Posture adjusting mechanism and adjusting method of submarine robot

Abstract

The invention relates to a posture adjusting mechanism of a submarine robot. The posture adjusting mechanism comprises a main frame, a walking assembly and a connecting rod device. The walking assemblies are connected to the two sides of the main frame through the connecting rod devices. The connecting rod device comprises a first connecting rod assembly and a second connecting rod assembly which are connected with each other, one end of the first connecting rod assembly is connected with the main frame, the other end of the first connecting rod assembly is hinged to the walking assembly, and the first connecting rod assembly can drive the walking assembly to reciprocate in the direction of a transverse shaft; the walking assembly can drive the main frame to ascend and descend when moving. One end of the second connecting rod assembly is hinged to the first connecting rod assembly, the other end of the second connecting rod assembly is connected with the walking assembly, and the second connecting rod assembly can drive the walking assembly to obliquely rotate relative to the main frame; the posture adjusting mechanism provided by the invention can freely adjust the state of the walking assembly of the robot so as to better adapt to different terrains of the seabed.

Description

Technical Field

[0001] The present invention relates to the technical field of submarine robot walking, and in particular to a posture adjustment mechanism and adjustment method of a submarine robot. Background Art

[0002] The cable-laying work of submarine cable-laying robots is primarily based on a "lay first, bury later" technique. As the robot moves across the seabed, it first uses high-pressure water to clear away the mud and sand ahead, forming a deep trench. As the water jets, the trench continues to extend forward. A cable-pressing device then presses the cable into the resulting trench, ensuring stable laying. Finally, a backfill device backfills the trench, covering the cable and completing the laying process. The entire trenching and cable-laying operation relies on the robot's autonomous movement. Therefore, tracked underwater robots, capable of adapting to the complex terrain of the seabed, are widely used in underwater operations.

[0003] For example, the Chinese patent CN113882455A discloses an underwater trenching machine travel device, which specifically discloses "including a vehicle frame and a pair of sub-traveling devices symmetrically arranged with the central axis of the vehicle frame as the axis of symmetry, the sub-traveling devices being connected to the vehicle frame; the sub-traveling devices including a crawler beam, a driving device, a crawler and a protective device". The crawler-type travel device realizes the travel drive of the trenching machine, and the cable laying and trenching operation can be carried out without being towed by a mother ship. Although the existing technology has solved the problem of autonomous travel of the trenching machine, it is impossible to adaptively adjust the posture of the crawler. Since the seabed environment is very complex and the terrain is high and low, it is not as flat as working on land. Therefore, when encountering some higher or low-lying terrain, it may be necessary to lower the position of the machine to solve the problem, which is very troublesome and also makes the trenching and cable laying effects in some areas poor.

[0004] Therefore, it is necessary to improve the existing technology and provide an adjustment mechanism and adjustment method that can change the robot's posture to adapt to various terrains. Summary of the Invention

[0005] In view of the deficiencies in the prior art, the present invention provides a posture adjustment mechanism and adjustment method for an underwater robot that can adapt to various terrains.

[0006] In order to solve the above technical problems, the technical solution used in the present invention is: a posture adjustment mechanism of an underwater robot, comprising a main frame, a walking assembly and a connecting rod device; the walking assembly is connected to both sides of the main frame through the connecting rod device; the connecting rod device comprises a first connecting rod assembly and a second connecting rod assembly connected to each other, one end of the first connecting rod assembly is connected to the main frame, and the other end is hinged to the walking assembly, the first connecting rod assembly can drive the walking assembly to move back and forth along the horizontal axis, and the walking assembly can drive the main frame to perform lifting and lowering movements when moving; one end of the second connecting rod assembly is hinged to the first connecting rod assembly, and the other end is connected to the walking assembly, the second connecting rod assembly can drive the walking assembly to tilt and rotate relative to the main frame.

[0007] Preferably, the first connecting rod assembly includes a first driver, a main rod, a connecting rod, a secondary rod and a moving rod, and the main rod, connecting rod, secondary rod and moving rod are hinged in sequence; the two ends of the first driver are respectively connected to the main frame and the main rod, and the moving rod is also connected to the walking assembly, and the first driver can drive the moving rod to move along the horizontal axis through the main rod.

[0008] Preferably, there are four hinge points where the main rod, the connecting rod, the auxiliary rod and the moving rod are hinged in sequence, and the lines connecting the four hinge points form a parallelogram structure in the same plane.

[0009] Preferably, the second connecting rod assembly includes a second driver and a pull rod, the first connecting rod assembly includes a moving rod, one end of the pull rod and the moving rod are respectively hinged to the second driver, the other end of the pull rod is fixed to the walking assembly, and the other end of the moving rod is hinged to the walking assembly; the second driver can drive the pull rod and the moving rod to move at the same time, and when the pull rod and the moving rod move, the walking assembly can be tilted and rotated relative to the main frame.

