A subsea sampling robot

Abstract

This invention provides a seabed sampling robot, belonging to the technical field of sampling devices. It solves the technical problem of low sampling efficiency in existing sampling devices on the seabed. The seabed sampling robot includes a body with a helical propeller at its upper end. Inside the body are a telescopic component and a rotating component fixed to the output shaft end of the telescopic component. Both the telescopic component's telescopic rod and the rotating component's output shaft are vertically downwards. A sampling tube chamber and a baffle are fixed at the lower end of the body. The sampling tube chamber contains several sampling tubes. There is a receiving space between the sampling tube chamber and the baffle for inserting one sampling tube. The sampling tube chamber has a conveying component that guides the sampling tubes into the receiving space. Each sampling tube has a groove at its upper end for the output shaft of the rotating component to insert into, and the rotating component drives the sampling tube in the receiving space to rotate. In this invention, the conveying component can move empty sampling tubes from the sampling tube chamber into the receiving space after the sampled sampling tube has been removed from the robot, thus improving the efficiency of seabed sampling.

Description

Technical Field

[0001] This invention belongs to the field of sampling device technology and relates to a seabed sampling robot. Background Technology

[0002] Sediments are an important component of the marine aquatic environment. The composition of sediments can be used to analyze the formation of water bodies, the content of minerals and organic matter in the water. Before conducting the above analysis, sediments need to be collected. Currently, sediment collection devices are mainly of two types: grab-type and drill-type.

[0003] Chinese patent (publication number: CN102220841B; publication date: 2012-12-26) discloses a seabed sampling drilling rig, characterized in that it includes a carrying cable, a sampling tube, a support, feed cylinders, a hydraulic system, a hydraulic power head, a hydraulic chuck holder, a drill bit, a seabed control tank, adjustable telescopic outriggers, and a base; the bottom surface of the base is provided with at least three adjustable telescopic outriggers, and the support, hydraulic system, and seabed control tank are all mounted on the base, which is provided with sampling tube holes; the lower end of the sampling tube passes sequentially through the clamping holes of the hydraulic power head, the clamping holes of the hydraulic chuck holder, and the sampling tube holes on the base, and is located below the base, with the lower end of the sampling tube connected to the drill bit; the hydraulic power head is fixed to the support, and the hydraulic chuck holder is fixed to the base; there are two feed cylinders, the cylinder body of which is fixed to the base, and the piston rod of which is fixed to the hydraulic power head.

[0004] The seabed sampling drill disclosed in the aforementioned patent documents can only collect samples from one location at a time. The equipment needs to be sent back to the ship at sea for sampling again, resulting in low work efficiency. Summary of the Invention

[0005] To address the aforementioned problems in existing technologies, this invention provides a seabed sampling robot. The technical problem this invention aims to solve is: how to improve the efficiency of seabed sampling.

[0006] The objective of this invention can be achieved through the following technical solutions:

[0007] A seabed sampling robot includes a body; characterized in that a helical propeller is provided at the upper end of the body, a telescopic component and a rotating component fixed to the output shaft end of the telescopic component are provided inside the body, the telescopic rod of the telescopic component and the output shaft of the rotating component are both arranged vertically downward, a sampling tube chamber and a baffle are fixed at the lower end of the body, a plurality of vertical sampling tubes are provided in the sampling tube chamber, there is a receiving space between the sampling tube chamber and the baffle for embedding one of the sampling tubes, a conveying component is provided in the sampling tube chamber to guide the sampling tubes therein into the receiving space, and each sampling tube has a groove in the middle of its upper end for embedding the output shaft of the rotating component, and the rotating component can drive the sampling tube in the receiving space to rotate.

