WO2017202140A1 - 一种用于自治水下机器人的水体取样装置 - Google Patents

一种用于自治水下机器人的水体取样装置 Download PDF

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Publication number
WO2017202140A1
WO2017202140A1 PCT/CN2017/078976 CN2017078976W WO2017202140A1 WO 2017202140 A1 WO2017202140 A1 WO 2017202140A1 CN 2017078976 W CN2017078976 W CN 2017078976W WO 2017202140 A1 WO2017202140 A1 WO 2017202140A1
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WIPO (PCT)
Prior art keywords
fixed
sampler
control mechanism
airtight
gear
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PCT/CN2017/078976
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English (en)
French (fr)
Inventor
杨灿军
吴世军
王硕
方振芳
孙泽标
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浙江大学
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Application filed by 浙江大学 filed Critical 浙江大学
Publication of WO2017202140A1 publication Critical patent/WO2017202140A1/zh

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N1/00—Sampling; Preparing specimens for investigation
    • G01N1/02—Devices for withdrawing samples
    • G01N1/10—Devices for withdrawing samples in the liquid or fluent state
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
    • B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
    • B63G2008/005—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned remotely controlled

Definitions

  • the invention relates to a water sampling device for an autonomous underwater robot, which drives a cord by a motor driven incomplete gear transmission mechanism to complete triggering of each airtight sampler, thereby performing sampling.
  • the ocean is rich in mineral resources, marine living resources and energy. Marine research is one of the research priorities of countries all over the world.
  • the gas-tight sampler is one of the tools for directly collecting seawater samples. It not only obtains liquid samples, but also retains gaseous components in the samples, providing samples and reliable raw data for marine research.
  • Autonomous Underwater Vehicle is an underwater autonomous navigation device with no cables. It has the advantages of large underwater range, good maneuverability, safety, and simple structure. It has a wide range of marine research. use.
  • Reliable sample collection based on autonomous underwater robots represents a new advancement that has a major impact on marine research, including plankton and larval ecology, harmful algal bloom (HAB) testing, sediment transport, carbon cycle surveys, and Bit chemical measurements and more.
  • An underwater autonomous robot that integrates a wide variety of sensors can carry a sample in the ocean with a gas-tight sampler, and can control the sampling behavior based on real-time conditions based on the sensor data, making the sampling more targeted and the sample more reliable.
  • the present invention is a water sampling device for an autonomous underwater vehicle.
  • the object of the present invention is to design a water sampling device for an autonomous underwater robot, which can realize automatic control, complete triggering and sampling of the sampler, and ensure the airtightness of the sample, the overall structure is compact, and the action is efficient and reliable. .
  • a water sampling device for an autonomous underwater vehicle of the present invention comprising: an AUV cabin casing, an annular coupling body, a sampler fixing plate, a gas tight sampler, and a control mechanism;
  • the outer casing of the AUV compartment is fixed in a cylindrical shape by two half-shells, and a sampler fixing plate is fixed at both ends thereof, and an annular coupling body for connecting with other compartments is fixed outside the fixed plate, and the sampler is fixed.
  • the disk is connected with a plurality of airtight samplers, and the sampler fixed disk has a flow path inside, so that the sampling inlet of the airtight sampler is connected with the outside of the cabin; the control mechanism is fixed in the middle of the AUV cabin, and is controlled by the incomplete gear transmission. The working state of each airtight sampler.
  • the airtight sampler comprises: a sampling cylinder fixed to an upper end cover and a lower end cover at two ends of the sampling cylinder, a piston disposed inside the sampling cylinder, one end of the piston rod fixed to the piston, and the other end passes through the upper end cover, and the upper end cover
  • Two parallel tension spring support columns are fixed, and two tension spring pull rods are respectively fixed on two tension spring support columns, one end of the two tension springs is hooked on the tension spring pull rod, and the other end is fixed to the piston through the upper end cover;
  • the lower end cover is provided with a sample passage, the outer end of the passage is provided with a one-way valve portion, and the lower end cover is further provided with a shut-off valve for controlling the opening and closing of the injection passage, and the airtight sampling cylinder further comprises a trigger cylinder for triggering The trigger mechanism for sampling.
