CN114813231A - High-success-rate rotary excavation type sludge sampling device based on unmanned ship - Google Patents
High-success-rate rotary excavation type sludge sampling device based on unmanned ship Download PDFInfo
- Publication number
- CN114813231A CN114813231A CN202210397707.5A CN202210397707A CN114813231A CN 114813231 A CN114813231 A CN 114813231A CN 202210397707 A CN202210397707 A CN 202210397707A CN 114813231 A CN114813231 A CN 114813231A
- Authority
- CN
- China
- Prior art keywords
- frame
- claw
- unmanned ship
- success
- sampling device
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 239000010802 sludge Substances 0.000 title claims abstract description 75
- 238000005070 sampling Methods 0.000 title claims abstract description 74
- 238000009412 basement excavation Methods 0.000 title claims abstract description 45
- 210000000078 claw Anatomy 0.000 claims abstract description 116
- 238000007789 sealing Methods 0.000 claims abstract description 82
- 230000005540 biological transmission Effects 0.000 claims abstract description 17
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 abstract description 10
- 238000000034 method Methods 0.000 abstract description 5
- 230000009471 action Effects 0.000 description 5
- 230000008901 benefit Effects 0.000 description 4
- 230000008859 change Effects 0.000 description 4
- 238000009434 installation Methods 0.000 description 4
- 230000007246 mechanism Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000005553 drilling Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 239000000725 suspension Substances 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 230000002452 interceptive effect Effects 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000011084 recovery Methods 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 235000017166 Bambusa arundinacea Nutrition 0.000 description 1
- 235000017491 Bambusa tulda Nutrition 0.000 description 1
- 241001330002 Bambuseae Species 0.000 description 1
- 235000015334 Phyllostachys viridis Nutrition 0.000 description 1
- 239000011425 bamboo Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002146 bilateral effect Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/02—Devices for withdrawing samples
- G01N1/10—Devices for withdrawing samples in the liquid or fluent state
- G01N1/12—Dippers; Dredgers
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Hydrology & Water Resources (AREA)
- Physics & Mathematics (AREA)
- Health & Medical Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- General Physics & Mathematics (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Earth Drilling (AREA)
- Investigation Of Foundation Soil And Reinforcement Of Foundation Soil By Compacting Or Drainage (AREA)
Abstract
The invention relates to the technical field of unmanned ship equipment, in particular to a high-success-rate rotary excavation type sludge sampling device based on an unmanned ship. The method comprises the following steps: the upper end of the frame is connected with a hoisting rope, the frame is rotatably provided with a digging claw, a sealing cover is arranged at an opening of a cavity of the digging claw, and one end, far away from the digging claw, of the sealing cover is rotatably fixed on the frame; a sealing box is fixed on the frame, a driving motor is arranged in the sealing box, a driving shaft penetrates through the sealing box, the driving motor is in transmission connection with the driving shaft, and the driving shaft is in transmission connection with the digging claw; the sealing cover is pressed at the opening of the digging claw by the elasticity of the spring. The invention completes sampling, overturning and sealing through one driving device, has a simple control system, can ensure that sampling sludge is not washed away by water flow, and improves sampling efficiency and sampling success rate.
Description
Technical Field
The invention relates to the technical field of unmanned ship equipment, in particular to a high-success-rate rotary excavation type sludge sampling device based on an unmanned ship.
Background
The unmanned ship is a full-automatic water surface robot which can navigate on water surface according to a preset task without remote control by means of precise satellite positioning and self sensing, and English is abbreviated as USV. Water quality detection and underwater sludge sampling are carried out by the unmanned ship, and the method is an important field in the application technology of the unmanned ship.
For example, Chinese patent publication numbers are: CN208902462U, a disclosed two grab bucket formula layering silt sampling device based on unmanned ship, current silt sample grab bucket, it all is the back-off setting usually, after the grab bucket snatched silt, still be the back-off and the opening chamber does not seal, because the submarine condition is complicated, the undercurrent swirl etc. probably appears, rivers mobility is stronger, the grab bucket snatch silt and is washed away by rivers very easily, leads to the sample failure.
