Underwater surveying robot for ocean engineering

Abstract

The invention provides an ocean engineering underwater survey robot, and relates to the technical field of underwater survey robots, the ocean engineering underwater survey robot comprises a top plate, the bottom of the top plate is provided with a robot body, the tail end of the robot body is rotatably provided with two groups of rear end screw devices, and the surfaces of the two sides of the robot body are each provided with two groups of side edge screw devices; compared with the prior art, after the device is thrown to the seabed, the supporting assembly and the guiding assembly are unfolded through the unfolding assembly, the supporting assembly expands the frame size of the device, and the supporting assembly is used for supporting the supporting assembly and the guiding assembly; the robot body can move in the direction of two guide ropes of the guide assembly, meanwhile, the robot body is limited by the guide ropes, certain stability can be kept during sample collection, after collection is completed, the supporting assembly and the guide assembly are stored near the robot body, the size of the device is reduced, and the device can leave the seabed conveniently.

Description

Technical Field

[0001] The invention relates to the technical field of underwater survey robots, in particular to an underwater survey robot for marine engineering. Background Art

[0002] Marine engineering refers to projects that aim to develop, utilize, protect and restore marine resources. The main body of the project is the new construction and reconstruction on the south side of the coastline, as well as expansion projects. It is mainly divided into equipment and facility-related technologies and resource development-related technologies, specifically covering reclamation of the ocean and construction of offshore dams, as well as artificial island construction and seabed material storage facility projects, cross-sea bridge construction, undersea tunnel construction, marine mineral resource development and related engineering projects, offshore tidal power stations, undersea pipeline construction and other marine energy-related development and utilization projects, as well as the construction of seawater farms and artificial fish reefs. Marine engineering requires surveys of the underwater environment. The complex underwater environment is extremely dangerous and uncertain, and general surveyors cannot go there. Usually, detection robots are used to enter the seabed to collect the required samples.

[0003] After entering the seabed, the existing detection robot moves along the seabed through its own spiral drive device. During this process, it is easy to accidentally hit the seabed reefs and cause damage to the equipment. When the robot is collecting samples, if there is an undercurrent or collision with a school of fish on the seabed, it will affect the stability of the robot and thus affect the collection efficiency. Summary of the invention

[0004] In view of the shortcomings of the prior art, the purpose of the present invention is to provide a marine engineering underwater survey robot to solve the problems raised in the above-mentioned background technology. The present invention has a novel structure. After the device is placed on the seabed, the support assembly and the guide assembly are unfolded by unfolding the assembly. The support assembly expands the frame size of the device. The robot body can move along the two guide ropes of the guide assembly. At the same time, it is limited by the guide ropes and can maintain a certain stability when collecting samples. After the collection is completed, the support assembly and the guide assembly are stored near the robot body to reduce the volume of the device and facilitate leaving the seabed.

[0005] In order to achieve the above-mentioned purpose, the present invention is realized by the following technical scheme: a marine engineering underwater survey robot, comprising a top plate, a robot body is arranged at the bottom of the top plate, and two groups of rear end spiral devices are rotatably installed at the tail end of the robot body, two groups of side spiral devices are installed on the two side surfaces of the robot body, a camera is rotatably installed at the front end of the robot body, two ends of the top plate are slidably plugged with extension plates, and the outer end of the extension plate is provided with an expansion component, the expansion component comprises an insertion frame, two groups of insertion frames are fixed at the top of the outermost end of the extension plate, and the insertion frame is slidably plugged with an insertion plate, and the two groups of the insertion plates pass through the insertion frame in different directions, the outer end of the insertion plate is installed with a support component, the support component comprises a second electric push rod, the second electric push rod is fixed at the bottom of the outer end of the insertion plate, and the bottom of the second electric push rod is fixed with a connecting seat, the bottom of the top plate and the top of the insertion plate are provided with a guide component, the guide component comprises a first guide rope, two first guide ropes are symmetrically arranged at the bottom of the top plate, and the tops of the two insertion plates on the same side of the top plate are provided with a second guide rope, and the robot body is slidably connected with the first guide rope and the second guide rope respectively.

