Stable auxiliary device and method for multivariate data acquisition of submarine crawling robot

Abstract

The invention relates to the technical field of crawling robots, in particular to a stable auxiliary device and method for multivariate data acquisition of a seabed crawling robot. Comprising a crawling robot, and an auxiliary crawling mechanism is arranged at the bottom of the crawling robot; movement mechanisms, supporting mechanisms and stabilizing mechanisms are arranged on the two side faces, in the movement direction, of the crawling robot correspondingly. The movement mechanisms on the two side faces, the supporting mechanisms on the two side faces and the stabilizing mechanisms on the two side faces are symmetrically arranged. A pushing mechanism is arranged on the side face, away from the movement direction, of the crawling robot, and an information collecting mechanism is arranged on the top surface of the crawling robot. The stability of the robot in the seabed walking operation process is greatly improved, and the accuracy of underwater experiments or observation data of the robot is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of crawling robots, and in particular to a stabilizing auxiliary device and method for multivariate data collection of a submarine crawling robot. Background Art

[0002] With the deepening of deep-sea development strategy, the scientific demand for deep-sea mineral resources and environmental exploration is increasing, and various submersibles have become indispensable exploration platforms. The deep-sea mineral resource environment usually includes special deep-sea tectonic units such as hydrothermal, cold springs, seamounts, and abysses. In these areas, the seabed develops surface mineral resources such as hydrothermal sulfides, natural gas hydrates, cold spring carbonate rocks, and polymetallic nodules and crusts. The seabed is usually rugged and the positive topography is very significant. Sediments and rocks and minerals are distributed irregularly, and some areas have strong bottom currents. In addition to collecting video image data, seabed exploration in deep-sea mineral resource areas usually includes temperature, salinity, depth, and various chemical sensor detections, near-bottom geophysical detection, various optical imaging detections, geological, biological, water and fluid sampling, and seabed in-situ observations and experiments. These detection, sampling and in-situ experiments all require the submersible to land on the bottom for precise detection. Therefore, the seabed crawling robot has become the best submersible for dealing with the rugged and complex terrain of deep-sea mineral resources. However, the most pressing technical problem to be solved is that the seabed crawling robot, which integrates a variety of sensors and equipment, can collect stable data while moving over obstacles. This is the guarantee for high-quality detection data collection.

[0003] The seabed crawling robot uses tracks to move around. It has the advantages of strong traction, low slipping, and good obstacle crossing performance on the rugged and complex seabed terrain. It can be equipped with cameras, sensors, sampling devices, experimental instruments, etc. to carry out scientific research activities such as detection, sampling, and in-situ experiments on the seabed.

[0004] When an underwater crawling robot is moving on the rugged seabed or with strong bottom currents in deep-sea mineral resource areas to collect information, the camera, sensors, etc. may experience shaking and bumping of the underwater crawling robot platform, resulting in unstable information collection data, data missing, or even collection failure. Or when conducting in-situ experiments such as temperature measurement at hydrothermal vents, the underwater crawling robot may shake, disrupting the accuracy of the experiment and causing inaccurate or failed experimental data. Therefore, it is particularly necessary and critical for underwater crawling robots to collect high-quality data information or conduct precise in-situ experiments in rugged and complex deep-sea mineral resource areas. Summary of the invention

[0005] The purpose of the present invention is to overcome the above-mentioned defects of the prior art and propose a stable auxiliary device and method for multi-dimensional data collection of an underwater crawling robot, which greatly improves the stability of the robot during seabed walking operations and improves the accuracy of the robot's underwater experimental or observation data.

[0006] The technical solution of the present invention is: a stable auxiliary device for multivariate data collection of a submarine crawling robot, comprising a crawling robot, wherein an auxiliary crawling mechanism is provided at the bottom of the crawling robot;

[0007] The crawling robot is provided with a motion mechanism, a support mechanism and a stabilizing mechanism on both sides along the motion direction, and the motion mechanisms on the two sides, the support mechanisms on the two sides and the stabilizing mechanisms on the two sides are symmetrically arranged;

[0008] A pushing mechanism is arranged on the side of the crawling robot away from the moving direction, and an information collecting mechanism is arranged on the top surface of the crawling robot.

[0009] In the present invention, the auxiliary crawling mechanism comprises:

[0010] A fixed frame, a fixed cavity with an open bottom is provided in the crawling robot, the fixed frame is slidably arranged in the fixed cavity, and the fixed frame is connected to the cavity wall of the fixed cavity through a fixed electric push rod;

[0011] The fixed drill bit is rotatably sleeved on the fixed shaft. A plurality of connection grooves are arranged on the inner hole wall of the fixed drill bit. A connection cone connected to the electric push rod is arranged in the connection groove. A connection cone groove is arranged on the annular side wall of the fixed shaft corresponding to the position of the connection groove. After the connection cone is inserted into the connection cone groove, a fixed connection between the fixed drill bit and the fixed shaft is realized.

[0012] The fixed shaft is fixedly connected to the fixed shaft through the fixed direction adjustment shaft. Both ends of the fixed shaft are rotatably connected to the rotating block respectively. During the rotation of the fixed shaft, the fixed drill bit rotates between the vertical direction and the horizontal direction. The fixed drill bit rotates during the rotation of the rotating block.

[0013] The two rotating blocks connected to the same fixed rotating shaft are also fixedly connected via a limiting rod, and the limiting rod is located above the fixed direction adjusting shaft.

[0014] Sports organizations include:

[0015] A motion frame is fixedly connected to the crawling robot via a motion support frame, a motion gear cavity is provided in the motion frame, and a motion gear is arranged in the motion gear cavity;

[0016] The moving annular rack is arranged on the outer side of the ring of the moving frame, and the moving annular rack and the moving gear are meshed with each other;

[0017] A moving fixed plate, a moving annular rack is provided with several moving fixed plates at intervals along its length direction, a moving slide groove is provided in the moving fixed plate, the moving plate can be slidably arranged in the moving slide groove, and the moving plate and the groove wall of the moving slide groove are connected by an elastic element.

