Floatable track type special underwater operation robot suitable for extremely soft geology

Abstract

The invention relates to a floatable track type special underwater operation robot suitable for extremely soft geology. The floatable track type special underwater operation robot suitable for extremely soft geology comprises a running mechanism; the running mechanism is a track and mud sled composite structure; mud sled board structures are fixedly arranged on the track; the bottoms of the mud sled board structures are higher than the bottom of the track and have arch-shaped board heads; board water jet devices are arranged on the arch-shaped board heads; the board water jet devices jet waterforwards; in the running process of the running mechanism, the arch-shaped board heads press water downwards; the pressed water and jet water mutually form water films at the bottoms of the mud sledboard structures to reduce the running resistance; and therefore, the floatable track type special underwater operation robot suitable for extremely soft geology can stably run in the extremely soft geology. According to the floatable track type special underwater operation robot suitable for extremely soft geology, as parts such as a propelling mechanism, a buoyancy adjusting device, an operationmodule are also designed, the underwater robot can automatically run on the sea bed and has multiple functions such as water floating, fault self-repairing and fine operation.

Description

technical field [0001] The invention relates to a crawler walking mechanism, in particular to a crawler walking structure and a robot device adapted to the environment of extremely thin and soft underwater ground. Background technique [0002] In the prior art, there is a design of setting spurs on the track to increase the thrust. The spurs mainly play the role of increasing friction, but the height of the spurs is generally low, and the effect is often not good, because the length of the spurs is relatively short. There is no effect of removing mud. The main reason is that sludge is easily embedded between the spurs, and the lengthening of the spurs will make it more difficult to remove the sludge. In the existing technology, the purpose of gravity deslagging is also achieved by setting the angle of the spurs, but , the desludging effect is always unsatisfactory; the underwater walking mechanism has relatively high requirements for the balance of the grounding specific pre...

AI Technical Summary

Problems solved by technology

[0004] 1) It does not have the ability to suspend and float, and it needs to configure additional mother ships for launch and recovery during work, which is costly and inefficient

[0005] 2) It can only carry out bottoming operations. Since it is only equipped with a crawler mechanism and has no buoyancy equipment, it can only rely on crawlers and other equipment to perform three-degree-of-freedom movement on the seabed during work.

When encountering submarine terrain such as steep slopes, strong power is required to travel, which is easy to burn out the host and reduce the reliability of the system

When encountering complex and changeable seabed terrain, you cannot adjust your posture freely, and you are easy to touch obstacles, which will cause certain damage to the mining equipment

[0006] 3) Difficulty shooting underwater

Due to the cumbersome structure of the existing seabed ore-collecting equipment, multiple underwater cameras need to be installed to take detailed, all-round and multi-angle shots of the seabed environment, which has high requirements for the structural layout of the seabed ore-collecting equipment. It increases the difficulty of equipment design and increases the input of manpower and material resources

[0007] 4) Since there is no mechanical arm, it is impossible to clear obstacles, and it can only absorb ore from the flat seabed. When there are stones or other sundries pressing on the object to be absorbed, you must choose to give up the operation. Forcible operation is easy to damage the ore collecting head.

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