Seawater sampling device and method for underwater robot

Abstract

The invention relates to the technical field of seawater sampling, and discloses an underwater robot seawater sampling device and method.The underwater robot seawater sampling device comprises an outer frame assembly, a sampling mechanism is arranged on the inner side of the outer frame assembly, and the sampling mechanism comprises a main driving assembly, a driving assembly, an adjusting assembly and a sampling cylinder; a sampling cylinder is arranged at the bottom of the main driving assembly, an adjusting assembly is arranged at the bottom of the outer side of the sampling cylinder, a driving assembly is connected to the bottom of the adjusting assembly, and when the main driving assembly drives the sampling cylinder to descend to a specified depth, the adjusting assembly is started to convert the bottom of the sampling cylinder from a sealed state to a sampling state to sample seawater at the specified depth; by arranging the multiple sets of sampling structures, seawater at different depths is sampled and stored in a sealed mode, when the seawater moves to a certain designated depth, one sampling mechanism is opened for sampling, and when the seawater moves to the next designated depth, the other unused sampling mechanism is opened for sampling.

Description

Technical Field

[0001] The present invention relates to the technical field of seawater sampling, and more specifically, to an underwater robot seawater sampling device and method. Background Art

[0002] The underwater robot seawater sampling device is a vital tool in the field of marine scientific research and underwater exploration. It is used to collect seawater samples in the marine environment. Seawater samples are collected through collection tools (such as sampling tubes) and stored inside the device or transmitted to a ground station for analysis.

[0003] During the descent of existing seawater sampling robots, the sampling tube may enter seawater at different depths due to its insufficient sealing effect, resulting in the final seawater sample being unable to represent the quality of seawater at a fixed depth. This sampling method is inconvenient when it is necessary to observe seawater samples at a specified depth.

[0004] To this end, the present invention provides an underwater robot seawater sampling device and method. Summary of the invention

[0005] In order to make up for the deficiencies of the prior art, at least one technical problem raised in the background technology is solved.

[0006] The present invention provides a seawater sampling device of an underwater robot, comprising an outer frame component, a sampling mechanism is arranged on the inner side of the outer frame component, the sampling mechanism comprises a main driving component, a driving component, an adjusting component and a sampling barrel, the sampling barrel is arranged on the bottom of the main driving component, the bottom of the outer side of the sampling barrel is arranged with an adjusting component, the bottom of the adjusting component is connected with a driving component, when the main driving component drives the sampling barrel to descend to a specified depth, the adjusting component is started to change the bottom of the sampling barrel from a sealing state to a sampling state, so as to sample seawater at the specified depth.

[0007] Preferably, the outer frame assembly includes an outer frame, an outer frame body is fixedly connected to the inner side of the outer frame, a balancing traction rope is fixedly connected to the top of the outer frame body at equidistant intervals, a main traction rope is fixedly connected to the top of the balancing traction rope, a bracket is fixedly connected to the inner side of the outer frame body, a fixing seat is fixedly connected to the inner side of the bracket of the outer frame body, the sampling mechanism is installed on the inner side of the fixing seat, a baffle is fixedly connected to the bottom of the outer frame body at equidistant intervals, the outer frame is fixedly connected to the outer frame body via an arc plate, and a depth sensor is installed on the top of the outer frame.

[0008] Preferably, the main drive assembly includes a propeller blade, the bottom of the propeller blade is connected to a first motor, the output shaft of the first motor is fixedly connected to the top of the propeller blade, the outer side of the first motor is rotatably connected to a protective outer box, and the protective outer box is fixedly connected to the inner side of the fixed seat.

[0009] Preferably, the bottom of the sampling cylinder is open, the adjustment assembly seals the bottom of the sampling cylinder, the top of the sampling cylinder is fixedly connected to the bottom of the protective outer box, and the outer side of the sampling cylinder is fixedly connected to the inner side of the fixing seat.

[0010] Preferably, the adjustment component includes an upper cover, which is fixedly sleeved on the outside of the sampling tube, a limit assembly is rotatably provided at the bottom of the upper cover, an opening and closing drive assembly is provided on the inner side of the upper cover, arc-shaped linkage blocks are provided around the bottom of the limit assembly, a sealing assembly is provided at the bottom of the arc-shaped linkage block, and a first limit ring is fixedly connected to the bottom of the sampling tube.