[0018] A weight-increasing mechanism is arranged in the moving frame; the weight-increasing mechanism comprises a closed water storage chamber arranged inside the moving frame, an extraction valve is arranged on one side wall of the water storage chamber, and a discharge valve is arranged on the other side wall of the corresponding water storage chamber.

[0019] Two supporting mechanisms are respectively arranged on the two sides of the crawling robot along the moving direction, and the supporting mechanisms include:

[0020] A support plate, fixedly connected to the side of the crawling robot;

[0021] The support tube is fixedly connected to the bottom surface of the support plate, and a support slide groove is provided in the support tube, and a support threaded tube is provided in the support slide groove. The support threaded tube can move up and down and rotate in the support slide groove, and a support screw rod is fixed in a vertical direction in the support slide groove. The upper end of the support threaded tube is threadedly connected to the support screw rod, and the lower end of the support threaded tube is located on the outside of the support slide groove, and several support cones are fixed to the lower end of the support threaded tube.

[0022] The stabilizing mechanism comprises:

[0023] A groove frame, one end of which is fixedly connected to the crawling robot, and the other end of which is rotatably connected to the rotating frame through a steering shaft. A steering mechanism and a braking mechanism are provided at the rotation connection between the steering shaft and the groove frame. The steering mechanism is used to rotate the steering shaft, and the braking mechanism is used to brake the steering shaft.

[0024] A rotating frame, the upper end of which is rotatably connected to the groove frame, and the lower end of which is fixedly connected to the cylinder;

[0025] The cylinder has a water chamber inside, and a water pump and a drainage pump are arranged on the side of the cylinder. Water is injected into the water chamber through the water pump, and the water in the water chamber is discharged through the drainage pump.

[0026] The rectangular frame is located below the cylinder and is fixedly connected to the cylinder. A plurality of moving cylinders are rotatably arranged in the rectangular frame.

[0027] The driving mechanism comprises:

[0028] A lifting frame, a plurality of lifting frames are arranged at intervals in the horizontal direction on the side of the crawling robot away from the moving direction, and a lifting adjustment screw rod arranged in the vertical direction is arranged in the lifting frame, and the lifting adjustment screw rod is threadedly connected to the nut block;

[0029] A push frame, the front end of the push frame is fixedly connected to the rear end of the nut block, the rear end of the push frame is provided with a plurality of rotation slots at intervals, and a rotatable direction adjustment shaft is provided in the rotation slot;

[0030] The propeller is pushed, the front end of the push rod is fixedly connected to the direction adjustment shaft, the rear end of the push rod is provided with a fixed block, the fixed block is rotatably connected with a push shaft, the propeller is fixed on the push shaft, and a protective cover is provided on the outer side of the propeller.

[0031] The information collection agencies include:

[0032] An information collection slot is arranged on the top surface of the crawling robot;

[0033] The data collection electric screw rod is arranged in the information collection slot along the vertical direction;

[0034] The information collection nut cylinder is rotatably and slidably arranged in the information collection slot, and the information collection nut cylinder is threadedly connected to the collection electric screw rod;

[0035] The information collection sensor is arranged on the top surface of the information collection nut tube.

[0036] The present invention also discloses a stabilization assisting method using the stabilization assisting device for multivariate data collection of the above-mentioned submarine crawling robot, comprising the following steps:

[0037] S1. Put the crawling robot into the seawater, and the weight-increasing mechanism is activated to increase the weight of the whole body, so that the whole body sinks to the seabed; at the same time, the pushing mechanism is moved to push the crawling robot to sink faster;

[0038] S2. After the device sinks to the seabed, the motion mechanism moves, driving the device to move on the seabed while reducing vibration; at the same time, the pushing mechanism moves at the same time, pushing the device to move quickly on the seabed;

[0039] When the crawling robot moves, the supporting mechanism supports the device to prevent it from tipping over during movement;

[0040] The auxiliary crawling mechanism can assist the crawling robot to move on the seabed, and in the event of turbulence or strong bottom current, fix the crawling robot on the seabed to prevent it from being washed away;

[0041] The stabilizing mechanism increases the stability of movement on the seabed, increases the overall weight, prevents the impact of bumps or fluids, and increases the stability of movement support;

[0042] S3. When it is necessary to collect information in a designated sea area, the information collection mechanism moves to realize the collection of information;

[0043] S4. During the recovery process after the designated work is completed, the weight-increasing mechanism is activated to reduce the overall weight of the device, making it easier for the entire device to float up;

[0044] At the same time, the steering mechanism is activated to drive the cylinder to turn, which is convenient for the device to float up. After the cylinder rotates to the specified position, the braking mechanism is activated to fix the position of the cylinder.

[0045] The driving mechanism moves, pushing the crawling robot to float up, thereby realizing the recovery of the device.

[0046] The beneficial effects of the present invention are:

[0047] (1) The device can achieve auxiliary movement through an auxiliary crawling mechanism, assist walking on the seabed, increase walking stability, and can fix the device on the seabed in the event of turbulence or strong bottom current to prevent it from being washed away;

[0048] (2) The device can increase the stability of the device, provide support when walking, increase the weight of the device, make it more stable when walking on the seabed, prevent shaking when walking, and assist in buoyancy after the seabed information is collected, so that it can float quickly;

[0049] (3) The device can move on the seabed, and can achieve shock absorption and reduce shaking while moving. The device can also be accelerated by a pushing mechanism to move on the seabed, thereby increasing the speed of moving on the seabed and improving the efficiency of information collection. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 This is a schematic diagram of the first direction structure of a stabilization auxiliary device for collecting information by a seabed crawling robot in the present invention;

[0051] Figure 2 It is a schematic diagram of the structure in the second direction of a stabilization auxiliary device for collecting information by a seabed crawling robot in the present invention;

[0052] Figure 3 This is a schematic diagram of the third-direction structure of a stabilization auxiliary device for collecting information by a seabed crawling robot in the present invention;

[0053] Figure 4 A schematic diagram of the structure in the fourth direction of a stabilization auxiliary device for collecting information by a seabed crawling robot in the present invention;

[0054] Figure 5 A schematic diagram of the structure in the fifth direction of a stabilization auxiliary device for collecting information by a seabed crawling robot in the present invention;

