An underwater marine robot

Abstract

The application provides a marine underwater robot, and relates to the technical field of marine underwater robots.The marine underwater robot comprises a bottom plate, a rack fixedly installed on the top of the bottom plate, a main body one fixedly installed on the middle of the rack, paddle one fixedly installed on the rack on both sides of the main body one, a cable butt-joint installed on the front of the main body one, a switching unit sleeved on the cable and connected with the main body one in a suction manner, two groups of carrying units butt-joint installed on the switching unit, an adjusting unit fixedly connected to one side of the top of the bottom plate, the adjusting unit rotatably installed on the adjusting unit, the collecting unit clamped on the adjusting unit, and a storage unit fixedly installed on the top surface of the bottom plate and used for storing the collecting unit.The application forms the modular quick-release effect among the switching unit, the carrying unit and the collecting unit through the cooperation among the switching unit, the carrying unit and the collecting unit, meets the demand of underwater operation, greatly improves the operation flexibility, and enables the robot to realize the continuous exploration and collection on the seabed without frequent water operation.

Description

Technical Field

[0001] This invention relates to the field of marine underwater robot technology, and specifically to a marine underwater robot. Background Technology

[0002] Marine underwater robots, as core equipment for marine exploration, scientific research, and industrial operation and maintenance, have been widely used in scenarios such as seabed topographic 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 for real-time manual control, offering high operational precision but limited range of motion.

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

[0005] Existing underwater robots have the following shortcomings in tasks such as collecting marine biological or mineral samples and cleaning the surface of seabed facilities (such as coral transplantation and pipe rust removal);

[0006] Traditional robots are limited by the capacity of the collection containers they carry or the limited functionality of their robotic arms, requiring them to frequently return to the mother ship or base station to unload samples, which leads to work interruptions and is time-consuming and energy-intensive. Summary of the Invention

[0007] To address the shortcomings of existing technologies, this invention provides an underwater robot that solves the problems mentioned in the background section.

[0008] To achieve the above objectives, the present invention provides the following technical solution:

[0009] An underwater robot includes: a base plate, a frame fixedly mounted on the top of the base plate, a main body fixedly mounted in the middle of the frame, propellers fixedly mounted on the frames on both sides of the main body, a cable connected to the front of the main body, a transfer unit attached to the cable and magnetically connected to the main body, two sets of transport units connected to the transfer unit, an adjustment unit fixedly connected to 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 units fixedly mounted on the top surface of the base plate; the transfer unit includes a sleeve and a transfer base, the sleeve is magnetically attached to the front of the main body, the sleeve is fitted onto the cable, transfer bases are fixedly connected to both sides of the sleeve, and the transfer bases are connected and assembled with the collection units, and the transport units are assembled at the bottom of the transfer bases; the transport unit includes a second main body and a pusher unit, the pusher unit is assembled at the bottom of the transfer unit, and the second main body is assembled to the transfer unit through the pusher unit.

[0010] The collecting unit comprises an outer shell, a docking component and a connecting component; the adjusting unit comprises an n-shaped frame, a guide frame, a second electric rotating shaft and a clamping component, one side of the top of the main body is fixedly provided with the n-shaped frame, the n-shaped frame is slidably provided with the guide frame, the guide frame is rotatably provided with the second electric rotating shaft, the second electric rotating shaft is fixedly provided with a mounting shell through a connecting block, the mounting shell is internally provided with the clamping component extending out of the mounting shell, the outer end of the clamping component is fixedly provided with two clamping plates, the top of the mounting shell is fixedly provided with a carrier plate, the top of the carrier plate is fixedly provided with an electric brush, the clamping plates are clamped with the outer shell, the two sides of the outer shell are fixedly provided with the connecting components, and the connecting components are combined with the adapter unit, and the inner part of the outer shell is provided with the docking component extending out of the outer shell.

[0011] The storage unit comprises a storage bin, the top of the main body is fixedly provided with the storage bin, and the storage bin is located below the main body, the port of the storage bin is located below the n-shaped frame, and the storage bin is used for slidingly receiving the outer shell.

