A deformable deep-sea untethered sediment sampler and method

Abstract

The application discloses a deformable deep-sea untethered sediment sampler and method, and the initial shape of an upper deformation mechanism and a lower deformation mechanism is a spherical shape. The upper deformation mechanism comprises a plurality of upper wing plates. The lower deformation mechanism comprises a plurality of lower wing plates. A sampling link comprises a sampling suction cup, a telescopic spring pipe, a hose, a sample filtering collector and a gear pump control box connected in sequence. An intermediate control rod controls the unfolding and closing of the upper wing plates and the lower wing plates. The lower end of the upper wing plates can be synchronously opened in an umbrella shape. The upper end of the lower wing plates can be synchronously opened in an umbrella shape. The sampling suction cup is arranged at the bottom end of the lower wing plates and can draw seabed sediments and seawater. The sediment sampler can automatically sink and float in the deep-sea seabed. When the sediment sampler touches the bottom and floats, the shell of the sediment sampler can be folded and unfolded to achieve the purpose of acceleration and deceleration. When the sediment sampler works in the seabed, the gear pump can draw the seabed sediments and water to achieve the sampling purpose.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of ocean exploration and monitoring, and particularly relates to a deformable deep-sea cableless sediment sampler and method. BACKGROUND

[0002] Deep-sea sediment samplers are mainly divided into cable type and cableless type. The cableless type is also self-sinking and self-floating type. The cable type deep-sea sediment sampler can control the speed of the sediment sampler by controlling the speed of the cable lowering, and can communicate with the ship in real time through the cable to grasp the height of the sediment sampler at any time, slow down the speed of the cable lowering before falling to the bottom, and reduce the impact of the sediment sampler on the seabed. However, this cable type sediment sampler needs to control the winch and cable, and the lowering and recovery process is complex. The cableless sampler can be directly put into the sea after being configured on the ship, and will automatically sink to the seabed and start sampling work. After the work is completed, the weight will be thrown to automatically float to the water surface. The process is simple and convenient to operate. However, the sinking and floating speed of the current cableless sampler cannot be controlled, and the sediment sampler may collide violently with the seabed during the sinking process, resulting in damage to the sediment sampler.

[0003] In the prior art, the deep-sea self-sinking and self-floating type shallow sediment sampler adopts the mode of first carrying a weight to sink, then throwing the weight after sampling on the seabed to float by buoyancy. However, its sampling form is to insert a pipeline into the seabed to obtain, which is easily affected by ocean currents, resulting in the obtained sample being blown away. Moreover, the speed cannot be controlled during the sinking and floating process, which may cause excessive impact on the seabed during sinking, resulting in damage to the sampler. SUMMARY

[0004] Therefore, the present application provides a deformable deep-sea cableless sediment sampler which automatically sinks by gravity, throws away the weight after completing the sampling work on the seabed, and automatically floats by buoyancy. The sediment sampler can be actively folded and unfolded in water to control the sinking and rising speed, thereby reducing the time of the sediment sampler during the sampling process. The sediment sampler is folded into a spherical shape during the bottom-falling process, and the shell is unfolded to slow down and increase the contact area of the bottom with the seabed before falling to the bottom, so as to avoid the sediment sampler from colliding violently with the seabed due to the too fast sinking speed, thereby causing damage to the sediment sampler, affecting the sampling result of the sediment sampler, or even failing to sample. After falling to the bottom, the seabed sediment is extracted and filtered by the gear pump and the sampling suction cup. After the work is completed, the weight is released by the timing releaser, so that the sediment sampler can automatically float, and the shell is folded into a spherical shape to speed up the floating speed.

[0005] The technical scheme is as follows: comprising an upper deformation mechanism, a lower deformation mechanism, a release link, a sampling link, an intermediate control rod and a mounting plate, wherein,

[0006] The initial shape of the upper deformation mechanism and the lower deformation mechanism is a spherical shape, the upper deformation mechanism comprises a plurality of upper wing plates, the lower deformation mechanism comprises a plurality of lower wing plates, the release link releases the weight to make the whole sampler float after sampling is completed, the sampling link comprises a sampling suction cup, a telescopic spring pipe, a hose, a sample filter collector and a gear pump control box, and the intermediate control rod controls the opening and closing of the upper wing plates and the lower wing plates.