[0055] Figure 6 A sixth-direction structural schematic diagram of a stabilization auxiliary device for collecting information by a seabed crawling robot in the present invention;

[0056] Figure 7A sixth-direction structural schematic diagram of a stabilization auxiliary device for collecting information by a seabed crawling robot in the present invention;

[0057] Figure 8 for Figure 7 Schematic diagram of the cross-sectional structure at AA in the middle;

[0058] Fig. 9 for Figure 7 Schematic diagram of the cross-sectional structure at the middle BB;

[0059] Fig.10 for Fig. 9 Schematic diagram of the cross-sectional structure at CC in the middle;

[0060] Fig.11 for Fig. 9 Schematic diagram of the cross-sectional structure at DD in the middle;

[0061] Fig.12 for Fig. 9 Schematic diagram of the cross-sectional structure at EE in the middle;

[0062] Fig.13 for Fig.12 Schematic diagram of the cross-sectional structure at FF in the middle;

[0063] Fig.14 for Figure 8 Schematic diagram of the cross-sectional structure at GG in the middle;

[0064] Fig.15 for Fig.11 Schematic diagram of the enlarged structure at H in the middle;

[0065] Fig.16 for Fig.14 Schematic diagram of the enlarged structure at I in the middle.

[0066] In the figure: 1-crawling robot, 2-support plate, 3-support cylinder, 4-groove frame, 5-cylinder, 7-rotating frame, 8-rectangular frame, 9-moving plate, 10-lifting frame, 11-pushing frame, 12-direction adjustment shaft, 13-pushing rod, 14-separation net, 15-rotating groove, 16-nut block, 17-lifting adjustment screw rod, 18-lifting adjustment slide groove, 19-support cone, 20-steering shaft, 21-information collection groove, 22-information collection sensor, 23-information collection nut cylinder, 24- Support threaded cylinder, 25-movement cylinder, 26-fixed rod, 27-stable shaft, 28-fixed cavity, 29-movement support frame, 30-fixed drill bit, 31-fixed frame, 32-fixed direction adjustment shaft, 33-rotation block, 34-fixed shaft, 35-limiting rod, 37-movement annular rack, 38-movement frame, 39-movement fixing plate, 40-mounting plate, 41-pumping pipe, 42-pumping pump, 43-pumping shaft, 44-pumping motor installation box, 45-pumping motor, 46-drainage Motor installation box, 47-drainage motor, 48-drainage extraction pipe, 49-drainage pump, 50-discharge pipe, 51-water storage chamber, 52-discharge valve, 53-extraction valve, 54-movement slide, 55-spring rod, 56-drainage shaft, 57-collection electric screw rod, 58-stabilizing rod, 59-fixed electric push rod, 90-protective cover, 61-fixed block, 62-propelling shaft, 63-propelling propeller, 64-connecting groove, 65-connecting electric push rod, 66-connecting cone, 67-connecting cone groove, 68-movement gear chamber, 69-movement gear shaft, 70-movement gear, 71-support slide groove, 72-support screw rod, 73-bevel gear chamber, 74-driven bevel gear, 75-stabilizing ring, 76-rotating shaft, 77-driving gear, 78-driving gear shaft, 79-motor, 80-driving shaft, 81-driving gear, 82-secondary gear, 83-steering gear chamber, 84-brake electric push rod, 85-brake gear, 86-brake chamber, 87-brake tooth, 88-fixed shaft, 89-conveying pipe. DETAILED DESCRIPTION

[0067] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0068] In the following description, specific details are set forth to facilitate a full understanding of the present invention. However, the present invention can be implemented in a variety of other ways than those described herein, and those skilled in the art can make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0069] like Figures 1 to 16As shown, the stabilization auxiliary device for multivariate data collection of a submarine crawling robot includes a crawling robot 1, and an auxiliary crawling mechanism is provided at the bottom of the crawling robot. Through the auxiliary crawling mechanism, the crawling robot can be realized on the seabed and the crawling robot can be fixed on the seabed. The crawling robot is provided with motion mechanisms on both sides along the movement direction, and the crawling robot can be driven to move on the seabed through the motion mechanisms. Stabilization mechanisms are provided on the outer sides of the two motion mechanisms, and the stabilization mechanisms on both sides are symmetrically arranged, and the stabilization mechanisms are rotationally connected to the two sides of the crawling robot along the movement direction. Through the stabilization mechanism, the entire device can be stabilized.

[0070] At the same time, the crawling robot is provided with supporting structures on both sides along the movement direction, and two supporting mechanisms are provided on each side, and the two supporting mechanisms are symmetrically arranged, and the movement mechanism is located between the two supporting mechanisms. The corresponding supporting mechanisms on the two sides are symmetrically arranged. Through the supporting mechanisms, the crawling robot 1 is supported to prevent the entire device from tipping over.

[0071] A pushing mechanism is provided at the side of the crawling robot away from the moving direction, and the pushing mechanism is used to push the crawling robot to move and provide power for the movement of the entire device.

[0072] The auxiliary crawling mechanism includes several fixed drill bits 30 arranged at the bottom of the crawling robot 1, and the fixed drill bits 30 are evenly spaced along the movement direction of the crawling robot 1. The lower part of the crawling robot 1 is provided with a fixed cavity 28 with an open bottom, and a fixed frame 31 is arranged in the fixed cavity 28. The fixed frame 31 can slide up and down in the fixed cavity 28. Several fixed drill bits 30 are arranged at intervals on both sides of the bottom of the fixed frame 31 and along the movement direction of the crawling robot. In this embodiment, the fixed drill bits 30 on both sides are symmetrically arranged. The bottom surface of the fixed frame 31 is provided with an open groove. In the initial state, the axial direction of the fixed drill bit 30 is arranged in the horizontal direction. The open groove at the bottom of the fixed frame can prevent interference between the fixed drill bit 30 and the bottom surface of the fixed frame 31 in the initial state.

[0073] In this embodiment, the fixing frame 31 is connected to the top surface of the fixing cavity 28 via the fixing electric push rod 59, and the fixing frame 31 is moved up and down in the fixing cavity 28 via the fixing electric push rod 59. When the fixing electric push rod 59 is extended, the fixing frame 31 moves downward in the fixing cavity 28, and when the fixing electric push rod 59 is at its longest length, the fixing frame 31 is still located in the fixing cavity 28; when the fixing electric push rod 59 is retracted, the fixing frame 31 moves upward in the fixing cavity 28.