[0011] Preferably, the limiting assembly includes a sealing ring, which is rotatably connected to the outside of the sampling tube, the top of the sealing ring is fixedly connected to a gear ring, the top of the arc-shaped linkage block close to the sealing ring is rotatably connected to a convex limiting rod, the gear ring and the sealing ring are connected to the convex limiting rod at the connection point, and the top of the gear ring is rotatably connected to the bottom of the upper cover.

[0012] Preferably, the sealing assembly includes a sealing plate, and the first limiting shaft and the second limiting shaft are respectively fixedly connected on both sides of the sealing plate away from the center of the first limiting ring, the second limiting shaft is rotatably connected to the arc-shaped linkage block, the first limiting shaft is rotatably connected to the first limiting ring, and the bottom of the sealing plate is fixedly connected to a special-shaped protrusion.

[0013] Preferably, the opening and closing drive assembly includes a second motor, the output shaft of the second motor is fixedly connected to a gear, the top of the second motor is fixedly connected to the inner top wall of the upper cover, and the outer teeth of the second motor are meshed with the inner teeth of the gear ring.

[0014] Preferably, the driving assembly includes a C-shaped rod, the top of one end of the C-shaped rod is fixedly connected to a mounting base, the other end of the C-shaped rod is fixedly connected to the bottom of the sealing plate on the side away from the center of the first limiting ring, the top of the mounting base is rotatably connected to a rotating central axis, and the circumference of the rotating central axis is equidistantly fixedly connected to metal bent plates.

[0015] By adopting the above technical solution, the metal bent plate repeatedly rotates and hits the baffle to continuously interfere with the surrounding sound, and the metal itself vibrates during the process of the metal bent plate recovering its shape, so noise will be emitted during the process of rotating, hitting and restoring the shape, driving away the fish around the device.

[0016] On the other hand, the present application also provides a method for sampling seawater using an underwater robot, comprising the following steps: S1. Control the descent of the sampling tube: the main driving assembly cooperates to release the main traction rope in equal amounts to extend the length of the main traction rope, thereby gradually deepening the depth of the device in the sea; S2. Determine the depth value: Determine whether the descent depth value is the same as the expected value by cooperating with the depth sensor and the control system; S3, sampling: starting the opening and closing driving assembly to drive the convex limiting rod to rotate so that the five sealing plates and five special-shaped protrusions at the bottom of the first limiting ring that are tightly fitted in the sealed state gradually open to the sampling state, and perform seawater sampling; S4, stop sampling: reversely start the opening and closing drive assembly to drive the convex limit rod to rotate so that the sealing assembly seals the bottom of the sampling tube again, and then moves to the next specified depth, and then repeats S1 until all seawater samples at the specified depth are collected; S5. Sampling: Pull up the main traction rope to pull out the device, place the device on the top of the sampling and analysis container, and then switch the adjustment component to make the sampling tube into the sampling state, sample the seawater and perform data analysis.

[0017] The beneficial effects of the present invention are as follows: the underwater robot seawater sampling device and method described in the present invention, by setting up multiple groups of sampling structures, respectively samples and seals and preserves seawater at different depths, opens one of the sampling mechanisms for sampling when moving to a certain specified depth, and opens another unused sampling mechanism for sampling when moving to the next specified depth, wherein, by setting up an adjustment component, in a sealed state, five sealing plates are tightly fitted in pairs to form a disc shape, at this time, the bottom of the sealed first limit ring, that is, the bottom of the sealed sampling tube, is prevented from seawater at other depths entering the inner side of the sampling tube when the sampling tube, the driving component, and the adjustment component are lowered as a whole, resulting in inaccurate sample values, ensuring the sampling of seawater at the specified depth and improving the accuracy of sampling.

[0018] The underwater robot seawater sampling device and method described in the present invention is provided with a sealing component. When the sealing component is in a sealed state, five special-shaped protrusions fit tightly together in pairs to form a cone, which can reduce the resistance of the water flow when the sampling tube, the driving component, and the regulating component are lowered as a whole. When the sealing component is in a sampling state, the special-shaped protrusions will push away part of the water flow located on the outside of the bottom of the special-shaped protrusions when the sealing plate flips, and the water flow flows toward the outside of the bottom, so that some lighter floating objects and aquatic plants are swept away by the water flow, reducing the content of floating objects entering the inner side of the sampling tube, and avoiding the floating objects from adhering to the inner wall of the corrugated transmission tube when the seawater sample in the sampling tube is extracted by the water suction pipe, causing blockage during subsequent seawater sampling.

