Automatic water quality sample collection system for shipborne underway monitoring

Abstract

The invention belongs to the technical field of ecological environment monitoring, and provides a shipborne automatic water quality sample collection system for underway monitoring, which comprises a sampling cabin fixedly mounted in a ship body, an arc-shaped window is formed in the front side of the sampling cabin, and a bearing table is arranged in the sampling cabin; the bearing table is provided with a storage area close to the arc-shaped window and a liquid injection area far away from the arc-shaped window; the storage area is provided with a plurality of sample bottle placing grooves which are distributed at intervals in a fan shape, the liquid injection area is provided with cleaning cylinders and liquid injection groove positions which are distributed at intervals, and the liquid injection area is further provided with a movable liquid injection mechanism and a mechanical arm with a clamping mechanism arranged at the tail end, so that the sample bottles located in the placing grooves are conveyed to the liquid injection groove positions for liquid injection and sampling. According to the automatic water quality sample collection system for shipborne underway monitoring, automatic sampling and sample preparation of the water quality sample can be completed, manual sample loading and sample preparation are not needed, and the efficiency of water quality sample collection operation and underway monitoring is improved.

Description

Technical Field

[0001] The invention belongs to the technical field of ecological environment monitoring, and in particular relates to an automatic water quality sample collection system for shipborne underway monitoring. Background Art

[0002] At present, in the process of ecological environment monitoring, underway monitoring is usually used to sample and prepare water bodies in designated different waters, so as to obtain corresponding ecological environment monitoring data through subsequent test analysis of water quality samples. However, existing environmental monitoring ships often use manual sampling and sample preparation in the process of water quality sample sampling. The steps are cumbersome and repetitive, resulting in a time-consuming and labor-intensive process, low efficiency, and not conducive to the efficient implementation of underway monitoring. In addition, when sampling water quality samples from different areas, the internal pipes and devices of the sampling system need to be fully cleaned to avoid cross-contamination of water quality samples from different areas. During the manual sampling and sample preparation operation, there is often a phenomenon of forgetting to clean the sampling system, which affects the accuracy of water quality sample sampling and monitoring results.

[0003] Therefore, it is necessary to design an automatic water quality sample collection system for shipborne underway monitoring that can at least solve some of the above problems and defects. Summary of the Invention

[0004] In order to solve the above technical problems, the present invention proposes an automatic water quality sample collection system for ship-borne underway monitoring, which can automatically sample and prepare water quality samples without the need for manual sample loading and preparation, thereby improving the efficiency of water quality sample collection operations and underway monitoring.

[0005] The technical solution of the present invention is: The present invention proposes an automatic water quality sample collection system for shipboard underway monitoring, comprising a sampling cabin fixedly installed in the hull, a curved window being provided on the front side of the sampling cabin, a carrying platform being provided inside the sampling cabin, and a storage area being arranged near the curved window and a liquid injection area being arranged away from the curved window; The storage area is provided with several sample bottle placement slots arranged in a fan shape, the injection area is provided with cleaning cylinders and injection slots arranged in an interval, and the injection area is also provided with a movable injection mechanism and a manipulator with a clamping mechanism at the end to transport the sample bottles in the placement slots to the injection slots for injection and sampling.

[0006] Preferably, the liquid injection mechanism includes a liquid injection platform that is reciprocally movable and arranged on the supporting platform, and a lifting frame that is longitudinally movable and arranged on the liquid injection platform; The lifting frame is provided with a liquid injection needle tube which is vertically fixedly connected thereto, and the liquid injection needle tube is located above the cleaning cylinder and the liquid injection slot.

[0007] Preferably, the injection area is also provided with a sample liquid cache cylinder and a cleaning liquid storage cylinder fixedly arranged on the supporting platform. The sample liquid cache cylinder and the cleaning liquid storage cylinder are connected to the injection needle through an infusion pipeline, and the infusion pipeline is a three-way pipeline provided with a three-way valve.

