Underwater robot based on submarine complex terrain survey carried by submersible and method

Abstract

The invention relates to the technical field of underwater robots, and discloses a submarine complex terrain surveying underwater robot carried by a submersible and a method, the submarine complex terrain surveying underwater robot comprises the submersible, the lower part of the submersible is detachably connected with a lifting mechanism, and the lifting mechanism is used for driving the underwater robot to lift; the tail end of the lifting mechanism is connected with a direction adjusting mechanism, and the direction adjusting mechanism is used for adjusting the laying direction of the underwater robot, so that complex terrains of the seabed can be surveyed, and the terrains of positions such as narrow and long cracks and hydrothermal nozzles of the seabed can be surveyed; the problems existing in current seabed complex terrain exploration are solved; according to the underwater robot carrying device, the underwater robot can be carried through a submersible, multiple underwater robots can be carried, the underwater robots can be laid and recycled, when the underwater robots are carried, clamping and carrying can be carried out on multiple points, and clamping and carrying are firm.

Description

Technical Field

[0001] The present invention belongs to the technical field of underwater robots, and in particular relates to an underwater robot and method for surveying complex seabed terrain carried by a submersible. Background Art

[0002] Underwater robots, also known as unmanned remotely operated vehicles (ROVs), are robots designed for extreme underwater operations. Due to the harsh and dangerous underwater environment and the limited depth of human diving, underwater robots have become a crucial tool for ocean exploration. There are two main types of ROVs: tethered and untethered. Tethered ROVs are further categorized into self-propelled, towed, and crawling models.

[0003] Currently, when surveying complex seabed terrain, the survey is basically carried out through the terrain and geological detection radar installed on the submersible. However, the survey range of the submersible is limited, and it is difficult to survey some complex locations, such as some narrow cracks on the seabed and the locations of hydrothermal vents, resulting in low overall survey efficiency. Summary of the Invention

[0004] In view of the above situation, in order to overcome the defects of the prior art, the present invention provides an underwater robot and method for surveying complex seabed terrain based on a submersible, which effectively solves the problems mentioned in the above background technology.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: an underwater robot for surveying complex seabed terrain carried by a submersible, comprising a submersible, a lifting mechanism detachably connected to the lower part of the submersible, the lifting mechanism being used to drive the underwater robot to lift and lower, a direction adjustment mechanism being connected to the end of the lifting mechanism, the direction adjustment mechanism being used to adjust the direction of the underwater robot during deployment, a plurality of carrying mechanisms being evenly connected to the lower part of the direction adjustment mechanism, the carrying mechanisms being used to carry the underwater robot, so as to facilitate the underwater robot to be driven to a corresponding position for deployment.

[0006] Preferably, the carrying mechanism includes a fixed plate, a clamping cavity is provided in the fixed plate, a plurality of clamping screws are rotatably connected to the bottom wall of the clamping cavity at uniform and equal intervals, an annular groove cylinder is fixedly installed on the outer surface of the clamping screw, the outer side of the annular groove cylinder is rotatably connected to the clamping toothed belt wheel, an annular groove extending inwardly is machined on the annular surface of the annular groove cylinder, an engaging toothed plate is rotatably connected to the bottom wall of the annular groove, the engaging toothed plate is fixedly connected to the clamping toothed belt wheel, the engaging toothed plate is meshed with the pressing toothed plate, and the pressing toothed plate The plate is fixedly installed at the lower end of the compression spring, and the upper end of the compression spring is connected to the upper surface of the annular groove. The clamping toothed belt wheels are meshed with each other through the clamping toothed belt. A compression drum is rotatably connected between the end walls of the clamping cavity. The compression drum is rollingly connected to the clamping toothed belt and presses the clamping toothed belt to ensure the reliability of the meshing with the clamping toothed belt wheel in the middle position. The clamping drive shaft is rotatably connected between the end walls of the clamping cavity, and the clamping drive shaft is connected to the power of the motor fixedly installed in the fixed plate. The outer surface of the clamping drive shaft is fixedly mounted with a clamping drive gear meshing with the clamping toothed belt, the clamping screw extends to the lower side of the fixed plate and is threadedly connected to the T-shaped nut plate, the T-shaped nut plate is slidably connected between the vertical frames, the vertical frames are symmetrically fixedly mounted on the lower part of the fixed plate, and a rotating groove is provided at the end position of the lower side of the vertical frame to facilitate the rotation of the clamping gear, and a clamping gear shaft is rotatably connected between the end walls of the rotating groove, and the clamping gear is fixedly mounted on the outer surface of the clamping gear shaft. The incomplete gear is meshed with the incomplete gear, and the side wall of the fixed plate is symmetrically fixedly connected to the mounting plate, and the lower side of the edge of the mounting plate is fixedly connected to a clamping frame, and the lower end position of the clamping frame is provided with a movable groove for facilitating the movement of the incomplete gear. The incomplete gear shaft is rotatably connected between the end walls of the movable groove, and the outer surface of the incomplete gear shaft is fixedly connected to the incomplete gear. The root position of the incomplete gear is fixedly connected to a clamping link, and the end of the clamping link is fixedly connected to an arc-shaped clamping plate, and an underwater robot is clamped between the arc-shaped clamping plates.

[0007] The control wheel that is located on the wheelchair is fixed on the wheelchair, and the control wheel that is located on the wheelchair is fixed on the wheelchair. A motion gear is fixedly mounted on the outer surface of the motion gear shaft, and the motion gear is meshed with a motion toothed belt rotatably mounted on the motion frame, and a number of motion plates are evenly fixedly mounted on the outer surface of the motion toothed belt, a front survey probe is mounted at the head position of the underwater robot, and a number of horizontal thrusters are mounted in a circular array at the tail position of the underwater robot, a detection groove is provided at the bottom of the underwater robot, a survey electric shaft is rotatably mounted on the top wall of the detection groove, a horizontal electric push rod is fixedly connected to the lower end of the survey electric shaft, and a horizontal survey probe is fixedly connected to the power end of the horizontal electric push rod, a vertical channel is provided at the bottom of the underwater robot between the annular groove frames, a vertical electric push rod is fixedly mounted on the top wall of the vertical channel, and a vertical survey probe is fixedly connected to the lower end of the vertical electric push rod, a buoyancy adjustment system for adjusting the buoyancy of the underwater robot is provided in the underwater robot, a battery is installed in the underwater robot for power supply, a micro control processor is provided in the underwater robot, and a signal receiving and transmitting device is installed in the underwater robot.

