Posture adaptive underwater dredging robot

Abstract

The application discloses a posture self-adaptive underwater dredging robot, and belongs to the technical field of underwater dredging, which comprises a sliding shoe mechanism and a floating body cover plate, the lower surface of the floating body cover plate is fixedly installed on the upper surface of the sliding shoe mechanism, and a plurality of posture self-adaptive adjusting grid rudders are uniformly distributed on the outer circumferential direction of the floating body cover plate, the posture self-adaptive adjusting grid rudder comprises a grid rudder main body and a driving assembly for driving the grid rudder main body to swing, and the grid rudder main body is installed on the driving assembly. The application has the beneficial effects that: taking fluid mechanics as a basic theory, the self-balancing and strong fluid resisting technology are used to provide the buffering protection function for the underwater dredging robot, the design of the grid rudder is adopted to realize the posture self-adaptive adjustment of the underwater dredging robot, when strong water flow impact is encountered, the driving assembly drives the grid rudder main body to swing, the direction of the grid rudder main body is adjusted, the rudder structure of the grid rudder is used to change the action direction of the strong water flow, and thus the protection effect is provided for the robot.

Description

Technical Field

[0001] This invention relates to the field of underwater dredging technology, and more specifically, to an attitude-adaptive underwater dredging robot. Background Technology

[0002] Currently, underwater dredging robots typically use tracks for their locomotion, resulting in complex structures that cannot achieve underwater levitation or surface walking, limiting them to dredging operations only at the bottom of the water. Patent application CN115627809A discloses an intelligent dredging robot and system, including a frame, a suction mechanism, a drive mechanism, a power source, a monitoring mechanism, and a propulsion mechanism. The frame comprises upper and lower covers and sliding shoes. The covers are fixedly mounted on the upper surface of the sliding shoes, forming an accommodating space between them. The drive mechanism and power source are installed within this accommodating space, while the suction mechanism and propulsion mechanism are mounted on the frame. By utilizing a vector thruster in conjunction with the sliding shoes, underwater levitation and surface walking dredging operations are achieved, upgrading the dredging robot from traditional underwater bottom operations to three modes: underwater bottom, underwater levitation, and surface operations, as well as a three-dimensional spatial operation mode while underwater levitation.

[0003] However, during underwater dredging, when the underwater dredging robot encounters the impact of strong water flow, it is prone to losing balance and swaying. In severe cases, this can change the dredging trajectory and affect the dredging process. When the underwater dredging robot collides with underwater walls or underwater equipment due to excessive speed, it can damage the shell structure on the surface of the underwater dredging robot.

[0004] In view of this, the inventors conducted in-depth research to address this need, which led to the present invention. Summary of the Invention

[0005] To overcome the problems of existing underwater dredging robots easily losing balance and swaying when encountering strong water currents, and damaging the shell structure of the underwater dredging robot when colliding with underwater walls or underwater equipment, this invention provides an attitude-adaptive underwater dredging robot, including a skid shoe mechanism and a float cover plate. The lower surface of the float cover plate is fixedly installed on the upper surface of the skid shoe mechanism. A plurality of attitude-adaptive adjustment grid rudders are evenly distributed in the outer circumferential direction of the float cover plate. The attitude-adaptive adjustment grid rudders include a grid rudder body and a drive component for driving the grid rudder body to swing. The grid rudder body is mounted on the drive component.

[0006] Preferably, the drive assembly includes a rotary motor assembly and an electric push rod assembly. The rotary motor assembly is connected to the float cover plate via a first horizontal axis. The grid rudder body is fixedly mounted on the output end of the rotary motor assembly at the middle of one side, and the plane of the grid rudder body is parallel to the rotation axis of the rotary motor assembly. The electric push rod assembly is connected to the upper surface of the slipper mechanism via a second horizontal axis, and the grid rudder body is connected to the output end of the electric push rod assembly via a third horizontal axis. The third horizontal axis is located below the grid rudder body.

[0007] Preferably, it further includes a grid rudder mounting base, wherein the grid rudder body is mounted on the output end of the rotary motor assembly and the output end of the electric push rod assembly via the grid rudder mounting base;

[0008] The grid rudder mounting base is provided with a first mounting hole for mounting the rotating shaft of the rotary motor assembly and a second mounting hole for mounting the third horizontal shaft. The second mounting hole is located below the first mounting hole, and the axial direction of the second mounting hole is perpendicular to the axial direction of the first mounting hole. The grid rudder mounting base is fixedly installed at the middle position of one side of the grid rudder body.

[0009] Preferably, the rotary motor assembly includes a rotary motor and a motor mounting shaft. The motor mounting shaft is connected to the float cover plate via the first horizontal shaft. The rotary motor is fixedly mounted on the motor mounting shaft, and the rotary shaft of the rotary motor is fixedly mounted on the first mounting hole.