The Chinese patent with the patent number of CN 110346176A discloses a double grab bucket type layered sludge sampling device based on an unmanned ship, and provides the following technical scheme: the cable comprises a cable, fixedly connected with balancing weight on the cable, the first connecting lug of fixedly connected with on the cable, the bottom side fixedly connected with seal box of first connecting lug, fixed mounting has driving motor in the seal box, driving motor's output fixedly connected with threaded rod, the bottom of threaded rod is connected with first drill barrel through drive mechanism, threaded connection has the screw thread piece on the threaded rod, screw thread piece bilateral symmetry fixedly connected with connecting rod, the connecting rod is connected with first drill barrel through stop gear, the bottom side of first drill barrel is equipped with the sawtooth, one side fixedly connected with fixed block of balancing weight, it is connected with the leading wheel to rotate on the fixed block, the left side fixedly connected with second connecting lug of seal box, fixedly connected with steel cable on the second connecting lug. In the invention, after a sealing box is put into water through a cable, the cable is ensured to be in a vertical state under the action of a balancing weight, then a threaded rod is driven to rotate through a driving motor, a threaded block slides downwards under the limiting condition of a limiting plate, so that a first drill cylinder is driven to feed downwards under the connecting action of a connecting rod, a rectangular block slides relatively in a rectangular groove, a transmission rod is also driven to rotate through the threaded rod, a sleeve is driven to rotate under the rectangular matching of the rectangular block and the rectangular groove, the first drill cylinder rotates downwards while doing feed motion, the drilling work of sludge is realized, after the sludge drilling work is finished, a connecting steel rope is collected through a driving mechanism on an unmanned ship, the sealing box is pulled under the guiding action of a guide wheel, so that the first drill cylinder rotates 180 degrees gradually, and the first drill cylinder is inverted, prevent that sample silt from being washed away by the water-washed, just can obtain the silt sample of different depth layers according to the degree of depth of first bore a section of thick bamboo, convenient to use.
According to the invention, the first drill cylinder is inverted by additionally arranging the driving mechanism, so that the sampled sludge is prevented from being washed away by water. Has the following disadvantages: on one hand, a driving mechanism is additionally arranged, so that the overall control complexity of the device is high; on the other hand, the drilling cylinder is not sealed, and the sampled sludge still runs off; in addition, when the sampling device disclosed by the invention contacts with sampling sludge after being drained, the device is difficult to ensure to be vertically inserted in the underwater sludge, and when the device is inclined, the effectiveness of sampling cannot be ensured.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides the high-success-rate type rotary excavation type sludge sampling device based on the unmanned ship, the control system is simple, the sampled sludge can be ensured not to be washed away by water flow, and the sampling efficiency and the sampling success rate are improved.
In order to achieve the purpose, the invention is realized by the following technical scheme: the utility model provides a high success rate type gyration excavation formula silt sampling device based on unmanned ship, includes: the upper end of the frame is connected with a hoisting rope, the frame is rotatably provided with a digging claw, a sealing cover is arranged at an opening of a cavity of the digging claw, and one end of the sealing cover, which is far away from the digging claw, is rotatably fixed on the frame; a sealing box is fixed on the frame, a driving motor is arranged in the sealing box, a driving shaft penetrates through the sealing box, the driving motor is in transmission connection with the driving shaft, and the driving shaft is in transmission connection with the digging claw; the sealing cover is pressed at the opening of the digging claw by the elasticity of the spring.
In the above device, the high success rate type rotary excavation type sludge sampling device based on the unmanned ship of the invention comprises the following working steps:
1. the hoisting rope on the unmanned ship is fixed at the upper end of the frame, when the unmanned ship reaches a specified sampling area, the frame is put down by a driving device connected with the hoisting rope on the unmanned ship, and the frame naturally sinks and is placed on the sludge;
2. starting a driving motor, driving the digging claw to rotate for a circle by the driving motor, and ejecting a sealing cover by the digging claw during the rotation to finish sludge sampling, wherein the sealing cover automatically rebounds and resets under the action of a spring, and finally the sealing cover is still covered at the opening of the claw cavity of the digging claw;
3. and a hoisting and pulling driving device on the unmanned ship hoists the frame through hoisting and pulling extension to finish recovery.
Preferably, a tension sensor is arranged at one end of the hoisting rope far away from the frame, the tension of the hoisting rope is detected in the process of sinking the frame, the measured value of the tension sensor is reduced, namely, the frame is sunk above the sludge, and the controller can feed back a signal for starting the driving motor. The high-success-rate rotary excavation type sludge sampling device based on the unmanned ship completes sampling, overturning and sealing through the driving device, is simple in control system, can ensure that sampled sludge is not washed away by water flow, and improves sampling efficiency and sampling success rate.
Preferably, the sealing cover is provided with a sealing convex edge, the shape of the sealing convex edge is matched with that of the edge of the binding surface of the digging claw, and the sealing performance between the digging claw and the sealing cover can be ensured.
Further, the high-success-rate rotary excavation type sludge sampling device based on the unmanned ship is characterized in that the section shape of a claw cavity of the digging claw is formed by connecting and enclosing a large arc line, a small arc line and a straight line section end to end, the small arc line is inscribed in the large arc line, the straight line section is tangent to the small arc line, and the large arc line is perpendicular to the straight line section through a tangent line of an intersection point of the large arc line and the straight line section; the rotation center of the digging claw is superposed with the circle center of the great circular arc line; the opening position of the claw cavity of the digging claw corresponds to the linear section. As a preferable scheme of the invention, the outer wall of the digging claw is matched with the shape of the claw cavity, the part of the digging claw corresponding to the large arc line is used for inserting and digging out silt, and the area of the digging claw cavity corresponding to the small arc line is mainly used for storing the silt. And the rotation center of the digging claw coincides with the circle center of the great arc line, so that the direction of the digging claw inserting the sludge is the same as the moving direction of the digging claw, and the resistance applied when the digging claw rotates to grab the sludge can be reduced. The overall structure is reasonable.