[0008] The transmission gear is engaged with the gear train of the driven gear and is engaged with the gear of the driven gear and the gear is engaged with the gear of the driven gear and the gear is engaged with the gear of the driven gear and the gear is engaged with the gear of the driven gear and the gear is engaged with the gear of the driven gear and the gear is engaged with the gear of the driven gear and the gear is engaged with the gear of the driven gear and the gear is engaged with the gear of the driven gear and the gear is engaged with the gear of the driven gear and the gear is engaged with the gear of the driven gear and the gear is engaged with the gear of the driven gear and the gear is engaged with the gear of the driven gear and the gear is engaged with the gear of the driven gear and the gear is engaged with the gear of the driven gear and the gear is engaged with the gear of the driven gear and the gear is engaged with the gear of the driven gear and the gear is engaged with the gear of the driven gear and the gear is engaged with the gear of the driven gear and the gear is engaged with the gear of the driven gear and the gear is engaged with the gear of the driven gear and the gear is engaged with the gear of the driven gear and the gear is engaged with the gear of the driven gear and the gear is engaged with the gear of the driven gear and the gear is engaged with the gear of the driven gear and the gear is engaged with the gear of the driven gear and the gear is engaged with the gear of the driven gear and the gear is engaged with the gear of the driven gear and the gear is engaged with the gear of the driven gear and the gear is engaged with the gear of the driven gear and the gear is engaged with the gear of the driven gear and the gear is engaged with the gear

[0009] Preferably, the direction adjustment mechanism includes a direction adjustment gear cavity provided in the lifting rope, a direction adjustment active gear shaft is rotatably connected between the end walls of the direction adjustment gear cavity, the direction adjustment active gear shaft is connected to the direction adjustment motor power fixedly installed in the lifting rope, a direction adjustment active gear is fixedly installed on the outer surface of the direction adjustment active gear shaft, the direction adjustment active gear is meshed with the direction adjustment driven gear, the direction adjustment driven gear is fixedly installed on the outer surface of the ratchet shaft, the ratchet shaft passes through and is rotatably installed between the end walls of the direction adjustment gear cavity and extends to the lower side of the lifting rope, a ratchet is fixedly installed on the outer surface of the ratchet shaft on the lower side of the direction adjustment driven gear, the ratchet is meshed with a pawl, the pawl is fixedly installed on the outer surface of the pawl rotating shaft, the pawl rotating shaft is rotatably installed between the end walls of the direction adjustment gear cavity, a pawl connecting spring is connected between the pawl and the end walls of the direction adjustment gear cavity, the lower end of the ratchet shaft is fixedly connected to a mounting plate, a stabilizing ring is connected between the mounting plate and the lifting rope to increase the stability of the mounting plate, and a plurality of fixing plates are evenly fixedly connected to the lower part of the mounting plate.

[0010] Preferably, a plurality of nut plates are fixedly mounted on the groove frame, and the nut plates are detachably connected to the lower part of the submersible by bolts. The lower part of the submersible is provided with bolt holes that cooperate with the bolts. A stabilizing telescopic rod is connected between the submersible and the fixed box plate to increase the stability of the fixed box plate.

[0011] Preferably, a grabbing mechanism is provided at the front of the submersible, and the grabbing mechanism includes a grabbing mounting plate fixedly installed on the front side of the submersible, a grabbing robotic arm is symmetrically fixedly installed on the grabbing mounting plate, a grabbing electric clamp is fixedly installed at the end of the grabbing robotic arm, and a collection box is symmetrically fixedly installed on the grabbing mounting plate.

[0012] Preferably, a wedge-shaped frame is fixedly installed on the front of the submersible, and several detectors are evenly installed on the wedge-shaped frame. Several pushers are installed on the submersible, and the pushers are respectively located on both sides and the tail of the submersible. Several supporting legs are evenly fixedly installed on the lower part of the submersible, and the supporting legs can be telescopically adjusted.

[0013] The present invention provides a method for surveying complex seabed terrain carried by a submersible, based on the above-mentioned underwater robot for surveying complex seabed terrain carried by a submersible, the steps comprising: Step 1: hoisting the submersible into the sea water using corresponding hoisting equipment; Step 2: The submersible descends into the water. After descending to a suitable position, the lifting mechanism moves, thereby driving the underwater robot to move up and down to the height position where it needs to be deployed; Step 2: The direction adjustment mechanism moves, thereby driving the mounting plate to rotate, thereby driving the underwater robot to rotate to the corresponding direction; Step 3: The carrying mechanism moves, thereby releasing the clamping of the underwater robot and deploying the underwater robot; Step 4: After deployment, the underwater robot moves on the seabed to survey the terrain of the seabed, and during the survey, it surveys the terrain it is responsible for.

[0014] Compared with the prior art, the present invention has the following beneficial effects: The present invention provides an underwater robot for surveying complex seabed terrain carried by a submersible, which can survey the complex terrain of the seabed, including some narrow and long cracks, hydrothermal vents and other locations on the seabed, and solves the problems existing in the current survey of complex seabed terrain.

[0015] 2. The present invention provides an underwater robot for surveying complex seabed terrain based on a submersible. The underwater robot can be carried by a submersible, multiple underwater robots can be carried, and the underwater robots can be deployed and recovered. When carrying the underwater robot, it can be clamped and carried at multiple points, and the clamping and carrying is relatively reliable. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The accompanying drawings are used to provide further understanding of the present invention and constitute a part of the specification. They are used to explain the present invention together with the embodiments of the present invention and do not constitute a limitation of the present invention.

