A marine robot with self-burying capability and its self-burying method

Abstract

This invention belongs to the field of novel marine robots, specifically a self-burying marine robot and its self-burying method. Lateral drive motors are installed on both sides of the sealed cabin, and the output of each lateral drive motor is connected to a lateral flexible link. A head drive motor is installed at the front of the sealed cabin, and its output is connected to a head flexible link. The head flexible link and each lateral flexible link are connected to a flexible wave-like wing. A control module and an active buoyancy adjustment control module and an energy attitude module connected to the control module are installed inside the sealed cabin. An external oil bladder is installed on the sealed cabin and connected to the active buoyancy adjustment control module. Multiple bottom guide blocks are provided at the bottom of the sealed cabin. This invention has the advantages of low environmental disturbance and good concealment, and can provide a potential solution for performing underwater covert observation tasks.

Description

Technical Field

[0001] This invention belongs to the field of new concept marine robots, specifically a marine robot with self-burying capability and its self-burying method. Background Technology

[0002] Marine robots are among the most important technological equipment for exploring, understanding, and developing the ocean. The strong tidal currents and ocean currents in island and strait environments pose a significant challenge to underwater mobile platforms. Existing autonomous underwater vehicles (AUVs) and underwater gliders typically use propellers or buoyancy for propulsion, requiring them to continuously consume onboard energy to counteract ocean currents and achieve in-situ observation. This energy consumption is enormous, making long-term stable observation difficult. In some key sea areas, various anti-underwater robot detection methods exist, including acoustic and optical ones. However, AUVs and underwater gliders are characterized by high noise levels, significant environmental disturbance, and poor stealth. Therefore, the search for marine robots that combine strong current-resistant positioning capabilities, high stealth, and maneuverability has become a current research hotspot in the field of marine robotics. Benthic fish such as rays and flounders use flapping flexible wings or bodies to stir up seabed sediment to cover themselves for hunting or to evade predators, exhibiting both strong resistance to current disturbances and stealth capabilities, providing inspiration for this invention. Summary of the Invention

[0003] To address the aforementioned shortcomings of existing marine robots, the present invention aims to provide a self-burying marine robot and its self-burying method. This marine robot combines self-burying and underwater mobility, offering advantages such as strong concealment and resistance to currents. It can meet the needs of covert underwater observation and provides a potential solution for long-term covert in-situ observation of waterways, islands, and reefs.

[0004] The objective of this invention is achieved through the following technical solution:

[0005] The marine robot of this invention includes a control module, an energy and attitude module, an active buoyancy adjustment control module, an external oil bladder, lateral flexible links, lateral drive motors, flexible undulating wings, a head flexible link, a head drive motor, a bottom guide block, and a sealed cabin. Lateral drive motors are installed on both sides of the sealed cabin, and the output end of each lateral drive motor is connected to a lateral flexible link. A head drive motor is installed at the front end of the sealed cabin, and the output end of the head drive motor is connected to a head flexible link. The head flexible link and each lateral flexible link are respectively connected to the flexible undulating wings. The interior of the sealed cabin is a dry chamber. The sealed cabin is equipped with a control module, an active buoyancy adjustment control module, and an energy attitude module for adjusting the center of gravity distribution of the marine robot. The external oil bladder is installed on the sealed cabin and connected to the active buoyancy adjustment control module. The active buoyancy adjustment control module adjusts the displacement volume of the marine robot. The energy attitude module, the active buoyancy adjustment control module, the lateral drive motor, and the head drive motor are all connected to the control module. The bottom of the sealed cabin is provided with multiple bottom guide blocks. The part of the bottom of the sealed cabin without bottom guide blocks forms a groove, allowing seawater carrying sediment to move within the groove.

[0006] Wherein: the flexible wave wing is U-shaped, the open end of the U-shape faces the rear end of the marine robot, the two sides of the open end of the U-shape are respectively connected to the lateral flexible connecting rods driven independently by the lateral drive motors on both sides of the sealed cabin, and the bottom of the U-shape is connected to the head flexible connecting rod driven by the head drive motor of the head of the sealed cabin.

