CN118310800A - Undisturbed marine sediment sampling device and method - Google Patents

Abstract

The invention relates to the technical field of marine sediment sampling, and discloses a disturbance-free marine sediment sampling device and a disturbance-free marine sediment sampling method, wherein the disturbance-free marine sediment sampling device comprises an underwater robot, the underwater robot is connected with a rotating plate through a lifting mechanism, the rotating plate is provided with a disturbance-free sampling mechanism, so that the sampling of marine sediment can be realized, disturbance can be prevented during sampling, the influence of water flow and other factors on sediment sampling quality on the sea floor can be prevented, the support stability during sampling can be realized, and the stability of the sampling process is increased; the sediment sample obtained after sampling can be clamped, a plurality of points can be clamped, the clamping is firm, the sampling position can be adjusted, and the sampling of a plurality of positions can be realized; the collection of the sampled sediment can be realized, the collection of a plurality of sediment can be realized, and the absorption and filtration of the plumes generated in the sediment sampling process can be realized.

Description

Undisturbed marine sediment sampling device and method

Technical Field

The invention belongs to the technical field of marine sediments, and particularly relates to a disturbance-free marine sediment sampling device and a disturbance-free marine sediment sampling method.

Background

Marine sediments MARINE SEDIMENTS are a generic term for the formation of submarine sediments from various marine sediments. A substance deposited on the sea bottom by taking sea water as a medium. Deposition can generally be categorized into 3 different processes, physical, chemical and biological, and as these processes are often not performed in isolation, the deposit can be considered as a composite effect-producing geologic volume. Traditionally, sediment is divided into according to sea water depth: offshore deposition (0-20 m), shallow sea deposition (20-200 m), semi-deep sea deposition (200-2000 m), deep sea deposition (greater than 2000 m).

When the marine sediment is sampled, the impact of water flow is easy to occur, the position of the sampling is changed, accurate sampling cannot be realized, or the sampling is easy to be affected by other factors under water, so that the sampling is difficult, the sediment is sampled basically based on a scientific investigation ship or an offshore platform at present, and the sampling efficiency is low.

Disclosure of Invention

In order to overcome the defects in the prior art, the invention provides a device and a method for sampling undisturbed marine sediments, which effectively solve the problems mentioned in the background art.

In order to achieve the above purpose, the present invention provides the following technical solutions: the utility model provides a no disturbance marine sediment sampling device, includes underwater robot, be connected with the rotor plate through elevating system on the underwater robot, be equipped with no disturbance sampling mechanism on the rotor plate, no disturbance sampling mechanism includes the sample gear chamber that is equipped with in the rotor plate, rotate between the absorption pipe end wall and be connected with the driving gear axle, the driving gear axle is connected with sampling motor power, sampling motor fixed mounting is in the rotor plate, the surface fixed mounting of driving gear axle has the driving gear, the driving gear meshes with the driven gear, driven gear fixed mounting is in driven gear axle surface, driven gear axle rotates to be connected between the sample gear chamber end wall, driven gear axle downside end fixedly can be connected with flexible pivot, flexible pivot downside end fixedly connected with sampling drill bit, fixed mounting has the ejecting electric putter in the sampling drill bit, ejecting electric putter downside end fixedly connected with push pedal, the surface of flexible pivot is equipped with no disturbance subassembly;

The non-disturbance assembly comprises a rotating block which is connected with the surface of the flexible rotating shaft in a sliding manner, the rotating block is rotatably arranged on a disc, an annular cavity is arranged in the disc, an electric rotating shaft is rotatably connected to the end wall of the upper side of the annular cavity, a non-disturbance gear is fixedly connected to the tail end of the lower side of the electric rotating shaft, the non-disturbance gear is meshed with an annular rack, the annular rack is rotatably arranged between the end walls of the annular cavity, the annular rack is meshed with a plurality of gears, the gears are fixedly arranged at the tail end of the upper side of the non-disturbance rotating shaft, the non-disturbance rotating shaft is rotatably arranged on the bottom wall of the annular cavity in a penetrating manner, a drill rod is slidably connected to the outer surface of the non-disturbance rotating shaft, an annular frame is rotatably connected to the outer surface of the drill rod, and a plurality of electric push rods are connected between the annular frame and the disc.

Preferably, the sampling drill bit is internally provided with a clamping mechanism, the clamping mechanism comprises a clamping gear cavity arranged in the sampling drill bit, a main gear shaft is rotationally connected to the upper end wall of the clamping gear cavity, the main gear shaft is in power connection with a clamping motor, the clamping motor is fixedly installed in the sampling drill bit, the tail end of the lower side of the main gear shaft is fixedly connected with a clamping main gear, the clamping main gear is meshed with a clamping annular rack, the clamping annular rack is rotationally installed between the end walls of the clamping gear cavity, the clamping annular rack is meshed with a plurality of clamping pinion gears, the clamping pinion gears are fixedly installed on the outer surface of a clamping screw rod, the clamping screw rod is rotationally installed between the end walls of the clamping gear cavity in a penetrating mode, a plurality of clamping cavities are arranged in the sampling drill bit, the outer surface of the clamping screw rod is symmetrically in threaded connection with a clamping nut block, the clamping nut block is slidably installed on the end wall of the clamping cavity, the connecting rod is hinged with a connecting rod, one side of the clamping nut block is far away from the connecting block is hinged with a connecting block, the connecting block is fixedly installed on a clamping plate, and the connecting block is slidably installed between the end walls of the clamping cavity.