[0012] Further, the top of the rack is fixedly provided with a top plate, the top of the top plate is fixedly provided with a grabbing unit, the grabbing unit comprises a clamping jaw, a movable arm, a support frame and an electric rotating seat, the top of the top plate is fixedly provided with the electric rotating seat, the top of the electric rotating seat is rotatably provided with the support frame, the support frame is rotatably provided with the movable arm, and the end of the movable arm is fixedly provided with the clamping jaw.

[0013] Further, the adapter unit further comprises a mounting block, a docking seat, a pullback block and an upper limiting block, the sleeve and the main body are fixedly provided with mutually adsorbed magnetic adsorption discs, the bottom of the adapter seat is fixedly provided with the mounting block, the outer side of the mounting block is fixedly provided with the docking seat, the inner wall of the docking seat is provided with a clamping port, the inner side of the docking seat is provided with a clamping port, the mounting block below the docking seat is provided with a plug-in port, the top of the adapter seat is respectively horizontally and vertically slidably provided with the pullback block and the upper limiting block, and the adapter seat is elastically connected with the pullback block and the upper limiting block.

[0014] Further, the top of the main body is provided with a loading groove, the inside of the loading groove is movably provided with a mesh plate through a rotating shaft, the outer side of the main body is fixedly provided with a motor, the output end of the motor is connected with the rotating shaft, and the two sides of the main body are provided with water permeable holes communicating with the loading groove.

[0015] Further, the pushing unit comprises a mounting structure, an electric rotating shaft one, and a paddle two. The bottom of the main body two is fixedly connected with the mounting structure, the inside of the mounting structure is rotatably connected with the electric rotating shaft one, the shaft of the electric rotating shaft one is fixedly connected with the paddle two, the top of the mounting structure is fixedly connected with a mounting box, the mounting box is fixedly connected with a plug-in block below the mounting structure, the plug-in block is plugged into the plug-in port, the inside of the mounting box is rotatably connected with an electric rotating disc, the electric rotating disc is fixedly connected with a clamping joint extending out of the mounting box, the mounting box is fixedly connected with a butt joint between the clamping joints, the butt joint is butted with the butt seat, the clamping joint is assembled with the clamping port, the outside of the mounting box is provided with an arc-shaped port for guiding the clamping joint.

[0016] Further, the clamping component is composed of a gear, a toothed plate, and a motor two. The inside of the mounting shell is rotatably connected with the gear, the inside of the mounting shell is butted with the toothed plate extending out, the toothed plate is meshed with the mounting shell, the clamping plate is fixedly connected with the outer end of the toothed plate, the inside of the clamping plate is fixedly connected with the positioning block, the clamping plate is clamped with the outer shell through the positioning block, the bottom of the mounting shell is fixedly connected with the motor two, the output shaft of the motor two is connected with the gear, and the n-shaped frame is provided with the clamping plate for driving the guide frame.

[0017] Further, the two sides of the outer shell are fixedly connected with the butt component. The butt component comprises a collection tube and a driving component. The two sides of the outer shell are fixedly connected with the collection tube, the top of the collection tube is provided with an electric screw one, the inside of the electric screw one is elastically connected with the driving component, the collection tube is plugged into the back-pulling block and the upper limiting block in the adapter seat through the electric screw one, the outer shell above the butt component is provided with the positioning port, and one side of the outer shell is provided with the sliding groove.

[0018] Further, the butt component comprises a collection tube, an electric screw one, and a driving component. The inside of the outer shell is slidably connected with the mounting plate through the sliding rod, the top of the outer shell in the outer shell is fixedly connected with the electric screw one, the output end of the electric screw one penetrates the mounting plate, the bottom of the mounting plate is fixedly connected with the collection tube, the top of the collection tube is fixedly connected with the driving component, the bottom of the collection tube is movably connected with the cover plate through the movable shaft, the edge of the cover plate is externally wrapped with the rubber ring, the top of the cover plate is fixedly connected with the sliding rail, the sliding rail is slidably connected with the movable joint, and the bottom of the driving component is movably connected with the movable joint.

