Underwater crawling robot with seabed in-situ drilling function and method

Abstract

The invention provides an underwater crawling robot with a seabed in-situ drilling function and a method. The underwater crawling robot comprises an underwater crawling robot body, and a drilling coring mechanism, a stabilizing mechanism and a collecting mechanism are arranged on the underwater crawling robot body. The drilling coring mechanism comprises a drilling part and a multi-section lifting mechanism, the drilling depth is adjusted during drilling, the stabilizing mechanism is rotationally connected to the outer portion of the drilling part, the stability of a drill rod can be guaranteed during drilling, and the drilling efficiency is remarkably improved; the collecting mechanism is used for collecting drilling samples, the collecting mechanism extends out of the underwater crawling robot body to tightly abut against the bottom of the drilling part during collection, sealing can be achieved during collection, external fluid is prevented from entering, multiple drilling samples can be collected, and drilling and collecting at multiple positions of the seabed are achieved; by means of the technology, seabed movement and suspension movement in seawater can be achieved, the underwater crawling robot is pushed to move, meanwhile, the pushing direction can be adjusted, and thrust is provided for floating.

Description

Technical Field

[0001] The present invention belongs to the technical field of underwater robots, and in particular relates to an underwater crawling robot and a method thereof with a seabed in-situ drilling function, mainly targeting seabed hard bottom rock areas. Background Art

[0002] Underwater robots, also known as unmanned remote-controlled submersibles, are extreme operation robots that work underwater. The underwater environment is harsh and dangerous, and the diving depth of humans is limited, so underwater robots have become an important tool for developing the ocean. Underwater crawling robots are robots that can move and operate close to the ground in the seabed environment. They are mainly used for detailed detection of seabed surface mineral resources, in-situ sampling of seabed sediments, close observation of seabed and underwater targets, and fixed-point deployment and recovery of underwater targets.

[0003] For hard bottom rock samples, harder rock samples are often broken off by seabed trawls or underwater robot arms, but these methods still cannot obtain hard bottom rock cores at a certain depth below the seabed.

[0004] Existing underwater crawling robots can achieve crawling movements on the seabed, but are usually unable to coring hard-bottom rock cores on the seabed. Even if they are equipped with drilling equipment, there are still various difficulties in sampling hard-bottom areas under complex seabed terrain, such as the inability to drill stably and how to collect and preserve samples after multiple drillings, and the inability to accurately determine whether the coring is successful, resulting in low accuracy and efficiency of in-situ coring on the seabed, poor drilling stability, and easy drilling failure.

[0005] Therefore, there is an urgent need for an underwater crawling robot and method with the function of in-situ drilling of hard-bottom sediments on the seabed to solve the current technical difficulties. Summary of the invention

[0006] In order to solve the defects of inaccurate coring position, difficulty in coring, and difficulty in collecting and preserving in the existing coring process mainly in the hard bottom rock area of ​​the seabed, the present invention proposes an underwater crawling robot and method with seabed in-situ drilling function, and the scheme is as follows:

[0007] On the one hand, the present invention discloses an underwater crawling robot with a seabed in-situ drilling function, comprising an underwater crawling robot body, on which a drilling and coring mechanism, a stabilizing mechanism and a collecting mechanism are provided; the drilling and coring mechanism comprises a drilling component and a multi-section lifting mechanism, the head end of the multi-section lifting mechanism is connected to the underwater crawling robot body, the rear end of the multi-section lifting mechanism is connected to the drilling component, and the multi-section lifting mechanism is deployed or retracted to drive the drilling component to move up and down; the stabilizing mechanism is arranged outside the drilling component, and the stabilizing mechanism is rotatably connected to the drilling component; the collecting mechanism is arranged in the underwater crawling robot body and movably connected to the underwater crawling robot body, and the collecting mechanism extends out of the underwater crawling robot body and tightly abuts against the bottom of the drilling component to collect sediment or rock of the drilling component.

[0008] On the other hand, the present invention discloses a method for an underwater crawling robot having a seabed in-situ drilling function, based on the above-mentioned underwater crawling robot, comprising the following steps:

[0009] S1. Connecting the auxiliary lifting mechanism via the lifting device to lift the underwater crawling robot body into the water;

[0010] S2, the underwater crawling robot body is in the water, and the lifting mechanism moves, so that water enters the water storage pipe, and the overall weight increases, so that the underwater crawling robot body sinks;

[0011] S3, after the underwater crawling robot body sinks to the seabed, the motion mechanism moves, driving the underwater crawling robot body to move on the seabed;

[0012] S4, after the underwater crawling robot moves to the drilling position, the drilling and coring mechanism moves to drill and coring the sediment or rock on the seabed, and the depth of the drilling and coring is adjusted through the multi-section lifting mechanism;

[0013] S5, when drilling and coring, stabilize the movement of the mechanism to increase the stability during drilling and coring;

[0014] S6. After the drilling and coring is completed, the collection mechanism moves to collect the samples after the drilling and coring, so that multiple drilling and collection can be carried out on the seabed;

[0015] S7, when the robot is suspended in the seawater, the pushing mechanism moves to push the underwater crawling robot body to move in the seawater;

[0016] S8, when floating, the lifting mechanism moves to discharge the water in the water storage pipe, the overall weight is reduced, and floating is achieved;

[0017] Between the above steps S2 to S8, step S9 is also included, in which when the underwater crawling robot body moves, the monitoring mechanism moves to monitor the movement path and related data in the seawater.

