CN113607463B - Deep sea sampling system based on ROV - Google Patents

Abstract

The invention provides a deep sea sampling system based on an ROV (remote operated vehicle), which relates to the technical field of marine science research sampling equipment and comprises a main body frame, a movable chassis, a first sampling device and a driving mechanism, wherein the main body frame is provided with a first sampling device and a second sampling device; the main body framework is driven to penetrate into the deep sea environment by using the remote control unmanned submersible; when main body frame got into the deep sea and need sampling, stretch out for main body frame through the activity chassis, utilize actuating mechanism to drive the first sampling device who stretches out main body frame and carry out the sampling operation, main body frame and first sampling device keep away from ROV main part propeller under water, main body frame can play good supporting role to ROV when touching the end sample, a plurality of sampling tool integration that have alleviated existence among the prior art when ROV, can shelter from to ROV main part propeller formation under water around, it is dangerous to increase ROV underwater operation, and when ROV main part carries on sampling tool directly to touch the end sample under water, cause the technical problem that ROV body destroyed easily.

Description

ROV-based deep-sea sampling system

technical field

The invention relates to the technical field of marine scientific research sampling equipment, in particular to an ROV-based deep-sea sampling system.

Background technique

Scientific research deep-sea remote-operated unmanned vehicle (ROV) is one of the important deep-sea survey equipment necessary for comprehensive marine scientific research ships. It can achieve accurate target observation, detection, sampling, etc. Provide technical means and platforms for research and exploration in frontier fields such as life processes, deep earth processes and dynamics; deep-sea remotely operated unmanned vehicles (ROVs) equipped with lighting devices with reasonable design and excellent performance will better provide deep-sea surveys, Provide technical means for detection, sampling, and construction, installation and maintenance of seabed observation networks.

In recent years, the use of ROV to carry out research in the fields of deep-sea extreme environment detection, deep-sea resource detection, marine science and earth system science has become a hot spot for marine research institutions, and a wide variety of ROV-specific sampling tools have been developed for this purpose.

However, the deep-sea ROV in the prior art is designed for the application of offshore petroleum engineering, and it will face the following problems when carrying sampling tools for marine scientific research: the ROV underwater main body dives with a single sampling tool, and a single dive The diving operation efficiency is low; when the sampling tool is integrated into the ROV underwater main body, it will form a shield around the ROV underwater main body propeller, increasing the risk of ROV underwater operation; in addition, when the ROV underwater main body is equipped with sampling tools, When sampling at the bottom, it is easy to cause damage to the ROV body, which makes the scientific investigation mission impossible.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a deep-sea sampling system based on ROV, so as to alleviate the existing problem in the prior art that when multiple sampling tools are integrated into the ROV underwater main body, it will block the surroundings of the ROV underwater main body propeller and increase the ROV The danger of underwater operation and the technical problem of damage to the ROV body when the ROV underwater body is equipped with a sampling tool to directly conduct bottoming sampling.

The invention provides an ROV-based deep-sea sampling system, comprising: a main frame, a movable chassis, a first sampling device and a driving mechanism;

The main body frame is connected with the remote-controlled unmanned submersible, and the remote-controlled unmanned submersible is used to drive the main body frame to go deep into the deep-sea environment;

The movable chassis is located at one end of the main body frame, and the movable chassis is slidably connected with the main body frame, the first sampling device is located on the movable chassis, and the driving mechanism is located on the main body frame close to the One end of the movable chassis, the movable chassis is used to drive the first sampling device to extend relative to the main body frame, and the driving mechanism is used to drive the first sampling device that extends out of the main body frame to perform a sampling operation .

In a preferred embodiment of the present invention, the movable chassis includes a telescopic drive mechanism, a sampling tray, a tray slide and a tray slide;

There are at least two tray slide rails, wherein the two tray slide rails are located at two ends of the sampling tray respectively, and the tray slide rails are fixedly connected to the sampling tray;

The number of the tray slides is set corresponding to the number of the tray slides, the tray slides are fixedly connected to the main frame, the tray slides are slidably connected to the tray slides, and the telescopic drive mechanism The two ends are respectively connected with the main frame and the sampling tray, and the telescopic drive mechanism is used to apply a reciprocating force to the sampling tray, so that the sampling tray can pass along the tray slide rail along the tray. The slideway slides back and forth relative to the body frame.

In a preferred embodiment of the present invention, the movable chassis further includes a hanging tray;

The external hanging tray is located at one end of the sampling tray away from the main frame, and the external hanging tray is detachably connected to the sampling tray.

In a preferred embodiment of the present invention, the sampling tray includes a first placing area, a second placing area and a third placing area, and the first placing area, the second placing area and the third placing area are along the The sampling trays are arranged in sequence perpendicular to the direction of the reciprocating movement.

In a preferred embodiment of the present invention, the first sampling device includes a macro biological sampler, a sediment sampler, a sample box and an airtight fluid pressure-holding sampler;

The macro biological sampler, the sediment sampler and the sample box are sequentially arranged in the first placing area, the second placing area and the third placing area, and the macro biological sampler, the sediment sampler and the The sample box is respectively connected with the surface of the sampling tray; the airtight fluid pressure-holding sampler is located on the external tray, the macro-biological sampler, the sediment sampler, the sample box and the airtight fluid pressure-holding a sampler for protruding out of the main body frame along with the sampling tray;

The driving mechanism can act on the collection end of the macro biological sampler, so that the macro biological sampler can obtain living marine organisms; the driving mechanism can act on the sediment sampler, so that the macro biological sampler can obtain living marine organisms; The sediment sampler can obtain the surface sediments of the deep seabed; the driving mechanism can collect the rock or biological sample of the deep seabed, and place the rock or biological sample in the sample box; the driving mechanism can act on the airtight The collection end of the fluid holding pressure sampler, so that the airtight fluid holding pressure sampler draws the fluid sample at the sampling position.

In a preferred embodiment of the present invention, the first sampling device includes a sample box;

The sample box is provided with at least two, the sum of the area of the first placing area and the second placing area is equal to the area of the third placing area, and one of the sample boxes is placed in the first placing area and the second placement area, wherein another of the sample boxes is placed on the third placement area, and each of the sample boxes is respectively connected with the surface of the sampling tray, and the sample boxes are used to follow the The sampling tray protrudes from the outside of the main body frame, and the driving mechanism can collect rocks or biological samples on the deep seabed, and place the rocks or biological samples in the sample box.

In a preferred embodiment of the present invention, the first sampling device includes a sediment sampler, a sample box and an airtight fluid pressure-holding sampler;

The sediment samplers are provided with at least two, a plurality of the sediment samplers are arranged side by side, and two of the sediment samplers are respectively arranged in the first placement area and the second placement area Inside, the sample box is arranged in the third placement area, and the sample box and a plurality of the sediment samplers are respectively connected with the surface of the sampling tray; the airtight fluid pressure-holding sampler is located in the On the external hanging tray, the sediment sampler, the sample box and the airtight fluid pressure-holding sampler are used to extend out of the main frame along with the sampling tray;

The driving mechanism can act on the sediment sampler, so that the sediment sampler can obtain the surface sediments of the deep seabed; The biological sample is placed in the sample box; the driving mechanism can act on the collection end of the airtight fluid pressure-holding sampler, so that the airtight fluid and pressure-holding sampler draws the fluid sample at the sampling position.

In a preferred embodiment of the present invention, the first sampling device includes a sediment sampler, a sample box and an airtight fluid pressure-holding sampler;

There are at least two airtight fluid pressure-holding samplers, and two of the sediment samplers are respectively arranged on the second placement area and the external tray, and the sediment samplers are arranged on the In the first placement area, the sample box is arranged in the third placement area, and the sediment sampler, the sample box and the airtight fluid pressure-holding sampler are used to extend out of the sampling tray along with the sampler. the outside of the main frame;

The driving mechanism can act on the sediment sampler, so that the sediment sampler can obtain the surface sediments of the deep seabed; The biological sample is placed in the sample box; the driving mechanism can act on the collection end of the airtight fluid pressure-holding sampler, so that the airtight fluid and pressure-holding sampler draws the fluid sample at the sampling position.

