Seabed detection crawling robot

Abstract

According to the technical scheme, the submarine detection crawling robot is characterized in that the submarine detection crawling robot comprises a telescopic assembly, and the telescopic assembly can change the distance between the two ends through stretching and retracting; the anchoring parts are arranged at the positions, close to the two ends, of the telescopic assembly so that the distance between the two anchoring parts can be changed through stretching and retracting of the telescopic assembly, each anchoring part at least comprises an anchoring state and a loosening state, and the anchoring state is that the anchoring parts are embedded into seabed sediment; in the relaxed state, the anchoring part is separated from seabed sediment; the seabed detection crawling robot can move on the seabed through the cooperation of the change of the state of the anchoring part and the stretching of the telescopic part, disturbance to seabed sediment is reduced, and therefore the influence of sediment diffusion on the seabed detection crawling robot is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of seabed detection, and more specifically, to a seabed detection crawling robot. Background Art

[0002] An underwater detector is a device used to detect the seabed for tasks such as life-saving, exploration, and photography. As ocean development activities become more frequent and in-depth, the demand and application of ocean detectors are also increasing.

[0003] In order to expand the detection range of the submarine detector on the seabed, the submarine detector needs to be moved on the seabed. Existing submarine detectors mostly use crawler or propeller methods when moving on the seabed. Although these two methods can realize the movement of the submarine detector on the seabed, they will cause a large disturbance to the surface mud of the seabed. During the movement, the diffusion of mud will affect the detection. Now there is an urgent need for a way to move the submarine detector that can reduce the disturbance to the seabed. Summary of the invention

[0004] In view of the shortcomings of the prior art, the purpose of the present invention is to provide a seabed detection crawling robot, which realizes the movement of the seabed detection crawling robot on the seabed by changing the state of the anchor piece in coordination with the extension and retraction of the telescopic piece, thereby reducing the disturbance of the seabed mud and thus reducing the impact of the diffusion of mud and sand on the seabed detection crawling robot.

[0005] To achieve the above-mentioned object, the present invention provides the following technical solutions: a seabed exploration crawling robot, comprising a telescopic component, wherein the telescopic component can change the distance between the two ends by telescoping; And anchors, which are respectively arranged at positions close to both ends of the telescopic component to change the distance between the two anchors through the telescopic component's extension and contraction, and the anchors at least include an anchoring state and a relaxed state, the anchoring state is that the anchor is embedded in the seabed mud, and the relaxed state is that the anchor is detached from the seabed mud.

[0006] The present invention is further configured such that: the anchor is configured as a deformable bag, the anchor is embedded in the seabed mud and sand by its own expansion deformation, and is separated from the seabed mud and sand by its own contraction deformation.

[0007] The present invention is further configured to further include a control component, which controls the state of the anchor by controlling the flow of the flowable medium into and out of the anchor.

[0008] The present invention is further configured as follows: the control assembly comprises a cylinder body, the cylinder body is in communication with the anchoring piece, and a flowable medium is stored in the cylinder body; and a control piston disposed in the cylinder body and slidably connected in the cylinder body to control the flowable medium in the cylinder body to flow into and out of the anchoring member.

[0009] The present invention is further configured as follows: the anchors are connected to the cylinder body through pipelines, and the connection points between the pipelines and the cylinder body on the two anchors are respectively located at two ends of the sliding direction of the control piston.

[0010] The present invention is further configured as follows: the telescopic member comprises a first tube member and a second tube member, the second tube member is sleeved outside the first tube member and can slide on the first tube member along the length direction of the first tube member; The two anchoring pieces are respectively arranged at one end of the first pipe piece away from the second pipe piece and one end of the second pipe piece away from the first pipe piece.

[0011] The present invention is further configured as follows: a confined space is provided inside the first pipe fitting and the second pipe fitting, and a balancing piston for enclosing the confined space is provided at one end of the first pipe fitting away from the second pipe fitting and / or at one end of the second pipe fitting away from the first pipe fitting, and the balancing piston adjusts the air pressure in the confined space by sliding when the telescopic member is extended or retracted.

[0012] The present invention is further configured to include a telescopic electric cylinder, which is arranged in the first pipe and the second pipe, and is used to drive the first pipe and the second pipe to extend and retract.

[0013] The present invention is further configured such that a sealing ring is provided between the first pipe fitting and the second pipe fitting.

[0014] The present invention is further configured as follows: a watertight connector is connected to the balance piston, and the communication pipeline and the power supply line are connected to the seabed detection crawling robot through the watertight connector.

[0015] To sum up, compared with the prior art, the present invention has the following beneficial effects: the present invention realizes the movement of the seabed detection crawling robot on the seabed by changing the state of the anchor piece in coordination with the extension and retraction of the telescopic piece, thereby reducing the disturbance of the seabed mud and thus reducing the impact of the diffusion of mud and sand on the seabed detection crawling robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is a schematic diagram of the overall structure of an embodiment; Figure 2 for Figure 1 A magnified schematic diagram of part A; Figure 3 for Figure 1 An enlarged schematic diagram of part B.

