Sandy sediment sampling device and method for land frame area

Abstract

The invention relates to the technical field of marine geological exploration sampling, and discloses a land frame area sandy sediment sampling device and method.The land frame area sandy sediment sampling device comprises an underwater robot, a movement mechanism is arranged on the underwater robot, sandy rock formed for a long time can be drilled, the influence of sea sand can be avoided in the drilling process, and the sampling efficiency is improved. Rock core samples in different shapes can be obtained through drilling, research is facilitated, drill bits for coring drilling in different shapes can be replaced during drilling, and the drilling efficiency is high; according to the sandy sediment sampling device, columnar sampling can be carried out on sandy sediment, sampling research can be carried out on the sandy sediment at different layer depths, sampling barrels after sampling can be collected, continuous sampling is achieved, and the efficiency is high; the multi-position sampling device is simple in structure, can move, realizes sampling at multiple positions, can realize adjustment of the sampling direction, and realizes extraction and sampling of sediments on the surface layer.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of marine geological exploration sampling, in particular to a continental shelf sandy sediment sampling device and method. BACKGROUND

[0002] The continental shelf sandy sediment is an important object of marine geological research, and its sampling is of great significance to marine resource exploration, environmental monitoring, etc. When the traditional sampling device samples the sandy sediment, the sample may be lost or disturbed due to the loose sand, affecting the sampling quality. Moreover, the sandy rock drilling device generally lacks flexible shape adaptation capability, making it difficult to optimize drilling for different rock characteristics, limiting the representativeness of the sample. At the same time, the sampling cylinder replacement and sample collection process have low automation degree, and frequent interruptions are required, reducing the overall efficiency. Although some equipment attempts to introduce underwater robot technology, there are still technical bottlenecks in direction adjustment, multi-mechanism cooperation and stability control, which cannot meet the industrial demand for high precision and high efficiency. SUMMARY

[0003] In view of the above situation, in order to overcome the defects of the prior art, the application provides a continental shelf sandy sediment sampling device and method, which effectively solves the problems mentioned in the background.

[0004] To achieve the above purpose, the application provides the following technical scheme: a continental shelf sandy sediment sampling device, comprising an underwater robot, a motion mechanism is arranged on the underwater robot, the motion mechanism is used to drive the underwater robot to move, so as to facilitate sediment sampling at different positions, a direction adjusting mechanism is arranged on the underwater robot, the direction adjusting mechanism is used to adjust the sampling direction, a lifting adjusting mechanism is connected to the direction adjusting mechanism, the lifting adjusting mechanism is used to adjust during drilling sampling, an extraction mechanism is connected to the direction adjusting mechanism, the extraction mechanism is used to extract and sample the deposited sea sand, a columnar sampling mechanism is connected to the direction adjusting mechanism, the columnar sampling mechanism is used for columnar sampling, realizing simultaneous sampling at different depths, a replacement and collection mechanism is connected to the columnar sampling mechanism, the replacement and collection mechanism is used to collect and replace the sampling cylinder, a collection mechanism is connected to the underwater robot, the collection mechanism is used to collect the extracted sea sand, a sandy rock drilling mechanism is connected to the lifting adjusting mechanism, the sandy rock drilling mechanism is used to drill the sandy rock and realize drilling sampling with different shapes.

[0005] Preferably, the sandy rock drilling mechanism includes a housing, within which a drilling bevel gear cavity is provided. A drilling drive shaft is rotatably connected to the end wall of the drilling bevel gear cavity. The drilling drive shaft is poweredly connected to a drilling motor fixedly installed within the housing. A drilling drive bevel gear is fixedly connected to the end of the drilling drive shaft, meshing with a drilling driven bevel gear. The drilling driven bevel gear is fixedly installed on the upper end of an electric telescopic shaft, which is rotatably mounted through the bottom wall of the drilling bevel gear cavity. A connector is fixedly connected to the lower end of the drilling bevel gear cavity, and a drill bit is detachably connected to the connector. An electric push rod is fixedly connected to the inner top wall of the connector, and a push plate is fixedly connected to the lower end of the electric push rod. A plurality of push electric push rods are uniformly fixedly connected to the bottom wall of the housing. A disc is fixedly connected to the end of the device. Several wrapping grooves are provided on the bottom wall of the disc. A wrapping screw is rotatably connected to the end walls of the wrapping grooves. The wrapping screw extends into a wrapping gear cavity located within the disc. A wrapping drive gear shaft is rotatably connected to the end walls of the wrapping gear cavity. The wrapping drive gear shaft is poweredly connected to a wrapping motor fixedly installed within the disc. A wrapping drive gear is fixedly connected to the outer surface of the wrapping drive gear shaft. The wrapping drive gear meshes with a wrapping ring rack. The wrapping ring rack is rotatably installed between the end walls of the wrapping gear cavity. The wrapping ring rack meshes with several wrapping driven gears. The wrapping driven gears are fixedly installed at the end of the wrapping screw. A wrapping nut block is threadedly connected to the outer surface of the wrapping screw and slidably connected between the end walls of the wrapping grooves. A wrapping arc-shaped plate is fixedly connected to the bottom wall of the wrapping nut block. The housing contains a worm gear cavity, and a worm shaft is rotatably connected between the end walls of the worm gear cavity. The worm shaft is poweredly connected to a rotating motor fixedly installed inside the housing. A worm is fixedly connected to the outer surface of the worm shaft, and the worm meshes with a worm wheel. The worm wheel is fixedly installed on the outer surface of the worm wheel shaft, which is rotatably installed through the end wall of the worm gear cavity. A brake gear is fixedly connected to the outer surface of the worm wheel shaft, and the brake gear meshes with a push gear. The push gear is fixedly installed at the end of a brake electric push rod, which is fixedly installed on the end wall of the worm gear cavity. A groove frame is fixedly connected to the end of the worm wheel shaft. The inner surface of the groove frame has a vertical sliding groove, and a vertical sliding groove is rotatably connected to the end wall of the vertical sliding groove. An electric lead screw is provided. A vertical nut plate is threadedly connected to the outer surface of the vertical lead screw and slidably connected between the end walls of a vertical slide groove. Several fixing brackets are equidistantly fixed to the inner surface of the vertical nut plate. A horizontal slide groove is provided on the inner surface of each fixing bracket. A horizontal electric lead screw is rotatably connected to the end wall of the horizontal slide groove. A horizontal nut plate is threadedly connected to the outer surface of the horizontal electric lead screw and slidably installed between the end walls of the horizontal slide groove. A placement frame is fixedly connected between the horizontal nut plates. Several placement slots are provided on the placement frame. A clamping brake disc is fixedly connected to the bottom wall of each placement slot. A replacement drill bit is clamped on the clamping brake disc. The replacement drill bit is detachably connected to the connector. Each replacement drill bit has a different internal shape and diameter.

[0006] Preferably, the lifting adjustment mechanism includes an L-shaped lifting frame, which has a lifting gear cavity. A lifting drive gear shaft is rotatably connected between the end walls of the lifting gear cavity. The lifting drive gear shaft is poweredly connected to a lifting motor fixedly installed in the L-shaped lifting frame. A lifting drive gear is fixedly connected to the outer surface of the lifting drive gear shaft, and the lifting drive gear meshes with a lifting driven gear. The lifting driven gear is fixedly installed on the outer surface of the lifting screw. The lifting screw is rotatably installed between the end walls of the lifting gear cavity. A lifting nut block is threadedly connected to the outer surface of the lifting screw. The lifting nut block is slidably connected to the L-shaped lifting frame. A lifting stabilizing slider is fixedly connected to the end wall of the lifting nut block. The lifting stabilizing slider is slidably connected in a lifting stabilizing groove provided on the L-shaped lifting frame. A direction adjusting bevel gear cavity is provided in the lifting nut block. A directional adjustment drive bevel gear shaft is rotatably connected to the upper part of the lifting nut block. The directional adjustment drive bevel gear shaft is poweredly connected to an adjustment motor fixedly installed inside the lifting nut block. A directional adjustment drive bevel gear is fixedly connected to the end of the directional adjustment drive bevel gear shaft. The directional adjustment drive bevel gear meshes with a directional adjustment driven bevel gear. The directional adjustment driven bevel gear is fixedly installed at the lower end of the directional adjustment driven bevel gear shaft. The directional adjustment driven bevel gear shaft is rotatably installed through and rotatably on the end wall of the directional adjustment bevel gear cavity. A rotating plate is fixedly connected to the upper end of the directional adjustment driven bevel gear shaft. The rotating plate is rotatably connected to the lifting nut block. A stabilizing ring is connected between the lifting nut block and the rotating plate. A push electric screw is rotatably connected inside the rotating plate. The push electric screw is threadedly connected to an extension nut plate slidably connected inside the rotating plate. The housing is fixedly connected to the end of the extension nut plate.

