CN114313172A - Marine environment monitoring device - Google Patents
Marine environment monitoring device Download PDFInfo
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- CN114313172A CN114313172A CN202210068563.9A CN202210068563A CN114313172A CN 114313172 A CN114313172 A CN 114313172A CN 202210068563 A CN202210068563 A CN 202210068563A CN 114313172 A CN114313172 A CN 114313172A
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- 238000012806 monitoring device Methods 0.000 title claims abstract description 27
- 230000007246 mechanism Effects 0.000 claims abstract description 120
- 210000001503 joint Anatomy 0.000 claims abstract description 38
- 230000000670 limiting effect Effects 0.000 claims description 71
- 210000000078 claw Anatomy 0.000 claims description 48
- 238000003032 molecular docking Methods 0.000 claims description 33
- 239000007787 solid Substances 0.000 claims description 23
- 230000007613 environmental effect Effects 0.000 claims description 19
- 230000005540 biological transmission Effects 0.000 claims description 16
- 238000012544 monitoring process Methods 0.000 claims description 16
- 239000007788 liquid Substances 0.000 claims description 11
- 238000007789 sealing Methods 0.000 claims description 11
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- 230000006835 compression Effects 0.000 claims description 6
- 238000007906 compression Methods 0.000 claims description 6
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 238000005070 sampling Methods 0.000 description 11
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- 230000009286 beneficial effect Effects 0.000 description 2
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- 239000013535 sea water Substances 0.000 description 2
- 238000000926 separation method Methods 0.000 description 2
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- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
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- 238000004078 waterproofing Methods 0.000 description 1
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Abstract
The invention discloses a marine environment monitoring device, and relates to the field of marine environment treatment. The device comprises a submersible, and further comprises a negative pressure type capturing mechanism arranged on the submersible and used for capturing samples monitored in the marine environment, wherein the negative pressure type capturing mechanism at least comprises a negative pressure generating part, a picking part and a combined driving mechanism; the negative pressure generating part and the picking part are synchronously driven to operate by the combined driving mechanism, and negative pressure is generated by the negative pressure generating part under the driving of the combined driving mechanism so as to enable the sample to move towards the picking part and be picked by the picking part; and a quick butt joint mechanism is arranged between the picking part and the combined driving mechanism so as to enable the picking part and the combined driving mechanism to be detachably connected.
Description
Technical Field
The invention relates to the technical field of marine environment treatment, in particular to a marine environment monitoring device.
Background
Marine environments refer to the vast continuum of the ocean and oceans of the general water space on earth. Including seawater, dissolved and suspended matter in seawater, seabed sediments and marine life, is a living cradle and a treasure house for human beings. As the scale of human development of marine resources has increased, the marine environment has been affected and polluted by human activities. It is necessary to protect the environment. The marine environment monitoring acts on marine ecological environment protection.
The marine environment monitoring device usually involves sampling work in the sea, sometimes needs driving of underwater equipment such as a submersible and the like, and is combined with the marine environment monitoring equipment to carry out related monitoring work and sampling work, including solid sample sampling, liquid sample sampling and the like, in the current sampling mechanism of the marine environmental monitoring device, for example, when the sample is grabbed and taken back to the sea, the sampling mechanism can not accurately and stably hold the sample, especially the solid sample, due to the defects of unreasonable design and the like, so that frequent sampling failure is caused, the repeated sampling failure action not only wastes time, but also consumes limited energy of underwater equipment, is not beneficial to long-time continuous work, and the risk of losing the sample also has, brings the difficulty for sample work and marine environment monitoring work, to improving this, needs to design marine environment monitoring devices.
Disclosure of Invention
The invention aims to solve the technical problems and provides a marine environment monitoring device.
In order to solve the technical problems, the technical scheme of the invention is as follows:
the marine environment monitoring device comprises a submersible, and a negative pressure type capturing mechanism arranged on the submersible and used for capturing a sample for marine environment monitoring, wherein the negative pressure type capturing mechanism at least comprises a negative pressure generating part, a picking part and a combined driving mechanism;
the negative pressure generating part and the picking part are synchronously driven to operate by the combined driving mechanism, and negative pressure is generated by the negative pressure generating part under the driving of the combined driving mechanism so as to enable the sample to move towards the picking part and be picked by the picking part;
and a quick butt joint mechanism is arranged between the picking part and the combined driving mechanism so as to enable the picking part and the combined driving mechanism to be detachably connected.
Preferably, the negative pressure generating part includes:
the hollow pipeline is of a hollow pipeline structure;
and a piston that is piston-movable within the through-bore conduit;
one end of the through pipe is provided with a first support ring, and a first annular bulge is annularly arranged on the outer edge of the first support ring.
Preferably, the combined drive mechanism comprises:
the waterproof assembly box is connected to the end, opposite to the first support ring, of the through pipe through a support column;
a first waterproof motor disposed within the waterproof assembly box;
one end of the first threaded rod extends into the waterproof assembly box and is coaxially connected with the rotating end of the first waterproof motor, the other end of the first threaded rod coaxially extends into the through pipe and is rotatably connected to the inner wall of the through pipe through a bearing, and the first threaded rod is rotatably connected with the waterproof assembly box through the bearing;
the center of the connecting plate is provided with a first nut pair in a penetrating mode, and the first threaded rod penetrates through the connecting plate and is in threaded fit with the first nut pair;
the two ends of the first driving rod are respectively connected to the connecting plate and the piston, and the first driving rods are at least two groups with the same structure and are arranged in parallel;
the first guide supporting cylinders are coaxially sleeved on the first driving rods, the outer side surfaces of the first guide supporting cylinders are fixedly connected to the inner side surfaces of the through-center pipelines, the first driving rods slide in the first guide supporting cylinders, and the first guide supporting cylinders are at least two groups with the same structure and are arranged in one-to-one correspondence with the first driving rods;
one end of each second driving rod is fixedly connected to the connecting plate and positioned outside the through-center pipeline, and the first supporting rings are at least two groups with the same structure and are arranged in parallel;
the second guide supporting cylinders are coaxially sleeved on the second driving rods, the outer side surfaces of the second guide supporting cylinders are fixedly connected to the outer side surfaces of the through-center pipelines, the second driving rods slide in the second guide supporting cylinders, and the second guide supporting cylinders are at least two groups with the same structure and are arranged in one-to-one correspondence with the second driving rods;
one end, opposite to the connecting plate, of the second driving rod is connected with a second support ring, the second support ring is arranged on the outer side of the through pipe in a surrounding mode, and a second annular bulge is arranged on the outer edge of the second support ring in a surrounding mode.