  • the control mechanism comprises a fixed disc and a control mechanism shell, and a sealed space formed between the two has a built-in motor, the motor shaft passes through the disc, and a sealing ring is arranged between the disc and the motor shaft end Incomplete gears are installed; there are multiple gears on the disc around the incomplete gears, the gears are fixed on the gear shafts, bearings are mounted between the gear shafts and the discs; the gears are provided with arc slots, and the internal design is fixed
  • the pin on the disc acts as a limit on the gear, and the gear rotates to drive the trigger mechanism.
  • the trigger mechanism comprises a trigger mechanism bottom plate fixed on two tension spring support columns, and a trigger mechanism support frame is mounted thereon, one end of the trigger piece is hinged with the trigger mechanism support frame, and the other end is bent and inserted into the end of the piston rod In the hole, a torsion spring is further disposed on the bottom plate of the trigger mechanism, and the torsion spring presses the trigger piece to lock the piston rod.
  • the trigger mechanism further includes a rope, one end of the rope is attached to the trigger piece, and the other end is guided by the guide wheel. To the gear shaft.
  • control mechanism housing may be dry, or the control mechanism may also be internally filled with an oil filling method, which further includes an oil bladder, and the control mechanism housing and the oil bladder are connected by a pipeline.
  • the one-way valve part of the airtight sampler comprises: a one-way valve, a sealing ring is installed between the one-way valve and the lower end cover, a one-way valve has a conical valve core inside, a conical valve core and a one-way valve A seal ring is also installed, and a compression spring is mounted between the tapered spool and the injection passage port.
  • the water sampling device for the autonomous underwater vehicle of the present invention is divided into three processes:
  • the device of the invention has small size and compact structure, and can independently sample seawater samples;
  • the device can be connected through other AUV compartments of the coupling body;
  • the trigger mechanism of the airtight sampler can firmly lock the sampler before sampling, and the sampling is smoothly triggered during sampling, the sampling cylinder can ensure the airtightness of the sample, and the structure is simple and efficient; sampling
  • the devices are independent of each other and fixed by a fixed disk.
  • the control mechanism includes a mechanical structure part and a driving part.
  • the trigger control of multiple samplers can be completed by using one motor, and the action is efficient and reliable.
  • FIG. 1 is a schematic structural view of a water sampling device for an autonomous underwater vehicle
  • Figure 2 is a cross-sectional view of Figure 1, (a) B-B section (b) A-A section (c) C-direction view;
  • Figure 3 is a partial schematic view of the airtight sampler.
  • FIG. 4 is a partial structural view of a gas-tight sampler.
  • Figure 5 is a schematic illustration of an incomplete gear transmission portion of the control mechanism.
  • Figure 6 is a schematic view of the driving portion of the control mechanism.
  • the reference numerals in the drawings are: airtight sampler 1; sampler fixed disk 2; annular coupling body 3; AUV cabin section outer casing 4; control mechanism 5; tension spring pull rod 6; tension spring 7; tension spring support column 8 Piston rod 9; trigger piece 10; trigger mechanism support frame 11; trigger mechanism bottom plate 12; upper end cover 13; sampling cylinder 14; piston 15; shut-off valve 16; lower end cover 17; sealing ring 18; check valve 19; Valve core 20; sealing ring 21; compression spring 22; torsion spring 23; guide wheel 24; rope 25; gear 26; gear shaft 27; pin 28; incomplete gear 29; guide wheel 30; oil bladder 31; control mechanism housing 32 ; motor 33; seal 34; disc 35; seal ring 36.