[0010] Preferably, the electric linear actuator assembly includes a linear actuator mounting bracket, a drive motor, and a linear actuator. The drive motor and the linear actuator are mounted on the linear actuator mounting bracket. The linear actuator mounting bracket is connected to the upper surface of the slipper mechanism via a second horizontal shaft. One end of the linear actuator is mounted on the linear actuator mounting bracket, and the other end is connected to the second mounting hole via a third horizontal shaft.

[0011] Preferably, the grille rudder mounting base includes an integrally connected main mounting plate and a triangular mounting plate. The first mounting hole is located at the center of the main mounting plate. The grille rudder body is fixedly mounted on one side of the main mounting plate at the location of the first mounting hole. The rotation shaft of the rotary motor assembly is mounted in the first mounting hole from the side away from the grille rudder body. The plane of the main mounting plate is perpendicular to the plane of the grille rudder body.

[0012] Two triangular mounting plates are arranged side by side at intervals on the lower part of one side of the main mounting plate, and the plane of the triangular mounting plates is perpendicular to the plane of the main mounting plate; the two triangular mounting plates are provided with the second mounting hole at the same position, the second mounting hole is located below the main mounting plate, and the third horizontal axis is connected to the output end of the electric push rod assembly through the second mounting hole.

[0013] Preferably, the plane of the triangular mounting plate is perpendicular to the plane of the grille rudder body, and one side of the triangular mounting plate is disposed on the lower surface of the grille rudder body and is parallel to the plane of the grille rudder body.

[0014] Preferably, the main body of the grid rudder includes a grid rudder frame and a plurality of longitudinal grid rudders parallel to the axis of rotation of the rotary motor assembly. The longitudinal grid rudders are evenly distributed within the grid rudder frame in a direction perpendicular to their length direction, and the plane containing the longitudinal grid rudders forms an angle of 30-60° with the plane containing the main body of the grid rudder.

[0015] Preferably, a plurality of transverse grids are evenly arranged along the length direction between the two longitudinal grids, and the plane of the transverse grids is parallel to the plane of the main body of the grid.

[0016] Preferably, anti-sway and anti-collision fins are detachably fitted on the outer edge of the float cover.

[0017] Preferably, the anti-sway and anti-collision fin includes an annular fin body, the annular fin body is generally flat, and the thickness direction of the annular fin body is parallel to the central axis of the annular fin body, and the width direction is perpendicular to the central axis of the annular fin body.

[0018] Beneficial effects:

[0019] The beneficial effects of adopting the technical solution of this invention are as follows:

[0020] (1) Based on fluid mechanics, the underwater dredging robot is provided with buffer protection through self-balancing and strong fluid resistance technology. The design of the grid rudder is adopted to realize the adaptive adjustment of the underwater dredging robot's attitude. When encountering strong water flow impact, the drive component drives the grid rudder body to swing and adjust the direction of the grid rudder body. The rudder structure of the grid rudder is used to change the direction of the strong water flow, thereby providing protection for the robot.

[0021] (2) Anti-sway and anti-collision fins are installed on the outer edge of the floating body cover to enable the underwater dredging robot to have anti-sway and anti-collision functions, reducing the interference of the external environment on the underwater dredging robot during operation and providing good protection for the underwater dredging robot. Attached Figure Description

[0022] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained from these drawings without creative effort.

[0023] Figure 1 This is a three-dimensional structural diagram of the preferred underwater dredging robot of the present invention;

[0024] Figure 2 This is a three-dimensional exploded view of the preferred underwater dredging robot of the present invention;

[0025] Figure 3 This is a side view of the preferred underwater dredging robot of the present invention;

[0026] Figure 4 This is a three-dimensional structural diagram of the preferred anti-sway and anti-collision fin of the present invention;

[0027] Figure 5 This is a preferred installation structure diagram of the anti-sway and anti-collision fins and the floating body cover plate of the present invention;

[0028] Figure 6 The preferred anti-sway and anti-collision fin structure of this invention is simplified from a top view. Figure 1 ;

[0029] Figure 7 The preferred anti-sway and anti-collision fin structure of this invention is simplified from a top view. Figure 2 ;

[0030] Figure 8 This is a three-dimensional structural diagram of the preferred grille rudder of the present invention;

[0031] Figure 9 This is the preferred three-dimensional structure of the grille rudder body of the present invention. Figure 1 ;

[0032] Figure 10 This is the preferred three-dimensional structure of the grille rudder body of the present invention. Figure 2 ;

[0033] Figure 11 This is a three-dimensional structural diagram of the preferred acoustic information reflector of the present invention;

[0034] Figure 12 This is a schematic diagram of a preferred reflective substrate layer structure of the present invention;

[0035] Figure 13 This is a schematic diagram of a preferred reflective side plate layer structure of the present invention;

[0036] Figure 14This is a three-dimensional structural diagram of the preferred underwater jet pump-type dredging device of the present invention;

[0037] Figure 15 This is a left view of the preferred underwater jet pump-type dredging device of the present invention;

[0038] Figure 16 This is a bottom view of the preferred underwater jet pump-type dredging device of the present invention;

[0039] Figure 17 This is a three-dimensional structural diagram of the preferred accessory mounting guide rail of the present invention;

[0040] Figure 18 This is a preferred embodiment of the present invention, showing the mounting structure of the mounting guide rail and the floating body cover plate.

