Ocean underwater robot

Abstract

The invention provides an ocean underwater robot, which relates to the technical field of ocean underwater robots and comprises a bottom plate, a rack fixedly mounted at the top of the bottom plate, a first main machine body fixedly mounted in the middle of the rack, first paddles fixedly mounted on the rack on two sides of the first main machine body, and a cable mounted on the front side of the first main machine body in a butt joint manner. The cable is sleeved with a switching unit in adsorption connection with the first main machine body, two carrying units are installed on the switching unit in a butt joint mode, an adjusting unit is fixedly connected to one side of the top of the bottom plate, an adjusting unit is rotationally installed on the adjusting unit, a collecting unit is clamped on the adjusting unit, and a storage unit used for storing the collecting unit is fixedly installed on the top face of the bottom plate. Through mutual cooperation among the switching unit, the carrying unit and the collecting unit, the modular quick-release effect among the switching unit, the carrying unit and the collecting unit is formed, the requirement of underwater operation is met, the operation flexibility is greatly improved, and the robot achieves continuous exploration and collection on the seabed without frequent water feeding and discharging operation.

Description

Technical Field

[0001] The present invention relates to the technical field of marine underwater robots, and in particular to a marine underwater robot. Background Art

[0002] As core equipment for ocean exploration, scientific research, and industrial operations, marine underwater robots have been widely used in scenarios such as seabed mapping, biological sample collection, and pipeline maintenance. Based on their control methods, they can be divided into remotely operated vehicles (ROVs) and autonomous underwater vehicles (AUVs):

[0003] ROVs rely on cables and are manually controlled in real time, resulting in high precision but limited range of motion.

[0004] AUVs have autonomous navigation capabilities and are suitable for large-scale operations, but their intelligence level still faces challenges.

[0005] In tasks such as collecting marine biological or mineral samples and cleaning the surface of submarine facilities (such as coral transplantation and pipeline rust removal), existing underwater robots have the following shortcomings:

[0006] Traditional robots are limited by the capacity of the collection containers they carry or the single function of their robotic arms, and need to frequently return to the mother ship or base station to unload samples, resulting in operation interruptions and wasted time and energy. Summary of the Invention

[0007] In view of the deficiencies in the prior art, the present invention provides a marine underwater robot that solves the problems mentioned in the background art.

[0008] To achieve the above objectives, the present invention is implemented through the following technical solutions:

[0009] The cam is mounted on a camshaft and is secured to the chassis by means of a plurality of levers, the plurality of levers being mounted on the chassis and being adapted to move the levers relative to the chassis. The plurality of levers are mounted on the chassis and are adapted to move the levers relative to the chassis. The plurality of levers are mounted on the chassis and are adapted to move the levers relative to the chassis.

[0010] The collection unit includes an outer shell, a docking component, and a connecting component; the adjustment unit includes an n-type frame, a guide frame, an electric rotating shaft 2 and a clamping component. The n-type frame is fixedly installed on one side of the top of the main body, the guide frame is slidably installed in the n-type frame, the electric rotating shaft 2 is rotatably installed inside the guide frame, the electric rotating shaft 2 is fixedly connected to the mounting shell through a connecting block, the interior of the mounting shell is equipped with an extended clamping component, and the outer end of the clamping component is fixedly connected to two groups of clamping plates, the top of the mounting shell is fixedly installed, the top of the carrier plate is fixedly installed with an electric brush, the outer shell is clamped between the clamping plates, both sides of the outer shell are fixedly connected with connecting components, and the connecting component and the adapter unit are combined with each other, and the interior of the outer shell is equipped with an extended docking component;

[0011] The storage unit includes a storage bin, which is fixedly installed on the top of the main body one and is located below the main body one. The port of the storage bin is located below the n-shaped frame, and the storage bin is used to slide and receive the outer shell.

[0012] Furthermore, a top plate is fixedly installed on the top of the frame, and a grabbing unit is fixedly installed on the top of the top plate. The grabbing unit includes a clamping claw, a movable arm, a support frame, and an electric rotating seat. The electric rotating seat is fixedly installed on the top of the top plate, and the support frame is rotatably installed on the top of the electric rotating seat. The movable arm is rotatably installed in the support frame, and the end of the movable arm is fixedly installed with a clamping claw.

[0013] Furthermore, the adapter unit also includes a mounting block, a docking seat, a pull-back block, and an upper limit block. A mutually adsorbed magnetic suction cup is fixedly connected between the sleeve and the main body. The mounting block is fixedly installed on the bottom of the adapter, and the docking seat is fixedly installed on the outside of the mounting block. A card interface is provided on the inner wall of the docking seat, a card interface is provided on the inner side of the docking seat, and an insertion interface is provided on the mounting block below the docking seat. The top of the adapter is respectively equipped with a pull-back block and an upper limit block for sliding horizontally and vertically, and the adapter is elastically connected to the pull-back block and the upper limit block.

