An underwater underactuated mud mining device

Abstract

The present invention discloses an underwater under-actuated mud collection device, comprising an underwater robot, a center of gravity adjustment device, a drive device, and a collection module. The center of gravity adjustment device comprises a slide rod fixedly connected to the underwater robot, a sliding platform sliding on the slide rod, and a center of gravity adjustment hydraulic cylinder driving the sliding platform to slide. The drive device comprises a plurality of drive rods hinged in sequence, the drive rods at both ends of the drive device being hinged to the sliding platform and the collection module respectively, and hydraulic cylinders are arranged between the hinged components. The hydraulic cylinders are controlled by sequence valves, each hydraulic cylinder is controlled by two sequence valves, and all sequence valves are controlled by the forward and reverse rotation of a motor. The collection module is installed under the underwater robot through the drive device. During the navigation of the underwater robot, the drive device retracts, which can reduce the movement resistance of the underwater robot in the water and facilitate the navigation of the underwater robot in the water. During the collection operation, the drive device is deployed, which can increase the operating range and ensure a safe distance.

Description

Technical Field

[0001] The invention relates to an underwater sampling device, in particular to an underwater under-actuated mud sampling device. Background Art

[0002] The seabed is rich in resources, but the high underwater pressure and complex environment make it difficult to explore and exploit these resources. The collection device installed on an underwater robot can safely and efficiently collect underwater sediment samples, providing research data for exploration and research.

[0003] In the prior art, a Chinese invention patent with publication number CN 105863541 A discloses a small deep-sea multi-tube coring drill rig. This patent adopts a drill rod magazine structure, and a ratchet mechanism installed through a drill rod conversion mechanism enables the drill rod magazine to rotate. However, each drill rod is equipped with a drill bit, which greatly increases the weight. The sampling tube cannot be fully sampled and is not conducive to reuse.

[0004] Another example is a Chinese invention patent with publication number CN 109030072 A that discloses a multi-tube vibration sampling drill based on a remote-controlled underwater robot. The patented multi-tube vibration sampling drill is mounted on the side of an open-frame underwater robot, and underwater tube replacement of the drill is achieved through a spiral hydraulic cylinder, thereby increasing the number of samples taken. The use of hydraulic vibration has less interference with the sediment. However, since it is installed on the side of the open-frame underwater robot, the underwater robot has greater resistance during navigation and is asymmetrical, which has a greater impact on the center of gravity of the open-frame underwater robot. Aquatic plants are easily mixed into the samples, and the aquatic plants are easily entangled with the drill bit during the collection process, causing it to get stuck. Summary of the Invention

[0005] Purpose of the invention: In view of the above shortcomings, the present invention provides an underwater under-actuated mud mining device with stable control, wide operating range, reduced resistance during the movement of the underwater robot, and no impact on the center of gravity of the underwater robot.

[0006] Technical solution: To solve the above problems, the present invention adopts an underwater under-actuated mud mining device, including an underwater robot, a center of gravity adjustment device arranged at the bottom of the underwater robot, a driving device connected to the center of gravity adjustment device, and a collection module. The center of gravity adjustment device includes a sliding rod fixedly connected to the underwater robot, a sliding platform sliding on the sliding rod, and a center of gravity adjustment hydraulic cylinder driving the sliding platform to slide. The driving device includes a plurality of driving rods hinged in sequence. The driving rods at both ends of the driving device are hinged to the sliding platform and the collection module respectively. Hydraulic cylinders are arranged between the sliding platform and the driving rod, between two adjacent hinged driving rods, and between the driving rod and the collection module. The driving device is retracted or expanded by the hydraulic cylinders. The hydraulic cylinders are controlled by sequential valves. Each hydraulic cylinder is controlled by two sequential valves. All sequential valves are controlled by the forward and reverse rotation of a motor. When the driving device is expanded, the control sequence is from the hydraulic cylinder close to the collection module to the hydraulic cylinder close to the underwater robot. When the driving device is retracted, the control sequence is from the hydraulic cylinder close to the underwater robot to the hydraulic cylinder close to the collection module.

[0007] Furthermore, the driving device includes a vertical telescopic module, which includes a fixed frame fixedly connected to the sliding platform, a vertical arm hinged to the fixed frame at one end, and a vertical hydraulic cylinder. One end of the vertical hydraulic cylinder is hinged to the fixed frame, and the other end is hinged to the vertical arm. The rotation plane of the vertical arm is perpendicular to the bottom surface of the underwater robot. When the driving device is retracted, the extension direction of the vertical arm is parallel to the bottom surface of the underwater robot; when the driving device is expanded, the extension direction of the vertical arm is perpendicular to the bottom surface of the underwater robot.

[0008] Furthermore, the driving device also includes a horizontal telescopic module, which includes a connecting block, a first horizontal arm, and a second horizontal arm. Both ends of the connecting block are hinged to one end of the vertical arm and one end of the first horizontal arm respectively, the other end of the first horizontal arm is hinged to one end of the second horizontal arm, and the other end of the second horizontal arm is hinged to the tail of the acquisition module. A first horizontal hydraulic cylinder is arranged between the connecting block and the vertical arm, a second horizontal hydraulic cylinder is arranged between the connecting block and the first horizontal arm, a third horizontal hydraulic cylinder is arranged between the first horizontal arm and the second horizontal arm, and a fourth horizontal hydraulic cylinder is arranged between the second horizontal arm and the acquisition module. When the driving device is retracted, the extension directions of the connecting block, the first horizontal arm, and the second horizontal arm are parallel to the bottom surface of the underwater robot, and the connecting block, the first horizontal arm, and the second horizontal arm are located in the same plane; when the driving device is retracted, the extension directions of the connecting block, the first horizontal arm, the second horizontal arm, and the acquisition module are collinear and perpendicular to the bottom surface of the underwater robot.

