Underwater concrete row throwing robot

Abstract

The invention relates to an underwater concrete row releasing robot which comprises a frame, a posture adjusting mechanism, a row releasing mechanism and a driving mechanism. The frame comprises a plurality of lifting holes, and the lifting holes are used for allowing slings of the lifting disc to penetrate through. The posture adjusting mechanism comprises a plurality of propellers annularly arranged on the frame, and the propellers are used for driving the frame to rotate. The row releasing mechanism has a locking state and a releasing state, the row releasing mechanism can hoist and pull concrete rows in the locking state, and the row releasing mechanism can release the concrete rows in the releasing state. The driving mechanism is used for driving the row releasing mechanism to be switched between the locking state and the releasing state and driving the propeller to rotate. By means of the underwater concrete row throwing robot, the purpose of efficiently and accurately throwing concrete rows in deep sea can be achieved.

Description

Technical Field

[0001] The invention relates to the technical field of robots, and in particular to an underwater concrete row delivery robot. Background Art

[0002] At present, when carrying out submarine cable protection construction, a kind of concrete interlocking row is often used to cover and protect the submarine cable. Generally, when sinking this concrete interlocking row, the common method is to roughly locate the placement position, then use a crane ship to directly lift and sink the interlocking row at the placement point, and finally use divers or other underwater observation methods to observe the placement results. The concrete row is composed of pieces of concrete connected in series by ropes.

[0003] In the prior art, for example, Chinese patent publication number CN117626979A is called underwater concrete interlocking row delivery tooling. In deep sea areas, due to the effect of ocean currents, the underwater concrete interlocking row delivery tooling is prone to rotation, resulting in failure to properly cover the submarine cable. Some cables are below 1,000 meters underwater, which exceeds the operating range of divers, resulting in many concrete interlocking rows being unable to cover the cables according to the preset position. Summary of the invention

[0004] The main purpose of the present invention is to provide an underwater concrete row delivery robot for achieving the purpose of efficiently and accurately delivering concrete rows in the deep sea. To achieve the above object, the present invention provides an underwater concrete row delivery robot, comprising: The frame includes a plurality of lifting holes, wherein the lifting holes are used to pass the lifting ropes of the lifting plate; The posture adjustment mechanism comprises a plurality of propellers arranged around the frame, and the propellers are used to drive the frame to rotate or move; A gangway release mechanism, having a locked state and a released state, wherein in the locked state, the gangway release mechanism can pull the concrete gangway, and in the released state, the gangway release mechanism can release the concrete gangway; A driving mechanism is used to drive the linkage release mechanism to switch between the locking state and the releasing state, and to drive the thruster.

[0005] According to one embodiment of the present invention, the linked release mechanism includes a linkage and a locking member, the frame includes a locking ear, the locking ear includes a first ear and a second ear, the first ear is provided with a first through hole; the linkage is used to link the locking member and the driving mechanism, the driving mechanism drives the linkage to make the locking member pass through the first through hole and abut against the second ear, and the rope of the concrete linkage is confined between the locking member and the frame.

[0006] According to an embodiment of the present invention, the second ear is provided with a second through hole, and the locking member can pass through the second through hole.

[0007] According to an embodiment of the present invention, the linkage member includes a first connecting rod, the first connecting rod is movably disposed on the frame, and the locking member is fixed on the first connecting rod.

[0008] According to an embodiment of the present invention, the linkage member further includes a second connecting rod, the number of the first connecting rods is at least two and they are arranged parallel to each other, and the second connecting rod is used to fixedly connect the plurality of the first connecting rods.

[0009] According to an embodiment of the present invention, the driving mechanism comprises an oil pressure driving system, and the oil pressure driving system is used to drive the propeller to rotate.

[0010] According to one embodiment of the present invention, the driving mechanism further comprises a hydraulic rod, and the hydraulic driving system is used to pump out or pump in oil in the hydraulic rod so as to extend and retract the hydraulic rod to drive the linkage release mechanism.

[0011] According to one embodiment of the present invention, a camera is further included, and the camera is arranged on the frame.

[0012] According to one embodiment of the present invention, it further comprises a lamp group, wherein the lamp group is used for lighting.

[0013] According to one embodiment of the present invention, a compass is further included, and the compass is used to indicate direction.

