A manipulator-gripping biological sampler for deep-sea submersibles

Abstract

The present invention discloses a clamping type biological sampler for a deep - sea submersible manipulator, comprising: a sampler support body; an electrical control cabin, the limit pin assembly includes a limit pin, and the controller can control and drive the limit pin to perform telescopic actions; a handle; a net bag, which has an opening at the bottom; a self - shrinking closing part, which is a closed structure; an outer traction part, one end of which is connected to the self - shrinking closing part, and the other end is a free end for detachably connecting with the limit pin; an inner traction part, one end of the inner traction part is connected to the self - shrinking closing part, and the other end is fixed on the inner wall of the sampler support body. The clamping type biological sampler for a deep - sea submersible manipulator of the present invention solves the problem that it is difficult to directly capture organisms with strong activity abilities such as fish, shrimps, and crabs at present. It has a high capture rate, convenient sampling, and can greatly increase the types and quantities of seabed biological samples.

Description

Technical Field

[0001] The present invention relates to a manipulator, and more particularly to a clamping type biological sampler for a manipulator of a deep - sea submersible. Background Art

[0002] The ocean accounts for about 71% of the Earth's surface area and is an important treasure house of energy, minerals and organisms. In recent years, the research on the ocean, especially the deep sea, has been continuously heating up, and the means of research, observation and sampling have become increasingly diversified. Manned submersibles represented by the "Jiaolong" and unmanned remotely operated vehicles (ROVs) of the "Hailong" series have become important deep - sea exploration carriers. Through the manipulator operated by a pilot or an operator, various operations are completed to obtain biological, geological and other samples. Currently, geological samples and organisms with relatively weak motility can be obtained by directly clamping with the manipulator or by means of a simple net bag, sampling tube, etc. However, it is difficult to directly capture organisms with relatively strong motility such as fish, shrimps and crabs, which greatly reduces the types and quantities of biological samples taken.

[0003] Based on this, how to invent a biological sampler suitable for a deep - sea submersible, which can be clamped by a manipulator, cooperate with a control trigger mechanism to complete multiple captures and storage of biological samples with relatively strong motility, improve the sampling ability and efficiency of the submersible, so as to ensure that more biological samples can be obtained during a single dive of the submersible, is the main technical problem to be solved by the present invention. Summary of the Invention

[0004] Aiming at the technical problem that it is difficult for a deep - sea submersible to directly capture organisms with relatively strong motility such as fish, shrimps and crabs in the prior art, which greatly reduces the types and quantities of biological samples taken, the present invention provides a clamping type biological sampler for a manipulator of a deep - sea submersible, which can solve the above problems.

[0005] To achieve the above - mentioned invention purpose, the present invention is implemented by the following technical solutions:

[0006] A clamping type biological sampler for a manipulator of a deep - sea submersible, comprising:

[0007] A sampler support body, which is a barrel - shaped structure with a port at one end, and the other end of the sampler support body has a support panel;

[0008] An electrical control cabin, inside which a controller is sealed;

[0009] A limit pin assembly, which is fixed on the support panel, and the limit pin assembly includes a limit pin, and the controller can control the limit pin to make telescopic movements;

[0010] A handle, which is fixed on the support panel and is used for being clamped by a manipulator;

[0011] A net bag with an opening at the bottom. The net bag is arranged inside the sampler support, and the top of the net bag is fixed on the inner wall of the sampler support.

[0012] A self - contracting closing part, which is a closed structure and is arranged at the opening of the net bag. The self - contracting closing part has the deformation ability to self - retract when being opened.

[0013] An outer traction part, one end of which is connected to the self - contracting closing part, and the other end is a free end for detachably connecting with the limit pin.

[0014] An inner traction part, which has the deformation ability to self - contract when being stretched. One end of the inner traction part is connected to the self - contracting closing part, and the other end is fixed on the inner wall of the sampler support.

[0015] Under normal conditions, the opening of the net bag turns outwards from the port of the sampler support. The self - contracting closing part rings on the outer wall of the sampler support to keep the opening of the net bag open. The limit pin extends, and the free end of the outer traction part hangs on the limit pin to keep the self - contracting closing part ring on the outer wall of the sampler support. The outer traction part is in a stretched state. When a creature enters the net bag, it triggers the biological sampling action. The limit pin retracts, releasing the outer traction part. The self - contracting closing part detaches from the outer wall of the sampler support under the retraction force of the inner traction part, and the self - contracting closing part self - contracts under its own self - contracting force to close the opening of the net bag.