[0041] Figure 19 This is a three-dimensional structural diagram of the preferred accessory mounting guide rail and anti-sway and anti-collision fin combination installation of the present invention;

[0042] Figure 20 This is a three-dimensional structural diagram of the preferred fin-shaped strip of the present invention;

[0043] Figure 21 This is the preferred three-dimensional structure of the sliding shoe mechanism of the present invention. Figure 1 ;

[0044] Figure 22 This is the preferred three-dimensional structure of the sliding shoe mechanism of the present invention. Figure 2 . Detailed Implementation

[0045] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, not all of them. Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to represent selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0046] like Figures 1 to 3 As shown, the underwater dredging robot includes a skid shoe mechanism 1 and a float cover plate 2. The lower surface of the float cover plate 2 is fixedly installed on the upper surface of the skid shoe mechanism 1, and anti-sway and anti-collision fins 3 are detachably fitted onto the outer edge of the float cover plate 2. The anti-sway and anti-collision fins on the outer edge of the float cover plate provide the underwater dredging robot with anti-sway and anti-collision functions, reducing the interference of the external environment on the underwater dredging robot during operation and providing good protection for the robot.

[0047] like Figures 4 to 7 As shown, the anti-sway and anti-collision fin 3 includes an annular fin body 31, which is made of rubber. The annular fin body 31 is generally flat, and its thickness direction is parallel to its central axis, while its width direction is perpendicular to its central axis. The thickness of the annular fin body 31 is 12-20 mm, and its width is 60-100 mm; the outer circumference of the annular fin body is 350-400 mm. An annular mounting portion 32 extends from the inner edge of the annular fin body 31 towards the center, and the annular mounting portion 32 is 5-20 mm wide and 10-15 mm thick. Here, the anti-sway and anti-collision fin is made of rubber and is installed on the edge of the ROV float. The preferred outer circumference of the anti-sway and anti-collision fin is 370 mm, and its thickness is 15 mm.

[0048] In a preferred embodiment, the outer edge of the annular fin body is a convex arc surface 33 that smoothly transitions between the upper and lower surfaces of the annular fin body. Here, the edge is designed with an arc, a design based on fluid dynamics theory that exhibits good fluid characteristics during ROV underwater lateral or longitudinal operations. During underwater dredging operations, when the ROV encounters strong water flow, this device helps the ROV maintain balance in the strong convection field; when the ROV collides with underwater walls or underwater equipment due to excessive speed, this device reduces the impact force on the walls or underwater equipment, thus providing collision protection for the ROV.

[0049] like Figure 5 As shown, an installation groove (not shown in the figure) is formed on the outer wall of the float cover plate 2, and the inner edge of the anti-sway and anti-collision fin 3 is detachably installed in the installation groove.

[0050] like Figure 6 As shown, several mounting grooves (not shown in the figure) are evenly distributed on the outer side wall of the float cover plate 2. All mounting grooves are strip-shaped grooves and all mounting grooves are on the same plane. The plane where the mounting grooves are located is perpendicular to the central axis of the float cover plate 2.

[0051] An mounting block 321, constituting the annular mounting portion 32, is formed at a position corresponding to each mounting groove along the inner edge of the annular fin body 31. The mounting block 321 is detachably installed in the mounting groove. Here, the mounting block 321 can be multiple segments connected end to end along the inner edge of the annular fin body 31, or it can be a segment of mounting block 321 set at intervals.

[0052] An annular groove (not shown in the figure) is formed on the outer wall of the float cover plate 2, with its central axis coinciding with the float cover plate 2. An annular mounting part 32, which extends from the inner edge of the annular fin body 31 toward the center, is detachably installed in the annular groove.

[0053] The annular groove inside the outer wall of the float cover plate 2 can be a chamfered rectangle, or a square or polygonal shape. The lower part of the float cover plate 2 is provided with a float mounting part 21 for fixed connection with other structures of the underwater dredging robot. The chamfer can reduce the movement resistance of the underwater dredging robot and improve its smoothness of movement.