[0007] Preferably, the direction adjustment mechanism includes several fixed plates fixedly connected to the side wall of the underwater robot, an annular frame fixedly connected to the upper part of the fixed plates, a direction adjustment gear cavity provided in the annular frame, a direction adjustment gear shaft rotatably connected between the end walls of the direction adjustment gear cavity, the direction adjustment gear shaft being poweredly connected to a direction adjustment motor fixedly installed on the annular frame, a direction adjustment gear fixedly connected to the outer surface of the direction adjustment gear shaft, the direction adjustment gear meshing with a direction adjustment annular rack, the direction adjustment annular rack rotatably installed on the end wall of the annular frame, an annular rotating plate fixedly connected to the outer wall of the direction adjustment annular rack, the annular rotating plate being rotatably connected to the annular frame, and an L-shaped lifting frame fixedly connected to the end wall of the annular rotating plate.

[0008] Preferably, the columnar sampling mechanism includes an L-shaped frame fixedly connected to the end wall of the annular rotating plate. A sampling gear cavity is provided within the L-shaped frame. A sampling drive gear shaft is rotatably connected between the end walls of the sampling gear cavity. The sampling drive gear shaft is poweredly connected to a sampling motor fixedly installed within the L-shaped frame. A sampling drive gear is fixedly connected to the outer surface of the sampling drive gear shaft. The sampling drive gear meshes with a sampling driven gear. The sampling driven gear is fixedly installed on the outer surface of a sampling lead screw. The sampling lead screw is rotatably mounted through the L-shaped frame. The sampling lead screw is threadedly connected to a sampling nut block, and the sampling nut block slides between the sampling lead screw and the L-shaped frame. The sampling nut block is connected to a sampling stabilizing slider fixedly connected to its end wall. The sampling stabilizing slider is slidably connected between the end walls of a sampling stabilizing groove, which is located on the end wall of the L-shaped frame. An electric rotating shaft is rotatably connected to the end wall of the sampling nut block. A direction adjusting block is fixedly connected to the outer surface of the electric rotating shaft. The direction adjusting block is rotatably connected to the sampling nut block. A sampling bevel gear cavity is provided inside the direction adjusting block. A sampling drive bevel gear shaft is rotatably connected to the end wall of the sampling bevel gear cavity. The sampling drive bevel gear shaft is poweredly connected to a drilling motor fixedly installed inside the direction adjusting block. The sampling drive bevel gear shaft ends... A sampling drive bevel gear is fixedly connected to the upper end of an electric telescopic rod, and the sampling drive bevel gear meshes with a sampling driven bevel gear. The sampling driven bevel gear is fixedly installed on the upper end of the electric telescopic rod. A clamping disc is fixedly connected to the lower end of the electric telescopic rod. The bottom wall of the clamping disc is provided with several clamping grooves. A clamping screw is rotatably connected between the end walls of the clamping grooves. The clamping screw extends into a clamping gear cavity located within the clamping disc. A clamping drive gear shaft is rotatably connected between the end walls of the clamping gear cavity. The clamping drive gear shaft is poweredly connected to a clamping motor fixedly installed within the clamping disc. A clamping drive gear is fixedly connected to the end of the clamping drive gear shaft. The driving gear meshes with the clamping ring rack, which is rotatably connected between the end walls of the clamping gear cavity. The clamping ring rack meshes with several clamping driven gears, which are fixedly installed at the end of the clamping screw. A clamping plate is threadedly connected to the outer surface of the clamping screw and slidably installed between the end walls of the clamping groove. A clamping rod is fixedly connected to the inner surface of the clamping plate and inserted into the clamping groove. The clamping plate is located at the upper end of the cylindrical sampling cylinder. A sealing groove is provided at the lower end of the cylindrical sampling cylinder. A sealing plate is slidably connected between the end walls of the sealing groove, and a sealing spring is engaged between the sealing plate and the end wall of the sealing groove.

[0009] Preferably, the replacement collection mechanism includes a replacement fixing plate fixedly connected to the upper part of the L-shaped frame. The replacement fixing plate has a replacement gear cavity. A replacement drive gear shaft is rotatably connected between the end walls of the replacement gear cavity. The replacement drive gear shaft is poweredly connected to a replacement motor fixedly installed in the replacement fixing plate. A replacement drive gear is fixedly connected to the outer surface of the replacement drive gear shaft. The replacement drive gear meshes with a replacement driven gear. The replacement driven gear is fixedly installed on the outer surface of the replacement driven gear shaft. The replacement driven gear shaft is rotatably installed through the end walls of the replacement gear cavity. A replacement disc is fixedly connected to the lower end of the replacement driven gear shaft. The replacement disc is rotatably connected to the replacement fixing plate. A plurality of replacement clamping grooves are provided on the bottom wall of the replacement disc. Replacement threaded heads are fixedly installed on the end walls of the replacement clamping grooves. The replacement threaded heads are threadedly connected to the lower end of the columnar sampling cylinder.

[0010] Preferably, the extraction mechanism includes an extraction fixing plate fixedly connected to the end wall of the annular rotating plate, an extraction pump fixedly connected to the end wall of the extraction fixing plate, an extraction electric push rod fixedly connected to the injection port of the extraction pump, an extraction head fixedly connected to the end of the extraction electric push rod, a water filter fixedly connected to the outlet of the extraction pump, a conveying pipe fixedly connected to one end of the water filter, an output electric push rod fixedly connected to the other end of the conveying pipe, a support ring fixedly connected to the outer surface of the conveying pipe, a support rod fixedly connected to the support ring, and a support plate fixedly connected to the lower end of the support rod.

[0011] Preferably, the collection mechanism includes a collection cylinder fixedly connected to the underwater robot, the collection cylinder having a plurality of collection chambers, and a pressure-driven valve fixedly connected to the end wall of each collection chamber.

[0012] Preferably, the motion mechanism includes a motion plate fixedly connected to the bottom wall of the underwater robot, a motion frame fixedly connected to the end of the motion plate, a motion gear cavity provided in the motion frame, a motion gear shaft rotatably connected between the end walls of the motion gear cavity, the motion gear shaft being poweredly connected to a motion motor fixedly installed in the motion plate, a motion gear fixedly connected to the outer surface of the motion gear shaft, the motion gear meshing with a motion toothed belt, the motion toothed belt being rotatably installed on the end wall of the motion frame, and a plurality of motion strips being uniformly fixedly connected to the outer surface of the motion toothed belt.

[0013] This invention provides a method for sampling sandy sediments in shelf areas, based on the aforementioned sampling device for sandy sediments in shelf areas, comprising the following steps: Step 1: The motion mechanism moves, thereby driving the underwater robot to move, thus making the entire device move in the water; Step 2: The direction adjustment mechanism moves to adjust the direction and position of the corresponding sampling mechanism, facilitating sampling; Step 3: The columnar sampling mechanism moves to achieve columnar sampling of sandy sediments, enabling sampling of sandy sediments at different depths; Step 4: After sampling, the collection mechanism is changed to replace the cylindrical sampling cylinder, which facilitates subsequent sampling. Step 5: The lifting and adjusting mechanism moves to adjust the position of the sandy rock drilling mechanism, facilitating rock drilling and sampling; Step Six: The sandy rock drilling mechanism moves to drill through the sandy rock, and can drill through rocks of different shapes; Step 7: The extraction mechanism moves to extract the sandy deposits from the surface; Step 8: The collection mechanism moves to collect the extracted sandy sediment.