[0014] Furthermore, a loading slot is provided on the top of the main body 2, and a mesh plate is movably installed inside the loading slot through a rotating shaft. Motor 1 is fixedly installed on the outside of the main body 2, and the output end of motor 1 is connected to the rotating shaft. Water holes connected to the loading slot are provided on both sides of the main body 2.

[0015] Furthermore, the pushing unit includes a mounting structure, an electric rotating shaft 1, and a paddle 2. The bottom of the main body 2 is fixedly connected to the mounting structure, and the electric rotating shaft 1 is rotatably mounted inside. The paddle 2 is fixedly connected to the shaft of the electric rotating shaft 1. The top of the mounting structure is fixedly mounted with a mounting box. The mounting structure below the mounting box is fixedly connected with a plug-in block, and the plug-in block is plugged into the plug interface. The internal rotation of the mounting box is mounted with an electric turntable, and the upper limit of the electric turntable is installed with a card joint extending from the mounting box, and a docking joint is fixedly mounted on the mounting box between the card joints. The docking joint is docked with the docking seat, and the card joint and the card interface are assembled with each other. The electric turntable is provided with an arc-shaped opening for guiding the card joint, and the outer side of the mounting box is provided with a strip-shaped opening for guiding the card joint.

[0016] Furthermore, the clamping component is composed of a gear, a tooth plate and a second motor. A gear is rotatably installed inside the mounting shell, an extended tooth plate is dockedly installed inside the mounting shell, and the tooth plate and the mounting shell are meshed with each other. The clamping plate is fixed to the outer end of the tooth plate, and a positioning block is fixed to the inner side of the clamping plate. The clamping plate is clamped to the outer shell through the positioning block. The second motor is fixedly installed on the bottom of the mounting shell, and the output shaft of the second motor is connected to the gear. A clamping plate for driving the guide frame is installed on the n-shaped frame.

[0017] Furthermore, docking components are fixedly installed on both sides of the outer shell, and the docking components include a collection tube and a driving component. Collection tubes are fixedly installed on both sides of the outer shell, and an electric screw rod 1 is provided on the top of the collection tube, and the driving component is elastically installed inside the electric screw rod 1. The collection tube is plugged into and matched with the pullback block and the upper limit block in the adapter seat through the electric screw rod 1. A positioning port is provided on the outer shell above the docking component, and a slide groove is provided on one side of the outer shell.

[0018] Furthermore, the docking component includes a collection tube, an electric screw rod 1, and a driving component. A mounting plate is slidably mounted inside the outer shell through a sliding rod. An electric screw rod 1 is fixedly connected to the top of the outer shell. The output end of the electric screw rod 1 passes through and is connected to the mounting plate. A collection tube is fixedly mounted on the bottom of the mounting plate. The driving component is fixedly mounted on the top of the collection tube. A cover plate is movably mounted on the bottom of the collection tube through a movable shaft. The edge of the cover plate is wrapped with a rubber ring. A slide rail is fixedly mounted on the top of the cover plate. A movable joint is slidably mounted on the slide rail. The bottom of the driving component is movably hinged to the movable joint.

[0019] The driving component is composed of a motor, a threaded sleeve and a threaded rod. The motor is fixed to the top of the collection tube, the threaded sleeve is fixed to the output end of the motor, the threaded rod and the threaded sleeve are threadedly connected, and the bottom of the threaded rod is hinged to the activity.

[0020] Furthermore, the storage unit also includes a push plate, an electric screw rod 2, a limiting protrusion, and a guide rail. The guide rail is fixedly installed on the top of the storage bin, and the guide rail is slidably connected to the slide groove on the outer shell. The bottom of the front end of the storage bin is docked with a limiting protrusion. The guide rail in the storage bin is slidably connected with a push plate for pushing the outer shell. An electric screw rod 2 is installed on one side of the storage bin, and the electric screw rod 2 is used to drive the push plate.

[0021] Furthermore, the connecting component includes a connecting plate, a docking groove, and a lower limit block. Connecting plates are fixedly connected to both sides of the outer shell, and the connecting plate is docked and assembled with the adapter seat. A docking groove is provided on the top of the connecting plate, and an extended lower limit block is elastically installed inside the docking groove, and the lower limit block is snap-fitted with the pullback block and the upper limit block.

[0022] The present invention provides a marine underwater robot. Compared with the prior art, it has the following

[0023] Beneficial effects:

[0024] 1. Through the mutual cooperation between the transfer unit, the carrier unit and the collection unit, a modular quick-disassembly effect is formed among the three, which meets the needs of underwater operations and greatly improves operational flexibility.