[0018] Compared with the prior art, the advantages of the present invention are as follows:

[0019] 1. The drilling and coring mechanism of the underwater crawling robot of the present invention includes a drilling component and a multi-section lifting mechanism. The multi-section lifting mechanism can adjust the drilling depth to realize seabed drilling, and the drilling depth can be adjusted during drilling. It can effectively drill in places with large seabed height differences, such as harsh drilling environments such as cracks, and can obtain more vertical data of seabed sediments or rocks, providing more original data for later experiments and ensuring the accuracy of later experimental analysis. By arranging a stabilizing mechanism outside the drilling component, the stability of the drill rod can be achieved during drilling, ensuring stability during drilling and improving drilling efficiency.

[0020] 2. The underwater crawling robot of the present invention can collect samples produced by drilling by setting up a collecting mechanism, and can be sealed during collection to prevent water from entering. Moreover, multiple samples can be collected, and drilling and collection can be performed at multiple locations on the seabed.

[0021] 3. The underwater crawling robot of the present invention can move on the seabed by setting a lifting mechanism, a propulsion mechanism, and a motion mechanism, and can move suspended in the seawater. It can push the underwater crawling robot to move, and can adjust the propulsion direction to provide a certain thrust for floating. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a schematic diagram of the structure of the underwater crawling robot in the first direction of the embodiment of the present invention;

[0023] Figure 2 It is a schematic diagram of the structure of the underwater crawling robot in the second direction of the embodiment of the present invention;

[0024] Figure 3 This is a schematic diagram of the structure of the underwater crawling robot in the third direction of the embodiment of the present invention;

[0025] Figure 4 Schematic diagram of the structure of the underwater crawling robot in the fourth direction of the embodiment of the present invention;

[0026] Figure 5 Schematic diagram of the structure of the underwater crawling robot in the fifth direction of the embodiment of the present invention;

[0027] Figure 6 Schematic diagram of the structure of the underwater crawling robot in the sixth direction of the embodiment of the present invention;

[0028] Figure 7 Schematic diagram of the structure of the underwater crawling robot in the seventh direction of the embodiment of the present invention;

[0029] Figure 8 for Figure 7 Schematic diagram of the cross-sectional structure at AA in the middle;

[0030] Fig. 9 for Figure 8 Schematic diagram of the cross-sectional structure at the middle BB;

[0031] Fig.10 for Figure 7 Schematic diagram of the cross-sectional structure at CC in the middle;

[0032] Fig.11 for Fig.10 Schematic diagram of the cross-sectional structure at DD in the middle;

[0033] Fig.12 for Figure 8 Schematic diagram of the cross-sectional structure at EE in the middle;

[0034] Fig.13 for Fig.10 Schematic diagram of the cross-sectional structure at FF in the middle;

[0035] Fig.14 for Figure 8 Schematic diagram of the cross-sectional structure at GG in the middle;

[0036] Fig.15 It is a schematic diagram of the first direction structure of the drilling and coring mechanism in an embodiment of the present invention;

[0037] Fig.16 It is a schematic diagram of the structure of the drilling and coring mechanism in the second direction in an embodiment of the present invention;

[0038] Fig.17 It is a schematic diagram of the structure of the drilling and coring mechanism in the third direction in an embodiment of the present invention;

[0039] Fig.18 A schematic diagram of the structure of a lifting frame in one direction according to an embodiment of the present invention;

[0040] Fig.19 It is a schematic diagram of the structure of the lifting frame in another direction according to an embodiment of the present invention;

[0041] Fig. 20 for Figure 8 Schematic diagram of the enlarged structure at H in the middle;

[0042] Fig.21 This is a schematic diagram of the structure of a collection box in an embodiment of the present invention;

[0043] Fig. 22It is a schematic diagram of the structure of the drill bit and the collection box in a sealed contact state according to an embodiment of the present invention.

[0044] In the above figures: 1-underwater crawling robot body, 2-lifting slide, 3-pushing frame, 4-pushing propeller, 5-pushing shaft, 6-hanging ring, 7-lifting frame, 8-first lifting frame, 9-second lifting frame, 10-slide plate, 11-drill rod, 12-rotating ring, 13-fixing ring, 14-sliding plate, 15-insertion cone, 16-rotating plate, 17-drill bit, 18-stabilizing rod, 19-connecting plate, 20-bolt, 21-adjusting shaft, 22-water storage pipe, 2 3-water pipe clamping frame, 24-input fixing frame, 25-pushing fixing frame, 26-output fixing frame, 27-limiting plate, 28-limiting screw rod, 29-mounting plate, 30-monitoring camera, 31-lighting lamp, 32-motion support frame, 33-sonar monitoring instrument, 34-middle-shaped slide plate, 35-collection box, 36-nut plate, 37-second lifting screw rod, 38-second lifting slide slot, 39-stable slide slot, 40-stable slide plate, 41-closing plate, 42-storage Battery, 43-collection chute, 44-collection screw, 45-first lifting chute, 46-first lifting screw, 47-first lifting nut block, 48-second lifting nut block, 49-drilling motor, 50-drilling main gear shaft, 51-drilling main gear, 52-drilling sub-gear, 53-coring electric push rod, 54-coring push plate, 55-moving gear chamber, 56-moving gear shaft, 57-moving gear, 58-adjusting gear chamber, 59-adjusting main gear, 60 -adjusting sub-gear, 61-adjusting main gear shaft, 62-enclosed chamber, 63-enclosed electric screw, 65-discharge motor, 66-discharge shaft, 67-discharge pump, 68-extraction pump, 69-extraction shaft, 70-extraction motor, 71-pressing plate, 72-slide, 73-collecting electric screw, 74-collecting closed plate, 75-collecting channel, 76-drilling gear chamber, 77-middle-shaped slide, 78-movement frame, 79-movement plate, 80-annular motion guide rail. DETAILED DESCRIPTION

[0045] To facilitate those skilled in the art to understand the present invention, specific implementations of the present invention are described below with reference to the accompanying drawings.