Preferably, the lifting mechanism comprises a lifting frame fixedly connected with the end wall of the underwater robot, lifting sliding grooves are formed in the end wall of the lifting frame, lifting screw rods are connected between the end walls of the lifting sliding grooves in a rotating mode, lifting nut plates are connected with the outer surfaces of the lifting screw rods in a threaded mode, the lifting nut plates are slidably mounted between the end walls of the lifting sliding grooves, lifting blocks are fixedly mounted on the surfaces of the lifting nut plates, stabilizing sliding grooves are formed in the end walls of the lifting frame, stabilizing sliding blocks are connected between the end walls of the stabilizing sliding grooves in a sliding mode, and the stabilizing sliding blocks are fixedly connected with the lifting blocks.

Preferably, the lifting block is internally provided with a direction adjusting mechanism, the direction adjusting mechanism comprises a bevel gear cavity arranged in the lifting block, a driving shaft is rotationally connected between end walls of the bevel gear cavity, the driving shaft is in power connection with a direction adjusting motor, the direction adjusting motor is fixedly installed in the lifting block, a driving bevel gear is fixedly installed at the tail end of the driving shaft and meshed with a driven bevel gear, the driven bevel gear is fixedly installed at the tail end of the lower side of a direction adjusting rotating shaft, the direction adjusting rotating shaft penetrates through and is rotationally installed on the end wall of the upper side of the bevel gear cavity, and a rotating plate is fixedly installed at the tail end of the upper side of the direction adjusting rotating shaft and connected with an annular guide rail between the rotating plate and the lifting block.

Preferably, the underwater robot is provided with a plume extraction mechanism, the plume extraction mechanism comprises a fixed ring which is symmetrically and fixedly arranged on the end wall of the underwater robot, a filter tank is clamped between the fixed rings, the output end of the filter tank is fixedly connected with a discharge valve, the input end of the filter tank is fixedly connected with an extraction pump, a plurality of filter plates are fixedly arranged in the filter tank, the input end of the extraction pump is fixedly connected with an extraction pipe, the extraction pipe is far away from the tail end of one side of the extraction pump and is fixedly connected with a disc, an extraction connecting cavity is arranged in the disc, the extraction pipe is communicated with the extraction connecting cavity, and a plurality of absorption pipes are fixedly connected on the bottom wall of the extraction connecting cavity.

Preferably, the bottom of the underwater robot is provided with a moving mechanism, the moving mechanism comprises a supporting frame fixedly connected with the bottom wall of the underwater robot, the tail end of the supporting frame is fixedly connected with a moving frame, a moving gear cavity is symmetrically arranged in the moving frame, a moving gear shaft is rotationally connected between end walls of the moving gear cavity, the moving gear shaft is in power connection with a moving motor, the moving motor is fixedly installed in the moving frame, the outer surface of the moving gear shaft is fixedly provided with a moving gear, the moving gear is meshed with a crawler belt, the crawler belt is rotationally installed on the outer surface of the moving frame, a moving plate is fixedly installed on the outer surface of the crawler belt, and the moving plate is arranged along the circumferential direction of the crawler belt.

Preferably, a clamping mechanism is arranged in the disc, the clamping mechanism comprises a clamping cavity arranged in the disc, clamping electric push rods are symmetrically and fixedly connected to the upper end wall and the lower end wall of the clamping cavity, clamping pads are fixedly connected to the tail ends of the clamping electric push rods, a rotating ring is clamped between the clamping pads, and the rotating ring is fixedly installed on the end wall of the rotating block.

Preferably, the collecting mechanism is arranged on the underwater robot, the collecting mechanism comprises a collecting cavity arranged in the underwater robot, a collecting channel arranged on the end wall of the upper side of the collecting cavity is connected with a sealing plate in a sliding manner, a sealing gear cavity is arranged in the underwater robot, a sealing gear shaft is connected between the end walls of the sealing gear cavity in a rotating manner, the sealing gear shaft is in power connection with a sealing motor, the sealing motor is fixedly arranged in the underwater robot, a sealing gear is fixedly arranged on the outer surface of the sealing gear shaft, and the sealing gear is meshed with the sealing plate.

Preferably, the collection chamber end wall is last to be equipped with and put the subassembly, put the subassembly include collect sliding connection's on the chamber upside end wall electric slider, fixedly connected with collects the arm on the electric slider bottom, collect the electronic clamping jaw of arm downside end fixedly connected with collection.

The invention provides a non-disturbance marine sediment sampling method, which is based on the non-disturbance marine sediment sampling device, and is characterized by comprising the following steps:

step one: the motion mechanism moves, so that the underwater robot moves on the seabed, and sampling at different positions on the seabed is realized;

Step two: the direction adjusting mechanism moves to adjust the direction of the sampling drill bit, so that sampling of a plurality of direction positions is realized;

Step three: after the direction adjustment is completed, the lifting mechanism moves, so that the sampling drill bit is driven to move downwards, and sampling is facilitated;

step four: the undisturbed sampling mechanism moves, so that marine sediment is sampled, and undisturbed protection can be performed during sampling, so that the sampling is prevented from being influenced by other factors;

step five: after sampling, the clamping mechanism moves, so that a sample sampled in the sampling drill bit is clamped, and falling is prevented during conveying;

step six: after sampling, the sampling drill bit is reset, the direction adjusting mechanism moves, so that the sampling drill bit is driven to rotate to the upper side of the collecting channel, the collecting mechanism moves, and the clamping mechanism releases clamping, so that sediment samples enter the collecting cavity to be collected;

step seven: during sampling, the plume extraction mechanism moves, so that plumes generated during sampling are extracted and filtered.

