Submarine foundation soil in-situ exploration sampling robot

Abstract

The invention provides a seabed foundation soil in-situ exploration sampling robot which comprises a wheat wheel assembly, a first part shell, a blade base, blades, a rotating disc, a filter, a second part shell, a sampling pipe, a transmission screw, a direct drive motor assembly, a third part shell and an outer cover. The wheat wheel assembly is sequentially provided with a first part shell, a second part shell, a third part shell and an outer cover from bottom to top, a blade base, blades and a rotating disc are arranged in the first part shell, a filter is arranged between the second part shell and the first part shell, and a direct drive motor assembly is arranged in the third part shell. The lower portion of the direct drive motor assembly is connected with a transmission screw, and a sampling pipe is arranged below the transmission screw, penetrates through the filter and can move up and down. According to the method, rapid foundation detection can be carried out on the seabed, project site selection and preliminary screening of available machine positions of the wind turbine generator are facilitated, and unavailable positions are eliminated; the in-situ detection and sampling process is efficient and economical, and consumption of manpower and material resources is reduced.

Description

Technical Field

[0001] The present invention belongs to the technical field of marine exploration and sampling equipment, and in particular relates to an in-situ exploration and sampling robot for seabed foundation soil. Background Art

[0002] As a clean, pollution-free, renewable energy source, wind energy plays a significant role in alleviating the pressure on my country's energy supply. To achieve efficient conversion of wind energy into electrical energy, the proper installation and operation of wind turbines are crucial, and the construction of offshore wind power is a core part of the country's future energy strategic planning. During the implementation of offshore wind power projects, the exploration of seabed soil is a key link throughout the project. During project site selection, preliminary and detailed site surveys, and construction, the seabed must be surveyed according to appropriate standards. For the currently popular large-diameter pile-type offshore wind turbines, since they place high demands on the mechanical properties of the seabed soil during use, the construction party is required to conduct surveys of the seabed according to appropriate standards at various stages to ensure that the seabed conditions meet the requirements for wind turbine installation.

[0003] However, current methods for seabed soil exploration primarily rely on large-scale exploration equipment for detailed seabed surveys. During the initial site selection and initial site survey for offshore wind power projects, multiple locations on the seabed need to be inspected and sampled. Using existing large-scale equipment to survey multiple locations on the seabed consumes significant manpower and material resources. Furthermore, the resulting data is often overly detailed, making data processing difficult and unnecessary for the initial site selection phase. Existing small-scale equipment is typically limited to seabed exploration or seabed soil sampling, offering limited functionality. Therefore, there is a need to develop efficient and cost-effective equipment capable of rapid, basic seabed soil exploration to preliminarily identify available wind turbine locations and eliminate unavailable locations, thereby supporting the smooth progress of offshore wind power projects. Summary of the Invention

[0004] The main purpose of the present invention is to provide a robot for in-situ exploration and sampling of seabed foundation soil in response to the above-mentioned problems.

[0005] To achieve the above object, the present invention adopts the following technical solutions:

[0006] A submarine foundation soil in-situ exploration sampling robot includes a wheat wheel assembly, a first part shell, a blade base, blades, a rotating disk, a filter, a second part shell, a sampling tube, a transmission screw, a direct drive motor assembly, a third part shell, and an outer cover.

[0007] The wheat wheel assembly is provided with a first part shell, a second part shell, a third part shell and an outer cover from bottom to top. The first part shell is provided with a blade base, blades and a rotating disk. A filter is provided between the second part shell and the first part shell. A direct drive motor assembly is provided in the third part shell. The direct drive motor assembly is connected to the transmission screw at the bottom. A sampling tube is provided below the transmission screw. The sampling tube passes through the filter and can move up and down in the filter. A hanging ring and an accessory mounting plate are provided on the outer cover. An ultrasonic assembly is provided on the first part shell.

[0008] While adopting the above technical solutions, the present invention may also adopt or combine the following technical solutions:

[0009] As a preferred technical solution of the present invention: the McIlrod assembly is evenly provided with a number of McIlrod supports along the circumferential direction, each of the McIlrod supports is provided with a reduction motor assembly, the reduction motor assembly and the McIlrod support are hinged, and the McIlrod support is also provided with a spring buffer rod, the outward extension shaft of each spring buffer rod is connected to each corresponding reduction motor assembly, and a McIlrod is fixedly mounted on the outward extension shaft of the reduction motor assembly.

[0010] As a preferred technical solution of the present invention: a circular opening is provided at the center of the bottom of the first part of the shell, and two ultrasonic component mounting seats are symmetrically provided on the outside, a number of snap openings are provided around the circular opening, and a number of snaps are provided around the blade base, the snap openings and the snaps cooperate with each other, and an ultrasonic component is provided on the ultrasonic component mounting seat.

[0011] As a preferred technical solution of the present invention: the ultrasonic component includes an ultrasonic transducer, a ball hinge, and an electric telescopic rod. The ultrasonic transducer is installed on the ball hinge, and the ball hinge is connected to the ultrasonic component body through the electric telescopic rod.

[0012] As a preferred technical solution of the present invention: the outer edges of the blades are provided with positioning posts and positioning strips, the blade bases are provided with first positioning grooves equal to the number of blades, the first positioning grooves cooperate with the positioning posts on the corresponding blades, the positioning posts can slide inside the first positioning grooves, the rotating disk is provided with second positioning grooves and transmission internal threads, the second positioning grooves cooperate with the positioning strips on the corresponding blades, and the positioning strips can slide inside the second positioning grooves.

