CN110116794A - For the mini underwater robot and water sampling method of water quality monitoring - Google Patents
For the mini underwater robot and water sampling method of water quality monitoring Download PDFInfo
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- CN110116794A CN110116794A CN201910457830.XA CN201910457830A CN110116794A CN 110116794 A CN110116794 A CN 110116794A CN 201910457830 A CN201910457830 A CN 201910457830A CN 110116794 A CN110116794 A CN 110116794A
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 112
- 238000012544 monitoring process Methods 0.000 title claims abstract description 24
- 238000000034 method Methods 0.000 title claims abstract description 10
- 238000005070 sampling Methods 0.000 title claims abstract description 9
- 238000007789 sealing Methods 0.000 claims abstract description 61
- 230000033001 locomotion Effects 0.000 claims abstract description 11
- 239000007787 solid Substances 0.000 claims abstract description 11
- 238000012856 packing Methods 0.000 claims abstract description 8
- 230000005484 gravity Effects 0.000 claims description 10
- 230000001105 regulatory effect Effects 0.000 claims description 10
- 239000000203 mixture Substances 0.000 claims description 7
- 230000001276 controlling effect Effects 0.000 claims description 4
- 230000000694 effects Effects 0.000 claims description 3
- 238000000605 extraction Methods 0.000 claims description 3
- 238000002955 isolation Methods 0.000 claims description 3
- 238000004064 recycling Methods 0.000 claims description 3
- 230000000630 rising effect Effects 0.000 claims description 2
- 238000009434 installation Methods 0.000 claims 1
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 230000001737 promoting effect Effects 0.000 abstract description 2
- 238000001514 detection method Methods 0.000 description 6
- 230000009189 diving Effects 0.000 description 5
- 239000000047 product Substances 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 241000258957 Asteroidea Species 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000032683 aging Effects 0.000 description 1
- 230000003796 beauty Effects 0.000 description 1
- 210000005252 bulbus oculi Anatomy 0.000 description 1
- 239000013065 commercial product Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 230000035800 maturation Effects 0.000 description 1
- 238000011089 mechanical engineering Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012806 monitoring device Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000004162 soil erosion Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Classifications
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- 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
-
- 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
-
- 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
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
Abstract
Public mini underwater robot and water sampling method for water quality monitoring of the invention.The technical solution of use includes: sealed compartment, is mainly made of cabin pipe, sealing flange, flange large sealing packing ring, hemisphere, flange end cap fixed ring, flange small sealing ring, hatchcover, cored screw, nut, solid screw, screw sealing ring；Adopt water tank, mainly by electromagnet fixed plate, electromagnet, cabin, sealing ring, movable plate, buoyancy board group at；Dynamical frame is mainly made of lateral bolster fagging, intermediate plate, the first sealed compartment fixing piece, the second sealed compartment fixing piece, clump weight, underwater propeller.Beneficial effect is: 1, can flexible motion in water, can be realized the movement of hydrospace 6DOF, i.e. translational motion: promoting, heave and traversing, rotary motion: turning bow, trim and heel；2, it is able to carry out the acquisition of water sample, by adopting water tank, the water sample of designated position, designated depth can be acquired.
Description
Technical field
The invention belongs to mechanical engineering fields, and in particular to a kind of underwater robot.
Background technique
Present China has 9.8 ten thousand, reservoir, since dam stops the proper flow of water, natural aging and earthquake of building etc.
The crack, mixed of the leakage of the influence of geological disaster, the more and more safety problems of Facing Hydraulic Project, such as dam, concrete
The defects of solidifying soil erosion, has influenced engineering and has normally run and the performance of benefit.And relatively large dam and reservoir cannot be put
Sky is overhauled, and can only be detected under water, and detects nowadays be faced with difficulty under water.
With underwater man-based development, instrument is observed and measured using underwater robot carrying and carries out being detected as dam under water
The detection of reservoir provides new thinking, and in hydraulic engineering, carrying out detection using underwater robot has many advantages, because
This, we can be used underwater robot and carry out various underwater detections.
(1) it is detected under dam and reservoir percolating water.
(2) hydraulic structure underwater concrete damage testing
(3) metal object (gate, supporting element etc.) perils detecting of hydraulic structure.
(4) detection such as underwater product silt.
(5) underwater emergency detection and emergency work etc..
