Unmanned ship for sampling detection of seawater pollution
By installing a height- and angle-adjustable robotic arm structure and a negative pressure sampling tube on the unmanned surface vessel (USV), the maneuverability and flexibility issues of USVs in complex water sampling tasks have been solved, enabling the acquisition of water samples at multiple locations and depths, and making it suitable for environmental monitoring in complex sea areas.
Patent Information
- Application Number
- CN202520787631.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-04-23
- Publication Date
- 2026-02-27
- Estimated Expiration
- 2035-04-23
AI Technical Summary
Existing unmanned surface vessels (USVs) lack maneuverability and flexibility when performing complex water body sampling tasks, making it difficult to meet the sampling requirements of multiple sites and depths, and their application is limited, especially in complex sample scenarios.
An unmanned surface vessel (USV) for seawater pollution sampling and detection was designed. It is equipped with a robotic arm structure that can be adjusted in height and angle, combined with a sampling tube under negative pressure and a switching structure, to achieve water sample extraction at multiple locations and depths.
It enables precise sampling at multiple locations and different depths within a specific sea area, improving the maneuverability and flexibility of unmanned surface vessels (USVs), allowing them to quickly and accurately acquire water samples and adapt to complex environmental monitoring tasks.
Smart Images
Figure CN223949335U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model belongs to sea water pollution detection technical field especially relates to a sea water pollution sampling detection unmanned ship. BACKGROUND
[0002] The unmanned ship is a kind of unmanned ship device that can be remotely operated and can run on water surface.According to different tasks, the size of the unmanned ship is different.Among them, small unmanned ship is more widely used in practical application because of high mobility and flexibility, such as environmental protection monitoring on ocean and lake by small unmanned ship.
[0003] In the process of environmental monitoring, water sample needs to be extracted, and the water pollution condition is judged by subsequent detection of the extracted water sample.The current way of unmanned ship sampling water sample is that the pump body installed on the unmanned ship sucks water sample and stores it in the sample storage box.
[0004] This way can indeed sample water sample.But in actual work process, there are certain requirements for the number of detection samples and the position of samples, such as the need for sampling at multiple position points in a specific sea area, and the need for sampling different depths of water under water surface during sampling process.
[0005] Therefore, the mobility and flexibility of the sampling device are required to be relatively high, and the traditional sampling device matched with the unmanned ship has poor mobility, single sampling depth and difficulty in meeting the requirements of multiple sampling points, so that the application of environmental sampling in practical application is limited.Especially in the face of complex sample required scene, the traditional unmanned ship is difficult to perform complex water sampling task.
[0006] In view of the above technical defects, there is an urgent need for an unmanned ship with high mobility and flexibility to cope with complex sampling task to perform water sampling detection task. CONTENT OF UTILITY MODEL
[0007] Based on the above background, the purpose of the utility model is to provide a kind of sea water pollution sampling detection unmanned ship.
[0008] To achieve the above purpose, the utility model adopts the following technical solutions:
[0009] A kind of sea water pollution sampling detection unmanned ship, including unmanned ship, sea water sampling mechanism is fixedly assembled and connected on the unmanned ship;
[0010] The sea water sampling mechanism includes fixed crossbeam, the both ends of fixed crossbeam are respectively installed with height, angle adjustable mechanical arm structure;The lower end of mechanical arm structure is installed with sampling structure, and the sampling posture of sampling structure is adjusted by mechanical arm structure;
[0011] The sampling structure comprises a plurality of sampling tubes in negative pressure states, and control valves are installed on the sampling tubes.
[0012] Preferably, the fixing crossbeam is fixedly installed with installation supports arranged at two sides and fixed on the unmanned ship.
[0013] Preferably, the installation support comprises an installation base fixed on the unmanned ship, a support rod fixedly connected to the top of the installation base, a screw rod penetrating through the fixing crossbeam and fixedly connected to the top of the support rod, and a screw nut threadedly connected to the screw rod and fastening the fixing crossbeam.
[0014] Preferably, the mechanical arm structure comprises a first arm support, a first motor fixedly installed on the first arm support and having an output shaft fixedly connected to the end of the fixing crossbeam, and a housing of the first motor fixedly installed on the first arm support.