[0013] As a preferred technical solution of the present invention: the filter is provided with a first filter screen, a second filter screen and a rotating disk mounting hole, the rotating disk is installed in the rotating disk mounting hole, and the rotating disk can rotate in the rotating disk mounting hole.

[0014] As a preferred technical solution of the present invention: a plurality of first rack through holes are provided on the top of the second part shell, and a sensor hole is provided in the center; the second part shell is installed on the first part shell; a transmission external thread is provided at the bottom of the outer cylindrical surface of the sampling tube; a plurality of sampling knives are provided on the inner side of the cylindrical surface starting from the bottom and along the oblique upward direction; a filter is installed on the lower half; a transmission rack is provided on the upper side of the inner side of the cylindrical surface; the transmission rack can pass through the first rack through hole; a rack fixing cover is installed above the transmission rack; the sampling tube is installed concentrically with the filter, and the sampling tube can move up and down in the filter.

[0015] As a preferred technical solution of the present invention: a plurality of second rack through holes are provided on the third part housing, and the transmission rack can pass through the second rack through holes. A motor mounting plate and a main controller are also provided on the third part housing, and the transmission screw is installed on the direct drive motor assembly.

[0016] As a preferred technical solution of the present invention, the transmission screw is engaged with the transmission rack and can drive the transmission rack to move, so that the sampling tube extends from the circular opening or retracts into the filter.

[0017] As a preferred technical solution of the present invention: the outer cover is provided with a plurality of first positioning bars, second positioning bars and third positioning bars along the circumference of the inner wall, the first positioning bars and the second positioning bars are installed in sequence along the same symmetry axis, the second positioning bars and the third positioning bars are installed in sequence along the same symmetry axis, the number of the first positioning bars, the second positioning bars and the third positioning bars is the same, the width of the third positioning bar is greater than that of the second positioning bar, the width of the second positioning bar is greater than that of the first positioning bar, a retaining ring is provided inside the outer cover, the retaining ring is located on the top of the third positioning bar, and a plurality of reinforcing ribs are provided on the outside of the outer cover along the circumference.

[0018] The present invention provides a robot for in-situ exploration and sampling of seabed foundation soil, which has the following beneficial effects: the present invention can quickly detect marine engineering foundations through innovative structural and functional combinations. A single device can efficiently and economically realize geophysical exploration, in-situ detection of mechanical properties and soil sampling operations of seabed foundation soil, reducing the consumption of manpower and material resources; using the present invention to carry out project site selection and preliminary survey of target sea areas is conducive to preliminarily screening out available positions for wind turbines and eliminating unusable positions, so as to support the smooth progress of offshore wind power projects. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is an exploded view of the in-situ exploration and sampling robot for seabed foundation soil provided by the present invention.

[0020] Figure 2 It is a three-dimensional half-section view of the sampling tube in the retracted state.

[0021] Figure 3 It is a three-dimensional half-section view of the sampling tube in an extended state.

[0022] Figure 4 This is a schematic diagram of the structure of the first part of the shell.

[0023] Figure 5 Schematic diagram of the structure of the blade base.

[0024] Figure 6 Schematic diagram of the blade structure.

[0025] Figure 7 Schematic diagram of the structure of the rotating disk.

[0026] Figure 8 Schematic diagram of the filter structure.

[0027] Figure 9 It is a schematic cross-sectional view of the structure of the second part of the shell.

[0028] Figure 10 Schematic diagram of the cross-section of the sampling tube.

[0029] Figure 11 This is a schematic diagram of the installation of the transmission screw and direct drive motor assembly.

[0030] Figure 12 This is a schematic diagram of the structure of the third part of the shell.

[0031] Figure 13 This is a schematic cross-sectional view of the structure of the wheat wheel assembly.

[0032] Figure 14 It is a schematic cross-sectional view of the structure of the outer cover.

[0033] Figure 15 It is a structural schematic diagram of the first counterweight.

[0034] Figure 16 Schematic diagram of the structure of the second counterweight.

[0035] Figure 17 It is a structural schematic diagram of the third counterweight.

[0036] Figure 18 This is a schematic diagram of the structural position of the blades installed between the blade base and the rotating disk in the closed state.

[0037] Figure 19 This is a schematic diagram of the structural position of the blades installed between the blade base and the rotating disk in the open state.

[0038] Figure 20 Schematic diagram of ultrasonic components.

[0039] Figure 21 This is a three-dimensional diagram of the submarine foundation soil in-situ exploration and sampling robot provided by the present invention.

[0040] In the figure: 1-Wheel assembly; 011-Wheel support; 012-Spring buffer rod; 013-Reduction motor assembly; 014-Wheel; 2-First part of the shell; 21-Circular opening; 22-Snap opening; 23-Ultrasonic component mounting seat; 3-Blade base; 31-First positioning groove; 32-Snap; 4-Blade; 41-Positioning column; 42-Positioning bar; 5-Rotating disk; 51-Second positioning groove; 52-Transmission internal thread; 6-Filter; 61-First filter screen; 62-Second filter screen; 63-Rotating disk mounting hole; 7-Second part of the shell; 71-First rack through hole; 72-Sensor hole; 8-Sampling tube; 81-Transmission external thread; 82-Sampling knife; 83-Filter screen; 84-Transmission rack ;85- rack fixing cover;9- transmission screw;10- direct drive motor assembly;101- proximity switch;11- third part housing;111- second rack through hole;112- motor mounting plate;113- main controller;12- outer cover;121- lifting ring;122- accessory mounting plate;123- reinforcing rib;124- first positioning bar;125- second positioning bar;126- third positioning bar;127- retaining ring;1311- first mounting slot;131- first counterweight;1321- second mounting slot;132- second counterweight;1331- third mounting slot;133- third counterweight;14- ultrasonic assembly;141- ultrasonic transducer;142- ball hinge;143- electric telescopic rod. DETAILED DESCRIPTION

[0041] The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.