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

1. The invention provides a disturbance-free marine sediment sampling device, which can realize the sampling of submarine sediment, prevent disturbance during sampling, prevent sediment sampling from being influenced by water flow and other factors on the seabed, realize the support stability during sampling, and increase the stability of sampling.

2. The invention provides a disturbance-free marine sediment sampling device, which can clamp samples of sediment after sampling, can clamp a plurality of points, is firm in clamping, can adjust the sampling position and can sample a plurality of positions.

3. The invention provides a disturbance-free marine sediment sampling device, which can collect sediment after sampling, collect a plurality of sediment, and absorb and filter plumes generated during drilling sampling.

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 view of a first direction structure of a disturbance-free marine sediment sampling device according to the present invention

FIG. 2 is a schematic diagram of a second direction structure of a disturbance-free marine sediment sampling device according to the present invention;

FIG. 3 is a schematic view of a third directional structure of a disturbance-free marine sediment sampling device according to the present invention;

FIG. 4 is a schematic diagram of a fourth directional structure of a disturbance-free marine sediment sampling device according to the present invention;

FIG. 5 is a schematic view of a fifth direction structure of a disturbance-free marine sediment sampling device according to the present invention;

FIG. 6 is a schematic view of a sixth directional structure of a disturbance-free marine sediment sampling device according to the present invention;

FIG. 7 is a schematic cross-sectional view of the structure at A-A in FIG. 6;

FIG. 8 is a schematic cross-sectional view of the structure at B-B in FIG. 7;

FIG. 9 is a schematic cross-sectional view of the structure at C-C in FIG. 7;

FIG. 10 is a schematic cross-sectional view of the structure at D-D in FIG. 8;

FIG. 11 is a schematic cross-sectional view of the structure at E-E in FIG. 7;

fig. 12 is an enlarged schematic view of the structure at F in fig. 7.

In the figure: 1-underwater robot, 2-closure plate, 3-filtration tank, 4-stationary ring, 5-drain valve, 6-pump, 7-lift rack, 8-lift block, 9-turn plate, 10-telescoping shaft, 11-draw tube, 12-disc, 13-draw tube, 14-drill pipe, 15-sampling bit, 16-ring rack, 17-non-perturbing shaft, 18-electric push rod, 19-support rack, 20-track, 21-motion plate, 22-motion rack, 23-lift lead screw, 24-stabilizing chute, 25-clamp plate, 26-lift nutplate, 27-stabilizing slide, 29-collection channel, 30-closed gear cavity, 31-closed gear, 32-closed gear shaft, 33-electric slide, 34-collection robot arm, 35-collection electric jaw, 36-direction adjustment motor, 37-drive shaft, 38-drive shaft, 39-ring rail, 40-direction adjustment shaft, 41-driven bevel gear cavity, 42-bevel gear cavity, 43-drive gear, 45-drive gear shaft, 47-driven gear, 49-drive shaft, 49-driven gear cavity, 50-push rod, 55-connection, 60-push rod, 60-clamp ring gear cavity, 60-clamp ring gear, 60-clamp ring, 53-clamp ring, and clamp ring gear, 60-clamp ring gear, and clamp, 62-motion gear cavity, 63-motion gear shaft, 64-motion gear, 65-filter plate, 66-clamping gear cavity, 67-clamping main gear, 68-main gear shaft, 69-clamping motor, 70-clamping annular rack, 71-clamping screw, 72-clamping pinion, 73-clamping nut block, 74-clamping cavity, 75-connecting rod, 76-connecting block, 77-annular cavity, 78-lifting chute, 79-collecting cavity.

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 disturbance-free marine sediment sampling device, the component materials in the device are made of corrosion-resistant, wear-resistant and pressure-resistant materials, the device comprises an underwater robot 1, a control processor is arranged in the underwater robot 1 and is in signal connection with the electrical components in the device, a rotating plate 9 is connected to the underwater robot 1 through a lifting mechanism, the lifting mechanism is used for driving the rotating plate 9 to lift, a disturbance-free sampling mechanism is arranged on the rotating plate 9 and is used for sampling, disturbance can be prevented from being generated during sampling, the disturbance-free sampling mechanism comprises a sampling gear cavity 43 arranged in the rotating plate 9, a driving gear shaft 45 is connected between end walls of an absorption tube 13 in a rotating way, the driving gear shaft 45 is in power connection with a sampling motor, the sampling motor is fixedly arranged in the rotating plate 9, a driving gear 44 is fixedly arranged on the outer surface of the driving gear shaft 45, the driving gear 44 is meshed with a driven gear 48, the driven gear 48 is fixedly arranged on the outer surface of a driven gear shaft 47, the driven gear shaft 47 is rotationally connected between the end walls of the sampling gear cavity 43, the tail end of the lower side of the driven gear shaft 47 is fixedly connected with a telescopic rotating shaft 10, the tail end of the lower side of the telescopic rotating shaft 10 is fixedly connected with a sampling drill bit 15, an pushing electric push rod 61 is fixedly arranged in the sampling drill bit 15, the tail end of the lower side of the pushing electric push rod 61 is fixedly connected with a push plate 60, an undisturbed component is arranged on the outer surface of the telescopic rotating shaft 10 and used for undisturbed protection, preventing the influence on sampling;