[0019] The underwater robot seawater sampling device and method described in the present invention are provided with a driving component. The metal bent plate is relatively thin. When the metal bent plate collides, it will deform within the elastic range and restore its original shape when the impact force of the baffle is lost, so as to ensure that the baffle is repeatedly rotated to continuously interfere with the surrounding sound. Since the metal itself vibrates during the recovery process, noise will be emitted during the process of rotation, impact and recovery of shape, thereby driving away the fish around the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a top view of the structure of the present invention as a whole; Figure 2 It is a bottom view of the overall structure of the present invention; Figure 3 It is a schematic diagram of the structural cross-section of the outer frame assembly in the present invention; Figure 4 It is a schematic diagram of the structural cross section of the sampling tube and the adjustment assembly in the present invention; Figure 5 yes Figure 4 A partial enlarged view of the middle part; Figure 6 It is a structural schematic diagram of the main driving component and the driving component in the present invention; Figure 7 It is a structural schematic diagram of the present invention in which the regulating component is open and the sampling tube is in the sampling state.

[0021] Figure 8 It is a schematic diagram of the structure of the sealing component and the limiting component in the present invention.

[0022] In the figure: 1. Outer frame assembly; 101. Main traction rope; 102. Balance traction rope; 103. Outer frame body; 104. Baffle; 105. Fixed seat; 106. Outer frame; 2. Main drive assembly; 201. Propeller blade; 202. First motor; 203. Protective outer box; 3. Driving assembly; 301. Rotating central axis; 302. Metal bending plate; 303. Mounting base; 304. C-shaped rod; 4. Adjustment assembly; 401. Sealing assembly Parts; 4011, sealing plate; 4012, special-shaped protrusion; 4013, first limiting shaft; 4014, second limiting shaft; 402, first limiting ring; 403, arc-shaped linkage block; 404, limiting assembly; 4041, sealing ring; 4042, gear ring; 4043, convex limiting rod; 405, opening and closing drive assembly; 4051, second motor; 4052, gear; 406, upper cover; 5, sampling tube; 6, depth sensor. DETAILED DESCRIPTION

[0023] The subject matter described herein will now be discussed with reference to example embodiments. It should be understood that the discussion of these embodiments is only to enable those skilled in the art to better understand and implement the subject matter described herein, and the functions and arrangements of the elements discussed may be changed without departing from the scope of protection of the contents of this specification. Each example may omit, replace or add various processes or components as needed. In addition, the features described relative to some examples may also be combined in other examples.

[0024] The following is a further detailed description of the technical solution of the present invention in conjunction with the accompanying drawings and specific embodiments. Figures 1 to 8 , this application provides an underwater robot seawater sampling device, please refer to Figure 1 and Figure 2 , including an outer frame component 1, a sampling mechanism is arranged on the inner side of the outer frame component 1, the sampling mechanism includes a main driving component 2, a driving component 3, an adjusting component 4 and a sampling tube 5, a sampling tube 5 is arranged at the bottom of the main driving component 2, an adjusting component 4 is arranged at the bottom of the outer side of the sampling tube 5, and the driving component 3 is connected to the bottom of the adjusting component 4. When the main driving component 2 drives the sampling tube 5 to descend to a specified depth, the adjusting component 4 is started to change the bottom of the sampling tube 5 from a sealed state to a sampling state, so as to sample seawater at a specified depth.

[0025] Specifically, multiple groups of sampling mechanisms are provided, which can sample and seal seawater at different depths respectively. When the vehicle moves to a certain specified depth, one of the sampling mechanisms is opened for sampling, and when the vehicle moves to the next specified depth, another unused sampling mechanism is opened for sampling.

[0026] Please refer to Figure 3The outer frame assembly 1 includes an outer frame 106, an outer frame body 103 is fixedly connected to the inner side of the outer frame 106, a balancing traction rope 102 is fixedly connected to the top of the outer frame body 103 at equal intervals, a main traction rope 101 is fixedly connected to the top of the balancing traction rope 102, a bracket is fixedly connected to the inner side of the outer frame body 103, a fixing seat 105 is fixedly connected to the inner side of the bracket of the outer frame body 103, a sampling mechanism is installed on the inner side of the fixing seat 105, a baffle 104 is fixedly connected to the bottom of the outer frame body 103 at equal intervals, the outer frame 106 is fixedly connected to the outer frame body 103 via an arc plate, and a depth sensor 6 is installed on the top of the outer frame 106.

