Amphibious submarine cable detection robot suitable for mud flat environment and working method thereof

Abstract

The invention discloses an amphibious submarine cable detection robot suitable for a mud flat environment and a working method of the amphibious submarine cable detection robot. A plurality of electric push rods which are evenly distributed in the circumferential direction are fixed to a hub in a rear wheel device, the end, away from the hub, of each electric push rod is hinged to one end of a rim, the other end of each rim is hinged to one end of a connecting rod, and the other end of each connecting rod is hinged to the hub; a plurality of foot web devices which are uniformly distributed along the circumferential direction are arranged on the connecting disc which is coaxially fixed with the hub; the inner ends of bottom plate rods in the foot web devices and fixing frames form sliding pairs and are connected with the fixing frames through compression springs, the outer ends of the bottom plate rods are fixedly provided with bottom plates, and the middles of the bottom plate rods are hinged to one ends of telescopic rods. The two ends of foot webs are fixed to one ends of two foot web rods, and the other ends of the two foot web rods are hinged to the two sides of the fixing frames. The other end of the telescopic rod is connected with the other end of one foot web rod through a cylindrical gear pair and a bevel gear pair. The submarine cable landing section detection device can be suitable for a mud flat environment and a waterline change condition so as to realize detection work of the submarine cable landing section.

Description

Technical Field

[0001] The invention belongs to the technical field of detection robots, and in particular relates to an amphibious submarine cable detection robot suitable for a tidal flat environment and a working method thereof. Background Art

[0002] In recent years, with the continuous development of the marine economy, offshore power transmission has become an increasingly important part of the development of offshore new energy and island resources. The safety inspection of submarine cables has always been one of the important contents of offshore power transmission. Among them, the inspection of the landing section of the submarine cable located on the beach has always been one of the difficulties in submarine cable inspection. The reason is that the geology of the laying area of ​​the landing section of the submarine cable is mainly mudflats, and the soil of the mudflats is relatively soft. At the same time, the waterline changes with the rise and fall of the tide, and the feet or wheels of the existing inspection robots are easy to sink into the soil, which cannot adapt to the mudflat environment and cannot cope with the changes in the waterline. Summary of the invention

[0003] The purpose of the present invention is to overcome the shortcomings of the prior art and to provide an amphibious submarine cable detection robot suitable for a tidal flat environment and a working method thereof.

[0004] To achieve the above object, the present invention adopts the following technical solutions:

[0005] The invention discloses an amphibious submarine cable detection robot suitable for a tidal flat environment, comprising a hull, a front wheel device, a rear wheel device, a detection device, a flipper device and a connection plate.

[0006] The two symmetrically arranged front wheel devices are arranged on both sides of the front end of the hull and drive the hull to turn, and the two symmetrically arranged rear wheel devices are arranged on both sides of the rear end of the hull and drive the hull forward. The detection device includes a rotating mechanism, a turntable, a U-shaped frame, a camera and a magnetometer. The horizontally arranged turntable and the hull form a rotating pair and are driven to rotate by the rotating mechanism. The U-shaped frame is fixed on the turntable, the camera is fixed on the U-shaped frame; and the magnetometer is fixed on the hull.

[0007] The rear wheel device includes a wheel hub, a wheel rim, an electric push rod, a connecting rod and a wheel hub disk; one end of the wheel hub forms a rotating pair with the hull and is driven to rotate by a driving motor, and the other end is coaxially fixed to the wheel hub disk; a plurality of electric push rods uniformly distributed along the circumferential direction are fixed on the wheel hub, and the electric push rods are arranged along the radial direction; one end of each electric push rod away from the wheel hub is hinged to one end of a wheel rim; the other end of each wheel rim is hinged to one end of a connecting rod, and the other end of each connecting rod is hinged to the wheel hub; wherein, when each electric push rod is fully retracted, each wheel rim is successively fitted end to end to form a circular ring.

