A bionic robotic fish with underwater sampling function

Abstract

The present invention relates to the technical field of bionic fish, and discloses a bionic robot fish with underwater sampling function, comprising a bionic fish body, wherein a sampling mechanism is arranged inside the bionic fish body, wherein the sampling mechanism comprises a water source sampling component for collecting underwater water sources, a soil sampling component for collecting underwater soil, and a driving component for driving the water source sampling component and the soil sampling component. The bionic robot fish with underwater sampling function can drive not only the water source sampling component but also the soil sampling component through the setting of the driving component, effectively combining the water source and soil collection, and has a good transmission function. Through the telescopic component, not only can the driving force of the Z-shaped lifting plate drive the grabbing component to be telescopically driven, but also the grabbing component can be expanded or retracted to drive, thereby forming the underwater soil collection work, and has a good linkage function.

Description

Technical Field

[0001] The invention relates to the technical field of bionic fish, in particular to a bionic robot fish with an underwater sampling function. Background Art

[0002] A Chinese invention patent with publication number CN111504704B discloses a bionic robot fish for underwater sampling, which includes a water and soil sampling component, a fish body, and a tail power system and a head detection system arranged on the fish body, wherein the tail power system can provide the fish body with lifting and advancing power, and the water and soil sampling component is embedded in the abdomen of the fish body; the water and soil sampling component includes a mounting seat and a sampling bin, and during the sampling process, the water and soil mixture is lifted by the lifting spiral blade 1 and the lifting spiral blade 2 and enters the lifting bin and the embedding bin in turn, and then enters the soil storage bin, and performs centrifugal motion as the soil storage bin rotates, so that the water enters the water storage bin to achieve separate sampling.

[0003] In the related art, when the existing bionic robot fish is sampling underwater, in order to effectively collect the underwater soil, the soil and water are collected by rotating the lifting spiral blade. However, when the sample is collected by rotating the lifting spiral blade, its rotational driving force will stir the water next to it. The surging of the water can easily impact the soil, causing the soil to disperse and the water to become turbid. As a result, during the sampling process, most of the water is turbid, and it is not easy to collect the soil, which reduces the collection effect of the water and soil, and lacks the function of separate collection. Summary of the invention

[0004] 1. Technical issues to be resolved

[0005] In view of the deficiencies in the prior art, the present invention provides a bionic robot fish with an underwater sampling function. Through the arrangement of a telescopic part in a soil sampling component, not only can the driving force of the Z-shaped lifting plate in the driving component be effectively used to drive the grabbing part to be telescopically driven, but the grabbing part can also be driven to be expanded or retracted, thereby forming an underwater soil collection operation. The bionic robot fish has a good linkage function and, when collecting soil, effectively avoids the interference of water sources on the soil, further improves the soil collection effect, and solves the problem that, during the collection process of the existing bionic robot fish, the water body is easily impacted on the soil body, causing the soil body to be dispersed, thereby affecting the soil collection effect.

[0006] (II) Technical solution

[0007] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a bionic robot fish with underwater sampling function, comprising a bionic fish body, wherein a sampling mechanism is arranged inside the bionic fish body, wherein the sampling mechanism comprises a water source sampling component for collecting underwater water sources, a soil sampling component for collecting underwater soil, and a driving component for driving the water source sampling component and the soil sampling component, wherein the driving component comprises a Z-shaped lifting plate that can be driven up and down;

[0008] The soil sampling assembly includes a sleeve fixed inside the bionic fish body and a protective tube fixed at the bottom of the sleeve, the bottom of the protective tube extends to the bottom of the bionic fish body, and a grabbing piece for grabbing the protrusion and a telescopic piece for driving the grabbing piece to extend and retract up and down are arranged between the sleeve and the protective tube.

[0009] Preferably, the water source sampling assembly comprises a negative pressure cylinder fixed inside the bionic fish body, the top of the negative pressure cylinder is fixedly connected to a water source collection tube, a storage bottle is arranged on the water source collection tube, and a piston plate which can move up and down is arranged inside the negative pressure cylinder;

[0010] The bottom of the piston plate is fixedly connected with a connecting rod, and the bottom end of the connecting rod is fixedly connected to the Z-shaped lifting plate.