  • a water sampling device for an autonomous underwater vehicle of the present invention comprising: an AUV cabin casing 4, an annular coupling body 3, a sampler fixing plate 2, a gas tight sampler 1, and a control
  • the mechanism 5 has a tubular shape, and the two half-shells are connected by a plurality of bolts and nuts.
  • the sampler fixing plate 2 is fixed at each end, and the annular fixing body 3 is arranged outside the sampler fixing plate. Other compartments are connected; the sampler fixed disk 2 is connected to a plurality of airtight samplers 1, and the sampler fixed disk 2 has a flow path inside, so that the inlet of the airtight sampler 1 is connected to the outside of the cabin; the control mechanism 5 is fixed in the cabin Middle of the paragraph.
  • the airtight sampler 1 of the present invention comprises: a sampling cylinder portion: a sampling cylinder 14, an internal piston 15, an upper end cover 13 fixed to one end of the sampling cylinder 14, and a lower end cover fixed to the other end of the sampling cylinder. 17.
  • the upper end cap 17 is designed with a shutoff valve 16 for controlling the opening and closing of the injection passage.
  • Trigger mechanism part two parallel tension spring support columns 8 are fixed on the upper end cover 13, two tension spring pull rods 6 are respectively fixed on the two tension spring support columns 8, and two tension springs 7 are hooked on the tension spring pull rod 8
  • the other end is fixed to the piston 15 through the upper end cover 13
  • the trigger mechanism bottom plate 12 is fixed on the two tension spring support columns 8 on which the trigger mechanism support frame 11 is mounted, and one end of the trigger piece 10 is hinged to the trigger mechanism support frame 11
  • the other end is inserted into the through hole of the end of the piston rod 9, and the trigger mechanism bottom plate 12 is further provided with a torsion spring 23, and the torsion spring 23 presses the trigger piece 10 to lock the piston rod
  • the trigger mechanism further includes a rope 25, One end of the rope 25 is attached to the trigger piece, and the other end is guided by the guide wheels 24, 30 and wound onto the gear shaft 27.
  • the incomplete gear transmission of the control mechanism of the present invention includes: a plurality of gears 26 around the incomplete gear 29, the gear 26 is fixed to the gear shaft 27, and a bearing is mounted between the gear shaft 27 and the disc 35; The arcing groove is opened on the 26, and the pin 28 fixed on the disc 35 is designed inside, and the gear 26 is limited.
  • the driving portion of the control mechanism of the present invention comprises: a disc 35 and a control mechanism housing 32 coupled by a plurality of screws, with a seal ring 34 being formed therebetween, the internal motor 33 being fixed to the disc 35, and the motor 33 shaft and A sealing ring 36 is disposed between the discs 35, and the incomplete gears 29 are mounted on the shaft; if the oil-filled type is used, the control mechanism housing 32 and the oil bladder 31 are connected by pipelines, and the interior is filled with oil; if it is dry, then The control mechanism housing 32 does not need to be connected to the oil bladder.
  • the water sampling device for the autonomous underwater vehicle of the present invention is divided into three processes:
  • the motor 33 and the circuit part are first placed in the control mechanism housing 32, the gear 26 and the incomplete gear 29 on the control mechanism are assembled, the housing is filled with oil, and the oil bladder 31 is connected, and then the entire control is performed.
  • the mechanism 5 is mounted on the AUV cabin section 4; after the airtight sampler 1 is assembled, the piston 15 of each sampler is pressed to the bottom, and the trigger piece 10 automatically locks the piston rod 9 under the action of the torsion spring 23;
  • Each sampler 1 is fixed to a fixed disk 2 which is mounted at both ends of the AUV cabin section 4, and then the trigger rope 25 of each sampler 1 is connected to the corresponding gear shaft 27, and the AUV compartment is covered.
  • the other half of the section of the casing is bolted; finally, the AUV section is connected to the other sections through the coupling and placed in the water.