[0010] Preferably, the walking assembly includes a track beam, a track plate, a chain belt and a power assembly, the track plate is fixed on the chain belt, the power assembly is fixed on the track beam, and can drive the chain belt to rotate relative to the track beam; the track beam and the connecting rod device are hinged.

[0011] Preferably, the power assembly includes a sprocket and a power motor. The sprockets are respectively arranged at both ends of the track beam and are respectively engaged with the chain belt. The power motor is fixed on the track beam and connected to at least one of the sprockets. The power motor can drive the chain belt to rotate through the sprocket.

[0012] Preferably, the traveling assembly further comprises a guide wheel, and the guide wheels are multiple, and the multiple guide wheels are spaced apart along the length direction of the crawler beam and abut against the chain belt.

[0013] A method for adjusting the posture of an underwater robot comprises a detection device, a controller, and a posture adjustment mechanism according to any one of the above preferred embodiments; the method for adjusting the posture of the underwater robot comprises the following steps: S1: Obtaining load information of the walking component and / or environmental information of the robot's forward direction through the detection device; S2: The controller adjusts the posture of the robot based on the load information of the walking component and / or the environmental information of the robot's forward direction; adjusting the posture of the robot includes adjusting the height of the robot through the first connecting rod assembly and / or adjusting the inclination angle of the walking component through the second connecting rod assembly.

[0014] Preferably, the specific steps of step S1 are: The detection device includes a sensor and an audio-visual device, wherein the sensor is used to detect the load information of the walking component and send it to the controller; and / or, Acquire environmental information about the robot's forward direction through the audio-visual device, the environmental information including terrain feature information and obstacle information, and send the information to the controller; The specific steps of step S2 are: The controller sends an instruction to the first driver according to the detection result of the sensor, and the first driver receives the instruction from the controller and controls the first link assembly to adjust the height of the robot; and / or, The controller sends an instruction to the second driver according to the detection result of the audio-visual device. The second driver receives the instruction from the controller and controls the second connecting rod assembly to adjust the tilt angle of the walking assembly.

[0015] Preferably, the method further includes step S3: obtaining the speed and mileage information of the robot through a track encoder, and obtaining the current posture data information of the robot through a fiber optic gyroscope.

[0016] The beneficial effects of the present invention are mainly reflected in: the lifting and lowering effect of the robot as a whole is achieved in the process of controlling the translation of the walking assembly by the first connecting rod assembly; the tilting and rotation of the walking assembly relative to the main frame is controlled by the second connecting rod assembly, so that the posture of the robot as a whole can be freely adjusted, so that it can better adapt to different terrains of the seabed; in addition, through the mutual cooperation of the cable grabbing assembly and the punching knife assembly, trenching and cable burying are achieved in the process of lifting the cable, avoiding damage to the cable by the punching knife during the trenching process; in addition, the success rate of the clamping claw in grabbing the cable is higher through the swing of the telescopic arm. Through the adjustment of the above structures, the overall cable laying effect of the submarine robot in the present invention is better. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The above and other objects, features and advantages of the present invention will become more apparent through a more detailed description of the preferred embodiments of the present invention shown in the accompanying drawings. The same reference numerals indicate the same parts throughout the accompanying drawings, and the drawings are not drawn to scale with actual size. The emphasis is on illustrating the subject matter of the present invention.

[0018] Figure 1 Schematic diagram of the connection structure between the main frame, the connecting rod device and the traveling assembly in the present invention; Figure 2 Schematic diagram of the translation state of the walking assembly in the present invention; Figure 3 Schematic diagram of the structure of the first connecting rod assembly in the present invention; Figure 4 This is a schematic diagram of the translation and rotation states of the walking assembly in the present invention; Figure 5 Schematic diagram of the overall structure of the submarine robot in the present invention; Figure 6 This is a flow chart of the posture adjustment control of the robot in the present invention; Figure 7 This is a schematic diagram of the structure of the robot in the present invention from a top view; Figure 8 Schematic diagram of the three-dimensional perspective structure of the robot in the present invention; Figure 9 This is a schematic diagram of the main viewing angle structure of the robot in the present invention; Figure 10 This is a control flow chart of the cable grabbing assembly in the present invention; Figure 11 Schematic diagram of the overall structure of the cable grabbing assembly in the present invention; Figure 12 This is a schematic diagram of the overall structure of the cable grabbing assembly of the present invention from another perspective; Figure 13 Schematic diagram of the connection structure of the water channel assembly and the jetting knife assembly in the present invention; In the figure: main frame 1, cable detector 10, thruster 11; Walking assembly 2, crawler beam 20, crawler shoe 21, chain belt 22, sprocket 23, guide wheel 24; Connecting rod device 3, first connecting rod assembly 30, main rod 301, connecting rod 302, auxiliary rod 303, moving rod 304, first driver 305, second connecting rod assembly 31, pull rod 310, second driver 311; Cable grabbing assembly 4, telescopic arm 40, fixed section 401, middle section 402, tail section 403, driving source 41, rotating rod 42, first driving component 43, second driving component 44, clamping claw 45, power source 450, base 46; Punching knife assembly 5, punching knife 50, cable press 51, four-bar linkage 52; Water channel assembly 6 , pump body 60 , manifold 61 , first pipe 62 , second pipe 63 . DETAILED DESCRIPTION