[0008] Preferably, the supporting platform is provided with a displacement groove adapted to the injection platform, and the injection platform is reciprocally movable in the displacement groove to drive the injection needle to move to the cleaning cylinder or directly above the injection groove.

[0009] Preferably, the injection mechanism further comprises a photographing assembly fixedly arranged on the injection platform, and the photographing assembly is arranged at an angle and faces the injection needle tube.

[0010] Preferably, the clamping mechanism includes a motor frame fixedly arranged at the bottom of the end of the manipulator, a transmission gear box fixedly arranged at the bottom of the motor frame, and a left bottle clamp, a right bottle clamp, a left cover clamp and a right cover clamp movably arranged at the bottom of the transmission gear box; A bottle clamp driving motor connected to the left bottle clamp and the right bottle clamp through the transmission gear box, and a cover clamp driving motor connected to the left cover clamp and the right cover clamp through the transmission gear box are fixedly arranged in the motor frame.

[0011] Preferably, the transmission gearbox includes an upper transmission layer located at the top and a lower transmission layer located at the bottom, wherein the upper transmission layer is provided with a bottle clamp driving gear meshingly connected to the output shaft of the bottle clamp driving motor, and the lower transmission layer is provided with a cover clamp driving gear meshingly connected to the output shaft of the cover clamp driving motor; The left bottle clamp and the right bottle clamp are both provided with a bottle clamp rack meshingly connected to the bottle clamp driving gear, and the left cover clamp and the right cover clamp are both provided with a cover clamp rack meshingly connected to the cover clamp driving gear.

[0012] Preferably, the left bottle clamp and the right bottle clamp are both provided with a bottle clamp block connected to the bottle clamp rack, and the bottle clamp block is provided with a clamping groove adapted to the neck of the sample bottle; The left cover clamp and the right cover clamp are both provided with a cover clamp block connected to the cover clamp rack, and two clamping rollers arranged longitudinally and spaced apart and rotatably connected to the cover clamp block are provided on the inner side of the cover clamp block, and the distance between the two clamping rollers is smaller than the outer diameter of the sample bottle cap.

[0013] Preferably, the clamping mechanism further comprises a cover twisting unit fixedly arranged on the left cover clamp and / or the right cover clamp; The cover twisting unit includes a cover twisting drive motor fixedly arranged on the cover clamping block, and the cover twisting drive motor is connected to at least one of the clamping rollers.

[0014] The present invention has the following advantages and effects compared to the prior art: (1) A manipulator equipped with several sample bottle placement slots and a clamping mechanism is used. The manipulator can clamp the sample bottle and place it in the liquid injection slot to automatically complete the liquid injection sampling. After the sampling is completed, the sample bottle containing the water quality sample is returned to the placement slot. The sampling and sample preparation of the water quality sample in the designated area can be automatically completed without manual operation, thereby improving the efficiency of water quality sample collection and sampling and sample preparation; (2) The cleaning cylinder and injection slots are arranged at intervals, and a movable injection mechanism is used to ensure that after each water sample is taken, the injection mechanism will automatically complete self-cleaning in the cleaning cylinder to ensure the accuracy of water sample sampling and avoid cross contamination between water samples; (3) A clamping mechanism including a left bottle clamp, a right bottle clamp, a left cover clamp and a right cover clamp is used to clamp and fix the bottle body and the bottle cover of the sample bottle respectively, so that the bottle cover of the sample bottle can be removed during the liquid injection and sampling process, and the bottle cover of the sample bottle can be covered on the bottle body after the sampling is completed. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 Schematic diagram of the structure of the automatic water quality sample collection system for shipborne underway monitoring in an embodiment of the present invention; Figure 2 for Figure 1 Schematic diagram of the enlarged structure at position A in the middle; Figure 3 for Figure 1 Schematic diagram of the enlarged structure at position B in the middle; Figure 4 Schematic diagram of the structure of the clamping mechanism in the automatic water quality sample collection system for shipborne underway monitoring according to an embodiment of the present invention (the transmission gearbox is partially cut away to facilitate the display of the internal structure); Figure 5 for Figure 4 Schematic diagram of the enlarged structure at position C in the middle.

