Benthic track assembly and submarine operation robot

Abstract

The invention relates to the field of track assemblies and components thereof, and discloses a benthic track assembly and a seabed operation robot, the benthic track assembly comprises a carrying platform and track assemblies symmetrically arranged on the two sides of the carrying platform, each track assembly comprises a rack, a driving wheel, an inducer, a first driven wheel and a track body, and rotation of the driving wheel is controlled by a driving motor; an overturning driving mechanism capable of driving the inducer to overturn up and down is arranged on the rack, second driven wheels in running fit with the inner ring of the track body are arranged on the two sides of the inducer, the overturning driving mechanism is matched with a visual detection system, and the visual detection system detects whether an obstacle exists or not. A command is sent to a driving motor to drive a turnover driving mechanism to act so as to drive an inducer to turn over, a mechanical claw assembly is arranged on a second driven wheel in a telescopic mode, and when the inducer turns over to the lowest position, the mechanical claw assembly can stretch out to assist the submarine robot to move. And the moving efficiency can be effectively improved.

Description

Technical Field

[0001] The present invention relates to the field of crawler assemblies and components thereof, and in particular to a benthic crawler assembly and a submarine operation robot. Background Art

[0002] A Chinese patent application document with publication number CN116654133A discloses a tracked robot, including a frame, a robot body being arranged on the frame, track assemblies being arranged on both sides of the frame, the track assembly including a driving wheel, an inducing wheel, and a plurality of driven wheels, the driving wheel, the inducing wheel and the driven wheel being wrapped with track components, the tensioned track components being in an inverted trapezoidal shape, wherein the driving wheel and the inducing wheel are distributed at the top of both ends of the track, the driven wheel is distributed between the driving wheel and the inducing wheel and close to the bottom of the track, the center heights of the driving wheel and the inducing wheel are both higher than the driven wheel at the bottom, so that the track has better obstacle surmounting capability when moving forward or backward.

[0003] The above-mentioned crawler robot has been widely used in the industrial field, especially in the field of submarine operations. The track assembly in the above-mentioned structure has only a shorter bottom edge in contact with the ground, which means that there are fewer concave-convex patterns on the track that can contact the ground, and the friction generated during rotation is relatively small. Considering that there are a large number of mud and sand layers distributed on the seabed, and the mud and sand on the surface are usually new sediments that flow into the ocean and have a relatively soft texture, the above-mentioned track assembly is more likely to sink into the mud and sand layer on the surface of the seabed due to its smaller contact area with the ground and greater pressure on the ground. When the track rotates, the mud and sand layer is easily scraped away by the concave-convex patterns of the track because it is relatively soft, and cannot provide sufficient friction for the track. At this time, the track will slip and idle, resulting in a weakening of its own traction, which ultimately slows down the movement of the robot. Summary of the invention

[0004] In view of the shortcomings of existing crawler tracks that are easily sunk into the soft mud layer on the seabed and easily dig up the mud when rotating, resulting in insufficient traction of the crawler tracks, and are prone to slipping and idling, the first purpose of the present invention is to provide a benthic crawler track assembly that is not easy to sink and slip when contacting the mud layer on the surface of the seabed.

[0005] In order to solve the above technical problems, the present invention is solved by the following technical solutions: A bottom-dwelling crawler assembly comprises a frame, a driving wheel arranged at the rear end of the frame, an induction wheel arranged at the front end of the frame, a plurality of first driven wheels arranged between the driving wheel and the induction wheel, and a crawler body wound around the driving wheel, the first driven wheels and the induction wheel, wherein the driving wheel is engaged with the crawler body, and the rotation of the driving wheel is controlled by a driving motor; The frame is provided with a turning drive mechanism, which includes a connecting rod mechanism connected with the induction wheel and a first driving component that drives the induction wheel to turn up and down through the connecting rod mechanism, the first driving component drives the induction wheel to turn down until the bottom of the induction wheel is flush with the bottom of the first driven wheel or turns up until the part of the crawler body located at the front end of the frame is tilted and tilted up, and second driven wheels that are rotatably matched with the inner ring of the crawler body are provided on both sides of the induction wheel; The flipping drive mechanism is equipped with a visual detection system, which includes a camera and a controller. When the camera detects an obstacle, the controller sends a command to activate the first drive component to drive the induction wheel to flip upward; when the camera does not detect an obstacle, the controller sends a command to activate the first drive component to drive the induction wheel to flip downward. An auxiliary moving mechanism is arranged on the second driven wheel, and the auxiliary moving mechanism includes a mechanical claw assembly movably arranged in the second driven wheel, a driving assembly for driving the mechanical claw assembly to extend and retract, and an opening and closing assembly for controlling the driving assembly to drive the mechanical claw to extend or retract. When the inducer wheel flips to the lowest position, the mechanical claw extends laterally and expands radially; when the inducer wheel flips to the highest position, the mechanical claw retracts laterally and contracts radially.