[0009] Furthermore, the sequence valves include a first-stage sequence valve A, a second-stage sequence valve A, a third-stage sequence valve A, a first-stage sequence valve B, a second-stage sequence valve B, and a third-stage sequence valve B. The opening pressures of the sequence valves are: third-stage sequence valve A>second-stage sequence valve A>first-stage sequence valve A, third-stage sequence valve B>second-stage sequence valve B>first-stage sequence valve B; each hydraulic cylinder includes an upper oil chamber and a lower oil chamber. When the upper oil chamber is filled with oil, the hydraulic rod of the hydraulic cylinder contracts, and when the lower oil chamber is filled with oil, the hydraulic rod of the hydraulic cylinder extends.

[0010] The first-stage sequence valve A is connected to the upper oil chamber of the third horizontal hydraulic cylinder and the upper oil chamber of the fourth horizontal hydraulic cylinder; the second-stage sequence valve A is connected to the lower oil chamber of the first horizontal hydraulic cylinder and the lower oil chamber of the second horizontal hydraulic cylinder; the third-stage sequence valve A is connected to the lower oil chamber of the center of gravity adjustment hydraulic cylinder and the lower oil chamber of the vertical hydraulic cylinder;

[0011] The first-stage sequence valve B is connected to the upper oil chamber of the center of gravity adjustment hydraulic cylinder and the upper oil chamber of the vertical hydraulic cylinder; the second-stage sequence valve B is connected to the upper oil chamber of the first horizontal hydraulic cylinder and the upper oil chamber of the second horizontal hydraulic cylinder; the third-stage sequence valve B is connected to the lower oil chamber of the third horizontal hydraulic cylinder and the lower oil chamber of the fourth horizontal hydraulic cylinder.

[0012] Furthermore, it also includes an oil circuit control motor and a double hydraulic cylinder, the double hydraulic cylinder includes a left oil chamber and a right oil chamber, the forward and reverse rotation of the oil circuit control motor respectively controls the oil flow to the sequence valve in the left oil chamber and the right oil chamber of the double hydraulic cylinder; the left oil chamber of the double hydraulic cylinder is connected to the first-level sequence valve A, the second-level sequence valve A, and the third-level sequence valve A, and the right oil chamber of the double hydraulic cylinder is connected to the first-level sequence valve B, the second-level sequence valve B, and the third-level sequence valve B.

[0013] Furthermore, the collection module includes a pushing module, a collection and storage module and a collection tool, the pushing module includes a gear driving group, a push rod, a collection main shaft and a collection main shaft sleeve sleeved on the collection main shaft, the gear rotation of the gear driving group drives the push rod and the collection main shaft to move, the collection and storage module includes a collection drum fixing frame and a collection drum, the collection drum fixing frame is fixedly sleeved on the collection main shaft sleeve, and the collection drum fixing frame is circumferentially provided with a plurality of through holes for accommodating the collection drum, the collection tool includes a tool fixing frame and a cylindrical drill bit for collecting mud, the tool fixing frame is fixed on the collection main shaft, a drum changing motor is fixedly provided on the tool fixing frame, a gear is fixedly provided on the output end of the drum changing motor, a drum changing gear is fixedly provided on the collection main shaft sleeve, the drum changing gear is meshed with the gear on the output end of the drum changing motor, the drill bit is axially positioned with the tool fixing frame by a spring, the drum changing motor drives the collection main shaft sleeve to rotate, thereby driving the collection drum fixing frame to rotate, so that the tail of the drill bit corresponds to a collection drum, and the push rod moves to push the collection drum into the drill bit.

[0014] Furthermore, the collection module includes a collection tube and a weed prevention head. The pushing module and the collection storage module are arranged in the collection tube. The pushing module pushes the collection tool to move out and retract the collection tube. The gear drive group includes a rotating motor with a gear set on the output shaft, a coupling gear meshing with the output shaft gear of the rotating motor, a left pinion meshing with the coupling gear, a left screw rod fixedly connected to the left pinion, a propulsion platform sleeved on the left screw rod and threadedly connected to the left screw rod, the push rod is arranged on the propulsion platform, the coupling gear includes a main shaft coinciding with the gear axis, the main shaft is hollow and provided with an internal thread, and the collection main shaft An external thread is provided and is provided in the main shaft of the connecting gear. The collection main shaft sleeve is axially fixed to the collection main shaft. The extension direction of the collection main shaft is parallel to the extension direction of the left screw rod. The weed-proof head includes several weed-proof cover plates and a shift fork. One end of the weed-proof cover plate is hinged to the end of the collection tube, one end of the shift fork is hinged to the weed-proof cover plate, and the other end of the shift fork is hinged to the tool fixing frame. When the tool fixing frame is located in the collection tube, the weed-proof cover plates contact each other to form a closed space. When the tool fixing frame moves out of the collection tube, the weed-proof cover plates move away from each other, and the other end of the weed-proof cover plate opens to form an opening, and the drill bit contacts the outside world.

[0015] Furthermore, a flexible connecting film is provided on the side between two adjacent weed-proof covers. When the weed-proof covers are away from each other, the connecting film is stretched to cover the gap between the side of the weed-proof covers.

[0016] Furthermore, a drilling motor is fixedly installed on the propulsion platform, one end of the push rod is fixedly connected to the output shaft of the drilling motor, a boss is set at the other end of the push rod, and an L-shaped groove is set at one end of the collecting tube close to the push rod. The L-shaped groove matches the boss and is used to lock the boss.

[0017] Furthermore, the underwater robot includes a fixed frame, a plurality of thrusters, a rotary servo, and an electronic cabin. The fixed frame is a square frame. The electronic cabin is fixedly arranged in the fixed frame. The rotary servo is used to adjust the propulsion direction of the thruster. The plurality of thrusters are arranged around the fixed frame. The sliding rod of the center of gravity adjustment device is fixedly arranged at the bottom of the fixed frame, and the extension direction of the sliding rod is parallel to the bottom surface of the fixed frame.