Preferably, the quick docking mechanism comprises a first docking structure and a second docking structure;
the first abutment structure may be connected to the first annular projection on the first support ring;
the second docking mechanism may be coupled to the second annular projection on the second support ring.
Preferably, the first coupling structure includes:
the outer side surface of one end of the first limiting ring is provided with a first annular limiting part;
the first arc-shaped openings are a plurality of groups with the same structure and are uniformly distributed on the first limiting ring in the circumferential direction;
one end of the first limiting swing rod is hinged to the surface of the inner side of the first arc-shaped opening;
the first locking driving ring is coaxially sleeved on the first limiting ring, and a plurality of first pulling bulges are uniformly distributed on the outer side surface of the first locking driving ring in the circumferential direction;
and the first locking driving rods are arranged on the inner side surface of the first locking driving ring in a multi-group and circumferentially and uniformly distributed mode, and are of the same structure, the first locking driving rods and the multiple groups are arranged in the first arc-shaped opening in a one-to-one correspondence mode, one end of each first locking driving rod is hinged to the inner side surface of the first locking driving ring, and the other end of each first locking driving rod is hinged to the other end of each first limiting oscillating rod which is hinged to the inner side surface of the first arc-shaped opening in a reverse direction.
Preferably, the second docking mechanism includes:
the outer side surface of one end of the second limiting ring is provided with a second annular limiting ring;
the second arc-shaped openings are multiple groups of same structures and are uniformly distributed on the second limiting ring in the circumferential direction;
one end of the second limiting swing rod is hinged to the surface of the inner side of the second arc-shaped opening;
the second locking driving ring is coaxially sleeved on the second limiting ring, and a plurality of second pulling bulges are uniformly distributed on the outer side surface of the second locking driving ring in the circumferential direction;
and the second locking driving rods are multiple groups of same structures and are circumferentially and uniformly distributed on the inner side surface of the second locking driving ring, the multiple groups of second locking driving rods are arranged in the second arc-shaped opening in a one-to-one correspondence mode, one end of each second locking driving rod is hinged to the inner side surface of the second locking driving ring, and the other end of each second locking driving rod is hinged to the other end of the corresponding second limiting swing rod which is hinged to the inner side surface of the second arc-shaped opening in the opposite direction.
Preferably, the pick-up portion comprises a solid sample gripping mechanism comprising:
a circular ring-shaped support plate;
the grabbing claws are multiple groups of same structures and are circumferentially and uniformly distributed on the outer side surface of the circular supporting plate, and one end of each grabbing claw is hinged to the outer side surface of the circular supporting plate;
one end of the first section of transmission rod is hinged to the middle position of the grabbing claw;
and one end of the second section of transmission rod is hinged to one end, opposite to the grabbing claw, of the first section of transmission rod.
The first butt joint disc is connected to the second section of transmission rod, is opposite to one end of the first section of transmission rod and is arranged corresponding to the second support ring, and the first butt joint disc and the annular support disc are coaxially arranged;
the first butt joint disc is provided with the second butt joint mechanism, and one end, opposite to the second annular limiting, of the second limiting ring in the second butt joint mechanism is coaxially connected to the annular supporting disc.
Preferably, the solid sample snatchs mechanism still includes adjustable sucker structure, adjustable sucker structure be the same multiunit of structure and with the multiunit snatch the one-to-one setting between the claw, adjustable sucker structure includes:
the assembling opening is formed in one end part, far away from the circular ring-shaped supporting disc, of the grabbing claw;
the rectangular supporting frame is arranged in the assembling opening in a penetrating mode and slides in the assembling opening;
the middle position of the strip-shaped plate is hinged with the middle position of the upper end part of the rectangular supporting frame, one end of the rectangular supporting frame, which is used for mounting the strip-shaped plate, faces the direction of the grabbing claw to perform grabbing motion, a plurality of suckers are arranged on the strip-shaped plate, and the suckers are uniformly distributed along the extending direction of the axis of the strip-shaped plate;
the limiting plate is fixedly connected to the surface of the inner side of the assembling opening and is positioned on the inner side of the rectangular supporting frame;
one end of the supporting screw is fixedly connected to the inner side surface of one end part, provided with the strip-shaped plate, of the rectangular supporting frame, the other end of the supporting screw penetrates through the rectangular supporting frame and extends out of the rectangular supporting frame, and one end, extending out of the rectangular supporting frame, of the supporting screw penetrates through the limiting plate;
the compression spring is coaxially sleeved on the supporting screw rod and is positioned between the limiting plate and one end part of the rectangular supporting frame, which is provided with the strip-shaped plate;
and the adjusting nut is coaxially sleeved at one end of the supporting screw rod, which extends out of the rectangular supporting frame, and is in threaded fit with the supporting screw rod.
Preferably, the solid sample gripping mechanism further comprises an extendable cover mechanism, the extendable cover mechanism is a plurality of groups with the same structure and is arranged in one-to-one correspondence with the plurality of groups of gripping claws, and the extendable cover mechanism comprises:
an assembly cavity formed inside the grasping claw;
the second waterproof motor is arranged inside the assembly inner cavity;
the second threaded rod is rotatably arranged in the assembly inner cavity through a bearing and is coaxially connected with the rotating end of the second waterproof motor;
the second nut pair is coaxially sleeved on the second threaded rod and is in threaded fit with the second threaded rod;
the extension coated net is two sets of and the symmetry setting that the structure is the same is in snatch claw both sides, every group the extension coated net all includes:
the two ends of the movable rod piece are respectively provided with an elastic rope connected to the grabbing claws, and the movable rod piece, the elastic ropes and the grabbing claws are mutually connected to form a closed ring structure;
a wrapping net connected to the inside of the closed loop structure;
a first swing rod, one end of which is hinged on the side surface of the grabbing claw, and the other end of which is hinged on the movable rod piece;
the strip-shaped assembling opening is formed in the side surface of the grabbing claw and communicated with the assembling inner cavity;
and one end of the second swing rod extends into the assembly inner cavity from the strip-shaped assembly opening and is hinged to the outer side surface of the second nut pair, and the other end of the second swing rod is hinged to the movable rod piece.
