Sediment analyzing and sampling system

Abstract

The invention discloses a sediment analyzing and sampling system, relates to the technical field of grab buckets of dredging manipulators, and aims to solve the problems that the sedimentation and unfolding posture of the grab bucket is unstable, the tension load of a suspension cable is relatively large, and sediment sampling and suspension cable control are complicated. According to the grab bucket type mechanical gripper, the floating body cylinder, the hanging ring base frame, the grab bucket cover, the grab bucket cavity, the matched hinge seat and the pressure relief assembly are mainly arranged, so that water flow rigid impact transmission is reduced, and the possibility that the grab bucket type mechanical gripper hovers and floats is reduced. By arranging the grab bucket covers, the grab bucket cavities and the reinforcing rib plates, the strength of internal collision of the grab bucket type mechanical claw formed by the two grab bucket covers is reduced, and the risk that a bottom mud containing space formed by the two grab bucket cavities is accidentally opened in the lifting process is reduced.

Description

Technical Field

[0001] The invention relates to the technical field of dredging manipulator grab buckets, and in particular to a sediment analysis sampling system. Background Art

[0002] One of the tasks of environmental monitoring is to use grab buckets and other mud sampling equipment to collect underwater silt for physical and chemical analysis. Since the silt is located at a relatively deep bottom of the water, workers need to expend a lot of physical strength when pulling the silt and mud sampler from the bottom of the water to the workboat. Most of the existing mud mining investigation and analysis buckets perform collection actions through automated control, and common driving methods include hydraulic power, electric drive, and fluid drive. Most of the existing dredging and collection manipulator devices are configured on carriages, ships and other navigation vehicles through suspension mechanisms. The dredging and collection mechanisms of the manipulator are mostly claw-type structures, and the common drilling type is mainly used for the analysis and collection of open-air soil or underground minerals. The suspension mechanism on the carriage, ship and other vehicles where the manipulator is installed is mainly pulleys and ropes, and the grabbing action of the automated dredging and collection manipulator is mainly driven by the retracting and unreeling mechanism to drive the rope to be retracted and released. For example, in the conventional dredging bucket mechanical claw structure, the rope drives the bucket mechanical claw to rotate around the hinged central axis through the deceleration structure, thereby driving the bucket and other dredging manipulator structures to open and close for sediment collection, dredging, etc. However, in order to adapt to the investigation and analysis of soil physical and chemical properties, the existing dredging and collection manipulators are difficult to use the conventional dredging grab bucket joint hand structure for lightweight analysis and collection work.

[0003] In the prior art, most dredging and collecting manipulators use two sets of lifting ropes to drive the lifting action and the grabbing switch action respectively. In addition, the driving conditions for the grabbing and unfolding actions of non-fully automatic dredging grab buckets and other manipulator structures are different. Usually, the unfolding action is maintained by a spring or a fixed limit structure. After the dredging bucket is pressed against the dredging surface, it is semi-automatically released, and then the grab bucket is driven by the driving components to close and collect the bottom mud. It has many accompanying electrical control components and a relatively complex structure, which makes it difficult to adapt to the requirements of stable underwater work.

[0004] For example, U.S. Patent US5649729A discloses a single-line grab system. This invention patent adjusts the grab and lifting of the bucket by the retraction and release speed of a single rope. The rope tension drives the mud grab to move through the friction of the deceleration structure. This solution may be difficult to adjust the correct posture for mud collection when the speed control is inaccurate, and the mud collection efficiency may be low. Frequent friction of the rope may easily cause fatigue damage and cause losses.

[0005] For example, French patent FR2309459A1 discloses a sinking grab, a rope-mounted mud mining grab manipulator, which drives the rotation of a pulley driven by the rope to drive the rotation of a fluid pump, thereby driving the change of a piston-type fluid chamber to complete the opening and closing action of the grab manipulator; in this technical solution, the fluid pump component that drives the grab manipulator is relatively large and complex in structure, and it may be difficult to stably perform the grabbing and opening and closing actions underwater. At the same time, the grab manipulator may be affected by buoyancy during the process of unwinding the rope and diving, resulting in an unstable posture.

[0006] For example, U.S. Patent No. 4,526,413A discloses a lifting cable system. The cable lifting system drives the integrated grab structure to rise and fall through a simple lifting rope, and controls the movement of the mud grab through a power drive and wireless signal configured on the grab. In this technical solution, the structural weight of the mud grab part may be large, and there may be high requirements on the specifications and quality of the lifting cable; in addition, unstable signal transmission may occur, resulting in unsmooth mud mining work, and when mud is mined underwater for a long time, the damage to the components may be more serious. Summary of the invention

[0007] The object of the present invention is to provide a sediment analysis sampling system to overcome the shortcomings of the prior art, such as unstable grab bucket settling and deployment posture, large suspension cable tension load, and complex mud sampling and suspension cable control.

