An amphibious submarine cable detection robot suitable for mudflat environments and its working method

Abstract

The present invention discloses an amphibious submarine cable inspection robot suitable for use in mudflat environments and its operating method. In the rear wheel device of the present invention, a plurality of electric push rods uniformly distributed along the circumference are fixed to the wheel hub. The end of each electric push rod away from the wheel hub is hinged to one end of a wheel rim, and 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. A connecting disk coaxially fixed to the wheel hub is provided with a plurality of fin devices uniformly distributed along the circumference. In the fin device, the inner end of the bottom plate rod forms a sliding pair with the fixed frame and is connected to the fixed frame via a compression spring. The outer end is fixed to a bottom plate, the middle portion is hinged to one end of a telescopic rod, the two ends of the fin are fixed to one end of two fin rods, the other ends of the two fin rods are hinged to both sides of the fixed frame, and the other end of the telescopic rod is connected to the other end of one of the fin rods via a cylindrical gear pair and a bevel gear pair. The present invention is applicable to mudflat environments and waterline changes to achieve detection of the landing section of the submarine cable.

Description

Technical Field

[0001] The present invention belongs to the technical field of detection robots, and in particular relates to an amphibious submarine cable detection robot suitable for a mudflat 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 component of offshore renewable energy and island resource development. The safety inspection of submarine cables has always been a key component of offshore power transmission. However, the inspection of the cable landing section, located on the shore, has always been a difficult aspect of submarine cable inspection. This is because the geology of the cable landing section is mainly mudflats, with relatively soft soil. Furthermore, the waterline constantly changes with the ebb and flow of the tide. Existing inspection robots, with their feet or wheels easily sinking into the soil, are unable to adapt to the mudflat environment and cannot cope with the changing waterline. Summary of the Invention

[0003] The purpose of the present invention is to overcome the shortcomings of the existing technology and to provide an amphibious submarine cable detection robot suitable for mudflat environments 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 mudflat environment, comprising a hull, a front wheel device, a rear wheel device, a detection device, a flipper device and a connecting plate.

[0006] The two symmetrically arranged front wheel devices are located on either side of the front end of the hull and drive the hull to steer. The two symmetrically arranged rear wheel devices are located on either side of the rear end of the hull and drive the hull forward. The detection device includes a rotation mechanism, a turntable, a U-shaped frame, a camera, and a magnetometer. The horizontally arranged turntable forms a rotational pair with the hull and is driven to rotate by the rotation mechanism. The U-shaped frame is fixed to the turntable, and the camera is fixed to the U-shaped frame; the magnetometer is fixed to 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 circumference are fixed on the wheel hub, and the electric push rods are arranged along the radial direction; the 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 fixed coaxially with the hub disk, and the connecting disk is provided with a plurality of fin devices uniformly distributed along the circumference. 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 to 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 and the driven cylindrical gear of the bevel gear pair are fixed coaxially, 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 rod; the base 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 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 rod; two symmetrically arranged webbed rods are provided on the outside of the fixed frame, one end of the two webbed rods is hinged to the fixed frame, and one end of one of the webbed rods is fixed to the driven bevel gear, and the other ends of the two webbed rods are fixed to the two ends of the web.

[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 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 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 the end of the base rod away from the base 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 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, the electric push rods are fully retracted, and the flippers of each flipper assembly move toward the center of the connection plate. The two rear wheels propel the boat forward, while the two front wheels steer the boat, moving it toward the coast and along the cable. Simultaneously, cameras monitor the surrounding environment, and magnetometers monitor the cable's magnetic field.

[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 sequentially 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 is at the bottom and contacts the sand, the bottom end of the rim sinks into the sand, and in the fin 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 webbed rods to rotate downward through the cylindrical gear pair and the bevel gear pair, thereby driving the webbed feet to rotate downward and expand, so that the webbed feet come into contact with the sand, increasing the contact area between the wheel rim and the sand. As the corresponding ring rotates, the wheel rim disengages from 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 webbed rods and the webbed feet to rotate to their original position 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 each wheel hub to rotate, and each wheel hub drives each wheel rim to rotate through each electric push rod and each connecting rod, thereby paddling, and then 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 realize the detection of the landing section of submarine cables. Specifically, the present invention makes each electric push rod in the rear wheel device fully retracted, and each wheel rim is sequentially fitted end to end to form a ring, and the driving motor drives the wheel hub to drive the ring to roll on the mudflat, thereby driving the hull forward, and multiple fin devices are set on the outside of the 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 fin of the corresponding fin device rotates 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 mudflat 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, enabling the present invention to move on water; the present invention has amphibious function, thereby being able to adapt to mudflat environments and changes in waterlines.