[0019] The driving component is composed of a motor, a threaded sleeve rod, and a threaded rod. The motor is fixedly connected with the top of the collection tube, the threaded sleeve rod is fixedly connected with the output end of the motor, the threaded rod is threadedly butted with the threaded sleeve rod, and the bottom of the threaded rod is movably connected with the movable joint.

[0020] Further, the storage unit further comprises 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 in sliding connection with the sliding groove on the outer shell body, the bottom of the front end of the storage bin is in butt joint with the limiting protrusion, the push plate for pushing the outer shell body is in sliding connection on the guide rail in the storage bin, and the second electric screw is arranged on one side of the storage bin and used for driving the push plate.

[0021] Further, the adapter component comprises an adapter plate, a butt joint groove and a lower limiting block, the adapter plate is fixedly connected on the two sides of the outer shell body and is in butt joint assembly with the adapter seat, the butt joint groove is arranged on the top of the adapter plate, the lower limiting block is elastically installed in the butt joint groove and extends out, and the lower limiting block is in clamping cooperation with the back-pulling block and the upper limiting block.

[0022] The application provides a marine underwater robot.

[0023] Beneficial effects:

[0024] 1. Through the cooperation between the adapter unit, the carrying unit and the collection unit, the modular quick release effect among the three is formed, the demand of underwater operation is met, and operation flexibility is greatly improved.

[0025] 2. The carrying unit achieves flexible carrying and independent operation capability, so that the carrying unit can be used for parallel operation of double carrying units, sample transportation of the carrying unit to the adapter unit is realized, operation efficiency is improved, and the carrying mode in the form of separation can be used for independent execution of survey tasks.

[0026] 3. Storage and automatic supply: the storage unit is automatically supplied through the guide rail type, the push plate is electrically pushed to push the collection unit, and the accurate clamping is realized in combination with the adjusting unit, so that the robot realizes continuous survey and collection on the seabed, frequent water operation is not needed, sampling reliability is ensured, and high efficiency and stable operation under the deep sea environment are realized in cooperation. BRIEF DESCRIPTION OF DRAWINGS

[0027] In order to more clearly illustrate the technical solutions in the embodiments of the application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description only show some embodiments of the application, and for those skilled in the art, other drawings can also be obtained without creative labor on the basis of these drawings.

[0028] Figure 1 Fig. 1 shows a first overall structure schematic diagram of the application;

[0029] Figure 2 Fig. 2 shows a second overall structure schematic diagram of the application;

[0030] Figure 3The structure diagram of the adapter unit and the carrying unit of the present application is shown.

[0031] Figure 4 The structure diagram of the carrying unit of the present application is shown.

[0032] Figure 5 The structure diagram of the adapter unit of the present application is shown.

[0033] Figure 6 The structure diagram of the adapter unit of the present application is shown.

[0034] Figure 7 The structure diagram of the storage unit and the adjusting unit of the present application is shown.

[0035] Figure 8 The structure diagram of the storage unit of the present application is shown.

[0036] Figure 9 The structure diagram of the collecting unit and the adjusting unit of the present application is shown.

[0037] Figure 10 The structure diagram of the adjusting unit of the present application is shown.

[0038] Figure 11 The structure diagram of the collecting unit of the present application is shown.

[0039] Figure 12 The structure diagram of the A part of the present application is shown. Figure 11

[0040] Figure 13 The structure diagram of the push unit of the present application is shown.

[0041] Figure 14 The structure diagram of the push unit of the present application is shown.

[0042] The structure diagram of the push unit of the present application is shown.

[0043] The structure diagram of the push unit of the present application is shown.

[0044] The structure diagram of the push unit of the present application is shown.

[0045] The structure diagram of the push unit of the present application is shown.