[0046] Embodiment 1

[0047] like Figure 1-22 As shown, the present invention proposes an underwater crawling robot with the function of in-situ drilling of seabed sediments. It should be noted that the components of the underwater crawling robot are made of pressure-resistant, corrosion-resistant and wear-resistant materials, including an underwater crawling robot body 1, and also includes a drilling and coring mechanism, a stabilizing mechanism, a collecting mechanism, an auxiliary lifting mechanism, a pushing mechanism, a monitoring mechanism, a lifting mechanism and a motion mechanism.

[0048] Specifically, Figure 1 , 2As shown in , 5-9, 11-17, a drilling and coring mechanism is provided on the underwater crawling robot body 1, which is used for drilling and coring rocks or sediments. The drilling and coring mechanism includes a drilling component and a multi-section lifting mechanism. The head end of the multi-section lifting mechanism is connected to the underwater crawling robot body 1, and the end of the multi-section lifting mechanism is connected to the drilling component. The multi-section lifting mechanism is unfolded or retracted to drive the drilling component to move up and down, so that the drilling depth can be adjusted during drilling, and it can effectively drill in places with large seabed height differences such as cracks and other harsh drilling environments, and effectively increase the drilling depth, and can obtain more vertical data of seabed sediments or rocks, providing more original data for later experiments and ensuring the accuracy of later experimental analysis. Specifically, the drilling component includes a drilling motor 49, a drill rod 11 and a drill bit 17. Specifically, the multi-section lifting mechanism includes a connecting plate 19 that is detachably installed on the underwater crawling robot body 1 by bolts 20, and a first lifting frame 8 is fixedly connected to the connecting plate 19, and a first lifting slide 45 is provided on the first lifting frame 8, and a first lifting screw rod 46 is rotatably connected between the end walls of the first lifting slide 45, and the first lifting screw rod 46 is connected to the power of the first lifting motor, and the first lifting motor is fixedly installed in the first lifting frame 8, and a first lifting nut block 47 is threadedly connected to the outer surface of the first lifting screw rod 46, and a second lifting frame 9 is fixedly connected to the end wall of the first lifting nut block 47, and a second lifting frame 9 is provided with a second lifting slide 38, and a second lifting screw rod 37 is rotatably connected between the end walls of the second lifting slide 38, and the second lifting screw rod 37 is connected to the power of the second lifting motor, and the second lifting motor is fixedly installed in the second lifting frame 9, and a second lifting screw rod 37 is threadedly connected to the outer surface of the second lifting nut block 48, and a slide plate 10 is fixedly installed on the outer surface of the second lifting nut block 48, and a slide plate 10 is provided inside the slide plate 10. The drilling gear cavity 76 is rotatably connected with a drilling main gear shaft 50 between the end walls of the drilling gear cavity 76. The drilling main gear shaft 50 is connected to the drilling motor 49 in power. The drilling motor 49 is fixedly installed in the slide 10. The outer surface of the drilling main gear shaft 50 is fixedly installed with a drilling main gear 51. The drilling main gear 51 is meshed with a drilling sub-gear 52. The drilling sub-gear 52 is fixedly installed on the outer surface of the drill rod 11. The drill rod 11 is rotatably installed on the end wall of the drilling gear cavity 76. The lower end of the drill rod 11 is fixedly connected A drill bit 17 is provided, and a closed cavity 62 is provided on the inner surface of the drill bit 17. A closed electric screw 63 is rotatably connected to the end wall of the closed cavity 62. The closed electric screw 63 is threadedly connected to the closed plate 41. The closed plate 41 is slidably installed between the end walls of the closed cavity 62. A stable slide 39 is provided on the first lifting frame 8. A stable slide plate 40 is slidably connected in the stable slide 39. The stable slide plate 40 is fixedly connected to the second lifting frame 9. The slide plate 10 is slidably connected to the second lifting frame 9. A coring assembly is provided in the drill bit 17. The coring assembly includes a coring electric push rod 53 fixedly connected in the drill bit 17, and a coring push plate 54 is fixedly connected to the lower end of the coring electric push rod 53.

[0049] The working principle of the drilling and coring mechanism is as follows: start the first lifting motor, drive the first lifting screw 46 to rotate, drive the first lifting nut block 47 to move, drive the second lifting frame 9 to move downward, and start the second lifting motor at the same time, drive the second lifting screw 37 to rotate, drive the second lifting nut block 48 to move downward, drive the slide plate 10 to move downward, drive the drill bit 17 to move downward, start the drilling motor 49, drive the drilling main gear shaft 50 to rotate, drive the drilling main gear 51 to rotate, the drilling main gear 51 is engaged with the drilling sub-gear 52, drive the drill rod 11 to rotate and move downward, drive the drill bit 17 to rotate and move downward, the drill bit 17 drills into the seabed rock or sediment, and after reaching the corresponding depth, the closing electric screw 63 rotates, drives the closing plate 41 to move, so that the drill bit 17 opens, and the drill bit 17 continues to rotate downward, so that the rock or sediment enters the drill bit 17. After drilling is completed, when collecting, the coring electric push rod 53 moves downward, drives the coring push plate 54 to move downward, and pushes out the sample.

[0050] Specifically, Figure 5 , 8 As shown in FIGS. 15 and 16, a stabilizing mechanism is provided on the slide plate 10, and the stabilizing mechanism is used to stabilize the drill bit 17 to increase the stability of the drill bit 17. The stabilizing mechanism includes a fixing ring 13 fixedly connected to the bottom wall of the slide plate 10, a rotating disk 16 is rotatably connected to the upper part of the drill bit 17, a stabilizing rod 18 is connected between the rotating disk 16 and the fixing ring 13, a rotating ring 12 is slidably connected to the outer surface of the drill rod 11, a sliding disk 14 is rotatably connected to the outer surface of the rotating ring 12, the sliding disk 14 is slidably connected to the stabilizing rod 18, and an insert cone 15 is fixedly connected to the bottom wall of the sliding disk 14.