In a preferred embodiment of the present invention, the first sampling device includes a macro biological sampler, a sample box and an airtight fluid pressure-holding sampler;

There are at least two airtight fluid pressure-holding samplers, and two of the sediment samplers are respectively arranged on the second placement area and the external tray, and the macro-biological sampler is arranged on all the samplers. In the first placement area, the sample box is arranged in the third placement area, and the macro biological sampler, the sample box and the airtight fluid pressure-holding sampler are used to extend out of the sampling tray along with the sampler. the outside of the main frame;

The driving mechanism can act on the collection end of the macro-biological sampler, so that the macro-biological sampler can acquire living marine organisms; The biological sample is placed in the sample box; the driving mechanism can act on the collection end of the airtight fluid pressure-holding sampler, so that the airtight fluid and pressure-holding sampler draws the fluid sample at the sampling position.

In a preferred embodiment of the present invention, the macro biological sampler includes an axial flow pump, a macro biological sampling tube and a macro biological sample box;

The macro biological sample box is connected with the macro biological sampling tube through the axial flow pump, the macro biological sampling tube can be extended or retracted relative to the axial flow pump, and the driving mechanism is used to drive the macro biological sampling The tube faces the sample taking position, and the axial-flow pump is used to draw live marine organisms to the macro-biological sample box through the macro-biological sampling tube.

In a preferred embodiment of the present invention, the sediment sampler includes a sediment sampling base and a sediment sampling pipe;

A plurality of the sediment sampling tubes are provided, and the plurality of the sediment sampling tubes are evenly arranged on the sediment sampling base, and the sediment sampling base is connected with the sampling tray, and the driving mechanism uses The single sediment sampling tube is grabbed and extended to the surface layer of the deep seabed, so that the deep seabed surface sediment can be obtained through the sediment sampling tube.

In a preferred embodiment of the present invention, the driving mechanism includes a first manipulator and a second manipulator;

The first manipulator and the second manipulator are respectively located on opposite sides of the main body frame, and the first manipulator and the second manipulator are respectively used to act on the movement extending out of the main body frame. on the chassis, so as to perform sampling operations on the first sampling device through the first manipulator and the second manipulator respectively.

In a preferred embodiment of the present invention, it also includes a second sampling device;

The second sampling device is located on the main body frame, and the second sampling device is connected to the main body frame.

In a preferred embodiment of the present invention, the second sampling device includes a hydraulic sediment sampler, a microbial filter sampler and a biological sampler;

The biological sampler is located inside the main body frame, the collecting end of the biological sampler extends out of the end of the main body frame facing the movable chassis, and the biological sampler is used for sampling biological samples;

The microorganism filtration sampler is located at one end of the main body frame away from the movable chassis, the microorganism filtration sampler is connected to the main body frame, and the microorganism filtration sampler is used for filtration and sampling of microorganisms;

The hydraulic sediment sampler is located on the side wall of the main body frame, and the hydraulic sediment sampler is connected with the side wall of the main body frame, and the hydraulic sediment sampler is used for acquiring 1-meter columnar sediment.

In a preferred embodiment of the present invention, the biological sampler includes a rotary sampler, a water pump, a pipeline constrictor and a telescopic sampling tube;

The rotary sampler and the water pump are arranged in the main frame, the water inlet of the water pump is connected to the rotary sampler, and the water pump is used to provide power and water for the rotary sampler to take samples;

One end of the telescopic sampling tube is connected to the rotary sampler, and the other end of the telescopic sampling tube extends through the pipeline retractor to one end of the movable chassis, the pipeline retractor is connected to the main body frame connection, the pipeline retractor is used to adjust the extension length of the telescopic sampling tube, and the driving mechanism is used to drive the telescopic sampling tube away from one end of the rotary sampler, so that the end of the telescopic sampling tube is The part faces the position to be sampled, and the telescopic sampling tube is used to transport the organisms at the position to be sampled to the position of the rotary sampler.

In a preferred embodiment of the present invention, it also includes an altimeter;

The bottom altimeter is located at one end of the main frame away from the remote-controlled unmanned submersible, the bottom-mounted altimeter is connected to the main body frame, and the bottom-mounted altimeter is electrically connected to the remote-controlled unmanned submersible. , the bottom altimeter is used to transmit bottom altitude information to the remotely operated unmanned vehicle.

In a preferred embodiment of the present invention, an inertial navigation system is also included;

The inertial navigation system is located at the end of the main body frame away from the remotely operated unmanned vehicle, the inertial navigation system is connected to the main body frame, and the inertial navigation system is electrically connected to the remotely operated unmanned vehicle , the inertial navigation system is used to transmit the attitude and heading information of the main body frame to the remotely operated unmanned vehicle.

In a preferred embodiment of the present invention, the main frame includes a support frame, a connecting mechanism, an anti-collision grille, a buffer strip, a fixing pin and an anti-corrosion zinc block;

The anti-collision grille is connected with the side of the support frame away from the remote-controlled unmanned vehicle, the anti-collision grille is fixedly connected with the support frame, and the anti-collision grille and the support frame form a an accommodating space for placing the second sampling device, the buffer bars are evenly arranged along the circumferential direction of the support frame, and the buffer bars are fixedly connected to the side walls of the support frame;

The support frame is connected with the remote-controlled unmanned submersible through the connecting mechanism, the rotary sampler is mounted on the rotary sampler installation base, and the fixing pin is located at one end of the support frame close to the remote-controlled unmanned submersible The middle position of the fixed pin, the two ends of the fixed pin are respectively connected with the support frame and the remote-controlled unmanned submersible, and the fixed pin is used to limit the remote-controlled unmanned submersible and the support frame to stop;

A plurality of the anti-corrosion zinc blocks are provided, and the plurality of the anti-corrosion zinc blocks are respectively arranged on the support frame, and each of the anti-corrosion zinc blocks is connected to the support frame.

In a preferred embodiment of the present invention, the main body frame further includes a rotary sampler installation base, a ground altimeter installation fixture, an inertial navigation system installation fixture, a sampling tray installation area, a hydraulic sediment sampler installation fixture, and a microbial filter. Sampler installation fixture, drive mechanism installation base, monitoring system installation fixture, water pump installation fixture and telescopic sampling tube sampling port fixing fixture;

The rotary sampler mounting base, the ground altimeter mounting fixture, the inertial navigation system mounting fixture, the sampling tray mounting area and the water pump mounting fixture are all located in the support frame, and the rotary sampler is mounted on the rotary sampling device. The water pump is installed in the water pump installation jig, the ground altimeter is installed in the ground altimeter installation jig, the inertial navigation system is installed in the inertial navigation system installation jig, The movable chassis is slidably installed in the sampling tray installation area, and a filler is arranged between the movable chassis and the sampling tray installation area;

The hydraulic sediment sampler installation fixture is located on the side wall of the support frame, and the hydraulic sediment sampler is installed in the hydraulic sediment sampler installation fixture; the microorganism filtration sampler installation fixture is located on the support One end of the frame away from the installation area of the sampling tray, the microorganism filtration sampler is installed in the installation fixture of the microorganism filtration sampler; the drive mechanism mounting base is located on the side wall of the support frame, and the drive mechanism installed in the drive mechanism installation base; the monitoring system installation fixture is located at one end of the support frame away from the sampling tray installation area, and the monitoring system installation fixture is used to install an external monitoring camera; the telescopic sampling tube The sampling port fixing fixture is located at one end of the support frame close to the sampling tray installation area, and the telescopic sampling tube sampling port fixing fixture is used for clamping and fixing the sampling port of the telescopic sampling tube.