[0042] like Figure 1-21As shown, a robot for in-situ exploration and sampling of submarine foundation soil comprises a McReel assembly 1, a first housing 2, a blade base 3, blades 4, a rotating disk 5, a filter 6, a second housing 7, a sampling tube 8, a drive screw 9, a direct-drive motor assembly 10, a third housing 11, an outer cover 12, a first counterweight 131, a second counterweight 132, and a third counterweight 133. The first housing 2 is mounted within the McReel assembly 1, and the outer cover 12 is mounted above the McReel assembly 1. A lifting ring 121 and an accessory mounting plate 122 are provided above the outer cover 12, and several reinforcing ribs 123 are arranged along the circumference. The blade base 3 is mounted below the first housing 2, and the blades 4 and rotating disk 5 are mounted on the blade base 3. A filter 6 is mounted within the first housing 2, and a second housing 7 is mounted above it. A sampling tube 8 is disposed within the filter 6 and can move up and down within the filter 6. A third housing portion 11 is mounted on the top of the second housing portion 7 , a direct drive motor assembly 10 is mounted inside the third housing portion 11 , and a transmission screw 9 is mounted on the direct drive motor assembly 10 .

[0043] like Figure 13 As shown, a number of wheat wheel supports 011 are evenly arranged along the circumferential direction on the wheat wheel assembly 1, and the wheat wheel supports 011 are fixedly connected to the wheat wheel assembly 1. A reduction motor assembly 013 is provided on each wheat wheel support 011. Each reduction motor assembly 013 is connected to the wheat wheel support 011 in an articulated manner, and the reduction motor assembly 013 can rotate within a certain angle around the hinge axis. A spring buffer rod 012 is fixedly installed on each wheat wheel support 011, and the outward extension shaft of each spring buffer rod 012 is connected to the corresponding reduction motor assembly 013. A wheat wheel 014 is fixedly installed on the outward extension shaft of each reduction motor assembly 013, and the wheat wheel 014 can rotate synchronously with the outward extension shaft of the reduction motor assembly 013 connected to it.

[0044] like Figure 4-8 As shown in Figure 20, there is a circular opening 21 at the center of the bottom of the first part of the shell 2, and two ultrasonic component mounting seats 23 are symmetrically arranged on the outside. A number of snap openings 22 are evenly distributed around the circular opening 21 on the first part of the shell 2. It includes a blade base 3, and a number of snaps 32 are arranged around the blade base 3. The snaps 32 cooperate with the snap openings 22. It includes an ultrasonic component 14, which includes an ultrasonic transducer 141, a ball hinge 142, and an electric telescopic rod 143, and the ultrasonic component 14 is installed on the ultrasonic component mounting seat 23; the ultrasonic transducer 141 is installed on the ball hinge 142, and the ball hinge 142 is connected to the ultrasonic component 14 body through the electric telescopic rod 143.

[0045] A positioning column 41 and a positioning bar 42 are provided on the outer edge of each blade 4. The blade base 3 is evenly distributed with first positioning grooves 31 equal to the number of blades 4. Each first positioning groove 31 cooperates with the positioning column 41 on the corresponding blade 4, and the positioning column 41 can slide inside the first positioning groove 31. It also includes a rotating disk 5, which is provided with a second positioning groove 51 and a transmission internal thread 52, and the second positioning groove 51 cooperates with the positioning bar 42 on the corresponding blade 4, and the positioning bar 42 can slide inside the second positioning groove 51. It also includes a filter 6. The filter 6 is provided with a first filter screen 61, a second filter screen 62 and a rotating disk mounting hole 63. The rotating disk 5 is installed in the rotating disk mounting hole 63, and the rotating disk 5 can rotate in the rotating disk mounting hole 63.

[0046] like Figure 9-10 As shown, the top of the second housing 7 is provided with several first rack holes 71, and a sensor hole 72 is located in the center. The second housing 7 is mounted on top of the first housing 2. It includes a sampling tube 8, with a transmission external thread 81 located at the bottom of the outer cylindrical surface of the sampling tube 8. Several sampling knives 82 are located on the inner side of the cylindrical surface, starting from the bottom and extending diagonally upward. A filter 83 is installed in the lower half, and a transmission rack 84 is located above it. The transmission rack 84 can pass through the first rack holes 71, and a rack fixing cover 85 is installed above the transmission rack 84. The sampling tube 8 is mounted concentrically with the filter 6 and can move up and down within the filter 6. The transmission external thread 81 is mated with the transmission internal thread 52. When the transmission external thread 81 and the transmission internal thread 52 are mated, the up and down movement of the sampling tube 8 is converted into rotational movement of the rotating disk 5 via the transmission external thread 81 and the transmission internal thread 52.

[0047] like Figure 11-12 The third housing 11 is provided with a plurality of second rack holes 111, through which the transmission rack 84 can pass. The third housing 11 is also provided with a motor mounting plate 112 and a main controller 113. The main controller 113 is provided with a battery pack, a control device, and a storage device. The direct-drive motor assembly 10 is fixedly mounted on the motor mounting plate 112. A drive screw 9 is mounted on the direct-drive motor assembly 10. A proximity switch 101 is mounted on the direct-drive motor assembly 10. The proximity switch 101 extends outward from the sensor hole 72. The drive screw 9 meshes with the drive rack 84.

