CN106092647B - A kind of water sampling unit for autonomous underwater robot - Google Patents
A kind of water sampling unit for autonomous underwater robot Download PDFInfo
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- CN106092647B CN106092647B CN201610368894.9A CN201610368894A CN106092647B CN 106092647 B CN106092647 B CN 106092647B CN 201610368894 A CN201610368894 A CN 201610368894A CN 106092647 B CN106092647 B CN 106092647B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/02—Devices for withdrawing samples
- G01N1/10—Devices for withdrawing samples in the liquid or fluent state
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- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
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- Health & Medical Sciences (AREA)
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Abstract
The invention discloses a kind of water sampling units for autonomous underwater robot, mainly include AUV bay section shell, cyclic annular connected body, sampler fixed disk, air-tight sampling instrument and control mechanism.The device of the invention size is small, compact-sized, can sampling with complete independently to seawater sample；Whole device can be connect by connected body with other AUV bay sections；Air-tight sampling instrument includes sampling cylinder, trigger mechanism and unidirectional valve portion, can securely lock sampler before sampling, and smoothly sampling is completed in triggering when sampling, and guarantees the air-tightness of sample, and structure is simple and efficient；It is mutually indepedent between sampler, it is fixed, is arranged compact by fixed disk；Control mechanism includes mechanical structure portion and drive part, and the triggering to multiple samplers can be completed using a motor and control, act high efficient and reliable.
Description
Technical field
The present invention relates to a kind of water sampling unit for autonomous underwater robot, the device is endless by motor driven
All-gear drive mechanism pulls rope, the triggering to each air-tight sampling instrument is completed, to be sampled.
Background technique
Ocean is richly stored with mineral resources, living marine resources and the energy, and ocean research is countries in the world research weight
One of point.Air-tight sampling instrument is one of the tool of direct acquisition seawater sample, can not only obtain liquid sample, moreover it is possible to retain sample
Gaseous composition in product provides sample and reliable initial data for ocean research.
Autonomous underwater robot, abbreviation AUV (Autonomous Underwater Vehicle) are nobody untethered water
Lower autonomous navigation device, have underwater movement range is big, mobility is good, safety, advantages of simple structure and simple, in ocean research side
There is extensive purposes in face.
Reliable sample collection based on autonomous underwater robot represents a new progress, has for ocean research very big
Effect, it includes planktonic organism and larva to ecologically, harmful algal bloom (HAB) detection, silt transport, carbon cycle investigation, original that these, which are studied,
Position chemical measurement etc..The underwater autonomous robot for integrating various sensors can carry air-tight sampling instrument in ocean
Sampled, and can sensor-based data according to real-time condition go control sampling behavior, make sampling specific aim more
By force, sample is more reliable.The present invention is exactly a kind of water sampling unit for autonomous underwater robot.
Summary of the invention
The purpose of the present invention is designing a kind of water sampling unit for autonomous underwater robot, which be can be realized
It automatically controls, completes the triggering and sampling to sampler, and guarantee the air-tightness of sample, compact overall structure, movement efficiently may be used
It leans on.
A kind of water sampling unit for autonomous underwater robot of the invention, it includes: AUV bay section shell, ring-type
Connected body, sampler fixed disk, air-tight sampling instrument and control mechanism；
AUV bay section shell is connected by two half-shells into being cylindrical in shape, and both ends are respectively fixed with sampler fixed disk, using device
The cyclic annular connected body for connecting with other bay sections is fixed with outside fixed disk, sampler fixed disk couples multiple air-tight sampling instruments,
There is runner inside sampler fixed disk, makes to be connected to outside the sample inlet of air-tight sampling instrument and bay section；The control mechanism is solid
It is scheduled among AUV bay section, the working condition of each air-tight sampling instrument is controlled by partial gear transmission.
The air-tight sampling instrument includes: sampling cylinder, is separately fixed at the upper end cover and lower cover at sampling cylinder both ends, is set to
Piston inside sampling cylinder, piston rod one end are fixed with piston, and the other end is pierced by upper end cover, and two are fixed on upper end cover in parallel
Tension spring support column, two tension spring pull rods are separately fixed on two tension spring support columns, and two tension spring one end are hooked in tension spring pull rod
On, the other end passes through upper end cover and fixes with piston；Sample intake passage is equipped on lower cover, channel outer end is equipped with unidirectional valve portion,
The shut-off valve for controlling sample intake passage on-off is additionally provided on lower cover, the airtight sampling cylinder further includes for triggering sampling
The trigger mechanism that cylinder is sampled.