The undisturbed component comprises a rotating block 55 which is slidingly connected with the surface of a telescopic rotating shaft 10, the rotating block 55 is rotatably arranged on a disc 12, an annular cavity 77 is arranged in the disc 12, an electric rotating shaft 53 is rotatably connected to the upper end wall of the annular cavity 77, an undisturbed gear 57 is fixedly connected to the lower end of the electric rotating shaft 53, the undisturbed gear 57 is meshed with an annular rack 59, the annular rack 59 is rotatably arranged between the end walls of the annular cavity 77, the annular rack 59 is meshed with a plurality of gears 58, the gears 58 are fixedly arranged at the upper end of the undisturbed rotating shaft 17, the undisturbed rotating shaft 17 is rotatably arranged on the bottom wall of the annular cavity 77 in a penetrating manner, a drill rod 14 is slidably connected to the outer surface of the undisturbed rotating shaft 17, an annular frame 16 is rotatably connected to the outer surface of the drill rod 14, and a plurality of electric push rods 18 are connected between the annular frame 16 and the disc 12;

When the drill rod 14 contacts with the surface of the sediment, the electric rotating shaft 53 is enabled to rotate, the undisturbed gear 57 is driven to rotate, the undisturbed gear 57 is meshed with the annular rack 59, the annular rack 59 is driven to rotate, the annular rack 59 is meshed with the gear 58, the gear 58 is driven to rotate, the undisturbed rotating shaft 17 is driven to rotate, the drill rod 14 is driven to rotate, the electric push rod 18 is enabled to move downwards, the annular frame 16 is driven to move downwards, the drill rod 14 is driven to move downwards, the sediment is driven to be fixed, disturbance is prevented, the influence of water flow and the like is prevented, the sampling motor is started, the driving gear 45 is driven to rotate, the driving gear 44 is driven to rotate, the driven gear 48 is driven to rotate, the telescopic rotating shaft 10 is driven to rotate, the sampling drill bit 15 is enabled to stretch, the drill bit 15 is enabled to rotate, the electric push rod 15 is driven to move downwards, the sampling shaft 61 is driven to push the sediment, and the push rod 60 is driven to move.

The sampling drill bit 15 is internally provided with a clamping mechanism, the clamping mechanism is used for clamping a sampled sample, the clamping mechanism comprises a clamping gear cavity 66 arranged in the sampling drill bit 15, a main gear shaft 68 is rotatably connected to the upper end wall of the clamping gear cavity 66, the main gear shaft 68 is in power connection with a clamping motor 69, the clamping motor 69 is fixedly arranged in the sampling drill bit 15, the tail end of the lower side of the main gear shaft 68 is fixedly connected with a clamping main gear 67, the clamping main gear 67 is meshed with a clamping annular rack 70, the clamping annular rack 70 is rotatably arranged between the end walls of the clamping gear cavity 66, the clamping annular rack 70 is meshed with a plurality of clamping pinion 72, the clamping pinion 72 is fixedly arranged on the outer surface of a clamping screw 71, the clamping screw 71 is rotatably arranged between the end walls of the clamping gear cavity 66 in a penetrating manner, a plurality of clamping cavities 74 are arranged in the sampling drill bit 15, the outer surface of the clamping screw 71 is symmetrically threaded and fixedly connected with a clamping nut 73, the end wall of the clamping nut 73 is slidably arranged on the clamping cavity 74, the end wall of the clamping nut 73 is hinged to the connecting rod 75, the connecting rod is fixedly arranged on one side of the connecting rod 75 and is hinged to the connecting rod 25, and is fixedly arranged on one side of the connecting rod 75 and is far away from the clamping nut 76;

And after sampling, the clamping motor 69 is started to drive the main gear shaft 68 to rotate to drive the clamping main gear 67 to rotate, the clamping main gear 67 is meshed with the clamping annular rack 70 to drive the clamping annular rack 70 to rotate, the clamping annular rack 70 is meshed with the clamping pinion 72 to drive the clamping screw rod 71 to rotate to drive the clamping nut block 73 to move to drive the connecting rod 75 to move to push the connecting block 76 to move to push the clamping plate 25 to move so as to clamp a sample.

The lifting mechanism comprises a lifting frame 7 fixedly connected with the end wall of the underwater robot 1, lifting sliding grooves 78 are formed in the end wall of the lifting frame 7, lifting screw rods 23 are rotatably connected between the end walls of the lifting sliding grooves 78, lifting nut plates 26 are connected to the outer surfaces of the lifting screw rods 23 in a threaded mode, the lifting nut plates 26 are slidably mounted between the end walls of the lifting sliding grooves 78, lifting blocks 8 are fixedly mounted on the surfaces of the lifting nut plates 26, stabilizing sliding grooves 24 are formed in the end walls of the lifting frame 7, stabilizing sliding blocks 27 are slidably connected between the end walls of the stabilizing sliding grooves 24, and the stabilizing sliding blocks 27 are fixedly connected with the lifting blocks 8;

Thereby make lift lead screw 23 rotate to drive lift nut board 26 downward movement, thereby drive lifting block 8 downward movement, when lifting block 8 moves, drive stable slider 27 moves, thereby increase the stability of lifting block 8.