[0007] Each of the bottom guide blocks is arranged along the outer edge of the bottom of the sealed chamber, and a slit is formed between two adjacent bottom guide blocks, the width of which gradually decreases from the inside to the outside.

[0008] The energy attitude module includes a support plate, a lead screw motor, a battery pack, and a lead screw. Both ends of the lead screw are equipped with support plates installed inside the sealed chamber. The lead screw is rotatably connected to the support plates, and any end of the lead screw is connected to the output end of the lead screw motor fixed on the support plate at that end. The battery pack is threadedly connected to the lead screw. The lead screw motor drives the lead screw to rotate, thereby driving the battery pack to move and changing the center of gravity distribution of the marine robot.

[0009] A slide rail is also connected between the support plates at both ends. One side of the battery pack is threaded to a lead screw, and the slide rail passes through the other side of the battery pack. The battery pack moves axially along the slide rail under the drive of the lead screw motor.

[0010] The sealed chamber also houses a communication navigation control board connected to the control module, and a communication antenna is installed on the sealed chamber and connected to the communication navigation control board.

[0011] The rear end of the sealed chamber is equipped with a buried observation camera and a bottom sediment observation camera, which are connected to the control module.

[0012] The active buoyancy adjustment and control module includes an internal oil bladder and a gear pump. The internal oil bladder is connected to an external oil bladder through a pipe, and the gear pump is installed on the pipe.

[0013] The sealed chamber includes a pressure-resistant chamber cover plate and a pressure-resistant chamber shell that are sealed together. The lateral drive motor and the head drive motor are respectively installed on the pressure-resistant chamber shell. The bottom guide block is installed at the bottom of the pressure-resistant chamber shell. The external oil bladder is installed on the pressure-resistant chamber cover plate.

[0014] The self-burying method of the marine robot with self-burying capability of the present invention is as follows:

[0015] After the marine robot settles on the surface of the seabed particles, the head drive motor drives the head flexible link to rise from a horizontal equilibrium position to an upward angle with the horizontal plane, which in turn drives the flexible wave-like wings at the head of the marine robot to rise, creating a water inlet channel at the head of the marine robot. At the same time, each of the lateral drive motors drives its connected lateral flexible link to periodically rotate downward from the horizontal position and return to the horizontal reference position. When the lateral drive motors drive the lateral flexible link to move downward, they drive the flexible wave-like wings on both sides of the marine robot to move downward, causing the sealed cabin to move the marine robot as a whole to move upward, forming a cavity between the sealed cabin and the seabed. The flexible wave-like wings cover both sides of the cavity. At this time, under the action of water pressure, seawater enters the cavity formed by the sealed cabin, flexible wave-like wings and the bottom of the seabed through the water inlet channel, and generates a set flow velocity, stirring up seabed sediment particles. Under this periodic movement, seabed sediment is stirred up by seawater, forming a sediment-seawater mixture under the body of the marine robot.

[0016] The head drive motor drives the head flexible link to rotate downward from the raised state, causing the flexible wave wing at the head position of the marine robot to move downward and maintain a downward tilting angle to prevent the mixture of mud and seawater from flowing out from the head position of the marine robot.

[0017] Each of the lateral drive motors drives its connected lateral flexible links to rotate periodically upwards and return to the horizontal reference position, with the horizontal position as the reference. When the lateral drive motors drive the lateral flexible links to move upwards, they drive the flexible wave wings on both sides of the marine robot to move upwards, causing the sealed cabin to move the entire marine robot downwards, compressing the cavity between the marine robot and the seabed, and causing seawater carrying sediment to flow out from the slit between the two adjacent bottom guide blocks. The width of the slit gradually narrows, which further increases the seawater flow velocity and stirs up more sediment. During the high-frequency periodic motion, each of the lateral flexible links and flexible wave wings undergoes flexible deformation under the action of seawater movement, inducing seawater to move upwards from the cavity below the marine robot's body to the top of the sealed cabin.

