CN108860523B - A kind of two-shipper stable type underwater sampling mechanism - Google Patents
A kind of two-shipper stable type underwater sampling mechanism Download PDFInfo
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- CN108860523B CN108860523B CN201810977375.1A CN201810977375A CN108860523B CN 108860523 B CN108860523 B CN 108860523B CN 201810977375 A CN201810977375 A CN 201810977375A CN 108860523 B CN108860523 B CN 108860523B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/34—Diving chambers with mechanical link, e.g. cable, to a base
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H1/00—Propulsive elements directly acting on water
- B63H1/30—Propulsive elements directly acting on water of non-rotary type
- B63H1/36—Propulsive elements directly acting on water of non-rotary type swinging sideways, e.g. fishtail type
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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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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
- G01N33/18—Water
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/14—Receivers specially adapted for specific applications
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Physics & Mathematics (AREA)
- Ocean & Marine Engineering (AREA)
- Health & Medical Sciences (AREA)
- General Physics & Mathematics (AREA)
- Biochemistry (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Health & Medical Sciences (AREA)
- Analytical Chemistry (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Radar, Positioning & Navigation (AREA)
- Food Science & Technology (AREA)
- Computer Networks & Wireless Communication (AREA)
- Hydrology & Water Resources (AREA)
- Medicinal Chemistry (AREA)
- Combustion & Propulsion (AREA)
- Sampling And Sample Adjustment (AREA)
Abstract
The present invention relates to hydrospace detection fields; more particularly to a kind of two-shipper stable type underwater sampling mechanism; it includes underwater robot detection device; the robot detection device is connect by buoy cable with the buoy communication device for swimming in the water surface; the buoy communication device is connect by Beidou communications satellite with monitor terminal; the take-up and pay-off device with the cooperation of buoy cable is provided in the buoy communication device; the buoy cable includes conducting wire; it is evenly provided with steel wire on the outside of the guiding, protection rubber shell is provided on the outside of the steel wire；Robot detection device is connected with buoy communication device using buoy cable, and connect buoy communication device with remote terminal by Beidou communications satellite, the transmitting of information is carried out using weak electric field, greatly improves efficiency of transmission, reduce equipment volume, greatly reduces the power consumption of communication.
Description
Original bill application number: 2017100026170
The original bill applying date: on January 3rd, 2017
Original bill applicant: Dongguan University of Technology
A kind of original bill application title: ocean robot detection system based on Beidou satellite navigation.
Technical field
The present invention relates to hydrospace detection field more particularly to a kind of two-shipper stable type underwater sampling mechanisms.
Background technique
China is the wide country in a sea area, and being rich in sea area has a large amount of mineral resources, and has had some stones
Oil is being exploited, and therefore, it is necessary to carry out water quality detection and sampling detection to ocean.
Existing hydrospace detection system includes remote terminal, signal transmitting apparatus and robot detection device mostly, and is showed
There is the signal of hydrospace detection system to transmit the underwater acoustic communication mostly used greatly and optic communication, equipment volume existing for this communication
Greatly, the defects of power consumption is big, communication bandwidth is limited.
Summary of the invention
The object of the present invention is to provide a kind of two-shipper stable type underwater sampling mechanisms, are detected robot using buoy cable
Device is connected with buoy communication device, and is connect buoy communication device with remote terminal by Beidou communications satellite, and use is weak
Electric field carries out the transmitting of information, greatly improves efficiency of transmission, reduces equipment volume, greatly reduces the function of communication
Consumption.
In order to achieve the goal above, the technical solution adopted by the present invention are as follows: a kind of two-shipper stable type underwater sampling mechanism, it
Including underwater robot detection device (50), the robot detection device (50) passes through buoy cable (49) and swims in
The buoy communication device (48) of the water surface connects, and the buoy communication device (48) is whole by Beidou communications satellite (47) and monitoring
(46) connection is held, the take-up and pay-off device with buoy cable (49) cooperation is provided in the buoy communication device (48), it is described
Buoy cable (49) include conducting wire (51), steel wire (52), the steel are evenly provided on the outside of the conducting wire (51)
Protection rubber shell (53) is provided on the outside of silk (52).
