CN114813231B - 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
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- CN114813231B CN114813231B CN202210397707.5A CN202210397707A CN114813231B CN 114813231 B CN114813231 B CN 114813231B CN 202210397707 A CN202210397707 A CN 202210397707A CN 114813231 B CN114813231 B CN 114813231B
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- 239000010802 sludge Substances 0.000 title claims abstract description 80
- 238000005070 sampling Methods 0.000 title claims abstract description 75
- 238000009412 basement excavation Methods 0.000 title claims abstract description 45
- 210000000078 claw Anatomy 0.000 claims abstract description 124
- 238000007789 sealing Methods 0.000 claims abstract description 78
- 230000005540 biological transmission Effects 0.000 claims abstract description 18
- 230000000149 penetrating effect Effects 0.000 claims abstract description 5
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 abstract description 12
- 238000005553 drilling Methods 0.000 description 9
- 230000005484 gravity Effects 0.000 description 8
- 230000009471 action Effects 0.000 description 5
- 230000008859 change Effects 0.000 description 4
- 238000009434 installation Methods 0.000 description 4
- 230000007246 mechanism Effects 0.000 description 4
- 235000017166 Bambusa arundinacea Nutrition 0.000 description 3
- 235000017491 Bambusa tulda Nutrition 0.000 description 3
- 241001330002 Bambuseae Species 0.000 description 3
- 235000015334 Phyllostachys viridis Nutrition 0.000 description 3
- 239000011425 bamboo Substances 0.000 description 3
- 230000008901 benefit Effects 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000002452 interceptive effect Effects 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 2
- 230000008602 contraction Effects 0.000 description 2
- 238000000034 method Methods 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
- 239000000725 suspension Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002146 bilateral effect Effects 0.000 description 1
- 238000004891 communication Methods 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
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
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. Comprising the following steps: the lifting rope is connected to the upper end of the frame, a claw is rotatably arranged on the frame, a sealing cover is arranged at the opening of a claw cavity of the claw, and one end, far away from the claw, of the sealing cover is rotatably fixed on the frame; the frame is fixedly provided with a sealing box, a driving motor is arranged in the sealing box, a driving shaft is arranged on the sealing box in a penetrating mode, the driving motor is in transmission connection with the driving shaft, and the driving shaft is in transmission connection with the digging claw; the rotary claw digging device is characterized by further comprising a spring, wherein one end of the spring is connected to one side, far away from the rotary center, of the sealing cover, the other end of the spring is fixed on the frame, and the sealing cover is pressed at the opening of the claw by the elastic force of the spring. The invention completes sampling, overturning and sealing through the driving device, has simple control system, can ensure that the sampled sludge is not washed away by water flow, and improves the sampling efficiency and the 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 the water surface according to a preset task without remote control by means of accurate satellite positioning and self-sensing, and the English abbreviation is USV. The water quality detection is carried out by the unmanned ship, and the underwater silt sampling is an important field in the unmanned ship application technology.
The Chinese patent publication number is as follows: CN208902462U, a double grab bucket type layered sludge sampling device based on unmanned ship is disclosed, current sludge sampling grab bucket, all be the back-off setting generally, after the grab bucket snatches the silt, still be the back-off and open mouth is unsealed, because the submarine condition is complicated, can appear the undercurrent vortex etc. and rivers mobility is stronger, the grab bucket snatch silt is washed away by rivers very easily, leads to the sample failure.