[0074] In order to ensure the stability of the up and down movement of the fixing frame 31, a plurality of stabilizing rods 58 are further provided in the fixing cavity 28, the top ends of the stabilizing rods 58 are fixedly connected to the top surface of the fixing cavity 28, and the fixing frame 31 is slidably sleeved on the outside of the stabilizing rods 58. When the fixing frame 31 moves up and down in the fixing cavity 28, the stabilizing rods 58 play a role of guiding and limiting, so as to ensure the stability of the up and down movement of the fixing frame.

[0075] The fixed drill bit 30 is rotatably mounted on the fixed shaft 88, and the fixed shaft 88 is arranged at the axial center of the fixed drill bit 30. The fixed shaft 88 is fixedly connected to the fixed rotating shaft 34 through the fixed direction adjustment shaft 32, one end of the fixed direction adjustment shaft 32 is fixedly connected to the fixed shaft 88, and the other end of the fixed direction adjustment shaft 32 is fixedly connected to the fixed rotating shaft 34, and the two ends of the fixed rotating shaft 34 are respectively rotatably connected to the rotating block 33. The fixed rotating shaft 34 is connected to the steering motor power, and the steering motor is arranged in the rotating block 33. During the operation of the rotating motor, the fixed rotating shaft 34 is driven to rotate, and at this time, the fixed rotating shaft 34 drives the fixed drill bit 30 to rotate through the fixed direction adjustment shaft 32, so that the fixed drill bit 30 can rotate from the horizontal direction to the vertical direction, so that the fixed drill bit 30 can drill into the seabed. The two rotating blocks connected to the same fixed rotating shaft are also fixedly connected by a limiting rod 35, and the limiting rod 35 is located above the fixed direction adjustment shaft 32. The limiting rod 35 can limit the rotation direction of the fixed direction adjustment shaft 32, so that the fixed direction adjustment shaft 32 and the fixed drill bit 30 connected to the fixed direction adjustment shaft can only rotate toward the seabed but not toward the fixed frame.

[0076] A plurality of connection grooves 64 are provided at intervals on the inner wall surface of the center hole of the fixed drill bit 30, and an electric push rod 65 is connected to the side wall of the connection groove 64, one end of the electric push rod 65 is fixedly connected to the side wall of the connection groove 64, and a connection cone 66 is fixed to the other end of the electric push rod 65, and a connection cone groove 67 is provided on the annular side wall of the fixed shaft 88 corresponding to the position of the connection groove 64. When the electric push rod 65 moves, the connection cone 66 can be inserted into the connection cone groove 67 under the pushing action of the electric push rod 65, and the fixed connection between the fixed drill bit 30 and the fixed shaft 88 can be realized at this time; when the connection cone 66 leaves the connection cone groove 67, the fixed drill bit 30 and the fixed shaft 88 are restored to the state of rotational connection.

[0077] A bevel gear cavity 73 is provided in the fixed frame 31. A driving gear shaft 78 is rotatably connected to the side wall of the bevel gear cavity 73. The driving gear shaft 78 is connected to the auxiliary motor power. The auxiliary motor is fixedly installed in the fixed frame 31. A driving gear 77 is fixedly connected to the driving gear shaft 78. The driving gear 77 meshes with the driven bevel gear 74. The driven bevel gear 74 is fixedly installed on the rotating shaft 76. The upper end of the rotating shaft 76 is fixedly connected to the driven bevel gear 74, and the lower end of the rotating shaft 76 is fixedly connected to the stabilizing ring 75. The two rotating blocks 33 connected to the same fixed rotating shaft 34 are both fixed on the stabilizing ring 75. When the auxiliary motor is in operation, the torque generated during its rotation is sequentially transmitted to the stabilizing ring 75 through the driving gear 77 and the driven bevel gear 74. During the rotation of the stabilizing ring 75, the rotating block 33 is driven to rotate, thereby realizing the rotation of the fixed drill bit 30, so that the fixed drill bit 30 rotates downward to drill into the seabed.

[0078] During the movement of the crawling robot 1, when the fixed drill bit 30 at the bottom of the crawling robot 1 contacts the material on the seabed surface, it will drive the fixed drill bit 30 to rotate, and the fixed drill bit 30 will support the entire crawling robot 1. When the position of the crawling robot 1 needs to be fixed, the fixed electric push rod 59 shrinks, drives the fixed frame 31 to move upward to a certain position, starts the steering motor, drives the fixed shaft 34 to rotate, and drives the fixed drill bit 30 to rotate through the fixed direction adjustment shaft 32, so that the fixed drill bit 30 rotates from the horizontal direction to the vertical direction. At the same time, the connecting electric push rod 65 moves, pushing the connecting cone 66 to insert into the connecting cone groove 67, and realizing the fixed connection between the fixed shaft 88 and the fixed drill bit 30. Start the auxiliary motor, and drive the shaft 76 to rotate through the driving gear 77 and the driven bevel gear 74 in turn, and drive the rotating block 33 to rotate through the stabilizing ring 75, and drive the fixed drill bit 30 to rotate through the fixed direction adjustment shaft 32. Next, the fixed electric push rod 59 is extended to push the fixed frame 31 downward, so that the rotating fixed drill bit 30 moves downward and drills into the seabed, fixing the entire device on the seabed to cope with the seabed bumps.

[0079] In the present application, the two symmetrical sides of the crawling robot are respectively provided with motion mechanisms, and the motion mechanisms on both sides are symmetrically arranged. The motion mechanism includes a motion frame 38 arranged along the movement direction of the crawling robot, and the motion frame 38 is fixedly connected to the crawling robot 1 through several motion support frames 29. In this embodiment, one end of the motion support frame 29 is fixedly connected to the bottom surface of the crawling robot, and the other end is fixedly connected to the inner surface of the motion frame 38. A motion gear cavity 68 is provided in the motion frame 38, and a motion gear 70 is provided in the motion gear cavity 68. A motion gear shaft 69 is fixed to the center of the motion gear 70, and the motion gear 70 is connected to the cavity wall of the motion gear cavity 68 through the motion gear shaft 69. The motion gear shaft 69 is connected to the power of the motion motor, and the motion motor is fixedly installed in the motion frame 38. A motion annular rack 37 is installed on the annular outer surface of the motion frame 38, and the motion gear 70 and the motion annular rack 37 are meshed with each other.