[0008] Its working principle is as follows: The robot in this technical solution is deployed into the sea, and a propeller propels it to move. When the robot reaches the seabed, the propeller stops rotating, and the telescopic component starts working. The telescopic rod moves downward, causing the output shaft of the rotating component to embed into the groove at the upper end of the sampling tube in the receiving space. At this time, the rotating component rotates, driving the sampling tube to rotate. The telescopic component continues to work, and the sampling tube drills into the seabed sediment to collect the sediment. After the collection is completed, the telescopic rod and the rotating component reset. At this time, the two are located in the body. The sampling tube resets and separates from the rotating component. The sampling tube can be washed out of the receiving space by seawater and float to the surface. At the same time, the empty sampling tube in the sampling tube chamber is sent into the receiving space by the delivery component. The propeller drives the robot to move on the seabed, and then a new round of sampling can be carried out. The robot can continuously sample underwater, which improves the sampling efficiency.

[0009] In the aforementioned seabed sampling robot, one side of the sampling tube compartment has an opening communicating with the accommodating space. The conveying assembly includes two conveyor belts arranged side by side at intervals. One end of each conveyor belt is located near the opening. Several sampling tubes are located between the two conveyor belts. Each conveyor belt has several spaced baffles on its outer surface. The baffles on the adjacent sides of the two conveyor belts are arranged opposite each other in pairs. A sampling tube is provided between two adjacent baffles on the adjacent sides of one conveyor belt and the other conveyor belt. Each conveyor belt has a driving wheel and a driven wheel at both ends. A vertically arranged driving wheel axle passes through the middle of the driving wheel. Two drive motors are fixed inside the sampling tube compartment, each corresponding to one of the driving wheel axles and capable of rotating the corresponding driving wheel axles. Two drive motors work simultaneously to drive two conveyor belts to rotate inward or outward at the same time. It is very convenient to load empty sampling tubes into the sampling tube compartment on the ship. Due to the clamping effect of the two conveyor belts, the empty sampling tubes are not easily washed away by seawater. When the storage space is empty, the two conveyor belts rotate outward at the same time, allowing an empty sampling tube to enter the storage space. Two baffles on the two conveyor belts located on one side of the sampling tube will give it a push force, making it accurately enter the storage space, which ensures that the robot can continuously sample.

[0010] In the aforementioned seabed sampling robot, the sampling tube is cylindrical with a sample collection hole at the lower center, and the lower edge of the sampling tube has a sharp point. The sampling tube chamber contains several sealing caps that can seal the sample collection hole, and a moving platform that can move the sealing caps from the sampling tube chamber to directly below the sampling tube within the receiving space. This collection tube is suitable for collecting rock-like lumps. The sharp design of the lower outer edge of the sampling tube can replace a drill bit. After sampling, the moving platform moves the sealing cap below the sampling tube, and the telescopic component moves downward to insert the sealing cap into the sample collection hole and seal it, preventing sample loss.

[0011] In the aforementioned seabed sampling robot, the sampling chamber is equipped with a storage cap container. The storage cap container has a downward-extending storage cap hole at its upper end. Several sealing caps are stacked in the storage cap hole with their surfaces facing upwards. Through holes one and two are respectively opened on opposite sides of the lower end of the storage cap hole. The moving platform includes a plate body one horizontally arranged at the lower end of the storage cap hole. The two ends of the plate body one are located in the through holes one and two, respectively. One end of the plate body one has a connecting part extending to the upper side of the sealing cap at the lowest end of the storage cap hole. The end of the connecting part is fixed with a horizontally arranged plate body two. Both the plate body one and the plate body two extend along the length direction of the conveyor belt. The sampling chamber is also equipped with a translation component that can drive the moving platform to move along the length direction of the conveyor belt. The translation component can make the plate body one and the sealing cap on the upper side of the plate body one pass through the sampling chamber and be located directly below the sampled sampling tube. The mobile platform has a simple structure. The connecting part can abut against the sealing cover on the main board. After the translation component drives the main board to move out of the through hole, the second board receives the bottom sealing cover in the storage hole. After the main board is reset, the bottom sealing cover in the storage hole falls on the upper side of the main board. There is no misalignment of the sealing cover in the storage hole or the sealing cover in the accommodating space, which ensures that the sealing cover can be accurately embedded into the lower end of the sampling tube.