Further, a high success rate type gyration excavation formula silt sampling device based on unmanned ship, the whole rectangular bodily form frame that is of frame, including rectangular underframe and top frame, be fixed with a set of bracing piece between underframe and the top frame, the bracing piece is connected underframe and top frame. As a preferable scheme of the invention, the frame has the advantages of simple structure and light weight, and the bottom frame can ensure the distance between the digging claw and the sludge when the bottom frame sinks to the sludge, thereby ensuring the effectiveness of the digging claw in rotating and grabbing the sludge. Preferably, the sealing box is fixed on the top frame. The rotating pivot of the sealing cover is arranged on a pair of supporting rods, and one end of the spring, which is far away from the sealing cover, is fixed on the top frame. And a group of pins are fixed below the bottom frame. The counter-acting force for preventing the digging claw from grabbing the silt is arranged to push the whole frame to generate displacement.
Further, a high success rate type gyration excavation formula silt sampling device based on unmanned ship, dig the claw and set up in the underframe top, when dig claw downwardly rotating to straightway perpendicular to underframe, dig claw chamber opening in underframe below. As the preferable scheme of the invention, the effectiveness of grabbing the sludge is ensured, and ineffective claw taking is prevented.
Further, a high success rate type gyration excavation formula silt sampling device based on unmanned ship, it is provided with the sprocket shaft to rotate on the frame, dig the claw and fix on the sprocket shaft, the epaxial claw both sides of digging of sprocket are fixed with a pair of first sprocket, correspond first sprocket, be fixed with the second sprocket in the drive shaft, second sprocket and first sprocket pass through chain drive and connect. As a preferable scheme of the invention, the accuracy of the rotation angle can be ensured by adopting chain wheel-chain transmission.
Furthermore, the high-success-rate rotary excavation type sludge sampling device based on the unmanned ship is characterized in that the top frame is connected with a pair of guide wheels, and two sides of the chain are respectively attached to the pair of guide wheels. As a preferable scheme of the invention, the guide wheel is arranged to change the path of the chain and prevent the chain from being spatially interfered with the spring. The installation space can be reduced, and the compactness of the unmanned ship-based high-success-rate rotary excavation type sludge sampling device is improved.
Furthermore, the high-success-rate rotary excavation type sludge sampling device based on the unmanned ship is characterized in that a moving groove is formed in the top frame, at least one guide wheel is arranged in the moving groove, and the guide wheel arranged in the moving groove can adjust the transverse position in the moving groove. As a preferable aspect of the present invention, the lateral positioning of the guide wheel disposed in the moving slot may be accomplished by the screw-lock nut fit to secure the degree of tensioning of the chain.
Furthermore, the high-success-rate rotary excavation type sludge sampling device based on the unmanned ship is characterized in that a balance weight is fixed on the top frame. As a preferable scheme of the invention, the gravity center of the unmanned ship-based high-success-rate rotary excavation type sludge sampling device is deviated to one side of the sealing cover, so that the counterweight balance block is arranged on the top frame, the gravity center is ensured to be on the geometric center line of the frame before sampling, and the sludge sampling device is prevented from toppling over when placed on sludge after launching.
Further, a high success rate type gyration excavation formula silt sampling device based on unmanned ship, be fixed with a pair of spacing backer on the frame, spacing backer tip extends to set up sealed lid and the binding face one side of digging the claw, corresponds spacing backer the frame both sides are fixed with the horizontal pole. As the preferred scheme of the invention, the resetting accuracy of the sealing cover is ensured, so that the sealing effect is ensured.
Further, a high success rate type gyration excavation formula silt sampling device based on unmanned ship, still include rings, rings are fixed in the frame top, correspond it is equipped with the suspension loop frame to extend on the top frame, hang and draw the rope connection on rings. In a preferred embodiment of the present invention, the suspension ring is used for connecting a suspension pull rope.
The technical scheme shows that the invention has the following beneficial effects:
1. the invention provides a high-success-rate rotary excavation type sludge sampling device based on an unmanned ship, which completes sampling, overturning and sealing through a driving device, has a simple control system, can ensure that sampled sludge is not washed away by water flow, and improves the sampling efficiency and the sampling success rate.
2. The invention provides a high-success-rate rotary excavation type sludge sampling device based on an unmanned ship. And the rotation center of the digging claw coincides with the circle center of the great arc line, so that the direction of the digging claw inserting the sludge is the same as the moving direction of the digging claw, and the resistance applied when the digging claw rotates to grab the sludge can be reduced. The overall structure is reasonable.