[0027] Specifically, the device is arranged on the side of the ship close to the sea surface, wherein the top of the main traction rope 101 is rolled up and wound on the ship, and cooperates with the main drive assembly 2 to release the main traction rope 101 in equal amounts to extend the length of the main traction rope 101, thereby gradually deepening the depth of the device in the sea, and the balance traction ropes 102 are equidistantly distributed on the top of the outer frame 106 and have the same length, which can ensure that the outer frame 106 moves downward stably, and the depth sensor 6 is used to detect the depth of the device; Figure 2 , Figure 3 There is a gap between the outer frame body 103 and the fixing seat 105, wherein the bracket distribution range of the outer frame body 103 is small and is only used to connect the outer frame body 103 and the fixing seat 105, and the water flow can still flow from between the outer frame body 103 and the fixing seat 105 to the driving component 3.

[0028] Please refer to Figure 1 , Figure 2 The main drive assembly 2 includes a propeller blade 201, the bottom of the propeller blade 201 is connected to a first motor 202, the output shaft of the first motor 202 is fixedly connected to the top of the propeller blade 201, the outer side of the first motor 202 is rotatably connected to a protective outer box 203, and the protective outer box 203 is fixedly connected to the inner side of the fixed seat 105.

[0029] Specifically, a main drive assembly 2 is provided on the top of each sampling tube 5, so that the sampling mechanism is more stable when moving downward. The protective outer box 203 protects the first motor 202 and a sealing ring is provided at the connection between the protective outer box 203 and the output shaft of the first motor 202 to improve the protection effect; starting the first motor 202 drives the propeller blades 201 to rotate and drives the device to move downward in the sea water.

[0030] Please refer to Figure 2 , Figure 4 The bottom of the sampling cylinder 5 is open, the adjusting assembly 4 seals the bottom of the sampling cylinder 5 , the top of the sampling cylinder 5 is fixedly connected to the bottom of the protective outer box 203 , and the outer side of the sampling cylinder 5 is fixedly connected to the inner side of the fixing seat 105 .

[0031] Please refer to Figure 4, Figure 5 , Figure 7 The adjusting component 4 includes an upper sealing cover 406, which is fixedly sleeved on the outer side of the sampling tube 5. A limiting component 404 is rotatably provided at the bottom of the upper sealing cover 406. An opening and closing driving component 405 is provided on the inner side of the upper sealing cover 406. Arc-shaped linkage blocks 403 are provided around the bottom of the limiting component 404. A sealing component 401 is provided at the bottom of the arc-shaped linkage block 403. A first limiting ring 402 is fixedly connected to the bottom of the sampling tube 5.

[0032] Please refer to Figure 5 , Figure 7 The limiting assembly 404 includes a sealing ring 4041, which is rotatably connected to the outside of the sampling tube 5. The top of the sealing ring 4041 is fixedly connected to a gear ring 4042. The top of the arc-shaped linkage block 403 close to the sealing ring 4041 is rotatably connected to a convex limiting rod 4043. Fixed grooves are provided at the connection between the gear ring 4042 and the sealing ring 4041 and the convex limiting rod 4043. The top of the gear ring 4042 is rotatably connected to the bottom of the upper cover 406.

[0033] Specifically, the convex limiting rod 4043 is limited by the gear ring 4042 and the sealing ring 4041, that is, when the gear ring 4042 rotates, it drives the sealing ring 4041 to rotate synchronously, and then drives the convex limiting rod 4043 to rotate, and the outer side of the bottom of the convex limiting rod 4043 is rotatably connected to the arc-shaped linkage block 403, so the connection between the arc-shaped linkage block 403 and the convex limiting rod 4043 will be offset as the sealing ring 4041 rotates.

[0034] Please refer to Figure 7 The sealing assembly 401 includes a sealing plate 4011, and the sealing plate 4011 is fixedly connected with a first limiting shaft 4013 and a second limiting shaft 4014 on both sides away from the center of the first limiting ring 402, the second limiting shaft 4014 is rotatably connected to the arc-shaped linkage block 403, the first limiting shaft 4013 is rotatably connected to the first limiting ring 402, and a special-shaped protrusion 4012 is fixedly connected to the bottom of the sealing plate 4011.