[0008] In order to solve the above technical problems, the present invention specifically provides the following technical solutions: A sediment analysis sampling system comprises a hoisting mechanism, wherein the hoisting mechanism is dynamically connected to a hoisting rope, and a grab assembly is provided at the end of the hoisting rope. The grab assembly includes a lifting ring frame arranged at the end of the lifting rope, the other end of the lifting ring frame is hinged with a matching hinge seat, two grab covers are hinged on the matching hinge seat, the center of gravity of the two grab covers as a whole and the rotation center of the matching hinge seat are located in the same vertical plane, a grab cavity is provided in the grab cover, a float cylinder is provided at the upper end of the grab cover, a float cavity is provided in the float cylinder, a pressure relief assembly is provided in the side wall of the float cavity, and the pressure relief assembly is used to balance the float cavity and external pressure; By setting the floating cylinder, lifting ring base frame, grab cover, grab chamber, matching hinge seat and pressure relief assembly, Compared with the existing technology, the invention reduces the reliance on forced deployment structures such as springs and limit rods, reduces the complexity of components and the difficulty of grab opening and closing control, and reduces the weight of the grab mud mining mechanical claw and the cable load; improves the mechanical claw's ability to resist water flow impact and the stability of the deployment posture during the sedimentation process, improves the self-correction ability of the sedimentation posture, reduces the probability of mud mining failure caused by accidental closure of the mechanical claw, increases the sampling frequency of bottom sediment analysis, and reduces the probability of distortion of physical and chemical analysis results of sediment and other bottom sediments; improves the lightweight degree of the sediment analysis sampling system, reduces the possibility of sudden changes in cable tension, reduces the probability of the sediment analysis sampling system getting stuck, and reduces the possibility of double pendulum vibration, thereby reducing the extreme value of the eccentric load on the cable and its probability of occurrence.

[0009] Preferably, the hoisting mechanism is arranged on the lifting cantilever, the lifting cantilever is rotatably connected to the swing base, a limit handle is rotatably connected to the lifting cantilever, a limit block is fixedly connected to the upper end of the swing base, a swing limit groove is provided on the limit block, and the limit handle limits the relative rotation position of the lifting cantilever; By setting a lifting cantilever, a swing base, a limit handle and a limit block, the difficulty of adjusting the suspension posture of the sediment collection device is reduced, the risk of cable entanglement is reduced, the types of lifting postures are increased, and the risk of the grab-type sediment mechanical grabber being stuck by the limit at the bottom of the water is reduced, thereby improving the safety of use and the convenience of operation of the sediment analysis sampling system; it can reduce work fatigue damage such as cable friction and stretching, reduce the possibility of accidental leakage of the grabbed and collected soil due to the inertia impact of the water flow, and improve the integrity of the sediment analysis sampling collection.

[0010] Preferably, a reinforcing rib plate is fixedly connected inside the side wall of the grab chamber.

[0011] Preferably, the end of the reinforcing rib plate extends to the mating surface between the two grab bucket covers.

[0012] Preferably, the guiding direction of the reinforcing rib plate deviates from the hinged rotation direction of the two grab bucket covers abutting and cooperating; By setting up a grab cover, grab cavity and reinforcing ribs, the possibility of sludge slipping and leaking can be effectively reduced, the resistance to sludge collection can be reduced, the risk of the sludge holding space formed by the two grab cavities being accidentally opened during the lifting process can be reduced, the possibility of loose and fine-grained components in the sludge being dispersed can be reduced, the chaos of the contained mixture can be reduced, and the amount of sludge carried away by the leakage of the holding space can be reduced.

[0013] Preferably, the center of gravity of each of the grab cover and the reinforcing rib plate is located below the mating hinge seat and not within the mating surface between the two grab covers; By setting up a grab cover, a reinforcing rib plate and a matching articulated seat, the difficulty of collecting inclined sediment mixtures is reduced, the system can adapt to a variety of bottom environments for sediment collection, and the scope of use and convenience of use of the sediment analysis sampling system are improved.

[0014] Preferably, a floating body telescopic rod is slidably connected in the floating body cavity, the pressure on one side of the floating body cavity accommodating the floating body telescopic rod is the same as the external environmental pressure, a fluid pump is provided on the hoisting cantilever, the fluid pump is dynamically connected to a guide pipe, the end of the guide pipe is fixedly connected to a fluid input seat, the floating body telescopic rod is fixedly connected to the fluid input seat, and the guide pipe adjusts the pressure in the floating body cavity; By providing a float cavity, a float telescopic rod, a fluid pump, a guide tube and a fluid input seat, the corrosion resistance and working safety of the sediment collection system under water are improved, the structural expansion capability of the sediment analysis sampling system is improved, the convenience and reliability of interchangeable use of mechanical claw sediment collection specifications are improved, and the convenience of disassembly, assembly and maintenance of the sediment analysis sampling system and the stability of underwater sediment collection performance are improved.

[0015] Preferably, one end of the float cylinder away from the matching hinged seat is hinged on the grab cover, and one end of the float telescopic rod close to the matching hinged seat is hinged on the lifting ring base frame, and the hinge position of the float telescopic rod on the lifting ring base frame is higher than the matching hinged seat; By arranging a guide tube, a floating telescopic rod, a floating cylinder, a torque articulated seat, a grab cover and a matching articulated seat, a more stable attitude control performance and control response speed are provided, the efficiency and reliability of sediment analysis and collection are improved, the possibility of control delays leading to confusion in the sediment grabbing position is reduced, the complexity of the control components of the sediment analysis sampling system is reduced, and the dependence of the sediment analysis sampling system on wireless control signals and underwater actual environment detection is reduced.

