CN118083092A - Ocean observation device and method for self-adaptive sampling of underwater robot - Google Patents

Abstract

The invention relates to the technical field of underwater robots, and discloses a marine observation device and a marine observation method for self-adaptive sampling of an underwater robot, wherein the underwater robot is connected with a barrel through a rotating mechanism, the barrel is provided with a self-adaptive moving mechanism, the self-adaptive moving mechanism comprises braking gear cavities uniformly arranged on the barrel, and rotating shafts are rotatably connected between end walls of the braking gear cavities, so that the underwater self-adaptive movement can be realized, the moving speed can be adjusted autonomously, the movement in multiple directions can be realized, and the observation of point positions in different directions is facilitated; the underwater environment can be observed, the observation of a plurality of direction point positions can be realized, and the observation efficiency is high; can realize taking a sample to quality of water, can realize taking a sample to the quality of water of different positions to can carry out different collection to the quality of water of the sample of different positions, the efficient of sampling, the scope of sampling is wide.

Description

Ocean observation device and method for self-adaptive sampling of underwater robot

Technical Field

The invention belongs to the technical field of underwater robots, and particularly relates to a marine observation device and a marine observation method for self-adaptive sampling of an underwater robot.

Background

The underwater robot is also called an unmanned remote-control submersible, and is an extreme operation robot working under water. The underwater environment is dangerous and the diving depth of a person is limited, so that the underwater robot has become an important tool for developing the ocean. The unmanned remote control submersible mainly comprises: the cabled remote-control submersible is divided into a submarine self-propelled type, a towing type and a crawling type on a submarine structure.

The current underwater robot is inconvenient to adaptively move when observing underwater, and the underwater movement is needed to move by means of autonomous power, and the observation range is limited.

Disclosure of Invention

Aiming at the situation, in order to overcome the defects of the prior art, the invention provides the ocean observation device and the ocean observation method for the self-adaptive sampling of the underwater robot, which effectively solve the problems in the background art.

In order to achieve the above purpose, the present invention provides the following technical solutions: the utility model provides an ocean observation device of self-adaptation sampling of underwater robot, includes underwater robot, be connected with the barrel through slewing mechanism on the underwater robot, be equipped with self-adaptation moving mechanism on the barrel, self-adaptation moving mechanism includes the braking gear chamber that the barrel evenly was equipped with, it is connected with the pivot to rotate between the braking gear chamber end wall, the surface fixedly connected with fixed rotary drum of pivot, the surface symmetry fixedly connected with fixed disk of fixed rotary drum, it is connected with a plurality of self-adaptation pivots to rotate between the fixed disk, the surface fixed mounting of self-adaptation pivot has a water poking plate, be equipped with the ring chamber in the fixed rotary drum, the self-adaptation pivot extends to in the ring chamber, the surface fixed mounting of self-adaptation pivot has self-adaptation slave gear, the self-adaptation slave gear meshes between self-adaptation ring gear, be equipped with the gear chamber in the fixed, the gear chamber rotates between the gear chamber end wall is connected with self-adaptation master gear shaft and self-adaptation motor power connection, self-adaptation motor fixed mounting is in the fixed gear shaft, the self-adaptation is connected with the ring gear in the end wall the self-adaptation is equipped with the braking gear.

Preferably, the underwater robot is provided with an anti-collision mechanism, the anti-collision mechanism comprises a fixed ring fixedly arranged on the upper surface of the underwater robot, a plurality of anti-collision sliding rods are slidably connected to the outer surface of the fixed ring, an anti-collision plate is fixedly connected to the tail end of one side of the anti-collision sliding rod, a damping spring is clamped between the anti-collision plate and the fixed ring, and the damping spring is nested on the outer surface of the anti-collision sliding rod.

Preferably, the lifting mechanism is arranged on the bottom wall of the barrel, the lifting mechanism comprises a chassis detachably connected with the bottom wall of the underwater robot through bolts, a cavity is arranged in the barrel, a lifting screw rod is rotationally connected with the upper surface of the chassis, the lifting screw rod is in power connection with a lifting motor, the lifting motor is fixedly arranged in the chassis, the lifting screw rod is in threaded connection with a lifting nut block, the lifting nut block is in sliding connection with a limiting rod, the limiting rod is fixedly arranged on the bottom wall of the chassis, and a path monitoring camera is fixedly arranged on the bottom wall of the barrel.

Preferably, the lifting nut block is provided with a driving mechanism, the driving mechanism comprises a driving gear cavity arranged in the lifting nut block, a driving gear shaft is connected between end walls of the driving gear cavity in a rotating mode, the driving gear shaft is in power connection with a driving motor, the driving motor is fixedly installed in the lifting nut block, a driving gear is fixedly installed on the outer surface of the driving gear shaft, the driving gear is meshed with the annular rack plate, and the annular rack plate is installed on the outer surface of the lifting nut block in a rotating mode.