[0017] In the attached figure: Figure 1 This is a schematic diagram of the first-direction structure of an underwater robot for surveying complex seabed terrain carried by a submersible according to the present invention; Figure 2 This is a schematic diagram of the second-direction structure of an underwater robot for surveying complex seabed terrain carried by a submersible in the present invention; Figure 3 This is a schematic diagram of the third-direction structure of an underwater robot for surveying complex seabed terrain carried by a submersible in the present invention; Figure 4 This is a schematic diagram of the structure of an underwater robot for surveying complex seabed terrain carried by a submersible in the fourth direction of the present invention; Figure 5 This is a schematic diagram of the first-direction structure of the combination of the lifting mechanism, direction adjustment mechanism, carrying mechanism and underwater robot in the present invention; Figure 6 This is a schematic diagram of the second direction structure of the combination of the lifting mechanism, direction adjustment mechanism, carrying mechanism and underwater robot in the present invention; Figure 7 This is a schematic diagram of the third-direction structure of the combination of the lifting mechanism, direction adjustment mechanism, carrying mechanism and underwater robot in the present invention; Figure 8 Schematic diagram of the fourth direction structure of the combination of the lifting mechanism, direction adjustment mechanism, carrying mechanism and underwater robot in the present invention; Figure 9 This is a schematic structural diagram of the combination of the carrying mechanism and the underwater robot in the present invention; Figure 10 This is a schematic diagram of the first direction structure of the carrying mechanism of the present invention; Figure 11 This is a schematic diagram of the second direction structure of the carrying mechanism of the present invention; Figure 12 It is a partial cross-sectional structural schematic diagram of the carrying mechanism in the present invention; Figure 13 Schematic diagram of the structure of the underwater robot in the present invention; Figure 14 A schematic diagram of a first partial cross-sectional structure of the underwater robot of the present invention; Figure 15 2 is a schematic diagram of a second partial cross-sectional structure of the underwater robot of the present invention; Figure 16This is a schematic diagram of the cross-sectional structure of the combination of the lifting mechanism, direction adjustment mechanism, carrying mechanism and underwater robot.

[0018] In the figure: 1-submersible, 2-propeller, 3-grabbing mechanical arm, 4-grabbing electric gripper, 5-support leg, 6-mounting plate, 7-underwater robot, 8-detector, 9-groove frame, 10-nut plate, 11-bolt, 12-stable telescopic rod, 13-lifting rope, 14-fixing plate, 15-arc-shaped splint, 16-clamping link, 17-mounting plate, 18-lifting drum, 20-lifting motor, 21-fixing box plate, 22-clamping frame, 23-incomplete gear, 24-T-shaped nut plate, 25-clamping Rack, 26-arc clamping block, 27-clamping gear, 28-stabilizing ring, 29-incomplete gear shaft, 30-front survey probe, 31-lifting chamber, 32-brake electric push rod, 33-brake meshing tooth, 34-brake gear, 35-direction adjustment driving gear, 36-direction adjustment driving gear shaft, 37-ratchet shaft, 38-ratchet, 39-pawl, 40-pawl shaft, 41-pawl connecting spring, 42-lifting drive shaft, 43-lifting driving gear, 44-lifting driven gear, 45-ring shaped groove frame, 46-detection groove, 47-horizontal electric push rod, 48-horizontal survey probe, 49-sliding block, 50-adjusting electric push rod, 51-adjusting groove frame, 52-motion frame, 53-motion toothed belt, 54-motion plate, 55-clamping gear shaft, 56-clamping screw, 57-clamping toothed belt, 58-clamping toothed belt pulley, 59-clamping drive gear, 60-clamping drive shaft, 61-pressing drum, 62-annular groove drum, 63-pressing spring, 64-pressing tooth plate, 65-meshing gear Plate, 66-vertical channel, 67-adjusting electric shaft, 68-L-shaped mounting plate, 69-surveying electric shaft, 70-vertical electric push rod, 71-vertical survey probe, 72-adjusting drive shaft, 73-adjusting gear, 74-motion gear shaft, 75-motion gear, 76-motion gear chamber, 77-lifting shaft, 78-direction adjustment gear chamber, 79-clamping chamber, 80-grabbing mounting plate, 81-collection box, 82-wedge frame, 83-vertical frame, 84-brake disc, 85-direction adjustment driven gear. DETAILED DESCRIPTION

[0019] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments; based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0020] like Figure 1-16As shown, the present invention provides an underwater robot for surveying complex seabed terrain carried by a submersible, including a submersible 1. The lower part of the submersible 1 is detachably connected to a lifting mechanism, and the lifting mechanism is used to drive the underwater robot to lift and lower. The end of the lifting mechanism is connected to a direction adjustment mechanism, and the direction adjustment mechanism is used to adjust the direction of the underwater robot when it is deployed. The lower part of the direction adjustment mechanism is evenly connected to a number of carrying mechanisms, and the carrying mechanisms are used to carry the underwater robot, so as to drive the underwater robot to move to the corresponding position for deployment.