The invention patent No. CN 110346176A discloses a double-grab layered sludge sampling device based on an unmanned ship, which provides the following technical scheme: including the cable, fixedly connected with balancing weight on the cable, fixedly connected with first engaging lug on the cable, the bottom fixedly connected with seal box of first engaging lug, fixedly mounted with driving motor in the seal box, driving motor's output fixedly connected with threaded rod, the bottom of threaded rod is connected with first section of thick bamboo that bores 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 section of thick bamboo that bores through stop gear, the bottom side of first section of thick bamboo that bores is equipped with the sawtooth, one side fixedly connected with fixed block of balancing weight, rotate on the fixed block and be connected with the leading wheel, the left side fixedly connected with second engaging lug of seal box, fixedly connected with connection steel cable on the second engaging lug. According to the invention, after the sealing box is placed into water through the cable, under the action of the balancing weight, the cable is in a vertical state, then the threaded rod is driven to rotate through the driving motor, the threaded block slides downwards under the limit condition of the limiting plate, so that the first drilling barrel is driven to feed downwards under the connection action of the connecting rod, the rectangular block slides relatively in the rectangular groove, and the threaded rod also drives the transmission rod to rotate, meanwhile, the sleeve is driven to rotate under the rectangular matching of the rectangular block and the rectangular groove, so that the first drilling barrel rotates downwards while carrying out feeding movement, the sludge drilling work is realized, after the sludge drilling work is finished, the connecting steel rope is retracted through the driving mechanism on the unmanned ship, the sealing box is pulled under the guiding action of the guiding wheel, so that the first drilling barrel rotates gradually by 180 degrees, the first drilling barrel is inverted, sampling sludge is prevented from being washed away by water, and samples of sludge in different depth layers can be obtained according to the depth of the first drilling barrel, and the sludge sampling device is convenient to use.
According to the invention, the first drilling cylinder is inverted by additionally arranging the driving mechanism, so that the sampled sludge is prevented from being washed away by water. The disadvantages are as follows: 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 has the condition of loss; in addition, when the sampling device is used for draining and then is contacted with sampling sludge, the device is difficult 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 in the prior art, the invention provides the high-success-rate rotary excavation type sludge sampling device based on the unmanned ship, which 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.
In order to achieve the above object, the present invention is realized by the following technical scheme: high success rate formula gyration excavation formula silt sampling device based on unmanned ship includes: the lifting rope is connected to the upper end of the frame, a claw is rotatably arranged on the frame, a sealing cover is arranged at the opening of a claw cavity of the claw, and one end, far away from the claw, of the sealing cover is rotatably fixed on the frame; the frame is fixedly provided with a sealing box, a driving motor is arranged in the sealing box, a driving shaft is arranged on the sealing box in a penetrating mode, the driving motor is in transmission connection with the driving shaft, and the driving shaft is in transmission connection with the digging claw; the rotary claw digging device is characterized by further comprising a spring, wherein one end of the spring is connected to one side, far away from the rotary center, of the sealing cover, the other end of the spring is fixed on the frame, and the sealing cover is pressed at the opening of the claw by the elastic force of the spring.
In the device, the high-success-rate rotary excavation type sludge sampling device based on the unmanned ship comprises the following working steps:
1. the lifting rope on the unmanned ship is fixed at the upper end of the frame, and when the unmanned ship reaches a designated sampling area, the driving device connected with the lifting rope on the unmanned ship puts down the frame, and the frame naturally sinks to be placed on the sludge;
2. starting a driving motor, driving the digging claw to rotate for one circle, pushing up the sealing cover by the digging claw during the period to finish sludge sampling, and automatically rebounding and resetting the sealing cover under the action of a spring, wherein the sealing cover is finally covered at the opening of the claw cavity of the digging claw;
3. and the lifting driving device on the unmanned ship lifts the frame through lifting expansion and contraction to complete recovery.
Preferably, a tension sensor can be arranged at one end of the lifting rope far away from the frame, tension of the lifting rope is detected in the sinking process of the frame, the measured value of the tension sensor is reduced, namely, the frame is submerged above the sludge, and the controller can feed back and send out a signal for starting the driving motor. According to the high-success-rate rotary excavation type sludge sampling device based on the unmanned ship, sampling, overturning and sealing are completed through the driving device, the control system is simple, the sampled sludge can be prevented from being washed away by water flow, and the sampling efficiency and the sampling success rate are improved.
Preferably, the sealing cover is provided with a sealing convex edge, and the sealing convex edge is adaptive to the edge shape of the joint surface of the digging claw, so that the sealing performance between the digging claw and the sealing cover can be ensured.