[0046] ​500, carrying unit; 501, main body two; 502, motor one; 503, net plate; 504, loading groove; 510, pushing unit; 511, mounting structure; 512, electric rotating shaft one; 513, mounting box; 514, plug-in block; 515, butt joint; 516, electric rotating disc; 517, clamping head; 518, paddle two;

[0047] 600, collecting unit; 601, outer shell; 602, positioning port; 603, sliding groove; 610, butt joint part; 611, collecting pipe; 612, electric screw one; 613, driving part; 614, mounting plate; 615, sliding rail; 616, movable shaft; 617, rubber packing ring; 618, cover plate; 619, movable joint;

[0048] 620, connecting part; 621, connecting plate; 622, butt joint groove; 623, lower limit block;

[0049] 700, adjusting unit; 701, n-shaped frame; 702, guide frame; 703, electric rotating shaft two; 704, carrier plate; 705, electric brush; 706, connecting block; 707, motor two; 708, clamping plate; 709, gear; 710, toothed plate; 711, positioning block; 712, mounting shell;

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

[0051] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application are described clearly and completely. Obviously, the described embodiments are some of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0052] EMBODIMENT

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

[0054] COMBINATION Figures 1-14As shown, the marine underwater robot provided by the present application comprises a bottom plate 200, a rack 201 fixedly installed on the top of the bottom plate 200, a main body one 100 fixedly installed on the middle of the rack 201, a paddle one 203 fixedly installed on the rack 201 on the two sides of the main body one 100, a cable 101 butt-jointly installed on the front face of the main body one 100, a switching unit 400 sleeved on the cable 101 and in adsorptive connection with the main body one 100, two groups of carrying units 500 butt-jointly installed on the switching unit 400, an adjusting unit 700 fixedly connected on one side of the top of the bottom plate 200, the adjusting unit 700 rotatably installed on the adjusting unit 700, a collection unit 600 clamped on the adjusting unit 700, and a storage unit 800 fixedly installed on the top surface of the bottom plate 200 and used for storing the collection unit 600.

[0055] The switching unit 400 comprises a sleeve pipe 401 and a switching seat 403, the front face of the main body one 100 is magnetically adsorbed with the sleeve pipe 401, the sleeve pipe 401 is sleeved on the cable 101, the two sides of the sleeve pipe 401 are fixedly connected with the switching seat 403, and the switching seat 403 is butt-jointly assembled with the collection unit 600; the carrying unit 500 comprises a main body two 501 and a pushing unit 510, the bottom of the switching seat 403 is assembled with the pushing unit 510, and the switching seat 403 is assembled with the main body two 501 through the pushing unit 510; the collection unit 600 comprises an outer shell 601, a butt-joint part 610 and a linking part 620; the adjusting unit 700 comprises an n-shaped frame 701, a guide frame 702, an electric rotating shaft two 703 and a clamping part, one side of the top of the main body one 100 is fixedly installed with the n-shaped frame 701, the n-shaped frame 701 is slidably installed with the guide frame 702, the electric rotating shaft two 703 is rotatably installed in the guide frame 702, the electric rotating shaft two 703 is fixedly connected with a mounting shell 712 through a connecting block 706, the mounting shell 712 is internally assembled with the extending clamping part, the outer end of the clamping part is fixedly connected with two groups of clamping plates 708, the top of the mounting shell 712 is fixedly installed with a carrier plate 704, the top of the carrier plate 704 is fixedly installed with an electric brush 705, the outer shell 601 is clamped between the clamping plates 708, and the outer shell 601 is internally assembled with the extending butt-joint part 610; the storage unit 800 comprises a storage bin 801, the top of the main body one 100 is fixedly installed with the storage bin 801, the storage bin 801 is located below the main body one 100, the port of the storage bin 801 is located below the n-shaped frame 701, and the storage bin 801 is used for externally slidingly receiving the outer shell 601.

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

[0057] The main body one 100: installed in the middle of the rack 201, built-in control system and power supply, the front face is adsorbed with the sleeve pipe 401 through the magnetic adsorption disc 402;

[0058] Carrying unit 500: through the adapter 403 both sides of the two groups of main body two 501, main body two 501 bottom push unit 510 and adapter 403 detachable connection, realize along the cable 101 back and forth transportation; Main body two 501 built-in control system and power supply;

[0059] Acquisition unit 600: fixed shell 601 by clamping components (clamping plate 708, gear 709, etc.), the acquisition tube 611 in the shell 601 is driven to insert into the seabed soil by the electric screw rod one 612, the driving part 613 controls the cover plate 618 to open and close to realize sealing sampling;

[0060] Adjusting unit 700: the guide frame 702 in the n type frame 701 adjusts the angle of the acquisition unit 600 through the electric shaft two 703, and the electric brush 705 assists in cleaning obstacles;

[0061] Storage unit 800: storage bin 801 drives push plate 802 by electric screw rod two 803, and pushes the standby shell 601 to the clamping plate 708 to complete the supply.