[0016] Preferably, a traction guide mechanism is provided on the hoisting cantilever, the middle section of the hoisting rope is slidably connected in the traction guide mechanism, the traction guide mechanism guides and limits the hoisting rope, and a tension sensor is provided in the traction guide mechanism; By setting up a traction guide mechanism, a lifting rope, a traction guide mechanism and a tension sensor, the landing or limit status of the device on the bottom of the water can be effectively judged, which is convenient for timely adjustment of the opening and closing timing of the grab-type mechanical claws, thereby improving the control reliability and smoothness of the sediment analysis sampling system, reducing the control hysteresis of the opening and closing of the sediment sampling, improving the quality and efficiency of the sediment analysis sampling work, and increasing the range of terrain conditions applicable to the manipulator for sediment sampling, thereby increasing the scope of use of the sediment analysis sampling system. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the implementation methods of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for the implementation methods or the description of the prior art. Obviously, the drawings in the following description are only exemplary, and for ordinary technicians in this field, other implementation drawings can be derived from the provided drawings without creative work.

[0018] Figure 1 It is a schematic diagram of the overall structure of a sediment analysis sampling system of the present invention; Figure 2 yes Figure 1 A local enlarged schematic diagram of the middle A; Figure 3 It is a schematic diagram of the connection relationship between the grab bucket assembly and the lifting rope; Figure 4 yes Figure 3 A partial enlarged schematic diagram of point B in the middle; Figure 5 yes Figure 2 A schematic diagram of the internal structure of the middle traction guide mechanism; Figure 6 It is a top view schematic diagram of the limit block.

[0019] Figure numbers: sampling hull 10; sampling installation base 11; swing base 12; lifting cantilever 13; winch mechanism 14; lifting rope 15; limit handle 16; limit block 17; fluid pump 18; guide pipe 19; cantilever pulley assembly 20; guide suspension 21; guide slide 22; traction guide mechanism 23; guide wheel 24; guide channel 25; sensor 26; swing limit groove 27; grab assembly 30; lifting ring base 31; grab cover 32; grab cavity 33; reinforcing rib plate 34; torque hinge seat 35; float cylinder 36; float telescopic rod 37; matching hinge seat 38; float cavity 39; fluid input seat 40; pressure relief assembly 41. DETAILED DESCRIPTION

[0020] In order to have a clearer understanding of the technical features, purposes and effects of the present invention, specific embodiments of the present invention are now described with reference to the accompanying drawings.

[0021] The specific embodiments of the present invention described herein are only used to explain the purpose of the present invention and cannot be understood as limiting the present invention in any way. Under the guidance of the present invention, technicians can conceive of any possible variations based on the present invention, which should be regarded as belonging to the scope of the present invention. It should be noted that when an element is referred to as "arranged on" another element, it can be directly on another element or there can also be a central element. When an element is considered to be "connected" to another element, it can be directly connected to another element or there may be a central element at the same time. The terms "installed", "connected" and "connected" should be understood in a broad sense, for example, it can be a mechanical connection or an electrical connection, or it can be the internal communication of two elements, it can be directly connected, or it can be indirectly connected through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to the specific circumstances. The terms "vertical", "horizontal", "up", "down", "left", "right" and similar expressions used herein are only for illustrative purposes and do not represent the only implementation method.