[0054] When the underwater dredging robot is performing dredging operations, its float, serving as the upper shell, generates buoyancy to counteract the robot's weight. This reduces the upward thrust required for underwater levitation, thus lowering the robot's energy consumption. Meanwhile, the anti-sway and anti-collision fins, with their inner edges fitted onto the outer wall of the float cover, ensure good fluid dynamics during underwater levitation operations, keeping the fins close to the water surface or submerged.

[0055] When the underwater dredging robot is operating close to the water surface, the anti-sway and anti-collision fins are positioned above the water surface. At this time, the anti-sway and anti-collision fins can be removed for surface dredging operations. The structure is simple and easy to assemble and disassemble.

[0056] like Figures 8 to 10 As shown, a plurality of attitude-adaptive adjustment grid rudders 4 are evenly distributed along the outer circumference of the floating body cover plate 2. The number of attitude-adaptive adjustment grid rudders 4 is four. Each attitude-adaptive adjustment grid rudder 4 includes a grid rudder body 41 and a drive assembly 42 for driving the grid rudder body 41 to swing. The grid rudder body 41 is mounted on the drive assembly 42. Based on fluid mechanics, this design provides buffer protection for the underwater dredging robot through self-balancing and resistance to strong fluids. The grid rudder design achieves adaptive attitude adjustment of the underwater dredging robot. When encountering strong water flow impact, the drive assembly drives the grid rudder body to swing, adjusting the direction of the grid rudder body. The rudder structure of the grid rudder changes the direction of the strong water flow, thereby providing protection for the robot.

[0057] The drive assembly 42 includes a rotary motor assembly 43 and an electric push rod assembly 44. The rotary motor assembly 43 is connected to the float cover plate 2 via a first horizontal axis (not shown in the figure). The grid rudder body 41 is fixedly installed at the output end of the rotary motor assembly 43 on one side. The plane of the grid rudder body 41 is parallel to the rotation axis of the rotary motor assembly 43. The electric push rod assembly 44 is connected to the upper surface of the slipper mechanism 1 via a second horizontal axis (not shown in the figure). The grid rudder body 41 is connected to the output end of the electric push rod assembly 44 via a third horizontal axis (not shown in the figure). The third horizontal axis is located below the grid rudder body 41.

[0058] To enable installation control of the slat rudder body, a slat rudder mounting base 45 is also included. The slat rudder body 41 is mounted on the output end of the rotary motor assembly 43 and the output end of the electric push rod assembly 44 via the slat rudder mounting base 45.

[0059] The grid rudder mounting base 45 is provided with a first mounting hole 451 for mounting the rotating shaft of the rotary motor assembly 43 and a second mounting hole 452 for mounting the third horizontal shaft. The second mounting hole 452 is located below the first mounting hole 451, and the axial direction of the second mounting hole 452 is perpendicular to the axial direction of the first mounting hole 451. The grid rudder mounting base 45 is fixedly installed at the middle position of one side of the grid rudder body 41.

[0060] Here, the rotation of the rotary motor is used to make the main body of the grid rudder swing left and right, and the push and pull of the electric push rod assembly is used to make the main body of the grid rudder swing up and down, thereby adjusting the direction of the main body of the grid rudder and changing the direction of the strong water flow.

[0061] The rotary motor assembly 43 includes a rotary motor 431 and a motor mounting shaft 432. The motor mounting shaft 432 is connected to the float cover plate 2 via the first horizontal shaft. The rotary motor 431 is fixedly mounted on the motor mounting shaft 432, and the rotation shaft of the rotary motor 431 is fixedly mounted on the first mounting hole 451.

[0062] The electric push rod assembly 44 includes a push rod mounting bracket 441, a drive motor 442, and a push rod 443. The drive motor 442 and the push rod 443 are mounted on the push rod mounting bracket 441. The push rod mounting bracket 441 is connected to the upper surface of the slipper mechanism 1 via a second horizontal shaft. One end of the push rod 443 is mounted on the push rod mounting bracket 441, and the other end is connected to the second mounting hole 452 via a third horizontal shaft.

[0063] The grille rudder mounting base 45 includes an integrally connected main mounting plate 453 and a triangular mounting plate 454. The first mounting hole 451 is located at the center of the main mounting plate 453. The grille rudder body 41 is fixedly mounted on one side of the main mounting plate 453 at the location of the first mounting hole 451. The rotation shaft of the rotary motor assembly 43 is mounted in the first mounting hole 451 from the side away from the grille rudder body 41. The plane of the main mounting plate 453 is perpendicular to the plane of the grille rudder body 41.

[0064] Two triangular mounting plates 454 are arranged side by side at intervals on the lower part of one side of the main mounting plate 453, and the plane of the triangular mounting plates 454 is perpendicular to the plane of the main mounting plate 453; the two triangular mounting plates 454 are provided with the second mounting hole 452 at the same position, the second mounting hole 452 is located below the main mounting plate 453, and the third horizontal axis connects the grille rudder mounting seat 45 to the output end of the electric push rod assembly 44 through the second mounting hole 452.