The control mechanism includes connected disk and control mechanism shell, built in the confined space formed therebetween
There is motor, motor shaft is pierced by disk, and sealing ring is equipped between disk, and motor shaft ends are equipped with partial gear；In circle
Being located at around partial gear on disk has multiple gears, and gear is fixed on gear shaft, and axis is equipped between gear shaft and disk
It holds；Arc groove is provided on gear, interior design has the pin being fixed on disk, plays position-limiting action to gear, gear rotation is driven
Dynamic trigger mechanism movement.
The trigger mechanism includes the trigger mechanism bottom plate being fixed on two tension spring support columns, is equipped with triggering thereon
Mechanism supports frame, isolation one end and trigger mechanism support frame are hinged, in the through-hole of other end bending insertion piston rod end, touching
Torsional spring is additionally provided on hair organization soleplate, torsional spring compresses isolation to lock piston rod, and the trigger mechanism further includes rope
Son, rope one end tie up in isolation, the other end be oriented to by guide wheel after around on gear shaft.
The control mechanism interior of shell can be for inside dry type or the control mechanism or using oil-filled
Mode, further includes oil sac, and control mechanism shell and oil sac pass through piping connection.
The unidirectional valve portion of the air-tight sampling instrument includes: check valve, and sealing is equipped between check valve and lower cover
It encloses, has taper valve core inside check valve, sealing ring, taper valve core and sample intake passage end are also installed between taper valve core and check valve
Compressed spring is installed between mouthful.
When water sampling unit for autonomous underwater robot of the invention works, it is divided into three processes:
1) enter water experiment before, first motor and circuit part are put into control mechanism shell, the gear on control mechanism and
Partial gear assembles, and full of oil in shell, and connects oil sac, entire control mechanism is then mounted on AUV bay section shell
On；After air-tight sampling instrument assembles, the piston of each sampler is pressed onto bottom, isolation automatic locking under the action of torsional spring
Piston rod；Each sampler is fixed in fixed disk later, fixed disk is mounted on AUV bay section shell both ends, then will be each
The triggering rope of sampler is connected with corresponding gear shaft, covers AUV bay section shell the other half, blending bolt fixes；
Finally AUV bay section is connected by connected body with other bay sections, into the water.
2) when AUV moves to the destination for needing to sample, after control circuit receives control signal, motor drives endless
All gear rotation, is successively engaged with the gear of surrounding, and gear shaft rotation pulls rope wound on it, and rope pulls on sampler
Isolation release the locking of piston rod, piston starts to move under the action of tension spring tension, sample just from front end check valve into
Enter sampler, completes sampling.
3) after the completion of sampling experimental, each sampler is dismantled from fixed disk, tightens the shut-off valve on sampler, into
The transfer of row sample.
The beneficial effects of the present invention are:
The device of the invention size is small, compact-sized, can sampling with complete independently to seawater sample；Whole device can be with
It is connected by other AUV bay sections of connected body；The trigger mechanism of air-tight sampling instrument can securely lock sampler before sampling, sampling
Sampling is completed in Shi Shunli triggering, and sampling cylinder can guarantee that the air-tightness of sample, structure are simple and efficient；Between sampler mutually solely
It is vertical, it is fixed, is arranged compact by fixed disk；Control mechanism includes mechanical structure portion and drive part, is using a motor
The achievable triggering to multiple samplers controls, and acts high efficient and reliable.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the water sampling unit for autonomous underwater robot；
Fig. 2 is the middle section Fig. 1 figure, (a) B-B section (b) A-A section (c) C direction view；
Fig. 3 is the partial structure diagram of air-tight sampling instrument.
Fig. 4 is the partial structure diagram of air-tight sampling instrument.
Fig. 5 is the partial gear running part schematic diagram of control mechanism.
Fig. 6 is the drive part schematic diagram of control mechanism.