[0019] To facilitate understanding of the present invention, the present invention will be described more fully below with reference to the relevant drawings.

[0020] It should be noted that when an element is considered to be "connected" to another element, it may be directly connected to the other element and integrated therewith, or there may be an intermediate element. The terms "mounted", "one end", "the other end" and similar expressions used herein are for illustrative purposes only.

[0021] Unless otherwise defined, all technical and scientific terms used herein have the same meanings as commonly understood by those skilled in the art. The terms used in this specification are for the purpose of describing specific embodiments only and are not intended to limit the present invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0022] refer to Figure 1-5The present invention provides a posture adjustment mechanism of an underwater robot, comprising a main frame 1, a walking assembly 2 and a connecting rod device 3; the main frame 1 serves as the bearing core of the entire robot and is mainly used for connecting and installing various devices; the walking assembly 2 is mainly used to provide the robot with a traveling function, and the connecting rod device 3 is mainly used to adjust the posture of the walking assembly 2; the walking assembly 2 is connected to both sides of the main frame 1 through the connecting rod device 3 (specifically, the walking assembly 2 is hinged to both sides of the main frame 1); the connecting rod device 3 includes a first connecting rod assembly 30 and a second connecting rod assembly 31 connected to each other, one end of the first connecting rod assembly 30 is connected to the main frame 1, and the other end is hinged to the walking assembly 2, the first connecting rod assembly 30 can drive the walking assembly 2 to move back and forth along the horizontal axis direction. In this embodiment, the direction perpendicular to the forward direction of the robot is the horizontal axis direction, that is, Figure 1 When the walking assembly 2 moves, it can drive the main frame 1 to move up and down; specifically, when the walking assemblies 2 on both sides of the main frame 1 move along the horizontal axis respectively, they can drive the main frame 1 to descend, thereby reducing the overall height of the robot; and when they move back, they drive the main frame 1 to rise, thereby increasing the overall height of the robot; thereby being able to better adapt to the uneven terrain of the seabed; one end of the second connecting rod assembly 31 is hinged to the first connecting rod assembly 30, and the other end is connected to the walking assembly 2. The second connecting rod assembly 31 can drive the walking assembly 2 to tilt and rotate relative to the main frame 1, that is, the inclination angle of the walking assembly 2 relative to the seabed surface can be adjusted through the second connecting rod assembly 31, thereby further adapting to different terrains of the seabed.

[0023] refer to Figure 1-4 In a preferred embodiment, the first connecting rod assembly 30 includes a first driver 305, a main rod 301, a connecting rod 302, a secondary rod 303 and a mobile rod 304. The main rod 301, the connecting rod 302, the secondary rod 303 and the mobile rod 304 are hinged in sequence. In this embodiment, the first driver 305 is a hydraulic cylinder. The two ends of the first driver 305 are respectively connected to the main frame 1 and the main rod 301. The mobile rod 304 is also connected to the walking assembly 2. The first driver 305 can drive the mobile rod 304 to move along the horizontal axis through the main rod 301. Specifically, the main rod 301, the connecting rod 302, the secondary rod 303 and the mobile rod 304 are hinged to each other and together form a parallel four-bar linkage structure. When the first driver 305 (hydraulic cylinder) performs telescopic movement, it generates a linkage effect by driving the main rod 301 to move, thereby driving the mobile rod 304 to move translationally along the horizontal axis, such as Figure 2 The walking component 2 located on the left side of the main frame 1 is in a translation state.

