CN117147209A - Submarine sediment sampling robot for new energy development - Google Patents
Submarine sediment sampling robot for new energy development Download PDFInfo
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- CN117147209A CN117147209A CN202311058209.9A CN202311058209A CN117147209A CN 117147209 A CN117147209 A CN 117147209A CN 202311058209 A CN202311058209 A CN 202311058209A CN 117147209 A CN117147209 A CN 117147209A
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- 238000005070 sampling Methods 0.000 title claims abstract description 136
- 239000013049 sediment Substances 0.000 title claims abstract description 44
- 239000013535 sea water Substances 0.000 claims abstract description 28
- 230000007246 mechanism Effects 0.000 claims abstract description 25
- 230000008878 coupling Effects 0.000 claims abstract description 10
- 238000010168 coupling process Methods 0.000 claims abstract description 10
- 238000005859 coupling reaction Methods 0.000 claims abstract description 10
- 238000001125 extrusion Methods 0.000 claims abstract description 7
- 239000007787 solid Substances 0.000 claims abstract description 7
- 238000007789 sealing Methods 0.000 claims description 13
- 230000005540 biological transmission Effects 0.000 claims description 6
- 238000000034 method Methods 0.000 abstract description 20
- 230000008569 process Effects 0.000 abstract description 20
- 230000000717 retained effect Effects 0.000 abstract 1
- 230000009471 action Effects 0.000 description 8
- 230000006835 compression Effects 0.000 description 3
- 238000007906 compression Methods 0.000 description 3
- 230000002035 prolonged effect Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000003780 insertion Methods 0.000 description 2
- 230000037431 insertion Effects 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/02—Devices for withdrawing samples
- G01N1/04—Devices for withdrawing samples in the solid state, e.g. by cutting
- G01N1/08—Devices for withdrawing samples in the solid state, e.g. by cutting involving an extracting tool, e.g. core bit
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto
- B08B9/02—Cleaning pipes or tubes or systems of pipes or tubes
- B08B9/027—Cleaning the internal surfaces; Removal of blockages
- B08B9/032—Cleaning the internal surfaces; Removal of blockages by the mechanical action of a moving fluid, e.g. by flushing
- B08B9/035—Cleaning the internal surfaces; Removal of blockages by the mechanical action of a moving fluid, e.g. by flushing by suction
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
- G01N33/24—Earth materials
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- General Physics & Mathematics (AREA)
- Physics & Mathematics (AREA)
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- Analytical Chemistry (AREA)
- Mechanical Engineering (AREA)
- Environmental & Geological Engineering (AREA)
- General Life Sciences & Earth Sciences (AREA)
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- Remote Sensing (AREA)
- Food Science & Technology (AREA)
- Medicinal Chemistry (AREA)
- Sampling And Sample Adjustment (AREA)
Abstract
The invention relates to the technical field of seabed sediment sampling, in particular to a seabed sediment sampling robot for new energy development. Including the shell, the first motor that mirror image was arranged is installed to the shell, the output rigid coupling of first motor has the solid fixed ring, the driving piece is installed to the solid fixed ring, the second motor is installed to the shell, the pivot is installed to the output shaft of second motor, the shell internal rotation is connected with first rotor plate, first rotor plate sliding connection has annular array's sampling tube, the sampling tube is provided with the spout, the rotation is connected with the second rotor plate in the shell, set up extrusion mechanism in the shell. According to the invention, the extrusion mechanism extrudes the seawater in the sampling tube close to the fourth motor downwards, so that the seawater is discharged from the sampling tube close to the fourth motor, and the seawater is prevented from being retained in the sampling tube in the subsequent sampling process, so that the influence on the sampled sample is avoided, and the sampling quality is improved.
Description
Technical Field
The invention relates to the technical field of seabed sediment sampling, in particular to a seabed sediment sampling robot for new energy development.
Background
Ocean is the widest water body on earth, contains a large amount of energy sources, and especially is buried in a plurality of new energy sources in the seabed, and in the process of new energy development, the seabed sediment is usually required to be sampled so as to know the geological condition of the seabed in the area.
The existing ocean sediment sampling technology is mainly characterized in that a sampling robot directly samples the ocean floor, so that a little seawater is inevitably present in the sampled sample, the seawater is used as a fluid, the seawater has the characteristic of instability, and the sampled sediment sample can be disturbed in the sampling and moving processes of the robot, so that the quality of the sampled sample is influenced, and the sampling is disqualified.
Disclosure of Invention
The invention provides a submarine sediment sampling robot for new energy development, and aims to overcome the defects that the quality of a sampled sample is affected and sampling is disqualified because a little sea water exists in the sampled sample in the existing sediment sampling technology.
The technical proposal is as follows: the utility model provides a new forms of energy development is with seabed sediment sampling robot, includes the shell, the first motor that mirror image was arranged is installed to the shell, the output rigid coupling of first motor has solid fixed ring, gu fixed ring installs the driving piece, the second motor is installed to the shell, the pivot is installed to the output shaft of second motor, rotate in the shell be connected with the first rotor plate of pivot rigid coupling, first rotor plate sliding connection has annular array's sampling tube, the sampling tube is provided with the spout, rotate in the shell be connected with the second rotor plate, the sampling tube with second rotor plate sliding connection, the second rotor plate is connected with annular array's first gear through the support rotation, first gear with adjacent the spout sliding connection of sampling tube, install the third motor in the shell, the output shaft rigid coupling of third motor have with adjacent first gear complex second gear, be provided with extrusion mechanism in the shell.
Preferably, the extrusion mechanism comprises a fourth motor, the fourth motor is installed in the shell, the output shaft rigid coupling of fourth motor has the threaded rod, sliding connection has in the shell with threaded rod screw-thread fit's sliding block, sliding connection has the depression bar in the sampling tube, the sliding block with adjacent the depression bar cooperation, sliding connection has the slip ring in the shell, the slip ring rotates and is connected with the third pivoted plate, the third pivoted plate with annular array the equal sliding connection of depression bar, the slip ring with the rigid coupling has first elastic element between the shell.
Preferably, when the sliding block is in a matching state with the adjacent pressing rod, the second gear is also in a matching state with the adjacent first gear.
Preferably, the second rotating plate is fixedly connected with a limiting column of an annular array, and the sampling tube is provided with a limiting groove matched with the adjacent limiting column.
Preferably, the depth of the limiting groove is greater than the depth of the adjacent sampling tube chute, and the width of the limiting groove in the vertical direction is smaller than the width of the first gear in the vertical direction.
Preferably, the second rotating plate is fixedly connected with an annular array of sealing elements, and the sealing elements are matched with the adjacent limiting grooves and used for isolating seawater from parts in the shell.
Preferably, the shell is fixedly connected with a supporting plate, the supporting plate is used for contacting with the seabed and supporting the shell, the supporting plate is provided with a circular array of fixing rods, and the fixing rods are used for being inserted into the seabed.
Preferably, the support plate is provided with notches arranged in a mirror image, the notches of the support plate are positioned below the adjacent driving members, and the notches of the support plate are used for enabling seawater affected by the driving members to normally move.
Preferably, the anti-deflection device further comprises an anti-deflection mechanism for keeping the shell vertical, the anti-deflection mechanism is arranged on the shell, the fixing rod is in sliding connection with the supporting plate, the anti-deflection mechanism comprises rotating columns which are arranged in a mirror image mode, the rotating columns which are arranged in the mirror image mode are all rotationally connected with the shell, sensing plates are fixedly connected with the back ends of the rotating columns which are arranged in the mirror image mode, second elastic elements are fixedly connected between the shell and the sensing plates which are arranged in the mirror image mode, third elastic elements are fixedly connected between the fixing rod and the supporting plate, connecting rods are fixedly connected between the fixing rods which are adjacent to the notch area of the supporting plate, and the connecting rods are provided with transmission mechanisms for transmitting power to the adjacent fixing rods.
Preferably, the transmission mechanism comprises an arc-shaped rod fixedly connected to the connecting rod, the shell is in sliding connection with the arc-shaped rod in mirror image arrangement, a limiting block in mirror image arrangement is fixedly connected to the arc-shaped rod, a limiting rod is fixedly connected to the sensing plate, and the limiting rod is matched with the adjacent limiting block.
The invention has the beneficial effects that: according to the invention, the downward-moving compression bar starts to downwards squeeze the seawater in the sampling tube close to the fourth motor, so that the seawater is discharged from the sampling tube close to the fourth motor, the seawater is prevented from being detained in the sampling tube in the subsequent sampling process, and the sampled sample is influenced, so that the sampling quality is improved; the annular array fixing rods are inserted into the seabed pairs to continuously stabilize the shell, so that the sampling tube is prevented from deflecting due to unexpected situations in the subsequent sampling process, the sampling quality is influenced, the sampling tube is enabled to obtain a more representative sample in the vertical direction, the sampling accuracy is further improved, and the annular array fixing rods are prevented from being completely inserted into the seabed until the support plate is contacted with the seabed; the adjacent limiting grooves are limited through the limiting columns, so that the sampling tube moves up and down while rotating in the sampling process, the sampling difficulty is reduced, and the sampling efficiency is improved; the sealing piece is used for always sealing partial areas of adjacent limiting grooves, so that seawater is prevented from entering the shell, parts in the shell are prevented from being damaged, the service life of each part is prolonged, meanwhile, sediment entering the adjacent limiting grooves is scraped by the sealing piece, and sediment accumulated in the limiting grooves is prevented from affecting subsequent sediment sampling of different seabed areas, so that sediment sampling accuracy is improved; the fixing rods which are arranged in a mirror image manner on the same connecting rod are used for indirectly transmitting pressure to one side of the supporting plate through compressing the adjacent third elastic element in the process of further inserting the fixing rods into the seabed, so that the shell has a tendency of deflecting in the opposite direction to the dark current, the impact force caused by the dark current on the seabed is resisted, the sampling tube is kept vertical in the process of sampling, and the sampling quality is improved.
Drawings
FIG. 1 is a schematic overall perspective view of the present invention;
FIG. 2 is a schematic perspective view of the parts in the housing of the present invention;
FIG. 3 is a perspective cross-sectional view of the housing and its internal components of the present invention;
FIG. 4 is a schematic perspective view of a sampling tube according to the present invention;
FIG. 5 is a schematic perspective view of a slider of the present invention pressing down an adjacent plunger;
FIG. 6 is a schematic view of a three-dimensional structure of a limit post according to the present invention when the limit post presses an adjacent limit groove;
FIG. 7 is a schematic view of a hidden stream impact sensor plate according to the present invention;
FIG. 8 is a schematic perspective view of an anti-deflection mechanism according to the present invention;
fig. 9 is a schematic perspective view of a transmission mechanism of the present invention.
Reference numerals: 1-shell, 2-first motor, 3-fixed ring, 4-driving piece, 5-second motor, 6-rotating shaft, 7-first rotating plate, 8-sampling tube, 9-second rotating plate, 10-first gear, 11-third motor, 12-second gear, 1301-fourth motor, 1302-threaded rod, 1303-sliding block, 1304-pressing rod, 1305-sliding ring, 1306-third rotating plate, 1307-first elastic element, 1401-limit column, 1402-limit groove, 15-sealing piece, 16-support plate, 17-fixed rod, 1801-rotating column, 1802-sensing plate, 1803-second elastic element, 1804-third elastic element, 1805-connecting rod, 1806-arc rod, 1807-limit block and 1808-limit rod.
Detailed Description
The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments, based on which all other embodiments, which a person having ordinary skill in the art may obtain without inventive effort, belong to the scope of protection of the present invention, although the embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations may be made to these embodiments without departing from the principle and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.
Example 1: the utility model provides a new forms of energy development is with seabed sediment sampling robot, as shown in fig. 1-3, including shell 1, two first motors 2 of mirror image arrangement about installing in the outside of shell 1, first motor 2 is waterproof motor, the output rigid coupling of first motor 2 has solid fixed ring 3, install driving piece 4 in the solid fixed ring 3, driving piece 4 is including but not limited to screw propulsion mechanism, second motor 5 is installed to the inside upside of shell 1, pivot 6 is installed to the output shaft of second motor 5, lower part rotation in shell 1 is connected with the first rotor plate 7 with the rigid coupling of pivot 6, first rotor plate 7 sliding connection has four sampling tube 8 of ring array, the outside of sampling tube 8 is provided with two spouts of mirror image arrangement about, this spout is vertical groove, the downside rotation in shell 1 is connected with second rotor plate 9, second rotor plate 9 is through support rotation be connected with ring array's four first gears 10, first gear 10 and the inside spout of adjacent sampling tube 8 have been installed in the lower part of motor 1 sliding connection with the first rotor plate 7 of ring array, the corresponding sea water sampling tube 8 has been put into the position through the first gear 11 of the corresponding rotation of the first rotor plate 8, the lower part of the first rotor plate 11 of the corresponding sampling tube 8 has been set up in the sea water sampling tube 8 and the lower part of the first rotor plate 8 has been rotated the corresponding sea water sampling tube 8 in the sea water pump.
As shown in fig. 3-5, the extruding mechanism includes a fourth motor 1301, the fourth motor 1301 is mounted in the middle of the left side in the housing 1, the threaded rod 1302 is fixedly connected to the output shaft of the fourth motor 1301, the sliding block 1303 in threaded engagement with the threaded rod 1302 is slidably connected to the housing 1, the sampling tube 8 is slidably connected to the pressure rod 1304, the sliding block 1303 is in contact engagement with the adjacent pressure rod 1304, when the sliding block 1303 is in engagement with the adjacent pressure rod 1304, the second gear 12 is also in engagement with the adjacent first gear 10, the sliding ring 1305 is slidably connected to the middle upper portion in the housing 1, the sliding ring 1305 is rotatably connected to the third rotating plate 1306, the third rotating plate 1306 is slidably connected to the four pressure rods 1304, the first elastic element 1307 is fixedly connected between the sliding ring 1305 and the housing 1, and the first elastic element 1307 is a spring, the seawater in the left side sampling tube 8 is extruded downward by the downward sliding block 1304, the seawater is discharged from the left side sampling tube 8, and the residual seawater in the sampling tube 8 is avoided in the subsequent sampling process, thereby improving the quality of the sampled samples.
As shown in fig. 3, fig. 5 and fig. 6, the second rotating plate 9 is fixedly connected with four limit posts 1401 of an annular array, the outer side of the sampling tube 8 is provided with limit grooves 1402 which are in limit fit with adjacent limit posts 1401, the limit grooves 1402 are spiral, the depth of each limit groove 1402 is larger than that of the corresponding adjacent sampling tube 8 chute, the width of each limit groove 1402 in the vertical direction is smaller than that of the first gear 10 in the vertical direction, interference between the first gear 10 and the adjacent limit grooves 1402 when sliding in the chute of the adjacent sampling tube 8 is avoided, and accordingly the first gear 10 and the sampling tube 8 are damaged, the second rotating plate 9 is fixedly connected with four sealing pieces 15 of the annular array, the sealing pieces 15 are in seal fit with the adjacent limit grooves 1402, parts in the shell 1 are isolated, partial areas of the adjacent limit grooves 1402 are always sealed through the sealing pieces 15, so that the parts in the shell 1 are prevented from being damaged, the service life of each part is prolonged, and meanwhile, sediment entering the adjacent limit grooves 1402 is also scraped, sediment in the adjacent limit grooves 1402 is prevented from being scraped, sediment is prevented from being accumulated in the corresponding to the corresponding accurate sampling areas, and sediment is prevented from being sampled, and sediment is not being sampled, and sediment is sampled.
As shown in fig. 1, the casing 1 is fixedly connected with a supporting plate 16, the supporting plate 16 is used for contacting with the seabed and supporting the casing 1, the supporting plate 16 is provided with four fixing rods 17 in an annular array, the fixing rods 17 are used for being inserted into the seabed, the supporting plate 16 is provided with two gaps which are arranged in a left-right mirror image mode, the two gaps of the supporting plate 16 are respectively positioned below the adjacent driving parts 4, the gaps of the supporting plate 16 are used for enabling seawater influenced by the driving parts 4 to normally move, the casing 1 is continuously stabilized by inserting the four fixing rods 17 into the seabed, the sampling tube 8 is prevented from being deflected due to unexpected situations in the subsequent sampling process, so that the sampling quality is influenced, the sampling tube 8 is enabled to obtain more representative samples in the vertical direction, and the sampling accuracy is improved.
When the invention needs to be used for sampling seabed sediment, a worker runs to a driving ship to a target sea area, then places the invention in the sea, then starts two driving parts 4 through a remote controller, the two driving parts 4 start to rotate to control the downward moving speed of the shell 1 and parts on the shell, then controls the opening and closing of the first motor 2 through the remote controller to control the moving direction of the shell 1, after four fixing rods 17 move downwards to be in contact with the seabed, the four fixing rods 17 move downwards under the action of gravity and the downward pressure of the driving parts 4 along with the shell 1 and parts on the seabed, the four fixing rods 17 are gradually inserted into the seabed, the shell 1 is continuously stabilized through the insertion of the four fixing rods 17 into the seabed, the sampling tube 8 is prevented from being deflected due to unexpected situations in the subsequent sampling process, so that the sampling quality is influenced, the sampling tube 8 obtains a more representative sample in the vertical direction, and the sampling accuracy is improved until the four fixing rods 17 are completely inserted into the seabed, and the supporting plate 16 is in contact with the seabed.
After the supporting plate 16 contacts with the seabed, a worker starts the fourth motor 1301 through the remote controller, the output shaft of the fourth motor 1301 starts to rotate, the output shaft of the fourth motor 1301 drives the threaded rod 1302 to rotate together, then the sliding block 1303 starts to slide downwards along the housing 1 under the action of the threaded rod 1302, the sliding block 1303 starts to press the left pressing rod 1304, the left pressing rod 1304 starts to move downwards, the pressing rod 1304 drives the third rotating plate 1306 to move downwards together, the third rotating plate 1306 and the other three pressing rods slide relatively, the third rotating plate 1306 drives the sliding ring 1305 to move downwards together, the sliding ring 1305 starts to press the first elastic element 1307, the pressing rod 1304 moving downwards starts to press the seawater in the left sampling tube 8 downwards, the seawater is discharged from the left sampling tube 8, the seawater is prevented from being detained in the sampling tube 8 in the subsequent sampling process, and accordingly the quality of sampling is improved.
After the left pressure bar 1304 moves downwards to the lower end of the adjacent sampling tube 8, a worker closes the fourth motor 1301 through the remote controller and starts the third motor 11, the output shaft of the third motor 11 starts to rotate, the output shaft of the third motor 11 drives the second gear 12 to rotate together, the second gear 12 drives the left first gear 10 to rotate reversely, the first gear 10 drives the adjacent sampling tube 8 to rotate together, the left limit groove 1402 starts to be in limit fit with the adjacent limit column 1401, then the left limit column 1401 starts to press downwards the adjacent limit groove 1402, then the left sampling tube 8 starts to move downwards under the action of the adjacent limit column 1401, the left sampling tube 8 starts to be inserted into the sea floor, after the left sampling tube 8 finishes sediment sampling, the worker reverses the output shaft of the third motor 11 through the remote controller and starts the fourth motor 1301, the output shaft of the third motor 11 drives the second gear 12 to rotate together, the second gear 12 drives the left first gear 10 to rotate reversely, the left first gear 10 drives the adjacent sampling tube 8 to rotate together, the left sampling tube 8 starts to move upwards under the action of the adjacent limiting post 1401, the output shaft of the fourth motor 1301 starts to rotate reversely, the output shaft of the fourth motor 1301 drives the threaded rod 1302 to rotate together, the sliding block 1303 starts to slide upwards along the shell 1 under the action of the threaded rod 1302, at that time, the left pressure bar 1304 and the left sampling tube 8 are relatively static, the sliding ring 1305 gradually loses pressure, the sliding ring 1305 starts to move upwards under the action of the elastic force of the first elastic element 1307, the sliding ring 1305 drives the third rotating plate 1306 to move upwards together until the left pressure bar 1304 and the left sampling tube 8 are completely reset, a worker closes the third motor 11 and the fourth motor 1301 through a remote controller, adjacent limiting grooves 1402 are limited through limiting columns 1401, so that the sampling tube 8 moves up and down while rotating in the sampling process, the sampling difficulty is reduced, and the sampling efficiency is improved.
In the process that the shell 1 and the parts on the shell move in the sea and the sampling tube 8 moves up and down, the sealing element 15 always seals the limiting groove 1402 in a partial area, so that seawater is prevented from entering the shell 1, the parts in the shell 1 are damaged, the service life of each part is prolonged, meanwhile, in the process that the sampling tube 8 moves upwards after the sediment is sampled, the sealing element 15 also scrapes the sediment in the adjacent limiting groove 1402, and the sediment accumulated in the limiting groove 1402 is prevented from affecting the sediment sampling in the subsequent different seabed areas, so that the sediment sampling accuracy is improved.
After the single sampling is finished, a worker starts two driving parts 4 through a remote controller to move the shell 1 and the upper part thereof to a next sampling area, after the shell 1 and the upper part thereof are moved to the next target area, and after four fixing rods 17 are inserted into the seabed, the worker closes the two driving parts 4 through the remote controller and starts a second motor 5, the output shaft of the second motor 5 starts to rotate, the output shaft of the second motor 5 drives a rotating shaft 6 to rotate together, the rotating shaft 6 drives a first rotating plate 7 to rotate together, the first rotating plate 7 drives four sampling pipes 8 to rotate together, the four sampling pipes 8 drive a second rotating plate 9 to rotate together, the four sampling pipes 8 respectively drive adjacent pressing rods 1304 to rotate together, the four pressing rods 1304 drive a third rotating plate 1306 to rotate together, the first gear 10 on the left side and the second gear 12 gradually lose engagement, the compression bar 1304 on the left side and the sliding block 1303 gradually lose limit fit, along with the continuous rotation of the first rotating plate 7, the first gear 10 on the front side and the compression bar 1304 on the front side gradually move to the left side and respectively engage with the second gear 12 and the sliding block 1303 in limit fit, then a worker closes the second motor 5 through a remote controller, and rotates through the first rotating plate 7 to correspondingly change the positions of sampling pipes 8 which are sampled and are to be sampled, so that sediment sampling is carried out for a plurality of times under the condition that a single robot enters the sea, the sediment sampling efficiency is improved, and the cycle is carried out until four sampling pipes 8 all complete sampling work.
After the four sampling pipes 8 all finish sampling work, the staff starts two driving pieces 4 through the remote controller, moves the shell 1 and parts on the shell to the sea level, and after the shell 1 is located at the sea level, the staff closes the two driving pieces 4 through the remote controller, and then the staff takes the robot on the ship, and the taken sediment sample is collected.
Example 2: on the basis of embodiment 1, as shown in fig. 7 and 8, the device further comprises an anti-deflection mechanism for keeping the housing 1 vertical, the anti-deflection mechanism is arranged on the housing 1, the fixed rod 17 is in sliding connection with the support plate 16, the anti-deflection mechanism comprises two rotary posts 1801 which are arranged in a front-back mirror image mode, the two rotary posts 1801 are rotatably connected with the housing 1, sensing plates 1802 are fixedly connected to the opposite ends of the two rotary posts 1801, a second elastic element 1803 is fixedly connected between the housing 1 and the two sensing plates 1802, the second elastic element 1803 is a torsion spring, a third elastic element 1804 is fixedly connected between the fixed rod 17 and the support plate 16, the third elastic element 1804 is a spring, a connecting rod 1805 is fixedly connected between the fixed rods 17 adjacent to a notch area of the support plate 16, the connecting rod 1805 and the area of the driving piece 4, which is changed due to the operation, are mutually independent, the connecting rod 1805 is provided with a transmission mechanism for transmitting power to the adjacent fixed rods 17, and the housing 1 has a downward resistance force against the deflection direction opposite to the hidden flow through the left fixed rod 17 and the right fixed rod 17 in the process of further insertion, thereby the sampling quality is kept vertical, and the sampling quality tends to be improved in the process.
As shown in fig. 8 and 9, the transmission mechanism includes an arc-shaped rod 1806, the arc-shaped rod 1806 is fixedly connected to the middle of the connecting rod 1805, the housing 1 is slidably connected with two arc-shaped rods 1806, the arc-shaped rods 1806 are fixedly connected with two limiting blocks 1807 arranged in a front-back mirror image manner, opposite faces of the two limiting blocks 1807 arranged in a left-right mirror image manner are inclined faces, the distance between the opposite faces of the two limiting blocks 1807 arranged in the left-right mirror image manner is gradually reduced from top to bottom, limiting rods 1808 are fixedly connected to opposite sides of the two sensing plates 1802, and the limiting rods 1808 are in limiting fit with the adjacent limiting blocks 1807.