3. The invention provides a high-success-rate rotary excavation type sludge sampling device based on an unmanned ship, the frame has the advantages of simple structure and light weight, and the bottom frame can ensure the distance between the digging claw and sludge when the bottom frame sinks to the sludge, so that the effectiveness of the digging claw in rotating and grabbing the sludge is ensured.
4. The invention provides a high-success-rate rotary excavation type sludge sampling device based on an unmanned ship, which can ensure the accuracy of a rotation angle by adopting chain wheel-chain transmission. And, set up the guide pulley and change the route of chain, prevent that chain and spring from producing the interference in space. The installation space can be reduced, and the compactness of the unmanned ship-based high-success-rate rotary excavation type sludge sampling device is improved.
Drawings
FIG. 1 is a schematic three-dimensional structure diagram of a high-success-rate rotary excavation type sludge sampling device based on an unmanned ship;
FIG. 2 is a schematic plan view of a high-success-rate slewing excavation-type sludge sampling device based on an unmanned ship according to the present invention;
FIG. 3 is a cross-sectional view taken along line A-A of FIG. 2;
FIG. 4 is a cross-sectional view taken along line B-B of FIG. 2;
FIG. 5 is a schematic diagram of the rotation operation of the unmanned ship-based high-success-rate rotary excavation type sludge sampling device according to the present invention;
fig. 6 is a geometrical diagram of the digging claw of the unmanned ship-based high-success-rate rotary excavation type sludge sampling device of the present invention.
In the figure: 1-a frame; 11-the bottom frame; 111-pin; 12-a top frame; 121-a guide wheel; 122-a mobile slot; 123-a counterbalance weight; 13-a support bar; 14-a cross-bar; 141-limit backer; 15-lifting ring frame; 151-hoisting ring; 2-digging a claw; 201-large arc line; 202-small circular arc; 203-straight line segment; 3-sealing the cover; 31-a spring; 32-sealing convex edge; 4-sealing the box; 41-driving motor; 42-a drive shaft; 421-a second sprocket; 5-sprocket shaft; 51-a first sprocket; 9-hanging and pulling the rope.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be considered as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, unless otherwise specified, "a plurality" means two or more unless explicitly defined otherwise.
In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
Example 1
Referring to fig. 1 to 4, the unmanned ship-based high-success-rate rotary excavation type sludge sampling device comprises a frame 1, in this embodiment, the frame 1 is a rectangular frame as a whole, and comprises a rectangular bottom frame 11 and a rectangular top frame 12, a set of support rods 13 is fixed between the bottom frame 11 and the top frame 12, and the support rods 13 are connected with the bottom frame 11 and the top frame 12.
The upper end of the frame 1 is connected with a hoisting rope 9, the frame 1 is rotatably provided with a digging claw 2, an opening of a claw cavity of the digging claw 2 is provided with a sealing cover 3, and one end of the sealing cover 3, which is far away from the digging claw 2, is rotatably fixed on the frame 1; a sealing box 4 is fixed on the frame 1, a driving motor 41 is arranged in the sealing box 4, a driving shaft 42 penetrates through the sealing box 4, the driving motor 41 is in transmission connection with the driving shaft 42, and the driving shaft 42 is in transmission connection with the digging claw 2; the sealing device further comprises a spring 31, one end of the spring 31 is connected to one side, away from the rotating center, of the sealing cover 3, the other end of the spring 31 is fixed on the frame 1, and the sealing cover 3 is pressed at the opening of the digging claw 2 by the elastic force of the spring 31. In this embodiment, the lifting device further comprises a lifting ring 151, the lifting ring 151 is fixed above the frame 1, a lifting ring frame 15 extends from the corresponding top frame 12, and the lifting rope 9 is connected to the lifting ring 151.
Based on the above structure, the present embodiment provides a high success rate type gyration excavation formula silt sampling device based on unmanned ship, its working procedure is:
1. a lifting rope 9 on the unmanned ship is fixed at the upper end of the frame 1, when the unmanned ship reaches a specified sampling area, a driving device connected with the lifting rope 9 on the unmanned ship puts down the frame 1, and the frame 1 naturally sinks and is placed on sludge;
2. starting the driving motor 41, driving the digging claw 2 to rotate for a circle by the driving motor 41, wherein the digging claw 2 jacks the sealing cover 3 to finish sludge sampling, the sealing cover 3 automatically rebounds and resets under the action of a spring, and finally the sealing cover 3 is covered on the opening of the claw cavity of the digging claw 2;
3. and a hoisting and pulling driving device on the unmanned ship hoists the frame 1 through hoisting and pulling extension to finish recovery.
