Liftable sampling arm structure for unmanned ship water area monitoring

Abstract

The utility model relates to unmanned ship water area monitoring sampling technical field especially unmanned ship water area monitoring liftable sampling arm structure, including rotation replacement mechanism, it includes unmanned ship body and mechanical arm, is provided with fixed disc on the mechanical arm, a plurality of sampling tubes are arranged to the fixed disc lower extreme, and the carousel for driving sampling tube rotation, the transmission assembly that provides power for carousel rotation is arranged on the fixed disc, the outer ring surface one side of carousel is provided with a plurality of telescopic components that promote sampling tube lift, the outer ring surface one side of fixed disc is provided with the guide component that sampling tube clamping location is further taken sample, the lifting sealing assembly that opens the opening when sampling tube sampling is arranged on the guide component, the water filter mechanism, it includes a plurality of water inlets that are opened in the fixed disc and carousel, and the water guide component is arranged in the water inlet. Solve the prior art in the frequent control unmanned ship homeward bound onshore replacement sampling tube and the poor stability problem caused by the big water resistance.

Description

Technical Field

[0001] This utility model relates to the field of unmanned vessel water monitoring and sampling technology, and in particular to a liftable sampling arm structure for unmanned vessel water monitoring. Background Technology

[0002] The unmanned vessel water monitoring and sampling structure is an automated system that integrates a liftable robotic arm, multiple sensors, and a water sampling module. By precisely controlling the sampling depth and position, it achieves efficient and low-disturbance water sample collection and real-time water quality monitoring.

[0003] In existing technologies, sampling tube replacement relies on manual operation, requiring frequent control of unmanned vessels to return to shore for replacement. This limits the number of sampling points per voyage, resulting in low operational efficiency. It is particularly unsuitable for continuous monitoring of large water areas. The docking stability between the sampling tube and the sampling mechanism is poor, and the water flow resistance is high during sampling. The sampling arm is prone to positional deviation due to water resistance when it is raised, lowered, or rotated, making it difficult to achieve precise sampling at fixed points and depths. Utility Model Content

[0004] In view of the problems of frequent control of unmanned vessels to return to shore to replace sampling tubes and poor stability caused by high water resistance in the above or existing technologies, this utility model is proposed.

[0005] To solve the above-mentioned technical problems, this utility model provides the following technical solution: a rotating replacement mechanism, comprising an unmanned vessel hull and a robotic arm, wherein a fixed disk is provided on the robotic arm, and a plurality of sampling tubes for collecting samples are provided at the lower end of the fixed disk, and a turntable for driving the sampling tubes to rotate is provided on the fixed disk, a transmission component for providing power for the rotation of the turntable is provided on the fixed disk, a plurality of telescopic components for pushing the sampling tubes up and down are provided on one side of the outer ring surface of the turntable, and a guide component for locking and limiting the sampling tubes to collect samples is provided on one side of the outer ring surface of the fixed disk, and a lifting and sealing component for opening the opening when the sampling tube is sampled is provided on the guide component; The water filtration mechanism includes several water inlets on a fixed plate and a turntable, and the water inlets are provided with water guiding components to make the water flow more smoothly.

[0006] As a preferred embodiment of the liftable sampling arm structure for unmanned surface vessel water monitoring of this utility model, the transmission component includes a fixed base fixedly mounted on the upper end of the fixed plate and fixedly connected to the mechanical arm. A waterproof motor is fixedly mounted in the middle of the lower end of the fixed base. A transmission shaft fixedly mounted on the output end of the waterproof motor and fixedly connected to the turntable is fixedly mounted on the output end of the waterproof motor. The transmission shaft is used to drive the turntable to rotate synchronously when the output end of the waterproof motor rotates.