[0048] The transmission screw 9 can drive the transmission rack 84 to move, so that the sampling tube 8 extends from the circular opening 21 or retracts into the filter 6 .

[0049] The rotational movement generated by the rotating disk 5 causes the second positioning groove 51 to apply force to the positioning bar 42, causing the positioning bar 42 to move in the second positioning groove 51 under the constraint of the notch. At the same time, the positioning column 41 moves in the first positioning groove 31 under the constraint of the notch, ultimately causing the multiple blades 4 to move along a predetermined trajectory, opening or blocking the circular opening 21.

[0050] like Figure 14-17 As shown, the outer cover 12 is provided with a plurality of first positioning bars 124, second positioning bars 125, and third positioning bars 126 along the circumference of the inner wall. The first positioning bars 124 and the second positioning bars 125 are installed sequentially along the same axis of symmetry, and the second positioning bars 125 and the third positioning bars 126 are installed sequentially along the same axis of symmetry. The number of first positioning bars 124 and second positioning bars 125 is the same, and the number of second positioning bars 125 and third positioning bars 126 is the same. The third positioning bar 126 is wider than the second positioning bar 125, and the second positioning bar 125 is wider than the first positioning bar 124. A retaining ring 127 is provided inside the outer cover 12. The retaining ring 127 is located on top of the third positioning bar 126. The outer wall of the first counterweight 131 is provided with a plurality of first mounting grooves 1311. The number of first mounting grooves 1311 is the same as the number of first positioning bars 124 on the outer cover 12, and the first mounting grooves 1311 mate with the first positioning bars 124. The second counterweight 132 has a plurality of second mounting slots 1321 formed on its outer wall. The number of these slots 1321 matches the number of the second positioning bars 125 on the outer cover 12, and the second mounting slots 1321 cooperate with the second positioning bars 125. The third counterweight 133 has a plurality of third mounting slots 1331 formed on its outer wall. The number of these slots 1331 matches the number of the third positioning bars 126 on the outer cover 12, and the third mounting slots 1331 cooperate with the third positioning bars 126.

[0051] The first rack passage hole 71 is treated with a dust-proof and water-resistant process, and the direct-drive motor assembly 10 and main controller 113 are waterproofed. The blade base 3, first housing 2, second housing 7, third housing 11, and outer cover 12 are all made of stainless steel. The connection points between the blade base 3 and the first housing 2, the first housing 2 and the second housing 7, and the second housing 7 and the third housing 11 are waterproofed.

[0052] Specifically, the above-mentioned submarine foundation soil in-situ exploration sampling robot is implemented in the following manner:

[0053] To more concisely and clearly describe the beneficial effects of the present invention in the embodiments, the location and control methods of the positioning and travel control system of the present invention are now described in a unified manner. The robot positioning and travel control system of the present invention is integrated into the main controller 113. This system is responsible for controlling the robot's movement and positioning, enabling the robot to operate according to preset steps and paths. The specific control method is as follows: When staff prepare the present invention, they will pre-set the steps for in-situ testing, sampling, and other operations based on the needs of the current operation, as well as the desired position of the robot relative to the origin after each step. The sea area positioning work is determined by staff, who then drive the exploration vessel to the target sea area location. When the present invention is vertically lowered to the seabed, the point of contact with the seabed is set as the origin for this operation. The control device in the main controller 113 controls the movement of the wheat wheel assembly 1 of the present invention to the location required for in-situ testing and sampling according to the pre-set movement direction. After each sub-step is completed, the system uses the known wheat wheel velocity synthesis principle and corresponding algorithm to control the robot to move to the desired position for the next step, completing the entire operation.

[0054] Example 1:

[0055] When the present invention is needed for in-situ testing of submarine soil mechanical properties, personnel fully charge the battery pack in the main controller 113 in advance, prepare the present invention, the remote controller, and the steel wire rope, navigate the vessel to the target sea area, attach the steel wire rope to the lifting ring 121, and then place the present invention in the sea. The steel wire rope is slowly released into the water until the bottom wheat wheel 014 of the present invention contacts the seabed. The personnel then control the present invention via the remote controller to begin in-situ testing. The main controller 113 controls the direct-drive motor assembly 10 to rotate, driving the drive screw 9, thereby causing the transmission rack 84, which is meshed with the drive screw 9, to move downward. While the transmission rack 84 drives the entire sampling tube 8 downward, the external transmission thread 81 simultaneously drives the internal transmission thread 52, which is in a spirally mated state with it, to rotate. The rotational motion of the rotating disk 5 causes the second positioning slot 51 to exert a force on the positioning bar 42, causing the positioning bar 42 to move within the second positioning slot 51, constrained by the notch. Simultaneously, the positioning post 41 moves within the first positioning slot 31, constrained by the notch. This ultimately causes the multiple blades 4 to move away from the center of the first positioning slot 31, opening the central circular opening of the blade base 3 and allowing the sampling tube 8 to extend out of the first housing portion 2. At this point, the external transmission thread 81 and the internal transmission thread 52 no longer engage, leaving the screw-fit state. The direct-drive motor assembly 10 continues to rotate in the same direction, causing the sampling tube 8 to extend further downward and outward until it contacts the seabed soil.