[0080] Several moving fixed plates 39 are evenly spaced and fixed on the moving annular rack 37 along the length direction thereof. A moving slide groove 54 is provided in the moving fixed plate 39, and the moving plate 9 is slidably arranged in the moving slide groove 54. In this embodiment, the moving plate 9 is connected to the side wall of the slide groove 54 through a moving spring rod 55. When the moving plate 9 slides in the moving slide groove 54, the moving plate 9 can be automatically reset by the moving spring rod 55.

[0081] Start the motion motor, drive the motion gear 70 to rotate through the motion gear shaft 69, and drive the motion ring rack 37 to rotate through the meshing between the motion gear 70 and the motion ring rack 37, thereby driving the motion fixing plate 39 and the motion plate 9 to rotate. When the motion plate 9 rotates to contact the seabed, the spring rod 55 is compressed, and the degree of expansion and contraction of the motion plate 9 is mainly determined by the seabed surface in contact with it, which ensures the stability of the entire device when the motion plate 9 contacts the seabed, thereby ensuring the stability of the entire device on the uneven seabed. When the motion plate 9 rotates to no longer contact the seabed, under the elastic force of the spring rod 55, the motion plate 9 automatically resets and continues to participate in the next contact with the seabed.

[0082] The support mechanism includes a support plate 2, which is fixedly connected to the side of the crawling robot along the direction of movement. A support cylinder 3 arranged in the vertical direction is fixed to the bottom surface of the support plate 2. A support chute 71 is provided in the support cylinder 3, and a support threaded cylinder 24 is provided in the support chute 71. The support threaded cylinder 24 can move up and down and rotate in the support chute 71. A support screw 72 is rotatably connected to the top groove wall of the support chute 71, and the support screw 72 is connected to the support motor power, and the support motor is fixed in the support cylinder 3. The outer surface of the support screw 72 is threadedly connected to the support threaded cylinder 24. The upper side of the support threaded cylinder 24 is located in the support chute 71 and is threadedly connected to the support screw 72. The lower side of the support threaded cylinder 24 is located outside the support chute 71, and a plurality of support cones 19 are fixedly connected to the end thereof. In this embodiment, a plurality of support cones 19 are arranged at intervals along the axial direction and circumferential direction of the end of the support threaded cylinder 24.

[0083] During the operation of the support mechanism, the support motor is started, and the support motor drives the support screw 72 to rotate, and through the threaded connection between the support screw 72 and the support threaded barrel 24, the support threaded barrel 24 is driven to move downward until the support cone 19 at the end of the support threaded barrel 24 contacts the seabed, and the pointed part of the support cone 19 is more convenient to insert into the seabed sediment. After the support cone is inserted into the seabed, the crawling robot 1 can be supported. When the device is in motion, the support cone 19 is inserted into the seabed to support the entire device, effectively preventing the crawling robot 1 from tipping over.

[0084] The stabilizing mechanism includes a cylinder 5, a closed water-containing chamber is provided in the cylinder 5, the cylinder 5 is fixed to the bottom of the rotating frame 7, the top of the rotating frame 7 is rotatably connected to the groove frame 4 fixed on the side of the crawling robot along the moving direction through the steering shaft 20, and a steering mechanism is provided at the rotation connection between the groove frame 4 and the steering shaft 20. When the amount of water in the water-containing chamber changes, the rotating frame 7 rotates around the steering shaft 20, thereby realizing the up and down movement of the cylinder 5.

[0085] A mounting plate 40 is fixed to the outer side of the cylinder 5, that is, the side of the cylinder 5 facing away from the crawling robot. A water pump 42 is fixed to the mounting plate 40. The water inlet of the water pump 42 is connected to the water pumping pipe 41, and the water outlet of the water pump 42 is connected to the delivery pipe 89, and one end of the delivery pipe 89 extends into the water storage chamber of the cylinder 5. The water pump 42 is connected to the pumping motor 45 through the pumping shaft 43. When the pumping motor 45 is started, the pumping shaft 43 drives the water pump 42 to start the pumping action: the seawater is pumped in through the pumping pipe 41, and the seawater is delivered into the water storage chamber of the cylinder 5 through the delivery pipe 89, so that the weight of the cylinder 5 increases. In this embodiment, the pumping motor 45 is arranged in the pumping motor installation box 44, and the pumping motor installation box 44 is fixedly installed on the outer side of the cylinder 5.

[0086] A mounting plate 40 is also fixed to the inner side of the cylinder 5, that is, the side of the cylinder 5 facing the crawling robot. A drainage pump 49 is fixed to the mounting plate 40. A drainage extraction pipe 48 is connected to the water inlet of the drainage pump 49. One end of the drainage extraction pipe 48 extends into the water storage cavity of the cylinder 5. A discharge pipe 50 is connected to the water outlet of the drainage pump 49. The drainage pump 49 is connected to the drainage motor 47 through the drainage shaft 56. The drainage motor 47 is started and driven by the drainage shaft 56 to start the drainage action: the water in the water storage cavity is pumped out through the drainage extraction pipe 48, and the pumped water is discharged into the seawater of the external environment through the discharge pipe 50, so that the weight of the cylinder 5 is reduced. The drainage motor 47 is arranged in the drainage motor installation box 46, and the drainage motor installation box 46 is fixedly installed on the inner surface of the cylinder 5.

[0087] The bottom surfaces of the mounting plates 40 on both sides are respectively fixedly connected with fixing rods 26, and the bottom ends of the two fixing rods 26 are fixedly connected through the rectangular frame 8. The rectangular frame 8 is in a square frame shape, and a plurality of moving cylinders 25 are rotatably connected in the rectangular frame 8. In this embodiment, a stable rotating shaft 27 is fixed at the center of the moving cylinder 25, and the stable rotating shaft 27 is rotatably connected to the rectangular frame 8.

