Marine robot sampling device and use method thereof

Abstract

A marine robot sampling device and a method of using the same belong to the field of marine robots. The lower end of the submersible is connected to a connecting plate by bolts, the lower end of the connecting plate is fixedly connected to a connecting rod I, and the side of the connecting rod I is fixedly connected to a connecting rod II; the other end of the connecting rod II is fixedly connected to the inner wall of the rectangular hole in the center of the cylinder I; a plurality of limit blocks are fixedly connected to the inner wall of one side of the rectangular hole, and a plurality of gear rods are fixedly connected to the inner wall of the other side of the rectangular hole; a plurality of rotating rods I are fixedly connected to the output shaft of the motor below the gear rod, and a fixed rod is fixedly connected to the output shaft of the motor below the limit block; the other end of the fixed rod is connected to the rotating rod II through a spring hinge. The present invention can not only obtain seawater samples of different depths in a single dive, but also can pick up fixed samples multiple times on the seabed while avoiding falling, so as to facilitate the collection of different types of solid samples to avoid repeated dives of the submersible, save time and improve efficiency.

Description

Technical Field

[0001] The invention relates to a marine robot sampling device and a use method thereof, belonging to the field of marine robots. Background Art

[0002] When studying the ocean, marine robots are needed to carry sampling devices to take samples of seawater at different depths or rocks and sediments on the seabed in order to facilitate scientific research. Although the sampling devices of currently used marine robots can carry samples to the sea surface, in actual use, only a small number of similar samples can be obtained each time they dive. When multiple types of samples need to be picked up, the marine robot needs to return to the sea surface to take the samples and then dive again to obtain them. This is troublesome, cumbersome, and time-consuming, so it is necessary to improve it. Summary of the invention

[0003] The purpose of the present invention is to solve the above-mentioned problems existing in the background technology and to provide a marine robot sampling device and a method of using the same.

[0004] The present invention achieves the above-mentioned purpose by adopting the following technical solutions:

[0005] A marine robot sampling device comprises a submersible; the lower end of the submersible is connected to a connecting plate by bolts, the lower end of the connecting plate is fixedly connected to a connecting rod I, and the side of the connecting rod I is fixedly connected to a connecting rod II; the other end of the connecting rod II is fixedly connected to the inner wall of a rectangular hole in the center of a cylinder I; a plurality of limit blocks are fixedly connected to the inner wall of one side of the rectangular hole, and a plurality of gear rods are fixedly connected to the inner wall of the other side of the rectangular hole; the lower end of the cylinder I is symmetrically and fixedly connected to a sealing shell, each sealing shell is fixedly connected to a motor, a plurality of rotating rods I are fixedly connected to the output shaft of the motor located below the gear rod, and a fixing rod is fixedly connected to the output shaft of the motor located below the limit block; the other end of the fixing rod is connected to the rotating rod II through a spring hinge.

[0006] A method for using a marine robot sampling device, the method comprising the following steps:

[0007] Step 1: Connect the connecting plate to the lower end of the submersible and then put it into the water;

[0008] Step 2: As the depth increases, the airbag is ruptured by the pressure provided by the seawater, allowing the seawater at that depth to enter the storage shell;

[0009] Step 3: After the submersible moves to the seabed, start the motor, lift up the seabed rocks and other targets by rotating rods Ⅰ and Ⅱ, and continue to rotate rotating rods Ⅰ and Ⅱ until the target moves to the top of the gear lever to prevent it from falling, and then other targets can be picked up again by rotating rods Ⅰ and Ⅱ.

[0010] Compared with the prior art, the beneficial effects of the present invention are: the present invention can not only obtain seawater samples of different depths in a single dive, but also pick up fixed samples multiple times on the seabed while avoiding the falling of fixed samples, which is convenient for collecting different types of solid samples to avoid repeated dives of the submersible, saving time and improving efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 is a front view of a marine robot sampling device of the present invention;

[0012] Figure 2 yes Figure 1 Sectional view in the AA direction;

[0013] Figure 3 This is a schematic diagram of the connection structure of various components of a solid sample sampling device of a marine robot of the present invention;

[0014] Figure 4 It is a bottom view of the cylinder I of a marine robot sampling device of the present invention;