Further, the section shape of the claw cavity of the high-success-rate rotary excavation type sludge sampling device based on the unmanned ship is formed by connecting a large arc line, a small arc line and a straight line section end to end, the small arc line is internally tangent with the large arc line, the straight line section is tangent with the small arc line, and the large arc line is perpendicular to the straight line section beyond the tangent line of the intersection point of the large arc line and the straight line section; the rotation center of the digging claw is coincident with the center of the major arc line; the opening position of the claw cavity corresponds to the straight line section. As a preferable scheme of the invention, the outer wall of the digging claw is adapted to 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 the sludge, and the area of the digging claw cavity corresponding to the small arc line is mainly used for storing the sludge. And moreover, the rotation center of the digging claw coincides with the circle center of the large circular arc line, so that the direction of the force of the digging claw for inserting the silt is ensured to be the same as the movement direction of the digging claw, and the resistance of the digging claw when rotating to grab the silt can be reduced. The overall structure is reasonable.
Further, a high success rate formula gyration excavation formula silt sampling device based on unmanned ship, the frame is whole to be cuboid 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 is sunk on the sludge, so that the effectiveness of grabbing the sludge by the rotation of the digging claw is ensured. Preferably, the seal 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. A group of pins are fixed below the bottom frame. The setting of the pin prevents that the claw from snatching the reaction force of silt from moving the whole top of frame and producing the displacement.
Further, the high-success rate type rotary excavation type sludge sampling device based on the unmanned ship is characterized in that the claw is arranged above the bottom frame, and when the claw rotates downwards to a straight line segment perpendicular to the bottom frame, the claw cavity opening is arranged below the bottom frame. As a preferable scheme of the invention, the effectiveness of grabbing sludge is ensured, and invalid claw is prevented.
Further, a high success rate formula gyration excavation formula silt sampling device based on unmanned ship, rotate on the frame and be provided with the sprocket shaft, dig the claw and fix on the sprocket shaft, the sprocket shaft is last to be fixed with a pair of first sprocket in dig claw both sides, corresponds first sprocket, be fixed with the second sprocket on the drive shaft, second sprocket and first sprocket pass through chain drive and connect. As a preferred embodiment of the present invention, the accuracy of the rotation angle can be ensured by using sprocket-chain transmission.
Further, the high-success-rate rotary excavation type sludge sampling device based on the unmanned ship is characterized in that a pair of guide wheels are connected to the top frame, 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, so that the chain and the spring are prevented from interfering in space. The installation space can be reduced, and the compactness of the high-success-rate type rotary excavation type sludge sampling device based on the unmanned ship is improved.
Further, the high-success-rate rotary excavation type sludge sampling device based on the unmanned ship is characterized in that a movable groove is formed in the top frame, at least one guide wheel is arranged in the movable groove, and the guide wheel arranged in the movable groove can adjust the transverse position in the movable groove. As a preferable scheme of the invention, the transverse positioning of the guide wheel arranged in the moving groove can be completed through the cooperation of the screw rod and the locking nut, so as to ensure the tensioning degree of the chain.
Further, the high-success-rate type rotary excavation type sludge sampling device based on the unmanned ship is characterized in that a counterweight is fixed on the top frame. As the optimal scheme of the invention, the gravity center of the high-success-rate rotary excavation type silt sampling device based on the unmanned ship 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 dumping is prevented when the device is placed on the silt after the device is used for draining water.
Further, a high success rate formula gyration excavation formula silt sampling device based on unmanned ship, be fixed with a pair of spacing backup pad on the frame, spacing backup pad tip extension sets up sealed lid and dig faying face one side of claw, correspond spacing backup pad frame both sides are fixed with the horizontal pole. As the preferable scheme of the invention, the accuracy of resetting the sealing cover is ensured, thereby ensuring the sealing effect.
Further, the high-success-rate rotary excavation type sludge sampling device based on the unmanned ship further comprises a hanging ring, wherein the hanging ring is fixed above the frame, a hanging ring frame is correspondingly arranged on the top frame in an extending mode, and a hanging rope is connected to the hanging ring. As a preferred embodiment of the present invention, the suspension ring is used for connecting a suspension rope.
The technical scheme can be seen 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 sampling efficiency and sampling success rate.