[0018] Beneficial effects: Compared with the prior art, the significant advantage of the present invention is that the collection module is installed under the underwater robot through a driving device. During the navigation of the underwater robot, the driving device shrinks and the whole body is coiled together, which can reduce the movement resistance of the underwater robot in the water and facilitate the navigation of the underwater robot in the water. When arriving at the sampling location, the driving device is deployed and the collection module starts working. During the collection operation, the operating range can be increased to ensure a safe distance. The driving device adopts an under-driven method, and drives all joints to move through a hydraulic source, and is used in conjunction with an overflow valve. Each overflow valve sets a different overflow pressure according to the working sequence, so that the joints of the driving device can expand and contract in a predetermined order under the drive of a hydraulic source. The control is simple, and the overall weight of the device is reduced. The use of hydraulic control for the movement of the driving device can ensure its stable performance. The collection module also has an under-driven mechanism. During the collection process, a driving source of the rotating motor is used to extend the propulsion platform and the collection spindle together, realizing the multi-stage extension of the collection module. As the sampler is extended, the anti-weed baffle is also pushed open, which can prevent the sampled material from mixing with aquatic plants and the aquatic plants from entangled with the drill bit during the collection process, ensuring the normal operation of the collection module. During operation, the anti-weed baffle blocks the drill bit from the outside world and protects the drill bit. The collection storage module and the collection tool module, based on a drill bit, can achieve multiple mud collections by replacing the collection tube. After the sampling is completed, the sampler in the sampling module is retracted, the telescopic module is contracted, and sampling is carried out at the next location. The collection tube is replaced on the way to ensure the collection of the next sampled object. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 The figure shows the overall structure of the driving device of the present invention when it is unfolded;

[0020] Figure 2 The figure shows a side view of the overall structure of the driving device of the present invention when it is retracted;

[0021] Figure 3 The figure shows a schematic diagram of the connection between the driving device, the collection module and the center of gravity adjustment device when the driving device is retracted in the present invention;

[0022] Figure 4 Shown is a top view of the center of gravity adjustment device of the present invention;

[0023] Figure 5 Shown Figure 4 Cross-sectional view at AA in the middle;

[0024] Figure 6 The figure shows a schematic diagram of the connection between the driving device and the acquisition module when the driving device is contracted in the present invention;

[0025] Figure 7 Shown is a schematic diagram of the vertical telescopic module in the present invention;

[0026] Figure 8 The figure shows a schematic diagram of the working process of the vertical telescopic module in the present invention;

[0027] Figure 9 The figure shows a schematic diagram of the connection between the horizontal telescopic module and the acquisition module in the present invention;

[0028] Figure 10 Shown Figure 9 partial cross-sectional view;

[0029] Figure 11 Shown is a schematic diagram of the working process of the second horizontal arm;

[0030] Figure 12 Shown is a schematic diagram of the working process of the connecting block and the first horizontal arm;

[0031] Figure 13 Shown is a schematic diagram of the acquisition module in the present invention;

[0032] Figure 14 Shown is a cross-sectional view of the external structure of the acquisition module;

[0033] Figure 15 The figure shows the internal structure of the acquisition module;

[0034] Figure 16 The figure shows a schematic exploded view of the internal frame structure of the acquisition module;

[0035] Figure 17 Shown is a partial cross-sectional view of the main view of the acquisition module;

[0036] Figure 18 Shown is a partial cross-sectional view of a top view of the acquisition module;

[0037] Figure 19 The figure shows a partial cross-sectional view of the connection between the coupling gear and the collection main shaft;

[0038] Figure 20 The figure shows a partial cross-sectional view of the connection between the barrel changing gear and the collection spindle sleeve;

[0039] Figure 21 The figure shows a partial cross-sectional view of the connection between the acquisition spindle and the tool fixing cylinder;

[0040] Figure 22 The figure shows a partial cross-sectional view of the grass prevention head when it is retracted;

[0041] Figure 23 The figure shows a partial cross-sectional view of the weed prevention head in the extended state;

[0042] Figure 24 Shown is a cross-sectional view of the acquisition module in the acquisition state;

[0043] Figure 25Shown is a schematic diagram of the relationship between the push rod, collecting tube and drill bit length;

[0044] Figure 26 Shown is a schematic diagram of the hydraulic control system structure.

[0045] Figure 27 Shown is a schematic diagram of the steps of the under-actuated device control method. DETAILED DESCRIPTION

[0046] like Figure 1 and 2 As shown, in this embodiment, an underwater underactuated mud mining device includes an underwater robot, a center of gravity adjustment device, a drive device, and a collection module. The underwater robot includes a fixed frame 1, a thruster 2, a watertight head 3, an angle bracket 4, a rotary servo 5, a knob switch 6, a collection device 7, and an electronics compartment 8. The collection device 7 is mounted on the fixed frame 1 via bolts and nuts. The fixed frame 1 is a square frame, and the electronics compartment 8 is fixedly mounted within the fixed frame 1. The rotary servo 5 is used to adjust the propulsion direction of the thruster 2. Four thrusters 2 are arranged around the fixed frame. The sliding rod of the center of gravity adjustment device is fixedly mounted on the bottom of the fixed frame 1, and the sliding rod extends parallel to the bottom surface of the fixed frame 1.

[0047] like Figure 3 As shown, the collection device 7 includes a center of gravity adjustment device 9, a drive device 10, and a collection module 11. The center of gravity adjustment device 9 is used to adjust the center of gravity of the collection device 7 when the drive device 10 is extended or retracted. The drive device 10 retracts during navigation to reduce navigation resistance and increase the operating range to ensure a safe distance during collection operations. The collection module 11 is used for underwater mud collection operations.

[0048] like Figure 4 and 5 As shown, the center of gravity adjustment device 9 includes a rear fixed frame 12, a front fixed frame 13, a sliding platform 14, a sliding rod, a center of gravity adjustment hydraulic cylinder 17 and a sliding hydraulic rod 18. The rear fixed frame 12 and the front fixed frame 13 are fixedly connected to the fixed frame 1. The sliding rod includes a sliding rod A15 and a sliding rod B16. Two through holes are opened on the rear fixed frame 12 and the front fixed frame 13. The front and rear ends of the sliding rod A15 and the sliding rod B16 are connected to the rear fixed frame 12 and the front fixed frame 13 by threads and nuts, and the sliding platform 14 is installed on the sliding rod A15 and the sliding rod B16, and slides along the sliding rod A15 and the sliding rod B16. The center of gravity adjusting hydraulic cylinder 17 is installed on the protruding ear plate of the sliding platform 14 through a pin shaft. The sliding hydraulic rod 18 is the output rod of the center of gravity adjusting hydraulic cylinder 17. The end of the sliding hydraulic rod 18 is installed on the front fixed frame 13 through a pin shaft. The position of the sliding platform 14 is adjusted by the contraction and extension of the center of gravity adjusting hydraulic cylinder 17 and the sliding hydraulic rod 18 to keep the center of gravity of the underwater robot unchanged.