[0024] refer to Figure 1-4The process of the first connecting rod assembly 30 driving the overall height of the robot to be lowered is as follows: when the first driver 305 performs a contraction movement (that is, the piston rod of the hydraulic cylinder performs a contraction movement), a pulling force is generated on the main rod 301. At the same time, the lower end of the main rod 301 (the end hinged to the mobile rod 304) also generates an upward pulling force on the mobile rod 304. At this time, the upper end of the main rod 301 moves backward (that is, moves in the direction of the auxiliary rod 303). Based on the characteristics of the parallel four-bar linkage, when the main rod 301 moves, the auxiliary rod 303 also moves relatively. At this time, the lower end of the auxiliary rod 303 (the end hinged to the mobile rod 304) generates a thrust on the mobile rod 304, as shown in FIG. Figure 2 As shown, the auxiliary rod 303 is changed from its original relatively vertical state to an inclined state, thereby forming an action of pushing the moving rod 304 outward, realizing the translational movement of the moving rod 304, and the moving rod 304 is hinged to the walking component 2, so when the moving rod 304 moves, the walking component 2 is also translated outward (the so-called outward translation refers to movement in the direction away from the main frame 1). When the walking components 2 on both sides of the main frame 1 are translated outward respectively, the overall height of the main frame 1 is reduced, thereby achieving the effect of lowering the overall height of the robot.

[0025] Based on the same principle, when the first driver 305 extends (i.e., the piston rod of the hydraulic cylinder extends), it generates a thrust on the main rod 301. Based on the characteristics of the parallelogram linkage, the main rod 301 moves while generating a linkage effect on the other rods. Finally, the walking component 2 is driven to translate backward (i.e., translate toward the main frame 1) through the moving rod 304, thereby changing the robot as a whole from a descending state to an ascending state.

[0026] refer to Figure 3 In a further preferred embodiment, the main rod 301, the connecting rod 302, the auxiliary rod 303 and the mobile rod 304 are hinged at four hinge points in sequence. Figure 3 The lines connecting the four hinge points (A, B, C, and D) in the figure form a parallelogram structure in the same plane. This parallelogram-shaped connecting rod structure is structurally simple while also effectively achieving the translational movement of the walking assembly 2, thereby driving the overall height of the robot to rise and fall, better adapting to the varying terrain of the seabed.

[0027] refer to Figure 4In a preferred embodiment, the second connecting rod assembly 31 includes a second driver 311 and a pull rod 310. The first connecting rod assembly 30 includes a moving rod 304. One end of the pull rod 310 and the moving rod 304 are respectively hinged to the second driver 311, and the other end of the pull rod 310 is fixed to the traveling assembly 2. In this embodiment, one end of the pull rod 310 is hinged to the output end of the second driver 311 (i.e., hinged to the piston rod of the hydraulic cylinder), and the other end of the pull rod 310 is welded to the traveling assembly 2. The other end of the traveling rod 304 is hinged to the traveling assembly 2. The second driver 311 can simultaneously drive the pull rod 310 and the moving rod 304 to move. When the pull rod 310 and the moving rod 304 move, the traveling assembly 2 can tilt and rotate relative to the main frame 1. In this embodiment, the second driver 311, like the first driver 305, can be a hydraulic cylinder.

[0028] The working process of the second connecting rod assembly 31 is as follows: when the second driver 311 extends (that is, the piston rod of the hydraulic cylinder extends), a thrust is generated on the moving rod 304. At the same time, the second driver 311 also drives one end of the first connecting rod to move downward (that is, the end of the first connecting rod hinged to the second driver 311 rotates downward, and the so-called downward refers to the direction toward the seabed surface). At this time, the other end of the first connecting rod (the end welded and fixed to the walking assembly 2) moves upward; at the same time, the walking assembly 2 rotates around the hinge point hinged to the walking assembly 2. Under the joint action of the first connecting rod and the moving rod 304, the walking assembly 2 rotates a certain angle, thereby forming a tilted state relative to the main frame 1 (such as Figure 4 The second actuator 311 retracts (i.e., the piston rod of the hydraulic cylinder retracts), generating a pulling force on the travel rod 304 and the first connecting rod. The movement of the first connecting rod is reversed, and the travel rod 304 rotates in the opposite direction about the hinge point where it is connected to the travel assembly 2. Similarly, the combined action of the travel rod 304 and the first connecting rod returns the travel assembly 2 to its original state, where the bottom surface of the travel assembly 2 is in contact with the seabed.

[0029] refer to Figure 4 The first connecting rod assembly 30 and the second connecting rod assembly 31 can be used in conjunction with each other, that is, the first connecting rod assembly 30 can first drive the walking assembly 2 to move horizontally to reduce the overall height of the robot, and then the second connecting rod assembly 31 can drive the walking assembly 2 to rotate a certain angle and tilt relative to the main frame 1. The two work together to better adapt to various types of terrain conditions on the seabed.

[0030] refer to Figure 5In a preferred embodiment, the traveling assembly 2 includes a track beam 20, track shoes 21, a chain belt 22, and a power assembly. The track shoes 21 are fixed to the chain belt 22. The power assembly is fixed to the track beam 20 and can drive the chain belt 22 to rotate relative to the track beam 20. The track beam 20 is hingedly connected to the connecting rod assembly 3. Specifically, the moving rod 304 of the first connecting rod assembly 30 is hingedly connected to the track beam 20. The first connecting rod of the second connecting rod assembly 31 is welded to the track beam 20. In this embodiment, a connecting rod assembly 3 is installed at the front and rear ends of each track beam 20 on the same side. The two connecting rod assemblies 3 operate in a consistent manner, thereby achieving a better driving effect and higher stability.

