Sediment sampling device and sampling method

Abstract

The invention relates to the technical field of geological sampling, in particular to a sediment sampling device and a sampling method.The sediment sampling device comprises a frame and a support installed on the frame; a flexible track mechanism is installed at the front end of the support, a sampling mechanism is connected to the flexible track mechanism in a sliding mode, and a driving mechanism used for driving the sampling mechanism to reciprocate along the flexible track mechanism is further installed on the support. Wherein a magazine mechanism used for packaging sampled sediments is further mounted above the frame, the sampling mechanism can form multi-angle sampling on the flexible track mechanism by arranging the flexible track mechanism capable of being freely bent, so that the sampling suitability is improved, and the sampling efficiency is improved. In addition, a magazine mechanism is further designed to be used for packaging sampled sediments and isolating sediment samples after sampling, so that the sampling safety in a severe environment is improved, manual intervention is not needed in the whole process, and the risk of injury to people is reduced.

Description

Technical Field

[0001] This invention relates to the field of geological sampling technology, and in particular to a sediment sampling device and sampling method. Background Technology

[0002] Sediments, as an important product of the Earth's surface material cycle, are formed through natural processes such as weathering, erosion, and transportation. They are widely distributed in water bodies, land, and underground spaces, serving as "natural archives" that record geological history and environmental changes. According to their source, they can be divided into inorganic sediments (such as rock fragments, volcanic ash, and chemically precipitated minerals) and organic sediments (such as biological remains and peat). Their deposition process follows the law of particle sorting, that is, when the kinetic energy of the transport medium weakens, coarse particles are deposited first, while fine particles continue to migrate, eventually forming sedimentary layers of different particle sizes. These sediments can be transformed into sedimentary rocks through geological processes such as compaction and cementation, which have important scientific value for studying geological age and paleoclimate.

[0003] Currently, sediment sampling primarily relies on manual collection methods, with workers directly obtaining samples using tools such as shovels and samplers. However, this method has significant drawbacks in harsh environments such as radiation, toxic gases, high temperatures, and high pressures: on the one hand, workers are directly exposed to hazardous environments, such as radiation exposure which can cause irreversible damage to the human body; on the other hand, manual operation is inefficient, making it difficult to meet the needs of large-scale or emergency sampling, and the accuracy of operation is easily affected by environmental interference, resulting in insufficient sample representativeness. Although existing technologies attempt to improve safety through simple protective equipment, they have not fundamentally resolved the contradiction between the risks and efficiency of manual operations.

[0004] Therefore, in order to ensure the safety of sediment sampling in harsh environments, we propose a sediment sampling device and sampling method. Summary of the Invention

[0005] The purpose of this invention is to address the shortcomings of existing technologies, such as the exposure of workers to radiation during artificial sediment sampling in harsh environments with radiation, and to propose a sediment sampling device and method.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] Design a sediment sampling device, including:

[0008] The frame and the brackets mounted on the frame;

[0009] A flexible track mechanism is installed at the front end of the bracket, and a sampling mechanism is slidably connected to the flexible track mechanism. A drive mechanism for driving the sampling mechanism to reciprocate along the flexible track mechanism is also installed on the bracket. A magazine mechanism for encapsulating the sampled sediment is also installed above the frame.

[0010] Furthermore, the bracket includes two columns fixed to the vehicle frame;

[0011] A mounting plate is fixedly installed between the tops of the two columns, and a guide rail frame is fixedly installed above the mounting plate.

[0012] Furthermore, the flexible track mechanism includes a flexible track fixedly installed on the side of the guide rail frame, and two slides are opened on both sides of the flexible track, in which an upper guide piece and a lower guide piece connected at their tail ends slide respectively.

[0013] The flexible track is also equipped with a number of locking structures that couple the upper guide plate and / or the lower guide plate. Two winding motors are installed on both sides of the guide rail frame. The shaft ends of the two winding motors are connected to the upper guide plate and the lower guide plate through winding reels.