Preferably, the lifting nut block is provided with a sampling mechanism, the sampling mechanism comprises a water collecting tank fixedly arranged on the upper surface of the lifting nut block, an annular tool rest is connected to the water collecting tank in a sliding manner, an extension pipe is fixedly connected to the annular tool rest and extends into the water collecting tank, a fixing pipe is connected to the extension pipe, an electric push rod is fixedly connected to the outer surface of the annular rack plate, the electric push rod is far away from an electric spray head fixedly connected to one end of the annular rack plate, the electric spray head is communicated with the fixing pipe, a water suction pump is fixedly arranged on the upper surface of the water collecting tank, an extraction pipe is fixedly connected to the upper surface of the water suction pump, the end of one side of the extraction pipe is far away from the extraction pipe, the extraction pipe is fixedly arranged on the fixing block, and the fixing block is fixedly arranged on the surface of the cylinder body.

Preferably, the chassis end wall is provided with a collecting mechanism, the collecting mechanism comprises a collecting barrel fixedly connected with the chassis end wall, a plurality of collecting cavities are arranged in the collecting barrel, the collecting cavity end wall is provided with a collecting channel, and a one-way valve is fixedly connected between the collecting channel end walls.

Preferably, the observation mechanism is arranged on the end wall of the cylinder body, the observation mechanism comprises an observation gear cavity arranged in the cylinder body, an observation gear shaft is connected between the end walls of the observation gear cavity in a rotating mode, the observation gear shaft is in power connection with an observation motor, the observation motor is fixedly arranged in the cylinder body, an observation gear is fixedly arranged on the outer surface of the observation gear shaft, the observation gear is meshed with an annular rack, the annular rack is rotatably arranged on the outer surface of the cylinder body, a plurality of mounting plates are fixedly arranged on the outer surface of the annular rack, a water environment observation camera is fixedly arranged on the bottom wall of each mounting plate, and a salt content monitor is fixedly arranged on the bottom wall of each mounting plate.

Preferably, the rotating mechanism comprises a rotating cavity arranged in the underwater robot, a driving gear shaft is connected between end walls of the rotating cavity in a rotating mode, the driving gear shaft is in power connection with a rotating motor, the rotating motor is fixedly arranged in the underwater robot, a driving gear is fixedly arranged on the outer surface of the driving gear shaft, the driving gear is meshed with a driven gear, the driven gear is fixedly arranged on the outer surface of the driven gear shaft, the driven gear shaft is rotatably arranged between end walls of the rotating cavity, the tail end of the lower side of the driven gear shaft is fixedly connected with a cylinder body, and a stabilizing ring is connected between the cylinder body and the underwater robot.

Preferably, the fixed rods are symmetrically and fixedly connected to the underwater robot, clamping rings are fixedly connected between the fixed rods, a water storage tank is clamped on the clamping rings, a water inlet pump is fixedly connected to one end of one side of the water storage tank, and a drainage pump is fixedly connected to the other end of the other side of the water storage tank.

The invention provides a marine observation method for self-adaptive sampling of an underwater robot, which is based on the marine observation device for self-adaptive sampling of the underwater robot, and comprises the following steps:

step one: placing the underwater robot into water so that the underwater robot is submerged;

Step two: the rotating mechanism moves, so that the cylinder is driven to rotate to a corresponding position, and observation in water is facilitated;

Step three: the self-adaptive moving mechanism moves, so that the cylinder body moves in water in a self-adaptive manner and moves along with water flow in a self-adaptive manner;

Step four: in the process of self-adaptive movement of the cylinder, the observation mechanism moves, so that self-adaptive observation is carried out, and self-adaptive point positions are observed;

Step five: in the process of self-adaptive movement of the cylinder, the anti-collision mechanism moves, so that the underwater robot is subjected to anti-collision protection;

Step six: in the process of self-adaptive movement of the cylinder, the sampling mechanism moves, so that water quality is sampled, and the sampling range is wider;

Step seven: in-process of sampling, elevating system with actuating mechanism moves to carry out better sample, be convenient for collect, and cooperate collection mechanism's motion, thereby realize collecting the water sample of gathering, and can realize carrying out different collection to different positions, the efficiency of collection is higher, and the scope of sampling is more extensive.

Compared with the prior art, the invention has the beneficial effects that:

1. The invention provides an ocean observation device for self-adaptive sampling of an underwater robot, which can realize self-adaptive movement underwater, can automatically regulate the moving speed, can realize movement in multiple directions, and is convenient for observing point positions in different directions.

2. The invention provides a marine observation device for self-adaptive sampling of an underwater robot, which can realize observation of an underwater environment, can realize observation of multiple direction point positions and has high observation efficiency.

3. The invention provides an ocean observation device for self-adaptive sampling of an underwater robot, which can realize sampling of water quality, can realize sampling of water quality of different points, can collect water quality of sampling of different points differently, and has high sampling efficiency and wide sampling range.

