Deep sea excavating robot

Abstract

The utility model belongs to the field of underwater robots, and particularly relates to a deep sea excavation robot. The robot comprises a rack, a displacement mechanism, an excavating mechanism, a watertight mechanism, a driving mechanism and a rotating mechanism, the driving mechanism can provide power for the displacement mechanism, the excavating mechanism and the rotating mechanism, the watertight mechanism can meet the watertight requirement of the robot in the deep sea, and the excavating mechanism is installed on the side edge of the rack and rotationally connected with the rack. The displacement mechanism is installed at the bottom end of the rack through the rotating mechanism, and the rack can drive the excavating mechanism to rotate relative to the displacement mechanism in the circumferential direction. The excavating mechanism is arranged, the excavating mechanism can rotate by 360 degrees relative to the displacement mechanism through the rotating mechanism, the robot can achieve large-scale earthwork through the excavating mechanism, the excavating mechanism can achieve earthwork at any angle, and the beneficial effects of being high in efficiency, high in flexibility and wide in operation range are achieved.

Description

Technical Field

[0001] This application belongs to the field of underwater robots, and particularly relates to a deep-sea excavation robot. Background Art

[0002] With the increasing global demand for the development of marine resources, there is an urgent need for large-scale earthwork operations on the deep-sea seabed, such as subsea oil and gas exploitation, deep-sea mineral resource development, subsea engineering construction, etc.

[0003] Existing earthwork operations are generally achieved through underwater trenchers. The underwater trencher uses methods such as plow heads and spray nozzles to dig trenches for laying technical facilities such as pipelines, cables, and communication lines. For large-scale earthwork operations, the underwater trencher has low efficiency and unsatisfactory construction, and cannot efficiently complete large-scale earthwork operations.

[0004] Therefore, there is an urgent need for a deep-sea operation device that can efficiently complete large-scale earthwork operations. Content of the Utility Model

[0005] The purpose of this application is to provide a deep-sea excavation robot that can efficiently complete large-scale earthwork operations.

[0006] The embodiments of this application can be implemented through the following technical solutions:

[0007] A deep-sea excavation robot includes a frame, a displacement mechanism, an excavation mechanism, a watertight mechanism, a driving mechanism, and a slewing mechanism. The driving mechanism can provide power for the displacement mechanism, the excavation mechanism, and the slewing mechanism. The watertight mechanism can meet the watertight requirements of the robot in the deep sea. The excavation mechanism is installed on the side of the frame and is rotatably connected to the frame. The displacement mechanism is installed at the bottom of the frame through the slewing mechanism, and the frame can drive the excavation mechanism to rotate circumferentially relative to the displacement mechanism.

[0008] Further, the slewing mechanism includes a slewing bearing and a gear. A toothed ring is provided on the slewing bearing. The toothed ring is meshed and connected with the gear. The top end of the toothed ring is installed at the bottom end of the frame, and the bottom end is installed on the slewing bearing. The slewing bearing is connected to the top end of the displacement mechanism.

[0009] Further, the driving mechanism includes a first hydraulic driving mechanism. The first hydraulic driving mechanism includes a hydraulic motor and a hydraulic rotary joint. The output end of the hydraulic rotary joint is connected to the hydraulic motor, and the output end of the hydraulic motor is connected to the gear.

[0010] Further, the watertight mechanism includes compensating oil, and the compensating oil is filled between the slewing bearing and the frame and the displacement mechanism.

[0011] Preferably, the watertight mechanism further includes a pressure compensator, one end of which is connected to the compensation oil tank and the other end is connected to the hydraulic rotary joint.

[0012] Furthermore, the excavation mechanism includes an excavation robotic arm and a bucket. One end of the excavation robotic arm is rotatably connected to the frame, and the other end is rotatably connected to the bucket.

[0013] Preferably, a locking mechanism is further included. The locking mechanism is located between the excavation robotic arm and the bucket. One end of the locking mechanism is rotatably connected to the excavation robotic arm, and the other end is lockably connected to the bucket.