[0006] Furthermore, a collection box is fixed at the bottom of the robot body, and mechanical arms are installed on both sides of the collection box. A first electric push rod is rotatably installed at the tail end of the robot body through a rotating shaft, and the extended end of the first electric push rod is rotatably connected to the top of the two groups of rear end spiral devices through a rotating shaft.

[0007] Furthermore, a vertical plate is fixed to the outer end of the extending plate, a mounting frame is fixed to the top of the vertical plate, and the distance between the mounting frame and the top of the extending plate can accommodate the top plate.

[0008] Furthermore, the unfolding assembly also includes a first bidirectional electric push rod, the first bidirectional electric push rod is fixed to the top of the vertical plate, and the two extended ends of the first bidirectional electric push rod are fixedly connected to the outer ends of the plug plates in two opposite directions.

[0009] Furthermore, a second bidirectional electric push rod is fixed to the bottom of the top plate, and two extended ends of the second bidirectional electric push rod are fixedly connected to the inner surface of the vertical plate.

[0010] Furthermore, the support assembly also includes an airbag, and the airbag is installed at the bottom of the connecting seat.

[0011] Furthermore, the guide assembly also includes a mounting plate, the mounting plate is slidably inserted inside the vertical plate, the top and bottom of the mounting plate are fixed with insertion strips, the vertical plate has slots at positions corresponding to the insertion strips, and the insertion strips can be slidably inserted into the slots.

[0012] Furthermore, a first winding seat is fixed to the outer surface of the mounting plate, and two ends of the first guide rope are wound on two first winding seats through an axle rod and a torsion spring.

[0013] Furthermore, the plug plate is located at the top of the second electric push rod and is fixed with a second winding seat, and the two ends of the second guide rope are wound on the two second winding seats on the same side through the shaft rod and the torsion spring.

[0014] Furthermore, two sleeve frames are fixed on the top of the robot body, and the sleeve frames are slidably sleeved on the first guide rope, a vertical frame is slidably sleeved on the surface of the second guide rope, and an insertion rod is fixed at the bottom of the vertical frame, and two sliding frames are fixed at the bottom of the robot body, and the insertion rod is slidably inserted inside the sliding frame.

[0015] Beneficial effects of the present invention:

[0016] 1. After the device is unfolded, the device is propelled forward or backward along the first guide rope through the tail end spiral device of the robot body. At this time, the vertical frame moves forward or backward along the direction of the second guide rope to keep the connection between the robot body and the second guide rope. Then, the robot body is controlled to move in the left and right directions through the side spiral device. At this time, the first guide rope and the mounting plate slide out along the vertical plate. The insertion strip does not separate from the slot at the maximum moving distance because the insertion rod at the bottom of the vertical frame is inserted into the sliding frame at the bottom of the robot body. Because the robot body always maintains the connection with the insertion rod within a certain distance when sliding left and right along both sides, it is also always limited by the first guide rope and the second guide rope to maintain the stability of the device during collection.

[0017] 2. In the present invention, the robot body is moved within the frame space of the unfolded device to collect different types of samples. When the unfolding assembly retracts the supporting assembly to the vicinity of the robot body, the torsion springs in the first winding seat and the second winding seat will automatically reel in the first guide rope and the second guide rope, and limit the robot body through the connecting seat and the airbag, thereby playing a certain clamping effect.

[0018] 3. The present invention unfolds the extension plate through the second bidirectional electric push rod to expand the lateral size of the device, and then pushes the two plug-in plates to move in different directions along the plug-in frame through the first bidirectional electric push rod to expand the longitudinal size of the device. During this process, the first guide rope and the second guide rope are synchronously unwound, and the overall size of the device changes, which makes it easier for the support assembly to find a flat position to land, and also improves the stability of the robot body during collection. After the collection is completed, the device is stored and the size of the device is reduced, so that it can maintain a relatively fast movement in the seawater.