[0014] Compared with the prior art, the beneficial effects of the present invention are: 1. This invention provides a sampling device for sandy sediments in continental shelf areas, which can drill sandy rocks formed over a long period of time, and can isolate and avoid the influence of sea sand during drilling. It can also obtain rock core samples of different shapes for easy research. During drilling, the drill bit of different shapes can be replaced, resulting in high drilling efficiency.

[0015] 2. This invention provides a sampling device for sandy sediments in the continental shelf area, which can perform columnar sampling of sandy sediments, conduct sampling studies on sandy sediments at different depths, and collect the sampled tubes after sampling, enabling continuous sampling with high efficiency.

[0016] 3. The present invention provides a sampling device for sandy sediments in the continental shelf area, which can be moved to sample from multiple locations, and the sampling direction can be adjusted. It also enables the extraction and sampling of surface sediments. Attached Figure Description

[0017] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used together with the embodiments of the invention to explain the invention and do not constitute a limitation thereof.

[0018] In the attached diagram: Figure 1 This is a schematic diagram of the first orientation of a sampling device for sandy sediments in the shelf area according to the present invention; Figure 2This is a schematic diagram of the second orientation of a sampling device for sandy sediments in the continental shelf area according to the present invention; Figure 3 This is a third-direction structural schematic diagram of a sampling device for sandy sediments in the shelf area according to the present invention; Figure 4 This is a schematic diagram of the fourth direction structure of a sandy sediment sampling device for shelf areas according to the present invention; Figure 5 This is a schematic diagram of the fifth direction structure of a sandy sediment sampling device for shelf areas according to the present invention; Figure 6 This is a schematic diagram of the first disassembled structure of a sampling device for sandy sediments in the continental shelf area according to the present invention; Figure 7 This is a schematic diagram of the second disassembled structure of a continental shelf sandy sediment sampling device according to the present invention; Figure 8 This is a schematic diagram of the third disassembled structure of a continental shelf sandy sediment sampling device according to the present invention; Figure 9 This is a schematic diagram of the fourth disassembled structure of a continental shelf sandy sediment sampling device according to the present invention; Figure 10 This is a schematic diagram of the fifth disassembled structure of a continental shelf sandy sediment sampling device according to the present invention; Figure 11 This is a schematic diagram of one orientation of the combination of the columnar sampling mechanism and the replacement collection mechanism in this invention. Figure 12 This is a schematic diagram of another orientation of the combination of the columnar sampling mechanism and the replacement collection mechanism in this invention; Figure 13 This is a schematic diagram of one orientation of the combination of the sandy rock drilling mechanism and the lifting and adjusting mechanism in this invention; Figure 14 This is a schematic diagram of the combination of the sandy rock drilling mechanism and the lifting and adjusting mechanism in this invention from another direction. Figure 15 This is a schematic diagram of the extraction mechanism in this invention; Figure 16 This is a schematic diagram of the sixth direction structure of a sampling device for sandy sediments in the continental shelf area according to the present invention. Figure 17 for Figure 16 Schematic diagram of the cross-sectional structure at point AA; Figure 18 for Figure 17 Schematic diagram of the cross-sectional structure at point BB; Figure 19 for Figure 17 A schematic diagram of the cross-sectional structure at the CC section; Figure 20 forFigure 17 Enlarged structural diagram at point D; Figure 21 for Figure 17 A magnified structural diagram at point E in the middle.

[0019] In the diagram: 1-Underwater robot, 201-Box body, 202-Push electric actuator, 203-Electric telescopic shaft, 204-Wrapped arc plate, 205-Groove frame, 206-Fixing frame, 207-Placement frame, 208-Drill bit replacement, 209-Horizontal groove, 210-Horizontal nut plate, 211-Horizontal electric lead screw, 212-Disc, 213-Vertical nut plate, 214-Wrapped groove, 215-Wrapped lead screw, 216-Drilling drive shaft, 217-Drilling drive bevel gear, 218-Drilling driven bevel gear, 219-Brake electric actuator, 220-Worm gear, 221-Worm shaft, 222-Worm wheel shaft, 223-Worm wheel, 224-Brake gear disc, 225-Push gear disc, 226-Wrapped ring rack 227 - Enclosing the driving gear; 228 - Enclosing the driving gear shaft; 229 - Enclosing the driven gear; 230 - Drilling into the bevel gear cavity; 231 - Worm gear cavity; 232 - Vertical slide groove; 233 - Vertical electric lead screw; 234 - Clamping brake disc; 235 - Placement groove; 236 - Enclosing the gear cavity; 237 - Connector; 238 - Ejecting electric push rod; 239 - Ejection disc; 240 - Drill bit; 241 - Enclosing nut block; 301 - L-shaped lifting frame; 302 - Lifting lead screw; 303 - Lifting nut block; 304 - Rotating plate; 305 - Lifting stabilizing slide groove; 306 - Extending nut plate; 307 - Lifting stabilizing slider; 308 - Direction-adjusting driven bevel gear; 309 - Direction-adjusting driven bevel gear shaft; 310 - Pusher Electric lead screw, 311-Directional adjustment drive bevel gear, 312-Directional adjustment drive bevel gear shaft, 313-Lifting driven gear, 314-Lifting drive gear, 315-Lifting drive gear shaft, 316-Lifting gear cavity, 317-Directional adjustment bevel gear cavity, 401-Fixed plate, 402-Annular frame, 403-Annular rotating plate, 404-Directional adjustment gear cavity, 405-Directional adjustment annular rack, 406-Directional adjustment gear shaft, 407-Directional adjustment gear, 408-Directional adjustment motor, 501-L-shaped frame, 502-Sampling nut block, 503-Sampling lead screw, 504-Clamping plate, 505-Directional adjustment block, 506-Electric telescopic rod, 507-Clamping plate, 508-Clamping rod, 509-Sampling 510 - Stabilizing slide, 511 - Sampling drive gear shaft, 512 - Sampling driven gear, 513 - Sampling driven bevel gear, 514 - Sampling drive bevel gear, 515 - Electric rotating shaft, 516 - Sampling stabilizing slider, 517 - Sampling gear cavity, 518 - Sampling bevel gear cavity, 519 - Sampling drive bevel gear shaft, 520 - Clamping gear cavity, 521 - Clamping drive gear, 522 - Clamping drive gear shaft, 523 - Clamping lead screw, 524 - Clamping slide, 525 - Clamping ring rack, 526 - Clamping driven gear, 527 - Clamping groove, 528 - Columnar sampling cylinder, 529 - Sealing spring, 530 - Sealing groove, 531 - Sealing plate, 601 - Replacement fixing plate, 602 - Replacement disc603 - Replace clamping slot; 604 - Replace threaded head; 605 - Replace drive gear; 606 - Replace drive gear shaft; 607 - Replace driven gear shaft; 608 - Replace driven gear; 609 - Replace gear cavity; 701 - Remove fixing plate; 702 - Remove pump; 703 - Remove electric push rod; 704 - Remove head; 705 - Output electric push rod; 706 - Support ring; 707 - Support rod; 708 - Delivery pipe; 709 - Water filter; 710 - Support plate; 801 - Collection cylinder; 802 - Pressure drive valve; 803 - Collection cavity; 901 - Moving plate; 902 - Moving frame; 903 - Moving toothed belt; 904 - Moving strip; 905 - Moving gear cavity; 906 - Moving gear shaft; 907 - Moving gear. Detailed Implementation

[0020] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0021] like Figures 1-21 As shown, this invention provides a sandy sediment sampling device for continental shelf areas, including an underwater robot 1. The underwater robot 1 is equipped with a motion mechanism for moving the underwater robot 1, facilitating sediment sampling at different locations. The underwater robot 1 is also equipped with a direction adjustment mechanism for adjusting the sampling direction. A lifting adjustment mechanism is connected to the direction adjustment mechanism for adjustment during drilling and sampling. An extraction mechanism is connected to the direction adjustment mechanism for extracting the deposited marine sand. The underwater robot 1 is equipped with a columnar sampling mechanism for performing columnar sampling, enabling simultaneous sampling at different depths. A replacement collection mechanism is also connected to the columnar sampling mechanism for collecting and replacing the sampling cylinders. A collection mechanism is also connected to the underwater robot 1 for collecting the extracted sea sand. A sandy rock drilling mechanism is connected to the lifting and adjusting mechanism for drilling sandy rocks and performing sampling in different shapes.