[0014] Furthermore, the locking structure includes a mounting groove formed on the side of the flexible track, the front end of which connects to two slide rails on the side of the flexible track;

[0015] An electromagnet is fixedly installed on the inner side of the mounting groove, and a rod with a spiral groove is movably connected thereto. An eccentric block is fixedly installed on the outer end of the rod. A spring is installed between the eccentric block and the mounting groove. The interior of the mounting groove has a guide spiral part that cooperates with the spiral groove of the rod.

[0016] Furthermore, the sampling mechanism includes a slide block with a guide groove in the middle of the flexible track, and the slide block is slidably connected inside the guide groove;

[0017] A drive ring is movably inserted inside the slide block, and a lifting claw is rotatably connected inside the drive ring. A lifting motor and a rotary motor are fixedly installed on the outside of the slide block. The lifting claw is circumferentially locked to the rotary motor by a connecting plate. A lifting gear and a rotary gear are respectively fixed to the shaft ends of the lifting motor and the rotary motor.

[0018] The lifting claw has multiple tooth blocks regularly distributed along the circumference and vertical direction on its outer side. Each layer of circumferentially distributed tooth blocks cooperates with the rotating gear, and the vertically distributed tooth blocks cooperate with the lifting gear.

[0019] Furthermore, the bottom of the drive ring is formed with a ring tooth portion, and each claw end of the bottom of the lifting claw is rotatably connected with a swing finger. The top of the shaft end of the swing finger is fixedly installed with a driven gear, and the driven gear and the ring tooth portion mesh for transmission.

[0020] Furthermore, the driving mechanism includes a drive motor fixed on the guide rail frame, a pulley fixed on the shaft end of the drive motor, a rotary ring fixedly installed at the tail end of the flexible track, a tie rod rotatably connecting the pulley and the rotary ring, and the tie rod being fixed to the side of the slide.

[0021] Furthermore, the magazine mechanism includes a lead can magazine and a can lid magazine that rotate on two columns. A support plate is also fixedly installed on the column corresponding to the can lid magazine. The side of the support plate has a clearance opening that adapts to the lead can magazine. The can lid magazine is rotatably connected above the lead can magazine.

[0022] The inner sides of the lead can magazine and the can lid magazine are both formed with toothed rings, and a magazine motor is fixedly installed on the inner side of the column. The magazine motor shaft end is fixedly installed with a magazine gear that meshes with the toothed ring.

[0023] Furthermore, a hydraulic cylinder is fixedly installed at the upper end of the guide rail frame, and a helical rod is rotatably connected to the shaft end of the hydraulic cylinder. The helical rod and the mounting plate are intersected, and the interior of the mounting plate is formed with a guide part that drives the helical rod to rotate. A compression spring is placed between the helical rod and the mounting plate, and a cap piston is fixedly installed at the bottom of the helical rod.

[0024] The upper end of the guide rail frame is rotatably connected to an arm via a support frame. A suction cup is connected to the arm via a hydraulic cylinder. A feeding gear is fixedly installed at the upper end of the arm. A feeding motor is fixed at the bottom of the support frame. A drive gear that meshes with the feeding gear is fixed at the shaft end of the feeding motor.

[0025] Furthermore, this invention also proposes a sediment sampling method using the aforementioned equipment, specifically comprising the following steps:

[0026] The entire device is moved to the sampling location using the vehicle frame;

[0027] The flexible track mechanism forms a predetermined movement trajectory, and the drive mechanism drives the sampling mechanism to move along the predetermined movement trajectory to the grasping position;

[0028] The sampling mechanism takes samples of the sediment, and after sampling, the sediment is sent to the magazine mechanism for sealing.

[0029] The sediment sampling device and method proposed in this invention have the following advantages: the flexible track mechanism that can be bent freely allows the sampling mechanism to form multi-angle sampling on the flexible track mechanism, thereby improving the adaptability of the sampling. In addition, the invention also includes a magazine mechanism for encapsulating the sampled sediment and isolating the sediment sample after sampling, thereby improving the sampling safety in harsh environments. The entire process does not require manual intervention, reducing the risk of injury to people. Attached Figure Description

[0030] Figure 1 The three-dimensional representation of the present invention Figure 1 ;

[0031] Figure 2 The three-dimensional representation of the present invention Figure 2 ;