[0031] refer to Figure 5 In a further preferred embodiment, the power assembly includes sprockets 23 and a power motor (not shown). The sprockets 23 are respectively provided at both ends of the track beam 20 and mesh with the chain belt 22. The power motor is fixed to the track beam 20 and connected to at least one sprocket 23. The power motor can drive the chain belt 22 to rotate via the sprocket 23. The output end of the power motor is connected to one of the sprockets 23. As the motor rotates, it also drives the sprocket 23. Under the meshing action of the sprocket 23 and the chain belt 22, the chain belt 22 is synchronously driven to rotate, and the other sprocket 23 is also driven to rotate, thereby achieving a relatively good transmission effect.

[0032] refer to Figure 5 In a preferred embodiment, the traveling assembly 2 further includes a plurality of guide wheels 24, which are spaced apart along the length of the track beam 20 and located on the upper and lower sides of the track beam 20, abutting the chain belt 22. The guide wheels 24 not only guide the chain belt 22 but also provide better support for the chain belt 22 in the middle (i.e., the portion between the two sprockets 23), thereby ensuring effective power transmission.

[0033] A method for adjusting the posture of an underwater robot comprises a detection device, a controller, and the posture adjustment mechanism of any one of the above preferred embodiments; the method for adjusting the posture of the underwater robot comprises the following steps: S1: Obtaining load information of the walking component 2 and / or environmental information of the robot's forward direction through a detection device; S2: The controller adjusts the robot's posture based on the load information of the walking assembly 2 and / or environmental information regarding the robot's forward direction. This adjustment includes adjusting the robot's height via the first link assembly 30 and / or adjusting the tilt angle of the walking assembly 2 via the second link assembly 31. Specifically, the first link assembly 30 drives the walking assembly 2 to move along the horizontal axis, and the translation of the walking assembly 2 inevitably causes the robot's overall height to decrease. Furthermore, the second link assembly 31 adjusts the tilt angle of the walking assembly 2 relative to the main frame 1.

[0034] In a preferred embodiment, the specific steps of step S1 are: The detection device includes a sensor and an audio-visual device, the sensor is used to detect the load information of the walking component 2 and send it to the controller; and / or, The robot obtains environmental information about the robot's direction of travel through audio and video equipment, including terrain features and obstacle information, and sends it to the controller; The specific steps of step S2 are: The controller sends an instruction to the first driver 305 according to the detection result of the sensor. The first driver 305 receives the instruction from the controller and controls the first link assembly 30 to adjust the height of the robot; and / or, The controller sends an instruction to the second driver 311 according to the detection result of the audio-visual device. The second driver 311 receives the instruction from the controller and controls the second connecting rod assembly 31 to adjust the tilt angle of the walking assembly 2.

[0035] In this embodiment, each of the first actuator 305 and the second actuator 311 is equipped with a pressure sensor (not shown). This sensor is primarily used to detect pressure information (load information). Specifically, when the seabed terrain is flat, the pressures in the cylinders on both sides of the robot (the first actuator 305 and the second actuator 311) are essentially the same. However, when the terrain is uneven, the pressure in the cylinder on the higher side is naturally higher than that on the lower side. In this case, the sensor transmits the detection result to the controller, which in turn sends a command to the cylinders, causing them to retract their piston rods, thereby lowering the height of the travel assembly 2 and balancing the load on both sides of the robot. The same principle also applies in reverse.

[0036] The audio-visual equipment primarily consists of cameras and sonars. The cameras, mounted on the main frame 1, capture the robot's surroundings as it moves forward. Specifically, the sonar is used to capture images of distant terrain and feed them back to the controller, thereby determining the robot's navigation path and allowing for pre-determined adjustments to the robot's posture. The cameras, on the other hand, identify obstacles near the robot, as well as high slopes, low-lying terrain, and provide feedback to the controller, enabling timely adjustments to the robot's posture.

[0037] In a preferred embodiment, step S3 is also included: obtaining the robot's speed and mileage information via a track encoder, and obtaining the robot's current posture data information via a fiber optic gyroscope. The track encoder is primarily used to record data such as the robot's walking speed and mileage, while the fiber optic gyroscope is primarily used to provide real-time feedback on the robot's own posture data. Both data and information are sent to the controller, allowing the system to determine whether timely adjustments to the robot's posture or other conditions are required.

[0038] The above control process logic for the underwater robot posture adjustment can be referred to Figure 6 , Figure 6 The control system is the controller in the above embodiment; the crawler track control specifically refers to the control of the walking component 2.