[0008] The connecting disk is coaxially fixed with the hub disk, and the connecting disk is provided with a plurality of fin devices evenly distributed along the circumferential direction, the number of fin devices is equal to the number of wheel rims, and each fin device is aligned with a wheel rim. The fin device includes a fixing frame, a cylindrical gear pair, a bevel gear pair, a base plate rod, a fin rod, a fin, a base plate and a telescopic rod; the fixing frame is fixed on the connecting disk, and the length direction of the fixing frame is arranged radially, and an opening is provided at the outer end of the fixing frame, and the maximum vertical distance from the opening to the central axis of the connecting disk is not greater than the outer diameter of the circular ring; the driving cylindrical gear and the driven cylindrical gear of the cylindrical gear pair are both hinged in the fixing frame; the driving bevel gear of the bevel gear pair is coaxially fixed with the driven cylindrical gear, and the driven bevel gear is hinged in the fixing frame One end of the telescopic rod is fixed to the active cylindrical gear, and the other end is hinged to the middle part of the base plate rod; the base plate rod is arranged in the fixed frame, and forms a sliding pair with the fixed frame parallel to the length direction of the fixed frame, and the inner end of the base plate rod is connected to the fixed frame through a compression spring, and the outer end is fixed with a base plate perpendicular to the base plate rod; two symmetrically arranged fin rods are provided on the outer side of the fixed frame, one end of the two fin rods is hinged to the fixed frame, and one end of one of the fin rods is fixed to the driven bevel gear, and the other ends of the two fin rods are fixed to the two ends of the fin.

[0009] Preferably, the hull includes a hull cover and a hull, the hull cover is fixed to the hull; symmetrically arranged front wheel devices are provided on both sides of the front end of the hull, and two symmetrically arranged rear wheel devices are provided on both sides of the rear end of the hull; the magnetometer is fixed on the hull cover.

[0010] More preferably, the front end of the hull is in the shape of an arc.

[0011] More preferably, the rotating mechanism includes a steering gear, a steering wheel and a bearing frame, the housing of the steering gear is fixed on the hull cover, the output shaft of the steering gear is fixed to the horizontally arranged steering wheel, the steering wheel is supported on the bearing frame through bearings, and the bearing frame is fixed on the hull cover; the turntable is fixed on the steering wheel.

[0012] More preferably, the output shaft of the drive motor forms a revolving pair with the hull and is connected to the wheel hub via a coupling, and the housing of the drive motor is fixed in the hull.

[0013] Preferably, a plurality of bionic protrusions which are integrally formed and arranged at intervals are provided on the front wheel cylindrical surface of the front wheel device.

[0014] Preferably, both ends of the wheel rim are wedge-shaped.

[0015] Preferably, the transmission ratio between the driving cylindrical gear and the driven cylindrical gear is less than 1:4.

[0016] Preferably, a spring base is fixed to one end of the base rod away from the base plate and is provided with a center hole. A spring top seat is fixed to the fixed frame, and an integrally formed center rod is provided on the spring top seat. The center rod passes through the center hole and forms a sliding pair with the center hole. The spring top seat is connected to the spring base through a compression spring.

[0017] The present invention provides a working method of an amphibious submarine cable detection robot suitable for a tidal flat environment, which is specifically as follows:

[0018] In the initial state, each electric push rod is fully retracted, and each flipper of each flipper device moves toward the center of the connection plate. The two rear wheel devices drive the hull forward, and the two front wheel devices drive the hull to turn, so that the hull moves to the coast and moves along the direction of the submarine cable. At the same time, the camera monitors the surrounding environment and the magnetometer monitors the magnetic field of the submarine cable.

[0019] Among them, when the hull moves on the mudflat and in water with a depth less than a preset depth, each electric push rod is in a fully retracted state, and the rims of each rear wheel device are successively fitted end to end to form a ring. The controller controls each drive motor to synchronously drive each wheel hub to rotate, and each wheel hub drives the two rings to rotate through each electric push rod and each connecting rod, thereby driving the hull forward on the mudflat, and when the rim of each rear wheel device at the bottom contacts the sand, the bottom end of the rim sinks into the sand, and in the flipper device corresponding to the rim, the opening of the fixing frame is inserted into the sand, and the sand entering the opening pushes the bottom plate upward. The force causes the bottom plate to drive the bottom plate rod to move upward, the bottom plate rod compresses the compression spring, and drives the telescopic rod to rotate upward, shortening the telescopic rod. At the same time, the telescopic rod drives the two fin rods to rotate downward through the cylindrical gear pair and the bevel gear pair, thereby driving the flippers to rotate downward and unfold, so that the flippers contact the sand, increasing the contact area between the wheel rim and the sand. As the corresponding ring rotates, the wheel rim is out of contact with the sand, and the restoring force of the compression spring pushes the bottom plate rod to drive the bottom plate back to its original position, the bottom plate rod drives the telescopic rod to extend and rotate to its original position, and the telescopic rod drives the two fin rods and the flippers to rotate to their original positions through the cylindrical gear pair and the bevel gear pair.