An ROV-based deep-sea sampling system provided by the present invention includes: a main body frame, a movable chassis, a first sampling device and a driving mechanism; the main body frame is connected with a remote-controlled unmanned submersible, and the remote-controlled unmanned submersible can drive the main body frame Go deep into the deep-sea environment; further, the main body frame can be used as an integrated platform for sampling tools, and is located at one end of the main body frame through the movable chassis, and the movable chassis is slidably connected to the main body frame, and the first sampling device is located on the movable chassis. When the frame enters the deep sea and needs to be sampled, the movable chassis is extended relative to the main frame at this time, and then the driving mechanism is used to drive the first sampling device extending out of the main frame to perform the sampling operation, that is, it can be performed without affecting the operation of the ROV underwater main body. In the above, the integration of the first sampling device is realized. Since the main frame and the first sampling device are far away from the ROV underwater main thruster, the impact on ROV propulsion and attitude control is small, and the safety of ROV underwater operation is increased. At the same time, the main frame It can play a good supporting role for the ROV during bottoming sampling, protect the ROV body from damage, and alleviate the existing technology that when multiple sampling tools are integrated into the ROV underwater body, the ROV underwater body thruster will be affected. The surrounding area is blocked, which increases the risk of ROV underwater operation, and when the ROV underwater body is equipped with a sampling tool to directly bottom out sampling, it is easy to cause technical problems of ROV body damage.

Description of drawings

In order to illustrate the specific embodiments of the present invention or the technical solutions in the prior art more clearly, the following briefly introduces the accompanying drawings that need to be used in the description of the specific embodiments or the prior art. Obviously, the accompanying drawings in the following description The drawings are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings without creative efforts.

1 is a schematic diagram of the overall structure of an ROV-based deep-sea sampling system provided by an embodiment of the present invention;

2 is a schematic front view of the ROV-based deep-sea sampling system provided by an embodiment of the present invention;

3 is a schematic structural diagram of a main frame of an ROV-based deep-sea sampling system provided by an embodiment of the present invention;

4 is a schematic diagram of the overall structure of the main frame of the ROV-based deep-sea sampling system provided by an embodiment of the present invention;

5 is a schematic structural diagram of a movable chassis of an ROV-based deep-sea sampling system provided by an embodiment of the present invention;

6 is a schematic structural diagram of a first sampling device of an ROV-based deep-sea sampling system provided in an embodiment of the present invention in a deep-sea environment;

7 is a schematic structural diagram of a first sampling device of an ROV-based deep-sea sampling system provided in an embodiment of the present invention in a rock sample sampling environment;

8 is a schematic structural diagram of a first sampling device of an ROV-based deep-sea sampling system in a hydrothermal region detection and sampling environment according to an embodiment of the present invention;

9 is a schematic structural diagram of a first sampling device of an ROV-based deep-sea sampling system in a cold spring area environment provided by an embodiment of the present invention;

10 is a schematic structural diagram of a first sampling device of an ROV-based deep-sea sampling system provided in an embodiment of the present invention in a biological sample acquisition environment in a cold spring area;

11 is a schematic structural diagram of an ROV-based deep-sea sampling system located on a remotely operated unmanned submersible according to an embodiment of the present invention.

Icon: 100-remote unmanned submersible; 200-main frame; 201-support frame; 202-connection mechanism; 203-anti-collision grille; 204-buffer strip; 205-fixing pin; 206-anti-corrosion zinc block; 207- Rotary sampler mounting base; 208-Ground height meter mounting fixture; 209-Inertial navigation system mounting fixture; 210-Sampling tray mounting area; 211-Hydraulic sediment sampler mounting fixture; 212-Microbial filtration sampler mounting fixture; 213 -Drive mechanism installation base; 214-Monitoring system installation fixture; 215-Water pump installation fixture; 216-Retractable sampling tube sampling port fixing fixture; 300-Mobile chassis; 301-Telescopic drive mechanism; 302-Sampling tray; 312-First Placement area; 322-second placement area; 332-third placement area; 303-tray slide; 304-tray slide; 305-external tray; 400-first sampling device; 401-macro biological sampler; 411- Axial flow pump; 421-macro biological sampling tube; 431-macro biological sample box; 402-sediment sampler; 412-sediment sampling base; 422-sediment sampling tube; 403-sample box; 404-airtight fluid 500-driving mechanism; 501-first manipulator; 502-second manipulator; 600-second sampling device; 601-hydraulic sediment sampler; 602-microbe filtration sampler; 603-biological sampler; 613 - rotary sampler; 623 - water pump; 633 - pipeline retractor; 643 - telescopic sampling tube; 700 - altimeter; 800 - inertial navigation system.

Detailed ways

The technical solutions of the present invention will be clearly and completely described below with reference to the embodiments. Obviously, the described embodiments are part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

As shown in FIGS. 1-11 , an ROV-based deep-sea sampling system provided in this embodiment includes: a main body frame 200 , a movable chassis 300 , a first sampling device 400 and a driving mechanism 500 ; the main body frame 200 and the remote control unmanned aerial vehicle The submersible 100 is connected, and the remote unmanned submersible 100 is used to drive the main body frame 200 to go deep into the deep sea environment; the movable chassis 300 is located at one end of the main body frame 200, and the movable chassis 300 is slidably connected to the main body frame 200, and the first sampling device 400 is located at On the movable chassis 300 , the driving mechanism 500 is located at one end of the main frame 200 close to the movable chassis 300 . The movable chassis 300 is used to drive the first sampling device 400 to extend relative to the main frame 200 , and the driving mechanism 500 is used to drive the extension of the main frame 200 . The first sampling device 400 performs a sampling operation.

It should be noted that the ROV-based deep-sea sampling system provided in this embodiment is a deep-sea extreme environment detection platform based on a scientific research ROV, which is suitable for sampling biological, chemical, geological, seawater and other samples in extreme deep-sea environments. Specifically, the main body frame 200 can be installed with various sampling tools, and the first sampling device 400 is integrated through the movable chassis 300 that can slide back and forth relative to the main body frame 200 , that is, when the main body frame 200 enters under the action of the ROV 100 After reaching the deep-sea environment, the movable chassis 300 can be extended relative to the main frame 200. At this time, the first sampling device 400 can extend out of the main frame 200, and the driving mechanism 500 can drive the first sampling device 400 in different sampling environments. Therefore, the first sampling device 400 can complete the sampling of biological, chemical, geological, seawater and other samples, which improves the underwater operation efficiency of ROV marine scientific research; further, the main frame 200 can be installed on the bottom of the ROV body, and the main body The frame 200 and the first sampling device 400 can be far away from the ROV propeller and other parts, which has little impact on the ROV body propulsion and attitude control, and increases the safety of the ROV underwater operation. It plays a good supporting role for the ROV body, protects the ROV body from damage, and makes the design more reasonable.

An ROV-based deep-sea sampling system provided in this embodiment includes: a main frame 200, a movable chassis 300, a first sampling device 400 and a driving mechanism 500; the main frame 200 is connected to the remote-controlled unmanned submersible 100, and the remote-controlled unmanned The human submersible 100 can drive the main body frame 200 to go deep into the deep sea environment; further, the main body frame 200 can be used as an integrated platform for sampling tools, and is located at one end of the main body frame 200 through the movable chassis 300, and the movable chassis 300 and the main body frame 200 Sliding connection, the first sampling device 400 is located on the movable chassis 300. When the main frame 200 enters the deep sea and needs to be sampled, the movable chassis 300 is extended relative to the main frame 200 at this time, and then the driving mechanism 500 is used to drive out the main frame 200. The first sampling device 400 performs the sampling operation, that is, the integration of the first sampling device 400 can be realized without affecting the operation of the ROV underwater main body, because the main body frame 200 and the first sampling device 400 are far away from the ROV underwater main body. The propeller has little impact on ROV propulsion and attitude control, and increases the safety of ROV underwater operation. At the same time, the main frame 200 can play a good supporting role for the ROV during bottoming and sampling, protect the ROV body from damage, and alleviate the current situation. In the prior art, when multiple sampling tools are integrated into the ROV underwater body, they will block the surroundings of the ROV underwater body thruster, which increases the risk of ROV underwater operation, and the ROV underwater body is equipped with sampling tools to directly bottom out. When sampling, it is easy to cause technical problems of ROV body damage.