[0011] Preferably, the grabbing member comprises an H-shaped frame, both sides of the H-shaped frame are rotatably connected with connecting blocks, the bottoms of the two connecting blocks are fixedly connected with bowl-shaped collecting frames, the tops of the two connecting blocks are fixedly connected with inclined auxiliary blocks, and the rotating ends of the two connecting blocks are installed with torsion springs.

[0012] Preferably, a plurality of strip-shaped drainage holes are provided at the bottom of the two bowl-shaped collecting frames, and a water filter membrane for covering the plurality of strip-shaped drainage holes is installed inside the two bowl-shaped collecting frames.

[0013] Preferably, the telescopic member comprises a movable plate slidably connected to the inside of the sleeve, a through pipe is fixedly connected to the bottom of the movable plate, the bottom end of the through pipe is fixedly connected to the H-shaped frame through a fixing rod, and an annular limit block is fixedly connected to the bottom of the sleeve;

[0014] The bottom end of the through pipe is slidably connected to a U-shaped pushing frame, the bottom of the U-shaped pushing frame is fixedly connected to a pressing plate, and the top of the U-shaped pushing frame is fixedly connected to a lifting rod, the top of the lifting rod passes through the through pipe and the movable plate in sequence and extends to the top of the movable plate, and the top of the lifting rod is fixedly connected to the Z-shaped lifting plate.

[0015] Preferably, a moving frame and a driving member for driving the moving frame to move back and forth are slidably connected to the top of the inner wall of the bionic fish body, and an inclined driving frame is hinged between the bottom of the moving frame and the top of the Z-shaped lifting plate.

[0016] Preferably, the driving member comprises an electric telescopic rod fixed inside the bionic fish body, and the telescopic end of the electric telescopic rod is fixedly connected to the moving frame.

[0017] Preferably, the outer surface of the negative pressure cylinder is fixedly connected with a mounting frame, the bottom of the mounting frame is fixedly connected with a sealing cover, the top of the storage bottle is threadedly mounted inside the sealing cover, one end of the water source collection tube is fixedly connected with the inside of the sealing cover, and the sealing cover is fixedly connected with a sampling tube;

[0018] The top of the negative pressure cylinder is fixedly connected with an exhaust pipe, and one end of the sampling pipe and the exhaust pipe are extended to the outside of the bionic fish body. The exhaust pipe, the sampling pipe and the water source collection pipe are all equipped with a one-way valve.

[0019] (III) Beneficial effects

[0020] Compared with the prior art, the present invention provides a bionic robotic fish with underwater sampling function, which has the following beneficial effects:

[0021] 1. The present invention can drive the water source sampling component through the setting of the driving component, and can collect underwater water sources through the setting of the water source sampling component, and can also drive the soil sampling component, and can collect underwater soil through the setting of the soil sampling component. It not only effectively combines the collection of water sources and soil bodies, has a good transmission function, but also reduces the use of electric driving sources, and improves the energy saving and environmental protection of bionic fish. Through the setting of the telescopic part, not only can the driving force of the Z-shaped lifting plate in the driving component be effectively used to drive the grabbing part to be telescopically driven, but also the grabbing part can be expanded or retracted, thereby forming the collection of underwater soil, has a good linkage function, and when collecting soil, effectively avoids the interference of water sources on soil, and further improves the soil collection effect.

[0022] 2. The present invention drives the movable frame to move left and right through the driving member, which can drive the driving frame to move in a fan shape, so that the Z-shaped lifting plate moves up and down, forming a dual-drive operation of the water source sampling component and the soil sampling component. It not only has a good jacking drive function, but also through reasonable position setting, it is convenient to better set the driving component inside the bionic robot fish, thereby improving the convenience of jacking drive.