[0014] Furthermore, the locking mechanism includes a mounting platform, a link structure, a locking pin shaft, and a plug-in portion. A mating portion is provided at the top end of the bucket. The top end of the mounting platform is rotatably connected to the excavation robotic arm, and the bottom end is connected with the plug-in portion. The plug-in portion can accommodate the mating portion, and the plug-in portion and the mating portion are respectively provided with aligned pin holes. The output end of the link structure is connected to the locking pin shaft. The link structure can insert or pull out the locking pin shaft from the pin hole under the drive of the drive mechanism.

[0015] Furthermore, the link structure is mounted on the side of the plug-in portion and includes a link, a support rod, and a fourth pin shaft. The support rod is connected to the side of the plug-in portion. One end of the link is connected to the locking pin shaft, the middle is rotatably connected to the support rod through the fourth pin shaft, and the other end is connected to the drive mechanism;

[0016] The extending direction of the support rod is parallel to the extending direction of the locking pin shaft.

[0017] Furthermore, the locking mechanism further includes a stop structure, which is arranged at at least one position between the locking pin shaft and the pin hole, on the locking pin shaft, and in the pin hole to realize the relative stop connection between the locking pin shaft and the pin hole.

[0018] The deep-sea excavation robot provided by the embodiment of the present application has at least the following beneficial effects:

[0019] In the present application, by providing an excavation mechanism, and the excavation mechanism is rotatably connected to the displacement mechanism through a slewing mechanism, the excavation mechanism can rotate 360° relative to the displacement mechanism. On the one hand, large-scale earthwork operations can be realized through the excavation mechanism, improving the operation efficiency. On the other hand, the slewing mechanism enables the excavation mechanism to perform earthwork operations at any angle, avoiding the problem of adjusting the angle of the excavation mechanism through the displacement mechanism, further improving the operation efficiency, and greatly enhancing the operation range and flexibility of the robot underwater;

[0020] In this application, the bucket is quickly and lockably connected to the excavation robotic arm through a locking mechanism. After the excavation robotic arm completes earthwork operations such as excavation, the excavation robotic arm can achieve quick underwater replacement of the tooling to be replaced through the locking mechanism, without having to pull the robot back to the workboat to complete the replacement of the tooling. On the one hand, it has the advantages of time-saving, labor-saving, high work efficiency, and simple operation. On the other hand, it avoids the problem of multiple positioning and can greatly shorten the construction period of the robot's deep-sea operation.

[0021] A driving mechanism - a cycloidal motor is installed between the insertion part of the locking mechanism in this application and the installation platform, which can drive the insertion part to rotate circumferentially relative to the installation platform, thereby driving the bucket to rotate circumferentially synchronously, enabling the bucket to perform operations in different directions without the excavation robotic arm moving, thus further improving the operation efficiency and flexibility.

[0022] At both ends of the connecting rod in this application, a first elongated hole and a second elongated hole are respectively opened. The output end of the fourth hydraulic rod is movably connected to the first elongated hole of the connecting rod through a first protrusion, and the locking pin shaft is movably connected to the second elongated hole of the connecting rod through a second protrusion, enabling the fourth hydraulic rod to give a certain displacement space to the first protrusion and the second protrusion when driving the connecting rod to rotate around the fourth pin shaft, avoiding the problem of part wear caused by pulling the fourth hydraulic rod and the locking pin shaft during the rotation of the connecting rod, and also ensuring the flexibility of the connection structure and the cooperation of the locking pin shaft.

[0023] The frame of this application is also equipped with an armored cable cutting tooling, a flushing and suction tooling, an underwater cutting saw tooling, and a buoyancy cable cutting tooling, enabling the robot to complete all operations in one dive, saving the time for multiple recoveries, lowerings, and real-time positioning during the recovery and lowering processes, avoiding multiple repeated positionings, and greatly improving the working efficiency of the robot. Description of the Drawings

[0024] Figure 1 It is the overall structure diagram of the deep-sea excavation robot in this application;

[0025] Figure 2 It is the overall structure diagram of the deep-sea excavation robot from another angle in this application;

[0026] Figure 3 It is the cross-sectional view of the deep-sea excavation robot in this application;