[0025] 2. The carrier unit has the ability to flexibly carry and operate independently, enabling it to operate with two carrier units in parallel, realizing dual-channel sample transportation from the carrier unit to the transfer unit, improving operational efficiency, and also capable of independently performing survey tasks in a detachable carrier mode;

[0026] 3. Storage and automatic replenishment: The storage unit automatically replenishes through guide rails, and the collection unit is electrically pushed by a push plate. Combined with the adjustment unit for precise clamping, the robot can achieve continuous exploration and collection on the seabed without frequent water inflow and outflow operations, ensuring sampling reliability. The two work together to achieve efficient and stable operations in deep-sea environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0028] Figure 1 shows a first overall structural schematic diagram of the present invention;

[0029] Figure 2 shows a second overall structural schematic diagram of the present invention;

[0030] Figure 3It shows a schematic structural diagram of the transfer unit and the carrier unit of the present invention;

[0031] Figure 4 Shows a schematic structural diagram of the carrier unit of the present invention;

[0032] Figure 5 Shows a schematic structural diagram of the switching unit of the present invention;

[0033] Figure 6 A schematic diagram of the internal structure of the switching unit of the present invention is shown;

[0034] Figure 7 Shows a schematic structural diagram of the storage unit and the regulating unit of the present invention;

[0035] Figure 8 Shows a schematic structural diagram of the storage unit of the present invention;

[0036] Figure 9 Shows a schematic structural diagram of the acquisition unit and the adjustment unit of the present invention;

[0037] Figure 10 A schematic diagram of the internal structure of the regulating unit of the present invention is shown;

[0038] Figure 11 Shows a schematic diagram of the internal structure of the acquisition unit of the present invention;

[0039] Figure 12 The present invention is shown Figure 11 A schematic diagram of the enlarged structure of part A;

[0040] Figure 13 A schematic diagram of the structure of the push unit of the present invention from one perspective is shown;

[0041] Figure 14 A schematic structural diagram of the push unit of the present invention from another perspective is shown;

[0042] As shown in the figure: 100, main body 1; 101, cable;

[0043] 200, bottom plate; 201, frame; 202, top plate; 203, blade 1;

[0044] 300, grabbing unit; 301, gripping claw; 302, movable arm; 303, supporting frame; 304, electric rotating seat;

[0045] 400, adapter unit; 401, sleeve; 402, magnetic chuck; 403, adapter seat; 404, mounting block; 405, docking seat; 406, card interface; 407, plug interface; 408, pull-back block; 409, upper limit block;

[0046] 500, carrier unit; 501, main body 2; 502, motor 1; 503, screen; 504, loading slot; 510, push unit; 511, mounting structure; 512, electric shaft 1; 513, mounting box; 514, plug-in block; 515, docking joint; 516, electric turntable; 517, card connector; 518, propeller 2;

[0047] 600, collection unit; 601, outer shell; 602, positioning port; 603, slide; 610, docking component; 611, collection tube; 612, electric screw 1; 613, drive component; 614, mounting plate; 615, slide rail; 616, movable shaft; 617, rubber ring; 618, cover; 619, movable joint;

[0048] 620, connecting component; 621, connecting plate; 622, docking groove; 623, lower limit block;

[0049] 700, adjustment unit; 701, N-shaped frame; 702, guide frame; 703, electric shaft (2); 704, carrier plate; 705, electric brush; 706, connecting block; 707, motor (2); 708, clamping plate; 709, gear; 710, tooth plate; 711, positioning block; 712, mounting housing;

[0050] 800, storage unit; 801, storage bin; 802, push plate; 803, electric screw rod 2; 804, limiting protrusion; 805, guide rail. DETAILED DESCRIPTION

[0051] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention are clearly and completely described. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0052] Example

[0053] To solve the technical problems in the background technology, the following marine underwater robot is provided:

[0054] Combine Figures 1-14As shown, the present invention provides a marine underwater robot, comprising: a base plate 200, a frame 201 fixedly mounted on the top of the base plate 200, a main body 100 fixedly mounted in the middle of the frame 201, paddles 203 fixedly mounted on the frames 201 on both sides of the main body 100, a cable 101 dockingly mounted on the front of the main body 100, a transfer unit 400 attached to the cable 101 and adsorbedly connected to the main body 100, two sets of carrier units 500 dockingly mounted on the transfer unit 400, an adjustment unit 700 fixedly connected to one side of the top of the base plate 200, an adjustment unit 700 rotatably mounted on the adjustment unit 700, a collection unit 600 clamped on the adjustment unit 700, and a storage unit 800 for storing the collection unit 600 fixedly mounted on the top surface of the base plate 200;