[0023] 3. The present invention, through the provision of a sealing cover, is not only convenient for the installation of a storage bottle for storing water samples, but also convenient for the sealed connection between the sampling tube and the water source collection tube and the storage bottle, thereby facilitating the negative pressure state presented inside the negative pressure cylinder, so that the water source collection tube and the sampling tube can collect the water sample and effectively enter the storage bottle for storage, thus having good collection and storage functions, and being convenient for subsequent staff to take out the samples, thereby improving the convenience of operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a structural schematic diagram of the present invention;

[0025] Figure 2 For the present invention Figure 1 Schematic diagram of the structure of the sampling mechanism;

[0026] Figure 3 For the present invention Figure 2 Structural cross-sectional view of the water source sampling assembly;

[0027] Figure 4 For the present invention Figure 2 Schematic diagram of the combination of the soil sampling component and the driving component;

[0028] Figure 5 For the present invention Figure 4 A combined cross-sectional view of the middle sleeve and the protective sleeve;

[0029] Figure 6 For the present invention Figure 5 A partial enlarged view of the middle A;

[0030] Figure 7 For the present invention Figure 5 A schematic diagram of the combination of the grabbing member and the telescopic member;

[0031] Figure 8 For the present invention Figure 7 Schematic diagram of the structure of the grabbing part.

[0032] In the figure: 100, bionic fish body; 200, sampling mechanism;

[0033] 1. Water source sampling assembly; 11. Negative pressure cylinder; 12. Water source collection tube; 13. Storage bottle; 14. Piston plate; 15. Connecting rod; 16. Mounting frame; 17. Sealing cover; 18. Sampling tube; 19. Exhaust pipe;

[0034] 2. Soil sampling assembly; 21. Sleeve; 22. Protective tube;

[0035] 23. Grabbing piece; 231. H-shaped frame; 232. Connecting block; 233. Collecting frame; 234. Auxiliary block; 235. Torsion spring; 236. Drain hole; 237. Filter membrane;

[0036] 24, telescopic member; 241, movable plate; 242, through pipe; 243, fixed rod; 244, annular limit block; 245, U-shaped push frame; 246, pressing plate; 247, lifting rod;

[0037] 3. Driving assembly; 31. Z-shaped lifting plate; 32. Moving frame; 33. Driving frame; 34. Electric telescopic rod. DETAILED DESCRIPTION

[0038] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0039] Embodiment 1:

[0040] See attached Figure 1-8 A bionic robot fish with an underwater sampling function comprises a bionic fish body 100, a sampling mechanism 200 is arranged inside the bionic fish body 100, the sampling mechanism 200 comprises a water source sampling component 1 for collecting underwater water sources, a soil sampling component 2 for collecting underwater soil, and a driving component 3 for driving the water source sampling component 1 and the soil sampling component 2, the driving component 3 comprises a Z-shaped lifting plate 31 which can be driven up and down;

[0041] By setting the driving component 3, not only the water source sampling component 1 can be driven, and the underwater water source can be collected by setting the water source sampling component 1, but also the soil sampling component 2 can be driven, and the underwater soil can be collected by setting the soil sampling component 2. It not only effectively combines the water source and soil collection, has a good transmission function, but also reduces the use of the electric driving source, and improves the energy saving and environmental protection of the bionic fish;

[0042] The soil sampling assembly 2 includes a sleeve 21 fixed inside the bionic fish body 100 and a protective tube 22 fixed at the bottom of the sleeve 21, the bottom of the protective tube 22 extends to the bottom of the bionic fish body 100, and a grabbing member 23 for grabbing the bump and a telescopic member 24 for telescopically driving the grabbing member 23 up and down are arranged between the sleeve 21 and the protective tube 22;

[0043] Through the setting of the telescopic member 24, not only can the driving force of the Z-shaped lifting plate 31 in the driving component 3 be effectively used to drive the grabbing member 23 to be telescopically driven, but the grabbing member 23 can also be driven to be expanded or retracted, thereby forming an underwater soil collection operation. It has a good linkage function, and when collecting soil, it effectively avoids the interference of water sources on the soil, further improving the soil collection effect.