[0015] Preferably, the mechanical arm structure further comprises a pair of second arm supports hingedly connected to the lower ends of the first arm support; the upper ends of the second arm supports are fixedly connected with a rotating shaft rotatably connected to the first arm support.
[0016] The upper end of each second arm support is installed with a second motor, the output shaft of the second motor is fixedly connected to the second arm support, and the second motor is fixedly installed on the first arm support through a motor support.
[0017] Preferably, a channel is formed between the second arm supports.
[0018] The switching structure comprises a third motor fixedly installed at the lower end of one of the second arm supports, and the output shaft of the third motor is rotatably connected to the other second arm support.
[0019] The sampling tubes are respectively fixedly connected to the output shafts of the third motor.
[0020] During switching of the sampling tubes, the sampling tubes swing through the channel.
[0021] Preferably, the top of the sampling tube is fixedly connected with an installation rod fixedly installed on the output shaft of the third motor.
[0022] Preferably, the sampling tube comprises a cylindrical tube portion integrally formed with a conical tube portion.
[0023] Preferably, the length of the fixing crossbeam is greater than the width of the unmanned ship, and the mechanical arm structure is located outside the unmanned ship.
[0024] The utility model has the following beneficial effects:
[0025] 1. During the unmanned surface vessel's (USV) inspection mission, sampling is performed with high flexibility and maneuverability via robotic arms at both ends of a fixed crossbeam. During normal operation, the robotic arms are raised to protect the sampling structure. Upon reaching the sampling location, the sampling structure is lowered, and sampling is then conducted through it.
[0026] 2. The sampling structure is controlled by a robotic arm, which allows for adjustment of the depth into the water body during the sampling process.
[0027] 3. During the operation, before executing the task, the sampling tube is pre-vacuumed to create a negative pressure state. Upon reaching the designated location, the solenoid valve opens, and the sampling tube, under negative pressure, draws water samples. Upon moving to the next sampling location, a switching structure is used to switch to the next negative pressure sampling tube, and a robotic arm adjusts the depth of the sampling tube's inlet into the water for the next sampling. This method enables sampling and testing at multiple locations and depths within a specific sea area, thus completing complex sampling tasks. Attached Figure Description
[0028] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.
[0029] Figure 1 This is a schematic diagram of the overall structure in an embodiment of the present utility model;
[0030] Figure 2 This is a schematic diagram of the seawater sampling mechanism in an embodiment of the present invention;
[0031] Figure 3 This is a schematic diagram of the sampling structure in an embodiment of the present invention;
[0032] Figure 4 This is a schematic diagram of the robotic arm structure in the raised state in an embodiment of this utility model;
[0033] Figure 5 This is a schematic diagram of the sampling structure extending underwater in an embodiment of this utility model.
[0034] The realization of the purpose, functional features and advantages of this utility model will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation
[0035] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.
[0036] It should be noted that all directional indicators (such as up, down, left, right, front, back, etc.) in this utility model embodiment are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicator will also change accordingly.
[0037] Furthermore, in this utility model, descriptions involving "first," "second," etc., are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. When the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed by this utility model.
[0038] Example 1
[0039] like Figures 1-5 As shown, a seawater pollution sampling and detection unmanned surface vessel (USV) includes USV 1. USV 1 is a conventional USV 1 disclosed in the prior art. Like the existing USV 1, USV 1 can be remotely controlled to travel on the sea surface.
[0040] In order to solve the problem that the existing unmanned surface vessel 1 cannot perform complex water sampling and detection tasks (multiple sampling points in a specific sea area, and sampling water at different depths), the aforementioned unmanned surface vessel 1 is fixedly equipped with a seawater sampling mechanism 2.
[0041] Specifically, the seawater sampling mechanism 2 includes a fixed crossbeam 21 (on which mounting brackets 22 are fixedly installed at intervals on both sides, and the mounting brackets are fixedly installed on the unmanned surface vessel 1; specifically, the mounting brackets include a mounting base 221 fixedly installed on the unmanned surface vessel 1, a support rod is fixedly connected to the top of the mounting base 221, and a screw rod is fixedly connected to the top of the support rod, passing through the fixed crossbeam 21, and the screw rod is threaded with a nut for fastening the fixed crossbeam 21).