[0051] Working principle of the stabilizing mechanism: During drilling, the sliding disc 14 and the rotating ring 12 slide down, driving the insert cone 15 to slide downward and contact the seabed, thereby forming a support to ensure the stability of the drill rod 11 and the drill bit 17 during drilling.

[0052] Specifically, Figure 5 , 8, 10, 14, 20-22, a collecting mechanism is provided on the underwater crawling robot body 1, and the collecting mechanism is used to collect rock samples or sediment samples after drilling. The collecting mechanism includes a collecting chute 43 provided on the underwater crawling robot body 1, and a collecting screw rod 44 is rotatably connected to the end wall of the collecting chute 43, and the collecting screw rod 44 is connected to the power of the collecting motor. The collecting motor is fixedly installed in the underwater crawling robot body 1, and the outer surface of the collecting screw rod 44 is threadedly connected to a nut plate 36, and the upper side surface of the nut plate 36 is fixedly installed A collecting box 35 is provided, and a center-shaped slide groove 77 is provided on the underwater crawling robot body 1. A center-shaped slide plate 34 is slidably connected in the center-shaped slide groove 77. The center-shaped slide plate 34 is fixedly connected to the collecting box 35. A collecting channel 75 is provided on the upper part of the collecting box 35. The collecting channel 75 extends into the collecting box 35. A slide groove 72 is provided on the end wall of the collecting channel 75. A collecting electric screw rod 73 is rotatably connected to the end wall of the slide groove 72. The collecting electric screw rod 73 is threadedly connected to the collecting closing plate 74. The collecting closing plate 74 is slidably installed between the end walls of the slide groove 72.

[0053] Working principle of the collection mechanism: After drilling is completed, the drill bit 17 is reset, the collection motor is started, the collection screw rod 44 is driven to rotate, the nut plate 36 is driven to move, and the collection box 35 is driven to move. The middle-shaped slide plate 34 slides in the middle-shaped slide groove 77 to increase the stability of the collection box 35. When the collection channel 75 moves to the lower side of the drill bit 17, the drill bit 17 moves downward, the collection motor stops moving, and the drill bit 17 moves downward to contact the collection box 35. See Fig. 22 The upper surface of the collecting box 35 is a plane, and the lower surface of the drill bit 17 is a plane. The lower surface of the drill bit 17 moves downward and contacts and presses against the upper surface of the collecting box 35 to form a seal. The collecting electric screw 73 rotates, driving the collecting sealing plate 74 to move, so that the collecting channel 75 opens, thereby allowing the sample to enter the collecting box 35. After entering the collecting box 35, the collecting sealing plate 74 and the collecting channel 75 are closed, and the collecting box 35 is reset.

[0054] Specifically, Figure 2 , 18 As shown in Figures 1 and 2, an auxiliary lifting mechanism is provided on the upper part of the underwater crawling robot body 1. The auxiliary lifting mechanism is used to lift the underwater crawling robot body 1, and can adjust the lifting position to ensure the stability of the lifting. The auxiliary lifting mechanism includes a lifting chute 2 symmetrically provided on the underwater crawling robot body 1, a lifting frame 7 is slidably connected in the lifting chute 2, a limiting plate 27 is symmetrically fixedly connected to the end wall of the lifting frame 7, a limiting screw 28 is threadedly connected to the limiting plate 27, a pressing plate 71 is rotatably connected to the lower end of the limiting screw 28, and a handle is fixedly connected to the upper end of the limiting screw 28.

[0055] The working principle of the auxiliary lifting mechanism: push the lifting frame 7 to the corresponding position, manually turn the handle, drive the limiting screw 28 to rotate and move downward, drive the clamping plate 71 to move downward and contact the bottom wall of the lifting slide 2, thereby fixing the position of the lifting frame 7, and hanging the hook on the hanging ring 6 for lifting.

[0056] Specifically, Figure 1 , 10 As shown in Figures 1 to 12, a driving mechanism is provided on the underwater crawling robot body 1, and the driving mechanism is used to drive the underwater crawling robot body 1 to move. The driving mechanism includes an adjusting gear chamber 58 arranged in the underwater crawling robot body 1, and an adjusting main gear shaft 61 is rotatably connected between the end walls of the adjusting gear chamber 58, and the adjusting main gear shaft 61 is connected to the power of the steering motor, and the steering motor is fixedly installed in the underwater crawling robot body 1, and an adjusting main gear 59 is fixedly installed on the outer surface of the adjusting main gear shaft 61, and the adjusting main gear 59 is meshed with the adjusting sub-gear 60, and the adjusting sub-gear 60 is fixedly installed on the outer surface of the adjusting shaft 21, and the adjusting shaft 21 is rotatably installed on the end wall of the adjusting gear chamber 58, and the end of the adjusting shaft 21 is fixedly connected to the driving frame 3, and the driving fixed frame 25 is fixedly connected to the driving fixed frame 25, and the driving shaft 5 is rotatably connected to the driving fixed frame 25, and the driving shaft 5 is connected to the power of the driving motor, and the driving motor is fixedly installed in the driving fixed frame 25, and the upper end of the driving shaft 5 is fixedly connected to the driving propeller 4.