[0027] Figure 4 It is the overall structure diagram of the connection between the locking mechanism and the bucket in this application;

[0028] Figure 5 It is the overall structure diagram of the locking mechanism in this application;

[0029] Figure 6Explosion diagram of the locking mechanism and the bucket in this application;

[0030] Figure 7 Side view of the bucket approaching the locking mechanism and the locking mechanism not being opened in this application;

[0031] Figure 8 Side view of the bucket approaching the locking mechanism and the locking mechanism being opened in this application;

[0032] Figure 9 Side view of the bucket being inserted into the locking mechanism and the locking mechanism not being locked in this application;

[0033] Figure 10 Side view of the bucket being inserted into the locking mechanism and the locking mechanism being locked in this application.

[0034] Reference numerals: 1, frame; 2, displacement mechanism; 21, crawler chassis; 22, crawler; 3, excavation mechanism; 31, excavation robotic arm; 311, first robotic arm; 312, second robotic arm; 32, bucket; 321, mating part; 33, first pin shaft; 34, second pin shaft; 35, third pin shaft; 41, compensation oil; 42, pressure compensator; 511, hydraulic motor; 512, hydraulic rotary joint; 52, first hydraulic rod; 53, second hydraulic rod; 54, third hydraulic rod; 55, fourth hydraulic rod; 56, cycloidal motor; 6, slewing mechanism; 61, slewing bearing; 62, gear; 63, gear ring; 7, locking mechanism; 71, mounting platform; 72, connecting rod structure; 721, connecting rod; 722, support rod; 723, fourth pin shaft; 73, locking pin shaft; 74, insertion part; 8, armored cable cutting tooling; 9, flushing and suction tooling; 10, underwater cutting saw tooling; 11, buoyancy cable cutting tooling. Detailed implementation manners

[0035] Hereinafter, this application will be further described based on the preferred implementation manners with reference to the drawings.

[0036] The vocabulary in this specification is used to describe the embodiments of this application, but is not intended to limit this application. Unless otherwise clearly specified and defined, if terms such as "arranged", "connected", "linked" are used, they should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, a direct connection, or an indirect connection through an intermediate medium, and it can be the communication inside two components. For those skilled in the art, the specific meanings of the above terms in this application can be specifically understood.

[0037] In addition, in the description of the embodiments of this application, for the convenience of understanding, various components in the drawings are enlarged or reduced, but this approach is not intended to limit the protection scope of this application.

[0038] Different from land earthwork operations, deep-sea robots need to overcome the buoyancy and pressure of water when operating in the deep sea. When carrying out earthwork operations, there are various problems such as inconvenient construction, many construction condition restrictions, and non-intuitive observation of construction conditions. As a result, the control and operation difficulty of deep-sea robots during underwater operations is many times that of land operations.

[0039] This application provides a deep-sea excavation robot. The deep-sea excavation robot is lowered to the seabed by a deployment and recovery device on an operation ship. Due to complex seabed environments such as ocean currents, seabed organisms, and seabed plants, it is necessary to real-time locate the position of the deep-sea excavation robot during the process of lowering it to the seabed to ensure that the deep-sea excavation robot can be lowered within a circle with a preset position as the center and a certain distance as the radius.

[0040] Specifically, Figure 1 and Figure 2 respectively show the overall structure diagrams of the deep-sea excavation robot in this application from different angles. As Figure 1 and Figure 2 shown, the robot includes a frame 1, a displacement mechanism 2, an excavation mechanism 3, a watertight mechanism, and a driving mechanism. The driving mechanism can provide power for the displacement mechanism 2 and the excavation mechanism 3. The excavation mechanism 3 is installed on the side of the frame 1 and is rotatably connected to the frame 1, and can efficiently complete earthwork operations through vertical movement. The displacement mechanism 2 is installed at the bottom of the frame 1 and can be displaced in different directions under the drive of the driving mechanism to meet the operation requirements of the robot in different directions. The watertight mechanism is used to meet the watertight requirements of the robot in the deep sea and ensure the operation safety and stability of each electronic component.