[0022] Advantageously, the sandy rock drilling mechanism includes a housing 201, within which a drilling bevel gear cavity 230 is provided. A drilling drive shaft 216 is rotatably connected to the end wall of the drilling bevel gear cavity 230. The drilling drive shaft 216 is poweredly connected to a drilling motor fixedly installed inside the housing 201. A drilling drive bevel gear 217 is fixedly connected to the end of the drilling drive shaft 216. The drilling drive bevel gear 217 meshes with a drilling driven bevel gear 218, which is fixedly installed on an electric telescopic shaft 203. At the side end, the electric telescopic shaft 203 is rotatably mounted on the bottom wall of the drilling bevel gear cavity 230. A connector 237 is fixedly connected to the lower end of the drilling bevel gear cavity 230. A drill bit 240 is detachably connected to the connector 237. An electric push rod 238 is fixedly connected to the inner top wall of the connector 237. An ejection disc 239 is fixedly connected to the lower end of the electric push rod 238. Several electric push rods 202 are evenly fixedly connected to the bottom wall of the housing 201. The lower ends of the electric push rods 202 are... A disc 212 is fixedly connected to the disk. The bottom wall of the disc 212 has several wrapping grooves 214. A wrapping screw 215 is rotatably connected to the end walls of each wrapping groove 214. The wrapping screw 215 extends into a wrapping gear cavity 236 located within the disc 212. A wrapping drive gear shaft 228 is rotatably connected to the end walls of the wrapping gear cavity 236. The wrapping drive gear shaft 228 is powered by a wrapping motor fixedly installed within the disc 212. A wrapping drive gear is fixedly connected to the outer surface of the wrapping drive gear shaft 228. 227, the wrapping drive gear 227 meshes with the wrapping annular rack 226, the wrapping annular rack 226 is rotatably mounted between the end walls of the wrapping gear cavity 236, the wrapping annular rack 226 meshes with a plurality of wrapping driven gears 229, the wrapping driven gears 229 are fixedly mounted at the end of the wrapping screw 215, the outer surface of the wrapping screw 215 is threaded with a wrapping nut block 241 which is slidably connected between the end walls of the wrapping groove 214, and a wrapping arc plate 204 is fixedly connected to the bottom wall of the wrapping nut block 241; The housing 201 contains a worm gear cavity 231. A worm shaft 221 is rotatably connected between the end walls of the worm gear cavity 231. The worm shaft 221 is powered by a rotating motor fixedly installed inside the housing 201. A worm 220 is fixedly connected to the outer surface of the worm shaft 221. The worm 220 meshes with a worm wheel 223. The worm wheel 223 is fixedly installed on the outer surface of the worm wheel shaft 222. The worm wheel shaft 222 is rotatably installed through the end wall of the worm gear cavity 231. In the middle, a brake gear disc 224 is fixedly connected to the outer surface of the worm gear shaft 222. The brake gear disc 224 meshes with a push gear disc 225. The push gear disc 225 is fixedly installed at the end of the brake electric push rod 219. The brake electric push rod 219 is fixedly installed on the end wall of the worm cavity 231. A grooved bracket 205 is fixedly connected to the end of the worm gear shaft 222. The inner surface of the grooved bracket 205 is provided with a vertical sliding groove 232. The end wall of the vertical sliding groove 232 rotates... A vertical electric lead screw 233 is connected. A vertical nut plate 213 is threadedly connected to the outer surface of the vertical electric lead screw 233 and slidably connected between the end walls of the vertical slide groove 232. A plurality of fixing brackets 206 are fixedly connected at equal intervals on the inner surface of the vertical nut plate 213. A horizontal slide groove 209 is provided on the inner surface of the fixing bracket 206. A horizontal electric lead screw 211 is rotatably connected to the end wall of the horizontal slide groove 209. A horizontal nut plate 210 is threadedly connected to the outer surface of the horizontal electric lead screw 211 and slidably installed between the end walls of the horizontal slide groove 209. A placement frame 207 is fixedly connected between the horizontal nut plates 210. A placement groove 235 is provided on the placement frame 207. A clamping brake disc 234 is fixedly connected to the bottom wall of the placement groove 235. A replacement drill bit 208 is clamped on the clamping brake disc 234. The replacement drill bit 208 is detachably connected to the connector 237. Each replacement drill bit 208 has a different internal shape and diameter. During operation, the electric telescopic shaft 203 extends, causing the electric push rod 202 to extend, thereby allowing the drill bit 24 to move downwards and insert into the sea sand. Upon contact with the rock, the wrapping motor is activated, driving the wrapping drive gear shaft 228 to rotate, which in turn drives the wrapping drive gear 227. The wrapping drive gear 227 meshes with the wrapping ring rack 226, causing the wrapping ring rack 226 to rotate. The wrapping ring rack 226 meshes with the wrapping driven gear 229, driving the wrapping lead screw 215 to rotate, which in turn moves the wrapping nut block 241, thereby causing the wrapping arc plate 204 to move away from the drill bit 240. The telescopic shaft 203 continues to move downwards, activating the drilling motor, which in turn drives the drilling drive shaft 216 to rotate. This, in turn, drives the drilling drive bevel gear 217 to rotate. The drilling drive bevel gear 217 meshes with the drilling driven bevel gear 218, thereby driving the electric telescopic shaft 203 to rotate. This, in turn, drives the connector head 237 to rotate and move downwards, causing the drill bit 240 to rotate and move downwards to drill into the rock, thus achieving rock sampling. After sampling, the drill bit 240 moves to the upper side of the pressure drive valve 802. The drill bit 240 moves downwards and contacts the pressure drive valve 802, causing the pressure drive valve 802 to open, allowing the push rod 238 to move downwards. This pushes the ejector disc 239 downwards, pushing the rock sample from the drill bit 240 into the collection chamber 803 for collection. When sampling rocks of different shapes is required, the brake electric push rod 219 moves, thereby driving the push toothed disc 225 to move, causing the push toothed disc 225 to disengage from the brake toothed disc 224. This starts the rotary motor, driving the worm shaft 221 to rotate, which in turn drives the worm 220 to rotate. The worm 220 meshes with the worm wheel 223, driving the worm wheel shaft 222 to rotate, which in turn drives the groove frame 205 to rotate 180 degrees, causing the vertical electric lead screw 233 to rotate, thereby driving the vertical nut plate 2... 13 moves downward, thereby driving the fixed frame 206 downward, which in turn drives the placement frame 207 downward, causing the corresponding replacement drill bit 208 to descend to a certain height, causing the horizontal electric lead screw 211 to rotate, thereby driving the horizontal nut plate 210 to move, pushing the placement frame 207 to move, thereby causing the corresponding replacement drill bit 208 to move to the underside of the connector 237, causing the connector 237 to rotate, thereby realizing the threaded connection between the replacement drill bit 208 and the connector 237. After the threaded connection, the clamping brake disc 234 releases its clamping on the corresponding replacement drill bit 208. Before replacement, the drill bit 240 is disassembled into the empty placement slot 235.