On the basis of the above embodiment, further, in a preferred embodiment of the present invention, the movable chassis 300 includes a telescopic drive mechanism 301, a sampling tray 302, a tray slide 303 and a tray slide 304; the tray slide 304 is provided with at least There are two, of which the two tray slide rails 304 are respectively located at both ends of the sampling tray 302, and the tray slide rails 304 are fixedly connected to the sampling tray 302; the number of tray slide rails 303 is set corresponding to the number of tray slide rails 304, and the tray slide rails 303 is fixedly connected to the main body frame 200, the tray slide rail 304 is slidably connected to the tray slideway 303, the two ends of the telescopic drive mechanism 301 are respectively connected to the main body frame 200 and the sampling tray 302, and the telescopic drive mechanism 301 is used to apply reciprocation to the sampling tray 302 A force is applied to make the sampling tray 302 slide back and forth relative to the main body frame 200 through the tray slide rails 304 along the tray slideways 303 .

In this embodiment, the telescopic drive mechanism 301 can be a hydraulic cylinder. Specifically, one end of the pipeline of the hydraulic cylinder is connected to the hydraulic valve box of the ROV underwater main body, and the other end is connected to the hydraulic cylinder. The telescopic drive of the hydraulic cylinder drives the sampling tray 302 to be relatively The main frame 200 reciprocates; further, the hydraulic oil cylinder and the pipeline of the hydraulic oil cylinder can be installed in the center position directly behind the sampling tray 302, that is, the hydraulic oil cylinder can apply force to the sampling tray 302 at the centerline position of the sampling tray 302 to ensure In addition, the tray slide rails 304 and the tray slide rails 303 are used to form the tray entry and exit rails, and the tray slide rails 304 are installed on the left and right sides of the sampling tray 302. Although the sampling tray 302 moves together, the tray slides The rails 303 are fixedly installed on the left and right sides of the main frame, wherein the tray slideway 303 and the tray slideway 303 can be connected by a T-shaped slide rail slot.

In a preferred embodiment of the present invention, the movable chassis 300 further includes an externally attached tray 305;

In this embodiment, the sampling tray 302 can carry the first sampling device 400, that is, the sampling tool can be installed through the sampling tray 302, and the position of each sampling tool in the first sampling device 400 can be adjusted according to the space; further, In order to ensure the placement space of different sampling tools, an external tray 305 can be installed outside the sampling tray 302, and the external tray 305 and the sampling tray 302 can be detachably connected, that is, when the placement space of the sampling tray 302 cannot satisfy the first sampling device 400 When placing the sample tray 302 away from the main frame 200, an external hanging tray 305 can be installed, and the external hanging tray 305 can be equipped with a movable sampling tool.

Since the sampling tray 302 is accommodated inside the main frame 200, that is, the area of the sampling tray 302 needs to be set according to the area of the main frame 200, and at the same time, considering the power of the scientific research type ROV 100, the carrying space of the sampling tray 302 Subject to limitations, in order to ensure the maximum utilization of the loading space of the sampling tray 302, in a preferred embodiment of the present invention, the sampling tray 302 includes a first placing area 312, a second placing area 322 and a third placing area 332. The placement area 312 , the second placement area 322 and the third placement area 332 are sequentially arranged along the direction in which the sampling tray 302 is perpendicular to the reciprocating movement.

It should be noted that, due to differences in the seabed environment and for different sampling purposes each time, the specific sampling tools of the first sampling device 400 may be provided with different solutions.

As shown in FIG. 6, when sampling is performed in a standard deep-sea environment, in a preferred embodiment of the present invention, the first sampling device 400 includes a macro biological sampler 401, a sediment sampler 402, a sample box 403 and an airtight fluid The pressure-holding sampler 404; the macro biological sampler 401, the sediment sampler 402 and the sample box 403 are sequentially arranged in the first placing area 312, the second placing area 322 and the third placing area 332, and the macro biological sampler 401, The sediment sampler 402 and the sample box 403 are respectively connected to the surface of the sampling tray 302; the airtight fluid pressure-holding sampler 404 is located on the external tray 305, the macro biological sampler 401, the sediment sampler 402, the sample box 403 and the airtight fluid The pressure-holding sampler 404 is used to extend out of the main frame 200 along with the sampling tray 302; the driving mechanism 500 can act on the collection end of the macro-biological sampler 401, so that the macro-biological sampler 401 can obtain living marine organisms; the driving mechanism The 500 can act on the sediment sampler 402, so that the sediment sampler 402 can obtain the surface sediments of the deep seabed; the driving mechanism 500 can collect the rock or biological sample of the deep seabed, and place the rock or biological sample in the sample box 403; the driving mechanism 500 can act on the collection end of the airtight fluid pressure-holding sampler 404, so that the airtight fluid pressure-holding sampler 404 extracts the fluid sample at the sampling position.

As shown in FIG. 7, when only rock sample sampling needs to be completed, in a preferred embodiment of the present invention, the first sampling device 400 includes a sample box 403; the sample box 403 is provided with at least two, the first placement area 312 and The sum of the areas of the second placement area 322 is equal to the area of the third placement area 332 , in which one sample box 403 is placed on the first placement area 312 and the second placement area 322 , and the other sample box 403 is placed in the third placement area 332 and each sample box 403 is respectively connected with the surface of the sampling tray 302. The sample box 403 is used to extend out of the main frame 200 along with the sampling tray 302. The driving mechanism 500 can collect rocks or biological samples on the seabed of the deep sea and transfer This rock or biological sample is placed in the sample box 403 .

As shown in FIG. 8 , when it is necessary to sample the submarine hydrothermal area in the deep-sea environment, in a preferred embodiment of the present invention, the first sampling device 400 includes a sediment sampler 402 , a sample box 403 and an airtight fluid storage device Pressure sampler 404; at least two sediment samplers 402 are provided, a plurality of sediment samplers 402 are arranged side by side, and two sediment samplers 402 are respectively arranged in the first placement area 312 and the second placement area 322 Inside, the sample box 403 is arranged in the third placement area 332, and the sample box 403 and the plurality of sediment samplers 402 are respectively connected to the surface of the sampling tray 302; The sampler 402, the sample box 403 and the sampler 404 for airtight fluid holding pressure are used to extend out of the main frame 200 along with the sampling tray 302; the driving mechanism 500 can act on the sediment sampler 402, so that the sediment sampler 402 can obtain the surface sediments of the deep seabed; the driving mechanism 500 can collect the rock or biological sample of the deep seabed, and place the rock or biological sample in the sample box 403; the driving mechanism 500 can act on the airtight fluid pressure-holding sampler 404 the collection end, so that the gas-tight fluid pressure-holding sampler 404 draws the fluid sample at the sampling location.

As shown in FIG. 9 , when the cold spring area in the deep sea environment needs to be sampled, in a preferred embodiment of the present invention, the first sampling device 400 includes a sediment sampler 402 , a sample box 403 and an airtight fluid pressure-holding sampling There are at least two airtight fluid pressure-holding samplers 404, and two of the sediment samplers 402 are respectively arranged on the second placement area 322 and the external tray 305, and the sediment sampler 402 is arranged in the first placement area. In the area 312, the sample box 403 is arranged in the third placement area 332, and the sediment sampler 402, the sample box 403 and the airtight fluid pressure-holding sampler 404 are used to extend out of the main frame 200 along with the sampling tray 302; the driving mechanism The 500 can act on the sediment sampler 402, so that the sediment sampler 402 can obtain the surface sediments of the deep seabed; the driving mechanism 500 can collect the rock or biological sample of the deep seabed, and place the rock or biological sample in the sample box 403; the driving mechanism 500 can act on the collection end of the airtight fluid pressure-holding sampler 404, so that the airtight fluid pressure-holding sampler 404 extracts the fluid sample at the sampling position.

As shown in FIG. 10 , when it is necessary to sample the organisms in the cold spring area in the deep-sea environment, in a preferred embodiment of the present invention, the first sampling device 400 includes a macro biological sampler 401, a sample box 403 and an airtight fluid storage device. pressure sampler 404; at least two airtight fluid pressure-holding samplers 404 are provided, and two of the sediment samplers 402 are respectively arranged on the second placement area 322 and the external tray 305, and the macro biological sampler 401 is arranged on the first In the first placement area 312, the sample box 403 is arranged in the third placement area 332, and the macro biological sampler 401, the sample box 403 and the airtight fluid pressure-holding sampler 404 are used to extend out of the main frame 200 along with the sampling tray 302; The driving mechanism 500 can act on the collection end of the macro-biological sampler 401, so that the macro-biological sampler 401 can acquire living marine organisms; the driving mechanism 500 can collect rocks or biological samples from the deep seabed, and place the rocks or biological samples in the Inside the sample box 403; the drive mechanism 500 can act on the collection end of the airtight fluid pressure-holding sampler 404, so that the airtight fluid pressure-holding sampler 404 extracts the fluid sample at the sampling position.