[0016] Figure numerals: 1, sampling cabin; 11, curved window; 2, carrying platform; 21, placement tank; 22, cleaning cylinder; 23, injection tank; 24, shifting tank; 3, injection mechanism; 31, injection platform; 32, lifting frame; 33, injection needle; 34, shooting assembly; 4, clamping mechanism; 41, motor frame; 42, transmission gear box; 421, upper transmission layer; 422, lower transmission layer; 423, bottle clamp drive gear; 424, cover clamp drive gear Wheel; 4241, main drive gear; 4242, secondary drive gear; 43a, left bottle clamp; 43b, right bottle clamp; 44a, left cap clamp; 44b, right cap clamp; 45, bottle clamp rack; 46, cap clamp rack; 47, bottle clamp block; 471, clamping groove; 48, cap clamp block; 481, clamping roller; 49, capping unit; 491, capping drive motor; 5, manipulator; 6, sample solution buffer cylinder; 7, cleaning solution storage cylinder; 8, sample bottle. DETAILED DESCRIPTION

[0017] In order to make those skilled in the art better understand the present invention, the present invention will be further described in conjunction with specific embodiments. It should be understood that the specific embodiments described herein are only used to illustrate and explain the present invention and are not intended to limit the present invention.

[0018] Example: like Figure 1 As shown, the present invention provides an automatic water quality sample collection system for shipboard underway monitoring, which includes a sampling cabin 1 fixedly installed in the hull cabin. The sampling cabin 1 is provided with an arc-shaped window 11 and a transparent window movably arranged at the arc-shaped window 11 on the front side. The arc-shaped window 11 can be opened by sliding the transparent window to facilitate the test personnel to take the sample bottle 8 after sampling or place the empty sample bottle 8. A supporting platform 2 is provided inside the sampling cabin 1. The supporting platform 2 is provided with a storage area (front arc-shaped area) arranged near the arc-shaped window 11 and a liquid injection area arranged away from the arc-shaped window 11. The front storage area of the supporting platform 2 is provided with a plurality of placement slots 21 for placing sample bottles 8, and the plurality of placement slots 21 are arranged in a fan-shaped interval.

[0019] The rear injection area of the support platform 2 is provided with a rotatable manipulator 5 mounted on the support platform 2. The manipulator 5 is located in the injection area away from the curved window 11. The manipulator 5 can be a manipulator 5 with three, four, five, or six axes of freedom, so that the manipulator 5 can freely grasp the sample bottles 8 in the multiple placement slots 21 on the support platform 2 as needed. Since the manipulator is a mature existing technology, its specific structure and principle will not be described in detail here. The distal end of the manipulator 5 is provided with a gripping mechanism 4 connected thereto to move the empty sample bottle in the placement slot 21 to the rear sampling position for injection of the sample liquid, and to move the sample bottle 8 after injection of the sample liquid to the corresponding original placement slot 21.

[0020] Combine Figure 1 and Figure 2 As shown, the liquid injection area on the rear side of the carrier 2 is provided with a liquid injection mechanism 3 that can move back and forth left and right. At the same time, the liquid injection area of the carrier 2 is also provided with a cleaning cylinder 22 and a liquid injection slot 23 arranged laterally at intervals. The cleaning cylinder 22 and the liquid injection slot 23 are located on the front side of the liquid injection mechanism 3. The cleaning cylinder 22 stores cleaning liquid to clean the outer wall of the liquid injection mechanism 3. The liquid injection slot 23 is adapted to the sample bottle 8 to place the sample bottle 8 for liquid injection and sampling.