[0007] The lower end of the upper wing plate can be synchronously opened in an umbrella shape, the upper end of the lower wing plate can be synchronously opened in an umbrella shape, the sampling suction cup is arranged at the bottom end of the lower wing plate to extract seabed deposits and seawater, the sampling suction cup, the telescopic spring pipe, the hose, the sample filter collector and the gear pump control box are sequentially connected, the telescopic spring pipe is arranged below the mounting plate, and the hose, the sample filter collector and the gear pump control box are arranged above the mounting plate.

[0008] Preferably, the release link comprises a timing release, a thin rope and a weight, the timing release is fixed on the mounting plate by a screw, one end of the thin rope is buckled at a release hook of the timing release, then passes through the mounting plate, and the other end of the thin rope is bound to the weight.

[0009] Preferably, the upper deformation mechanism further comprises an upper lead screw, an upper auxiliary mounting plate, an upper ball, an upper moving block and a folding linkage mechanism, the upper end of the upper lead screw is hinged to the upper auxiliary mounting plate through a rotating shaft, the upper ball and the upper lead screw form a ball screw mechanism, the density of the upper moving block is less than that of seawater, the upper moving block is sleeved on the upper lead screw and arranged below the upper ball, the upper moving block is hinged to the folding linkage mechanism through a rotating shaft due to the contact between the buoyancy of the upper moving block in seawater and the upper ball, the upper wing plates are welded on the folding linkage mechanism, the upper moving block moves up and down due to the buoyancy and the extrusion force of the upper ball when the upper ball moves up and down, the folding linkage mechanism moves together with the upper moving block, so that the upper wing plates are opened and closed.

[0010] Preferably, the lower deformation mechanism comprises a lower screw rod, a lower auxiliary mounting plate, lower balls, a lower moving block and a folding linkage mechanism, wherein the lower end of the lower screw rod is hinged with the lower auxiliary mounting plate through a rotating shaft, the upper balls and the upper screw rod form a ball screw mechanism, the density of the lower moving block is greater than that of seawater, the lower moving block is sleeved on the lower screw rod and is arranged above the lower balls and is in contact with the lower balls due to the gravity of the lower moving block, the lower moving block is hinged with the folding linkage mechanism through a rotating shaft, the upper wing plate is welded on the folding linkage mechanism, when the upper balls move up and down, the lower moving block moves up and down due to the extrusion force of the upper balls and the gravity of the lower moving block, the folding linkage mechanism moves with the lower moving block, so that the lower wing plate is closed and unfolded, and the lower wing plate is welded with a sampling suction cup below.

[0011] Preferably, the unfolding angle of the upper wing plate is 30°-90°.

[0012] Preferably, the unfolding angle of the lower wing plate is 30°-90°.

[0013] Preferably, the folding linkage structure comprises a first rod, a second rod, a third rod, a fourth rod, a fifth rod, a sixth rod and a short rod, wherein the first rod, the fourth rod and the fifth rod are parallel, the second rod, the third rod and the sixth rod are parallel, the first rod, the second rod, the third rod, the fourth rod, the fifth rod and the sixth rod form two parallelogram structures, one end of the first rod is hinged with the upper auxiliary mounting plate through a rotating shaft, one end of the third rod is hinged with the upper moving block through a rotating shaft, one end of the short rod is welded with the middle segment of the fourth rod, the other end of the short rod is welded with the inner wall of the upper wing plate, and the connection modes of the remaining rods are all hinged; the first rod, the second rod, the third rod, the fourth rod, the fifth rod, the sixth rod, the short rod and the upper moving block form a movement mechanism, and the movement mechanism has only one degree of freedom in a plane.

[0014] Preferably, the long supporting rod is further arranged, the middle of the long supporting rod is welded with the mounting plate, and the upper and lower ends of the long supporting rod are respectively fixed with the upper auxiliary mounting plate and the lower auxiliary mounting plate through screws, so as to provide mechanical support for the whole sampler.

[0015] Preferably, the intermediate control rod comprises an upper rotating motor, a control bin and a lower rotating motor, wherein the upper rotating motor and the lower rotating motor are both fixed on the control bin through screws, the control bin controls and supplies power for the upper rotating motor and the lower rotating motor, and the upper screw rod and the lower screw rod are connected with the upper rotating motor and the lower rotating motor respectively through a gear meshing connection mode.