[0020] When the hull moves in water with a depth not less than a preset depth, the controller controls the piston rods of each electric push rod to extend synchronously, and the piston rods of each electric push rod push the wheel rims to rotate outward, so that the wheel rims of each rear wheel device unfold into paddles. The controller controls each drive motor to synchronously drive the wheel hubs to rotate, and each wheel hub drives the wheel rims to rotate through the electric push rods and connecting rods, thereby paddling and driving the hull forward in the water.

[0021] The present invention has the following beneficial effects:

[0022] 1. The present invention can be applied to mudflat environments and waterline changes to detect the landing section of submarine cables. Specifically, when the electric push rods in the rear wheel device are fully retracted, the wheel rims are fitted end to end to form a circular ring, and the driving motor drives the wheel hub to drive the circular ring to roll on the mudflat, thereby driving the hull forward, and multiple fin devices are arranged on the outside of the circular ring, so that when the hull moves on the mudflat, when the bottom end of one of the wheel rims sinks into the sand, the sand enters the opening of the fixing frame of the corresponding fin device, and the fins of the corresponding fin device rotate downward to contact the sand, thereby increasing the contact area between the wheel rim and the sand, preventing the wheel rim from sinking and slipping, and having an anti-sinking function, so that the present invention can travel on the mudflat. When the wheel rim leaves the sand surface, the restoring force of the compression spring drives the flipper to leave the sand surface and return to its original position, thereby enabling the present invention to achieve efficient movement, enhancing the walking ability of the present invention in a tidal flat environment, and improving the overall stability and reliability; further, when the piston rod of each electric push rod is extended, the piston rod of each electric push rod pushes each wheel rim to expand outward to form a paddle blade, and the driving motor drives the wheel hub to drive each wheel rim to paddle in the water, thereby propelling the hull forward, so that the present invention can move on the water; the present invention has amphibious function, thereby being able to adapt to the tidal flat environment and waterline changes.

[0023] 2. The present invention uses the shape of the ostrich's foot mastoid as a bionic prototype, and adds bionic protrusions to the front wheel cylindrical surface of the front wheel device, thereby increasing the grip of the front wheel and preventing it from slipping and idling. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0025] Figure 2 for Figure 1 Right view of;

[0026] Figure 3 It is a structural schematic diagram of the detection device in the present invention;

[0027] Figure 4 A bottom view of the detection device of the present invention;

[0028] Figure 5 It is a schematic diagram of the structure of the rear wheel device of the present invention when it is closed;

[0029] Figure 6 It is a schematic diagram of the structure when the rear wheel device of the present invention is opened;

[0030] Figure 7 It is a structural schematic diagram of the flipper device of the present invention;

[0031] Figure 8 It is a structural schematic diagram of the flipper device in the present invention in an initial state;

[0032] Fig. 9 It is a schematic diagram of the structure of the flipper device of the present invention when the flipper is unfolded;

[0033] Fig.10 It is a schematic diagram of power transmission of the flipper device of the present invention;

[0034] Fig.11 The figure is a simplified structural diagram of the flipper device of the present invention. DETAILED DESCRIPTION

[0035] The present invention is further described below in conjunction with the accompanying drawings.

[0036] like Figure 1 and Figure 2 As shown, the present invention is an amphibious submarine cable detection robot suitable for a tidal flat environment, comprising a hull, a front wheel device 3, a rear wheel device 6, a flipper device 7, a detection device 8 and a connection plate 9. The hull comprises a hull cover 1 and a hull 2, wherein the hull cover 1 is fixed to the hull 2; two symmetrically arranged front wheel devices 3 (including front wheels and hub motors driving the front wheels, and the hub motors are controlled by a controller) are arranged at both sides of the front end of the hull 2, and drive the hull 2 ​​to turn; two symmetrically arranged rear wheel devices 6 are arranged at both sides of the rear end of the hull 2, and drive the hull 2 ​​to move forward.