[0057] The working principle of the pushing mechanism: start the pushing motor to drive the pushing shaft 5 to rotate, drive the pushing propeller 4 to rotate, and drive the underwater crawling robot body 1 to move. When the pushing direction needs to be adjusted, start the rotating motor to drive the adjusting main gear shaft 61 to rotate, drive the adjusting main gear 59 to rotate, and the adjusting main gear 59 is meshed with the adjusting sub-gear 60, driving the adjusting shaft 21 to rotate and driving the pushing fixing frame 25 to rotate, thereby realizing the adjustment of the pushing direction.

[0058] Specifically, Figure 3 , 4 As shown in Figures 9 and 9, a motion mechanism is provided at the bottom of the underwater crawling robot body 1, and the motion mechanism is used to drive the underwater crawling robot body 1 to move. The motion mechanism includes a motion support frame 32 fixedly connected to the bottom of the underwater crawling robot body 1, a motion frame 78 fixedly connected to the end of the motion support frame 32, a motion gear cavity 55 is provided in the motion frame 78, a motion gear shaft 56 is rotatably connected between the end walls of the motion gear cavity 55, the motion gear shaft 56 is connected to the power of the motion motor, the motion motor is fixedly installed in the motion frame 78, a motion gear 57 is fixedly installed on the outer surface of the motion gear shaft 56, the motion gear 57 is meshed with the annular motion guide rail 80, the annular motion guide rail 80 is rotatably installed on the motion frame 78, and a motion plate 79 is fixedly installed on the outer surface of the annular motion guide rail 80;

[0059] Working principle of the motion mechanism: start the motion motor to drive the motion gear shaft 56 to rotate, thereby driving the motion gear 57 to rotate, the motion gear 57 engages with the annular motion guide rail 80, thereby driving the annular motion guide rail 80 to rotate, thereby driving the motion plate 79 to rotate, thereby driving the underwater crawling robot body 1 to move.

[0060] Specifically, Figure 7 , 9 As shown in Figure 13, a lifting mechanism is provided on the underwater crawling robot body 1, and the lifting mechanism is used to drive the underwater crawling robot body 1 to lift and lower. The lifting mechanism includes a water storage pipe clamping frame 23 fixedly installed on the underwater crawling robot body 1, and the water storage pipe clamping frame 23 clamps the water storage pipe 22. The underwater crawling robot body 1 is fixedly connected with an input fixing frame 24, and the input end of the water storage pipe 22 is fixedly connected with an extraction pump 68, which is fixedly installed in the input fixing frame 24. The extraction pump 68 is fixedly connected to the extraction shaft 69, and the extraction shaft 69 is rotatably installed on the water storage pipe 22. In the input fixed frame 24, the extraction shaft 69 is connected to the extraction motor 70 by power, and the extraction motor 70 is fixedly installed in the input fixed frame 24. The output end of the water storage pipe 22 is fixedly connected to the discharge pump 67, and the discharge pump 67 is fixedly installed in the output fixed frame 26. The output fixed frame 26 is fixedly installed on the underwater crawling robot body 1. The discharge pump 67 is fixedly connected to the discharge shaft 66, and the discharge shaft 66 is rotatably installed in the output fixed frame 26. The discharge shaft 66 is connected to the discharge motor 65 by power, and the discharge motor 65 is fixedly installed in the output fixed frame 26.

[0061] The working principle of the lifting mechanism: when descending, the extraction motor 70 is started to drive the extraction shaft 69 to rotate, thereby driving the extraction pump 68 to move, and water enters the water storage pipe 22, so that the overall weight increases, thereby achieving descent; when floating, the discharge motor 65 is started to drive the discharge shaft 66 to rotate, thereby driving the discharge pump 67 to move, and the water in the water storage pipe 22 is pumped out, thereby achieving floating.

[0062] Specifically, Figure 3 As shown, a monitoring mechanism is provided on the underwater crawling robot body 1, and the monitoring mechanism includes a mounting plate 29 fixedly mounted on the underwater crawling robot body 1, a monitoring camera 30 is fixedly mounted on the mounting plate 29, a lighting lamp 31 is fixedly mounted on the mounting plate 29 between the monitoring cameras 30, and a sonar monitor 33 is fixedly mounted on the underwater crawling robot body 1.

[0063] The working principle of the monitoring mechanism: the lighting lamp 31 performs lighting, the monitoring camera 30 monitors the seawater ring, and the sonar monitor 33 performs sonar monitoring.

[0064] Specifically, Figure 8As shown, a battery 42 is fixedly installed on the underwater crawling robot body 1, and the battery 42 is used to supply power to the entire device.

[0065] The underwater crawling robot of the present invention has a drilling and coring mechanism including a drilling component and a multi-section lifting mechanism, which can adjust the drilling depth during drilling, and a stabilizing mechanism is rotatably connected to the outside of the drilling component, which can ensure the stability of the drill rod during drilling and significantly improve the drilling efficiency; the collecting mechanism collects the drilling samples, and during collection, the collecting mechanism extends out of the underwater crawling robot body and tightly abuts against the bottom of the drilling component, and the collection can be sealed to prevent external fluid from entering, and multiple samples can be collected to achieve drilling and collection at multiple locations on the seabed; the technology can also be used to achieve movement on the seabed and suspended movement in seawater, as well as to push the underwater crawling robot to move, and at the same time, the pushing direction can be adjusted to provide thrust for floating.