[0032] Figure 3 This is a schematic diagram of the support structure of the present invention;

[0033] Figure 4 This is a schematic diagram of the flexible track mechanism structure of the present invention;

[0034] Figure 5 This is a schematic diagram of the upper guide plate structure of the present invention;

[0035] Figure 6 This is a cross-sectional view of the locking structure of the present invention;

[0036] Figure 7 This is a perspective view of the locking structure of the present invention;

[0037] Figure 8 This is a schematic diagram of the sampling mechanism structure of the present invention;

[0038] Figure 9 This is a schematic diagram of the drive ring structure of the present invention;

[0039] Figure 10 This is a schematic diagram of the swinging finger structure of the present invention;

[0040] Figure 11 This is a schematic diagram of the magazine mechanism of the present invention;

[0041] Figure 12 This is a top view of the lead canister magazine of the present invention;

[0042] Figure 13 This is a schematic diagram of the screw rod structure of the present invention.

[0043] In the diagram: 1. Frame; 2. Bracket; 21. Column; 22. Mounting plate; 23. Guide rail frame; 3. Flexible track mechanism; 30. Rewinding motor; 31. Flexible track; 32. Upper guide plate; 33. Lower guide plate; 34. Locking structure; 341. Mounting slot; 342. Electromagnet; 343. Rod; 344. Eccentric block; 345. Spring; 346. Spiral part; 35. Guide groove; 4. Sampling mechanism; 40. Connecting plate; 41. Slide; 42. Drive ring; 43. Lifting claw; 44. Lifting motor; 45. Rotary motor; 46. Lifting gear; 47. Rotary gear; 48. 49. Tooth block; 410. Ring tooth section; 411. Swinging finger; 412. Driven gear; 5. Drive mechanism; 51. Drive motor; 52. Pulley; 53. Rotary ring; 54. Tie rod; 6. Magazine mechanism; 61. Lead can magazine; 62. Can lid magazine; 63. Support plate; 64. Gear ring; 65. Magazine motor; 66. Magazine gear; 67. Hydraulic cylinder one; 68. Helical rod; 69. Compression spring; 610. Cap piston; 611. Support frame; 612. Arm; 613. Hydraulic cylinder two; 614. Suction cup; 615. Feeding gear; 616. Feeding motor; 617. Drive gear. Detailed Implementation

[0044] 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.

[0045] Reference Figure 1-13 As an embodiment of the present invention, a sediment sampling device is disclosed, which is mainly used to solve the problem that traditional manual sampling may cause damage when sampling radioactive sediments. This application realizes automatic sampling and encapsulation of sediments to replace manual operation, and isolates sediment samples after sampling, thereby improving the sampling safety in harsh environments.

[0046] Reference Figure 1 , Figure 2 Specifically, the device includes a frame 1 and a bracket 2 mounted on the frame 1. In this embodiment, the bottom of the frame 1 is equipped with a wheel. Of course, the wheel can be set as an electric wheel hub. A control unit can also be installed on the frame 1. Through the wireless connection between the control unit and the terminal device, the device can be remotely operated for sampling.

[0047] Reference Figure 2A flexible track mechanism 3 is installed at the front end of the support 2. A sampling mechanism 4 is slidably connected to the flexible track mechanism 3. The flexible track mechanism 3 is designed to allow for multi-angle changes in the sampling mechanism 4. A drive mechanism 5 is also installed on the support 2 to drive the sampling mechanism 4 to move back and forth along the flexible track mechanism 3. A magazine mechanism 6 for sealing the sampled sediment is also installed above the frame 1. The magazine mechanism 6 is used to seal the sediment. As can be seen from the above description, this embodiment is mainly for sampling environments with radiation sediments. Therefore, in this embodiment, a lead container can be placed in the magazine mechanism 6 for sealed collection of sediments.

[0048] Reference Figure 3 In some embodiments, the bracket 2 of the present invention includes two columns 21 fixed on the frame 1, and the two columns 21 are spaced apart.

[0049] An mounting plate 22 is fixedly installed between the tops of the two columns 21, and a guide rail frame 23 is fixedly installed above the mounting plate 22.