Preferably, a tension sensor may be disposed at an end of the hoist rope 9 away from the frame 1, the tension of the hoist rope 9 is detected during the sinking process of the frame 1, the value measured by the tension sensor decreases, that is, the frame 1 sinks above the sludge, and the controller may send a signal for starting the driving motor 41 in a feedback manner. The high-success-rate type rotation excavation type sludge sampling device based on the unmanned ship has the advantages that sampling, overturning and sealing are completed through the driving device, the control system is simple, sampling sludge can be guaranteed not to be washed away by water flow, and sampling efficiency and sampling success rate are improved.
The sealing cover 3 is provided with a sealing convex edge 32, and the shape of the sealing convex edge 32 is adapted to the shape of the edge of the binding surface of the digging claw 2. As can be seen from the drawings, in the present embodiment, the digging claw 2 is reversely buckled on the sealing cover 3 at the initial position, so that the digging claw 2 has a downward pressure on the sealing cover 3, which causes the digging claw to generate a gap with the side edge of the sealing cover, therefore, the sealing convex edge 32 is arranged to make up the gap, thereby ensuring the sealing performance between the digging claw 2 and the sealing cover 3. Of course, the sealing cover is covered above the digging claw in the initial position, which can solve the above problems more effectively, but also belongs to the design idea of the design scheme of the invention.
In this embodiment, the seal box 4 is fixed to the top frame 12. The pivot of the sealing cover 3 is mounted on a pair of support rods 13, and one end of the spring 31 away from the sealing cover 3 is fixed on the top frame 12. In addition, a set of pins 111 is fixed under the bottom frame 11. The pins 111 are provided to prevent the reaction force of the claw 2 for catching the sludge from pushing the whole frame 1 to displace.
In this embodiment, the frame 1 is rotatably provided with a sprocket shaft 5, the digging claw 2 is fixed on the sprocket shaft 5, a pair of first sprockets 51 is fixed on the sprocket shaft 5 at two sides of the digging claw 2, a second sprocket 421 is fixed on the driving shaft 42 corresponding to the first sprockets 51, and the second sprocket 421 and the first sprockets 51 are connected through chain transmission. The accuracy of the rotation angle can be ensured by adopting chain wheel-chain transmission. A pair of guide wheels 121 is connected to the top frame 12, and both sides of the chain are respectively attached to the pair of guide wheels 121. Guide pulley 121 is provided to change the path of the chain and prevent the chain from spatially interfering with spring 31. The installation space can be reduced, and the compactness of the unmanned ship-based high-success-rate rotary excavation type sludge sampling device is improved. The top frame 12 is provided with a moving groove 122, at least one guide wheel 121 is disposed in the moving groove 122, and the guide wheel 121 disposed in the moving groove 122 can adjust a lateral position in the moving groove 122. The lateral positioning of guide wheel 121 disposed in moving slot 122 can be accomplished by screw-lock nut engagement to ensure chain tension.
In this embodiment, a counterweight 123 is fixed to the top frame 12. The high success rate type gyration excavation formula silt sampling device focus of this embodiment is partial to sealed 3 one side of covering based on unmanned ship, consequently sets up counter weight balancing piece 123 on top frame 12, guarantees before the sample, and the focus is on the geometric centre line of frame 1, prevents to launch the back, takes place to empty when arranging in on the silt.
In addition, a pair of limit buttresses 141 are fixed on the frame 1, the end parts of the limit buttresses 141 extend to one side of the contact surface of the sealing cover 3 and the digging claw 2, and a cross bar 14 is fixed on two sides of the frame 1 corresponding to the limit buttresses 141. The accuracy of the reset of the sealing cover 3 is ensured, thereby ensuring the sealing effect.
Example 2
Referring to fig. 1 to 4, the unmanned ship-based high-success-rate rotary excavation type sludge sampling device comprises a frame 1, in this embodiment, the frame 1 is a rectangular frame as a whole, and comprises a rectangular bottom frame 11 and a rectangular top frame 12, a set of support rods 13 is fixed between the bottom frame 11 and the top frame 12, and the support rods 13 are connected with the bottom frame 11 and the top frame 12.
The upper end of the frame 1 is connected with a hoisting rope 9, the frame 1 is rotatably provided with a digging claw 2, an opening of a claw cavity of the digging claw 2 is provided with a sealing cover 3, and one end of the sealing cover 3, which is far away from the digging claw 2, is rotatably fixed on the frame 1; a sealing box 4 is fixed on the frame 1, a driving motor 41 is arranged in the sealing box 4, a driving shaft 42 penetrates through the sealing box 4, the driving motor 41 is in transmission connection with the driving shaft 42, and the driving shaft 42 is in transmission connection with the digging claw 2; the sealing device further comprises a spring 31, one end of the spring 31 is connected to one side, away from the rotating center, of the sealing cover 3, the other end of the spring 31 is fixed on the frame 1, and the sealing cover 3 is pressed at the opening of the digging claw 2 by the elastic force of the spring 31. In this embodiment, the lifting device further comprises a lifting ring 151, the lifting ring 151 is fixed above the frame 1, a lifting ring frame 15 extends from the corresponding top frame 12, and the lifting rope 9 is connected to the lifting ring 151.