Further, it includes two groups of explorers designed side by side, and the explorer includes main body (1), the master
The lower section front and rear sides of body (1) are provided with lifting gasbag (15), and two sides are provided with hang gliding (2), and top is provided with attachment base
(4), the attachment base (4) and on two main bodys (1) is connected by connecting rod (5), and the main body is provided with water quality below (1)
Detector (16) and sampler (18), the main body (1) are internally provided with battery interconnected (20), controller
(19) it is connected to baric systerm, the controller (19) with buoy cable (49), the water quality detector (16) and sampling
Device (18), lifting gasbag (15) are connected to controller (19).
Further, the connecting rod (5) includes the outer tube (6) connecting with attachment base (4), the outer tube
(6) it is socketed with inner rod (12) in, and the end of two inner rods (12) is locked by lock sleeve (14), the inner rod
(12) it is connect with the push rod cylinder (8) being arranged in attachment base (4), the push rod cylinder (8) is connected to controller (19).
Further, the outer tube (6) is by the way that in connector sleeve (7) interference fit insertion attachment base (4), described is interior
Loop bar (12) is stepped stem, and the side connecting with push rod cylinder (8) is big end, and the outer tube (6) are internally provided with
With the limited block (13) of big end cooperation, the cylinder head of the push rod cylinder (8) is connected with collets (9), the collets
(9) it is fixed with electromagnet block (10), the cooperation iron block and electromagnet block (10) magnetic that the inner rod (12) is embedded in by end
Property cooperation, the electromagnet block (10) is connected to controller (19).
Further, the tail portion of the main body (1) is provided with Bionical motion apparatus (3), the Bionical motion apparatus
It (3) include being connected to main body (1) tail portion and shape bionical swing gum cover (26) similar with fish tail, the bionical swing gum cover
(26) it is provided with swinging block engaged therewith (27) in, the swinging block (27) is matched with the pendulous device (28) in main body (1)
It closes, the pendulous device (28) is connected to controller (19).
Further, gradient regulator is provided in the main body (1), the gradient regulator includes setting
Pitch adjustment frame (21) in main body (1) interior bottom is provided with into the adjusting of front and back trend on the pitch adjustment frame (21)
Screw rod (22), one end of the adjusting screw rod (22) be connected with adjust motor (23), and adjust screw rod (22) on be socketed with
Its adjusting pouring weight (24) cooperated, the adjusting motor (23) are connected to controller (19).
Further, the adjusting screw rod (22) is provided with two groups, and the center symmetric setting about main body (1), institute
The pitch adjustment sliding rail (25) of the interior bottom setting of the adjusting pouring weight (24) and main body (1) stated cooperates.
Further, the sampler (18) includes sampling lifting cylinder (34) of the setting in main body (1) bottom, institute
Sampling lifting seat (35) is connected with below the sampling lifting cylinder (34) stated, the sampling lifting seat (35) is downwardly open
Center column, and opening be combined with sampling syringe (36), the lower part of the sampling syringe (36) is communicated with sampling syringe needle
(37), it is internally provided with sampling cock (38), is arranged inside the upper end of the sampling cock (38) and sampling lifting seat (35)
Piston pull cylinder (39) connection, the sampling lifting cylinder (34) and piston pulling cylinder (39) be connected to controller
(19).
Further, the bottom of the main body (1) is provided with sampling adjustment seat (29), the sampling adjustment seat (29)
On be provided with sampling shaft (31), one end of the sampling shaft (31) be connected with sampling motor (32), and sample shaft
(31) sampling rotation seat (33) is socketed on, sampling lifting cylinder (34) setting is below sampling rotation seat (33), institute
The sample receiving box (17) of sampling syringe needle (37) cooperation is provided in the main body (1) stated, the sampling motor (32) is connected to control
Device (19).