[0007] As a preferred embodiment of the liftable sampling arm structure for unmanned surface vessel water monitoring of this utility model, the telescopic component includes a plurality of first retraction grooves opened on a turntable, a plurality of first compression springs fixedly arranged in the inner cavity of the first retraction grooves, and a telescopic base fixedly arranged at the upper end of the first compression springs and fixedly connected to the lower end of the sampling tube. The telescopic base drives the sampling tube to rise and fall through the first compression springs.

[0008] As a preferred embodiment of the liftable sampling arm structure for unmanned vessel water monitoring of this utility model, the guiding component includes an annular guide groove on the outer side of the lower end surface of the fixed plate, a water inlet is provided on one side of the inner cavity of the annular guide groove to be inserted into the upper opening of the sampling tube, and an oblique opening is provided at the lower end of the water inlet to facilitate the insertion and separation of the sampling tube.

[0009] As a preferred embodiment of the liftable sampling arm structure for unmanned surface vessel water monitoring of this utility model, the lifting and sealing assembly includes a second retraction groove opened at both ends of the fixed plate located at the upper opening of the water inlet. A second compression spring is fixedly installed in the inner cavity of the second retraction groove. A telescopic rod that moves longitudinally within the inner cavity of the second compression spring is fixedly installed at the upper end of the second compression spring. A water-blocking cap that is inserted into and sealed with the upper opening of the water inlet is fixedly installed at the upper end of the telescopic rod.

[0010] As a preferred embodiment of the liftable sampling arm structure for unmanned surface vessel water monitoring of this utility model, the lower end of the water-blocking cap is provided with several water guide channels for filtering larger particles in the water.

[0011] As a preferred embodiment of the liftable sampling arm structure for unmanned surface vessel water monitoring of this utility model, the water guiding component includes a first inclined water dividing surface opened at the lower end of the water inlet and a second inclined water dividing surface opened at the upper end of the water inlet. The first inclined water dividing surface and the second inclined water dividing surface interact to enable the fixed plate and the turntable to move more quickly in the water.

[0012] The beneficial effects of this utility model's liftable sampling arm structure for unmanned surface vessel water monitoring are as follows: 1. Automatic switching of sampling tubes is achieved through a rotating replacement mechanism, eliminating the need for frequent control of the unmanned vessel to return to shore to replace sampling tubes. The waterproof motor in the transmission component can drive the turntable to rotate, causing different sampling tubes to connect to the guide component in sequence for sampling. Combined with the lifting function of the robotic arm, the sampling depth and position can be precisely controlled.

[0013] 2. The first compression spring of the telescopic component provides elastic support for the sampling tube, ensuring a tight connection between the sampling tube and the water inlet of the guide component. Even if the unmanned vessel is rocked by wind and waves, it can maintain a seal, improving the connection stability between the sampling tube and the sampling mechanism. The water guiding component of the filtration mechanism optimizes the water flow path through the first and second inclined water dividing surfaces, dispersing water flow impact and reducing water resistance. This makes it less likely for the fixed plate and turntable to shift position when they rise, fall, and rotate in the water, ensuring the accuracy of fixed-point and fixed-depth sampling. At the same time, the dynamic sealing design of the lifting and sealing component can also prevent impurities from entering, improving the purity of the sample collection. Attached Figure Description

[0014] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the description of the embodiments 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 these drawings without creative effort.

[0015] Figure 1 A schematic diagram of the overall structure of the liftable sampling arm for unmanned surface vessel water monitoring.

[0016] Figure 2 A schematic diagram of a sampling device with a liftable sampling arm structure for unmanned surface vessel water monitoring.

[0017] Figure 3 A schematic diagram of the mechanism for switching the drive sampling tube in a liftable sampling arm structure used for unmanned surface vessel water monitoring.

[0018] Figure 4 A schematic diagram of the guide assembly and lifting sealing assembly for an unmanned surface vessel (USV) water monitoring system with a liftable sampling arm.

[0019] Figure 5 A schematic diagram of the water guiding component for an adjustable sampling arm structure used in unmanned surface vessel (USV) water monitoring.