[0039] refer to Figure 7 In the preferred embodiment, the main frame 1 is provided with a cable grabbing assembly 4 and a punching knife assembly 5, which are respectively arranged at the front and rear ends of the main frame 1 (i.e. Figure 7 The cable grabbing assembly 4 is mainly used to lift the cable / pipeline to a certain height during the cable laying process, and then lower it to the seabed by the punching knife assembly 5 to dig a trench on the seabed and press the cable, so as to bury the cable / pipeline in the trench.

[0040] refer to Figure 9-12 In a further preferred embodiment, the cable grabbing assembly includes a telescopic arm 40, a driving source 41 (such as a cylinder or a pneumatic cylinder) for driving the telescopic arm 40 to swing relative to the main frame, a base 46, and a clamping jaw 45. One end of the telescopic arm 40 is hinged to the main frame, and the other end is hinged to the base 46. The clamping jaw 45 is hinged to the bottom end of the base 46 (i.e., the end away from the telescopic arm 40). Power sources 450 for controlling the opening and closing of the clamping jaw 45 are respectively provided on both sides of the clamping jaw 45. The power source 450 can specifically be a cylinder, one end of the cylinder is connected to the base 46, and the other end is connected to the clamping jaw 45 (specifically, hinged). The cylinder controls the opening or closing of the clamping jaw 45 through the telescopic movement of the piston rod, thereby realizing the clamping jaw 45 to grasp and release the cable.

[0041] In this embodiment, the driving source 41 is fixed on the main frame 1, and the telescopic arm 40 is connected to the main frame 1 through a rotating rod 42, that is, one end of the rotating rod 42 is rotatably connected to the main frame 1, and the other end is connected to the telescopic arm 40. The bottom of the rotating rod (the so-called bottom refers to the side closer to the seabed) is provided with an outwardly protruding connecting piece, and the rotating rod is connected to the output end of the driving source 41 through the connecting piece. The connecting piece can be a connecting plate, a connecting column or other components, as long as the force transmission can be achieved. Therefore, when the output end of the driving source 41 is in motion, it can drive the telescopic arm 40 to swing relative to the main frame. The swing mentioned here refers to the telescopic arm 40 swinging relative to the main frame along a certain arc. Specifically, when the output end of the driving source 41 is in motion, a thrust is generated on the rotating rod 42 through the connecting piece, causing it to rotate. When the rotating rod 42 rotates, it drives the telescopic arm 40 to move. Figure 9 , from this perspective as the first perspective, when the driving source 41 is in motion (taking the driving source 41 as an oil cylinder, when the piston rod of the oil cylinder is extended, it is considered that the output end of the driving source 41 is in motion), a thrust is generated on the rotating rod 42. At this time, the rotating rod 42 rotates to the left (or counterclockwise), and drives the upper end of the telescopic arm 40 to swing to the left (i.e. Figure 9 (left direction in the figure), since the telescopic arm 40 is tilted, when its upper end swings relatively to the left, its lower end swings relatively to the right, thereby driving the clamping claw 45 to adjust the clamping position; similarly, taking the driving source 41 as an oil cylinder as an example, when the piston rod of the oil cylinder retracts, a pulling force is generated on the rotating rod 42, at which time the rotating rod 42 rotates to the right (or clockwise), and synchronously drives the upper end of the telescopic arm 40 to swing relatively to the right, and the lower end to swing to the left.

[0042] In actual practice, as the seawater moves, the actual position of the cable / pipeline may not be accurately located directly below the clamp 45, that is, there will be a certain offset, that is, it may be slightly to the left or right. At this time, the gripping position of the clamp 45 can be adjusted by adjusting the swing angle of the telescopic arm 40. Through this fine-tuning effect, accurate gripping of the cable / pipeline is achieved, further improving the accuracy of cable gripping.

[0043] refer to Figure 9-12Furthermore, the telescopic arm 40 has a multi-section structure, specifically a three-section structure, including a fixed section 401, an intermediate section 402, and a tail section 403 connected in sequence. The fixed section 401 is connected to the main frame via a rotating rod 42, and the tail section 403 is connected to the base 46. The intermediate section 402 can be driven by a first driving component 43 to retract relative to the fixed section 401, and the tail section 403 can be driven by a second driving component 44 to retract relative to the intermediate section 402. In this embodiment, the first driving component 43 and the second driving component 44 are both telescopic cylinders. Compared to the previous one-section robotic arm structure, this multi-section telescopic structure can reduce the overall volume of the telescopic arm 40, occupying less space. On the other hand, it can also achieve a deeper gripping depth of the gripper 45.