[0022] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those generally understood by those skilled in the art to which this application belongs. The terms used herein in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0023] Embodiment 1 See attached Figure 1 To Attachment Figure 4 As shown, the present invention provides a sediment analysis sampling system, including a hoisting mechanism 14 and a hoisting boom 13, the hoisting boom 13 is arranged on a sampling hull 10 or other navigation vessel, the hoisting boom 13 is provided with a hoisting mechanism 14, the hoisting mechanism 14 is connected to a hoisting rope 15 by power, a cantilever pulley assembly 20 is provided at the end of the hoisting boom 13, the hoisting rope 15 is rotatably connected to the cantilever pulley assembly 20, the middle section of the hoisting rope 15 is slidably connected to the end of the hoisting boom 13, and a grab assembly 30 is provided at the end of the hoisting rope 15; The grab assembly 30 includes a lifting ring frame 31 arranged at the end of the lifting rope 15, and the other end of the lifting ring frame 31 is hinged with a matching hinge seat 38. The lower end of the lifting ring frame 31 is provided with two symmetrically arranged grab covers 32, and the upper ends of the two grab covers 32 are hinged with the matching hinge seat 38. The center of gravity of the two grab covers 32 as a whole and the rotation center of the matching hinge seat 38 are located in the same vertical plane. A grab cavity 33 is provided in the grab cover 32, and a floating cylinder 36 is provided at the upper end of the grab cover 32. The floating cylinder 36 and the matching hinge seat 38 are arranged on the same vertical plane. There is a gap between the articulated seat 38 in the horizontal direction. The larger the gap, the greater the moment of deflection buoyancy provided by the float cylinder 36 to the grab cover 32 relative to the articulated seat 38. A float cavity 39 is provided in the float cylinder 36. A pressure relief component 41 is provided in the side wall of the float cavity 39. The pressure relief component 41 is used to balance the float cavity 39 with the external pressure. The pressure relief component 41 can use a one-way valve to discharge the air in the float cavity 39. The air filled in the float cylinder 36 and the float cavity 39 provides buoyancy for the grab cover 32. The hoisting mechanism 14 drives the hoisting rope 15 to be reeled and unreeled, and the hoisting rope 15 slides on the cantilever pulley assembly 20. The end of the hoisting rope 15 on the lower side of the cantilever pulley assembly 20 hoists the grab assembly 30 through the lifting ring base frame 31, and the grab assembly 30 rises and falls in the water following the reeling and unreeling of the hoisting rope 15; the float cavity 39 is pre-filled with gas to provide buoyancy. During the descent of the grab assembly 30, the pressure relief assembly 41 can be optionally configured as an adjustable one-way conduction control valve. The float cylinder 36 and the matching articulated seat 38 are spaced apart in the horizontal direction. The float cylinder 36 and the float cavity 39 arranged on the grab cover 32 provide the grab cover 32 with buoyancy for deflection around the matching articulated seat 38 as a whole; During the sinking process of the grab bucket assembly 30, the buoyancy provided by the float cylinder 36 causes the two grab bucket covers 32 to deflect upward around the matching hinge seat 38, keeping the grab bucket chamber 33 in an open state facing downward. The side wall of the grab bucket chamber 33 is provided with an exhaust hole, which can adapt to the stable sinking of the grab bucket assembly 30 as a whole driven by the lifting rope 15; according to the isotropy of the hydrostatic pressure, until the grab bucket cover 32 drops to the preset position, the pressure relief assembly 41 is subjected to the pressure of the external water flow, thereby opening the pressure balance channel between the float chamber 39 and the outside, so that The gas pre-filled in the buoy cavity 39 is released; then, under the weight of the grab assembly 30, the two grab covers 32 are centripetally moved together around the matching hinge seat 38, and the bottom mud on the lower side is grabbed during the docking process. Under the weight of the grab covers 32, the two grab covers 32 are kept in contact with each other to keep the grabbed bottom mud stable. The grab mud mining manipulator composed of the two grab covers 32 carries the bottom mud and is lifted and stored on the ship along with the winding of the lifting rope 15, thereby completing the bottom mud analysis and collection work; By arranging the float cylinder 36 and the float cavity 39 on the grab cover 32, the grab assembly 30 formed by the two grab covers 32 and the lifting ring base frame 31 follows the unwinding and descending of the lifting rope 15. The buoyancy provided by the float cylinder 36 balances part of the deadweight, so that the grab assembly 30 remains in the unfolded state during the descent; when the grab assembly 30 sinks to the set depth, the pressure relief assembly 41 is turned on under the control of the increased water pressure, thereby releasing the gas in the float cavity 39, releasing the balancing buoyancy on the grab cover 32, and the two mechanical claws formed on the grab cover 32 deflect around the matching hinge seat 38, and then move to The bottom mud is collected and contained in the grab bucket cavity 33 by centering and abutting against each other, so as to complete the bottom mud grabbing; by setting the float cylinder 36, the float cavity 39 and the grab bucket cover 32, the gravity component of the two grab bucket covers 32 provides the grab bucket cover 32 with a torque to deflect downward around the matching hinge seat 38 and approach the docking. After the float cavity 39 is filled with gas, the buoyancy component provided by the float cylinder 36 and the float cavity 39 provides the grab bucket cover 32 with a torque to deflect upward around the matching hinge seat 38, balancing the torque to approach the docking and making the two grab bucket cavities 33 expand around the matching hinge seat 38 as the center, thereby opening the downward opening of the grab bucket cavity 33, so that the two The grab bucket type mechanical claw formed by the grab bucket cover 32 remains in an open state during the sedimentation process; compared with the prior art, it reduces the reliance on the configuration of springs, limit rods and other forced deployment structures, reduces the complexity of components and the difficulty of grab bucket opening and closing control, reduces the weight of the grab bucket mud mining type mechanical claw and the cable load, thereby reducing the suspension requirements for the winch cable and the winch motor, etc.; in the sedimentation and mud mining process, the grab bucket type manipulator can always maintain the mud mining deployment state under the action of buoyancy, improves the mechanical claw's resistance to water flow impact during the sedimentation process and the stability of the deployment posture, and improves the self-correction ability of the sedimentation posture. The probability of failure of mud collection due to accidental closure of the mechanical claw is reduced, and the possibility of suspension and floating of the grab-type mechanical gripper is reduced; the modification cost of the existing grab-type mechanical claw mud sampler is low, the accuracy of the mud collection mechanical claw sedimentation device is improved, the sediment collection accuracy is improved, the investment cost and weight of the mud collection grab are reduced, the complexity of the sediment sampling structure is reduced, the possibility of infiltration and corrosion of the sampling system is reduced, the durability of sediment analysis sampling is improved, the stability of the sediment collection sedimentation direction and sedimentation speed is improved, the sediment analysis sampling frequency is increased, and the probability of distortion of the results of sediment and other sediment physical and chemical analyses is reduced; When the grab cover 32 is impacted by water flow during the sedimentation process, under the buoyancy provided by the float cylinder 36, the grab cover 32 can swing around the matching hinge seat 38 to buffer the impact kinetic energy transmitted to the cable, thereby reducing the requirements of the sediment sampling system for the specifications and wear resistance of the lifting cable, improving the lightweight degree of the sediment analysis sampling system, and improving the scope of use and convenience of use of the sediment collection device; the buoyancy provided by the float cylinder 36 and the float cavity 39 can buffer a part of the water flow impact on the mechanical claw, reduce the probability of the mechanical claw transmitting the water flow impact to the cable, and reduce the possibility of sudden changes in the cable tension. At the same time, the articulated active sedimentation balance provided by the buoyancy can reduce the swing dead point of the grab-type sediment analysis sampling system, reduce the probability of the sediment analysis sampling system getting stuck, and reduce the possibility of double pendulum vibration, thereby reducing the extreme value of the eccentric load on the cable and its probability of occurrence, thereby improving the service life of the cable system of the sediment analysis sampling device and improving the safety of the equipment.