Preferably, the pick-up portion includes a liquid sample loading mechanism, the liquid sample loading mechanism including:
the loading cylinder is provided with openings at the upper end and the lower end, one end of the loading cylinder is butted and communicated with the through-center pipeline and is detachably connected with the through-center pipeline through the quick butting mechanism, the other end of the loading cylinder is buckled with a sealing cover body, the end face of one end, butted with the through-center pipeline, of the loading cylinder is provided with the first butting structure, and one end, opposite to the first annular limit, of the first limiting ring in the first butting structure is coaxially connected to the end face of one end, butted with the through-center pipeline, of the loading cylinder;
one end of each third driving rod is connected to the sealing cover body, the other end of each third driving rod is connected with a second butt joint disc, the second butt joint discs and the loading barrel are coaxially arranged, the second butt joint disc is provided with the second butt joint mechanism, the end, opposite to the second annular limiting position, of each second limiting ring in the second butt joint mechanism is coaxially connected to the second butt joint disc, and the third driving rods are at least two groups with the same structure and are arranged in parallel;
and a third guide supporting cylinder, which is coaxially sleeved on the third driving rod, the outer side surface of the third guide supporting cylinder is fixedly connected to the outer side surface of the loading cylinder, the third driving rod slides in the third guide supporting cylinder, and the third guide supporting cylinder is at least two groups with the same structure and is arranged in a one-to-one correspondence manner between the third driving rods.
The invention has the following beneficial effects:
the marine environment monitoring device of the invention captures the sample which needs to be used for environment monitoring work in the sea by the negative pressure type capturing mechanism loaded by the submersible, and the combined driving mechanism synchronously drives the negative pressure generating part and the picking part to operate, so that the negative pressure is generated by the negative pressure generating part under the driving of the combined driving mechanism to enable the sample to move towards the picking part and be picked by the picking part, the success rate of the picking part for picking the sample is improved, the situation that the sample cannot be captured due to the fact that the sample is taken away by water flow when the picking part picks the sample is avoided, and the fast butt joint mechanism is combined to enable the picking part and the combined driving mechanism to be fast butted, so as to achieve the effect of conveniently replacing the picking parts with different functions, and then the picking part equipment matched with the solid sample and the liquid sample can be conveniently and fast converted, the working efficiency is improved, and the sample can be captured more accurately so as to facilitate the marine environment monitoring work.
Drawings
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
FIG. 1 is a schematic structural diagram of a marine environmental monitoring device of the present invention;
FIG. 2 is a schematic view of a combined drive mechanism of the marine environmental monitoring apparatus of the present invention;
FIG. 3 is a schematic view of a solid sample capture mechanism of the marine environmental monitoring device of the present invention;
FIG. 4 is a schematic view of an extendable cover net mechanism of the marine environmental monitoring device of the present invention;
FIG. 5 is a schematic view of a liquid sample loading mechanism of the marine environmental monitoring device of the present invention;
FIG. 6 is a schematic view of a first docking structure of the marine environmental monitoring apparatus of the present invention;
FIG. 7 is a schematic view of a second docking mechanism of the marine environmental monitoring device of the present invention;
FIG. 8 is an enlarged view of A of FIG. 1 of the marine environmental monitoring device of the present invention;
FIG. 9 is an enlarged view of B in FIG. 1 of the marine environmental monitoring device of the present invention.
The reference numerals in the figures denote:
1. a submersible; 2. a hollow pipeline; 3. a piston; 4. a first support ring; 5. a first annular projection; 6. a waterproof assembly box; 7. a support pillar; 8. a first waterproof motor; 9. a first threaded rod; 10. a coupling plate; 11. a first nut pair; 12. a first drive lever; 13. a first guide support cylinder; 14. a second drive lever; 15. a second guide support cylinder; 16. a second support ring; 17. a second annular projection; 18. a first limit ring; 19. a first annular limit; 20. a first arcuate opening; 21. a first limit swing rod; 22. a first lock drive ring; 23. a first pulling projection; 24. a first lock drive lever; 25. a second stop collar; 26. a second stop collar; 27. a second arcuate opening; 28. a second limit swing rod; 29. a second lock drive ring; 30. a second pulling projection; 31. a second lock drive lever; 32. a circular ring-shaped support plate; 33. a grabbing claw; 34. a first section of transmission rod; 35. a second section of transmission rod; 36. a first docking tray; 37. assembling the opening; 38. assembling the opening; 39. a strip plate; 40. a suction cup; 41. a limiting plate; 42. a support screw; 43. a compression spring; 44. adjusting the nut; 45. assembling an inner cavity; 46. a second waterproof motor; 47. a second threaded rod; 48. a second nut pair; 49. moving the rod; 50. an elastic cord; 51. a wrapping net; 52. a first swing link; 53. a strip-shaped assembly port; 54. a second swing link; 55. a loading cartridge; 56. sealing the cover body; 57. a third drive lever; 58. a second docking tray; 59. and a third guide support cylinder.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-9, a marine environmental monitoring apparatus, comprising a submersible vehicle 1, wherein the submersible vehicle 1 is conventional equipment known to those skilled in the art, and may be replaced by other conventional underwater equipment, such as floating rafts and other ships, to carry out underwater sampling at shallow water positions, mainly plays a role in carrying the negative pressure type catching mechanism to move underwater, the underwater sample capturing device can carry the negative pressure type capturing mechanism to move underwater to the underwater sample to be captured for capturing, therefore, the working functions of detection, shooting, image transmission, control and the like of the submersible 1 are all the prior art and the common knowledge, not detailed here, the device further comprises a negative pressure type capturing mechanism arranged on the submersible 1 and used for capturing a sample for monitoring the marine environment, wherein the negative pressure type capturing mechanism at least comprises a negative pressure generating part, a picking part and a combined driving mechanism;
the combined driving mechanism drives the negative pressure generating part and the picking part to run synchronously, and the negative pressure generating part generates negative pressure under the driving of the combined driving mechanism so as to enable the sample to move towards the picking part and the picking part picks up the sample;
wherein a quick butt joint mechanism is arranged between the picking part and the combined driving mechanism so as to enable the picking part and the combined driving mechanism to be detachably connected.