[0016] In some embodiments, a pull - ring is fixed at the free end of the outer traction part, which can hang on the limit pin when the limit pin extends and detach from the limit pin when the limit pin retracts.

[0017] In some embodiments, there are two outer traction parts, which are symmetrically fixed on the opening of the net bag, and the two outer traction parts are connected to the same limit pin.

[0018] In some embodiments, there are multiple net bags, and these multiple net bags are sleeved in sequence. Each time the biological sampling action is triggered, it is controlled to close the innermost net bag until all the net bags are closed, enabling multiple biological samplings.

[0019] There are multiple corresponding limit pin assemblies, which are arranged in one - to - one correspondence with the net bags.

[0020] In some embodiments, the limit pin assembly further includes:

[0021] The first outer shell has a sealed first cavity inside. One end of the first outer shell is provided with a sealing cover for blocking the first cavity, and a sunken concave cavity is provided on the outer end face of the sealing cover.

[0022] The limit pin bracket has an upward concave cavity with an opening facing downwards. The limit pin bracket has an outward turned edge, and the outward turned edge is fixed to the sealing cover. A pin hole is provided on the upper bottom of the limit pin bracket, and the concave cavity and the upward concave cavity enclose a receiving cavity.

[0023] The limit pin is arranged in the upward concave cavity and includes a pin head and a pin edge that turns outwards and is connected to the pin head. The pin head is coaxially arranged with the pin hole, and the pin head can pass through the pin hole and protrude to the outside of the limit pin bracket, or retract to the inside of the limit pin bracket.

[0024] The magnetic attraction part is arranged in the receiving cavity, and the magnetic attraction part is fixedly connected to the limit pin.

[0025] The limit spring is sleeved outside the magnetic attraction part. One end of the limit spring abuts against the pin edge, and the other end abuts against the sealing cover. Under normal conditions, the limit spring supports the limit pin and pushes the pin head out to the outside of the limit pin bracket.

[0026] The electromagnet assembly is arranged in the first cavity. When the electromagnet assembly is powered on, it generates a magnetic attraction force to attract the magnetic attraction part to move towards the direction of the first cavity, driving the limit pin to compress the limit spring and retract the pin head to the inside of the limit pin bracket.

[0027] In some embodiments, the first cavity is filled with liquid insulating oil.

[0028] In some embodiments, the electrical control cabin is filled with liquid insulating oil.

[0029] In some embodiments, the deep-sea submersible manipulator clamping type biological sampler further includes:

[0030] The cable connection cabin is fixed on the support panel. The inside of the cable connection cabin is sealed with a watertight cable joint. The first cavity is connected to the cable connection cabin through a wire tube. The signal wire of the electromagnet assembly passes through the wire tube and extends into the cable connection cabin to be connected to the watertight cable joint. The watertight cable joint is connected to the controller in the electrical control cabin through a watertight cable.

[0031] In some embodiments, a pressure compensation port is opened at one end of the cable connection cabin, and a rubber compensation membrane is hermetically fixed at the pressure compensation port.

[0032] In some embodiments, the handle is T-shaped.

[0033] Compared with the prior art, the advantages and positive effects of the present invention are as follows:

[0034] The manipulator clamping type biological sampler for deep-sea submersibles of the present invention is provided with a net bag, and a self-shrinking closing part is arranged at the opening of the net bag. Under normal conditions, the opening of the net bag is turned outwards from the port of the sampler support body, and the self-shrinking closing part can be looped on the outer wall of the sampler support body, so that the opening of the net bag remains open. One end of the outer traction part is connected to the self-shrinking closing part, and the other end is connected to the limit pin, so that the self-shrinking closing part remains looped on the outer wall of the sampler support body. When a creature enters the net bag, the biological sampling action is triggered, the limit pin is retracted, the outer traction force on the outer side of the self-shrinking closing part is released, and the self-shrinking closing part is separated from the outer wall of the sampler support body under the action of the inner traction force of the inner traction part, and then contracts under the action of its self-shrinking force, driving the opening of the net bag to close, and then capturing the entered creature in the net bag. By setting a handle, it is convenient for the manipulator of the deep-sea submersible to clamp. This solution is particularly suitable for capturing creatures that cannot be directly touched by humans in deep-sea conditions, solves the problem that it is difficult to directly capture creatures with strong mobility such as fish, shrimps, and crabs at present, has a high capture rate, is convenient for sampling, and can greatly increase the types and quantities of biological samples taken from the seabed.