[0050] Reference Figure 4 , Figure 5 In a preferred embodiment, the flexible track mechanism 3 of the present invention includes a flexible track 31 fixedly installed on the side of the guide rail frame 23. The flexible track 31 can be configured as a flexible body, such as a silicone part, to meet the bending requirements. Two slides are opened on both sides of the flexible track 31, and an upper guide piece 32 and a lower guide piece 33 connected at their tail ends slide in the two slides respectively. Of course, the upper guide piece 32 and the lower guide piece 33 in this embodiment are also configured as flexible parts, so as to realize bending with the flexible track 31. Preferably, the upper guide piece 32 and the lower guide piece 33 in this embodiment can be configured as a belt.

[0051] Several locking structures 34 coupling the upper guide plate 32 and / or the lower guide plate 33 are also provided on the side of the flexible track 31. Two winding motors 30 are installed on both sides of the guide rail frame 23. The shaft ends of the two winding motors 30 are connected to the upper guide plate 32 and the lower guide plate 33 through winding reels.

[0052] Specifically, in this invention, the flexible track 31 can be bent by the traction of the upper guide plate 32 and the lower guide plate 33 by two winding motors 30 on the upper and lower sides. When the flexible track 31 needs to be bent, the position of the upper guide plate 32 or the lower guide plate 33 can be locked by the locking structure 34. When the position of the upper guide plate 32 or the lower guide plate 33 is locked at a certain point, the winding motor 30 pulls the upper guide plate 32 or the lower guide plate 33, and the upper guide plate 32 and the lower guide plate 33 will be bent at that point. In this way, multi-angle adjustment can be achieved to meet the sampling requirements of different angles and make the sampling operation more flexible.

[0053] Reference Figure 6 , Figure 7 Furthermore, the locking structure 34 described in this invention includes a mounting groove 341 formed on the side of the flexible track 31, the front end of which is connected to two slides on the side of the flexible track 31.

[0054] An electromagnet 342 is fixedly installed on the inner side of the mounting groove 341, and a rod 343 with a spiral groove is movably connected thereto. An eccentric block 344 is fixedly installed on the outer end of the rod 343. A spring 345 is installed between the eccentric block 344 and the mounting groove 341. The interior of the mounting groove 341 has a guide spiral part 346 that cooperates with the spiral groove of the rod 343.

[0055] In other words, when it is necessary to control the flexible track 31 to bend at a point, the electromagnet 342 corresponding to that point is activated. For example, when it is necessary to bend upwards, a positive current is passed through the electromagnet 342, generating a magnetic field and causing the rod 343 to be magnetically attracted. Of course, in this embodiment, a magnet can also be provided at the end of the rod 343. At this time, the rod 343 moves towards the side of the electromagnet 342 under the magnetic attraction. Since the outer side of the rod 343 has a spiral groove, when it moves in a straight line, its outer wall... The spiral groove drives the guide spiral 346 inside the mounting groove 341 to rotate the entire rod 343. When the rod 343 rotates, it drives the eccentric block 344 to rotate until its eccentric surface abuts against the upper guide plate 32. At this point, the upper guide plate 32 is stopped at this point and remains free in other positions. Therefore, when the upper winding motor 30 winds up the upper guide plate 32, the stopping point is pulled by force, so the entire flexible track 31 will bend upward at this point.

[0056] Similarly, when the flexible track 31 needs to bend downwards at a point, a reverse current can be applied to the electromagnet 342. As described above, when a positive current is applied, the electromagnet 342 will magnetically attract the rod 343. When a reverse voltage is applied to the electromagnet 342, its magnetic poles are reversed, thus generating an outward pushing force on the rod 343. That is, the rod 343 will move outwards a small distance. Similarly, at this time, the rod 343 rotates in the opposite direction, causing the eccentric block 344 to abut against the lower guide plate 33. When the lower winding motor 30 winds the lower guide plate 33, the locking point is pulled by force, so the entire flexible track 31 will bend upwards at that point.