In this embodiment, the seal box 4 is fixed to the top frame 12. The pivot of the sealing cover 3 is mounted on a pair of support rods 13, and one end of the spring 31 away from the sealing cover 3 is fixed on the top frame 12. In addition, a set of pins 111 is fixed under the bottom frame 11. The pins 111 are provided to prevent the reaction force of the claw 2 for catching the sludge from pushing the whole frame 1 to displace.
In this embodiment, the frame 1 is rotatably provided with a chain wheel shaft 5, the digging claw 2 is fixed on the chain wheel shaft 5, a pair of first chain wheels 51 is fixed on two sides of the digging claw 2 on the chain wheel shaft 5, a second chain wheel 421 is fixed on the driving shaft 42 corresponding to the first chain wheels 51, and the second chain wheel 421 is connected with the first chain wheels 51 through chain transmission. The accuracy of the rotation angle can be ensured by adopting chain wheel-chain transmission. A pair of guide wheels 121 is connected to the top frame 12, and both sides of the chain are respectively attached to the pair of guide wheels 121. Guide pulley 121 is provided to change the path of the chain and prevent the chain from spatially interfering with spring 31. The installation space can be reduced, and the compactness of the unmanned ship-based high-success-rate rotary excavation type sludge sampling device is improved. Wherein, the top frame 12 is provided with a moving groove 122, at least one guide wheel 121 is arranged in the moving groove 122, and the guide wheel 121 arranged in the moving groove 122 can adjust the transverse position in the moving groove 122. The transverse positioning of guide wheel 121 disposed in translation slot 122 can be accomplished by a screw-lock nut fit to ensure chain tension.
In this embodiment, a counterweight 123 is fixed to the top frame 12. The high success rate type gyration excavation formula silt sampling device focus of this embodiment is partial to sealed 3 one side of covering based on unmanned ship, consequently sets up counter weight balancing piece 123 on top frame 12, guarantees before the sample, and the focus is on the geometric centre line of frame 1, prevents to launch the back, takes place to empty when arranging in on the silt.
In addition, a pair of limit buttresses 141 are fixed on the frame 1, the end parts of the limit buttresses 141 extend to one side of the contact surface of the sealing cover 3 and the digging claw 2, and a cross bar 14 is fixed on two sides of the frame 1 corresponding to the limit buttresses 141. The accuracy of the reset of the sealing cover 3 is ensured, thereby ensuring the sealing effect.
Referring to fig. 6, in this embodiment, a cross-sectional shape of a claw cavity of the claw 2 is defined by connecting a large arc line 201, a small arc line 202 and a straight line segment 203 end to end, the small arc line 202 is inscribed in the large arc line 201, the straight line segment 203 is tangent to the small arc line 202, and the large arc line 201 is perpendicular to the straight line segment 203 through a tangent line of an intersection point of the large arc line 201 and the straight line segment 203; the rotation center of the digging claw 2 is superposed with the circle center of the great arc line 201; the claw cavity opening position of the digging claw 2 corresponds to the straight line segment 203. The outer wall of the digging claw 2 is matched with the shape of the claw cavity.
Based on the structure, compared with the embodiment 1, the digging claw 2 is used for inserting and digging out the sludge corresponding to the large arc line 201, and the area of the claw cavity of the digging claw 2 corresponding to the small arc line 202 is mainly used for storing the sludge. Moreover, the rotation center of the digging claw 2 is superposed with the circle center of the large arc line 201, so that the direction of the digging claw 2 inserted into the sludge is the same as the movement direction of the digging claw, and the resistance force applied when the digging claw 2 rotates to grab the sludge can be reduced. The overall structure is reasonable.
In addition, as shown in fig. 5, in the present embodiment, the claw 2 is disposed above the bottom frame 11, and when the claw 2 is rotated downward until the straight line segment 203 is perpendicular to the bottom frame 11, the claw 2 opens into the bottom frame 11. Therefore, the effectiveness of grabbing the sludge can be guaranteed, and ineffective claw taking is prevented.
The technical principles of the present invention have been described above in connection with specific embodiments, which are intended to explain the principles of the present invention and should not be construed as limiting the scope of the present invention in any way. Based on the explanations herein, those skilled in the art will be able to conceive of other embodiments of the present invention without inventive effort, which would fall within the scope of the present invention.
