological samples. The sensing module can monitor the clamping force and the sample state in real time to realize accurate control; the sensing module can use a camera.

[0029] The picking storage bin 4 includes a storage bin body 41, a driving gear 42 is arranged on the side of the storage bin body 41, a rack 44 is arranged on the top of the bin door plate 45, and the driving gear 42 is connected with the rack 44 through a driven gear shaft 43 arranged on one side of the picking storage bin 4. The driving gear 42 is driven by a motor, the driving gear 42 drives the driven gear shaft 43 to rotate through an intermediate gear, the driven gear shaft 43 drives the rack 44 connected with it to move, and then drives the bin door plate 45 to move. Thus, the opening and closing control of the bin door plate 45 is realized.

[0030] The weight of the plankton collection bin 5 is symmetrical to that of the picking storage bin 4. The material weight deviation of the plankton collection bin 5 and the picking storage bin 4 should not be too large, so as to cause the center of gravity of the robot to deviate.

[0031] The plankton collection bin 5 includes a collection bin body 51, a filter plate 53 is arranged on one side of the collection bin body 51, and a water suction fan page 52 is arranged on the other side of the collection bin body 51 opposite to the filter plate 53. The plankton sampling unit, i.e. the plankton collection bin 5, is arranged on one side of the robot, which includes a water suction fan page 52 driven by a micro motor and a plurality of filter plates 53. The motor drives the water suction fan page 52 to rotate to generate a directional water flow, and the water flows through the filter plate 53 arranged at the rear part through a flow guide pipe. According to different filter layer mesh diameters, different sizes of plankton can be selectively captured. The whole process realizes automatic sampling without manual intervention. The power of the motor driving the water suction fan page 52 does not need to be too large, which can drive the water suction fan page 52 to rotate and then drive the water flow.

[0032] In the existing underwater robot system, the propulsion mode usually adopts medium or large propeller, generates thrust through high speed to realize underwater navigation, positioning and operation function. The propeller speed of such device is generally high, generally between 1000 to 4000 revolutions per minute (rpm). Because the propeller blade size is large and the speed is fast, the flow field disturbance formed under water is significant, and the local water flow speed can reach tens of centimeters per second or even higher, which is easy to stir up the seabed sediments, causing water turbidity and turbulence, which is not conducive to fine operation such as micro plankton sampling. The strong vortex generated by the high-speed propeller not only changes the sample distribution environment, but also may lead to increased sampling error.

[0033] In comparison, the bionic plankton sampling robot proposed in the present application adopts small and low-speed water suction fan blades 52 to drive water flow, and combines with the filter plate type adsorption structure to realize accurate collection of plankton. The rotation speed of the water suction fan blades 52 of the device is controlled within the range of 200 to 300 revolutions per minute in the sampling state, and at the same time, unlike the underwater robot, the water suction fan blades 52 of the robot are used to suck water, rather than to spray water flow. After the water suction fan blades 52 suck water, the water flow to the collection bin passes through the filter plate 53, further reducing the disturbance of the sampling operation to the seawater. The water flow speed is sufficient to naturally guide the plankton into the filter plate 53, while it will not form a strong disturbance or reverse suction flow, thereby effectively maintaining the stability of the sampling environment.

[0034] In comparison, the traditional ROV operates at 3000 revolutions per minute, and the flow field speed near the propeller often exceeds 50 cm / s, and the disturbance range can extend to tens of centimeters or even farther, which is easy to destroy the original biological distribution environment. Under the same conditions, the low-speed water suction fan blades 52 of the present application have less than one-tenth of the flow field disturbance, and can complete the sampling operation under the condition of low energy consumption, with the significant advantages of low disturbance, high precision and high adaptability.

[0035] The bottom of the picking storage bin 4 and the plankton collection bin 5 is set as a dovetail groove, and the prefabricated connecting piece 2 is set as a dovetail slide rod in sliding connection with the dovetail groove.

[0036] A clamping groove 6 is formed on the dovetail slide rod, and then a first limiting piece 7 and a second limiting piece 8 are respectively inserted into the clamping groove 6 to connect the tail part of the picking storage bin 4 and the plankton collection bin 5. After the first limiting piece 7 and the second limiting piece 8 are respectively inserted into the corresponding clamping groove 6, the picking storage bin 4 and the plankton collection bin 5 are fixed to avoid falling off. The second limiting piece 8 is set as a hollow shape to avoid blocking the water drainage at the filter plate 53.

[0037] In the description of the application, it is to be understood that the terms "coaxial", "bottom", "one end", "top", "middle", "the other end", "upper", "one side", "outer", "inner", "front", "central", "both ends" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the application.

[0038] In addition, the terms "first", "second", "third", "fourth" are only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated, so that the features with "first", "second", "third", "fourth" can be explicitly or implicitly include at least one of the features.

[0039] In the present application, unless otherwise expressly specified and limited, the terms "mounting", "setting", "connecting", "fixing", "screwed" and the like should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise expressly limited, the above-mentioned terms in the present application can be understood according to the specific meaning in the present application by the person skilled in the art according to the specific circumstances.

[0040] Although the embodiments of the present application have been shown and described, it can be understood by those skilled in the art that various changes, modifications, replacements and variations can be made to the embodiments without departing from the principles and spirits of the present application, and the scope of the present application is defined by the appended claims and their equivalents.

Claims

1. A shallow water biological sampling robot based on cuttle mimicry, comprising a mimicry body (1), characterized in that: The bionic body (1) is provided with prefabricated connecting pieces (2) on both sides, the prefabricated connecting pieces (2) on both sides are respectively provided with detachable picking storage bins (4) and plankton collecting bins (5), one side adjacent to the picking storage bin (4) is further provided with a mechanical hand (3) connected with the bionic body (1), the picking storage bin (4) is provided with an automatic opening and closing bin door plate (45) connected with the mechanical hand (3), and the plankton collecting bin (5) is symmetrical with the picking storage bin (4) in weight.

2. The squid-bionic based shallow water biological sampling robot according to claim 1, characterized in that: The picking storage bin (4) comprises a storage bin body (41), the storage bin body (41) is provided with a driving gear (42) on the side, the top of the bin door plate (45) is provided with a rack (44), and the driving gear (42) is connected with the rack (44) through a driven gear shaft (43) arranged on one side of the picking storage bin (4).

3. The squid-bionic based shallow water biological sampling robot according to claim 1, characterized in that: The plankton collecting bin (5) comprises a collecting bin body (51), one side of the collecting bin body (51) is provided with a filter plate (53), and the other side of the collecting bin body (51) opposite to the filter plate (53) is provided with a water suction fan page (52).

4. The squid-bionic based near-shore biological sampling robot according to claim 1, characterized in that: The bottom of the picking storage bin (4) and the plankton collecting bin (5) is in the shape of a dovetail groove, and the prefabricated connecting piece (2) is in the shape of a dovetail sliding rod in sliding connection with the dovetail groove.

5. The squid-biomimetic shallow-water biological sampling robot of claim 4, wherein: A clamping groove (6) is formed in the dovetail sliding rod, and then a first limiting piece (7) and a second limiting piece (8) are respectively inserted into the clamping groove (6) at the tail of the picking storage bin (4) and the plankton collecting bin (5).

6. The squid-biomimetic based near-shore biological sampling robot according to claim 5, characterized in that: The second limiting piece (8) is in the shape of a hollow.

7. The squid-biomimetic shallow-water biological sampling robot of claim 1, wherein: The mechanical hand (3) is a pincer type mechanical hand.

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