The lifting block 8 is internally provided with a direction adjusting mechanism, the direction adjusting mechanism is used for adjusting the direction of the lifting block 8, the direction adjusting mechanism comprises a bevel gear cavity 42 arranged in the lifting block 8, a driving shaft 37 is rotationally connected between end walls of the bevel gear cavity 42, the driving shaft 37 is in power connection with a direction adjusting motor 36, the direction adjusting motor 36 is fixedly arranged in the lifting block 8, the tail end of the driving shaft 37 is fixedly provided with a driving bevel gear 38, the driving bevel gear 38 is meshed with a driven bevel gear 41, the driven bevel gear 41 is fixedly arranged at the tail end of the lower side of a direction adjusting rotating shaft 40, the direction adjusting rotating shaft 40 penetrates through and is rotationally arranged on the end wall of the upper side of the bevel gear cavity 42, the tail end of the upper side of the direction adjusting rotating shaft 40 is fixedly provided with a rotating plate 9, and an annular guide rail 39 is connected between the rotating plate 9 and the lifting block 8;

Thereby start the direction adjustment motor 36 to drive the drive shaft 37 to rotate, thereby drive the drive bevel gear 38 to rotate, the drive bevel gear 38 meshes with the driven bevel gear 41, thereby drive the direction adjustment rotating shaft 40 to rotate, thereby giving rise to the rotation of the lifting block 8, and the annular guide rail 39 increases the stability of the rotation of the lifting block 8.

The device comprises an underwater robot 1, wherein the underwater robot 1 is provided with a plume extraction mechanism, the plume extraction mechanism is used for extracting and filtering plumes generated during sampling, the plume extraction mechanism comprises fixed rings 4 symmetrically and fixedly arranged on the end wall of the underwater robot 1, a filter tank 3 is clamped between the fixed rings 4, the output end of the filter tank 3 is fixedly connected with a discharge valve 5, the input end of the filter tank 3 is fixedly connected with an extraction pump 6, a plurality of filter plates 65 are fixedly arranged in the filter tank 3, the input end of the extraction pump 6 is fixedly connected with an extraction pipe 11, the tail end of one side of the extraction pipe 11, which is far away from the extraction pump 6, is fixedly connected with a disc 12, an extraction connecting cavity 49 is arranged in the disc 12, the extraction pipe 11 is communicated with the extraction connecting cavity 49, a plurality of absorption pipes 13 are fixedly connected with the bottom wall of the extraction connecting cavity 49, and the filtering capacity of the filter plates 65 is sequentially increased;

The pump 6 is activated so that the plume generated during drilling and sampling is drawn into the absorption tube 13, enters the pumping connection chamber 49, flows through the pump 6 via the pumping tube 11 into the filter tank 3, is filtered by the filter plate 65, and is discharged via the discharge valve 5, thereby suppressing the plume.

The underwater robot comprises a support frame 19 fixedly connected to the bottom wall of the underwater robot 1, a motion frame 22 is fixedly connected to the tail end of the support frame 19, a motion gear cavity 62 is symmetrically arranged in the motion frame 22, a motion gear shaft 63 is rotatably connected between the end walls of the motion gear cavity 62, the motion gear shaft 63 is in power connection with a motion motor, the motion motor is fixedly arranged in the motion frame 22, a motion gear 64 is fixedly arranged on the outer surface of the motion gear shaft 63, the motion gear 64 is meshed with a crawler 20, the crawler 20 is rotatably arranged on the outer surface of the motion frame 22, a motion plate 21 is fixedly arranged on the outer surface of the crawler 20, and the motion plate 21 is arranged along the circumferential direction of the crawler 20;

Thereby starting the motion motor to drive the motion gear shaft 63 to rotate to drive the motion gear 64 to rotate, the motion gear 64 is meshed with the crawler 20 to drive the crawler 20 to rotate to drive the motion plate 21 to rotate to drive the underwater robot 1 to move.

The clamping mechanism is arranged in the disc 12 and used for clamping the rotating block 55, the clamping mechanism comprises a clamping cavity 50 arranged in the disc 12, clamping electric push rods 51 are symmetrically and fixedly connected to the upper end wall and the lower end wall of the clamping cavity 50, clamping pads 56 are fixedly connected to the tail ends of the clamping electric push rods 51, a rotating ring 54 is clamped between the clamping pads 56, and the rotating ring 54 is fixedly arranged on the end wall of the rotating block 55;

Thereby, the clamping electric push rod 51 is moved, the clamping pad 56 is driven to move, the clamping of the rotating ring 54 is released, and when the driven gear shaft 47 rotates, the rotating block 55 is driven to rotate, and the rotating ring 54 is driven to rotate.

The collecting mechanism is arranged on the underwater robot 1 and used for collecting sampled samples, the collecting mechanism comprises a collecting cavity 79 arranged in the underwater robot 1, a collecting channel 29 arranged on the end wall of the upper side of the collecting cavity 79 is connected with a sealing plate 2 in a sliding manner, a sealing gear cavity 30 is arranged in the underwater robot 1, a sealing gear shaft 32 is connected between the end walls of the sealing gear cavity 30 in a rotating manner, the sealing gear shaft 32 is in power connection with a sealing motor, the sealing motor is fixedly arranged in the underwater robot 1, a sealing gear 31 is fixedly arranged on the outer surface of the sealing gear shaft 32, and the sealing gear 31 is meshed with the sealing plate 2;

When the sampling drill 15 moves to the upper side of the collecting channel 29, the closed motor is started, so that the closed gear shaft 32 is driven to rotate, the closed gear 31 is meshed with the closed plate 2, so that the closed plate 2 is driven to move, the collecting channel 29 is opened, and a sample enters the collecting cavity 79.