In summary, the device captures a sample which needs to be used for environmental monitoring work in the ocean by loading the negative pressure type capturing mechanism on the submersible 1, and the combined driving mechanism synchronously drives the negative pressure generating part and the picking part to operate, so that the negative pressure is generated by the negative pressure generating part under the driving of the combined driving mechanism to enable the sample to move towards the picking part and be picked by the picking part, the success rate of the picking part when the sample is picked by the picking part is improved, the situation that the sample cannot be captured due to the fact that the sample is taken away by water flow when the sample is picked by the picking part is avoided, and the fast butt joint mechanism is combined to enable the picking part and the combined driving mechanism to be fast butted so as to achieve the effect of conveniently replacing the picking parts with different functions, so that the picking part equipment matched with solid sample sampling and liquid sample sampling can be conveniently and fast converted, and the working efficiency is improved, and can more accurately catch the sample so as to facilitate the marine environment monitoring work.
Further, the negative pressure generating part includes:
a hollow pipeline 2 which is of a hollow pipeline structure;
and a piston 3 which is piston-moved within the through-tube 2;
one end of the through pipe 2 is provided with a first supporting ring 4, and the outer edge of the first supporting ring 4 is annularly provided with a first annular bulge 5.
Specifically, negative pressure generation portion is with the form of piston motion, make piston 3 piston motion in logical heart pipeline 2, make the position department of picking up the portion produce the negative pressure so that water flows to the position department of picking up the portion with the mode of extraction vacuum, then make water flow drive directional good sample and remove the position department of picking up the portion and can't break away from the constraint, meanwhile, under the effect of joint drive mechanism, make negative pressure generation portion and pick up the portion and carry out work simultaneously, so that the sample removes the portion of picking up and picks up the sample when picking up the position department, improve the sample and pick up the precision, improve work efficiency, avoid leading to many times because the sample picks up the operation inaccurate, also avoid wasting ineffectively to the energy, also improve marine environment monitoring work efficiency. The first supporting ring 4 and the first annular protrusion 5 are used for enabling the through pipe 2 to be in quick butt joint connection with a quick butt joint mechanism of the same size, so that the working efficiency is improved, and the pickup parts of different structures and functions can be replaced conveniently.
Further, the combined drive mechanism includes:
the waterproof assembly box 6 is connected to the end, opposite to the first support ring 4, of the through pipe 2 through the support column 7, namely the waterproof assembly box 6 is connected to the through pipe 2 through the support column 7, the waterproof assembly box 6 and the support column 7 are connected with the through pipe 2, the waterproof assembly box 6 and the support column 7 can be mounted and connected to the submersible 1 through the waterproof assembly box 6 and the support column 7, and the waterproof assembly box can be fixedly connected through a bolt connection mode or a flange connection mode;
a first waterproof motor 8 which is provided in the waterproof mounting box 6 and is combined with self-memory waterproofing by the waterproof mounting box 6 to be usable under water;
one end of a first threaded rod 9 extends into the waterproof assembly box 6 and is coaxially connected with the rotating end of the first waterproof motor 8, the other end of the first threaded rod coaxially extends into the through pipe 2 and is rotatably connected to the inner wall of the through pipe 2 through a bearing, and the first threaded rod 9 is rotatably connected with the waterproof assembly box 6 through a bearing;
a first nut pair 11 penetrates through the center of the connecting plate 10, and a first threaded rod 9 penetrates through the connecting plate 10 and is in threaded fit with the first nut pair 11;
two ends of the first driving rods 12 are respectively connected to the connecting plate 10 and the piston 3, and the first driving rods 12 are at least two groups with the same structure and are arranged in parallel;
the first guide supporting cylinders 13 are coaxially sleeved on the first driving rods 12, the outer side surfaces of the first guide supporting cylinders 13 are fixedly connected to the inner side surfaces of the through-center pipelines 2, the first driving rods 12 slide in the first guide supporting cylinders 13, and the first guide supporting cylinders 13 are at least two groups with the same structure and are arranged corresponding to the first driving rods 12 one by one;
a second driving rod 14, one end of which is fixedly connected to the connecting plate 10 and is positioned outside the through-center pipeline 2, and the first supporting rings 4 are at least two groups with the same structure and are arranged in parallel;
the second guide supporting cylinders 15 are coaxially sleeved on the second driving rods 14, the outer side surfaces of the second guide supporting cylinders 15 are fixedly connected to the outer side surfaces of the through-center pipelines 2, the second driving rods 14 slide in the second guide supporting cylinders 15, and the second guide supporting cylinders 15 are at least two groups with the same structure and are arranged corresponding to the second driving rods 14 one by one;
a second support ring 16 is connected to an end of the second driving rod 14 opposite to the connecting plate 10, the second support ring 16 is disposed around the outer side of the through pipe 2, and a second annular protrusion 17 is disposed around an outer edge of the second support ring 16. The second support ring 16 and the second annular projection 17 are used to enable the second driving rod 14 in the combined driving mechanism to realize a quick butt connection with a quick butt mechanism of the same size, so as to improve the working efficiency and facilitate the replacement of the pickup part with different structures and functions.
Specifically, in the use process, the first threaded rod 9 is driven to rotate by the first waterproof motor 8, the first nut pair 11 is fixedly arranged on the connecting plate 10 and cannot rotate, then the first threaded rod 9 rotates and the first nut pair 11 moves the connecting plate 10 along the axis extending direction of the first threaded rod 9 through threaded fit, at the moment, the connecting plate 10 moves to simultaneously drive the first driving rod 12 to move and slide in the first guide supporting cylinder 13 and the second driving rod 14 to move and slide in the second guide supporting cylinder 15, wherein the first driving rod 12 moves to drive the piston 3 to move in the through-center pipeline 2, and the second driving rod 14 moves to drive the second supporting ring 16 to move and drive the picking part to operate in combination with the quick docking mechanism.
Furthermore, the quick butt joint mechanism comprises a first butt joint structure and a second butt joint mechanism;
the first abutment structure may be connected to the first annular projection 5 on the first support ring 4;
the second docking mechanism may be connected to a second annular protrusion 17 on the second support ring 16.
Further, the first docking structure includes:
the first limiting ring 18, the outer surface of one end of the first limiting ring 18 is provided with a first annular limiting 19;
the first arc-shaped openings 20 are a plurality of groups with the same structure and are uniformly distributed on the first limiting ring 18 in the circumferential direction;
a first limit swing rod 21, one end of which is hinged on the surface of the inner side of the first arc-shaped opening 20;
the first locking driving ring 22 is coaxially sleeved on the first limiting ring 18, and a plurality of first pulling bulges 23 are uniformly distributed on the outer side surface of the first locking driving ring 22 in the circumferential direction;
and the first locking driving rods 24 are multiple groups with the same structure and are circumferentially and uniformly distributed on the inner side surface of the first locking driving ring 22, the multiple groups of the first locking driving rods 24 and the first limiting swing rods 21 in the multiple groups of the first arc-shaped openings 20 are arranged in a one-to-one correspondence manner, one end of each first locking driving rod 24 is hinged to the inner side surface of the first locking driving ring 22, and the other end of each first locking driving rod 24 is hinged to one end of each first limiting swing rod 21, which is hinged to the inner side surface of the first arc-shaped opening 20 in the opposite direction.