[0019] 4. Compared with the prior art, after the device is dropped to the seabed, the support assembly and the guide assembly are unfolded by unfolding the assembly, the support assembly expands the frame size of the device, the robot body can move along the two guide ropes of the guide assembly, and at the same time, it is limited by the guide ropes, so that a certain stability can be maintained when collecting samples. After the collection is completed, the support assembly and the guide assembly are stored near the robot body to reduce the volume of the device and facilitate leaving the seabed. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic diagram of the overall structure of a marine engineering underwater survey robot according to the present invention;

[0021] Figure 2 This is a schematic diagram of the bottom structure of a robot body of an underwater survey robot for marine engineering according to the present invention;

[0022] Figure 3 This is a schematic diagram of the connection between the deployment component and the guide component of a marine engineering underwater survey robot according to the present invention;

[0023] Figure 4 This is a schematic diagram of the overall bottom of a marine engineering underwater survey robot according to the present invention;

[0024] Figure 5 This is a schematic diagram of the structure of a guide assembly of a marine engineering underwater survey robot according to the present invention;

[0025] Figure 6 This is a schematic diagram of the separation of the robot body and the top plate of a marine engineering underwater survey robot according to the present invention;

[0026] Figure 7 The present invention is a schematic diagram of the tail end structure of a robot body of a marine engineering underwater survey robot.

[0027] In the figure: 1. top plate; 11. extension plate; 12. vertical plate; 13. slot; 14. mounting frame; 2. robot body; 21. rear end spiral device; 22. side spiral device; 23. camera; 24. collection box; 25. robotic arm; 26. sliding frame; 27. first electric push rod; 28. sleeve frame; 3. support assembly; 31. second electric push rod; 32. airbag; 33. connecting seat; 4. unfolding assembly; 41. insertion frame; 42. first two-way electric push rod; 43. insertion plate; 44. second two-way electric push rod; 5. guide assembly; 51. mounting plate; 52. first winding seat; 53. insertion strip; 54. first guide rope; 55. second winding seat; 56. second guide rope; 57. vertical frame; 58. insertion rod. DETAILED DESCRIPTION

[0028] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further explained below in conjunction with specific implementation methods.

[0029] See also Figures 1 to 7 The present invention provides a technical solution: a marine engineering underwater survey robot, comprising a top plate 1, a robot body 2 is provided at the bottom of the top plate 1, and two groups of rear end spiral devices 21 are rotatably installed at the tail end of the robot body 2, two groups of side spiral devices 22 are installed on the two side surfaces of the robot body 2, and a camera 23 is rotatably installed at the front end of the robot body 2, and an extension plate 11 is slidably inserted at both ends of the top plate 1, and an expansion component 4 is provided at the outer end of the extension plate 11, and the expansion component 4 includes an insertion frame 41, two groups of insertion frames 41 are fixed on the top of the outermost end of the extension plate 11, and an insertion plate 43 is slidably inserted in the insertion frame 41, and the two groups of the insertion plates 43 pass through the insertion frame 41 in different directions, and a support component 3 is installed at the outer end of the insertion plate 43, and the support component 3 includes a second electric push rod 31, and the outer end of the insertion plate 43 A second electric push rod 31 is fixed to the bottom of the end, and a connecting seat 33 is fixed to the bottom of the second electric push rod 31. A guide component 5 is provided at the bottom of the top plate 1 and the top of the plug plate 43. The guide component 5 includes a first guide rope 54. Two first guide ropes 54 are symmetrically provided at the bottom of the top plate 1. Second guide ropes 56 are provided on the tops of the two plug plates 43 on the same side of the top plate 1, and the robot body 2 is slidably connected to the first guide rope 54 and the second guide rope 56 respectively. When using the device, the device is put into the sea in a retracted state. When the device is close to the seabed, the unfolding component 4 unfolds the device and supports the device through the support component 3 to prevent the robot body 2 from colliding with the seabed reefs. Subsequently, under the action of the guide component 5, the stability of the robot body 2 during collection is increased, and the movement of the robot body 2 can be guided within the unfolded frame.

