Seabed sampling robot

Abstract

The invention relates to the technical field of seabed sampling, and discloses a seabed sampling robot which comprises a main frame body, bottom feet, a lifting plate and a driving structure for driving the lifting plate to ascend and descend, a sampling pipe with a downward opening is arranged on the lifting plate, a driving shaft concentrically connected with the sampling pipe is rotatably arranged at the bottom of the lifting plate, and a driving gear is arranged on the driving shaft; a rack is vertically and downwards arranged at the bottom of the main frame body, a reversing gear set meshed with the rack and the driving gear is arranged on the lifting plate, and a material cutting structure is arranged at an opening of the sampling pipe; the material cutting structure comprises a cutting piece arranged in the sampling pipe in a telescopic mode, a traction structure for driving the cutting piece to stretch out, a retraction structure for driving the cutting piece to retract and a material extruding structure for driving a sample to be separated from the sampling pipe, and the robot can achieve rotation and lifting of the sampling pipe at the same time through one driving structure, so that the cost is reduced; the sampling pipe is easier to cut into the seabed ground; after sampling is completed, the cutting piece cuts the sample and seals and blocks the opening of the sampling pipe, and sampling integrity is guaranteed.

Description

Technical Field

[0001] The invention relates to the technical field of seabed sampling, and in particular to a seabed sampling robot. Background Art

[0002] The seabed surface sediments contain extremely rich resources. Obtaining and analyzing the seabed surface sediments is of great significance to understanding the ocean.

[0003] The Chinese patent application with application number 202111410687.2 discloses a deep-sea visual hydraulically driven multi-tube sampler, including a protective frame as a mounting base, the protective frame including a birdcage-type frame body composed of a number of protective rods, a top cover, a middle frame, a lower ring and a bottom base; a multi-tube sampling mechanism for sampling seabed sediments and overlying water thereon, a bottom sealing mechanism for closing the opening of the sampling tube after the sampling is completed, and an automatic triggering module for starting the bottom sealing mechanism are arranged inside the protective frame. The multi-tube sampling mechanism includes a sampling cylinder rod vertically mounted at the bottom end of the top cover, the telescopic end of the sampling cylinder rod passes through the middle frame and is installed with a lifting frame, and a number of transparent sampling tubes for visual observation of seabed sediment samples are installed on the annular side wall of the lifting frame through a tube clamp, the top of the transparent sampling tube is closed with a sampling tube top cover, and a one-way valve is provided on the sampling tube top cover for discharging excess seawater when the transparent sampling tube is sampling.

[0004] In the above scheme, the protective frame is placed on the seabed, and the sampling cylinder rod drives the sampling tube to move downward and cut into the seabed for sampling. After the sampling tube completes sampling, the sampling cylinder rod first controls the sampling tube to rise until its lower end is completely separated from the seabed, and then drives the bottom sealing mechanism through the automatic trigger module to seal the lower end opening of the sampling tube to prevent the sample from falling out of the sampling tube.

[0005] However, there are several problems in the above scheme. First, the sampling tube is vertically lowered for sampling. The inner wall of the sampling tube is relatively smooth, and the lower end of the sample collected in the sampling tube is still connected to the seabed sample body. Therefore, when the sampling tube rises, there is a situation where the sample does not rise with the sampling tube, resulting in sampling failure. Second, there is a phenomenon of undercurrent movement of seawater on the seabed. When the sampling tube is separated from the seabed and has not yet been blocked by the bottom sealing mechanism, the seawater disturbance washes the bottom of the sample, which is easy to damage the sample and cause the bottom sample to be lost, resulting in inaccurate detection data after the sample is brought ashore; third, the surface layer of some seabeds is relatively hard, and it is difficult to cut into the seabed sediments for sampling only by driving the sampling cylinder rod to vertically descend the sampling tube. Summary of the invention

[0006] The present invention provides a seabed sampling robot to address the shortcomings of the prior art, namely, that a sampling tube is difficult to cut into seabed sediments, and that the sample in the sampling tube cannot be separated from the seabed sample body and sealed in the sampling tube before the sampling is completed and the tube rises.

[0007] In order to solve the above technical problems, the present invention is solved by the following technical solutions: A seabed sampling robot comprises a main frame and a foot mounted on the seabed surface at the bottom of the main frame, a lifting plate is provided below the main frame for vertical guidance and lifting, the lifting and lowering of the lifting plate is controlled by a driving structure, a sampling tube with a downward opening is vertically provided at the bottom of the lifting plate, a one-way valve is provided on the side of the sampling tube close to the lifting plate for discharging seawater in the sampling tube from the side when the sampling tube cuts into the seabed surface for sampling, and the robot is characterized in that: a rotating structure is provided between the lifting plate and the main frame for driving the sampling tube to rotate when the lifting plate descends, and a cutting structure is provided at one end of the sampling tube away from the main frame for cutting the sample and sealing the sample in the sampling tube when the sampling tube descends to the maximum stroke to complete the sampling; The rotating structure includes a driving shaft rotatably arranged at the bottom of the lifting plate, a driving gear coaxially fixedly arranged on the driving shaft, a rack vertically downwardly arranged at the bottom of the main frame, and a reversing gear set rotatably arranged on the lifting plate and meshing with the rack and the driving gear, and the sampling tube is coaxially fixed at one end of the driving shaft away from the lifting plate; The material cutting structure includes a cutting piece embedded in the shell wall of the sampling tube, which can be horizontally extended to cut the sample and seal the sampling tube opening or retracted to completely expose the sampling tube opening. A traction structure is arranged in the shell wall of the sampling tube away from the cutting piece to drive the cutting piece to extend when the sampling tube completes sampling. The sampling tube is provided with a retraction structure to drive the cutting piece to retract when the sampling tube unloads, and a squeezing structure to drive the sample out of the sampling tube after the cutting piece retracts.