[0014] The embodiments of the present invention have the following beneficial effects: The underwater concrete row delivery robot of the present embodiment is used to tie the row to the lifting hole on the frame with a sling on the ship, and then the concrete row is connected to the row release mechanism, so that the row release mechanism is in a locked state. Next, the underwater concrete row delivery robot is put into the water together with the concrete row. When the concrete row is located directly above the submarine cable, the driving mechanism drives the propeller to rotate, so that the underwater concrete row delivery robot drives the concrete row to rotate until it is adjusted to the correct posture. Finally, the driving mechanism drives the row release mechanism to transform from a locked state to a released state, and the concrete row is released and covers the submarine optical cable. The underwater concrete row delivery robot implemented in the present invention can achieve the purpose of efficiently and accurately delivering concrete row in the deep sea. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0016] in: Figure 1 It is a schematic diagram of the overall structure of an underwater concrete row delivery robot in one embodiment of the present invention; Figure 2 It is a schematic diagram of the overall structure of the underwater concrete row delivery robot from a side view in one embodiment of the present invention; Figure 3 It is a schematic diagram of the structure of the underwater concrete row delivery robot from a front view angle in one embodiment of the present invention; Figure 4 yes Figure 1 A local enlarged schematic diagram of the middle A; Figure 5 It is a schematic diagram of the principle of a driving mechanism in the present invention.

[0017] Reference numerals: Frame-10; hanging hole-110; locking ear-120; first ear-1210; second ear-1220; second through hole-1221; Thruster - 210; Linkage release mechanism-30; linkage member-310; lock member-320; first connecting rod-3110; second connecting rod-3120; Driving mechanism-40; hydraulic driving system-410; hydraulic rod-420; oil tank-4110; motor-4120; oil pump-4130; filter-4140; low pressure filter-4141; high pressure filter-4142; servo valve-4150, plunger motor-4160; electromagnetic valve changer-4100; compensator-4170; spring-4171; pipeline-4180; Camera - 50; Light set - 60; Compass - 70; Electronic control system-80. DETAILED DESCRIPTION

[0018] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0019] The embodiment of the present invention provides an underwater concrete row delivery robot, please refer to Figure 1-Figure 5 , including a frame 10, a posture adjustment mechanism (not shown), a row release mechanism 30 and a driving mechanism 40. The frame 10 includes a plurality of lifting holes 110, and the lifting holes 110 are used to pass the lifting ropes of the lifting plate. The posture adjustment mechanism includes a plurality of thrusters 210 ring-arranged on the frame 10, and the thrusters 210 are used to drive the frame 10 to rotate or move. The row release mechanism 30 has a locked state and a released state. In the locked state, the row release mechanism 30 can lift the concrete row, and in the released state, the row release mechanism 30 can release the concrete row. The driving mechanism 40 is used to drive the row release mechanism 30 to switch between the locked state and the released state, and to drive the thrusters 210.

[0020] The underwater concrete row delivery robot of the present embodiment is used to be tied to the lifting hole 110 on the frame 10 with a sling on the ship, and then the concrete rows are connected to the row release mechanism 30, so that the row release mechanism 30 is in a locked state. Then, the underwater concrete row delivery robot is put into the water together with the concrete row. When the concrete row is located directly above the submarine cable, the driving mechanism 40 drives the propeller 210 to rotate, so that the underwater concrete row delivery robot drives the concrete row to rotate or move until it is adjusted to the correct posture. Finally, the driving mechanism 40 drives the row release mechanism 30 to transform from a locked state to a released state, and the concrete row is released and covers the submarine optical cable. The underwater concrete row delivery robot implemented in the present invention can achieve the purpose of efficiently and accurately delivering concrete rows in the deep sea.

[0021] The main structure of the frame 10 is square in a top view, and the number of the propellers 210 can be one or more. Preferably, the number of the propellers 210 is four, and they are respectively arranged near the four corners of the frame 10.

[0022] The propellers 210 are generally fixed, and the propellers 210 generally push in a direction along the diagonal direction of the frame 10. The driving mechanism 40 drives one or more propellers 210 to generate thrust, so that the frame 10 rotates in the horizontal direction to adjust the posture until it reaches the correct preset position.

[0023] The frame 10 is usually divided into an upper frame and a lower frame, wherein the upper frame is mainly used to carry the posture adjustment mechanism and the driving mechanism 40 and to set the hanging hole 110, and the lower frame is mainly used to carry the row release mechanism 30.

[0024] In one embodiment, please refer to Figure 1 , Figure 2 and Figure 4The linked release mechanism 30 includes a linkage member 310 and a locking member 320, the frame 10 includes a locking ear 120, the locking ear 120 includes a first ear 1210 and a second ear 1220, the first ear 1210 is provided with a first through hole (not shown in the figure); the linkage member 310 is used to link the locking member 320 and the driving mechanism 40, the driving mechanism 40 drives the linkage member 310 to make the locking member 320 pass through the first through hole and abut against the second ear 1220, and the rope of the concrete linkage is confined between the locking member 320 and the frame 10.