Be currently used in underwater observation and exploitation main tool have manned underwater vehicle and unmanned diving (UUV ---
UnmannedUnderwaterVehicles).Unmanned submersible can also be called underwater robot, it is divided into unmanned remotely controlled submersible vehicle
(ROV-RemotelyOperatedVehicle) and autonomous underwater robot (AUV-
AutonomousUnderwaterVehicle).It, can also be real for transmitting power by cable connection between ROV and waterborne vessel
The transmission of Shi Jinhang bi-directional control signal and data.And then without cable connection between AUV and lash ship, it mainly by be itself
The intelligent independent navigation of the power source and machine of carrying.
The needs of offshore oil exploitation and military affairs the etc. when seventies, underwater robot technology rapidly develop, and by
Gradually form new industry: ROV industry.1975, first underwater robot RCV-125 came out.Due to shape like
One ball, so also known as " eyeball ", underwater robot initially enters the sight of people, later in relation to the product of underwater robot
It continuously emerges, typical such as trench number (KAIKO) underwater robot of Japan and the VICTORY-6000 underwater of France
People etc..Japanese trench number had slipped into underwater 10911.4 meters at that time.
Currently, underwater robot has had several hundred kinds, global manufacturer can provide the underwater robot of various models
And its components.The maximum diving depth of underwater robot has reached 11000 meters, it may be said that the working range of underwater robot
The position of almost whole oceans.
In recent years, the external commercial product there are many underwater robot of model as maturation sold to the country.Such as beauty
The OUTLAND-1000 underwater robot of OUTLAND technology company, state, it is mounted with various sensors, such as Sonar system, depth
Meter etc..Canadian SEAMOR-300 underwater robot is mounted with Sonar system, Gao Duji ﹑ depth gauge and computer vision system
System etc., 4 propellers being symmetrically arranged in pairs and horizontal plane angle at 45 °, tower structure, maximum diving depth are 300 meters.English
FALCON the and FALCONDR series of products of state, submerged depth can reach 300 meters to ten thousand metres, can be with by taking FALCON as an example
Dive loads 8.5kg to underwater 300m, and cable longest 450m can be upgraded to 1100 meters.Equipped with intelligence control system, peace
Equipped with multiple functional sensing system and multi-functional mechanical hand system etc..The H300-MKII water of French ECAHYTEC company
The lower artificial shallow water type ROV of machine, its working range are underwater 300m, load 8kg, can install various sensors, such as
MicronDST scanning sonar, Shen Du Ji ﹑ compass and computer vision system etc., and manipulator is installed, four brushless direct-currents push away
Into device, maximum thrust reaches 17.3kg.The units such as ocean institute, the joint Chinese Academy of Sciences, Shenyang Inst of Automation, Chinese Academy of Sciences are common
" starfish 6000 " underwater robot developed.Scientific investigation task for the first time is completed on October 26th, 2018, obtains environment in sea area
Sample and data information." starfish 6000 " underwater robot maximum diving depth breaks through 6000 meters, and the China Zai Chuan is unmanned remote controlled latent
The maximum diving depth of hydrophone records.
" exploration " of China's independent research serial autonomous underwater robot can be into from underwater 100 meters to underwater 4500 meters
Row exploration.Wherein, it " explores 100 " to be mainly used for than shallower seafari, " exploring 1000 " is mainly used for specified sea areas
The long-term continuous ocean weather station observation of ocean, " explore 4500 " is mainly in the complicated geological environment and the ecosystem of deep-sea area
Exploration.
Summary of the invention
In view of the deficiencies of the prior art, it is an object of the present invention to provide a kind of underwater machines of novel mini for water quality monitoring
Device.