[0021] Advantageously, the carrying mechanism includes a fixed plate 14, a clamping cavity 79 is provided in the fixed plate 14, a plurality of clamping screws 56 are rotatably connected to the bottom wall of the clamping cavity 79 at uniform and equal intervals, an annular groove cylinder 62 is fixedly mounted on the outer surface of the clamping screw 56, a clamping toothed belt pulley 58 is rotatably connected to the outer side of the annular groove cylinder 62, an annular groove extending inwardly is machined on the annular surface of the annular groove cylinder 62, an engaging toothed plate 65 is rotatably connected to the bottom wall of the annular groove, the engaging toothed plate 65 is fixedly connected to the clamping toothed belt pulley 58, the engaging toothed plate 65 is meshed and clamped with the clamping toothed plate 64, and the clamping toothed plate 64 is fixedly mounted on the lower end of the compression spring 63, The upper end of the compression spring 63 is connected to the upper surface of the annular groove, and the clamping toothed pulleys 58 are meshed with each other through the clamping toothed belt 57. A compression drum 61 is rotatably connected between the end walls of the clamping cavity 79. The compression drum 61 is rollingly connected to the clamping toothed belt 57 and presses the clamping toothed belt 57 to ensure the reliability of the engagement with the clamping toothed belt pulley 58 in the middle position. The clamping drive shaft 60 is rotatably connected between the end walls of the clamping cavity 79, and the clamping drive shaft 60 is connected to the power of the motor fixedly installed in the fixed plate 14. The outer surface of the clamping drive shaft 60 is fixedly installed with a clamping drive gear meshed with the clamping toothed belt 57. Wheel 59, the clamping screw 56 extends to the lower side of the fixed plate 14 and is threadedly connected with the T-shaped nut plate 24, the T-shaped nut plate 24 is slidably connected between the vertical frames 83, the vertical frames 83 are symmetrically fixedly installed at the lower part of the fixed plate 14, and a rotation groove is provided at the lower end position of the vertical frame 83 to facilitate the rotation of the clamping gear 27. The clamping gear shaft 55 is rotatably connected between the end walls of the rotation groove, and the clamping gear 27 is fixedly installed on the outer surface of the clamping gear shaft 55. The clamping gear 27 is meshed with the incomplete gear 23. The side wall of the fixed plate 14 is symmetrically fixedly connected with the mounting plate 17, and the lower side of the edge of the mounting plate 17 is fixedly connected to the clamping frame 2 2. A movable groove is provided at the lower end of the clamping frame 22 to facilitate the movement of the incomplete gear 23. An incomplete gear shaft 29 is rotatably connected between the end walls of the movable groove. The outer surface of the incomplete gear shaft 29 is fixedly connected to the incomplete gear 23. A clamping link 16 is fixedly connected to the root of the incomplete gear 23. An arc-shaped clamping plate 15 is fixedly connected to the end of the clamping link 16. The underwater robot 7 is clamped between the arc-shaped clamping plates 15. The pressing tooth plate 64 is slidably connected to the annular groove cylinder 62. The inner surfaces of the arc-shaped clamping plate 15 and the arc-shaped clamping block 26 are provided with elastic anti-slip material to prevent sliding and prevent damage to the surface of the underwater robot 7. During operation, the onboard motor is started to drive the clamping drive shaft 60 to rotate, thereby driving the clamping drive gear 59 to rotate, the clamping drive gear 59 is engaged with the clamping toothed belt 57, thereby driving the clamping toothed belt 57 to rotate, the clamping toothed belt 57 is engaged with the clamping toothed belt pulley 58, thereby driving the clamping toothed belt pulley 58 to rotate, thereby driving the meshing toothed plate 65 to rotate, the meshing toothed plate 65 is engaged and clamped with the pressing toothed plate 64, thereby driving the annular groove cylinder 62 to rotate, Thereby driving the clamping screw 56 to rotate, the clamping screw 56 is threadedly connected to the T-shaped nut plate 24, thereby pushing the T-shaped nut plate 24 to move, thereby driving the clamping rack 25 to move, the clamping rack 25 is engaged with the clamping gear 27, thereby driving the clamping gear 27 to rotate, the clamping gear 27 is engaged with the incomplete gear 23, thereby driving the incomplete gear 23 to rotate, thereby driving the clamping link 16 to rotate, thereby driving the arc clamping plate 15 to move the underwater robot 7 is clamped, and the T-shaped nut plate 24 moves downward to drive the arc-shaped clamping block 26 to move downward to clamp the upper side of the underwater robot 7, thereby realizing the loading of the underwater robot 7. When some positions are clamped and some positions are not clamped, the clamping toothed belt 57 rotates, driving the clamping toothed belt wheel 58 to rotate, thereby driving the meshing toothed plate 65 to rotate, the clamping screw 56 cannot rotate, and the annular groove cylinder 62 cannot rotate, so that the meshing toothed plate 65 rotates. The clamping spring 63 is disengaged from the clamping tooth plate 64, so that the clamping spring 63 is in a state of reciprocating compression and extension, so that the remaining clamping screw 56 continues to rotate to drive the arc-shaped clamping plate 15 to move and clamp the underwater robot 7, thereby realizing adaptive clamping and carrying of different positions of the underwater robot 7, and the clamping and carrying is relatively firm. When the clamping is released to deploy the underwater robot 7, the carrying motor moves in the opposite direction, thereby causing the corresponding components to move in the opposite direction, thereby realizing the deployment of the underwater robot 7.