[0035] After reading the specific embodiments of the present invention in conjunction with the accompanying drawings, other features and advantages of the present invention will become clearer. Brief Description of the Drawings

[0036] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required to be used in the embodiments. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0037] Figure 1 is a schematic structural diagram of an embodiment of the manipulator clamping type biological sampler for deep-sea submersibles proposed by the present invention

[0038] Figure 2 is Figure 1 a cross-sectional view of the sampler support body 11 in

[0039] Figure 3 is Figure 2 an exploded view of

[0040] Figure 4 is a cross-sectional view of the cable connection cabin 19 in an embodiment of the manipulator clamping type biological sampler for deep-sea submersibles proposed by the present invention;

[0041] Figure 5It is a schematic structural diagram of the net bag of an embodiment of the manipulator clamping type biological sampler for a deep - sea submersible proposed by the present invention;

[0042] Figure 6 is Figure 1 a cross - sectional view of the electrical control cabin 12 in

[0043] Figure 7 It is a schematic diagram of the open state of the net bag in an embodiment of the manipulator clamping type biological sampler for a deep - sea submersible proposed by the present invention;

[0044] Figure 8 It is a schematic diagram of the sealed state of the net bag in an embodiment of the manipulator clamping type biological sampler for a deep - sea submersible proposed by the present invention. Detailed implementation manners

[0045] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0046] It should be noted that in the description of the present invention, the terms indicating directions or positional relationships such as "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings. This is only for convenience of description and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation of the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. In the description of the present invention, "a plurality of" means two or more unless otherwise specifically defined.

[0047] In the present invention, unless otherwise clearly defined and limited, the terms "installed", "connected", "connected to", "fixed", etc. should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal communication of two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0048] Embodiment 1

[0049] This embodiment proposes a manipulator clamping type biological sampler for a deep - sea submersible, asFigure 1 , Figure 2 , Figure 5 As shown in Figure 5 , it includes a sampler support body 11, an electrical control cabin 12, a limit pin assembly 13, a handle 14, a net pocket 15, a self - shrinking closing part 16, an outer traction part 17, and an inner traction part 18.

[0050] The sampler support body 11 is a barrel - shaped structure with a port 110 at one end, and the other end of the sampler support body 11 has a support panel 111 for supporting other components of the manipulator - clamped biological sampler.

[0051] The inside of the electrical control cabin 12 is sealed with a controller. On the one hand, the controller is communicatively connected to the electrical control components in the deep - sea submersible cabin, and on the other hand, it is communicatively connected to the electrically controlled action components in the limit pin assembly 13. The electrically controlled action components can accept the control of the controller and execute corresponding actions.

[0052] The limit pin assembly 13 is fixed on the support panel 111. The limit pin assembly 13 includes a limit pin 131, and the limit pin 131 can perform telescopic actions under the control of the controller.

[0053] The handle 14 is fixed on the support panel 111 and is used to be clamped by the manipulator. When the manipulator clamps and moves the handle 14, it can drive the sampler support body 11 and all components fixed to the sampler support body 11 to move together.

[0054] The bottom of the net pocket 15 has an opening. The net pocket 15 is arranged inside the sampler support body 11, and the top of the net pocket 15 is fixed on the inner wall of the sampler support body 11. Preferably, the top of the net pocket 15 is fixed on the inner side wall of the support panel 111 and can be retracted to the top of the sampler support body 11 after closing.

[0055] The self - shrinking closing part 16 is a closed structure arranged at the opening of the net pocket 15. The self - shrinking closing part 16 has the deformation ability to self - retract when being opened. It can be understood that when the self - shrinking closing part 16 is opened, it drives the opening of the net pocket 15 to open, and when the self - shrinking closing part 16 shrinks to its natural state, it drives the opening of the net pocket 15 to close. The opening of the net pocket 15 can be sampled by, but not limited to, using an elastic rubber band with a certain elasticity.

[0056] One end of the outer traction part 17 is connected to the self - shrinking closing part 16, and the other end is a free end. The free end is used for separable connection with the limit pin 131. When the free end is connected to the limit pin 131, it can provide an upward pulling force for the self - shrinking closing part 16 outside the limit pin assembly 13. When the free end is disconnected from the limit pin 131, the pulling force provided for the self - shrinking closing part 16 disappears.