Further, it is provided with below the main body (1) and adjusts sliding rail with the sampling of sampling adjustment seat (29) cooperation
(30), it and below main body (1) is provided with and adjusts cylinder (40) with the multistage of sampling adjustment seat (29) cooperation, the main body
(1) lower section, which is arranged side by side, no less than two sample receiving boxs (17), and multistage adjust cylinder (40) are connected to controller
(19).
Further, the sample receiving box (17) includes box body (41), is offered on the box body (41) and sampling probe
Head (37) cooperation connects sample mouth (42), and the depth for connecing sample mouth (42) is greater than the length of sampling syringe needle (37), and connects sample mouth
(42) it is provided with pressure inductor (43) on the box body (41) at, the box body (41) is internally provided with and connects sample mouth (42)
The folding block (45) of cooperation, two pieces of folding blocks (45) are by tooth engagement, and the folding cylinder with setting in box body (41) respectively
(44) it connects, the pressure inductor (43) and folding cylinder (44) are connected to controller (19), and pressure inductor (43)
Actuated signal control folding cylinder (44) activity.
The invention has the benefit that
1, robot detection device is connected with buoy communication device using buoy cable, and passing through Beidou communications satellite will
Buoy communication device is connect with remote terminal, and the transmitting of information is carried out using weak electric field, greatly improves efficiency of transmission, is reduced
Equipment volume, greatly reduces the power consumption of communication.
2, two explorers are linked to be by a robot detection device by connecting rod, and then improve stationarity, prevented
Rollover, while when the exploring block on some explorer breaks down, can by the same parts of another spy machine into
Row detection improves lasting detectivity, while can also carry out two sub-samplings to the sample of the same area, improves the standard of detection
Exactness.
3, connecting rod uses the mode of outer casing and inner sleeve, and inner rod is connect with the push rod cylinder in attachment base, this
The length of the adjustable entire connecting rod of sample, to better meet the needs of detection.
4, the design of limited block, and push rod cylinder is connect by electromagnet block with cooperation iron block magnetism, and then can be passed through
Connector sleeve is extracted from attachment base, then powers off electromagnet block by the thrust of push rod cylinder, and then connecting rod can be made whole
It unloads, and then it can be made rapidly to emerge in an explorer failure, while another explorer can be after
Continuous detection.
5, the design of Bionical motion apparatus can be very good the movement of cooperation hang gliding, improve sport efficiency, while can also
Reduce noise.
6, the design of gradient regulator, can be by the tilt angle of the motor adjustment main body of pouring weight in water, in turn
Better Effect on Detecting may be implemented.
7, the symmetric design of two adjusting pouring weights, can prevent from turning on one's side when adjusting pouring weight, and then can make
Main body is more steady when adjusting.
8, sampler is ingenious in design, is sampled by the way of vacsorb, and sampling efficiency is high, and operates letter
It is single, while can also prevent sample from escaping.
9, it samples shaft and samples the design of motor, sampling probe head can be made to be rotated, and then can be with main body lower section
The sample receiving box of setting cooperates, and the sample taken is sent in sample receiving box, and then can play better sample preservation effect, together
When can also continue sample.
10, sampling adjusts sliding rail and the multistage design for adjusting cylinder, and sampling probe cylinder can be made to move left and right, and then can will
Each sampling, which is sent in different sample receiving boxs, to be saved, so that the later period obtains preferably analysis result.
11, the structure design of sample receiving box, can be very good with sampling syringe needle cooperation, while can prevent sample from connecing sample mouth again
Evolution, the preservation effect of sample are good.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of two-shipper stable type underwater sampling mechanism.
Fig. 2 is the sectional view of buoy cable.
Fig. 3 is the structural schematic diagram of robot detection device.
Fig. 4 is 90 degree of rotations figure of the partial enlarged view of A in Fig. 3.
Fig. 5 is the structural schematic diagram of explorer.
Fig. 6 is the cross-sectional view of B-B in Fig. 5.
Fig. 7 is the partial enlarged view of D in Fig. 6.