[0065] The plane of the triangular mounting plate 454 is perpendicular to the plane of the grille rudder body 41, and one side of the triangular mounting plate 453 is disposed on the lower surface of the grille rudder body 41 and is parallel to the plane of the grille rudder body 41.

[0066] The grid rudder body 41 includes a grid rudder frame 411 and a plurality of longitudinal grid rudders 412 parallel to the axis of rotation of the rotary motor assembly 43. The longitudinal grid rudders 412 are evenly distributed in the grid rudder frame 411 along a direction perpendicular to their length direction. The plane containing the longitudinal grid rudders 412 forms an angle of 30-60° with the plane containing the grid rudder body 41.

[0067] Several transverse grid 413s are evenly arranged along the length direction between the two longitudinal grid 412s, and the plane of the transverse grid 413s is parallel to the plane of the grid rudder body 41.

[0068] Here, the main body 41 of the grid rudder is 500mm long, 400mm wide, and 20mm thick, and is made of stainless steel. The rotary motor is a micro low-speed high-torque motor, and the hinge seat at the tail of the rotary motor is connected to the float cover plate 2. The electric push rod is hinged to the main body of the grid rudder, and the main body of the grid rudder can perform two-axis movement under the action of the rotary motor and the electric push rod.

[0069] like Figures 11 to 13 As shown, an acoustic reflector 5 is installed at the front end of the float cover 2. The acoustic reflector 5 includes a reflective base plate 51 and several reflective side plates 52. The reflective base plate 51 has a regular geometric shape, and the reflective side plates 52 are right-angled triangles. One right-angled side of each reflective side plate 52 is located on the central axis of the same side of the reflective base plate 51, and the other right-angled side is close to the surface of the reflective base plate 51 and extends from the center of the reflective base plate 51 to the edge. The combination of the reflective base plate and the reflective side plates forms an acoustic reflector that captures and reflects the sound waves emitted by the sonar, thus achieving a collection and reflection gain effect on the sound wave intensity.

[0070] Several of the reflective side plates 52 are evenly distributed on one side of the reflective base plate 51 with the central axis of the reflective base plate 51 as the axis.

[0071] To improve the stability of the connection structure between the reflective side plates, the right-angled side of the reflective side plate 52 located on the central axis of the reflective base plate 51 is connected to at least one right-angled side of the other reflective side plate 52 through an upper and lower alignment slot.

[0072] The vertices of each of the reflective side plates 52 that are away from the reflective base plate 51 are in the same position and are fixedly connected by a fixing sleeve 53; the vertices of each of the reflective side plates 52 located at the edge of the reflective base plate 11 are fixedly connected to the edge of the reflective base plate 51 by a fixing sleeve 53.

[0073] As a preferred embodiment, the reflective base plate 51 is shaped as one of the following: circular, elliptical, regular polygonal, rhomboid, or racetrack-shaped.

[0074] When the shape of the reflective base plate 51 is polygonal, the number of reflective side plates 52 is equal to the number of sides of the reflective base plate 51; the vertex of each reflective side plate 52 located on the edge of the reflective base plate 51 is located at the vertex of the reflective side plate 52.

[0075] When the reflective base plate 51 is square, the reflective side plate 52 is an equilateral right triangle, and the side length of the reflective base plate 51 is equal to the length of the hypotenuse of the reflective side plate 52. The side length of the reflective base plate is 200mm, the opposite sides of the two triangles are 200mm, and the thickness of each is 5mm.

[0076] In practice, it was found that designing the reflective base plate as a square, with the side length of the reflective base plate being equal to the length of the hypotenuse of the reflective side plate, not only facilitates production but also provides excellent performance in reflecting and collecting sound waves without affecting the movement of the underwater dredging robot.

[0077] Considering the impact of the overall size of the mechanism on the underwater operation of the underwater dredging robot, the reflective mechanism is made of lightweight aluminum material, such as... Figure 11 and 12 As shown, the reflective base plate 51 is a double-layer structure composed of an aluminum plate 511 and a galvanized iron sheet 512, and the reflective side plates 52 are all located on the surface of the reflective base plate 51 near the aluminum plate 511. The reflective side plate 52 is a three-layer structure composed of an aluminum plate 511, a galvanized iron sheet 512, and an aluminum plate 511.

[0078] The center of the side of the reflective base plate 51 away from the reflective side plate 52 is installed at the front end of the float cover plate 2 via the connecting mechanism 54.

[0079] Here, the connecting mechanism is a rod with a radius of 25mm. To avoid significantly affecting the fluid design of the underwater dredging robot, the length of the connecting mechanism is 135mm. The base plate of the connecting mechanism is fixed to the float cover plate 2 by bolts. Before using the acoustic signal reflector, its surface needs to be cleaned. The roughness of the reflective surface of the acoustic signal reflector will affect the intensity of the reflected sound waves, so the surface of the acoustic reflector needs to be cleaned before and after each use.