[0049] like Figure 6 As shown, the driving device 10 includes two parts, namely a vertical telescopic module 19 and a horizontal telescopic module 20. The two parts include a plurality of driving rods and are connected by parts to form a whole.

[0050] like Figure 7 and 8 As shown, the vertical telescopic module 19 includes a vertical fixed frame A21, a vertical fixed frame B22, a vertical hydraulic cylinder 23, a vertical hydraulic rod 24, and a vertical arm 25. The vertical arm 25 serves as the driving rod in the vertical telescopic module 19. The vertical fixed frames A21 and B22 are fixedly connected to the sliding platform 14. The ends of the vertical fixed frames A21 and B22 are hinged to one end of the vertical arm 25 via a pin. The vertical hydraulic rod 24 is hinged to the vertical arm 25 via a pin, and the vertical hydraulic cylinder 23, which cooperates with the vertical hydraulic rod 24, is hinged to the vertical fixed frames A21 and B22 via a pin. The rotation plane of the vertical arm 25 is perpendicular to the plane of the sliding platform. When the vertical hydraulic rod 24 is retracted to its shortest position, the vertical arm 25 extends parallel to the plane of the sliding platform 14.

[0051] like Figure 9 As shown, the driving rod in the horizontal telescopic module 20 includes a connecting block 26, a first horizontal arm 27, and a second horizontal arm 28. The horizontal telescopic module 20 also includes a collection fixing frame 29 and its extension parts.

[0052] like Figure 10 As shown, the horizontal telescopic module 20 includes a first-level horizontal extension mechanism, a second-level horizontal extension mechanism, a third-level horizontal extension mechanism, and a fourth-level horizontal extension mechanism.

[0053] The first-stage horizontal extension mechanism includes a vertical arm 25, a first horizontal hydraulic cylinder 30, a horizontal hydraulic rod A31 that cooperates with the first horizontal hydraulic cylinder 30, and a hydraulic rod connector A32. The vertical arm 25 is hinged to the fixed end of the first horizontal hydraulic cylinder 30, while the output end of the horizontal hydraulic rod A31 is hinged to the hydraulic rod connector A32. The hydraulic rod connector A32 is in turn hinged to the vertical arm 25 via a pin. The hinge points between the first horizontal hydraulic cylinder 30 and the vertical arm 25, the hinge points between the horizontal hydraulic rod A31 and the hydraulic rod connector A32, and the hinge points between the hydraulic rod connector A32 and the vertical arm 25 are all non-colinear to prevent self-locking.

[0054] The second-stage horizontal extension mechanism includes a first horizontal arm 27, a second horizontal hydraulic cylinder 33, a horizontal hydraulic rod B34 that cooperates with the second horizontal hydraulic cylinder 33, and a hydraulic rod connector B35. The hydraulic rod connector B35 is connected to the hydraulic rod connector A32 via a connecting block 26 and secured together with bolts and nuts, thereby connecting the second-stage horizontal extension mechanism to the first-stage horizontal extension mechanism. The first horizontal arm 27 is hinged to the hydraulic rod connector B35 via a pin. The fixed end of the second horizontal hydraulic cylinder 33 is hinged to the first horizontal arm 27. The output end of the horizontal hydraulic rod B34 that cooperates with the second horizontal hydraulic cylinder 33 is hinged to one end of the hydraulic rod connector B35. The hinge points of the second horizontal hydraulic cylinder 33 and the first horizontal arm 27, the hinge points of the horizontal hydraulic rod B34 and the hydraulic rod connector B35, and the hinge points of the hydraulic rod connector B35 and the first horizontal arm 27 are not collinear at all times to prevent self-locking.

[0055] The third-stage horizontal extension mechanism includes a second horizontal arm 28, a horizontal hydraulic rod C36, and a third horizontal hydraulic cylinder 37. The second horizontal arm 28 is hinged to the first horizontal arm 27, which is similarly hinged to the horizontal hydraulic rod C36. The third horizontal hydraulic cylinder 37, in conjunction with the second horizontal arm 28, is hinged to the second horizontal arm 28 via a pin.

[0056] The fourth-stage horizontal extension mechanism includes a collection frame 29, a collection hydraulic rod 38, a collection hydraulic cylinder 39, a collection tube frame A40, and a collection tube frame B41. One end of the collection frame 29 is hinged to the second horizontal arm 28, and the other end is fixedly connected to the rear end of the collection module 11. The collection hydraulic rod 38 is mounted on the second horizontal arm 28 via a pin. The collection hydraulic cylinder 39, which cooperates with the collection hydraulic rod 38, is hinged to the collection tube frame B41. The collection tube frame A40 is connected to the collection tube frame B41 via bolts and nuts, and is also fixed to the collection module 11.

[0057] like Figure 11 and 12 As shown, the first horizontal arm 27 and the collection fixed frame 29 are connected by a horizontal hydraulic rod C36 and a third horizontal hydraulic cylinder 37. The contraction of the horizontal hydraulic rod C36 and the third horizontal hydraulic cylinder 37 causes the collection fixed frame 29 to extend and become collinear with the first horizontal arm 27. The first horizontal arm 27 and the vertical arm 25 are opened by the mutual extension of the first horizontal hydraulic cylinder 30, the horizontal hydraulic rod A31, the horizontal hydraulic rod B34, and the hydraulic rod connector B35.