[0057] The inner traction part 18 has the deformation ability to self - contract when stretched. One end of the inner traction part 18 is connected to the self - contracting closing part 16, and the other end is fixed on the inner wall of the sampler support 11. The inner traction part 18 can provide an upward pulling force for the self - contracting closing part 16 inside the limit pin assembly 13. When the self - contracting closing part 16 is not subjected to the external pulling force of the outer traction part 17, the inner traction part 18 is in a natural contraction state and can lift the self - contracting closing part 16 above the port 110 of the sampler support.

[0058] Under normal conditions, the opening of the net bag 15 turns outwards from the port 110 of the sampler support 11. The self - contracting closing part 16 loops around the outer wall of the sampler support 11 to keep the opening of the net bag 15 open. The limit pin 131 extends out, and the free end of the outer traction part 17 is connected to the limit pin 131 to keep the self - contracting closing part 16 looped around the outer wall of the sampler support 11. The outer traction part 17 is in a stretched state. When a creature enters the net bag 15, it triggers the biological sampling action. The limit pin 131 retracts, releasing the outer traction part 17. The self - contracting closing part 16 disengages from the outer wall of the sampler support 11 under the retraction force of the inner traction part 18, and the self - contracting closing part 16 self - contracts under the action of its self - contracting force to close the opening of the net bag 15. At this time, the entered creature can be locked in the net bag 15 to achieve capture.

[0059] For the manipulator - clamped biological sampler of the deep - sea submersible in this embodiment, by setting the net bag 15 and arranging the self - contracting closing part 16 at the opening of the net bag 15, under normal conditions, by turning the opening of the net bag 15 outwards from the port 110 of the sampler support 11, the self - contracting closing part 16 can loop around the outer wall of the sampler support 11, making the opening of the net bag 15 remain open. By connecting one end of the outer traction part 17 to the self - contracting closing part 16 and the other end to the limit pin 131, the outer traction part 17 then pulls the self - contracting closing part 16 to keep it looped around the outer wall of the sampler support 11. When a creature enters the net bag 15, it triggers the biological sampling action. The limit pin 131 is retracted to release the external traction force on the self - contracting closing part 16. The self - contracting closing part 16 disengages from the outer wall of the sampler support 11 under the inner traction force of the inner traction part 18, and then contracts under the action of its self - contracting force, driving the opening of the net bag 15 to close, and finally capturing the entered creature in the net bag 15. By setting the handle 14, it is convenient for the manipulator of the deep - sea submersible to clamp. This solution is especially suitable for capturing creatures that cannot be directly reached by humans under deep - sea conditions, solves the problem that it is difficult to directly grab creatures with strong mobility such as fish, shrimps, and crabs at present, has a high capture rate, and is convenient for sampling.

[0060] In order to improve the closing force of the self - shrinking closing part 16 on the opening part of the net bag 15 during closing and prevent the captured organisms from breaking free, it is preferred that the self - shrinking closing part 16 is a hollow structure, and a sealing magnet (not shown in the figure) is arranged inside the self - shrinking closing part.

[0061] After the limit pin 131 retracts, the opening part of the net bag 15 retracts into the inside of the net bag 15 support body under the pulling force of the self - shrinking closing part 16, and is pulled up to the top by the inner traction part 18. At the same time, under the combined action of the self - shrinking closing part 16 and the sealing magnet, the opening part of the net bag 15 is sealed, capturing the biological sample and completing a biological sampling operation.

[0062] In some embodiments, in order to facilitate the connection and disconnection of the outer traction part 17 and the limit pin, a pull - ring 23 is fixed at the free end of the outer traction part 17. It can be hung on the limit pin 131 when the limit pin 131 extends, and automatically disengages from the limit pin 131 when the limit pin 131 retracts.

[0063] In some embodiments, there are two outer traction parts 17, which are symmetrically fixed on the opening part of the net bag 15. The two outer traction parts 17 are connected to the same limit pin 131. By setting two outer traction parts 17 and arranging them symmetrically, a uniform force can be applied when the self - shrinking closing part 16 is held on the outer wall of the sampler support body 11, preventing disengagement due to uneven force on either side.