Fig. 8 is the partial enlarged view of C in Fig. 5.
Fig. 9 is the cross-sectional view of F-F in Fig. 8.
Figure 10 is the structural schematic diagram of sample receiving box.
Label character as shown in the figure indicates are as follows: 1, main body；2, hang gliding；3, Bionical motion apparatus；4, attachment base；5, it connects
Bar；6, outer tube；7, connector sleeve；8, push rod cylinder；9, collets；10, electromagnet block；11, cooperate iron block；12, inner rod；
13, limited block；14, lock sleeve；15, lifting gasbag；16, water quality detector；17, sample receiving box；18, sampler；19, it controls
Device；20, battery；21, pitch adjustment frame；22, screw rod is adjusted；23, motor is adjusted；24, pouring weight is adjusted；25, pitch adjustment is sliding
Rail；26, bionical swing gum cover；27, swinging block；28, pendulous device；29, adjustment seat is sampled；30, feeding adjusts sliding rail；31, it takes
Sample shaft；32, motor is sampled；33, rotation seat is sampled；34, lifting cylinder is sampled；35, lifting seat is sampled；36, syringe is sampled；
37, syringe needle is sampled；38, sampling cock；39, piston pulls cylinder；40, multistage to adjust cylinder；41, box body；42, sample mouth is connect；43,
Pressure inductor；44, cylinder is opened and closed；45, block is opened and closed；46, monitor terminal；47, Beidou communications satellite；48, buoy communication device；
49, buoy cable；50, robot detection device；51, conducting wire；52, steel wire；53, rubber shell is protected.
Specific embodiment
In order to make those skilled in the art more fully understand technical solution of the present invention, with reference to the accompanying drawing to the present invention into
Row detailed description, the description of this part be only it is exemplary and explanatory, should not have any limitation to protection scope of the present invention
Effect.
As shown in Fig. 1-Figure 10, specific structure of the invention are as follows: a kind of two-shipper stable type underwater sampling mechanism, it includes water
Under robot detection device 50, the robot detection device 50 is logical by buoy cable 49 and the buoy that swims in the water surface
It interrogates device 48 to connect, the buoy communication device 48 is connect by Beidou communications satellite 47 with monitor terminal 46, and described is floating
The take-up and pay-off device cooperated with buoy cable 49 is provided in mark communication device 48, the buoy cable 49 includes conducting wire 51,
The outside of the conducting wire 51 is evenly provided with steel wire 52, and the outside of the steel wire 52 is provided with protection rubber shell 53.
Preferably, it includes two groups of explorers designed side by side, and the explorer includes main body 1, the main body 1
Lower section front and rear sides are provided with lifting gasbag 15, and two sides are provided with hang gliding 2, and top is provided with attachment base 4, and two main bodys 1
On attachment base 4 connected by connecting rod 5, the lower section of the main body 1 is provided with water quality detector 16 and sampler 18, institute
The main body 1 stated is internally provided with battery 20, controller 19 and baric systerm interconnected, the controller 19 and floating
Graticule cable 49 is connected to, and the water quality detector 16 and sampler 18, lifting gasbag 15 are connected to controller 19.
Preferably, the connecting rod 5 includes the outer tube 6 connecting with attachment base 4, is socketed in the outer tube 6
Inner rod 12, and the end of two inner rods 12 is locked by lock sleeve 14, is arranged in the inner rod 12 and attachment base 4
Push rod cylinder 8 connects, and the push rod cylinder 8 is connected to controller 19.
Preferably, the outer tube 6 is by the way that in the interference fit insertion attachment base 4 of connector sleeve 7, the inner rod 12 is
Stepped stem, and the side connecting with push rod cylinder 8 is big end, the limit of the outer tube 6 being internally provided with big end cooperation
Position block 13, the cylinder head of the push rod cylinder 8 are connected with collets 9, and the collets 9 are fixed with electromagnet block 10, institute
The cooperation iron block and electromagnet block 10 that the inner rod 12 stated is embedded in by end are magnetic to be cooperated, and the electromagnet block 10 is connected to
Controller 19.