[0058] like Figure 13 As shown, the collecting module 11 includes a collecting chamber 42 and a weed prevention head 43 , wherein the collecting chamber 42 and the weed prevention head 43 are kept sealed by connecting an elastic plastic film.

[0059] like Figure 14 As shown, the external structure of the collection chamber 42 is fixed together by the collection tube 46 with the sealing end cover 44 and the fixed end cover 45 through bolts and nuts, and the weed prevention head 43 includes four identical weed prevention covers 73, which are hinged to the fixed end cover 45 through a pin.

[0060] like Figure 15 As shown, the interior of the collection chamber 42 includes a pushing module 47 for supporting the fixed driving part, a collection and storage module 48 for collecting sample samples, and a collection tool 49 for drilling.

[0061] like Figure 16 As shown, the pushing module 47 includes a gear drive group, a push rod, a collection spindle 63, a support base 50, an upper support shaft 57, a lower support shaft 58, a propulsion platform 59, a drilling motor 60, a push rod 61, and a rotary motor fixing plate 62. The gear drive group includes the rotary motor 51, a coupling gear 52, a left pinion 53, a left lead screw 54, a right pinion 55, and a right lead screw 56.

[0062] The left pinion 53 is mounted on the left lead screw 54 and is positioned axially by the shaft shoulder and the shaft end retaining ring, and is positioned circumferentially by a key connection. The right pinion 55 is mounted on the right lead screw 56 and is similarly positioned axially and circumferentially by the shaft end retaining ring and the flat key. Among them, the support base 50 is provided with through holes around it for installing the left lead screw 54, the right lead screw 56, the upper support shaft 57 and the lower support shaft 58. One end of the coupling gear 52 is mounted on the center of the support base 50, and the other end of the shaft passes through the center of the rotating motor fixing plate 62 and the propulsion platform 59 respectively. The shaft portion of the coupling gear 52 that coincides with the gear axis is hollow and has an internal thread. The main shaft 63 has an external thread and is set in the main shaft of the coupling gear 52. The gear of the rotating motor 51 is engaged with the pinion of the coupling gear 52, and the rotating motor 51 is fixed to the rotating motor fixing plate 62 by bolts and nuts. The rotating motor fixing plate 62 is installed on the upper support shaft 57 and the lower support shaft 58, and does not move with the rotation of the left screw 54 and the right screw 56.

[0063] The propulsion platform 59 has through holes on its top and bottom for mounting on the upper support shaft 57 and the lower support shaft 58. It also has threaded holes on its left and right sides that rotate in the same direction for mounting on the left and right lead screws 54 and 56. A through hole in the center is provided for mounting the coupling gear 52. A drilling motor 60 is mounted on the propulsion platform 59 and secured to it via screws. The drilling motor 60 is also secured to the push rod 61 via screws. The rotation of the left and right lead screws 54 and 56 drives the propulsion platform 59 to move.

[0064] like Figures 17 to 21As shown, the collection and storage module 48 includes a collection tube mounting frame 64, a collection tube 65, a collection spindle sleeve 66, a tool fixing tube 67, a tube changing gear 68, and a tube changing motor 69. The collection spindle sleeve 66 is sleeved onto the collection spindle 63 and fixed axially relative to it. The collection tube mounting frame 64 is mounted on the collection spindle sleeve 66 and positioned by a retaining spring and key on the collection spindle sleeve 66. The tube changing gear 68 is mounted on the collection spindle sleeve 66 and fixed axially to the collection spindle sleeve 66 by a shaft shoulder and end retaining ring, and is circumferentially positioned by a key connection. The tool fixing tube 67 has a central through-hole for mounting the collection spindle 63 and is positioned by threads and nuts. The tool fixing tube 67 has bosses on both sides of its outer wall and is mounted within a slideway of the fixed end cap 45 to ensure that the tool fixing tube 67 can only move axially. The tube changing motor 69 is mounted on the tool fixing tube 67 by screws and meshes with the tube changing gear 68.

[0065] The collection tool 49 comprises a tool holder 67, a spring 70, and a drill bit 71. The spring 70 is mounted over the drill bit 71 and is also mounted within the tool holder 67, secured by a retaining spring. The other end of the spring 70 is restrained by a protrusion on the drill bit 71. After collection is complete, the drill bit 71 automatically retracts due to the elastic potential energy stored in the spring 70 during compression.

[0066] like Figure 22 and 23 As shown, the shift fork 72 and the weed-proof cover 73 cooperate. One end of the shift fork 72 is fixed to the tool fixing cylinder 67 via bolts and nuts, and the other end is installed in the slide groove of the weed-proof cover 73 via a pin. The weed-proof cover 73 is hinged to the fixed end cap 45. The weed-proof head 43 is composed of four identical mechanisms evenly arranged around a circle. A plastic film is installed between each pair of mechanisms. When the tool fixing cylinder 67 is pushed out, the shift fork 72 drives the weed-proof cover 73, causing it to open. At this time, the film stretches, preventing aquatic plants from entering through the opened gap.

[0067] like Figure 24 and 25 As shown, the number of teeth of the rotating motor 51 is , speed , and the coupling gear 52 has two types of large and small gears respectively 、 , the speed of the coupling gear 52 is , left pinion 53 teeth , left screw 54 speed , and the propulsion platform 59 lead , collect spindle 63 lead The lengths of the push rod 61, the collecting tube 65 and the drill bit 71 are 、 and The rotating motor 51 rotates After a certain time, the rotating motor fixed plate 62 moves to the limit position and moves a distance of The collection spindle 63 also pushes the tool fixing cylinder 67 to move forward Push the grass cover 73 to open, and at the same time the push rod 61 pushes the collecting tube 65 into the drill bit 71 and compresses the spring 70 to move forward. .

[0068] In summary, the movement process of the mud mining device has the following relationship:

[0069]

[0070] Among them, there is a reserved gap between the push rod 61, the collecting tube 65 and the drill bit 71.