The technical solution adopted by the present invention includes:
Sealed compartment, mainly by cabin pipe, sealing flange, flange large sealing packing ring, hemisphere, flange end cap fixed ring, flange small sealing ring,
Hatchcover, cored screw, nut, solid screw, screw sealing ring composition；The sealing flange is solid respectively by flange large sealing packing ring
Due to cabin pipe both ends, the hemisphere is fixed on sealing flange by the flange end cap fixed ring, the flange end cap
Fixed ring is fixed by bolt and the sealing flange, and the flange small sealing ring, which is placed in the sealing flange slot, plays sealing work
With the hatchcover is fixed by bolts on sealing flange, and the cored screw is matched with nut, and close by the screw
Seal is sealingly fastened on the hatchcover, and the solid screw is matched with nut, and solid by screw sealing ring sealing
Due on the hatchcover；
Adopt water tank, mainly by electromagnet fixed plate, electromagnet, cabin, sealing ring, movable plate, buoyancy board group at；The electromagnet
Fixed plate and electromagnetism ferropexy, the electromagnet fixed plate are fixed with cabin, and the sealing ring is placed in the cabin and activity
Plate cooperation seals, and the buoyancy plate is placed in cabin, and is located at below the movable plate；
Dynamical frame, mainly by lateral bolster fagging, intermediate plate, the first sealed compartment fixing piece, the second sealed compartment fixing piece, counterweight
Block, underwater propeller composition；The lateral bolster fagging is fixed on intermediate plate two sides, during the first sealed compartment fixing piece is fixed on
Between on plate, the second sealed compartment fixing piece is fixed on the first sealed compartment fixing piece, and the clump weight is fixed on lateral support
On plate, the underwater propeller is individually fixed in lateral bolster fagging and intermediate plate；
The sealed compartment is fixed in described by the first sealed compartment fixing piece, the second sealed compartment fixing piece of the dynamical frame
Between board bottom portion；The water tank of adopting is fixed at the top of dynamical frame.
The mini underwater robot for water quality monitoring, it is characterised in that: pass through the electromagnet before adopting water
On-off controls the folding of the movable plate, adopts and realizes the upper of the movable plate by the buoyancy that water generates the buoyancy plate after water
It rises, the on-off by controlling the electromagnet is completed to adopt the closure of water tank, completes water sample by the apopore of the cabin bottom
Extraction.
The mini underwater robot for water quality monitoring, it is characterised in that: pass through the position tune of the clump weight
Section leads to the spatial arrangement of the underwater propeller and the running finishing device underwater six that cooperates to adjust whole center of gravity
Freedom degree movement.
The mini underwater robot for water quality monitoring, it is characterised in that: the on both sides of the middle of the intermediate plate is set
There are two vertically arranged underwater propellers, the two sides of tail of the intermediate plate is horizontally mounted described underwater equipped with two
The tail portion centre of propeller, the intermediate plate is equipped with a vertically arranged underwater propeller.
The mini underwater robot for water quality monitoring, it is characterised in that: the lateral bolster fagging is equipped with extremely
First regulating tank of a few horizontal distribution, the clump weight are located on first regulating tank, and its position can front and back adjusting.
The mini underwater robot for water quality monitoring, it is characterised in that: the intermediate plate is equipped at least one
Second regulating tank of horizontal distribution, the clump weight are located on second regulating tank, and its position can front and back adjust.
The mini underwater robot for water quality monitoring, it is characterised in that: the cabin bottom is equipped with inclined-plane, institute
State the lowest part that apopore is located at the inclined-plane.
The mini underwater robot for water quality monitoring, it is characterised in that: the lateral bolster fagging passes through corner brace
It is fixed on intermediate plate two sides.
The mini underwater robot for water quality monitoring, it is characterised in that: the underwater propeller is T200 water
Lower propeller.
A kind of water sampling method of underwater robot, according to the mini water described in any of the above embodiments for water quality monitoring
Lower robot realizes, which is characterized in that steps are as follows:
(1) before being lauched, a rubber tube is connected on the apopore of cabin, and clamps the other end of rubber tube by clip, is made
It is sealed；
(2) when being lauched, electromagnet is powered, and movable plate is adsorbed on its surface, is at this time closed state inside cabin, internal and outer
The isolation of portion's environment；
(3) when the specified region of arrival carries out adopting water, electromagnet power-off, movable plate and buoyancy plate are due to by gravity original at this time
Because falling, water tank being adopted at this time and is presented opening state, electromagnet, which is once again powered up, to be generated magnetic field and wait next task, and water is from electromagnet
It is flowed into gap between cabin, when water gradually increases, buoyancy plate generates buoyancy, and push movable plate to move upwardly together,
When water level reach a certain height in cabin, movable plate will be adsorbed on its surface by the magnetic force of electromagnet again, adopt at this time
Closed state is presented in water tank again, will completely cut off inside cabin with external environment, water sample will be stored in cabin, water process is adopted
It completes；
(4) rise to the water surface when adopting water tank, after salvaging recycling, electromagnet powered off, internal environment and it is external reconnect, it is internal
Air pressure is identical as external atmosphere pressure, at this time removes the clip of rubber tube, internal since the bottom end inside cabin is an inclined-plane
Water sample completes this water sampling since gravity is flowed into special container by rubber tube.
