A deep-sea micro-sampling robot

Abstract

The invention discloses a deep-sea micro-sampling robot, comprising a buoyancy block, a control device, a frame, a rope, a traveling device, a drilling device and a sample storage device; the buoyancy block is fixed on the frame to provide buoyancy, the control device is used to control the operation of the traveling device, the sampling device and the sample storage device, the traveling device generates a driving force by driving the traveling wheels at both ends of the traveling wheel rotating rod and the traveling wheel rotating rod installed under the frame, the drilling device drives the ultrasonic vibration motor and the drilling motor guided by the straight guide rail on the frame through the driving oil cylinder, thereby driving the sampling rod to take samples, the sample storage device stores the sampling rod by the sample storage tray, and then drives the dial device guided by the arc guide rail on the frame through the dial oil cylinder to cooperate with the spoon-shaped groove on the sample storage tray, and then cooperates with the resistor, so as to rotate the sample storage tray to replace the rod position and position it. The invention has a simple structure, is easy to implement, can flexibly swim in the deep sea and travel on the seabed, and can obtain deep-sea samples with low disturbance and low energy consumption.

Description

Technical Field

[0001] The invention belongs to the field of deep-sea robots, and in particular relates to a deep-sea micro sampling robot. Technical Background

[0002] With the development of science and technology, human beings have an increasing demand for resources, which can no longer be met by existing resources on land. The ocean contains extremely rich resources. In order to achieve efficient development of marine resources, it is first necessary to accurately and efficiently detect and sample deep-sea resources. Therefore, the development of deep-sea micro-sampling robots is of great significance.

[0003] Therefore, many detection and sampling equipments were designed. For example, patent CN102628337B designed a chimney horizontal sampling drill for deep-sea polymetallic sulfide mining areas. However, it did not have sufficient mobility. Therefore, patent CN210483534U pointed out its shortcomings and then designed a mobile deep-sea sampling drill. However, its mobility was achieved by the high-speed rotation of the propeller. Therefore, before drilling and sampling at the bottom, it would cause great disturbance damage to the sampling position, resulting in the samples taken not being able to fully and truly reflect the composition structure of the seabed materials.

[0004] Another example is patent CN208106319U which designs a self-propelled deep-sea core sampling drill for complex terrain. The drill relies on movable legs to move freely on the seabed to achieve precise positioning and sampling, but there is a possibility of sinking, and it can only move slowly on the seabed but cannot swim quickly. There is still much room for improvement in its maneuverability. Summary of the invention

[0005] In order to solve the above technical problems, the present invention provides an efficient sampling robot that can achieve accurate sampling and swim quickly in seawater.

[0006] The technical solution adopted in the present invention is:

[0007] A deep-sea micro-sampling robot, characterized in that it comprises a buoyancy block, a control device, a frame, a rope, a traveling device, a drilling device and a sample storage device;

[0008] The frame includes a support frame, a turntable seat, an arc guide rail and a straight guide rail. The turntable seat is horizontally fixed in the middle of the support frame. The arc guide rail is installed on the support frame and is coaxial with the turntable seat. The straight guide rail is vertically fixed on the support frame and is located in the inner hole of the turntable seat. The control device and the buoyancy block are installed on the support frame. The traveling device is installed at the bottom of the frame. A rope is installed on the frame, and a traveling device is provided at the bottom of both sides of the frame.

[0009] The traveling device comprises a travel wheel rotating rod, a travel wheel, a rotary motor and an angle motor, wherein the travel wheel rotating rod and the angle motor are mounted on a frame, the output shaft of the angle motor is connected to the travel wheel rotating rod, a rotary motor is mounted at each end of the travel wheel rotating rod, and two travel wheels are mounted on the output ends of the two rotary motors respectively; the axis of the travel wheel is perpendicular to the travel wheel rotating rod;

[0010] The drilling device comprises a feed cylinder, an ultrasonic vibration motor, a drilling motor, a slide and a connector. The slide is mounted on a straight guide rail of a frame, an ultrasonic vibration motor is fixed on the slide, the slide is connected to one end of the feed cylinder, and the other end of the feed cylinder is mounted on a support frame; the drilling motor is fixed to the output end of the ultrasonic vibration motor, and the upper end of the connector is fixed to the output shaft of the drilling motor;