[0044] See attached Figure 3 The water source sampling assembly 1 includes a negative pressure cylinder 11 fixed inside the bionic fish body 100, the top of the negative pressure cylinder 11 is fixedly connected to a water source collection tube 12, a storage bottle 13 is arranged on the water source collection tube 12, and a piston plate 14 that can move up and down is arranged inside the negative pressure cylinder 11;

[0045] The downward movement of the piston plate 14 can form a negative pressure inside the negative pressure cylinder 11, and the water source can be extracted through the water source collection tube 12, and the sample can be stored through the storage bottle 13, which has a good water sampling function and effectively utilizes the sampling driving force of the soil sampling assembly 2. There is no need to set up an additional electric driving source, which reduces the energy consumption of the bionic fish, thereby improving the energy saving, environmental protection and endurance of the bionic fish;

[0046] The bottom of the piston plate 14 is fixedly connected with a connecting rod 15, and the bottom end of the connecting rod 15 is fixedly connected to the Z-shaped lifting plate 31;

[0047] The connection rod 15 facilitates the connection between the piston plate 14 and the Z-shaped lifting plate 31 , so that the piston plate 14 can be driven up and down by driving the Z-shaped lifting plate 31 up and down, thereby forming negative pressure control of the negative pressure cylinder 11 .

[0048] See attached Figure 5 and Figure 8 The grabbing member 23 includes an H-shaped frame 231, both sides of the H-shaped frame 231 are rotatably connected with connecting blocks 232, the bottoms of the two connecting blocks 232 are fixedly connected with bowl-shaped collecting frames 233, the tops of the two connecting blocks 232 are fixedly connected with inclined auxiliary blocks 234, and the rotating ends of the two connecting blocks 232 are installed with torsion springs 235;

[0049] By expanding the two collecting frames 233, soil grabbing and collection work can be carried out. By closing the two collecting frames 233, the grabbed soil can be wrapped to prevent the soil from being lost underwater. Through the setting of the two auxiliary blocks 234, the telescopic part 24 can drive the two connecting blocks 232 in a fan shape, forming the expansion or contraction control of the two collecting frames 233.

[0050] See attached Figure 5The bottom of the two bowl-shaped collecting frames 233 are provided with a plurality of strip-shaped drain holes 236, and a water filter membrane 237 for covering the plurality of strip-shaped drain holes 236 is installed inside the two bowl-shaped collecting frames 233;

[0051] The drain hole 236 is provided to drain the water in the collected soil, and the filter membrane 237 is provided to further improve the water separation effect, thereby preventing excessive loss of silt in the soil during the drainage process, which would affect the subsequent soil sampling effect.

[0052] See attached Figures 4 to 7 The telescopic member 24 includes a moving plate 241 slidably connected to the inside of the sleeve 21, a through pipe 242 is fixedly connected to the bottom of the moving plate 241, the bottom end of the through pipe 242 is fixedly connected to the H-shaped frame 231 through a fixing rod 243, and an annular limit block 244 is fixedly connected to the bottom of the sleeve 21;

[0053] The annular limit block 244 is provided to limit the movable plate 241 after the downward movement, so that the grabbing member 23 is unfolded only after the grabbing member 23 moves downward as a whole, thereby improving the orderliness of the grabbing member 23 in performing soil sampling;

[0054] The bottom end of the through pipe 242 is slidably connected to a U-shaped pushing frame 245, the bottom of the U-shaped pushing frame 245 is fixedly connected to a pressing plate 246, and the top of the U-shaped pushing frame 245 is fixedly connected to a lifting rod 247, the top of the lifting rod 247 passes through the through pipe 242 and the moving plate 241 in sequence and extends to the top of the moving plate 241, and the top of the lifting rod 247 is fixedly connected to the Z-shaped lifting plate 31;

[0055] The downward movement of the lifting rod 247 can drive the U-shaped pushing frame 245 to move downward. When the U-shaped pushing frame 245 moves downward, the pressing plate 246 can be driven to move downward, and the two auxiliary blocks 234 on the grabbing member 23 can be pressed. Since the rotating ends of the two connecting blocks 232 are provided with torsion springs 235, when the U-shaped pushing frame 245 moves downward, the through pipe 242 and the movable plate 241 can be moved downward first, thereby making the entire grabbing member 23 extend downward. When the movable plate 241 moves to contact the top of the annular limit block 244, the movable plate 241 cannot move downward. At this time, the continuous downward movement of the lifting rod 247 can press the two auxiliary blocks 234 downward through the pressing plate 246, so that the two connecting blocks 232 are unfolded in the rotating position, thereby making the two collecting frames 233 on the grabbing member 23 unfold. At this time, the convex block grasping work can be formed;