[0018] The kinetic energy of the mud-seawater mixture moving above the sealed chamber is gradually dissipated, and the mud and other particles gradually settle under the action of gravity, covering the upper surface of the sealed chamber and achieving self-burial.

[0019] The advantages and positive effects of this invention are as follows:

[0020] 1. This invention employs a motor-driven flexible connecting rod and a flexible undulating wing to structurally mimic the self-burying process of organisms such as rays, thus exhibiting the characteristic of minimal environmental disturbance.

[0021] 2. This invention has the buoyancy-driven capability of an underwater glider, enabling it to be deployed over long distances. Through gliding motion, it reaches the seabed area of ​​the target sea area for self-burial, achieving concealed deployment and concealed detection.

[0022] 3. This invention has the advantages of strong concealment and strong resistance to disturbance, which can meet the needs of underwater covert observation and provide a potential solution for long-term covert in-situ observation of waterways, islands and reefs. Attached Figure Description

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

[0024] Figure 2 This is a top view of the structure of the marine robot of the present invention;

[0025] Figure 3 This is a three-dimensional structural diagram of the marine robot of the present invention viewed from below;

[0026] Figure 4 This is a three-dimensional structural diagram of the energy attitude module in the marine robot of the present invention;

[0027] The components are as follows: 1 is the pressure chamber cover, 2 is the control module, 3 is the energy attitude module, 301 is the support plate, 302 is the slide rail, 303 is the lead screw motor, 304 is the battery pack, 305 is the lead screw, 4 is the communication and navigation control board, 5 is the communication antenna, 6 is the active buoyancy adjustment control module, 7 is the buried observation camera, 8 is the external oil bladder, 9 is the lateral flexible connecting rod, 10 is the lateral drive motor, 11 is the flexible undulating wing, 12 is the pressure chamber shell, 13 is the head flexible connecting rod, 14 is the head drive motor, 15 is the bottom observation camera, and 16 is the bottom guide block. Detailed Implementation

[0028] The invention will now be described in further detail with reference to the accompanying drawings.

[0029] like Figures 1-3 As shown, the marine robot of the present invention includes a control module 2, an energy attitude module 3, an active buoyancy adjustment control module 6, an external oil bladder 8, lateral flexible links 9, lateral drive motors 10, flexible undulating wings 11, a head flexible link 13, a head drive motor 14, a bottom guide block 16, and a sealed cabin. Lateral drive motors 10 are installed on both sides of the sealed cabin, and the output end of each lateral drive motor 10 is connected to a lateral flexible link 9. A head drive motor 14 is installed at the front end of the sealed cabin, and the output end of the head drive motor 14 is connected to a head flexible link 13. The head flexible link 13 and each lateral flexible link 9 are respectively connected to the flexible undulating wings 11. The interior of the sealed cabin is a dry cabin, and the sealed cabin is divided into... The system includes a control module 2, an active buoyancy adjustment control module 6, and an energy attitude module 3 for adjusting the center of gravity distribution of the marine robot. An external oil bladder 8 is mounted on the sealed cabin and connected to the active buoyancy adjustment control module 6. The active buoyancy adjustment control module 6 adjusts the displacement volume of the marine robot. The energy attitude module 3, the active buoyancy adjustment control module 6, the lateral drive motor 10, and the head drive motor 14 are all connected to the control module 2. The bottom of the sealed cabin has multiple bottom guide blocks 16. The portion of the bottom of the sealed cabin without the bottom guide blocks 16 forms a groove, allowing seawater carrying sediment to move within the groove at a speed of at least 0.5 m / s, preventing sediment from settling at the bottom of the marine robot. In this embodiment, the bottom guide blocks 16 are made of polyethylene, polyvinyl chloride, or polypropylene.

