本論文開發一個可長時間以及可定時作動的夾爪機構來採集海床邊界層沈積物，以便於後續進行海床沈積物粒徑的分析。由於海洋環境惡劣，不利於精密儀器操作，所以本採樣器設計主要以簡易的動作機制來取代馬達裝置及複雜機構，使整體構造達到簡單、體積小、重量輕及可長時間、可定時自動連續採樣的功能。本採樣器之設計及製作分兩個階段來進行；第一階段為單一上下行程採樣器設計，第二階段為24具夾頭採樣器設計。第一階段之設計共分為六部份，分別為採樣夾頭構想設計與細部設計、採樣夾頭與傳動機構間之結合及分離設計、齒輪與齒條傳動機構設計、定時裝置設計、水密傳動軸及水密箱設、以及機架設計。在第一階段之單一行程採樣器完成設計與製作後，並進行初步性能測試，其結果已可達成定時採樣的功能，但沈積物樣品儲存槽之密封性稍嫌不足，經改良採樣夾頭設計後，仍不能完全保存樣品。因此本研究進一步設計新型採樣夾頭，其設計及製作成品完成後，經測試已可使樣品得到完整的保存。最後，依第一階段之設計及新夾爪設計之成果，將之擴充為第二階段24具夾頭採樣器之概念設，以期能達成連續採樣的功能

In this paper we developed an automatic sampling device which is capable of taking samples of the substrates at pre-programmed schedule and storing the samples for retrieval. For the reason that the sampler is operated in a severe ocean environment, the first design consideration is to use mechanisms and parts as simple as possible to reduce the risk of failure. Another primary concern is to make sure the design can preserve sediment securely in water. Besides, other considerations include size, weight, and functions of programmable sequential sampling. The sampling device is developed in two phases. Firstly, a device equipped with only one sampler is designed for achieving the purpose of programmable sampling. Secondly, the design will be extended to have multiple samplers to accomplish the task of sequential sampling. Six main designs are implemented in the first stage. They are the conceptual design of the grab for taking and storing sediment, the design of separation and reunion between grab and transmission mechanism, gearing design for transmitting motion of the sampler, timer and control circuit design for the lowest power consuming consideration, pressure hull design for installing a motor, batteries, and needed electric devices, and frame design for firmly supporting all instruments. The design of phase one was completed and its preliminary testing result came out successfully except that the collection chamber is not sealed securely enough. A new sample holder was designed and then successfully solved the problem of sediment sealing. According to the design of phase one, the concept design of the sequential sampling device of having 24 sample holders is presented.

目錄
第一章 緒論 1
1.1 研究背景﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒1
1.2 研究目的﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒2
1.3 文獻回顧﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒3
1.4 論文架構﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒3
第二章 單夾頭採樣裝置設計 7
2.1 採樣夾頭設計﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒11
2.2 夾頭與傳動機構之離合設計﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒12
2.3 齒條傳動機構設計﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒15
2.4 定時裝置設計﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒17
2.5 水密箱設計﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒18
2.6 機架設計﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒19
第三章 單夾頭採樣裝置組裝及測 21
3.1 採樣裝置組裝﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒21
3.2 測試及修改﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒23
3.2.1 省電測試﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒23
3.2.2 水密箱水密測試﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒26
3.2.3 採樣夾頭測試及修改﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒27
3.3 結論﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒27
第四章 新型採樣夾頭設計 30
4.1 概念設計﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒30
4.2 決策矩陣法﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒31
4.3 概念設計評估﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒33
4.3.1 第一階段評估﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒33
4.3.2 第二階段評估﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒35
4.4 細部尺寸設計﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒36
4.5 結論﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒40
第五章 定時連續採樣裝置概念設計 42
5.1 旋轉傳動﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒44
5.1.1 傳動類型﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒44
5.1.2 定時省電裝置﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒44
5.2 承載﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒44
第六章 結論與討論 47
附錄A 細部設計 52
A.1 採樣夾頭﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒52
A.2 採樣夾頭與傳動機構之結合及離合機構﹒﹒﹒﹒﹒﹒﹒﹒﹒54
A.2.1 接合座﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒55
A.2.2 強力磁鐵﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒58
A.2.3 鐵片﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒58
A.3 傳動機構﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒60
A.3.1 傳動齒條﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒60
A.3.2 滾輪以及滾輪座﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒61
A.3.3 齒條支撐架﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒61
A.4 水密傳動軸及水密箱﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒61
A.4.1 水密傳動軸﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒64
A.4.2 馬達水密箱﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒64
A.4.3 電池水密箱﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒66
A.5 機架﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒66
附錄B PLC程式　　　　　　　　　　　　　　　　　　　　　71
附錄C 沉積物剪力強度 　　　　　　　　　　　　　　　　　72

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