[0006] By adopting the above scheme, the crawler assembly in this scheme has two modes, obstacle crossing and anti-skid. It only needs to rely on the camera to visually judge whether there is an obstacle in front of the crawler, and send different instructions to the first drive component to make it move to achieve the switching of the above two modes. When switching to the anti-skid mode, the induction wheel will flip until its bottom is flush with the bottom of the first driven wheel. At this time, the contact area between the crawler body and the seabed mud layer will increase, the pressure will decrease, and the depth of sinking into the mud layer can be reduced. At the same time, the auxiliary movement mechanism on the crawler assembly will be started, and the mechanical claw assembly will be inserted into the mud layer. When the crawler body slips, the mechanical claw assembly is still inserted in the mud layer, and interacts with the mud layer with the rotation of the second driven wheel to generate a reverse thrust that can drive the robot to move. To a certain extent, it can make up for the defect that the traction force is weakened due to the slipping of the crawler, and then the movement speed of the robot is slowed down; When the track assembly is in obstacle crossing mode, the mechanical claw assembly is driven by the driving assembly to retract laterally and contract radially. Considering that the extended mechanical claw assembly may hit the obstacle while the robot is climbing over it, thus affecting its ability to cross the obstacle, the mechanical claw assembly will switch to a retracted state in obstacle crossing mode to reduce the impact.

[0007] Preferably, the connecting rod mechanism includes a first connecting rod hinged on the frame in the middle part and a second connecting rod hinged to the first connecting rod, the inducing wheel is rotatably arranged between the two first connecting rods, the second driven wheels are rotatably arranged on the opposite sides of the two first connecting rods, the first driving component is a telescopic driving component, and the end of the second connecting rod away from the first connecting rod is connected to the telescopic end of the first driving component, and the first connecting rod and the second connecting rod always maintain a non-colinear state.

[0008] Preferably, the frame is provided with a tensioning mechanism for dynamically tensioning the track body during the up and down flipping of the inducer wheel, the tensioning mechanism comprising a tensioning wheel arranged relative to the frame and a lifting assembly for driving the tensioning wheel to rise and fall by utilizing the telescopic action of the first driving component.

[0009] Preferably, the lifting assembly includes a guide tube vertically arranged on the frame, a lifting block guided in the guide tube, a driving block that advances or retreats with the extension and retraction of the first driving component, and a slope formed on the driving block that drives the lifting block to rise when the driving block advances.

[0010] By adopting the above scheme, the extension and retraction of the first driving component can drive the second connecting rod to push and pull the first connecting rod reciprocatingly, thereby realizing the up and down flipping of the inducer wheel. When the inducer wheel flips, the center distance between it and the driving wheel will change dynamically, causing the track body to switch back and forth between tensioning and relaxation, which will affect the friction force when the track rotates. In order to reduce this effect, a tensioning wheel is designed in this scheme that can dynamically tension the track body at the same time as the inducer wheel, so that the track body is always kept in a tensioned state to maintain the optimal friction state.

[0011] Preferably, the mechanical claw assembly includes a plurality of mechanical claw bodies arranged at intervals around the circumference of the second driven wheel, the second driven wheel is provided with a plurality of receiving grooves for the movement of the mechanical claw bodies, the mechanical claw body includes a rod body partially received in the receiving groove and a head located outside the receiving groove and connected to the rod body, the driving assembly includes push-pull components that can be inserted into the receiving grooves one by one and hinged to the rod body, a second driving component that drives the push-pull components to reciprocate towards or away from the second driven wheel, and an opening and closing mechanism that drives the rod body to radially expand while extending or to radially contract while retracting.

[0012] Preferably, the push-pull component includes a push plate located between the first connecting rod and the second driven wheel and a push-pull rod protruding from the push plate and capable of being inserted into the accommodating groove, wherein the rod body is movably connected to the push-pull rod, and the tensioning and closing structure includes a second axis body horizontally fixed in the accommodating groove and a first guide hole opened on the rod body for the second axis body to slide along the rod body when the rod body is extended or retracted.