[0066] The working process of the underwater crawling robot of the present invention is as follows:

[0067] Push the lifting frame 7 to move to the corresponding position, manually turn the handle to drive the limiting screw rod 28 to rotate and move downward, thereby driving the clamping plate 71 to move downward and contact the bottom wall of the lifting slide 2, so as to fix the position of the lifting frame 7, hang the hook on the hanging ring 6, and lift it. When descending, start the extraction motor 70 to drive the extraction shaft 69 to rotate, thereby driving the extraction pump 68 to move, and water enters the water storage pipe 22, so that the overall weight increases, thereby achieving descent. When floating, start the discharge motor 65 to drive the discharge shaft 66 to rotate, thereby driving the discharge pump 67 to move, and the water in the water storage pipe 22 is extracted to achieve floating, start the motion motor, drive the motion gear shaft 56 to rotate, thereby driving the motion gear 57 to rotate, and the motion gear 57 and the ring The annular motion guide rail 80 is meshed, driving the annular motion guide rail 80 to rotate, driving the motion plate 79 to rotate, thereby driving the underwater crawling robot body 1 to move, starting the pushing motor, driving the pushing shaft 5 to rotate, driving the pushing propeller 4 to rotate, thereby driving the underwater crawling robot body 1 to move, when the pushing direction needs to be adjusted, starting the rotating motor, driving the adjusting main gear shaft 61 to rotate, thereby driving the adjusting main gear 59 to rotate, the adjusting main gear 59 is meshed with the adjusting sub-gear 60, driving the adjusting shaft 21 to rotate, thereby driving the pushing fixing frame 25 to rotate, and realizing the adjustment of the pushing direction, starting the first lifting motor, driving the first lifting screw rod 46 to rotate, thereby driving the first lifting nut block 47 to move, thereby driving the second lifting frame 9 to move downward, and at the same time At the same time, the second lifting motor is started to drive the second lifting screw 37 to rotate, thereby driving the second lifting nut block 48 to move downward, thereby driving the slide plate 10 to move downward, thereby driving the drill bit 17 to move downward, and starting the drilling motor 49 to drive the drilling main gear shaft 50 to rotate, thereby driving the drilling main gear 51 to rotate, and the drilling main gear 51 is meshed with the drilling sub-gear 52, driving the drill rod 11 to rotate and move downward, thereby driving the drill bit 17 to rotate and move downward, and the drill bit 17 drills into the seabed rock or sediment. After reaching the corresponding depth, the closing electric screw 63 rotates, driving the closing plate 41 to move, thereby opening the drill bit 17, and the drill bit 17 continues to rotate downward, so that the rock or sediment enters the drill bit 17. After the drilling is completed, when collecting, the core is taken. The electric push rod 53 moves downward, driving the coring push plate 54 to move downward, thereby pushing out the sample. During drilling, the sliding plate 14 and the rotating ring 12 slide down, driving the insertion cone 15 to slide downward and contact the seabed to form a support, thereby ensuring the stability of the drill rod 11 and the drill bit 17 during drilling. After drilling is completed, the drill bit 17 is reset, and the collection motor is started to drive the collection screw 44 to rotate, thereby driving the nut plate 36 to move, thereby driving the collection box 35 to move, and the middle-shaped slide plate 34 slides in the middle-shaped slide groove 77 to increase the stability of the collection box 35. When the collection channel 75 moves to the lower side of the drill bit 17, the drill bit 17 moves downward, the collection motor stops moving, and the drill bit 17 moves downward to closely contact the collection box 35 to form a seal. The collection electric screw 73 rotates.The collecting sealing plate 74 is driven to move, so that the collecting channel 75 is opened, and the sample enters the collecting box 35. Then the collecting sealing plate 74 and the collecting channel 75 are closed, and the collecting box 35 is reset. The lighting lamp 31 is used for lighting, the monitoring camera 30 is used for monitoring the seawater ring, and the sonar monitoring instrument 33 is used for sonar monitoring.

[0068] Embodiment 2

[0069] The present invention also discloses a seabed in-situ coring method suitable for an underwater crawling robot in a seabed hard rock area. Based on the underwater crawling robot, the method comprises the following steps:

[0070] S1: The hook is hung on the hanging ring 6 through the lifting device, so that the underwater crawling robot body 1 is dropped into the water. During the lifting, the position of the lifting frame 7 can be moved to a suitable position to ensure the balance during the lifting.

[0071] S2: The underwater crawling robot body 1 is in the water, the lifting mechanism moves, water enters the water storage pipe 22, the overall weight increases, and the underwater crawling robot body 1 sinks. When floating, the water in the water storage pipe 22 is discharged, the overall weight is reduced, and floating is achieved.

[0072] S3: After the underwater crawling robot body 1 sinks to the seabed, the motion mechanism moves, thereby driving the underwater crawling robot body 1 to move on the seabed.

[0073] S4: After moving to the drilling position, the drilling and coring mechanism moves to drill and coring the hard bottom rock area on the seabed. The depth of drilling and coring is adjusted by a multi-section lifting mechanism according to the drilling position.

[0074] S5: When drilling and coring, the stabilizing mechanism moves to increase the stability during drilling and coring.

[0075] S6: After the drilling and coring is completed, the collecting mechanism moves to collect the samples after the drilling and coring.

[0076] S7: When the underwater crawling robot body 1 is suspended in the seawater, the pushing mechanism moves, thereby pushing the underwater crawling robot body 1 to move in the seawater;

[0077] Repeat the above steps S3 to S7 to achieve multiple drilling and collection on the seabed.

[0078] S8: When floating, the lifting mechanism moves to discharge the water in the water storage pipe 22, thereby reducing the overall weight and achieving floating.

[0079] Between the above steps S2 to S8, there is also a step S9: when the underwater crawling robot body 1 moves, the monitoring mechanism moves, so as to monitor the movement path and related data in the seawater.

[0080] The above-described embodiments of the present invention do not constitute a limitation on the protection scope of the present invention. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention shall be included in the protection scope of the claims of the present invention.