[0011] The sample storage device comprises a sample storage tray, a sampling rod, a resistor, a dial oil cylinder, a dial device, a limit seat, a tightening rod device and a loosening rod device; the sample storage tray is arranged on a turntable seat and can rotate, and a plurality of sample storage holes are evenly arranged on the sample storage tray along the circumferential direction, and the sample storage holes are through holes; a sampling rod is installed in the sample storage hole, and the upper end of the sampling rod can be screwed with the lower end of the connector; a tightening rod device is respectively arranged on the upper end surface of the sample storage tray corresponding to each sampling rod; a plurality of spoon-shaped grooves are evenly arranged on the side wall of the sample storage tray along the circumferential direction, and the number of the spoon-shaped grooves is an integer multiple of the sample storage holes; The resistor is installed at the edge of the turntable seat and abuts against the sample storage tray; the dial cylinder sleeve is hinged on the support frame, the end of the dial cylinder piston rod is hinged to the dial device, the dial device is installed on the arc guide rail, and the dial device abuts against the side of the sample storage tray; the limit seat is installed on the support frame, close to one end of the arc guide rail and the drilling device; the loose rod device is arranged on the limit seat, close to the tightening rod device, and the control device is respectively connected to the loose rod device, the ultrasonic vibration motor, the drilling motor, the feed cylinder, and the dial cylinder.

[0012] Furthermore, the traveling wheel includes an axle, blades, a rim and gear teeth, and the axle is installed at the output end of the rotating motor; the rim is installed on the axle through multiple blades and is coaxial with the axle; multiple blades are evenly arranged in a square along the circumference, and the blades are spiral; the gear teeth are evenly fixed on the outside of the rim in the circumferential direction; the blades of the continuous wheels installed at both ends of the same row wheel rotating rod have opposite spiral directions.

[0013] Furthermore, the gear teeth include a power part and a resistance part, the power part is located in front of the resistance part in the spiral direction of the wheel blade; the power part is provided with a power surface, the power surface is consistent with the spiral surface of the wheel blade, and the resistance part is provided with a resistance surface, which is perpendicular to the end face of the wheel.

[0014] Furthermore, the sample storage tray comprises an upper tray, a lower tray and a plurality of rod sleeves; the upper tray is coaxially fixed above the lower tray by means of a plurality of rod sleeves, a sample storage hole I and a sample storage hole II are respectively provided on the upper tray and the lower tray corresponding to each rod sleeve, the sample storage hole I and the sample storage hole II are coaxial with the corresponding rod sleeves, and the rod sleeves are circular tube structures; a plurality of spoon-shaped grooves are evenly arranged on the side wall of the upper tray in a circumferential direction; the dial device abuts against the side surface of the upper tray.

[0015] Furthermore, the axis of the connector of the drilling device is parallel to the axis of the sampling rod, the axis of the connector is coaxial with the output shaft of the drilling motor, and the axis of the connector intersects with the circle where the centers of all the sampling rods are located.

[0016] Furthermore, the dial device includes a connecting part, a spring sheet I, a spring sheet II, a spring sheet III, a shell, a dial pin and a latch; the lower part of the connecting part is installed on the circular arc guide rail and can move along the circular arc guide rail; the upper part of the connecting part is hinged to the end of the piston rod of the dial cylinder; the shell is fixed to the connecting part, and a slideway I and a slideway II are arranged inside the shell, the slideway I is perpendicular to the slideway II, and the slideway I is parallel to the tangent of the circular arc guide rail; openings are arranged at both ends of the slideway I and the side facing away from the slideway II, one end of the slideway II is connected to the inner cavity of the slideway I, and the other end of the slideway II and An opening is set on one side; the latch pin is installed in slideway I, and the latch pin is connected to the side of the opening of slideway I through spring sheet I, one end of the latch pin extends out of the end opening of slideway I, and the other end surface is a wedge surface; the push pin is installed in slideway II, and the push pin is connected to the side of the opening of slideway II through spring sheet II, and one end of the push pin extends out of the end opening of slideway II, and is used to cooperate with the spoon-shaped groove on the upper plate of the sample storage tray to push the sample storage tray; the other end of the push pin is installed with spring sheet III, and the end surface of the push pin is a wedge surface and extends into the interior of slideway I, and the wedge surface of the push pin cooperates with the wedge surface of the latch pin.