[0017] In the figure: 1. telescopic assembly; 11. first pipe fitting; 12. second pipe fitting; 2. anchoring piece; 3. telescopic electric cylinder; 4. control assembly; 41. cylinder body; 42. control piston; 43. control electric cylinder; 5. balancing piston; 6. watertight connector. DETAILED DESCRIPTION

[0018] In order to enable those skilled in the art to better understand the technical solution of the present invention, the technical solution of the present invention is clearly and completely described below in conjunction with the accompanying drawings of the present invention. Based on the embodiments in this application, other similar embodiments obtained by ordinary technicians in this field without making creative work should all fall within the scope of protection of this application. In addition, the directional words mentioned in the following embodiments, such as "up", "down", "left", "right", etc., are only reference to the directions of the accompanying drawings. Therefore, the directional words used are used to illustrate rather than limit the invention.

[0019] The present invention will be further described below in conjunction with the accompanying drawings and preferred embodiments.

[0020] Embodiment: A seabed exploration crawling robot, see attached Figure 1 -Attached Figure 3 , including a telescopic component 1 and an anchor 2, the telescopic component 1 can change the distance between the two ends by telescoping; the anchors 2 are respectively arranged at positions close to the two ends of the telescopic component 1 to change the distance between the two anchors 2 by telescoping the telescopic component 1, and the anchor 2 includes at least an anchoring state and a relaxed state, the anchoring state is that the anchor 2 is embedded in the seabed mud, and the relaxed state is that the anchor 2 is detached from the seabed mud.

[0021] The two anchors 2 are respectively the first anchor 2 and the second anchor 2. When the seabed detection crawling robot needs to move, the first anchor 2 is in an anchored state and the second anchor 2 is in a relaxed state. Then the telescopic component 1 contracts to drive the second anchor 2 to move toward the first anchor 2. Then the first anchor 2 is converted into a relaxed state and the second anchor 2 is converted into an anchored state. Then the telescopic component 1 extends to push the first anchor 2 forward. Then the above operations are repeated to realize the movement of the seabed detection crawling robot.

[0022] The anchor 2 is configured as a deformable bag, and the anchor 2 is embedded in the seabed sand by its own expansion deformation, and is separated from the seabed sand by its own contraction deformation.

[0023] The anchor 2 is configured as a deformable bag, that is, an elastic bag, and the anchoring state and the relaxation state are switched by the expansion and contraction of the bag. Since the surface of the elastic bag is smooth when it is expanded, the disturbance of the expansion and contraction to the seabed sediment is further reduced.

[0024] Specifically, the present embodiment further includes a control component 4, which controls the state of the anchor 2 by controlling the flowable medium to flow into and out of the anchor 2. The flowable medium can be set as gas or liquid. In the present embodiment, the flowable medium is set as liquid, and is specifically set as hydraulic oil. By allowing the hydraulic oil to flow into and out of the anchor 2, the anchor 2 is switched between the anchored state and the relaxed state.

[0025] Specifically, the control component 4 includes a cylinder 41 and a control piston 42. The flow medium is stored in the cylinder 41. The cylinder 41 is connected to the anchor 2 through a pipeline. The piston slides in the cylinder 41, and the flow medium is pushed into and out of the anchor 2 by the squeezing of the piston.

[0026] Specifically, the anchor 2 is connected to the cylinder 41 through a pipeline, and the connection points of the pipelines on the two anchors 2 and the cylinder 41 are respectively located at the two ends of the sliding direction of the control piston 42. The length direction of the cylinder 41 is arranged along the sliding direction of the piston, that is, the pipelines on the two anchors 2 are respectively connected to the two ends of the cylinder 41. When the control piston 42 moves to the end of the cylinder 41 connected to the first anchor 2, the first anchor 2 is in an anchored state, and the second anchor 2 is in a relaxed state. When the control piston 42 moves to the end of the cylinder 41 connected to the second anchor 2, the second anchor 2 is in an anchored state, and the first anchor 2 is in a relaxed state. When the seabed detection crawling robot needs to stop moving, when the control piston 42 is in the middle position in the length direction of the cylinder 41, part of the flow medium flows into both the first anchor 2 and the second anchor 2.

[0027] Specifically, the control device further includes a control electric cylinder 43, and the control electric cylinder 43 is used to drive the piston to slide.

[0028] Specifically, the telescopic member includes a first tube 11 and a second tube 12, wherein the second tube 12 is sleeved outside the first tube 11 and can slide on the first tube 11 along the length direction of the first tube 11; the two anchors 2 are respectively arranged at one end of the first tube 11 away from the second tube 12 and the other end of the second tube 12 away from the first tube 11.