[0037] like Figure 3 and Figure 4 As shown, the detection device 8 includes a rotating mechanism, a turntable 802, a U-shaped frame 803, a camera 804 and a magnetometer (not shown in the figure), the rotating mechanism includes a steering gear 801 (controlled by a controller), a steering wheel 805 and a bearing frame 807; the housing of the steering gear 801 is fixed on the hull cover 1, the output shaft of the steering gear 801 is fixed to the horizontally arranged steering wheel 805, the steering wheel 805 is supported on the bearing frame 807 through a bearing 806, the bearing frame 807 is fixed on the hull cover 1, the horizontally arranged turntable 802 is fixed on the steering wheel 805, the U-shaped frame 803 is fixed on the turntable 802, and the camera 804 is fixed on the U-shaped frame 803 for monitoring the surrounding road conditions; the magnetometer is fixed on the hull cover 1 for monitoring the magnetic field changes of the submarine cable; the signal output ends of the camera 804 and the magnetometer are both connected to the controller.

[0038] like Figure 5 and Figure 6As shown, the rear wheel device 6 includes a wheel hub 601, a wheel rim 602, an electric push rod 603, a connecting rod 604 and a wheel hub plate 605; the wheel hub 601 is connected to the output shaft of the driving motor 5 through a coupling 4, the housing of the driving motor 5 is fixed in the hull 2, and the output shaft of the driving motor 5 and the hull 2 ​​form a rotating pair; a plurality of electric push rods 603 uniformly distributed along the circumferential direction are fixed on the wheel hub 601, and the electric push rods 603 are arranged in the radial direction; one end of each electric push rod 603 away from the wheel hub 601 is hinged to one end of a wheel rim 602; the other end of each wheel rim 602 is hinged to one end of a connecting rod 604, and the other end of each connecting rod 604 is hinged to the wheel hub 601; the wheel hub plate 605 is coaxially fixed with the wheel hub 601 and is located outside the wheel hub 601. When each electric push rod 603 is fully retracted, each wheel rim 602 is successively fitted head to tail to form a ring.

[0039] A connecting disk 9 is coaxially fixed to the hub disk 605, and a plurality of fin devices 7 are arranged on the connecting disk 9 and are evenly distributed along the circumferential direction. The number of the fin devices 7 is equal to the number of the wheel rims 602, and each fin device 7 is aligned with one wheel rim 602. Figure 7 , Figure 8 , Fig. 9 , Fig.10 and Fig.11 As shown, the flipper device 7 includes a fixing frame 701, a cylindrical gear pair, a bevel gear pair, a flipper rod 706, a flipper 707, a bottom plate 708, a telescopic rod 709, a bottom plate rod 710 and a compression spring 712; the fixing frame 701 is fixed on the connecting plate 9, and the length direction of the fixing frame 701 is arranged radially, the outer end of the fixing frame 701 is open, and the maximum vertical distance from the opening to the central axis of the connecting plate is not greater than the outer diameter of the circular ring; the driving cylindrical gear 702 and the driven cylindrical gear 703 of the cylindrical gear pair are both hinged in the fixing frame 701, and the transmission ratio of the driving cylindrical gear 702 to the driven cylindrical gear 703 is less than 1:4; the driving bevel gear 704 of the bevel gear pair is coaxially fixed with the driven cylindrical gear 703, and the driven bevel gear 705 is hinged in the fixing frame 701, and The transmission ratio of the active bevel gear 704 and the driven bevel gear 705 is 1:1; one end of the telescopic rod 709 is fixed to the active cylindrical gear 702, and the other end is hinged to the middle part of the base plate rod 710; the base plate rod 710 is arranged in the fixed frame 701, and forms a sliding pair with the fixed frame 701 parallel to the length direction of the fixed frame 701, and the inner end of the base plate rod 710 is connected to the fixed frame 701 through a compression spring 712, and the outer end is fixed with a base plate 708 perpendicular to the base plate rod 710; two symmetrically arranged fin rods 706 are provided on the outer side of the fixed frame 701, one end of the two fin rods 706 are hinged to the fixed frame 701, and one end of one of the fin rods 706 is fixed to the driven bevel gear 705, and the other ends of the two fin rods 706 are fixed to the two ends of the fin 707.