[0021] refer to Figure 2 As shown, the liquid injection mechanism 3 includes a liquid injection platform 31 that is mounted on the carrier 2 and can reciprocate left and right, and a lifting frame 32 that is mounted on the liquid injection platform 31 and can move longitudinally. The liquid injection area of the carrier 2 is provided with a transverse displacement groove 24, and the liquid injection platform 31 is mounted within the displacement groove 24 and can reciprocate left and right. The liquid injection mechanism 3 also includes a liquid injection needle 33 that is vertically fixed to the lifting frame 32. The liquid injection needle 33 is located directly above the cleaning cylinder 22 and the liquid injection groove 23. During the longitudinal movement of the lifting frame 32, the liquid injection needle 33 can be inserted into the cleaning cylinder 22 for cleaning or into the sample bottle 8 placed in the liquid injection groove 23 for liquid injection and sample preparation. Specifically, the liquid filling platform 31 is fixedly provided with a connected longitudinal drive screw and a longitudinal drive motor (not shown in the figure), and the lifting frame 32 is movably sleeved on the outer periphery of the longitudinal drive screw and is threadedly connected thereto to realize the longitudinal reciprocating motion of the lifting frame 32; a transverse drive motor (not shown in the figure) is embedded in the supporting platform 2, and a transversely arranged transverse drive screw is provided inside the shift groove 24, and the transverse drive screw is connected to the output shaft of the transverse drive motor. A transverse slider fixedly connected thereto is provided at the bottom of the liquid filling platform 31, and the transverse slider is movably sleeved on the outer periphery of the transverse drive screw and is threadedly connected thereto to realize the transverse reciprocating motion of the liquid filling platform 31.

[0022] Furthermore, the rear injection area of the carrier 2 is provided with a sample buffer 6 and a cleaning liquid storage cylinder 7, which are connected to the injection needle 33 of the injection platform 31 via an infusion line (not shown). The sample buffer 6 is connected to the water quality sampling port of the ship's hull to buffer water quality samples extracted during the navigation monitoring process. The cleaning liquid storage cylinder 7 stores cleaning liquid for cleaning the infusion line and the sample buffer 6. The sample buffer 6 and the cleaning liquid storage cylinder 7 are both fixedly mounted on the carrier 2. Specifically, the injection needle 33 is connected to the sample buffer 6 and the cleaning liquid storage cylinder 7 via the infusion line. The infusion line is a three-way line equipped with a three-way valve to facilitate switching the connection between the injection needle 33, the sample buffer 6, and the cleaning liquid storage cylinder 7, respectively, to perform injection sampling operations, cleaning the injection needle 33 and the infusion line, and cleaning the sample buffer 6, thereby preventing cross-contamination between samples taken from different areas.

[0023] For further reference, Figure 2 As shown, the injection mechanism 3 also includes a shooting component 34 fixedly set on the injection platform 31. The shooting component 34 is provided with a camera that is arranged obliquely and faces the injection needle tube 33 to shoot and record the injection sampling process and cleaning process of the injection needle tube 33.

[0024] refer to Figure 3 As shown, the gripping mechanism 4 includes a motor frame 41 fixedly connected to the bottom end of the manipulator 5, a transmission gearbox 42 fixedly mounted at the bottom of the motor frame 41, a left bottle clamp 43a, a right bottle clamp 43b, a left cap clamp 44a, and a right cap clamp 44b movably mounted at the bottom of the transmission gearbox 42, and a cap twisting unit 49 fixedly mounted on the left cap clamp 44a and / or the right cap clamp 44b. Specifically, in this embodiment, one cap twisting unit 49 is provided and fixedly mounted on the right cap clamp 44b. A bottle clamp drive motor and a cap clamp drive motor (not shown) arranged in parallel are fixedly mounted within the motor frame 41. The output shafts of the bottle clamp drive motor and the output shafts of the cap clamp drive motor are arranged in parallel. Specifically, the bottle clamp drive motor and the cap clamp drive motor are both stepping motors, which drive the left bottle clamp 43a and the right bottle clamp 43b, as well as the left cap clamp 44a and the right cap clamp 44b, respectively, to move toward each other (clamping) or away from each other (relaxing) via transmission gears within the transmission gearbox 42.