[0071] like Figure 26 As shown, the underactuated hydraulic system for controlling the drive device in this embodiment. When the drive device needs to be deployed, motor 74 rotates forward, and oil from the left oil chamber of the double hydraulic cylinder 75 enters the system. As system pressure increases, it first meets the opening pressure of the first-stage sequence valve A76, and the oil enters the upper chambers of the third horizontal hydraulic cylinder 37 and the collection hydraulic cylinder 39, causing the associated hydraulic rods to retract, driving the collection module 11 and the second horizontal arm 28 to extend. Meanwhile, the oil from the lower chambers of the third horizontal hydraulic cylinder 37 and the collection hydraulic cylinder 39 returns to the right oil chamber of the double hydraulic cylinder 75. When the third horizontal hydraulic cylinder 37 and the collection hydraulic cylinder 39 reach their limit positions, the oil circuit pressure continues to increase, meeting the opening pressure of the second-stage sequence valve A77, and the oil enters the lower chambers of the first horizontal hydraulic cylinder 30 and the second horizontal hydraulic cylinder 33, extending the first horizontal arm 27. As the system pressure continues to increase, it enters the lower chambers of the vertical hydraulic cylinder 23 and the center of gravity adjusting hydraulic cylinder 17 through the three-stage sequence valve A78, causing the vertical arm 25 to extend. After the mechanism is extended, the center of gravity before and after extension is kept unchanged by the movement of the center of gravity adjusting hydraulic cylinder 17. After reaching the limit position, the motor 74 stops and the system is locked.

[0072] When the drive unit retracts to retract the mud collection device, motor 74 reverses, and oil from the right chamber of double hydraulic cylinder 75 enters the system. When the system pressure meets the opening pressure of the first-stage sequence valve B81, the oil enters the upper chambers of the gravity adjustment hydraulic cylinder 17 and the vertical hydraulic cylinder 23. The hydraulic rod retracts, driving the sliding platform 14 and the vertical arm 25 back to their initial folded state. The oil from the lower chambers of the gravity adjustment hydraulic cylinder 17 and the vertical hydraulic cylinder 23 enters the left chamber of double hydraulic cylinder 75. As pressure continues to increase, the second-stage sequence valve B79 opens, allowing oil to enter the upper chambers of the first horizontal hydraulic cylinder 30 and the second horizontal hydraulic cylinder 33, returning the first horizontal arm 27 to its original position alongside the vertical arm 25. As system pressure gradually increases, the oil enters the lower chambers of the third horizontal hydraulic cylinder 37 and the collection hydraulic cylinder 39 through the third-stage sequence valve B80, returning the second horizontal arm 28 and the collection module 11 to their original positions. At this point, motor 74 stops, and the system locks.

[0073] like Figure 27 As shown, the control process of an underwater under-actuated mud mining device in this embodiment is specifically as follows:

[0074] Step 1: The underwater machine navigates to the designated location;

[0075] Step 2: Rotate the acquisition module 90 degrees to expand it;

[0076] Step 3: The second horizontal arm rotates 90 degrees and unfolds;

[0077] Step 4: The first horizontal arm rotates 180 degrees and unfolds;

[0078] Step 5: Rotate the vertical arm 90 degrees and unfold it;

[0079] Step 6: Adjust the center of gravity of the under-actuated mud mining device in the machine;

[0080] Step 7: The underwater machine moves downward and the collection device penetrates into the mud layer;

[0081] Step 8: Open the grass-proof head on the mud collection module;

[0082] Step 9: Start mud mining operation;

[0083] Step 10: Retrieve in the same order;

[0084] During multi-point sampling, the underwater robot navigates to the sampling location using four thrusters 2 mounted on its fixed frame 1. Upon arrival, the motor 74 is controlled to rotate forward, the drive mechanism deploys, and the center of gravity adjustment mechanism adjusts the center of gravity. When the vertical arm 25, first horizontal arm 27, second horizontal arm 28, and collection module 11 are deployed, they are vertically aligned and perpendicular to the ground. The thrusters 2 drive the weed-blocking head 43 at the front of the collection module 11 into the ground at the sampling location, after which the collection module 11 begins operation.

[0085] The rotary motor 51 within the collection module 11 begins to rotate, driving the coupling gear 52. The left and right pinions 53 and 55, meshed with the coupling gear 52, rotate accordingly, driving the left and right lead screws 54 and 56, respectively. This in turn causes the propulsion platform 59, mounted on these lead screws 54 and 56, to move forward. Simultaneously, the collection spindle 63, mounted within the coupling gear 52, moves forward, pushing the collection storage module 48 and the collection tool module 49, mounted on these spindles, forward as a whole. During this forward movement, the shift fork 72, fixedly connected to the tool holder 67, pushes the weed cover 73 open, allowing the drill bit 71 to extend. When the collection spindle 63, driven by the rotary motor 51, reaches its right limit, the left and right pinions 53 and 55, mounted on the lead screws 54 and 56, mesh with the coupling gear 52, causing the propulsion platform 59, mounted on these lead screws 54 and 56, to also move to its right limit. The drilling motor 60 and the push rod 61 installed on the propulsion platform 59 move to the right under the rotation of the coupling gear 52, pushing the collection cylinder 65 in the collection and storage module 48 into the drill bit 71. A boss is provided in the drill bit 71 to cooperate with the groove outside the collection cylinder 65. Under the rotation of the drilling motor 60, the collection cylinder 65 drives the drill bit 71 to rotate to collect mud.

[0086] After the mud is taken, the rotating motor 51 rotates in the opposite direction to propel the platform 59 back. Through the boss at the push rod 61 and the L-shaped slot on the collecting cylinder 65, the collecting cylinder 65 with the collected objects is pulled back into the collecting cylinder fixing frame 64 while the propulsion platform 59 is retracted. After the collecting cylinder 65 returns to its original position, the drilling motor 60 rotates an angle so that the boss on the push rod 61 can smoothly exit the collecting cylinder 65. The rotating motor 51 continues to reverse, and the drill bit 71 eventually returns to the tool fixing cylinder 67 under the action of the spring 70. When the tool fixing cylinder 67 retracts, the shift fork 72 is driven to retract, and the anti-weed cover 73 is pulled to retract the entire anti-weed head 43.