[0056] Furthermore, the main controller 113 detects the rotation angle and angular velocity of the direct-drive motor assembly 10 by collecting the output voltage signal of the rotary transformer in the direct-drive motor assembly 10, and infers the displacement and speed of the sampling tube 8 based on the known transmission ratio relationship between the drive screw 9 and the sampling tube 8. The main controller 113 collects the winding current in the direct-drive motor assembly 10 and, based on the known motor torque and current characteristics of the direct-drive motor assembly 10, infers the rotor torque of the direct-drive motor assembly 10, and thus infers the resistance encountered by the sampling tube 8 during movement. According to this principle, when the sampling tube 8 extends downward and contacts the seabed soil, the sampling tube 8 is subjected to a reaction force exerted by the seabed soil, which slows the motor speed and increases the winding current. When the main controller 113 detects this change according to the detection principle described above, it begins in-situ soil testing according to a predetermined in-situ testing procedure, and records the time-varying information of the motor's rotation angle and angular velocity, winding current, and so on in the main controller 113 memory. The main controller 113 drives the direct-drive motor assembly 10 to continue rotating in the same direction at a preset speed. At this time, the sampling tube 8 continues to advance beneath the seabed soil. Due to the varying density and hardness of the seabed soil, the resistance on the sampling tube 8, particularly the sampling blade 82, varies with the depth of the sampling tube 8, causing the rotational speed of the direct-drive motor assembly 10 to fluctuate. The main controller 113 adjusts the current in the windings of the direct-drive motor assembly 10 based on the detected speed information of the direct-drive motor assembly 10. When the speed of the direct-drive motor assembly 10 is lower than the preset speed, the main controller 113 increases the current output to the direct-drive motor assembly 10 to restore the speed of the direct-drive motor assembly 10 to the preset speed level. When the speed of the direct-drive motor assembly 10 is higher than the preset speed, the main controller 113 decreases the current output to the direct-drive motor assembly 10 to restore the speed of the direct-drive motor assembly 10 to the preset speed level. This continues until the direct-drive motor assembly 10 completes the preset number of rotations or the sampling tube 8 is fully extended.

[0057] At this time, the main controller 113 controls the direct drive motor assembly 10 to rotate in the opposite direction at a preset speed, and maintains the direct drive motor assembly 10 at a preset speed level according to the method described above until the sampling tube 8 leaves the seabed. The direct drive motor assembly 10 continues to rotate, and the transmission external thread 81 drives the transmission internal thread 52 in a spirally mated state to rotate, ultimately causing the multiple blades 4 to move in a direction close to the center of the first positioning groove 31. When the sampling tube 8 is fully retracted, the central circular opening of the blade base 3 is synchronously closed. The in-situ detection implemented by the present invention is completed, and the main controller 113 stops recording the various information described above into the memory and sends an in-situ detection end signal to the remote controller. The staff pulls the wire rope to retract the present invention and drives the ship back to the laboratory. The data stored in the memory of the main controller 113 is read, and the mechanical properties of the seabed soil are inferred using existing algorithms and geotechnical knowledge.

[0058] Example 2:

[0059] When sampling seabed soil using the present invention, personnel fully charge the battery pack in the main controller 113 in advance, prepare the present invention, the remote controller, and the steel wire rope, navigate the vessel to the target sea area, attach the steel wire rope to the lifting ring 121, and then place the present invention in the sea. The steel wire rope is slowly released into the water until the bottom wheat wheel 014 of the present invention contacts the seabed. The personnel then control the present invention via the remote controller to begin sampling. The main controller 113 controls the direct-drive motor assembly 10 to rotate, driving the drive screw 9, thereby causing the transmission rack 84, which is meshed with the drive screw 9, to move downward. While the transmission rack 84 drives the entire sampling tube 8 downward, the external transmission thread 81 simultaneously drives the internal transmission thread 52, which is in a spirally mated state with it, to rotate. The rotational motion of the rotating disk 5 causes the second positioning slot 51 to exert a force on the positioning bar 42, causing the positioning bar 42 to move within the second positioning slot 51, constrained by the notch. Simultaneously, the positioning post 41 moves within the first positioning slot 31, constrained by the notch. This ultimately causes the multiple blades 4 to move away from the center of the first positioning slot 31, opening the central circular opening of the blade base 3 and allowing the sampling tube 8 to extend out of the first housing portion 2. At this point, the external transmission thread 81 and the internal transmission thread 52 no longer engage, leaving the screw-fit state. The direct-drive motor assembly 10 continues to rotate in the same direction, causing the sampling tube 8 to extend further downward and outward until it contacts the seabed soil.

[0060] According to the principles described above, when the sampling tube 8 extends downward and contacts the seabed surface soil, it experiences a reaction force from the seabed, slowing the motor speed and increasing the winding current. Upon detecting this change according to the aforementioned detection principles, the main controller 113 begins sampling the soil according to the predetermined sampling procedure. The main controller 113 drives the direct-drive motor assembly 10 to continue rotating in the same direction at a preset speed, allowing the sampling tube 8 to continue advancing beneath the seabed soil. Simultaneously, the main controller 113 drives all reduction motor assemblies 013 on the wheat wheel assembly 1 to rotate in the same direction at a preset speed, causing the wheat wheel 014 to drive the entire device to rotate clockwise at the desired speed (from the top view). At this point, the linear velocity of the sampling tube 8 downwardly propelled by the wheat wheel 014 combines with the circumferential velocity of the entire device, ensuring that the tip of the sampling blade 82 moves in the same direction as the tangent of the arc on which the tip of the sampling blade 82 lies as the sampling tube 8 advances beneath the seabed soil. The beneficial effect of this embodiment is that during the sampling process, the disturbance of the seabed soil by the sampling knife 82 above the sampling tube 8 can be reduced to a minimum, the physical and chemical properties of the soil sample in the center can be better maintained, and the stress history of the original soil sample is ensured not to change significantly.