Appended drawing reference in figure are as follows: air-tight sampling instrument 1；Sampler fixed disk 2；Cyclic annular connected body 3；AUV bay section shell
4；Control mechanism 5；Tension spring pull rod 6；Tension spring 7；Tension spring support column 8；Piston rod 9；Isolation 10；Trigger mechanism support frame
11；Trigger mechanism bottom plate 12；Upper end cover 13；Sampling cylinder 14；Piston 15；Shut-off valve 16；Lower cover 17；Sealing ring 18；
Check valve 19；Taper valve core 20；Sealing ring 21；Compressed spring 22；Torsional spring 23；Guide wheel 24；Rope 25；Gear 26；
Gear shaft 27；Pin 28；Partial gear 29；Guide wheel 30；Oil sac 31；Control mechanism shell 32；Motor 33；Sealing ring
34；Disk 35；Sealing ring 36.
Specific embodiment
The present invention that the following is further explained with reference to the attached drawings.
Referring to Figures 1 and 2, the water sampling unit for autonomous underwater robot of the invention, it includes: AUV bay section
Shell 4, cyclic annular connected body 3, sampler fixed disk 2, air-tight sampling instrument 1 and control mechanism 5；AUV bay section shell 4 is cylindrical in shape,
It is formed by connecting by two half-shells by several bolt and nuts, both ends are respectively fixed with sampler fixed disk 2, have outside sampler fixed disk
Cyclic annular connected body 3, it is convenient to be connect with other bay sections；Sampler fixed disk 2 couples multiple air-tight sampling instruments 1, sampler fixed disk 2
There is runner in inside, is switched to the entrance of air-tight sampling instrument 1 outside bay section；Control mechanism 5 is fixed among bay section.
Referring to Fig. 3 and Fig. 4, air-tight sampling instrument 1 of the invention includes: sampling cylinder part: sampling cylinder 14, internal piston
15, it is fixed on the upper end cover 13 of 14 one end of sampling cylinder, is fixed on the lower cover 17 of the sampling cylinder other end, upper end cover 17 designs useful
In the shut-off valve 16 of control sample intake passage on-off.Unidirectional valve portion: the front end connection of lower cover 17 has check valve 19, check valve 19
On sealing ring 18 is installed, there is taper valve core 20 in inside, and taper valve core is equipped with sealing ring 21, and rear end is equipped with compressed spring
22.Trigger mechanism part: being fixed with two parallel tension spring support columns 8 on upper end cover 13, two tension spring pull rods 6 are separately fixed at
On two tension spring support columns 8, two 7 one end of tension spring are hooked on tension spring pull rod 8, and the other end passes through upper end cover 13 and piston 15 is solid
It is fixed；Trigger mechanism bottom plate 12 is fixed on two tension spring support columns 8, is equipped with trigger mechanism support frame 11, isolation 10 above
One end and trigger mechanism support frame 11 are hinged, and the other end is inserted into the through-hole of 9 end of piston rod, also set on trigger mechanism bottom plate 12
There is torsional spring 23, torsional spring 23 compresses isolation 10 to lock piston rod, and the trigger mechanism further includes rope 25, rope 25
One end ties up in isolation, the other end be oriented to by guide wheel 24,30 after around on gear shaft 27.
Referring to Fig. 5, the partial gear transmission of control mechanism of the invention includes: to have multiple teeth around partial gear 29
Wheel 26, gear 26 is fixed on gear shaft 27, is equipped with bearing between gear shaft 27 and disk 35；Circular arc is provided on gear 26
Slot, interior design have the pin 28 being fixed on disk 35, play position-limiting action to gear 26.
Referring to Fig. 6, the drive part of control mechanism of the invention include: disk 35 and control mechanism shell 32 pass through it is several
Screw attachment, between design have sealing ring 34, internal motor 33 is fixed on disk 35, is set between 33 axis of motor and disk 35
There is sealing ring 36, partial gear 29 is installed on axis；If filling type, then control mechanism shell 32 and oil sac 31 pass through pipeline
Connection, it is internal oil-filled；If dry type, then control mechanism shell 32 does not have to connection oil sac.
When water sampling unit for autonomous underwater robot of the invention works, it is divided into three processes:
1) before entering water experiment, first motor 33 and circuit part are put into control mechanism shell 32, the tooth on control mechanism
Wheel 26 and partial gear 29 assemble, and full of oil in shell, and connect oil sac 31, then entire control mechanism 5 is mounted on
On AUV bay section shell 4；After air-tight sampling instrument 1 assembles, the piston 15 of each sampler is pressed onto bottom, isolation 10 is being turned round
Automatic locking piston rod 9 under the action of spring 23；Each sampler 1 is fixed in fixed disk 2 later, fixed disk 2 is mounted on AUV
Then the triggering rope 25 of each sampler 1 is connected with corresponding gear shaft 27, covers AUV bay section by 4 both ends of bay section shell
Shell the other half, blending bolt fixes；Finally AUV bay section is connected by connected body with other bay sections, into the water.