[0064] Since it is particularly difficult for a submersible to dive once, especially for a deep - sea submersible, it requires a large amount of manpower and material resources. In some embodiments, as Figure 7 、 Figure 8 shown, there are multiple net bags 15, and the multiple net bags 15 are sleeved in sequence. Each time the biological sampling action is triggered, the control is to close the innermost net bag 15. When each net bag 15 is closed, a biological capture can be performed once. Until all the net bags 15 are closed, biological sampling can be performed multiple times, and the captured organisms are respectively held by their own net bags 15 and stacked layer by layer.

[0065] In order to enable each net bag 15 to act independently, there are multiple limit pin assemblies 13, which are arranged in one - to - one correspondence with the net bags 15. Each limit pin assembly 13 is used to control the closing of one net bag 15. This solution can greatly increase the types and quantities of seabed biological samples obtained in one dive, which is beneficial to reducing the sampling cost.

[0066] In some embodiments, as Figure 2 、 Figure 3 shown, the limit pin assembly 13 further includes a first outer shell 137, a limit pin bracket 132, a magnetic attraction part 133, a limit spring 134, and an electromagnet assembly 135.

[0067] Inside the first outer shell 137, there is a sealed first cavity 1370. One end of the first outer shell 137 is provided with a sealing cover 136 for blocking the first cavity, and there is a sunken concave cavity 1361 on the outer end face of the sealing cover.

[0068] The limit pin bracket 132 has an upward concave cavity 1321 with an opening facing downwards. The limit pin bracket 132 has an outward turned edge 1323, and the outward turned edge is fixed to the sealing cover. A pin hole 1322 is opened on the upper bottom of the limit pin bracket 132. The lower concave cavity 1341 and the upper concave cavity 1321 enclose a receiving cavity. It can be understood that the receiving cavity is a non-sealed cavity and can communicate with the external environment through the pin hole 1322.

[0069] The limit pin 131 is arranged in the upward concave cavity 1321, including a pin head 1311 and a pin edge 1312 that turns outwards and is connected to the pin head 1311. The pin head is coaxially arranged with the pin hole, and the pin head can pass through the pin hole and protrude to the outside of the limit pin bracket 132, or retract to the inside of the limit pin bracket 132.

[0070] The magnetic attraction part 133 is arranged in the receiving cavity, and the magnetic attraction part 133 is fixedly connected to the limit pin 131. The magnetic attraction part 133 can move in the axial direction of the limit pin 131 under the action of magnetic attraction force, thereby driving the limit pin 131 to move in its axial direction, and finally realizing that the pin head can pass through the pin hole and protrude to the outside of the limit pin 131 bracket, or retract to the inside of the limit pin bracket 132.

[0071] The limit spring 134 is sleeved outside the magnetic attraction part 133. One end of the limit spring 134 abuts against the pin edge, and the other end abuts against the sealing cover. Under normal conditions, the limit spring 134 supports the limit pin 131 and pushes the pin head out to the outside of the limit pin bracket 132. It can be understood that under normal conditions, the limit spring 134 should be in a compressed state, and under the action of its own restoring elastic force, it pushes the pin head out to the outside of the limit pin bracket 132.

[0072] The electromagnet assembly 135 is arranged in the first cavity. When the electromagnet assembly 135 is powered on, it generates a magnetic attraction force to attract the magnetic attraction part 133 to move towards the direction of the first cavity, drives the limit pin 131 to compress the limit spring 134, and moves the pin head towards the direction away from the pin hole, and then retracts to the inside of the limit pin bracket 132.

[0073] Since this biological sampler needs to take samples in the deep sea, the water pressure in the deep sea is extremely high, and there are electronic components inside the limit pin assembly 13, which need to be sealed and protected against corrosion. In order to balance the internal and external pressures and prevent being deformed or damaged by the water pressure, the first cavity is filled with liquid insulating oil. On the one hand, it can balance the external seawater pressure, and on the other hand, it can prevent the electronic components in the first outer shell 137 from being corroded.

[0074] Similarly, the electrical control cabin 12 is filled with liquid insulating oil.

[0075] In some embodiments, the manipulator gripper biological sampler of the deep-sea submersible further includes a cable connection cabin 19, which is fixed on the support panel 111. The inside of the cable connection cabin 19 is sealed with a watertight cable joint. The first cavity 1370 is connected to the cable connection cabin 19 through a wire pipe 20. The signal wire of the electromagnet assembly 135 passes through the wire pipe 20 and extends into the cable connection cabin 19 to be connected to the watertight cable joint. The watertight cable joint is connected to the controller in the electrical control cabin 12 through a watertight cable 22.