[0013] By adopting the above scheme, the rod body in this scheme can only be maintained on the straight line formed by the connection between the rod body and the push-pull rod and the second shaft body, and the moving path of the connection between the rod body and the push-pull rod does not intersect the second shaft body. When the rod body is extended or retracted, relying on the sliding cooperation between the first guide hole and the second shaft body, the rod body can slide and flip relative to the second shaft body, thereby realizing the expansion or contraction of the mechanical claw component. When the push plate pushes the rod body to extend, the connection between the push-pull rod and the rod body gradually approaches the second shaft body, so that the rod body extends horizontally and expands radially at the same time. When it expands to the limit, the head of the mechanical claw body can be inserted In the mud and sand layer, the track slips essentially because the friction between the track body and the mud and sand layer is insufficient, and the track is in an idling state, while the weight of the track assembly presses on the second driven wheel, causing the second driven wheel to rotate with the track body. When the mechanical claw body is inserted into the mud and sand layer, the rotation of the second driven wheel causes the mechanical claw body to interact with the mud and sand layer, which can generate a reverse thrust to drive the track assembly to move, thereby assisting the movement of the track assembly. When the push plate drives the rod body to retract, the connection between the push-pull rod and the rod body gradually moves away from the second shaft body, and the rod body will retract inward so that the head leaves the mud and sand layer.

[0014] Preferably, the second driving component includes an electromagnet fixedly mounted on the first connecting rod and driving the push plate to approach the first connecting rod when energized, and a first elastic member driving the push plate to approach the second driven wheel when the electromagnet loses power.

[0015] Preferably, an avoidance structure is provided between the mechanical claw body and the push-pull component for driving the mechanical claw body to retract and avoid an obstacle when it encounters one. A third axis is provided at the connection between the rod body and the push-pull rod. The avoidance structure includes a second guide hole opened on the push-pull rod for the third axis to pass through, and a second elastic member provided between the push-pull rod and the third axis for driving the rod body to maintain its maximum extension limit.

[0016] By adopting the above scheme, when the mechanical claw body expands outward and touches a hard obstacle to generate resistance and drive the mechanical claw body to retract, the obstacle contacts the rod body and causes its retraction force to compress the second elastic member, causing the rod body in contact with the obstacle to retract along the second guide hole to avoid the obstacle. If it is not enough to avoid the obstacle when retracting to the other end of the second guide hole, the above force will compress the first elastic member and drive all the mechanical claw bodies on the single second driven wheel to retract to avoid the obstacle.

[0017] Preferably, the opening and closing of the electromagnet is controlled by an opening and closing component, a cavity is opened on the first connecting rod, and the opening and closing component includes a contact switch arranged in the cavity and electrically connected to the electromagnet, an opening and closing member slidably arranged in the cavity, and a pulling member connected between the opening and closing member and the first driving member. When the first driving member retracts, the pulling member tensions and pulls the opening and closing member close to and presses down the contact switch to close it. A third elastic member is arranged in the cavity to drive the opening and closing member away from the contact switch when the first driving member is extended and the pulling member is relaxed.

[0018] By adopting the above scheme, the opening and closing component in this scheme utilizes the action of the first driving component to control whether the contact switch is closed, so that the mechanical claw assembly automatically retracts and collapses when the track assembly switches to the obstacle crossing mode, and automatically extends and expands when the track assembly switches to the anti-slip mode. This process is completely realized with the help of the mechanical structure, and there is no need to set up a program for logical judgment. The structure is simple and effective.

[0019] The second object of the present invention is to provide a submarine operation robot, including a carrying platform, with crawler assemblies as in the above scheme symmetrically arranged on both sides of the carrying platform, the frame is fixed to the carrying platform, and the drive motor is arranged on the carrying platform.

[0020] By adopting the above scheme, the submarine operation robot in this scheme is equipped with the track assembly of the above scheme, and has an obstacle crossing mode and an anti-skid mode, and can switch between the two modes according to the real-time detection of the camera, so that it can cope with more complex submarine terrain and improve movement efficiency.