[0022] Advantageously, the underwater robot 7 is symmetrically and detachably connected to an annular groove frame 45, and two sliding blocks 49 are slidably connected to the annular groove frame 45. An adjustment drive shaft 72 is rotatably connected to the sliding block 49. The adjustment drive shaft 72 is connected to the power of a micro-adjustment motor fixedly installed in the sliding block 49, and an electric brake assembly is connected to the output shaft of the micro-adjustment motor. An adjustment gear 73 is fixedly installed on the outer surface of the adjustment drive shaft 72, and the adjustment gear 73 is engaged with an annular rack installed on the annular groove frame 45. The fixed end of the adjustment electric push rod 50 is fixedly installed on the end wall of the sliding block 49. The adjustment electric push rod 50 is fixedly installed on the end wall of the sliding block 49. 0 is fixedly connected to the power end of the adjusting groove frame 51, and the adjusting groove frame 51 is rotatably connected to the adjusting electric shaft 67. The outer surface of the adjusting electric shaft 67 is fixedly connected to the L-shaped mounting plate 68. The end of the L-shaped mounting plate 68 is fixedly connected to the motion frame 52. The adjusting groove frame 51 is equipped with a brake disc 84 for braking the adjusting electric shaft 67. The motion frame 52 is symmetrically provided with a motion gear cavity 76. The end wall of the motion gear cavity 76 is rotatably connected to a motion gear shaft 74. The motion gear shaft 74 is connected to the motion motor fixedly installed in the motion frame 52. The outer surface of the motion gear shaft 74 is fixedly equipped with a motion gear. Gear 75, the moving gear 75 is meshed with the moving toothed belt 53 rotatably mounted on the moving frame 52, and a number of moving plates 54 are evenly fixedly mounted on the outer surface of the moving toothed belt 53. A front survey probe 30 is mounted at the head position of the underwater robot 7, and a number of horizontal thrusters are mounted in a circular array at the tail position of the underwater robot 7. A detection groove 46 is provided at the lower part of the underwater robot 7, and a survey electric shaft 69 is rotatably mounted on the top wall of the detection groove 46. The lower end of the survey electric shaft 69 is fixedly connected to a horizontal electric push rod 47, and the power end of the horizontal electric push rod 47 is fixedly connected to a horizontal survey probe 48. The annular A vertical channel 66 is provided at the lower part of the underwater robot 7 between the groove frames 45. A vertical electric push rod 70 is fixedly installed on the top wall of the vertical channel 66. A vertical survey probe 71 is fixedly connected to the lower end of the vertical electric push rod 70. A buoyancy adjustment system for adjusting the buoyancy of the underwater robot 7 is provided in the underwater robot 7. A battery is installed in the underwater robot 7 for power supply. A micro control processor is provided in the micro control processor. A corresponding control program is provided in the micro control processor. A signal receiving transmitter is installed in the underwater robot 7. The signal receiving transmitter is used to perform signal transmission interaction with the submersible 1.The micro-control processor is connected to the adjustment electric shaft 67, the front surveying probe 30, the vertical electric push rod 70, the vertical surveying probe 71, the surveying electric shaft 69, the horizontal electric push rod 47, the horizontal surveying probe 48, the horizontal propeller, the motion motor, the micro-adjustment motor, the brake disc 84, and the signal receiving and transmitting device. The corresponding surveying probe is equipped with a corresponding searchlight source. When surveying, the searchlight source is turned on to illuminate the area, facilitating surveying. During operation, after the underwater robot 7 is released, the submersible 1 sends a signal, and the signal is transmitted to the micro-control processor through the signal receiving transmitter. The micro-control processor processes the signal and sends it to the corresponding adjusting electric shaft 67, the front survey probe 30, the vertical electric push rod 70, the vertical survey probe 71, the survey electric shaft 69, the horizontal electric push rod 47, the horizontal survey probe 48, the horizontal thruster, the motion motor, the micro-adjustment motor, and the brake disc 84, so that the corresponding adjusting electric shaft 67, the front survey probe 30, the vertical electric push rod 70, the vertical survey probe 71, the survey electric shaft 69, the horizontal electric push rod 47, the horizontal survey probe 48, the horizontal thruster, the motion motor, the micro-adjustment motor, and the brake disc 84 are The push rod 47, the horizontal survey probe 48, the horizontal propeller, the motion motor, the micro-adjustment motor, and the brake disc 84 move. The horizontal propeller moves, thereby pushing the underwater robot 7 to move, thereby driving the front survey probe 30 to move, surveying the terrain of the seabed, and transmitting the surveyed data to the micro-control processor. After processing, the micro-control processor transmits the data to the submersible 1 through the signal receiving transmitter. During the movement, the buoyancy adjustment system adjusts the buoyancy of the underwater robot 7 to facilitate the adjustment of the depth of the underwater robot 7 in the water. When walking on the seabed, the micro-adjustment motor moves, thereby driving the adjustment drive shaft 72 to rotate, thereby driving the The adjusting gear 73 rotates, and the adjusting gear 73 engages with the annular rack, thereby driving the sliding block 49 to move, and moving to the corresponding position, so that the adjusting electric shaft 67 rotates, thereby driving the L-shaped mounting plate 68 to rotate, thereby driving the moving frame 52 to rotate, and rotate to a direction perpendicular to the seabed plane, so that the brake disc 84 brakes the adjusting electric shaft 67 to prevent rotation and affect movement. After the moving plate 54 contacts the seabed, the moving motor is started, thereby driving the moving gear shaft 74 to rotate, thereby driving the moving gear 75 to rotate, and the moving gear 75 engages with the moving toothed belt 53, thereby driving the moving toothed belt 53 to rotate, thereby driving the moving plate 54 to rotate on the seabed. The bottom movement is used to survey the seabed terrain. When it is necessary to survey some horizontal holes or cracks, the survey electric shaft 69 is moved downward, thereby driving the horizontal electric push rod 47 to move downward, thereby driving the horizontal survey probe 48 to move downward and out of the detection groove 46, so that the horizontal electric push rod 47 is extended, thereby driving the horizontal survey probe 48 to move into the hole or crack for surveying. When surveying vertical holes or vertical cracks, when the vertical electric push rod 70 is energized, the vertical electric push rod 70 is moved downward, thereby driving the vertical survey probe 71 to move into the vertical hole or vertical crack for surveying. For some cracks that the underwater robot 7 can enter,The sliding block 49 is adjusted to the corresponding position so that the two sliding blocks 49 on the same annular groove frame 45 are in a horizontal position. The moving frame 52 is adjusted to be parallel to the axis of the adjusting electric push rod 50, so that the adjusting electric push rod 50 moves, thereby pushing the moving plate 54 to move and contact the inner surface of the crack, facilitating the movement and surveying of the inner surface of the crack.

[0023] Advantageously, the lifting mechanism includes a groove frame 9 abutting against the lower part of the submersible 1, and a lifting cavity 31 with an outer opening is symmetrically provided on the groove frame 9. A cover plate for closing the lifting cavity 31 is installed on the groove frame 9 through a sealing bolt. A lifting shaft 77 is rotatably connected between the lifting cavities 31, and a lifting drive shaft 42 is rotatably connected to the end wall of the lifting cavity 31 on one side. The lifting drive shaft 42 is connected to the lifting motor 20 fixedly installed on the cover plate. A lifting driving gear 43 is fixedly installed on the outer surface of the lifting drive shaft 42, and the lifting driving gear 43 is connected to the lifting The lowering driven gear 44 is engaged, and the lifting driven gear 44 is fixedly mounted on the end of one side of the lifting shaft 77. The other end of the lifting shaft 77 is fixedly connected to the brake gear 34. The brake gear 34 is engaged with the brake meshing teeth 33. The brake meshing teeth 33 are fixedly mounted on the power end of the brake electric push rod 32. The brake electric push rod 32 is fixedly mounted on the top wall of the lifting chamber 31 on the other side. The outer surface of the lifting shaft 77 is fixedly mounted with a lifting drum 18. The lifting drum 18 is wound with a lifting rope 13, and the end of the lifting rope 13 is fixedly connected to the fixed box plate 21. During operation, the lifting motor is started to drive the lifting drive shaft 42 to rotate, thereby driving the lifting active gear 43 to rotate, and the lifting active gear 43 is engaged with the lifting driven gear 44, thereby driving the lifting shaft 77 to rotate, thereby driving the lifting drum 18 to rotate, thereby driving the lifting rope 13 to move, thereby driving the fixed box plate 21 to move downward, thereby driving the underwater robot 7 to descend.