In a preferred embodiment of the present invention, the driving mechanism 500 includes a first robot 501 and a second robot 502; the first robot 501 and the second robot 502 are respectively located on opposite sides of the main frame 200, and the first robot 501 and The second manipulator 502 is used to act on the movable chassis 300 extending out of the main frame 200 respectively, so as to perform sampling operations on the first sampling device 400 through the first manipulator 501 and the second manipulator 502 respectively.

Wherein, the first manipulator 501 can be an on-off manipulator, the second manipulator 502 can be a servo manipulator, the first manipulator 501 and the second manipulator 502 can be connected with the remote control unmanned submersible 100, that is, the remote control unmanned submersible 100 can be controlled separately The first manipulator 501 and the second manipulator 502 can use the first manipulator 501 and the second manipulator 502 to realize the operations of grasping the sample and gripping the sampling tool to obtain the sample.

Specifically, deep-sea macro-organisms are an important resource in the deep sea, mainly referring to fish and shrimps with a volume of more than 5 mm, and their unique living environment makes them of extremely high scientific research value. Among them, the macro-biological sampler 401 is mainly used for To obtain living marine organisms, in a preferred embodiment of the present invention, the macro biological sampler 401 includes an axial flow pump 411, a macro biological sampling tube 421 and a macro biological sample box 431; the macro biological sample box 431 communicates with the macro biological sample through the axial flow pump 411 The sampling tube 421 is connected, the macro biological sampling tube 421 can be extended or retracted relative to the axial flow pump 411 , the driving mechanism 500 is used to drive the macro biological sampling tube 421 towards the sample taking position, and the axial flow pump 411 is used to pass the macro biological sampling tube 421 Live marine organisms are drawn into the macro organism sample box 431 .

In this embodiment, the sampling port of the macro-biological sampling tube 421 is in a free state. When the macro-biological sampling needs to be sampled, the first manipulator 501 can be used to hold the sampling port of the macro-biological sampling tube 421 toward the position of the sample to be taken. , by controlling the opening of the axial flow pump 411 and the suction of the axial flow pump 411 away, the macro organisms can be sucked into the macro organism sample box 431 to complete the sampling of the macro organisms.

The sample box 403 can adopt a box structure. When the main frame 200 touches the bottom, the first manipulator 501 and the second manipulator 502 can clamp the rock at the bottom of the deep sea, and place the rock in the sample box 403 to Storage of rock samples.

Further, the airtight fluid pressure-holding sampler 404 can be a hydrothermal fluid pressure-holding sampler, which can sample the pressure-holding pressure of the deep-sea subsea hydrothermal fluid. Align the sampling location and draw fluid for sampling.

In a preferred embodiment of the present invention, the sediment sampler 402 includes a sediment sampling base 412 and a sediment sampling pipe 422; a plurality of sediment sampling pipes 422 are provided, and the plurality of sediment sampling pipes 422 are evenly arranged in the sediment On the sediment sampling base 412, the sediment sampling base 412 is connected with the sampling tray 302, and the driving mechanism 500 is used to grab a single sediment sampling tube 422 and extend it to the surface position of the deep seabed, so that the sediment sampling tube 422 can obtain the Deep seabed surface sediments.

It should be noted that the sediment sampler 402 (PUSH CORE) provided in this embodiment is capable of acquiring deep-sea bottom surface sediments. Specifically, when sampling is required, the sediments are clamped by the first manipulator 501 or the second manipulator 502. The sediment sampling tube 422 is separated from the sediment sampling base 412, and the sediment sampling tube 422 is used for contact sampling with the surface sediment of the deep seabed; wherein, the installation and sampling steps of the sediment sampler 402 are as follows: before sampling, a hard The cutting head is installed on the bottom of the sediment sampling tube 422, a gasket is installed on the top of the sediment sampling tube 422, the cutting head and the gasket are tightly connected with a strap, and the sediment sampling tube 422 is clamped by them; a rubber diaphragm is installed in the cutting head , it can expand under a certain pressure and completely close the cutting head, which can ensure that the sample is well preserved when the sediment sampling tube 422 is lifted; by using the expansion connecting rod and the hammer head on the top, the sediment sampling tube 422 can be inserted into the sediment ; Before sampling, install the piston in the cutting head, when the cutting head is on the sediment, the piston is kept at a fixed height, when the sediment sampling tube 422 descends, the piston remains stationary, the sediment sampling tube 422 is pushed, Sampling is accomplished by subdividing the sample into smaller, non-destructive samples using a hydro-pneumatic drainage and separation system after the sediment sampling tube 422 is sealed.

In a preferred embodiment of the present invention, a second sampling device 600 is further included; the second sampling device 600 is located on the main frame 200 , and the second sampling device 600 is connected to the main frame 200 .

In a preferred embodiment of the present invention, the second sampling device 600 includes a hydraulic sediment sampler 601, a microbial filter sampler 602 and a biological sampler 603; the biological sampler 603 is located inside the main frame 200, and the biological sampler 603 collects The end protrudes from the end of the main body frame 200 facing the movable chassis 300, and the biological sampler 603 is used for sampling biological samples; , the microbial filtration sampler 602 is used to sample the microbial filtration; the hydraulic sediment sampler 601 is located on the side wall of the main frame 200, and the hydraulic sediment sampler 601 is connected to the side wall of the main frame 200, and the hydraulic sediment sampler 601 Used to obtain 1 m columnar sediments.

Among them, the microbial filtration sampler 602 can be used for microbial filtration, and the hydraulic sediment sampler 601 is mainly used to obtain 1-meter columnar sediment; since the hydraulic sediment sampler 601 and the microbial filtration sampler 602 belong to the conventional equipment of marine sampling tools, The specific structures of the hydraulic sediment sampler 601 and the microbial filter sampler 602 are not repeated here.

In a preferred embodiment of the present invention, the biological sampler 603 includes a rotary sampler 613, a water pump 623, a pipeline constrictor 633 and a telescopic sampling tube 643; the rotary sampler 613 and the water pump 623 are arranged in the main frame 200, and the water pump 623 The water inlet is connected to the rotary sampler 613, and the water pump 623 is used to provide power and water supply to the rotary sampler 613 to take samples; The retractor 633 extends to one end of the movable chassis 300, the pipeline retractor 633 is connected to the main frame 200, the pipeline retractor 633 is used to adjust the extension length of the telescopic sampling tube 643, and the driving mechanism 500 is used to drive the telescopic sampling tube 643 to rotate away from One end of the sampler 613 is made so that the end of the telescopic sampling tube 643 faces the position to be sampled, and the telescopic sampling tube 643 is used to transport the organisms at the position to be sampled to the position of the rotary sampler 613 .

In this embodiment, the rotary sampler 613 can complete the sampling of biological samples, and the water pump 623 can be a high-power water pump 623. Specifically, the water pump 623 is installed in the main frame 200, and its water inlet is connected to the rotary sampler 613, and the water outlet is not connected. It mainly provides power for the rotary sampler 613 to absorb samples and water supply for the filter sampling tool installed later; the middle part of the telescopic sampling tube 643 is installed in the pipeline shrinker 633, and its rear end is connected to the rotary sampler 613, and the sampling port at the front end passes through the lower part. The sampling port fixing fixture 216 for the telescopic sampling tube is fixed on the front end cover of the sample box 403. During operation, the sampling port handle is clamped by the first manipulator 501 or the second manipulator 502, and the telescopic sampling tube 643 is pulled from the pipeline retractor 633. After the sampling is completed, the telescopic sampling tube 643 is automatically retracted, and the working length of the telescopic sampling tube 643 is equal to the maximum working radius of the first manipulator 501 or the second manipulator 502 .