[0020] In the diagram: 10. Unmanned hull; 11. Robotic arm; 12. Fixed plate; 13. Sampling tube; 14. Turntable; 15. Transmission assembly; 151. Fixed base; 152. Waterproof motor; 153. Drive shaft; 16. Telescopic assembly; 161. First retraction groove; 162. First compression spring; 163. Telescopic base; 17. Guide assembly; 171. Annular guide groove; 172. Water inlet; 173. Slanted opening; 18. Lifting and sealing assembly; 181. Second retraction groove; 182. Second compression spring; 183. Telescopic rod; 184. Water blocking cap; 185. Water guide channel; 20. Water inlet; 21. Water guide assembly; 211. First slanted water dividing surface; 212. Second slanted water dividing surface. Detailed Implementation

[0021] To make the above-mentioned objectives, features and advantages of this utility model more apparent and understandable, the specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings.

[0022] Example 1, see Figure 1-1 Figure 4 This is the first embodiment of the present invention. This embodiment provides a liftable sampling arm structure for unmanned surface vessel (USV) water area monitoring, which enables sampling of different water areas without frequent shore visits for sampling tube replacement. It includes a rotating replacement mechanism, comprising an USV hull 10 and a robotic arm 11. A fixed disk 12 is mounted on the robotic arm 11, and several sampling tubes 13 for collecting samples are mounted on the lower end of the fixed disk 12. A turntable 14 is used to rotate the sampling tubes 13. A transmission assembly 15 is mounted on the fixed disk 12 to provide power for the rotation of the turntable 14. The transmission assembly 15 includes a fixed base 151 fixedly mounted on the upper end of the fixed disk 12 and fixedly connected to the robotic arm 11. A waterproof motor 152 is fixedly mounted in the middle of the lower end of the fixed base 151. A transmission shaft 153 fixedly connected to the turntable 14 is fixedly mounted on the output end of the waterproof motor 152. The transmission shaft 153 is used to drive the turntable 14 to rotate synchronously when the output end of the waterproof motor 152 rotates. Specifically, the rotating disc 14 is driven by a waterproof motor 152, which automatically switches between different sampling tubes 13. This avoids the cumbersome process of frequently going ashore to change the sampling tubes 13 in traditional sampling methods, thus improving sampling efficiency. In this device, the waterproof motor 152 is preferably a Johnson Electric 2668 series waterproof motor. The lifting structure of the robotic arm 11, combined with the rotating changing mechanism, can precisely control the water depth and horizontal position of the sampling tube 13. Combined with a GPS positioning system, it can achieve point-to-point sampling in waters with different latitudes and longitudes and different depths.

[0023] Furthermore, a plurality of telescopic components 16 for pushing the sampling tube 13 up and down are provided on one side of the outer ring surface of the turntable 14. The telescopic components 16 include a plurality of first retraction grooves 161 opened on the turntable 14. A plurality of first compression springs 162 are fixedly installed in the inner cavity of the first retraction grooves 161. A telescopic base 163 fixedly connected to the lower end of the sampling tube 13 is fixedly installed at the upper end of the first compression springs 162. The telescopic base 163 drives the sampling tube 13 to move up and down through the first compression springs 162. A guide component 17 is provided on one side of the outer ring surface of the fixed disk 12 to lock and limit the sampling tube 13 and thus collect the sample. The guide component 17 includes an annular guide groove 171 opened on the outer side of the lower end surface of the fixed disk 12. A water inlet 172 is opened on one side of the inner cavity of the annular guide groove 171 to be inserted into the upper opening of the sampling tube 13. A slanted opening 173 is provided at the lower end of the water inlet 172 to facilitate the insertion and separation of the sampling tube 13.