[0042] The height and angle adjustable mechanical arm structure is installed at both ends of the fixed beam 21. Meanwhile, the length of the fixed beam 21 is greater than the width of the unmanned ship 1, and the mechanical arm structure is located outside the unmanned ship 1. In this way, the mechanical arm structure drives the following sampling structure process to avoid interference from the ship body.
[0043] The lower end of the mechanical arm structure is installed with a sampling structure, and the sampling posture of the sampling structure is adjusted by the mechanical arm structure.
[0044] In this way, the sampling detection process is realized by the mechanical arm structure at both ends of the fixed beam 21 with high flexibility and maneuverability. For example, in the normal driving process, the mechanical arm structure is in the raised state to protect the sampling structure. When reaching the sampling position, the sampling structure is lowered, and sampling is performed through the sampling structure.
[0045] Because the sampling structure is controlled by the mechanical arm structure, the depth of the sampling structure into the water body during the sampling process can be adjusted. In actual work, the sampling depth range can be increased by lengthening the mechanical arm structure.
[0046] The above-mentioned sampling structure includes a plurality of sampling tubes 26 in a negative pressure state, and a control valve 261 (specifically an electromagnetic valve, preferably a conventional wireless electromagnetic valve that can be remotely controlled according to the prior art) is installed on the sampling tube 26. The sampling structure also includes a switching structure for switching the sampling tube 26.
[0047] In the working process, before performing the task, the sampling tube 26 is pre-evacuated to form a negative pressure state, and when reaching the specified position, the electromagnetic valve 261 is opened, and the sampling tube 26 in the negative pressure state sucks the water sample.
[0048] When further reaching the next sampling position, the next sampling tube 26 in the negative pressure state is switched by the switching structure, and the depth of the water inlet end of the sampling tube 26 into the water body is adjusted by the mechanical arm structure to perform the next sampling.
[0049] In this way, sampling detection can be performed at multiple position points and multiple underwater depth points in a specific sea area, thereby completing complex sampling tasks.
[0050] In this way, the pollution status of the ocean water body can be more accurately mastered, such as oil tanker leakage, nuclear waste water leakage, etc. A large number of water samples can be quickly and accurately obtained by the above-mentioned device.
[0051] Embodiment 2
[0052] For example Figures 1-5As shown, the embodiment is based on the structure of Embodiment 1, and the mechanical arm structure comprises a first arm support 23, a first motor 231 fixedly installed on the first arm support 23, and an output shaft of the first motor 231 fixedly connected to an end of the fixed cross beam 21. The shell of the first motor 231 is fixedly installed on the first arm support 23 (i.e., the main body of the first motor 231 is fixed on the first arm support 23).
[0053] During operation, when the first motor 231 operates, at this time, because the main body of the first motor 231 is fixed on the first arm support 23 and the output shaft of the first motor 231 is fixed on the fixed cross beam 21, the first motor 231 rotates synchronously with the first arm support 23. In this way, the first arm support 23 is adjusted in the first posture.
[0054] The mechanical arm structure further comprises a pair of second arm supports 24 (the second arm supports 24 are arranged at intervals front and back) hingedly connected to both sides of the lower end of the first arm support 23. The upper ends of the second arm supports 24 are fixedly connected to a rotating shaft, and the rotating shaft is rotatably connected to the upper end of the first arm support 23.
[0055] Meanwhile, the upper end of the front side second arm support 24 is provided with a second motor 241, and the output shaft of the second motor 241 is fixedly connected to the second arm support 24. During operation, when the second motor 241 is driven, the second arm support 24 is adjusted in the posture again.
[0056] In order to fix the second motor 241, according to the conventional motor fixing installation method disclosed in the prior art, the second motor 241 is fixedly installed on the first arm support 23 through a motor support (for example, the shell of the second motor 241 is fixedly installed on the motor support, and the motor support is fixedly installed on the first arm support 23, and the motor support is not shown in the figure).
[0057] Because the second arm supports 24 are arranged at intervals, a channel is formed between the second arm supports 24.
