Underwater quality sampling robot

Abstract

The utility model relates to the technical field of sampling robots, and discloses an underwater water quality sampling robot which comprises a body, two connecting pipes are symmetrically and fixedly connected to the two sides of the body, pushing mechanisms used for pushing the body are arranged on the surfaces of the sides, away from the body, of the two connecting pipes, and a lifting and floating bin is arranged in the body. A lifting and floating mechanism for lifting and floating the body is arranged in the lifting and floating bin, two sliding grooves are symmetrically formed in the bottom of the body, sampling pipes are installed in the two sliding grooves, extraction mechanisms for extracting a water source are arranged at the tops of the two sampling pipes, storage grooves are formed in one sides of the two sliding grooves, and isolation plates are slidably connected to the interiors of the two storage grooves; the two isolation plates are matched with the sliding grooves, and moving mechanisms used for moving the isolation plates are arranged on the surfaces of the sides, close to the lifting and floating bin, of the two isolation plates. Through the arrangement of the isolation plate, the sampling pipe can be prevented from being in contact with water in other water areas.

Description

Technical Field

[0001] The utility model relates to the technical field of sampling robots, in particular to an underwater water quality sampling robot. Background Art

[0002] An underwater water sampling robot is a robot that can perform water quality sampling in an underwater environment. It is usually equipped with water quality monitoring equipment and sampling tools, and can perform water quality monitoring and sampling work underwater autonomously or remotely. Underwater water sampling robots have important application value in the fields of environmental monitoring, water quality assessment, and water pollution control. By using robots to perform water quality sampling, the risk and workload of manual sampling can be reduced, and the accuracy and efficiency of sampling can be improved. This is of great significance for protecting water resources, preventing water pollution, and maintaining the ecological environment.

[0003] However, when some existing underwater water quality sampling robots are sampling water quality, their sampling tubes are usually exposed outside the body. As a result, when the robot reaches the designated water area for sampling, the sampling tube will contain water molecules from other water areas, which will cause errors in the detection results. Therefore, this problem needs to be solved. Utility Model Content

[0004] The utility model aims to solve the shortcomings in the prior art and proposes an underwater water quality sampling robot.

[0005] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0006] An underwater water quality sampling robot comprises a main body, two connecting tubes are symmetrically fixedly connected to the two sides of the main body, a pushing mechanism for pushing the main body is provided on the surface of the two connecting tubes away from the main body, a floating chamber is provided inside the main body, a floating mechanism for floating the main body is provided inside the floating chamber, two slide grooves are symmetrically provided at the bottom of the main body, sampling tubes are installed inside the two slide grooves, an extraction mechanism for extracting water source is provided on the top of the two sampling tubes, a storage groove is provided on one side of the two slide grooves, isolation plates are slidably connected inside the two storage grooves, the two isolation plates cooperate with the slide grooves, and a moving mechanism for moving the isolation plates is provided on the surface of the two isolation plates close to the floating chamber, and the setting of the isolation plates can prevent the sampling tubes from contacting water from other waters.

[0007] As a further solution of the utility model, the pushing mechanism includes a pushing bin, which is sleeved on the surface of the connecting pipe, a second motor is fixedly connected to the inside of the pushing bin, an impeller is fixedly connected to the output shaft of the second motor, a first gear is fixedly connected to the surface of the pushing bin close to the main body, a first motor is fixedly connected to the inner surface of the connecting pipe close to the first gear, a second gear is fixedly connected to the output shaft of the first motor, the second gear cooperates with the first gear, and the main body can be pushed by the setting of the impeller.

[0008] As a further solution of the utility model, the floating mechanism includes a first hydraulic rod, which is fixedly connected to the top side of the floating bin, and a floating block is fixedly connected to the bottom of the first hydraulic rod. The floating block slides inside the floating bin. By setting the floating block, the main body can be controlled to float.

