Water sampling robot device

Abstract

The invention discloses a water body sampling robot device which is characterized in that a groove of a circular structure is formed in the top of a robot body, a support assembly is located in the groove, the support assembly comprises a supporting frame and a to-be-sent cylinder, the to-be-sent cylinder and a through hole are coaxially arranged and installed on one side of the supporting frame, and a sampling mechanism comprises a plurality of collecting cylinders, a sampling vessel and a sampler. In an assembling state, the plurality of collecting barrels can rotate relative to the supporting frame, so that the collecting barrels are positioned between the sampler and the through hole, the sampler drives the sampling vessel to move up and down through the traction assembly, and the control module comprises a collecting module and a power module. According to the invention, autonomous navigation is carried out to the preset sampling point, sampling and detection are rapidly completed, high efficiency is derived from an autonomous navigation positioning technology and modular design, multi-level sampling and detection can be carried out at the same time, and time and labor cost are saved. And on the basis of realizing sampling at different positions on the water surface, dual-element expansion of water quality sampling at different water depths and bottom mud sampling at the water bottom is also realized.

Description

Technical Field

[0001] The present invention relates to the technical field of water body sampling robots, and in particular to a water body sampling robot device. Background Art

[0002] Among related technologies, the use of traditional manual sampling and detection methods will result in cumbersome steps, low efficiency, and high energy consumption, which is difficult to meet large-scale monitoring needs. It also has shortcomings in the simultaneous analysis of multi-level pollutants and emergency response to sudden water pollution incidents. Therefore, satellite remote sensing or water sampling robots are usually used.

[0003] However, existing water sampling robot detection has limitations and cannot fully meet the needs of accurate monitoring. There are also problems such as the lack of water sampling robots, single measurement objects, insufficient underwater detection, and incomplete detection range. In response to the above problems, we have developed this product to provide scientific data support for my country's current pollution emission control in a more energy-saving and efficient way. Summary of the Invention

[0004] In order to solve the problems of existing water sampling robots having limitations and failing to fully meet the needs of accurate monitoring, such as the lack of water sampling robots, single measurement objects, insufficient underwater detection, and incomplete detection range, the present invention provides a water sampling robot device. The technical solutions adopted are as follows: A water sampling robot device, comprising: A robot body, wherein the top of the robot body has a circular groove, the groove is provided with a through hole, and the through hole penetrates the robot body along the height direction of the robot body; a bracket assembly located in the groove, the bracket assembly comprising a support frame and a cocking barrel, the cocking barrel being coaxially arranged with the through hole and mounted on one side of the support frame; The sampling mechanism includes a plurality of collecting cylinders and sampling dishes arranged along the circumference of the groove, and a sampler installed in the firing cylinder, wherein the sampling dish is connected to the sampler; A driving mechanism is installed at the bottom of the support frame. In the assembled state, the plurality of collecting cylinders can rotate relative to the support frame to position the collecting cylinders between the sampler and the through hole, and the sampler drives the sampling dish to move up and down through the traction assembly; The control module includes a collection module and a power module which are arranged on the robot body.

[0005] Preferably, it also includes a traction assembly, which includes a winch, a roller and a rope. The winch is installed on the top of the robot body, and the roller is installed on the top of the support frame. One end of the rope is wound around the winch, and the other end is connected to the sampler through the roller.

[0006] Preferably, a wheel disc is provided at the bottom of the support frame, and the plurality of collecting cylinders are located between the inner ring and the outer ring of the wheel disc and are connected by threaded connectors; The output end of the driving mechanism is provided with a gear, and the inner ring is provided with an inner gear ring. The gear cooperates with the inner gear ring to enable the plurality of collecting barrels to rotate along the circumference of the groove.

[0007] Preferably, the collecting cylinder includes a cylinder body and a plurality of claws, wherein the plurality of claws are arranged on the outer side wall of the cylinder body, the sampling dish is arranged in the cylinder body, and the sampling dish is detachably connected to the cylinder body through the claws.