[0017] Furthermore, the spoon-shaped groove on the sample storage tray is divided into a spoon head and a spoon tail. The spoon head can cooperate with the dial pin of the dial device toward the sample storage tray. The end surface of the dial pin facing the sample storage tray is an inclined surface, which can cooperate with the spoon tail to slide.

[0018] Furthermore, the tightening rod device includes a spring sheet IV, a slide rail and a steel locking block. The slide rail is installed on the sample storage tray, and the locking block is installed in the slide rail. The two ends of the spring sheet IV are respectively connected to the locking block and the slide rail; the side of the sampling rod is provided with rough grooves, and the end of the locking block facing the sampling rod is provided with rough grooves, and abuts against the rough grooves on the sampling rod; the loosening rod device is installed on the limit seat, and an electromagnetic coil is provided in the loosening rod device. The loosening rod device is arranged at the end of the locking block facing away from the sampling rod.

[0019] Furthermore, the buoyancy block is fixed on the upper part of the support frame; a through hole is opened on the turntable seat on the frame at the axis of the connector, and the diameter of the through hole is larger than the diameter of the sampling rod.

[0020] Furthermore, the resistor includes a spring sheet V and a resistance sheet. One end of the spring sheet V is fixed on the turntable seat, and the other end is provided with a resistance sheet. The resistance sheet abuts against the upper end surface of the lower plate of the sample storage plate.

[0021] Compared with the prior art, the present invention has the following beneficial effects:

[0022] 1. The traveling wheel of the present invention is provided with blades and gear teeth. The blades are spiral. The blades enable the robot to move in seawater and mud, and the gear teeth enable the robot to travel on hard seabed and land. At the same time, when the traveling wheel rotates in the forward direction, the gear teeth show small resistance and can have a propulsion force in the same direction as the blades, and when it rotates in the reverse direction, the gear teeth show large resistance.

[0023] 2. The present invention is provided with four independent rotary motors and two independent angular motors, so that the driving force can be generated more flexibly in three-dimensional space, and the two modes of swimming and seabed travel can be flexibly switched. Furthermore, during the sediment sampling process, the traveling wheels can be rotated into the seabed to increase stability.

[0024] 3. The sample storage device of the present invention has a spoon-shaped groove on the sample storage plate, which cooperates with a dial device, a resistor and a limit seat. Therefore, only one dial cylinder action is needed to realize the rod changing action and accurate positioning of the sampling rod, which has the characteristics of simple structure and easy implementation.

[0025] 4. The sampling device of the present invention is provided with an ultrasonic motor, which can assist in drilling and sampling, and can realize axial high-frequency vibration while the sampling rod rotates and drills, so it has the characteristics of small feed force, small noise, low power consumption and small disturbance during the sampling process. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a three-dimensional diagram when the present invention is lowered.

[0027] Figure 2 It is a three-dimensional diagram of the present invention when walking.

[0028] Figure 3 It is a structural diagram of the traveling wheel of the present invention.

[0029] Figure 4 This is a structural diagram of the connection between the drilling device and the sample storage device of the present invention.

[0030] Figure 5 It is a structural diagram of the rod tightening device and the rod loosening device of the present invention.

[0031] Figure 6 It is a structural diagram of the resistor of the present invention.

[0032] Figure 7 It is a structural diagram of the sample storage tray of the present invention.

[0033] Figure 8 It is a structural diagram of the dial device of the present invention.

[0034] Fig. 9 This is a diagram showing the coordination between the dial device and the sample storage tray of the present invention.

[0035] In the figure: buoyancy block 1, frame 2, rope 3, drilling device 4, rotary motor 5, travel wheel 6, angle motor 7, travel wheel rotating rod 8, sample storage device 9, control device 10;

[0036] Gear teeth 6.1, wheel rim 6.2, wheel shaft 6.3, wheel blades 6.4;

[0037] Feed cylinder sleeve 4.1, slide seat 4.2, ultrasonic vibration motor 4.3, drilling motor 4.4, connector 4.5, feed cylinder piston rod 4.6, sample tray 9.1, tightening rod device 9.2, sampling rod 9.3, loosening rod device 9.4, limit seat 9.5, dial device 9.6, dial cylinder piston rod 9.7, dial cylinder sleeve 9.8, resistor 9.9; support frame 2.1, turntable seat 2.2, straight guide rail 2.3, arc guide rail 2.4;