[0008] With the above scheme, the drive shaft is vertically arranged at the bottom of the lifting plate and is rotatably connected with the lifting plate. The sampling tube is detachably fixed at one end of the drive shaft away from the lifting plate. The driving structure drives the lifting plate to descend. Under the cooperation of the rack, the reversing gear set and the driving gear, the sampling tube rotates and descends, making it easier for the sampling tube to break the seabed surface, that is, the descent of the sampling tube and the cutting into the seabed surface for sampling are smoother. The sampling tube descends and cuts into the seabed sediment for sampling. The seabed sample will enter the inner cavity of the sampling tube from the opening of the sampling tube for filling, so as to realize the collection of the sample. The seawater in the sampling tube is discharged from the one-way valve arranged near the lifting plate under the upward squeezing action of the sample. After the sampling tube descends to the maximum stroke to complete the sampling, the traction structure drives the cutting piece to partially extend and cut the sample, so that the sample in the sampling tube is separated from the sample body on the seabed, and after the cutting piece cuts the sample, it can seal and block the opening of the sampling tube. The driving structure drives the lifting plate to rise, driving the sampling tube to rotate and rise until it is separated from the seabed to complete the sampling. Since the sample is sealed in the sampling tube before it rises, it prevents the sample from escaping from the tube and prevents the seawater from damaging the bottom of the sample, thus ensuring the integrity of the sampling. The rotation and ascent of the sampling tube also makes it easier to remove the sampling tube from the seabed.

[0009] The pressure on the seabed is relatively high. In order to ensure smooth operation on the seabed, the cylinders, motors and other drive devices need to be customized. Ordinary drive devices cannot be used on the seabed, which will lead to high cost of the drive device. Therefore, only one set of drive structures can be set to achieve the lifting and rotation of the sampling tube at the same time, greatly reducing costs.

[0010] Preferably, the traction structure includes a driving block vertically lifted and lowered in the sampling tube shell wall and a traction rope respectively connected to the driving block and the cutting piece at both ends. Two groups of traction ropes are provided and are located on both sides of the sampling tube opening. A limiting structure is provided in the sampling tube shell wall, which limits the rise of the driving block when the retraction structure drives the cutting piece to move to fully open the sampling tube opening and releases the limit when the sampling tube completes sampling. A tension spring is provided in the sampling tube shell wall, which drives the driving block to rise to pull the cutting piece out when the limiting resistance on the driving block disappears.

[0011] With the above solution, before the sampling tube is put into the water, the retraction structure drives the cutting piece to retract and be contained in the shell wall of the sampling tube without blocking the opening of the sampling tube, that is, the opening of the sampling tube is completely exposed. At this time, the tension spring is stretched to generate a reset elastic force, but the drive block cannot rise due to the limitation of the limiting structure. Two groups of traction ropes are provided and located on both sides of the opening of the sampling tube to prevent the traction ropes from causing interference when the sampling tube is sampling. When the sampling tube descends to the maximum stroke to complete the sampling, the limiting structure releases the limit on the drive block, and the drive block rises under the action of the tension spring, and the traction rope drives the cutting piece to partially extend to cut the sample.

[0012] Preferably, the limiting structure includes a partially elastically telescopically arranged horizontally in the sampling tube shell wall, which is located above the driving block to limit the rise of the driving block when it is extended and is separated from the driving block when it is retracted. The sampling tube shell wall is provided with a first electromagnet which is powered to drive the abutment block to retract when sampling is completed and which loses power to release the magnetic attraction of the abutment block when the cutting piece is retracted to completely expose the sampling tube opening.

[0013] With the above solution, before the sampling tube is lowered to the maximum stroke to complete sampling, the cutting piece is retracted in the sampling tube shell wall to completely expose the sampling tube opening, and the first electromagnet is in a power-off state, that is, the abutment block is partially extended, and the lower bottom surface of the abutment block abuts against the upper end surface of the drive block to limit the rise of the drive block. When the sampling tube is lowered to the maximum stroke to complete sampling, the first electromagnet is energized and retracted to disengage from the drive block to release the limit.

[0014] Preferably, the retraction structure includes a reel rotatably arranged on the outer ring wall of the sampling tube before it is inserted into the seabed, and a pull rope connected to the reel and the cutting piece at both ends respectively. The reel can reel in and release the pull rope by rotating forward and reverse directions.

[0015] With the above solution, the reel is always located on the seabed during the whole process of the sampling tube descending and sampling. When the driving block rises and the cutting piece is pulled out by the pulling rope, the reel rotates under the pulling force of the pulling rope to release the pulling rope. When the sampling is completed and unloading is required, the reel rotates in the opposite direction to reel in the pulling rope, driving the cutting piece to retract. When the cutting piece retracts to completely expose the sampling tube opening, the limiting structure takes effect to limit the rise of the driving block, and the cutting piece is stored in the sampling tube shell wall to keep the sampling tube opening completely exposed.

[0016] Preferably, the extrusion structure includes an extrusion plate which is lifted and lowered in the sampling tube, and an extrusion spring which is arranged between the sampling tube and the extrusion plate and drives the extrusion plate to descend and extrude the sample when the cutting member retracts to completely expose the sampling tube opening. There is a water-passing gap between the extrusion plate and the inner wall of the sampling tube for only seawater to pass through.

[0017] With the above solution, due to the high pressure on the seabed, there is a water gap between the extrusion plate and the inner wall of the sampling tube that is only for seawater to pass through, ensuring that after the sampling tube is put into the water, the seawater can fill the entire sampling tube, avoiding damage to the sampling tube caused by the imbalance of pressure inside and outside the sampling tube. The sampling tube cuts into the seabed for sampling. The sample enters the sampling tube and pushes the extrusion plate up. The extrusion spring is squeezed to generate elastic force, and the extrusion spring remains in an extruded state when the cutting piece seals and blocks the opening of the sampling tube. When the cutting piece retracts to completely expose the opening of the sampling tube, the resistance from the cutting piece on the sample in the sampling tube disappears, and the extrusion plate pushes the sample out of the sampling tube under the action of the extrusion spring.

[0018] Preferably, the driving structure includes a first screw rod rotatably arranged at the bottom of the main frame and cooperating with the lifting plate thread, and a driving component driving the first screw rod to rotate.