Drawings

The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate the invention and together with the embodiments of the invention, serve to explain the invention.

In the drawings:

FIG. 1 is a schematic diagram of a first direction structure of a marine observation device for adaptive sampling of an underwater robot according to the present invention;

FIG. 2 is a schematic diagram of a second direction structure of a marine observation device for adaptive sampling of an underwater robot according to the present invention;

FIG. 3 is a schematic diagram of a third directional structure of a marine observation device for adaptive sampling of an underwater robot according to the present invention;

FIG. 4 is a schematic diagram of a fourth direction structure of a marine observation device for adaptive sampling of an underwater robot according to the present invention;

FIG. 5 is a schematic view of a marine observation device for adaptive sampling of an underwater robot in a fifth direction;

FIG. 6 is a schematic view of a marine observation device for adaptive sampling of an underwater robot in a sixth direction;

FIG. 7 is a schematic view of a seventh direction structure of a marine observation device for adaptive sampling of an underwater robot according to the present invention;

FIG. 8 is a schematic view of the structure at A-A in FIG. 7;

FIG. 9 is a schematic view of the structure at B-B in FIG. 8;

FIG. 10 is a schematic view of the structure at C-C in FIG. 8;

FIG. 11 is a schematic view of the structure at D-D in FIG. 8;

fig. 12 is a schematic view of the structure at F-F in fig. 9.

In the figure: 1-underwater robot, 2-crashproof board, 3-fixed ring, 4-damping spring, 5-crashproof slide bar-, 7-fixed disk, 8-water-shifting board, 10-cylinder, 11-mounting board, 12-fixed block, 13-extraction pipe, 14-chassis, 15-bolt, 16-annular rack, 17-rotating shaft, 18-salt content monitor, 19-water environment observation camera, 20-path monitoring camera, 21-fixed rod, 22-clamping ring, 23-water storage tank, 24-water inlet pump, 25-water discharge pump, 26-rotating cavity, 27-driven gear, 28-driven gear shaft, 29-stable ring, 30-self-adapting rotating shaft, 31-observation gear cavity, 32-observation gear, and 33-observation gear shaft, 34-cavity, 35-collection cylinder, 36-collection chamber, 37-check valve, 38-collection channel, 39-electric spray head, 40-extension tube, 41-fixed tube, 42-electric push rod, 43-drive gear chamber, 44-drive gear shaft, 45-drive gear, 46-annular rack plate, 47-annular blade holder, 48-collection tank, 49-suction pump, 50-lifting screw rod, 51-restriction rod, 52-braking gear chamber, 53-braking gear, 54-braking tooth, 55-braking electric push rod, 56-gear chamber, 57-adaptive main gear, 58-adaptive main gear shaft, 59-adaptive motor, 60-adaptive annular rack bar, 61-self-adapting slave gear, 62-annular cavity, 63-fixed rotary drum, 64-lifting nut block, 65-driving gear shaft and 66-driving gear.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention; 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.

As shown in fig. 1-12, the invention provides a marine observation device for self-adaptive sampling of an underwater robot, wherein component materials in the device are made of pressure-resistant materials, component materials in the device are made of wear-resistant and corrosion-resistant materials, the marine observation device comprises an underwater robot 1, a barrel 10 is connected to the underwater robot 1 through a rotating mechanism, the rotating mechanism is used for driving the barrel 10 to rotate, the barrel 10 is provided with a plurality of self-adaptive moving mechanisms which are convenient for self-adaptive movement in a plurality of directions, the self-adaptive moving mechanisms are used for driving the barrel 10 to perform self-adaptive movement, the self-adaptive moving mechanisms comprise brake gear cavities 52 uniformly arranged on the barrel 10, the intervals among the brake gear cavities 52 are equal, the brake gear cavities 52 are on the same horizontal plane, the end walls of the braking gear cavity 52 are rotationally connected with a rotating shaft 17, the outer surface of the rotating shaft 17 is fixedly connected with a fixed rotary drum 63, the outer surface of the fixed rotary drum 63 is symmetrically and fixedly connected with a fixed disc 7, a plurality of self-adapting rotating shafts 30 are rotationally connected between the fixed discs 7, the self-adapting rotating shafts 30 are arranged in a circumferential array, the outer surface of the self-adapting rotating shafts 30 is fixedly provided with a water-shifting plate 8, the water-shifting plate 8 is of an arc structure, an annular cavity 62 is arranged in the fixed rotary drum 63, the self-adapting rotating shafts 30 extend into the annular cavity 62, the outer surface of the self-adapting rotating shafts 30 in the annular cavity 62 is fixedly provided with a self-adapting slave gear 61, the self-adapting slave gear 61 is meshed with the self-adapting annular rack 60, the fixed rotary drum 63 is internally provided with a gear cavity 56, the end walls of the gear cavity 56 are rotationally connected with a self-adapting master gear shaft 58, the self-adaptive main gear shaft 58 is in power connection with the self-adaptive motor 59, the self-adaptive motor 59 is fixedly arranged in the fixed rotary drum 63, the self-adaptive main gear 57 is fixedly arranged on the outer surface of the self-adaptive main gear shaft 58, the self-adaptive main gear 57 is meshed with the self-adaptive annular rack 60, the self-adaptive annular rack 60 is rotatably connected between the end walls of the annular cavity 62, the outer surface of the rotating shaft 17 in the brake gear cavity 52 is fixedly provided with a brake gear 53, the end wall of the brake gear cavity 52 is fixedly connected with a brake electric push rod 55, one side end of the brake electric push rod 55 is fixedly connected with a brake tooth 54, and the brake tooth 54 is meshed with the brake gear 53 so as to brake the rotating shaft 17;