[0038] Lock block 9.2.1, slide rail 9.2.2, spring piece IV 9.2.3;

[0039] Spring piece V9.9.1, resistance piece 9.9.2;

[0040] Upper plate 9.1.1, rod sleeve 9.1.2, lower plate 9.1.3;

[0041] Pin 9.6.1, spring piece II 9.6.2, housing 9.6.3, spring piece I 9.6.4, latch 9.6.5, connecting part 9.6.6, spring piece III 9.6.7. DETAILED DESCRIPTION

[0042] The present invention will be further described below in conjunction with the accompanying drawings.

[0043] like Figure 1-4 As shown, the present invention includes a buoyancy block 1, a frame 2, a rope 3, a drilling device 4, a rotary motor 5, an angle motor 7, a wheel rotating rod 8, a sample storage device 9 and a control device 10.

[0044] The control device 10, the buoyancy block 1 and the guiding rope 3 are installed on the frame 2. The frame 2 includes a support frame 2.1, a turntable seat 2.2, a straight guide rail 2.3 and an arc guide rail 2.4. The turntable seat 2.3 is horizontally fixed in the middle of the support frame 2.2. The arc guide rail 2.4 is installed on the support frame 2.1 and is arranged close to the turntable seat 2.2. It is coaxial with the turntable seat 2.2 and is located on the outside of the turntable seat 2.2. The straight guide rail 2.3 is vertically fixed on the support frame 2.1 and is located in the inner hole of the turntable seat 2.2. A traveling wheel rotating rod 8 is installed on both sides of the bottom of the frame 2, and two angular motors 7 are installed on the frame 2. The output shafts of the two angular motors 7 are respectively connected to the two traveling wheel rotating rods 8. A rotating motor 5 is installed at both ends of the traveling wheel rotating rod 8, and the output ends of the two rotating motors are respectively connected to a traveling wheel 6. The axis of the traveling wheel 6 is perpendicular to the traveling wheel rotating rod 8. As Figure 1 , 2 As shown, the angular motor 7 can rotate the running wheel 6 connected thereto by 90°, the rotating shaft of the running wheel 6 is arranged vertically when lowered, and the rotating shaft of the running wheel 6 is arranged horizontally when moving.

[0045] The running wheel 6 comprises a gear 6.1, a wheel rim 6.2, a wheel shaft 6.3 and a blade 6.4. The wheel shaft 6.3 is coaxially connected to the wheel rim 6.2 through a plurality of blades 6.4. The plurality of blades 6.4 are evenly arranged along the circumferential direction. A plurality of gears 6.1 are installed on the outer side of the wheel rim 6.2. The blades 6.4 are spiral blades. The blades 6.4 of the two running wheels 6 installed on the same running wheel rotating rod 8 have opposite rotation directions. The gear 6.1 is divided into a power part and a resistance part. The power part is located in front of the resistance part in the spiral direction of the blade 6.4. The power part is provided with a power surface. The power surface is consistent with the spiral surface of the blade 6.4. The resistance part is provided with a resistance surface. The resistance surface is perpendicular to the end face of the running wheel 6. Therefore, when the running wheel 6 rotates forward, the gear 6.1 and the blade 6.4 have the same direction of propulsion. When the running wheel 6 rotates in the reverse direction, the gear has a greater resistance.

[0046] The drilling device 4 comprises a feed oil cylinder (including a feed oil cylinder sleeve 4.1 and a feed oil cylinder piston rod 4.6), a slide 4.2, an ultrasonic vibration motor 4.3, and a connector 4.5. The slide 4.2 is mounted on the straight guide rail 2.3 of the frame, and the slide 4.2 can move up and down along the straight guide rail 2.3. The ultrasonic vibration motor 4.3 is fixed on the slide 4.2, the slide 4.2 is connected to the lower end of the feed oil cylinder sleeve 4.1, and the feed oil cylinder piston rod 4.6 is mounted on the support frame 2.1; the output shaft of the ultrasonic vibration motor 4.3 is connected to the drilling motor 4.4, and the output end of the drilling motor 4.4 is coaxially screwed with the sampling rod 9.3 through the connector 4.5; the axis of the connector 5.3 is parallel to the axis of the sampling rod, and the axis of the connector 4.5 intersects with the circle where the centers of all the sampling rods 9.3 are located.