[0080] like Figures 14 to 16 As shown, an underwater jet pump retractable dredging device 6 is installed between the skid shoe mechanism 1 and the floating body cover plate 2. The underwater jet pump retractable dredging device 6 includes a working pump 61, a throat pipe 62, a jet chamber 63 and nozzles 64. The output end of the working pump 61 is connected to the inlet of the throat pipe 62, and the outlet of the throat pipe 62 is connected to the inlet of the jet chamber 63. Several nozzles 64 are provided at the bottom of the jet chamber 63.

[0081] Furthermore, the jet cavity 63 passes through the slipper mechanism 1 and is flush with the bottom of the slipper mechanism 1. The nozzle 64 is located at the bottom of the jet cavity 63, and the working pump 61 is installed below the float cover plate 2. During the underwater dredging operation, when encountering areas of dense silt, the underwater jet pump-type dredging device uses the working pump to provide fluid at a certain pressure to the jet cavity, which is then ejected at high speed from the nozzle. The high-speed water flow disperses the areas of dense silt, thus completing the initial work of underwater dredging by the underwater robot.

[0082] Here, the diameter of the throat 62 is 20-30mm. The diameter of the nozzle 64 is 12-18mm. Tests have shown that the fluid jetting effect in dispersing sediment is best when the throat diameter is 25mm and the nozzle diameter is 15mm.

[0083] Two rows of nozzles 64 are provided at the bottom of the jet cavity 63. Each row of nozzles 64 contains 6-8 nozzles. Experiments have shown that when two rows of nozzles are used, with 7 nozzles in each row, the two rows of nozzles will converge at the lower middle position after the fluid is ejected, which has a good dissipation effect on the mud and sand below.

[0084] A sludge suction port 65 is provided between the two rows of nozzles 64, and a sludge outlet communicating with the sludge suction port 65 is provided on the side of the jet cavity 63.

[0085] The jet chamber 63 contains a jet chamber 631 and a sludge suction chamber 632 that are isolated from each other. The outlet of the throat pipe 64 is fixedly installed on the upper surface of the jet chamber 631, and the nozzle 64 is located on the lower surface of the jet chamber 631. The sludge suction port 65 is located at the bottom of the sludge suction chamber 632, and the sludge outlet is located on the side of the sludge suction chamber 632. After the sludge at the bottom of the jet chamber 63 dissipates, it is sucked into the sludge suction chamber 631 through the sludge suction port 65 and then sucked out through the sludge suction pipe 64 on the side via the sludge suction mechanism 8.

[0086] The output end of the working pump 61 is connected to the inlet of the throat tube 62 by a press-fit connection. Furthermore, the throat tube 62, the jet chamber 63, and the nozzle 64 are all made of stainless steel.

[0087] like Figure 17 and 18 As shown, the upper surface of the floating cover plate 2 is provided with several accessory mounting rails 7. These rails allow for the installation of corresponding accessories, such as sonar systems, cameras, lighting equipment, and robotic arms, on the floating cover plate 2, enabling the underwater dredging robot to complete its tasks in different working environments and fields.

[0088] The accessory mounting guide rail 7 includes a T-shaped connector 71 and a guide rail body 72. The T-shaped connector 71 includes a large head and a small head along its length. The large head is detachably mounted on the surface of the float cover plate 2, and the guide rail body 72 is detachably mounted on the small head.

[0089] The guide rail body 72 is provided with a first mounting hole, the inner wall of the first mounting hole is formed with an internal thread, the small head is formed with an external thread that matches the internal thread, and the small head is fitted into the first mounting hole.

[0090] The guide rail body 72 is provided with a first mounting hole. The T-shaped connector 71 is a T-shaped nut. The first mounting hole is installed on the small head of the T-shaped nut 71, and the fastening bolt 73 is installed on the small head end of the T-shaped nut to fix the guide rail body 72 on the T-shaped nut.

[0091] The first mounting hole on the guide rail body 72 has a large mounting hole and a small mounting hole along its axial direction. The large mounting hole is located at the end away from the large head. When the screw part of the fastening bolt 73 is installed on the small head end of the T-nut and the guide rail body is fixed on the T-nut, the head of the fastening bolt 73 is stuck on the mounting platform formed between the large mounting hole and the small mounting hole.

[0092] In a preferred embodiment, the system further includes a base plate 74, which has at least one strip-shaped mounting hole 741 along its length. The small head passes through the strip-shaped mounting hole 741 and is mounted on the guide rail body 72 by fastening bolts 73. The base plate 74 is positioned between the large head and the guide rail body 72. At least two guide rail bodies 72 are mounted along the length of the strip-shaped mounting hole 741 on the base plate 74.