2. The invention provides a high-success-rate rotary excavation type sludge sampling device based on an unmanned ship, wherein the outer wall of a claw is adaptive to the shape of a claw cavity, the part of the claw corresponding to a large arc line is used for inserting and excavating sludge, and the area of the claw cavity corresponding to a small arc line is mainly used for storing sludge. And moreover, the rotation center of the digging claw coincides with the circle center of the large circular arc line, so that the direction of the force of the digging claw for inserting the silt is ensured to be the same as the movement direction of the digging claw, and the resistance of the digging claw when rotating to grab the silt 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, which has the advantages of simple structure and light weight, and the bottom frame can ensure the distance between a claw and sludge when the bottom frame is submerged on the sludge, so that the effectiveness of rotating the claw to grasp 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 sprocket-chain transmission. And, set up the guide pulley and change the route of chain, prevent chain and spring from producing interference in space. The installation space can be reduced, and the compactness of the high-success-rate type rotary excavation type sludge sampling device based on the unmanned ship 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 rotary excavation type sludge sampling device based on an unmanned ship;
FIG. 3 is a cross-sectional view taken along the direction A-A in FIG. 2;
FIG. 4 is a cross-sectional view taken along the direction B-B in 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;
fig. 6 is a schematic diagram of the geometry of the claw of the high-success-rate rotary excavation type sludge sampling device based on the unmanned ship.
In the figure: 1-a frame; 11-a bottom frame; 111-pins; 12-top frame; 121-a guide wheel; 122-a mobile tank; 123-counterweight; 13-supporting rods; 14-a cross bar; 141-limiting the backer; 15-hanging ring frames; 151-hanging rings; 2, claw digging; 201-large arc line; 202-small arc line; 203-straight line segment; 3-sealing cover; 31-a spring; 32-sealing flanges; 4-sealing the box; 41-driving a motor; 42-driving shaft; 421-second sprocket; 5-sprocket shafts; 51-a first sprocket; 9-hanging and pulling the rope.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present invention and should not be construed as limiting the invention.
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "clockwise", "counterclockwise", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present invention, unless otherwise specified, the meaning of "a plurality" is two or more, unless otherwise clearly defined.
In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
In the present invention, unless expressly stated or limited otherwise, a first feature "above" or "below" a second feature may include both the first and second features being in direct contact, as well as the first and second features not being in direct contact but being in contact with each other through additional features therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly under and obliquely below the second feature, or simply means that the first feature is less level than the second feature.
Example 1
The high-success-rate rotary excavation type sludge sampling device based on the unmanned ship is shown in combination with fig. 1 to 4, and comprises a frame 1, in this embodiment, the frame 1 is a cuboid frame, and comprises a rectangular bottom frame 11 and a rectangular 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.
The upper end of the frame 1 is connected with a lifting rope 9, the frame 1 is rotatably provided with a digging claw 2, the 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 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 is arranged on the sealing box 4 in a penetrating manner, 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 rotary claw digging machine further comprises a spring 31, one end of the spring 31 is connected to one side, far away from the rotation center, of the sealing cover 3, the other end of the spring 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 ring 151 is further included, the lifting ring 151 is fixed above the frame 1, the lifting ring frame 15 is correspondingly extended on the top frame 12, and the lifting rope 9 is connected to the lifting ring 151.
Based on the above structure, the high success rate type rotary excavation type sludge sampling device based on the unmanned ship according to the embodiment comprises the following working steps:
1. the lifting rope 9 on the unmanned ship is fixed at the upper end of the frame 1, and when the unmanned ship reaches a designated sampling area, the frame 1 is placed down by a driving device connected with the lifting rope 9 on the unmanned ship, and the frame 1 naturally sinks to be placed on sludge;
2. starting a driving motor 41, driving the digging claw 2 to rotate for one circle by the driving motor 41, pushing up the sealing cover 3 by the digging claw 2 during the period to finish sludge sampling, automatically rebounding and resetting the sealing cover 3 under the action of a spring, and finally covering the opening of a claw cavity of the digging claw 2 by the sealing cover 3;
3. and the lifting driving device on the unmanned ship lifts the frame 1 through lifting expansion and contraction to complete recovery.