[0024] The first compression spring 162 pushes the telescopic base 163 fixed to the sampling tube 13, thereby realizing the elastic lifting and lowering of the sampling tube 13. When the sampling tube 13 rotates with the turntable 14 to the water inlet 172 position, the elastic force of the first compression spring 162 can ensure that the sampling tube 13 and the water inlet 172 are tightly connected. Even if the unmanned hull 10 sways from side to side due to wind and waves, the first compression spring 162 can still maintain a sealed state and adapt to stable sampling under different water level conditions. The oblique opening 173 at the lower end of the water guiding component 21 is designed at a 45° angle, which plays a guiding role when the sampling tube 13 enters, avoiding the pipe opening blockage caused by slight deviation.

[0025] Preferably, the guide assembly 17 is provided with a lifting and sealing assembly 18 that opens the opening when the sampling tube 13 takes a sample. The lifting and sealing assembly 18 includes a second retraction groove 181 opened at both ends of the opening on the fixed plate 12 located at the water inlet 172. A second compression spring 182 is fixedly installed in the inner cavity of the second retraction groove 181. A telescopic rod 183 is fixedly installed at the upper end of the second compression spring 182, which moves longitudinally within the inner cavity of the second retraction groove 181. A water-blocking cap 184 is fixedly installed at the upper end of the telescopic rod 183, which is inserted and sealed to the upper opening of the water inlet 172. A plurality of water guide grooves 185 for filtering larger particles in the water are provided at the lower end of the water-blocking cap 184.

[0026] It should be noted that when the water cap 184 is not in the sampling state, it is sealed to the water inlet 172 by the pre-tightening force of the second compression spring 182, which effectively prevents external debris from entering the sampling system. Through the dynamic sealing and multi-stage filtration driven by the second compression spring 182, the problems of traditional sampling equipment being easily contaminated, clogged and having insufficient sample representativeness are solved. It is suitable for long-term monitoring tasks in complex water quality environments.

[0027] In use, after the unmanned vessel travels to the target sampling area, the GPS positioning system accurately locks the coordinates of the sampling point. The robotic arm 11 activates the lifting structure according to the preset sampling depth command, driving the fixed plate 12 and the sampling components below to adjust to the corresponding height. At this time, the waterproof motor 152 in the transmission component 15 starts to work, and its output end drives the turntable 14 to rotate slowly through the transmission shaft 153. When a sampling tube 13 rotates with the turntable 14 to be directly below the annular guide groove 171 of the guide component 17, the first compression spring 162 in the telescopic component 16 releases elastic potential energy, pushing the telescopic base 163 to lift the sampling tube 13 upward.

[0028] The upper end of the sampling tube 13 moves along the trajectory of the annular guide groove 171. Under the guidance of the oblique opening 173, it is precisely inserted into the water inlet 172. During the insertion process, the top of the sampling tube 13 will push up the water-blocking cap 184 in the lifting and sealing assembly 18, causing the telescopic rod 183 to pull the second compression spring 182 and move upward from the second retraction groove 181 along with the water-blocking cap 184. At this time, the water inlet 172 is connected to the inside of the sampling tube 13, and the water sample flows into the inner cavity of the sampling tube 13 through the water inlet 172.

[0029] After the sampling tube 13 has collected a sufficient amount of sample, the output end of the waterproof motor 152 rotates again, which in turn drives the sampling tube 13 to move through the turntable 14. During the movement, the sampling tube 13 will move downward under the action of the oblique opening 173, and during the downward movement, it will squeeze the telescopic base 163 and the first compression spring 162, causing it to retract into the inner cavity of the first retraction groove 161. Then the sampling tube 13 will continue to move under the guidance of the annular guide groove 171. After changing the water area, the next sampling tube 13 will be replaced for sampling.

[0030] At the same time, the second compression spring 182 pulls the telescopic rod 183 to reset, and the water cap 184 reseals the water inlet 172 to prevent impurities from entering. Then the waterproof motor 152 drives the turntable 14 to rotate again, turning the sampled tube 13 away from the guide assembly 17, and rotating the next unused sampled tube 13 to the sampling position. Repeating the above process can achieve continuous, multi-point automated sampling.