[0076] In some embodiments, as Figure 4 shown, one end of the cable connection cabin 19 is provided with a pressure compensation port, and a rubber compensation membrane 21 is hermetically fixed at the pressure compensation port. When the external pressure of the cable connection cabin 19 and the first cavity 1370 changes, the rubber compensation membrane 21 deforms, so as to ensure the internal and external pressure balance and prevent the cable connection cabin 19 and the first cavity 1370 from being damaged by pressure.

[0077] The cable connection cabin 19 has a connection cabin joint 191. The wire pipe 20 is hermetically connected to the connection cabin joint 191. The power wires of each electromagnet assembly 135 enter the cable connection cabin 19 through the wire pipe 20 and the connection cabin joint 191, are connected to the watertight cable joint, and are connected to the watertight cable, so as to receive the trigger current of the electrical control cabin 12.

[0078] As Figure 6 shown, the electrical control cabin 12 mainly includes an electrical control cabin cover 121, an electrical control cabin body 122, a relay 123, a controller 124, a power management module 125, a lithium battery pack 126, and an electrical control cabin sealing ring 127. The electrical control cabin body 122 can directly withstand the external seawater pressure, and the inside of the electrical control cabin 12 is an atmospheric pressure environment.

[0079] The electrical control cabin 12 is connected to the sampler support 11 through a telescopic watertight cable. The electrical control cabin 12 is fixed on the sampling basket of the submersible body. The electrical control cabin 12 is connected to the inside of the cabin through a signal interface watertight cable, so as to be controlled inside the cabin.

[0080] In some embodiments, in order to facilitate the mechanical gripper sampler support 11, the handle 14 is preferably set in a T shape.

[0081] The electromagnet assembly 135 includes an iron core 1351 and a coil core 1352 wound around the outside of the iron core 1351. When the coil core 1352 is powered on, the iron core 1351 generates an electromagnetic force. The electromagnetic force passes through the sealing cover through the iron core 1351 to attract the magnetic attraction part 133. When the magnetic force received by the magnetic attraction part 133 is greater than the elastic force of the limit spring 134, the limit pin 131 is driven to retract, triggering the release of the outer traction part 17. When the power is off and the electromagnetic force disappears, the limit pin 131 extends under the action of the limit spring 134.

[0082] During biological sampling, the manipulator of the submersible grips the T-shaped handle 14 to move the sampler support 11 above the biological sample and cover the biological sample inside the net bag 15. The operator inside the cabin of the submersible controls the main control board inside the electrical control cabin 12 to drive the control relay to work, so that the coil core of the electromagnet assembly 135 is powered on. The limit spring 134 retracts following the magnetic attraction part 133 to release and trigger the pull ring. The opening of the net bag 15 closes under the pulling force of the self-shrinking closing part 16, capturing the biological sample and completing a biological sampling operation. The inner traction part 18 pulls up the self-shrinking closing part 16 and the opening of the net bag 15 to the top, while leaving the bottom space for the net bag 15 of the next layer to capture the biological sample. Several biological sampling operations can be completed in the same way.

[0083] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, for those of ordinary skill in the art, it is still possible to modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions required to be protected by the present invention.

Claims

1. A manipulator clamping type biological sampler for a deep - sea submersible, characterized in that, Comprising: A sampler support body, which is a barrel-shaped structure with a port at one end, and the other end of the sampler support body has a support panel; An electrical control cabin, inside which a controller is sealed; A limit pin assembly, which is fixed on the support panel, the limit pin assembly includes a limit pin, and the controller can control and drive the limit pin to perform telescopic actions; A handle, which is fixed on the support panel and is used for being clamped by a manipulator; A net bag, the bottom of which has an opening part, the net bag is arranged inside the sampler support body, and the top of the net bag is fixed on the inner wall of the sampler support body; A self-shrinking closing part, which is a closed structure, arranged at the opening part of the net bag, and the self-shrinking closing part has the deformation ability to self-retract when being opened; An outer traction part, one end of which is connected to the self-shrinking closing part, and the other end is a free end, which is used for detachably connecting with the limit pin; An inner traction part, which has the deformation ability to self-shrink when being stretched, one end of the inner traction part is connected to the self-shrinking closing part, and the other end is fixed on the inner wall of the sampler support body; Under normal conditions, the opening part of the net bag turns outwards from the port of the sampler support body, the self-shrinking closing part loops around the outer wall of the sampler support body, keeps the opening part of the net bag open, the limit pin extends out, the free end of the outer traction part is connected to the limit pin, keeps the self-shrinking closing part looped around the outer wall of the sampler support body, when a creature enters the net bag, it triggers the biological sampling action, the limit pin retracts, releases the outer traction part, the self-shrinking closing part detaches from the outer wall of the sampler support body under the retraction force of the inner traction part, and the self-shrinking closing part self-shrinks under the action of its self-shrinking force, and closes the opening part of the net bag.