The beneficial effects of the present invention are:
1, the present invention can flexible motion in water, can be realized the movement of hydrospace 6DOF, i.e. translational motion: promoting, rise
Heavy and traversing, rotary motion: turn bow, trim and heel；
2, the adjusting of center of gravity centre of buoyancy can be achieved, convenient for carrying different device；
3, apparatus for making a video recording can be placed in sealed compartment, for observing sub-marine situations in real time and other detection devices being assisted to operate；
4, it is able to carry out the acquisition of water sample, by adopting water tank, the water sample of designated position, designated depth can be acquired；
5, product is small, light-weight, and activity is sensitiveer under water for lesser volume, convenient for control.
The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.
Detailed description of the invention
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is the cross-sectional view of sealed compartment in the present invention；
Fig. 3 is the cross-sectional view that water tank is adopted in the present invention；
Fig. 4 is the structural schematic diagram of dynamical frame in the present invention.
In figure: 1, sealed compartment；2, water tank is adopted；3, dynamical frame；1-1, cabin pipe；1-2, sealing flange；1-3, flange are close greatly
Seal；1-4, hemisphere；1-5, flange end cap fixed ring；1-6, flange small sealing ring；1-7, hatchcover；1-8, cored screw；1-9,
Nut；1-10, solid screw；1-11, screw sealing ring；2-1, electromagnet fixed plate 2-1；2-2, electromagnet；2-3, cabin；2-
4, sealing ring；2-5, movable plate；2-6, buoyancy plate；3-1, lateral bolster fagging；3-2, intermediate plate；3-3, the first sealed compartment are fixed
Part；3-4, the second sealed compartment fixing piece；3-5, clump weight；3-6, underwater propeller；3-7, corner brace.
Specific embodiment
Embodiment 1:
As shown in Figure 1, the mini underwater robot of the invention for water quality monitoring include sealed compartment 1, adopt water tank 2 and power
Frame 3.By cable connection between the mini underwater robot and waterborne vessel for water quality monitoring, for transmitting power,
It can be with the transmission of real-time perfoming bi-directional control signal and data.
As shown in Fig. 2, the sealed compartment 1 is mainly by cabin pipe 1-1, sealing flange 1-2, flange large sealing packing ring 1-3, hemisphere 1-
4, flange end cap fixed ring 1-5, flange small sealing ring 1-6, hatchcover 1-7, cored screw 1-8, nut 1-9, solid screw 1-10
It is formed with screw sealing ring 1-11.The sealing flange 1-2 is individually fixed in the cabin both ends pipe 1-1 by flange large sealing packing ring 1-3,
The hemisphere 1-4 is fixed on sealing flange 1-2 by flange end cap fixed ring 1-5, and the flange end cap fixed ring 1-5 passes through
Bolt and nut is fixed with sealing flange 1-2, and the flange small sealing ring 1-6, which is placed in sealing flange 1-2 slot, to seal, institute
It states hatchcover 1-7 to be fixed on sealing flange 1-2 by bolt and nut, the cored screw 1-8 is matched with nut 1-9 passes through spiral shell
Silk sealing ring 1-11 is sealingly fastened in hatchcover two sides, and the solid screw 1-10 is matched with nut 1-9 through screw sealing ring
1-11 is sealingly fastened in hatchcover two sides.The sealed compartment 1 can be used to install the electronic components such as camera, pass through cabin pipe 1-1, sealing
The phase of flange 1-2, flange large sealing packing ring 1-3, hemisphere 1-4, flange end cap fixed ring 1-5, flange small sealing ring 1-6, hatchcover 1-7
Mutually cooperation provides sealing space, and the control device in sealed compartment passes through cored screw 1-8, nut 1-9, solid screw 1-10, spiral shell
Communicating passage made of silk sealing ring 1-11 cooperation is connected with external devices.
As shown in figure 3, described adopt water tank 2 mainly by electromagnet fixed plate 2-1, electromagnet 2-2, cabin 2-3, sealing ring 2-
4, movable plate 2-5 and buoyancy plate 2-6 composition.The electromagnet fixed plate 2-1 is fixed by bolt and electromagnet 2-2, the cabin
Body 2-3 is fixed with electromagnet fixed plate 2-1, and is fixed in dynamical frame 4, and the sealing ring 2-4 is placed in cabin 2-3 and lives
Movable plate 2-5 cooperation seals, and the buoyancy plate 2-6 is placed in cabin 2-3, below movable plate 2-5.