[0061] Furthermore, when the direct-drive motor assembly 10 rotates a preset number of times or the sampling tube 8 is in a fully extended state, the main controller 113 controls the direct-drive motor assembly 10 to stop rotating and continues to pass current to the direct-drive motor assembly 10 to keep it in a torque holding state, so that the drive screw 9 remains stationary under the circumferential force. At the same time, the main controller 113 continues to drive all the reduction motor assemblies 013 on the wheat wheel assembly 1 to rotate in the same direction at a preset speed, causing the wheat wheel 014 to drive the entire present invention to rotate clockwise at the expected speed (from the top view). This causes the sampling knife 82 to rotate, cut and separate the seabed soil near the sampling knife 82, and causes the soil in the sampling tube 8 to move toward the upper part of the sampling tube 8. At the same time, the first filter screen 61 and the second filter screen 62 on the filter 6 filter the seawater and keep the soil inside the filter 6. When the wheat wheel 014 drives the entire present invention to rotate clockwise for a predetermined number of revolutions at a desired speed, or when the proximity switch 101 detects that a significant amount of sampled soil has entered the filter 6, the main controller 113 controls the direct-drive motor assembly 10 to rotate in the opposite direction at a predetermined speed, causing the sampling tube 8 to move upward. Simultaneously, the main controller 113 drives all reduction motor assemblies 013 on the wheat wheel assembly 1 to continue rotating in the same direction at a predetermined speed, causing the wheat wheel 014 to drive the entire present invention to rotate clockwise at the desired speed (from a top view), promoting the separation of the sampled soil from the seabed until the sampling tube 8 leaves the seabed. Simultaneously, the filter 83 on the sampling tube 8 filters out the seawater, retaining the soil within the sampling tube 8. The direct-drive motor assembly 10 continues to rotate, and the transmission external thread 81 drives the transmission internal thread 52, which is in a threaded engagement with the transmission internal thread 52, to rotate, ultimately causing the multiple blades 4 to move in a direction approaching the center of the first positioning slot 31. When the sampling tube 8 is fully retracted, the central circular opening of the blade base 3 is synchronously closed. When the sampling process is complete, the main controller 113 sends a sampling completion signal to the remote controller. The staff pulls the wire rope to retract the present invention and drives the vessel back to the laboratory. The seabed soil sample in the sampling tube 8 is removed for analysis and a corresponding conclusion is drawn.

[0062] Example 3:

[0063] Example 3 is an organic combination of the implementation methods of Examples 1 and 2. When the present invention is needed for in-situ testing and sampling of submarine soil mechanical properties, personnel fully charge the battery pack in the main controller 113 of the present invention in advance, prepare the present invention, remote controller, and wire rope, navigate the vessel to the target sea area, attach the wire rope to the lifting ring 121, and then place the present invention in the sea. The wire rope is slowly released into the water until the bottom wheel 014 of the present invention contacts the seabed. The personnel then control the present invention via the remote controller to begin in-situ testing and sampling operations. The present invention first performs in-situ testing according to Example 1. After completion, the main controller 113 drives all reduction motor assemblies 013 of the wheel assembly 1 in their respective preset directions and speeds. Based on the speed synthesis principle of the wheel 014, the wheel 014 drives the present invention as a whole to translate the desired distance on the seabed, allowing the present invention to move away from the borehole formed by the sampling tube 8 during the in-situ testing. At the new location, the present invention then performs sampling operations according to Example 2. When the in-situ detection and sampling process is complete, the main controller 113 sends a completion signal to the remote controller. The operator then pulls the wire rope to retract the device and returns the vessel to the laboratory. The operator then reads the data stored in the memory of the main controller 113 and uses existing algorithms and geotechnical knowledge to deduce the mechanical properties of the seabed soil. The seabed soil sample in the sampling tube 8 is then analyzed and a conclusion drawn.

[0064] Example 4:

[0065] Example 4 is an expansion of the implementation methods of Examples 1, 2, and 3. To cope with submarine soil environments of varying hardness, it may be necessary to use a counterweight within the present invention so that the sampling tube 8 can smoothly perform in-situ testing and / or sampling. Depending on the weight of the required counterweight, one, two, or three counterweights may be installed within the housing 12 of the present invention. That is, a first counterweight 131 may be installed within the housing 12, or a first counterweight 131 and a second counterweight 132 may be installed within the housing 12, or a first counterweight 131, a second counterweight 132, and a third counterweight 133 may be installed within the housing 12.

[0066] To install a counterweight inside the housing 12, align the first mounting slot 1311 on the first counterweight 131 with the first positioning bar 124 on the housing 12 and push it in. Because the second positioning bar 125 is wider than the first mounting slot 1311, it prevents further insertion of the first counterweight 131 once it is in place. At this point, reattach the housing 12 to the wheat wheel assembly 1. The first counterweight 131 is now secure and ready for use.