  • each sampler 1 is detached from the fixed disk 2, and the shut-off valve 16 on the sampler is tightened to transfer the sample.

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  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Biochemistry (AREA)
  • Health & Medical Sciences (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Physics & Mathematics (AREA)
  • General Health & Medical Sciences (AREA)
  • General Physics & Mathematics (AREA)
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  • Hydrology & Water Resources (AREA)
  • Mechanical Engineering (AREA)
  • Sampling And Sample Adjustment (AREA)
  • Aviation & Aerospace Engineering (AREA)

Abstract

一种用于自治水下机器人的水体取样装置，包括AUV舱段外壳（4）、环状联接体（3）、采样器固定盘（2）、气密采样器（1）以及控制机构（5）；所述水体取样装置尺寸小，结构紧凑，可以通过环状联接体（3）与其他AUV舱段外壳（4）连接；气密采样器（1）包括采样筒（14）、触发机构和单向阀部分；气密采样器（1）之间相互独立，通过采样器固定盘（2）固定，排列紧凑；控制机构（5）包括机械结构部分和驱动部分，使用一个电机（33）即可完成对多个气密采样器（1）的触发控制，动作高效可靠。

Description

一种用于自治水下机器人的水体取样装置 技术领域
本发明涉及一种用于自治水下机器人的水体取样装置，该装置通过电机驱动不完全齿轮传动机构拉动绳子，完成对各个气密采样器的触发，从而进行采样。
背景技术
海洋蕴藏着丰富的矿物资源、海洋生物资源和能源，海洋研究是世界各国研究重点之一。气密采样器是直接采集海水样品的工具之一，不仅能够获得液态样品，还能保留样品里的气态成分，为海洋研究提供样品和可靠的原始数据。
自治水下机器人，简称AUV(Autonomous Underwater Vehicle)，是无人无缆的水下自主航行装置，具有水下活动范围大、机动性能好、安全、结构简单等优点，在海洋研究方面有着广泛的用途。
基于自治水下机器人的可靠样本收集代表了一个新的进步，对于海洋研究有很大作用，这些研究包括浮游生物和幼虫生态、有害藻华(HAB)检测、泥沙运输、碳循环调查、原位化学测量等等。集成各种各样的传感器的水下自治机器人可以携带气密采样器在海洋中进行采样，并且能够基于传感器的数据根据实时情况去控制采样行为，使采样的针对性更强，样本更可靠。本发明就是一种用于自治水下机器人的的水体取样装置。
发明内容
本发明的目的是设计一种用于自治水下机器人的水体取样装置，该装置能够实现自动控制，完成对采样器的触发和采样，并保证样品的气密性，整体结构紧凑，动作高效可靠。
本发明的一种用于自治水下机器人的水体取样装置，它包括：AUV舱段外壳、环状联接体、采样器固定盘、气密采样器、以及控制机构；