Preferably, the tail portion of the main body 1 is provided with Bionical motion apparatus 3, and the Bionical motion apparatus 3 includes connecting
Connect be provided in 1 tail portion of main body and shape bionical swing gum cover 26 similar with fish tail, the bionical swing gum cover 26 with
Its swinging block 27 cooperated, the swinging block 27 cooperate with the pendulous device 28 in main body 1, and the pendulous device 28 connects
To controller 19.
Preferably, gradient regulator is provided in the main body 1, the gradient regulator includes being arranged in master
The pitch adjustment frame 21 of bottom in body 1 is provided with into the adjusting screw rod 22 of front and back trend on the pitch adjustment frame 21, described
Adjusting screw rod 22 one end be connected with adjust motor 23, and adjust screw rod 22 on be socketed with adjusting pouring weight 24 engaged therewith,
The adjusting motor 23 is connected to controller 19.
Preferably, the adjusting screw rod 22 is provided with two groups, and the center symmetric setting about main body 1, the tune
The pitch adjustment sliding rail 25 for saving bottom setting in pouring weight 24 and main body 1 cooperates.
Preferably, the sampler 18 includes the sampling lifting cylinder 34 that 1 bottom of main body is arranged in, the sampling
The lower section of lifting cylinder 34 is connected with sampling lifting seat 35, and the sampling lifting seat 35 is downwardly open center column, and
Opening is combined with sampling syringe 36, and the lower part of the sampling syringe 36 is communicated with sampling syringe needle 37, is internally provided with sampling
The piston being arranged inside piston 38, the upper end of the sampling cock 38 and sampling lifting seat 35 pulls cylinder 39 to connect, described
Sampling lifting cylinder 34 and piston pull cylinder 39 be connected to controller 19.
Preferably, the bottom of the main body 1 is provided with sampling adjustment seat 29, is provided in the sampling adjustment seat 29
Shaft 31 is sampled, one end of the sampling shaft 31 is connected with sampling motor 32, and samples and be socketed with sampling turn in shaft 31
Dynamic seat 33, the setting of sampling lifting cylinder 34 are provided with sampling syringe needle in the main body 1 below sampling rotation seat 33
The sample receiving box 17 of 37 cooperations, the sampling motor 32 are connected to controller 19.
Preferably, the lower section of the main body 1 is provided with the sampling cooperated with sampling adjustment seat 29 and adjusts sliding rail 30, and main
The lower section of body 1 is provided with the multistage adjusting cylinder 40 cooperated with sampling adjustment seat 29, and the lower section of the main body 1, which is arranged side by side, to be had
No less than two sample receiving boxs 17, the multistage cylinder 40 that adjusts are connected to controller 19.
Preferably, the sample receiving box 17 includes box body 41, offers on the box body 41 and cooperates with sampling syringe needle 37
Connect sample mouth 42, the depth for connecing sample mouth 42 is greater than the length of sampling syringe needle 37, and connects and set on the box body 41 at sample mouth 42
It is equipped with pressure inductor 43, the folding block 45 for being internally provided with and connecing the cooperation of sample mouth 42 of the box body 41, two pieces of folding blocks
45 by tooth engagement, and connect respectively with the folding cylinder 44 being arranged in box body 41, the pressure inductor 43 and folding gas
Cylinder 44 is connected to controller 19, and the activity of the actuated signal control folding cylinder 44 of pressure inductor 43.