[0067] When two counterweights need to be installed inside the outer cover 12, first align the second mounting groove 1321 on the second counterweight 132 with the second positioning bar 125 on the outer cover 12 and push it in. Since the third positioning bar 126 is wider than the second mounting groove 1321, when the second counterweight 132 is installed in place, the third positioning bar 126 will prevent the second counterweight 132 from being pushed in further. At this time, align the first mounting groove 1311 on the first counterweight 131 with the first positioning bar 124 on the outer cover 12 and push it in. Since the second positioning bar 125 is wider than the first mounting groove 1311, when the first counterweight 131 is installed in place, the second positioning bar 125 will prevent the first counterweight 131 from being pushed in further. At this time, the first counterweight 131 and the second counterweight 132 are in contact with each other in a gap, and the first counterweight 131 will constrain the axial movement of the second counterweight 132, and the second counterweight 132 is fixed. At this time, the outer cover 12 is mounted back on the wheat wheel assembly 1, and the first counterweight 131 is fixed, and the machine can be put into use.

[0068] When three counterweights need to be installed inside the outer cover 12, first align the third mounting groove 1331 on the third counterweight 133 with the third positioning bar 126 on the outer cover 12 and push it in. Since a retaining ring 127 is provided on the top of the third positioning bar 126, when the third counterweight 133 is installed in place, the retaining ring 127 will prevent the third counterweight 133 from being pushed in further. At this time, align the second mounting groove 1321 on the second counterweight 132 with the second positioning bar 125 on the outer cover 12 and push it in. Since the width of the third positioning bar 126 is greater than that of the second mounting groove 1321, when the second counterweight 132 is installed in place, the third positioning bar 126 will prevent the second counterweight 132 from being pushed in further. At this time, the second counterweight 132 and the third counterweight 133 are in gap contact, and the second counterweight 132 will constrain the axial movement of the third counterweight 133, and the third counterweight 133 is fixed. Finally, align the first mounting slot 1311 on the first counterweight 131 with the first positioning bar 124 on the outer cover 12 and push it in. Because the second positioning bar 125 is wider than the first mounting slot 1311, once the first counterweight 131 is in place, the second positioning bar 125 prevents the first counterweight 131 from being pushed in further. At this point, the first counterweight 131 and the second counterweight 132 are in contact with each other, and the first counterweight 131 constrains the axial movement of the second counterweight 132, securing the second counterweight 132. At this point, reinstall the outer cover 12 onto the wheat wheel assembly 1. The first counterweight 131 is now secured and ready for use.

[0069] Example 5:

[0070] When using the present invention for preliminary seabed geophysical exploration, personnel first fully charge the battery pack in the main controller 113, prepare the device, and install three counterweights inside the housing 12. They then prepare a remote controller and a steel wire rope, navigate the vessel to the target sea area, attach the steel wire rope to the lifting ring 121, and then place the device in the sea. The rope is then slowly released into the water until the device's bottom wheel 014 contacts the seabed. The personnel then remotely control the device to begin geophysical exploration. The electric telescopic rods 143 on the ultrasonic assemblies 14 are initially retracted. The main controller 113 controls the extension of the electric telescopic rods 143 on all ultrasonic assemblies 14 at the same speed, while simultaneously monitoring the load changes on the electric telescopic rods 143. When the load on the electric telescopic rods 143 increases, it indicates that the ultrasonic transducers 141 are beginning to contact the seabed but are not yet in contact. At this point, the electric telescopic rods 143 switch to step-by-step extension. Under the reaction force of the seabed, the ultrasonic transducers 141 rotate about the ball hinge 142 to contact the seabed. When the load on the electric telescopic rod 143 reaches 0.1 times the weight of the machine, it means that the ultrasonic transducer 141 has been attached to the seabed. At this time, geophysical exploration work is carried out. The main controller 113 controls one of the ultrasonic components 14 to start emitting a modulated ultrasonic pulse signal of a certain frequency range to the seabed, and the other ultrasonic component 14 receives the ultrasonic wave and stores the signal information in the main controller 113; when the ultrasonic component 14 that transmits the signal stops transmitting the signal, it immediately switches to the receiving mode, receives the ultrasonic wave emitted by itself and stores the signal information in the main controller 113; then the ultrasonic transmitter and receiver exchange roles, and geophysical exploration work is carried out again in the original place. After the end, the main controller 113 controls the electric telescopic rods 143 on all ultrasonic components 14 to retract. According to the needs of geophysical exploration, the staff can control the wheat wheel component 1 to rotate in place, so that the ultrasonic component 14 can carry out geophysical exploration work from another angle; or move the present invention to another location where geophysical exploration work is required for subsequent work.

[0071] Upon completion of the seabed geophysical survey, the main controller 113 stops recording the aforementioned information in the memory and sends an in-situ survey completion signal to the remote controller. The operator then retracts the present invention by pulling the wire rope and returns the vessel to the laboratory. The data stored in the memory of the main controller 113 is read, and computer software is used to demodulate, display, and process the ultrasonic return waveform, thereby drawing geophysical conclusions.

[0072] The above-mentioned specific implementation methods are used to illustrate the present invention and are only preferred embodiments of the present invention, rather than limiting the present invention. Any modifications, equivalent substitutions, improvements, etc. made to the present invention within the spirit of the present invention and the scope of protection of the claims shall fall within the scope of protection of the present invention.