[0056] After the grabbing is completed, the two collecting frames 233 can be reset first through the upward contraction of the lifting rod 247 and the reset force of the torsion spring 235 to wrap the soil, and then move upward as a whole into the protective tube 22 to complete the soil collection work.

[0057] Embodiment 2: Based on embodiment 1, the difference is that;

[0058] See attached Figure 4 The top of the inner wall of the bionic fish body 100 is slidably connected with a moving frame 32 and a driving member for reciprocatingly driving the moving frame 32 left and right, and an inclined driving frame 33 is hinged between the bottom of the moving frame 32 and the top of the Z-shaped lifting plate 31;

[0059] By driving the movable frame 32 to move left and right through the driving member, the driving frame 33 can be driven to move in a fan shape, so that the Z-shaped lifting plate 31 moves up and down, forming a dual-drive operation of the water source sampling component 1 and the soil sampling component 2. It not only has a good jacking drive function, but also through reasonable position setting, it is convenient to better set the driving component 3 inside the bionic robot fish, thereby improving the convenience of jacking drive.

[0060] The driving member includes an electric telescopic rod 34 fixed inside the bionic fish body 100, and the telescopic end of the electric telescopic rod 34 is fixedly connected to the moving frame 32;

[0061] The electric telescopic rod 34 is connected to an external power source and a control switch, and is used to drive the moving frame 32 to move left and right, so that the Z-shaped lifting plate 31 moves up and down.

[0062] Embodiment 3: Based on embodiment 1, the difference is that;

[0063] See attached Figure 3 The outer surface of the negative pressure cylinder 11 is fixedly connected with a mounting frame 16, the bottom of the mounting frame 16 is fixedly connected with a sealing cover 17, the top of the storage bottle 13 is threadedly mounted inside the sealing cover 17, one end of the water source collection tube 12 is fixedly connected with the inside of the sealing cover 17, and the sealing cover 17 is fixedly connected with a sampling tube 18;

[0064] The arrangement of the sealing cover 17 not only facilitates the installation of the storage bottle 13 for storing water samples, but also facilitates the sealed communication between the sampling tube 18 and the water source collection tube 12 and the storage bottle 13, thereby facilitating the negative pressure state inside the negative pressure cylinder 11, so that the water source collection tube 12 and the sampling tube 18 collect the water sample and effectively enter the storage bottle 13 for storage, thus having good collection and storage functions, and facilitating subsequent staff to take out the sample, thereby improving the convenience of operation;

[0065] The top of the negative pressure cylinder 11 is fixedly connected with an exhaust pipe 19, and one end of the sampling pipe 18 and the exhaust pipe 19 are extended to the outside of the bionic fish body 100, and a one-way valve is installed on the exhaust pipe 19, the sampling pipe 18 and the water source collection pipe 12;

[0066] Through the setting of the exhaust pipe 19, when the piston plate 14 moves upward, the gas above the negative pressure cylinder 11 can be effectively discharged. One-way valves are installed on the exhaust pipe 19, the sampling pipe 18 and the water source collection pipe 12, so that the exhaust pipe 19, the sampling pipe 18 and the water source collection pipe 12 can be controlled in one direction through the one-way valve, thereby improving the orderliness of water source collection and gas extraction.

[0067] It should be noted that the term "comprises" or any other variation thereof is intended to cover non-exclusive inclusion, so that a process, method, article, or device that includes a series of elements includes not only those elements, but also includes other elements that are not explicitly listed, or also includes elements inherent to such process, method, article, or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the presence of other identical elements in the process, method, article, or device that includes the element.