AUV舱段外壳由两个半壳固连而成呈筒状，其两端各固定有采样器固定盘，采用器固定盘外固定有用于与其他舱段连接的环状联接体，采样器固定盘联接多个气密采样器，采样器固定盘内部有流道，使气密采样器的采样入口与舱段外部连通；所述的控制机构固定在AUV舱段中间，通过不完全齿轮传动控制各气密采样器的工作状态。
所述的气密采样器包括：采样筒，分别固定在采样筒两端的上端盖和下端盖，设于采样筒内部的活塞，活塞杆一端与活塞固定，另一端穿出上端盖，上端盖上固定有两根平行的拉簧支撑柱，两个拉簧拉杆分别固定在两个拉簧支撑柱上，两个拉簧一端勾在拉簧拉杆上，另一端穿过上端盖与活塞固定；在下端盖上设有进样通道，通道外端设有单向阀部分，下端盖上还设有用于控制进样通道通断的截止阀，所述的气密采样筒还包括用于触发采样筒进行采样的触发机构。
所述的控制机构包括固连的圆盘和控制机构外壳，二者之间形成的密闭空间内置有电机，电机轴穿出圆盘，且与圆盘之间设有密封圈，电机轴端部安装有不完全齿轮；在圆盘上位于不完全齿轮周围有多个齿轮，齿轮固定在齿轮轴上，齿轮轴与圆盘之间安装有轴承；齿轮上开有圆弧槽，内部设计有固定在圆盘上的销，对齿轮起到限位作用，齿轮转动驱动触发机构动作。
所述的触发机构包括固定在两个拉簧支撑柱上的触发机构底板，其上安装有触发机构支撑架，触发片一端与触发机构支撑架铰接，另一端弯折插入活塞杆端部的通孔内，触发机构底板上还设有扭簧，扭簧将触发片压紧从而锁紧活塞杆，所述的触发机构还包括绳子，绳子一端系在触发片上，另一端通过导轮导向后绕 至齿轮轴上。
所述的控制机构外壳内部可以为干式，或者所述的控制机构内部也可以采用充油方式，其还包括油囊，控制机构外壳和油囊通过管路连接。
所述的气密采样器的单向阀部分包括：单向阀，单向阀与下端盖之间安装有密封圈，单向阀内部有锥形阀芯，锥形阀芯与单向阀间也安装有密封圈，锥形阀芯与进样通道端口之间安装有压缩弹簧。
本发明的用于自治水下机器人的水体取样装置工作时，分为三个过程：
1)入水实验前，先将电机及电路部分放入控制机构外壳内，控制机构上的齿轮和不完全齿轮装配好，壳体内充满油，并连接油囊，然后把整个控制机构安装在AUV舱段外壳上；气密采样器装配好后，将每个采样器的活塞压到底部，触发片在扭簧的作用下自动锁住活塞杆；之后将每个采样器固定在固定盘上，固定盘安装在AUV舱段外壳两端，然后将每个采样器的触发绳子与相应的齿轮轴连接好，盖上AUV舱段外壳的另一半，并用螺栓固定好；最后将AUV舱段通过联接体与其他舱段相连接，放入水中。
2)当AUV运动到需要采样的目的地时，控制电路接收到控制信号后，电机带动不完全齿轮旋转，依次与周围的齿轮啮合，齿轮轴转动拉动缠绕其上的绳子，绳子拉动采样器上的触发片解除活塞杆的锁定，活塞在拉簧拉力的作用下开始移动，样品就从前端单向阀进入采样器，完成采样。
3)当采样实验完成后，将每个采样器从固定盘上拆卸，拧紧采样器上的截止阀，进行样品的转移。
本发明的有益效果在于：
本发明的装置尺寸小，结构紧凑，可以独立完成对海水样品的采样；整个装 置可以通过联接体其他AUV舱段连接；气密采样器的触发机构可以在采样前牢固锁住采样器，采样时顺利触发完成采样，采样筒可以保证样品的气密性，结构简单高效；采样器之间相互独立，通过固定盘固定，排列紧凑；控制机构包括机械结构部分和驱动部分，使用一个电机即可完成对多个采样器的触发控制，动作高效可靠。
附图说明
图1是用于自治水下机器人的水体取样装置的结构示意图；
图2为图1中截面图，(a)B-B剖面(b)A-A剖面(c)C向视图；
图3是气密采样器的部分结构示意图。