[0025] In this embodiment, the driving mechanism 40 activates the linkage member 310, so that the linkage member 310 drags and moves the locking member 320. When the locking member 320 completely passes through the first through hole (not shown) on the first ear 1210 until it contacts the second ear 1220, the row release mechanism 30 is in a locked state. At this time, the rope on the concrete row is bound between the locking member 320 and the frame 10, and the concrete block is too large to pass through the gap between the locking member 320 and the frame 10.

[0026] When the driving mechanism 40 drives the linkage member 310 to drag the movable locking member 320 away from the second ear 1220, the rope on the concrete row can be freed from the restraint, that is, the concrete row is released. At this time, the row release mechanism 30 is in a released state.

[0027] In one embodiment, the second ear 1220 defines a second through hole 1221 , and the locking member 320 can pass through the second through hole 1221 .

[0028] In this embodiment, the locking member 320 passes through the second through hole 1221. Mainly because the weight of the concrete row is very large, it is not enough for the first ear 1210 to bear the pulling force on the locking member 320 alone. The locking member 320 passes through the first ear 1210 and the second ear 1220 at the same time, so that the downward pulling force on the locking member 320 can be distributed to the first ear 1210 and the second ear 1220.

[0029] It should be noted that there are multiple locking members 320 and locking ears 120, which are respectively located on both sides of the frame 10. Before being released, the concrete row is roughly arched.

[0030] In one embodiment, the linkage member 310 includes a first link 3110 , the first link 3110 is movably disposed on the frame 10 , and the locking member 320 is fixed on the first link 3110 .

[0031] The function of the first connecting rod 3110 is to enable the multiple locking members 320 to switch between the locked state and the released state synchronously. The first connecting rod 3110 is generally circular, and a graphite copper sleeve is provided on the frame 10, and the first connecting rod 3110 is installed on the graphite copper sleeve. The graphite copper sleeve is a high-performance sliding bearing material, which is composited by a copper alloy matrix and a graphite lubricant.

[0032] In one embodiment, please refer to Figure 1 The linkage member 310 also includes a second connecting rod 3120 . The number of the first connecting rods 3110 is at least two and they are arranged parallel to each other. The second connecting rod 3120 is used to fix and connect multiple first connecting rods 3110 .

[0033] The first connecting rods 3110 are generally disposed on both sides of the frame 10, and the second connecting rod 3120 is fixedly connected to the two first connecting rods 3110. The driving mechanism 40 generally directly drives the second connecting rod 3120, and the second connecting rod 3120 drives the plurality of first connecting rods 3110 to move synchronously.

[0034] In one embodiment, the driving mechanism 40 includes an oil pressure driving system 410 , and the oil pressure driving system 410 is used to drive the propeller 210 to rotate.

[0035] Please refer to Figure 2 and Figure 5 The hydraulic drive system 410 includes an oil tank 4110, a motor 4120, an oil pump 4130, a filter 4140, a servo valve 4150, a plunger motor 4160, and a pipeline 4180 that connects the oil tank 4110, the oil pump 4130, the filter 4140, the servo valve 4150 and the plunger motor 4160 in sequence.

[0036] The specific principle is: the motor 4120 first drives the oil pump 4130 to pump the oil out of the oil tank 4110. The oil passes through the filter 4140 and enters the servo valve 4150, and the servo valve 4150 inputs the oil into the plunger motor 4160 of the corresponding thruster 210 through the preset electronic control system 80.

[0037] The plunger motor 4160 includes a first accommodating chamber and a second accommodating chamber, a plunger is provided between the first accommodating chamber and the second accommodating chamber, and the plunger is linked to the propeller 210. The servo valve 4150 can realize the control of switching the flow of oil from the first accommodating chamber to the second accommodating chamber. When the oil flows into the first accommodating chamber, the oil in the second accommodating chamber flows out through the servo valve 4150 and finally flows back to the oil tank 4110. In this process, the first accommodating chamber expands and the second accommodating chamber shrinks, thereby driving the plunger to move in the direction of the second accommodating chamber. When the plunger moves to a certain position, the servo valve 4150 switches the oil circuit so that the oil flows into the second accommodating chamber, and the oil in the first accommodating chamber flows out through the servo valve and returns to the oil tank 4110. At this time, the plunger moves in the direction of the first accommodating chamber. In this way, the reciprocating motion of the plunger is realized, thereby driving the propeller 210. The plunger motor here is equivalent to an internal combustion engine.