[0015] Figure 5 It is a structural schematic diagram of a cylinder II of a marine robot sampling device of the present invention;

[0016] Figure 6 It is a schematic structural diagram of an elastic device of a marine robot sampling device of the present invention;

[0017] Figure 7 is a front view of a storage device of a marine robot sampling device of the present invention;

[0018] Figure 8 is a top view of a storage housing of a marine robot sampling device of the present invention;

[0019] Fig. 9 It is a structural schematic diagram of a control device of a marine robot sampling device of the present invention. DETAILED DESCRIPTION

[0020] The technical solution of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0021] Specific implementation method 1: Figure 1-9As shown, this embodiment records a marine robot sampling device, including a submersible 1; the lower end of the submersible 1 is connected to a connecting plate 2 by bolts, the lower end of the connecting plate 2 is fixedly connected to a connecting rod Ⅰ3, and the side of the connecting rod Ⅰ3 is fixedly connected to a connecting rod Ⅱ4; the other end of the connecting rod Ⅱ4 is fixedly connected to the inner wall of the rectangular hole in the center of the cylinder Ⅰ7; a plurality of limit blocks 9 are fixedly connected to the inner wall of one side of the rectangular hole, and a plurality of gear rods 10 are fixedly connected to the inner wall of the other side of the rectangular hole; the lower end of the cylinder Ⅰ7 is symmetrically and fixedly connected to a sealing shell 11, each sealing shell 11 is fixedly connected to a motor, a plurality of rotating rods Ⅰ14 are fixedly connected to the output shaft of the motor located below the gear rod 10, and a fixed rod 12 is fixedly connected to the output shaft of the motor located below the limit block 9; the other end of the fixed rod 12 is connected to a rotating rod Ⅱ13 through a spring hinge. Solid samples on the seabed are picked up by rotating rods I 14 and II 13 and stored by the gear lever 10 , so as to facilitate multiple picking up of solid samples and ensure that the solid samples will not fall off during the picking process.

[0022] The cross section of each of the stop blocks 9 is triangular, and the hypotenuse is arc-shaped, so that the sample can slide upward along the inclined surface of the stop block.

[0023] The free end of each of the stop rods 10 is tilted to prevent the solid sample from sliding out under the influence of external forces such as seabed turbulence.

[0024] There are gaps between the multiple gear levers 10, between the multiple limit blocks 9, between the multiple rotating rods I14 and between the multiple rotating rods II13; the rotating rod I14 can pass through the gaps between adjacent rotating rods II13, and the rotating rod I14 can also pass through the gaps between adjacent limit blocks 9 and adjacent gear levers 10; the rotating rod II13 and the corresponding gear lever 10 are on the same vertical plane, and after the rotating rod II13 contacts the corresponding gear lever 10, the rotating rod II13 rotates around the spring hinge.

[0025] The upper and lower ends of the outer circumference of the cylinder I7 are fixedly connected with a ring 6 respectively; the outer circumference of the ring 6 is provided with threads, and the cylinder II5 is connected through the threads; the space enclosed by the cylinder I7, the ring 6 and the cylinder II5 is provided with an elastic device 15 and a storage device 8 that slidably cooperates with the space enclosed by the cylinder I7, the ring 6 and the cylinder II5. The diameter of the cylinder II5 is larger than the width of the submersible 1, which can prevent the submersible 1 from getting stuck in the gap between the reefs due to the user's narrow viewing angle.

[0026] The elastic device 15 includes a fixing ring 151 and a spring I 152 ; the fixing ring 151 is fixedly connected between the two rings 6 ; one end of the spring I 152 is fixedly connected to the fixing ring 151 , and the other end of the spring I 152 is in contact with the storage device 8 .

[0027] The storage device 8 includes a plurality of storage shells 81 and a fixed shell 88; the fixed shell 88 rests on the spring Ⅰ152, and the other side of the fixed shell 88 is fixedly connected to the storage shell 81; the storage shell 81 is hollowed out on the side facing the cylinder Ⅱ5, and slots are provided on both sides of the hollowed-out end; an arc-shaped baffle 83 that slides with it is provided in the hollowed-out end of the storage shell 81; a groove 87 is provided on the side of the arc-shaped baffle 83, and a spring Ⅱ86 is fixedly connected in the groove 87, and a block 85 that slides with the slot is fixedly connected at the other end of the spring Ⅱ86; a perforation is also provided on the arc-shaped baffle 83, and an airbag 84 is fixedly connected in the perforation; a through hole 82 is provided on the side of the storage shell 81 and the fixed shell 88 facing the cylinder Ⅰ7; a window 51 is provided on the cylinder Ⅱ5 for the airbag 84 to contact the outside world.