Claims (10)
1. The utility model provides a high success rate type gyration excavation formula silt sampling device based on unmanned ship which characterized in that: the lifting device comprises a frame (1), wherein a lifting rope (9) is connected to the upper end of the frame (1), a digging claw (2) is rotatably arranged on the frame (1), a sealing cover (3) is arranged at an opening of a claw cavity of the digging claw (2), and one end, far away from the digging claw (2), of the sealing cover (3) is rotatably fixed on the frame (1); a sealing box (4) is fixed on the frame (1), a driving motor (41) is arranged in the sealing box (4), a driving shaft (42) penetrates through the sealing box (4), the driving motor (41) is in transmission connection with the driving shaft (42), and the driving shaft (42) is in transmission connection with the digging claw (2); the novel digging claw structure is characterized by further comprising a spring (31), one end of the spring (31) is connected to one side, far away from the rotating center, of the sealing cover (3), the other end of the spring (31) is fixed on the frame (1), and the sealing cover (3) is pressed at an opening of the digging claw (2) by the elastic force of the spring (31).
2. The unmanned ship based high-success-rate slewing excavation type sludge sampling device of claim 1, wherein: the section shape of a claw cavity of the digging claw (2) is formed by connecting a large arc line (201), a small arc line (202) and a straight line section (203) end to end in a surrounding manner, the small arc line (202) is internally tangent to the large arc line (201), the straight line section (203) is tangent to the small arc line (202), and a tangent line of the large arc line (201) at the intersection point of the large arc line (201) and the straight line section (203) is perpendicular to the straight line section (203); the rotation center of the digging claw (2) is superposed with the circle center of the large arc line (201); the opening position of the claw cavity of the digging claw (2) corresponds to the straight line segment (203).
3. The unmanned ship based high-success-rate slewing excavation type sludge sampling device of claim 2, wherein: the frame (1) is a rectangular frame integrally, and comprises a rectangular bottom frame (11) and a top frame (12), a group of supporting rods (13) are fixed between the bottom frame (11) and the top frame (12), and the supporting rods (13) are connected with the bottom frame (11) and the top frame (12).
4. The unmanned ship based high-success-rate slewing excavation type sludge sampling device of claim 3, wherein: the digging claw (2) is arranged above the bottom frame (11), and when the digging claw (2) rotates downwards to a straight line section (203) which is vertical to the bottom frame (11), a claw cavity of the digging claw (2) is opened below the bottom frame (11).
5. The unmanned ship based high-success-rate slewing excavation type sludge sampling device of claim 4, wherein: rotate on frame (1) and be provided with sprocket shaft (5), dig claw (2) and fix on sprocket shaft (5), dig claw (2) both sides on sprocket shaft (5) and be fixed with a pair of first sprocket (51), correspond first sprocket (51), be fixed with second sprocket (421) on drive shaft (42), second sprocket (421) and first sprocket (51) are connected through chain drive.
6. The unmanned ship based high-success-rate slewing excavation type sludge sampling device of claim 5, wherein: the top frame (12) is connected with a pair of guide wheels (121), and two sides of the chain are respectively attached to the pair of guide wheels (121).
7. The unmanned ship based high-success-rate slewing excavation type sludge sampling device of claim 6, wherein: the top frame (12) is provided with a moving groove (122), at least one guide wheel (121) is arranged in the moving groove (122), and the guide wheel (121) arranged in the moving groove (122) can adjust the transverse position in the moving groove (122).
8. The unmanned ship based high-success-rate slewing excavation type sludge sampling device of claim 1, wherein: and a counterweight balance block (123) is fixed on the top frame (12).
9. The unmanned ship based high-success-rate slewing excavation type sludge sampling device of claim 1, wherein: a pair of limiting supports (141) are fixed on the frame (1), the end portions of the limiting supports (141) extend to be arranged on one sides of the sealing covers (3) and the binding surfaces of the digging claws (2), and cross rods (14) are fixed on two sides of the frame (1) and correspond to the limiting supports (141).