As shown in figure 4, the dynamical frame 2 is mainly by lateral bolster fagging 3-1, intermediate plate 3-2, the first sealed compartment fixing piece
3-3, the second sealed compartment fixing piece 3-4, clump weight 3-5, underwater propeller 3-6 and corner brace 3-7 composition.The lateral bolster fagging 3-
1 is fixed on the two sides intermediate plate 3-2 by corner brace 3-7, and the first sealed compartment fixing piece 3-3 is fixed on intermediate plate 3-2, described
Second sealed compartment fixing piece 3-4 is fixed on the first sealed compartment fixing piece 3-3, and the clump weight 3-5 is fixed on lateral bolster fagging
On 3-1, the underwater propeller 3-6 is individually fixed in lateral bolster fagging 3-1, intermediate plate 3-2.The underwater propeller 3-6 is
Using T200 underwater propeller.T200(motor model) it is that a light-duty, price is low and the underwater brushless motor of reliable performance
Propeller has small in size, light-weight, the big advantage of thrust.
By by the first sealed compartment fixing piece 3-3 of the cabin pipe 1-1 of the sealed compartment 1 and the dynamical frame 3, second close
Batten down fixing piece 3-4 is clamped, and is fixed in the bottom the intermediate plate 3-2.By on the periphery cabin 2-3 for adopting water tank 2
The intermediate plate 3-2 that one group of screw and the intermediate plate 3-2 is arranged is tightened, and is fixed at the top of the intermediate plate 3-2.
Further, the folding for controlling the movable plate 2-5 before water by the on-off of the electromagnet 2-2 is adopted, after adopting water
The rising for realizing the movable plate 2-5 to the buoyancy plate 2-6 buoyancy generated by water, by controlling the electromagnet 2-2
On-off complete to adopt the closure of water tank, the apopore 2-7 for passing through the bottom the cabin 2-3 completes the extraction of water sample.
Further, the both ends lateral bolster fagging 3-1 are respectively provided with the first regulating tank 3-8 an of horizontal distribution, described
Clump weight 3-5 is located on the first regulating tank 3-7, and its position can front and back adjusting.Described intermediate plate 3-2 medium position one
Second regulating tank 3-9 of horizontal distribution, the clump weight 3-5 is located on the second regulating tank 3-9, and its position can front and back tune
Section.It is adjusted by the position of the clump weight 3-5 to adjust whole center of gravity.
Further, the on both sides of the middle of the intermediate plate 3-2 is equipped with two vertically arranged underwater propeller 3-6,
The two sides of tail of the intermediate plate 3-2 is equipped with two underwater propeller 3-6 being horizontally mounted, the tail of the intermediate plate 3-2
A vertically arranged underwater propeller 3-6 is equipped among portion.Lead to the underwater propeller 3-6 spatial arrangement and mutually
The cooperation running underwater six-freedom motion of finishing device.
Further, the bottom the cabin 2-3 is equipped with inclined-plane 2-9, and the apopore 2-7 is located at the inclined-plane 2-9 most
Lower, in order to take out the water sample in the cabin 2-3.
Embodiment 2:
A kind of water sampling method of underwater robot of the invention.According to the mini described in embodiment 1 for water quality monitoring
Underwater robot realizes that steps are as follows:
(1) before being lauched, a rubber tube is connected on the apopore of cabin, and clamps the other end of rubber tube by clip, is made
It is sealed；
(2) when being lauched, electromagnet is powered, and movable plate is adsorbed on its surface, is at this time closed state inside cabin, internal and outer
The isolation of portion's environment；
(3) when the specified region of arrival carries out adopting water, electromagnet power-off, movable plate and buoyancy plate are due to by gravity original at this time
Because falling, water tank being adopted at this time and is presented opening state, electromagnet, which is once again powered up, to be generated magnetic field and wait next task, and water is from electromagnet
It is flowed into gap between cabin, when water gradually increases, buoyancy plate generates buoyancy, and push movable plate to move upwardly together,
When water level reach a certain height in cabin, movable plate will be adsorbed on its surface by the magnetic force of electromagnet again, adopt at this time
Closed state is presented in water tank again, will completely cut off inside cabin with external environment, water sample will be stored in cabin, water process is adopted
It completes；
(4) rise to the water surface when adopting water tank, after salvaging recycling, electromagnet powered off, internal environment and it is external reconnect, it is internal
Air pressure is identical as external atmosphere pressure, at this time removes the clip of rubber tube, internal since the bottom end inside cabin is an inclined-plane
Water sample completes this water sampling since gravity is flowed into special container by rubber tube.