图4是气密采样器的部分结构示意图。
图5是控制机构的不完全齿轮传动部分示意图。
图6是控制机构的驱动部分示意图。
图中的附图标记为：气密采样器1；采样器固定盘2；环状联接体3；AUV舱段外壳4；控制机构5；拉簧拉杆6；拉簧7；拉簧支撑柱8；活塞杆9；触发片10；触发机构支撑架11；触发机构底板12；上端盖13；采样筒14；活塞15；截止阀16；下端盖17；密封圈18；单向阀19；锥形阀芯20；密封圈21；压缩弹簧22；扭簧23；导轮24；绳子25；齿轮26；齿轮轴27；销28；不完全齿轮29；导轮30；油囊31；控制机构外壳32；电机33；密封圈34；圆盘35；密封圈36。
具体实施方式
以下结合附图进一步说明本发明。
参照图1和图2，本发明的用于自治水下机器人的水体取样装置，它包括：AUV舱段外壳4、环状联接体3、采样器固定盘2、气密采样器1、以及控制机构5；AUV舱段外壳4呈筒状，由两个半壳通过若干螺栓螺母连接而成，两端各固定有采样器固定盘2，采样器固定盘外有环状联接体3，方便与其他舱段连接；采样器固定盘2联接多个气密采样器1，采样器固定盘2内部有流道，使气密采样器1的入口接通到舱段外部；控制机构5固定在舱段中间。
参照图3和图4，本发明的气密采样器1包括：采样筒部分：采样筒14，内部的活塞15，固定在采样筒14一端的上端盖13，固定在采样筒另一端的下端盖17，上端盖17设计有用于控制进样通道通断的截止阀16。单向阀部分：下端盖17的前端联接有单向阀19，单向阀19上安装有密封圈18，内部有锥形阀芯20，锥形阀芯安装有密封圈21，后端安装有压缩弹簧22。触发机构部分：上端盖13上固定有两根平行的拉簧支撑柱8，两个拉簧拉杆6分别固定在两个拉簧支撑柱8上，两个拉簧7一端勾在拉簧拉杆8上，另一端穿过上端盖13与活塞15固定；触发机构底板12固定在两个拉簧支撑柱8上，上面安装有触发机构支撑架11，触发片10一端与触发机构支撑架11铰接，另一端插入活塞杆9端部的通孔内，触发机构底板12上还设有扭簧23，扭簧23将触发片10压紧从而锁紧活塞杆，所述的触发机构还包括绳子25，绳子25一端系在触发片上，另一端通过导轮24、30导向后绕至齿轮轴27上。
参照图5，本发明的控制机构的不完全齿轮传动包括：不完全齿轮29周围有多个齿轮26，齿轮26固定在齿轮轴27上，齿轮轴27与圆盘35之间安装有轴承；齿轮26上开有圆弧槽，内部设计有固定在圆盘35上的销28，对齿轮26起到限位作用。
参照图6，本发明的控制机构的驱动部分包括：圆盘35和控制机构外壳32通过若干螺钉联接，之间设计有密封圈34，内部的电机33固定在圆盘35上，电机33轴与圆盘35之间设有密封圈36，轴上安装有不完全齿轮29；若为充油式，则控制机构外壳32和油囊31通过管路连接，内部充油；若为干式，则控制机构外壳32不用连接油囊。
本发明的用于自治水下机器人的水体取样装置工作时，分为三个过程：
1)入水实验前，先将电机33及电路部分放入控制机构外壳32内，控制机构上的齿轮26和不完全齿轮29装配好，壳体内充满油，并连接油囊31，然后把整个控制机构5安装在AUV舱段外壳4上；气密采样器1装配好后，将每个采样器的活塞15压到底部，触发片10在扭簧23的作用下自动锁住活塞杆9；之后将每个采样器1固定在固定盘2上，固定盘2安装在AUV舱段外壳4两端，然后将每个采样器1的触发绳子25与相应的齿轮轴27连接好，盖上AUV舱段外壳的另一半，并用螺栓固定好；最后将AUV舱段通过联接体与其他舱段相连接，放入水中。