10. The unmanned ship based high-success-rate slewing excavation type sludge sampling device according to any one of claims 1 to 9, wherein: the lifting device is characterized by further comprising a lifting ring (151), wherein the lifting ring (151) is fixed above the frame (1), a lifting ring frame (15) extends on the corresponding top frame (12), and the lifting rope (9) is connected to the lifting ring (151).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210397707.5A CN114813231B (en) | 2022-04-15 | 2022-04-15 | High-success-rate rotary excavation type sludge sampling device based on unmanned ship |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210397707.5A CN114813231B (en) | 2022-04-15 | 2022-04-15 | High-success-rate rotary excavation type sludge sampling device based on unmanned ship |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114813231A true CN114813231A (en) | 2022-07-29 |
| CN114813231B CN114813231B (en) | 2023-11-24 |
Family
ID=82536721
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210397707.5A Active CN114813231B (en) | 2022-04-15 | 2022-04-15 | High-success-rate rotary excavation type sludge sampling device based on unmanned ship |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114813231B (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20160169772A1 (en) * | 2014-12-12 | 2016-06-16 | Nicolas Olmedo | Soft soil sampling device and system |
| CN107063759A (en) * | 2017-03-29 | 2017-08-18 | 青岛罗博飞海洋技术有限公司 | A kind of Electronic control underwater sampling device |
| CN109163934A (en) * | 2018-10-15 | 2019-01-08 | 北京林业大学 | Bottom sampler |
| CN208902462U (en) * | 2018-07-17 | 2019-05-24 | 江苏华创检测技术服务有限公司 | A kind of double grab types layering mud sampling apparatus based on unmanned boat |
| CN110346176A (en) * | 2019-06-28 | 2019-10-18 | 江苏大成航空科技有限公司 | A kind of double grab types layering mud sampling apparatus based on unmanned boat |
| CN210400933U (en) * | 2019-06-13 | 2020-04-24 | 黄淮学院 | Water system sediment sampling device |
| WO2022014823A1 (en) * | 2020-07-15 | 2022-01-20 | 한국해양과학기술원 | Apparatus for collecting surface sediments |
| CN215640339U (en) * | 2021-07-01 | 2022-01-25 | 深圳鳍源科技有限公司 | Mud taking device and underwater robot |
| CN216247356U (en) * | 2021-11-04 | 2022-04-08 | 河北绿之梦环保科技有限公司 | Multipurpose natural water body detection sampling device |
-
2022
- 2022-04-15 CN CN202210397707.5A patent/CN114813231B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20160169772A1 (en) * | 2014-12-12 | 2016-06-16 | Nicolas Olmedo | Soft soil sampling device and system |
| CN107063759A (en) * | 2017-03-29 | 2017-08-18 | 青岛罗博飞海洋技术有限公司 | A kind of Electronic control underwater sampling device |
| CN208902462U (en) * | 2018-07-17 | 2019-05-24 | 江苏华创检测技术服务有限公司 | A kind of double grab types layering mud sampling apparatus based on unmanned boat |
| CN109163934A (en) * | 2018-10-15 | 2019-01-08 | 北京林业大学 | Bottom sampler |
| CN210400933U (en) * | 2019-06-13 | 2020-04-24 | 黄淮学院 | Water system sediment sampling device |
| CN110346176A (en) * | 2019-06-28 | 2019-10-18 | 江苏大成航空科技有限公司 | A kind of double grab types layering mud sampling apparatus based on unmanned boat |
| WO2022014823A1 (en) * | 2020-07-15 | 2022-01-20 | 한국해양과학기술원 | Apparatus for collecting surface sediments |
| CN215640339U (en) * | 2021-07-01 | 2022-01-25 | 深圳鳍源科技有限公司 | Mud taking device and underwater robot |
| CN216247356U (en) * | 2021-11-04 | 2022-04-08 | 河北绿之梦环保科技有限公司 | Multipurpose natural water body detection sampling device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114813231B (en) | 2023-11-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN114137175A (en) | Movable river water quality monitoring device | |
| CN210142010U (en) | Groundwater sampling device for hydrogeology | |
| CN114813231A (en) | High-success-rate rotary excavation type sludge sampling device based on unmanned ship | |
| CN116007986A (en) | Submarine sediment detection sampling device with horizontal correction function | |
| CN116142383A (en) | Marine environment monitoring device | |
| CN210719783U (en) | Hydraulic engineering underwater detection robot | |
| CN111521435A (en) | Deep water visual controllable light sediment columnar sampling system release mechanism and method | |
| CN208980248U (en) | A kind of guide tracked jacking system | |
| CN218067147U (en) | Sediment sampler | |
| CN214749029U (en) | Sampling device for petroleum geological exploration | |
| CN217738695U (en) | Underwater sediment and sludge exploration and sampling device | |
| CN213173716U (en) | Civil engineering uses high-efficient pile driver | |
| CN211034763U (en) | Offshore engineering shipborne reconnaissance equipment winding and unwinding devices for platform | |
| CN112422792A (en) | Safety equipment capable of protecting water falling camera | |
| CN109611047B (en) | Inclinometer rescue device | |
| CN218647161U (en) | Well for seismic monitoring | |
| CN220847738U (en) | Underwater pile foundation corrosion detection device | |
| CN116695752B (en) | Steel cofferdam and construction method thereof | |
| CN212780073U (en) | Automatic underwater back-silting sampling monitoring device | |
| CN217878293U (en) | Pipeline disease detection device | |
| CN218212137U (en) | Box-type mud sampler | |
| CN218766134U (en) | Water quality sampling device for different water levels of reservoir | |
| CN212568037U (en) | Deep water visual controllable light sediment column sampling system release mechanism | |
| CN212716484U (en) | Lifting type ground pulley device for steel wire operation | |
| CN214832748U (en) | Foundation pit supporting structure |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |