CN117433839A - Buoyancy-regulating and controlling sampling device of robot for marine investigation - Google Patents
Buoyancy-regulating and controlling sampling device of robot for marine investigation Download PDFInfo
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- CN117433839A CN117433839A CN202311386267.4A CN202311386267A CN117433839A CN 117433839 A CN117433839 A CN 117433839A CN 202311386267 A CN202311386267 A CN 202311386267A CN 117433839 A CN117433839 A CN 117433839A
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- shell
- buoyancy
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- air bag
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- 238000005070 sampling Methods 0.000 title claims abstract description 40
- 238000011835 investigation Methods 0.000 title abstract description 13
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 28
- 230000005540 biological transmission Effects 0.000 claims description 18
- 238000001125 extrusion Methods 0.000 claims description 6
- 238000012546 transfer Methods 0.000 claims description 4
- 230000029058 respiratory gaseous exchange Effects 0.000 claims description 2
- 239000013535 sea water Substances 0.000 abstract description 18
- 230000009471 action Effects 0.000 description 12
- 230000001105 regulatory effect Effects 0.000 description 9
- 230000007246 mechanism Effects 0.000 description 4
- 230000001276 controlling effect Effects 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000003825 pressing Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000003860 storage Methods 0.000 description 2
- 238000004804 winding Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 239000000758 substrate Substances 0.000 description 1
- 239000013589 supplement Substances 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
- G01N1/10—Devices for withdrawing samples in the liquid or fluent state
- G01N1/14—Suction devices, e.g. pumps; Ejector devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/30—Assessment of water resources
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- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Health & Medical Sciences (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- General Physics & Mathematics (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Physics & Mathematics (AREA)
- Hydrology & Water Resources (AREA)
- Ocean & Marine Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Sampling And Sample Adjustment (AREA)
Abstract
The invention discloses a buoyancy-regulating marine investigation robot sampling device, which comprises a shell, a guy cable and a hydraulic cylinder, wherein the guy cable is arranged at the top of the shell, the right side of the top of the inner wall of the shell is fixedly connected with the hydraulic cylinder, and a motor is arranged below the left side of the inner wall of the shell; further comprises: the bottom of shell is fixed with the balancing weight, the bottom of shell is articulated with the telescopic link about the central point symmetry of balancing weight, the inside left top of shell is offered and is fixed with the inlet tube. This marine investigation of regulation and control buoyancy uses sampling device through the cooperation of first gasbag, second gasbag and balancing weight, can regulate and control the buoyancy of device, and can also take a sample the sea water of different degree of depth to categorised collection improves the practicality and utilizes the telescopic link to rotate and be the vertical state, can effectively cushion the impact force that receives, thereby can protection device, avoids the device to take place to damage.
Description
Technical Field
The invention relates to the technical field of marine investigation, in particular to a sampling device of a marine investigation robot for regulating buoyancy.
Background
The marine survey is a survey of hydrologic, meteorological, physical, chemical, biological and substrate distribution conditions and change rules of a certain sea area, wherein the survey and observation modes comprise large-area survey, section survey, continuous observation and auxiliary observation, a robot sampling device is needed to sample sea water during the marine survey, for example, a sampling device for a sampling robot with the publication number of CN109724845B is needed, when the sampling is needed, a driving assembly rotates to drive an I-shaped roller and a spindle-shaped roller to rotate, and then the sampling assembly is pulled downwards; the sampling component in the winding component is pulled out, and when the lower end of the sampling component passes through the measuring region of the measuring component, the measuring component starts to calculate the downward moving distance of the sampling component; the measurement component may be an infrared measurement; when the lower end part of the sampling assembly starts to calculate time when the measuring assembly measures infrared light beams, the downward extending length of the sampling assembly can be obtained by matching with the rotation linear speed of the driving assembly, but the sampling device for the sampling robot still has the following defects in the actual use process:
when the mechanism is used, the seawater is sampled and collected through the sampling assembly, but only the seawater with the same depth can be collected each time, and when the seawater with different depths is required to be collected, the device is required to be recovered first and then put into water, so that the working efficiency is low, the buoyancy of the existing robot sampling device cannot be regulated and controlled mostly, the device can only sample at a certain place in the ocean, and the practicability is low;
also for example, the submerged multifunctional marine investigation sampling robot with the publication number of CN107839858A is characterized in that when the cabin is closed, the check valve is in a closed sealing state under the action of spring pressure, at the moment, seawater cannot enter the sampling chamber, when the cabin is in a harbor to a required depth, the electromagnet pusher is electrified through interface operation, the ejector rod is displaced towards the water inlet under the action of the thrust of the electromagnet pusher, at the moment, the spring is compressed, the check valve is opened, a water sample is pressed into the sampling storage chamber through the water inlet under the action of water pressure, the energization is stopped after 60 seconds, the valve rod of the check valve is pushed back to the closed position under the action of the spring, the sample water body is stored in the sampling storage chamber, when the cabin is lifted to a working ship, the discharge switch is opened, and the water body sample collection work is completed, but the marine investigation sampling robot still has the following defects in the actual use process:
when the mechanism is used, the seawater is sampled by sinking the cabin to the ocean depth, but the mechanism lacks a protection function, so that the impact force generated when the cabin is sunk to the seabed is easy to damage the device.
We have therefore proposed a robotic sampling device for marine investigation that regulates buoyancy in order to solve the problems set out above.
Disclosure of Invention
The invention aims to provide a buoyancy-regulating marine survey robot sampling device, which aims to solve the problems that the buoyancy of a control device cannot be regulated when the conventional robot sampling device in the market is used, then seawater with different depths cannot be sampled and collected, the practicability is low, and a protection function is lacked, so that the device is easily damaged by impact force generated when a cabin is sunk to the sea floor.
In order to achieve the above purpose, the present invention provides the following technical solutions: the marine investigation robot sampling device comprises a shell, a guy cable and a hydraulic cylinder, wherein the guy cable is arranged at the top of the shell, the hydraulic cylinder is fixedly connected to the right side of the top of the inner wall of the shell, and a motor is arranged below the left side of the inner wall of the shell;
further comprises: the bottom of the shell is symmetrically hinged with a telescopic rod about the center point of the balancing weight, and a water inlet pipe is fixedly arranged above the left side inside the shell;
the left sides of the bottoms of the inner walls of the shells are fixedly connected with collecting barrels, the tops of the collecting barrels are connected with the bottoms of the water inlet pipes, the collecting barrels are communicated with the water inlet pipes, and electromagnetic valves are arranged in the collecting barrels;
the bottom fixedly connected with fixed block of shell inner wall, the right side of shell inner wall bottom is fixed with the backup pad, just the top of backup pad left side is provided with first gasbag, the inside left side rotation of shell is connected with the axis of rotation, just the tail end of axis of rotation and the output fixed connection of motor.
Preferably, the left side inside the shell is rotationally connected with a transmission rod, the left end of the transmission rod is in transmission connection with the front end of the rotating shaft through a bevel gear set, the transmission rod and the rotating shaft are arranged in a mutually perpendicular mode, and a driving gear is sleeved on the outer side of the middle of the rotating shaft.
By adopting the technical scheme, the rotating shaft drives the transmission rod to rotate by using the bevel gear set, and simultaneously drives the driving gear to rotate.
Preferably, the left side sliding of shell inner wall is connected with the shutoff board, just first tooth piece is installed to the equidistant right side of shutoff board, be engaged connection between driving gear and the first tooth piece.
By adopting the technical scheme, the plugging plate can be lifted and lowered, and the water inlet pipe can be opened or closed.
Preferably, the right side inside the inlet tube runs through there is the threaded rod, just for rotating between threaded rod and the inlet tube to the outside cover of threaded rod left end is equipped with the piston piece, be sealed sliding connection between the outside of piston piece and the inner wall of inlet tube, just be threaded connection between piston piece and the threaded rod, be connected through belt pulley assembly transmission between the outside of threaded rod and transfer line right-hand member.
By adopting the technical scheme, the piston block is utilized to move rightwards, so that suction force can be generated to suck seawater into the water inlet pipe.
Preferably, the left side and the right side of the bottom of the shell are slidably connected with movable plates, the left side of the inside of the fixed block is slidably connected with a guide rod, and two sides of the lower end of the guide rod are hinged with opposite surfaces of the two movable plates through connecting rods.
Through adopting above-mentioned technical scheme for the guide bar goes up and down and drives the connecting rod and take place to rotate, makes two fly leaves be close to each other or keep away from each other then.
Preferably, the right equidistant second tooth piece of guide arm upper end, the inside of fixed block is connected with driven gear through the axle rotation, the left side fixedly connected with rack of pneumatic cylinder output, just the rack is the setting of "L" shape of handstand, and the one end that the pneumatic cylinder was kept away from to the rack stretches into the inside of fixed block, be the meshing connection between driven gear, rack and the guide arm three.
Through adopting above-mentioned technical scheme for the rack goes up and down to drive driven gear corotation or reversal, drives the guide bar simultaneously and goes up and down.
Preferably, the output end of the hydraulic cylinder penetrates through the first air bag, the output end of the hydraulic cylinder is fixedly connected with an extrusion block, and an air suction pipe is arranged on the right side of the first air bag.
By adopting the technical scheme, the first air bag can automatically supplement air by utilizing the air suction pipe.
Preferably, the outside cover of balancing weight is equipped with the second gasbag, just be linked together through the hose between the inside of second gasbag and the first gasbag, the bottom of shell inner wall is run through and is fixed with the blast pipe, just the blast pipe is linked together with the inside of second gasbag, and be one-way circulation structure between blast pipe, hose and the breathing pipe three.
By adopting the technical scheme, the gas released by the first air bag under pressure enters the second air bag through the hose, and then the gas of the second air bag is discharged through the exhaust pipe.
Preferably, the vortex springs are arranged at the connection positions of the shaft ends of the telescopic rods and the shell, the shaft ends of the telescopic rods are connected with the opposite surfaces of the two movable plates through traction ropes, one ends of the traction ropes are fixedly connected with the side surfaces of the movable plates, and the other ends of the traction ropes are wound at the shaft ends of the telescopic rods.
Through adopting above-mentioned technical scheme, utilize haulage rope pulling telescopic link to rotate to utilize the telescopic link to effectively cushion the impact force that receives, and then protection device.
Compared with the prior art, the invention has the beneficial effects that: according to the buoyancy regulating and controlling robot sampling device for marine investigation, through the cooperation of the first air bag, the second air bag and the balancing weight, the buoyancy of the device can be regulated and controlled, seawater with different depths can be sampled and collected in a classified mode, the practicability is improved, the telescopic rod is utilized to rotate to be in a vertical state, the impact force received by the device can be effectively buffered, the device is prevented from being damaged, and the device is prevented from being damaged as follows;
1. a threaded rod is arranged, the motor drives the rotating shaft to rotate, the driving gear is meshed with the tooth block, the plugging plate moves downwards, the bevel gear set is used for driving the transmission rod to rotate, the transmission rod drives the threaded rod to rotate by the belt pulley assembly, the piston block moves rightwards and generates suction force, the seawater is sucked into the water inlet pipe, the electromagnetic valve is opened, the seawater enters the collecting cylinder, and then the seawater with different depths can be collected along with the sinking of the device and collected in a classified manner;
2. the device comprises a first air bag, a second air bag, a first pressing block, a second driving block, a rack, a driven gear, a guide rod, a balancing weight and a driving device, wherein the first air bag is driven by the hydraulic cylinder to move upwards, the first air bag is pressed by the first air bag, then air enters the second air bag through the hose, the device is driven to float upwards under the action of the first air bag, and then when the hydraulic cylinder drives the pressing block to move downwards, the two movable plates are relatively moved by the cooperation of the rack, the driven gear and the guide rod, the second air bag is pressed, the air in the second air bag is discharged, and then the device can be driven to sink under the action of the balancing weight, so that the buoyancy of the device can be regulated;
3. be provided with the telescopic link, when two fly leaves relative movement, utilize the haulage rope can stimulate the telescopic link and rotate and be vertical state for when the device sinks, utilize the telescopic link can carry out effective buffering to the impact force that receives, thereby can protection device, avoid the device to take place to damage.
Drawings
FIG. 1 is a schematic view of the main section structure of the present invention;
FIG. 2 is a schematic top view of a driving gear according to the present invention;
FIG. 3 is a schematic view of the main section of the water inlet pipe of the present invention;
FIG. 4 is a schematic diagram of a main sectional structure of a fixing block according to the present invention;
FIG. 5 is a schematic view of a rack in a three-dimensional structure according to the present invention;
FIG. 6 is a schematic view of the telescopic rod rotating structure of the present invention;
FIG. 7 is an enlarged schematic view of the structure of FIG. 1A according to the present invention;
FIG. 8 is a schematic diagram of a partial side view of a closure plate of the present invention.
In the figure: 1. a housing; 2. a guy cable; 3. a hydraulic cylinder; 4. balancing weight; 5. a fixed block; 6. a water inlet pipe; 7. a support plate; 8. a collection cylinder; 9. an electromagnetic valve; 10. a movable plate; 11. a telescopic rod; 12. a hose; 13. a connecting rod; 14. an exhaust pipe; 15. a vortex spring; 16. a first air bag; 17. an air suction pipe; 18. a rotating shaft; 19. a drive gear; 20. a transmission rod; 21. a plugging plate; 22. a rack; 23. a driven gear; 24. a guide rod; 25. a threaded rod; 26. a piston block; 27. a traction rope; 28. a second air bag; 29. extruding the blocks.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1-8, the present invention provides a technical solution: the utility model provides a regulation and control marine investigation is with robot sampling device of buoyancy, includes shell 1, cable 2 and pneumatic cylinder 3, and cable 2 installs at the top of shell 1, and the right side at shell 1 inner wall top is fixedly connected with pneumatic cylinder 3 to the below of shell 1 inner wall left side installs the motor;
further comprises: the bottom of the shell 1 is fixed with a balancing weight 4, the bottom of the shell 1 is symmetrically hinged with a telescopic rod 11 about the center point of the balancing weight 4, and a water inlet pipe 6 is fixedly arranged above the left side inside the shell 1; the left side of the bottom of the inner wall of the shell 1 is fixedly connected with a collecting cylinder 8, the tops of the collecting cylinders 8 are connected with the bottom of the water inlet pipe 6, the collecting cylinder 8 is communicated with the water inlet pipe 6, and electromagnetic valves 9 are arranged in the collecting cylinders 8; the bottom of the inner wall of the shell 1 is fixedly connected with a fixed block 5, the right side of the bottom of the inner wall of the shell 1 is fixedly provided with a supporting plate 7, the upper part of the left side of the supporting plate 7 is provided with a first air bag 16, the left side of the inner part of the shell 1 is rotationally connected with a rotating shaft 18, the tail end of the rotating shaft 18 is fixedly connected with the output end of a motor, the left side of the inner part of the shell 1 is rotationally connected with a transmission rod 20, the left end of the transmission rod 20 is in transmission connection with the front end of the rotating shaft 18 through a bevel gear set, the transmission rod 20 and the rotating shaft 18 are mutually perpendicular, the outer side of the middle part of the rotating shaft 18 is sleeved with a driving gear 19, the left side of the inner wall of the shell 1 is rotationally connected with a plugging plate 21, the right side of the plugging plate 21 is equidistantly provided with a first tooth block, the driving gear 19 is in meshed connection with the first tooth block, the right side of the inner part of the water inlet pipe 6 is penetrated with a threaded rod 25, the threaded rod 26 is rotationally connected with the water inlet pipe 6, the outer side of the left end of the threaded rod 25 is sleeved with the threaded rod 26, the inner wall of the threaded rod 6 is in sealed sliding connection, the threaded connection between the piston block 26 and the inner wall of the threaded rod 6 is threaded connection with the threaded rod 25, the threaded rod 20 is screwed with the outer side of the threaded rod 20 through the transmission assembly;
as shown in fig. 1-3, 7 and 8, the device is connected with a winding mechanism on a marine survey ship through a guy cable 2, the guy cable 2 is then unwound, the device automatically sinks under the action of self gravity and a balancing weight 4, then after the device sinks to a certain depth, a motor is started, the motor drives a rotating shaft 18 to rotate, meanwhile, the rotating shaft 18 drives a driving gear 19 to rotate positively, and as the driving gear 19 is meshed with a first tooth block, a blocking plate 21 moves downwards and does not block a water inlet pipe 6 any more, at this time, the rotating shaft 18 drives a transmission rod 20 to rotate by using a bevel gear set, meanwhile, the transmission rod 20 drives a threaded rod 25 to rotate positively by using a belt pulley assembly, so that a piston block 26 moves rightwards and generates suction force, seawater is sucked into the water inlet pipe 6, an electromagnetic valve 9 is started, the seawater enters a collecting cylinder 8 along with the sinking of the device, and the seawater with different depths can be collected in a classified manner.
The left side and the right side of the bottom of the shell 1 are slidably connected with the movable plates 10, the left side of the inside of the fixed block 5 is slidably connected with the guide rods 24, two sides of the lower end of the guide rods 24 are hinged with opposite surfaces of the two movable plates 10 through the connecting rods 13, the right side of the upper end of each guide rod 24 is provided with equidistant second tooth blocks, the inside of the fixed block 5 is rotatably connected with the driven gear 23 through a shaft, the left side of the output end of the hydraulic cylinder 3 is fixedly connected with the rack 22, the rack 22 is in an inverted L shape, one end of the rack 22 far away from the hydraulic cylinder 3 extends into the inside of the fixed block 5, the driven gear 23, the rack 22 and the guide rods 24 are in meshed connection, the output end of the hydraulic cylinder 3 penetrates through the inside of the first air bag 16, the output end of the hydraulic cylinder 3 is fixedly connected with the extrusion block 29, the right side of the first air bag 16 is provided with the air suction pipe 17, the outer side of the balancing weight 4 is sleeved with the second air bag 28, the second air bag 28 is communicated with the inside of the first air bag 16 through the hose 12, the bottom of the inner wall of the shell 1 is fixedly connected with the exhaust pipe 14, and the exhaust pipe 14 is communicated with the inside the second air bag 28, and the two air bags 14 and the two air bags 16 are in a one-way through the hose 17;
as shown in fig. 1, fig. 4-fig. 6, the hydraulic cylinder 3 is started, so that the hydraulic cylinder 3 drives the extrusion block 29 to move upwards, meanwhile, as the rack 22, the driven gear 23 and the second gear block are meshed, the rack 22 moves upwards, the driven gear 23 is driven to rotate forward, the guide rod 24 is driven to move downwards, then the connecting rod 13 rotates, the two movable plates 10 are pushed away from each other, at this time, the extrusion block 29 extrudes the first air bag 16, then the first air bag 16 is pressurized to release gas, at the same time, the gas enters the second air bag 28 through the flexible pipe 12, at this time, the second air bag 28 expands, and under the action of the second air bag 28, the device is driven to float upwards, then when the hydraulic cylinder 3 drives the extrusion block 29 to move downwards, the guide rod 24 moves upwards, at this time, the connecting rod 13 rotates and pulls the two movable plates 10 to move relatively, the second air bag 28 is extruded, the gas in the second air bag 28 is discharged through the exhaust pipe 14, and then the device can be driven under the action of the balancing weight 4, so that the buoyancy of the device can be regulated and controlled.
The scroll springs 15 are arranged at the connection positions of the shaft ends of the two telescopic rods 11 and the shell 1, the shaft ends of the two telescopic rods 11 are connected with the opposite surfaces of the two movable plates 10 through the traction ropes 27, one ends of the traction ropes 27 are fixedly connected with the side surfaces of the movable plates 10, and the other ends of the traction ropes 27 are wound at the shaft ends of the telescopic rods 11;
as shown in fig. 1 and 6, when two movable plates 10 move relatively, two pull ropes 27 are used to pull two telescopic rods 11 to rotate to be in a vertical state, so that when the device sinks, the impact force received by the telescopic rods 11 can be effectively buffered, and the device can be protected from damage.
The working principle of the embodiment is as follows: when the buoyancy regulating and controlling robot sampling device for marine investigation is used, as shown in fig. 1-8, firstly, after the device is sunk to a certain depth, the motor drives the rotating shaft 18 to rotate, at this time, the plugging plate 21 does not plug the water inlet pipe 6 any more, then the seawater is sucked into the water inlet pipe 6 and enters the collecting cylinder 8, then the seawater with different depths can be collected and collected in a classified manner along with the sinking of the device, then the extruding block 29 is driven to move upwards by the hydraulic cylinder 3, the first air bag 16 is extruded, the second air bag 28 is inflated, the device is driven to float upwards under the action of the second air bag 28, then the two movable plates 10 relatively move, the gas in the second air bag 28 is discharged through the exhaust pipe 14, and the device is driven to sink under the action of the balancing weight 4, thereby the buoyancy of the device can be regulated and controlled, then the impact force received can be effectively buffered by utilizing the action of the telescopic rod 11, the device can be prevented from being damaged, finally, after the device is sampled, the device is rolled up, the device is pulled up by a rolling ship, the device 2, the device is opened, a plurality of workers are unfolded, and the collecting cylinders 8 are completely taken out, and a series of workers are completely from the collecting cylinder 8.
In the description of the present invention, unless otherwise indicated, the meaning of "a plurality" is two or more; the terms "upper," "lower," "left," "right," "inner," "outer," "front," "rear," "head," "tail," and the like are used as an orientation or positional relationship based on that shown in the drawings, merely to facilitate description of the invention and to simplify the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the invention. Furthermore, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "connected," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
Although the present invention has been described with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described, or equivalents may be substituted for elements thereof, and any modifications, equivalents, improvements and changes may be made without departing from the spirit and principles of the present invention.
Claims (9)
1. The utility model provides a marine survey robot sampling device of regulation and control buoyancy, includes shell (1), cable (2) and pneumatic cylinder (3), cable (2) are installed at the top of shell (1), just the right side at shell (1) inner wall top fixedly connected with pneumatic cylinder (3), and the below of shell (1) inner wall left side installs the motor;
characterized by further comprising:
the bottom of the shell (1) is fixedly provided with a balancing weight (4), the bottom of the shell (1) is symmetrically hinged with a telescopic rod (11) about the center point of the balancing weight (4), and a water inlet pipe (6) is fixedly arranged above the left side inside the shell (1);
the left sides of the bottoms of the inner walls of the shell (1) are fixedly connected with collecting barrels (8), the tops of the collecting barrels (8) are connected with the bottoms of the water inlet pipes (6), the collecting barrels (8) are communicated with the water inlet pipes (6), and electromagnetic valves (9) are arranged in the collecting barrels (8);
the novel air bag is characterized in that a fixed block (5) is fixedly connected to the bottom of the inner wall of the shell (1), a supporting plate (7) is fixed to the right side of the bottom of the inner wall of the shell (1), a first air bag (16) is arranged above the left side of the supporting plate (7), a rotating shaft (18) is rotatably connected to the left side of the inside of the shell (1), and the tail end of the rotating shaft (18) is fixedly connected with the output end of the motor.
2. The buoyancy-regulating marine survey robotic sampling device of claim 1, wherein: the left side inside shell (1) rotates and is connected with transfer line (20), just pass through bevel gear group transmission between the left end of transfer line (20) and the front end of axis of rotation (18) and be connected, and transfer line (20) are mutually perpendicular form setting with axis of rotation (18), moreover the outside cover at axis of rotation (18) middle part is equipped with driving gear (19).
3. The buoyancy-regulating marine survey robotic sampling device of claim 2, wherein: the left side sliding of shell (1) inner wall is connected with shutoff board (21), just first tooth piece is installed to equidistant on the right side of shutoff board (21), be engaged connection between driving gear (19) and the first tooth piece.
4. The buoyancy-regulating marine survey robotic sampling device of claim 1, wherein: the utility model discloses a water inlet pipe, including threaded rod (25) and drive rod (20), including inlet tube (6), threaded rod (25) are run through on the inside right side of inlet tube (6), just be connected for rotating between threaded rod (25) and inlet tube (6), and the outside cover of threaded rod (25) left end is equipped with piston block (26), be sealed sliding connection between the outside of piston block (26) and the inner wall of inlet tube (6), just be threaded connection between piston block (26) and threaded rod (25), be connected through belt pulley assembly transmission between the outside of threaded rod (25) and drive rod (20) right-hand member.
5. The buoyancy-regulating marine survey robotic sampling device of claim 1, wherein: the left side and the right side of the bottom of the shell (1) are connected with movable plates (10) in a sliding manner, the left side inside the fixed block (5) is connected with guide rods (24) in a sliding manner, and two sides of the lower end of each guide rod (24) are hinged with opposite surfaces of the two movable plates (10) through connecting rods (13).
6. The buoyancy-regulating marine survey robotic sampling device of claim 5, wherein: the right equidistant second tooth piece of guide bar (24) upper end, the inside of fixed block (5) is connected with driven gear (23) through the axle rotation, the left side fixedly connected with rack (22) of pneumatic cylinder (3) output, just rack (22) are the setting of "L" shape of handstand, and the one end that pneumatic cylinder (3) was kept away from to rack (22) stretches into the inside of fixed block (5), be the meshing connection between driven gear (23), rack (22) and guide bar (24) three.
7. The buoyancy-regulating marine survey robotic sampling device of claim 1, wherein: the output end of the hydraulic cylinder (3) penetrates through the first air bag (16), the output end of the hydraulic cylinder (3) is fixedly connected with an extrusion block (29), and an air suction pipe (17) is arranged on the right side of the first air bag (16).
8. The buoyancy-regulating marine survey robotic sampling device of claim 1, wherein: the outside cover of balancing weight (4) is equipped with second gasbag (28), just be linked together through hose (12) between the inside of second gasbag (28) and first gasbag (16), the bottom of shell (1) inner wall is run through and is fixed with blast pipe (14), just blast pipe (14) are linked together with the inside of second gasbag (28), just be one-way circulation structure between blast pipe (14), hose (12) and breathing pipe (17) three.
9. The buoyancy-regulating marine survey robotic sampling device of claim 1, wherein: vortex springs (15) are arranged at the connecting positions of the shaft ends of the two telescopic rods (11) and the shell (1), the shaft ends of the two telescopic rods (11) are connected with the opposite surfaces of the two movable plates (10) through traction ropes (27), one ends of the traction ropes (27) are fixedly connected with the side surfaces of the movable plates (10), and the other ends of the traction ropes (27) are wound at the shaft ends of the telescopic rods (11).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311386267.4A CN117433839A (en) | 2023-10-25 | 2023-10-25 | Buoyancy-regulating and controlling sampling device of robot for marine investigation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311386267.4A CN117433839A (en) | 2023-10-25 | 2023-10-25 | Buoyancy-regulating and controlling sampling device of robot for marine investigation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117433839A true CN117433839A (en) | 2024-01-23 |
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ID=89545599
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311386267.4A Withdrawn CN117433839A (en) | 2023-10-25 | 2023-10-25 | Buoyancy-regulating and controlling sampling device of robot for marine investigation |
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| Country | Link |
|---|---|
| CN (1) | CN117433839A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118050214A (en) * | 2024-04-16 | 2024-05-17 | 山东新元数字科技有限公司 | Automatic sinking-floating ocean measuring device |
-
2023
- 2023-10-25 CN CN202311386267.4A patent/CN117433839A/en not_active Withdrawn
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118050214A (en) * | 2024-04-16 | 2024-05-17 | 山东新元数字科技有限公司 | Automatic sinking-floating ocean measuring device |
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Application publication date: 20240123 |