In a preferred embodiment of the present invention, a bottom altimeter 700 is also included; the bottom altimeter 700 is located at one end of the main frame 200 away from the remote control unmanned vehicle 100, the bottom altimeter 700 is connected to the main body frame 200, and the bottom altimeter 700 Connected with the remote control unmanned submersible 100 with electrical signals, the bottom altimeter 700 is used to transmit the bottom height information to the remote control unmanned submersible 100 .

In a preferred embodiment of the present invention, the inertial navigation system 800 is also included; the inertial navigation system 800 is located at the end of the main body frame 200 away from the ROV 100, the inertial navigation system 800 is connected to the main body frame 200, and the inertial navigation system 800 In electrical signal connection with the ROV 100 , the inertial navigation system 800 is used to transmit the attitude and heading information of the main frame 200 to the ROV 100 .

In this embodiment, the purpose of the altimeter 700 and the inertial navigation system 800 is to provide data such as the height, attitude, and heading for the scientific research ROV in real time; by installing the altimeter 700 and the inertial navigation system 800 on the main frame 200 It avoids that the scientific research ROV itself is equipped with the bottom altimeter 700 and the inertial navigation system 800, which will block the acoustic signals of the two devices, resulting in unusable use. By using the specific installation position of the main frame 200, the reliability of the use environment is guaranteed. sex.

Among them, the inertial navigation system 800 is a marine instrument used in the basic disciplines of earth science, engineering and technical science, water conservancy engineering, and transportation engineering. Positioning, inertial navigation function, to make up for the loss of GPS data, use the attitude sensor and direction to calculate the position.

In a preferred embodiment of the present invention, the main frame 200 includes a support frame 201 , a connecting mechanism 202 , an anti-collision grille 203 , a buffer strip 204 , a fixing pin 205 and an anti-corrosion zinc block 206 ; the anti-collision grille 203 and the support frame 201 The side away from the RUV 100 is connected, and the anti-collision grille 203 is fixedly connected with the support frame 201. The anti-collision grille 203 and the support frame 201 form an accommodating space for placing the second sampling device 600, and the buffer bar 204 Evenly arranged along the circumferential direction of the support frame 201, and the buffer strip 204 is fixedly connected to the side wall of the support frame 201; the support frame 201 is connected to the ROV 100 through the connection mechanism 202, and the rotary sampler 613 is installed on the rotary sampler On the installation base 207, the fixing pin 205 is located in the middle position of the support frame 201 close to one end of the ROV 100, the two ends of the fixing pin 205 are respectively connected with the support frame 201 and the ROV 100, and the fixing pin 205 is used for The remote control unmanned vehicle 100 and the support frame 201 are restricted from being stopped; a plurality of anti-corrosion zinc blocks 206 are provided, and the plurality of anti-corrosion zinc blocks 206 are respectively arranged on the support frame 201 , and each anti-corrosion zinc block 206 is connected to the support frame 201 .

In this embodiment, the support frame 201 is the main structure of the main frame 200. The support frame 201 includes a plurality of cross beams, vertical beams and inclined-stayed beams. The bottom anti-collision grille 203 is installed at the bottom, and the buffer bars 204 are installed at the side walls. Various sampling tools of the second sampling device 600 are installed inside. Optionally, the buffer strip 204 can be a rubber strip; further, the connecting mechanism 202 can include a plurality of connecting bolts, through which the ROV underwater body can be connected to the supporting frame. 201 connection, and can also ensure the reference positioning when the ROV underwater main body is docked with the support frame 201; specifically, four connecting bolts are installed at the four corner positions of the end face of the support frame 201, and then four connecting bolts are used to install on the support On the middle beam on the end face of the frame 201, the fixing pin 205 can be located in the middle position of the end of the support frame 201 close to the remote control unmanned vehicle 100, which is used for the stop after the ROV underwater main body and the support frame 201 are docked to protect the connecting bolts from being damaged. Transverse shear force failure; the anti-collision grille 203 at the bottom of the support frame 201 is installed on the bottom surface of the support frame 201 to protect the first sampling device 400 and the second sampling device 600 when bottoming out sampling; the anti-corrosion zinc block 206 is located at the bottom of the support frame 201 The internal beams of the frame 201 serve as sacrificial anodes to protect the overall structure.

In a preferred embodiment of the present invention, the main frame 200 further includes a rotary sampler mounting base 207, a ground altimeter mounting fixture 208, an inertial navigation system mounting fixture 209, a sampling tray mounting area 210, and a hydraulic sediment sampler mounting fixture 211. Microbial filtration sampler mounting fixture 212, drive mechanism mounting base 213, monitoring system mounting fixture 214, water pump mounting fixture 215 and telescopic sampling tube sampling port fixing fixture 216; rotary sampler mounting base 207, ground altimeter mounting fixture 208. The inertial navigation system installation fixture 209, the sampling tray installation area 210 and the water pump installation fixture 215 are all located in the support frame 201, the rotary sampler 613 is installed in the rotary sampler installation base 207, and the water pump 623 is installed in the water pump installation fixture 215. , the ground altimeter is installed in the ground altimeter installation fixture 208, the inertial navigation system 800 is installed in the inertial navigation system installation fixture 209, the movable chassis 300 is slidably installed in the sampling tray installation area 210, and the movable chassis 300 and the sampling tray installation area A filler is arranged between 210; the hydraulic sediment sampler installation fixture 211 is located on the side wall of the support frame 201, and the hydraulic sediment sampler 601 is installed in the hydraulic sediment sampler installation fixture 211; the microorganism filtration sampler installation fixture 212 Located at one end of the support frame 201 away from the sampling tray installation area 210, the microbial filtration sampler 602 is installed in the microbial filtration sampler installation fixture 212; the drive mechanism mounting base 213 is located on the side wall of the support frame 201, and the drive mechanism 500 is installed on the drive mechanism 500. In the mechanism installation base 213; the monitoring system installation fixture 214 is located at one end of the support frame 201 away from the sampling tray installation area 210, and the monitoring system installation fixture 214 is used to install an external monitoring camera; Near one end of the sampling tray installation area 210 , the sampling port fixing fixture 216 of the telescopic sampling tube is used to clamp and fix the sampling port of the telescopic sampling tube 643 .

Specifically, the rotary sampler installation base 207 includes two trapezoidal base plates and two rubber strips, and the trapezoidal base plate and the rubber strips form a plane-mounted rotary sampler 613; the altimeter installation fixture 208 and inertial navigation The system installation fixture 209 is used to install the ground height meter and the inertial navigation system 800; the sampling tray installation area 210 is used to install the assembled movable chassis 300, and the gap between the movable chassis 300 and the movable chassis 300 can be filled with rubber strips; hydraulic sediment sampling The device mounting fixture 211 is located at the front end of the outer side of the support frame 201, and is used to install the hydraulic sediment sampler 601; the drive mechanism mounting base 213 can be a manipulator mounting base, located at the front end of the support frame 201, and located on the left and right sides of the support frame 201 respectively. One on each side, wherein one side is installed with a servo-type manipulator, and the other side is installed with a switch-type manipulator; the microbial filter sampler installation fixture 212 is located in the middle of the outer rear end of the support frame 201, and is used to install the microbial filter sampler 602; monitoring system The installation fixture 214 is located at the right rear end of the support frame 201, and provides the installation position for the monitoring camera; the water pump installation fixture 215 is located at the right rear end of the support frame 201, and is used to install the high-power water pump 623; the telescopic sampling tube sampling port fixing fixture 216 is located at the support The front end of the frame 201 is used for fixing the sampling port of the telescopic sampling tube 643 .

As shown in FIG. 11 , the method for assembling and using the ROV-based deep-sea sampling system provided in this embodiment includes the following steps:

The first step: the assembly of the main frame 200, firstly turn the support frame 201 so that the bottom is upward, then fix the anti-collision grille 203 with connecting bolts, after the installation is completed, turn the support frame 201 back to its normal state; The buffer strips 204 are installed on the outside of the position, the rotary sampler installation base 207 and the sampling tray installation area 210; To assemble the chassis 300, first connect the hydraulic cylinder extension rod of the component to the sampling tray 302, then connect the hydraulic cylinder extension rod to the hydraulic cylinder pipeline, and finally install the external tray 305, and then install the tray slideway 303 on the sampling tray installation 210, then install the assembled movable chassis 300 from the front end of the main frame 200, connect the tray slide 304 to the tray slide 303, and the rear end of the hydraulic cylinder is not fixed at this time, and finally use the monitoring system installation fixture 214 to install the sampling tool. In the monitoring system, the anti-corrosion zinc block 206 is installed on the beam, and the sampling port fixing fixture 216 of the telescopic sampling tube is installed on the right side of the main frame 200 to complete the assembly of the chassis of the main frame 200 .