[0012] In the aforementioned seabed sampling robot, the sampling tube is cylindrical with a pointed lower end. The outer surface of the pointed end is conical. The sampling tube contains several collection chambers arranged from top to bottom, and each collection chamber has a through-hole extending to the outside of the sampling tube near its upper wall. The diameter of the through-hole gradually decreases from the outside of the sampling tube to the wall of the collection chamber. This sampling tube is used to collect silt and sand sediments. The collected sediments can be stored in layers. The conical surface at the lower end of the sampling tube can drill into the seabed sediments. The through-hole is wider at the outside and narrower at the inside, allowing silt and sand to flow in. Furthermore, the upper position of the through-hole ensures that silt and sand deposit at the bottom of the collection chambers, preventing them from flowing out.

[0013] In the aforementioned seabed sampling robot, a rectangular hole is opened in the middle of the lower end of the body for the rotating component to pass through. The outer diameter of the upper end of the sampling tube is larger than the diameter of the rectangular hole. The rotating component can pass through the rectangular hole, but the sampling tube cannot. The sampling tube is blocked by the lower end of the body. After the telescopic component returns to its normal position, the sampling tube can be separated from the rotating component.

[0014] In the aforementioned seabed sampling robot, the baffle is vertically fixed to the lower end of the body, and its inner surface is an arc surface that fits against the outer side of the sampling tube. The baffle serves a positioning function, and its structure reduces friction between it and the sampling tube, extending their service life.

[0015] In the aforementioned seabed sampling robot, there are two baffles. The opening of the sampling tube compartment is located between two adjacent sides at the lower end of the rectangular hole, and the two baffles are respectively fixed to the other two adjacent sides at the lower end of the rectangular hole. The two baffles improve the stability of the sampling tube within the containment space during sampling operations.

[0016] In the aforementioned seabed sampling robot, the outer cross-section of the body is rectangular. The central part of the body has a sealed cavity for housing the telescopic component. Directly below the sealed cavity, the body has an intermediate chamber for housing the rotating component. The rectangular hole communicates with the intermediate chamber. Each of the four lower sides of the body has an upwardly extending mounting groove at its center, all four grooves communicating with the intermediate chamber. The bottom of each of the four mounting grooves has an outwardly inclined, downwardly extending support plate. The lower end of the support plate is located below the sampling tube and the baffle. When the robot reaches the seabed, the four support plates contact the seabed, providing support and improving the robot's stability during sampling.

[0017] In the aforementioned seabed sampling robot, the telescopic components are cylinders, hydraulic cylinders, or electric push rods; the rotating components are submersible motors or rotary cylinders. All three telescopic components and two rotating components possess powerful motors, ensuring the robot's successful sampling.

[0018] Compared with the prior art, the present invention has the following advantages:

[0019] 1. In this invention, the sampling tube chamber is equipped with several sampling tubes. After the sampling tubes in the containment space finish sampling and are removed, the conveying component can move the empty sampling tubes in the sampling tube chamber into the containment space. In this way, the robot can continuously sample at different locations on the seabed, which improves the sampling efficiency.

[0020] 2. This invention incorporates different types of sampling tubes, which facilitates the collection of various types of sediments from the seabed. For silt and sand sediments, samples from different layers can be obtained simultaneously, which is beneficial for subsequent analysis by researchers. Attached Figure Description

[0021] Figure 1 This is a three-dimensional structural diagram of the seabed sampling robot in Embodiment 1. Figure 1 .

[0022] Figure 2 This is a three-dimensional structural diagram of the seabed sampling robot in Embodiment 1. Figure 2 .

[0023] Figure 3 This is a cross-sectional view of the seabed sampling robot in Embodiment 1.

[0024] Figure 4This is a partial structural diagram of the sampling tube chamber in Example 1.

[0025] Figure 5 This is a cross-sectional view of the sampling chamber in Example 1. Figure 1 .

[0026] Figure 6 This is a cross-sectional view of the sampling chamber in Example 1. Figure 2 .