Specifically, the first driving ring 22 is conveniently driven to rotate relative to the first limiting ring 18 by manually pushing the protruding structure of the first pulling protrusion 23, at this time, the first annular limiting ring 19 plays a role in limiting the first driving ring 22, and the first driving ring 22 is prevented from being separated from the first limiting ring 18, at this time, the first driving ring 22 rotates to drive the first driving rod 24 to move and drive the first limiting swing rod 21 to swing in the first arc-shaped opening 20, so that the first limiting swing rod 21 plays a role in limiting the first annular protrusion 5 when swinging to the first annular protrusion 5 on the first supporting ring 4, and then the effect of limiting connection and preventing separation can be played.
Further, the second docking mechanism includes:
a second limiting ring 25, wherein a second annular limiting 26 is arranged on the outer side surface of one end of the second limiting ring 25;
the second arc-shaped openings 27 are a plurality of groups with the same structure and are uniformly distributed on the second limiting ring 25 in the circumferential direction;
a second limit swing rod 28, one end of which is hinged on the inner side surface of the second arc-shaped opening 27;
the second locking driving ring 29 is coaxially sleeved on the second limiting ring 25, and a plurality of second pulling bulges 30 are uniformly distributed on the outer side surface of the second locking driving ring 29 in the circumferential direction;
and the second locking driving rods 31 are multiple groups with the same structure and are circumferentially and uniformly distributed on the inner side surface of the second locking driving ring 29, the multiple groups of second locking driving rods 31 and the second limiting swing rods 28 in the multiple groups of second arc-shaped openings 27 are arranged in a one-to-one correspondence manner, one end of each second locking driving rod 31 is hinged to the inner side surface of the second locking driving ring 29, and the other end of each second locking driving rod 31 is hinged to one end, opposite to the end hinged to the inner side surface of the second arc-shaped opening 27, of the second limiting swing rod 28.
Specifically, the second lock driving ring 29 is conveniently driven to rotate relative to the second limit ring 25 by manually pushing the protrusion structure of the second pulling protrusion 30, at this time, the second annular limit 26 plays a role in limiting the second lock driving ring 29, so as to prevent the second lock driving ring 29 from being separated from the second limit ring 25, at this time, the second lock driving ring 29 rotates to drive the second lock driving rod 31 to move and drive the second limit swing rod 28 to swing in the second arc-shaped opening 27, so that the second limit swing rod 28 plays a role in limiting the second annular protrusion 17 when swinging to the second annular protrusion 17 on the second support ring 16, and then the limiting connection and separation prevention effects can be played.
Further, the pick-up portion includes a solid sample gripping mechanism, the solid sample gripping mechanism including:
an annular support disk 32;
the grabbing claws 33 are multiple groups of the same structure and are circumferentially and uniformly distributed on the outer side surface of the circular ring-shaped supporting plate 32, and one end of each grabbing claw 33 is hinged to the outer side surface of the circular ring-shaped supporting plate 32;
a first-stage transmission rod 34, one end of which is hinged to the middle position of the grabbing claw 33;
a second section of the driving rod 35 is hinged at one end to the first section of the driving rod 34 opposite to the end of the gripping claw 33.
The first butt joint disc 36 is connected to the second section of the transmission rod 35 and is opposite to one end of the first section of the transmission rod 34 and is arranged corresponding to the second support ring 16, and the first butt joint disc 36 and the circular support disc 32 are coaxially arranged;
the first docking plate 36 is provided with a second docking mechanism, and one end of the second limiting ring 25 opposite to the second annular limiting ring 26 in the second docking mechanism is coaxially connected to the annular supporting plate 32.
Specifically, the first docking plate 36 is connected to the second driving rod 14 through the second docking mechanism in the above-mentioned manner, and then can drive the second section of driving rod 35 to move to push the first section of driving rod 34 to move under the driving of the combined driving mechanism, and then drive the grabbing claws 33 hinged on the outer side surface of the circular ring-shaped supporting plate 32 to perform a swinging motion, at this time, the multiple grabbing claws 33 swing simultaneously to form a claw-shaped grabbing gesture to grab the solid sample, under the effect of joint drive mechanism, make negative pressure generation portion and pick up the portion and carry out work simultaneously to pick up the portion and pick up the sample when the sample moves to pick up a position department, improve the sample and pick up the precision, improve work efficiency, avoid because the sample picks up inaccurate and lead to picking up the operation many times, also avoid wasting the ineffectiveness of the energy, also improve marine environment monitoring work efficiency.
Further, when snatching some fixed object samples, inevitably need snatch the sample of different volumes and morphological characteristics, sometimes the unable fine maintenance of claw form tongs is to the state of snatching of sample, make the sample slippage very easily, need to adjust solid sample this moment and snatch the elasticity degree of snatching of mechanism to solid sample and make it have the further fixed function to the sample, solid sample snatchs the mechanism and still includes adjustable sucker structure, adjustable sucker structure is the same multiunit of structure and snatchs the one-to-one setting between the claw 33 with the multiunit, adjustable sucker structure includes:
a fitting opening 37 opened at one end of the grasping claw 33 away from the annular support plate 32;
a rectangular support frame 38 inserted into the fitting opening 37 and sliding in the fitting opening 37;
the middle position of the strip-shaped plate 39 is hinged with the middle position of the upper end part of the rectangular supporting frame 38, one end of the rectangular supporting frame 38, which is provided with the strip-shaped plate 39, faces the direction of the grabbing claw 33 to carry out grabbing movement, the strip-shaped plate 39 is provided with a plurality of suckers 40, and the suckers 40 are uniformly distributed along the extension direction of the axis of the strip-shaped plate 39;
a stopper plate 41 fixedly attached to an inner side surface of the fitting opening 37 and located inside the rectangular support frame 38;
a support screw 42, one end of which is fixedly connected to the inner side surface of one end of the rectangular support frame 38 provided with the strip-shaped plate 39, the other end of which passes through the rectangular support frame 38 and extends out of the rectangular support frame 38, and one end of the support screw 42 extending out of the rectangular support frame 38 passes through the limit plate 41;
a compression spring 43 coaxially sleeved on the support screw 42 and located between the limiting plate 41 and one end of the rectangular support frame 38 where the strip-shaped plate 39 is arranged;
and an adjusting nut 44 coaxially fitted around the end of the support screw 42 extending out of the rectangular support frame 38 and threadedly engaged with the support screw 42.