[0029] A closed space is provided inside the first pipe fitting 11 and the second pipe fitting 12. A balance piston 5 is provided at one end of the first pipe fitting 11 away from the second pipe fitting 12 and / or at one end of the second pipe fitting 12 away from the first pipe fitting 11 to close the closed space. The balance piston 5 adjusts the air pressure in the closed space by sliding when the telescopic member is extended or retracted. The first pipe fitting 11 and the second pipe fitting 12 are connected. When the first pipe fitting 11 and the second pipe fitting 12 are extended or retracted, the air pressure in the closed space will change. In order to maintain the stability of the air pressure in the closed space, when the first pipe fitting 11 and the second pipe fitting 12 are extended or retracted, the balance piston 5 slides to keep the air pressure in the closed space unchanged.

[0030] Specifically, in this embodiment, the balancing piston 5 is disposed at an end of the first pipe member 11 away from the second pipe member 12 .

[0031] Specifically, the present embodiment further includes a telescopic electric cylinder 3 , which is disposed in the first pipe 11 and the second pipe 12 , and is used to drive the first pipe 11 and the second pipe 12 to telescope.

[0032] Specifically, the control component 4 in this embodiment is disposed in the first pipe 11 , and a detection device is disposed at an end of the second pipe 12 away from the first pipe 11 .

[0033] Specifically, a watertight connector 6 is connected to the balance piston 5 , and the communication pipeline and the power supply line are connected to the seabed detection crawling robot through the watertight connector 6 .

[0034] The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments. All technical solutions under the concept of the present invention belong to the protection scope of the present invention. It should be pointed out that for ordinary technicians in this technical field, some improvements and modifications without departing from the principle of the present invention should also be regarded as the protection scope of the present invention.

Claims

1. A seabed exploration crawling robot, characterized in that: It comprises a telescopic component (1), wherein the telescopic component (1) can change the distance between the two ends by telescoping; and anchors (2), the anchors (2) being respectively arranged at positions close to both ends of the telescopic assembly (1) so as to change the distance between the two anchors (2) by the telescopic assembly (1) being telescopic, the anchors (2) comprising at least an anchoring state and a relaxing state, the anchoring state being that the anchors (2) are embedded in the seabed mud and the relaxing state being that the anchors (2) are detached from the seabed mud and the 2. The seabed exploration crawling robot according to claim 1, characterized in that: The anchor (2) is configured as a deformable bag, and the anchor (2) is embedded in the seabed sand by its own expansion deformation, and is separated from the seabed sand by its own contraction deformation.

3. The seabed exploration crawling robot according to claim 2, characterized in that: Also included is a control assembly (4) for controlling the state of the anchor (2) by controlling the flow of flowable medium into and out of the anchor (2).

4. The seabed exploration crawling robot according to claim 3, characterized in that: The control assembly (4) comprises a cylinder (41), the cylinder (41) is in communication with the anchor (2), and a flowable medium is stored in the cylinder (41); and a control piston (42), wherein the control piston (42) is disposed in the cylinder (41) and is slidably connected in the cylinder (41) to control the flowable medium in the cylinder (41) to flow into and out of the anchor (2).

5. The seabed exploration crawling robot according to claim 4, characterized in that: The anchoring piece (2) is connected to the cylinder body (41) via a pipeline, and the connection points between the pipelines on the two anchoring pieces (2) and the cylinder body (41) are respectively located at two ends of the sliding direction of the control piston (42).

6. The seabed exploration crawling robot according to claim 1, characterized in that: The telescopic member comprises a first tube member (11) and a second tube member (12); the second tube member (12) is sleeved outside the first tube member (11) and is capable of sliding on the first tube member (11) along the length direction of the first tube member (11); The two anchoring pieces (2) are respectively arranged at one end of the first pipe piece (11) away from the second pipe piece (12) and one end of the second pipe piece (12) away from the first pipe piece (11).

7. The seabed exploration crawling robot according to claim 6, characterized in that: A closed space is provided inside the first pipe member (11) and the second pipe member (12); a balancing piston (5) for closing the closed space is provided at one end of the first pipe member (11) away from the second pipe member (12) and / or at one end of the second pipe member (12) away from the first pipe member (11); the balancing piston (5) adjusts the air pressure in the closed space by sliding when the telescopic member is extended or retracted.

8. The seabed exploration crawling robot according to claim 7, characterized in that: It also comprises a telescopic electric cylinder (3), which is arranged in the first pipe member (11) and the second pipe member (12), and is used to drive the first pipe member (11) and the second pipe member (12) to telescope.

9. The seabed exploration crawling robot according to claim 7, characterized in that: A sealing ring is provided between the first pipe member (11) and the second pipe member (12).

10. The seabed exploration crawling robot according to claim 7, characterized in that: The balancing piston (5) is connected to a watertight connector (6), and the communication pipeline and the power supply line are connected to the seabed detection crawling robot via the watertight connector (6).

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