[0027] Figure 7 This is a schematic diagram of the sampling tube structure in Example 1. Figure 1 .

[0028] Figure 8 This is a schematic diagram of the sampling tube structure in Example 1. Figure 2 .

[0029] Figure 9 This is a schematic diagram of the sampling tube structure in Example 2. Figure 1 .

[0030] Figure 10 This is a schematic diagram of the sampling tube structure in Example 2. Figure 2 .

[0031] In the diagram, 1. Body; 1a. Rectangular hole; 1b. Sealed cavity; 1c. Intermediate chamber; 1d. Mounting groove; 2. Screw propeller; 3. Telescopic component; 4. Rotating component; 5. Sampling tube compartment; 51. Opening; 6. Baffle; 7. Sampling tube; 71. Groove; 72. Sampling hole; 73. Sharp part; 74. Tip; 74a. Conical surface; 75. Collection cavity; 76. Through hole; 8. Accommodation space; 9. Conveying assembly; 91. Conveyor belt; 91a. Baffle; 92. Driving wheel; 92a. Driving wheel shaft; 93. Driven wheel; 94. Drive motor; 10. Sealing cover; 11. Moving platform; 111. Plate 1; 112. Connecting part; 113. Plate 2; 12. Storage cover container; 121. Storage cover hole; 122. Through hole 1; 123. Through hole 2; 13. Support plate. Detailed Implementation

[0032] The following are specific embodiments of the present invention, which are described in conjunction with the accompanying drawings. However, the present invention is not limited to these embodiments.

[0033] Example 1:

[0034] like Figure 1 , Figure 2 , Figure 3 , Figure 5 and Figure 6As shown, the seabed sampling robot in this embodiment includes a body 1. A helical thruster 2 is located at the upper center of the body 1. The outer cross-section of the body 1 is rectangular. The body 1 contains a telescopic component 3 and a rotating component 4. The body 1 includes two telescopic component covers that hug each other, forming a sealed cavity 1b inside the two telescopic component covers. The telescopic component 3 is located within the sealed cavity 1b, and its telescopic rod is vertically downwards. The telescopic component 3 is a cylinder, hydraulic cylinder, or electric push rod. A central chamber 1c is located below the telescopic component covers inside the body 1, and the rotating component 4 is located within the central chamber 1c. The rotating component 4 is... The submersible motor or rotary cylinder has a connecting hole at the lower center of the two telescopic component covers, which communicates with the intermediate chamber 1c and allows the telescopic rod of the telescopic component 3 to pass through. The rotating component 4 is fixed to the end of the telescopic rod of the telescopic component 3. The output shaft of the rotating component 4 is vertically downward. A rectangular hole 1a communicating with the intermediate chamber 1c is opened at the lower center of the body 1. The telescopic rod of the telescopic component 3 extends and retracts, allowing the rotating component 4 to pass through the rectangular hole 1a and be located below the lower end of the body 1. A sampling tube chamber 5 is fixed at the lower end of the body 1. The sampling tube chamber 5 has an opening 51 near the lower center of the body 1. The opening 51 is located between the two adjacent sides of the lower end of the rectangular hole 1a. Vertically arranged baffles 6 are fixed to the other two adjacent sides of the lower end of the body 1 located at the rectangular hole 1a. The sampling tube chamber 5 contains several empty sampling tubes 7, all vertically arranged within it. A receiving space 8 is provided between the sampling tube chamber 5 and the two baffles 6 for embedding one sampling tube 7. A conveying assembly 9 is provided within the sampling tube chamber 5, capable of conveying the sampling tubes 7 from the chamber 5 to the receiving space 8. Each sampling tube 7 has an output shaft end for the rotating component 4 located at its upper center. The embedded groove 71 has an upwardly extending limiting plane at the end of the output shaft of the rotating part 4 near the side. One side wall of the groove 71 abuts against the limiting plane. The four sides of the lower end of the machine body 1 each have an upwardly extending mounting groove 1d. All four mounting grooves 1d are connected to the intermediate chamber 1c. The bottom of each of the four mounting grooves 1d is hinged with an outwardly inclined and downwardly extending support plate 13 and each is fixed with a control motor that drives the corresponding support plate 13 to swing. The lower end of the support plate 13 is located below the sampling tube chamber 5 and the baffle 6. The width of the support plate 13 gradually increases from the upper end to the lower end.