Specifically, through the thread fit between the adjusting nut 44 and the supporting screw 42, the adjusting nut 44 is screwed to adjust the length of the supporting screw 42 to pull the rectangular supporting frame 38 to extend out of the assembling opening 37, then the length of the supporting frame 38 to support the strip-shaped plate 39 and the sucker 40 to the sample is adjusted, then the tightness of the sample clamped by the supporting frame is adjusted, meanwhile, the compression spring 43 is always in a compressed state under the limiting action of the limiting plate 41 to play a role of constantly compressing the sample, the elasticity of the compression spring can adapt to the clamping of objects with different volumes within a certain range, the universality of the solid sample grabbing mechanism is improved, meanwhile, the plurality of suckers 40 on the strip-shaped plate 39 can keep the sample grabbing capacity through being adsorbed on the sample, the fixed samples in a smooth state and the like which cannot be well clamped by a claw-shaped structure are avoided, and meanwhile, the strip-shaped plate 39 is hinged with the rectangular supporting frame 38, can rotate relatively in certain angle within range, make strip shaped plate 39 can come better laminating on the sample through the certain angle of swing under sample characteristic shape and form then, improve and snatch stability and fixed stability.
Further, when grabbing some fine or loose fixed object samples, the claw-shaped grab cannot well maintain the grabbing state of the samples, so that the samples can easily slip or loosen, at this time, it is necessary to adjust the grabbing mode of the solid sample grabbing mechanism to the solid samples and make the solid sample grabbing mechanism have a better and more accurate capturing function to the samples, so that the solid sample grabbing mechanism further comprises an extensible covering net mechanism, the extensible covering net mechanism is a plurality of groups with the same structure and is arranged in a one-to-one correspondence manner with the plurality of groups of grabbing claws 33, and the extensible covering net mechanism comprises:
an assembly cavity 45 formed inside the grasping claw 33;
a second waterproof motor 46 disposed inside the fitting cavity 45;
a second threaded rod 47 rotatably disposed inside the assembly cavity 45 through a bearing and coaxially connected with a rotation end of the second waterproof motor 46;
a second nut pair 48 coaxially sleeved on the second threaded rod 47 and in threaded fit with the second threaded rod 47;
the extension coated net, it is two sets of and the symmetry setting that the structure is the same snatchs claw 33 both sides, and every extension coated net of group all includes:
the two ends of the movable rod member 49 are respectively provided with an elastic rope 50 connected to the grabbing claws 33, and the movable rod member 49, the elastic rope 50 and the grabbing claws 33 are mutually connected to form a closed ring structure;
a wrapping net 51 connected to the inside of the closed loop structure;
a first swing link 52 having one end hinge-connected to a side surface of the grasping claw 33 and the other end hinge-connected to the moving lever 49;
a bar-shaped fitting opening 53 opened on a side surface of the grasping claw 33 and communicating with the fitting inner chamber 45;
and a second swing link 54 having one end extended into the fitting cavity 45 from the bar-shaped fitting opening 53 and hinge-coupled to the outer side surface of the second nut pair 48 and the other end hinge-coupled to the moving bar 49.
Specifically, the two sides of the grabbing claw 33 are provided with extending wrapping nets, the moving rod 49, the elastic ropes 50 and the grabbing claw 33 are connected with each other to form a closed ring structure, the wrapping nets 51 are supported and unfolded to achieve the function of wrapping loose and fine objects, and the mesh size degree of the wrapping nets 51 is selected correspondingly according to the size of solid particles. When the elastic rope packaging machine is used specifically, the second waterproof motor 46 in the assembling inner cavity 45 is started and drives the second threaded rod 47 to rotate, at the moment, the second nut pair 48 is connected with the second swing rod 54 of the strip-shaped assembling opening 53, so that the second nut pair 48 cannot rotate, the second threaded rod 47 rotates to drive the second nut pair 48 to move along the extending direction of the axis of the second threaded rod 47, the second swing rod 54 is driven to support the moving rod 49, meanwhile, the first swing rod 52 swings along with the movement of the moving rod 49 until the elastic rope 50 is unfolded and straightened, and the packaging net 51 is unfolded for use.
Further, the pickup portion includes a liquid sample loading mechanism, and the liquid sample loading mechanism includes:
the loading barrel 55 is provided with openings at the upper end and the lower end of the loading barrel 55, one opening at one end of the loading barrel 55 is butted and communicated with the through-center pipeline 2 and is detachably connected with the through-center pipeline 2 through a quick butting mechanism, the other end of the loading barrel 55 is buckled with a sealing cover body 56, a first butting structure is arranged on the end face of one end, butted with the through-center pipeline 2, of the loading barrel 55, and one end, opposite to the first annular limit 19, of a first limit ring 18 in the first butting structure is coaxially connected to the end face of one end, butted with the through-center pipeline 2, of the loading barrel 55;
one end of each third driving rod 57 is connected to the seal cover body 56, the other end of each third driving rod 57 is connected to a second docking plate 58, the second docking plate 58 and the loading barrel 55 are coaxially arranged, a second docking mechanism is arranged on each second docking plate 58, the end, opposite to the second annular limiting ring 26, of a second limiting ring 25 in each second docking mechanism is coaxially connected to the second docking plate 58, and the third driving rods 57 are at least two groups of the same structure and are arranged in parallel;
and the third guiding support cylinders 59 are coaxially sleeved on the third driving rods 57, the outer side surfaces of the third guiding support cylinders 59 are fixedly connected to the outer side surfaces of the loading cylinder 55, the third driving rods 57 slide in the third guiding support cylinders 59, and the third guiding support cylinders 59 are at least two groups with the same structure and are arranged corresponding to the third driving rods 57 one by one.