[0030] The sealed chamber in this embodiment includes a pressure-resistant chamber cover plate 1 and a pressure-resistant chamber shell 12, which are sealed together. A lateral drive motor 10 and a head drive motor 14 are respectively mounted on the pressure-resistant chamber shell 12, and a bottom guide block 16 is mounted on the bottom of the pressure-resistant chamber shell 12. Both the pressure-resistant chamber cover plate 1 and the pressure-resistant chamber shell 12 in this embodiment are made of high-strength aluminum alloy (such as 2XXX series aluminum alloy), capable of withstanding deep-sea pressure of 20 MPa, ensuring that the control module 2, energy attitude module 3, communication and navigation control board 4, and active buoyancy adjustment control module 6 inside the chamber operate in a dry, normal-pressure environment. The above-mentioned dry chamber structure and internal modules are existing technologies widely used in current marine robots and will not be described in detail here.

[0031] In this embodiment, five lateral drive motors 10 are installed on each of the left and right sides of the pressure chamber shell 12, and the lateral drive motors 10 on both sides are symmetrically arranged; two head drive motors 14 are installed at the front end of the pressure chamber shell 12.

[0032] In this embodiment, both the lateral drive motor 10 and the head drive motor 14 are waterproof motors or servos. The lateral drive motor 10 is connected to the lateral flexible link 9, and the head drive motor 14 is connected to the head flexible link 13. Both the lateral flexible link 9 and the head flexible link 13 are made of T600 carbon fiber material manufactured by Toray Industries, Inc. of Japan, which is elastic. This allows the lateral flexible link 9 and the head flexible link 13 to undergo flexible deformation underwater, inducing seawater carrying sediment to flow out from under the sealed cabin of the marine robot.

[0033] In this embodiment, the flexible wave-like wing 11 is U-shaped, with the open end of the U-shape facing the rear end of the marine robot. The two sides of the U-shaped open end are connected to lateral flexible links 9, each independently driven by a lateral drive motor 10 on one side of the sealed cabin. The bottom of the U-shape is connected to a head flexible link 13 driven by a head drive motor 14 at the head of the sealed cabin. The flexible wave-like wing 11 in this embodiment is made of soft materials such as silicone rubber and has extensibility. Under the action of the lateral flexible links 9 and the head flexible link 13, the flexible wave-like wing 11 can present a three-dimensional spatial configuration and directly contact seawater, guiding the seawater to move at a speed exceeding 0.5 m / s, stirring up particulate matter such as seabed sediment.

[0034] In this embodiment, each bottom guide block 16 is arranged along the outer edge of the bottom of the sealed chamber, and a slit is formed between two adjacent bottom guide blocks 16, with the slit width gradually decreasing from the inside to the outside.

[0035] In this embodiment, a communication and navigation control board 4 connected to the control module 2 is also housed within the sealed cabin. A communication antenna 5 is installed on the pressure-resistant cover plate 1 of the sealed cabin, and the communication antenna 5 is connected to the communication and navigation control board 4 to enable the marine robot to exchange signals with the outside world. The communication and navigation control board 4 in this embodiment is prior art and will not be described in detail here.

[0036] In this embodiment, a burial observation camera 7 and a bottom sediment observation camera 15, both connected to the control module 2, are installed at the rear of the sealed chamber. The burial observation camera 7 is mounted on the pressure chamber cover plate 1, and the bottom sediment observation camera 15 is mounted on the pressure chamber shell 12. Both the burial observation camera 7 and the bottom sediment observation camera 15 are waterproof optical cameras. The bottom sediment observation camera 15 is used to observe the seabed bottom sediment, exclude reefs, nodules, and other materials as substrates, and select mud and sand sediments to facilitate the next step of self-burial. The burial observation camera 7 is used to observe the self-burial effect. If the burial effect is not ideal, it will provide feedback to the control module 2 and initiate a new burial process.

[0037] The active buoyancy adjustment control module 6 in this embodiment includes an internal oil bladder and a gear pump. The internal oil bladder is connected to an external oil bladder 8 installed on the pressure hull cover 1 via a pipe, and the gear pump is installed on the pipe. The gear pump delivers hydraulic oil from the internal oil bladder to the external oil bladder 8, changing the volume of the external oil bladder 8, thereby adjusting the displacement volume of the marine robot and realizing the adjustment of the buoyancy of the marine robot in seawater. In conjunction with the energy attitude module 3 of the marine robot, it can complete long-distance gliding of the marine robot, thus realizing the remote and covert deployment of the marine robot.