thereby start self-adaptation motor 59, thereby drive self-adaptation master gear shaft 58 rotates, thereby drives self-adaptation master gear 57 rotates, self-adaptation master gear 57 with self-adaptation annular rack 60 meshes, thereby drives self-adaptation annular rack 60 rotates, self-adaptation annular rack 60 with self-adaptation slave gear 61 meshes, thereby drives self-adaptation pivot 30 rotates, thereby drives dialling water board 8 and rotates corresponding position, and rivers strike dialling water board 8, thereby drive fixed disk 7 rotates, thereby drives fixed rotary drum 63 rotates, thereby drives pivot 17 rotates, thereby drives barrel 10 is in the self-adaptation removal in water, when needs slowly move in water, is circular telegram of brake electric putter 55, thereby makes brake electric putter 55 elongate, thereby drives brake tooth 54 motion, brake tooth 54 with brake gear 53 meshes, thereby makes pivot 17 no longer rotate, thereby make self-adaptation motor 59 reverse motion, thereby makes dialling water board 8 cause reset impact.

The anti-collision mechanism is used for preventing the underwater robot 1 from collision and protecting the underwater robot 1, the anti-collision mechanism comprises a fixed ring 3 fixedly arranged on the upper surface of the underwater robot 1, a plurality of anti-collision sliding rods 5 are slidably connected to the outer surface of the fixed ring 3, an anti-collision plate 2 is fixedly connected to the tail end of one side, far away from the fixed ring 3, of the anti-collision sliding rods 5, a damping spring 4 is clamped between the anti-collision plate 2 and the fixed ring 3, and the damping spring 4 is nested on the outer surface of the anti-collision sliding rods 5;

so that the anti-collision plate 2 is impacted to enable the anti-collision sliding rod 5 to inwards slide along with the movement of the underwater robot 1, so that the damping spring 4 is compressed, and vibration is relieved, and the underwater robot 1 is anti-collision protected.

The lifting mechanism is arranged on the bottom wall of the barrel 10 and used for driving the lifting nut block 64 to move in a lifting mode, the lifting mechanism comprises a chassis 14 detachably connected to the bottom wall of the underwater robot 1 through a bolt 15, a cavity 34 is arranged in the barrel 10, a lifting screw rod 50 is rotatably connected to the upper side surface of the chassis 14, the lifting screw rod 50 is in power connection with a lifting motor, the lifting motor is fixedly arranged in the chassis 14, the lifting screw rod 50 is in threaded connection with the lifting nut block 64, the lifting nut block 64 is in sliding connection with a limiting rod 51, the limiting rod 51 is fixedly arranged on the bottom wall of the chassis 14, and a path monitoring camera 20 is fixedly arranged on the bottom wall of the barrel 10;

Thereby start up the elevator motor to drive elevator lead screw 50 rotates, thereby drives elevator nut piece 64 motion, thereby makes elevator nut piece 64 elevating movement, is convenient for carry out better collection water sample.

The lifting nut block 64 is provided with a driving mechanism, the driving mechanism is used for driving the annular rack plate 46 to rotate so as to collect water samples at different points, the driving mechanism comprises a driving gear cavity 43 arranged in the lifting nut block 64, a driving gear shaft 44 is rotationally connected between end walls of the driving gear cavity 43, the driving gear shaft 44 is in power connection with a driving motor, the driving motor is fixedly arranged in the lifting nut block 64, a driving gear 45 is fixedly arranged on the outer surface of the driving gear shaft 44, the driving gear 45 is meshed with the annular rack plate 46, and the annular rack plate 46 is rotationally arranged on the outer surface of the lifting nut block 64;

thereby starting the driving motor to drive the driving gear shaft 44 to rotate, thereby driving the driving gear 45 to rotate, and the driving gear 45 is meshed with the annular rack plate 46 to drive the annular rack plate 46 to rotate.