Claims

1. An underwater crawling robot with a seabed in-situ drilling function, comprising an underwater crawling robot body, characterized in that: The underwater crawling robot body (1) is provided with a drilling and coring mechanism, a stabilizing mechanism and a collecting mechanism; the drilling and coring mechanism comprises a drilling component and a multi-section lifting mechanism, the head end of the multi-section lifting mechanism is connected to the underwater crawling robot body (1), and the tail end of the multi-section lifting mechanism is connected to the drilling component, and the multi-section lifting mechanism is deployed or retracted to drive the drilling component to move up and down; the stabilizing mechanism is arranged outside the drilling component, and the stabilizing mechanism is rotatably connected to the drilling component; the collecting mechanism is arranged in the underwater crawling robot body and is movably connected to the underwater crawling robot body, and the collecting mechanism extends out of the underwater crawling robot body (1) and is tightly abutted against the bottom of the drilling component to collect sediment or rock of the drilling component.

2. The underwater crawling robot according to claim 1, characterized in that: The multi-section lifting mechanism comprises a first lifting frame (8), the first lifting frame (8) is provided with a first lifting slot (45), the end wall of the first lifting slot (45) is rotatably connected with a first lifting screw rod (46), the first lifting screw rod (46) is connected to a first lifting motor in a power connection, the first lifting motor is fixedly installed in the first lifting frame (8), the outer surface of the first lifting screw rod (46) is threadedly connected with a first lifting nut block (47), the end wall of the first lifting nut block (47) is fixedly connected with a second lifting frame (9), the second lifting frame (9) is provided with a second lifting slot (38), the end wall of the second lifting slot (38) is rotatably connected with a second lifting screw rod (37), the second lifting screw rod (37) is connected to a second lifting motor in a power connection, the second lifting motor is fixedly installed in the second lifting frame (9), the outer surface of the second lifting screw rod (37) is threadedly connected with a second lifting nut block (48), the outer surface of the second lifting nut block (48) is fixedly installed with a slide plate (10), and the slide plate (10) is rotatably connected with the drilling component.

3. The underwater crawling robot according to claim 2, characterized in that: The drilling component comprises a drilling motor (49), a drill rod (11) and a drill bit (17); the drilling motor (49) is fixedly mounted in the slide plate (10); a drilling gear chamber (76) is provided in the slide plate (10); a drilling main gear shaft (50) is rotatably connected between the end walls of the drilling gear chamber (76); the drilling main gear shaft (50) is power-connected to the drilling motor (49); a drilling main gear (51) is fixedly mounted on the outer surface of the drilling main gear shaft (50); the drilling main gear (51) is meshed with a drilling sub-gear (52); the drilling sub-gear (52) is fixedly mounted on the outer surface of the drill rod (11); the drill rod (11) passes through and is rotatably mounted on the drilling main gear shaft (76); The end of the drill rod (11) is fixedly connected to the drill bit (17) on the end wall of the gear cavity (76); a closed cavity (62) is provided at the end of the drill bit (17); a closed plate (41) is provided at the bottom of the closed cavity (62); a closed electric screw (63) is rotatably connected to the end wall of the closed cavity (62); the closed electric screw (63) is threadedly connected to the closed plate (41); the closed plate (41) is slidably installed between the end walls of the closed cavity (62); a coring assembly is provided in the drill bit (17); the coring assembly comprises a coring electric push rod (53) fixedly connected to the drill bit (17); a coring push plate (54) is fixedly connected to the lower end of the coring electric push rod (53).

4. The underwater crawling robot according to claim 3, characterized in that: The stabilizing mechanism comprises a fixing ring (13) fixedly connected to the bottom wall of the slide plate (10); a rotating disk (16) is rotatably connected to the upper part of the drill bit (17); a stabilizing rod (18) is connected between the rotating disk (16) and the fixing ring (13); a rotating ring (12) is slidably connected to the outer surface of the drill rod (11); a sliding disk (14) is rotatably connected to the outer surface of the rotating ring (12); the sliding disk (14) is slidably connected to the stabilizing rod (18); and an insertion cone (15) is fixedly connected to the bottom wall of the sliding disk (14).

5. The underwater crawling robot according to claim 1, characterized in that: The collecting device comprises a collecting chute (43) arranged in the underwater crawling robot body (1), a collecting screw (44) is rotatably connected to the end wall of the collecting chute (43), the collecting screw (44) is connected to the power of a collecting motor, the collecting motor is fixedly installed in the underwater crawling robot body (1), the outer surface of the collecting screw (44) is threadedly connected to a nut plate (36), the upper surface of the nut plate (36) is fixedly installed with a collecting box (35), the underwater crawling robot body (1) is provided with a Chinese-character shaped chute (77), the Chinese-character shaped chute A Chinese-shaped slide plate (34) is slidably connected inside (77), and the Chinese-shaped slide plate (34) is fixedly connected to the collecting box (35). A collecting channel (75) is provided on the upper part of the collecting box (35), and the collecting channel (75) extends into the collecting box (35). A slide groove (72) is provided on the end wall of the collecting channel (75), and a collecting electric screw rod (73) is rotatably connected to the end wall of the slide groove (72). The collecting electric screw rod (73) is threadedly connected to the collecting closing plate (74), and the collecting closing plate (74) is slidably installed between the end walls of the slide groove (72).

6. The underwater crawling robot according to claim 1, characterized in that: An auxiliary lifting mechanism is provided on the upper part of the underwater crawling robot body (1), and the auxiliary lifting mechanism includes a lifting chute (2) symmetrically opened on the underwater crawling robot body (1), a lifting frame (7) is slidably connected in the lifting chute (2), a limiting plate (27) is symmetrically fixedly connected to the end wall of the lifting frame (7), a limiting screw (28) is threadedly connected through the limiting plate (27), the lower end of the limiting screw (28) is rotatably connected to a clamping plate (71), and the upper end of the limiting screw (28) is fixedly connected to a handle.