[0038] like Figures 1-4 As shown, the energy attitude module 3 of this embodiment includes a support plate 301, a slide rail 302, a lead screw motor 303, a battery pack 304, and a lead screw 305. Both ends of the lead screw 305 are provided with support plates 301 installed in the sealed chamber. The lead screw 305 is rotatably connected to the support plates 301, and any end of the lead screw 305 is connected to the output end of the lead screw motor 303 fixed on the support plate 301 at that end. A slide rail 302 is also connected between the two support plates 301, and the slide rail 302 is parallel to the lead screw 305. One side of the battery pack 304 is threadedly connected to the lead screw 305, and the slide rail 302 passes through the other side of the battery pack 304. The lead screw motor 303 drives the lead screw 305 to rotate, thereby driving the battery pack 304 to move along the axial direction of the slide rail 302, adjusting the center of gravity distribution of the marine robot, and changing the attitude of the marine robot in the water. The zigzag gliding motion of the carrier is achieved through the combined action of the deployed lateral flexible link 9 and the flexible wave wing 11, enabling long-distance covert deployment.

[0039] In this embodiment, the control module 2 consists of an externally purchased main control board and a main control chip, and is a conventional externally purchased module. The control module 2 is responsible for controlling the energy attitude module 3, the communication and navigation control board 4, the active buoyancy adjustment control module 6, the lateral drive motor 10, and the head drive motor 14. The lateral drive motor 10 is connected to the lateral flexible link 9, and the head drive motor 14 is connected to the head flexible link 13. Both the lateral flexible link 9 and the head flexible link 13 are connected to the flexible wave wing 11. Through the above connections, the control module 2 can drive the flexible wave wing 11 to achieve various motion modes and shapes.

[0040] The present invention relates to a self-burying method for a marine robot with self-burying capability:

[0041] The seabed observation camera 15 is connected to the control module 2. Through visual imaging, it provides feedback on the seabed environment and reduces the volume of the external oil sac 8 at a suitable location, allowing the self-burying marine robot to sink and settle on the surface of seabed particles. After the marine robot settles on the seabed particles, the control module 2 controls the two head drive motors 14, which drive their respective connected flexible head links 13 to rise from their horizontal equilibrium position to an upward angle of 30° with the horizontal plane. This, in turn, causes the flexible wave-like wing 11 at the head of the marine robot to rise, creating a water inlet channel at the head of the marine robot. Simultaneously, the control module 2 controls the lateral drive motors 10, which drive their respective connected lateral flexible links 9 to periodically rotate downward at a set frequency, using the horizontal position as a reference, and then return to the horizontal reference. Position; When the lateral drive motor 10 drives the lateral flexible link 9 to move downward, it drives the flexible wave wings 11 on both sides of the marine robot to move downward, so that the sealed cabin drives the marine robot as a whole to move upward, forming a cavity between the sealed cabin and the seabed, with the flexible wave wings 11 covering both sides of the cavity; at this time, under the action of water pressure, seawater enters the cavity formed by the sealed cabin, the flexible wave wings 11 and the bottom of the seabed from the water inlet channel, and generates a set flow velocity, stirring up seabed sediment particles; under this periodic movement, seabed sediment is stirred up by seawater, forming a mixture of sediment and seawater under the body of the marine robot.

[0042] The control module 2 controls the head drive motor 14, which drives the head flexible link 13 to rotate downward from the raised state, causing the flexible wave wing 11 at the head position of the marine robot to move downward and maintain a downward tilting angle to prevent the mixture of mud and seawater from flowing out from the head position of the marine robot.