[0035] Specifically, in a sealed state, such as Figure 2 and Figure 4 As shown, five sealing plates 4011 are closely fitted in pairs to form a disc shape, and five special-shaped protrusions 4012 are closely fitted in pairs to form a cone shape. At this time, the bottom of the first limiting ring 402 is sealed, that is, the bottom of the sampling tube 5 is sealed to prevent seawater from other depths from entering the inner side of the sampling tube 5 when the sampling tube 5, the driving component 3, and the adjusting component 4 are lowered as a whole, resulting in inaccurate sample values, ensuring that seawater at a specified depth is taken and improving the accuracy of sampling; since the length of the arc-shaped linkage block 403 is fixed, it will cause the sealing plate 4011 to rotate with the first limiting axis 4013 as the center, as shown in FIG. Figure 6 and Figure 7 As shown, the five sealing plates 4011 and the five special-shaped protrusions 4012 that are tightly fitted and sealed at the bottom of the first limiting ring 402 are gradually opened to enter the sampling state. When the five sealing components 401 rotate away from the center of the first limiting ring 402, seawater will enter the sampling tube 5 from the gaps between the five sealing components 401, and because the thickness of the special-shaped protrusions 4012 gradually decreases from the center of the first limiting ring 402 to the center of the first limiting ring 402, when the sealing components 401 are in In the sealed state, the five special-shaped protrusions 4012 fit tightly together to form a cone, which can reduce the resistance of the water flow when the sampling tube 5, the driving component 3, and the regulating component 4 are lowered as a whole. When the sealing component 401 is in the sampling state, the special-shaped protrusions 4012 will push away part of the water flow located on the outside of the bottom of the special-shaped protrusions 4012 when the sealing plate 4011 flips over, and the water flow flows toward the outside of the bottom, so that some lighter floating objects and aquatic plants are swept away by the water flow, reducing the content of floating objects entering the inner side of the sampling tube 5.

[0036] Please refer to Figure 5 The opening and closing drive assembly 405 includes a second motor 4051, the output shaft of the second motor 4051 is fixedly connected to a gear 4052, the top of the second motor 4051 is fixedly connected to the inner top wall of the upper cover 406, and the outer teeth of the second motor 4051 are meshed with the inner teeth of the gear ring 4042.

[0037] Specifically, starting the second motor 4051 causes the output shaft of the second motor 4051 to drive the gear 4052 to rotate. Since the outer teeth of the second motor 4051 are meshed with the inner teeth of the gear ring 4042, when the second motor 4051 rotates, it will drive the gear ring 4042 to rotate together. Among them, the upper cover 406, the sealing ring 4041, the gear ring 4042 and the sampling tube 5 together form a closed space, sealing the second motor 4051 therein to protect it.

[0038] Please refer to Figure 3 The driving component 3 includes a C-shaped rod 304, the top of one end of the C-shaped rod 304 is fixedly connected to a mounting base 303, the other end of the C-shaped rod 304 is fixedly connected to the bottom of a sealing plate 4011 away from the center of the first limiting ring 402, the top of the mounting base 303 is rotatably connected to a rotating central axis 301, and the circumference of the rotating central axis 301 is equidistantly fixedly connected to a metal bent plate 302.

[0039] Specifically, the metal bent plate 302 and the baffle 104 have a high clearance fit, and baffles 104 are provided on both sides of the top of the driving component 3. The outer diameter formed by the metal bent plate 302 is slightly larger than the distance between two adjacent baffles 104. When the device moves down in the sea, water can flow from between the outer frame body 103 and the fixing seat 105 to the driving component 3. The impact of the water on the mounting base 303 will cause the metal bent plate 302 to rotate. When the metal bent plate 302 rotates, it will collide with the baffle 104. Among them, the metal bent plate 302 is relatively thin. When the metal bent plate 302 collides, it will deform within the elastic range. When the impact force of the baffle 104 is removed, it returns to its original shape to ensure that the baffle 104 is repeatedly rotated to continuously interfere with the surrounding sound. Since the metal itself vibrates during the recovery process, noise will be emitted during the rotation, impact and shape recovery process to drive away the fish around the device; when the device moves down to a specified depth, the adjustment component 4 at the bottom of the sampling tube 5 needs to be converted to a sampling state to allow water to enter the inner side of the sampling tube 5. During the conversion process, as described above, the sealing plate 4011 rotates around the first limit axis 4013 under the drive of the opening and closing drive component 405, which will drive the driving component 3 to flip outward as a whole. Figure 7 As shown, the metal bent plate 302 close to the baffle 104 will hit the side of the baffle 104 to generate noise, and the side of the baffle 104 will continue to squeeze the metal bent plate 302 to cause deformation until it completely passes through the baffle 104. Since the metal bent plate 302 itself has an arc and the spacing between the baffles 104 is slightly smaller than the outer diameter formed by the metal bent plate 302, and the deformation value is ensured to be within the elastic range of the metal bent plate 302, noise will also be generated during the rotation, collision and shape recovery process in this process, driving away the fish around the device.