[0016] Based on the above purpose, the application further provides a deformable deep-sea untethered sediment sampling method, which adopts the deformable deep-sea untethered sediment sampler, and comprises a sinking process, a seabed working process and a floating process, wherein,

[0017] The sinking process comprises the following steps:

[0018] S11, the initial state of the sediment sampler sinking is that the upper deformation mechanism and the lower deformation mechanism are both in the closed state;

[0019] S12, when the sediment sampler approaches the bottom, the intermediate control rod controls the upper rotary motor and the lower rotary motor to rotate clockwise, drives the upper lead screw and the lower lead screw to rotate clockwise, and simultaneously drives the upper ball and the lower ball to move upward and downward respectively, so that the upper moving block moves upward with the upper ball and the lower moving block moves downward with the lower ball;

[0020] S13, when the upper moving block moves upward and the lower moving block moves downward, the folding linkage mechanism connected with the upper wing plate and the lower wing plate is unfolded respectively, that is, the upper wing plate and the lower wing plate are unfolded, the sinking speed of the sediment sampler is slowed down, and the sediment sampler lands stably;

[0021] The seabed working process comprises the following steps:

[0022] S21, after the sediment sampler lands, the sampling suction cup contacts the seabed, and the gear pump of the gear pump control box starts to work;

[0023] S22, the gear pump sucks the seawater and seabed sediments from the sampling suction cup, filters and collects the seabed sediments through the telescopic spring pipe, the hose and the sample filter collector;

[0024] S23, the seawater filtered through the sample filter collector is discharged through the gear pump control box again;

[0025] S24, after the gear pump control box completes the work, the timing release starts to work and releases the weight, at this time the sediment sampler becomes positive buoyancy and starts to move upward;

[0026] The floating process comprises the following steps:

[0027] S31, when the sediment sampler starts to float, it is still in the unfolded state, the intermediate control rod controls the upper rotary motor and the lower rotary motor to rotate counterclockwise, drives the upper lead screw and the lower lead screw to rotate counterclockwise, and simultaneously drives the upper ball and the lower ball to move downward and upward respectively, the upper ball presses the upper moving block downward to make it move downward with the upper ball, and similarly, the lower ball also presses the lower moving block to make it move upward with the lower ball;

[0028] S32, when the upper moving block moves downward and the lower moving block moves upward, the folding linkage mechanism connected with the upper wing plate and the lower wing plate is closed respectively, that is, the upper wing plate and the lower wing plate are closed, and the sediment sampler sinks back to the initial state.

[0029] The deformable deep-sea untethered sediment sampler has at least the following beneficial effects:

[0030] 1. The central control lever can control the unfolding and folding of the upper and lower deformation mechanisms. When the sediment sampler moves up and down, folding the upper and lower deformation mechanisms can reduce the resistance encountered by the sediment sampler during movement, thereby reducing the time spent by the sediment sampler during sampling. When the sediment sampler is about to touch the bottom, the upper and lower deformation mechanisms can be unfolded. When the upper deformation mechanism is unfolded, the concave surface faces the water flow, increasing the resistance of the sediment sampler and reducing the speed when the sediment sampler touches the bottom. When the lower deformation mechanism is unfolded, the convex surface faces the water flow, which can increase the contact area with the seabed when touching the bottom, making the sediment sampler touch the bottom more smoothly. At the same time, when the lower deformation mechanism is unfolded, the sampling suction cup is placed at the bottom tangent to the seabed. The lower wing plate can both support the sediment sampler and protect the sampling suction cup.

[0031] 2. The entire device is mainly supported by the upper and lower wing plates, eliminating the need for additional buoyancy devices such as buoys, thus improving the material and space utilization of the sediment sampler;

[0032] 3. The operation of the sampling link can be actively controlled via the gear pump control box;

[0033] 4. A sampling suction cup was installed at the bottom of the lower wing plate, which can collect seabed sediment samples over a larger area;

[0034] 5. A telescopic spring tube is used to avoid the pipe part in the sampling link being subjected to large ocean current impacts during the up and down movement, which would cause damage to the pipe part in the sampling link and prevent the sediment sampler from successfully sampling.

[0035] 6. A controllable timed release device is used. After the sediment sampler has completed its work on the seabed, the timed release device will actively release the heavy block. The release process is safer and more reliable. After the release is completed, the sediment sampler can automatically float to the surface. Attached Figure Description

[0036] To make the objectives, technical solutions, and beneficial effects of this invention clearer, the following figures are provided for illustration:

[0037] Figure 1 This is a structural diagram of the initial state of a deformable deep-sea cableless sediment sampler according to the present invention.

[0038] Figure 2 This is a structural diagram of the deployed state of a deformable deep-sea cableless sediment sampler according to the present invention.

[0039] Figure 3 This is a top view of the deployed state of a deformable deep-sea cableless sediment sampler according to the present invention.