The collecting cavity 79 is provided with a placing component on the end wall, the placing component is used for placing samples entering the collecting cavity 79, so that more samples can be collected conveniently, the placing component comprises an electric sliding block 33 which is connected with the end wall on the upper side of the collecting cavity 79 in a sliding manner, the bottom of the electric sliding block 33 is fixedly connected with a collecting mechanical arm 34, and the tail end of the lower side of the collecting mechanical arm 34 is fixedly connected with a collecting electric clamping jaw 35;

Thereby make collection arm 34 motion drive collect electronic clamping jaw 35 motion is close to the sample, makes collect electronic clamping jaw 35 motion carries out the centre gripping to the sample, after the centre gripping, electronic slider 33 motion, thereby drive collect arm 34 motion, thereby drive collect electronic clamping jaw 35 motion to corresponding position, thereby drive the sample to corresponding position.

The invention provides a non-disturbance marine sediment sampling method, which is based on the non-disturbance marine sediment sampling device, and is characterized by comprising the following steps:

Step one: the motion mechanism moves, so that the underwater robot 1 moves on the seabed, and sampling at different positions on the seabed is realized;

step two: the direction adjusting mechanism moves to adjust the direction of the sampling drill bit 15, so that sampling of a plurality of direction positions is realized;

step three: after the direction adjustment is completed, the lifting mechanism moves, so that the sampling drill bit 15 is driven to move downwards, and sampling is facilitated;

step four: the undisturbed sampling mechanism moves, so that marine sediment is sampled, and undisturbed protection can be performed during sampling, so that the sampling is prevented from being influenced by other factors;

Step five: after sampling, the clamping mechanism moves, so that the sampled sample in the sampling drill bit 15 is clamped, and falling is prevented during conveying;

Step six: after sampling, the sampling drill bit 15 is reset, the direction adjusting mechanism moves, so that the sampling drill bit 15 is driven to rotate to the upper side of the collecting channel 29, the collecting mechanism moves, and the clamping mechanism releases the clamping, so that a sediment sample enters the collecting cavity 79 for collecting;

step seven: during sampling, the plume extraction mechanism moves, so that plumes generated during sampling are extracted and filtered.

The working process of the invention comprises the following steps: the motion motor is started to drive the motion gear shaft 63 to rotate, the motion gear 64 is driven to rotate, the motion gear 64 is meshed with the crawler 20, the crawler 20 is driven to rotate, the motion plate 21 is driven to rotate, the underwater robot 1 is driven to move, the lifting screw rod 23 is driven to move downwards, the lifting nut plate 26 is driven to move downwards, the lifting block 8 is driven to move downwards, the stabilizing slide block 27 is driven to move when the lifting block 8 moves, the stability of the lifting block 8 is increased, the direction adjusting motor 36 is started, Thereby driving the driving shaft 37 to rotate and driving bevel gear 38 to rotate, the driving bevel gear 38 is meshed with the driven bevel gear 41 to drive the direction adjusting rotating shaft 40 to rotate and thus to rotate the lifting block 8, the annular guide rail 39 increases the stability of the rotation of the lifting block 8, so that the clamping electric push rod 51 moves and drives the clamping pad 56 to move and release the clamping of the rotating ring 54, the driven gear shaft 47 rotates and drives the rotating block 55 to rotate and thus to drive the rotating ring 54 to rotate, and when the drill rod 14 contacts the surface of the sediment, So that the electric rotating shaft 53 rotates to drive the undisturbed gear 57 to rotate, the undisturbed gear 57 is meshed with the annular rack 59 to drive the annular rack 59 to rotate, the annular rack 59 is meshed with the gear 58 to drive the gear 58 to rotate to drive the undisturbed rotating shaft 17 to rotate to drive the drill rod 14 to rotate, the electric push rod 18 moves downwards to push the annular frame 16 to move downwards to push the drill rod 14 to move downwards to fix the seabed sediment, disturbance is prevented from being generated, sampling is prevented from being influenced by water flow and the like, The sampling motor is started to drive the driving gear shaft 45 to rotate, thereby driving the driving gear 44 to rotate, the driving gear 44 is meshed with the driven gear 48, thereby driving the driven gear shaft 47 to rotate, thereby driving the telescopic rotating shaft 10 to rotate, thereby driving the sampling drill bit 15 to rotate, enabling the telescopic rotating shaft 10 to extend, thereby enabling the sampling drill bit 15 to rotate and move downwards, thereby sampling, after sampling, during collection, the pushing-out electric push rod 61 is enabled to move, thereby pushing the push plate 60 to move, thereby pushing sediment to move, after sampling, the clamping motor 69 is started, Thereby driving the main gear shaft 68 to rotate, thereby driving the clamping main gear 67 to rotate, the clamping main gear 67 is meshed with the clamping annular rack 70, thereby driving the clamping annular rack 70 to rotate, the clamping annular rack 70 is meshed with the clamping auxiliary gear 72, thereby driving the clamping screw rod 71 to rotate, thereby driving the clamping nut block 73 to move, thereby driving the connecting rod 75 to move, thereby driving the connecting block 76 to move, thereby driving the clamping plate 25 to move, thereby clamping and sampling a sample, starting the pumping pump 6, thereby enabling plumes generated during drilling and sampling to be pumped into the absorbing pipe 13, Into the extraction connecting cavity 49, flows through the extraction pump 6 through the extraction pipe 11 and enters the filtering tank 3, is filtered by the filtering plate 65 and is discharged through the discharge valve 5, so that plumes are restrained, when the sampling drill bit 15 moves to the upper side of the collecting channel 29, the closed motor is started, the closed gear shaft 32 is driven to rotate, the closed gear 31 is meshed with the closed plate 2, the closed plate 2 is driven to move, the collecting channel 29 is opened, a sample enters the collecting cavity 79, the collecting mechanical arm 34 is driven to move, the collecting electric clamping jaw 35 is driven to move close to the sample, So that the collection electric clamping jaw 35 moves to clamp the sample, and after clamping, the electric sliding block 33 moves to drive the collection mechanical arm 34 to move, so as to drive the collection electric clamping jaw 35 to move to a corresponding position, and further drive the sample to a corresponding position.