[0040] On the other hand, an embodiment of the present application further provides a method for sampling seawater using an underwater robot according to the above, comprising the following steps: S1, control the sampling tube 5 to descend: the main driving assembly 2 cooperates to release the main traction rope 101 in equal amounts to extend the length of the main traction rope 101 so as to gradually deepen the depth of the device in the sea; S2, determine the depth value: determine whether the descent depth value is the same as the expected value through the cooperation of the depth sensor 6 and the control system; S3, sampling: start the opening and closing driving assembly 405 to drive the convex limiting rod 4043 to rotate so that the five sealing plates 4011 and the five special-shaped protrusions 4012 that are tightly fitted and sealed at the bottom of the first limiting ring 402 in the sealed state gradually open to the sampling state, and perform seawater sampling; S4, stop sampling: reversely start the opening and closing drive assembly 405 to drive the convex limit rod 4043 to rotate so that the sealing assembly 401 seals the bottom of the sampling tube 5 again, and then moves to the next specified depth, and then repeats S1 until all seawater samples at the specified depth are collected; S5. Sampling: Pull up the main traction rope 101 to pull out the device, place the device on the top of the sampling and analysis container, and then switch the regulating component 4 to the sampling state, sample the seawater and perform data analysis.

[0041] How it works When using this device for seawater sampling, the main drive assembly 2 is driven according to the depth to be sampled to drive the sampling mechanism to descend as a whole, that is, the first motor 202 is started to drive the propeller blade 201 to rotate and drive the device to move downward in the seawater. During this downward movement, the main traction rope 101 cooperates with the main drive assembly 2 to release the main traction rope 101 in equal amounts to extend the length of the main traction rope 101, thereby gradually deepening the depth of the device in the sea, thereby driving the sampling mechanism to descend as a whole. Multiple groups of sampling mechanisms are provided, and seawater of different depths can be sampled and sealed for storage respectively. When moving to a certain specified depth, one of the sampling mechanisms is opened for sampling, and when moving to the next specified depth, another unused sampling mechanism is opened for sampling; When descending to the specified depth, the second motor 4051 is started so that the output shaft of the second motor 4051 drives the gear 4052 to rotate. Since the outer teeth of the second motor 4051 are meshed with the inner teeth of the gear ring 4042, when the second motor 4051 rotates, the gear ring 4042 is driven to rotate together. When the gear ring 4042 rotates, the sealing ring 4041 is driven to rotate synchronously. Since the convex limiting rod 4043 is limited by the gear ring 4042 and the sealing ring 4041, the convex limiting rod 4043 is also driven to rotate, and the outer side of the bottom of the convex limiting rod 4043 is rotatably connected to the arc-shaped linkage block 403, so the connection between the arc-shaped linkage block 403 and the convex limiting rod 4043 will be offset as the sealing ring 4041 rotates. Since the length of the arc-shaped linkage block 403 is fixed, it will cause the sealing plate 4011 to rotate with the first limiting axis 4013 as the center. Figure 7 As shown, the five sealing plates 4011 and the five special-shaped protrusions 4012 that are tightly fitted and sealed at the bottom of the first limiting ring 402 are gradually opened to enter the sampling state. When the five sealing components 401 rotate away from the center of the first limiting ring 402, seawater will enter the sampling tube 5 from the gaps between the five sealing components 401, and because the thickness of the special-shaped protrusions 4012 gradually decreases from the center of the first limiting ring 402 to the center of the first limiting ring 402, when the sealing components 401 are in In the sealed state, the five special-shaped protrusions 4012 fit closely together to form a cone, which can reduce the resistance of the water flow when the sampling tube 5, the driving component 3, and the regulating component 4 are lowered as a whole. When the sealing component 401 is in the sampling state, the special-shaped protrusions 4012 will push away part of the water flow outside the bottom of the special-shaped protrusions 4012 when the sealing plate 4011 turns over, and the water flow flows toward the outside of the bottom, so that some lighter floating objects and water plants are swept away by the water flow, reducing the content of floating objects entering the inner side of the sampling tube 5; The metal bent plate 302 and the baffle 104 are matched in height clearance, and baffles 104 are arranged on both sides of the top of the driving component 3. The outer diameter formed by the metal bent plate 302 is slightly larger than the distance between two adjacent baffles 104. When the device moves down in the sea, the water flow can flow from between the outer frame body 103 and the fixing seat 105 to the driving component 3. The water flow impacts the mounting base 303, causing the metal bent plate 302 to rotate. When the metal bent plate 302 rotates, it will collide with the baffle 104. Among them, the metal bent plate 302 is relatively thin. When the metal bent plate 302 collides, it will deform within the elastic range. When the baffle is lost, The plate 104 returns to its original shape when impacted, so as to ensure that the repeated rotation and impact of the baffle plate 104 continuously disturbs the surrounding sound. Since the metal itself generates vibrations during the recovery process, noise will be emitted during the rotation, impact and shape recovery process, thereby driving away the fish around the device. When the device moves down to a specified depth, the adjustment component 4 at the bottom of the sampling tube 5 needs to be converted to a sampling state to allow water to enter the inner side of the sampling tube 5. During the conversion process, as described above, the sealing plate 4011 rotates around the first limit axis 4013 under the drive of the opening and closing drive component 405, which will drive the driving component 3 to flip outward as a whole. Figure 7 As shown, the metal bent plate 302 close to the baffle 104 will hit the side of the baffle 104 to generate noise, and the side of the baffle 104 will continue to squeeze the metal bent plate 302 to cause deformation until it completely passes through the baffle 104. Since the metal bent plate 302 itself has an arc and the spacing between the baffles 104 is slightly smaller than the outer diameter formed by the metal bent plate 302, and the deformation value is ensured to be within the elastic range of the metal bent plate 302, noise will also be generated during the rotation, collision and shape recovery process in this process, driving away the fish around the device.