Specifically, the third driving rod 57 in the liquid sample loading mechanism supports the sealing cover 56 to move through the guide of the third guide supporting cylinder 59 so as to perform the sealing opening and closing of the opening at one end of the loading cylinder 55, while the second docking tray 58 on the third driving rod 57 is connected to the second driving rod 14 in the combined driving mechanism through the second docking mechanism, so that the combined driving mechanism can drive the negative pressure generating part to operate, and drive the sealing cover 56 to move so as to perform the opening and closing of the opening at one end of the loading cylinder 55, at this time, the other end of the loading cylinder 55 is docked and communicated with the through-core tube 2 through the first docking structure, and in combination with the negative pressure generated at the through-core tube 2 in the negative pressure generating part, the liquid sample is filled into the loading cylinder 55, and at the same time, the third driving rod 57 supports the sealing cover 56 to move so as to perform the sealing of the opening of the loading cylinder 55, the loading of the sample is then completed.
It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications therefrom are within the scope of the invention.
Claims (10)
1. The marine environment monitoring device comprises a submersible vehicle (1) and is characterized by further comprising a negative pressure type capturing mechanism arranged on the submersible vehicle (1) and used for capturing a sample for marine environment monitoring, wherein the negative pressure type capturing mechanism at least comprises a negative pressure generating part, a picking part and a combined driving mechanism;
the negative pressure generating part and the picking part are synchronously driven to operate by the combined driving mechanism, and negative pressure is generated by the negative pressure generating part under the driving of the combined driving mechanism so as to enable the sample to move towards the picking part and be picked by the picking part;
and a quick butt joint mechanism is arranged between the picking part and the combined driving mechanism so as to enable the picking part and the combined driving mechanism to be detachably connected.
2. The marine environmental monitoring device of claim 1, wherein the negative pressure generating portion comprises:
the hollow pipeline (2) is of a hollow pipeline structure;
and a piston (3) which is piston-movable within the through-tube (2);
one end of the through pipe (2) is provided with a first supporting ring (4), and a first annular bulge (5) is annularly arranged on the outer edge of the first supporting ring (4).
3. The marine environmental monitoring device of claim 2, wherein the combined drive mechanism comprises:
the waterproof assembly box (6) is connected to the end, opposite to the first support ring (4), of the through pipe (2) through a support column (7);
a first waterproof motor (8) arranged inside the waterproof assembly box (6);
one end of the first threaded rod (9) extends into the waterproof assembly box (6) and is coaxially connected with the rotating end of the first waterproof motor (8), the other end of the first threaded rod coaxially extends into the through pipe (2) and is rotatably connected to the inner wall of the through pipe (2) through a bearing, and the first threaded rod (9) is rotatably connected with the waterproof assembly box (6) through a bearing;
the center of the connecting plate (10) is provided with a first nut pair (11) in a penetrating mode, and the first threaded rod (9) penetrates through the connecting plate (10) and is in threaded fit with the first nut pair (11);
the two ends of the first driving rods (12) are respectively connected to the connecting plate (10) and the piston (3), and the first driving rods (12) are at least two groups with the same structure and are arranged in parallel;
the first guide supporting cylinders (13) are coaxially sleeved on the first driving rods (12), the outer side surfaces of the first guide supporting cylinders (13) are fixedly connected to the inner side surfaces of the through-center pipelines (2), the first driving rods (12) slide in the first guide supporting cylinders (13), and the first guide supporting cylinders (13) are at least two groups with the same structure and are arranged in one-to-one correspondence with the first driving rods (12);
the second driving rod (14) is fixedly connected to the connecting plate (10) at one end and is positioned outside the through-center pipeline (2), and the first supporting rings (4) are at least two groups with the same structure and are arranged in parallel;
the second guide supporting cylinders (15) are coaxially sleeved on the second driving rods (14), the outer side surfaces of the second guide supporting cylinders (15) are fixedly connected to the outer side surfaces of the through-center pipelines (2), the second driving rods (14) slide in the second guide supporting cylinders (15), and the second guide supporting cylinders (15) are at least two groups with the same structure and are arranged in one-to-one correspondence with the second driving rods (14);
one end, opposite to the connecting plate (10), of the second driving rod (14) is connected with a second support ring (16), the second support ring (16) is arranged on the outer side of the through pipe (2) in a surrounding mode, and a second annular bulge (17) is arranged on the outer edge of the second support ring (16) in a surrounding mode.
4. The marine environmental monitoring device of claim 3, wherein the quick docking mechanism comprises a first docking structure and a second docking mechanism;
the first abutment structure being connectable to the first annular projection (5) on the first support ring (4);
the second docking mechanism may be connected to the second annular projection (17) on the second support ring (16).
5. The marine environmental monitoring device of claim 4, wherein the first docking structure comprises:
the outer side surface of one end of the first limiting ring (18) is provided with a first annular limiting ring (19);
the first arc-shaped openings (20) are multiple groups of same structures and are uniformly distributed on the first limiting ring (18) in the circumferential direction;
a first limit swing rod (21), one end of which is hinged on the inner side surface of the first arc-shaped opening (20);
the first locking driving ring (22) is coaxially sleeved on the first limiting ring (18), and a plurality of first pulling bulges (23) are uniformly distributed on the outer side surface of the first locking driving ring (22) in the circumferential direction;
and the first locking driving rods (24) are multiple groups with the same structure and are circumferentially and uniformly distributed on the inner side surface of the first locking driving ring (22), the multiple groups of first locking driving rods (24) and the multiple groups of first limiting swing rods (21) in the first arc-shaped opening (20) are correspondingly arranged one by one, one end of each first locking driving rod (24) is hinged to the inner side surface of the first locking driving ring (22), and the other end of each first locking driving rod (24) is hinged to one end, opposite to the end hinged to the inner side surface of the first arc-shaped opening (20), of the first limiting swing rod (21).
6. The marine environmental monitoring device of claim 4, wherein the second docking mechanism comprises:
the outer side surface of one end of the second limiting ring (25) is provided with a second annular limiting ring (26);
the second arc-shaped openings (27) are multiple groups of same structures and are uniformly distributed on the second limiting ring (25) in the circumferential direction;
a second limit swing rod (28), one end of which is hinged on the inner side surface of the second arc-shaped opening (27);
the second locking driving ring (29) is coaxially sleeved on the second limiting ring (25), and a plurality of second pulling bulges (30) are uniformly distributed on the outer side surface of the second locking driving ring (29) in the circumferential direction;
and the second locking driving rods (31) are multiple groups with the same structure and are circumferentially and uniformly distributed on the inner side surface of the second locking driving ring (29), the multiple groups of second locking driving rods (31) and the multiple groups of second limiting swing rods (28) in the second arc-shaped opening (27) are correspondingly arranged one by one, one end of each second locking driving rod (31) is hinged to the inner side surface of the second locking driving ring (29), and the other end of each second locking driving rod (31) is hinged to one end, opposite to the end hinged to the inner side surface of the second arc-shaped opening (27), of the second limiting swing rod (28).