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. A disturbance-free marine sediment sampling device, which is characterized in that: the device comprises an underwater robot (1), wherein a rotating plate (9) is connected to the underwater robot (1) through a lifting mechanism, a non-disturbance sampling mechanism is arranged on the rotating plate (9), the non-disturbance sampling mechanism comprises a sampling gear cavity (43) arranged in the rotating plate (9), a driving gear shaft (45) is rotationally connected between end walls of an absorbing pipe (13), the driving gear shaft (45) is in power connection with a sampling motor, the sampling motor is fixedly arranged in the rotating plate (9), a driving gear (44) is fixedly arranged on the outer surface of the driving gear shaft (45), the driving gear (44) is meshed with a driven gear (48), the driven gear (48) is fixedly arranged on the outer surface of a driven gear shaft (47), the driven gear (47) is rotationally connected between end walls of the sampling gear cavity (43), a telescopic rotating shaft (10) is fixedly connected to the lower end of the driven gear shaft (47), a sampling drill bit (15) is fixedly arranged on the lower end of the telescopic rotating shaft (10), a push-out electric push rod (61) is fixedly arranged in the sampling drill bit (15), and a push-out electric push rod (61) is fixedly connected to the lower end of the driven gear shaft (60), and the outer surface of the telescopic push rod is fixedly connected to the outer surface of the rotary rod (60).

The utility model provides a non-disturbance subassembly includes flexible pivot (10) surface sliding connection's rotating block (55), rotating block (55) rotate and install on disc (12), be equipped with annular chamber (77) in disc (12), rotate on annular chamber (77) upside end wall and be connected with electric pivot (53), electric pivot (53) downside end fixedly connected with non-disturbance gear (57), non-disturbance gear (57) and annular rack (59) meshing, annular rack (59) rotate and install between annular chamber (77) end wall, annular rack (59) and a plurality of gear (58) meshing, gear (58) fixed mounting is at non-disturbance pivot (17) upside end, non-disturbance pivot (17) run through the rotation and install on annular chamber (77) diapire, the surface sliding connection of non-disturbance pivot (17) has drilling rod (14), drilling rod (14) surface rotation is connected with annular frame (16), annular frame (16) with be connected with a plurality of electric putter (18) between disc (12).

2. A disturbance-free marine sediment sampling device according to claim 1, wherein: the utility model discloses a sampling drill bit, including sampling drill bit (15) and sample drill bit, be equipped with fixture in the sampling drill bit (15), fixture includes clamping gear chamber (66) that are equipped with in sampling drill bit (15), rotation is connected with master gear axle (68) on clamping gear chamber (66) upside end wall, master gear axle (68) are connected with clamping motor (69) power, clamping motor (69) fixed mounting is in the sampling drill bit (15), terminal fixedly connected with clamping master gear (67) in master gear axle (68) downside, clamping master gear (67) and clamping ring rack (70) meshing, clamping ring rack (70) rotation is installed clamping gear chamber (66) end wall interval, clamping ring rack (70) and a plurality of clamping pinion (72) meshing, clamping pinion (72) fixed mounting is in the surface of clamping screw (71), clamping screw (71) run through rotation and install clamping gear chamber (66) end wall interval, be equipped with a plurality of clamping chamber (74) in sampling drill bit (15), clamping ring rack (70) downside end fixedly connected with clamping ring rack (70) meshing with clamping nut (73) in the clamping ring nut (73), the connecting rod (75) is far away from the tail end of one side of the clamping nut block (73) and hinged with the connecting block (76), the connecting block (76) is fixedly arranged on the clamping plate (25), and the clamping plate (25) is slidably arranged between the end walls of the clamping cavity (74).

3. A disturbance-free marine sediment sampling device according to claim 1, wherein: the lifting mechanism comprises a lifting frame (7) fixedly connected to the end wall of the underwater robot (1), lifting sliding grooves (78) are formed in the end wall of the lifting frame (7), lifting screw rods (23) are connected between the end walls of the lifting sliding grooves (78) in a rotating mode, lifting nut plates (26) are connected to the outer surfaces of the lifting screw rods (23) in a threaded mode, the lifting nut plates (26) are slidably mounted between the end walls of the lifting sliding grooves (78), lifting blocks (8) are fixedly mounted on the surfaces of the lifting nut plates (26), stabilizing sliding grooves (24) are formed in the end walls of the lifting frame (7), stabilizing sliding blocks (27) are slidably connected between the end walls of the stabilizing sliding grooves (24), and the stabilizing sliding blocks (27) are fixedly connected with the lifting blocks (8).