[0068] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A bionic robot fish with an underwater sampling function, comprising a bionic fish body (100), wherein a sampling mechanism (200) is arranged inside the bionic fish body (100), characterized in that: The sampling mechanism (200) comprises a water source sampling component (1) for collecting underwater water sources, a soil sampling component (2) for collecting underwater soil, and a driving component (3) for driving the water source sampling component (1) and the soil sampling component (2), wherein the driving component (3) comprises a Z-shaped lifting plate (31) that can be driven up and down; The soil sampling assembly (2) comprises a sleeve (21) fixed inside the bionic fish body (100) and a protective tube (22) fixed at the bottom of the sleeve (21); the bottom of the protective tube (22) extends to the bottom of the bionic fish body (100); a gripping member (23) for gripping the protrusion and a telescopic member (24) for telescopically driving the gripping member (23) up and down are provided between the sleeve (21) and the protective tube (22); The grabbing member (23) comprises an H-shaped frame (231), both sides of the H-shaped frame (231) are rotatably connected to connecting blocks (232), the bottoms of the two connecting blocks (232) are fixedly connected to bowl-shaped collecting frames (233), the tops of the two connecting blocks (232) are fixedly connected to inclined auxiliary blocks (234), and the rotating ends of the two connecting blocks (232) are installed with torsion springs (235); The bottoms of the two bowl-shaped collection frames (233) are each provided with a plurality of strip-shaped drainage holes (236), and a water filter membrane (237) for covering the plurality of strip-shaped drainage holes (236) is installed inside the two bowl-shaped collection frames (233); The telescopic member (24) comprises a movable plate (241) slidably connected to the interior of the sleeve (21); a through pipe (242) is fixedly connected to the bottom of the movable plate (241); the bottom end of the through pipe (242) is fixedly connected to the H-shaped frame (231) via a fixing rod (243); and an annular limit block (244) is fixedly connected to the bottom of the sleeve (21); The bottom end of the through pipe (242) is slidably connected to a U-shaped pushing frame (245), the bottom of the U-shaped pushing frame (245) is fixedly connected to a pressing plate (246), and the top of the U-shaped pushing frame (245) is fixedly connected to a lifting rod (247), the top end of the lifting rod (247) passes through the through pipe (242) and the moving plate (241) in sequence and extends to the top of the moving plate (241), and the top end of the lifting rod (247) is fixedly connected to the Z-shaped lifting plate (31); The water source sampling assembly (1) comprises a negative pressure cylinder (11) fixed inside the bionic fish body (100); the top of the negative pressure cylinder (11) is fixedly connected to a water source collection tube (12); a storage bottle (13) is arranged on the water source collection tube (12); and a piston plate (14) that can move up and down is arranged inside the negative pressure cylinder (11); A connecting rod (15) is fixedly connected to the bottom of the piston plate (14), and a bottom end of the connecting rod (15) is fixedly connected to the Z-shaped lifting plate (31); A moving frame (32) and a driving member for driving the moving frame (32) to reciprocate left and right are slidably connected to the top of the inner wall of the bionic fish body (100); an inclined driving frame (33) is hingedly connected between the bottom of the moving frame (32) and the top of the Z-shaped lifting plate (31); The outer surface of the negative pressure cylinder (11) is fixedly connected to a mounting frame (16), the bottom of the mounting frame (16) is fixedly connected to a sealing cover (17), the top end of the storage bottle (13) is threadedly mounted inside the sealing cover (17), one end of the water source collection tube (12) is fixedly connected to the inside of the sealing cover (17), and a sampling tube (18) is fixedly connected to the sealing cover (17).

2. The bionic robotic fish with underwater sampling function according to claim 1, characterized in that: The driving member comprises an electric telescopic rod (34) fixed inside the bionic fish body (100), and the telescopic end of the electric telescopic rod (34) is fixedly connected to the moving frame (32).

3. The bionic robotic fish with underwater sampling function according to claim 1, characterized in that: The top of the negative pressure cylinder (11) is fixedly connected to an exhaust pipe (19), and one end of the sampling pipe (18) and the exhaust pipe (19) both extend to the outside of the bionic fish body (100), and one-way valves are installed on the exhaust pipe (19), the sampling pipe (18) and the water source collection pipe (12).

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