[0009] As a further solution of the utility model, the extraction mechanism includes a piston cylinder, which slides inside the sampling tube, and a pull plate is fixedly connected to the top of the piston cylinder. A limiting ring is sleeved on the surface of the piston cylinder, and two pull rods are fixedly connected to the top of the limiting ring. Both of the two pull rods slide on the top of the pull plate. The tops of the two pull rods are connected to the same connecting plate, and a second hydraulic rod is fixedly connected to the top of the connecting plate. The second hydraulic rod is fixedly connected to the top side of the body, and two limiting grooves are symmetrically provided inside the limiting ring. A limiting mechanism for limiting the limiting ring is provided inside the two limiting grooves. Through the setting of the limiting ring, the piston cylinder can be sampled.

[0010] As a further solution of the utility model, the limiting mechanism includes an installation groove, which is opened on one side of the piston cylinder, a telescopic spring cylinder is fixedly connected to one side of the installation groove, and the other end of the telescopic spring cylinder is fixedly connected to a limiting block, and the limiting block slides inside the limiting groove. By setting the limiting block, the limiting ring can be limited.

[0011] As a further solution of the present utility model, the moving mechanism includes a screw rod, which is rotatably connected to one side of the interior of the storage groove, the isolation plate is sleeved on the surface of the screw rod, the surface of the isolation plate away from the screw rod is slidably connected to a limit rod, and the limit rod is fixedly connected to one side of the interior of the storage groove, the surface of the screw rod away from the isolation plate is sleeved with a first synchronous wheel, the internal rotation of the side of the body close to the first synchronous wheel is connected with a rotating shaft, the surface of the rotating shaft close to the first synchronous wheel is sleeved with a second synchronous wheel, the surfaces of the second synchronous wheel and the first synchronous wheel are sleeved with the same synchronous belt, the surface of the rotating shaft close to the floating bin is sleeved with a third gear, the surface of the third gear is matched with a rack, and the rack is fixedly connected to the bottom of the connecting plate. The isolation plate can be moved by setting the rack.

[0012] The beneficial effects of the utility model are:

[0013] 1. The isolation plate can be set to prevent the sampling tube from contacting with water from other waters. A storage groove is opened at the bottom of the sampling tube, and an isolation plate is installed inside the storage groove. The isolation plate is initially directly below the sampling tube. Therefore, when the main body moves underwater, water from other waters can be prevented from contaminating the sampling tube, thereby avoiding detection errors.

[0014] 2. Through the setting of the limit ring, the sampling tube can be sampled normally. Due to the shape of the piston cylinder, when the limit ring moves up, sampling will not be performed for the first time, but sampling can only be performed after the limit ring contacts the pull plate. During the time when the limit ring and the piston cylinder are not in contact, the rack will cooperate with the third gear to rotate the synchronous belt. Because the other end of the synchronous belt is sleeved on the surface of the screw rod, the isolation plate can be moved by the rotation of the screw rod to open the slide groove. After the slide groove is opened, the limit ring can drive the piston cylinder to move up, thereby completing the sampling work. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a schematic diagram of the overall structure of an underwater water quality sampling robot proposed by the utility model;

[0016] Figure 2 This is a schematic diagram of the internal structure of an underwater water quality sampling robot proposed by the utility model;

[0017] Figure 3 This is a schematic diagram of a floating mechanism of an underwater water quality sampling robot proposed in the utility model;

[0018] Figure 4 This is a schematic diagram of the mobile mechanism of an underwater water quality sampling robot proposed by the utility model;

[0019] Figure 5 for Figure 4 A is an enlarged structural diagram;

[0020] Figure 6 This is a schematic diagram of a limiting mechanism of an underwater water quality sampling robot proposed by the utility model;

[0021] Figure 7 This is a schematic diagram of the mobile mechanism of an underwater water quality sampling robot proposed by the utility model;

[0022] Figure 8 This is a schematic diagram of an extraction mechanism of an underwater water quality sampling robot proposed in the utility model;

[0023] Fig. 9The utility model is a partial structural schematic diagram of an underwater water quality sampling robot proposed by the utility model.