[0019] By adopting the above scheme, the driving assembly drives the first screw rod to rotate forward and reverse, thereby driving the lifting plate to be vertically guided and lifted below the main frame.

[0020] Preferably, a positioning structure for preventing the robot from shifting is provided between the main frame and the base, the positioning structure comprising a positioning pin which is inserted into the seabed for positioning when a part of the vertical guide telescopic arrangement in the base is extended or which is detached from the seabed when retracted, and a transmission shaft which is rotatably arranged in the main frame and concentric with the positioning pin, a second screw rod which is concentrically arranged on the end of the positioning pin away from the seabed and which is threadedly matched with an end of the transmission shaft close to the positioning pin, and the rotation of the transmission shaft is controlled by a driving assembly.

[0021] When the above scheme is adopted, the undercurrent of the seawater on the seabed will affect it, which will not only destroy the underlying structure of the sample, but also cause the robot to shake or shift. If the robot shifts before sampling, the sampling point will deviate; shaking during sampling is not conducive to sampling; and displacement after sampling is completed is not conducive to the robot's retrieval. Therefore, a positioning structure is set to reduce or avoid the displacement of the robot. The transmission shaft rotates to drive the second screw rod to descend, thereby controlling the positioning pin to partially extend and insert into the seabed ground for positioning, reducing or avoiding the displacement of the robot; the transmission shaft rotates in the opposite direction, driving the second screw rod to rise and retract until it is separated from the seabed ground, releasing the positioning. Only one drive assembly is provided to realize the extension and retraction of the positioning pin, and the lifting and lowering of the lifting plate, which greatly reduces costs.

[0022] Preferably, the driving assembly includes a rotating shaft rotatably arranged in the main frame body and concentric with the first screw rod, and a motor driving the rotating shaft to rotate. The end of the first screw rod close to the motor is provided with a groove for the end of the rotating shaft away from the motor to be inserted and rotated. A rotating sleeve is provided in the main frame body and is concentrically sleeved outside the rotating shaft. The rotating sleeve is rotatably connected to the main frame body. A transmission assembly driving the rotating sleeve and the transmission shaft to rotate simultaneously is provided between the rotating sleeve and the transmission shaft. A switching structure is provided between the rotating shaft, the rotating sleeve and the first screw rod. The switching structure switches to the state in which the first screw rod is stationary and the rotating shaft and the rotating sleeve rotate synchronously until the positioning pin is extended to the maximum stroke. The switching structure switches to the state in which the rotating sleeve is stationary and the rotating shaft and the first screw rod rotate synchronously. When the lifting plate is driven to descend to complete sampling and rise to the maximum stroke, the switching structure switches to the state in which the first screw rod is stationary and the rotating shaft and the rotating sleeve rotate synchronously until the positioning pin is retracted to be separated from the seabed surface.

[0023] With the above solution, the motor drives the shaft to rotate in the forward direction, the switching structure switches to the first screw rod being stationary and the shaft and the sleeve rotating synchronously, and the positioning pin extends under the action of the transmission assembly until the positioning pin extends to the maximum stroke, the switching structure switches to the sleeve being stationary and the shaft and the first screw rod rotating synchronously, and the lifting plate descends to the sampling tube to complete the sampling. The motor rotates in the reverse direction, driving the lifting plate to rise, until the lifting plate rises to the maximum stroke, the switching structure switches to the first screw rod being stationary and the shaft and the sleeve rotating synchronously, and the positioning pin retracts until it is separated from the seabed. The extension and retraction of the positioning pin and the rotation and lifting of the sampling tube only require one motor, which greatly reduces costs.

[0024] Preferably, the switching structure includes a first plug block elastically and telescopically arranged on the outer ring wall of the rotating shaft, which is plugged into the rotating sleeve when partially extended and is disengaged from the rotating sleeve after retraction, and a second electromagnet is arranged in the rotating shaft, which is electrically driven to retract the first plug block when the positioning pin is extended to the maximum stroke, and the power is lost when the lifting plate rises to the maximum stroke to release the magnetic attraction of the first plug block; a second plug block elastically and telescopically arranged on the outer ring wall of the rotating shaft, which is plugged into the first screw rod when partially extended and is disengaged from the first screw rod after retraction, and a third electromagnet is arranged in the rotating shaft, which is electrically driven to retract the second plug block when the lifting plate rises to the maximum stroke, and the power is lost when the positioning pin is extended to the maximum stroke to release the magnetic attraction of the second plug block.

[0025] With the above solution, when the positioning pin is extended to the maximum stroke, the second electromagnet is energized and the third electromagnet is de-energized, the first plug is retracted to be separated from the rotating sleeve, and the second plug is elastically partially extended to be plugged with the first screw rod. When the lifting plate rises to the maximum stroke, the second electromagnet is de-energized and the third electromagnet is energized, the first plug is elastically partially extended to be plugged with the rotating sleeve, and the second plug is retracted to be separated from the first screw rod.

[0026] Preferably, an auxiliary pin is elastically and retractably arranged horizontally on the outer ring wall of the positioning pin, which can be partially extended and inserted into the seabed sediment and detached from the seabed sediment when retracted; an auxiliary electromagnet is arranged in the positioning pin, which is electrically driven to retract the auxiliary pin when the lifting plate rises to the maximum stroke, and which loses power to release the magnetic attraction of the auxiliary pin when the positioning pin is extended to the maximum stroke.

[0027] With the above solution, when the positioning pin is extended to the maximum stroke, the auxiliary electromagnet loses power, and the auxiliary pin elastically extends partially and inserts into the seabed sediment. When the lifting plate rises to the maximum stroke, the auxiliary electromagnet is powered to drive the auxiliary pin to retract and separate from the seabed sediment. The positioning pin reduces the horizontal displacement of the robot and the auxiliary pin reduces the vertical displacement of the robot, ensuring the stability and accuracy of sampling.