[0035] Furthermore, such as Figures 1 to 8As shown, the sampling tube 7 is cylindrical, and the diameter of the rectangular hole 1a is smaller than the diameter of the upper end of the sampling tube 7. The inner surfaces of the two baffles 6 are arc surfaces that fit against the outer side of the sampling tube 7. A sampling hole 72 is opened in the middle of the lower end of the sampling tube 7, and the lower edge of the sampling tube 7 has a sharp part 73. The conveying assembly 9 includes two conveyor belts 91 arranged side by side at intervals. One end of the two conveyor belts 91 is located near the opening 51 of the sampling tube compartment 5. Several sampling tubes 7 are vertically arranged between the two conveyor belts 91, and the two conveyor belts 91 hold several sampling tubes 7. Each conveyor belt 91 has a driving wheel 92 and a driven wheel 93 at both ends. The driving wheel 92 has a vertically arranged driving wheel 92 shaft passing through its middle, and the driven wheel 93 has a vertically arranged driving wheel 93 shaft passing through its middle. The sampling tube chamber 5 is equipped with two drive motors 94 fixed inside the driven wheel shaft. The output shafts of the two drive motors 94 are both vertically upward and their ends are fixed to the lower end of the corresponding drive wheel 92 shaft. Several baffles 91a are spaced apart on the outer side of each conveyor belt 91. The baffles 91a on the adjacent side of the two conveyor belts 91 are arranged opposite each other. A sampling tube 7 is provided between two adjacent baffles 91a on the adjacent side of one conveyor belt 91 and another conveyor belt 91. The sampling tube chamber 5 is also equipped with several sealing caps 10 that can block the sample collection hole 72. A moving platform 11 is provided directly below the sampling tube 7 in the sampling tube chamber 5 between the two conveyor belts 91, which can move the sealing caps 10 from the sampling tube chamber 5 to the sampling tube 7 directly below the receiving space 8.

[0036] Furthermore, such as Figures 1 to 6 As shown, a storage container 12 is provided near the opening 51 inside the sampling tube chamber 5. The upper end of the storage container 12 has a downward-extending storage hole 121. Several sealing caps 10 are stacked sequentially from top to bottom in the storage hole 121 with their faces facing upwards. Through holes 122 and 123 are respectively opened on opposite sides of the lower end of the storage hole 121. The moving platform 11 includes a plate 111 horizontally disposed at the lower end of the storage hole 121. The plate 111 extends along the length of the conveyor belt 91. The lowest sealing cap 10 inside the storage hole 121 is located on the upper side of the plate 111. The two ends of the plate 111 are located in the through holes 122 and 123 respectively. One end of the plate 111 has a... The upper end of the connecting part 112 is flush with the upper side of the lowermost sealing cover 10. A plate 113, which is arranged laterally and extends along the length of the conveyor belt 91, is fixed to one side of the end of the connecting part 112. The sampling tube chamber 5 is also provided with a translation component, which includes a stepper motor, a lead screw and a lead screw nut. The lead screw extends along the length of the conveyor belt 91. The output shaft end of the stepper motor is fixed to one end of the lead screw. A lead screw nut mounting seat is provided on the lead screw. The lead screw nut is sleeved on the lead screw and located in the lead screw nut mounting seat. The lead screw nut mounting seat is fixed to one side of the plate 113. The lower middle part of the plate 113 has a guide part that extends along its length. The sampling tube chamber 5 has a strip groove for the guide part to be embedded.