[0024] Advantageously, the direction adjustment mechanism includes a direction adjustment gear chamber 78 provided in the lifting rope 13, a direction adjustment driving gear shaft 36 is rotatably connected between the end walls of the direction adjustment gear chamber 78, the direction adjustment driving gear shaft 36 is connected to the power of the direction adjustment motor fixedly installed in the lifting rope 13, a direction adjustment driving gear 35 is fixedly installed on the outer surface of the direction adjustment driving gear shaft 36, the direction adjustment driving gear 35 is meshed with the direction adjustment driven gear 85, the direction adjustment driven gear 85 is fixedly installed on the outer surface of the ratchet shaft 37, the ratchet shaft 37 is rotatably installed between the end walls of the direction adjustment gear chamber 78, and extends to the A ratchet 38 is fixedly mounted on the outer surface of the ratchet shaft 37 on the lower side of the lifting rope 13 and the lower side of the direction adjustment driven gear 85. The ratchet 38 is engaged with a pawl 39. The pawl 39 is fixedly mounted on the outer surface of a pawl rotating shaft 40. The pawl rotating shaft 40 is rotatably mounted between the end walls of the direction adjustment gear cavity 78. A pawl connecting spring 41 is connected between the pawl 39 and the end walls of the direction adjustment gear cavity 78. The lower end of the ratchet shaft 37 is fixedly connected to a mounting plate 6. A stabilizing ring 28 is connected between the mounting plate 6 and the lifting rope 13 to increase the stability of the mounting plate 6. A plurality of fixing plates 14 are evenly fixedly connected to the lower part of the mounting plate 6. During operation, the direction adjustment motor is started to drive the direction adjustment active gear shaft 36 to rotate, thereby driving the direction adjustment active gear 35 to rotate, and the direction adjustment active gear 35 is engaged with the direction adjustment driven gear 85, thereby driving the ratchet shaft 37 to rotate, thereby driving the mounting plate 6 to rotate, thereby driving the fixing plate 14 to rotate, thereby driving the underwater robot 7 to rotate to the corresponding position, the stabilizing ring 28 increases the stability of the rotation of the mounting plate 6, the pawl 39 is engaged with the ratchet 38, and the pawl 39 and the pawl connecting spring 41 cooperate with each other to limit the reverse rotation of the ratchet 38, thereby limiting the reverse rotation of the ratchet shaft 37.

[0025] Advantageously, a plurality of nut plates 10 are fixedly mounted on the groove frame 9, and the nut plates 10 are detachably connected to the lower portion of the submersible 1 by bolts 11. The lower portion of the submersible 1 is provided with bolt holes that cooperate with the bolts 11. A stabilizing telescopic rod 12 is connected between the submersible 1 and the fixed box plate 21 to increase the stability of the fixed box plate 21. During operation, the bolt 11 is passed through the nut plate 10, so that the nut plate 10 can be detachably installed on the lower part of the submersible 1. When the fixed box plate 21 descends, the stabilizing telescopic rod 12 is driven to extend. The stabilizing telescopic rod 12 increases the stability of the stabilizing telescopic rod 12 and prevents the fixed box plate 21 from shaking during the lifting process.

[0026] Advantageously, a grabbing mechanism is provided at the front of the submersible 1, and is used for grabbing on the seabed, and is symmetrically used for grabbing some sediments and rocks on the seabed. The grabbing mechanism comprises a grabbing mounting plate 80 fixedly mounted on the front side of the submersible 1, and a grabbing mechanical arm 3 is symmetrically fixedly mounted on the grabbing mounting plate 80. A grabbing electric gripper 4 is fixedly mounted at the end of the grabbing mechanical arm 3, and a collection box 81 is symmetrically fixedly mounted on the grabbing mounting plate 80; During operation, after the submersible 1 moves to the corresponding position, the grabbing robot arm 3 moves, thereby driving the grabbing electric claw 4 to move to the position where it needs to be grabbed, and then the grabbing electric claw 4 moves to grab the sediment or rock on the seabed. After grabbing, the grabbing robot arm 3 drives the grabbing electric claw 4 to move and puts the grabbed material into the collection box 81 for collection.

[0027] Advantageously, a wedge-shaped frame 82 is fixedly mounted on the front of the submersible 1, and a plurality of detectors 8 are evenly mounted on the wedge-shaped frame 82. The detectors 8 monitor the movement of the submersible 1 and monitor the environment along the movement route. The submersible 1 is equipped with a plurality of pushers 2, which are respectively located on both sides and the tail of the submersible 1. The directions of the pushers 2 on both sides can be adjusted to facilitate better propulsion of the submersible 1. A plurality of supporting legs 5 are evenly fixedly mounted on the lower part of the submersible 1, and the supporting legs 5 can be telescopically adjusted. A lifting and mounting component is provided on the upper part of the submersible 1 to facilitate lifting and mounting. During operation, the lifting equipment is hung on the lifting and mounting component to lift the submersible 1 and put it into the water. After it is introduced into the water, the submersible 1 is lowered in the water, and the propeller 2 is moved, thereby pushing the submersible 1 to move in the water. During movement, the detector 8 monitors the path of movement to facilitate adjustment of the path of movement. When on the deck or on the seabed, the height of the submersible 1 is adjusted by adjusting the extension of the support leg 5.

[0028] The present invention provides a method for surveying complex seabed terrain carried by a submersible, based on the above-mentioned underwater robot for surveying complex seabed terrain carried by a submersible, the steps comprising: Step 1: Using corresponding lifting equipment, the submersible 1 is hoisted into the seawater; Step 2: The submersible 1 descends into the water. After descending to a suitable position, the lifting mechanism moves, thereby driving the underwater robot 7 to move up and down to the height position where it needs to be deployed; Step 2: The direction adjustment mechanism moves, thereby driving the mounting plate 6 to rotate, thereby driving the underwater robot 7 to rotate to the corresponding direction; Step 3: The carrying mechanism moves to release the underwater robot 7 and deploy the underwater robot 7; Step 4: After deployment, the underwater robot 7 moves on the seabed to survey the seabed terrain, and during the survey, it surveys the terrain it is responsible for.