[0023] Advantageously, the lifting adjustment mechanism includes an L-shaped lifting frame 301, within which a lifting gear cavity 316 is provided. A lifting drive gear shaft 315 is rotatably connected between the end walls of the lifting gear cavity 316. The lifting drive gear shaft 315 is poweredly connected to a lifting motor fixedly installed within the L-shaped lifting frame 301. A lifting drive gear 314 is fixedly connected to the outer surface of the lifting drive gear shaft 315. The lifting drive gear 314 meshes with a lifting driven gear 313, which is fixedly installed on the lifting lead screw 30. 2. On the outer surface, the lifting screw 302 is rotatably mounted between the end walls of the lifting gear cavity 316. A lifting nut block 303 is threadedly connected to the outer surface of the lifting screw 302. The lifting nut block 303 is slidably connected to the L-shaped lifting frame 301. A lifting stabilizing slider 307 is fixedly connected to the end wall of the lifting nut block 303. The lifting stabilizing slider 307 is slidably connected in the lifting stabilizing groove 305 provided on the L-shaped lifting frame 301. The lifting nut block 303 is provided with a direction adjusting bevel gear cavity 317. A directional adjustment drive bevel gear shaft 312 is rotatably connected to the end wall of the 17th end. The directional adjustment drive bevel gear shaft 312 is poweredly connected to an adjustment motor fixedly installed in the lifting nut block 303. A directional adjustment drive bevel gear 311 is fixedly connected to the end of the directional adjustment drive bevel gear shaft 312. The directional adjustment drive bevel gear 311 meshes with a directional adjustment driven bevel gear 308. The directional adjustment driven bevel gear 308 is fixedly installed at the lower end of the directional adjustment driven bevel gear shaft 309. The directional adjustment driven bevel gear shaft 309 is rotatably installed through the shaft. On the end wall of the direction-adjusting bevel gear cavity 317, a rotating plate 304 is fixedly connected to the upper end of the direction-adjusting driven bevel gear shaft 309. The rotating plate 304 is rotatably connected to the lifting nut block 303. A stabilizing ring is connected between the lifting nut block 303 and the rotating plate 304. A push electric screw 310 is rotatably connected inside the rotating plate 304. The push electric screw 310 is threadedly connected to an extension nut plate 306 that is slidably connected inside the rotating plate 304. The end of the extension nut plate 306 is fixedly connected to the housing 201. During operation, the lifting motor is started, which drives the lifting drive gear shaft 315 to rotate, thereby driving the lifting drive gear 314 to rotate. The lifting drive gear 314 meshes with the lifting driven gear 313, thereby driving the lifting lead screw 302 to rotate. The lifting lead screw 302 is threadedly connected to the lifting nut block 303, thereby driving the lifting nut block 303 to move downward. The movement of the lifting nut block 303 causes the lifting stabilizing slider 307 to slide within the lifting stabilizing groove 305. The lifting stabilizing slider 307 and the lifting stabilizing groove 305 are connected by the lifting nut block 303. The stability of 03 allows the drive screw 310 to rotate, thereby driving the extension nut plate 306 to move, which in turn drives the housing 201 to move, thus adjusting the distance of the housing 201. The adjustment motor is then activated, driving the direction adjustment drive bevel gear shaft 312 to rotate, which in turn drives the direction adjustment drive bevel gear 311 to rotate. The direction adjustment drive bevel gear 311 meshes with the direction adjustment driven bevel gear 308, thereby driving the direction adjustment driven bevel gear shaft 309 to rotate, which in turn drives the rotating plate 304 to rotate, thus achieving direction adjustment for easy collection and drilling.

[0024] Advantageously, the direction adjustment mechanism includes several fixed plates 401 fixedly connected to the side wall of the underwater robot 1, an annular frame 402 fixedly connected to the upper part of the fixed plates 401, a direction adjustment gear cavity 404 provided in the annular frame 402, a direction adjustment gear shaft 406 rotatably connected between the end walls of the direction adjustment gear cavity 404, the direction adjustment gear shaft 406 being poweredly connected to a direction adjustment motor 408 fixedly installed on the annular frame 402, a direction adjustment gear 407 fixedly connected to the outer surface of the direction adjustment gear shaft 406, the direction adjustment gear 407 meshing with a direction adjustment annular rack 405, the direction adjustment annular rack 405 rotatably installed on the end wall of the annular frame 402, an annular rotating plate 403 fixedly connected to the outer wall of the direction adjustment annular rack 405, the annular rotating plate 403 rotatably connected to the annular frame 402, and an L-shaped lifting frame 301 fixedly connected to the end wall of the annular rotating plate 403. During operation, the direction adjustment motor 408 is started, which drives the direction adjustment gear shaft 406 to rotate, thereby driving the direction adjustment gear 407 to rotate. The direction adjustment gear 407 meshes with the direction adjustment ring rack 405, thereby driving the direction adjustment ring rack 405 to rotate, which in turn drives the ring rotating plate 403 to rotate.

[0025] Advantageously, the columnar sampling mechanism includes an L-shaped frame 501 fixedly connected to the end wall of the annular rotating plate 403. A sampling gear cavity 517 is provided inside the L-shaped frame 501. A sampling drive gear shaft 510 is rotatably connected between the end walls of the sampling gear cavity 517. The sampling drive gear shaft 510 is poweredly connected to a sampling motor fixedly installed inside the L-shaped frame 501. A sampling drive gear 511 is fixedly connected to the outer surface of the sampling drive gear shaft 510. The sampling drive gear 511 meshes with a sampling driven gear 512. The sampling driven gear 512 is fixedly installed on the outer surface of the sampling lead screw 503. The sampling lead screw 503 is rotatably mounted through the L-shaped frame 501. The sampling lead screw 503 and the sampling nut block 5... 02. A threaded connection is established, with the sampling nut block 502 slidably connected to the L-shaped frame 501. A sampling stabilizing slider 516 is fixedly connected to the end wall of the sampling nut block 502. The sampling stabilizing slider 516 is slidably connected between the end walls of the sampling stabilizing groove 509, which is located on the end wall of the L-shaped frame 501. An electric rotating shaft 515 is rotatably connected to the end wall of the sampling nut block 502. A direction adjusting block 505 is fixedly connected to the outer surface of the electric rotating shaft 515. The direction adjusting block 505 is rotatably connected to the sampling nut block 502. A sampling bevel gear cavity 518 is provided inside the direction adjusting block 505. A sampling drive bevel gear shaft 519 is rotatably connected to the end wall of the sampling bevel gear cavity 518. The sampling active bevel gear shaft 519 is poweredly connected to the drilling motor fixedly installed in the direction adjustment block 505. A sampling active bevel gear 514 is fixedly connected to the end of the sampling active bevel gear shaft 519. The sampling active bevel gear 514 meshes with a sampling driven bevel gear 513. The sampling driven bevel gear 513 is fixedly installed on the upper end of the electric telescopic rod 506. A chuck 504 is fixedly connected to the lower end of the electric telescopic rod 506. The bottom wall of the chuck 504 has several clamping grooves 524. A clamping screw 523 is rotatably connected between the end walls of the clamping grooves 524. The clamping screw 523 extends into a clamping gear cavity 520 located within the chuck 504. The end walls of the clamping gear cavity 520 are rotatably connected... A clamping drive gear shaft 522 is provided, which is poweredly connected to a clamping motor fixedly installed in the clamping plate 504. A clamping drive gear 521 is fixedly connected to the end of the clamping drive gear shaft 522. The clamping drive gear 521 meshes with a clamping annular rack 525, which is rotatably connected between the end walls of the clamping gear cavity 520. The clamping annular rack 525 meshes with several clamping driven gears 526, which are fixedly installed at the end of the clamping lead screw 523. A clamping plate 507 is threadedly connected to the outer surface of the clamping lead screw 523 and slidably installed between the end walls of the clamping groove 524. A clamping rod 508 is fixedly connected to the inner surface of the clamping plate 507.The clamping rod 508 is inserted into the clamping groove 527. The clamping plate 507 is located at the upper end of the cylindrical sampling cylinder 528. A sealing groove 530 is provided at the lower end of the cylindrical sampling cylinder 528. A sealing plate 531 is slidably connected between the end walls of the sealing groove 530. A sealing spring 529 is engaged between the sealing plate 531 and the end wall of the sealing groove 530. During operation, the sampling motor is started, which drives the sampling drive gear shaft 510 to rotate, thereby driving the sampling drive gear 511 to rotate. The sampling drive gear 511 meshes with the sampling driven gear 512, thereby driving the sampling lead screw 503 to rotate. The sampling lead screw 503 is threadedly connected to the sampling nut block 502, thereby driving the sampling nut block 502 to move downward. When the sampling nut block 502 moves, it drives the sampling stabilizing slider 516 to slide in the sampling stabilizing groove 509, increasing the stability of the movement of the sampling nut block 502. The downward movement of the sampling nut block 502 drives the direction adjusting block 505 to move downward, thereby driving the clamping plate 504 to move downward, thereby driving the cylindrical sampling cylinder 528 to move downward. The drilling motor is started, which drives the sampling drive bevel gear shaft 519 to rotate, thereby driving the sampling drive bevel gear 514 to rotate. Wheel 514 meshes with the sampling driven bevel gear 513, thereby driving the electric telescopic rod 506 to rotate, which in turn drives the clamp 504 to rotate downwards, thereby driving the cylindrical sampling cylinder 528 to rotate downwards. Sandy sediment enters the cylindrical sampling cylinder 528 and contacts the sealing plate 531, thereby pushing the sealing plate 531 to move into the sealing groove 530, causing the sealing spring 529 to compress, thereby opening the cylindrical sampling cylinder 528 and allowing sandy sediment to enter the cylindrical sampling cylinder 528. The electric telescopic rod 506 is energized, causing it to extend, thereby increasing the drilling depth of the cylindrical sampling cylinder 528 and filling the cylindrical sampling cylinder 528 with sandy sediment. After sampling is completed, the corresponding components are reset. The sealing spring 529 pushes the sealing plate 531 to reset and seal the lower part of the cylindrical sampling cylinder 528 to prevent sandy sediment from flowing out.

[0026] Advantageously, the replacement collection mechanism includes a replacement fixing plate 601 fixedly connected to the upper part of the L-shaped frame 501. A replacement gear cavity 609 is provided within the replacement fixing plate 601. A replacement drive gear shaft 606 is rotatably connected between the end walls of the replacement gear cavity 609. The replacement drive gear shaft 606 is poweredly connected to a replacement motor fixedly installed within the replacement fixing plate 601. A replacement drive gear 605 is fixedly connected to the outer surface of the replacement drive gear shaft 606. The replacement drive gear 605 meshes with a replacement driven gear 608. Wheel 608 is fixedly installed on the outer surface of the replacement driven gear shaft 607. The replacement driven gear shaft 607 is rotatably installed through the end wall of the replacement gear cavity 609. A replacement disc 602 is fixedly connected to the lower end of the replacement driven gear shaft 607. The replacement disc 602 is rotatably connected to the replacement fixing plate 601. Several replacement clamping grooves 603 are provided on the bottom wall of the replacement disc 602. A replacement threaded head 604 is fixedly installed on the end wall of the replacement clamping groove 603. The replacement threaded head 604 is threadedly connected to the lower end of the columnar sampling cylinder 528. During operation, the replacement motor is started, which drives the replacement drive gear shaft 606 to rotate, thereby driving the replacement drive gear 605 to rotate. The replacement drive gear 605 meshes with the replacement driven gear 608, thereby driving the replacement driven gear shaft 607 to rotate, which in turn drives the replacement disc 602 to rotate. This causes the empty replacement clamping slot 603 to rotate to the upper side of the cylindrical sampling cylinder 528. After rotating to the upper side of the cylindrical sampling cylinder 528, the electric rotating shaft 515 rotates, thereby driving the direction adjusting block 505 to rotate, which in turn drives the cylindrical sampling cylinder 528 to rotate 180 degrees. This causes the electric telescopic rod 506 to extend, pushing the end of the cylindrical sampling cylinder 528 into the replacement clamping slot 603. At the same time, the drilling motor moves, thereby driving the cylindrical sampling cylinder 528 to rotate and engage with the replacement threaded head 603. 04. Threaded connection: After threaded connection, the clamping motor is started, thereby driving the clamping drive gear shaft 522 to rotate, which in turn drives the clamping drive gear 521 to rotate. The clamping drive gear 521 meshes with the clamping ring rack 525, thereby driving the clamping ring rack 525 to rotate. The clamping ring rack 525 meshes with several clamping driven gears 526, thereby driving the clamping screw 523 to rotate, which in turn drives the clamping plate 507 to move, which in turn drives the clamping rod 508 to move and disengage from the clamping groove 527, thereby releasing the clamping of the cylindrical sampling cylinder 528. The electric telescopic rod 506 drives the clamping plate 504 to move downward, causing the replacement motor to move and drive the remaining cylindrical sampling cylinder 528 to rotate to the upper side of the clamping plate 504, continuing to clamp the remaining cylindrical sampling cylinder 528 for the next sampling.

[0027] Advantageously, the extraction mechanism includes an extraction fixing plate 701 fixedly connected to the end wall of the annular rotating plate 403, an extraction pump 702 fixedly connected to the end wall of the extraction fixing plate 701, an extraction electric push rod 703 fixedly connected to the injection port of the extraction pump 702, an extraction head 704 fixedly connected to the end of the extraction electric push rod 703, a water filter 709 fixedly connected to the outlet of the extraction pump 702, a conveying pipe 708 fixedly connected to one end of the water filter 709, an output electric push rod 705 fixedly connected to the other end of the conveying pipe 708, a support ring 706 fixedly connected to the outer surface of the conveying pipe 708, a support rod 707 fixedly connected to the support ring 706, and a support plate 710 fixedly connected to the lower end of the support rod 707. During operation, the extraction electric push rod 703 moves downward, thereby driving the extraction head 704 to move downward and contact the sea sand. This causes the output electric push rod 705 to move downward and contact the pressure drive valve 802, opening the pressure drive valve 802 and activating the extraction pump 702 to extract the sea sand. The sea sand passes through the extraction head 704 and enters the extraction electric push rod 703. After the water is discharged from the sea sand by the water filter 709, the sea sand passes through the conveying pipe 708 and the output electric push rod 705 to enter the collection chamber 803 for collection.

[0028] Advantageously, the collection mechanism includes a collection cylinder 801 fixedly connected to the underwater robot 1, the collection cylinder 801 having a plurality of collection chambers 803, and a pressure drive valve 802 fixedly connected to the end wall of the collection chamber 803. During operation, the pressure-driven valve 802 is opened under pressure, allowing the sample to enter the collection chamber 803 for collection.

[0029] Advantageously, the motion mechanism includes a motion plate 901 fixedly connected to the bottom wall of the underwater robot 1, a motion frame 902 fixedly connected to the end of the motion plate 901, a motion gear cavity 905 provided in the motion frame 902, a motion gear shaft 906 rotatably connected between the end walls of the motion gear cavity 905, the motion gear shaft 906 being poweredly connected to a motion motor fixedly installed in the motion plate 901, a motion gear 907 fixedly connected to the outer surface of the motion gear shaft 906, the motion gear 907 meshing with a motion toothed belt 903, the motion toothed belt 903 being rotatably installed on the end wall of the motion frame 902, and a plurality of motion strips 904 uniformly fixedly connected to the outer surface of the motion toothed belt 903; During operation, the motion motor is started, which drives the motion gear shaft 906 to rotate, thereby driving the motion gear 907 to rotate. The motion gear 907 meshes with the motion toothed belt 903, thereby driving the motion toothed belt 903 to rotate, thereby driving the motion bar 904 to move, thus making the underwater robot 1 move.

[0030] Advantageously, the underwater robot 1 is equipped with a battery to power the entire device. The underwater robot 1 is also equipped with a control processor containing corresponding control programs. The control processor is connected to the electrical components in the device to control these components. Furthermore, the underwater robot 1 is equipped with a vision sensor to identify and determine the location of sandy sediments, facilitating sampling. This invention provides a method for sampling sandy sediments in shelf areas, based on the aforementioned sampling device for sandy sediments in shelf areas, comprising the following steps: Step 1: The motion mechanism moves, thereby driving the underwater robot 1 to move, thus making the entire device move in the water; Step 2: The direction adjustment mechanism moves to adjust the direction and position of the corresponding sampling mechanism, facilitating sampling; Step 3: The columnar sampling mechanism moves to achieve columnar sampling of sandy sediments, enabling sampling of sandy sediments at different depths; Step 4: After sampling, the collection mechanism is changed to replace the cylindrical sampling cylinder 528, which facilitates subsequent sampling. Step 5: The lifting and adjusting mechanism moves to adjust the position of the sandy rock drilling mechanism, facilitating rock drilling and sampling; Step Six: The sandy rock drilling mechanism moves to drill through the sandy rock, and can drill through rocks of different shapes; Step 7: The extraction mechanism moves to extract the sandy deposits from the surface; Step 8: The collection mechanism moves to collect the extracted sandy sediment.

[0031] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0032] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A sampling device for sandy sediments in continental shelf areas, characterized in that: Includes an underwater robot (1), which is equipped with a motion mechanism for moving the underwater robot (1) to facilitate sediment sampling at different locations. The underwater robot (1) is equipped with a direction adjustment mechanism for adjusting the sampling direction. A lifting adjustment mechanism is connected to the direction adjustment mechanism for adjustment during drilling and sampling. An extraction mechanism is connected to the direction adjustment mechanism for extracting and sampling the deposited sea sand. A columnar sampling mechanism is connected to the adjustment mechanism. The columnar sampling mechanism is used to perform columnar sampling and achieve simultaneous sampling at different depths. A replacement collection mechanism is connected to the columnar sampling mechanism. The replacement collection mechanism is used to collect the sampling tube and replace it with a new sampling tube. A collection mechanism is connected to the underwater robot (1). The collection mechanism is used to collect the extracted sea sand. A sandy rock drilling mechanism is connected to the lifting adjustment mechanism. The sandy rock drilling mechanism is used to drill sandy rocks and achieve drilling and sampling of different shapes.

2. The sampling device for sandy sediments in the continental shelf area according to claim 1, characterized in that: The sandy rock drilling mechanism includes a housing (201), within which a drilling bevel gear cavity (230) is provided. A drilling drive shaft (216) is rotatably connected to the end wall of the drilling bevel gear cavity (230). The drilling drive shaft (216) is poweredly connected to a drilling motor fixedly installed in the housing (201). A drilling drive bevel gear (217) is fixedly connected to the end of the drilling drive shaft (216). The drilling drive bevel gear (217) meshes with a drilling driven bevel gear (218). The drilling driven bevel gear (218) is fixedly installed on the upper end of an electric telescopic shaft (203). The electric telescopic shaft (203) is rotatably mounted on the bottom wall of the drilling bevel gear cavity (230). A connector (237) is fixedly connected to the lower end of the drilling bevel gear cavity (230). A drill bit (240) is detachably connected to the connector (237). An electric push rod (238) is fixedly connected to the inner top wall of the connector (237). An ejection disc (239) is fixedly connected to the lower end of the electric push rod (238). Several electric push rods (202) are evenly fixedly connected to the bottom wall of the housing (201). The lower end of the electric push rods (202) is fixedly connected to... A disc (212) is connected to a disk (212). Several wrapping grooves (214) are provided on the bottom wall of the disc (212). A wrapping screw (215) is rotatably connected to the end wall of each wrapping groove (214). The wrapping screw (215) extends into a wrapping gear cavity (236) located within the disc (212). A wrapping drive gear shaft (228) is rotatably connected to the end wall of the wrapping gear cavity (236). The wrapping drive gear shaft (228) is poweredly connected to a wrapping motor fixedly installed within the disc (212). A wrapping drive gear (228) is fixedly connected to the outer surface of the wrapping drive gear shaft (228). 27), the wrapping drive gear (227) meshes with the wrapping annular rack (226), the wrapping annular rack (226) is rotatably mounted between the end walls of the wrapping gear cavity (236), the wrapping annular rack (226) meshes with a plurality of wrapping driven gears (229), the wrapping driven gears (229) are fixedly mounted at the end of the wrapping screw (215), the outer surface of the wrapping screw (215) is threaded with a wrapping nut block (241) that is slidably connected between the end walls of the wrapping slide groove (214), and a wrapping arc plate (204) is fixedly connected to the bottom wall of the wrapping nut block (241); The housing (201) contains a worm chamber (231), and a worm shaft (221) is rotatably connected between the end walls of the worm chamber (231). The worm shaft (221) is powered by a rotating motor fixedly installed inside the housing (201). A worm (220) is fixedly connected to the outer surface of the worm shaft (221), and the worm (220) meshes with a worm wheel (223). The worm wheel (223) is fixedly installed on the outer surface of the worm wheel shaft (222), and the worm wheel shaft (222) is rotatably installed through the worm chamber (231). Between the end walls, a brake gear disc (224) is fixedly connected to the outer surface of the worm gear shaft (222). The brake gear disc (224) meshes with a push gear disc (225). The push gear disc (225) is fixedly installed at the end of the brake electric push rod (219). The brake electric push rod (219) is fixedly installed on the end wall of the worm cavity (231). A groove frame (205) is fixedly connected to the end of the worm gear shaft (222). A vertical sliding groove (232) is provided on the inner surface of the groove frame (205). The end wall of the vertical sliding groove (232) A vertical electric lead screw (233) is rotatably connected to the upper part of the vertical electric lead screw (233). A vertical nut plate (213) is slidably connected between the end walls of the vertical slide groove (232) and the outer surface of the vertical electric lead screw (233). Several fixing brackets (206) are equidistantly fixed to the inner surface of the vertical nut plate (213). A horizontal slide groove (209) is provided on the inner surface of the fixing brackets (206). A horizontal electric lead screw (211) is rotatably connected to the end wall of the horizontal slide groove (209). A threaded connection is made to the outer surface of the horizontal electric lead screw (211). A horizontal nut plate (210) is slidably installed between the end walls of a horizontal slide groove (209). A placement frame (207) is fixedly connected between the horizontal nut plates (210). The placement frame (207) has several placement slots (235). A clamping brake disc (234) is fixedly connected to the bottom wall of the placement slot (235). A replacement drill bit (208) is clamped on the clamping brake disc (234). The replacement drill bit (208) is detachably connected to the connector (237). Each replacement drill bit (208) has a different internal shape and diameter.

3. A sampling device for sandy sediments in a continental shelf area according to claim 2, characterized in that: The lifting adjustment mechanism includes an L-shaped lifting frame (301), which has a lifting gear cavity (316) inside. A lifting drive gear shaft (315) is rotatably connected between the end walls of the lifting gear cavity (316). The lifting drive gear shaft (315) is poweredly connected to a lifting motor fixedly installed in the L-shaped lifting frame (301). A lifting drive gear (314) is fixedly connected to the outer surface of the lifting drive gear shaft (315). The lifting drive gear (314) meshes with a lifting driven gear (313). The lifting driven gear (313) is fixedly installed on the outer surface of the lifting screw (302). The lifting screw (302) is rotatably mounted through the end wall of the lifting gear cavity (316). A lifting nut block (303) is threadedly connected to the outer surface of the lifting screw (302). The lifting nut block (303) is slidably connected to the L-shaped lifting frame (301). A lifting stabilizing slider (307) is fixedly connected to the end wall of the lifting nut block (303). The lifting stabilizing slider (307) is slidably connected in the lifting stabilizing groove (305) provided on the L-shaped lifting frame (301). A direction adjusting bevel gear cavity (317) is provided in the lifting nut block (303). 17) A directional adjustment drive bevel gear shaft (312) is rotatably connected to the end wall. The directional adjustment drive bevel gear shaft (312) is poweredly connected to an adjustment motor fixedly installed in the lifting nut block (303). A directional adjustment drive bevel gear (311) is fixedly connected to the end of the directional adjustment drive bevel gear shaft (312). The directional adjustment drive bevel gear (311) meshes with a directional adjustment driven bevel gear (308). The directional adjustment driven bevel gear (308) is fixedly installed at the lower end of the directional adjustment driven bevel gear shaft (309). The directional adjustment driven bevel gear shaft (309) is rotatably installed through the square... A rotating plate (304) is fixedly connected to the upper end of the directional adjustment driven bevel gear shaft (309) on the end wall of the adjusting bevel gear cavity (317). The rotating plate (304) is rotatably connected to the lifting nut block (303). A stabilizing ring is connected between the lifting nut block (303) and the rotating plate (304). A push electric screw (310) is rotatably connected inside the rotating plate (304). The push electric screw (310) is threadedly connected to an extension nut plate (306) that is slidably connected inside the rotating plate (304). The end of the extension nut plate (306) is fixedly connected to the housing (201).

4. A sampling device for sandy sediments in a continental shelf area according to claim 3, characterized in that: The direction adjustment mechanism includes several fixed plates (401) fixedly connected to the side wall of the underwater robot (1). A ring frame (402) is fixedly connected to the upper part of the fixed plates (401). A direction adjustment gear cavity (404) is provided inside the ring frame (402). A direction adjustment gear shaft (406) is rotatably connected between the end walls of the direction adjustment gear cavity (404). The direction adjustment gear shaft (406) is poweredly connected to a direction adjustment motor (408) fixedly installed on the ring frame (402). (406) A direction adjustment gear (407) is fixedly connected to the outer surface. The direction adjustment gear (407) meshes with a direction adjustment ring rack (405). The direction adjustment ring rack (405) is rotatably mounted on the end wall of the ring frame (402). An annular rotating plate (403) is fixedly connected to the outer wall of the direction adjustment ring rack (405). The annular rotating plate (403) is rotatably connected to the ring frame (402). The L-shaped lifting frame (301) is fixedly connected to the end wall of the annular rotating plate (403).