7. The underwater crawling robot according to claim 1, characterized in that: The underwater crawling robot body (1) is provided with a driving mechanism, and the driving mechanism includes an adjusting gear chamber (58) provided in the underwater crawling robot body (1), and an adjusting main gear shaft (61) is rotatably connected between the end walls of the adjusting gear chamber (58), and the adjusting main gear shaft (61) is connected to the steering motor power, and the steering motor is fixedly installed in the underwater crawling robot body (1), and an adjusting main gear (59) is fixedly installed on the outer surface of the adjusting main gear shaft (61), and the adjusting main gear (59) is meshed with the adjusting sub-gear (60), and the adjusting sub-gear The wheel (60) is fixedly mounted on the outer surface of the adjusting shaft (21); the adjusting shaft (21) is rotatably mounted on the end wall of the adjusting gear cavity (58); the end of the adjusting shaft (21) is fixedly connected to a pushing frame (3); the pushing frame (3) is fixedly connected to a pushing fixing frame (25); the pushing fixing frame (25) is rotatably connected to a pushing shaft (5); the pushing shaft (5) is connected to a pushing motor power; the pushing motor is fixedly mounted in the pushing fixing frame (25); the upper end of the pushing shaft (5) is fixedly connected to a pushing propeller (4).

8. The underwater crawling robot according to claim 1, characterized in that: The underwater crawling robot body (1) is provided with a monitoring mechanism, and the monitoring mechanism includes a mounting plate (29) fixedly mounted on the underwater crawling robot body (1), a monitoring camera (30) fixedly mounted on the mounting plate (29), a lighting lamp (31) fixedly mounted on the mounting plate (29) between the monitoring cameras (30), a sonar monitoring instrument (33) fixedly mounted on the underwater crawling robot body (1); and a storage battery (42) fixedly mounted on the underwater crawling robot body (1).

9. The underwater crawling robot according to claim 1, characterized in that: A motion mechanism is provided at the bottom of the underwater crawling robot body (1), and the motion mechanism comprises a motion support frame (32) fixedly connected to the bottom of the underwater crawling robot body (1), and a motion frame (78) is fixedly connected to the end of the motion support frame (32), and a motion gear cavity (55) is provided in the motion frame (78), and a motion gear shaft (56) is rotatably connected between the end walls of the motion gear cavity (55), and the motion gear shaft (56) is connected to the power of a motion motor, and the motion motor is fixedly installed in the motion frame (78), and a motion gear (57) is fixedly installed on the outer surface of the motion gear shaft (56), and the motion gear (57) is meshed with an annular motion guide rail (80), and the annular motion guide rail (80) is rotatably installed on the motion frame (78), and a motion plate (79) is fixedly installed on the outer surface of the annular motion guide rail (80); The underwater crawling robot body (1) is provided with a lifting mechanism, and the lifting mechanism includes a water storage pipe clamping frame (23) fixedly installed on the underwater crawling robot body (1), and the water storage pipe (22) is clamped on the water storage pipe clamping frame (23). The underwater crawling robot body (1) is fixedly connected with an input fixing frame (24), and the input end of the water storage pipe (22) is fixedly connected with an extraction pump (68). The extraction pump (68) is fixedly installed in the input fixing frame (24), and the extraction pump (68) is fixedly connected to an extraction shaft (69). The extraction shaft (69) is rotatably installed in the input fixing frame (24). The extraction shaft (69) ) is connected to the extraction motor (70) by power, the extraction motor (70) is fixedly installed in the input fixing frame (24), the output end of the water storage pipe (22) is fixedly connected to the discharge pump (67), the discharge pump (67) is fixedly installed in the output fixing frame (26), the output fixing frame (26) is fixedly installed on the underwater crawling robot body (1), the discharge pump (67) is fixedly connected to the discharge rotating shaft (66), the discharge rotating shaft (66) is rotatably installed in the output fixing frame (26), the discharge rotating shaft (66) is connected to the discharge motor (65) by power, and the discharge motor (65) is fixedly installed in the output fixing frame (26).

10. A method for an underwater crawling robot with a seabed in-situ drilling function, based on the underwater crawling robot according to any one of claims 1 to 9, characterized in that: The following steps are involved: S1, connecting the auxiliary lifting mechanism via a lifting device to lift the underwater crawling robot body (1) into water; S2, the underwater crawling robot body (1) is in water, and the lifting mechanism moves, so that water enters the water storage pipe (22), and the overall weight increases, so that the underwater crawling robot body (1) sinks; S3, after the underwater crawling robot body (1) sinks to the seabed, the motion mechanism moves, driving the underwater crawling robot body (1) to move on the seabed; S4, after the underwater crawling robot moves to the drilling position, the drilling and coring mechanism moves to drill and coring the sediment or rock on the seabed, and the depth of the drilling and coring is adjusted through the multi-section lifting mechanism; S5, when drilling and coring, stabilize the movement of the mechanism to increase the stability during drilling and coring; S6. After the drilling and coring is completed, the collection mechanism moves to collect the samples after the drilling and coring, so that multiple drilling and collection can be carried out on the seabed; S7, when the underwater crawling robot is suspended in the seawater, the pushing mechanism moves to push the underwater crawling robot body (1) to move in the seawater; S8, when floating, the lifting mechanism moves to discharge the water in the water storage pipe (22), thereby reducing the overall weight and achieving floating; Between the above steps S2 to S8, there is also a step S9, in which when the underwater crawling robot body (1) moves, the monitoring mechanism moves to monitor the movement path and related data in the seawater.

Images