[0040] Figure 4 Figure 1 is a structural diagram of an intermediate control rod of a deformable deep-sea untethered sediment sampler of the present application;

[0041] Figure 5 Figure 2 is a flowchart of a sampling link of a deformable deep-sea untethered sediment sampler of the present application;

[0042] Figure 6 Figure 3 is an unfolded structural diagram of an upper deformation mechanism of a deformable deep-sea untethered sediment sampler of the present application;

[0043] Figure 7 Figure 4 is a folded structural diagram of an upper deformation mechanism of a deformable deep-sea untethered sediment sampler of the present application;

[0044] Figure 8 Figure 5 is an unfolded structural diagram of a lower deformation mechanism of a deformable deep-sea untethered sediment sampler of the present application;

[0045] Figure 9 Figure 6 is a folded structural diagram of a lower deformation mechanism of a deformable deep-sea untethered sediment sampler of the present application. DETAILED DESCRIPTION

[0046] The preferred embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0047] Referring to Figures 1-3 Figure 1 is a structural diagram of a deformable deep-sea untethered sediment sampler of the present application, comprising an upper deformation mechanism 1, a lower deformation mechanism 2, a release link 3, a sampling link 4, an intermediate control rod 5, and a mounting plate 6, wherein,

[0048] Referring to Figure 1 In the initial state, the upper deformation mechanism 1 and the lower deformation mechanism 2 form a spherical shape, the upper deformation mechanism 1 comprises a plurality of upper wing plates 104; the lower deformation mechanism 2 comprises a plurality of lower wing plates 204; the release link 3 releases the weight after sampling is completed to make the entire sampler float up; the sampling link 4 comprises a sampling suction cup 401, a telescopic spring tube 402, a hose 403, a sample filter collector 404, and a gear pump control box 405; the intermediate control rod 5 controls the unfolding and closing of the upper wing plates 104 and the lower wing plates 204, wherein,

[0049] Referring to Figure 2 , Figure 3The upper wing plate 104 can be synchronously opened like an umbrella at the lower end, and the lower wing plate 204 can be synchronously opened like an umbrella at the upper end. The sampling suction disc 401 is arranged at the bottom end of the lower wing plate 204 to extract seabed sediments and seawater. The sampling suction disc 401, the telescopic spring pipe 402, the hose 403, the sample filter collector 404 and the gear pump control box 405 are sequentially connected. The telescopic spring pipe 402 is arranged below the mounting plate 6, and the hose 403, the sample filter collector 404 and the gear pump control box 405 are arranged above the mounting plate 6.

[0050] The release link 3 comprises a timing release 301, a string 302 and a heavy block 303. The timing release 301 is fixed on the mounting plate 6 by a screw. One end of the string 302 is buckled on the release hook of the timing release 301, then passes through the mounting plate 6, and the other end of the string 302 is bound on the heavy block 303.

[0051] The upper deformation mechanism 1 further comprises an upper lead screw 101, an upper auxiliary mounting plate 102, an upper ball 103, an upper moving block 105 and a folding linkage mechanism 7. The upper end of the upper lead screw 101 is hinged with the upper auxiliary mounting plate 102 by a rotating shaft. The upper ball 103 and the upper lead screw 101 constitute a ball screw mechanism. The density of the upper moving block 105 is less than that of seawater. The upper moving block 105 is sleeved on the upper lead screw 101 and arranged below the upper ball 103. The upper moving block 105 is in contact with the upper ball 103 due to the buoyancy of the upper moving block 105 in seawater. The upper moving block 105 is hinged with the folding linkage mechanism 7 by a rotating shaft. The upper wing plate 104 is welded on the folding linkage mechanism 7. When the upper ball 103 moves up and down, the upper moving block 105 moves up and down due to the buoyancy and the extrusion force of the upper ball 103. The folding linkage mechanism 7 moves together with the upper moving block 105, so that the upper wing plate 104 is unfolded and closed.

[0052] The lower deformation mechanism 2 comprises a lower lead screw 201, a lower auxiliary mounting plate 202, a lower ball 203, a lower moving block 205 and a folding linkage mechanism 7. The lower end of the lower lead screw 201 is hinged with the lower auxiliary mounting plate 202 by a rotating shaft. The lower ball 203 and the lower lead screw 201 constitute a ball screw mechanism. The density of the lower moving block 205 is greater than that of seawater. The lower moving block 205 is sleeved on the lower lead screw 201 and arranged above the lower ball 203. The lower moving block 205 is in contact with the lower ball 203 due to the gravity of the lower moving block 205. The lower moving block 205 is hinged with the folding linkage mechanism 7 by a rotating shaft. The upper wing plate 104 is welded on the folding linkage mechanism 7. When the upper ball 103 moves up and down, the lower moving block 205 moves up and down due to the extrusion force of the upper ball 103 and the gravity of the lower moving block 205 itself. The folding linkage mechanism 7 moves together with the lower moving block 205, so that the lower wing plate 204 is closed and unfolded. The sampling suction disc 401 is welded below the lower wing plate 204.