[0041] Furthermore, the deep-sea depth at which the deep-sea excavation robot operates is often as high as several thousand meters. During the lowering and recovery processes, to avoid the huge impact of the complex seabed environment on the robot, it is necessary to carefully adjust the attitude of the robot in real time through the deployment and recovery device based on the real-time positioning situation. This makes the lowering or recovery time reach more than 12 hours, consuming a great deal of manpower and energy, and can only ensure that the robot is lowered to a suitable area, and cannot ensure that the excavation mechanism 3 of the robot is directly facing the operation position after being lowered. If the excavation mechanism 3 after being lowered is not directly facing the operation position, it is necessary to adjust the attitude of the robot through the displacement mechanism 2 in the deep-sea environment to adjust the relative position between the excavation mechanism 3 and the operation position. This method has problems of low efficiency and poor flexibility.

[0042] Based on this problem, as Figure 3As shown in the figure, the robot in this application further includes a slewing mechanism 6. The slewing mechanism 6 is located between the frame 1 and the displacement mechanism 2. The frame 1 can achieve relative rotation with the displacement mechanism 2 through the slewing mechanism 6, thereby driving the excavation mechanism 3 to rotate relative to the displacement mechanism 2, that is, the excavation mechanism 3 can achieve 360° rotation through the slewing mechanism 6. The slewing mechanism 6 enables the excavation mechanism 3 to perform earthwork operations at any angle, avoiding the problem of adjusting the angle of the excavation mechanism 3 through the displacement mechanism 2, and has the advantages of high efficiency and high flexibility, greatly increasing the underwater operation range of the robot.

[0043] Further, the slewing mechanism 6 includes a slewing bearing 61 and a gear 62. A gear ring 63 is provided on the slewing bearing 61. The gear ring 63 is meshed and connected with the gear 62. The top end of the gear ring 63 is installed at the bottom end of the frame 1, and the bottom end is installed at the top end of the slewing bearing 61. The slewing bearing 61 is connected to the top end of the displacement mechanism 2. The driving mechanism can drive the gear 62 to rotate, and then drive the gear ring 63 to rotate. Since the slewing bearing 61 is connected to the top end of the displacement mechanism 2, the rotation of the gear 62 can drive the frame 1, the excavation mechanism 3, the gear ring 63 and the slewing bearing 61 to rotate circumferentially relative to the displacement mechanism 2.

[0044] It should be noted that the central angle corresponding to the gear ring 63 is 360°, Figure 3 and the gear ring 63 in the figure is intercepted by the hatching line so that the central angle corresponding to the gear ring 63 in this figure is less than 360°.

[0045] In some specific embodiments of this application, the driving mechanism includes a first hydraulic driving mechanism. The output end of the first hydraulic driving mechanism is connected to the gear 62 and can drive the gear 62 to rotate.

[0046] Further, the first hydraulic driving mechanism includes a hydraulic motor 511 and a hydraulic rotary joint 512. The output end of the hydraulic rotary joint 512 is connected to the hydraulic motor 511, and the output end of the hydraulic motor 511 is connected to the gear 62. The hydraulic rotary joint 512 can rotate synchronously with the slewing bearing 61, which can avoid the problems of winding and wear of the hydraulic pipe in the hydraulic rotary joint 512 due to rotation.

[0047] Further, to achieve the watertightness of the slewing mechanism 6, the watertight mechanism includes compensating oil 41. The compensating oil 41 is filled between the slewing bearing 61 and the frame 1 and the displacement mechanism 2.

[0048] In some preferred embodiments of this application, the watertight mechanism further includes a pressure compensator 42. One end of the pressure compensator 42 is connected to the compensating oil chamber, and the other end is connected to the hydraulic rotary joint 512, so that the pressure inside and outside the chamber is the same to achieve deep-sea pressure-resistant sealing. In addition, the pressure compensator 42 can also play a lubricating role, ensuring the working efficiency on the basis of ensuring smooth and stable operation, and can extend the service life.