[0008] Preferably, the sampler is provided with a first motor, a second motor and a plurality of water storage devices, wherein the water storage device includes a water reservoir and a core rod located in the water reservoir, one end of the core rod is connected to the output end of the first motor, and the other end is connected to a piston; The first motor is driven to drive the core rod and the piston to move along the height direction of the water reservoir.

[0009] Preferably, a support member is provided inside the sampler, and the support member is provided with a plurality of clamps along the circumferential direction. The water storage device corresponds to the clamps one by one and is clamped in the clamps.

[0010] Preferably, it also includes a DC reduction motor and a propeller located at the external tail end of the sampler, the DC reduction motor is located on top of the first motor and the second motor, and the output end of the DC reduction motor is connected to the propeller.

[0011] Preferably, the sampling dish is located at the head end of the sampler, and the output end of the second motor is connected to the sampling dish through a spline fit.

[0012] Preferably, the sampling dish comprises a connecting portion and a grabbing portion, the grabbing portion is composed of three tricuspid petals in the form of conical sectors, a screw is provided on the central axis of the connecting portion, and the top of the screw has the spline; It also includes a hinge, one end of which is connected to the screw rod, and the other end is connected to the tricuspid valve. The screw rod is rotated so that the hinge drives the ends of the tricuspid valve to move away from or closer to each other.

[0013] Preferably, an electromagnet is installed at the head end of the sampler, and the connecting part is an iron ring, so that the connecting part and the sampler are adsorbed.

[0014] Compared with the prior art, the present invention has the following technical advances: The system autonomously navigates to pre-set sampling points and rapidly completes sampling and testing. Its efficiency stems from its autonomous navigation and positioning technology and modular design, enabling simultaneous multi-level sampling and testing, saving time and labor. Furthermore, in addition to sampling at various locations on the water surface, it also enables dual-element sampling for water quality at varying depths and sediment sampling at the bottom of the water. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The accompanying drawings are used to provide further understanding of the present invention and constitute a part of the specification. They are used to explain the present invention together with the embodiments of the present invention and do not constitute a limitation of the present invention.

[0016] In the attached figure: Figure 1 This is a structural diagram of the water sampling robot device of the present invention; Figure 2 Schematic diagram of the robot body in the present invention; Figure 3 is a schematic diagram of the bracket assembly of the present invention; Figure 4 is a schematic diagram of the support assembly and the sampler of the present invention; Figure 5 It is a partial schematic diagram of the sampling mechanism in the present invention; Figure 6 It is a partial structural diagram of the sampling mechanism in the present invention; Figure 7 Schematic diagram of the collecting cylinder in the present invention; Figure 8 is a schematic diagram of a sampler in the present invention; Figure 9 It is a partial schematic diagram of the sampler in the present invention; Figure 10 It is a partial structural diagram of the sampler in the present invention; Figure 11 It is a partial schematic diagram of the first motor and the water storage device in the present invention; Figure 12 Schematic diagram of the sampling dish in the present invention; Figure 13 It is a structural diagram of the sampling dish in the present invention; Figure 14 Schematic diagram of the power module of the present invention; Figure 15 Schematic diagram of the sampling mechanism in the present invention.

[0017] In the figure: 1. robot body; 11. groove; 12. through hole; 2. bracket assembly; 21. support frame; 22. ready-to-fire cylinder; 3. sampling mechanism; 31. collecting cylinder; 310. collecting cylinder a; 311. collecting cylinder b; 312. collecting cylinder c; 313. collecting cylinder d; 314. collecting cylinder e; 315. collecting cylinder f; 316. collecting cylinder g; 317. collecting cylinder h; 3100. cylinder; 3111. claw; 3112. opening; 3113. protrusion; 32. sampling dish; 320. connecting part; 321. grabbing part; 322. screw; 323. hinge; 324. trough; 33. Sampler; 330, first motor; 3301, first gear; 3302, first ring gear; 331, second motor; 332, water storage device; 3320, water storage tank; 3321, core rod; 3322, piston; 3323, clamping and fixing mechanism; 333, support rod; 3331, clamping hoop; 34, DC reduction motor; 35, propeller; 4, driving mechanism; 5, control module; 51, acquisition module; 52, power module; 6, traction assembly; 61, winch; 62, roller; 63, rope; 7, wheel; 71, inner ring; 72, outer ring; 8, reel; 81, rope; 9, electromagnet. DETAILED DESCRIPTION

[0018] The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments. The embodiments of the present invention will be described below with reference to the accompanying drawings.