[0047] like Figure 4-9As shown, the sample storage device 9 comprises a sample storage tray 9.1, a rod tightening device 9.2, a sampling rod 9.3, a rod loosening device 9.4, a limit seat 9.5, a dial device 9.6, a dial oil cylinder piston rod 9.7, a dial oil cylinder sleeve 9.8 and a resistor 9.9. The sample storage tray 9.1 comprises an upper tray 9.1.1, a lower tray 9.1.3 and a plurality of rod sleeves 9.1.2. The upper tray 9.1.1 is coaxially fixed on the upper part of the lower tray 9.1.3 through a plurality of rod sleeves 9.1.2 arranged in parallel. A plurality of sample storage holes I and sample storage holes II are uniformly arranged on the upper tray 9.1.1 and the lower tray 9.1.3 respectively along the circumferential direction. The corresponding rod sleeves 9.1.2, sample storage holes I and sample storage holes II are coaxial and constitute a sample storage hole. The upper plate 9.1.1 has a plurality of spoon-shaped grooves evenly arranged along the circumferential direction on the side wall, and the number of the spoon-shaped grooves is an integral multiple of the number of the sample storage holes; the lower plate is arranged on the turntable seat 2.2 and can rotate. The spoon-shaped grooves are divided into a spoon head and a spoon tail.

[0048] A tightening rod device 9.2 is provided on the upper end surface of the upper plate 9.1.1 of the sample storage tray corresponding to each sampling rod 9.3; the tightening rod device 9.2 includes a steel locking block 9.2.1, a slide rail 9.2.2 and a spring sheet IV 9.2.3; the slide rail 9.2.2 is installed on the upper plate 9.1.1 of the sample storage tray, and the locking block 9.2.1 is installed in the slide rail 9.2.2 and can slide along the slide rail 9.2.2; the two ends of the spring sheet IV 9.2.3 are respectively connected to the locking block 9.2.1 and the slide rail 9.2.2. The side of the sampling rod is provided with rough lines, and the end of the locking block 9.2.1 facing the sampling rod is provided with rough lines. Under the action of the spring sheet IV 9.2.3, the locking block 9.2.1 presses against the rough line part of the sampling rod to clamp the sampling rod 9.3. The rod loosening device 9.4 is installed on the limit seat 9.5, and an electromagnetic coil is arranged inside the rod loosening device, and the electromagnetic coil is close to the steel block 9.2.1 on the rod tightening device 9.2. When the electromagnetic coil is energized, it can generate magnetic force on the locking block 9.2.1, so that the locking block 9.2.1 overcomes the elastic force of the spring sheet IV 9.2.3 and separates from the corresponding sampling rod 9.3.

[0049] The resistor includes a spring sheet V9.9.1 and a resistance sheet 9.9.2. One end of the spring sheet V9.9.1 is fixed to the edge of the turntable seat 2.2, and the other end is provided with a resistance sheet 9.9.1. The resistance sheet abuts against the upper end surface of the lower plate 9.1.3 of the sample storage plate 9.1, thereby hindering the rotation of the sample storage plate. The turntable seat 2.2 is provided with a through hole at the axis of the connector 4.5, and the diameter of the through hole is greater than the diameter of the sampling rod 9.3.

[0050] The dial cylinder sleeve 9.8 of the dial cylinder is hinged on the support frame 2.1, the end of the dial cylinder piston rod 9.7 is hinged to the dial device 9.6, the dial device 16.6 is installed on the arc guide rail, and the dial device is against the side of the upper plate 9.1.1 of the sample storage tray 9.1. The dial cylinder can push the dial device 16.6 to move along the arc guide rail, thereby pushing the sample storage tray 9.1 to rotate.