The lifting nut block 64 is provided with a sampling mechanism, the sampling mechanism is used for sampling water quality, the sampling mechanism comprises a water collecting tank 48 fixedly arranged on the upper surface of the lifting nut block 64, an annular tool rest 47 is connected to the water collecting tank 48 in a sliding manner, a telescopic pipe 40 is fixedly connected to the annular tool rest 47, the telescopic pipe 40 extends into the water collecting tank 48, a fixed pipe 41 is connected to the telescopic pipe 40, an electric push rod 42 is fixedly connected to the outer surface of the annular rack plate 46, an electric spray head 39 is fixedly connected to the tail end of one side of the electric push rod 42, far from the annular rack plate 46, the electric spray head 39 is communicated with the fixed pipe 41, a water suction pump 49 is fixedly arranged on the upper surface of the water collecting tank 48, an extraction pipe is fixedly connected to the upper surface of the water suction pump 49, the tail end of one side, far from the water suction pump 49, is connected with the extraction pipe 13, the extraction pipe 13 is fixedly arranged on the fixed block 12, and the fixed block 12 is fixedly arranged on the surface of the cylinder 10;

And the water pump 49 is started to pump water, so that water samples enter the water collecting tank 48 through the extracting pipe 13, the annular rack plate 46 rotates to a corresponding position, then the electric push rod 42 is electrified, the electric spray head 39 is driven to move and insert into the collecting channel 38, the electric spray head 39 is started, and the water samples in the water collecting tank 48 are extracted and then enter the collecting cavity 36 through the collecting channel 38.

The collecting mechanism is arranged on the end wall of the chassis 14 and is used for collecting water samples, the collecting mechanism comprises a collecting barrel 35 fixedly connected with the end wall of the chassis 14, a plurality of collecting cavities 36 are arranged in the collecting barrel 35, collecting channels 38 are arranged on the end wall of the collecting cavities 36, and one-way valves 37 are fixedly connected between the end walls of the collecting channels 38;

therefore, water samples enter the collection cavity 36 through the collection channel 38 and the one-way valve 37 for collection, collection of water samples at different points can be achieved, a large number of collected water samples can be obtained, and separate collection can be achieved.

The water environment monitoring device comprises a barrel 10, wherein an observation mechanism is arranged on the end wall of the barrel 10 and used for observing water environment, the observation mechanism comprises an observation gear cavity 31 arranged in the barrel 10, an observation gear shaft 33 is rotatably connected between the end walls of the observation gear cavity 31, the observation gear shaft 33 is in power connection with an observation motor, the observation motor is fixedly arranged in the barrel 10, an observation gear 32 is fixedly arranged on the outer surface of the observation gear shaft 33, the observation gear 32 is meshed with an annular rack 16, the annular rack 16 is rotatably arranged on the outer surface of the barrel 10, a plurality of mounting plates 11 are fixedly arranged on the outer surface of the annular rack 16, a water environment observation camera 19 is fixedly arranged on the bottom wall of each mounting plate 11, and a salt content monitor 18 is fixedly arranged on the bottom wall of each mounting plate 11;

Thereby start observe the motor to drive observe gear shaft 33 rotates, thereby drives observe gear 32 rotates, observe gear 32 with annular rack 16 meshing, thereby drive mounting panel 11 rotates, thereby drive water environment observes the camera 19 and rotates, thereby drives the salinity monitor 18 rotates, water environment observes the camera 19 and observes water environment, observes animals and plants etc. in the water, salinity monitor 18 is used for monitoring the salinity of water.

The rotating mechanism comprises a rotating cavity 26 arranged in the underwater robot 1, a driving gear shaft 65 is connected between end walls of the rotating cavity 26 in a rotating mode, the driving gear shaft 65 is in power connection with a rotating motor, the rotating motor is fixedly arranged in the underwater robot 1, a driving gear 66 is fixedly arranged on the outer surface of the driving gear shaft 65, the driving gear 66 is meshed with a driven gear 27, the driven gear 27 is fixedly arranged on the outer surface of a driven gear shaft 28, the driven gear shaft 28 is rotatably arranged between end walls of the rotating cavity 26, the tail end of the lower side of the driven gear shaft 28 is fixedly connected with a cylinder body 10, and a stabilizing ring 29 is connected between the cylinder body 10 and the underwater robot 1;

Thereby start the rotation motor to drive the driving gear shaft 65 to rotate, thereby drive the driving gear 66 to rotate, the driving gear 66 meshes with the driven gear 27, thereby drives the driven gear 27 to rotate, thereby drives the driven gear shaft 28 to rotate, thereby drives the barrel 10 to rotate, thereby driving the stabilizer ring 29 to rotate, and the stabilizer ring 29 is used for increasing the stability of the barrel 10.