[0029] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus.

[0030] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. An underwater robot for surveying complex seabed terrain carried by a submersible, characterized by: The invention comprises a submersible (1), wherein the lower part of the submersible (1) is detachably connected to a lifting mechanism, the lifting mechanism is used to drive an underwater robot to be lifted and lowered, the end of the lifting mechanism is connected to a direction adjustment mechanism, the direction adjustment mechanism is used to adjust the direction of the underwater robot when it is deployed, and the lower part of the direction adjustment mechanism is evenly connected to a plurality of carrying mechanisms, the carrying mechanisms are used to carry the underwater robot, so as to facilitate the underwater robot to be moved to a corresponding position for deployment.

2. The underwater robot for surveying complex seabed terrain carried by a submersible according to claim 1, characterized in that: The carrying mechanism includes a fixed plate (14), a clamping cavity (79) is provided in the fixed plate (14), a plurality of clamping screw rods (56) are uniformly and equidistantly passed through the bottom wall of the clamping cavity (79) and are rotatably connected, an annular groove cylinder (62) is fixedly installed on the outer surface of the clamping screw rod (56), the outer side of the annular groove cylinder (62) is rotatably connected to a clamping toothed belt wheel (58), an annular groove extending inward is machined on the annular surface of the annular groove cylinder (62), an engaging tooth plate (65) is rotatably connected to the bottom wall of the annular groove, the engaging tooth plate (65) is fixedly connected to the clamping toothed belt wheel (58), the engaging tooth plate (65) is meshed with the pressing tooth plate (64), and the pressing tooth plate (64) The clamping toothed belt (57) is connected to the clamping toothed belt (57) through the clamping toothed belt (57). The clamping cavity (79) is connected to the clamping toothed belt (57) through the clamping drum (61). The clamping drum (61) is connected to the clamping toothed belt (57) through rolling, and the clamping toothed belt (57) is pressed to ensure the reliability of the engagement with the clamping toothed belt (58) in the middle position. The clamping cavity (79) is connected to the clamping drive shaft (60) through the clamping drive shaft (60) fixed to the upper end of the clamping spring (63). The clamping drive shaft (60) is connected to the motor installed in the fixed plate (14). The outer surface of the holding drive shaft (60) is fixedly mounted with a clamping drive gear (59) meshing with the clamping toothed belt (57); the clamping screw rod (56) extends to the lower side of the fixed plate (14) and is threadedly connected to the T-shaped nut plate (24); the T-shaped nut plate (24) is slidably connected between the vertical frames (83); the vertical frames (83) are symmetrically fixedly mounted on the lower part of the fixed plate (14); a rotation groove is provided at the lower end position of the vertical frame (83) for facilitating the rotation of the clamping gear (27); a clamping gear shaft (55) is rotatably connected between the end walls of the rotation groove; the clamping gear (27) is fixedly mounted on the outer surface of the clamping gear shaft (55); the clamping gear (27) is fixedly mounted with the clamping gear (27) and the clamping gear (27) is not The complete gear (23) is meshed and connected, and a mounting plate (17) is symmetrically fixedly connected to the side wall of the fixing plate (14), and a clamping frame (22) is fixedly connected to the lower side of the edge position of the mounting plate (17), and a movable groove is provided at the lower end position of the clamping frame (22) to facilitate the movement of the incomplete gear (23), and an incomplete gear shaft (29) is rotatably connected between the end walls of the movable groove, and the outer surface of the incomplete gear shaft (29) is fixedly connected to the incomplete gear (23), and a clamping link (16) is fixedly connected to the root position of the incomplete gear (23), and an arc-shaped clamping plate (15) is fixedly connected to the end of the clamping link (16), and an underwater robot (7) is clamped between the arc-shaped clamping plates (15).

3. The underwater robot for surveying complex seabed terrain carried by a submersible according to claim 2, characterized in that: The underwater robot (7) is symmetrically and detachably connected to an annular groove frame (45), and two sliding blocks (49) are slidably connected to the annular groove frame (45). An adjusting drive shaft (72) is rotatably connected in the sliding block (49), and the adjusting drive shaft (72) is connected to the power of a micro-adjusting motor fixedly installed in the sliding block (49), and an electric brake assembly is connected to the output shaft of the micro-adjusting motor. An adjusting gear (73) is fixedly installed on the outer surface of the adjusting drive shaft (72), and the adjusting gear (73) is meshed with an annular rack installed on the annular groove frame (45). The fixed end of the adjusting electric push rod (50) is fixedly installed on the end wall of the sliding block (49). The power end of the adjusting electric push rod (50) is fixedly connected to the adjusting groove frame (51), the adjusting electric rotating shaft (67) is rotatably connected to the adjusting groove frame (51), the outer surface of the adjusting electric rotating shaft (67) is fixedly connected to the L-shaped mounting plate (68), the end of the L-shaped mounting plate (68) is fixedly connected to the motion frame (52), the adjusting groove frame (51) is installed with a brake disc (84) for braking the adjusting electric rotating shaft (67), the motion frame (52) is symmetrically provided with a motion gear cavity (76), the end wall of the motion gear cavity (76) is rotatably connected to a motion gear shaft (74), the motion gear shaft (74) is rotatably connected to the motion motor fixedly installed in the motion frame (52) The outer surface of the motion gear shaft (74) is fixedly mounted with a motion gear (75), and the motion gear (75) is meshed with a motion toothed belt (53) rotatably mounted on the motion frame (52). The outer surface of the motion toothed belt (53) is evenly fixedly mounted with a plurality of motion plates (54). The head position of the underwater robot (7) is mounted with a front survey probe (30), and the tail position of the underwater robot (7) is mounted with a plurality of horizontal thrusters in a circular array. The lower part of the underwater robot (7) is provided with a detection groove (46), and a survey electric rotating shaft (69) is rotatably mounted on the top wall of the detection groove (46). The lower end of the survey electric rotating shaft (69) is fixedly connected with a horizontal electric rotating shaft (30). A push rod (47) is provided, wherein the power end of the horizontal electric push rod (47) is fixedly connected to a horizontal survey probe (48), a vertical channel (66) is provided at the lower part of the underwater robot (7) between the annular groove frame (45), a vertical electric push rod (70) is fixedly installed on the top wall of the vertical channel (66), and a vertical survey probe (71) is fixedly connected to the lower end of the vertical electric push rod (70), a buoyancy adjustment system for adjusting the buoyancy of the underwater robot (7) is provided in the underwater robot (7), a battery is installed in the underwater robot (7) for power supply, a micro control processor is provided in the underwater robot (7), and a signal receiving and transmitting device is installed in the underwater robot (7).