[0024] In the figure: 1, body; 2, floating chamber; 3, propulsion chamber; 4, sampling tube; 5, isolation plate; 6, second hydraulic rod; 101, connecting pipe; 102, slide groove; 103, storage groove; 201, first hydraulic rod; 202, floating block; 301, first gear; 302, first motor; 303, second gear; 304, second motor; 305, impeller; 401, piston cylinder; 402, pull plate; 403, mounting groove; 404, telescopic spring cylinder; 405, limit block; 501, screw rod; 502, limit rod; 503, first synchronous wheel; 504, synchronous belt; 505, rotating shaft; 506, third gear; 507, second synchronous wheel; 601, connecting plate; 602, rack; 603, pull rod; 604, limit ring; 605, limit groove. DETAILED DESCRIPTION

[0025] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments.

[0026] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present utility model will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0027] Reference Figure 1-Figure 9 , an underwater water quality sampling robot comprises a main body 1, two connecting pipes 101 are symmetrically fixedly connected on both sides of the main body 1, a pushing mechanism for pushing the main body 1 is provided on the surface of the two connecting pipes 101 away from the main body 1, a floating chamber 2 is provided inside the main body 1, a floating mechanism for floating the main body 1 is provided inside the floating chamber 2, two chute 102 are symmetrically provided at the bottom of the main body 1, sampling tubes 4 are installed inside the two chute 102, and extraction mechanisms for extracting water sources are provided on the tops of the two sampling tubes 4, a receiving groove 103 is provided on one side of the two chute 102, isolation plates 5 are slidably connected inside the two storage grooves 103, the two isolation plates 5 cooperate with the chute 102, and a moving mechanism for moving the isolation plates 5 is provided on the surface of the two isolation plates 5 close to the floating chamber 2. By setting the isolation plates 5, the sampling tube 4 can be prevented from contacting water from other waters.

[0028] Reference Figure 3 and Figure 4In a preferred embodiment, the pushing mechanism includes a pushing chamber 3, which is sleeved on the surface of the connecting tube 101, and a second motor 304 is fixedly connected inside the pushing chamber 3, and an impeller 305 is fixedly connected to the output shaft of the second motor 304. A first gear 301 is fixedly connected to the surface of the pushing chamber 3 on one side close to the main body 1, and a first motor 302 is fixedly connected to the inner surface of the connecting tube 101 on the side close to the first gear 301, and a second gear 303 is fixedly connected to the output shaft of the first motor 302. The second gear 303 cooperates with the first gear 301, and the main body 1 can be pushed by the setting of the impeller 305.

[0029] Reference Figure 2 and Figure 3 In a preferred embodiment, the floating mechanism includes a first hydraulic rod 201, which is fixedly connected to the top side of the floating chamber 2. A floating block 202 is fixedly connected to the bottom of the first hydraulic rod 201. The floating block 202 slides inside the floating chamber 2. By setting the floating block 202, the main body 1 can be controlled to float.

[0030] Reference Figure 6 and Figure 8 In a preferred embodiment, the extraction mechanism includes a piston cylinder 401, which slides inside the sampling tube 4, and a pull plate 402 is fixedly connected to the top of the piston cylinder 401. A limiting ring 604 is sleeved on the surface of the piston cylinder 401, and two pull rods 603 are fixedly connected to the top of the limiting ring 604. Both pull rods 603 slide on the top of the pull plate 402, and the tops of the two pull rods 603 are connected to the same connecting plate 601, and a second hydraulic rod 6 is fixedly connected to the top of the connecting plate 601, and the second hydraulic rod 6 is fixedly connected to the top side of the main body 1. Two limiting grooves 605 are symmetrically provided inside the limiting ring 604, and limiting mechanisms for limiting the limiting ring 604 are provided inside the two limiting grooves 605. Through the setting of the limiting ring 604, the piston cylinder 401 can be sampled.