[0044] In this embodiment, the cable grabbing assembly 4 can be used in conjunction with audio and video equipment, which includes a camera and sonar. Figure 10 The specific working process is as follows: first, the specific position of the cable / pipe is detected by the camera, sonar and cable detector 10. After the specific position of the cable is determined, the telescopic arm 40 is extended to a length sufficient to achieve the gripping depth of the clamp 45. At this time, if the clamp 45 is slightly offset from the position of the cable, the telescopic arm 40 can be swung (that is, Figure 10 The robot rotation adjustment in the flowchart is used to adjust a certain angle and the relevant adjustment angle is fed back to the controller (i.e. Figure 10 The control system in the system then positions the gripper 45 directly above the cable / pipeline. The hydraulic cylinders on either side of the gripper 45 then actuate, driving the gripper 45 to open and close (specifically, the piston rods of the hydraulic cylinders on either side of the gripper 45 retract to open the gripper 45, and extend to close the gripper 45). Once the gripper 45 has completed its grip, the telescopic arm 40 shortens, driving the gripper 45 to lift the cable / pipeline to a desired height (the specific height can be adjusted based on actual needs). The ramming blade assembly 5 then scours the seabed, burying the cable in the trench. During this process, the telescopic arm 40's telescopic length and swing angle information are fed back to the controller, allowing the system to determine whether adjustments are needed.

[0045] refer to Figure 13In a further preferred embodiment, the jetting knife assembly 5 specifically includes a jetting knife 50, a cable press 51 and a four-bar linkage 52. The jetting knife 50 is hinged to the main frame 1 through the four-bar linkage 52. The four-bar linkage 52 is used to control the retraction and extension of the jetting knife 50. The cable press 51 is fixed to the end of the jetting knife 50 (i.e., the end away from the main frame 1); the front end of the jetting knife 50 (i.e., the end close to the main frame 1) is provided with a water channel assembly 6, which is fixed to the main frame 1 and connected to the jetting knife 50; the water channel assembly 6 includes a pump body 60, The confluence pipe 61, the first pipe 62 and the second pipe 63, the first pipe 62 are respectively connected to the two ends of the confluence pipe 61, and the first pipe 62 is also connected to the pump body 60, one end of the second pipe 63 is connected to the confluence pipe 61, and the other end is connected to the jetting knife 50. The pump body 60 transports the water flow in the first pipe 62 to the confluence pipe 61 for convergence. The converged water flow is finally transported to the nozzle of the jetting knife 50 through the second pipe 63, and finally high-pressure water flow is ejected through the nozzle, which further improves the trenching effect of the jetting knife 50 during the trenching process.

[0046] refer to Figure 7-9 In a further preferred embodiment, two thrusters 11 are further provided on the main frame. The two thrusters 11 are respectively provided at the front and rear ends of the main frame and are arranged diagonally. The thrusters 11 are mainly used to assist in adjusting the posture and position of the robot on the seabed.

[0047] In the present invention, the overall working steps of the submarine robot are as follows: Step 1: After determining the approximate location of the cable, the entire robot is lifted from the deck into the sea using the mother ship's crane, and then placed on the bottom so that the robot straddles the cable.

[0048] Step 2: The cable grabbing assembly 4 grabs the cable: the position of the cable is detected by sonar and the cable detector 10, and the spatial position of the cable is identified by the camera; at this time, if the position of the cable is offset relative to the position of the clamping claw 45, the swing angle of the telescopic arm 40 can be adjusted so that the clamping claw 45 is located above the cable, and then the power sources 450 on both sides of the clamping claw 45 control the opening and closing of the clamping claw 45 to achieve the grasping of the cable. After the grasping action is completed, the telescopic arm 40 contracts, driving the clamping claw 45 to rise, and lifting the cable to a suitable height.

[0049] Step 3: The jet knife assembly 5 digs trenches: by lowering the jet knife assembly 5 to contact the seabed surface, the jet knife assembly 5 moves, and as the walking assembly 2 continues to move, the jet knife assembly 5 continuously digs trenches along the direction of the robot's movement and buries the cable in the trench.

[0050] During the robot's moving construction process: the punching knife assembly 5 maintains the actions of lowering, punching and cable pressing. During the movement, the sonar and camera cooperate with each other, always taking into account the environmental conditions of the distant and near scenes, obtaining terrain feature images, and feeding back the information to the controller; at the same time, the pressure sensor also detects the pressure information (load information) of the walking assembly 2 in real time, and feeds it back to the controller, so as to adjust the robot's posture in time and balance the load on both sides of the main frame 1; for example, the first connecting rod assembly 30 is used to drive the robot to rise and fall as a whole, or the second connecting rod assembly 31 is used to adjust the inclination angle of the walking assembly 2 relative to the main frame 1, so as to ensure that the robot can safely pass through gullies or slopes and better adapt to different terrain conditions on the seabed.