2) when AUV moves to the destination for needing to sample, after control circuit receives control signal, motor 23 is driven not
Complete gear 29 rotates, and successively engages with the gear of surrounding 26, and the rotation of gear shaft 27 pulls rope 25 wound on it, and rope is drawn
Isolation 10 on dynamic sampler releases the locking of piston rod 9, and piston 15 starts to move under the action of tension spring tension, and sample is just
From front end, check valve enters sampler, completes sampling.
3) after the completion of sampling experimental, each sampler 1 is dismantled from fixed disk 2, tightens the shut-off valve on sampler
16, carry out the transfer of sample.
Claims (4)
1. a kind of water sampling unit for autonomous underwater robot, which is characterized in that it include: AUV bay section shell (4),
Cyclic annular connected body (3), sampler fixed disk (2), air-tight sampling instrument (1) and control mechanism (5)；
AUV bay section shell (4) is connected by two half-shells into being cylindrical in shape, and both ends are respectively fixed with sampler fixed disk (2), sampling
The cyclic annular connected body (3) for connecting with other bay sections is fixed with outside device fixed disk, sampler fixed disk (2) connection is multiple airtight
Sampler (1), sampler fixed disk (2) is internal runner, makes to be connected to outside the sample inlet of air-tight sampling instrument (1) and bay section；
The control mechanism (5) is fixed among AUV bay section, and the work shape of each air-tight sampling instrument is controlled by partial gear transmission
State；
The air-tight sampling instrument (1) includes: sampling cylinder (14), be separately fixed at sampling cylinder (14) both ends upper end cover (13) and
Lower cover (17), the piston (15) inside sampling cylinder, piston rod (9) one end are fixed with piston, and the other end is pierced by upper end cover
(13), two parallel tension spring support columns (8) are fixed on upper end cover (13), two tension spring pull rods (6) are separately fixed at two
On tension spring support column (8), two tension spring (7) one end are hooked on tension spring pull rod (6), and the other end passes through upper end cover (13) and piston
(15) fixed；Sample intake passage is equipped on lower cover (17), channel outer end is equipped with unidirectional valve portion, is additionally provided with and is used on lower cover
The shut-off valve (16) of sample intake passage on-off is controlled, the air-tight sampling instrument (1) further includes being sampled for triggering sampling cylinder
Trigger mechanism；
The control mechanism (5) includes connected disk (35) and control mechanism shell (32), and what is formed therebetween is closed
Space is built-in with motor (33), and motor (33) axis is pierced by disk (35), and is equipped with sealing ring (36) between disk, motor shaft end
Portion is equipped with partial gear (29)；Being located at around partial gear (29) on disk has multiple gears (26), gear (26)
It is fixed on gear shaft (27), bearing is installed between gear shaft (27) and disk (35)；Gear is provided with arc groove on (26), interior
Portion's design has the pin (28) being fixed on disk (35), plays position-limiting action, gear rotate driving trigger mechanism to gear (26)
Movement.
2. the water sampling unit according to claim 1 for autonomous underwater robot, which is characterized in that the touching
Hair mechanism includes the trigger mechanism bottom plate (12) being fixed on two tension spring support columns (8), is equipped with trigger mechanism support thereon
Frame (11), hingedly, the other end is inserted into the through-hole of piston rod (9) end for isolation (10) one end and trigger mechanism support frame (11)
It is interior, it is additionally provided on trigger mechanism bottom plate (12) torsional spring (23), torsional spring (23) compresses isolation (10) to lock piston rod, institute
The trigger mechanism stated further includes rope (25), and rope (25) one end ties up in isolation, the other end by guide wheel be oriented to after around to
On gear shaft (27).
3. the water sampling unit according to claim 1 for autonomous underwater robot, which is characterized in that the control
It is to use oil-filled mode inside dry type or the control mechanism inside mechanism shell (32) processed, further includes oil sac (31),
Control mechanism shell (32) and oil sac (31) pass through piping connection.