Step 2: First, push the rotary sampler 613 into the rotary sampler mounting base 207 from the rear end of the main frame 200, and fix the rotary sampler 613 with bolts; then install the water pump 623 on the water pump installation fixture 215; then install the water pump 623 The water inlet is connected to the water outlet of the rotary sampler 613; then the telescopic sampling tube 643 is installed in the pipeline constrictor 633, the pipeline constrictor 633 is fixed on the main frame 200, and the water outlet of the telescopic sampling tube 643 is connected to the rotary sampler. 613 Water inlet connection; then use the microbial filter sampler installation fixture 212 to install the microbial filter sampler 602 on the main frame 200; then use the hydraulic sediment sampler installation fixture 211 to install the hydraulic sediment sampler 601 on the main frame 200. Left side; manually push out the sampling tray 302 from the main frame 200, install the sample box 403 on the right side of the sampling tray 302, install the PUSH CORE (sediment sampler 402) in the middle of the sampling tray 302, install the macro biological sampler 401 Installed on the left side of the sampling tray 302; then install the telescopic sampling tube sampling port fixing fixture 216 on the front cover of the sample box 403, and then use the telescopic sampling tube sampling port fixing fixture 216 to fix the sampling port of the telescopic sampling tube 643; Manually push into the main frame 200, then install the airtight fluid pressure-holding sampler 404 on the external tray 305; then install the switch-type manipulator on the left side of the drive mechanism mounting base 213, and install the servo-type manipulator on the drive mechanism Install the right side of the base 213; finally, fix the rear end of the hydraulic cylinder at the rear end of the sampling tray 302 to complete the assembly.

Step 3: First, place the detection platform formed by the assembled deep-sea sampling system horizontally, and then hoist the ROV underwater body; the four top corners of the ROV underwater body are aligned and positioned by the four bolts outside the connecting bolts. When the ROV underwater body installation holes are aligned with the connecting bolts, the ROV underwater body is dropped; then the ROV underwater body is connected with the fixing pins 205 of the main frame 200, and finally the connecting bolts are tightened to complete all equipment of the ROV-based deep-sea sampling system assembled.

The ROV-based deep-sea sampling system provided in this embodiment improves the ROV's ability to obtain samples for underwater operations, and can obtain biological, chemical, and geological samples in extreme deep-sea environments such as submarine hydrothermal fluids, cold springs, and abyss, enabling researchers to obtain more complete research data.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, but not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: The technical solutions described in the foregoing embodiments can still be modified, or some or all of the technical features thereof can be equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the technical solutions of the embodiments of the present invention. scope.

Claims (17)