[0021] Due to the adoption of the above technical scheme, the present invention has significant technical effects: after the submarine operation robot in this scheme is equipped with the crawler assembly of the above scheme, it has an obstacle crossing mode and an anti-skid mode, and can switch between the two modes according to the real-time detection of the camera. When switching to the anti-skid mode, the contact area between the crawler body and the seabed mud layer will increase, the pressure will decrease, and the depth of sinking into the mud layer can be reduced. At the same time, the auxiliary movement mechanism on the crawler assembly will be started, and the mechanical claw assembly will be inserted into the mud layer. As the second driven wheel rotates, it interacts with the mud layer to generate a reverse thrust that can drive the robot to move, which can compensate for the defect of weakened traction due to crawler slippage, thereby slowing down the movement speed of the robot to a certain extent; when the crawler assembly is in the obstacle crossing mode, the mechanical claw assembly will switch to a retracted state to reduce the possibility of the robot touching the obstacle in the process of climbing over the obstacle, thereby hindering the robot's progress. The above two modes enable the submarine operation robot to cope with more complex seabed terrain, improve movement efficiency, and thus improve work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 is a three-dimensional diagram of an inducer wheel on a submarine operation robot according to the present embodiment when it is at the lowest position; Figure 2 This is a right side view of a submarine operation robot according to this embodiment; Figure 3 yes Figure 2 The cross-sectional view about AA in FIG. Figure 4 yes Figure 3 A partial enlarged view of B; Figure 5 yes Figure 4 The state change diagram of the inducer after it flips to the highest point; Figure 6 This is a schematic diagram of the disassembly of a submarine operation robot according to this embodiment; Figure 7 yes Figure 6 A partial enlarged view of C in FIG. Figure 8 yes Figure 6 A partial enlarged view of C1 in FIG. Fig. 9 This is a front view of an inducer wheel on a submarine operation robot according to the present embodiment when it is at the lowest position; Fig.10 yes Fig. 9 The cross-sectional view of DD in FIG. Fig.11 yes Fig.10 A partial enlarged view of E in FIG. Fig.12 This is a front view of an inducer wheel on a submarine operation robot according to the present embodiment when it is at the highest position; Fig.13 yes Fig.12 The cross-sectional view of FF; Fig.14 yes Fig.13 A local enlarged view of G; Fig.15 is a top view of an inducer wheel on a submarine operation robot according to the present embodiment when it is at the highest point; Fig.16 yes Fig.15 The cross-sectional view of HH in FIG. Fig.17 yes Fig.16 A partial enlarged view of I.

[0023] The parts indicated by the numbers in the above drawings are as follows: 1. frame; 101. carrying platform; 2. driving wheel; 201. driving motor; 3. induction wheel; 4. first driven wheel; 5. crawler body; 6. first connecting rod; 7. second connecting rod; 8. first shaft; 9. second driven wheel; 10. electric push rod; 11. motor body; 12. push rod component; 13. guide tube; 1301. avoidance hole; 1302. through groove; 14. lifting block; 15. Tensioning wheel; 16. Driving block; 17. Inclined surface; 18. Mechanical claw body; 19. Rod body; 20. Head; 21. Accommodating groove; 22. Push plate; 23. Push-pull rod; 24. First elastic member; 25. Electromagnet; 26. Second shaft; 27. First guide hole; 28. Third shaft; 29. ​​Second guide hole; 30. Second elastic member; 31. Contact switch; 32. Cavity; 33. Opening and closing member; 34. Third elastic member; 35. Pull rope. DETAILED DESCRIPTION

[0024] The present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. Example

[0025] A submarine operation robot, according to Figure 1 As shown, it includes a carrying platform 101 for installing various components of the robot, and track assemblies are arranged on both sides of the carrying platform 101. The track assembly includes a frame 1 fixedly connected to the carrying platform 101, a driving wheel 2 is arranged at the rear end of the frame 1, and an induction wheel 3 is arranged at the front end of the frame 1. A plurality of first driven wheels 4 are arranged between the driving wheel 2 and the induction wheel 3, and a track body 5 is wound around the outside of the driving wheel 2, the first driven wheel 4 and the induction wheel 3. The driving wheel 2 is engaged with the track body 5, and the rotation of the driving wheel 2 is controlled by the driving motor 201. The above is the existing technology and will not be repeated in this embodiment.