[0028] It also includes a control device 16; the control device 16 includes a fixed cylinder 161, a spring III 163, a slide bar 164, a limit rod 165 and a spring IV 167; the cylinder I7 is provided with a connection hole 71; the fixed cylinder 161 is fixedly connected to the inner wall of the central rectangular hole of the cylinder I7, a spring III 163 is fixedly connected inside the fixed cylinder 161, and the other end of the spring III 163 is fixedly connected to a slide bar 164 that slidably cooperates with the connection hole 71; the slide bar 164 also slidably cooperates with the through hole 82, a mounting groove 166 is provided on the side of the slide bar 164, a spring IV 167 is fixedly connected inside the mounting groove 166, and the other end of the spring IV 167 is fixedly connected to the limit rod 165. When the spring III 163 is compressed to the shortest length, the end of the slide bar 164 away from the spring III 163 just enters the connection hole 71 to prevent seawater from entering the connection hole 71.

[0029] The perforations on the arc-shaped baffle plate 83 have different heights, and the pressures in the airbag 84 are different.

[0030] A method for using a marine robot sampling device, characterized in that the method comprises the following steps:

[0031] Step 1: Connect the connecting plate 2 to the lower end of the submersible 1 and then put it into water;

[0032] Step 2: As the depth increases, the air bag 84 is ruptured by the pressure provided by the sea water, so that the sea water at this depth enters the storage shell 81;

[0033] Step 3: After the submersible 1 moves to the seabed, the motor is started, and the seabed rocks and other targets are lifted up by rotating rods Ⅰ14 and Ⅱ13, and the rotating rods Ⅰ14 and Ⅱ13 are continuously rotated until the target moves to the top of the gear lever 10 to prevent it from falling, and then other targets can be picked up again by rotating rods Ⅰ14 and Ⅱ13.

[0034] The working principle of the present invention is as follows: when using the device, the storage device 8 is placed between the two rings 6, and the spring I 152 is compressed, and the spring III 163 is restored to its original length, and the slide bar 164 is pushed to insert into the through hole 82 on the storage shell 81 farthest from the spring I 152, and then the cylinder II 5 is connected to the outside of the two rings 6 by threading until the air bag 84 on the storage shell 81 farthest from the spring I 152 contacts the outside through the window 51 on the cylinder II 5;

[0035] Then, the connecting plate 2 is connected to the lower end of the submersible 1 and then put into the water. As the submersible 1 moves downward in the seawater, the water pressure increases with the depth. Since the pressure inside the airbag 84 is different, and the pressure inside the airbag 84 gradually increases from away from the spring Ⅰ152 to close to the spring Ⅰ152, as the diving depth increases, the pressure difference between the pressure of the seawater and the pressure inside the airbag 84 gradually increases, causing the airbag 84 to rupture and allowing the seawater to enter the storage shell 81 farthest from the spring Ⅰ152. As the seawater enters, the water pressure is applied to the slide bar 164, pushing the slide bar 164 to move in the direction of the fixed tube 161 and compressing the spring III 163 to disengage the slide bar 164 from the through hole 82. After the slide bar 164 disengages from the through hole 82, the storage device 8 is pushed to move in the direction away from the spring Ⅰ152 under the action of the spring Ⅰ152, so that the second storage shell 81 moves to the position of the window 51. Moreover, since the pressure of the airbag 84 on the second storage shell 81 is greater than the pressure of the airbag 84 on the first storage shell 81, When the second storage shell 81 moves to the position of the window 51, the pressure difference at the current depth is less than the pressure difference between the airbag 84 on the first storage shell 81 and the seawater pressure, which will not cause the airbag 84 to rupture. When the second storage shell 81 moves to the window 51, the slide bar 164 is inserted into the through hole 82 of the second storage shell 81 under the elastic force of the spring III 163 to prevent the second storage shell 81 from leaving the position of the window 51. As the submersible 1 continues to dive, the water pressure increases, and the airbag on the second storage shell 81 The pressure difference between the air pressure in 84 and the seawater increases, causing it to rupture, and the above steps are repeated to complete the seawater collection. Since the air pressure of the airbag 84 is different, seawater samples of different depths can be collected. After the sample collection is completed, the fixed shell 88 moves to the window 51, and the slide bar 164 is inserted into the through hole 82 and no longer moves. After the storage shell 81 is separated from the window 51, it moves to between the cylinder I7 and the cylinder II5, and the through hole 82 and the perforation of the loading airbag 84 are blocked by the sealing gasket on its side wall to prevent the seawater from flowing out;