[0023] 2. The present invention uses the shape of the mastoid process of the ostrich's foot 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;

[0026] Figure 3 Schematic diagram of the structure of the detection device of the present invention;

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

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

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

[0030] Figure 7 Schematic diagram of the structure of the flipper device of the present invention;

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

[0032] Figure 9 This is a schematic structural diagram of the flipper device of the present invention when the flippers are unfolded;

[0033] Figure 10 Schematic diagram of power transmission of the flipper device of the present invention;

[0034] Figure 11 This is a simplified structural diagram of the flipper device of the present invention. DETAILED DESCRIPTION

[0035] The present invention will be further described below with reference to the accompanying drawings.

[0036] like Figure 1 and Figure 2 As shown, the present invention discloses an amphibious submarine cable inspection robot suitable for use in mudflat environments, comprising a hull, a front wheel assembly 3, a rear wheel assembly 6, a flipper assembly 7, a detection device 8, and a connection plate 9. The hull comprises a hull cover 1 and a hull 2, with the hull cover 1 being fixed to the hull 2. Two symmetrically arranged front wheel assemblies 3 (including front wheels and hub motors driving the front wheels, the hub motors being controlled by a controller) are located on either side of the front end of the hull 2 ​​and drive the hull 2 ​​in steering. Two symmetrically arranged rear wheel assemblies 6 are located on either side of the rear end of the hull 2 ​​and drive the hull 2 ​​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 to 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 to the hull cover 1, the horizontally arranged turntable 802 is fixed to the steering wheel 805, the U-shaped frame 803 is fixed to the turntable 802, and the camera 804 is fixed to the U-shaped frame 803 for monitoring the surrounding road conditions; the magnetometer is fixed to the hull cover 1 for monitoring the changes in the magnetic field 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 hub 601, a rim 602, an electric push rod 603, a connecting rod 604, and a hub disc 605. The hub 601 is connected to the output shaft of the drive motor 5 via a coupling 4. The housing of the drive motor 5 is fixed within the hull 2, and the output shaft of the drive motor 5 and the hull 2 ​​form a revolving pair. A plurality of electric push rods 603 are fixed to the hub 601, evenly distributed along the circumference and arranged radially. The end of each electric push rod 603, away from the hub 601, is hinged to one end of a rim 602. The other end of each 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 hub 601. The hub disc 605 is coaxially fixed to the hub 601 and is located outside the hub 601. When each electric push rod 603 is fully retracted, the rims 602 are aligned end to end, forming a circular ring.

[0039] A connecting disc 9 is coaxially fixed to the hub disc 605. The connecting disc 9 is provided with a plurality of fin devices 7 evenly distributed along the circumference. The number of fin devices 7 is equal to the number of wheel rims 602. Each fin device 7 is aligned with one wheel rim 602. Figure 7 、 Figure 8 、 Figure 9 、 Figure 10 and Figure 11 As shown, the webbed foot device 7 includes a fixing frame 701, a cylindrical gear pair, a bevel gear pair, a webbed foot rod 706, a webbed foot 707, a base plate 708, a telescopic rod 709, a base 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 driving bevel gear 704 and the driven bevel gear 705 is 1:1; one end of the telescopic rod 709 is fixed to the driving cylindrical gear 702, and the other end is hinged to the middle part of the base rod 710; the base 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 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 rod 710; two symmetrically arranged webbed rods 706 are provided on the outer side of the fixed frame 701, one end of the two webbed rods 706 are hinged to the fixed frame 701, and one end of one of the webbed rods 706 is fixed to the driven bevel gear 705, and the other end of the two webbed rods 706 are fixed to the two ends of the web 707.

[0040] As a preferred embodiment, the shape of the front end of the hull 2 ​​is designed in the shape of a mudflat skid, which is arc-shaped and has the effect of assisting sliding.

[0041] As a preferred embodiment, the shape of the ostrich's plantar 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 rims 602 are wedge-shaped, thereby improving the connection strength and stability after the wheel rims 602 are sequentially joined end to end.

[0043] As a preferred embodiment, a spring base 711 is fixed to the end of the base rod 710 away from the base plate 708 and is provided with a center hole. A spring top seat 713 is fixed to the fixing 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 through a compression spring 712.