[0028] The present invention has significant technical effects due to the adoption of the above technical solution: 1. The sampling tube rotates and descends at the same time, making it easier for the sampling tube to break the seabed, that is, the sampling tube descends and cuts into the seabed for sampling more smoothly. After the sampling tube descends to the maximum stroke to complete sampling, the cutting piece partially extends to cut the sample, so that the sample in the sampling tube is separated from the sample body on the seabed. After the cutting piece cuts the sample, the seal blocks the opening of the sampling tube, and the lifting plate rises to drive the sampling tube to rotate and rise until it is separated from the seabed to complete the sampling. Since the sample is sealed in the sampling tube in time before the sampling tube rises, it avoids the sample in the sampling tube from being separated from the sampling tube, and also avoids the damage of the seawater to the bottom of the sample, ensuring the integrity of the sampling. And the rotation and rise of the sampling tube also makes it easier to separate the sampling tube from the seabed.

[0029] 2. Only one motor is needed to realize the positioning of the robot, the rotation and descent of the sampling tube for sampling after positioning, the rotation and ascending of the sampling tube and the separation from the seabed after sampling, and the release of the robot after the sampling tube is separated from the seabed, which greatly reduces the cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 is a schematic diagram of a seafloor sampling robot in an embodiment; Figure 2 is a top view of a seafloor sampling robot in an embodiment; Figure 3 yes Figure 2 Sectional view at AA in the figure; Figure 4 yes Figure 3 The enlarged view of point C in the figure; Figure 5 yes Figure 4 The enlarged view of point E in the figure; Figure 6 This is a partial enlarged view of a cutting member in a seabed sampling robot in an embodiment cutting a sample and sealing the sample in a sampling tube; Figure 7 yes Figure 3 The enlarged view of D in the figure; Figure 8 It is a partial enlarged view of a seabed sampling robot in an embodiment when the first screw rod and the rotating shaft rotate synchronously and the rotating sleeve is stationary; Fig. 9 yes Figure 2 The cross-sectional view at BB in FIG. Fig.10 yes Fig. 9 The enlarged view of F in the figure; Fig.11 It is a partial enlarged view of a seabed sampling robot in an embodiment when a positioning pin is extended to a maximum stroke and an auxiliary pin is extended; Fig.12 is a disassembled diagram of a seafloor sampling robot in an embodiment; Fig.13 yes Fig.12 The enlarged view of G in the figure; Fig.14 yes Fig.12 The enlarged view of H in the figure; Fig.15 yes Fig.12 The enlarged view at position I in FIG. Fig.16 This is a front view of a sampling tube and its internal structure in a seabed sampling robot in an embodiment; Fig.17 yes Fig.16 Sectional view at JJ in the figure.

[0031] The parts indicated by the numbers in the above figures are as follows: 1. Sample; 2. Main frame; 3. Base; 4. Lifting plate; 5. Sampling tube; 6. One-way valve; 7. Driving shaft; 8. Driving gear; 9. Rack; 10. Reversing gear set; 11. Accommodating groove; 1101. Horizontal section; 1102. Vertical section; 12. Cutting piece; 13. Lifting space; 14. Driving block; 15. Traction rope; 16. Avoidance guide groove; 17. Insertion groove; 18. Sealing ring; 19. Tension spring; 20. Telescopic groove; 21. Abutment block; 22. First electromagnet; 23. First spring; 24. Reel; 25. Pull rope; 26. Avoidance groove; 27. Extrusion plate; 28. Water gap; 29. ​​Circular groove; 30. Extrusion spring; 31. Water outlet channel; 32 , the first screw rod; 33, the rotating shaft; 34, the groove; 35, the motor; 36, the lifting groove; 37, the positioning pin; 38, the transmission shaft; 39, the second screw rod; 40, the rotating sleeve; 41, the installation space; 42, the transmission assembly; 4201, the first gear; 4202, the second gear; 4203, the transmission gear set; 43, the first sliding groove; 44, the first slot; 45, the first plug block; 46, the second electromagnet; 47, the second spring; 48, the second sliding groove; 49, the second slot; 50, the second plug block; 51, the third electromagnet; 52, the third spring; 53, the auxiliary sliding groove; 54, the auxiliary pin; 55, the auxiliary electromagnet; 56, the auxiliary spring; 57, the guide block; 58, the guide groove; 59, the guide rod; 60, the roller; 61, the threaded groove. DETAILED DESCRIPTION

[0032] The present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. Example

[0033] A seafloor sampling robot, referring to Figures 1 to 17 , including a main frame 2, a foot 3 is arranged at the bottom of the main frame 2, and the foot 3 can be erected on the seabed. In this embodiment, the main frame 2 is arranged in a rectangular shape, and four foots 3 are arranged and are respectively located at the four corners of the main frame 2.

[0034] A lifting plate 4 is provided below the main frame 2 for lifting, and a guide rod 59 is provided vertically downward at the bottom of the main frame 2. The lifting plate 4 and the guide rod 59 are interlaced and guided to ensure that the lifting plate 4 is lifted vertically below the main frame 2. When the lifting plate 4 rises until its upper end surface is in contact with the lower bottom surface of the main frame 2, it is the maximum stroke of the lifting plate 4. A first screw rod 32 is provided at the bottom of the main frame 2 and the first screw rod 32 is rotatably connected to the main frame 2. The first screw rod 32 passes through the lifting plate 4 and is threadedly matched with the lifting plate 4, that is, the first screw rod 32 rotates forward and backward to drive the lifting plate 4 to rise and fall.

[0035] A rotating shaft 33 is rotatably arranged in the main frame 2, and a motor 35 for driving the rotating shaft 33 to rotate is fixedly arranged on the upper end surface of the main frame 2. The rotating shaft 33 is concentrically arranged with the first screw rod 32, and the end of the first screw rod 32 close to the motor 35 is concavely provided with a groove 34 for the end of the rotating shaft 33 away from the motor 35 to be inserted and rotated.

[0036] A second sliding groove 48 is recessed on the outer ring wall of the rotating shaft 33 in the groove 34, and a second plug block 50 is telescopically arranged in the second sliding groove 48. A second slot 49 is recessed on the inner wall of the groove 34. When the second plug block 50 partially extends out of the second sliding groove 48, it can be plugged into the second slot 49 to realize the synchronous rotation of the rotating shaft 33 and the first screw rod 32; a third electromagnet 51 is arranged at the bottom of the second sliding groove 48 to drive the second plug block 50 to retract to disengage from the second slot 49 when energized, and a third spring 52 is arranged between the bottom of the second sliding groove 48 and the second plug block 50 to drive the second plug block 50 to partially extend when the third electromagnet 51 loses power.