[0088] The pumping motor 45 is started, and the pumping pump 42 is driven to operate through the pumping shaft 43. The external seawater enters the pumping pump 42 through the pumping pipe 41, and enters the water storage chamber of the cylinder 5 through the delivery pipe 89, thereby increasing the weight of the cylinder 5 and the entire device. During the process of increasing the mass of the cylinder 5, the rotating frame 7 connected to the cylinder 5 rotates around the steering shaft 20, so that the cylinder 5 moves downward in the vertical direction, and at the same time drives the rectangular frame 8 to move downward, and the moving cylinder 25 on the rectangular frame 8 contacts the seabed. During the contact process, the moving cylinder 25 rotates around the stabilizing shaft 27 to increase the stability of the movement of the entire device.

[0089] When the device needs to float, the drainage motor 47 is started, and the drainage shaft 56 is rotated to drive the drainage pump 49 to operate, and the water in the cylinder 5 is extracted through the drainage extraction pipe 48 and discharged through the discharge pipe 50. At this time, the steering mechanism is activated, driving the steering shaft 20 and the rotating frame 7 to rotate, so that the cylinder 5 rotates to the horizontal direction and is flush with the upper surface of the crawling robot 1.

[0090] A steering mechanism is provided at the rotation connection between the groove frame 4 and the steering shaft 20, and a braking mechanism is also provided at the connection. Both the steering mechanism and the braking mechanism are arranged in the groove frame 4, wherein the steering mechanism can realize the change of the angle of the cylinder 5, and the braking mechanism can brake the steering shaft 20 and fix the position of the steering shaft. A steering gear cavity 83 is provided in the groove frame 4 connected to one end of the steering shaft, and a braking cavity 86 is provided in the groove frame connected to the other end of the steering shaft. The steering mechanism is arranged in the steering gear cavity 83, and the braking mechanism is arranged in the braking cavity 86.

[0091] The steering mechanism includes a driving gear 81 and a sub-gear 82 meshing with each other, wherein the driving gear 81 is fixed on a driving shaft 80, and the driving shaft 80 is connected to the motor 79, which is fixedly mounted in the groove frame 4. The sub-gear 82 is fixed to one end of the steering shaft 20 located inside the gear cavity 83.

[0092] The starting motor 79 drives the driving gear 81 to rotate through the driving shaft 80, and through the meshing between the driving gear 81 and the sub-gear 82, drives the sub-gear 82 and the steering shaft 20 fixedly connected to the sub-gear to rotate, thereby driving the rotating frame 7 fixed to the steering shaft to rotate.

[0093] The braking mechanism includes a braking gear 85 and a braking electric push rod 84. The braking gear 85 is fixed to one end of the rotating shaft located inside the braking chamber. One end of the braking electric push rod 84 is connected to the cavity wall of the braking chamber. The other end of the braking electric push rod 84 is provided with a braking tooth 87, and the braking tooth 87 and the braking gear 85 are meshed with each other.

[0094] After the steering shaft 20 rotates to the corresponding direction, the brake electric push rod 84 moves, driving the brake tooth 87 to move and engage with the brake gear 85, thereby braking the steering shaft 20, fixing the rotation angle of the rotating frame 7 and the cylinder 5, and keeping the rotating frame 7 and the cylinder 5 in the position at the braking moment.

[0095] The pushing mechanism includes a lifting frame 10, a pushing frame 11 and a pushing propeller 63. Several lifting frames 10 are fixedly arranged on the rear side surface of the crawling robot away from the movement direction. The front end of the pushing frame 11 is connected to the lifting frame 10, and the rear end of the pushing frame 11 is connected to several pushing propellers 63. The height of the pushing frame 11 and the pushing propeller 63 is adjusted by the lifting frame 10. When the pushing propeller 63 is adjusted to an appropriate height, the pushing propeller 63 rotates to provide power for the advancement of the entire device.

[0096] In this embodiment, two lifting frames 10 are fixed on the crawling robot 1, and a lifting adjustment slot 18 is provided in the lifting frame 10. A lifting adjustment screw rod 17 arranged in the vertical direction is rotatably provided in the lifting adjustment slot 18. The lifting adjustment screw rod 17 is connected to the lifting adjustment motor power, and the lifting adjustment motor is fixedly installed in the lifting frame 10. The outer surface of the lifting adjustment screw rod 17 is threadedly connected with a nut block 16, and the nut block 16 is slidably and rotatably arranged in the lifting adjustment slot 18. The front end of the nut block 16 is threadedly connected to the lifting adjustment screw rod 17, and the rear end of the nut block 16 is fixedly connected to the push frame 11.

[0097] The front end of the push frame 11 is fixedly connected to the nut block 16, and the rear end of the push frame 11 is provided with a plurality of rotation slots 15. In this embodiment, the rear end of the push frame 11 is provided with three rotation slots evenly spaced. A horizontally arranged and rotatable direction adjustment shaft 12 is provided in the rotation slot, and the direction adjustment shaft 12 is connected to the direction adjustment motor power, and the direction adjustment motor is fixedly installed in the push frame 11.

[0098] The front end of the push rod 13 is fixedly connected to the direction adjustment shaft 12, and the rear end of the push rod 13 is connected to the push propeller 63. In this embodiment, the rear end of the push rod 13 is fixedly connected to the fixed block 61. The rear end of the fixed block 61 is rotatably connected to the push shaft 62, and the push propeller 63 is fixed on the push shaft 62. The push shaft 62 is connected to the power of the push motor, and the push motor is fixedly installed in the fixed block 61. When the push motor is working, the push propeller 63 is driven to rotate through the push shaft 62, thereby providing the whole device with forward power.

[0099] A protective cover 90 is provided on the fixed block 61 and outside the propeller 63, and a partition net 14 is provided on the protective cover 90. The partition net 14 mainly plays a filtering role to prevent impurities in seawater from entering the propeller 63 and causing the propeller 63 to be blocked, so as to ensure the normal operation of the propeller 63.

