Gripper for sampling underwater silt soil sample

Abstract

The utility model provides a gripper for sampling an underwater sludge soil sample, and solves the problem that the sampling is difficult due to the fact that sludge is not formed in the existing water area underwater surveying and sampling process. According to the main scheme, the device comprises a positioning table, an external connection frame located at the top of the positioning table, a screw rod rotationally connected to the center of the bottom of the positioning table, a cooperation part in threaded connection to the screw rod and a plurality of claw blocks with the inner walls and the outer walls being spherical surfaces, the multiple claw blocks can be gathered to form a spherical structure with a cavity inside, and an integrated hinge part is fixed to the top of each claw block; a through connecting groove is formed in the position, corresponding to the top of each hinge part, of the cooperation part, the external connecting frame is used for being connected with an external servo assembly, the external connecting frame is hinged to the corner, close to the inner side, of the top of the hinge part through a hinge arm at the position corresponding to each connecting groove, and the cooperation part is hinged to the corner, close to the outer side, of the top of the hinge part.

Description

Technical Field

[0001] The utility model relates to the technical field of water area soil sample surveying equipment, in particular to a gripper for sampling underwater silt soil samples. Background Art

[0002] Surveying, engineering geological investigation, groundwater resource exploration, and irrigation area soil surveys are conducted for river management and water resource development, utilization, and protection. Their mission is to investigate and study the nature, effects, and inherent laws of natural phenomena in the river basins or regions proposed for development, evaluate and predict the potential interactions between various water conservancy facilities and the natural environment, and any problems that may arise, thereby providing basic data and a scientific basis for optimizing the planning, design, construction, and operation of water conservancy projects.

[0003] However, during the underwater silt survey and sampling process in existing waters, the silt is washed by water all year round, and the upper silt is loose and unformed, which indirectly poses a challenge to the subsequent silt sampling work. To this end, we propose a gripper for underwater silt soil sampling to solve the above problem. Utility Model Content

[0004] The technical problem to be solved by the utility model is to overcome the defects of the prior art. The utility model proposes a gripper for automatically sampling the bottom silt in water areas and for underwater silt soil sampling.

[0005] In order to solve the above technical problems, the technical solution adopted by the utility model is: a gripper for underwater silt soil sampling, comprising: a positioning platform, an external frame located at the top of the positioning platform, a screw rotatably connected to the bottom center of the positioning platform, a cooperative part threadedly connected to the screw, and a plurality of claw blocks with spherical inner and outer walls. The plurality of claw blocks can be gathered into a spherical structure with a cavity inside. An integrated hinged part is fixed to the top of each claw block, and the cooperative part is provided with a through connecting groove at a position corresponding to the top of each hinged part. The external frame is used to connect an external servo component, and is hinged to an inner corner of the top of the hinged part through a hinged arm at the corresponding connection groove, and the cooperative part is hinged to an outer corner of the top of the hinged part.

[0006] Furthermore, both ends of the articulated arm are U-shaped opening structures and the connecting groove is exposed. The articulated arm passes through the connecting groove. When multiple groups of claw blocks are gathered into a spherical structure, the articulated arm does not contact the connecting groove.

[0007] Furthermore, the claw blocks include at least three.

[0008] Furthermore, the top of the positioning platform is coaxially fixed to the screw rod through a coupling, a servo motor is also fixed in the external frame, and the output end of the servo motor is coaxially fixed to the coupling.

[0009] Furthermore, the external frame includes a connecting platform and a lower bending arm. Positioning holes for connecting to an external servo component are provided around the top of the connecting platform, and the bottom is surrounded by four surrounding rods and the servo motor. The lower bending arm corresponds one-to-one to each of the connecting grooves and is connected at the top to form a platform for positioning the servo motor.

[0010] Furthermore, the outer wall of each connecting groove corresponding to the cooperative part is an upper curved arm, and adjacent upper curved arms are connected into one by a reinforcing plate, and the tops of multiple upper curved arms converge into a cylindrical structure and are threadedly connected to the outside of the screw.