Finally it is pointed out that described above be merely exemplary for the purpose of the present invention, and not restrictive, this field is general
Logical technical staff understands, without departing from the spirit and scope defined by the claims, can many modifications may be made, variation
Or equivalent structure, but within the scope of the claim for falling within the use of the new type can limit.
Claims (10)
1. a kind of mini underwater robot for water quality monitoring characterized by comprising
Sealed compartment (1) mainly manages (1-1), sealing flange (1-2), flange large sealing packing ring (1-3), hemisphere (1-4), flange by cabin
End cap fixed ring (1-5), flange small sealing ring (1-6), hatchcover (1-7), cored screw (1-8), nut (1-9), solid screw
(1-10), screw sealing ring (1-11) composition；The sealing flange (1-2) is individually fixed in by flange large sealing packing ring (1-3)
The both ends (1-1) are managed in the cabin, and the hemisphere (1-4) is fixed on sealing flange (1-2) by the flange end cap fixed ring (1-5)
On, the flange end cap fixed ring (1-5) is fixed by bolt and the sealing flange (1-2), the flange small sealing ring (1-
6) it is placed in the sealing flange (1-2) slot and seals, the hatchcover (1-7) is fixed by bolts in sealing flange (1-
2) on, the cored screw (1-8) matches with nut (1-9), and is sealingly fastened in by the screw sealing ring (1-11)
On the hatchcover (1-7), the solid screw (1-10) matches with nut (1-9), and passes through the screw sealing ring (1-
11) it is sealingly fastened on the hatchcover (1-7)；
Water tank (2) are adopted, mainly by electromagnet fixed plate (2-1), electromagnet (2-2), cabin (2-3), sealing ring (2-4), activity
Plate (2-5), buoyancy plate (2-6) composition；The electromagnet fixed plate (2-1) and electromagnet (2-2) are fixed, the electromagnetism ferropexy
Plate (2-1) and cabin (2-3) are fixed, and the sealing ring (2-4) is placed in match in the cabin (2-3) with movable plate (2-5) and close
Sealing function, the buoyancy plate (2-6) are placed in cabin, and are located at below the movable plate (2-5)；
Dynamical frame (3), mainly by lateral bolster fagging (3-1), intermediate plate (3-2), the first sealed compartment fixing piece (3-3), second
Sealed compartment fixing piece (3-4), clump weight (3-5), underwater propeller (3-6) composition；During the lateral bolster fagging (3-1) is fixed on
Between the two sides plate (3-2), the first sealed compartment fixing piece (3-3) is fixed on intermediate plate (3-2), and second sealed compartment is fixed
Part (3-4) is fixed on the first sealed compartment fixing piece (3-3), and the clump weight (3-5) is fixed on lateral bolster fagging (3-1),
The underwater propeller (3-6) is individually fixed in lateral bolster fagging (3-1), intermediate plate (3-2)；
The first sealed compartment fixing piece (3-3), the second sealed compartment fixing piece that the sealed compartment (1) passes through the dynamical frame (3)
(3-4) is fixed on the bottom the intermediate plate (3-2)；The water tank (2) of adopting is fixed at the top of dynamical frame (3).
2. the mini underwater robot according to claim 1 for water quality monitoring, it is characterised in that: pass through institute before adopting water
The on-off for stating electromagnet (2-2) controls the folding of the movable plate (2-5), is produced by water to the buoyancy plate (2-6) after adopting water
Raw buoyancy realizes the rising of the movable plate (2-5), and closing for water tank is adopted in the on-off completion by controlling the electromagnet (2-2)
It closes, the extraction of water sample is completed by the apopore (2-7) of the bottom the cabin (2-3).
3. the mini underwater robot according to claim 1 for water quality monitoring, it is characterised in that: pass through the counterweight
The position of block (3-5) adjusts the spatial arrangement for leading to the underwater propeller (3-6) to adjust whole center of gravity and the fortune that cooperates
Make the underwater six-freedom motion of finishing device.