[0031] Reference Figure 6 and Figure 8 In a preferred embodiment, the limiting mechanism includes a mounting groove 403, which is opened on one side of the piston cylinder 401, and a telescopic spring cylinder 404 is fixedly connected to one side of the mounting groove 403, and the other end of the telescopic spring cylinder 404 is fixedly connected to a limiting block 405, and the limiting block 405 slides inside the limiting groove 605. By setting the limiting block 405, the limiting ring 604 can be limited.

[0032] Reference Figure 7-Figure 9In a preferred embodiment, the moving mechanism includes a screw rod 501, which is rotatably connected to one side of the storage groove 103, and the isolation plate 5 is sleeved on the surface of the screw rod 501. The surface of the isolation plate 5 away from the screw rod 501 is slidably connected to the limit rod 502, and the limit rod 502 is fixedly connected to the inner side of the storage groove 103. The surface of the screw rod 501 away from the isolation plate 5 is sleeved with a first synchronous wheel 503, and the body 1 is internally rotatably connected to the first synchronous wheel 503. The surface of the rotating shaft 505 close to the first synchronous wheel 503 is sleeved with a second synchronous wheel 507, and the second synchronous wheel 507 and the first synchronous wheel 503 are sleeved with the same synchronous belt 504. The surface of the rotating shaft 505 close to the floating warehouse 2 is sleeved with a third gear 506, and the surface of the third gear 506 is matched with a rack 602, and the rack 602 is fixedly connected to the bottom of the connecting plate 601. The isolation plate 5 can be moved by setting the rack 602.

[0033] From the above description, it can be seen that the above-mentioned embodiment of the utility model achieves the following technical effects: when in use, the body 1 is placed in the sampling water area, a floating chamber 2 is arranged inside the body 1, and a floating block 202 is installed inside the floating chamber 2, so that the body 1 can enter underwater by controlling the height of the floating block 202, a propulsion chamber 3 is installed on both sides of the body 1, and an impeller 305 is installed inside the propulsion chamber 3, so that when the impeller 305 rotates, the body 1 can be moved, and sensors are installed at the top, front and tail of the body 1. Through the setting of the sensor, the body 1 can work more smoothly, a chute 102 is opened at the bottom of the body 1, a sampling tube 4 is installed inside the chute 102, a storage groove 103 is opened on one side of the bottom of the chute 102, and an isolation plate 5 is installed inside the storage groove 103, and the isolation plate 5 is initially directly below the chute 102, so that when the body 1 moves underwater, it can prevent water from other waters from affecting the sampling tube. 4 causes pollution to avoid errors in detection. When sampling is required, the second hydraulic rod 6 will be reset. A limit ring 604 and a rack 602 are respectively installed at the bottom of the second hydraulic rod 6. The limit ring 604 is sleeved on the surface of the piston cylinder 401. When the limit ring 604 moves up, the piston cylinder 401 can be moved up to perform sampling. However, due to the shape of the piston cylinder 401, when the limit ring 604 moves up, sampling will not be performed for the first time, and the limit ring is required. Sampling can only be carried out after 604 contacts the pull plate 402. During the time when the limit ring 604 is not in contact with the piston cylinder 401, the rack 602 will cooperate with the third gear 506 to rotate the synchronous belt 504. Because the other end of the synchronous belt 504 is sleeved on the surface of the screw rod 501, the isolation plate 5 is moved to open the slide groove 102. After the slide groove 102 is opened, the limit ring 604 can drive the piston cylinder 401 to move upward, thereby completing the sampling work.

[0034] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0035] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0036] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein, for example. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0037] The above description is only the preferred embodiment of the utility model, and is not intended to limit the utility model. For those skilled in the art, the utility model can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the utility model shall be included in the protection scope of the utility model.