[0055] The adapter unit 400 includes a sleeve 401 and an adapter seat 403. The front of the main body 100 is magnetically attracted with the sleeve 401, and the sleeve 401 is sleeved on the cable 101. The adapter seats 403 are fixed on both sides of the sleeve 401, and the adapter seat 403 is docked and assembled with the collection unit 600; the carrying unit 500 includes the main body 2 501 and a pushing unit 510. The bottom of the adapter seat 403 is equipped with the pushing unit 510, and the adapter seat 403 is assembled with the main body 2 501 through the pushing unit 510; the collection unit 600 includes an outer shell 601, a docking component 610, and a connecting component 620; the adjustment unit 700 includes an n-type frame 701, a guide frame 702, an electric rotating shaft 2 703 and a clamping component. The n-type frame 701 is fixedly installed on one side of the top of the main body 100, and the guide frame 702 is slidably installed inside the n-type frame 701. 2. An electric rotating shaft 2 703 is rotatably installed inside the guide frame 702, and the electric rotating shaft 2 703 is fixedly connected to a mounting shell 712 through a connecting block 706. An extended clamping component is assembled inside the mounting shell 712, and two sets of clamping plates 708 are fixedly connected to the outer ends of the clamping components. A carrier plate 704 is fixedly installed on the top of the mounting shell 712, and an electric brush 705 is fixedly installed on the top of the carrier plate 704. The outer shell 601 is clamped between the clamping plates 708, and an extended docking component 610 is assembled inside the outer shell 601; the storage unit 800 includes a storage bin 801, and the storage bin 801 is fixedly installed on the top of the main body 100, and the storage bin 801 is located below the main body 100, and the port of the storage bin 801 is located below the n-type frame 701, and the storage bin 801 is used for sliding and receiving the outer shell 601.

[0056] The main structure of the marine underwater robot: bottom plate 200: serves as the bearing base, with a fixed frame 201 on the top;

[0057] Main body 100: installed in the middle of the frame 201, with a built-in control system and power supply, and a magnetic suction cup 402 on the front to attract the sleeve 401;

[0058] Carrying unit 500: Two sets of main bodies 501 are connected on both sides of the adapter 403. The pushing unit 510 at the bottom of the main body 501 is detachably connected to the adapter 403 to achieve round-trip transportation along the cable 101. The main body 501 has a built-in control system and power supply.

[0059] Collection unit 600: The outer shell 601 is fixed by the clamping components (clamping plate 708, gear 709, etc.). The collection tube 611 in the outer shell 601 is driven by the electric screw 612 to penetrate the seabed mud. The driving component 613 controls the opening and closing of the cover 618 to achieve sealed sampling;

[0060] Adjustment unit 700: The guide frame 702 in the n-shaped frame 701 adjusts the angle of the collection unit 600 through the electric shaft 2 703, and the electric brush 705 assists in clearing obstacles;

[0061] Storage unit 800: The storage bin 801 pushes the push plate 802 through the electric screw 2 803 to push the spare outer shell 601 to the clamping plate 708 to complete the replenishment.

[0062] In this embodiment, a top plate 202 is fixedly installed on the top of the frame 201, and a grabbing unit 300 is fixedly installed on the top of the top plate 202. The grabbing unit 300 includes a clamping claw 301, a movable arm 302, a support frame 303, and an electric rotating seat 304. The electric rotating seat 304 is fixedly installed on the top of the top plate 202, and the support frame 303 is rotatably installed on the top of the electric rotating seat 304. The movable arm 302 is rotatably installed in the support frame 303, and the clamping claw 301 is fixedly installed on the end of the movable arm 302.

[0063] Extended implementation of the gripping unit 300:

[0064] Electric rotating seat 304: the support frame 303 can rotate 360 ​​degrees, and the movable arm 302 is hinged to adjust the position of the clamping jaw 301;

[0065] The clamping jaw 301 is used to clamp the collection tube 611 or seabed ore, and is loaded in conjunction with the mesh plate 503 of the main body 501.

[0066] Application scenario: After the gripper 301 grabs the ore, the motor 502 flips the mesh plate 503 to put the ore into the loading trough 504, and the water holes drain water to reduce resistance.

[0067] In this embodiment, the adapter unit 400 also includes a mounting block 404, a docking seat 405, a pull-back block 408, and an upper limit block 409. A magnetic suction cup 402 that is attracted to each other is fixedly connected between the sleeve 401 and the main body 100. The bottom of the adapter seat 403 is fixedly mounted with a mounting block 404, and the outer side of the mounting block 404 is fixedly mounted with a docking seat 405. The inner wall of the docking seat 405 is provided with a card interface, the inner side of the docking seat 405 is provided with a card interface 406, and the mounting block 404 below the docking seat 405 is provided with a plug interface. 407, the top of the adapter 403 is respectively equipped with a pull-back block 408 and an upper limit block 409 for horizontal and vertical sliding, and the adapter 403 is elastically connected to the pull-back block 408 and the upper limit block 409; a loading slot 504 is provided on the top of the main body 2 501, and a mesh plate 503 is movably installed inside the loading slot 504 through a rotating shaft, a motor 1 502 is fixedly installed on the outer side of the main body 2 501, and the output end of the motor 1 502 is connected to the rotating shaft, and water holes connected to the loading slot 504 are provided on both sides of the main body 2 501.

[0068] The linkage between the adapter unit 400 and the main body 2 501;

[0069] Magnetic chuck 402: realizes quick adsorption / separation between sleeve 401 and main body 100;

[0070] The plug-in block 514 and the plug-in port 407 ensure the mechanical locking between the mounting structure 511 and the adapter 403;

[0071] The electric turntable 516 drives the card connector 517 to engage with the card interface, thereby causing the pushing unit 510 and the adapter unit 400 to be docked and fixed with each other;

[0072] Disengagement operation mode: the electric turntable 516 rotates to disengage the card connector 517, the main body 501 moves independently, and the laser locator on the outside of the installation structure 511 assists in resetting.