[0058] The switching structure comprises a third motor 25 fixedly installed at the lower end of the front side second arm support 24, and an output shaft 251 of the third motor 25 is rotatably connected to the rear side second arm support 24. Sampling tubes 26 are fixedly connected to the output shaft 251 of the third motor 25.
[0059] Because the caliber of the sampling tube 26 is smaller than the width of the channel and the length of the sampling tube 26 is smaller than the length of the channel, during switching of the sampling tube 26, the sampling tube 26 swings through the channel. In this way, during sampling, the third motor 25 is driven, the output shaft 251 of the third motor 25 is continuously rotated and switches the sampling tube 26 at different positions to enter underwater, and the depth and posture of sampling are adjusted by the above-mentioned mechanical arm structure, so as to facilitate sampling and provide the sample amount of sampling.
[0060] Specifically, the top of the sampling tube 26 is fixedly connected with a mounting rod 27, and the mounting rod 27 is fixedly installed on the output shaft 251 of the third motor 25.
[0061] The sampling tube 26 comprises a cylindrical tube portion (an electromagnetic valve is installed at the lower end of the cylindrical tube portion), and the cylindrical tube portion is integrally formed with a tapered tube portion.
[0062] Of course, the above description is not a limitation of the present application, and the present application is not limited to the above examples. Changes, modifications, additions or replacements made by the skilled in the art within the essential scope of the present application should also be within the protection scope of the present application.
Claims
1. A pollution sampling and detecting unmanned surface vehicle, characterized in that, This includes an unmanned surface vessel (USV), on which a seawater sampling mechanism is fixedly mounted and connected; The seawater sampling mechanism includes a fixed crossbeam, with height- and angle-adjustable robotic arm structures installed at both ends of the fixed crossbeam; a sampling structure is installed at the lower end of the robotic arm structure, and the sampling posture of the sampling structure is adjusted by the robotic arm structure. The sampling structure includes several sampling tubes under negative pressure, and control valves are installed on the sampling tubes; the sampling structure also includes a switching structure for switching sampling tubes.
2. The unmanned vehicle as claimed in claim 1, wherein, The fixed crossbeam is fixedly installed with mounting brackets spaced apart on both sides, and the mounting brackets are fixedly mounted on the unmanned surface vessel.
3. The unmanned vehicle as claimed in claim 2, wherein, The mounting bracket includes a mounting base that is fixedly mounted on the unmanned surface vessel. A support rod is fixedly connected to the top of the mounting base. A threaded rod that passes through a fixed crossbeam is fixedly connected to the top of the support rod. A nut that is threadedly connected to the threaded rod secures the fixed crossbeam.
4. The unmanned vehicle as claimed in claim 1, wherein, The robotic arm structure includes a first arm, on which a first motor is fixedly mounted, and the output shaft of the first motor is fixedly connected to the end of a fixed crossbeam; the housing of the first motor is fixedly mounted on the first arm.
5. The unmanned vehicle as claimed in claim 4, wherein, The robotic arm structure also includes a pair of second arms hinged to the lower ends of the first arm; the upper ends of the second arms are fixedly connected to a pivot, which is rotatably connected to the first arm. The second motor is installed at the upper end of the second boom. The output shaft of the second motor is fixedly connected to the second boom. The second motor is fixedly installed on the first boom through a motor bracket.
6. The unmanned vehicle of claim 1, wherein, A passageway is formed between the second booms; The switching structure includes a third motor fixedly installed at the lower end of the second boom on one side, and the output shaft of the third motor is rotatably connected to the second boom on the other side. The sampling tubes are respectively fixedly connected to the output shaft of the third motor; During the switching of the sampling tube, the sampling tube swings through the channel.
7. The unmanned vehicle of claim 6, wherein, A mounting rod is fixedly connected to the top of the sampling tube, and the mounting rod is fixedly installed on the output shaft of the third motor.
8. The unmanned vehicle of claim 1, wherein, The sampling tube includes a cylindrical tube section, and the cylindrical tube section is integrally formed with a tapered tube section.
9. The unmanned vehicle of claim 1, wherein, The length of the fixed crossbeam is greater than the width of the unmanned surface vessel (USV), and the robotic arm structure is located on the outside of the USV.