[0019] like Figures 1 to 15 As shown, the present invention discloses a water sampling robot device, including a robot body 1, a bracket assembly 2, a sampling mechanism 3, a driving mechanism 4, and a control module 5. The robot body 1 is in the shape of an H-shaped catamaran. The catamaran-shaped robot body 1 has the characteristics of low wave resistance, good carrying capacity, strong anti-overturning ability, and excellent maneuverability, which makes the water sampling robot device move faster and more stably on the water. The top of the robot body 1 has a circular groove 11, which is used to install the bracket assembly 2, the sampling mechanism 3, and the driving mechanism 4. The groove 11 is provided with a through hole 12. The through hole 12 is along the height direction of the robot body 1 (such as Figure 1 The z direction shown in FIG ) passes through the robot body 1 . During operation, the sampling mechanism 3 can sample water through the through hole 12 .

[0020] The bracket assembly 2 is located in the groove 11. The bracket assembly 2 includes a support frame 21 and a ready-to-fire barrel 22. The ready-to-fire barrel 22 is used for storage and use control of the sampling mechanism 3. The support frame 21 is fixedly mounted on the robot body 1. The ready-to-fire barrel 22 is coaxially arranged with the through hole 12. Both are cylindrical with matching diameters. The ready-to-fire barrel 22 is located directly above the through hole 12. The ready-to-fire barrel 22 is fixedly mounted on one side of the support frame 21. The sampling mechanism 3 includes a plurality of collecting barrels 31 and sampling dishes 32 arranged along the circumference of the groove 11 (in the direction shown in the figure). The collecting barrel 31 is a cylindrical structure. The sampling dish 32 is located in the collecting barrel 31 and matches the collecting barrel 31. The sampling dish 32 is used to take sediment samples, and a sampler 33 installed in the ready-to-fire barrel 22. The sampler 33 is used to take water samples. The sampling dish 32 is connected to the sampler 33. It should be noted that the number of collecting barrels 31 can be six, eight, ten, etc., and can be adaptively set according to needs.

[0021] The driving mechanism 4 is installed at the bottom of the support frame 21. In the assembled state, the driving mechanism 4 is turned on to drive the plurality of collecting cylinders 31 to move relative to the support frame 21 along the circumferential direction (such as Figure 1 12, and the sampler 33 is connected to the sampling dish 32 in the collecting cylinder 31. The collecting cylinder 31 is rotated in the H direction as shown in the figure to locate the collecting cylinder 31 between the sampler 33 and the through hole 12, and the sampler 33 drives the sampling dish 32 to move up and down through the traction assembly 6. That is, eight collecting cylinders 31 are provided in the present application, and the eight collecting cylinders 31 include a collecting cylinder a310, a collecting cylinder b311, a collecting cylinder c312, a collecting cylinder d313, a collecting cylinder e314, a collecting cylinder f315, a collecting cylinder g316, and a collecting cylinder h317. When the eight collecting cylinders 31 are rotated, the collecting cylinder a310 is located directly below the sampler 33 and directly above the through hole 12. The sampler 33 is connected to the sampling dish 32 in the collecting cylinder a310, and the traction assembly 6 can be used to move the sampler 33 along the extension direction of the through hole 12 (as shown in the figure). Figure 1 The sampler 33 is moved vertically downward (in the z direction as shown in the figure) to facilitate sampling in the water. After the sampling is completed, the traction component 6 is used again to make the sampler 33 drive the sampling dish 32 with the sample to move vertically upward, and the sampling dish 32 with the sample is placed in the initial collection cylinder a310. After that, the eight collection cylinders are rotated again so that the collection cylinder b311 is located directly below the sampler 33 and directly above the through hole 12. The sampler 33 is connected to the sampling dish 32 in the collection cylinder b311, and the traction component 6 can be used to move the sampler 33 along the extension direction of the through hole 12 (as shown in the figure). Figure 1 The sampling process is repeated until all the sampling dishes 32 in the eight collecting cylinders 31 take samples, thereby achieving multiple sampling.