When specifically used, signal will be controlled by Beidou communications satellite 47 by remote terminal 46 and pass to buoy communication dress
48 are set, and then controller 19 is passed to by cork line 49, controlling lifting gasbag 15 by controller 19 later makes under explorer
Suitable depth is dropped to, adjusts the entire length of connecting rod 5 by push rod cylinder 8 again later, then by adjusting 23 band of motor
The dynamic screw rod 22 that adjusts moves, and then makes to adjust pouring weight activity in main body 1, and then regulate the tilt angle of main body 1, Zhi Houtong
The activity that pendulous device 28 controls swinging block 27 is crossed, and then control biomimetics swing gum cover 26 and swing, and drive main body 1 to move, simultaneously
16 moment of water quality detector detects water quality situation, when needing to sample, drives sampling lifting seat 35 by sampling lifting cylinder 34
It is up and down, and then sampling syringe needle 37 is made to touch sample, pull cylinder 39 that sampling cock 38 is driven to rise by piston later,
And then it is inhaled into sample in sampling syringe 36, gone up later by sampling lifting cylinder 34, makes 32 turns of motor of sampling later
Dynamic 90 degree, syringe 36 then will be sampled to being pushed forward by sampling lifting cylinder 34 again, and then make to sample syringe needle 37 and connect sample mouth 42
Cooperation, while making to sample syringe 36 and passing to controller 19, control folding to the generation pressure of pressure inductor 43, and then by signal
Cylinder 44 drives folding block 45 to open, and then pulls cylinder 39 to push sampling cock 38 by piston, and then sample is pushed into
In box body 41, gone up later by sampling lifting cylinder 34, leaves sampling syringe needle 37, then pressure inductor 43 does not have pressure
Signal, and then opening and closing cylinder 44 is closed folding block 45, makes to sample 32 return of motor later again, then passes through multistage adjusting cylinder
40 make to sample the movable lattice of sliding seat 29 or so, repeat the above steps when then needing to sample.
It should be noted that, in this document, the terms "include", "comprise" or its any other variant are intended to non-row
His property includes, so that the process, method, article or equipment for including a series of elements not only includes those elements, and
And further include other elements that are not explicitly listed, or further include for this process, method, article or equipment institute it is intrinsic
Element.
Used herein a specific example illustrates the principle and implementation of the invention, the explanation of above example
It is merely used to help understand method and its core concept of the invention.The above is only a preferred embodiment of the present invention, it answers
When pointing out due to the finiteness of literal expression, and objectively there is unlimited specific structure, for the common skill of the art
For art personnel, without departing from the principle of the present invention, several improvement, retouching or variation can also be made, can also incited somebody to action
Above-mentioned technical characteristic is combined in the right way；These improve retouching, variation or combination, or the not improved structure by invention
Think and technical solution directly applies to other occasions, is regarded as protection scope of the present invention.
Claims (3)
1. a kind of two-shipper stable type underwater sampling mechanism, which is characterized in that described including two groups of main bodys designed side by side (1)
The lower section front and rear sides of main body (1) are provided with lifting gasbag (15), and two sides are provided with hang gliding (2), and top is provided with attachment base
(4), the attachment base (4) and on two main bodys (1) is connected by connecting rod (5), and the main body is provided with sampling below (1)
Device (18), the sampler (18) include sampling lifting cylinder (34) of the setting in main body (1) bottom, the sampling
Sampling lifting seat (35) is connected with below lifting cylinder (34), the sampling lifting seat (35) is downwardly open newel
Body, and opening is combined with sampling syringe (36), the lower part of the sampling syringe (36) is communicated with sampling syringe needle (37), inside
It is provided with sampling cock (38), the piston being arranged inside the upper end of the sampling cock (38) and sampling lifting seat (35) pulls
Cylinder (39) connection, the lifting gasbag (15), sampling lifting cylinder (34) and piston pull cylinder (39) to be connected to control
Device (19), the bottom of the main body (1) are provided with sampling adjustment seat (29), are provided with and take in the sampling adjustment seat (29)
Sample shaft (31), one end of the sampling shaft (31) is connected with sampling motor (32), and samples and be socketed on shaft (31)
It samples rotation seat (33), sampling lifting cylinder (34) setting is below sampling rotation seat (33), in the main body (1)
It is provided with the sample receiving box (17) of sampling syringe needle (37) cooperation, the sampling motor (32) is connected to controller (19), described
It is provided with below main body (1) and adjusts sliding rail (30) with the sampling of sampling adjustment seat (29) cooperation, and the lower section setting of main body (1)
Have and adjust cylinder (40) with the multistage of sampling adjustment seat (29) cooperation, the lower section of the main body (1), which is arranged side by side, to be had no less than
Two sample receiving boxs (17), multistage adjust cylinder (40) are connected to controller (19), and the sample receiving box (17) includes box
Body (41) is offered on the box body (41) and is connect sample mouth (42) with sampling syringe needle (37) cooperation, and described connects sample mouth (42)
Depth be greater than the length of sampling syringe needle (37), and connect and be provided with pressure inductor (43) on the box body (41) at sample mouth (42),
The folding block (45) for being internally provided with and connecing sample mouth (42) cooperation of the box body (41), two pieces of folding blocks (45) pass through tooth
Engagement, and connect respectively with the folding cylinder (44) being arranged in box body (41), the pressure inductor (43) and folding cylinder
(44) it is connected to controller (19), and the activity of actuated signal control folding cylinder (44) of pressure inductor (43).
