CN108760397A - A kind of docking mechanism suitable for water sampling - Google Patents
A kind of docking mechanism suitable for water sampling Download PDFInfo
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- CN108760397A CN108760397A CN201810329401.XA CN201810329401A CN108760397A CN 108760397 A CN108760397 A CN 108760397A CN 201810329401 A CN201810329401 A CN 201810329401A CN 108760397 A CN108760397 A CN 108760397A
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- butt joint
- water sampling
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- docking mechanism
- water
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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
- G01N1/14—Suction devices, e.g. pumps; Ejector devices
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- Life Sciences & Earth Sciences (AREA)
- Hydrology & Water Resources (AREA)
- Physics & Mathematics (AREA)
- Health & Medical Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- General Physics & Mathematics (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Sampling And Sample Adjustment (AREA)
Abstract
The present invention relates to a kind of docking mechanism suitable for water sampling, including upper and lower two parts, top half is a passive docking mechanism, is made of line handspike, two-degree-of-freedom plane parallel moving mechanism, bellows coupling and upper butt joint；Upper butt joint is connect by bellows coupling with two-degree-of-freedom plane parallel moving mechanism, and the translational motion of butt joint in the horizontal plane is realized, and line handspike realizes the translational motion of butt joint in the vertical direction；Lower half portion is a water sampling mechanism, is made of layering hydrophore and lower butt joint, wherein lower butt joint is fixed on the top of layering hydrophore, and pipeline is equipped in lower butt joint, for extracting the water sample in layering hydrophore.Docking mechanism of the present invention has the characteristics that simple and compact for structure, motion mode is clear, it can be achieved that the D translation movement that movement speed is fast, moving range is big, quickly and accurately docks to realize, be suitable for the automatic water sample collection work of unmanned water surface ship.
Description
Technical field
The present invention relates to theory of mechanisms and robotics fields, and in particular to a kind of docking mechanism suitable for water sampling.
Background technology
Representative and validity sample is obtained from water body environment, i.e. water sampling, it is in marine environmental monitoring
The important link of water quality monitoring.The careful degree of sampling process and the levels of precision of sampling instrument directly affect water analysis survey
Fixed result.There are three types of water sampling modes primarily now：Sampling bottle sampling, the sampling of automatically controlled Rossette water sampler and pumping water
Sampling.Due to the development of the unmanned platform in the seas such as unmanned water surface ship, unmanned submarine, it is desirable that these platforms can realize automatic water
Sample acquires.Therefore, automation improvement is carried out on existing manual sampling methods, has developed automatic sampling technique.Wherein, ship
It is downloaded from dynamic sampling technique development increasingly to be paid attention to by countries in the world, western developed country plays the research of unmanned water surface ship
Step is more early, is downloaded from dynamic sampling technique development in ship and is also constantly in forefront.Docking facilities are the core of automatic water sampling system
Heart component part is widely used in the equipment such as spacecraft, aircraft, reconstruction robot, unmanned vehicle.It can
It is that the disadvantage that existing automatic butt jointing device generally existing is bulky, quality is big, driving moment is big is not suitable for unmanned water
In the automatic water sampling system of face ship.Therefore it provides one kind is simple and compact for structure, motion mode is clear, it is quick to realize,
The mechanism accurately docked is the design focal point of the present invention.
Invention content
Present invention aims in view of the problems of the existing technology, provide a kind of docking machine suitable for water sampling
Structure.
In order to achieve the above objectives, the present invention uses following technical proposals：
A kind of docking mechanism suitable for water sampling, including upper and lower two parts, top half are a passive docking mechanisms,
It is made of line handspike, two-degree-of-freedom plane parallel moving mechanism, bellows coupling and upper butt joint；The upper butt joint passes through
Bellows coupling is connect with two-degree-of-freedom plane parallel moving mechanism, realizes the translational motion of butt joint in the horizontal plane, institute
Stating line handspike realizes the translational motion of butt joint in the vertical direction；Lower half portion is a water sampling mechanism, by
It is layered hydrophore and lower butt joint composition, wherein lower butt joint is fixed on the top of layering hydrophore, and in lower butt joint
Equipped with pipeline, for extracting the water sample in layering hydrophore.
The two-degree-of-freedom plane parallel moving mechanism is by six identical scissor type mechanisms, three connecting rods and one
Equilateral triangle central block forms, wherein every scissor type mechanism is all to be connected to equilateral triangle central block by a revolute pair
On, realize linear motion by rotating elongation and the shortening of node；Every connecting rod two end connects two by two revolute pairs
The scissor type mechanism that item is mounted on equilateral triangle central block difference endpoint forms one group, ensure that every group of scissor type mechanism is moving
It is parallel in the process.
Compared with prior art, the present invention has the advantages that protrude as follows：
A kind of docking mechanism suitable for water sampling provided by the invention have it is simple and compact for structure, motion mode is explicitly special
Point quickly and accurately docks, it can be achieved that the D translation movement that movement speed is fast, moving range is big to realize.