[0030] In this embodiment, a collection box 24 is fixed to the bottom of the robot body 2, and mechanical arms 25 are installed on both sides of the collection box 24. The tail end of the robot body 2 is rotatably installed with a first electric push rod 27, and the extended end of the first electric push rod 27 is rotatably connected to the top of the two groups of rear end spiral devices 21 through the rotating shaft. The collection of the camera 23 and the mechanical arm 25 are both existing intelligent technologies and are not described in detail again. The rear end spiral device 21 and the side spiral device 22 are respectively propeller driven to control the movement of the robot body 2. The direction of the rear end spiral device 21 can be adjusted by controlling the direction of the device by the first electric push rod 27.

[0031] In this embodiment, a vertical plate 12 is fixed to the outer end of the extended plate 11, a mounting frame 14 is fixed to the top of the vertical plate 12, and the spacing between the mounting frame 14 and the top of the extended plate 11 can accommodate the top plate 1, and the unfolding component 4 also includes a first two-way electric push rod 42, a first two-way electric push rod 42 is fixed to the top of the vertical plate 12, and the two extended ends of the first two-way electric push rod 42 are fixedly connected to the outer ends of two plug-in plates 43 in opposite directions, and a second two-way electric push rod 44 is fixed to the bottom of the top plate 1, and the two extended ends of the second two-way electric push rod 44 are fixed to the inner surface of the vertical plate 12. After the device is placed on the seabed, the second bidirectional electric push rod 44 will extend the plate 11 to expand the lateral size of the device, and then the two plug plates 43 will be pushed to move in different directions along the plug frame 41 by the first bidirectional electric push rod 42 to expand the longitudinal size of the device. During this process, the first guide rope 54 and the second guide rope 56 are unwound synchronously, and the overall size of the device changes, which makes it easier for the support component 3 to find a flat position to land, and also improves the stability of the robot body 2 during collection. After the collection is completed, the device is stored and the size of the device is reduced, so that it can maintain a relatively fast movement in the seawater.

[0032] In this embodiment, the support assembly 3 also includes an airbag 32, and the airbag 32 is installed at the bottom of the connecting seat 33. The airbag 32 facilitates the device to dock on the seabed. The second electric push rod 31 can adjust the height according to different positions to keep the robot body 2 level.

[0033] In this embodiment, the guide assembly 5 also includes a mounting plate 51, the mounting plate 51 is slidably inserted inside the vertical plate 12, and the top and bottom of the mounting plate 51 are fixed with insertion strips 53. The vertical plate 12 is provided with a slot 13 at a position corresponding to the insertion strip 53, and the insertion strip 53 can be slidably inserted into the slot 13. The outer surface of the mounting plate 51 is fixed with a first winding seat 52, and the two ends of the first guide rope 54 are wound on the two first winding seats 52 through a shaft and a torsion spring. The plug plate 43 is located at the top of the second electric push rod 31 and is fixed with a second winding seat 55, and the two ends of the second guide rope 56 The shaft rod and the torsion spring are wound on two second winding seats 55 on the same side. Two sleeve frames 28 are fixed on the top of the robot body 2, and the sleeve frames 28 are slidably sleeved on the first guide rope 54. A vertical frame 57 is slidably sleeved on the surface of the second guide rope 56, and an insertion rod 58 is fixed at the bottom of the vertical frame 57. Two sliding frames 26 are fixed at the bottom of the robot body 2, and the insertion rod 58 is slidably inserted inside the sliding frame 26. In the initial state, the mounting plate 51 is located inside the vertical plate 12, and the robot body 2 is connected to the first guide rope 54 through the sleeve frame 28 and connected to the second guide rope 56 through the vertical frame 57. Next, after the device is deployed, the tail end spiral device of the robot body 2 propels the device forward or backward along the first guide rope 54, and the vertical frame 57 moves forward or backward along the direction of the second guide rope 56 at this time, maintaining the connection between the robot body 2 and the second guide rope 56, and then the side spiral device 22 is used to control the robot body 2 to move in the left and right directions. At this time, the first guide rope 54 and the mounting plate 51 slide out along the vertical plate 12, and the insertion strip 53 does not separate from the slot 13 at the maximum moving distance, because the insertion rod 58 at the bottom of the vertical frame 57 is inserted into the sliding frame 26 at the bottom of the robot body 2, because the robot body 2 slides left and right along both sides within a certain distance and always maintains the connection with the insertion rod 58, and is always limited by the first guide rope 54 and the second guide rope 56 to maintain the stability of the device during collection. Similarly, the robot body 2 can be moved within the frame space of the unfolded device to collect different types of samples. When the unfolding component 4 retracts the support component 3 to the vicinity of the robot body 2, the torsion springs in the first winding seat 52 and the second winding seat 55 will automatically wind up the first guide rope 54 and the second guide rope 56, and limit the robot body 2 through the connecting seat 33 and the airbag 32, which plays a certain clamping role.