4. The underwater robot for surveying complex seabed terrain carried by a submersible according to claim 3, characterized in that: The lifting mechanism comprises a groove frame (9) abutting against the lower part of the submersible (1), a lifting cavity (31) with an outer opening is symmetrically provided on the groove frame (9), a cover plate for closing the lifting cavity (31) is installed on the groove frame (9) through a sealing bolt, a lifting shaft (77) is rotatably connected between the lifting cavities (31), a lifting drive shaft (42) is rotatably connected to the end wall of the lifting cavity (31) on one side, the lifting drive shaft (42) is connected to the lifting motor (20) fixedly installed on the cover plate, a lifting driving gear (43) is fixedly installed on the outer surface of the lifting drive shaft (42), and the lifting driving gear (43) is connected to the lifting driven gear (43). The lifting driven gear (44) is fixedly mounted on one end of the lifting shaft (77), and the other end of the lifting shaft (77) is fixedly connected with a brake gear (34), and the brake gear (34) is meshed with a brake meshing tooth (33), and the brake meshing tooth (33) is fixedly mounted on the power end of the brake electric push rod (32), and the brake electric push rod (32) is fixedly mounted on the top wall of the lifting chamber (31) on the other side. A lifting drum (18) is fixedly mounted on the outer surface of the lifting shaft (77), and a lifting rope (13) is wound around the lifting drum (18), and the end of the lifting rope (13) is fixedly connected to a fixed box plate (21).

5. The underwater robot for surveying complex seabed terrain carried by a submersible according to claim 4, characterized in that: The direction adjustment mechanism comprises a direction adjustment gear chamber (78) provided in the lifting rope (13), a direction adjustment active gear shaft (36) is rotatably connected between the end walls of the direction adjustment gear chamber (78), the direction adjustment active gear shaft (36) is connected to the direction adjustment motor power fixedly installed in the lifting rope (13), a direction adjustment active gear (35) is fixedly installed on the outer surface of the direction adjustment active gear shaft (36), the direction adjustment active gear (35) is meshed with the direction adjustment driven gear (85), the direction adjustment driven gear (85) is fixedly installed on the outer surface of the ratchet shaft (37), the ratchet shaft (37) is rotatably installed between the end walls of the direction adjustment gear chamber (78), and extends to the lower side of the lifting rope (13). On the side, a ratchet (38) is fixedly installed on the outer surface of the ratchet shaft (37) on the lower side of the direction adjustment driven gear (85), and the ratchet (38) is engaged with a pawl (39). The pawl (39) is fixedly installed on the outer surface of the pawl shaft (40), and the pawl shaft (40) is rotatably installed between the end walls of the direction adjustment gear cavity (78). A pawl connecting spring (41) is connected between the pawl (39) and the end wall of the direction adjustment gear cavity (78). The lower end of the ratchet shaft (37) is fixedly connected to a mounting plate (6). A stabilizing ring (28) for increasing the stability of the mounting plate (6) is connected between the mounting plate (6) and the lifting rope (13). A plurality of fixing plates (14) are evenly fixedly connected to the lower part of the mounting plate (6).

6. The underwater robot for surveying complex seabed terrain carried by a submersible according to claim 5, characterized in that: A plurality of nut plates (10) are fixedly mounted on the groove frame (9), and the nut plates (10) are detachably connected to the lower part of the submersible (1) via bolts (11). The lower part of the submersible (1) is provided with bolt holes that cooperate with the bolts (11). A stabilizing telescopic rod (12) is connected between the submersible (1) and the fixed box plate (21) to increase the stability of the fixed box plate (21).

7. The underwater robot for surveying complex seabed terrain carried by a submersible according to claim 6, characterized in that: The front of the submersible (1) is provided with a grabbing mechanism, the grabbing mechanism comprising a grabbing mounting plate (80) fixedly mounted on the front side of the submersible (1), a grabbing mechanical arm (3) symmetrically fixedly mounted on the grabbing mounting plate (80), a grabbing electric gripper (4) fixedly mounted at the end of the grabbing mechanical arm (3), and a collection box (81) symmetrically fixedly mounted on the grabbing mounting plate (80).

8. The underwater robot for surveying complex seabed terrain carried by a submersible according to claim 7, characterized in that: A wedge-shaped frame (82) is fixedly installed at the front of the submersible (1), and a plurality of detectors (8) are evenly installed on the wedge-shaped frame (82). A plurality of pushers (2) are installed on the submersible (1), and the pushers (2) are respectively located on both sides and the tail of the submersible (1). A plurality of supporting legs (5) are evenly fixedly installed at the lower part of the submersible (1), and the supporting legs (5) can be telescopically adjusted.

9. A method for surveying complex seabed terrain carried by a submersible, based on the underwater robot for surveying complex seabed terrain carried by a submersible according to claim 8, characterized in that: include: Step 1: hoisting the submersible (1) into the seawater using corresponding hoisting equipment; Step 2: The submersible (1) descends into the water. After descending to a suitable position, the lifting mechanism moves, thereby driving the underwater robot (7) to perform a lifting movement to a desired height position for deployment; Step 2: The direction adjustment mechanism moves, thereby driving the mounting plate (6) to rotate, thereby driving the underwater robot (7) to rotate to the corresponding direction; Step 3: The carrying mechanism moves, thereby releasing the clamping of the underwater robot (7) and deploying the underwater robot (7); Step 4: After deployment, the underwater robot (7) moves on the seabed to survey the seabed terrain, and during the survey, it surveys the terrain it is responsible for.

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