[0036] When the device is moved to the seabed to collect solid samples, the cylinder Ⅰ7 is moved above the solid sample and the solid sample is located between the rotating rod Ⅰ14 and the rotating rod Ⅱ13. Then the motor is started, and the motor drives the rotating rod Ⅰ14 and the rotating rod Ⅱ13 to move. After the rotating rod Ⅰ14 and the rotating rod Ⅱ13 are rotated until they are in contact with the solid sample, the motor connected to the fixed rod 12 is turned off, and another motor drives the rotating rod Ⅰ14 to continue to rotate, so that the rotating rod Ⅰ14 is inserted into the gap between the adjacent rotating rods Ⅱ13, and then the rotating rod Ⅰ14 drives the solid sample to move upward along the rotating rod Ⅱ13 and the fixed rod 12. When the solid sample moves to the inside of the rectangular hole in the cylinder Ⅰ7, as the rotating rod Ⅰ14 continues to rotate, the solid sample contacts the arc surface at the lower end of the limit block 9, and the rotating rod Ⅰ14 moves to two adjacent limit blocks at the same time. 9, as the rotating rod I 14 continues to rotate, the solid sample moves along the arc surface of the lower end of the limit block 9 toward the gear rod 10 until the solid sample moves above the gear rod 10, and then slowly moves downward to the upper end of the gear rod 10 under the action of gravity, and then the fixed rod 12 and the rotating rod II 13 are rotated to make the rotating rod II 13 contact the gear rod 10, and the fixed rod 12 is continued to be rotated, and the rotating rod II 13 rotates around the hinge until the rotating rod II 13 rotates to be parallel to the gear rod 10, and the motor can be turned off. After the rotating rod II 13 is parallel to the gear rod 10, the total length of the rotating rod II 13 and the gear rod 10 is greater than the length of the gear rod 10, and coincides with the limit block 9, which can effectively prevent the solid sample from slipping out of the gap between the gear rod 10 and the limit block 9 under the influence of the seabed turbulence (the gap between the limit blocks 9 can allow the fixed rod 12 to pass through).

[0037] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other forms of assembly without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered in all respects as exemplary and non-restrictive, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations within the meaning and range of equivalents of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

[0038] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A marine robot sampling device, characterized in that: The invention comprises a submersible (1); the lower end of the submersible (1) is connected to a connecting plate (2) by bolts, the lower end of the connecting plate (2) is fixedly connected to a connecting rod I (3), the side of the connecting rod I (3) is fixedly connected to one end of a connecting rod II (4); the other end of the connecting rod II (4) is fixedly connected to the inner wall of a rectangular hole in the center of a cylinder I (7); a plurality of limit blocks (9) are fixedly connected to the inner wall of one side of the rectangular hole, and a plurality of stop rods (10) are fixedly connected to the inner wall of the other side of the rectangular hole; the lower end of the cylinder I (7) is symmetrically and fixedly connected to a sealing shell (11), each sealing shell (11) is fixedly connected to a motor, a plurality of rotating rods I (14) are fixedly connected to the output shaft of the motor located below the stop rod (10), and the output shaft of the motor located below the limit block (9) is fixedly connected to one end of a fixed rod (12); the other end of the fixed rod (12) is connected to a rotating rod II (13) via a spring hinge; The free end of each blocking rod (10) is arranged to be inclined upward; Gaps are left between the plurality of blocking rods (10), between the plurality of limiting blocks (9), between the plurality of rotating rods I (14), and between the plurality of rotating rods II (13); the rotating rod I (14) can pass through the gaps between adjacent rotating rods II (13), and the rotating rod I (14) can also pass through the gaps between adjacent limiting blocks (9) and adjacent blocking rods (10); the rotating rod II (13) and the corresponding blocking rod (10) are on the same vertical plane, and after the rotating rod II (13) contacts the corresponding blocking rod (10), the rotating rod II (13) rotates around the spring hinge.