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

[0063] Expansion implementation of the grabbing unit 300:

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

[0065] Clamping jaw 301: used for clamping the acquisition tube 611 or the seabed ore, matched with the mesh plate 503 of the main body two 501 to load.

[0066] Application scenario: after the clamping jaw 301 grabs the ore, the motor one 502 turns over the mesh plate 503 to put the ore into the loading groove 504, and the water permeable hole drains water to reduce resistance.

[0067] In the embodiment, the adapter unit 400 further comprises a mounting block 404, a docking seat 405, a pullback block 408, an upper limiting block 409, the sleeve 401 and the main body 100 are fixedly connected with mutually adsorbed magnetic adsorption discs 402, the bottom of the adapter seat 403 is fixedly installed with the mounting block 404, the outer side of the mounting block 404 is fixedly installed with the docking seat 405, the inner wall of the docking seat 405 is provided with a clamping port, the inner side of the docking seat 405 is provided with a clamping port 406, the mounting block 404 below the docking seat 405 is provided with a plug port 407, the top of the adapter seat 403 is respectively horizontally and longitudinally slidably installed with the pullback block 408 and the upper limiting block 409, and the adapter seat 403 is elastically connected with the pullback block 408 and the upper limiting block 409; the top of the main body two 501 is provided with a loading groove 504, the inside of the loading groove 504 is movably installed with a screen plate 503 through a rotating shaft, the outer side of the main body two 501 is fixedly installed with a motor one 502, and the output end of the motor one 502 is connected with the rotating shaft, and the two sides of the main body two 501 are provided with water permeable holes in communication with the loading groove 504.

[0068] The linkage of the adapter unit 400 and the main body two 501;

[0069] The magnetic adsorption disc 402: realizes the quick adsorption / separation of the sleeve 401 and the main body one 100;

[0070] The plug block 514 and the plug port 407: ensure the mechanical locking of the mounting structure 511 and the adapter seat 403;

[0071] The electric rotating disc 516: drives the clamping joint 517 to be clamped with the clamping port, and promotes the mutual docking and fixing between the pushing unit 510 and the adapter unit 400;

[0072] The disengagement operation mode: the rotation of the electric rotating disc 516 makes the clamping joint 517 disengage, the main body two 501 moves independently, and the laser positioner outside the mounting structure 511 assists in resetting.

[0073] In the embodiment, the pushing unit 510 comprises a mounting structure 511, an electric rotating shaft 512, and a paddle 513. The mounting structure 511 is fixedly connected to the bottom of the main body 501, and the electric rotating shaft 512 is rotatably arranged in the mounting structure 511. The paddle 513 is fixedly connected to the shaft of the electric rotating shaft 512. The mounting box 513 is fixedly arranged on the top of the mounting structure 511. The plug-in block 514 is fixedly arranged on the mounting structure 511 below the mounting box 513, and is plugged into the plug-in port 407. The electric rotating disc 516 is rotatably arranged in the mounting box 513. The clamping joints 517 extending out of the mounting box 513 are limitingly arranged on the electric rotating disc 516. The butt joint 515 is fixedly arranged on the mounting box 513 between the clamping joints 517, and is butted with the butt joint seat 405. The clamping joints 517 are assembled with the clamping ports. The arc-shaped ports for guiding the clamping joints 517 are arranged on the electric rotating disc 516. The strip-shaped ports for guiding the clamping joints 517 are arranged on the outside of the mounting box 513.

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

[0075] The gear 709 and the toothed plate 710: The motor 2 707 drives the gear 709, so that the clamping plate 708 is clamped into the positioning port 602 of the outer shell body 601 through the positioning block 711.