[0057] In this way, by locking the upper guide plate 32 and the lower guide plate 33 at different positions, the upper guide plate 32 and the lower guide plate 33 can be driven by the winding motor 30 to pull the flexible track 31 to bend freely up and down, so as to achieve the purpose of multi-angle adjustment and improve the position control flexibility of the sampling mechanism 4.

[0058] Reference Figure 8 In some embodiments, the sampling mechanism 4 of the present invention includes a slide 41, and a guide groove 35 is provided in the middle of the flexible track 31. The slide 41 is slidably connected to the inside of the guide groove 35. Specifically, in this embodiment, two waist-shaped guide blocks are fixedly installed on both sides of the slide 41. Limiting guide grooves are provided on both sides of the inner wall of the guide groove 35. The two waist-shaped guide blocks slide in the two limiting guide grooves on both sides to realize the sliding guidance of the slide 41.

[0059] Reference Figure 9 A drive ring 42 is movably inserted inside the slide block 41. A lifting claw 43 is rotatably connected inside the drive ring 42. The lifting claw 43 includes a rod segment and a claw portion. Multiple claw portions are formed at the bottom of the rod segment. A lifting motor 44 and a rotary motor 45 are fixedly installed on the outside of the slide block 41. The lifting claw 43 is circumferentially locked by a connecting plate 40 and the rotary motor 45. Specifically, in this embodiment, the connecting plate 40 is fixed to the upper end of the rotary motor 45. The circumferential locking can be achieved by opening a slot on the outer wall of the rod segment and fixing a protrusion in the inner hole of the connecting plate 40. The circumferential locking of the lifting claw 43 can be achieved by the cooperation of the protrusion and the slot, while maintaining linear movement.

[0060] The shaft ends of the lifting motor 44 and the rotary motor 45 are respectively fixed with lifting gear 46 and rotary gear 47.

[0061] The lifting claw 43 has multiple tooth blocks 48 regularly distributed along the circumference and vertical direction on its outer side. Each layer of circumferentially distributed tooth blocks 48 cooperates with the rotating gear 47, and the vertically distributed tooth blocks 48 cooperate with the lifting gear 46. In other words, the present invention uses a matrix distribution of multiple tooth blocks 48 to simultaneously cooperate with the lifting gear 46 and the rotating gear 47, thereby satisfying the lifting control of the drive ring 42 and the rotation control of the drive ring 42.

[0062] Reference Figure 9 , Figure 10 Based on the above embodiments, in this embodiment, the bottom of the drive ring 42 is formed with a ring tooth portion 49, and each claw end of the bottom of the lifting claw 43 is rotatably connected with a swinging finger 410. The swinging finger 410 has a triangular structure with a spike at the bottom to facilitate insertion into the sediment. A driven gear 411 is fixedly installed at the top of the shaft end of the swinging finger 410. The driven gear 411 and the ring tooth portion 49 mesh and drive each other. In the initial state, the multiple swinging fingers 410 rotate outward, forming an entry opening between them. When the multiple swinging fingers 410 are inserted into the ground, the drive ring 42 can drive the ring tooth portion 49 to rotate, thereby controlling the multiple swinging fingers 410 to rotate synchronously. At this time, the multiple swinging fingers 410 will be in a closed position to grab and collect the sediment to be sampled between them. Thus, when the drive ring 42 moves upward, the sampling of the sediment can be completed.

[0063] In this embodiment, the driving ring 42 and the lifting claw 43 are moved up and down by the lifting motor 44. When the driving mechanism 5 drives the sampling mechanism 4 to a suitable position, the lifting motor 44 drives the lifting gear 46 to rotate. The lifting gear 46 and the multiple stacked tooth blocks 48 cooperate to drive the driving ring 42 and the lifting claw 43 to move down synchronously. After the multiple swinging fingers 410 are inserted into the ground to a certain depth, the rotating motor 45 drives the rotating gear 47 to rotate. The rotating gear 47 and the multiple swinging fingers 410 are then driven down to move down to a suitable position. Multiple circumferential toothed blocks 48 cooperate to control the rotation of the drive ring 42. At this time, since the lifting claw 43 is circumferentially limited by the connecting plate 40, when the drive ring 42 drives the ring tooth 49 to rotate, multiple driven gears 411 drive multiple swing fingers 410 to rotate. After the multiple swing fingers 410 rotate and close, they will collect the deposits in the internal space they form. Then, the lifting motor 44 controls the drive ring 42 and the lifting claw 43 to move upward and reset. Then, the drive mechanism 5 controls it to move towards the side of the magazine mechanism 6 to discharge the material.