[0022] like Figure 1 and Figure 14As shown, the water sampling robot device also includes a control module 5, which is mounted on the robot body 1 and a collection module 51 and a power module 52. The control module 5 integrates GPS and INS inertial navigation systems. Using remote information transmission technology, it receives shore-based commands, plans a route, and ensures the robot accurately reaches the sampling point. Upon arrival, water quality and sediment sampling is performed at the set depth. When the sampling mechanism 3 is activated, the water quality monitoring main control system issues a PWM signal command, triggering the drive mechanism 4 to operate. This control controls the sampler 33 to extract a fixed volume of water sample and then sends high and low level signals to control the forward and reverse rotation of the motor. If a current overload is detected, the system immediately shuts down and reports a fault code. The collection module 51 is a GPS autonomous navigation positioning and differential GPS error-corrected sonar ranging sampling module, which records the sampling point location to ensure accurate geographic information. The sampler 33 records longitude and latitude via GPS / BDS and uploads them to the cloud for subsequent analysis. During emergency response, operators can track the device's location in real time and take timely action. The underwater sampling system uses differential GPS to locate the sonar sampling point and the target sound source, automatically recording sonar measurements and heading data. It also predicts the terrain ahead to prevent problems such as grounding and reefing, corrects various errors, and guides the precise calibration of sonar direction and ranging errors. It also features a high-performance positioning and communication control unit, enabling autonomous navigation and positioning, allowing for relatively accurate arrival at the preset sampling point. A dual-frequency receiver corrects positioning errors in real time, achieving an overall positioning accuracy of ≤2 meters. A coordinate correction model is established to account for deviations between the sonar sound center and the GPS antenna installation position:

[0023] In predicting water depth, the ship continuously obtains sample points through satellite positioning and sonar angle measurement during operation. ...abstract the prediction function and use the gradient descent algorithm to predict the water depth of the target sampling point in advance. The algorithm formula is as follows:

[0024] The power module 52 comprises a Z-shaped propeller and a propeller (screw). Two Z-shaped propellers are used in this application, with the propeller (screw) positioned above them. These two Z-shaped propellers are symmetrically mounted on either side of the bottom of the robot body 1. These Z-shaped propellers enable multi-directional braking, in-situ steering, and positioning of the water sampling robot, making its movements more flexible and accurate. When a change in motion is required, the Z-shaped propeller rotates about its axis, changing the direction of the propeller's thrust. Simultaneously, the propeller's thrust direction and the direction of resistance do not coincide, generating a torque that changes the speed of the water sampling robot. When the rotation exceeds 90 degrees, the thrust component has a direction opposite to the speed, enabling braking of the water sampling robot. This ensures full coverage of "x+y+z" three-axis sampling at different water surfaces and depths, enabling the separate collection of water samples and sediments and unified three-dimensional sampling. This significantly improves sampling efficiency while achieving full coverage of the water medium.

[0025] Preferably, Figures 1 to 4 As shown, the traction assembly 6 includes a winch 61, a roller 62 and a rope 63. The winch 61 is installed on the top of the robot body 1 and is located on the side away from the ready-to-fire cylinder 22. The roller 62 is installed on the top of the support frame 21. The number of rollers 62 can be two or three, etc., and can be adaptively set according to needs. One end of the rope 63 is wound around the winch 61, and the other end is connected to the sampler 33 through the roller 62. The winch 61 is rotated to extend and release the rope 63, and drive the sampler 33 and the sampling dish 32 to pass through the through hole 12 for sampling. The sampler 33 dives into the water. After the sampling dish 32 takes the sample, the winch 61 is rotated in the opposite direction to shorten and tighten the rope 63, and drive the sampler 33 and the sampling dish 32 to rise. At the same time, the sampling dish 32 with the sample is recovered into the collecting tube 31, thereby realizing the sampling work.