[0049] Further, as Figures 1 - 3 shown, the excavation mechanism 3 includes an excavation robotic arm 31 and a bucket 32. One end of the excavation robotic arm 31 is rotatably connected to the frame 1, and the other end is rotatably connected to the bucket 32. The driving mechanism can drive the excavation robotic arm 31 to rotate relative to the frame 1, so as to align the bucket 32 with the working position. The driving mechanism can also drive the bucket 32 to rotate relative to the excavation robotic arm 31, so as to realize the soil excavation process of the bucket 32.

[0050] Specifically, the excavation robotic arm 31 includes a first robotic arm 311 and a second robotic arm 312. One end of the first robotic arm 311 is rotatably connected to the frame 1, and the other end is rotatably connected to the second robotic arm 312. One end of the second robotic arm 312 is rotatably connected to the bucket 32. The driving mechanism can drive either the first robotic arm 311 to rotate relative to the frame 1 or the second robotic arm 312 to rotate relative to the first robotic arm 311.

[0051] In some specific embodiments of the present application, both ends of the first robotic arm 311 are rotatably connected to the frame 1 and the second robotic arm 312 through a first pin shaft 33 and a second pin shaft 34 respectively. One end of the second robotic arm 312 is rotatably connected to the bucket 32 through a third pin shaft 35.

[0052] In some specific embodiments of the present application, the driving mechanism further includes a first hydraulic rod 52. The fixed end of the first hydraulic rod 52 is connected to the frame 1 through a lug, and the movable end is connected to a non-end position of the first robotic arm 311. When the movable end of the first hydraulic rod 52 extends or contracts, it will drive the first robotic arm 311 to rotate around the first pin shaft 33, so that the first robotic arm 311 can rotate relative to the frame 1.

[0053] Further, the driving mechanism further includes a second hydraulic rod 53. The fixed end of the second hydraulic rod 53 is connected to a non-end position of the first robotic arm 311 through a lug, and the movable end is connected to one end of the second robotic arm 312 close to the first robotic arm 311. When the movable end of the second hydraulic rod 53 extends or contracts, it will drive the second robotic arm 312 to rotate around the second pin shaft 34, so that the second robotic arm 312 can rotate relative to the first robotic arm 311.

[0054] Further, the driving mechanism further includes a third hydraulic rod 54. The fixed end of the third hydraulic rod 54 is connected to the second robotic arm 312 through a lug, and the movable end is connected to the bucket 32. When the movable end of the third hydraulic rod 54 extends or contracts, it will drive the bucket 32 to rotate around the third pin shaft 35, so that the bucket 32 can rotate relative to the second robotic arm 312.

[0055] It is conceivable that the excavating robotic arm 31 in the present application has a two-section structure. In actual production and life, the excavating robotic arm 31 can be set to various multi-section structures such as a three-section structure and a four-section structure, so as to achieve higher operation flexibility and working efficiency on the premise of meeting the working range and working environment of the robot.

[0056] Based on the earthwork operation in the present application, after the excavating mechanism 3 completes earthwork operations such as excavation, there is a possibility of needing to replace other tooling to complete other operations. The replacement of the existing tooling needs to pull the robot back to the operation ship through the deployment and recovery device. After the tooling replacement is completed, the robot needs to be lowered to the deep-sea seabed through the deployment and recovery device to continue the operation. During the process of the robot reciprocating to and from the operation ship, it is necessary to ensure the stability and safety of the displacement of the robot in the water depth direction through real-time positioning, which has the problems of wasting manpower, material resources and low efficiency.

[0057] Based on this problem, the robot in the present application further includes a locking mechanism 7, as Figure 4 and Figure 5 shown. The locking mechanism 7 is located between the second robotic arm 312 and the bucket 32. The top end of the locking mechanism 7 is rotatably connected to the second robotic arm 312 through a third pin shaft 35, and the bottom end is lockably connected to the bucket 32.