[0025] Combine Figure 4 and Figure 5 As shown, the transmission gear box 42 is fixedly arranged at the bottom of the motor frame 41. The transmission gear box 42 includes an upper transmission layer 421 at the top and a lower transmission layer 422 at the bottom. A bottle clamp driving gear 423 engaged with the output shaft of the bottle clamp driving motor is arranged inside the upper transmission layer 421, and a cover clamp driving gear 424 engaged with the output shaft of the cover clamp driving motor is arranged inside the lower transmission layer 422. The bottle clamp driving gear 423 and the cover clamp driving gear 424 are coaxially arranged, and the outer diameter of the bottle clamp driving gear 423 is larger than that of the cover clamp driving gear 424. The outer diameter of the cover clamp driving gear 424 is adjusted so that the left bottle clamp 43a and the right bottle clamp 43b connected to the bottle clamp driving gear 423 are located on the outside and reciprocate, and the left cover clamp 44a and the right cover clamp 44b connected to the cover clamp driving gear 424 are located on the inside and reciprocate, wherein the inside and outside specifically refer to the relative positions between the left bottle clamp 43a, the right bottle clamp 43b and the left cover clamp 44a, the right cover clamp 44b, that is, the left cover clamp 44a and the right cover clamp 44b are located on the inside of the left bottle clamp 43a and the right bottle clamp 43b and reciprocate left and right.

[0026] like Figure 3 、 Figure 4 、 Figure 5As shown, the left bottle clamp 43a and the right bottle clamp 43b are symmetrical about the center of the bottle clamp drive gear 423 (aligned with the central axis of the sample bottle 8). The left bottle clamp 43a and the right bottle clamp 43b are each provided with a connected bottle clamp block 47 and a bottle clamp rack 45. The bottle clamp rack 45 is horizontally disposed within the upper transmission layer 421 of the transmission gearbox 42 and is meshed with the bottle clamp drive gear 423. The bottle clamp rack 45 drives the bottle clamp blocks 47 of the left bottle clamp 43a and the right bottle clamp 43b to reciprocate left and right. The bottle clamp blocks 47 are provided with a clamping groove 471 that adapts to the neck of the sample bottle 8. This clamping groove 471 clamps the neck of the sample bottle 8 to secure the sample bottle 8, thereby improving the stability and reliability of the clamping and transfer process. It should be noted that the depth of the multiple placement grooves 21 of the supporting platform 2 is less than the height from the bottom to the neck of the sample bottle 8, so that when the sample bottle 8 is placed in the placement groove 21, its neck is still exposed to the outside for easy clamping and grasping. Furthermore, the inner wall of the clamping groove 471 of the bottle clamp block 47 is provided with soft anti-slip protrusions or textures to avoid slipping during clamping, grasping or rotating the cap.

[0027] The left cover clamp 44a and the right cover clamp 44b are symmetrical about the center of the cover clamp driving gear 424 (consistent with the central axis of the sample bottle 8). The left cover clamp 44a and the right cover clamp 44b are both provided with a connected cover clamp block 48 and a cover clamp rack 46. The cover clamp rack 46 is horizontally arranged in the lower transmission layer 422 of the transmission gear box 42 and is meshed with the cover clamp driving gear 424 to drive the cover clamp blocks 48 of the left cover clamp 44a and the right cover clamp 44b to reciprocate left and right through the drive of the cover clamp rack 46. The cover clamping block 48 is provided with two clamping rollers 481 located on its inner side and arranged longitudinally at intervals. The spacing between the two clamping rollers 481 is smaller than the outer diameter of the cap of the sample bottle 8. The clamping roller 481 is rotatably connected to the cover clamping block 48. Specifically, the clamping roller 481 is a roller body made of soft material to ensure that it can rotate relative to the cap of the sample bottle 8 and will not slide or fall off longitudinally. In addition, the length of the clamping roller 481 is greater than the length of the cap of the sample bottle 8, so that the cap of the sample bottle 8 is always kept under the clamping of the clamping roller 481 during the process of rotating and unscrewing until it is separated from the body of the sample bottle 8.