[0024] See attached Figure 1 , Attachment Figure 2 And attached Figure 6 As shown, the hoisting mechanism 14 is arranged on the lifting cantilever 13, and the lifting cantilever 13 is rotatably connected to the swing base 12. The lifting cantilever 13 can rotate relatively around the swing base 12. The lifting cantilever 13 is rotatably connected to the limit handle 16, and the upper end of the swing base 12 is fixedly connected to the limit block 17. The limit block 17 is provided with a swing limit groove 27. The limit handle 16 can limit the relative rotation position of the lifting cantilever 13 on the swing base 12 through the swing limit groove 27 on the limit block 17; A sampling installation base 11 is fixedly installed on the sampling hull 10, and a swing base 12 is fixedly connected to the sampling installation base 11 through a detachable structure. A lifting cantilever 13 is rotatably connected to the upper end of the swing base 12, and the far end of the lifting cantilever 13 deviates from the sampling hull 10. The grab assembly 30 moves on the water surface following the swing base 12 and the sampling hull 10, and the hoisting mechanism 14 drives the lifting rope 15 to reel in and unreel to drive the grab assembly 30 to collect mud in the water. During the mud collection process, the lifting cantilever 13 can be driven by the limit handle 16 to rotate and adjust the mud collection docking position on the swing base 12; By setting a limit handle 16 to drive the lifting cantilever 13 to rotate relative to the swing base 12, the placement angle and docking area of ​​the lifting cantilever 13 relative to the sampling hull 10 are adjusted, thereby changing the tension path transmitted from the lifting cantilever 13 to the grab bucket assembly 30 through the lifting rope 15, and coordinating with the radial winding and unwinding speed of the lifting rope 15, the difficulty of adjusting the suspension posture of the sediment collection device is reduced, the risk of cable entanglement is reduced, the lifting posture categories of the grab bucket assembly 30 can be increased, and the risk of the grab bucket-type bottom mud mechanical gripper being limited and stuck at the bottom of the water is reduced, thereby improving the safety and convenience of operation of the sediment analysis sampling system; In addition, when controlling the lifting and lowering of the grab bucket assembly 30 in waters with a large water flow impact speed, in the case where the lifting speed jumps due to a sudden water flow impact, the limit handle 16 can be released in the limit block 17, and then the limit handle 16 drives the lifting cantilever 13, the hoisting mechanism 14 and the lifting rope 15 to rotate relatively on the swing base 12 as a whole, thereby controlling the pulling direction of the lifting rope 15 on the grab bucket assembly 30 in the water on the lower side of the cantilever pulley assembly 20, thereby reducing the duration of the sudden change in the tension of the lifting rope 15 caused by the lifting speed jump of the grab bucket assembly 30, providing a moving range of buffering kinetic energy for the grab bucket assembly 30 to resist the water flow impact, reducing working fatigue damage such as cable friction and stretching, further improving the service life and safety of the cable, and at the same time, reducing the possibility of accidental leakage of the soil captured and collected by the grab bucket mechanical claw through the grab bucket cover 32 due to the inertial impact of the water flow, thereby improving the integrity of the sediment analysis sampling collection.

[0025] See attached Figure 3 As shown, a reinforcing rib plate 34 is fixedly connected to the side wall of the grab chamber 33; The end of the reinforcing rib plate 34 extends to the mating surface between the two grab covers 32, and the reinforcing rib plate 34 provides the two grab covers 32 with a joint grabbing torque for rotational abutment around the mating hinge seat 38; The grab bucket assembly 30, the hoisting rope 15 and the hoisting mechanism 14 are lightweight, and the thickness of the side wall of the grab bucket cavity 33 is relatively reduced. The strength of the grab bucket cover 32 can be improved by providing a reinforcing rib plate 34. The reinforcing rib plate 34 assists the grab bucket cover 32 in scraping the bottom mud, reducing the compressive strength of grabbing and collecting the relatively hard surface mud. At the same time, the grab bucket cavity 33 can be divided into a plurality of intervals of bottom mud receiving spaces, which can effectively reduce the possibility of bottom mud sliding and leaking during the closing and grabbing process of the grab bucket cover 32, thereby improving the efficiency and accuracy of bottom mud collection; In addition, when the two grab covers 32 are relatively close to each other to grab the bottom mud, the reinforcing rib plate 34 is toward the end of the mating surface direction of the two grab covers 32. The reinforcing rib plate 34 can assist in breaking up the bottom mud blocks in the process of scraping the bottom mud off the side wall of the mating end of the grab cover 32, thereby reducing the resistance to bottom mud collection and reducing the difficulty of grabbing the bottom mud.