[0051] like Figure 8 and 9 As shown, the dial device 9.6 includes a dial pin 9.6.1, a spring sheet II 9.6.2, a housing 9.6.3, a spring sheet I 9.6.4, a latch 9.6.5, a connecting portion 9.6.6 and a spring sheet III 9.6.7. The lower portion of the connecting portion 9.6.6 is mounted on the circular arc guide rail and can slide along the circular arc guide rail, and the upper portion is hinged to the end of the piston rod 9.7 of the dial cylinder. The housing 9.6.3 is fixed on the connecting portion 9.6.6, and a slideway I and a slideway II are arranged inside the housing 9.6.3. The slideway I is perpendicular to the slideway II, and the slideway I is parallel to the tangent of the circular arc guide rail. Openings are arranged at both ends of the slideway I and the side facing away from the slideway II. One end of the slideway II is connected to the inner cavity of the slideway I, and the other end and one side of the slideway II are arranged with openings. The bayonet 9.6.5 is installed in the slideway I, and the bayonet 9.6.5 is connected to the side of the slideway I opening through a spring sheet I 9.6.4, so that the bayonet 9.6.5 can be kept in a free state. Fig. 9 The position shown. One end of the latch 9.6.5 extends out of the end opening of the slideway I, and the other end is a wedge surface. The detent pin 9.6.1 is installed in the slideway II. The detent pin 9.6.1 is connected to the side of the opening of the slideway II through a spring sheet II 9.6.2. One end of the detent pin 9.6.1 extends out of the end opening of the slideway II. The end surface is an inclined surface, which can cooperate with the tail of the spoon to slide to the head of the spoon, and can cooperate with the head of the spoon to move the sample storage tray. The detent pin 9.6.1 is installed with a spring sheet III 9.6.7 facing one end of the latch 9.6.5. The end surface is a wedge surface and extends into the interior of the slideway I. The wedge surface of the detent pin 9.6.1 cooperates with the wedge surface of the latch 9.6.5, and can slide with each other. Since the spring sheet III 9.6.7 is provided at one end of the pin 9.6.1 facing the bayonet 9.6.5, when the housing 9.6.3 abuts against the limit seat 9.5, the squeezing force exerted by the bayonet 9.6.5 on the pin 9.6.1 can make the pin 9.6.1 better stabilize the position of the sample tray 16.2. In this position, the sampling rod 9.3 is coaxial with the connector 4.5.

[0052] Since a spring sheet II 9.6.2 is provided between the detent pin 9.6.1 and the housing 9.6.3, under the action of the resistor 9.9, the resistance torque of the sample tray 9.1 is greater than the dynamic torque generated by the sample tray 9.1 when the detent pin 9.6.1 slides on the tail of the spoon-shaped slot, so that the detent pin 9.6.1 is kept in the Fig. 9The control device 10 is connected with the feed cylinder, the ultrasonic vibration motor 4.3, the drilling motor 4.4, the turntable cylinder, the loose rod device 9.4, the corner motor 7 and the rotating motor 5, and is used to control the actions of the feed cylinder, the ultrasonic vibration motor 4.3, the drilling motor 4.4, the turntable cylinder, the loose rod device 9.4, the corner motor 7 and the rotating motor 5.

[0053] The working process of the present invention is as follows:

[0054] Before the present invention enters the sea, Figure 2 As shown in the figure, the four wheel axes are placed horizontally to facilitate traveling on the ground, and then sufficient sampling rods are loaded and operated and debugged at the same time. After the debugging is completed, the wheel axes are lowered and gradually made vertical in the process. Figure 1 As shown, the rotating running wheels form a driving force upward to accelerate the descent to shorten the working time. When the robot approaches the sampling target, the running wheels generate a downward driving force to slow down the descent speed, and then adjust the direction of the driving force to get as close to the sampling target as possible. In order to prevent the downward driving force of the running wheels from damaging the sampling target, try not to land directly above the sampling target, but first land near the sampling target, and then choose the forward mode according to the real-time seabed environment. If it is relatively soft mud and sand, when the robot moves along the axis of the running wheel rotating rod 8 and slips severely, the running wheels are selected to provide axial driving force. When reaching the specified position, the running wheel axis can be directed downward, and then appropriate driving force is generated upward without causing major disturbance or damage to the sampling target to increase the robot's grip, which is beneficial to sample acquisition.