[0053] The unfolding angle of the upper wing plate 104 is 30-90°; the unfolding angle of the lower wing plate 204 is 30-90°.

[0054] Further comprising a long support rod 8, the middle of the long support rod 8 is welded with the mounting plate 6, and the upper and lower ends are fixed with the upper auxiliary mounting plate 102 and the lower auxiliary mounting plate 202 through screws, providing mechanical support for the whole sampler.

[0055] Referring to Figure 4 , the middle control rod 5 comprises an upper rotary motor 501, a control bin 502 and a lower rotary motor 503, wherein the upper rotary motor 501 and the lower rotary motor 503 are fixed on the control bin 502 through screws, the control bin 502 controls and powers the upper rotary motor 501 and the lower rotary motor 503, and the upper lead screw 101 and the lower lead screw 201 are connected with the upper rotary motor 501 and the lower rotary motor 503 through gear meshing connection.

[0056] Referring to Figure 5 , the flow chart of the sampling link 4, the bottom of the sampling suction cup 401 is welded at the bottom of the lower wing plate 204, the other end of the sampling suction cup 401 is connected with one end of the telescopic spring pipe 402, the other end of the telescopic spring pipe 402 is connected with one end of the hose 403, the other end of the hose 403 is connected with the water inlet of the sample filter collector 404, and the water outlet of the sample filter collector 404 is connected with the water inlet of the gear pump control box 405.

[0057] Referring to Figures 6-9 , the folding linkage structure comprises a first rod 701, a second rod 702, a third rod 703, a fourth rod 704, a fifth rod 705, a sixth rod 706 and a short rod 707, wherein the first rod 701, the fourth rod 704 and the fifth rod 705 are parallel, the second rod 702, the third rod 703 and the sixth rod 706 are parallel, the first rod 701, the second rod 702, the third rod 703, the fourth rod 704, the fifth rod 705 and the sixth rod 706 form two parallelogram structures, one end of the first rod 701 is hinged with the upper auxiliary mounting plate 102 through a rotating shaft, one end of the third rod 703 is hinged with the upper moving block 105 through a rotating shaft, one end of the short rod 707 is welded with the middle segment of the fourth rod 704, and the other end of the short rod 707 is welded with the inner wall of the upper wing plate 104, and the connection modes of the remaining rods are all hinged; the first rod 701, the second rod 702, the third rod 703, the fourth rod 704, the fifth rod 705, the sixth rod 706, the short rod 707 and the upper moving block 105 form a motion mechanism, which is in a plane, and the motion mechanism has only one degree of freedom when the upper deformation mechanism 1 is unfolded and folded.

[0058] Figure 6 are respectively the unfolding and folding diagrams of the upper deformation mechanism 1, from Figure 7 the folding diagram of the upper deformation mechanism 1Figure 6 As can be seen, when the upper moving block 105 moves up and down, the first bar 701, the second bar 702, the third bar 703, the fourth bar 704, the fifth bar 705, the sixth bar 706 and the short bar 707 all have a unique motion, and since the upper wing plate 104 is welded to the fourth bar 704 through the short bar 707, the upper wing plate 104 also has a unique motion, and thus the unfolding and folding of the upper deformation mechanism 1 can be controlled by controlling the up and down movement of the upper moving block 105.

[0059] Figure 8 And Figure 9 is the unfolding and folding diagram of the lower deformation mechanism 2, similar to the upper deformation mechanism 1, when the lower deformation mechanism 2 unfolds and folds, the main moving members are the first bar 701, the second bar 702, the third bar 703, the fourth bar 704, the fifth bar 705, the sixth bar 706, the short bar 707 and the lower moving block 205, and these eight moving members are in a plane, and for the same reason, the moving mechanism composed of these eight moving members has only one degree of freedom, so when the lower moving block 205 moves up and down, the first bar 701, the second bar 702, the third bar 703, the fourth bar 704, the fifth bar 705, the sixth bar 706 all have a unique motion, and since the lower wing plate 204 is welded to the fourth bar 704 through the short bar 707, the lower wing plate 204 also has a unique motion, and thus the unfolding and folding of the lower deformation mechanism 2 can be controlled by controlling the up and down movement of the lower moving block 205.