[0076] The electric screw rod 1 612: composed of a motor and a threaded rod, drives the collecting pipe 611 to lift, and cooperates with the driving part 613 to control the opening and closing of the cover plate 618.

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

[0078] The positioning port 602: arranged on the top of the outer shell body 601, used for cooperating with the positioning block 711 on the clamping plate 708 to realize accurate clamping.

[0079] The sliding groove 603: located on one side of the outer shell body 601, and slidingly cooperates with the guide rail 805 in the storage bin 801 to ensure smooth movement of the outer shell body 601 when replenishing.

[0080] Collecting tube 611: fixed at the bottom of mounting plate 614, used for inserting into seabed sediment for sampling;

[0081] Electric screw rod 612: drives mounting plate 614 to move up and down along slide rod, controls the lifting of collecting tube 611;

[0082] Drive component 613: composed of motor, threaded sleeve rod and threaded rod, used for controlling the opening and closing of cover plate 618;

[0083] Movable shaft 616: hinged at the bottom of collecting tube 611, so that cover plate 618 can be flipped;

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

[0085] When drive component 613 is pushed down, movable joint 619 slides along slide rail 615, forcing cover plate 618 to open around movable shaft 616, and when drive component 613 retracts, movable joint 619 moves in the opposite direction, and cover plate 618 closes;

[0086] Rubber packing ring 617: covers the edge of cover plate 618 to ensure the sealing when closed, preventing seawater from seeping in.

[0087] In this embodiment, the storage unit 800 further comprises 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 at the top of the storage bin 801 and is in sliding connection with the sliding groove 603 on the outer shell 601. The bottom of the front end of the storage bin 801 is in butt joint with the limiting protrusion 804. The push plate 802 is slidably connected to the guide rail 805 in the storage bin 801. The electric screw rod 803 is arranged on one side of the storage bin 801 and is used to drive the push plate 802.

[0088] The guide rail 805 and the sliding groove 603: guide the outer shell 601 to slide into and out of the storage bin 801; when sliding in, it is to supply the outer shell 601, and when sliding out, it is to use the collection during the collection;

[0089] Electric screw rod 803: pushes the push plate 802 to push the outer shell 601 out and beyond the limiting protrusion 804. The outer shell 601 behind the limiting protrusion 804 prevents accidental falling;

[0090] Supply process: the push plate 802 pushes the outer shell 601 to the clamping plate 708, and the positioning block 711 is automatically clamped into the positioning port 602 after being flipped 90° under its own structure to complete 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] Second step, start the electric screw one 612 drive collection tube 611 to descend, make the bottom end of collection tube 611 and the bottom of water touch and stop, then start the drive component 613 to move downward, at this time the bottom end of drive component 613 pushes the movable joint 619, at this time the movable joint 619 slides on the slide rail 615, make the cover plate 618 turn over and open through the movable shaft 616, then start the electric screw one 612 to drive collection tube 611 to descend again, make collection tube 611 descend and insert into the soil, until the collected soil enters into collection tube 611 and exceeds the height of cover plate 618, finally recycle, when collection tube 611 separates from the soil, start drive component 613 to reset, make cover plate 618 turn over and close, so the soil under the sea will be collected into collection tube 611, and the seawater is blocked through the cooperation of rubber packing ring 617 on cover plate 618;

[0101] Start movable arm 302 to make joint movement, make clamp jaw 301 clamp and fix collection tube 611, then start motor two 707 to drive gear 709 to rotate, expand gear 709 to expand toothed plate 710, make positioning block 711 in clamping plate 708 release the clamping and fixing of outer shell 601, positioning port 602 on outer shell 601 separates from the positioning of positioning block 711, then drive movable arm 302 to rotate by using electric rotating seat 304, drive the clamped outer shell 601 to rotate, make collection tube 611 on outer shell 601 butt joint with adapter seat 403, so collection tube 611 can enter into adapter seat 403 and be clamped between upper limit block 409 and pull-back block 408 by drive component 613, complete assembly;