[0087] After the internal mechanism of the collection module 11 returns to its original position, the barrel changing motor 69 starts working, driving the barrel changing gear 68 to rotate. The barrel changing gear 68 is installed on the collection main shaft sleeve 66. The rotation of the collection main shaft sleeve 66 drives the collection barrel fixing frame 64 to rotate, so that the collection barrel 65 originally filled with collected materials is replaced with the next empty collection barrel.

[0088] Then, control motor 74 rotates in reverse, causing the center of gravity adjustment hydraulic cylinder 17, sliding hydraulic rod 18, and vertical hydraulic cylinder 23 and vertical hydraulic rod 24 to retract, returning vertical arm 25 to its original position. The first horizontal hydraulic cylinder 30, horizontal hydraulic rod A31, second horizontal hydraulic cylinder 33, and horizontal hydraulic rod B34 all retract, returning first horizontal arm 27 to its original position. Horizontal hydraulic rod C36, third horizontal hydraulic cylinder 37, collection hydraulic rod 38, and collection hydraulic cylinder 39 extend, returning second horizontal arm 28 and collection module 11 to their initial positions, and the drive mechanism retracts. Propeller 2 then operates, continuing navigation to the next sampling location, where the above process repeats.

Claims

1. An underwater under-actuated mud mining device, characterized in that: The invention comprises an underwater robot, a gravity center adjustment device arranged at the bottom of the underwater robot, a driving device connected to the gravity center adjustment device, and a collection module (11), wherein the gravity center adjustment device comprises a slide rod fixedly connected to the underwater robot, a slide table (14) sliding on the slide rod, and a gravity center adjustment hydraulic cylinder (17) driving the slide table (14) to slide, wherein the driving device comprises a plurality of driving rods hinged in sequence, wherein the driving rods at both ends of the driving device are hinged to the slide table and the collection module (11) respectively, and hydraulic cylinders are arranged between the slide table (14) and the driving rod, between two adjacent hinged driving rods, and between the driving rod and the collection module (11), and the driving device is retracted or extended by the hydraulic cylinders, wherein the hydraulic cylinders are controlled by sequence valves, wherein each hydraulic cylinder is controlled by two sequence valves, and all sequence valves are controlled by the forward and reverse rotation of a motor, and when the driving device is extended, the control sequence is from the hydraulic cylinder close to the collection module (11) to the hydraulic cylinder close to the underwater robot, and when the driving device is retracted, the control sequence is from the hydraulic cylinder close to the underwater robot to the hydraulic cylinder close to the collection module (11); The collecting module comprises a pushing module (47), a collecting and storing module (48) and a collecting tool (49), wherein the pushing module (47) comprises a gear driving group, a push rod, a collecting main shaft (63) and a collecting main shaft sleeve (66) sleeved on the collecting main shaft (63), wherein the gears of the gear driving group rotate to drive the push rod and the collecting main shaft (63) to move, wherein the collecting and storing module (48) comprises a collecting tube fixing frame (64) and a collecting tube (65), wherein the collecting tube fixing frame (64) is fixedly sleeved on the collecting main shaft sleeve (66), and the collecting tube fixing frame (64) is circumferentially provided with a plurality of through holes for accommodating the collecting tubes, wherein the collecting tool (49) comprises a tool fixing frame (67), a collecting tube for collecting mud, and a collecting tube for collecting mud. A cylindrical drill bit (71) and a tool fixing frame (67) are fixed on the collection spindle (63). A barrel changing motor (69) is fixedly provided on the tool fixing frame (67). A gear is fixedly provided on the output end of the barrel changing motor (69). A barrel changing gear (68) is fixedly provided on the collection spindle sleeve (66). The barrel changing gear (68) is engaged with the gear on the output end of the barrel changing motor (69). The drill bit is axially positioned with the tool fixing frame (67) by a spring (70). The barrel changing motor (69) drives the collection spindle sleeve (66) to rotate, thereby driving the collection barrel fixing frame (64) to rotate, so that the tail of the drill bit (71) corresponds to a collection barrel, and the push rod (61) moves to push the collection barrel into the drill bit; One end of the push rod (61) is fixedly connected to the output shaft of the drilling motor (60), and a boss is provided at the other end of the push rod (61). An L-shaped groove is provided at one end of the collecting tube (65) close to the push rod (61). The L-shaped groove matches the boss and is used for positioning the boss. The collecting tube (65) that has collected the object is pulled back into the collecting tube fixing frame (64) through the boss at the push rod (61) and the L-shaped slot on the collecting tube (65).

2. The underwater under-actuated mud mining device according to claim 1, characterized in that: The driving device comprises a vertical telescopic module (19), the vertical telescopic module (19) comprises a fixed frame fixedly connected to the sliding platform (14), a vertical arm (25) hinged at one end to the fixed frame, and a vertical hydraulic cylinder (23), a driving rod in the vertical telescopic module (19) is the vertical arm (25), one end of the vertical hydraulic cylinder (23) is hinged to the fixed frame, and the other end is hinged to the vertical arm (25), a rotation plane of the vertical arm (25) is perpendicular to the bottom surface of the underwater robot, when the driving device is retracted, the extension direction of the vertical arm (25) is parallel to the bottom surface of the underwater robot; when the driving device is expanded, the extension direction of the vertical arm (25) is perpendicular to the bottom surface of the underwater robot.

3. The underwater under-actuated mud mining device according to claim 2, characterized in that: The driving device further comprises a horizontal telescopic module (20), wherein the driving rod in the horizontal telescopic module (20) comprises a connecting block (26), a first horizontal arm (27), and a second horizontal arm (28), wherein two ends of the connecting block (26) are respectively hinged to one end of the vertical arm (25) and one end of the first horizontal arm (27), the other end of the first horizontal arm (27) is hinged to one end of the second horizontal arm (28), and the other end of the second horizontal arm (28) is hinged to the tail of the acquisition module (11), a first horizontal hydraulic cylinder (30) is provided between the connecting block (26) and the vertical arm (25), and a second horizontal hydraulic cylinder (33) is provided between the connecting block (26) and the first horizontal arm (27). A third horizontal hydraulic cylinder (37) is provided between the first horizontal arm (27) and the second horizontal arm (28), and a fourth horizontal hydraulic cylinder (39) is provided between the second horizontal arm (28) and the acquisition module (11). When the driving device is retracted, the extension directions of the connecting block (26), the first horizontal arm (27), and the second horizontal arm (28) are all parallel to the bottom surface of the underwater robot, and the connecting block (26), the first horizontal arm (27), and the second horizontal arm (28) are located in the same plane; when the driving device is retracted, the extension directions of the connecting block (26), the first horizontal arm (27), the second horizontal arm (28), and the acquisition module (11) are collinear and perpendicular to the bottom surface of the underwater robot.