4. the mini underwater robot according to claim 3 for water quality monitoring, it is characterised in that: the intermediate plate
The on both sides of the middle of (3-2) is equipped with two vertically arranged underwater propellers (3-6), the tail portion two of the intermediate plate (3-2)
Side is equipped with two underwater propellers (3-6) being horizontally mounted, and one is equipped among the tail portion of the intermediate plate (3-2) vertically
The underwater propeller (3-6) of installation.
5. the mini underwater robot according to claim 3 for water quality monitoring, it is characterised in that: the lateral support
Plate (3-1) is equipped with the first regulating tank (3-8) of at least one horizontal distribution, and the clump weight (3-5) is located at described first and adjusts
It saves on slot (3-7), and its position can front and back adjusting.
6. the mini underwater robot according to claim 3 for water quality monitoring, it is characterised in that: the intermediate plate
(3-2) is equipped with the second regulating tank (3-9) of at least one horizontal distribution, and the clump weight (3-5) is located at described second and adjusts
On slot (3-9), and its position can front and back adjusting.
7. the mini underwater robot according to claim 2 for water quality monitoring, it is characterised in that: the cabin (2-
3) bottom is equipped with inclined-plane (2-9), and the apopore (2-7) is located at the lowest part of the inclined-plane (2-9).
8. the mini underwater robot according to claim 1 for water quality monitoring, it is characterised in that: the lateral support
Plate (3-1) is fixed on the two sides intermediate plate (3-2) by corner brace (3-7).
9. the mini underwater robot according to claim 1 for water quality monitoring, it is characterised in that: the underwater propulsion
Device (3-6) is T200 underwater propeller.
10. a kind of water sampling method of underwater robot, according to claim 1~any one of 9 described in for water quality prison
The mini underwater robot of survey is realized, which is characterized in that steps are as follows:
(1) before being lauched, a rubber tube is connected on the apopore of cabin, and clamps the other end of rubber tube by clip, is made
It is sealed；
(2) when being lauched, electromagnet is powered, and movable plate is adsorbed on its surface, is at this time closed state inside cabin, internal and outer
The isolation of portion's environment；
(3) when the specified region of arrival carries out adopting water, electromagnet power-off, movable plate and buoyancy plate are due to by gravity original at this time
Because falling, water tank being adopted at this time and is presented opening state, electromagnet, which is once again powered up, to be generated magnetic field and wait next task, and water is from electromagnet
It is flowed into gap between cabin, when water gradually increases, buoyancy plate generates buoyancy, and push movable plate to move upwardly together,
When water level reach a certain height in cabin, movable plate will be adsorbed on its surface by the magnetic force of electromagnet again, adopt at this time
Closed state is presented in water tank again, will completely cut off inside cabin with external environment, water sample will be stored in cabin, water process is adopted
It completes；
(4) rise to the water surface when adopting water tank, after salvaging recycling, electromagnet powered off, internal environment and it is external reconnect, it is internal
Air pressure is identical as external atmosphere pressure, at this time removes the clip of rubber tube, internal since the bottom end inside cabin is an inclined-plane
Water sample completes this water sampling since gravity is flowed into special container by rubber tube.
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| CN111017164A (en) * | 2019-12-27 | 2020-04-17 | 穆小玲 | Underwater water quality detection robot |
| CN111175079A (en) * | 2020-02-11 | 2020-05-19 | 数字鹰电子（湖北）有限公司 | Water intake device of environment monitoring unmanned aerial vehicle |
| WO2021115094A1 (en) * | 2019-12-09 | 2021-06-17 | 深之蓝(天津)水下智能科技有限公司 | Underwater sealed cabin |
| CN113063909A (en) * | 2021-03-19 | 2021-07-02 | 南昌市湾里自来水有限责任公司 | Water quality safety guarantee monitoring system |
| CN115959271A (en) * | 2023-03-15 | 2023-04-14 | 南开大学 | Omnibearing automatic tracking water quality monitoring robot, system and monitoring method |
| CN116750170A (en) * | 2023-08-24 | 2023-09-15 | 山东省科学院海洋仪器仪表研究所 | Underwater photogrammetry device |
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| CN116873129B (en) * | 2023-07-21 | 2023-12-19 | 河北盛丰测绘服务有限公司 | Hydrologic monitoring unmanned ship |
| CN116750170A (en) * | 2023-08-24 | 2023-09-15 | 山东省科学院海洋仪器仪表研究所 | Underwater photogrammetry device |
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