[0037] The robot is manually deployed into the sea. The propeller 2 propels the body 1 forward. Sensors can be mounted on the lower ends of the support plates 13. When the lower ends of the four support plates 13 on the robot contact the seabed, the sensors are activated, and the propeller 2 stops rotating. The telescopic component 3 begins operation, at which point the rotating component 4 rotates, driving the sampling tube 7 to rotate. The sampling tube 7 drills into the seabed sediment and collects the sediment. The depth of sediment that can be collected depends on the height of the sampling tube 7. The collection time is set. After collection is completed, the telescopic rod of the telescopic component 3 moves upward. Due to the collection on the sampling tube 7... The sampling hole 72 needs to be sealed. The moving platform 11, carrying the sealing cover 10, moves to the area below the sampled sampling tube 7. The telescopic component 3 works to insert the sealing cover 10 into the sampling hole 72 and seal it. After that, the telescopic component 3 resets, and the sampling tube 7 cannot fall off through the rectangular hole 1a. The sampling tube 7 floats up after being removed from the containment space 8 by the impact of seawater. Once the sampling tube 7 in the containment space 8 falls off, the conveying component 9 will bring a new sampling tube 7 from the sampling tube chamber 5 into the containment space 8. The screw propeller 2 will move the robot, and then a new round of drilling and collection will be carried out.

[0038] Example 2:

[0039] This embodiment is largely the same as Embodiment 1, except that, as follows: Figure 9 and Figure 10 As shown, the lower end of the sampling tube 7 is a pointed tip 74, and the outer surface of the pointed tip 74 is a conical surface 74a. The sampling tube 7 contains several collection chambers 75, which are spaced apart from top to bottom. Each collection chamber 75 has a through-hole 76 extending to the outside of the sampling tube 7 near the upper part of its wall. The diameter of each through-hole 76 gradually decreases from the outside of the sampling tube 7 to the wall of the collection chamber 75. The conical surface at the lower end of the sampling tube 7 allows it to penetrate into seabed sediments, and sediment from different layers of sediment flows into the collection chamber 75 through the corresponding through-hole 76.

[0040] The specific embodiments described herein are merely illustrative of the spirit of the invention. Those skilled in the art to which this invention pertains may make various modifications or additions to the described specific embodiments or use similar methods to substitute them, without departing from the spirit of the invention or exceeding the scope defined by the appended claims.

Claims

1. A subsea sampling robot comprising a body (1); characterized in that, The upper end of the body (1) is provided with a spiral propeller (2). The body (1) is provided with a telescopic component (3) and a rotating component (4) fixed to the output shaft end of the telescopic component (3). The telescopic rod of the telescopic component (3) and the output shaft of the rotating component (4) are both vertically downward. The lower end of the body (1) is fixed with a sampling tube chamber (5) and a baffle (6). The sampling tube chamber (5) is provided with several vertical sampling tubes (7). There is a receiving space (8) between the sampling tube chamber (5) and the baffle (6) for one sampling tube (7) to be embedded. The sampling tube chamber (5) is provided with a conveying component (9) that can guide the sampling tube (7) into the receiving space (8). Each sampling tube (7) has a groove (71) in the middle of its upper end for the output shaft of the rotating component to be embedded, and the rotating component (4) can drive the sampling tube (7) in the receiving space (8) to rotate. The sampling tube compartment (5) has an opening (51) on one side that communicates with the receiving space (8). The conveying assembly (9) includes two conveyor belts (91) arranged side by side with spacing between them. One end of each conveyor belt (91) is located near the opening (51). Several sampling tubes (7) are located between the two conveyor belts (91). Each conveyor belt (91) has several spaced baffles (91a) on its outer side. The baffles (91a) on the adjacent sides of the two conveyor belts (91) are opposite each other. A sampling tube (7) is provided between two adjacent baffles (91a) on the side of one conveyor belt (91) and another conveyor belt (91). Each conveyor belt (91) has a drive wheel (92) and a driven wheel (93) at both ends. The drive wheel (92) has a vertically arranged drive wheel shaft (92a) passing through the middle of the drive wheel (92). The sampling tube compartment (5) has two drive motors (94) that correspond one-to-one with the drive wheel shaft (92a) and can rotate the corresponding drive wheel shaft (92a).