In the sediment sampling process of the sampling tube 8, when left and right dark current appears on the sea floor, the sea water can impact the two sensing plates 1802 (the dark current from right to left is taken as an example), then the two sensing plates 1802 begin to deflect anticlockwise by taking the axis of the adjacent rotating column 1801 as the rotation center, the second elastic element 1803 deforms, the sensing plates 1802 drive the adjacent limiting rods 1808 to deflect together, the limiting rods 1808 begin to deflect anticlockwise by taking the axis of the adjacent rotating column 1801 as the rotation center, the limiting rods 1808 begin to squeeze the adjacent limiting blocks 1807, the two limiting blocks 1807 on the right begin to move downwards, the two limiting blocks 1807 drive the arc rods 1806 on the right to move downwards together, the arc rods 1806 slide relatively with the shell 1, the arc rods 1806 drive the adjacent connecting rods 1805 to move downwards together, the connecting rods 1805 drive the adjacent two fixing rods 17 to move downwards together, the two fixing rods 17 on the right start to squeeze the adjacent third elastic element 1804, the squeezed and deformed right two third elastic elements 1804 apply elastic force to the right part of the supporting plate 16, the two fixing rods 17 on the right are further inserted into the seabed, the pressure is indirectly transmitted to the right part of the supporting plate 16 by compressing the adjacent third elastic element 1804 by the two fixing rods 17 on the right in the process of further inserting into the seabed, the shell 1 has a rightward deflection trend, so as to resist the impact force caused by the ocean bottom dark current, the sampling tube 8 is kept vertical in the process of sampling, the sampling quality is further improved, after the dark current disappears, the sensing plate 1802 gradually resets under the action of the torsion force of the adjacent second elastic element 1803, the limiting block 1807 gradually loses the extrusion of the adjacent limiting rod 1808, the two fixing rods 17 on the right start to move upwards under the action of the elastic force of the adjacent third elastic element 1804, until the parts are completely reset.
The foregoing is merely illustrative of the present invention, and the present invention is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. The utility model provides a new forms of energy development is with seabed sediment sampling robot, its characterized in that, including shell (1), first motor (2) of mirror image arrangement are installed to shell (1), the output rigid coupling of first motor (2) has solid fixed ring (3), driving piece (4) are installed to solid fixed ring (3), second motor (5) are installed to shell (1), pivot (6) are installed to the output shaft of second motor (5), shell (1) swivelling joint have with first rotor plate (7) of pivot (6) rigid coupling, first rotor plate (7) sliding connection has sampling tube (8) of annular array, sampling tube (8) are provided with the spout, the output of shell (1) swivelling joint has second rotor plate (9), sampling tube (8) with second rotor plate (9) sliding connection, second rotor plate (9) are through support swivelling joint have annular array's first gear (10), first gear (10) and adjacent motor (8) have in the second gear (11) sliding connection with second output shaft (11), an extrusion mechanism is arranged in the shell (1).
2. The submarine sediment sampling robot for new energy development according to claim 1, wherein the extrusion mechanism comprises a fourth motor (1301), the fourth motor (1301) is installed in the housing (1), an output shaft of the fourth motor (1301) is fixedly connected with a threaded rod (1302), a sliding block (1303) in threaded fit with the threaded rod (1302) is slidably connected in the housing (1), a pressing rod (1304) is slidably connected in the sampling tube (8), the sliding block (1303) is matched with an adjacent pressing rod (1304), a sliding ring (1305) is slidably connected in the housing (1), a third rotating plate (1306) is rotatably connected to the sliding ring (1305), the pressing rods (1304) of the third rotating plate (1306) and the annular array are slidably connected, and a first elastic element (1307) is fixedly connected between the sliding ring (1305) and the housing (1).
3. The seabed sediment sampling robot for new energy development according to claim 2, wherein when the sliding block (1303) is in a state of being engaged with the adjacent pressing rod (1304), the second gear (12) is also in a state of being engaged with the adjacent first gear (10).
4. The seabed sediment sampling robot for new energy development according to claim 1, wherein the second rotating plate (9) is fixedly connected with a limiting column (1401) of an annular array, and the sampling tube (8) is provided with a limiting groove (1402) matched with the adjacent limiting column (1401).
5. The submarine sediment sampling robot for new energy development according to claim 4, wherein the depth of the limiting groove (1402) is larger than the depth of the chute of the adjacent sampling tube (8), and the width of the limiting groove (1402) in the vertical direction is smaller than the width of the first gear (10) in the vertical direction.
6. The seabed sediment sampling robot for new energy development according to claim 4, wherein the second rotating plate (9) is fixedly connected with a sealing element (15) in an annular array, and the sealing element (15) is matched with the adjacent limiting groove (1402) for isolating seawater from parts in the shell (1).