Claims

1. An underwater water quality sampling robot, comprising a body (1), characterized in that: Two connecting pipes (101) are symmetrically fixedly connected on both sides of the body (1), and a pushing mechanism for pushing the body (1) is provided on the surface of the two connecting pipes (101) away from the body (1). A floating chamber (2) is provided inside the body (1), and a floating mechanism for floating the body (1) is provided inside the floating chamber (2). Two chute grooves (102) are symmetrically provided at the bottom of the body (1), and sampling tubes (4) are installed inside the two chute grooves (102). An extraction mechanism for extracting water is provided on the top of the two sampling tubes (4). A receiving groove (103) is provided on one side of the two chute grooves (102), and an isolation plate (5) is slidably connected inside the two storage grooves (103). The two isolation plates (5) cooperate with the chute (102), and a moving mechanism for moving the isolation plate (5) is provided on the surface of the two isolation plates (5) close to the floating chamber (2).

2. The underwater water quality sampling robot according to claim 1, characterized in that: The propulsion mechanism comprises a propulsion chamber (3), the propulsion chamber (3) being sleeved on the surface of the connecting tube (101), a second motor (304) being fixedly connected inside the propulsion chamber (3), an output shaft of the second motor (304) being fixedly connected to an impeller (305), a first gear (301) being fixedly connected to a surface of the propulsion chamber (3) on a side close to the body (1), a first motor (302) being fixedly connected to an inner surface of a side of the connecting tube (101) close to the first gear (301), a second gear (303) being fixedly connected to an output shaft of the first motor (302), and the second gear (303) and the first gear (301) being matched with each other.

3. The underwater water quality sampling robot according to claim 2, characterized in that: The floating mechanism comprises a first hydraulic rod (201), the first hydraulic rod (201) is fixedly connected to the top side of the floating chamber (2), the bottom of the first hydraulic rod (201) is fixedly connected to a floating block (202), and the floating block (202) slides inside the floating chamber (2).

4. The underwater water quality sampling robot according to claim 3, characterized in that: The extraction mechanism comprises a piston cylinder (401), the piston cylinder (401) slides inside the sampling tube (4), a pull plate (402) is fixedly connected to the top of the piston cylinder (401), a limiting ring (604) is sleeved on the surface of the piston cylinder (401), two pull rods (603) are fixedly connected to the top of the limiting ring (604), both of the two pull rods (603) slide on the top of the pull plate (402), the tops of the two pull rods (603) are connected to the same connecting plate (601), the top of the connecting plate (601) is fixedly connected to a second hydraulic rod (6), the second hydraulic rod (6) is fixedly connected to the top side of the body (1), two limiting grooves (605) are symmetrically provided inside the limiting ring (604), and limiting mechanisms for limiting the limiting ring (604) are provided inside the two limiting grooves (605).

5. The underwater water quality sampling robot according to claim 4, characterized in that: The limiting mechanism comprises a mounting groove (403), wherein the mounting groove (403) is provided on one side of the piston cylinder (401), a telescopic spring cylinder (404) is fixedly connected to one side of the mounting groove (403), and a limiting block (405) is fixedly connected to the other end of the telescopic spring cylinder (404), and the limiting block (405) slides inside the limiting groove (605).

6. The underwater water quality sampling robot according to claim 5, characterized in that: The moving mechanism comprises a screw rod (501), the screw rod (501) is rotatably connected to one side of the interior of the storage groove (103), the isolation plate (5) is sleeved on the surface of the screw rod (501), the surface of the isolation plate (5) away from the screw rod (501) is slidably connected to a limit rod (502), the limit rod (502) is fixedly connected to one side of the interior of the storage groove (103), the surface of the screw rod (501) away from the isolation plate (5) is sleeved with a first synchronous wheel (503), and the body (1) is close to the first synchronous wheel (503). 3) A rotating shaft (505) is rotatably connected inside one side, and a second synchronous wheel (507) is sleeved on the surface of the rotating shaft (505) close to the first synchronous wheel (503). The second synchronous wheel (507) and the first synchronous wheel (503) are sleeved on the same synchronous belt (504). A third gear (506) is sleeved on the surface of the rotating shaft (505) close to the floating warehouse (2). A rack (602) is matched on the surface of the third gear (506), and the rack (602) is fixedly connected to the bottom of the connecting plate (601).

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