[0058] Figures 6 - 10 Respectively show the structural diagrams of various states of the cooperation between the locking mechanism 7 and the bucket 32. As Figures 6 - 10 shown, the locking mechanism 7 is connected to the driving mechanism and can be switched between the locked state and the unlocked state of the locking mechanism 7 and the bucket 32 under the drive of the driving mechanism. Specifically, the locking mechanism 7 includes an installation platform 71, a connecting rod structure 72, a locking pin shaft 73 and a plug-in part 74. A matching part 321 is provided at the top end of the bucket 32. The top end of the installation platform 71 can be connected to the second robotic arm 312 and the third hydraulic rod 54 through structures such as a lifting lug. The bottom end is connected with a plug-in part 74. The plug-in part 74 can accommodate the matching part 321, and the plug-in part 74 and the matching part 321 are respectively provided with aligned pin holes. The output end of the connecting rod structure 72 is connected to the locking pin shaft 73. The connecting rod structure 72 can insert or pull out the locking pin shaft 73 from the pin hole under the drive of the driving mechanism, so as to realize the switching between the locked state and the unlocked state of the locking mechanism 7 and the bucket 32. Through the setting of the locking mechanism 7 in the present application, only underwater operators need to align the tooling to be replaced through the second robotic arm 312 and lock it through the locking mechanism 7 to fix the second robotic arm 312 and the replaced tooling. After the tooling replacement is completed, the operation can be directly carried out. As can be seen from the above, through the setting of the locking mechanism 7 in the present application, the robot can realize the rapid replacement of the tooling underwater without recovering the entire robot to the water surface for replacement, which has the advantages of time-saving, labor-saving, high working efficiency and simple operation, and can greatly shorten the construction period of the robot's deep-sea operation.

[0059] Specifically, the connecting rod structure 72 is installed on the side of the insertion part 74. The connecting rod structure 72 includes a connecting rod 721, a support rod 722, and a fourth pin shaft 723. The support rod 722 is connected to the side of the insertion part 74. One end of the connecting rod 721 is connected to the locking pin shaft 73, and the middle is rotatably connected to the support rod 722 through the fourth pin shaft 723. The other end is connected to the driving mechanism. The driving mechanism can drive one end of the connecting rod 721 to move in a direction close to or away from the insertion part 74. Under the action of the fourth pin shaft 723, the locking pin shaft 73 will move in a direction away from or close to the insertion part 74, so as to realize the pulling out or insertion of the locking pin shaft 73 from the pin hole.

[0060] Further, the extending direction of the support rod 722 is parallel to the extending direction of the locking pin shaft 73.

[0061] In some specific embodiments of the present application, the driving mechanism further includes a fourth hydraulic rod 55. The fixed end of the fourth hydraulic rod 55 is connected to the side of the insertion part 74, the movable end is connected to one end of the connecting rod 721, and the extending direction is parallel to the extending direction of the support rod 722.

[0062] Further, a first elongated hole and a second elongated hole are respectively formed at both ends of the connecting rod 721 along its length. The output end of the fourth hydraulic rod 55 is movably connected to the connecting rod 721 through the first elongated hole, and the locking pin shaft 73 is movably connected to the connecting rod 721 through the second elongated hole. A first protrusion cooperating with the first elongated hole is provided at the output end of the fourth hydraulic rod 55, and a second protrusion cooperating with the second elongated hole is provided on the locking pin shaft 73. The first protrusion and the second protrusion can be respectively received in the first elongated hole and the second elongated hole and movably connected to the first elongated hole and the second elongated hole, so that when the fourth hydraulic rod 55 drives the connecting rod 721 to rotate around the fourth pin shaft 723, a certain displacement space is given to the first protrusion and the second protrusion, avoiding the problem of part loss caused by pulling the fourth hydraulic rod 55 and the locking pin shaft 73 during the rotation of the connecting rod 721, and also ensuring the flexibility of the cooperation between the connecting rod structure 72 and the locking pin shaft 73.

[0063] Further, a limiting block is respectively provided at one end of the first protrusion and the second protrusion along their length directions, which can prevent the first protrusion and the second protrusion from falling off from the first elongated hole and the second elongated hole.

[0064] In some preferred embodiments of the present application, to ensure the locking effect of the locking pin shaft 73, the locking mechanism 7 further includes a stopping structure, and the stopping structure is arranged at at least one position among the locking pin shaft 73 and the pin hole, between the locking pin shaft 73 and the pin hole, so as to realize the relative stopping connection between the locking pin shaft 73 and the pin hole, so that the locking pin shaft 73 does not rotate circumferentially along its own axis after being locked, thus ensuring the stability of the locking.