[0051] Step 4: Recovery: After the cable-laying work is completed, the walking component 2 stops moving forward, the punching knife component 5 is retracted, the cable-grabbing component 4 lowers the cable, and then the robot is hoisted as a whole by the mother ship crane and recovered to the deck, thus completing the submarine trenching and cable-laying work of the entire robot.

[0052] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A posture adjustment mechanism for an underwater robot, characterized in that: It includes a main frame, a walking assembly and a connecting rod device; the walking assembly is connected to both sides of the main frame through the connecting rod device; the connecting rod device includes a first connecting rod assembly and a second connecting rod assembly that are connected to each other, one end of the first connecting rod assembly is connected to the main frame, and the other end is hinged to the walking assembly, the first connecting rod assembly can drive the walking assembly to reciprocate along the horizontal axis direction, and the main frame can be driven to perform lifting and lowering movements when the walking assembly moves; one end of the second connecting rod assembly is hinged to the first connecting rod assembly, and the other end is connected to the walking assembly, the second connecting rod assembly can drive the walking assembly to tilt and rotate relative to the main frame.

2. The posture adjustment mechanism of the underwater robot according to claim 1, characterized in that: The first connecting rod assembly includes a first driver, a main rod, a connecting rod, a secondary rod and a moving rod, and the main rod, connecting rod, secondary rod and moving rod are hinged in sequence; the two ends of the first driver are respectively connected to the main frame and the main rod, and the moving rod is also connected to the walking assembly. The first driver can drive the moving rod to move along the horizontal axis direction through the main rod.

3. The posture adjustment mechanism of the underwater robot according to claim 2, characterized in that: There are four hinge points where the main rod, the connecting rod, the auxiliary rod and the moving rod are hinged in sequence, and the connecting lines of the four hinge points form a parallelogram structure in the same plane.

4. The posture adjustment mechanism of the underwater robot according to claim 1, characterized in that: The second connecting rod assembly includes a second driver and a pull rod, and the first connecting rod assembly includes a moving rod, one end of the pull rod and the moving rod are respectively hinged to the second driver, the other end of the pull rod is fixed to the walking assembly, and the other end of the moving rod is hinged to the walking assembly; the second driver can drive the pull rod and the moving rod to move at the same time, and when the pull rod and the moving rod move, the walking assembly can be tilted and rotated relative to the main frame.

5. The posture adjustment mechanism of the underwater robot according to claim 1, characterized in that: The walking assembly includes a track beam, a track shoe, a chain belt and a power assembly. The track shoe is fixed on the chain belt. The power assembly is fixed on the track beam and can drive the chain belt to rotate relative to the track beam. The track beam is hinged to the connecting rod device.

6. The posture adjustment mechanism of the underwater robot according to claim 5, characterized in that: The power assembly includes a sprocket and a power motor. The sprockets are respectively arranged at both ends of the track beam and are respectively engaged with the chain belts. The power motor is fixed on the track beam and connected to at least one of the sprockets. The power motor can drive the chain belt to rotate through the sprockets.

7. The posture adjustment mechanism of the underwater robot according to claim 5, characterized in that: The travel assembly also includes a guide wheel, and the guide wheels are multiple. The multiple guide wheels are arranged at intervals along the length direction of the crawler beam and abut against the chain belt.

8. A method for adjusting the posture of an underwater robot, characterized in that: The method comprises a detection device, a controller and a posture adjustment mechanism as described in any one of claims 1 to 7; the posture adjustment method of the underwater robot comprises the steps of: S1: Obtaining the load information of the walking component and / or the environmental information of the robot's forward direction through the detection device; S2: The controller adjusts the posture of the robot based on the load information of the walking component and / or the environmental information of the robot's forward direction; adjusting the posture of the robot includes adjusting the height of the robot through the first connecting rod assembly and / or adjusting the inclination angle of the walking component through the second connecting rod assembly.

9. The method for adjusting the posture of an underwater robot according to claim 8, characterized in that: The specific steps of step S1 are: The detection device includes a sensor and an audio-visual device, wherein the sensor is used to detect the load information of the walking component and send it to the controller; and / or, Acquire environmental information of the robot's advancing direction through the audio-visual device, the environmental information including terrain feature information and obstacle information, and send the information to the controller; The specific steps of step S2 are: The controller sends an instruction to the first driver according to the detection result of the sensor, and the first driver receives the instruction of the controller and controls the first connecting rod assembly to adjust the height of the robot; and / or, The controller sends instructions to the second driver according to the detection result of the audio-visual device. The second driver receives the instructions from the controller and controls the second connecting rod assembly to adjust the tilt angle of the walking assembly.

10. The method for adjusting the posture of an underwater robot according to claim 8, characterized in that: The method also includes step S3: obtaining the speed mileage information of the robot through the track encoder, and obtaining the current posture data information of the robot through the fiber optic gyroscope.

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