[0028] It should be noted that, in order to avoid interference between the horizontal left and right reciprocating motions of the left bottle clamp 43a, the right bottle clamp 43b and the left cover clamp 44a, the right cover clamp 44b, Figure 5 As shown, the cover clamp driving gear 424 includes a main driving gear 4241 and a secondary driving gear 4242 that are coaxially fixedly connected. The main driving gear 4241 is located above the secondary driving gear 4242 and is meshed with the output shaft of the cover clamp driving motor. The secondary driving gear 4242 is meshed with the cover clamp rack 46.

[0029] Combine Figure 3 and Figure 5 As shown, the capping unit 49 includes a capping drive motor 491 fixedly mounted on the cap clamping block 48 of the right cap clamp 44b. The capping drive motor 491 is connected to at least one clamping roller 481 to drive the clamping roller 481 to rotate. Specifically, in this embodiment, the output shaft of the capping drive motor 491 is meshed with the clamping roller 481 via a bevel gear. The capping drive motor 491 is vertically fixedly mounted on the outside of the cap clamping block 48 of the right cap clamp 44b. The motor drives and rotates the longitudinally arranged clamping roller 481 via the vertically meshed bevel gear, thereby driving the cap of the sample bottle 8 to rotate and open. The other three clamping rollers 481 rotate in accordance with the cap of the sample bottle 8 to achieve the unscrewing or closing of the cap, while ensuring that the cap is always located within the clamping space of the four clamping rollers 481.

[0030] During the specific water quality sample collection process: first, an empty sample bottle 8 is placed in the placement slot 21 in the storage area, and the manipulator 5 automatically moves to the top of the sample bottle 8, and at the same time, the sample bottle 8 is clamped by the left bottle clamp 43a, the right bottle clamp 43b, the left cover clamp 44a, and the right cover clamp 44b of the clamping mechanism 4, and transported to the liquid injection slot 23; when the left bottle clamp 43a and the right bottle clamp 43b, as well as the left cover clamp 44a and the right cover clamp 44b are all kept clamped, the capping drive motor 491 of the capping unit 49 drives the clamping roller 481 on the outside of the right cover clamp 44b to rotate, and since the clamping roller 481 and the bottle cap of the sample bottle 8 are in a pressed and fitted state, the bottle cap of the sample bottle 8 rotates and separates from the sample under the driving action of the clamping roller 481. The bottle body of bottle 8 (the bottle body does not rotate) is held in the clamping space of the four clamping rollers 481; then, the bottle clamp driving motor drives the left bottle clamp 43a and the right bottle clamp 43b to move in reverse directions through the bottle clamp driving gear 423, so that the left bottle clamp 43a and the right bottle clamp 43b are released from the clamping of the sample bottle body 8, and the manipulator 5 moves upward to release the sample bottle body 8 (carrying the bottle cap) and move to a position away from the injection tank 23; at this time, the sample liquid buffer cylinder 6 draws the water sample liquid through the water intake of the monitoring ship into its internal static buffer (so that the floating objects and mud and sand sediments in the extracted water sample liquid are separated by layers, reducing the impurities in the water quality sample); the injection platform 31 moves horizontally to the position of the injection tank 23, so that the injection needle 33 is located at the injection tank 23 The lifting frame 32 is driven by the lifting frame 32 to move the injection needle tube 33 downward and extend it into the sample bottle 8 (the opening is not covered with the bottle cap), and the water sample liquid in the sample buffer cylinder 6 is quantitatively pumped into the sample bottle 8; after the injection sampling is completed, the injection needle tube 33 is lifted upward and separated from the sample bottle 8 under the drive of the lifting frame 32, and the injection platform 31 moves horizontally to the position of the cleaning cylinder 22, so that the injection needle tube 33 is located directly above the cleaning cylinder 22; then the lifting frame 32 drives the cleaning needle tube to extend into the cleaning cylinder 22 for cleaning, and the infusion pipeline is switched to be connected to the cleaning liquid storage cylinder 7, and the infusion pipeline is cleaned by the cleaning liquid. It should be noted that in the process of taking liquid from water bodies (including seawater or fresh water) in different areas, it is necessary to The sample liquid buffer cylinder 6 is cleaned at the same time; the manipulator 5 (carrying the bottle cap) runs to the top of the sample bottle 8 after the water quality sample is collected and sampled, and moves downward until the bottle cap contacts and abuts the bottle body (to ensure that the bottle cap is facing the bottle body and the bottle mouth), and the bottle clamp drive motor drives the left bottle clamp 43a and the right bottle clamp 43b to move towards each other through the bottle clamp drive gear 423 to clamp the bottle body; the twisting cap drive motor 491 of the twisting cap unit 49 drives the clamping roller 481 to rotate (reverse rotation), thereby screwing the bottle cap on the bottle mouth of the sample bottle 8 to complete the capping, and the manipulator 5 transports the sample bottle 8 after the water quality sample is collected and sampled back to the original placement slot 21 in the storage area; repeat the above steps to automatically collect and prepare water quality samples for the next sample bottle 8.