Description of the drawings
Fig. 1 is the structural schematic diagram of water sampling docking mechanism.
Fig. 2 is the structural schematic diagram of two-degree-of-freedom plane parallel moving mechanism.
Specific implementation mode
Technical solution of the present invention is described in detail below in conjunction with the accompanying drawings, but protection scope of the present invention is not limited to
The embodiment.
As shown in Figure 1, a kind of docking mechanism suitable for water sampling, including upper and lower two parts, top half is one
A passive docking mechanism, by line handspike 101, two-degree-of-freedom plane parallel moving mechanism 102, bellows coupling 103 and upper right
Connector 104 forms；The upper butt joint 104 is connect by bellows coupling 103 with two-degree-of-freedom plane parallel moving mechanism 102,
The translational motion of butt joint 104 in the horizontal plane is realized, the line handspike 101 realizes butt joint 104 vertical
Translational motion on direction；Lower half portion is a water sampling mechanism, by 105 groups of layering hydrophore 106 and lower butt joint
At, wherein lower butt joint 105 is fixed on the top of layering hydrophore 106, and pipeline is equipped in lower butt joint 105, for taking out
Take the water sample in layering hydrophore 106.
As shown in Fig. 2, the two-degree-of-freedom plane parallel moving mechanism 102 be by six identical scissor type mechanisms 201,
Three connecting rods 202 and an equilateral triangle central block 203 form, wherein every scissor type mechanism 201 is turned by one
Dynamic pair is connected on equilateral triangle central block 203, and linear motion is realized by rotating elongation and the shortening of node；Every company
202 both ends of bar connect two scissor type mechanisms 201 for being mounted on the different endpoints of equilateral triangle central block 203 by two revolute pairs
One group is formed, ensure that every group of scissor type mechanism 201 is parallel during the motion.
The course of work that the present invention is suitable for the docking mechanism of water sampling is as follows：
When line handspike 101 extends, lower butt joint 105 of the passive docking mechanism close to hydrophore is driven, upper butt joint 104 can
Its position and posture are adjusted to adapt to by the passive movement of two-degree-of-freedom plane translation mechanism 102 and bellows coupling 103
Offset in docking operation.Hydrophore 106 is layered after being promoted to unmanned water surface boat deck in seawater, device is clasped by one
Hold layering hydrophore 106 tightly so that layering hydrophore 106 and unmanned water surface ship are relatively fixed, and lower butt joint 105 is taken out by pipeline
Take the water sample in layering hydrophore 106.
Claims (2)
1. a kind of docking mechanism suitable for water sampling, including upper and lower two parts, which is characterized in that top half is one
Passive docking mechanism, by line handspike（101）, two-degree-of-freedom plane parallel moving mechanism（102）, bellows coupling（103）And
Upper butt joint（104）Composition；The upper butt joint（104）Pass through bellows coupling（103）With two-degree-of-freedom plane translation machine
Structure（102）Connection, realizes butt joint（104）Translational motion in the horizontal plane, the line handspike（101）It realizes
Butt joint（104）Translational motion in the vertical direction；Lower half portion is a water sampling mechanism, by layering hydrophore
（106）And lower butt joint（105）Composition, wherein lower butt joint（105）It is fixed on layering hydrophore（106）Top, and
Lower butt joint（105）In be equipped with pipeline, for extract layering hydrophore（106）In water sample.
2. the docking mechanism according to claim 1 suitable for water sampling, it is characterised in that：The two-degree-of-freedom plane
Parallel moving mechanism（102）It is by six identical scissor type mechanisms（201）, three pieces connecting rods（202）An and equilateral triangle
Central block（203）Composition, wherein every scissor type mechanism（201）All it is that equilateral triangle center is connected to by a revolute pair
Block（203）On, realize linear motion by rotating elongation and the shortening of node；Every connecting rod（202）Both ends pass through two
Revolute pair connects two and is mounted on equilateral triangle central block（203）The scissor type mechanism of different endpoints（201）One group is formed, is ensured
Every group of scissor type mechanism（201）It is parallel during the motion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810329401.XA CN108760397B (en) | 2018-04-13 | 2018-04-13 | Docking mechanism suitable for water sample collection |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810329401.XA CN108760397B (en) | 2018-04-13 | 2018-04-13 | Docking mechanism suitable for water sample collection |
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| Publication Number | Publication Date |
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| CN108760397A true CN108760397A (en) | 2018-11-06 |
| CN108760397B CN108760397B (en) | 2021-01-12 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810329401.XA Active CN108760397B (en) | 2018-04-13 | 2018-04-13 | Docking mechanism suitable for water sample collection |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109632265A (en) * | 2019-01-28 | 2019-04-16 | 上海大学 | A kind of the unmanned boat water sampling device mated condition detection system and method for view-based access control model |
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| CN108760397B (en) | 2021-01-12 |
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