[0040] As a preferred embodiment, the shape of the front end of the hull 2 ​​is designed in the shape of a mud sled on a tidal flat and is in an arc shape, which has the effect of assisting sliding.

[0041] As a preferred embodiment, the shape of the ostrich's foot mastoid is used as a bionic prototype, and a plurality of bionic protrusions integrally formed and spaced apart are provided on the front wheel cylindrical surface of the front wheel device 3 to increase the grip of the front wheel when embedded in the soft soil foundation of the tidal flat.

[0042] As a preferred embodiment, both ends of the wheel rim 602 are wedge-shaped, thereby improving the connection strength and stability after the wheel rims 602 are sequentially attached end to end.

[0043] As a preferred embodiment, a spring base 711 is fixed to one end of the bottom plate rod 710 away from the bottom plate 708 and is provided with a center hole. A spring top seat 713 is fixed to the fixed frame 701, and an integrally formed center rod is provided on the spring top seat 713. The center rod passes through the center hole and forms a sliding pair with the center hole. The spring top seat 713 is connected to the spring base 711 via a compression spring 712.

[0044] As a preferred embodiment, the shape of the web 707 is designed to be a duck web, and the material of the web 707 is rubber.

[0045] The present invention provides a working method of an amphibious submarine cable detection robot suitable for a tidal flat environment, which is specifically as follows:

[0046] In the initial state, the amphibious submarine cable detection robot suitable for the tidal flat environment of the present invention is located on the hard ground of the cement road, each electric push rod is fully retracted, and each fin 707 of each fin device 7 moves toward the center of the connecting plate 9.

[0047] The two rear wheel devices 6 drive the hull forward, and the two front wheel devices 3 drive the hull to turn, so that the hull moves to the coast and moves along the direction of the submarine cable. At the same time, the camera 804 monitors the surrounding environment and the magnetometer monitors the magnetic field of the submarine cable.

[0048] When the hull moves on the mudflats and in shallow water (the water depth is less than the preset depth, measured by the liquid level sensor installed on the hull, and the signal output terminal of the liquid level sensor is connected to the controller), each electric push rod 603 is in a fully retracted state, and each wheel rim 602 of each rear wheel device 6 is successively attached end to end to form a ring, such as Figure 5As shown, the controller controls each driving motor 5 to synchronously drive each wheel hub 601 to rotate, and each wheel hub 601 drives two circular rings to rotate through each electric push rod 603 and each connecting rod 604, thereby driving the hull to move forward on the mudflat, and when the rim 602 of each rear wheel device 6 is at the bottom and contacts the sand, the bottom end portion of the rim 602 sinks into the sand, and in the flipper device 7 corresponding to the rim 602, the opening of the fixing frame 701 is inserted into the sand, and the sand entering the opening generates an upward thrust on the corresponding bottom plate 708, so that the bottom plate 708 drives the bottom plate rod 710 to move upward, and the bottom plate rod 710 compresses the compression spring 712, and drives the telescopic rod 709 to rotate upward, so that the telescopic rod 709 is shortened, and at the same time, the telescopic rod 709 drives the two flipper rods 706 to rotate downward through the cylindrical gear pair and the bevel gear pair, thereby driving the flipper 707 to rotate downward and unfold, so that the flipper 707 contacts the sand, as shown in FIG. Fig. 9 As shown, the contact area between the wheel rim 602 and the sand is increased, the sinking of the wheel rim 602 is slowed down, and slipping is avoided. As the corresponding ring rotates, the wheel rim 602 is out of contact with the sand, and the restoring force of the compression spring 712 pushes the bottom plate rod 710 to drive the bottom plate 708 back to the original position. The bottom plate rod 710 drives the telescopic rod 709 to extend and rotate to the original position. The telescopic rod 709 drives the two fin rods 706 and the fin 707 to rotate to the original position through the cylindrical gear pair and the bevel gear pair. Figure 8 shown.