[0043] Control module 2 controls each lateral drive motor 10. Each lateral drive motor 10 drives its connected lateral flexible link 9 to rotate periodically upward at a set frequency, with the horizontal position as the reference, and then return to the horizontal reference position. When the lateral drive motor 10 drives the lateral flexible link 9 to move upward, it drives the flexible wave wings 11 on both sides of the marine robot to move upward, causing the sealed cabin to move the entire marine robot downward, squeezing the cavity between the marine robot and the seabed, causing seawater carrying sediment to flow out from the slit between the two adjacent bottom guide blocks 16. The width of the slit gradually narrows, which further increases the seawater flow velocity and stirs up more sediment. During the high-frequency periodic motion, each lateral flexible link 9 and flexible wave wings 11 undergo flexible deformation under the action of seawater movement, inducing seawater to move upward from the cavity below the marine robot's body to the top of the sealed cabin.

[0044] The kinetic energy of the mud-seawater mixture moving above the sealed chamber is gradually dissipated. Under the action of gravity, the mud and other particles gradually settle and cover the upper surface of the sealed chamber, achieving self-burial. The burial effect is confirmed by the burial observation camera 7, and the control module 2 decides whether to repeat the above self-burial process to ensure the self-burial effect.

[0045] Inspired by the behavior of benthic fish such as rays burying their bodies with particles such as seabed mud and sand, this invention draws design inspiration from their body structure and movement behavior, and innovatively proposes a marine robot with self-burying capability based on the flat shape and flapping wing movement characteristics of rays.

Claims

1. A marine robot with self-burying capability, characterized in that: The system includes a control module (2), an energy attitude module (3), an active buoyancy adjustment control module (6), an external oil bladder (8), lateral flexible connecting rods (9), lateral drive motors (10), flexible undulating wings (11), a head flexible connecting rod (13), a head drive motor (14), a bottom guide block (16), and a sealed chamber. Lateral drive motors (10) are installed on both sides of the sealed chamber, and the output end of each lateral drive motor (10) is connected to a lateral flexible connecting rod (9). A head drive motor (14) is installed at the front end of the sealed chamber, and the output end of the head drive motor (14) is connected to a head flexible connecting rod (13). The head flexible connecting rod (13) and each lateral flexible connecting rod (9) are respectively connected to the flexible undulating wings (11). The interior of the cabin is a dry cabin. The sealed cabin is equipped with a control module (2), an active buoyancy adjustment control module (6), and an energy attitude module (3) for adjusting the center of gravity distribution of the marine robot. The external oil bladder (8) is installed on the sealed cabin and connected to the active buoyancy adjustment control module (6). The active buoyancy adjustment control module (6) adjusts the drainage volume of the marine robot. The energy attitude module (3), the active buoyancy adjustment control module (6), the lateral drive motor (10), and the head drive motor (14) are connected to the control module (2). The bottom of the sealed cabin is provided with multiple bottom guide blocks (16). The part of the bottom of the sealed cabin without bottom guide blocks (16) forms a groove, which allows seawater to carry sediment to move in the groove.

2. The marine robot with self-burying capability according to claim 1, characterized in that: The flexible wave wing (11) is U-shaped, with the open end of the U-shape facing the rear end of the marine robot. The two sides of the open end of the U-shape are connected to the lateral flexible connecting rods (9) driven independently by the lateral drive motors (10) on both sides of the sealed cabin. The bottom of the U-shape is connected to the head flexible connecting rod (13) driven by the head drive motor (14) at the head of the sealed cabin.

3. The marine robot with self-burying capability according to claim 1, characterized in that: Each of the bottom guide blocks (16) is arranged along the outer edge of the bottom of the sealed chamber, and a slit is formed between two adjacent bottom guide blocks (16), the width of which gradually decreases from the inside to the outside.

4. The marine robot with self-burying capability according to claim 1, characterized in that: The energy attitude module (3) includes a support plate (301), a lead screw motor (303), a battery pack (304), and a lead screw (305). Both ends of the lead screw (305) are provided with support plates (301) installed in the sealed chamber. The lead screw (305) is rotatably connected to the support plate (301), and any end of the lead screw (305) is connected to the output end of the lead screw motor (303) fixed on the support plate (301) at that end. The battery pack (304) is threadedly connected to the lead screw (305). The lead screw motor (303) drives the lead screw (305) to rotate, thereby driving the battery pack (304) to move and changing the center of gravity distribution of the marine robot.