5. A sampling device for sandy sediments in a continental shelf area according to claim 4, characterized in that: The columnar sampling mechanism includes an L-shaped frame (501) fixedly connected to the end wall of the annular rotating plate (403). A sampling gear cavity (517) is provided inside the L-shaped frame (501). A sampling drive gear shaft (510) is rotatably connected between the end walls of the sampling gear cavity (517). The sampling drive gear shaft (510) is poweredly connected to a sampling motor fixedly installed inside the L-shaped frame (501). A sampling drive gear (511) is fixedly connected to the outer surface of the sampling drive gear shaft (510). The sampling drive gear (511) meshes with a sampling driven gear (512). The sampling driven gear (512) is fixedly installed on the outer surface of the sampling lead screw (503). The sampling lead screw (503) is rotatably installed through the sampling motor. On the L-shaped frame (501), the sampling screw (503) is threadedly connected to the sampling nut block (502), and the sampling nut block (502) is slidably connected to the L-shaped frame (501). A sampling stabilizing slider (516) is fixedly connected to the end wall of the sampling nut block (502), and the sampling stabilizing slider (516) is slidably connected between the end walls of the sampling stabilizing groove (509). The sampling stabilizing groove (509) is provided on the end wall of the L-shaped frame (501). An electric rotating shaft (515) is rotatably connected to the end wall of the sampling nut block (502), and a direction adjusting block (505) is fixedly connected to the outer surface of the electric rotating shaft (515). The direction adjusting block (505) is rotatably connected to the sampling nut block (502). Next, a sampling bevel gear cavity (518) is provided inside the direction adjustment block (505). A sampling drive bevel gear shaft (519) is rotatably connected to the end wall of the sampling bevel gear cavity (518). The sampling drive bevel gear shaft (519) is poweredly connected to the drilling motor fixedly installed in the direction adjustment block (505). A sampling drive bevel gear (514) is fixedly connected to the end of the sampling drive bevel gear shaft (519). The sampling drive bevel gear (514) meshes with a sampling driven bevel gear (513). The sampling driven bevel gear (513) is fixedly installed on the upper end of the electric telescopic rod (506). A chuck (504) is fixedly connected to the lower end of the electric telescopic rod (506). A chuck (504) is provided on the bottom wall of the chuck (504). There are several clamping grooves (524), and a clamping screw (523) is rotatably connected between the end walls of the clamping grooves (524). The clamping screw (523) extends into a clamping gear cavity (520) located within the clamping disc (504). A clamping drive gear shaft (522) is rotatably connected between the end walls of the clamping gear cavity (520). The clamping drive gear shaft (522) is poweredly connected to a clamping motor fixedly installed within the clamping disc (504). A clamping drive gear (521) is fixedly connected to the end of the clamping drive gear shaft (522). The clamping drive gear (521) meshes with a clamping annular rack (525), and the clamping annular rack (525) is rotatably connected between the end walls of the clamping gear cavity (520).The clamping annular rack (525) meshes with several clamping driven gears (526). The clamping driven gears (526) are fixedly installed at the end of the clamping screw (523). A clamping plate (507) is threadedly connected to the outer surface of the clamping screw (523) and slidably installed between the end walls of the clamping groove (524). A clamping rod (508) is fixedly connected to the inner surface of the clamping plate (507). The clamping rod (508) is inserted into the clamping groove (527). The clamping plate (507) is located at the upper end of the cylindrical sampling cylinder (528). A sealing groove (530) is provided at the lower end of the cylindrical sampling cylinder (528). A sealing plate (531) is slidably connected between the end walls of the sealing groove (530). A sealing spring (529) is engaged between the sealing plate (531) and the end wall of the sealing groove (530).

6. A sampling device for sandy sediments in a continental shelf area according to claim 5, characterized in that: The replacement collection mechanism includes a replacement fixing plate (601) fixedly connected to the upper part of the L-shaped frame (501). The replacement fixing plate (601) has a replacement gear cavity (609) inside. A replacement drive gear shaft (606) is rotatably connected between the end walls of the replacement gear cavity (609). The replacement drive gear shaft (606) is poweredly connected to a replacement motor fixedly installed in the replacement fixing plate (601). A replacement drive gear (605) is fixedly connected to the outer surface of the replacement drive gear shaft (606). The replacement drive gear (605) meshes with a replacement driven gear (608). 8) Fixedly installed on the outer surface of the replacement driven gear shaft (607), the replacement driven gear shaft (607) is rotatably installed through the end wall of the replacement gear cavity (609), the lower end of the replacement driven gear shaft (607) is fixedly connected to the replacement disc (602), the replacement disc (602) is rotatably connected to the replacement fixing plate (601), the bottom wall of the replacement disc (602) is provided with a plurality of replacement clamping grooves (603), the end wall of the replacement clamping groove (603) is fixedly installed with a replacement threaded head (604), the replacement threaded head (604) is threadedly connected to the lower end of the columnar sampling cylinder (528).

7. A sampling device for sandy sediments in a continental shelf area according to claim 6, characterized in that: The extraction mechanism includes an extraction fixing plate (701) fixedly connected to the end wall of the annular rotating plate (403), an extraction pump (702) fixedly connected to the end wall of the extraction fixing plate (701), an extraction electric push rod (703) fixedly connected to the injection port of the extraction pump (702), an extraction head (704) fixedly connected to the end of the extraction electric push rod (703), a water filter (709) fixedly connected to the outlet of the extraction pump (702), a conveying pipe (708) fixedly connected to one end of the water filter (709), an output electric push rod (705) fixedly connected to the other end of the conveying pipe (708), a support ring (706) fixedly connected to the outer surface of the conveying pipe (708), a support rod (707) fixedly connected to the support ring (706), and a support plate (710) fixedly connected to the lower end of the support rod (707).

8. A sampling device for sandy sediments in a continental shelf area according to claim 7, characterized in that: The collection mechanism includes a collection cylinder (801) fixedly connected to the underwater robot (1), and the collection cylinder (801) is provided with a plurality of collection chambers (803), and a pressure drive valve (802) is fixedly connected to the end wall of the collection chamber (803).

9. A sampling device for sandy sediments in a continental shelf area according to claim 8, characterized in that: The motion mechanism includes a motion plate (901) fixedly connected to the bottom wall of the underwater robot (1), a motion frame (902) fixedly connected to the end of the motion plate (901), a motion gear cavity (905) provided in the motion frame (902), a motion gear shaft (906) rotatably connected between the end walls of the motion gear cavity (905), the motion gear shaft (906) being poweredly connected to a motion motor fixedly installed in the motion plate (901), a motion gear (907) fixedly connected to the outer surface of the motion gear shaft (906), the motion gear (907) meshing with a motion toothed belt (903), the motion toothed belt (903) being rotatably installed on the end wall of the motion frame (902), and a plurality of motion strips (904) being uniformly fixedly connected to the outer surface of the motion toothed belt (903).

10. A method for sampling sandy sediments in a shelf area, based on the sandy sediment sampling device for a shelf area as described in claim 9, characterized in that: step include: Step 1: The motion mechanism moves, thereby driving the underwater robot (1) to move, thus making the entire device move in the water; Step 2: The direction adjustment mechanism moves to adjust the direction and position of the corresponding sampling mechanism, facilitating sampling; Step 3: The columnar sampling mechanism moves to achieve columnar sampling of sandy sediments, enabling sampling of sandy sediments at different depths; Step 4: After sampling, the collection mechanism is changed to replace the cylindrical sampling tube (528) for subsequent sampling. Step 5: The lifting and adjusting mechanism moves to adjust the position of the sandy rock drilling mechanism, facilitating rock drilling and sampling; Step Six: The sandy rock drilling mechanism moves to drill through the sandy rock, and can drill through rocks of different shapes; Step 7: The extraction mechanism moves to extract the sandy deposits from the surface; Step 8: The collection mechanism moves to collect the extracted sandy sediment.

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