[0102] Third step, start paddle two 518, main body two 501 control rotating electric shaft one 512 to drive paddle two 518 to switch the pushing direction, at this time under the cooperation of paddle two 518, make mounting structure 511 drive adapter seat 403 to do walking work, at this time the collected outer shell 601 can move along with sleeve pipe 401 along cable 101, make the camera and searchlight on main body two 501 observe and advance, until the carried main body two 501 reaches the water surface, personnel push outer shell 601 inside, make drive component 613 pull back after passing through pull-back block 408, then under the guidance of pull-back block 408, make drive component 613 pass through pull-back block 408 and upper limit block 409 to come out of adapter seat 403;

[0103] Then lower main body two 501 along cable 101 to reset, until the magnetic suction disc 402 at the inner end of sleeve pipe 401 butt joint and adsorb with main body one 100, complete 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 is to be noted that, in the present text, relational terms such as first and second and the like can be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises", "comprising", or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can also include other elements not expressly listed or inherent to such process, method, article, or apparatus. An element proceeded by "comprises... a" does not, without more constraints, exclude the existence of additional identical elements in the process, method, article, or apparatus that comprises the element.

[0110] The above examples are merely used to illustrate the technical solutions of the present application, but not to limit it; although the present application has been described in detail with reference to the foregoing examples, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing examples, or make equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. An ocean underwater robot, characterized by, The utility model provides a kind of multi-functional data collection device, including: bottom plate, the top of bottom plate is fixedly installed with rack, the middle part of rack is fixedly installed with main body one, the rack on both sides of main body one is fixedly installed with paddle one, the front of main body one is installed with cable, cable is sleeved with switching unit connected with main body one suction, two groups of carrying unit are installed on switching unit, one side of the top of bottom plate is fixedly connected with adjusting unit, clamping unit is clamped on adjusting unit, the top of bottom plate is fixedly installed with storage unit for storing collection unit; The switching unit includes sleeve, switching seat, the front of main body one is magnetically attracted with sleeve, the sleeve is sleeved on cable, the both sides of sleeve are fixedly connected with switching seat, and the switching seat is connected with the collection unit, and the carrying unit is assembled in the bottom of switching seat;The switching unit further includes mounting block, docking seat, pullback block, upper limit block, the sleeve and main body one are fixedly connected with mutual suction magnetic suction disc, the bottom of switching seat is fixedly installed with mounting block, the outside of mounting block is fixedly installed with docking seat, and the inner wall of docking seat is provided with clamping interface, the inside of docking seat is provided with clamping interface, the mounting block below docking seat is provided with insertion interface, the top of switching seat is respectively transversely and longitudinally slidably installed with pullback block and upper limit block, and the switching seat and pullback block and upper limit block are elastically connected; The carrying unit includes main body two, push unit, the bottom of switching unit is assembled with push unit, and the main body two is assembled with switching unit through push unit; The collection unit includes shell, docking component, link component, the adjusting unit includes n-shaped frame, guide frame, electric rotating shaft two and clamping component, one side of the top of main body one is fixedly installed with n-shaped frame, the n-shaped frame is slidably installed with guide frame, the inside of guide frame is rotatably installed with electric rotating shaft two, the electric rotating shaft two is fixedly connected with mounting shell through connecting block, the inside of mounting shell is assembled with extending clamping component, and the outside of clamping component is fixedly connected with two sets of clamping plates, the top of mounting shell is fixedly installed with carrier plate, the top of carrier plate is fixedly installed with electric brush, the clamping plates are clamped with shell, the both sides of shell are fixedly connected with link component, and the link component is combined with switching unit, the inside of shell is assembled with extending docking component; The storage unit includes storage bin, the top of main body one is fixedly installed with storage bin, and the storage bin is below main body one, the port of storage bin is below n-shaped frame, and the storage bin is used for slidingly receiving shell;The storage unit further includes push plate, electric screw two, limiting protrusion and guide rail, the top of storage bin is fixedly installed with guide rail, and the guide rail is slidably connected with sliding groove on shell, the bottom of front end of storage bin is connected with limiting protrusion, the guide rail in storage bin is slidably connected with push plate for pushing shell, and one side of storage bin is assembled with electric screw two.