2. a kind of two-shipper stable type underwater sampling mechanism according to claim 1, which is characterized in that the connecting rod
(5) include the outer tube (6) being connect with attachment base (4), be socketed with inner rod (12) in the outer tube (6), and in two
The end of loop bar (12) is locked by lock sleeve (14), the push rod cylinder being arranged in the inner rod (12) and attachment base (4)
(8) it connects, the push rod cylinder (8) is connected to controller (19).
3. a kind of two-shipper stable type underwater sampling mechanism according to claim 2, which is characterized in that the outer tube
(6) by the way that in connector sleeve (7) interference fit insertion attachment base (4), the inner rod (12) is stepped stem, and with push rod cylinder
(8) side connected is big end, and the limited block (13) of the outer tube (6) being internally provided with big end cooperation is described
The cylinder head of push rod cylinder (8) is connected with collets (9), and the collets (9) are fixed with electromagnet block (10), and described is interior
The cooperation iron block and electromagnet block (10) that loop bar (12) is embedded in by end are magnetic to be cooperated, and the electromagnet block (10) is connected to
Controller (19).
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| CN201810977375.1A CN108860523B (en) | 2017-01-03 | 2017-01-03 | A kind of two-shipper stable type underwater sampling mechanism |
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| CN201810977375.1A CN108860523B (en) | 2017-01-03 | 2017-01-03 | A kind of two-shipper stable type underwater sampling mechanism |
| CN201710002617.0A CN106864707B (en) | 2017-01-03 | 2017-01-03 | A kind of ocean robot detection system based on Beidou satellite navigation |
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| CN201710002617.0A Division CN106864707B (en) | 2017-01-03 | 2017-01-03 | A kind of ocean robot detection system based on Beidou satellite navigation |
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| CN108860523A CN108860523A (en) | 2018-11-23 |
| CN108860523B true CN108860523B (en) | 2019-09-27 |
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| CN201810977375.1A Active CN108860523B (en) | 2017-01-03 | 2017-01-03 | A kind of two-shipper stable type underwater sampling mechanism |
| CN201810977374.7A Active CN108839780B (en) | 2017-01-03 | 2017-01-03 | A kind of underwater sampling mechanism |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109334879B (en) * | 2018-12-04 | 2021-08-20 | 义乌市佳倩科技有限公司 | Wetland sludge integrated collecting ship |
| CN110514800A (en) * | 2019-08-24 | 2019-11-29 | 深圳市正杰智能工程有限公司 | A kind of underwater monitoring robot and its application method |
| CN110595823B (en) * | 2019-10-25 | 2021-10-26 | 扬州大学 | Underwater sampling device for detecting ethylene in rice body and using method thereof |
| CN112097747A (en) * | 2020-09-05 | 2020-12-18 | 赵振伟 | Ocean detection system and detection device thereof |
| CN113044173B (en) * | 2021-04-27 | 2022-10-28 | 中节能天融(山西)科技有限公司 | Water quality monitoring device for water pollution treatment |