[0026] The improvement of this embodiment is that a connecting rod assembly connected to the induction wheel 3 is provided on the frame 1. Figure 1 , 9As shown in Figures 1 and 12, the connecting rod assembly includes a pair of first connecting rods 6 hinged on the frame 1 at the middle part, one end of the first connecting rod 6 is hingedly connected to the second connecting rod 7, and the other end is provided with a first shaft body 8 with two ends respectively fixed to the two first connecting rods 6, the inducer 3 is rotatably arranged on the first shaft body 8, and the first shaft body 8 is rotatably provided with second driven wheels 9 that can abut against the inner ring of the crawler body 5 on both sides of the first connecting rod 6. In this embodiment, the first connecting rod 6 and the second connecting rod 7 are always kept in a non-straight line state, and the angle opening between the two is always facing downward. A first driving component that drives the connecting rod assembly to move is provided on the frame 1. In this embodiment, the first driving component is an electric push rod 10, which includes a motor body 11 and a push rod component 12 telescopically arranged relative to the motor body 11, and the end of the push rod component 12 is connected to the second connecting rod 7. The flipping drive mechanism is equipped with a visual detection system, which includes a camera and a controller (not shown in the drawings of the specification). The camera and the controller are arranged on a frame or a carrying platform 101. When the camera detects an obstacle, the controller sends an instruction to activate the first driving component. When the push rod component 12 is pushed out to the maximum stroke, the induction wheel 3 is driven to flip upward until the part of the crawler body 5 located at the front end of the frame 1 is tilted and tilted upward; when the camera does not detect an obstacle, the controller sends an instruction to activate the first driving component, driving the induction wheel 3 to flip downward until the bottom of the induction wheel 3 is flush with the bottom of the first driven wheel 4; wherein, the range of the inclination and tilting of the crawler body 5 is 0°~60°. In the present embodiment, the tilting angle of the crawler body 5 is about 40°. When the push rod component 12 is at the minimum stroke, the center distance between the induction wheel 3 and the driving wheel 2 is the largest.

[0027] The frame 1 is provided with a tensioning mechanism for tensioning the crawler body 5 during the up and down flipping of the induction wheel 3. Figure 3 , 4 As shown, the tensioning mechanism includes a guide tube 13 vertically arranged on the frame 1, a lifting block 14 is arranged in the guide tube 13, a tensioning wheel 15 capable of abutting against the inner ring of the crawler body 5 is rotatably arranged on the lifting block 14, and the lifting and lowering of the tensioning wheel 15 is controlled by a driving block 16, and the driving block 16 forms an inclined surface 17 capable of abutting against the lifting block 14 on one side of the lifting block 14, and the driving block 16 drives the lifting block 14 to rise or retreat to make the lifting block 14 fall with the telescopic advancement of the electric push rod 10. Figure 6 , 8As shown, in this embodiment, avoidance holes 1301 for avoiding the central axis of the tensioning wheel 15 are opened on both sides of the guide tube 13, and a through groove 1302 for the driving block 16 to push in or retreat is opened on the guide tube 13. The driving block 16 is arranged at the end of the push rod component 12. When the push rod component 12 is extended and the induction wheel 3 flips downward, the center distance between the induction wheel 3 and the driving wheel 2 is reduced. The driving block 16 is extended with the push rod component 12, and the inclined surface 17 is used to push the lifting block 14 to make it rise. After the tensioning wheel 15 rises, it can compensate for the loose part of the crawler track to make it re-tensioned; when the push rod component 12 retracts, the induction wheel 3 flips upward, and the driving block 16 retreats with the push rod component 12. At this time, the center distance between the induction wheel 3 and the driving wheel 2 is reset to the maximum limit, and the lifting block 14 automatically descends under the influence of gravity to prevent the crawler track from being over-tensioned.