[0073] In this embodiment, the pushing unit 510 includes a mounting structure 511, an electric rotating shaft 1 512, and a paddle 2 513. The bottom of the main body 2 501 is fixedly connected to the mounting structure 511, and the electric rotating shaft 1 512 is rotatably mounted inside. The paddle 2 513 is fixedly connected to the shaft of the electric rotating shaft 1 512. The top of the mounting structure 511 is fixedly mounted with a mounting box 513. A plug-in block 514 is fixedly connected to the mounting structure 511 below the mounting box 513, and the plug-in block 514 is plugged into the plug interface 407. An electric turntable 516 is rotatably mounted inside the mounting box 513. A card connector 517 extending from the mounting box 513 is installed at the upper limit of the electric turntable 516, and a docking joint 515 is fixedly mounted on the mounting box 513 between the card connectors 517. The docking joint 515 is docked with the docking seat 405, and the card connector 517 is mutually connected with the card interface. Assembly, the electric turntable 516 is provided with an arc-shaped opening for guiding the card joint 517, and the outer side of the installation box 513 is provided with a strip-shaped opening for guiding the card joint 517; the clamping component is composed of a gear 709, a tooth plate 710 and a motor 2 707, the interior of the installation shell 712 is rotatably installed with a gear 709, the interior of the installation shell 712 is docked with an extended tooth plate 710, and the tooth plate 710 and the installation shell 712 are meshed with each other, the clamping plate 708 is fixed to the outer end of the tooth plate 710, and the inner side of the clamping plate 708 is fixed with a positioning block 711, the clamping plate 708 is clamped to the outer shell 601 through the positioning block 711, the bottom of the installation shell 712 is fixedly installed with a motor 2 707, the output shaft of the motor 2 707 is installed and connected to the gear 709, and the n-type frame 701 is provided with a clamping plate 708 for driving the guide frame 702.

[0074] Clamping and driving of the acquisition unit 600;

[0075] Gear 709 and tooth plate 710: Motor 2 707 drives gear 709, so that the clamping plate 708 is clamped into the positioning port 602 of the outer shell 601 through the positioning block 711;

[0076] Electric screw 1 612: consists of a motor and a threaded rod, drives the collection tube 611 to rise and fall, and cooperates with the driving component 613 to control the opening and closing of the cover 618;

[0077] The cover plate 618 is linked to the movable joint 619 via the slide rail 615 , and the rubber ring 617 is sealed to prevent sample leakage.

[0078] Positioning port 602: provided at the top of the outer shell 601, used to cooperate with the positioning block 711 on the clamping plate 708 to achieve precise clamping;

[0079] Slide 603: Located on one side of the outer shell 601, it slides with the guide rail 805 in the storage bin 801 to ensure smooth movement of the outer shell 601 during replenishment.

[0080] Collection tube 611: fixed to the bottom of the mounting plate 614, used to be inserted into the seabed sediment for sampling;

[0081] Electric screw 1 612: drives the mounting plate 614 to move up and down along the slide bar, controlling the lifting and lowering of the collection tube 611;

[0082] Driving component 613: composed of a motor, a threaded sleeve and a threaded rod, used to control the opening and closing of the cover 618;

[0083] Movable shaft 616: hinged to the bottom of the collection tube 611, allowing the cover 618 to be flipped;

[0084] Slide rail 615 and movable joint 619: The bottom of the threaded rod of the driving component 613 is hinged to the movable joint 619;

[0085] When the driving component 613 is pushed down, the movable joint 619 slides along the slide rail 615, forcing the cover 618 to open around the movable shaft 616. When the driving component 613 is retracted, the movable joint 619 moves in the opposite direction, and the cover 618 is closed.

[0086] Rubber ring 617: covers the edge of the covering plate 618 to ensure sealing when closed and prevent seawater from seeping in.

[0087] In this embodiment, the storage unit 800 also includes a push plate 802, an electric screw rod 803, a limiting protrusion 804, and a guide rail 805. The guide rail 805 is fixedly installed on the top of the storage bin 801, and the guide rail 805 is slidingly connected to the slide groove 603 on the outer shell 601. The bottom of the front end of the storage bin 801 is docked with the limiting protrusion 804. The guide rail 805 in the storage bin 801 is slidingly connected with a push plate 802 in the outer shell 601. An electric screw rod 803 is installed on one side of the storage bin 801, and the electric screw rod 803 is used to drive the push plate 802.

[0088] Guide rails 805 and chute 603: guide the outer shell 601 to slide in and out of the storage bin 801; when sliding in, it replenishes the outer shell 601, and when sliding out, it is used for collection during the collection period;

[0089] Electric screw 2 803: pushes the push plate 802 to push the outer shell 601 out and over the limiting protrusion 804. The outer shell 601 behind the limiting protrusion 804 is prevented from accidentally falling off;

[0090] Replenishment process: The push plate 802 pushes the outer shell 601 to the clamping plate 708, and the positioning block 711 automatically snaps into the positioning port 602 after turning down 90 degrees in its own structure to complete the clamping.