[0026] Preferably, Figures 1 to 6 As shown, a wheel disc 7 is provided at the bottom of the support frame 21, and a plurality of collecting cylinders 31 are located between the inner ring 71 and the outer ring 72 of the wheel disc 7 and are connected by threaded connectors. The driving mechanism 4 is a driving motor, and a gear is provided at the output end of the driving motor. An inner gear ring is provided on the inner side of the inner ring 71, and the gear and the inner gear ring cooperate (not shown in the drawings). When the driving motor is turned on, the wheel disc 7 drives the plurality of collecting cylinders 31 along the circumference of the groove 11 (as shown in the drawings). Figure 5 The H direction as shown in the figure can be rotated to ensure multiple sampling, thereby improving work efficiency.

[0027] Preferably, Figure 1 、 Figures 5 to 7As shown, the collecting cylinder 31 includes a cylinder body 3100 and a plurality of claws 3111. The plurality of claws 3111 are arranged on the outer wall of the cylinder body 3100 and are arranged at intervals along the circumference of the cylinder body 3100. The number of claws 3111 can be three, four, six, etc., as long as they can be connected to the sampling dish 32. The sampling dish 32 is arranged in the cylinder body 3100, and the sampling dish 32 is detachably connected to the cylinder body 3100 through the claws 3111. When the bottle 3100 is in a closed position, the bottle 3100 is in a closed position, and the bottle 3100 is in a closed position, and the bottle 3100 is in a closed position, and the bottle 3100 is in a closed position, and the bottle 3100 is in a closed position, and the bottle 3100 is in a closed position, and the bottle 3100 is in a closed position, and the bottle 3100 is in a closed position, and the bottle 3100 is in a closed position, and the bottle 3100 is in a closed position, and the bottle 3100 is in a closed position, and the bottle 3100 is in a closed position, and the bottle 3100 is in a closed position, and the bottle 3100 is in a closed position, and the bottle 3100 is in a closed position, and the bottle 3100 is in a closed position, and the bottle 3100 is in a closed position, and the bottle 3100 is in a closed position, and the bottle 3100 is in a closed position, and the bottle The upper half moves toward the outside of the cylinder 3100 at the same time, thereby expanding the distance between the three claws 3111, so that the sampler 33 drives the sampling dish 33 along the length direction of the cylinder 3100 into the water to collect sediment samples. After the sampling is completed, the sampling dish 32 is moved into the cylinder 3100, and the line wheel 8 rotates the line 81 in the opposite direction, so that the line 81 releases the claws 3110 and the claws 3111 are returned to their original positions by the return spring, that is, the upper halves of the three claws 3111 all move toward the inside of the cylinder 3100. At this time, the protrusions 3113 on the claws 3111 are located in the grooves 324 of the sampling dish 32, thereby clamping the sampling dish 32, realizing the clamping connection between the sampling dish 32 and the cylinder 3100, and the sampling dish 32 in the next cylinder 3100 cooperates with the sampler 33, and the above steps are repeated to complete the work of taking sediment samples from multiple sampling dishes 32.

[0028] Preferably, Figure 1 、 Figures 8 to 11 As shown, the interior of the sampler 33 is provided with a first motor 330 and a second motor 331 and a plurality of water storage devices 332, wherein the water storage device 332 is used to take water samples, wherein the water storage device 332 includes a water reservoir 3320 and a core rod 3321 located in the water reservoir 3320, one end of the core rod 3321 is connected to the output end of the first motor 330, and the other end is connected to a piston 3322, and each water reservoir 3320 is provided with a clamping and fixing mechanism 3323 on the outside, which drives the first motor 330 so that the clamping and fixing mechanism 3323 drives the core rod 3321 and the piston 3322 along the height direction of the water reservoir 3320 (such as Figure 1 The first drive motor 330 is a stepper motor, and the output end of the stepper motor is provided with a first gear 3301 and a first gear ring 3302 and cooperates with each other. When water sampling is required, the stepper motor is driven to make the first gear 3301 drive the first gear ring 3302 to rotate. At the same time, the paddle of the first gear ring 3302 pokes one of the clamping fixing mechanisms 3323 and drives the core rod 3321 of the water storage device 332 to drive the piston 3322 to pull up. The water sample is extracted into the water reservoir 3320, and then the clamp on the other water reservoir 3320 is pulled up. Fixing mechanism 3323 and repeating the above steps completes the water sampling work of multiple water storage devices 332. At this time, the clamping and fixing mechanism 3323 will fix the position of the core rod 3321, preventing the core rod 3321 from falling and causing water sampling failure. In addition, the provision of multiple water storage devices 332 can realize the storage of samples of different orders and types. It should be noted that the water intake structure at the bottom of the water storage 3320 adopts the structural principle of a medical check valve to ensure that the water sample can only enter and not exit the designated position. The structure of the medical check valve is a conventional technical means and will not be described in detail in this application. This effectively ensures the stability and independence of water quality sampling.