[0065] In a specific embodiment of the present application, an anti-rotation structure is provided at the tail of the locking pin shaft 73 to achieve a stop connection between the locking pin shaft 73 and the pin hole.

[0066] In some other embodiments of the present application, the locking pin shaft 73 can also be set in various regular or irregular shapes such as oval, square, triangular, pentagram, etc. The pin hole is set as a hole-shaped structure matching the shape of the locking pin shaft, and a stable locking effect can also be achieved through the cooperation of protrusions and grooves. No matter what kind of structure is used for limiting, as long as the stable locking between the locking pin shaft 73 and the pin hole can be achieved.

[0067] In some preferred embodiments of the present application, the drive mechanism further includes a cycloidal motor 56. The cycloidal motor 56 is installed between the insertion part 74 and the installation platform 71. The cycloidal motor 56 can drive the insertion part 74 to rotate circumferentially relative to the installation platform 71, thereby driving the connecting rod structure 72, the locking pin shaft 73, the insertion part 74, and the bucket 32 to rotate circumferentially synchronously, so that the bucket 32 can perform operations in different directions without the excavation boom 31 moving, thereby further improving the operation efficiency and flexibility.

[0068] In some preferred embodiments of the present application, an armored cable cutting tooling 8, a flushing and suction tooling 9, an underwater cutting saw tooling 10, and a buoyancy cable cutting tooling 11 are further assembled on the frame 1 of the robot. The armored cable cutting tooling is used to cut the armored cable. The flushing and suction tooling is used to flush and suck the seabed sand and soil to facilitate the robot to clear obstacles such as sand and stones on the surface of the target operation object. The underwater cutting saw tooling is used to cut underwater rocks, plants, etc. The buoyancy cable cutting tooling is used to cut the buoyancy cable. These toolings cooperate with the excavation mechanism 3, so that the robot can complete all operations in one dive, saving the time of multiple recoveries, lowerings, and real-time positioning during the recovery and lowering processes, avoiding multiple repeated positionings, and greatly improving the working efficiency of the robot.

[0069] In some preferred embodiments of the present application, to ensure the operation range of the excavation mechanism 3, the excavation mechanism 3 is assembled on one side of the frame 1, and the armored cable cutting tooling 8, the flushing and suction tooling 9, the underwater cutting saw tooling 10, and the buoyancy cable cutting tooling 11 are assembled on the other side of the frame 1, arranged opposite to the excavation mechanism 3.

[0070] In some specific embodiments of the present application, a camera illumination system and a sonar are further assembled on the frame 1. When the water quality is clear, the surrounding environment can be observed through the camera illumination system. The water quality state can be detected by the sonar and the distance between the robot and surrounding objects can be displayed in real time to prevent the robot from colliding with surrounding objects.

[0071] In some specific embodiments of the present application, the displacement mechanism 2 includes a crawler chassis 21 and crawlers 22 mounted on both sides of the crawler chassis 21. The slewing mechanism 6 is mounted on the top of the crawler chassis 21. The driving mechanism can drive the crawlers 22 to rotate clockwise or counterclockwise to achieve the movement of the robot in all directions. On the one hand, the crawler design enables the robot to provide sufficient adhesion and traction on soft mud bottoms, rocky bottoms or seaweed-covered areas, ensuring that the robot can move smoothly and complete tasks. On the other hand, the crawler design increases the contact area between the robot and the seabed, thereby improving stability, and further ensuring that the robot can maintain high precision and reliability when performing precise operations. On the other hand, the crawler design enables the robot to easily cross obstacles on the seabed, such as reefs, sunken shipwrecks, etc. This obstacle-crossing ability is crucial for performing complex underwater operation tasks and can greatly improve the operation efficiency and success rate.

[0072] In some preferred embodiments of the present application, the robot communicates with the workboat through USB positioning and realizes real-time positioning through a point-to-point method, ensuring the accuracy and precision of the robot positioning.

[0073] The specific embodiments of the present application have been introduced in detail above. For those skilled in the art of this technology, without departing from the principle of the present application, several improvements and modifications can still be made to the present application, and these improvements and modifications also fall within the protection scope of the claims of the present application.