2. A marine robot sampling device according to claim 1, characterized in that: The cross section of each of the limiting blocks (9) is triangular, and the hypotenuse is arc-shaped.

3. A marine robot sampling device according to claim 2, characterized in that: The upper and lower ends of the outer circumferential surface of the cylinder I (7) are fixedly connected to a ring (6) respectively; the outer circumferential surface of the ring (6) is provided with threads and is connected to the cylinder II (5) via the threads; an elastic device (15) and a storage device (8) which is slidably matched with the space surrounded by the cylinder I (7), the ring (6) and the cylinder II (5) are provided in the space surrounded by the cylinder I (7), the ring (6) and the cylinder II (5).

4. A marine robot sampling device according to claim 3, characterized in that: The elastic device (15) comprises a fixing ring (151) and a spring I (152); the fixing ring (151) is fixedly connected between the two circular rings (6); one end of the spring I (152) is fixedly connected to the fixing ring (151), and the other end of the spring I (152) is in contact with the storage device (8).

5. A marine robot sampling device according to claim 4, characterized in that: The storage device (8) comprises a plurality of storage shells (81) and a fixed shell (88); one side of the fixed shell (88) abuts against the spring I (152), and the other side of the fixed shell (88) is fixedly connected to the storage shell (81); the storage shell (81) is hollowed out on one side facing the cylinder II (5), and slots are provided on both sides of the hollowed-out end; an arc-shaped baffle (83) is provided in the hollowed-out end of the storage shell (81) to be slidably matched therewith; and the side of the arc-shaped baffle (83) is provided A groove (87) is fixedly connected to one end of a spring II (86) in the groove (87), and a clamping block (85) that slidably cooperates with the clamping groove is fixedly connected to the other end of the spring II (86); the arc-shaped baffle (83) is also provided with a through hole, and an air bag (84) is fixedly connected to the through hole; the storage shell (81) and the fixed shell (88) are both provided with a through hole (82) on one side facing the cylinder I (7); and the cylinder II (5) is provided with a window (51) for the air bag (84) to contact the outside.

6. A marine robot sampling device according to claim 5, characterized in that: The invention also comprises a control device (16); the control device (16) comprises a fixed cylinder (161), a spring III (163), a sliding rod (164), a limiting rod (165) and a spring IV (167); a connecting hole (71) is provided on the cylinder I (7); the fixed cylinder (161) is fixedly connected to the inner wall of the central rectangular hole of the cylinder I (7); the inner wall of the fixed cylinder (161) is fixedly connected to one end of the spring III (163); the other end of the spring III (163) is fixedly connected to a sliding rod (164) which is slidably matched with the connecting hole (71); the sliding rod (164) is also slidably matched with the through hole (82); a mounting groove (166) is provided on the side of the sliding rod (164); the inner wall of the mounting groove (166) is fixedly connected to one end of the spring IV (167); the other end of the spring IV (167) is fixedly connected to the limiting rod (165).

7. A marine robot sampling device according to claim 6, characterized in that: The perforations on the arc-shaped baffle (83) have different heights, and the air pressures in the airbag (84) are different.

8. The method for using the marine robot sampling device according to claim 7, characterized in that: The method of use comprises the following steps: Step 1: Connect the connecting plate (2) to the lower end of the submersible (1) and then put it into water; Step 2: As the depth increases, the air bag (84) is ruptured by the pressure provided by the seawater, allowing the seawater at that depth to enter the storage housing (81); Step 3: After the submersible (1) moves to the seabed, the motor is started, and the rock target on the seabed is lifted up by rotating rods I (14) and II (13), and the rotating rods I (14) and II (13) are continuously rotated until the target moves to the top of the blocking rod (10) to prevent it from falling, and then other targets are picked up again by rotating rods I (14) and II (13).

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