[0091] In the embodiment, the adapter component 620 comprises an adapter plate 621, a docking groove 622, and a lower limit block 623. The adapter plate 621 is fixed on both sides of the outer shell 601 and is assembled with the adapter seat 403. The top of the adapter plate 621 is provided with the docking groove 622, and the inside of the docking groove 622 is elastically mounted with the lower limit block 623 extending out, and the lower limit block 623 is clamped and matched with the pull-back block 408 and the upper limit block 409.

[0092] Docking process: connection of the outer shell 601 and the adapter seat 403;

[0093] Guided insertion: after the outer shell 601 is grabbed by the clamping jaw 301 and the position is adjusted by the movable arm 302, the adapter plate 621 is aligned with the docking channel of the adapter seat 403;

[0094] Pushing under the cooperation of the movable arm 302 and the electric rotating seat 304, the adapter plate 621 continuously enters along the port of the adapter seat 403 until the lower limit block 623 pushes the upper limit block 409 and passes through, at which time the lower limit block 623 is located between the upper limit block 409 and the pull-back block 408, and the clamping is completed.

[0095] Unlocking process: separation of the outer shell 601 and the adapter seat 403;

[0096] Release of the pull-back block 408: when the outer shell 601 is taken out again, the outer shell 601 is pushed against the pull-back block 408, the limit block 623 is urged to pass through the pull-back block 408, and then the outer shell 601 is pulled back, the pull-back block 408 is pulled outwards and is in abutment with the upper limit block 409, the limit block 623 passes through the upper limit block 409 under the action of the pulling force and the auxiliary guidance of the pull-back block 408, and the restriction on the lower limit block 623 is released.

[0097] Working principle and use process of the application:

[0098] When in use, it is necessary to ensure that the internal power of the main body 100 and the main body 502 is sufficient, and it is necessary to check whether the working assembly is normal. After completion, work is performed. It is known that the top plate 202 and the rack 201 are both assembled with the paddle 203, the front and rear sides of the top plate 202 are both assembled with a camera and a searchlight, and the front side of the main body 502 is assembled with a camera and a searchlight. This is also the infrastructure of the robot.

[0099] Firstly, the robot and the cable 101 are placed in water, the paddle 203 is started to rotate into the underwater until the bottom of the water, the main body 100 is used to support until the equipment is stable, then the camera on the top plate 202 and the rack 201 is used to survey the surrounding water environment, and it is determined whether the collection work is in conformity with the collection work.

[0100] The second step is to start the electric screw 612 to drive the collection tube 611 to descend, causing the bottom end of the collection tube 611 to contact the bottom of the water and then stop, and then start the driving component 613 to move downward, at which time the bottom end of the driving component 613 pushes the movable joint 619, and the movable joint 619 then hinges and slides on the slide rail 615, causing the cover 618 to flip open through the movable shaft 616, and then start the electric screw 612 again to drive the collection tube 611 to descend, causing the collection tube 611 to descend and insert into the soil until the collected soil enters the collection tube 611 and exceeds the height of the cover 618, and finally recovers it. When the collection tube 611 is out of the soil, the driving component 613 can be started again to reset, causing the cover 618 to flip and close, so that the soil on the seabed will be collected in the collection tube 611, and the rubber ring 617 on the cover 618 cooperates to achieve seawater isolation;

[0101] The movable arm 302 is started to move its joint, prompting the clamping claw 301 to clamp and fix the collection tube 611, and then the motor 2 707 is started to drive the gear 709 to rotate, and the gear 709 is used to expand the tooth plate 710, prompting the positioning block 711 in the clamping plate 708 to release the clamping fixation on the outer shell 601, and the positioning port 602 on the outer shell 601 is disengaged from the positioning of the positioning block 711, and then the electric rotating seat 304 is used to drive the movable arm 302 to rotate and adjust, driving the clamped outer shell 601 to rotate, prompting the collection tube 611 on the outer shell 601 to dock with the adapter 403, so that the collection tube 611 can enter the adapter 403 and be clamped between the upper limit block 409 and the pull-back block 408 by the driving component 613, completing the assembly;

[0102] The third step is to start the blade 2 518. The main body 2 501 controls the rotation of the electric shaft 1 512 to drive the blade 2 518 to switch the propulsion direction. At that time, with the cooperation of the blade 2 518, the mounting structure 511 drives the adapter 403 to perform the walking operation. At that time, the outer shell 601 of the collection can follow the casing 401 and move along the cable 101, prompting the camera and searchlight on the main body 2 501 to observe and move forward until the carried main body 2 501 reaches the water surface. The personnel push the outer shell 601 inward, prompting the driving component 613 to cross the pull-back block 408 and then pull back. Then, under the guidance of the pull-back block 408, the driving component 613 is prompted to cross the pull-back block 408 and the upper limit block 409 to escape from the adapter 403.