| CN112986521B (en) * | 2021-05-21 | 2021-07-23 | 徐州中国矿大岩土工程新技术发展有限公司 | Detection and mining device for heavy metal polluted water body in coal-filling mine goaf and operation method thereof |
| CN113484089A (en) * | 2021-07-02 | 2021-10-08 | 江苏恩测检测技术有限公司 | Water quality sampler with remote multi-depth-setting function |
| CN113465995B (en) * | 2021-09-03 | 2021-11-19 | 潍坊鑫起机械科技有限公司 | Water quality testing sampling device |
| CN113979203A (en) * | 2021-12-01 | 2022-01-28 | 北京华云东方探测技术有限公司 | Automatic take-up and pay-off device of thermohalimeter for ocean observation and system thereof |
| CN114750909B (en) * | 2022-05-24 | 2023-05-12 | 鲁东大学 | Submersible ocean pollutant observation equipment and working method thereof |
| CN115140280B (en) * | 2022-09-05 | 2022-11-11 | 常州科德水处理成套设备股份有限公司 | Timing sampling device for sewage treatment |
| CN118107757B (en) * | 2024-04-19 | 2024-06-28 | 中国电建集团华东勘测设计研究院有限公司 | Underwater sampling robot for marine ecology |
| CN118329011B (en) * | 2024-06-12 | 2024-09-03 | 中国科学院上海高等研究院 | Positioning navigation device and method for underwater robot |
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| DE10211965A1 (en) * | 2002-03-19 | 2003-10-02 | Baltic Submarine Germany Gmbh | Catamaran tourist submarine with suspended submersible has magnetic emulsion trimming with propane or diesel electric power source and thrusters |
| EP1493656A1 (en) * | 2003-07-03 | 2005-01-05 | Gabler Maschinenbau GmbH | Submarine |
| CN2784307Y (en) * | 2005-01-17 | 2006-05-31 | 江南大学 | Bionic fish robot with swing type flexible joints |
| US8813669B2 (en) * | 2009-06-12 | 2014-08-26 | Rolls-Royce Marine North America, Inc. | Towed antenna system and method |
| CN202038441U (en) * | 2011-03-17 | 2011-11-16 | 哈尔滨工程大学 | Gravity center adjusting device of underwater robot |
| CN102351032A (en) * | 2011-08-22 | 2012-02-15 | 中国船舶重工集团公司第七○二研究所 | Twin submersible |
| CN102649464B (en) * | 2012-04-10 | 2014-09-03 | 中国人民解放军63983部队 | Automatic connecting device |
| CN103823229B (en) * | 2014-02-28 | 2016-10-19 | 上海交通大学 | A kind of Underwater Navigation navigation system based on DGPS buoy and method |
| CN104142688B (en) * | 2014-08-06 | 2017-02-15 | 深圳乐智机器人有限公司 | Underwater robot platform |
| CN104458330B (en) * | 2014-12-17 | 2017-07-07 | 中国科学院重庆绿色智能技术研究院 | Underwater sediment(s) sampling robot and its method for sampling |
| CN104931300B (en) * | 2015-07-08 | 2018-01-09 | 浙江大学 | Timing seawater sampling device |
| CN205686594U (en) * | 2016-04-09 | 2016-11-16 | 浙江工业职业技术学院 | Water pollution monitors evidence obtaining robot |
| CN106092647B (en) * | 2016-05-27 | 2019-02-05 | 浙江大学 | A kind of water sampling unit for autonomous underwater robot |
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2017
- 2017-01-03 CN CN201710002617.0A patent/CN106864707B/en active Active
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Also Published As
| Publication number | Publication date |
|---|---|
| CN108839780B (en) | 2019-10-11 |
| CN108839780A (en) | 2018-11-20 |
| CN106864707B (en) | 2018-10-23 |
| CN106864707A (en) | 2017-06-20 |
| CN108860523A (en) | 2018-11-23 |
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