The underwater robot 1 is symmetrically and fixedly connected with fixing rods 21, clamping rings 22 are fixedly connected between the fixing rods 21, a water storage tank 23 is clamped on the clamping rings 22, a water inlet pump 24 is fixedly connected to one end of the water storage tank 23, and a drainage pump 25 is fixedly connected to the other end of the water storage tank 23;

When the underwater robot 1 is required to submerge, the water inlet pump 24 is started to pump water, so that water enters the water storage tank 23 through the water inlet pump 24, the underwater robot 1 is submerged, when the underwater robot 1 is required to float upwards, the water discharge pump 25 is started, so that water in the water storage tank 23 is discharged, the underwater robot 1 is floated upwards, and the depth of the underwater robot 1 is adjusted by controlling the water inlet amount and the water discharge amount in the water storage tank 23.

The invention provides a marine observation method for self-adaptive sampling of an underwater robot, which is based on the marine observation device for self-adaptive sampling of the underwater robot, and comprises the following steps:

Step one: placing the underwater robot 1 into water so that the underwater robot 1 is submerged;

Step two: the rotating mechanism moves, so that the cylinder 10 is driven to rotate to a corresponding position, and observation in water is facilitated;

step three: the self-adaptive moving mechanism moves, so that the cylinder 10 performs self-adaptive movement in water and moves along with water flow;

Step four: in the process of self-adaptive movement of the cylinder 10, the observation mechanism moves, so that self-adaptive observation is performed, and self-adaptive point positions are observed;

step five: during the self-adaptive movement of the cylinder 10, the anti-collision mechanism moves, so that the underwater robot 1 is subjected to anti-collision protection;

Step six: in the process of self-adaptive movement of the cylinder 10, the sampling mechanism moves, so that the water quality is sampled, and the sampling range is wider;

Step seven: in-process of sampling, elevating system with actuating mechanism moves to carry out better sample, be convenient for collect, and cooperate collection mechanism's motion, thereby realize collecting the water sample of gathering, and can realize carrying out different collection to different positions, the efficiency of collection is higher, and the scope of sampling is more extensive.

In the working process of the invention, the underwater robot 1 is put into water, when the underwater robot 1 is required to submerge, the water inlet pump 24 is started to pump water, so that the water enters the water storage tank 23 through the water inlet pump 24, the underwater robot 1 is submerged, when the underwater robot 1 is required to float upwards, the water discharge pump 25 is started, so that the water in the water storage tank 23 is discharged, the water storage tank 1 floats upwards, the depth of the underwater robot 1 is adjusted by controlling the water inlet amount and the water discharge amount in the water storage tank 23, along with the movement of the underwater robot 1, after the collision-preventing plate 2 is impacted, the collision-preventing slide rod 5 slides inwards, so that the damping spring 4 is compressed, vibration is relieved, the underwater robot 1 is prevented from collision, the path monitoring camera 20 detects the descending path, so that the obstacle is avoided, better descending is realized, the rotating motor is started, the driving gear shaft 65 is driven to rotate, the driving gear 66 is meshed with the driven gear 27, the driven gear 27 is driven to rotate, the driven gear shaft 28 is driven to rotate, the barrel 10 is driven to rotate, thereby driving the stabilizing ring 29 to rotate, the stabilizing ring 29 is used for increasing the stability of the cylinder 10, the self-adapting motor 59 is started, thereby driving the self-adapting master gear shaft 58 to rotate, thereby driving the self-adapting master gear 57 to rotate, the self-adapting master gear 57 is meshed with the self-adapting annular rack 60, thereby driving the self-adapting annular rack 60 to rotate, the self-adapting annular rack 60 is meshed with the self-adapting slave gear 61, thereby driving the self-adapting rotating shaft 30 to rotate, thereby driving the water-shifting plate 8 to rotate to the corresponding position, water flow is impacted on the water-shifting plate 8, thereby driving the fixed disc 7 to rotate, thereby driving the fixed rotary drum 63 to rotate, thereby driving the rotary shaft 17 to rotate, thereby driving the cylinder 10 to adaptively move in water, when the cylinder needs to slowly move in water, the brake electric push rod 55 is electrified, so that the brake electric push rod 55 is stretched, thereby driving the brake teeth 54 to move, the brake teeth 54 are meshed with the brake gear 53, so that the rotary shaft 17 is not rotated any more, the adaptive motor 59 moves reversely, thereby resetting the water stirring plate 8, slowing down the influence caused by the impact of water flow, starting the water suction pump 49 to pump water, thereby leading water sample to enter the water receiving tank 48 through the extraction pipe 13, after the annular rack plate 46 rotates to the corresponding position, the electric push rod 42 is electrified, so that the electric spray head 39 is driven to move and insert into the collecting channel 38, the electric spray head 39 is started, the water sample in the water collecting tank 48 is extracted, then enters into the collecting cavity 36 through the collecting channel 38, the driving motor is started, the driving gear shaft 44 is driven to rotate, the driving gear 45 is meshed with the annular rack plate 46, the annular rack plate 46 is driven to rotate, the water sample enters into the collecting cavity 36 through the collecting channel 38 and the one-way valve 37 to be collected, the water samples at different points can be collected, more collected water samples can be collected separately, after the collection cavity 36 of each layer is collected, the lifting motor is started to drive the lifting screw rod 50 to rotate to drive the lifting nut block 64 to move, so that the lifting nut block 64 moves up and down, the water samples can be collected better conveniently, the observation motor is started to drive the observation gear shaft 33 to rotate to drive the observation gear 32 to rotate, the observation gear 32 is meshed with the annular rack 16 to drive the mounting plate 11 to rotate to drive the water environment observation camera 19 to rotate, thereby drive the salinity monitor 18 to rotate, the water environment observation camera 19 observes water environment, observes animals and plants in the water, and the salinity monitor 18 is used for monitoring the salinity of the water body.