[0103] Then, the second main body 501 is lowered and reset along the cable 101 until the magnetic chuck 402 at the inner end of the sleeve 401 is docked and adsorbed with the first main body 100, completing the reset state;

[0104] During the collection, if the required seabed ore or material is found, the electric rotating seat 304 and the movable arm 302 can be started to drive the clamping jaw 301 to clamp the ore or material, and then the motor 502 drives the net plate 503 to flip, so that the collected ore or material is placed in the loading groove 504, and then the net plate 503 is closed;

[0105] Fourthly, the outer shell 601 is replenished. Firstly, the electric rotating shaft 703 drives the mounting shell 712 to flip down by 90°, the electric screw 803 drives the push plate 802 to push forward, the outer shell 601 in the storage bin 801 is pushed out, the frontmost outer shell 601 is pushed beyond the limiting protrusion 804 under the action of the force, and extends between the clamping plates 708 and abuts against the connecting block 706, then the motor 707 drives the clamping plates 708 to move inward, the positioning block 711 in the clamping plate 708 abuts against the positioning port 602 on the outer shell 601, so that the outer shell 601 is replenished, and finally the electric rotating shaft 703 drives the mounting shell 712 to flip up by 90° to the collection state.

[0106] During the collection, if the required seabed ore or material is found, the electric rotating seat 304 and the movable arm 302 can be started to drive the clamping jaw 301 to clamp the ore or material, and then the motor 502 drives the net plate 503 to flip, so that the collected ore or material is placed in the loading groove 504, and then the net plate 503 is closed;

[0107] During the collection, if the required seabed ore or material is found, the electric rotating seat 304 and the movable arm 302 can be started to drive the clamping jaw 301 to clamp the ore or material, and then the motor 502 drives the net plate 503 to flip, so that the collected ore or material is placed in the loading groove 504, and then the net plate 503 is closed;

[0108] It is worth noting that the electric facilities in the present scheme are waterproofed to ensure that they can automatically work underwater, which is the basic working condition of the current underwater robot.

[0109] 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 the existence of any such actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or device comprising the element.

[0110] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A marine underwater robot, characterized in that: The apparatus comprises: a base plate, a rack fixedly mounted on the top of the base plate, a main body 1 fixedly mounted in the middle of the rack, paddles 1 fixedly mounted on the racks on both sides of the main body 1, a cable docked with the front of the main body 1, a transfer unit attached to the cable for adsorption connection with the main body 1, two sets of carrier units docked with the transfer unit, an adjustment unit fixedly mounted on one side of the top of the base plate, an adjustment unit rotatably mounted on the adjustment unit, a collection unit clamped on the adjustment unit, and a storage unit for storing the collection unit fixedly mounted on the top surface of the base plate; The adapter unit includes a sleeve and an adapter. The front of the main body is magnetically attracted with a sleeve, which is sleeved on the cable. The two sides of the sleeve are fixed with adapters, and the adapter is docked with the collection unit. The carrier unit is assembled at the bottom of the adapter. The carrier unit includes a main body 2 and a pushing unit. The pushing unit is assembled on the bottom of the adapter unit, and the adapter unit is assembled with the main body 2 through the pushing unit. The collection unit includes an outer shell, a docking component, and a connecting component; the adjustment unit includes an n-type frame, a guide frame, an electric rotating shaft 2 and a clamping component. The n-type frame is fixedly installed on one side of the top of the main body, the guide frame is slidably installed in the n-type frame, the electric rotating shaft 2 is rotatably installed inside the guide frame, the electric rotating shaft 2 is fixedly connected to the mounting shell through a connecting block, the interior of the mounting shell is equipped with an extended clamping component, and the outer end of the clamping component is fixedly connected to two groups of clamping plates, the top of the mounting shell is fixedly installed, the top of the carrier plate is fixedly installed with an electric brush, the outer shell is clamped between the clamping plates, both sides of the outer shell are fixedly connected with connecting components, and the connecting component and the adapter unit are combined with each other, and the interior of the outer shell is equipped with an extended docking component; The storage unit includes a storage bin, which is fixedly installed on the top of the main body and located below the main body. The port of the storage bin is located below the n-shaped frame, and the storage bin is used to slide and receive the outer shell.

2. The marine underwater robot according to claim 1, characterized in that: A top plate is fixedly installed on the top of the frame, a grabbing unit is fixedly installed on the top of the top plate, the grabbing unit includes a clamping claw, a movable arm, a support frame, and an electric rotating seat, the electric rotating seat is fixedly installed on the top of the top plate, the support frame is rotatably installed on the top of the electric rotating seat, the movable arm is rotatably installed in the support frame, and the end of the movable arm is fixedly installed with a clamping claw.