[0026] The guiding direction of the reinforcing rib plate 34 in the grab bucket cavity 33 deviates from the hinged rotation direction of the two grab bucket covers 32 abutting against each other; When the two grab covers 32 approach each other, the bottom mud is scraped by the side wall of the grab chamber 33 at the lower end of the grab covers 32 and collected into the grab chamber 33. At this time, when the bottom mud enters the grab chamber 33, the bottom mud close to the side wall of the grab chamber 33 is guided by the reinforcing rib plate 34 into the grab chamber 33 and separated into multiple areas for storage. The reinforcing rib plate 34 isolates the mutual collision vibration between the bottom mud and the water mixture contained in each area, reduces the mutual transmission vibration between the bottom mud contained in the grab chamber 33 and the grab cover 32, and the interaction between the vibration of the grab cover 32 impacted by the water flow and the flow and shaking of the mixture in the grab chamber 33 is more stable, thereby improving the stability of the bottom mud collection and lifting process, reducing the strength of the internal collision of the grab-type mechanical claws formed by the two grab covers 32, reducing the risk of accidental opening of the bottom mud storage space formed by the two grab chambers 33 during the lifting process, and further improving the completeness of the bottom mud collection; In addition, the guiding angle of the reinforcing rib plate 34 is different from the relative rotation angle of the two grab bucket covers 32. In the process of scraping and collecting the bottom mud by the side wall of the lower end of the grab bucket cover 32, the thrust of the water body and bottom mud mixture generated by the relative contact process of the grab bucket cavity 33 is guided by the reinforcing rib plate 34, and the path length of the water body and bottom mud in the grab bucket cavity 33 is increased, the intensity of the bottom mud being washed by the thrust of the side wall of the grab bucket cavity 33 is reduced, and the possibility of loose and fine particles in the bottom mud being dispersed is reduced, thereby further improving the integrity of the bottom mud collection. In conjunction with the fluid leakage holes set in the side walls of the grab bucket cavity 33, the water body in the upper layer of the grab bucket cavity 33 can be squeezed out of the containing space formed by the two grab bucket cavities 33, thereby reducing the chaos of the contained mixture, reducing the amount of bottom mud carried away by the leakage of the containing space, and improving the efficiency of sediment analysis and collection work.

[0027] The center of gravity of each of the grab cover 32 and the reinforcing rib plate 34 is located below the mating hinge seat 38 and is not within the mating surface between the two grab covers 32; During the relative rotation of the grab cover 32 and the reinforcing rib plate 34 on one side around the matching hinge seat 38, the center of gravity deviates from the vertical direction of the matching hinge seat 38. The two parts of the grab cover 32 and the reinforcing rib plate 34 hinged on the matching hinge seat 38 can independently swing around the matching hinge seat 38 under the action of external force or the buoyancy provided by the float cylinder 36 on each side. When only one side of the grab cover 32 lands, it swings around the matching hinge seat 38 during the lifting process of the hoisting rope 15 or under the action of the grab cover 32's own weight, thereby independently scraping the bottom mud on the landing side, and when the grab cover 32 on this side rotates close to the matching hinge seat 38, it drives the water flow and bottom mud mixture to move toward the direction of the grab chamber 33 that has not landed. The bottom mud collection work can be completed on the complex bottom terrain surface, reducing the difficulty of collecting the inclined mud and sand mixture, and can adapt to a variety of bottom environments for bottom mud collection, thereby improving the scope of use and convenience of the mud and sand analysis sampling system.