[0100] When the pushing mechanism is working, the lifting adjustment motor is started, the lifting adjustment screw rod 17 rotates, and the nut block 16 is driven to move, and the position of the nut block 16 is adjusted. After the nut block 16 drives the pushing frame 11 to move to the corresponding position, the direction adjustment motor is started, and the pushing rod 13 is driven to rotate to the corresponding position through the direction adjustment shaft 12, and the pushing motor is started, and the pushing propeller 63 is driven to rotate through the pushing shaft 62, so as to push the crawling robot 1 to move.

[0101] The device also includes an information collection mechanism, which is used to collect information. An information collection slot 21 is provided on the top surface of the crawling robot 1, and the information collection mechanism is arranged in the information collection slot 21. The information collection mechanism includes a collection electric screw 57 and an information collection nut tube 23. The collection electric screw 57 is arranged in the vertical direction, and its bottom is rotatably connected to the bottom wall of the information collection slot 21. The upper part of the collection electric screw 57 is threadedly connected to the information collection nut tube 23, and the information collection nut tube 23 is rotatably and slidably arranged in the information collection slot 21. Several information collection sensors 22 are fixed on the top surface of the information collection nut tube 23, and the information collection sensors 22 are arranged at intervals along the circumference of the top surface of the information collection nut tube.

[0102] During the rotation of the electric screw 57, the information collection nut tube 23 is driven to rotate, and the information collection nut tube 23 can also move up and down along the axis of the information collection slot. When the information collection sensor 22 moves upward to leave the information collection slot 21, information collection can be carried out.

[0103] A weight-increasing mechanism may also be provided in the movement mechanism, and the weight-increasing mechanism can increase the overall weight of the device, so as to facilitate the movement and sinking of the device. A closed water storage chamber 51 is provided in the middle of the movement frame 38, and an extraction valve 53 is fixedly connected to a side wall of one side of the water storage chamber 51, and a discharge valve 52 is fixed to a side wall of the other side of the water storage chamber 51. The extraction valve 53 is actuated to pump water, and the extracted water enters the water storage chamber 51, thereby increasing the weight of the entire device, which facilitates the sinking of the device. When the device needs to float, the discharge valve 52 is activated to discharge the water in the water storage chamber 51, so that the weight of the entire device is reduced, so as to facilitate the floating of the device.

[0104] The present application also provides a stabilization assistance method for collecting information by an undersea crawling robot, which includes the following steps.

[0105] Step 1: Place the crawling robot 1 into sea water.

[0106] Step 2: The weight-increasing mechanism is activated to increase the weight of the whole body, so that the whole body sinks to the bottom of the sea. At the same time, the pushing mechanism is activated to push the crawling robot 1 to sink faster during the descent.

[0107] Step 3: After the device sinks to the seabed, the motion mechanism moves, driving the device to move on the seabed, and the vibration can be reduced during the movement; at the same time, the pushing mechanism moves at the same time, which can push the device to move quickly on the seabed.

[0108] When the crawling robot 1 moves, the supporting mechanism can support the device to prevent it from tipping over during movement.

[0109] At the same time, the auxiliary crawling mechanism can assist the crawling robot 1 in moving on the seabed, and in the event of turbulence or strong bottom currents, the crawling robot 1 can be fixed on the seabed to prevent it from being washed away.

[0110] The stabilizing mechanism can increase the stability of movement on the seabed, increase the overall weight during movement, prevent the impact of bumps or fluids, and increase the stability of movement support.

[0111] Step 4: When it is necessary to collect information about a designated sea area, the information collection mechanism moves to collect information.

[0112] Step 5: When the device completes the designated work and performs the recovery process, the weight-increasing mechanism operates to reduce the overall weight of the device, thus facilitating the buoyancy of the entire device.

[0113] At the same time, the steering mechanism is activated, thereby driving the cylinder 5 to turn, so as to facilitate the floating of the device; after the cylinder 5 rotates to a certain position, the braking mechanism is activated to fix the position of the cylinder 5.

[0114] The pushing mechanism moves, pushing the crawling robot 1 to float up, thereby realizing the recovery of the device.

[0115] The above is a detailed introduction to the stabilization auxiliary device and method for multivariate data collection of the submarine crawling robot provided by the present invention. Specific examples are used in this article to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method and core idea of ​​the present invention. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of the present invention, the present invention can also be improved and modified, and these improvements and modifications also fall within the scope of protection of the claims of the present invention. The above description of the disclosed embodiments enables professional and technical personnel in this field to implement or use the present invention. Various modifications to these embodiments will be obvious to professional and technical personnel in this field, and the general principles defined in this article can be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown in this article, but will conform to the widest range consistent with the principles and novel features disclosed in this article.

Claims

1. A stabilization auxiliary device for multivariate data collection of a submarine crawling robot, comprising a crawling robot, characterized in that: An auxiliary crawling mechanism is provided at the bottom of the crawling robot; The crawling robot is provided with a motion mechanism, a support mechanism and a stabilizing mechanism on both sides along the motion direction, and the motion mechanisms on the two sides, the support mechanisms on the two sides and the stabilizing mechanisms on the two sides are symmetrically arranged; A pushing mechanism is arranged on the side of the crawling robot away from the moving direction, and an information collecting mechanism is arranged on the top surface of the crawling robot.

2. The stabilization auxiliary device for multivariate data collection of a submarine crawling robot according to claim 1 is characterized in that: The auxiliary crawling mechanism comprises: A fixed frame, a fixed cavity with an open bottom is provided in the crawling robot, the fixed frame is slidably arranged in the fixed cavity, and the fixed frame is connected to the cavity wall of the fixed cavity through a fixed electric push rod; The fixed drill bit is rotatably sleeved on the fixed shaft. A plurality of connection grooves are arranged on the inner hole wall of the fixed drill bit. A connection cone connected to the electric push rod is arranged in the connection groove. A connection cone groove is arranged on the annular side wall of the fixed shaft corresponding to the position of the connection groove. After the connection cone is inserted into the connection cone groove, a fixed connection between the fixed drill bit and the fixed shaft is realized. The fixed shaft is fixedly connected to the fixed shaft through the fixed direction adjustment shaft. Both ends of the fixed shaft are rotatably connected to the rotating block respectively. During the rotation of the fixed shaft, the fixed drill bit rotates between the vertical direction and the horizontal direction. The fixed drill bit rotates during the rotation of the rotating block.