2. The subsea sampling robot of claim 1, wherein, The sampling tube (7) is cylindrical and has a sample collection hole (72) in the middle of its lower end. The lower edge of the sampling tube (7) has a sharp part (73). The sampling tube compartment (5) is provided with a plurality of sealing caps (10) that can block the sample collection hole (72) and a moving platform (11) that can move the sealing caps (10) from the sampling tube compartment (5) to the area directly below the sampling tube (7) in the accommodating space (8).

3. The subsea sampling robot of claim 2, wherein, The sampling tube compartment (5) is provided with a storage cap container (12). The upper end of the storage cap container (12) has a downwardly extending storage cap hole (121). Several sealing caps (10) are stacked in the storage cap hole (121) with their faces facing upwards. The lower end of the storage cap hole (121) has a through hole one (122) and a through hole two (123) on opposite sides. The moving platform (11) includes a plate body one (111) horizontally arranged at the lower end of the storage cap hole (121). The two ends of the plate body one (111) are located in the through hole one (122) and the through hole two (123) respectively. The upper side of one end of the plate body one (111) has an extension A connecting part (112) extends to the upper side of the sealing cap (10) at the lowest end of the storage cap hole (121). A horizontally arranged plate (113) is fixed on one side of the end of the connecting part (112). Both the first plate (111) and the second plate (113) extend along the length direction of the conveyor belt (91). The sampling tube compartment (5) is also provided with a translation component that can drive the moving platform (11) to move along the length direction of the conveyor belt (91). The translation component can make the first plate (111) and the sealing cap (10) on the upper side of the first plate (111) pass through the sampling tube compartment (5) and be located directly below the sampled sampling tube (7).

4. The subsea sampling robot of claim 1, wherein, The sampling tube (7) is cylindrical with a pointed tip (74) at the bottom. The outer surface of the pointed tip (74) is a conical surface (74a). The sampling tube (7) is divided into several collection chambers (75) from top to bottom. Each collection chamber (75) has a through hole (76) extending to the outside of the sampling tube (7) at the upper position of its cavity wall. The diameter of the through hole (76) gradually decreases from the outside of the sampling tube (7) to the cavity wall of the collection chamber (75).

5. The subsea sampling robot of claim 2 or 4, wherein, The lower end of the body (1) has a rectangular hole (1a) for the rotating part (4) to pass through, and the upper outer diameter of the sampling tube (7) is larger than the diameter of the rectangular hole (1a).

6. The seabed sampling robot according to claim 5, characterized in that, The baffle (6) is vertically fixed to the lower end of the body (1) and its inner surface is an arc surface that fits against the outer side of the sampling tube (7).

7. The seabed sampling robot according to claim 6, characterized in that, There are two baffles (6). The opening (51) of the sampling tube (5) is located between two adjacent sides of the lower end of the rectangular hole (1a). The two baffles (6) are respectively fixed on the other two adjacent sides of the lower end of the rectangular hole (1a).

8. The seabed sampling robot according to claim 7, characterized in that, The outer cross-section of the body (1) is rectangular. The middle part of the body (1) has a sealed cavity (1b) for placing the telescopic component (3). The middle chamber (1c) for placing the rotating component (4) is located directly below the sealed cavity (1b) in the body (1). The rectangular hole (1a) is connected to the middle chamber (1c). The middle part of the four sides of the lower end of the body (1) has an upwardly extending mounting groove (1d). The four mounting grooves (1d) are connected to the middle chamber (1c). The bottom of the four mounting grooves (1d) is provided with an outwardly inclined and downwardly extending support plate (13). The lower end of the support plate (13) is located below the sampling tube compartment (5) and the baffle (6).

9. The seabed sampling robot according to claim 1, characterized in that, The telescopic component (3) is a cylinder, hydraulic cylinder or electric push rod; the rotating component (4) is a submersible motor or rotary cylinder.

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