4. the water sampling unit according to claim 1 for autonomous underwater robot, which is characterized in that the gas
The unidirectional valve portion of close sampler (1) includes: check valve (19), is equipped with sealing between check valve (19) and lower cover (17)
It encloses, has taper valve core (20) inside check valve, sealing ring is also installed between taper valve core and check valve, taper valve core and sample introduction are logical
Compressed spring (22) are installed between road port.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610368894.9A CN106092647B (en) | 2016-05-27 | 2016-05-27 | A kind of water sampling unit for autonomous underwater robot |
| PCT/CN2017/078976 WO2017202140A1 (en) | 2016-05-27 | 2017-03-31 | Water sampling device for autonomous underwater vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610368894.9A CN106092647B (en) | 2016-05-27 | 2016-05-27 | A kind of water sampling unit for autonomous underwater robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106092647A CN106092647A (en) | 2016-11-09 |
| CN106092647B true CN106092647B (en) | 2019-02-05 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610368894.9A Expired - Fee Related CN106092647B (en) | 2016-05-27 | 2016-05-27 | A kind of water sampling unit for autonomous underwater robot |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN106092647B (en) |
| WO (1) | WO2017202140A1 (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106092647B (en) * | 2016-05-27 | 2019-02-05 | 浙江大学 | A kind of water sampling unit for autonomous underwater robot |
| CN108839780B (en) * | 2017-01-03 | 2019-10-11 | 东莞理工学院 | A kind of underwater sampling mechanism |
| CN107389378B (en) * | 2017-06-30 | 2019-09-10 | 扬州大学 | A kind of water sample acquisition device based on remote underwater robot |
| CN107907361B (en) * | 2017-12-14 | 2024-01-16 | 中国科学院深海科学与工程研究所 | Underwater sediment sampling device |
| CN108827700A (en) * | 2018-04-24 | 2018-11-16 | 佛山市尚柏科技有限公司 | A kind of water sample extraction element for sewage Environmental-protecting treater |
| CN108426741A (en) * | 2018-04-28 | 2018-08-21 | 卿松 | A kind of device for fetching water with check valve |
| CN108896739A (en) * | 2018-07-16 | 2018-11-27 | 河南聚合科技有限公司 | It is a kind of can assaying ingredient solar-energy machine people's cloud platform |
| CN109029580B (en) * | 2018-08-14 | 2023-08-11 | 北京新风航天装备有限公司 | Airtight storage and transportation case environment monitoring equipment |
| CN109001400B (en) * | 2018-08-22 | 2023-06-30 | 浙江云广检测技术服务有限公司 | Water quality testing water intaking device |
| CN109883762B (en) * | 2019-03-19 | 2020-07-31 | 福建师范大学福清分校 | Seawater collecting device and collecting method thereof |
| CN109941410A (en) * | 2019-04-26 | 2019-06-28 | 安徽理工大学 | A kind of modularization AUV |
| CN110077536B (en) * | 2019-05-13 | 2023-04-14 | 泰州中益海洋装备有限公司 | Unmanned sea boat |
| CN110763516A (en) * | 2019-10-24 | 2020-02-07 | 山东汇泽生态科技有限公司 | Annular sampler |
| CN110879160A (en) * | 2019-12-09 | 2020-03-13 | 安徽一诺青春工业设计有限公司 | Adjustable water body detection sampling device based on pressure change principle |
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| CN113267385B (en) * | 2021-06-30 | 2022-11-25 | 江西应用技术职业学院 | Underground water monitoring is with sampling device that can divide level |
| CN114235491B (en) * | 2021-11-17 | 2023-10-24 | 浙江大学 | Deep sea water body sequence sampler with horizontally arranged cavities |
| CN113899581B (en) * | 2021-12-09 | 2022-04-12 | 沈阳中科新宇空间智能装备有限公司 | Trigger grabbing type multi-cavity sampling mechanism |
| CN114486352A (en) * | 2022-01-05 | 2022-05-13 | 重庆水利电力职业技术学院 | Suspended load silt layered sampling device |
| CN114437923B (en) * | 2022-03-04 | 2024-04-09 | 浙江大学 | Deep-water body double-sample cylinder type pressure maintaining sampling system |
| CN114636591A (en) * | 2022-05-17 | 2022-06-17 | 深圳潜行创新科技有限公司 | Fixed-point water taking device |
| CN117129283B (en) * | 2023-10-26 | 2023-12-26 | 长岛国家海洋公园管理中心(庙岛群岛海豹省级自然保护区管理中心) | Underwater sampling device based on marine ecological restoration |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN106092647A (en) | 2016-11-09 |
| WO2017202140A1 (en) | 2017-11-30 |
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