Claims

1. A robot for in-situ exploration and sampling of submarine foundation soil, characterized by: The invention comprises a wheat wheel assembly (1), a first housing (2), a blade base (3), blades (4), a rotating disk (5), a filter (6), a second housing (7), a sampling tube (8), a transmission screw (9), a direct drive motor assembly (10), a third housing (11), and an outer cover (12). The wheat wheel assembly (1) is provided with a first part shell (2), a second part shell (7), a third part shell (11) and an outer cover (12) in sequence from bottom to top; a blade base (3), a blade (4) and a rotating disk (5) are provided in the first part shell (2); a filter (6) is provided between the second part shell (7) and the first part shell (2); a direct drive motor assembly (10) is provided in the third part shell (11); the direct drive motor assembly (10) is connected to a transmission screw (9) below; a sampling tube (8) is provided below the transmission screw (9); the sampling tube (8) is provided through the filter (6) and can move up and down in the filter (6); a lifting ring (121) and an accessory mounting plate (122) are provided on the outer cover (12); and an ultrasonic assembly (14) is provided on the first part shell (2).

2. The submarine foundation soil in-situ exploration and sampling robot according to claim 1, characterized in that: The wheat wheel assembly (1) is evenly provided with a plurality of wheat wheel supports (011) along the circumferential direction, each wheat wheel support (011) is provided with a reduction motor assembly (013), the reduction motor assembly (013) and the wheat wheel support (011) are hingedly connected, and a spring buffer rod (012) is further provided on the wheat wheel support (011), the outward extension shaft of each spring buffer rod (012) is connected to each corresponding reduction motor assembly (013), and a wheat wheel (014) is fixedly mounted on the outward extension shaft of the reduction motor assembly (013).

3. The submarine foundation soil in-situ exploration and sampling robot according to claim 1, characterized in that: A circular opening (21) is provided at the center of the bottom of the first portion of the housing (2), and two ultrasonic component mounting seats (23) are symmetrically arranged on the outside. A plurality of snap-fit ​​openings (22) are provided around the circular opening (21), and a plurality of snap-fits (32) are provided around the blade base (3). The snap-fit ​​openings (22) and the snap-fits (32) are engaged with each other, and an ultrasonic component (14) is provided on the ultrasonic component mounting seat (23).

4. The submarine foundation soil in-situ exploration and sampling robot according to claim 3, characterized in that: The ultrasonic component (14) comprises an ultrasonic transducer (141), a ball hinge (142), and an electric telescopic rod (143); the ultrasonic transducer (141) is mounted on the ball hinge (142); and the ball hinge (142) is connected to the ultrasonic component (14) body via the electric telescopic rod (143).

5. The submarine foundation soil in-situ exploration and sampling robot according to claim 1, characterized in that: The outer edges of the blades (4) are each provided with a positioning column (41) and a positioning strip (42); the blade base (3) is each provided with a first positioning groove (31) equal in number to the number of the blades (4); the first positioning groove (31) cooperates with the positioning column (41) on the corresponding blade (4); the positioning column (41) can slide inside the first positioning groove (31); the rotating disk (5) is provided with a second positioning groove (51) and a transmission internal thread (52); the second positioning groove (51) cooperates with the positioning strip (42) on the corresponding blade (4); the positioning strip (42) can slide inside the second positioning groove (51).

6. The submarine foundation soil in-situ exploration and sampling robot according to claim 1, characterized in that: The filter (6) is provided with a first filter screen (61), a second filter screen (62) and a rotating disk mounting hole (63); the rotating disk (5) is mounted in the rotating disk mounting hole (63); and the rotating disk (5) can rotate in the rotating disk mounting hole (63).

7. The submarine foundation soil in-situ exploration and sampling robot according to claim 1, characterized in that: The top of the second part housing (7) is provided with a plurality of first rack through holes (71), and the center is provided with a sensor hole (72). The second part housing (7) is installed on the first part housing (2). The bottom of the outer cylindrical surface of the sampling tube (8) is provided with a transmission external thread (81). The inner side of the cylindrical surface is provided with a plurality of sampling knives (82) starting from the bottom and along the oblique upward direction. The lower half is provided with a filter screen (83). A transmission rack (84) is provided above the inner side of the cylindrical surface. The transmission rack (84) can pass through the first rack through hole (71). A rack fixing cover (85) is installed above the transmission rack (84). The sampling tube (8) is installed concentrically with the filter (6), and the sampling tube (8) can move up and down in the filter (6).

8. The submarine foundation soil in-situ exploration and sampling robot according to claim 1, characterized in that: The third portion housing (11) is provided with a plurality of second rack through holes (111), and the transmission rack (84) can pass through the second rack through holes (111). The third portion housing (11) is also provided with a motor mounting plate (112) and a main controller (113), and the transmission screw (9) is installed on the direct drive motor assembly (10).

9. The submarine foundation soil in-situ exploration and sampling robot according to claim 1, characterized in that: The transmission screw (9) is engaged with the transmission rack (84) and can drive the transmission rack (84) to move, so that the sampling tube (8) extends from the circular opening (21) or retracts into the filter (6).

10. The submarine foundation soil in-situ exploration and sampling robot according to claim 1, characterized in that: The outer cover (12) is provided with a plurality of first positioning strips (124), a second positioning strip (125), and a third positioning strip (126) along the circumference of the inner wall. The first positioning strip (124) and the second positioning strip (125) are sequentially installed along the same symmetrical axis. The second positioning strip (125) and the third positioning strip (126) are sequentially installed along the same symmetrical axis. The number of the first positioning strip (124), the second positioning strip (125), and the third positioning strip (126) is the same. The width of the third positioning strip (126) is greater than that of the second positioning strip (125). The width of the second positioning strip (125) is greater than that of the first positioning strip (124). A retaining ring (127) is provided inside the outer cover (12). The retaining ring (127) is located at the top of the third positioning strip (126). The outer side of the outer cover (12) is provided with a plurality of reinforcing ribs (123) along the circumference.

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