[0060] In specific embodiments, the upper deformation mechanism 1 and the lower deformation mechanism 2 of the deformable deep-sea untethered sediment sampler form a spherical, ellipsoidal or conical shape. The number of foldable link mechanisms 7 can be 4, 6, 8 or 10. The number of heavy blocks 303 and sampling suction cups 401 can be changed, such as 1-8, as long as the center of gravity of the sediment sampler is in the vertical direction of the middle control rod 5. The shape of the time release device 301, the gear pump control box 405 and the sample filtration and collection box can be a cuboid, a cube, a cylinder or a sphere.

[0061] The upper and lower deformation mechanism 2 of the deep-sea untethered sediment sampler adopts a folded state during the sinking and floating process, reducing the time consumed during the sediment sampling process. The upper and lower deformation mechanism 2 of the deep-sea untethered sediment sampler adopts an unfolded state before landing on the seabed, which can reduce the landing speed of the sediment sampler and increase the contact area between the bottom of the sediment sampler and the seabed, so that the sediment sampler can land more stably. The upper and lower deformation mechanism 2 of the sediment sampler becomes a folded state when floating, reducing the flow area of the sediment sampler and speeding up the floating speed of the sediment sampler. The deep-sea untethered sediment sampler mainly provides buoyancy by the upper wing plate 104 and the lower wing plate 204, and does not need a buoyancy device such as a float to provide additional buoyancy, thereby improving the material and space utilization of the sediment sampler. The sampling work of the sediment sampler can be actively controlled through the gear pump control box 405, so that the sampling process becomes controllable. The sampling suction cup 401 is installed at the bottom of the lower wing plate 204, which can suck the seabed sediment sample in a larger area. The telescopic spring pipe 402 is used to avoid the pipe part in the sampling link 4 from being subjected to a large ocean current impact during the upward and downward movement, which can cause damage to the pipe part in the sampling link 4, thereby causing the sediment sampler to fail to successfully sample. The controllable timing release 301 is used, which can actively release the weight 303 when the sediment sampler completes the work on the seabed, and the release process is safer and more reliable. After the release is completed, the sediment sampler can automatically float up.

[0062] Based on the above purpose, the deformable deep-sea untethered sediment sampling method provided by the present application adopts the deformable deep-sea untethered sediment sampler, and includes a sinking process, a seabed working process and a floating process, wherein,

[0063] The sinking process includes the following steps:

[0064] S11, the initial state of the sediment sampler sinking is that the upper deformation mechanism and the lower deformation mechanism are both in a closed state;

[0065] S12, when the sediment sampler approaches the seabed, the intermediate control rod controls the upper rotary motor and the lower rotary motor to rotate clockwise, drives the upper lead screw and the lower lead screw to rotate clockwise, and simultaneously drives the upper ball and the lower ball to move upward and downward, respectively, so that the upper moving block moves upward with the upper ball and the lower moving block moves downward with the lower ball;

[0066] S13, when the upper moving block moves upward and the lower moving block moves downward, the folding linkage mechanism connected with the upper wing plate and the lower wing plate is unfolded, that is, the upper wing plate and the lower wing plate are unfolded, the sinking speed of the sediment sampler is slowed down, and because the lower deformation mechanism is unfolded, the bottom area of the sediment sampler is increased, and the sediment sampler can land more stably;

[0067] The seabed working process includes the following steps:

[0068] S21, after the sediment sampler lands, the sampling suction plate contacts the seabed, the gear pump of the gear pump control box starts to work;

[0069] S22, the gear pump sucks the seawater and seabed sediment from the sampling suction plate, filters and collects the seabed sediment through the telescopic spring pipe, the hose and the sample filter collector;

[0070] S23, the seawater filtered through the sample filter collector is discharged through the gear pump control box;

[0071] S24, after the gear pump control box completes the work, the timing release starts to work, the weight is released, at this time the sediment sampler becomes positive buoyancy and starts to move upward;

[0072] The floating process comprises the following steps:

[0073] S31, when the sediment sampler starts to float, it is still in the unfolded state, the upper rotary motor and the lower rotary motor are controlled to rotate counterclockwise through the intermediate control rod, the upper lead screw and the lower lead screw are driven to rotate counterclockwise, and the upper ball and the lower ball are driven to move downward and upward respectively, the upper ball extrudes the upper moving block to move downward following the upper ball, and the lower ball also extrudes the lower moving block to move upward following the lower ball;

[0074] S32, when the upper moving block moves downward and the lower moving block moves upward, the folding connecting rod mechanism connected with the upper wing plate and the lower wing plate is closed, that is, the upper wing plate and the lower wing plate are closed, the sediment sampler sinks back to the initial state, the flow area of the sediment sampler is reduced, the resistance received by the sediment sampler is also reduced, the floating speed is faster, and therefore the time consumed in the floating process is less.