1. a deep-sea sampling system based on ROV, is characterized in that, comprises: main frame, movable chassis, first sampling device and drive mechanism; The main body frame is connected with the remote-controlled unmanned submersible, and the remote-controlled unmanned submersible is used to drive the main body frame to go deep into the deep-sea environment; The movable chassis is located at one end of the main body frame, and the movable chassis is slidably connected with the main body frame, the first sampling device is located on the movable chassis, and the driving mechanism is located on the main body frame close to the One end of the movable chassis, the movable chassis is used to drive the first sampling device to extend relative to the main body frame, and the driving mechanism is used to drive the first sampling device that extends out of the main body frame to perform a sampling operation ; Also includes a second sampling device; the second sampling device is located on the main body frame, and the second sampling device is connected to the main body frame; The main frame includes a support frame, a connecting mechanism, an anti-collision grille, a buffer strip, a fixing pin and an anti-corrosion zinc block; The anti-collision grille is connected with the side of the support frame away from the remote-controlled unmanned vehicle, the anti-collision grille is fixedly connected with the support frame, and the anti-collision grille and the support frame form a an accommodating space for placing the second sampling device, the buffer bars are evenly arranged along the circumferential direction of the support frame, and the buffer bars are fixedly connected to the side walls of the support frame; The support frame is connected with the remote-controlled unmanned submersible through the connecting mechanism, the fixing pin is located in the middle position of the support frame close to one end of the remote-controlled unmanned submersible, and the two ends of the fixing pin are respectively connected to the support frame. be connected with the remote-controlled unmanned submersible, and the fixing pin is used to limit the remote-controlled unmanned submersible and the support frame to stop; A plurality of the anti-corrosion zinc blocks are provided, and the plurality of the anti-corrosion zinc blocks are respectively arranged on the support frame, and each of the anti-corrosion zinc blocks is connected to the support frame. 2. The ROV-based deep-sea sampling system according to claim 1, wherein the movable chassis comprises a telescopic drive mechanism, a sampling tray, a tray slideway and a tray slideway; There are at least two tray slide rails, wherein the two tray slide rails are located at two ends of the sampling tray respectively, and the tray slide rails are fixedly connected to the sampling tray; The number of the tray slides is set corresponding to the number of the tray slides, the tray slides are fixedly connected to the main frame, the tray slides are slidably connected to the tray slides, and the telescopic drive mechanism The two ends are respectively connected with the main frame and the sampling tray, and the telescopic drive mechanism is used to apply a reciprocating force to the sampling tray, so that the sampling tray can pass along the tray slide rail along the tray. The slideway slides back and forth relative to the body frame. 3. The ROV-based deep-sea sampling system according to claim 2, wherein the movable chassis also comprises a hanging tray; The external hanging tray is located at one end of the sampling tray away from the main frame, and the external hanging tray is detachably connected to the sampling tray. 4. The ROV-based deep-sea sampling system according to claim 3, wherein the sampling tray comprises a first placing area, a second placing area and a third placing area, the first placing area, the second placing area The area and the third placement area are sequentially arranged along the direction of the sampling tray perpendicular to the reciprocating movement. 5. The ROV-based deep-sea sampling system according to claim 4, wherein the first sampling device comprises a macrobiological sampler, a sediment sampler, a sample box and an airtight fluid pressure-holding sampler; The macro biological sampler, the sediment sampler and the sample box are sequentially arranged in the first placing area, the second placing area and the third placing area, and the macro biological sampler, the sediment sampler and the The sample box is respectively connected with the surface of the sampling tray; the airtight fluid pressure-holding sampler is located on the external tray, the macro-biological sampler, the sediment sampler, the sample box and the airtight fluid pressure-holding a sampler for protruding out of the main body frame along with the sampling tray; The driving mechanism can act on the collection end of the macro biological sampler, so that the macro biological sampler can obtain living marine organisms; the driving mechanism can act on the sediment sampler, so that the macro biological sampler can obtain living marine organisms; The sediment sampler can obtain the surface sediments of the deep seabed; the driving mechanism can collect the rock or biological sample of the deep seabed, and place the rock or biological sample in the sample box; the driving mechanism can act on the airtight The collection end of the fluid holding pressure sampler, so that the airtight fluid holding pressure sampler draws the fluid sample at the sampling position. 6. The ROV-based deep-sea sampling system according to claim 4, wherein the first sampling device comprises a sample box; The sample box is provided with at least two, the sum of the area of the first placing area and the second placing area is equal to the area of the third placing area, and one of the sample boxes is placed in the first placing area and the second placement area, wherein another of the sample boxes is placed on the third placement area, and each of the sample boxes is respectively connected with the surface of the sampling tray, and the sample boxes are used to follow the The sampling tray protrudes from the outside of the main body frame, and the driving mechanism can collect rocks or biological samples on the deep seabed, and place the rocks or biological samples in the sample box. 7. The ROV-based deep-sea sampling system according to claim 4, wherein the first sampling device comprises a sediment sampler, a sample box and an airtight fluid pressure-holding sampler; The sediment samplers are provided with at least two, a plurality of the sediment samplers are arranged side by side, and two of the sediment samplers are respectively arranged in the first placement area and the second placement area Inside, the sample box is arranged in the third placement area, and the sample box and a plurality of the sediment samplers are respectively connected with the surface of the sampling tray; the airtight fluid pressure-holding sampler is located in the On the external hanging tray, the sediment sampler, the sample box and the airtight fluid pressure-holding sampler are used to extend out of the main frame along with the sampling tray; The driving mechanism can act on the sediment sampler, so that the sediment sampler can obtain the surface sediments of the deep seabed; The biological sample is placed in the sample box; the driving mechanism can act on the collection end of the airtight fluid pressure-holding sampler, so that the airtight fluid and pressure-holding sampler draws the fluid sample at the sampling position. 8. The ROV-based deep-sea sampling system according to claim 4, wherein the first sampling device comprises a sediment sampler, a sample box and an airtight fluid pressure-holding sampler; There are at least two airtight fluid pressure-holding samplers, and two of the sediment samplers are respectively arranged on the second placement area and the external tray, and the sediment samplers are arranged on the In the first placement area, the sample box is arranged in the third placement area, and the sediment sampler, the sample box and the airtight fluid pressure-holding sampler are used to extend out of the sampling tray along with the sampler. the outside of the main frame; The driving mechanism can act on the sediment sampler, so that the sediment sampler can obtain the surface sediments of the deep seabed; The biological sample is placed in the sample box; the driving mechanism can act on the collection end of the airtight fluid pressure-holding sampler, so that the airtight fluid and pressure-holding sampler draws the fluid sample at the sampling position. 9. The ROV-based deep-sea sampling system according to claim 4, wherein the first sampling device comprises a macro-biological sampler, a sample box and an airtight fluid pressure-holding sampler; There are at least two air-tight fluid pressure-retaining samplers, and two of the air-tight fluid pressure-retaining samplers are respectively arranged on the second placement area and the external tray, and the macro biological sampler Arranged in the first placement area, the sample box is arranged in the third placement area, the macro biological sampler, the sample box and the airtight fluid pressure-holding sampler are used to follow the sampling tray projecting outside the body frame; The driving mechanism can act on the collection end of the macro-biological sampler, so that the macro-biological sampler can acquire living marine organisms; The biological sample is placed in the sample box; the driving mechanism can act on the collection end of the airtight fluid pressure-holding sampler, so that the airtight fluid and pressure-holding sampler draws the fluid sample at the sampling position. 10. The ROV-based deep-sea sampling system according to claim 5 or 9, wherein the macro-biological sampler comprises an axial flow pump, a macro-biological sampling tube and a macro-biological sample box; The macro biological sample box is connected with the macro biological sampling tube through the axial flow pump, the macro biological sampling tube can be extended or retracted relative to the axial flow pump, and the driving mechanism is used to drive the macro biological sampling The tube faces the sample taking position, and the axial-flow pump is used to draw live marine organisms to the macro-biological sample box through the macro-biological sampling tube. 11. The ROV-based deep-sea sampling system according to any one of claims 5, 7-8, wherein the sediment sampler comprises a sediment sampling base and a sediment sampling pipe; A plurality of the sediment sampling tubes are provided, and the plurality of the sediment sampling tubes are evenly arranged on the sediment sampling base, and the sediment sampling base is connected with the sampling tray, and the driving mechanism uses The single sediment sampling tube is grabbed and extended to the surface layer of the deep seabed, so that the deep seabed surface sediment can be obtained through the sediment sampling tube. 12. The ROV-based deep-sea sampling system according to any one of claims 1-9, wherein the driving mechanism comprises a first manipulator and a second manipulator; The first manipulator and the second manipulator are respectively located on opposite sides of the main body frame, and the first manipulator and the second manipulator are respectively used to act on the movement extending out of the main body frame. on the chassis, so as to perform sampling operations on the first sampling device through the first manipulator and the second manipulator respectively. 13. The ROV-based deep-sea sampling system of claim 1, wherein the second sampling device comprises a hydraulic sediment sampler, a microbial filter sampler, and a biological sampler; The biological sampler is located inside the main body frame, the collecting end of the biological sampler extends out of the end of the main body frame facing the movable chassis, and the biological sampler is used for sampling biological samples; The microorganism filtration sampler is located at one end of the main body frame away from the movable chassis, the microorganism filtration sampler is connected to the main body frame, and the microorganism filtration sampler is used for filtration and sampling of microorganisms; The hydraulic sediment sampler is located on the side wall of the main body frame, and the hydraulic sediment sampler is connected with the side wall of the main body frame, and the hydraulic sediment sampler is used for acquiring 1-meter columnar sediment. 14. The ROV-based deep-sea sampling system according to claim 13, wherein the biological sampler comprises a rotary sampler, a water pump, a pipeline constrictor and a telescopic sampling tube; The rotary sampler and the water pump are arranged in the main frame, the water inlet of the water pump is connected to the rotary sampler, and the water pump is used to provide power and water for the rotary sampler to take samples; One end of the telescopic sampling tube is connected to the rotary sampler, and the other end of the telescopic sampling tube extends through the pipeline retractor to one end of the movable chassis, the pipeline retractor is connected to the main body frame connection, the pipeline retractor is used to adjust the extension length of the telescopic sampling tube, and the driving mechanism is used to drive the telescopic sampling tube away from one end of the rotary sampler, so that the end of the telescopic sampling tube is The part faces the position to be sampled, and the telescopic sampling tube is used to transport the organisms at the position to be sampled to the position of the rotary sampler. 15. The ROV-based deep-sea sampling system of claim 14, further comprising an altimeter; The bottom altimeter is located at one end of the main frame away from the remote-controlled unmanned submersible, the bottom-mounted altimeter is connected to the main body frame, and the bottom-mounted altimeter is electrically connected to the remote-controlled unmanned submersible. , the bottom altimeter is used to transmit bottom altitude information to the remotely operated unmanned vehicle. 16. The ROV-based deep-sea sampling system according to claim 15, further comprising an inertial navigation system; The inertial navigation system is located at the end of the main body frame away from the remotely operated unmanned vehicle, the inertial navigation system is connected to the main body frame, and the inertial navigation system is electrically connected to the remotely operated unmanned vehicle , the inertial navigation system is used to transmit the attitude and heading information of the main body frame to the remotely operated unmanned vehicle. 17. The ROV-based deep-sea sampling system according to claim 16, wherein the main frame further comprises a rotary sampler mounting base, a ground altimeter mounting fixture, an inertial navigation system mounting fixture, a sampling tray mounting area, Hydraulic sediment sampler installation jig, microbial filter sampler installation jig, drive mechanism installation base, monitoring system installation jig, water pump installation jig and telescopic sampling tube sampling port fixing jig; The rotary sampler mounting base, the ground altimeter mounting fixture, the inertial navigation system mounting fixture, the sampling tray mounting area and the water pump mounting fixture are all located in the support frame, and the rotary sampler is mounted on the rotary sampling device. The water pump is installed in the water pump installation jig, the ground altimeter is installed in the ground altimeter installation jig, the inertial navigation system is installed in the inertial navigation system installation jig, The movable chassis is slidably installed in the sampling tray installation area, and a filler is arranged between the movable chassis and the sampling tray installation area; The hydraulic sediment sampler installation fixture is located on the side wall of the support frame, and the hydraulic sediment sampler is installed in the hydraulic sediment sampler installation fixture; the microorganism filtration sampler installation fixture is located on the support One end of the frame away from the installation area of the sampling tray, the microorganism filter sampler is installed in the microorganism filter sampler installation fixture; the drive mechanism mounting base is located on the side wall of the support frame, and the drive mechanism installed in the drive mechanism installation base; the monitoring system installation fixture is located at one end of the support frame away from the sampling tray installation area, and the monitoring system installation fixture is used to install an external monitoring camera; the telescopic sampling tube The sampling port fixing fixture is located at one end of the support frame close to the sampling tray installation area, and the telescopic sampling tube sampling port fixing fixture is used for clamping and fixing the sampling port of the telescopic sampling tube.

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