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

3. An underwater marine robot according to claim 1, characterized in that: The top of the main body two is provided with a loading groove, the inside of the loading groove is movably installed with a screen plate through a rotating shaft, the outer side of the main body two is fixedly installed with a motor one, the output end of the motor one is installed and connected with the rotating shaft, and the two sides of the main body two are provided with water permeable holes which are communicated with the loading groove.

4. An ocean underwater robot according to claim 3, characterized in that: The bottom of the main body two is fixedly connected with the inside of the mounting frame which is rotatably installed with the electric rotating shaft one, the shaft of the electric rotating shaft one is fixedly connected with the paddle two, the top of the mounting frame is fixedly installed with the mounting box, the mounting frame below the mounting box is fixedly connected with the plug-in block which is plug-in matched with the plug-in port, the inside of the mounting box is rotatably installed with the electric turntable, the electric turntable is limitingly installed with the clamping joints which extend out of the mounting box, the mounting box between the clamping joints is fixedly installed with the butt joint, the butt joint is butt joint matched with the butt joint seat, the clamping joints are mutually assembled with the clamping ports, the electric turntable is provided with the arc-shaped ports which are used for guiding the clamping joints, and the outer side of the mounting box is provided with the strip-shaped ports which are used for guiding the clamping joints.

5. An ocean underwater robot according to claim 1, characterized in that: The clamping component is composed of a gear, a toothed plate and a motor two, the inside of the mounting shell is rotatably installed with the gear, the inside of the mounting shell is butt joint installed with the toothed plate which extends out, the toothed plate is mutually engaged with the mounting shell, the clamping plate is fixedly connected with the outer end of the toothed plate, the inner side of the clamping plate is fixedly connected with the positioning block, the clamping plate is clamped with the outer shell body through the positioning block, the bottom of the mounting shell is fixedly installed with the motor two, the output shaft of the motor two is installed and connected with the gear, and the n-shaped frame is installed with the clamping plate which is used for driving the guide frame.

6. An ocean underwater robot according to claim 5, characterized in that: The two sides of the outer shell body are fixedly installed with the butt joint component, the butt joint component includes a collecting pipe and a driving component, the two sides of the outer shell body are fixedly installed with the collecting pipe, the top of the collecting pipe is provided with the electric screw one, the inside of the electric screw one is elastically installed with the driving component, the collecting pipe is plug-in matched with the back pulling block and the upper limiting block in the adapter seat through the electric screw one, the outer shell body above the butt joint component is provided with the positioning port, and one side of the outer shell body is provided with the sliding groove.

7. An ocean underwater robot according to claim 6, characterized in that: The butt joint component includes a collecting pipe, an electric screw one and a driving component, the inside of the outer shell body is slidably installed with the mounting plate through the sliding rod, the top of the outer shell body is fixedly connected with the electric screw one, the output end of the electric screw one penetrates and connects the mounting plate, the bottom of the mounting plate is fixedly installed with the collecting pipe, the top of the collecting pipe is fixedly installed with the driving component, the bottom of the collecting pipe is movably installed with the cover plate through the movable shaft, the edge of the cover plate is externally wrapped with the rubber ring, the top of the cover plate is fixedly connected with the sliding rail, the sliding rail is slidably connected with the movable joint, and the bottom of the driving component is movably hinged with the movable joint; the driving component is composed of a motor, a threaded sleeve rod and a threaded rod, the motor is fixedly connected with the top of the collecting pipe, the threaded sleeve rod is fixedly connected with the output end of the motor, the threaded rod is butt jointed with the threaded sleeve rod in a threaded mode, and the bottom of the threaded rod is movably hinged.

8. An ocean underwater robot according to claim 1, characterized in that: The butt joint component includes a butt joint plate, a butt joint groove and a lower limiting block, the two sides of the outer shell body are fixedly connected with the butt joint plate, the butt joint plate is butt joint assembled with the adapter seat, the top of the butt joint plate is provided with the butt joint groove, the inside of the butt joint groove is elastically installed with the lower limiting block which extends out, and the lower limiting block is plug-in matched with the back pulling block and the upper limiting block.

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