[0042] An example of the present specific implementation mode is described above, but the present embodiment is not limited to the above-mentioned specific implementation mode, which is merely illustrative and not restrictive. A person skilled in the art may make many forms inspired by the present embodiment, all of which are protected by the present embodiment.

Claims

1. An underwater robot seawater sampling device, characterized in that: The invention comprises an outer frame component (1), wherein a sampling mechanism is arranged on the inner side of the outer frame component (1), wherein the sampling mechanism comprises a main drive component (2), a driving component (3), an adjustment component (4) and a sampling barrel (5), wherein the bottom of the main drive component (2) is provided with a sampling barrel (5), the bottom of the outer side of the sampling barrel (5) is provided with an adjustment component (4), and the bottom of the adjustment component (4) is connected to the driving component (3), and when the main drive component (2) drives the sampling barrel (5) to descend to a specified depth, the adjustment component (4) is started to change the bottom of the sampling barrel (5) from a sealed state to a sampling state, thereby sampling seawater at the specified depth.

2. The underwater robot seawater sampling device according to claim 1, characterized in that: The outer frame assembly (1) comprises an outer frame (106), the inner side of the outer frame (106) is fixedly connected to an outer frame body (103), the top of the outer frame body (103) is fixedly connected to a balancing traction rope (102) at equal intervals, the top of the balancing traction rope (102) is fixedly connected to a main traction rope (101), the inner side of the outer frame body (103) is fixedly connected to a bracket, the inner side of the bracket of the outer frame body (103) is fixedly connected to a fixing seat (105), the sampling mechanism is mounted on the inner side of the fixing seat (105), the bottom of the outer frame body (103) is fixedly connected to a baffle (104) at equal intervals, the outer frame (106) is fixedly connected to the outer frame body (103) via an arc plate, and the top of the outer frame (106) is mounted with a depth sensor (6).

3. The underwater robot seawater sampling device according to claim 2, characterized in that: The main drive assembly (2) comprises a propeller blade (201), the bottom of the propeller blade (201) is connected to a first motor (202), the output shaft of the first motor (202) is fixedly connected to the top of the propeller blade (201), the outer side of the first motor (202) is rotatably connected to a protective outer box (203), and the protective outer box (203) is fixedly connected to the inner side of the fixing seat (105).