4. A disturbance-free marine sediment sampling device according to claim 3, wherein: the automatic lifting device is characterized in that a direction adjusting mechanism is arranged in the lifting block (8), the direction adjusting mechanism comprises a bevel gear cavity (42) arranged in the lifting block (8), a driving shaft (37) is connected between end walls of the bevel gear cavity (42) in a rotating mode, the driving shaft (37) is connected with a direction adjusting motor (36) in a power mode, the direction adjusting motor (36) is fixedly installed in the lifting block (8), a driving bevel gear (38) is fixedly installed at the tail end of the driving bevel gear (37), the driving bevel gear (38) is meshed with a driven bevel gear (41), the driven bevel gear (41) is fixedly installed at the tail end of the lower side of a direction adjusting rotating shaft (40), the direction adjusting rotating shaft (40) is installed on the end wall of the upper side of the bevel gear cavity (42) in a penetrating mode, the tail end of the upper side of the direction adjusting rotating shaft (40) is fixedly provided with a rotating plate (9), and an annular guide rail (39) is connected between the rotating plate (9) and the lifting block (8).

5. A disturbance-free marine sediment sampling device according to claim 3, wherein: be equipped with plume extraction mechanism on underwater robot (1), plume extraction mechanism includes symmetrical fixed ring (4) of fixed mounting on underwater robot (1) end wall, joint has filtration jar (3) between fixed ring (4), the output fixedly connected with exhaust valve (5) of filtration jar (3), the input fixedly connected with extraction pump (6) of filtration jar (3), fixedly mounted with a plurality of filter plate (65) in filtration jar (3), extraction pump (6) input fixedly connected with extraction pipe (11), extraction pipe (11) keep away from extraction pump (6) one side end with disc (12) fixed connection, be equipped with extraction connecting chamber (49) in disc (12), extraction pipe (11) with extraction connecting chamber (49) intercommunication, fixedly connected with a plurality of absorption pipe (13) on extraction connecting chamber (49) diapire.

6. A disturbance-free marine sediment sampling device according to claim 5, wherein: the underwater robot is characterized in that a moving mechanism is arranged at the bottom of the underwater robot (1), the moving mechanism comprises a supporting frame (19) fixedly connected to the bottom wall of the underwater robot (1), a moving frame (22) is fixedly connected to the tail end of the supporting frame (19), a moving gear cavity (62) is symmetrically arranged in the moving frame (22), a moving gear shaft (63) is rotationally connected between the end walls of the moving gear cavity (62), the moving gear shaft (63) is in power connection with a moving motor, the moving motor is fixedly arranged in the moving frame (22), a moving gear (64) is fixedly arranged on the outer surface of the moving gear shaft (63), the moving gear (64) is meshed with a crawler belt (20), the crawler belt (20) is rotationally arranged on the outer surface of the moving frame (22), a moving plate (21) is fixedly arranged on the outer surface of the crawler belt (20), and the moving plate (21) is arranged along the circumferential direction of the crawler belt (20).

7. A disturbance-free marine sediment sampling device according to claim 1, wherein: the clamping mechanism is arranged in the disc (12), the clamping mechanism comprises a clamping cavity (50) arranged in the disc (12), clamping electric push rods (51) are symmetrically and fixedly connected to the upper end wall and the lower end wall of the clamping cavity (50), clamping pads (56) are fixedly connected to the tail ends of the clamping electric push rods (51), a rotating ring (54) is clamped between the clamping pads (56), and the rotating ring (54) is fixedly mounted on the end wall of the rotating block (55).

8. The undisturbed marine sediment sampling device as defined in claim 6, wherein: be equipped with collection mechanism on underwater robot (1), collection mechanism includes collection chamber (79) that are equipped with in underwater robot (1), collection passageway (29) that are equipped with on collection chamber (79) upside end wall, sliding connection has closure plate (2) on collection passageway (29) end wall, be equipped with closure gear chamber (30) in underwater robot (1), it is connected with closure gear shaft (32) to rotate between closure gear chamber (30) end wall, closure gear shaft (32) are connected with closure motor power, closure motor fixed mounting is in underwater robot (1), closure gear shaft (32)'s surface fixed mounting has closure gear (31), closure gear (31) with closure plate (2) meshing.

9. A disturbance-free marine sediment sampling device according to claim 8, wherein: be equipped with on collecting chamber (79) end wall and put the subassembly, put the subassembly include collect electric slider (33) of sliding connection on chamber (79) upside end wall, fixedly connected with collects arm (34) on electric slider (33) bottom, collect arm (34) downside end fixedly connected with and collect electric clamping jaw (35).

10. A method of undisturbed marine sediment sampling, based on an undisturbed marine sediment sampling device as defined in any one of claims 1 to 9, comprising the steps of:

step one: the motion mechanism moves to enable the underwater robot (1) to move on the seabed, so that sampling at different positions on the seabed is realized;

step two: the direction adjusting mechanism moves to adjust the direction of the sampling drill bit (15), so that sampling of a plurality of direction positions is realized;

step three: after the direction adjustment is finished, the lifting mechanism moves, so that the sampling drill bit (15) is driven to move downwards, and sampling is facilitated;

Step four: the undisturbed sampling mechanism moves to sample marine sediments, and can perform undisturbed protection during sampling, so that the sampling is prevented from being influenced by other factors;

step five: after sampling, the clamping mechanism moves, so that a sample sampled in the sampling drill bit (15) is clamped, and falling is prevented during conveying;

step six: after sampling, the sampling drill bit (15) is reset, the direction adjusting mechanism moves, so that the sampling drill bit (15) is driven to rotate to the upper side of the collecting channel (29), the collecting mechanism moves, and the clamping mechanism releases the clamping, so that a sediment sample enters the collecting cavity (79) for collecting;

step seven: during sampling, the plume extraction mechanism moves, so that plumes generated during sampling are extracted and filtered.