2. The manipulator clamping type biological sampler for deep-sea submersibles according to claim 1, characterized in that, A pull ring is fixed at the free end of the outer traction part, which can be hung on the limit pin when the limit pin extends out, and detaches from the limit pin when the limit pin retracts.

3. The manipulator clamping type biological sampler of the deep-sea submersible according to claim 1, characterized in that, There are two outer traction parts, which are symmetrically fixed on the opening part of the net bag, and the two outer traction parts are connected to the same limit pin.

4. The manipulator clamping type biological sampler for deep-sea submersibles according to claim 1, wherein There are multiple net bags, and the multiple net bags are sleeved in sequence. Each time the biological sampling action is triggered, control is used to close the net bag located in the innermost layer until all the net bags are closed, and biological sampling can be performed multiple times; The limit pin assemblies correspondingly have multiple ones, which are arranged in one-to-one correspondence with the net bags.

5. The manipulator clamping type biological sampler for a deep-sea submersible according to any one of claims 1-4, characterized in that The limit pin assembly further includes: A first outer shell, which has a sealed first cavity inside, one end part of the first outer shell is provided with a sealing cover for blocking the first cavity, and a sunken lower concave cavity is arranged on the outer end face of the sealing cover; A limit pin bracket, which has an upper concave cavity with an opening facing downwards, the limit pin bracket has an outward-turned edge, the outward-turned edge is fixed to the sealing cover, a pin hole is opened on the upper bottom of the limit pin bracket, and the lower concave cavity and the upper concave cavity enclose an accommodation cavity; The limit pin is arranged in the upper concave cavity and includes a pin head and a pin edge that is turned outward and connected to the pin head. The pin head is coaxially arranged with the pin hole, and the pin head can pass through the pin hole and protrude to the outside of the limit pin bracket, or retract to the inside of the limit pin bracket; The magnetic attraction part is arranged in the accommodation cavity, and the magnetic attraction part is fixedly connected with the limit pin; The limit spring is sleeved outside the magnetic attraction part. One end of the limit spring abuts against the pin edge, and the other end abuts against the sealing cover. Under normal conditions, the limit spring supports the limit pin and pushes the pin head out to the outside of the limit pin bracket; The electromagnet assembly is arranged in the first cavity. When the electromagnet assembly is powered on, it generates a magnetic attraction force to attract the magnetic attraction part to move towards the direction of the first cavity, driving the limit pin to compress the limit spring and retract the pin head to the inside of the limit pin bracket.

6. The manipulator clamping type biological sampler for deep-sea submersibles according to claim 5, wherein The first cavity is filled with liquid insulating oil.

7. The manipulator clamping type biological sampler for deep-sea submersibles according to any one of claims 1-4, characterized in that, The electrical control cabin is filled with liquid insulating oil.

8. The manipulator clamping type biological sampler for deep-sea submersibles according to claim 5, wherein The manipulator clamping type biological sampler of the deep-sea submersible further includes: The cable connection cabin is fixed on the support panel. The inside of the cable connection cabin is sealed with a watertight cable connector. The first cavity is connected to the cable connection cabin through a wire pipe. The signal wire of the electromagnet assembly passes through the wire pipe and extends into the cable connection cabin to be connected with the watertight cable connector. The watertight cable connector is connected to the controller in the electrical control cabin through a watertight cable.

9. The manipulator clamping type biological sampler for deep-sea submersibles according to claim 8, wherein, One end of the cable connection cabin is provided with a pressure compensation port, and a rubber compensation film is hermetically fixed at the pressure compensation port.

10. The clamping type biological sampler of the deep-sea submersible manipulator according to any one of claims 1-4, characterized in that, The handle is T-shaped.

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