[0055] When sampling, first fix and position the sampling rod 9.3 through the sample storage device 9, then dock the connector 4.5 and the sampling rod 9.3, then start the loose rod device 9.4 to release the sampling rod 9.3, and then start the feed cylinder, ultrasonic vibration motor 4.3 and drilling motor 4.4 to drive the sampling rod to drill downward. After sampling is completed, collect the sampling rod 9.3 and turn off the ultrasonic vibration motor 4.3 and drilling motor 4.4. When the sampling rod 9.3 reaches the predetermined initial position, turn off the loose rod device 9.5 so that the tightening rod device 9.2 tightens the sampling rod 9.3, then disconnect the connection between the connector 4.5 and the sampling rod 9.3, and finally start the turntable cylinder so that the dial device 9.6 moves the sample storage tray 9.1, and finally the housing 9.6.3 of the dial 9.6 is close to the limit seat 9.5, so that the sample storage tray 9.1 is positioned and fixed again to complete the rod changing action, and then prepare to start sampling work at the next location. After all sampling tasks are completed, the rope can be recovered to retrieve the present invention.

Claims

1. A deep-sea micro-sampling robot, characterized by: It includes a buoyancy block, a control device, a frame, a rope, a traveling device, a drilling device and a sample storage device; The frame includes a support frame, a turntable seat, an arc guide rail and a straight guide rail. The turntable seat is horizontally fixed in the middle of the support frame. The arc guide rail is installed on the support frame and is coaxial with the turntable seat. The straight guide rail is vertically fixed on the support frame. The control device and the buoyancy block are installed on the support frame. A traveling device is installed at the bottom of the frame. A rope is installed on the frame, and a traveling device is provided at the bottom of both sides of the frame. The traveling device comprises a travel wheel rotating rod, a travel wheel, a rotary motor and an angle motor, wherein the travel wheel rotating rod and the angle motor are mounted on a frame, the output shaft of the angle motor is connected to the travel wheel rotating rod, a rotary motor is mounted at each end of the travel wheel rotating rod, and two travel wheels are mounted on the output ends of the two rotary motors respectively; the axis of the travel wheel is perpendicular to the travel wheel rotating rod; The drilling device comprises a feed cylinder, an ultrasonic vibration motor, a drilling motor, a slide and a connector. The slide is mounted on a straight guide rail of a frame, an ultrasonic vibration motor is fixed on the slide, the slide is connected to one end of the feed cylinder, and the other end of the feed cylinder is mounted on a support frame; the drilling motor is fixed to the output end of the ultrasonic vibration motor, and the upper end of the connector is fixed to the output shaft of the drilling motor; The sample storage device comprises a sample storage tray, a sampling rod, a resistor, a dial oil cylinder, a dial device, a limit seat, a tightening rod device and a loosening rod device; the sample storage tray is arranged on a turntable seat and can rotate, and a plurality of sample storage holes are evenly arranged on the sample storage tray along the circumferential direction, and the sample storage holes are through holes; a sampling rod is installed in the sample storage hole, and the upper end of the sampling rod can be screwed with the lower end of the connector; a tightening rod device is respectively arranged on the upper end surface of the sample storage tray corresponding to each sampling rod; a plurality of spoon-shaped grooves are evenly arranged on the side wall of the sample storage tray along the circumferential direction, and the number of the spoon-shaped grooves is an integer multiple of the sample storage holes; The resistor is installed at the edge of the turntable seat and abuts against the sample storage tray; the dial cylinder sleeve is hinged on the support frame, the end of the dial cylinder piston rod is hinged to the dial device, the dial device is installed on the arc guide rail, and the dial device abuts against the side of the sample storage tray; the limit seat is installed on the support frame, close to one end of the arc guide rail and the drilling device; the loose rod device is arranged on the limit seat, close to the tight rod device, and the control device is respectively connected to the loose rod device, the ultrasonic vibration motor, the drilling motor, the feed cylinder, and the dial cylinder; The sample storage tray comprises an upper tray, a lower tray and a plurality of rod sleeves; the upper tray is coaxially fixed on the upper part of the lower tray through the plurality of rod sleeves, and a sample storage hole I and a sample storage hole II are respectively provided on the upper tray and the lower tray corresponding to each rod sleeve, and the sample storage hole I and the sample storage hole II are coaxial with the corresponding rod sleeve, and the rod sleeve is a circular tube structure; a plurality of spoon-shaped grooves are evenly provided on the side wall of the upper tray along the circumferential direction; the dial device abuts against the side surface of the upper tray; The dial device comprises a connecting part, a spring sheet I, a spring sheet II, a spring sheet III, a shell, a dial pin and a bayonet; the lower part of the connecting part is installed on the circular arc guide rail and can move along the circular arc guide rail; the upper part of the connecting part is hinged to the end of the piston rod of the dial oil cylinder; the shell is fixed on the connecting part, and a slideway I and a slideway II are arranged inside the shell, the slideway I is perpendicular to the slideway II, and the slideway I is parallel to the tangent of the circular arc guide rail; openings are arranged at both ends of the slideway I and the side facing away from the slideway II, one end of the slideway II is connected to the inner cavity of the slideway I, and the other end and one side of the slideway II are arranged with openings; the bayonet is installed in the slideway I, and the bayonet is between the side of the opening of the slideway I and the bayonet It is connected by spring sheet I, one end of the pin extends out of the opening of the end face of slideway I, and the other end face is a wedge surface; the push pin is installed in slideway II, and the push pin is connected to the side of the opening of slideway II through spring sheet II. One end of the push pin extends out of the opening of the end face of slideway II, and is used to cooperate with the spoon-shaped groove on the upper plate of the sample storage tray to move the sample storage tray; a spring sheet III is installed on the other end of the push pin, and the end face of the push pin is a wedge surface and extends into the interior of slideway I, and the wedge surface of the push pin cooperates with the wedge surface of the pin; since the spring sheet III is provided on one end of the push pin facing the pin, when the shell is against the limit seat, the extrusion force generated by the pin on the push pin can make the push pin better stabilize the position of the sample storage tray.