[0064] Reference Figure 4Preferably, in this embodiment, the driving mechanism 5 includes a driving motor 51 fixed on the guide rail frame 23. A pulley 52 is fixed on the shaft end of the driving motor 51, and a rotating ring 53 is fixedly installed at the tail end of the flexible track 31. In this embodiment, two holes are opened on the end face of the rotating ring 53. A tie rod 54 is rotatably connected between the pulley 52 and the rotating ring 53. The tie rod 54 has a ring-shaped structure, with one end sleeved on the pulley 52 and the other end sleeved outside the two holes of the rotating ring 53. The tie rod 54 is fixed to the side of the slide block 41. That is, when it is necessary to control the movement of the sampling mechanism 4, the driving motor 51 drives the pulley 52 to rotate to pull the tie rod 54 to rotate. Since one side of the tie rod 54 is fixedly connected to the sampling mechanism 4, the position traction control of the sampling mechanism 4 can be achieved when the tie rod 54 moves.

[0065] Reference Figure 11 , Figure 12 In some embodiments, the magazine mechanism 6 of the present invention includes a lead can magazine 61 and a can lid magazine 62 that rotate on two columns 21. A support plate 63 is also fixedly installed on the column 21 corresponding to the can lid magazine 62. The side of the support plate 63 has a clearance opening adapted to the lead can magazine 61. The can lid magazine 62 is rotatably connected above the lead can magazine 61.

[0066] The inner sides of the lead can magazine 61 and the can lid magazine 62 are both formed with toothed rings 64, and the inner side of the column 21 is fixedly installed with a magazine motor 65. The shaft end of the magazine motor 65 is fixedly installed with a magazine gear 66 that meshes with the toothed ring 64.

[0067] Reference Figure 12 It should be noted that in this embodiment, the lead can magazine 61 has multiple receiving slots, and a lead can is pre-placed inside. The end face of the can lid magazine 62 has multiple receiving through holes, and a can lid is pre-placed in the receiving through holes. When the sampling mechanism 4 samples the sediment, it can be driven by the driving mechanism 5 to move toward the lead can magazine 61, and opened by the rotation of multiple swing fingers 410 to discharge the sediment into the corresponding lead can below it.

[0068] Afterwards, the lead canister magazine 61 rotates a predetermined distance, moving the lead canister currently containing the sampled sediment to below the canister lid magazine 62. The canister lid magazine 62 also rotates. When the receiving through hole on the canister lid magazine 62 aligns with the receiving groove of the lead canister magazine 61, the canister lid will fall into the receiving through hole and close on top of the lead canister. This achieves the initial sealing of the sampled sediment. Using the lead canister sealing method can effectively avoid radiation problems, thereby improving the safety of the sampling operation.

[0069] Reference Figure 13Based on the above embodiments, in this invention, a hydraulic cylinder 67 is fixedly installed on the upper end of the guide rail frame 23. A spiral rod 68 is rotatably connected to the shaft end of the hydraulic cylinder 67. The spiral rod 68 and the mounting plate 22 are intersected, and the interior of the mounting plate 22 is formed with a guide portion that drives the spiral rod 68 to rotate. In this embodiment, the guide portion can be set as a guide pin, which slides in the spiral groove of the spiral rod 68 to drive the spiral rod 68 to move and rotate. A compression spring 69 is placed between the spiral rod 68 and the mounting plate 22. A cap piston 610 is fixedly installed at the bottom of the spiral rod 68.

[0070] Specifically, the capping piston 610 in this invention is designed to tighten the can lid onto the lead can. When the lead can is closed with the can lid, the magazine motor 65 drives the lead can magazine 61 to the lower side of the capping piston 610. At this time, the hydraulic cylinder 67 is activated, which pushes the capping piston 610 downward. Since the outer wall of the spiral rod 68 has a spiral groove, with the cooperation of the guide, the spiral rod 68 will rotate while moving downward, thus driving the capping piston 610 to press down and rotate the can lid, so that the can lid is tightened onto the lead can.