[0028] See attached Figure 1 , Attachment Figure 3 And attached Figure 4 As shown, a floating body telescopic rod 37 is slidably connected in the floating body cavity 39, and the pressure on one side of the floating body cavity 39 accommodating the floating body telescopic rod 37 is the same as the external environmental pressure. A fluid pump 18 is provided on the lifting cantilever 13, and the fluid pump 18 is dynamically connected to a flow guide pipe 19, and a fluid input seat 40 is fixedly connected to the end of the flow guide pipe 19. The fluid input seat 40 is fixedly connected in the floating body telescopic rod 37, and the flow guide pipe 19 adjusts the pressure in the floating body cavity 39 through the fluid input seat 40; The guide pipe 19 is wound around the lifting boom 13, and is installed and guided to the telescopic rod 37 of the float through the guide suspension 21 fixed on the lifting boom 13 and the guide slide 22 slidably connected to the lifting rope 15. The fluid pump 18 pumps the compressed gas through the guide pipe 19 and pumps it into the float cavity 39. The float cavity 39 can be filled with gas in time by the fluid pump 18, so as to adjust the volume of the water body displaced by the float cylinder 36 underwater, so as to adjust the buoyancy provided by the float cylinder 36 to the grab cover 32, and can adjust the deployment posture stability between the two grab covers 32 during the diving process at various depths; according to actual needs, the pressure relief assembly 41 can select an adjustable pressure relief valve assembly at this time, and the compressed gas in the float cavity 39 is discharged through the pressure relief assembly 41 after the grab cover 32 collects mud, so as to remove the buoyancy provided by the float cylinder 36, and the grab cover 32 can scrape and collect the bottom mud under the action of the counterweight; The water pressure at different sedimentation depths is different. At this time, the adjustable pressure relief valve assembly provided at the pressure relief assembly 41 sets different pressure relief conduction conditions according to actual conditions. When the grab assembly 30 with different grabbing amounts is replaced on the articulated seat 38, the buoyancy provided by the float cylinder 36 can be adjusted in time, and the pressure relief opening and closing of the pressure relief assembly 41 can be coordinated to realize the expansion and grasping action of the mud mining manipulator during the grab, and at the same time, it is lifted and lowered under the traction of the hoisting rope 15 to complete the sediment analysis sampling work; By arranging a slidably connected floating telescopic rod 37 and a guide tube 19 driven by a fluid pump 18 in the floating cavity 39, the buoyancy provided by the floating cylinder 36 can be adjusted in time, thereby improving the corrosion resistance and working safety of the bottom sediment collection system underwater, and improving the service life and application range of the sediment analysis sampling system; In addition, according to the adjustable buoyancy provided by the float cylinder 36, grab covers 32 of different specifications can be replaced in time according to actual needs for mud mining. At the same time, the lifting cantilever 13, the winch mechanism 14 and the traction of the lifting rope 15 can be used to realize the replacement and use of grab-type mud mining mechanical claws of different specifications, thereby improving the structural expansion capability of the sediment analysis and sampling system, improving the convenience and reliability of interchangeable use of mechanical claws for mud mining, and improving the convenience of disassembly, assembly and maintenance of the sediment analysis and sampling system and the stability of underwater mud mining performance.

[0029] One end of the float cylinder 36 away from the matching hinge seat 38 is hinged on the grab cover 32, and one end of the float telescopic rod 37 close to the matching hinge seat 38 is hinged on the lifting ring base frame 31. The hinge position of the float telescopic rod 37 on the lifting ring base frame 31 is higher than the matching hinge seat 38. At this time, the float cavity 39 can be filled with gas or fluid such as pressure oil according to actual conditions. At the same time, the pressure relief component 41 can use a relief valve component or a one-way valve component structure that can be sealed and closed. The compressed gas pumped into the float cavity 39 by the fluid pump 18 through the guide pipe 19 and the fluid input seat 40 drives the float telescopic rod 37 to slide in the float cavity 39, thereby adjusting the volume of the water body displaced by the float cavity 39, providing an adjustable buoyancy for the grab cover 32; When compressed gas is injected into the float cavity 39 through the guide tube 19 and maintained, the buoyancy provided by the float cavity 39 overcomes the resistance of a part of the hoisting rope 15 to lift the grab assembly 30, thereby increasing the lifting speed of the grab mud mining device and improving the speed and reliability of sediment analysis and collection; at the same time, the compressed gas pushes the float cylinder 36 to slide on the float telescopic rod 37 in a direction away from the matching hinge seat 38, so that the float cylinder 36 drives the grab cover 32 hinged to the torque hinge seat 35 to move toward the centripetal through the torque hinge seat 35, thereby completing the bottom mud grabbing and collection and position grabbing state; When the fluid in the float cavity 39 is discharged through the guide pipe 19 or the pressure relief assembly 41, the float cylinder 36 slides relative to the float telescopic rod 37 toward the matching hinge seat 38. At this time, the float cylinder 36 drives the grab cover 32 hinged at the float cylinder 36 and the torque hinge seat 35 to maintain the unfolded posture through the torque hinge seat 35, which can maintain the stability of the unfolded posture of the grab assembly 30 during the sedimentation process; By arranging the guide tube 19, the floating telescopic rod 37, the floating cylinder 36, the torque articulated seat 35, the grab cover 32 and the matching articulated seat 38, the expansion and grasping actions of the grab-type mud mining manipulator can be completed under the forced drive of the guide tube 19, providing more stable posture control performance and control response speed, improving the efficiency and reliability of sediment analysis and collection work, reducing the possibility of control delay leading to confusion of sediment grabbing position, reducing the complexity of the sediment analysis sampling system control components, reducing the dependence of the sediment analysis sampling system on wireless control signals and underwater actual environment detection, and reducing the cost and collection difficulty of sediment sampling work.