[0029] Preferably, continue to refer to Figure 1 、 Figures 8 to 11 The sampler 33 is provided with a support member 333 inside, and the support member 333 is detachably connected to the water storage device 332. For example, the support member 333 is detachably connected to the water storage device 332 along the circumferential direction (such as Figure 1 The sampler 33 is provided with a plurality of clamps 3331 (as shown in the H direction), and the water storage device 332 corresponds to the clamps 3331 one by one. The shape of the clamps 3331 matches the top structure of the water reservoir 3320 of the water storage device 332, and the water reservoir 3320 is clamped in the clamps 3331, so that the operator can remove the water storage device 332 that needs to be replaced and install a new water storage device 332, thereby improving the sampling efficiency and the stability of the sampler 33, and thus achieving balance and convenience.

[0030] Preferably, continue to refer to Figure 1 、 Figures 8 to 11 The sampler 33 also includes a DC reduction motor 34 and a propeller 35 located at the external tail end of the sampler 33. The DC reduction motor 34 is located on top of the first motor 330 and the second motor 331. The output end of the DC reduction motor 34 is connected to the propeller 35, driving the DC reduction motor 34 to rotate the propeller 35, thereby reducing the diving time and further reducing the horizontal impulse of the water flow on the sampler 33 to obtain better sampling accuracy.

[0031] Preferably, in the assembled state, the sampling dish 32 is located at the head end of the sampler 33. At the same time, the output end of the second motor 331 is connected to the sampling dish 32 through a spline fit, driving the second motor 331 to drive the sampling dish 32 to grab the sediment sample in the water.

[0032] Preferably, Figure 12 and Figure 13 As shown, the sampling dish 32 includes a connecting portion 320 and a gripping portion 321. The gripping portion 321 is composed of three tricuspid valves in the shape of a conical sector. A screw 322 is provided on the central axis of the connecting portion 320. The top of the screw 322 has a spline. The hinge 323 also includes a hinge 323. One end of the hinge 323 is connected to the screw 322 and the other end is connected to the tricuspid valves. The second motor 331 is driven to rotate the screw 322 so that the hinge 323 drives the ends of the tricuspid valves away from or closer to each other. For example, when it is necessary to collect sediment samples, the sampler 33 drives the sampling dish 32 in water and drives the second motor 331 to open the ends of the tricuspid valves as the spline cooperates, that is, the ends of the tricuspid valves move away from each other and penetrate the bottom of the sediment. Then, the second motor 331 is rotated again to close the ends of the tricuspid valves as the spline cooperates, that is, the ends of the tricuspid valves move closer to each other, so that the tricuspid valves of the sampling dish 32 are closed and clamp the sediment, thereby completing the sampling operation. The tricuspid valve closure structure and spline combination achieve efficient and stable sampling of bottom mud. At the same time, the claw-type sampling dish 32 is simple and efficient, and can adapt to sampling work in different water depths and bottom conditions.

[0033] Preferably, Figure 1 ,like Figures 8 to 13 As shown, the connection method between the sampler 33 and the sampling dish 32 can be adaptively set as needed, and can be an adsorption connection, a bolt connection, etc. In one example, an electromagnet 9 is installed at the head end of the sampler 33, and the connecting part 320 is an iron ring, so that the connecting part 320 and the sampler 33 are adsorbed and matched. When a sampling dish 32 completes the sampling work, the adsorption cooperation is blocked, so that the sampling dish 32 is placed in the collecting tube 31, and the sampling work of the next sampling dish 32 can be carried out. Moreover, since the screw 322 is self-locking, it is still in a locked state after the subsequent sampling dish 32 is separated from the sampler 33. When it needs to be taken out, it is only necessary to rotate the screw 322 in the opposite direction. The self-locking mechanism of the screw 322 ensures the integrity of the sediment sample during transportation, avoids leakage problems, and thus effectively improves work quality and efficiency.