2)当AUV运动到需要采样的目的地时，控制电路接收到控制信号后，电机23带动不完全齿轮29旋转，依次与周围的齿轮26啮合，齿轮轴27转动拉动缠绕其上的绳子25，绳子拉动采样器上的触发片10解除活塞杆9的锁定，活塞15在拉簧拉力的作用下开始移动，样品就从前端单向阀进入采样器，完成采样。
3)当采样实验完成后，将每个采样器1从固定盘2上拆卸，拧紧采样器上的截止阀16，进行样品的转移。

Claims (6)

  1. 一种用于自治水下机器人的水体取样装置，其特征在于，它包括：AUV舱段外壳(4)、环状联接体(3)、采样器固定盘(2)、气密采样器(1)以及控制机构(5)；
    AUV舱段外壳(4)由两个半壳固连而成呈筒状，其两端各固定有采样器固定盘(2)，采用器固定盘外固定有用于与其他舱段连接的环状联接体(3)，采样器固定盘(2)联接多个气密采样器(1)，采样器固定盘(2)内部有流道，使气密采样器(1)的采样入口与舱段外部连通；所述的控制机构(5)固定在AUV舱段中间，通过不完全齿轮传动控制各气密采样器的工作状态。
  2. 根据权利要求1所述的用于自治水下机器人的水体取样装置，其特征在于，所述的气密采样器(1)包括：采样筒(14)，分别固定在采样筒(14)两端的上端盖(13)和下端盖(17)，设于采样筒内部的活塞(15)，活塞杆(9)一端与活塞固定，另一端穿出上端盖(13)，上端盖(13)上固定有两根平行的拉簧支撑柱(8)，两个拉簧拉杆(6)分别固定在两个拉簧支撑柱(8)上，两个拉簧(7)一端勾在拉簧拉杆(6)上，另一端穿过上端盖(13)与活塞(15)固定；在下端盖(17)上设有进样通道，通道外端设有单向阀部分，下端盖上还设有用于控制进样通道通断的截止阀(16)，所述的气密采样筒(1)还包括用于触发采样筒进行采样的触发机构。
  3. 根据权利要求2所述的用于自治水下机器人的水体取样装置，其特征在于，所述的控制机构(5)包括固连的圆盘(35)和控制机构外壳(32)，二者之间形成的密闭空间内置有电机(33)，电机(33)轴穿出圆盘(35)，且与圆盘之间设 有密封圈(36)，电机轴端部安装有不完全齿轮(29)；在圆盘上位于不完全齿轮(29)周围有多个齿轮(26)，齿轮(26)固定在齿轮轴(27)上，齿轮轴(27)与圆盘(35)之间安装有轴承；齿轮(26)上开有圆弧槽，内部设计有固定在圆盘(35)上的销(28)，对齿轮(26)起到限位作用，齿轮转动驱动触发机构动作。
  4. 根据权利要求3所述的用于自治水下机器人的水体取样装置，其特征在于，所述的触发机构包括固定在两个拉簧支撑柱(8)上的触发机构底板(12)，其上安装有触发机构支撑架(11)，触发片(10)一端与触发机构支撑架(11)铰接，另一端插入活塞杆(9)端部的通孔内，触发机构底板(12)上还设有扭簧(23)，扭簧(23)将触发片(10)压紧从而锁紧活塞杆，所述的触发机构还包括绳子(25)，绳子(25)一端系在触发片上，另一端通过导轮导向后绕至齿轮轴(27)上。
  5. 根据权利要求3所述的用于自治水下机器人的水体取样装置，其特征在于，所述的控制机构外壳(32)内部为干式，或者所述的控制机构内部采用充油方式，其还包括油囊(31)，控制机构外壳(32)和油囊(31)通过管路连接。
  6. 根据权利要求2所述的用于自治水下机器人的水体取样装置，其特征在于，所述的气密采样器(1)的单向阀部分包括：单向阀(19)，单向阀(19)与下端盖(17)之间安装有密封圈，单向阀内部有锥形阀芯(20)，锥形阀芯与单向阀间也安装有密封圈，锥形阀芯与进样通道端口之间安装有压缩弹簧(22)。
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