[0011] Compared with the existing technology, the beneficial effects of the utility model include: the entire grabber is driven to sink to the bottom of the water mud through the connecting platform, and then the servo motor works to drive the screw at the bottom of the positioning platform to rotate, and the cooperative part threadedly connected to the screw can be raised and lowered axially with the screw under the limit of other components. After the cooperative part is raised and lowered, it can drive the three claw blocks to gather and expand outward. The overall structure is stable and reliable, and can cope with underwater mud sampling in various complex waters. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] The disclosure of the present invention is described with reference to the accompanying drawings. It should be understood that the drawings are for illustrative purposes only and are not intended to limit the scope of protection of the present invention. In the accompanying drawings, the same reference numerals are used to refer to the same components. Among them:

[0013] Figure 1 Schematically shows a front view according to one embodiment of the present utility model;

[0014] Figure 2 Schematically shows an isometric diagram according to one embodiment of the present invention;

[0015] Figure 3 Schematically shows a method according to an embodiment of the present invention Figure 2 A partial enlarged view.

[0016] Numbers in the figure: 1. Positioning platform; 2. External frame; 3. Screw; 4. Collaborative part; 5. Claw block; 6. Articulated part; 7. Connecting groove; 8. Articulated arm; 9. Coupling; 10. Servo motor; 11. Connecting platform; 12. Lower bending arm; 13. Positioning hole; 14. Surrounding rod; 15. Upper bending arm; 16. Reinforcement plate. DETAILED DESCRIPTION

[0017] It is easy to understand that according to the technical solution of the present invention, without changing the essential spirit of the present invention, a person skilled in the art can propose a variety of interchangeable structural methods and implementation methods. Therefore, the following specific embodiments and drawings are only illustrative of the technical solution of the present invention and should not be regarded as the entire present invention or as a limitation or restriction of the technical solution of the present invention.

[0018] According to one embodiment of the present invention, Figure 1-Figure 3 Shown.

[0019] A gripper for underwater silt soil sampling comprises: a positioning platform 1, an external frame 2 located at the top of the positioning platform 1, a screw 3 rotatably connected to the bottom center of the positioning platform 1, a cooperative portion 4 threadedly connected to the screw 3, and a plurality of claw blocks 5 with spherical inner and outer walls. The plurality of claw blocks 5 can be gathered into a spherical structure with a hollow interior. An integral hinge portion 6 is fixed to the top of each claw block 5. The cooperative portion 4 has a through-connecting slot 7 at a position corresponding to the top of each hinge portion 6. The external frame 2 is used to connect to an external servo assembly. It is hinged to the inner corner of the top of the hinge portion 6 via an articulated arm 8 at each connection slot 7. The cooperative portion 4 is hinged to the outer corner of the top of the hinge portion 6. The articulated arm 8 has a U-shaped opening at both ends and is exposed to the connection slot 7. The articulated arm 8 is arranged to pass through the connection slot 7. When the plurality of claw blocks 5 are gathered into the spherical structure, the articulated arm and the connection slot 7 do not contact each other.

[0020] Specifically, in this embodiment, there are three claw blocks 5. The top of the positioning platform 1 is coaxially fixed to the screw 3 through a coupling 9. A servo motor 10 is also fixed in the external frame 2. The output end of the servo motor 10 is coaxially fixed to the coupling 9. The external frame 2 includes a connecting platform 11 and a lower bent arm 12. The top of the connecting platform 11 is surrounded by positioning holes 13 for connecting to an external servo component. The bottom of the connecting platform 11 is surrounded by four surrounding rods 14 and surrounds the servo motor 10. The lower bent arm 12 corresponds to each of the connecting slots 7 and is connected at the top to form a platform for positioning the servo motor 10. The outer wall of the cooperative part 4 corresponding to each connecting slot 7 is an upper bent arm 15, and adjacent upper bent arms 15 are connected into one by a reinforcing plate 16. The tops of multiple upper bent arms 15 converge into a cylindrical structure and are threadedly connected to the outside of the screw 3.