2. The deep-sea micro sampling robot according to claim 1, characterized in that: The traveling wheel includes an axle, blades, a rim and gear teeth. The axle is installed at the output end of the rotating motor; the rim is installed on the axle through multiple blades and is coaxial with the axle; multiple blades are evenly arranged in a square along the circumference, and the blades are spiral; the gear teeth are evenly fixed on the outside of the rim in the circumferential direction; the blades of the continuous wheels installed at both ends of the same row wheel rotating rod have opposite spiral directions.

3. The deep-sea micro sampling robot according to claim 2 is characterized in that: The gear teeth include a power part and a resistance part, wherein the power part is located in front of the resistance part in the spiral direction of the wheel blade; the power part is provided with a power surface, which is consistent with the spiral surface of the wheel blade; the resistance part is provided with a resistance surface, which is perpendicular to the end face of the wheel.

4. The deep-sea micro-sampling robot according to claim 1 is characterized in that: The connecting head axis of the drilling device is parallel to the sampling rod axis, the connecting head axis is coaxial with the drilling motor output shaft, and the connecting head axis intersects with the circle where the centers of all the sampling rods are located.

5. The deep-sea micro sampling robot according to claim 1, characterized in that: The spoon-shaped groove on the sample storage tray is divided into a spoon head and a spoon tail. The spoon head can cooperate with the dial pin of the dial device toward the sample storage tray. The end surface of the dial pin facing the sample storage tray is an inclined surface, which can cooperate with the spoon tail to slide.

6. The deep-sea micro sampling robot according to claim 1, characterized in that: The tightening rod device includes a spring sheet IV, a slide rail and a steel locking block. The slide rail is installed on the sample storage tray, and the locking block is installed in the slide rail. The two ends of the spring sheet IV are respectively connected to the locking block and the slide rail; the side of the sampling rod is provided with rough grooves, and the end of the locking block facing the sampling rod is provided with rough grooves, and abuts against the rough grooves on the sampling rod; the loosening rod device is installed on the limit seat, and an electromagnetic coil is provided in the loosening rod device. The loosening rod device is set at the end of the locking block facing away from the sampling rod.

7. The deep-sea micro-sampling robot according to claim 1 is characterized in that: The buoyancy block is fixed on the upper part of the support frame; a through hole is opened on the turntable seat on the frame at the axis of the connecting head, and the diameter of the through hole is larger than the diameter of the sampling rod.

8. The deep-sea micro sampling robot according to claim 1 is characterized in that: The resistor comprises a spring sheet V and a resistance sheet. One end of the spring sheet V is fixed on the turntable seat, and the other end is provided with a resistance sheet. The resistance sheet abuts against the upper end surface of the lower plate of the sample storage plate.

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