Preferably, a tension sensor is arranged at one end of the lifting rope 9 far away from the frame 1, tension of the lifting rope 9 is detected in the sinking process of the frame 1, and the measured value of the tension sensor is reduced, namely, the frame 1 is submerged above the sludge, and the controller can feed back and send out a signal for starting the driving motor 41. According to the high-success-rate rotary excavation type sludge sampling device based on the unmanned ship, sampling, overturning and sealing are completed through the driving device, the control system is simple, the sampled sludge can be prevented from being washed away by water flow, and the sampling efficiency and the sampling success rate are improved.
The sealing cover 3 is provided with a sealing convex edge 32, and the sealing convex edge 32 is matched with the edge shape of the joint surface of the digging claw 2. As can be seen from the drawings, in this embodiment, the claw 2 is reversely buckled on the sealing cover 3 at the initial position, so that a downward pressure on the sealing cover 3 by the claw 2 can cause a gap between the claw and the side edge of the sealing cover, and therefore, the sealing flange 32 can compensate the gap, thereby ensuring the tightness between the claw 2 and the sealing cover 3. Of course, the sealing cover is arranged above the digging claw in the initial position, so that the problem can be effectively solved, but the invention also belongs to the design idea of the design scheme of the invention.
The frame 1 has simple structure, advantage that the quality is light, the underframe 11 can guarantee when underframe 11 sinks to the silt on, dig claw 2 and the distance of silt to guarantee to dig claw 2 and rotate the validity of snatching the silt.
In this embodiment, the seal box 4 is fixed to the top frame 12. The seal cover 3 is pivotally mounted on a pair of support rods 13, and the end of the spring 31 remote from the seal cover 3 is fixed to the top frame 12. In addition, a set of pins 111 is fixed below the bottom frame 11. The pins 111 are provided to prevent the reaction force of the digging claw 2 for grabbing the sludge from displacing the whole frame 1.
In this embodiment, the frame 1 is rotatably provided with a sprocket shaft 5, the claw 2 is fixed on the sprocket shaft 5, a pair of first sprockets 51 are fixed on two sides of the claw 2 on the sprocket shaft 5, corresponding to the first sprockets 51, a second sprocket 421 is fixed on the driving shaft 42, and the second sprocket 421 and the first sprockets 51 are connected through a chain transmission. The accuracy of the rotation angle can be ensured by adopting a chain wheel-chain transmission. The top frame 12 is connected with a pair of guide wheels 121, and both sides of the chain are respectively attached to the pair of guide wheels 121. The guide pulley 121 is provided to change the path of the chain to prevent the chain from interfering with the spring 31 in space. The installation space can be reduced, and the compactness of the high-success-rate type rotary excavation type sludge sampling device based on the unmanned ship is improved. Wherein, the top frame 12 is provided with a moving slot 122, at least one guide wheel 121 is disposed in the moving slot 122, and the guide wheel 121 disposed in the moving slot 122 can adjust the lateral position in the moving slot 122. The lateral positioning of the guide pulley 121 disposed in the moving groove 122 can be accomplished by screw-lock nut engagement to ensure the degree of tensioning of the chain.
In this embodiment, a counterweight 123 is fixed to the top frame 12. The gravity center of the high-success-rate rotary excavation type sludge sampling device based on the unmanned ship is deviated to one side of the sealing cover 3, so that the counterweight 123 is arranged on the top frame 12, the gravity center is ensured to be on the geometric center line of the frame 1 before sampling, and the gravity center is prevented from falling down when being placed on the sludge after being launched.
In addition, a pair of limit backers 141 are fixed on the frame 1, the end parts of the limit backers 141 are arranged on one side of the joint surface of the sealing cover 3 and the digging claw 2 in an extending mode, and transverse rods 14 are fixed on two sides of the frame 1 corresponding to the limit backers 141. The accuracy of resetting the sealing cover 3 is ensured, thereby ensuring the sealing effect.
Example 2
The high-success-rate rotary excavation type sludge sampling device based on the unmanned ship is shown in combination with fig. 1 to 4, and comprises a frame 1, in this embodiment, the frame 1 is a cuboid frame, and comprises a rectangular bottom frame 11 and a rectangular 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.