[0075] The cableless sediment sampler of the present application has simple operation configuration and high working efficiency, the folding shell in the sinking and floating processes accelerates the sinking and floating speed and reduces the time consumed in the sinking and floating processes of the sediment sampler. The folding sampler shell in the sinking process makes it a spherical body, accelerates the sinking speed, and slows down before the sediment sampler lands on the seabed, avoids violent impact of the sediment sampler on the seabed, and uses the gear pump and the sampling suction plate in cooperation when sampling on the seabed, so as to actively control the sampling time, and the folding shell after floating accelerates the floating speed.

[0076] The above is only a preferred embodiment of the present application, and is not used to limit the present application, any modification, equivalent replacement and improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A deformable deep-sea untethered sediment sampler, characterized in that, The sampler comprises an upper deformation mechanism, a lower deformation mechanism, a release link, a sampling link, an intermediate control rod and a mounting plate, wherein The initial shape of the upper deformation mechanism and the lower deformation mechanism is spherical, the upper deformation mechanism comprises a plurality of upper wing plates, the lower deformation mechanism comprises a plurality of lower wing plates, the release link releases the weight to make the whole sampler float after sampling is completed, the sampling link comprises a sampling suction cup, a telescopic spring tube, a hose, a sample filter collector and a gear pump control box, and the intermediate control rod controls the opening and closing of the upper wing plates and the lower wing plates. The lower end of the upper wing plate can be synchronously opened in an umbrella shape, the upper end of the lower wing plate can be synchronously opened in an umbrella shape, the sampling suction cup is arranged at the bottom end of the lower wing plate to extract seabed deposits and seawater, the sampling suction cup, the telescopic spring tube, the hose, the sample filter collector and the gear pump control box are sequentially connected, the telescopic spring tube is arranged below the mounting plate, and the hose, the sample filter collector and the gear pump control box are arranged above the mounting plate. The upper deformation mechanism further comprises an upper lead screw, an upper auxiliary mounting plate, an upper ball, an upper moving block and a folding linkage mechanism, the upper end of the upper lead screw is hinged to the upper auxiliary mounting plate through a rotating shaft, the upper ball and the upper lead screw form a ball screw mechanism, the density of the upper moving block is less than that of seawater, the upper moving block is sleeved on the upper lead screw and arranged below the upper ball, the upper moving block is hinged to the folding linkage mechanism through a rotating shaft due to the contact between the upper moving block and the upper ball caused by the buoyancy of the upper moving block in seawater, the upper wing plate is welded to the folding linkage mechanism, and the upper moving block moves up and down due to the buoyancy and extrusion force of the upper ball when the upper ball moves up and down, the folding linkage mechanism moves together with the upper moving block, and thus the upper wing plate is opened and closed.

2. The morphable deep-sea untethered sediment sampler of claim 1, wherein, The release link comprises a timing release, a thin rope and a weight, the timing release is fixed on the mounting plate through a screw, one end of the thin rope is buckled on a release hook of the timing release, then passes through the mounting plate, and the other end of the thin rope is bound to the weight.

3. The morphable deep-sea untethered sediment sampler of claim 1, wherein, The lower deformation mechanism comprises a lower lead screw, a lower auxiliary mounting plate, a lower ball, a lower moving block and a folding linkage mechanism, the lower end of the lower lead screw is hinged to the lower auxiliary mounting plate through a rotating shaft, the lower ball and the lower lead screw form a ball screw mechanism, the density of the lower moving block is greater than that of seawater, the lower moving block is sleeved on the lower lead screw and arranged above the lower ball, the lower moving block is hinged to the folding linkage mechanism through a rotating shaft due to the contact between the lower moving block and the lower ball caused by the gravity of the lower moving block, the upper wing plate is welded to the folding linkage mechanism, the lower moving block moves up and down due to the extrusion force of the upper ball and the gravity of the lower moving block when the upper ball moves up and down, the folding linkage mechanism moves together with the lower moving block, and thus the lower wing plate is closed and opened, and the sampling suction cup is welded below the lower wing plate.