[0038] The plunger motor 4160 may also be in other forms, for example, two oil cylinders are provided, which are linked to the helical gear plate, and the two oil cylinders are connected to the servo valve 4150, so that the extension and contraction movements of the two oil cylinders are opposite. When one of the oil cylinders drives the helical gear plate to rotate during the extension process, the oil cylinder may not drive the helical gear plate to rotate when it is contracted, for example, a ratchet structure is used. The central axis of the helical gear plate is connected to the propeller, thereby providing a rotational force to the propeller.

[0039] It should be noted that the servo valve 4150 also has the function of controlling the speed and switch of oil circulation, thereby controlling the speed and start and stop of the propeller.

[0040] The hydraulic drive system 410 also includes an electromagnetic valve changer 4100 , which is equivalent to a simplified version of the servo valve 4150 and can only switch the direction of the oil path flowing through the hydraulic rod 420 and the switch.

[0041] Generally, after the pipeline 4180 passes through the high pressure filter 4142, a plurality of branch pipelines are separated, and each branch pipeline has a servo valve 4150 or a solenoid valve changer 4100. Of course, the branch pipelines also have loops, and finally flow back to the oil tank 4110.

[0042] It should be noted that there are multiple filters 4140 , which include a high-pressure filter 4142 and a low-pressure filter 4141 . The low-pressure filter 4141 is disposed between the oil pump 4130 and the oil tank 4110 , and the high-pressure filter 4142 is disposed between the oil pump 4130 and the electromagnetic valve changer 4100 or the servo valve 4150 .

[0043] The low-pressure filter 4141 is mainly used to protect the oil pump 4130 , and the high-pressure filter 4142 is mainly used to protect the servo valve 4150 .

[0044] The filter 4140 in the hydraulic drive system 410 has the following main functions: 1. Remove impurities: Filter 4140 can effectively remove solid particles, dirt and other impurities in the hydraulic oil, preventing these pollutants from causing wear and damage to the internal components of the system.

[0045] 2. Protect the oil pump 4130 and actuators: By filtering the oil, the filter 4140 can protect the oil pump 4130, the hydraulic cylinder and other actuators, extend their service life, and ensure the normal operation of the system.

[0046] 3. Keep the oil clean: Filter 4140 can keep the hydraulic oil clean and reduce the degree of oil contamination, thereby improving the working efficiency and reliability of the system.

[0047] 4. Prevent blockage: Filter 4140 can prevent blockage in the oil circuit, ensure the smooth flow of hydraulic oil, and avoid system failure caused by oil circuit blockage.

[0048] 5. Monitoring system status: Some filters 4140 are equipped with a pressure difference monitoring device, which can monitor the working status of the filter 4140 in real time, prompting when it needs to be replaced or cleaned, thereby maintaining the normal operation of the system.

[0049] 6. Reduce the failure rate: By effectively filtering and reducing pollutants in the system, the failure rate of the hydraulic system can be reduced and the overall safety and stability can be improved.

[0050] Generally, the hydraulic drive system 410 is also provided with a bypass valve, and the bypass valve is connected to the oil tank 4110 through an oil pipe.

[0051] The bypass valve can also enable the hydraulic drive system 410 to start at a low load. When starting certain mechanical equipment (such as motors, pumps, compressors, etc.), if they are started directly under full load, excessive starting torque may be applied to the equipment, resulting in equipment damage or start failure. Zero-load starting allows the equipment to start with almost no load, and then gradually increase the load after the equipment reaches a stable operating state.

[0052] The hydraulic drive system 410 further includes a compensator 4170, which is made of a flexible material, such as plastic or rubber, and wraps around the pipeline 4180. In the deep sea, the pressure is extremely high, and the compensator 4170 is subjected to water pressure and deforms until the pressure in the oil pipe is consistent with the water pressure, thereby maintaining the internal pressure of the entire hydraulic drive system 410 not lower than the water pressure.

[0053] Furthermore, the compensator 4170 is also provided with a spring 4171, which squeezes the compensator 4170 so that the pressure of the compensator 4170 is equal to the sum of the water pressure and the pressure of the spring 4171, ensuring that the pressure of the oil pressure drive system 410 is always slightly greater than the water pressure, thereby preventing water from entering the oil pressure drive system 410.

[0054] Underwater, the torque of the motor 4120 is usually difficult to drive the rotation of the thruster 210 in the deep sea. The hydraulic drive system 410 can also be adapted to various external functions, which only requires connecting the pipelines to different cylinder devices, but the motor control needs to be adapted and waterproofed accordingly.