[0093] Each of the guide rail bodies 72 is provided with at least two first mounting holes; when the guide rail body is installed on the base plate 74, the two first mounting holes are respectively installed on the same strip mounting hole 741 through the T-shaped connector 71.

[0094] The surface of the float cover plate 2 is formed with a strip-shaped groove 75. The strip-shaped groove 75 forms a wide strip-shaped groove 751 and a narrow strip-shaped groove 752 from its bottom to its opening. The width and height of the wide strip-shaped groove 751 are equal to the width and height of the large head of the T-shaped connector 71. The width of the narrow strip-shaped groove 752 is equal to the width of the small head of the T-shaped connector 71.

[0095] At least one end of the strip groove 75 is provided with a mounting groove 753 for assembling and disassembling the T-shaped connector 71, and the width of the mounting groove 753 is greater than or equal to the width of the large head of the T-shaped connector 71.

[0096] like Figure 19 and 20 As shown, the anti-sway and anti-collision fin 3 can be installed on the outer edge of the float cover plate 2 via the accessory mounting rail 7. Several accessory mounting rails 7 are distributed on the outer edge of the float cover plate 2. The inner edge of the anti-sway and anti-collision fin 3 is snapped onto the accessory mounting rail 7. The anti-sway and anti-collision fin 3 is formed by two fin-shaped strips 301 connected end to end to form a ring. The two fin-shaped strips 301 are fixedly connected at the end by bolts and nuts.

[0097] A slot 302 is formed at the corresponding position of the accessory mounting guide rail 7 on the outer edge of the fin strip 301 and the float cover plate 2. At least one side of the inner edge of the fin strip 301 near the slot 302 is formed with a guide rail groove 303 that engages with the guide rail body 72. A fixing block 304 is also provided at the slot 302 to cover the slot 302. The fixing block 304 is T-shaped so that it fits exactly on the upper edge of the guide rail body 72 and the upper surface of the fixing block 304 is flush with the upper surface of the fin strip 301.

[0098] like Figure 21 and 22As shown, the skid shoe mechanism 1 enables the underwater dredging robot to move underwater at great depths and over a wide range. Specifically, it includes a chassis 11 and a skid shoe 12 disposed on the lower surface of the chassis 11. A hollow mass replacement chamber is formed between the skid shoe 12 and the chassis 11.

[0099] The mass replacement chamber is filled with buoyancy blocks 13. By filling the mass replacement chamber with buoyancy blocks 13 of different densities, the underwater dredging robot can be used for dredging operations in water environments of different densities.

[0100] Both sides of the lower surface of the chassis 11 are integrally provided with a sliding shoe 12, and a mass replacement chamber is formed between each sliding shoe 12 and the chassis 11. Here, the sliding shoe 12 has a certain width, but the width is less than half the width of the chassis, which makes the two sliding shoes separated by a distance, leaving a gap for placing the mud suction pipe, etc.

[0101] In a preferred embodiment, three mass replacement chambers are formed between each of the skis 12 and the chassis 1. The three mass replacement chambers corresponding to each ski 12 are distributed front to back between the skis 12 and the chassis 11.

[0102] The chassis 11 is 800-1200mm long and 500-1000mm wide; the distance between the lower surface of the skate 12 and the upper surface of the chassis is 100-150mm. The skate 12 includes a skate body 21 and a curled portion 122 integrally connected to the front and rear ends of the skate body 121 and curled upwards. One end of the curled portion 122 away from the skate body 121 is integrally connected to the chassis 11.

[0103] A plurality of reinforcing plates 123 are integrally mounted on the upper surface of the main body 121 of the skid and the lower surface of the chassis 1 in the front-rear direction. The upper surface of the main body 121 of the skid and the lower surface of the chassis 11 are separated by the reinforcing plates 123 to form a plurality of mass replacement compartments.

[0104] A slipper body curled portion 124 is formed between the two curled portions 122 at the front end. The length direction of the slipper body curled portion 124 is perpendicular to the length direction of the slipper 2. The slipper body curled portion 124 is integrally connected to the front edge of the chassis 11 near the upper side, and the lower side is fixedly installed on the lower surface of the chassis 11 by a first mounting plate 125. The two slippers 12 are fixedly installed on the lower surface of the chassis 11 near the middle side by a second mounting plate 126. The first mounting plate 125 and the second mounting plate 126 are arranged vertically, and both the first mounting plate 125 and the second mounting plate 126 are perpendicular to the plane of the chassis 11.