4. The morphing deep-sea untethered sediment sampler according to claim 3, characterized in that, The opening angle of the upper wing plate is 30°-90°.

5. The morphing deep-sea untethered sediment sampler according to claim 3, wherein, The opening angle of the lower wing plate is 30°-90°.

6. The morphable deep-sea untethered sediment sampler of claim 3, wherein, The folding linkage structure comprises a first rod, a second rod, a third rod, a fourth rod, a fifth rod, a sixth rod and a short rod, wherein the first rod, the fourth rod and the fifth rod are parallel, the second rod, the third rod and the sixth rod are parallel, the first rod, the second rod, the third rod, the fourth rod, the fifth rod and the sixth rod form two parallelogram structures, one end of the first rod is hinged to the upper auxiliary mounting plate through a rotating shaft, one end of the third rod is hinged to the upper moving block through a rotating shaft, one end of the short rod is welded to the middle segment of the fourth rod, the other end of the short rod is welded to the inner wall of the upper wing plate, and the connecting modes of the remaining rods are all hinged; the first rod, the second rod, the third rod, the fourth rod, the fifth rod, the sixth rod, the short rod and the upper moving block form a movement mechanism, and the eight rods are in one plane; when the upper deformation mechanism is unfolded and folded, the movement mechanism has only one degree of freedom.

7. The morphable deep-sea untethered sediment sampler of claim 3, wherein, The long supporting rod is further included, the middle segment of the long supporting rod is welded to the mounting plate, and the upper and lower ends of the long supporting rod are fixed to the upper auxiliary mounting plate and the lower auxiliary mounting plate through screws, thereby providing mechanical support for the whole sampler.

8. The morphable deep-sea untethered sediment sampler of claim 3, wherein, The intermediate control rod comprises an upper rotating motor, a control bin and a lower rotating motor, wherein the upper rotating motor and the lower rotating motor are both fixed to the control bin through screws, the control bin controls and supplies power to the upper rotating motor and the lower rotating motor, and the upper screw rod and the lower screw rod are connected with the upper rotating motor and the lower rotating motor respectively through a gear meshing connection mode.

9. A method of deformable deep-sea untethered sediment sampling, using a deformable deep-sea untethered sediment sampler according to any one of claims 1 to 8, characterized in that, The process comprises a sinking process, a seabed working process and a floating process, wherein, The sinking process comprises the following steps: S11, the initial state of the sediment sampler sinking is that the upper deformation mechanism and the lower deformation mechanism are both in a closed state; S12, when the sediment sampler approaches the bottom, the intermediate control rod controls the upper rotating motor and the lower rotating motor to rotate clockwise, drives the upper screw rod and the lower screw rod to rotate clockwise, and simultaneously drives the upper ball and the lower ball to move upward and downward respectively, so that the upper moving block moves upward with the upper ball and the lower moving block moves downward with the lower ball; S13, when the upper moving block moves upward and the lower moving block moves downward, the folding linkage mechanism connected with the upper wing plate and the lower wing plate is unfolded, that is, the upper wing plate and the lower wing plate are unfolded, the sinking speed of the sediment sampler is slowed down, and the sediment sampler lands stably; The seabed working process comprises the following steps: S21, after the sediment sampler lands, the sampling suction cup contacts the seabed, and the gear pump of the gear pump control box starts to work; S22, the gear pump sucks the seawater and the seabed sediment from the sampling suction cup, filters and collects the seabed sediment through the telescopic spring pipe, the hose and the sample filter collector; S23, the seawater filtered through the sample filter collector is discharged through the gear pump control box again; S24, after the gear pump control box completes the work, the timing release starts to work, releases the weight, at this time, the sediment sampler becomes positive buoyancy, and starts to move upward; The floating process comprises the following steps: S31, when the sediment sampler is still in the unfolded state at the beginning of floating, the upper and lower rotating motors are controlled to rotate counterclockwise through the intermediate control rod, which drives the upper and lower screws to rotate counterclockwise, and drives the upper and lower balls to move downward and upward respectively, the upper ball extrudes the upper moving block downward to move downward with the upper ball, and the lower ball also extrudes the lower moving block upward to move upward with the lower ball; S32, when the upper moving block moves downward and the lower moving block moves upward, the folding linkage mechanism connected with the upper and lower wing plates is driven to close, i.e. the upper and lower wing plates are closed, and the sediment sampler sinks back to the initial state.

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