4. The underwater under-actuated mud mining device according to claim 3, characterized in that: The sequence valves include a first-stage sequence valve A (76), a second-stage sequence valve A (77), a third-stage sequence valve A (78), a first-stage sequence valve B (81), a second-stage sequence valve B (79), and a third-stage sequence valve B (80). The opening pressures of the sequence valves are: the third-stage sequence valve A (78) > the second-stage sequence valve A (77) > the first-stage sequence valve A (76), the third-stage sequence valve B (80) > the second-stage sequence valve B (79) > the first-stage sequence valve B (81). The hydraulic cylinders each include an upper oil chamber and a lower oil chamber. When the upper oil chamber is filled with oil, the hydraulic rod of the hydraulic cylinder contracts. When the lower oil chamber is filled with oil, the hydraulic rod of the hydraulic cylinder extends. The first-stage sequence valve A (76) is connected to the upper oil chamber of the third horizontal hydraulic cylinder (37) and the upper oil chamber of the fourth horizontal hydraulic cylinder (39); the second-stage sequence valve A (77) is connected to the lower oil chamber of the first horizontal hydraulic cylinder (30) and the lower oil chamber of the second horizontal hydraulic cylinder (33); the third-stage sequence valve A (78) is connected to the lower oil chamber of the center of gravity adjustment hydraulic cylinder (17) and the lower oil chamber of the vertical hydraulic cylinder (23); The first-stage sequence valve B (81) is connected to the upper oil chamber of the gravity center adjustment hydraulic cylinder (17) and the upper oil chamber of the vertical hydraulic cylinder (23); the second-stage sequence valve B (79) is connected to the upper oil chamber of the first horizontal hydraulic cylinder (30) and the upper oil chamber of the second horizontal hydraulic cylinder (33); the third-stage sequence valve B (80) is connected to the lower oil chamber of the third horizontal hydraulic cylinder (37) and the lower oil chamber of the fourth horizontal hydraulic cylinder (39).

5. The underwater under-actuated mud mining device according to claim 4, characterized in that: It also includes an oil circuit control motor (74) and a double hydraulic cylinder (75), wherein the double hydraulic cylinder (75) includes a left oil chamber and a right oil chamber, and the forward and reverse rotation of the oil circuit control motor (74) respectively controls the oil in the left oil chamber and the right oil chamber of the double hydraulic cylinder to flow to the sequence valve; the left oil chamber of the double hydraulic cylinder is connected to the first-stage sequence valve A (76), the second-stage sequence valve A (77), and the third-stage sequence valve A (78), and the right oil chamber of the double hydraulic cylinder is connected to the first-stage sequence valve B (81), the second-stage sequence valve B (79), and the third-stage sequence valve B (80).

6. The underwater under-actuated mud mining device according to claim 5, characterized in that: The collecting module includes a collecting tube (46), a weed prevention head (43), the pushing module (47) and the collecting storage module (48) are arranged in the collecting tube (46), the pushing module (47) pushes the collecting tool (49) to move out and retract the collecting tube (46), the gear driving group includes a rotating motor (51) with an output shaft provided with a gear, a coupling gear (52) meshed with the output shaft gear of the rotating motor (51), a left pinion (55) meshed with the coupling gear (52), a left screw rod (54) fixedly connected to the left pinion (55), a pushing platform (59) sleeved on the left screw rod and threadedly connected to the left screw rod, the pushing rod (61) is arranged on the pushing platform (59), the coupling gear (52) includes a shaft portion coinciding with the gear axis, the shaft portion is hollow and provided with an internal thread, the collecting main shaft (63) is provided with an external thread and provided with The collecting main shaft sleeve (66) is axially fixed to the collecting main shaft (63), and the extending direction of the collecting main shaft (63) is parallel to the extending direction of the left screw rod (54). The anti-grass head (43) includes a plurality of anti-grass covers (73) and a shift fork (72). One end of the anti-grass cover (73) is hinged to the end of the collecting tube (46), and one end of the shift fork (72) slides on the anti-grass cover (73). The other end of the shift fork (72) is fixedly connected to the tool fixing frame (67). When the tool fixing frame (67) is located in the collecting tube (46), the anti-grass covers (73) contact each other to form a closed space. When the tool fixing frame (67) moves out of the collecting tube (46), the anti-grass covers (73) move away from each other, and the other end of the anti-grass cover (73) opens to form an opening, and the drill bit (71) contacts the outside world.

7. The underwater under-actuated mud mining device according to claim 6, characterized in that: A flexible connecting film is provided on the side between two adjacent grass-proof cover plates (73); when the grass-proof cover plates (73) are moved away from each other, the connecting film is stretched to cover the gap between the grass-proof cover plates (73).

8. The underwater under-actuated mud mining device according to claim 7, characterized in that: The underwater robot comprises a fixed frame (1), a plurality of thrusters (2), a rotary steering gear (5), and an electronic cabin (8), wherein the fixed frame (1) is a square frame, the electronic cabin (8) is fixedly arranged in the fixed frame (1), the rotary steering gear (5) is used to adjust the propulsion direction of the thrusters (2), the plurality of thrusters (2) are arranged around the fixed frame, and the sliding rod of the center of gravity adjustment device is fixedly arranged at the bottom of the fixed frame (1), and the extending direction of the sliding rod is parallel to the bottom surface of the fixed frame (1).

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