[0028] The second driven wheel 9 is provided with an auxiliary movement mechanism capable of assisting the movement of the robot. Figure 7 , 11 As shown in Figures 14, the auxiliary moving mechanism includes a plurality of mechanical claw bodies 18 arranged at intervals around the second driven wheel 9. The second driven wheel 9 is provided with a plurality of receiving grooves 21 for the mechanical claw bodies 18 to move. The mechanical claw body 18 includes a rod body 19 partially received in the receiving groove 21. The portion of the rod body 19 outside the receiving groove 21 is connected to a head 20. The auxiliary moving mechanism also includes a driving component for driving the mechanical claw body 18 to extend or retract. Fig.11 , 14 As shown, the driving assembly includes a push plate 22 located between the first connecting rod 6 and the second driven wheel 9 and sleeved outside the first shaft body 8, and a push-pull rod 23 that can correspond to and be inserted into the accommodating groove 21 is convexly provided on the push plate 22, and the push-pull rod 23 is connected to the rod body 19; the driving assembly also includes a second driving component that drives the push plate 22 to move back and forth, and the second driving component includes an electromagnet 25 arranged on the first connecting rod 6, and a first elastic member 24 is arranged between the push plate 22 and the first connecting rod 6. When the electromagnet 25 loses power, the first elastic member 24 drives the push plate 22 to move close to the second driven wheel. Wheel 9, and pushes the rod body 19 to extend to the maximum stroke; when the electromagnet 25 is energized, its magnetic attraction drives the push plate 22 away from the second driven wheel 9, and pulls the rod body 19 back to the preset stroke; a second shaft body 26 is horizontally fixed in the accommodating groove 21, and a first guide hole 27 for the second shaft body 26 to pass through is opened on the rod body 19. The moving path of the connection between the rod body 19 and the push-pull rod 23 does not intersect with the second shaft body 26. When the rod body 19 is extended or retracted, the sliding cooperation between the first guide hole 27 and the second shaft body 26 enables the rod body 19 to slide and flip relative to the second shaft body 26.

[0029] An avoidance structure is provided between the mechanical claw body 18 and the push-pull rod 23 to drive the mechanical claw body 18 to retract and avoid when encountering an obstacle. Fig.11 , 14As shown, a third axis 28 is provided at the connection between the rod body 19 and the push-pull rod 23, and the avoidance structure includes second guide holes 29 opened on both sides of the push-pull rod 23. The third axis 28 can slide and move in the second guide holes 29, and a second elastic member 30 is provided between the push-pull rod 23 and the third axis 28 to drive the rod body 19 to maintain the maximum extension limit.

[0030] The energization or de-energization of the electromagnet 25 is controlled by an opening and closing component, according to Fig.16 , 17 As shown, the opening and closing assembly includes a contact switch 31 arranged in the first connecting rod 6 and electrically connected to the electromagnet 25. A cavity 32 is formed in the first connecting rod 6. The contact switch 31 is fixed in the cavity 32. An opening and closing member 33 capable of approaching and pressing the contact switch 31 or moving away from the contact switch 31 is slidably arranged in the cavity 32. The opening and closing member 33 is connected to the driving block 16 through a pulling member. A third elastic member 34 is arranged in the cavity 32 to drive the opening and closing member 33 away from the contact switch 31 when the first driving member is extended and the pulling member is relaxed. In this embodiment, the pulling component is a pull rope 35, the two ends of the pull rope 35 are respectively fixed on the opening and closing member 33 and the driving block 16, and the middle part of the pull rope 35 is wrapped around the hinge shaft used to hinge the first connecting rod 6 and the frame 1. When the driving block 16 retracts, the pull rope 35 is tightened and pulls the opening and closing member 33 close to and presses down the contact switch 31 to close it, and the electromagnet 25 is energized; when the driving block 16 is extended, the pull rope 35 is relaxed, and the third elastic member 34 drives the opening and closing member 33 away from the contact switch 31, the contact switch 31 is automatically disconnected, and the electromagnet 25 loses power.

[0031] Combined with the above structure, reference Figures 1 to 17 It can be seen that the crawler assembly on a submarine operation robot in this embodiment can be switched between an obstacle crossing mode and an anti-skid mode. The specific switching process is as follows: When the camera does not detect an obstacle, it will switch to the anti-skid mode. The controller sends a command to drive the electric push rod 10 to extend and push the second connecting rod 7, and drive the end of the first connecting rod 6 provided with the induction wheel 3 to flip downward until the bottom of the induction wheel 3 is flush with the bottom of the first driven wheel 4 and stops. The driving block 16 extends with the push rod component 12, driving the tensioning wheel 15 to rise, so that the crawler body 5 remains in a tensioned state. At this time, the pull rope 35 is in a relaxed state, the opening and closing member 33 is away from the contact switch 31, the electromagnet 25 loses power, and the push plate 22 is affected by the first elastic member 24 to approach the second driven wheel 9, so that the mechanical claw body 18 extends out of the accommodating groove 21 and expands outward, so that the head 20 is inserted into the mud layer on the seabed. At this time, the robot is in the anti-skid mode; When the camera detects an obstacle, it switches from anti-skid mode to obstacle crossing mode. The controller sends a command to drive the electric push rod 10 to retract and pull the second connecting rod 7, and drive the first connecting rod 6 to flip upward until the center distance between the induction wheel 3 and the driving wheel 2 is the largest and stops. The driving block 16 retracts with the push rod component 12, and the lifting block 14 automatically descends under the influence of gravity to prevent the track from being over-tensioned. At this time, the pull rope 35 is pulled by the driving block 16, driving the opening and closing component 33 to contact and press the contact switch 31. The contact switch 31 is closed, and the electromagnet 25 is energized. The magnetic attraction of the electromagnet 25 drives the push plate 22 away from the second driven wheel 9. The mechanical claw body 18 is driven by the push-pull rod 23 to partially retract into the accommodating groove 21 and close to the center of the second driven wheel 9. At this time, the robot is in obstacle crossing mode.