The upper end of the frame 1 is connected with a lifting rope 9, the frame 1 is rotatably provided with a digging claw 2, the 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 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 is arranged on the sealing box 4 in a penetrating manner, 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 rotary claw digging machine further comprises a spring 31, one end of the spring 31 is connected to one side, far away from the rotation center, of the sealing cover 3, the other end of the spring 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 ring 151 is further included, the lifting ring 151 is fixed above the frame 1, the lifting ring frame 15 is correspondingly extended on the 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 seal cover 3 is pivotally mounted on a pair of support rods 13, and the end of the spring 31 remote from the seal cover 3 is fixed to the top frame 12. In addition, a set of pins 111 is fixed below the bottom frame 11. The pins 111 are provided to prevent the reaction force of the digging claw 2 for grabbing the sludge from displacing the whole frame 1.
In this embodiment, the frame 1 is rotatably provided with a sprocket shaft 5, the claw 2 is fixed on the sprocket shaft 5, a pair of first sprockets 51 are fixed on two sides of the claw 2 on the sprocket shaft 5, corresponding to the first sprockets 51, a second sprocket 421 is fixed on the driving shaft 42, and the second sprocket 421 and the first sprockets 51 are connected through a chain transmission. The accuracy of the rotation angle can be ensured by adopting a chain wheel-chain transmission. The top frame 12 is connected with a pair of guide wheels 121, and both sides of the chain are respectively attached to the pair of guide wheels 121. The guide pulley 121 is provided to change the path of the chain to prevent the chain from interfering with the spring 31 in space. The installation space can be reduced, and the compactness of the high-success-rate type rotary excavation type sludge sampling device based on the unmanned ship is improved. Wherein, the top frame 12 is provided with a moving slot 122, at least one guide wheel 121 is disposed in the moving slot 122, and the guide wheel 121 disposed in the moving slot 122 can adjust the lateral position in the moving slot 122. The lateral positioning of the guide pulley 121 disposed in the moving groove 122 can be accomplished by screw-lock nut engagement to ensure the degree of tensioning of the chain.
In this embodiment, a counterweight 123 is fixed to the top frame 12. The gravity center of the high-success-rate rotary excavation type sludge sampling device based on the unmanned ship is deviated to one side of the sealing cover 3, so that the counterweight 123 is arranged on the top frame 12, the gravity center is ensured to be on the geometric center line of the frame 1 before sampling, and the gravity center is prevented from falling down when being placed on the sludge after being launched.
In addition, a pair of limit backers 141 are fixed on the frame 1, the end parts of the limit backers 141 are arranged on one side of the joint surface of the sealing cover 3 and the digging claw 2 in an extending mode, and transverse rods 14 are fixed on two sides of the frame 1 corresponding to the limit backers 141. The accuracy of resetting the sealing cover 3 is ensured, thereby ensuring the sealing effect.
Referring to fig. 6, in this embodiment, the cross-sectional shape of the claw cavity of the claw 2 is formed by connecting a large arc line 201, a small arc line 202 and a straight line segment 203 end to end, wherein 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 beyond the tangent line of the intersection point of the large arc line 201 and the straight line segment 203; the rotation center of the digging claw 2 coincides with the circle center of the large arc line 201; the open position of the claw cavity of the claw 2 corresponds to the position of the straight line segment 203. The outer wall of the digging claw 2 is adapted to the shape of the claw cavity.
Based on the above-described structure, in the present embodiment, with respect to embodiment 1, the portion of the claw 2 corresponding to the large circular arc line 201 is used for inserting and excavating the sludge, and the region of the claw cavity of the claw 2 corresponding to the small circular arc line 202 is mainly used for storing the sludge. And, the center of rotation of the digging claw 2 coincides with the center of the major arc line 201, so that the direction of the force of the digging claw 2 for inserting the silt is ensured to be the same as the movement direction of the digging claw 2, and the resistance of the digging claw 2 when rotating to grab the silt can be reduced. The overall structure is reasonable.