[0021] Through the above structure, during the sampling process in a specific water area, it can be transported to the waterline area in the water area in conjunction with the external towing equipment and the servo lowering module, and then the servo lowering module drives the entire gripper to sink to the bottom mud through the connecting platform 11. Then the servo motor 10 works to drive the screw 3 at the bottom of the positioning platform 1 to position and rotate, and the cooperative part 4 threadedly connected to the screw 3 can be raised and lowered axially with the screw 3 under the limit of other components. After the cooperative part 4 is raised and lowered, it can drive the three claw blocks 5 to gather and expand outward.

[0022] The specific process can be reflected as follows: after the upper bending arm 15 of the cooperative part 4 descends, the claw block 5 will follow it down due to a certain point of hinge connection with it. However, due to the connection between the articulated arm 8 and the external frame 2, and the external frame 2 itself is fixed on the external servo module, its position is inconvenient. Under its limit, the bottom end of the articulated arm 8 can only be forced to rotate inward, and the other point of hinge connection between the articulated part 6 and the cooperative part 4 will also be forced to rotate inward, that is, the three claw blocks 5 are relatively close together to grab the underwater silt for sampling and collection.

[0023] After collecting on the hull, the upper curved arm 15 of the cooperative part 4 is lifted upward, and the hinge part 6 and the cooperative part 4 are forced to expand outward, that is, the three claw blocks 5 are opened to realize sample unloading. It should be noted that the claw blocks 5 need to be kept open during the launching process to facilitate sampling.

[0024] The technical scope of the present invention is not limited to the contents described above. Those skilled in the art can make various deformations and modifications to the above embodiments without departing from the technical concept of the present invention, and these deformations and modifications should all fall within the scope of protection of the present invention.

Claims

1. A gripper for underwater silt soil sampling, characterized in that: include: A positioning platform, an external frame located at the top of the positioning platform, a screw rotatably connected to the center of the bottom of the positioning platform, a cooperative part threadedly connected to the screw, and a plurality of claw blocks with spherical inner and outer walls. The plurality of claw blocks can be gathered into a spherical structure with a cavity inside. An integral hinge part is fixed to the top of each claw block. The cooperative part has a through connecting groove at a position corresponding to the top of each hinge part. The external frame is used to connect an external servo component. It is hinged to an inner corner of the top of the hinge part through a hinge arm at the corresponding connection groove, and the cooperative part is hinged to an outer corner of the top of the hinge part.

2. The gripper for underwater silt soil sampling according to claim 1, characterized in that: Both ends of the articulated arm are U-shaped opening structures and the connecting groove is exposed. The articulated arm passes through the connecting groove. When multiple groups of claw blocks are gathered into a spherical structure, the articulated arm does not contact the connecting groove.

3. The gripper for underwater mud and soil sampling according to claim 1, characterized in that: The claw blocks include at least three.

4. The gripper for underwater mud and soil sampling according to claim 1, characterized in that: The top of the positioning platform is coaxially fixed to the screw rod through a coupling. A servo motor is also fixed in the external frame, and the output end of the servo motor is coaxially fixed to the coupling.

5. The gripper for underwater mud and soil sampling according to claim 4, characterized in that: The external frame includes a connecting platform and a lower bending arm. Positioning holes for connecting to an external servo component are provided around the top of the connecting platform. The bottom is surrounded by four surrounding rods and is surrounded by the servo motor. The lower bending arm corresponds to each of the connecting slots one by one and is connected at the top to form a platform for positioning the servo motor.

6. The gripper for underwater silt soil sampling according to claim 1, characterized in that: The outer wall of each connecting groove of the cooperative part is an upper curved arm, and adjacent upper curved arms are connected into one body through a reinforcing plate. The tops of multiple upper curved arms converge into a columnar structure and are threadedly connected to the outside of the screw.

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