It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

Although 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 alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims (10)

1. An ocean observation device of self-adaptation sampling of underwater robot, its characterized in that: the self-adaptive automatic water-shifting device comprises an underwater robot (1), wherein a barrel (10) is connected to the underwater robot (1) through a rotating mechanism, a self-adaptive moving mechanism is arranged on the barrel (10), the self-adaptive moving mechanism comprises brake gear cavities (52) uniformly arranged on the barrel (10), rotating shafts (17) are rotatably connected between end walls of the brake gear cavities (52), a fixed rotating drum (63) is fixedly connected to the outer surface of the rotating shaft (17), a fixed disc (7) is symmetrically and fixedly connected to the outer surface of the fixed rotating drum (63), a plurality of self-adaptive rotating shafts (30) are rotatably connected between the fixed disc (7), a water-shifting plate (8) is fixedly arranged on the outer surface of the self-adaptive rotating shaft (30), an annular cavity (62) is arranged in the fixed rotating drum (63), a self-adaptive slave gear (61) is fixedly arranged on the outer surface of the self-adaptive rotating shaft (30) in the annular cavity (62), a self-adaptive slave gear shaft (61) is fixedly meshed between the self-adaptive slave gear (61) and a self-adaptive annular gear shaft (60), a main gear (56) is fixedly meshed with the self-adaptive rotating shaft (58), a self-adaptive power drum (56) is arranged in the main gear (56) and is rotatably connected with the self-adaptive rotating shaft (58), the self-adaptive motor (59) is fixedly installed in the fixed rotary drum (63), the self-adaptive main gear (57) is fixedly installed on the outer surface of the self-adaptive main gear shaft (58), the self-adaptive main gear (57) is meshed with the self-adaptive annular rack (60), the self-adaptive annular rack (60) is rotationally connected between the end walls of the annular cavity (62), a braking gear (53) is fixedly installed on the outer surface of the rotating shaft (17) in the braking gear cavity (52), a braking electric push rod (55) is fixedly connected to the end wall of the braking gear cavity (52), a braking tooth (54) is fixedly connected to the tail end of one side of the braking electric push rod (55), and the braking tooth (54) is meshed with the braking gear (53).

2. The marine observation device for adaptive sampling of an underwater robot according to claim 1, wherein: be equipped with crashproof mechanism on robot (1) under water, crashproof mechanism includes fixed ring (3) are installed to robot (1) upper surface fixed surface under water, fixed ring (3) surface sliding connection has a plurality of crashproof slide bars (5), crashproof slide bar (5) are kept away from fixed ring (3) one side end fixedly connected with crashproof board (2), crashproof board (2) with joint has damping spring (4) between fixed ring (3), damping spring (4) nest are established the surface of crashproof slide bar (5).

3. The marine observation device for adaptive sampling of an underwater robot according to claim 1, wherein: be equipped with elevating system on barrel (10) diapire, elevating system includes chassis (14) through bolt (15) detachable connection on robot (1) diapire under water, be equipped with cavity (34) in barrel (10), chassis (14) upside surface rotation is connected with lift lead screw (50), lift lead screw (50) are connected with elevator motor power, elevator motor fixed mounting is in chassis (14), lift lead screw (50) and lift nut piece (64) threaded connection, lift nut piece (64) and restriction pole (51) sliding connection, restriction pole (51) fixed mounting is in on chassis (14) diapire, fixed mounting has route monitoring camera (20) on barrel (10) diapire.

4. A marine observation device for adaptive sampling of an underwater robot according to claim 3, wherein: the lifting nut block (64) is provided with a driving mechanism, the driving mechanism comprises a driving gear cavity (43) arranged in the lifting nut block (64), a driving gear shaft (44) is rotationally connected between end walls of the driving gear cavity (43), the driving gear shaft (44) is in power connection with a driving motor, the driving motor is fixedly arranged in the lifting nut block (64), the outer surface of the driving gear shaft (44) is fixedly provided with a driving gear (45), the driving gear (45) is meshed with an annular rack plate (46), and the annular rack plate (46) is rotationally arranged on the outer surface of the lifting nut block (64).