[0031] Optionally, in some embodiments, a monitoring mechanism is provided at the top of the sampling cabin 1 to monitor and record the process of automatic collection of water quality samples in real time, and at the same time assist the positioning and clamping of the manipulator 5 and the identification of the sample bottle 8, such as whether a water quality sample is stored in the sample bottle, or the sampling area and sample number corresponding to the water quality sample, etc., thereby ensuring the orderliness and traceability of the sampled water quality samples.

[0032] In summary, the automatic water quality sample collection system for shipborne underway monitoring provided by the present invention can complete automatic sampling and preparation of water quality samples without the need for manual sample loading and preparation, thereby improving the efficiency of water quality sample collection operations and underway monitoring.

[0033] The above are only preferred embodiments of the present invention, and are not intended to limit the scope of the present invention. All equivalent changes and modifications made within the scope of the present invention should still fall within the scope of the present invention.

Claims

1. An automatic water quality sample collection system for shipborne underway monitoring, characterized by: The sampling chamber (1) is fixedly installed in the hull, wherein the front side of the sampling chamber (1) is provided with an arc-shaped window (11), the interior of the sampling chamber (1) is provided with a carrier platform (2), and the carrier platform (2) is provided with a storage area arranged near the arc-shaped window (11) and a liquid injection area arranged away from the arc-shaped window (11); The storage area is provided with a plurality of sample bottle placement slots (21) arranged at intervals in a fan shape, the injection area is provided with cleaning cylinders (22) and injection slots (23) arranged at intervals, and the injection area is further provided with a movable injection mechanism (3) and a manipulator (5) with a clamping mechanism (4) arranged at the end thereof, so as to transport the sample bottles in the placement slots (21) to the injection slots (23) for injection and sampling.

2. The automatic water quality sample collection system for shipborne underway monitoring according to claim 1 is characterized by: The liquid injection mechanism (3) comprises a liquid injection platform (31) that is reciprocally movable and arranged on the carrier platform (2), and a lifting frame (32) that is longitudinally movable and arranged on the liquid injection platform (31); The lifting frame (32) is provided with a liquid injection needle tube (33) vertically fixedly connected thereto, and the liquid injection needle tube (33) is located above the cleaning cylinder (22) and the liquid injection slot (23).