[0071] Reference Figure 13 Furthermore, the present invention also takes into account the unloading of the lead can after the cap is screwed on. The upper end of the guide rail frame 23 is rotatably connected to an arm 612 via a support frame 611. A suction cup 614 is connected to the arm 612 via a hydraulic cylinder 613. A unloading gear 615 is fixedly installed at the upper end of the arm 612. A unloading motor 616 is fixed at the bottom of the support frame 611. A drive gear 617 that meshes with the unloading gear 615 is fixed at the shaft end of the unloading motor 616.

[0072] That is, after the lead can is capped, the lead can magazine 61 can be reversed a certain distance. Then, the feeding motor 616 drives the arm 612 to rotate through the drive gear 617 and the feeding gear 615. When the arm 612 moves above the lead can, the hydraulic cylinder 613 pushes the suction cup 614 to move down to pick up the lead can. After that, the suction cup 614 is reset, and the arm 612 rotates to feed the lead can. Of course, the suction cup 614 mentioned in this invention should be connected to a negative pressure device. Specifically, a vacuum pump can be installed on the frame 1 to realize the negative pressure suction operation.

[0073] Furthermore, this invention also proposes a sediment sampling method using the aforementioned equipment, specifically comprising the following steps:

[0074] The entire device is moved to the sampling location using the frame 1;

[0075] The flexible track mechanism 3 forms a predetermined movement trajectory, and the drive mechanism 5 drives the sampling mechanism 4 to move along the predetermined movement trajectory to the grasping position.

[0076] The sampling mechanism 4 takes a sample of the sediment. After the sampling is completed, the sediment is sent to the magazine mechanism 6 for sealing.

[0077] In summary, the flexible track mechanism 3 that can be bent freely in this invention enables the sampling mechanism 4 to form multi-angle sampling on the flexible track mechanism 3, thereby improving the adaptability of sampling. In addition, the invention also includes a magazine mechanism 6 for encapsulating the sampled sediment and isolating the sediment sample after sampling, thereby improving the sampling safety in harsh environments. The entire process does not require manual intervention, reducing the risk of injury to people.

[0078] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A sediment sampling device, characterized in that, include: The frame (1) and the bracket (2) mounted on the frame (1); A flexible track mechanism (3) is installed at the front end of the bracket (2), and a sampling mechanism (4) is slidably connected on the flexible track mechanism (3). A drive mechanism (5) for driving the sampling mechanism (4) to move back and forth along the flexible track mechanism (3) is also installed on the bracket (2). A magazine mechanism (6) for encapsulating the sampled sediment is also installed above the frame (1).

2. The sediment sampling device according to claim 1, characterized in that: The bracket (2) includes two columns (21) fixed on the frame (1); An mounting plate (22) is fixedly installed between the tops of the two columns (21), and a guide rail frame (23) is fixedly installed above the mounting plate (22).

3. A sediment sampling device according to claim 2, characterized in that: The flexible track mechanism (3) includes a flexible track (31) fixedly installed on the side of the guide rail frame (23). Two slides are opened on both sides of the flexible track (31), and an upper guide plate (32) and a lower guide plate (33) connected at their tail ends slide in the two slides respectively. The side of the flexible track (31) is also provided with a number of locking structures (34) that couple the upper guide plate (32) and / or the lower guide plate (33). Two winding motors (30) are installed on both sides of the guide frame (23). The shaft ends of the two winding motors (30) are connected to the upper guide plate (32) and the lower guide plate (33) through the winding reel.

4. A sediment sampling device according to claim 3, characterized in that: The locking structure (34) includes a mounting groove (341) formed on the side of the flexible track (31), the front end of which is connected to two slides on the side of the flexible track (31). An electromagnet (342) is fixedly installed on the inner side of the mounting groove (341) and a rod (343) with a spiral groove is movably connected thereto. An eccentric block (344) is fixedly installed on the outer end of the rod (343). A spring (345) is installed between the eccentric block (344) and the mounting groove (341). The interior of the mounting groove (341) has a guide spiral part (346) that cooperates with the spiral groove of the rod (343).