3. The marine underwater robot according to claim 1, characterized in that: The adapter unit also includes a mounting block, a docking seat, a pull-back block, and an upper limit block. A mutually adsorbed magnetic suction cup is fixedly connected between the sleeve and the main body. The mounting block is fixedly installed on the bottom of the adapter, and the docking seat is fixedly installed on the outside of the mounting block. A card interface is provided on the inner wall of the docking seat, a card interface is provided on the inner side of the docking seat, and an insertion interface is provided on the mounting block below the docking seat. The top of the adapter is respectively equipped with a pull-back block and an upper limit block for sliding movement horizontally and vertically, and the adapter is elastically connected to the pull-back block and the upper limit block.

4. The marine underwater robot according to claim 1, characterized in that: A loading slot is provided on the top of the main body 2, and a mesh plate is movably installed inside the loading slot through a rotating shaft. Motor 1 is fixedly installed on the outside of the main body 2, and the output end of motor 1 is connected to the rotating shaft. Water holes connected to the loading slot are provided on both sides of the main body 2.

5. The marine underwater robot according to claim 4, characterized in that: The pushing unit includes a mounting structure, an electric rotating shaft 1, and two paddles. The bottom of the main body 2 is fixedly connected to the mounting structure, and the electric rotating shaft 1 is rotatably mounted inside. The paddle 2 is fixedly connected to the shaft of the electric rotating shaft 1. The top of the mounting structure is fixedly mounted with a mounting box. The mounting structure below the mounting box is fixedly connected with a plug-in block, and the plug-in block is plugged into the plug interface. The interior of the mounting box is rotatably mounted with an electric turntable. The upper limit of the electric turntable is installed with a card joint extending from the mounting box, and a docking joint is fixedly mounted on the mounting box between the card joints. The docking joint is docked with the docking seat, and the card joint and the card interface are assembled with each other. The electric turntable is provided with an arc-shaped opening for guiding the card joint, and the outer side of the mounting box is provided with a strip-shaped opening for guiding the card joint.

6. The marine underwater robot according to claim 1, characterized in that: The clamping component is composed of a gear, a toothed plate and a second motor. A gear is rotatably installed inside the mounting shell, and an extended toothed plate is dockedly installed inside the mounting shell, and the toothed plate and the mounting shell are meshed with each other. The clamping plate is fixed to the outer end of the toothed plate, and a positioning block is fixed to the inner side of the clamping plate. The clamping plate is clamped to the outer shell through the positioning block. The second motor is fixedly installed on the bottom of the mounting shell, and the output shaft of the second motor is connected to the gear. A clamping plate for driving the guide frame is installed on the n-shaped frame.

7. The marine underwater robot according to claim 6, characterized in that: Both sides of the outer shell are fixedly installed with docking components, which include a collection tube and a driving component. Collection tubes are fixedly installed on both sides of the outer shell, and an electric screw 1 is provided on the top of the collection tube, and the driving component is elastically installed inside the electric screw 1. The collection tube is plugged into and matched with the pullback block and the upper limit block in the adapter seat through the electric screw 1. A positioning port is provided on the outer shell above the docking component, and a slide groove is provided on one side of the outer shell.

8. The marine underwater robot according to claim 7, characterized in that: The docking component includes a collection tube, an electric screw rod and a driving component. The interior of the outer shell is slidably mounted with a mounting plate through a sliding rod. The top of the outer shell is fixedly connected to an electric screw rod. The output end of the electric screw rod passes through the mounting plate. The bottom of the mounting plate is fixedly mounted with a collection tube. The top of the collection tube is fixedly mounted with a driving component. The bottom of the collection tube is movably mounted with a cover plate through a movable shaft. The edge of the cover plate is wrapped with a rubber ring. The top of the cover plate is fixedly connected with a slide rail. A movable joint is slidably mounted on the slide rail, and the bottom of the driving component is movably hinged to the movable joint. The driving component is composed of a motor, a threaded sleeve and a threaded rod. The motor is fixed to the top of the collection tube, the threaded sleeve is fixed to the output end of the motor, the threaded rod is threadedly docked with the threaded sleeve, and the bottom of the threaded rod is movably hinged.

9. The marine underwater robot according to claim 1, characterized in that: The storage unit also includes a push plate, a second electric screw, a limiting protrusion, and a guide rail. The guide rail is fixedly installed on the top of the storage bin, and the guide rail is slidably connected to the slide groove on the outer shell. The bottom of the front end of the storage bin is docked with the limiting protrusion. The guide rail in the storage bin is slidably connected with a push plate for pushing the outer shell. One side of the storage bin is equipped with a second electric screw, and the second electric screw is used to drive the push plate.

10. The marine underwater robot according to claim 1, characterized in that: The connecting component includes a connecting plate, a docking groove, and a lower limit block. Connecting plates are fixedly connected to both sides of the outer shell, and the connecting plates are docked and assembled with the adapter seat. A docking groove is provided on the top of the connecting plate, and an extended lower limit block is elastically installed inside the docking groove, and the lower limit block is snap-fitted with the pullback block and the upper limit block.

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