3. The automatic water quality sample collection system for shipborne underway monitoring according to claim 2 is characterized by: The injection area is further provided with a sample liquid buffer cylinder (6) and a cleaning liquid storage cylinder (7) fixedly arranged on the carrier platform (2); the sample liquid buffer cylinder (6) and the cleaning liquid storage cylinder (7) are connected to the injection needle tube (33) via an infusion pipeline; the infusion pipeline is a three-way pipeline provided with a three-way valve.

4. The automatic water quality sample collection system for shipborne underway monitoring according to claim 2 is characterized by: The supporting platform (2) is provided with a displacement groove (24) adapted to the injection platform (31), and the injection platform (31) is reciprocally movable in the displacement groove (24) to drive the injection needle (33) to move to the cleaning cylinder (22) or directly above the injection groove (23).

5. The automatic water quality sample collection system for shipborne underway monitoring according to claim 2 is characterized by: The injection mechanism (3) further comprises a photographing assembly (34) fixedly arranged on the injection platform (31), wherein the photographing assembly (34) is arranged at an angle and faces the injection needle tube (33).

6. The automatic water quality sample collection system for shipborne underway monitoring according to claim 1 is characterized by: The clamping mechanism (4) comprises a motor frame (41) fixedly arranged at the bottom of the end of the manipulator (5), a transmission gear box (42) fixedly arranged at the bottom of the motor frame (41), and a left bottle clamp (43a), a right bottle clamp (43b), a left cover clamp (44a), and a right cover clamp (44b) movably arranged at the bottom of the transmission gear box (42); A bottle clamp driving motor connected to the left bottle clamp (43a) and the right bottle clamp (43b) via the transmission gear box (42) and a cover clamp driving motor connected to the left cover clamp (44a) and the right cover clamp (44b) via the transmission gear box (42) are fixedly arranged in the motor frame (41).

7. The automatic water quality sample collection system for shipborne underway monitoring according to claim 6 is characterized by: The transmission gear box (42) comprises an upper transmission layer (421) located at the top and a lower transmission layer (422) located at the bottom, wherein a bottle clamp driving gear (423) meshingly connected to an output shaft of a bottle clamp driving motor is provided inside the upper transmission layer (421), and a cover clamp driving gear (424) meshingly connected to an output shaft of a cover clamp driving motor is provided inside the lower transmission layer (422); The left bottle clamp (43a) and the right bottle clamp (43b) are both provided with a bottle clamp rack (45) meshingly connected to the bottle clamp driving gear (423), and the left cover clamp (44a) and the right cover clamp (44b) are both provided with a cover clamp rack (46) meshingly connected to the cover clamp driving gear (424).

8. The automatic water quality sample collection system for shipborne underway monitoring according to claim 7 is characterized by: The left bottle clamp (43a) and the right bottle clamp (43b) are both provided with a bottle clamp block (47) connected to the bottle clamp rack (45), and the bottle clamp block (47) is provided with a clamping groove (471) adapted to the neck of the sample bottle; The left cover clamp (44a) and the right cover clamp (44b) are both provided with a cover clamp block (48) connected to the cover clamp rack (46), and two clamping rollers (481) arranged longitudinally and spaced apart and rotatably connected to the cover clamp block (48) are provided on the inner side of the cover clamp block (48), and the spacing between the two clamping rollers (481) is smaller than the outer diameter of the sample bottle cap.

9. The automatic water quality sample collection system for shipborne underway monitoring according to claim 8 is characterized by: The clamping mechanism (4) further comprises a cover twisting unit (49) fixedly arranged on the left cover clamp (44a) and / or the right cover clamp (44b); The cover twisting unit (49) comprises a cover twisting drive motor (491) fixedly arranged on the cover clamping block (48), and the cover twisting drive motor (491) is connected to at least one of the clamping rollers (481).

Images