[0032] According to the above process, it can be known that a submarine operation robot in this embodiment has two modes, obstacle crossing and anti-skid, to cope with the complex terrain of the seabed. It only needs to rely on the camera for visual judgment and send instructions to the push rod motor to make it push and pull reciprocatingly to achieve the switching of the above two modes. When the robot switches to the anti-skid mode, the contact area between the crawler body 5 and the seabed mud layer will increase, the pressure will decrease, and the depth of sinking into the mud layer can be reduced. At the same time, the auxiliary moving mechanism on the crawler assembly will start automatically. After starting, the mechanical claw body 18 on the second driven wheel 9 will be inserted When the robot enters the mud and sand layer, the track slips because the friction between the track body 5 and the mud and sand layer is insufficient and the track is in an idling state. The weight of the track assembly presses on the second driven wheel 9, causing the second driven wheel 9 to rotate with the track body 5. When the mechanical claw body 18 is inserted into the mud and sand layer, the rotation of the second driven wheel 9 causes the mechanical claw body 18 to interact with the mud and sand layer, which can generate a reverse thrust to drive the track assembly to move, thereby assisting the movement of the track assembly and, to a certain extent, compensating for the defect that the traction is weakened due to track slippage, thereby causing the robot to move more slowly.

[0033] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A bottom-dwelling crawler assembly, comprising a frame (1), a driving wheel (2) arranged at the rear end of the frame (1), an induction wheel (3) arranged at the front end of the frame (1), a plurality of first driven wheels (4) arranged between the driving wheel (2) and the induction wheel (3), and a crawler body (5) wound around the driving wheel (2), the first driven wheels (4) and the induction wheel (3), the driving wheel (2) and the crawler body (5) being engaged with each other, and the rotation of the driving wheel (2) being controlled by a driving motor (201); Features: The frame (1) is provided with a turning drive mechanism, which comprises a connecting rod mechanism connected to the induction wheel (3) and a first driving component that drives the induction wheel (3) to turn up and down through the connecting rod mechanism, the first driving component drives the induction wheel (3) to turn downward until the bottom of the induction wheel (3) is flush with the bottom of the first driven wheel (4) or to turn upward until the part of the crawler body (5) located at the front end of the frame (1) is tilted and tilted upward, and second driven wheels (9) that are rotationally matched with the inner ring of the crawler body (5) are provided on both sides of the induction wheel (3); The flipping drive mechanism is equipped with a visual detection system, which includes a camera and a controller. When the camera detects an obstacle, the controller sends a command to cause the first drive component to move, thereby driving the induction wheel (3) to flip upwards; when the camera does not detect an obstacle, the controller sends a command to cause the first drive component to move, thereby driving the induction wheel (3) to flip downwards. The second driven wheel (9) is provided with an auxiliary moving mechanism, which comprises a mechanical claw assembly movably arranged in the second driven wheel (9), a driving assembly for driving the mechanical claw assembly to extend and retract, and an opening and closing assembly for controlling the driving assembly to drive the mechanical claw to extend or retract. When the induction wheel (3) is flipped to the lowest position, the mechanical claw is extended laterally and expanded radially; when the induction wheel (3) is flipped to the highest position, the mechanical claw is retracted laterally and closed radially.

2. A benthic crawler assembly according to claim 1, characterized in that: The connecting rod mechanism comprises a first connecting rod (6) whose middle part is hinged on the frame (1) and a second connecting rod (7) hingedly arranged with the first connecting rod (6); an induction wheel (3) is rotatably arranged between the two first connecting rods (6); a second driven wheel (9) is rotatably arranged on the opposite sides of the two first connecting rods (6); the first driving component is a telescopic driving component; an end of the second connecting rod (7) away from the first connecting rod (6) is connected to the telescopic end of the first driving component; and the first connecting rod (6) and the second connecting rod (7) always maintain a non-straight line state.