[0044] As a preferred embodiment, the shape of the web 707 is designed to be the shape of a duck's 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 mudflat environment of the present invention is located on the hard ground of cement road, each electric push rod is fully retracted, and each web 707 of each web 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 of the liquid level sensor is connected to the controller), each electric push rod 603 is in a fully retracted state, and the rims 602 of each rear wheel device 6 are sequentially 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 the two rings to rotate through each electric push rod 603 and each connecting rod 604, thereby driving the hull to move forward on the mudflat. 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 fin 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, shortening the telescopic rod 709. At the same time, the telescopic rod 709 drives the two fin rods 706 to rotate downward through the cylindrical gear pair and the bevel gear pair, thereby driving the fin 707 to rotate downward and expand, so that the fin 707 contacts the sand. Figure 9 As shown, the contact area between the rim 602 and the sand is increased, the sinking of the rim 602 is slowed down, and slipping is avoided. As the corresponding ring rotates, the 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 its original position. The bottom plate rod 710 drives the telescopic rod 709 to extend and rotate to its original position. The telescopic rod 709 drives the two webbed rods 706 and the webbed foot 707 to rotate to their original positions through the cylindrical gear pair and the bevel gear pair. Figure 8 shown.

[0049] When the hull moves in deeper water (the water depth is not less than the 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 are unfolded into paddle blades, as shown in FIG. Figure 6 As shown, the controller controls each driving motor 5 to synchronously drive each hub 601 to rotate, and each hub 601 drives each rim 602 to rotate through each electric push rod 603 and each connecting rod 604 to perform paddling, thereby driving the hull forward in the water.

Claims

1. An amphibious submarine cable detection robot suitable for use in mudflat environments, comprising a hull, a front wheel assembly, a rear wheel assembly, and a detection device, characterized in that: The invention also includes a flipper device and a connecting plate; two symmetrically arranged front wheel devices are provided on both sides of the front end of the hull and drive the hull to turn; two symmetrically arranged rear wheel devices are provided 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, An electric push rod, a connecting rod, and a hub disk; one end of the hub forms a revolving pair with the hull and is driven to rotate by a drive motor, and the other end is coaxially fixed to the hub disk; a plurality of electric push rods are fixed to the hub, evenly distributed along the circumference, and arranged in the radial direction; the end of each electric push rod away from the 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 hub; wherein, when each electric push rod is fully retracted, the wheel rims are sequentially fitted end to end to form a circular ring; The connecting disc is coaxially fixed to the hub disc, and the connecting disc is provided with a plurality of fin devices uniformly distributed along the circumference, 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 base plate rod, a fin rod, a fin, a base plate and a telescopic rod; the fixing frame is fixed to the connecting disc, 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 disc 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 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 rod; the base 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 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 rod; two symmetrically arranged webbed rods are provided on the outside of the fixed frame, one end of the two webbed rods is hinged to the fixed frame, and one end of one of the webbed rods is fixed to the driven bevel gear, and the other end of the two webbed rods is fixed to the two ends of the web.

2. The amphibious submarine cable inspection robot suitable for mudflat environments according to claim 1, characterized in that: The hull comprises a hull cover and a hull, wherein the hull cover is fixed to 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 the magnetometer is fixed on the hull cover.

3. The amphibious submarine cable inspection robot suitable for use in mudflat environments according to claim 2, characterized in that: The front end of the hull is in an arc shape.

4. The amphibious submarine cable inspection robot suitable for use in mudflat environments according to claim 2, characterized in that: The rotating mechanism includes a steering gear, a steering wheel and a bearing frame. The housing of the steering gear is fixed to 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 to the hull cover. The turntable is fixed to the steering wheel.

5. The amphibious submarine cable inspection robot suitable for mudflat environments 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 inspection robot suitable for mudflat environments according to claim 1, characterized in that: The front wheel cylindrical surface of the front wheel device is provided with a plurality of bionic protrusions which are integrally formed and arranged at intervals.

7. The amphibious submarine cable inspection robot suitable for use in mudflat environments according to claim 1, characterized in that: Both ends of the wheel rim are wedge-shaped.

8. The amphibious submarine cable inspection robot suitable for use in mudflat environments 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 inspection robot suitable for use in mudflat environments according to claim 1, characterized in that: A spring base is fixed to 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 to the fixing 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.

10. A working method of an amphibious submarine cable inspection 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, while the two front wheels steer the ship, moving it toward the coast and along the direction of the submarine cable. Meanwhile, cameras monitor the surrounding environment, and magnetometers monitor 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 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 is at the bottom and contacts the sand, the bottom end of the rim sinks into the sand, and in the fin 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 flipper rods to rotate downward through the cylindrical gear pair and the bevel gear pair, thereby driving the flippers to rotate downward and expand, so that the flippers come into contact with 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 flipper rods and the flipper to rotate to their original position 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 each wheel hub to rotate, and each wheel hub drives each wheel rim to rotate through each electric push rod and each connecting rod, thereby paddling, and then driving the hull forward in the water.

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