[0049] When the boat moves in deeper water (the water depth is not less than a preset depth), the controller controls the piston rods of the electric push rods 603 to extend synchronously, and the piston rods of the electric push rods 603 push the wheel rims 602 to rotate outward, so that the wheel rims 602 of each rear wheel device 6 unfold into paddles, such as Figure 6 As shown, the controller controls each driving motor 5 to synchronously drive each wheel hub 601 to rotate, and each wheel hub 601 drives each wheel rim 602 to rotate through each electric push rod 603 and each connecting rod 604 to perform paddling, thereby driving the hull to move forward in the water.

Claims

1. An amphibious submarine cable detection robot suitable for use in a tidal flat environment, comprising a hull, a front wheel device, a rear wheel device and a detection device, characterized in that: It also includes a flipper device and a connecting plate; the two symmetrically arranged front wheel devices are arranged on both sides of the front end of the hull and drive the hull to turn, and the two symmetrically arranged rear wheel devices are arranged on both sides of the rear end of the hull and drive the hull forward; the detection device includes a rotating mechanism, a turntable, a U-shaped frame, a camera and a magnetometer, the horizontally arranged turntable and the hull form a rotating pair and are driven to rotate by the rotating mechanism, the U-shaped frame is fixed on the turntable, and the camera is fixed on the U-shaped frame; the magnetometer is fixed on the hull; the rear wheel device includes a hub, a rim , electric push rods, connecting rods and wheel hubs; one end of the wheel hub forms a rotating pair with the hull and is driven to rotate by a driving motor, and the other end is coaxially fixed with the wheel hub; a plurality of electric push rods uniformly distributed along the circumferential direction are fixed on the wheel hub, and the electric push rods are arranged along the radial direction; one end of each electric push rod away from the wheel hub is hinged to one end of a wheel rim; the other end of each wheel rim is hinged to one end of a connecting rod, and the other end of each connecting rod is hinged to the wheel hub; wherein, when each electric push rod is fully retracted, each wheel rim is successively fitted end to end to form a circular ring; The connecting disk is coaxially fixed with the hub disk, and the connecting disk is provided with a plurality of fin devices uniformly distributed in the circumferential direction, the number of fin devices is equal to the number of wheel rims, and each fin device is aligned with a wheel rim; the fin device comprises a fixing frame, a cylindrical gear pair, a bevel gear pair, a bottom plate rod, a fin rod, a fin, a bottom plate and a telescopic rod; the fixing frame is fixed on the connecting disk, and the length direction of the fixing frame is arranged radially, an opening is provided at the outer end of the fixing frame, and the maximum vertical distance from the opening to the central axis of the connecting disk is not greater than the outer diameter of the circular ring; the active cylindrical gear and the driven cylindrical gear of the cylindrical gear pair are both hinged in the fixing frame; the bevel gear pair The driving bevel gear and the driven cylindrical gear are coaxially fixed, and the driven bevel gear is hinged in the fixed frame; one end of the telescopic rod is fixed to the driving cylindrical gear, and the other end is hinged to the middle part of the base plate rod; the base plate rod is arranged in the fixed frame, and forms a sliding pair parallel to the length direction of the fixed frame with the fixed frame, and the inner end of the base plate rod is connected to the fixed frame through a compression spring, and a base plate perpendicular to the base plate rod is fixed to the outer end; two symmetrically arranged foot web rods are provided on the outer side of the fixed frame, one end of the two foot web rods is hinged to the fixed frame, and one end of one of the foot web rods is fixed to the driven bevel gear, and the other ends of the two foot web rods are fixed to the two ends of the foot web.

2. The amphibious submarine cable detection robot suitable for tidal flat environment according to claim 1, characterized in that: The hull comprises a hull cover and a hull, wherein the hull cover is fixed on the hull; symmetrically arranged front wheel devices are arranged on both sides of the front end of the hull, and two symmetrically arranged rear wheel devices are arranged on both sides of the rear end of the hull; and a magnetometer is fixed on the hull cover.