[0034] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art will be able to modify the technical solutions described in the aforementioned embodiments or substitute equivalents for some of the technical features. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the claims of the present invention.

Claims

1. A water sampling robot device, characterized in that: include: A robot body, wherein the top of the robot body has a circular groove, the groove is provided with a through hole, and the through hole penetrates the robot body along the height direction of the robot body; a bracket assembly located in the groove, the bracket assembly comprising a support frame and a cocking barrel, the cocking barrel being coaxially arranged with the through hole and mounted on one side of the support frame; The sampling mechanism includes a plurality of collecting cylinders and sampling dishes arranged along the circumference of the groove, and a sampler installed in the firing cylinder, wherein the sampling dish is connected to the sampler; A driving mechanism is installed at the bottom of the support frame. In the assembled state, the plurality of collecting cylinders can rotate relative to the support frame to position the collecting cylinders between the sampler and the through hole, and the sampler drives the sampling dish to move up and down through the traction assembly; The control module includes a collection module and a power module which are arranged on the robot body.

2. The water sampling robot device according to claim 1, characterized in that: The traction assembly includes a winch, a roller and a rope. The winch is installed on the top of the robot body, the roller is installed on the top of the support frame, one end of the rope is wound around the winch, and the other end is connected to the sampler through the roller.

3. The water sampling robot device according to claim 1, characterized in that: A wheel disc is provided at the bottom of the support frame, and the plurality of collecting cylinders are located between the inner ring and the outer ring of the wheel disc and are connected by threaded connectors; The output end of the driving mechanism is provided with a gear, and the inner ring is provided with an inner gear ring. The gear cooperates with the inner gear ring to enable the plurality of collecting barrels to rotate along the circumference of the groove.

4. The water sampling robot device according to claim 3, characterized in that: The collecting cylinder comprises a cylinder body and a plurality of claws, wherein the plurality of claws are arranged on the outer side wall of the cylinder body, the sampling dish is arranged in the cylinder body, and the sampling dish is detachably connected to the cylinder body through the claws.

5. The water sampling robot device according to claim 1, characterized in that: The sampler is provided with a first motor, a second motor and a plurality of water storage devices inside, wherein the water storage device includes a water reservoir and a core rod located in the water reservoir, one end of the core rod is connected to the output end of the first motor, and the other end is connected to a piston; The first motor is driven to drive the core rod and the piston to move along the height direction of the water reservoir.

6. The water sampling robot device according to claim 5, characterized in that: A support member is provided inside the sampler, and a plurality of clamps are provided on the support member along the circumferential direction. The water storage device corresponds to the clamps one by one and is clamped in the clamps.

7. The water sampling robot device according to claim 5, characterized in that: It also includes a DC reduction motor and a propeller located at the external tail end of the sampler, the DC reduction motor is located on top of the first motor and the second motor, and the output end of the DC reduction motor is connected to the propeller.

8. The water sampling robot device according to claim 5, characterized in that: The sampling dish is located at the head end of the sampler, and the output end of the second motor is connected to the sampling dish through a spline fit.

9. The water sampling robot device according to claim 8, characterized in that: The sampling dish includes a connecting portion and a grabbing portion, wherein the grabbing portion is composed of three tricuspid petals in the form of conical sectors, a screw is provided on the central axis of the connecting portion, and the top of the screw has the spline; It also includes a hinge, one end of which is connected to the screw rod, and the other end is connected to the tricuspid valve. The screw rod is rotated so that the hinge drives the ends of the tricuspid valve to move away from or closer to each other.

10. The water sampling robot device according to claim 9, characterized in that: An electromagnet is installed at the head end of the sampler, and the connecting part is an iron ring, so that the connecting part and the sampler are adsorbed.

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