4. The underwater robot seawater sampling device according to claim 3, characterized in that: The bottom of the sampling cylinder (5) is open, the adjustment assembly (4) seals the bottom of the sampling cylinder (5), the top of the sampling cylinder (5) is fixedly connected to the bottom of the protective outer box (203), and the outside of the sampling cylinder (5) is fixedly connected to the inside of the fixing seat (105).

5. The underwater robot seawater sampling device according to claim 4, characterized in that: The adjustment component (4) comprises an upper sealing cover (406), the upper sealing cover (406) being fixedly sleeved on the outer side of the sampling tube (5), a limiter component (404) being rotatably arranged at the bottom of the upper sealing cover (406), an opening and closing drive component (405) being arranged at the inner side of the upper sealing cover (406), arc-shaped linkage blocks (403) being arranged around the bottom of the limiter component (404), a sealing component (401) being arranged at the bottom of the arc-shaped linkage block (403), and a first limiter ring (402) being fixedly connected to the bottom of the sampling tube (5).

6. The underwater robot seawater sampling device according to claim 5, characterized in that: The limiting assembly (404) comprises a sealing ring (4041), wherein the sealing ring (4041) is rotatably connected to the outside of the sampling tube (5), the top of the sealing ring (4041) is fixedly connected to a gear ring (4042), the top of the arc-shaped linkage block (403) close to the sealing ring (4041) is rotatably connected to a convex limiting rod (4043), the gear ring (4042) and the sealing ring (4041) are connected to the convex limiting rod (4043) with a fixing groove, and the top of the gear ring (4042) is rotatably connected to the bottom of the upper cover (406).

7. The underwater robot seawater sampling device according to claim 6, characterized in that: The sealing assembly (401) comprises a sealing plate (4011), and the sealing plate (4011) is fixedly connected with a first limiting shaft (4013) and a second limiting shaft (4014) on both sides away from the center of the first limiting ring (402), the second limiting shaft (4014) is rotatably connected to the arc-shaped linkage block (403), the first limiting shaft (4013) is rotatably connected to the first limiting ring (402), and the bottom of the sealing plate (4011) is fixedly connected with a special-shaped protrusion (4012).

8. The underwater robot seawater sampling device according to claim 7, characterized in that: The opening and closing drive assembly (405) comprises a second motor (4051), the output shaft of the second motor (4051) is fixedly connected to a gear (4052), the top of the second motor (4051) is fixedly connected to the inner top wall of the upper cover (406), and the outer teeth of the second motor (4051) are meshed with the inner teeth of the gear ring (4042).

9. The underwater robot seawater sampling device according to claim 7, characterized in that: The driving assembly (3) comprises a C-shaped rod (304), the top of one end of the C-shaped rod (304) is fixedly connected to a mounting base (303), the other end of the C-shaped rod (304) is fixedly connected to the bottom of the sealing plate (4011) on a side away from the center of the first limiting ring (402), the top of the mounting base (303) is rotatably connected to a rotating central axis (301), and the circumference of the rotating central axis (301) is fixedly connected to metal bent plates (302) at equal intervals.

10. A method for sampling seawater using an underwater robot, according to an underwater robot sampling device according to any one of claims 1 to 9, characterized in that: The following steps are involved: S1, controlling the sampling tube (5) to descend: the main driving component (2) cooperates to release the main traction rope (101) in equal amounts to extend the length of the main traction rope (101) so as to gradually deepen the depth of the device in the sea; S2, determining the depth value: determining whether the descent depth value is the same as the expected value by means of the depth sensor (6) in cooperation with the control system; S3, sampling: starting the opening and closing driving assembly (405) to drive the convex limiting rod (4043) to rotate so that the five sealing plates (4011) and the five special-shaped protrusions (4012) which are tightly fitted and sealed at the bottom of the first limiting ring (402) in the sealed state gradually open to the sampling state, and perform seawater sampling; S4, stop sampling: reversely start the opening and closing drive assembly (405) to drive the convex limit rod (4043) to rotate so that the sealing assembly (401) seals the bottom of the sampling tube (5) again, and then moves to the next specified depth, and then repeats S1 until all seawater samples at the specified depth are collected; S5, sampling: pull up the main traction rope (101) to pull out the device, place the device on the top of the sampling and analysis container, and then switch the adjustment component (4) so ​​that the sampling tube (5) changes to the sampling state, take out the seawater sample and perform data analysis.

Images