5. A sediment sampling device according to claim 3, characterized in that: The sampling mechanism (4) includes a slide (41) and a guide groove (35) in the middle of the flexible track (31). The slide (41) is slidably connected inside the guide groove (35). A drive ring (42) is movably inserted inside the slide (41), and a lifting claw (43) is rotatably connected inside the drive ring (42). A lifting motor (44) and a rotary motor (45) are fixedly installed on the outside of the slide (41). The lifting claw (43) is circumferentially locked by a connecting plate (40) and the rotary motor (45). The shaft ends of the lifting motor (44) and the rotary motor (45) are respectively fixed with a lifting gear (46) and a rotary gear (47). The lifting claw (43) has multiple tooth blocks (48) regularly distributed along the circumference and vertical direction on its outer side. Each layer of circumferentially distributed tooth blocks (48) cooperates with the rotating gear (47), and the vertically distributed tooth blocks (48) cooperate with the lifting gear (46).

6. A sediment sampling device according to claim 5, characterized in that: The bottom of the drive ring (42) is formed with a ring tooth portion (49), and each claw end of the bottom of the lifting claw (43) is rotatably connected with a swing finger (410). The top of the shaft end of the swing finger (410) is fixedly installed with a driven gear (411), and the driven gear (411) and the ring tooth portion (49) mesh and transmit power.

7. A sediment sampling device according to claim 5, characterized in that: The drive mechanism (5) includes a drive motor (51) fixed on the guide rail frame (23), a pulley (52) fixed on the shaft end of the drive motor (51), a rotating ring (53) fixedly installed at the tail end of the flexible track (31), a tie rod (54) rotatably connecting the pulley (52) and the rotating ring (53), and the tie rod (54) and the side of the slide (41) are fixed together.

8. A sediment sampling device according to claim 2, characterized in that: The magazine mechanism (6) includes a lead can magazine (61) and a can lid magazine (62) that rotate on two columns (21). A support plate (63) is also fixedly installed on the column (21) corresponding to the can lid magazine (62). The side of the support plate (63) has a clearance opening adapted to the lead can magazine (61). The can lid magazine (62) is rotatably connected above the lead can magazine (61). The inner sides of the lead can magazine (61) and the can lid magazine (62) are both formed with toothed rings (64), and the inner side of the column (21) is fixedly installed with a magazine motor (65). The magazine motor (65) has a magazine gear (66) that meshes with the toothed ring (64) fixedly installed at the shaft end.

9. A sediment sampling device according to claim 8, characterized in that: A hydraulic cylinder (67) is fixedly installed at the upper end of the guide rail frame (23). A helical rod (68) is rotatably connected to the shaft end of the hydraulic cylinder (67). The helical rod (68) and the mounting plate (22) are intersected. The interior of the mounting plate (22) is formed with a guide part that drives the helical rod (68) to rotate. A compression spring (69) is placed between the helical rod (68) and the mounting plate (22). A capping piston (610) is fixedly installed at the bottom of the helical rod (68). The upper end of the guide rail frame (23) is rotatably connected to an arm (612) via a support frame (611). A suction cup (614) is connected to the arm (612) via a hydraulic cylinder (613). A feeding gear (615) is fixedly installed on the upper end of the arm (612). A feeding motor (616) is fixed at the bottom of the support frame (611). A drive gear (617) that meshes with the feeding gear (615) is fixed at the shaft end of the feeding motor (616).

10. A sediment sampling method, using the equipment as described in any one of claims 1-9, characterized in that, Includes the following steps: The entire device is moved to the sampling location via the frame (1); The flexible track mechanism (3) forms a predetermined movement trajectory, and the drive mechanism (5) drives the sampling mechanism (4) to move along the predetermined movement trajectory to the grasping position; The sampling mechanism (4) takes a sample of the sediment. After the sampling is completed, the sediment is sent to the magazine mechanism (6) for sealing.

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