[0031] Throughout the process, the lifting function of the robotic arm 11 can adjust the water depth of the sampling tube 13 in real time. Combined with the rotation switching of the turntable 14 and GPS positioning, it enables accurate and efficient sampling of waters with different latitudes and longitudes and different water depths. Moreover, no manual intervention is required to go ashore to replace the sampling tube 13, which greatly improves the efficiency of water monitoring.

[0032] Example 2, refer to Figures 1-4 This is the second embodiment of the present invention. Unlike the previous embodiment, this embodiment provides a water filtration mechanism for an unmanned vessel water monitoring structure with a liftable sampling arm. This solves the problem of increased movement resistance caused by the large contact area when the device is inserted into the water. The water filtration mechanism includes several water inlets 20 opened on the fixed plate 12 and the turntable 14. A water guiding component 21 is provided in the water inlet 20 to make the water flow smoother. The water guiding component 21 includes a first inclined water dividing surface 211 opened at the lower end of the water inlet 20 and a second inclined water dividing surface 212 opened at the upper end of the water inlet 20. The first inclined water dividing surface 211 and the second inclined water dividing surface 212 interact to enable the fixed plate 12 and the turntable 14 to move more quickly in the water.

[0033] Specifically, when the unmanned vessel carrying the sampling device moves in the water or the robotic arm 11 drives the sampling component to lift and lower, the water filtration mechanism optimizes the water flow path through the water guiding component 21, significantly reducing water resistance, and improving self-cleaning filtration and anti-interference stability while reducing motion resistance.

[0034] When in use, as the fixed plate 12 and the turntable 14 move in the water, the water flow first comes into contact with the first inclined water-dividing surface 211 at the lower end of the inlet 20. This inclined surface has an outward expansion design and forms an angle of about 30° to 45° with the direction of water flow. When the water flow impacts the first inclined water-dividing surface 211, it will be evenly dispersed into multiple tributaries to avoid forming a concentrated frontal impact pressure.

[0035] The dispersed water flows upwards along the inner cavity of the inlet 20, and meets the second inclined water-dividing surface 212 at the upper end of the inlet 20. The second inclined water-dividing surface 212 has an inward-curving design, forming an angle of approximately 45° with the horizontal plane. Its function is to re-converge the rising tributaries and guide them around the sampling component, forming a surrounding water flow. This water flow pattern not only reduces water pressure buildup in front of the device, but also reduces turbulent resistance on the sides by utilizing the surrounding effect of the water flow.

[0036] Through the synergistic effect of the first inclined water-dividing surface 211 and the second inclined water-dividing surface 212, the water flow velocity distribution at the inlet 20 is optimized, the high-pressure area in front of the device is weakened, and the low-pressure wake area behind it is reduced, thereby reducing the overall water resistance. This significantly reduces the driving force required for the robotic arm 11 to perform lifting and lowering actions, improves the response speed, and reduces the additional energy consumption of the unmanned vessel during navigation.

[0037] In addition, the inlet 20 is designed with a tapered structure that is wider at the top and narrower at the bottom. Combined with the guiding effect of the water guiding component 21, the water flow forms an acceleration effect when passing through the inlet 20. This accelerated water flow can also play an auxiliary flushing role during the sampling process, reducing the deposition of suspended particles around the sampling tube 13, and further improving the representativeness and accuracy of the sampling.

[0038] It should be noted that the above embodiments are only used to illustrate the technical solution of this utility model and are not intended to limit it. Although this utility model has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solution of this utility model without departing from the spirit and scope of the technical solution of this utility model, and all such modifications or substitutions should be covered within the scope of the claims of this utility model.