5. The marine observation device for adaptive sampling of an underwater robot of claim 4, wherein: the utility model provides a sampling mechanism is equipped with on lift nut piece (64), sampling mechanism includes lift nut piece (64) upper surface fixed mounting has receipts water tank (48), sliding connection has annular knife rest (47) on receipts water tank (48), fixedly connected with flexible pipe (40) on annular knife rest (47), flexible pipe (40) extend to receipts water tank (48) are interior, be connected with fixed pipe (41) on flexible pipe (40), annular rack board (46) surface fixedly connected with electric putter (42), electric putter (42) keep away from annular rack board (46) one side end fixedly connected with electric shower nozzle (39), electric shower nozzle (39) with communicate between fixed pipe (41), receipts water tank (48) upper side surface fixed mounting has suction pump (49), suction pump (49) upper side surface fixed connection has the suction pipe, suction pipe is kept away from suction pump (49) one side end is connected with suction pipe (13), suction pipe (13) fixed mounting is in fixed block (12), fixed mounting is in barrel (10) surface.

6. A marine observation device for adaptive sampling of an underwater robot according to claim 3, wherein: the collecting mechanism is arranged on the end wall of the chassis (14), the collecting mechanism comprises a collecting barrel (35) fixedly connected with the end wall of the chassis (14), a plurality of collecting cavities (36) are arranged in the collecting barrel (35), collecting channels (38) are arranged on the end wall of the collecting cavities (36), and one-way valves (37) are fixedly connected between the end walls of the collecting channels (38).

7. The marine observation device for adaptive sampling of an underwater robot of claim 5, wherein: be equipped with observation mechanism on barrel (10) end wall, observation mechanism includes observation gear chamber (31) that are equipped with in barrel (10), rotation is connected with observation gear axle (33) between observation gear chamber (31) end wall, observation gear axle (33) are connected with observation motor power, observation motor fixed mounting is in barrel (10), the surface fixed mounting of observation gear axle (33) has observation gear (32), observation gear (32) and annular rack (16) meshing, annular rack (16) rotate and install the surface of barrel (10), the surface fixed mounting of annular rack (16) has a plurality of mounting panels (11), fixed mounting has water environment observation camera (19) on mounting panel (11) diapire, fixed mounting has salt content monitor (18) on mounting panel (11) diapire.

8. The marine observation device for adaptive sampling of an underwater robot according to claim 2, wherein: the rotating mechanism comprises a rotating cavity (26) arranged in the underwater robot (1), a driving gear shaft (65) is connected between end walls of the rotating cavity (26) in a rotating mode, the driving gear shaft (65) is connected with a rotating motor in a power mode, the rotating motor is fixedly installed in the underwater robot (1), a driving gear (66) is fixedly installed on the outer surface of the driving gear shaft (65), the driving gear (66) is meshed with a driven gear (27), the driven gear (27) is fixedly installed on the outer surface of a driven gear shaft (28), the driven gear shaft (28) is rotatably installed between end walls of the rotating cavity (26), a barrel (10) is fixedly connected with the lower end of the driven gear shaft (28), and a stabilizing ring (29) is connected between the barrel (10) and the underwater robot (1).

9. The marine observation device for adaptive sampling of an underwater robot of claim 8, wherein: symmetrically fixedly connected with dead lever (21) on underwater robot (1), fixedly connected with clamping ring (22) between dead lever (21), clamping ring (22) go up the joint has water storage tank (23), water inlet pump (24) are connected with to water storage tank (23) one side end fixedly connected with drain pump (25) are connected with to water storage tank (23) opposite side end fixedly.

10. An underwater robot self-adaptive sampling ocean observation method, based on the underwater robot self-adaptive sampling ocean observation device as set forth in any one of the above claims 1-9, characterized in that: the method comprises the following steps:

Step one: placing the underwater robot (1) into water so that the underwater robot (1) is submerged;

step two: the rotating mechanism moves, so that the cylinder body (10) is driven to rotate to a corresponding position, and observation in water is facilitated;

Step three: the self-adaptive moving mechanism moves, so that the cylinder (10) moves in water in a self-adaptive manner and moves along with water flow in a self-adaptive manner;

Step four: in the process of self-adaptive movement of the cylinder (10), the observation mechanism moves, so that self-adaptive observation is carried out, and self-adaptive point positions are observed;

step five: in the process of self-adaptive movement of the cylinder (10), the anti-collision mechanism moves, so that the underwater robot (1) is subjected to anti-collision protection;

Step six: in the process of self-adaptive movement of the cylinder (10), the sampling mechanism moves, so that the water quality is sampled, and the sampling range is wider;

Step seven: in-process of sampling, elevating system and actuating mechanism motion to carry out better sample, be convenient for collect, and cooperate the motion of collecting mechanism, thereby realize collecting the water sample of gathering, and can realize carrying out different collection to different positions, the efficiency of collection is higher, and the scope of sampling is more extensive.