[0055] In one embodiment, the driving mechanism 40 further includes a hydraulic rod 420, and the oil pressure driving system 410 is used to pump out or pump in the oil in the hydraulic rod 420, so that the hydraulic rod 420 can be extended and retracted to drive the linkage release mechanism 30. The oil pressure driving system 410 can also be adapted to other accessory tools, and the hydraulic pressure has a certain wide applicability.

[0056] The arrangement of the hydraulic rod 420 can drive the linkage release mechanism 30 with a relatively small force. Specifically, the hydraulic rod 420 is linked with the second connecting rod 3120 to move the second connecting rod 3120 along the length direction of the first connecting rod 3110.

[0057] In one embodiment, please refer to Figure 3 , also includes a camera 50, which is set on the frame 10.

[0058] The setting of the camera 50 can transmit the underwater situation to the ship, so as to facilitate the adjustment of the posture of the underwater concrete row delivery robot.

[0059] In one embodiment, a lamp assembly 60 is further included, and the lamp assembly 60 is used for lighting.

[0060] The light group 60 can provide lighting to provide the camera 50 with an observable environment.

[0061] In one embodiment, a compass 70 is further included, and the compass 70 is used to indicate the direction.

[0062] The compass 70 is used to indicate the direction. The operator on the ship observes the compass 70 through the camera 50 or the sensor to determine the current position so as to carry out the next operation.

[0063] Finally, it should be noted that the underwater concrete row delivery robot also includes an electric control system 80, which generally includes a circuit control board, a transformer, etc. The power transmission line is connected to the electric control system 80 from the ship to provide energy to the motor 4120, the camera 50, the light group 60 and other devices.

[0064] In the description of the embodiments of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limitations on the embodiments of the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0065] In the description of the embodiments of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the embodiments of the present invention can be understood according to specific circumstances.

[0066] In the embodiments of the present invention, unless otherwise clearly specified and limited, the first feature being "above" or "below" the second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "above" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0067] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the embodiment of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0068] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An underwater concrete row delivery robot, characterized in that: include: The frame includes a plurality of lifting holes, wherein the lifting holes are used to pass the lifting ropes of the lifting plate; The posture adjustment mechanism comprises a plurality of propellers arranged around the frame, and the propellers are used to drive the frame to rotate or move; A gangway release mechanism, having a locked state and a released state, wherein in the locked state, the gangway release mechanism can pull the concrete gangway, and in the released state, the gangway release mechanism can release the concrete gangway; A driving mechanism is used to drive the linkage release mechanism to switch between the locking state and the releasing state, and to drive the thruster.

2. The underwater concrete row delivery robot according to claim 1, characterized in that: The linked release mechanism includes a linkage and a locking member, the frame includes a locking ear, the locking ear includes a first ear and a second ear, the first ear is provided with a first through hole; the linkage is used to link the locking member and the driving mechanism, the driving mechanism drives the linkage to make the locking member pass through the first through hole and abut against the second ear, and the rope of the concrete linkage is confined between the locking member and the frame.

3. The underwater concrete row delivery robot according to claim 2, characterized in that: The second ear is provided with a second through hole, and the locking member can pass through the second through hole.

4. The underwater concrete row delivery robot according to claim 2, characterized in that: The linkage member comprises a first connecting rod, the first connecting rod is movably arranged on the frame, and the locking member is fixed on the first connecting rod.

5. The underwater concrete row delivery robot according to claim 4, characterized in that: The linkage member further includes a second connecting rod. The number of the first connecting rods is at least two and they are arranged parallel to each other. The second connecting rod is used to fixedly connect the plurality of the first connecting rods.

6. The underwater concrete row delivery robot according to claim 1, characterized in that: The driving mechanism comprises an oil pressure driving system, and the oil pressure driving system is used for driving the propeller to rotate.

7. The underwater concrete row delivery robot according to claim 6, characterized in that: The driving mechanism further comprises a hydraulic rod, and the hydraulic driving system is used for pumping out or pumping in oil in the hydraulic rod, so that the hydraulic rod can be extended and retracted to drive the linkage release mechanism.

8. The underwater concrete row delivery robot according to claim 1, characterized in that: Also included is a camera, which is arranged on the frame.

9. The underwater concrete row delivery robot according to claim 1, characterized in that: Also included is a lamp assembly, which is used for lighting.

10. The underwater concrete row delivery robot according to claim 1, characterized in that: Also included is a compass for indicating direction.

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