5. The marine robot with self-burying capability according to claim 4, characterized in that: A slide rail (302) is connected between the support plates (301) at both ends. One side of the battery pack (304) is threadedly connected to the lead screw (305). The slide rail (302) passes through the other side of the battery pack (304). The battery pack (304) moves along the axial direction of the slide rail (302) under the drive of the lead screw motor (303).

6. The marine robot with self-burying capability according to claim 1, characterized in that: The sealed cabin also houses a communication navigation control board (4) connected to the control module (2), and a communication antenna (5) is installed on the sealed cabin. The communication antenna (5) is connected to the communication navigation control board (4).

7. The marine robot with self-burying capability according to claim 1, characterized in that: The rear end of the sealed chamber is equipped with a buried observation camera (7) and a bottom sediment observation camera (15) connected to the control module (2).

8. The marine robot with self-burying capability according to claim 1, characterized in that: The active buoyancy adjustment control module (6) includes an internal oil bladder and a gear pump. The internal oil bladder is connected to the external oil bladder (8) through a pipe, and the gear pump is installed on the pipe.

9. The marine robot with self-burying capability according to claim 1, characterized in that: The sealed chamber includes a pressure-resistant chamber cover plate (1) and a pressure-resistant chamber shell (12) that are sealed together. The side drive motor (10) and the head drive motor (14) are respectively installed on the pressure-resistant chamber shell (12). The bottom guide block (16) is installed at the bottom of the pressure-resistant chamber shell (12). The external oil bladder (8) is installed on the pressure-resistant chamber cover plate (1).

10. A self-burying method for a marine robot with self-burying capability as described in any one of claims 1 to 9, characterized in that: After the marine robot settles on the surface of seabed particles, the head drive motor (14) drives the head flexible link (13) to rise from the horizontal equilibrium position to form an upward angle with the horizontal plane, thereby causing the flexible wave wing (11) at the head position of the marine robot to rise, creating a water inlet channel at the head of the marine robot; at the same time, each of the lateral drive motors (10) drives its connected lateral flexible link (9) to periodically rotate downward with the horizontal position as a reference and return to the horizontal reference position. During movement, the flexible wave wings (11) on both sides of the marine robot move downwards, causing the sealed cabin to move the entire marine robot upwards, forming a cavity between the sealed cabin and the seabed. The cavity is covered by flexible wave wings (11) on both sides. At this time, under the action of water pressure, seawater enters the cavity formed by the sealed cabin, flexible wave wings (11) and the bottom of the seabed from the water inlet channel, and generates a set flow velocity, stirring up seabed sediment particles. Under this periodic movement, seabed sediment is stirred up by seawater, forming a mixture of sediment and seawater under the body of the marine robot. The head drive motor (14) drives the head flexible link (13) to rotate downward from the raised state, so that the flexible wave wing (11) at the head position of the marine robot moves downward and maintains the downward tilt angle to prevent the mixture of mud and seawater from flowing out from the head position of the marine robot. Each of the lateral drive motors (10) drives its respective connected lateral flexible link (9) to rotate periodically upward and return to the horizontal reference position with the horizontal position as the reference. When the lateral drive motor (10) drives the lateral flexible link (9) to move upward, it drives the flexible wave wings (11) on both sides of the marine robot to move upward, so that the sealed cabin drives the marine robot to move downward as a whole, squeezing the cavity between the marine robot and the seabed, causing seawater carrying silt to flow out from the slit between the two adjacent bottom guide blocks (16). The width of the slit gradually narrows, which further increases the seawater flow velocity and stirs up more silt. During the high-frequency periodic motion, each of the lateral flexible link (9) and the flexible wave wings (11) undergoes flexible deformation under the action of seawater movement, inducing seawater to move upward from the cavity below the marine robot body to the top of the sealed cabin. The kinetic energy of the mud-seawater mixture moving above the sealed chamber is gradually dissipated, and the mud and other particles gradually settle under the action of gravity, covering the upper surface of the sealed chamber and achieving self-burial.

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