[0030] See attached Figure 1 , Attachment Figure 2 And attached Figure 5 As shown, a traction guide mechanism 23 is provided on the hoisting cantilever 13, and the middle section of the hoisting rope 15 is slidably connected in the traction guide mechanism 23. The traction guide mechanism 23 guides and limits the hoisting rope 15, and a tension sensor is provided in the traction guide mechanism 23; A guide wheel 24 adapted to the diameter of the hoisting rope 15 may be provided in the traction guide mechanism 23, and a guide channel 25 is provided on the guide wheel. The guide channel 25 guides and limits the hoisting rope 15. The traction guide mechanism 23 is provided with a sensor 26. The sensor 26 detects and feedbacks the tension state on the hoisting rope 15. During the sinking process of the grab assembly 30, when the grab cover 32 lands, the grab cover 32 drives the float cylinder 36 to slide relative to the float telescopic rod 37 through the torque hinge seat 35, thereby changing the air pressure change in the float cavity 39. At the same time, in conjunction with the cable tension fed back by the tension sensor on the lifting rope 15, the landing conditions at the positions of the two grab covers 32 can be obtained, which can effectively judge the landing or limit conditions of the device at the bottom of the water, facilitate timely adjustment of the opening and closing timing of the grab mechanical claw, improve the control reliability and smoothness of the sediment analysis sampling system, reduce the control hysteresis of the opening and closing of the sediment sampling, and improve the quality and efficiency of the sediment analysis sampling work; In addition, according to the pressure changes in the float cavity 39 and the tension information fed back by the sensor on the lifting rope 15, the rotation position of the two grab covers 32 relative to the articulated seat 38 can be independently controlled, thereby improving the range of terrain conditions applicable to mud mining by the manipulator and improving the scope of use of the sediment analysis sampling system.

[0031] The above description is only an illustrative embodiment of the present invention and is not intended to limit the scope of the present invention. Any equivalent changes made by a person skilled in the art without departing from the concept and principle of the present invention shall fall within the scope of protection of the present invention.

Claims

1. A sediment analysis sampling system, comprising a hoisting mechanism (14), wherein the hoisting mechanism (14) is dynamically connected to a hoisting rope (15), and a grab bucket assembly (30) is provided at the end of the hoisting rope (15), characterized in that: The grab assembly (30) comprises a lifting ring frame (31) arranged at the end of the lifting rope (15), the other end of the lifting ring frame (31) is hinged with a matching hinge seat (38), two grab covers (32) are hinged on the matching hinge seat (38), the center of gravity of the two grab covers (32) as a whole and the rotation center of the matching hinge seat (38) are located in the same vertical plane, a grab chamber (33) is provided in the grab cover (32), a float cylinder (36) is provided at the upper end of the grab cover (32), a float chamber (39) is provided in the float cylinder (36), a pressure relief assembly (41) is provided in the side wall of the float chamber (39), and the pressure relief assembly (41) is used to balance the float chamber (39) and external pressure.

2. A sediment analysis sampling system as claimed in claim 1, characterized in that: The hoisting mechanism (14) is arranged on the lifting cantilever (13); the lifting cantilever (13) is rotatably connected to the swing base (12); a limit handle (16) is rotatably connected to the lifting cantilever (13); a limit block (17) is fixedly connected to the upper end of the swing base (12); a swing limit groove (27) is provided on the limit block (17); and the limit handle (16) limits the relative rotation position of the lifting cantilever (13).

3. A sediment analysis sampling system as claimed in claim 1, characterized in that: A reinforcing rib plate (34) is fixedly connected to the side wall of the grab bucket cavity (33).

4. A sediment analysis sampling system as claimed in claim 3, characterized in that: The end of the reinforcing rib plate (34) extends to the mating surface between the two grab covers (32).

5. A sediment analysis sampling system as claimed in claim 3, characterized in that: The guiding direction of the reinforcing rib plate (34) deviates from the hinged rotation direction of the two grab bucket covers (32) in abutment with each other.

6. A sediment analysis sampling system as claimed in claim 1, characterized in that: The center of gravity of each of the grab cover (32) and the reinforcing rib plate (34) is located below the mating hinge seat (38) and is not within the mating surface between the two grab covers (32).

7. A sediment analysis sampling system as claimed in claim 6, characterized in that: The float cavity (39) is slidably connected to a float telescopic rod (37), the pressure on one side of the float cavity (39) accommodating the float telescopic rod (37) is the same as the external environmental pressure, the lifting cantilever (13) is provided with a fluid pump (18), the fluid pump (18) is kinetically connected to a flow guide tube (19), the end of the flow guide tube (19) is fixedly connected to a fluid input seat (40), the float telescopic rod (37) is fixedly connected to the fluid input seat (40), and the flow guide tube (19) adjusts the pressure in the float cavity (39).

8. A sediment analysis sampling system as claimed in claim 7, characterized in that: One end of the float cylinder (36) away from the mating hinge seat (38) is hinged to the grab cover (32), and one end of the float telescopic rod (37) close to the mating hinge seat (38) is hinged to the lifting ring base (31). The hinge position of the float telescopic rod (37) on the lifting ring base (31) is higher than the mating hinge seat (38).

9. A sediment analysis sampling system as claimed in claim 6, characterized in that: The hoisting cantilever (13) is provided with a traction guide mechanism (23), the middle section of the hoisting rope (15) is slidably connected in the traction guide mechanism (23), the traction guide mechanism (23) guides and limits the hoisting rope (15), and a tension sensor is provided in the traction guide mechanism (23).

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