7. The marine environmental monitoring device of claim 5, wherein the pick-up comprises a solid sample gripping mechanism comprising:
an annular support disc (32);
the grabbing claws (33) are multiple groups of same structures and are circumferentially and uniformly distributed on the outer side surface of the circular ring-shaped supporting plate (32), and one end of each grabbing claw (33) is hinged to the outer side surface of the circular ring-shaped supporting plate (32);
a first section of transmission rod (34) with one end hinged to the middle position of the grabbing claw (33);
and a second section of transmission rod (35) with one end hinged to one end of the first section of transmission rod (34) opposite to the grabbing claw (33).
The first butt joint disc (36) is connected to the second section of the transmission rod (35) and is opposite to one end of the first section of the transmission rod (34) and is arranged corresponding to the second support ring (16), and the first butt joint disc (36) and the circular support disc (32) are coaxially arranged;
the first butt joint disc (36) is provided with the second butt joint mechanism, and one end, opposite to the second annular limiting ring (26), of the second limiting ring (25) in the second butt joint mechanism is coaxially connected to the annular support disc (32).
8. The marine environment monitoring device of claim 7, wherein the solid sample gripping mechanism further comprises adjustable sucker structures, the adjustable sucker structures are arranged in a plurality of groups with the same structure and correspond to the plurality of groups of gripping claws (33) one by one, and the adjustable sucker structures comprise:
a fitting opening (37) which is provided at one end of the gripping claw (33) which is remote from the annular support plate (32);
a rectangular support frame (38) inserted into the fitting opening (37) and sliding in the fitting opening (37);
the middle part of the strip-shaped plate (39) is hinged with the middle part of the upper end part of the rectangular supporting frame (38), one end, provided with the strip-shaped plate (39), of the rectangular supporting frame (38) faces the direction of grabbing motion of the grabbing claw (33), a plurality of suckers (40) are arranged on the strip-shaped plate (39), and the suckers (40) are uniformly distributed along the axial extension direction of the strip-shaped plate (39);
a position-limiting plate (41) fixedly attached to an inside surface of the fitting opening (37) and located inside the rectangular support frame (38);
one end of the supporting screw rod (42) is fixedly connected to the inner side surface of one end part, provided with the strip-shaped plate (39), of the rectangular supporting frame (38), the other end of the supporting screw rod penetrates through the rectangular supporting frame (38) and extends out of the rectangular supporting frame (38), and one end, extending out of the rectangular supporting frame (38), of the supporting screw rod (42) penetrates through the limiting plate (41);
the compression spring (43) is coaxially sleeved on the supporting screw rod (42) and is positioned between the limiting plate (41) and one end part, provided with the strip-shaped plate (39), of the rectangular supporting frame (38);
and the adjusting nut (44) is coaxially sleeved at one end, extending out of the rectangular supporting frame (38), of the supporting screw rod (42) and is in threaded fit with the supporting screw rod (42).
9. The marine environment monitoring device of claim 7, wherein the solid sample gripping mechanism further comprises extendable cover mechanisms, the extendable cover mechanisms are multiple groups of the same structure and are arranged in one-to-one correspondence with the multiple groups of gripping claws (33), and the extendable cover mechanisms comprise:
a fitting cavity (45) formed inside the grasping claw (33);
a second waterproof motor (46) arranged inside the assembly inner cavity (45);
the second threaded rod (47) is rotatably arranged in the assembly inner cavity (45) through a bearing and is coaxially connected with the rotating end of the second waterproof motor (46);
the second nut pair (48) is coaxially sleeved on the second threaded rod (47) and is in threaded fit with the second threaded rod (47);
the extending coated nets are two groups with the same structure and are symmetrically arranged on two sides of the grabbing claw (33), and each group of the extending coated nets comprises:
the two ends of the movable rod piece (49) are respectively provided with an elastic rope (50) connected to the grabbing claws (33), and the movable rod piece (49), the elastic ropes (50) and the grabbing claws (33) are mutually connected to form a closed ring structure;
a wrapping net (51) attached inside the closed loop structure;
a first swing link (52) having one end hinged to a side surface of the gripping claw (33) and the other end hinged to the moving lever (49);
a strip-shaped assembly opening (53) which is opened on the side surface of the grabbing claw (33) and is communicated with the assembly inner cavity (45);
and a second swing rod (54), one end of which extends into the assembly inner cavity (45) from the strip-shaped assembly opening (53) and is hinged on the outer side surface of the second nut pair (48), and the other end of which is hinged on the movable rod piece (49).
10. The marine environmental monitoring device of claim 3, wherein the pick-up comprises a liquid sample loading mechanism comprising:
the loading barrel (55) is provided with openings at the upper end and the lower end, one end opening of the loading barrel (55) is butted and communicated with the through-center pipeline (2) and is detachably connected with the through-center pipeline (2) through the quick butt joint mechanism, a sealing cover body (56) is buckled at the other end of the loading barrel (55), the end face of one end, butted with the through-center pipeline (2), of the loading barrel (55) is provided with the first butt joint structure, one end, opposite to the first annular limit (19), of the first limit ring (18) in the first butt joint structure is coaxially connected to the end face of one end, butted with the through-center pipeline (2), of the loading barrel (55);
one end of each third driving rod (57) is connected to the sealing cover body (56), the other end of each third driving rod is connected with a second butt joint disc (58), the second butt joint discs (58) and the loading barrel (55) are coaxially arranged, the second butt joint disc (58) is provided with a second butt joint mechanism, the end, opposite to the second annular limiting ring (26), of the second limiting ring (25) in the second butt joint mechanism is coaxially connected to the second butt joint discs (58), and the third driving rods (57) are at least two groups of the same structure and are arranged in parallel;
and a third guide support cylinder (59) coaxially sleeved on the third drive rod (57), wherein the outer side surface of the third guide support cylinder (59) is fixedly connected to the outer side surface of the loading cylinder (55), the third drive rod (57) slides in the third guide support cylinder (59), and the third guide support cylinder (59) is at least two groups with the same structure and is arranged in a one-to-one correspondence manner between the third drive rods (57).
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116394292A (en) * | 2023-06-07 | 2023-07-07 | 黑龙江大学 | Mechanical gripper for underwater robot |
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