7. The seabed sediment sampling robot for new energy development according to claim 2, wherein the housing (1) is fixedly connected with a supporting plate (16), the supporting plate (16) is used for contacting with the seabed and supporting the housing (1), the supporting plate (16) is provided with a fixing rod (17) in an annular array, and the fixing rod (17) is used for being inserted into the seabed.
8. The seabed sediment sampling robot for new energy development according to claim 7, wherein the support plate (16) is provided with gaps arranged in a mirror image, the gaps of the support plate (16) are positioned below adjacent driving members (4), and the gaps of the support plate (16) are used for enabling sea water influenced by the driving members (4) to normally move.
9. The seabed sediment sampling robot for new energy development according to claim 7, further comprising an anti-deflection mechanism for keeping the housing (1) vertical, wherein the anti-deflection mechanism is arranged on the housing (1), the fixing rod (17) is slidably connected with the supporting plate (16), the anti-deflection mechanism comprises rotating columns (1801) which are arranged in a mirror mode, the rotating columns (1801) which are arranged in a mirror mode are all rotationally connected with the housing (1), sensing plates (1802) are fixedly connected with opposite ends of the rotating columns (1801) which are arranged in a mirror mode, second elastic elements (1803) are fixedly connected between the housing (1) and the sensing plates (1802) which are arranged in a mirror mode, third elastic elements (1804) are fixedly connected between the fixing rods (17) and the supporting plate (16), connecting rods (1805) are fixedly connected between the fixing rods (17) which are adjacent to notch areas of the supporting plate (16), and the connecting rods (1805) are provided with driving mechanisms for transmitting power to the adjacent fixing rods (17).
10. The submarine sediment sampling robot for new energy development according to claim 9, wherein the transmission mechanism comprises an arc-shaped rod (1806), the arc-shaped rod (1806) is fixedly connected to the connecting rod (1805), the shell (1) is in sliding connection with the arc-shaped rod (1806) which is arranged in a mirror image mode, a limiting block (1807) which is arranged in a mirror image mode is fixedly connected to the arc-shaped rod (1806), a limiting rod (1808) is fixedly connected to the sensing plate (1802), and the limiting rod (1808) is matched with the adjacent limiting block (1807).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311058209.9A CN117147209A (en) | 2023-08-22 | 2023-08-22 | Submarine sediment sampling robot for new energy development |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311058209.9A CN117147209A (en) | 2023-08-22 | 2023-08-22 | Submarine sediment sampling robot for new energy development |
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| CN117147209A true CN117147209A (en) | 2023-12-01 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202311058209.9A Withdrawn CN117147209A (en) | 2023-08-22 | 2023-08-22 | Submarine sediment sampling robot for new energy development |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118090316A (en) * | 2023-12-27 | 2024-05-28 | 大连海洋大学 | Sediment sampling equipment for submarine research in artificial fish reef area |
| CN118107757A (en) * | 2024-04-19 | 2024-05-31 | 中国电建集团华东勘测设计研究院有限公司 | An underwater sampling robot for marine ecology |
| CN118182779A (en) * | 2024-04-02 | 2024-06-14 | 南通理工学院 | An underwater robot with a sampling device |
| CN118961299A (en) * | 2024-10-17 | 2024-11-15 | 江苏省海洋水产研究所 | A seabed mud sampling robot for marine ecological monitoring |
| CN119555427A (en) * | 2025-02-06 | 2025-03-04 | 南京开天眼无人机科技有限公司 | A portable drone riverbed sampling system |
-
2023
- 2023-08-22 CN CN202311058209.9A patent/CN117147209A/en not_active Withdrawn
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118090316A (en) * | 2023-12-27 | 2024-05-28 | 大连海洋大学 | Sediment sampling equipment for submarine research in artificial fish reef area |
| CN118182779A (en) * | 2024-04-02 | 2024-06-14 | 南通理工学院 | An underwater robot with a sampling device |
| CN118107757A (en) * | 2024-04-19 | 2024-05-31 | 中国电建集团华东勘测设计研究院有限公司 | An underwater sampling robot for marine ecology |
| CN118961299A (en) * | 2024-10-17 | 2024-11-15 | 江苏省海洋水产研究所 | A seabed mud sampling robot for marine ecological monitoring |
| CN119555427A (en) * | 2025-02-06 | 2025-03-04 | 南京开天眼无人机科技有限公司 | A portable drone riverbed sampling system |
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Application publication date: 20231201 |