[0034] When the device is in use, it is dropped into the sea in a retracted state. When the device is close to the seabed, the second bidirectional electric push rod 44 will expand the extension plate 11 to expand the lateral size of the device. Subsequently, the two plug plates 43 are pushed to move in different directions along the plug frame 41 by the first bidirectional electric push rod 42 to expand the longitudinal size of the device. During this process, the first guide rope 54 and the second guide rope 56 are unwound synchronously, and the overall size of the device changes, which facilitates the support component 3 to find a flat position for landing, and also improves the stability of the robot body 2 during collection. After the collection is completed, the device is stored and the size of the device is reduced, so that it can maintain a relatively fast movement in the seawater. The device is supported by the support component 3 to prevent the robot body 2 from colliding with the seabed reefs. In the initial state, the mounting plate 51 is located inside the vertical plate 12, and the robot body 2 is connected to the first guide rope 54 through the sleeve frame 28, and is connected to the second guide rope 56 through the vertical frame 57. After the device is unfolded, the tail end spiral device of the robot body 2 is used to propel the device forward or backward along the first guide rope 54. The vertical frame 57 is at this time along The robot body 2 moves forward or backward in the direction of the second guide rope 56 to keep the connection between the robot body 2 and the second guide rope 56, and then the side spiral device 22 is used to control the robot body 2 to move in the left and right directions. At this time, the first guide rope 54 and the mounting plate 51 slide out along the vertical plate 12, and the insertion strip 53 does not separate from the slot 13 under the maximum moving distance, because the insertion rod 58 at the bottom of the vertical frame 57 is inserted into the sliding frame 26 at the bottom of the robot body 2. Because the robot body 2 always maintains the connection with the insertion rod 58 within a certain distance of sliding left and right along both sides, it is also always limited by the first guide rope 54 and the second guide rope 56 to maintain the stability of the device during collection. Similarly, the robot body 2 can be moved in the frame space of the device to collect different types of samples. When the unfolding component 4 retracts the support component 3 to the vicinity of the robot body 2, the torsion springs in the first winding seat 52 and the second winding seat 55 will automatically wind up the first guide rope 54 and the second guide rope 56, and limit the robot body 2 through the connecting seat 33 and the airbag 32, which plays a certain clamping role.

[0035] The basic principles and main features of the present invention and the advantages of the present invention are shown and described above. For those skilled in the art, it is obvious that the present invention is not limited to the details of the above exemplary embodiments, and the present invention can be implemented in other specific forms without departing from the spirit or basic characteristics of the present invention.