3. The stabilization auxiliary device for multivariate data collection of a submarine crawling robot according to claim 2 is characterized in that: The two rotating blocks connected to the same fixed rotating shaft are also fixedly connected via a limiting rod, and the limiting rod is located above the fixed direction adjusting shaft.

4. The stabilization auxiliary device for multivariate data collection of a submarine crawling robot according to claim 1 is characterized in that: Sports organizations include: A motion frame is fixedly connected to the crawling robot via a motion support frame, a motion gear cavity is provided in the motion frame, and a motion gear is arranged in the motion gear cavity; The moving annular rack is arranged on the outer side of the ring of the moving frame, and the moving annular rack and the moving gear are meshed with each other; A moving fixed plate, wherein several moving fixed plates are arranged at intervals in the length direction of the moving annular rack, a moving slide groove is arranged in the moving fixed plate, the moving plate can be slidably arranged in the moving slide groove, and the moving plate and the groove wall of the moving slide groove are connected by an elastic element.

5. The stabilization auxiliary device for multivariate data collection of a submarine crawling robot according to claim 4 is characterized in that: A weight-increasing mechanism is provided in the sports frame; The weight increasing mechanism comprises a closed water storage chamber arranged inside the sports frame, a draw valve is arranged at one side wall of the water storage chamber, and a discharge valve is arranged at the other side wall of the corresponding water storage chamber.

6. The stabilization auxiliary device for multivariate data collection of a submarine crawling robot according to claim 1 is characterized in that: Two supporting mechanisms are respectively arranged on the two sides of the crawling robot along the moving direction, and the supporting mechanisms include: A support plate, fixedly connected to the side of the crawling robot; The support tube is fixedly connected to the bottom surface of the support plate, and a support slide groove is provided in the support tube, and a support threaded tube is provided in the support slide groove. The support threaded tube can move up and down and rotate in the support slide groove, and a support screw rod is fixed in a vertical direction in the support slide groove. The upper end of the support threaded tube is threadedly connected to the support screw rod, and the lower end of the support threaded tube is located on the outside of the support slide groove, and several support cones are fixed to the lower end of the support threaded tube.

7. The stabilization auxiliary device for multivariate data collection of a submarine crawling robot according to claim 1 is characterized in that: The stabilizing mechanism comprises: A groove frame, one end of which is fixedly connected to the crawling robot, and the other end of which is rotatably connected to the rotating frame through a steering shaft. A steering mechanism and a braking mechanism are provided at the rotation connection between the steering shaft and the groove frame. The steering mechanism is used to rotate the steering shaft, and the braking mechanism is used to brake the steering shaft. A rotating frame, the upper end of which is rotatably connected to the groove frame, and the lower end of which is fixedly connected to the cylinder; The cylinder has a water chamber inside, and a water pump and a drainage pump are arranged on the side of the cylinder. Water is injected into the water chamber through the water pump, and the water in the water chamber is discharged through the drainage pump. The rectangular frame is located below the cylinder and is fixedly connected to the cylinder. A plurality of moving cylinders are rotatably arranged in the rectangular frame.

8. The stabilization auxiliary device for multivariate data collection of a submarine crawling robot according to claim 1 is characterized in that: The driving mechanism comprises: A lifting frame, a plurality of lifting frames are arranged at intervals in the horizontal direction on the side of the crawling robot away from the moving direction, and a lifting adjustment screw rod arranged in the vertical direction is arranged in the lifting frame, and the lifting adjustment screw rod is threadedly connected to the nut block; A push frame, the front end of the push frame is fixedly connected to the rear end of the nut block, the rear end of the push frame is provided with a plurality of rotation slots at intervals, and a rotatable direction adjustment shaft is provided in the rotation slot; The propeller is pushed, the front end of the push rod is fixedly connected to the direction adjustment shaft, the rear end of the push rod is provided with a fixed block, the fixed block is rotatably connected with a push shaft, the propeller is fixed on the push shaft, and a protective cover is provided on the outer side of the propeller.

9. The stabilization auxiliary device for multivariate data collection of a submarine crawling robot according to claim 1, characterized in that: The information collection agencies include: An information collection slot is arranged on the top surface of the crawling robot; The data collection electric screw rod is arranged in the information collection slot along the vertical direction; The information collection nut cylinder is rotatably and slidably arranged in the information collection slot, and the information collection nut cylinder is threadedly connected to the collection electric screw rod; The information collection sensor is arranged on the top surface of the information collection nut tube.

10. A stabilization assisting method using the stabilization assisting device for multivariate data collection of a submarine crawling robot according to any one of claims 1 to 9, characterized in that: The following steps are involved: S1. Put the crawling robot into the seawater, and the weight-increasing mechanism is activated to increase the weight of the whole body, so that the whole body sinks to the seabed; at the same time, the pushing mechanism is moved to push the crawling robot to sink faster; S2. After the device sinks to the seabed, the motion mechanism moves, driving the device to move on the seabed while reducing vibration; at the same time, the pushing mechanism moves at the same time, pushing the device to move quickly on the seabed; When the crawling robot moves, the supporting mechanism supports the device to prevent it from tipping over during movement; The auxiliary crawling mechanism can assist the crawling robot to move on the seabed, and in the event of turbulence or strong bottom current, fix the crawling robot on the seabed to prevent it from being washed away; The stabilizing mechanism increases the stability of movement on the seabed, increases the overall weight, prevents the impact of bumps or fluids, and increases the stability of movement support; S3. When it is necessary to collect information in a designated sea area, the information collection mechanism moves to realize the collection of information; S4. During the recovery process after the designated work is completed, the weight-increasing mechanism is activated to reduce the overall weight of the device, making it easier for the entire device to float up; At the same time, the steering mechanism is activated to drive the cylinder to turn, which is convenient for the device to float up. After the cylinder rotates to the specified position, the braking mechanism is activated to fix the position of the cylinder. The driving mechanism moves, pushing the crawling robot to float up, thereby realizing the recovery of the device.

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