Claims

1. A liftable sampling arm structure for unmanned surface vessel (USV) water monitoring, characterized in that: include, The rotating replacement mechanism includes an unmanned vessel hull (10) and a robotic arm (11). The robotic arm (11) is equipped with a fixed disk (12). The lower end of the fixed disk (12) is equipped with a plurality of sampling tubes (13) for collecting samples and a turntable (14) for driving the sampling tubes (13) to rotate. The fixed disk (12) is equipped with a transmission component (15) that provides power for the rotation of the turntable (14). The outer ring surface of the turntable (14) is equipped with a plurality of telescopic components (16) that push the sampling tubes (13) up and down. The outer ring surface of the fixed disk (12) is equipped with a guide component (17) that clamps and limits the sampling tubes (13) to take samples. The guide component (17) is equipped with a lifting and sealing component (18) that opens the opening when the sampling tubes (13) take samples. The water filtration mechanism includes a plurality of water inlets (20) provided on a fixed plate (12) and a turntable (14), wherein the water inlets (20) are provided with water guiding components (21) to facilitate the flow of water.

2. The liftable sampling arm structure for unmanned surface vessel water monitoring as described in claim 1, characterized in that: The transmission assembly (15) includes a fixed base (151) fixedly mounted on the upper end of the fixed plate (12) and fixedly connected to the robotic arm (11). A waterproof motor (152) is fixedly mounted in the middle of the lower end of the fixed base (151). A transmission shaft (153) fixedly connected to the turntable (14) is fixedly mounted at the output end of the waterproof motor (152). The transmission shaft (153) is used to drive the turntable (14) to rotate synchronously when the output end of the waterproof motor (152) rotates.

3. The liftable sampling arm structure for unmanned surface vessel water monitoring as described in claim 1, characterized in that: The telescopic assembly (16) includes a plurality of first retraction grooves (161) opened on the turntable (14). A plurality of first compression springs (162) are fixedly arranged in the inner cavity of the first retraction grooves (161). A telescopic base (163) is fixedly arranged at the upper end of the first compression springs (162) and fixedly connected to the lower end of the sampling tube (13). The telescopic base (163) drives the sampling tube (13) to rise and fall through the first compression springs (162).

4. The liftable sampling arm structure for unmanned surface vessel water monitoring as described in claim 1, characterized in that: The guide assembly (17) includes an annular guide groove (171) opened on the outer side of the lower end surface of the fixed plate (12). A water inlet (172) is opened on one side of the inner cavity of the annular guide groove (171) and is inserted into the upper opening of the sampling tube (13). The lower end of the water inlet (172) is provided with an oblique opening (173) to facilitate the insertion and separation of the sampling tube (13).

5. The liftable sampling arm structure for unmanned surface vessel water monitoring as described in claim 1, characterized in that: The lifting and sealing assembly (18) includes a second retraction groove (181) opened at both ends of the opening on the fixed plate (12) at the water inlet (172). A second compression spring (182) is fixedly installed in the inner cavity of the second retraction groove (181). A telescopic rod (183) for longitudinal telescopic movement is fixedly installed at the upper end of the second compression spring (182) in the inner cavity of the second retraction groove (181). A water-blocking cap (184) for sealing by inserting into the upper opening of the water inlet (172) is fixedly installed at the upper end of the telescopic rod (183).

6. The liftable sampling arm structure for unmanned surface vessel water monitoring as described in claim 5, characterized in that: The lower end of the water-blocking cap (184) is provided with several water guide channels (185) for filtering larger particles in the water.

7. The liftable sampling arm structure for unmanned surface vessel water monitoring as described in claim 1, characterized in that: The water guiding component (21) includes a first inclined water dividing surface (211) at the lower end of the water inlet (20) and a second inclined water dividing surface (212) at the upper end of the water inlet (20). The first inclined water dividing surface (211) and the second inclined water dividing surface (212) interact to enable the fixed plate (12) and the turntable (14) to move faster in the water.

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