[0036] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A marine engineering underwater survey robot, comprising a top plate (1), characterized in that: A robot body (2) is provided at the bottom of the top plate (1), and two groups of rear end spiral devices (21) are rotatably installed at the tail end of the robot body (2), two groups of side spiral devices (22) are installed on both side surfaces of the robot body (2), and a camera (23) is rotatably installed at the front end of the robot body (2). Extension plates (11) are slidably inserted at both ends of the top plate (1), and an expansion component (4) is provided at the outer end of the extension plate (11). The expansion component (4) includes an insertion frame (41), and two groups of insertion frames (41) are fixed at the top of the outermost end of the extension plate (11), and an insertion plate (43) is slidably inserted in the insertion frame (41). The two groups of the insertion plates (43) penetrate the insertion frame (41) from different directions. The outer end of the plug plate (43) is equipped with a support assembly (3), the support assembly (3) includes a second electric push rod (31), the second electric push rod (31) is fixed to the bottom of the outer end of the plug plate (43), and the bottom of the second electric push rod (31) is fixed with a connecting seat (33), the bottom of the top plate (1) and the top of the plug plate (43) are provided with a guide assembly (5), the guide assembly (5) includes a first guide rope (54), two first guide ropes (54) are symmetrically arranged at the bottom of the top plate (1), and the tops of the two plug plates (43) on the same side of the top plate (1) are provided with a second guide rope (56), and the robot body (2) is slidably connected to the first guide rope (54) and the second guide rope (56) respectively.

2. The marine engineering underwater survey robot according to claim 1, characterized in that: A collection box (24) is fixed at the bottom of the robot body (2), and mechanical arms (25) are installed on both sides of the collection box (24). A first electric push rod (27) is rotatably installed at the tail end of the robot body (2) via a rotating shaft, and the extended end of the first electric push rod (27) is rotatably connected to the top of the two groups of rear end spiral devices (21) via the rotating shaft.

3. The marine engineering underwater survey robot according to claim 1, characterized in that: A vertical plate (12) is fixed to the outer end of the extending plate (11), a mounting frame (14) is fixed to the top of the vertical plate (12), and the distance between the mounting frame (14) and the top of the extending plate (11) can accommodate the top plate (1).

4. The marine engineering underwater survey robot according to claim 3, characterized in that: The unfolding assembly (4) further comprises a first bidirectional electric push rod (42), the top of the vertical plate (12) is fixed with the first bidirectional electric push rod (42), and the two extended ends of the first bidirectional electric push rod (42) are fixedly connected to the outer ends of two plug plates (43) in opposite directions.

5. The marine engineering underwater survey robot according to claim 4, characterized in that: A second bidirectional electric push rod (44) is fixed to the bottom of the top plate (1), and two extended ends of the second bidirectional electric push rod (44) are fixedly connected to the inner surface of the vertical plate (12).

6. The marine engineering underwater survey robot according to claim 4, characterized in that: The support assembly (3) further comprises an air bag (32), and the air bag (32) is installed at the bottom of the connecting seat (33).

7. The marine engineering underwater survey robot according to claim 3, characterized in that: The guide assembly (5) further comprises a mounting plate (51), the mounting plate (51) being slidably inserted inside the vertical plate (12), the top and bottom of the mounting plate (51) being fixed with insertion strips (53), the vertical plate (12) being provided with a slot (13) at a position corresponding to the insertion strip (53), and the insertion strip (53) being slidably inserted into the slot (13).

8. The marine engineering underwater survey robot according to claim 7, characterized in that: A first winding seat (52) is fixed on the outer surface of the mounting plate (51), and two ends of the first guide rope (54) are wound on the two first winding seats (52) through a shaft rod and a torsion spring.

9. The marine engineering underwater survey robot according to claim 8, characterized in that: The plug plate (43) is located at the top of the second electric push rod (31) and is fixed with a second winding seat (55), and the two ends of the second guide rope (56) are wound on the two second winding seats (55) on the same side through the shaft rod and the torsion spring.

10. The marine engineering underwater survey robot according to claim 9, characterized in that: Two sleeve frames (28) are fixed on the top of the robot body (2), and the sleeve frames (28) are slidably sleeved on the first guide rope (54); a vertical frame (57) is slidably sleeved on the surface of the second guide rope (56), and an insertion rod (58) is fixed at the bottom of the vertical frame (57); two sliding frames (26) are fixed at the bottom of the robot body (2), and the insertion rod (58) is slidably inserted into the inside of the sliding frame (26).

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