[0105] While maintaining the same volume, the buoyancy of vertical movement is changed by replacing the mass replacement module of the underwater gliding shoe mechanism. The design of the underwater gliding shoe mechanism also provides a lot of room for the modular expansion of the underwater dredging robot. As a preferred embodiment, the chassis 11 is provided with mounting holes 111 for mounting the chassis on other structures of the underwater dredging robot, such as the underwater jet pump dredging device 6.

[0106] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the invention by those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the invention should be included within the scope of protection of the invention.

Claims

1. An attitude-adaptive underwater dredging robot, characterized in that, It includes a skid shoe mechanism and a float cover plate. The lower surface of the float cover plate is fixedly installed on the upper surface of the skid shoe mechanism. Several attitude adaptive adjustment grid rudders are evenly distributed in the outer circumferential direction of the float cover plate. The attitude adaptive adjustment grid rudder includes a grid rudder body and a drive component for driving the grid rudder body to swing. The grid rudder body is installed on the drive component. The drive assembly includes a rotary motor assembly and an electric push rod assembly. The rotary motor assembly is connected to the float cover plate via a first horizontal axis. The grid rudder body is fixedly mounted on the output end of the rotary motor assembly at the middle of one side. The plane of the grid rudder body is parallel to the rotation axis of the rotary motor assembly. The electric push rod assembly is connected to the upper surface of the slipper mechanism via a second horizontal axis. The grid rudder body is connected to the output end of the electric push rod assembly via a third horizontal axis. The third horizontal axis is located below the grid rudder body.

2. The attitude-adaptive underwater dredging robot according to claim 1, characterized in that, It also includes a grid rudder mounting base, the grid rudder body being mounted on the output end of the rotary motor assembly and the output end of the electric push rod assembly via the grid rudder mounting base; The grid rudder mounting base is provided with a first mounting hole for mounting the rotating shaft of the rotary motor assembly and a second mounting hole for mounting the third horizontal shaft. The second mounting hole is located below the first mounting hole, and the axial direction of the second mounting hole is perpendicular to the axial direction of the first mounting hole. The grid rudder mounting base is fixedly installed at the middle position of one side of the grid rudder body.

3. The attitude-adaptive underwater dredging robot according to claim 2, characterized in that, The rotary motor assembly includes a rotary motor and a motor mounting shaft. The motor mounting shaft is connected to the float cover plate via the first horizontal shaft. The rotary motor is fixedly mounted on the motor mounting shaft, and the rotary shaft of the rotary motor is fixedly mounted on the first mounting hole.

4. The attitude-adaptive underwater dredging robot according to claim 2, characterized in that, The electric push rod assembly includes a push rod mounting bracket, a drive motor, and a push rod. The drive motor and the push rod are mounted on the push rod mounting bracket. The push rod mounting bracket is connected to the upper surface of the slipper mechanism via a second horizontal shaft. One end of the push rod is mounted on the push rod mounting bracket, and the other end is connected to the second mounting hole via a third horizontal shaft.

5. The attitude-adaptive underwater dredging robot according to claim 2, characterized in that, The grille rudder mounting base includes an integrally connected main mounting plate and a triangular mounting plate. The first mounting hole is located at the center of the main mounting plate. The grille rudder body is fixedly mounted on one side of the main mounting plate at the location of the first mounting hole. The rotation shaft of the rotary motor assembly is mounted in the first mounting hole from the side away from the grille rudder body. The plane of the main mounting plate is perpendicular to the plane of the grille rudder body. Two triangular mounting plates are arranged side by side at intervals on the lower part of one side of the main mounting plate, and the plane of the triangular mounting plates is perpendicular to the plane of the main mounting plate; the two triangular mounting plates are provided with the second mounting hole at the same position, the second mounting hole is located below the main mounting plate, and the third horizontal axis is connected to the output end of the electric push rod assembly through the second mounting hole.

6. The attitude-adaptive underwater dredging robot according to claim 5, characterized in that, The plane of the triangular mounting plate is perpendicular to the plane of the grille rudder body, and one side of the triangular mounting plate is disposed on the lower surface of the grille rudder body and parallel to the plane of the grille rudder body.

7. The attitude-adaptive underwater dredging robot according to claim 6, characterized in that, The main body of the grid rudder includes a grid rudder frame and a plurality of longitudinal grid rudders parallel to the axis of rotation of the rotary motor assembly. The longitudinal grid rudders are evenly distributed within the grid rudder frame in a direction perpendicular to their length direction. The plane containing the longitudinal grid rudders forms an angle of 30-60° with the plane containing the main body of the grid rudder.

8. The attitude-adaptive underwater dredging robot according to claim 7, characterized in that, Several transverse grids are evenly arranged along the length of the two longitudinal grids, and the plane of the transverse grids is parallel to the plane of the main body of the grid.

9. The attitude-adaptive underwater dredging robot according to claim 1, characterized in that, The outer edge of the float cover is detachably fitted with anti-sway and anti-collision fins.

Images