3. A benthic crawler assembly according to claim 2, characterized in that: The frame (1) is provided with a tensioning mechanism for dynamically tensioning the crawler body (5) during the process of the induction wheel (3) flipping up and down. The tensioning mechanism comprises a tensioning wheel (15) that is arranged to be raised and lowered relative to the frame (1) and a lifting assembly that drives the tensioning wheel (15) to be raised and lowered by utilizing the telescopic action of the first driving component.

4. A benthic crawler assembly according to claim 3, characterized in that: The lifting assembly comprises a guide tube (13) vertically arranged on a frame (1), a lifting block (14) guided and arranged in the guide tube (13), a driving block (16) that advances or retreats with the extension and contraction of a first driving component, and an inclined surface (17) formed on the driving block (16) that drives the lifting block (14) to rise when the driving block (16) advances.

5. The benthic crawler assembly according to claim 2, characterized in that: The mechanical claw assembly comprises a plurality of mechanical claw bodies (18) arranged at intervals around the circumference of a second driven wheel (9); the second driven wheel (9) is provided with a plurality of receiving grooves (21) for the mechanical claw bodies (18) to move; the mechanical claw body (18) comprises a rod body (19) partially received in the receiving groove (21) and a head (20) located outside the receiving groove (21) and connected to the rod body (19); the driving assembly comprises push-pull components that can be inserted into the receiving grooves (21) one by one and are hinged to the rod body (19); a second driving component that drives the push-pull components to reciprocate toward or away from the second driven wheel (9); and an opening and closing mechanism that drives the rod body (19) to radially expand while extending or to radially contract while retracting.

6. A benthic crawler assembly according to claim 5, characterized in that: The push-pull component comprises a push plate (22) located between the first connecting rod (6) and the second driven wheel (9) and a push-pull rod (23) protruding from the push plate (22) and capable of being inserted into the receiving groove (21); the rod body (19) is movably connected to the push-pull rod (23); and the opening and closing structure comprises a second shaft body (26) transversely fixed in the receiving groove (21) and a first guide hole (27) opened on the rod body (19) for the second shaft body (26) to pass through and for enabling the rod body (19) to slide and flip relative to the second shaft body (26) when the rod body (19) is extended or retracted.

7. The benthic crawler assembly according to claim 5, characterized in that: The second driving component comprises an electromagnet (25) fixedly arranged on the first connecting rod (6) and driving the push plate (22) to approach the first connecting rod (6) when energized, and a first elastic member (24) driving the push plate (22) to approach the second driven wheel (9) when the electromagnet (25) loses power.

8. The benthic crawler assembly according to claim 5, characterized in that: An avoidance structure is provided between the mechanical claw body (18) and the push-pull component to drive the mechanical claw body (18) to retract and avoid when encountering an obstacle. A third shaft (28) is provided at the connection between the rod body (19) and the push-pull rod (23). The avoidance structure includes a second guide hole (29) provided on the push-pull rod (23) for the third shaft (28) to pass through, and a second elastic member (30) provided between the push-pull rod (23) and the third shaft (28) to drive the rod body (19) to maintain a maximum extension limit.

9. A benthic crawler assembly according to claim 7, characterized in that: The opening and closing of the electromagnet (25) is controlled by an opening and closing component. A cavity (32) is provided on the first connecting rod (6). The opening and closing component comprises a contact switch (31) arranged in the cavity (32) and electrically connected to the electromagnet (25), an opening and closing member (33) slidably arranged in the cavity (32), and a pulling member connected between the opening and closing member (33) and the first driving member. When the first driving member retracts, the pulling member tensions and pulls the opening and closing member (33) close to and presses down the contact switch (31) to close it. A third elastic member (34) is provided in the cavity (32) to drive the opening and closing member (33) away from the contact switch (31) when the first driving member is extended and the pulling member is relaxed.

10. A submarine operation robot, comprising a carrying platform (101), characterized in that: The crawler assemblies according to any one of claims 1 to 9 are symmetrically arranged on both sides of the carrying platform (101), the frame (1) is fixed to the carrying platform, and the driving motor (201) is arranged on the carrying platform (101).

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