Further, in the present embodiment, as shown in fig. 5, the claw 2 is disposed above the bottom frame 11, and when the claw 2 rotates downward until the straight line segment 203 is perpendicular to the bottom frame 11, the claw cavity of the claw 2 is opened below the bottom frame 11. Therefore, the effectiveness of grabbing sludge can be ensured, and invalid claw taking is prevented.
The technical principles of the present invention have been described above in connection with specific embodiments, which are provided for the purpose of explaining the principles of the present invention and are not to be construed as limiting the scope of the present invention in any way. Other embodiments of the invention will be apparent to those skilled in the art from consideration of this specification without undue burden.
Claims (9)
1. High success rate formula gyration excavation formula silt sampling device based on unmanned ship, its characterized in that: the lifting device comprises a frame (1), wherein the upper end of the frame (1) is connected with a lifting rope (9), a claw (2) is rotationally arranged on the frame (1), a sealing cover (3) is arranged at the opening of a claw cavity of the claw (2), and one end, far away from the claw (2), of the sealing cover (3) is rotationally 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) is arranged on the sealing box (4) in a penetrating mode, 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 device further comprises a spring (31), one end of the spring (31) is connected to one side, far away from the rotation center, of the sealing cover (3), the other end of the spring 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);
the cross-sectional shape of the claw cavity of the claw (2) is formed by connecting a large circular arc line (201), a small circular arc line (202) and a straight line segment (203) end to end, the small circular arc line (202) is internally tangent with the large circular arc line (201), the straight line segment (203) is tangent with the small circular arc line (202), and the large circular arc line (201) is beyond the tangent line of the intersection point of the large circular arc line (201) and the straight line segment (203) and is perpendicular to the straight line segment (203); the rotation center of the digging claw (2) coincides with the circle center of the large circular arc line (201); the opening position of the claw cavity of the claw (2) corresponds to the position of the straight line section (203).
2. The unmanned ship-based high-success-rate rotary excavation type sludge sampling device as claimed in claim 1, wherein: the frame (1) is a cuboid frame as a whole and comprises a rectangular bottom frame (11) and a rectangular 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).
3. The unmanned ship-based high-success-rate rotary excavation type sludge sampling device as claimed in claim 2, wherein: the digging claw (2) is arranged above the bottom frame (11), and when the digging claw (2) rotates downwards to the straight line section (203) to be perpendicular to the bottom frame (11), a claw cavity of the digging claw (2) is opened below the bottom frame (11).
4. A high success rate type rotary excavation type sludge sampling device based on an unmanned ship as claimed in claim 3, wherein: the novel chain wheel is characterized in that a chain wheel shaft (5) is rotatably arranged on the frame (1), the digging claw (2) is fixed on the chain wheel shaft (5), a pair of first chain wheels (51) are fixed on two sides of the digging claw (2) on the chain wheel shaft (5), the corresponding first chain wheels (51), a second chain wheel (421) is fixed on the driving shaft (42), and the second chain wheel (421) and the first chain wheels (51) are connected through chain transmission.
5. The unmanned ship-based high-success-rate rotary excavation type sludge sampling device as claimed in claim 4, 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).
6. The unmanned ship-based high-success-rate rotary excavation type sludge sampling device as claimed in claim 5, 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).
7. The unmanned ship-based high-success-rate rotary excavation type sludge sampling device as claimed in claim 2, wherein: and a counterweight (123) is fixed on the top frame (12).
8. The unmanned ship-based high-success-rate rotary excavation type sludge sampling device as claimed in claim 1, wherein: a pair of limiting backers (141) are fixed on the frame (1), the end parts of the limiting backers (141) are arranged on one side of the joint surface of the sealing cover (3) and the digging claw (2) in an extending mode, and transverse rods (14) are fixed on two sides of the frame (1) corresponding to the limiting backers (141).
9. A high success rate rotary excavation type sludge sampling device based on an unmanned ship as claimed in any one of claims 2 to 7, wherein: the lifting device further comprises a lifting ring (151), the lifting ring (151) is fixed above the frame (1), a lifting ring frame (15) is arranged on the corresponding top frame (12) in an extending mode, and the lifting rope (9) is connected to the lifting ring (151).
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