[0037] A driving shaft 7 is vertically arranged at the bottom of the lifting plate 4 and the driving shaft 7 is rotatably connected to the lifting plate 4. A sampling tube 5 is detachably fixed on the lower end of the driving shaft 7 away from the lifting plate 4, and the sampling tube 5 opens downward and is arranged concentrically with the driving shaft 7. Since the sampling tube 5 opens downward, the bottom end of the sampling tube 5 is the end close to the lifting plate 4. A water outlet channel 31 and a one-way valve 6 are arranged at the bottom of the sampling tube 5 to connect the inner cavity of the sampling tube 5 with the outside world. When the sampling tube 5 cuts into the seabed surface for sampling, the one-way valve 6 discharges the seawater in the sampling tube 5 from the water outlet channel 31 to the outside world. The detachable connection between the sampling tube 5 and the driving shaft 7 is a prior art, and there are a variety of connection means that can be realized. In this embodiment, a bolt connection method is adopted. Since it is a prior art, it is not shown in the figure and will not be described here.

[0038] A driving gear 8 is fixedly arranged concentrically on the driving shaft 7, a rack 9 is arranged vertically downward at the bottom of the main frame 2, and a reversing gear set 10 is rotatably arranged on the lifting plate 4, which is respectively meshed with the rack 9 and the driving gear 8, so that when the lifting plate 4 descends, the driving shaft 7 rotates. That is, the sampling tube 5 descends while rotating, or ascends while rotating. The cross section of the outer ring wall at the open end of the sampling tube 5 is arranged in an inverted step, and a spiral blade is arranged on the outer ring wall. The diameter of the largest circle formed by the rotation of the spiral blade is larger than the outer diameter of the sampling tube 5, which is convenient for discharging.

[0039] A receiving groove 11 is provided in the shell wall of the sampling tube 5, and a cutting member 12 is provided in the receiving groove 11. In this embodiment, the cutting member 12 is a bendable stainless steel belt. The receiving groove 11 includes a vertical section 1102 vertically provided along the axial direction of the sampling tube 5 and a horizontal section 1101 vertically provided on one end of the vertical section 1102 close to the seabed surface so as to connect the vertical section 1102 with the inner cavity of the sampling tube 5. When the cutting member 12 is received in the receiving groove 11 and completely exposed from the opening of the sampling tube 5, one end of the cutting member 12 is located in the vertical section 1102 and the other end is located in the horizontal section 1101, that is, the cross section of the cutting member 12 is L-shaped, and the end of the cutting member 12 located in the horizontal section 1101 is configured to be a blade for easy cutting. A roller 60 is provided at the vertical connection between the vertical section 1102 and the horizontal section 1101 to facilitate the bending and reversing of the cutting member 12 and reduce jamming and wear.

[0040] A lifting space 13 is provided in the shell wall of the sampling tube 5 on the side away from the cutting member 12. A driving block 14 is provided in the lifting space 13 for lifting. A traction rope 15 is provided between the driving block 14 and the cutting member 12, and the two ends are respectively fixedly connected to the two. Two traction ropes 15 are provided and are located on both sides of the opening of the sampling tube 5. Both sides of the opening of the sampling tube 5 are provided with avoidance guide grooves 16 for the movement of the cutting member 12. An insertion groove 17 for the end of the cutting member 12 to be inserted is also concavely provided on the inner wall of the sampling tube 5 on the side away from the cutting member 12. A tension spring 19 is provided between the side of the lifting space 13 close to the lifting plate 4 and the driving block 14. When the tension spring 19 is in the initial state, the cutting member 12 blocks the opening of the sampling tube 5. A sealing ring 18 is provided at the opening of the sampling tube 5. When the cutting member 12 blocks the opening of the sampling tube 5, the sealing ring 18 is in sealing contact with the cutting member 12. When the sampling tube 5 has collected the sample 1 , the cutting member 12 extends out to cut the sample 1 and seals the opening of the sampling tube 5 to prevent the sample 1 inside the sampling tube 5 from leaking out.

[0041] A reel 24 is rotatably provided on the outer ring wall of the sampling tube 5 near the lifting plate, and a pull rope 25 is fixedly provided on the reel 24. The end of the pull rope 25 away from the reel 24 is located in the vertical section 1102 and is fixedly connected to the cutting member 12. An avoidance groove 26 for the pull rope 25 to pass through and move is provided in the shell wall of the sampling tube 5. The reel 24 can reel in and release the pull rope 25 by rotating forward and reverse. During the sampling process, the reel 24 is never in contact with the seabed. When the driving block 14 rises, the reel 24 is driven to automatically release the pull rope 25 through the traction rope 15, the cutting member 12 and the pull rope 25; conversely, when unloading, the reel 24 is manually rotated in the opposite direction to reel in the pull rope 25, and the driving block 14 is driven to descend through the cutting member 12 and the traction rope 15. When the driving block 14 descends until its lower end surface is in contact with the side wall of the lifting space 13 close to the seabed, the cutting member 12 is retracted to completely expose the opening of the sampling tube 5 .

[0042] A telescopic groove 20 is recessed on the inner wall of the lifting space 13, and an abutment block 21 is horizontally telescopically arranged in the telescopic groove 20. When the cutting member 12 retracts to completely expose the opening of the sampling tube 5, the abutment block 21 partially extends out of the telescopic groove 20 and is located above the driving block 14, so that the lower end surface of the abutment block 21 partially abuts against the upper end surface of the driving block 14, limiting the rise of the driving block 14. A first electromagnet 22 is arranged at the bottom of the telescopic groove 20 to drive the abutment block 21 to retract to disengage from the driving block 14 when powered, and a first spring 23 is arranged between the bottom of the telescopic groove 20 and the abutment block 21 to drive the abutment block 21 to partially extend when the first electromagnet 22 loses power.

[0043] A material extrusion plate 27 is provided in the inner cavity of the sampling tube 5 for lifting and lowering, and there is a water gap 28 between the material extrusion plate 27 and the inner wall of the sampling tube 5 for only seawater to pass through. A circular groove 29 is recessed on the inner bottom wall of the sampling tube 5, and a water outlet channel 31 is provided at the bottom of the circular groove 29. An extrusion spring 30 is provided between the bottom of the circular groove 29 and the material extrusion plate 27. When the cutting member 12 retracts to completely expose the opening of the sampling tube 5, the material extrusion spring 30 drives the material extrusion plate 27 to descend to squeeze out the sample 1. When the material extrusion plate 27 rises to fit the inner bottom wall of the sampling tube 5, it is the maximum stroke of the descent of the sampling tube 5.

[0044] The lower bottom surface of the foot 3 is concavely provided with a lifting groove 36 upwards, and a positioning pin 37 is vertically lifted in the lifting groove 36. A guide block 57 is protruded outwardly on the outer ring wall of the positioning pin 37, and a guide groove 58 is concavely provided on the inner wall of the lifting groove 36 for the guide block 57 to be inserted and slide linearly along the axial direction of the positioning pin 37, so that the positioning pin 37 can be vertically lifted in the lifting groove 36. When the lower end surface of the guide block 57 abuts against the side wall of the guide groove 58 close to the seabed, the positioning pin 37 has a maximum stroke of descending and extending; when the upper end surface of the guide block 57 abuts against the side wall of the guide groove 58 away from the seabed, the positioning pin 37 has a maximum stroke of ascending and retracting.

[0045] A transmission shaft 38 is rotatably arranged in the main frame 2, and the transmission shaft 38 is arranged concentrically with the positioning pin 37. A second screw rod 39 is concentrically arranged at one end of the positioning pin 37 away from the seabed, and a thread groove 61 is concavely arranged on the lower end surface of the transmission shaft 38 close to the positioning pin 37, which is threadedly matched with the second screw rod 39. That is, the transmission shaft 38 rotates forward and backward to drive the positioning pin 37 to rise and fall.

[0046] An installation space 41 is provided in the main frame body 2 , and a rotating sleeve 40 is provided in the installation space 41 . The rotating sleeve 40 is concentrically sleeved on the outer ring wall of the rotating shaft 33 , and the rotating sleeve 40 is rotatably connected to the main frame body 2 .

[0047] A first sliding groove 43 is recessed on the outer ring wall of the rotating shaft 33 in the rotating sleeve 40, and a first plug block 45 is telescopically arranged in the first sliding groove 43. A first slot 44 is recessed on the inner wall of the rotating sleeve 40. When the first plug block 45 partially extends out of the first sliding groove 43, it can be plugged into the first slot 44 to realize the synchronous rotation of the rotating shaft 33 and the rotating sleeve 40; a second electromagnet 46 is arranged at the bottom of the first sliding groove 43 to drive the first plug block 45 to retract to disengage from the first slot 44 when energized, and a second spring 47 is arranged between the bottom of the first sliding groove 43 and the first plug block 45 to drive the first plug block 45 to partially extend when the second electromagnet 46 loses power.

[0048] A transmission assembly 42 is provided between the rotating sleeve 40 and the transmission shaft 38 in the installation space 41 to make the two rotate simultaneously. The transmission assembly 42 includes a first gear 4201 concentrically fixed on the outer ring wall of the rotating sleeve 40, a second gear 4202 concentrically fixed on the outer ring wall of the transmission shaft 38, and a transmission gear set 4203 rotatably connected to the main frame 2 and respectively meshing with the first gear 4201 and the second gear 4202. The installation space 41 is connected to the outside to ensure pressure balance.

[0049] An auxiliary sliding groove 53 is recessed on the outer ring wall of the positioning pin 37, and an auxiliary pin 54 is telescopically arranged in the auxiliary sliding groove 53. When the auxiliary pin 54 partially extends out of the auxiliary sliding groove 53, it can be inserted into the seabed sediment to assist in positioning; an auxiliary electromagnet 55 is arranged at the bottom of the auxiliary sliding groove 53, which drives the auxiliary pin 54 to retract and separate from the seabed sediment when powered, and an auxiliary spring 56 is arranged between the bottom of the auxiliary sliding groove 53 and the auxiliary pin 54, which drives the auxiliary pin 54 to partially extend when the auxiliary electromagnet 55 loses power.

[0050] Sensors are respectively arranged on the upper end surface of the lifting plate 4, the lower end surface of the driving block 14, the upper end surface of the extruding plate 27, and the upper and lower end surfaces of the guide block 57. The main frame 2 is provided with a control module electrically connected to the motor 35, the above-mentioned five sensors, the first electromagnet 22, the second electromagnet 46, the third electromagnet 51 and the auxiliary electromagnet 55. The control module, the sensor, the motor and the connection and logic programming control method of the above-mentioned electronic components are all prior art, which are not shown in the figure and will not be described in detail here.

[0051] The seabed sampling robot is stored in the seabed mobile device. After the seabed mobile device moves to the target position, the seabed sampling robot is taken out and placed at the target position, and the bottom feet 3 of the seabed sampling robot are in contact with the seabed surface. The seabed mobile device is a prior art and will not be described in detail here.

[0052] The sampling steps are as follows: The seabed sampling robot is placed at the target sampling position, and the base 3 is set on the seabed. The first plug block 45 is partially extended to be plugged into the rotating sleeve 40, and the second plug block 50 is retracted to be separated from the first screw rod 32. The cutting member 12 is stored in the receiving groove 11 so that the opening of the sampling tube 5 is completely exposed, and the sampling tube 5 is filled with seawater.

[0053] The motor 35 rotates forward, the rotating shaft 33 and the rotating sleeve 40 rotate synchronously, and under the action of the transmission assembly 42, the transmission shaft 38 rotates at the same time, and the positioning pin 37 is vertically lowered and extended out of the foot 3 and inserted into the seabed under the guidance of the guide block 57 and the guide groove 58. The positioning pin 37 drops to the maximum stroke, that is, the lower end surface of the guide block 57 is in contact with the side wall of the guide groove 58 close to the seabed. At this time, the auxiliary electromagnet 55 and the third electromagnet 51 are controlled to lose power, and the second electromagnet 46 is controlled to be energized, that is, the auxiliary pin 54 is partially extended and inserted into the seabed sediment under the action of the auxiliary spring 56, the first plug block 45 is retracted to be separated from the rotating sleeve 40 under the magnetic attraction of the second electromagnet 46, and the second plug block 50 is partially extended and plugged into the first screw rod 32 under the action of the third spring 52. At this time, the forward rotation of the motor 35 drives the first screw rod 32 to rotate, and the lifting plate 4 drops vertically. Under the transmission of the rack 9, the reversing gear set 10 and the driving gear 8, the sampling tube 5 descends while rotating and cuts into the seabed.

[0054] The lifting plate 4 is lowered to the maximum stroke, that is, the sampling tube 5 is lowered to the maximum stroke. At this time, the sample 1 is filled into the inner cavity of the sampling tube 5, driving the extrusion plate 27 to rise to fit the inner bottom wall of the sampling tube 5, and the seawater in the sampling tube 5 is discharged to the outside through the one-way valve 6, and the sampling is completed. At this time, the first electromagnet 22 is controlled to be energized, and the abutment block 21 is retracted to be separated from the driving block 14 under the magnetic attraction of the first electromagnet 22. The driving block 14 rises under the action of the tension spring 19, and the cutting member 12 is driven to partially extend out of the accommodating groove through the pulling rope 25 to cut off the sample 1, and the sample 1 is sealed and limited in the sampling tube 5. At the same time, the motor 35 reverses to drive the lifting plate 4 to rise, and the sampling tube 5 rotates and rises.

[0055] The lifting plate 4 rises to the maximum stroke, that is, the lifting plate 4 and the upper end surface are in contact with the lower bottom surface of the main frame body 2. At this time, the auxiliary electromagnet 55 and the third electromagnet 51 are controlled to be energized, and the second electromagnet 46 is controlled to be de-energized, that is, the auxiliary pin 54 is retracted to be separated from the seabed sediment under the magnetic attraction of the auxiliary electromagnet 55, and the second plug block 50 is retracted to be separated from the first screw rod 32 under the magnetic attraction of the third electromagnet 51. The first plug block 45 is partially extended and plugged into the rotating sleeve 40 under the action of the second spring 47. At this time, the reverse rotation of the motor 35 drives the rotating sleeve 40 to rotate. Under the action of the transmission assembly 42, the transmission shaft 38 rotates at the same time, and the positioning pin 37 is vertically raised and retracted to be separated from the seabed ground under the guidance cooperation of the guide block 57 and the guide groove 58. The positioning pin 37 rises to the maximum stroke, that is, the upper end surface of the guide block 57 is in contact with the side wall of the guide groove 58 away from the seabed ground, the motor 35 stops rotating, and the sampling process ends.

[0056] After the robot is out of the water, it unloads the sample tube 5, removes the sample tube 5 from the drive shaft 7, rotates the reel 24, and drives the cutting piece 12 to retract until the opening of the sample tube 5 is completely exposed, that is, the drive block 14 is lowered to the lower end face and fits with the side wall of the lifting space 13 close to the seabed. At this time, the abutment block 21 is controlled to partially extend above the drive block 14 for limiting, and the cutting piece 12 remains in a state of completely exposing the opening of the sample tube 5. The extrusion plate 27 moves away from the inner bottom wall of the sample tube 5 under the action of the extrusion spring 30 to squeeze the sample 1 in the sample tube 5 out of the sample tube 5. When unloading, the one-way valve 6 can also be removed to ensure the air pressure balance in the sample tube 5, which is more conducive to expelling the sample 1 from the sample tube 5.

[0057] The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments. All technical solutions under the concept of the present invention belong to the protection scope of the present invention. It should be pointed out that for ordinary technicians in this technical field, some improvements and modifications without departing from the principle of the present invention should also be regarded as the protection scope of the present invention.

Claims

1. A seabed sampling robot, comprising a main frame (2) and a foot (3) arranged at the bottom of the main frame (2) and mounted on the seabed surface, a lifting plate (4) is arranged vertically below the main frame (2) to guide the lifting, the lifting of the lifting plate (4) is controlled by a driving structure, a sampling tube (5) with an opening downward is arranged vertically at the bottom of the lifting plate (4), and a one-way valve (6) is arranged on one side of the sampling tube (5) close to the lifting plate (4) for discharging seawater in the sampling tube (5) from the side when the sampling tube (5) cuts into the seabed surface for sampling, characterized in that: A rotating structure is provided between the lifting plate (4) and the main frame (2) for driving the sampling tube (5) to rotate when the lifting plate (4) descends, and a cutting structure is provided at one end of the sampling tube (5) away from the main frame (2) for cutting the sample (1) and sealing the sample (1) in the sampling tube (5) when the sampling tube (5) descends to the maximum stroke to complete sampling; The rotating structure comprises a driving shaft (7) rotatably arranged at the bottom of the lifting plate (4), a driving gear (8) coaxially fixedly arranged on the driving shaft (7), a rack (9) vertically downwardly arranged at the bottom of the main frame (2), and a reversing gear set (10) rotatably arranged on the lifting plate (4) and meshing with the rack (9) and the driving gear (8); the sampling tube (5) is coaxially fixed to the end of the driving shaft (7) away from the lifting plate (4); The material cutting structure comprises a cutting piece (12) embedded in the shell wall of a sampling tube (5) and capable of extending horizontally to cut a sample (1) and sealing and blocking the opening of the sampling tube (5) or retracting to completely expose the opening of the sampling tube (5); a traction structure is arranged in the shell wall of the sampling tube (5) on the side away from the cutting piece (12) to drive the cutting piece (12) to extend when the sampling tube (5) completes sampling; a retraction structure is arranged on the sampling tube (5) to drive the cutting piece (12) to retract when the sampling tube (5) is unloading, and a material extrusion structure is arranged on the sampling tube (5) to drive the sample (1) out of the sampling tube (5) after the cutting piece (12) retracts.

2. A seafloor sampling robot according to claim 1, characterized in that: The traction structure comprises a driving block (14) vertically lifted and lowered in the shell wall of the sampling tube (5) and a traction rope (15) with two ends respectively connected to the driving block (14) and the cutting piece (12); two groups of traction ropes (15) are provided and are located at both sides of the opening of the sampling tube (5); a limiting structure is provided in the shell wall of the sampling tube (5) for limiting the rising of the driving block (14) when the retraction structure drives the cutting piece (12) to move to fully open the opening of the sampling tube (5) and for releasing the limiting structure when the sampling tube (5) completes sampling; and a tension spring (19) is provided in the shell wall of the sampling tube (5) for driving the driving block (14) to rise and pull the cutting piece (12) to extend when the limiting resistance on the driving block (14) disappears.

3. A seafloor sampling robot according to claim 2, characterized in that: The limiting structure comprises a partially elastically telescopically arranged horizontally in the shell wall of the sampling tube (5) and located above the driving block (14) to limit the rising of the driving block (14) when the partially extended and detached from the driving block (14) when the partially retracted; a first electromagnet (22) is arranged in the shell wall of the sampling tube (5) and is electrically driven to retract the abutment block (21) when sampling is completed and is de-energized to release the magnetic attraction of the abutment block (21) when the cutting member (12) retracts to completely expose the opening of the sampling tube (5).

4. A seafloor sampling robot according to claim 1, characterized in that: The retraction structure comprises a reel (24) rotatably arranged on the outer ring wall of the sampling tube (5) not inserted into the seabed, and a pull rope (25) with two ends respectively connected to the reel (24) and the cutting member (12); the reel (24) can reel in and release the pull rope (25) by rotating forward and reverse directions.

5. A seafloor sampling robot according to claim 1, characterized in that: The extrusion structure comprises an extrusion plate (27) which is arranged to be lifted and lowered in the sampling tube (5) and an extrusion spring (30) which is arranged between the sampling tube (5) and the extrusion plate (27) and drives the extrusion plate (27) to descend and extrude the sample (1) when the cutting member (12) is retracted to completely expose the opening of the sampling tube (5). A water-passing gap (28) is present between the extrusion plate (27) and the inner wall of the sampling tube (5) for only seawater to pass through.

6. A seafloor sampling robot according to claim 1, characterized in that: The driving structure comprises a first screw rod (32) rotatably arranged at the bottom of the main frame (2) and threadably matched with the lifting plate (4), and a driving component for driving the first screw rod (32) to rotate.

7. A seafloor sampling robot according to claim 6, characterized in that: A positioning structure for preventing the robot from shifting is provided between the main frame (2) and the base (3), the positioning structure comprising a positioning pin (37) which is inserted into the seabed when the part of the vertical guide telescopic arrangement in the base (3) is extended or is separated from the seabed when the part is retracted, and a transmission shaft (38) which is rotatably arranged in the main frame (2) and is concentric with the positioning pin (37), a second screw rod (39) which is threadedly matched with an end of the transmission shaft (38) which is close to the positioning pin (37) is concentrically arranged at one end of the positioning pin (37) away from the seabed, and the rotation of the transmission shaft (38) is controlled by a driving assembly.

8. A seafloor sampling robot according to claim 7, characterized in that: The driving assembly comprises a rotating shaft (33) rotatably arranged in the main frame (2) and concentric with the first screw rod (32), and a motor (35) for driving the rotating shaft (33) to rotate. The end of the first screw rod (32) close to the motor (35) is provided with a groove (34) for inserting and rotating the end of the rotating shaft (33) away from the motor (35). The main frame (2) is provided with a rotating sleeve (40) concentrically sleeved outside the rotating shaft (33), and the rotating sleeve (40) is connected to the main frame (35). 2) a rotational connection, wherein a transmission assembly (42) is provided between the rotating sleeve (40) and the transmission shaft (38) for driving the rotating sleeve (40) and the transmission shaft (38) to rotate simultaneously, and a switching structure is provided between the rotating shaft (33), the rotating sleeve (40) and the first screw rod (32) for switching between a state in which the first screw rod (32) is stationary and the rotating shaft (33) and the rotating sleeve (40) rotate synchronously or a state in which the rotating sleeve (40) is stationary and the rotating shaft (33) and the first screw rod (32) rotate synchronously.

9. A seafloor sampling robot according to claim 8, characterized in that: The switching structure comprises a first plug block (45) elastically and telescopically arranged on the outer ring wall of the rotating shaft (33), which is plugged into the rotating sleeve (40) when partially extended and is separated from the rotating sleeve (40) after retraction; a second electromagnet (46) is arranged in the rotating shaft (33), which is electrically driven to retract the first plug block (45) when the positioning pin (37) is extended to the maximum stroke, and is de-energized to release the magnetic attraction of the first plug block (45) when the lifting plate (4) is raised to the maximum stroke; a second plug block (50) is elastically and telescopically arranged on the outer ring wall of the rotating shaft (33), which is plugged into the first screw rod (32) when partially extended and is separated from the first screw rod (32) after retraction; a third electromagnet (51) is arranged in the rotating shaft (33), which is electrically driven to retract the second plug block (50) when the lifting plate (4) is raised to the maximum stroke, and is de-energized to release the magnetic attraction of the second plug block (50) when the positioning pin (37) is extended to the maximum stroke.

10. The seafloor sampling robot according to claim 6, characterized in that: An auxiliary pin (54) is elastically and retractably arranged on the outer ring wall of the positioning pin (37) in a horizontal manner. The auxiliary pin (54) can be partially extended to be inserted into the seabed sediment and can be separated from the seabed sediment when retracted. The positioning pin (37) is provided with an auxiliary electromagnet (55) which is electrically driven to retract the auxiliary pin (54) when the lifting plate (4) rises to a maximum stroke and is de-energized to release the magnetic attraction of the auxiliary pin (54) when the positioning pin (37) is extended to a maximum stroke.

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