3. The amphibious submarine cable detection robot suitable for tidal flat environment according to claim 2 is characterized by: The front end of the hull is in an arc shape.

4. The amphibious submarine cable detection robot suitable for tidal flat environment according to claim 2 is characterized in that: The rotating mechanism comprises a steering gear, a steering wheel and a bearing frame. The housing of the steering gear is fixed on the hull cover. The output shaft of the steering gear is fixed to the horizontally arranged steering wheel. The steering wheel is supported on the bearing frame through bearings. The bearing frame is fixed on the hull cover. The turntable is fixed on the steering wheel.

5. The amphibious submarine cable detection robot suitable for tidal flat environment according to claim 2, characterized in that: The output shaft of the driving motor forms a rotating pair with the hull and is connected to the wheel hub through a coupling. The housing of the driving motor is fixed in the hull.

6. The amphibious submarine cable detection robot suitable for tidal flat environment according to claim 1, characterized in that: A plurality of bionic protrusions which are integrally formed and arranged at intervals are arranged on the front wheel cylindrical surface of the front wheel device.

7. The amphibious submarine cable detection robot suitable for tidal flat environment according to claim 1 is characterized by: Both ends of the wheel rim are wedge-shaped.

8. The amphibious submarine cable detection robot suitable for tidal flat environment according to claim 1, characterized in that: The transmission ratio of the driving cylindrical gear to the driven cylindrical gear is less than 1:

4.

9. The amphibious submarine cable detection robot suitable for tidal flat environment according to claim 1, characterized in that: A spring base is fixed on one end of the bottom plate rod away from the bottom plate and is provided with a center hole. A spring top seat is fixed on the fixing frame, and an integrally formed center rod is provided on the spring top seat. The center rod penetrates into the center hole and forms a sliding pair with the center hole. The spring top seat is connected to the spring base through a compression spring.

10. A working method of an amphibious submarine cable detection robot suitable for a tidal flat environment according to any one of claims 1 to 9, characterized in that: The details are as follows: In the initial state, each electric push rod is fully retracted, and each flipper of each flipper device moves closer to the center of the connecting disk; The two rear wheels drive the ship forward, and the two front wheels drive the ship to turn, so that the ship moves to the coast and moves along the direction of the submarine cable. At the same time, the camera monitors the surrounding environment and the magnetometer monitors the magnetic field of the submarine cable. Among them, when the hull moves on the mudflat and in water with a depth less than a preset depth, each electric push rod is in a fully retracted state, and the rims of each rear wheel device are successively fitted end to end to form a ring. The controller controls each drive motor to synchronously drive the wheel hubs to rotate, and each wheel hub drives the two rings to rotate through each electric push rod and each connecting rod, thereby driving the hull forward on the mudflat, and when the rim of each rear wheel device at the bottom contacts the sand, the bottom end of the rim sinks into the sand, and in the flipper device corresponding to the rim, the opening on the fixed frame is inserted into the sand, and the sand entering the opening pushes the bottom plate upward. The force causes the bottom plate to drive the bottom plate rod to move upward, the bottom plate rod compresses the compression spring, and drives the telescopic rod to rotate upward, shortening the telescopic rod. At the same time, the telescopic rod drives the two fin rods to rotate downward through the cylindrical gear pair and the bevel gear pair, thereby driving the fins to rotate downward and unfold, so that the fins contact the sand, increasing the contact area between the wheel rim and the sand. As the corresponding ring rotates, when the wheel rim is out of contact with the sand, the restoring force of the compression spring pushes the bottom plate rod to drive the bottom plate back to its original position, the bottom plate rod drives the telescopic rod to extend and rotate to its original position, and the telescopic rod drives the two fin rods and the fins to rotate to their original positions through the cylindrical gear pair and the bevel gear pair. When the hull moves in water with a depth not less than a preset depth, the controller controls the piston rods of each electric push rod to extend synchronously, and the piston rods of each electric push rod push the wheel rims to rotate outward, so that the wheel rims of each rear wheel device unfold into paddles. The controller controls each drive motor to synchronously drive the wheel hubs to rotate, and each wheel hub drives the wheel rims to rotate through the electric push rods and connecting rods, thereby paddling and driving the hull forward in the water.

Images