Claims

1. A deep-sea excavation robot, characterized in that: The robot comprises a frame (1), a displacement mechanism (2), an excavation mechanism (3), a watertight mechanism, a driving mechanism and a slewing mechanism (6); the driving mechanism can provide power for the displacement mechanism (2), the excavation mechanism (3) and the slewing mechanism (6); the watertight mechanism can meet the watertight requirements of the robot in the deep sea; the excavation mechanism (3) is installed on the side of the frame (1) and is rotatably connected to the frame (1); the displacement mechanism (2) is installed on the bottom end of the frame (1) via the slewing mechanism (6); and the frame (1) can drive the excavation mechanism (3) to rotate circumferentially relative to the displacement mechanism (2).

2. A deep-sea excavation robot according to claim 1, characterized in that: The slewing mechanism (6) comprises a slewing bearing (61) and a gear (62); a gear ring (63) is arranged on the slewing bearing (61); the gear ring (63) is meshingly connected with the gear (62); the top end of the gear ring (63) is mounted on the bottom end of the frame (1); the bottom end is mounted on the slewing bearing (61); and the slewing bearing (61) is connected to the top end of the displacement mechanism (2).

3. A deep-sea excavation robot according to claim 2, characterized in that: The driving mechanism comprises a first hydraulic driving mechanism, the first hydraulic driving mechanism comprises a hydraulic motor (511) and a hydraulic rotary joint (512), the output end of the hydraulic rotary joint (512) is connected to the hydraulic motor (511), and the output end of the hydraulic motor (511) is connected to the gear (62).

4. A deep-sea excavation robot according to claim 3, characterized in that: The watertight mechanism comprises compensation oil (41), and the compensation oil (41) is filled between the slewing bearing (61), the frame (1), and the displacement mechanism (2).

5. A deep-sea excavation robot according to claim 4, characterized in that: The watertight mechanism further comprises a pressure compensator (42), one end of the pressure compensator (42) being connected to the compensation oil tank, and the other end of the pressure compensator (42) being connected to the hydraulic rotary joint (512).

6. A deep-sea excavation robot according to claim 1, characterized in that: The excavation mechanism (3) comprises an excavation mechanical arm (31) and a bucket (32); one end of the excavation mechanical arm (31) is rotatably connected to the frame (1), and the other end is rotatably connected to the bucket (32).

7. A deep-sea excavation robot according to claim 6, characterized in that: It also includes a locking mechanism (7), which is located between the excavator arm (31) and the bucket (32), one end of the locking mechanism (7) is rotatably connected to the excavator arm (31), and the other end is lockably connected to the bucket (32).

8. A deep-sea excavation robot according to claim 7, characterized in that: The locking mechanism (7) comprises a mounting platform (71), a connecting rod structure (72), a locking pin shaft (73) and a plug-in portion (74); a matching portion (321) is arranged at the top of the bucket (32); the top of the mounting platform (71) is rotatably connected to the excavator arm (31); the bottom of the mounting platform (71) is connected to the plug-in portion (74); the plug-in portion (74) can accommodate the matching portion (321); and the plug-in portion (74) and the matching portion (321) are respectively provided with aligned pin shaft holes; the output end of the connecting rod structure (72) is connected to the locking pin shaft (73); and the connecting rod structure (72) can insert or pull out the locking pin shaft (73) from the pin shaft hole under the drive of the driving mechanism.

9. A deep-sea excavation robot according to claim 8, characterized in that: The connecting rod structure (72) is installed on the side of the plug-in portion (74), and comprises a connecting rod (721), a supporting rod (722) and a fourth pin shaft (723); the supporting rod (722) is connected to the side of the plug-in portion (74); one end of the connecting rod (721) is connected to the locking pin shaft (73); the middle is rotatably connected to the supporting rod (722) through the fourth pin shaft (723); and the other end is connected to the driving mechanism; The extension direction of the support rod (722) is parallel to the extension direction of the locking pin shaft (73).

10. A deep-sea excavation robot according to claim 8, characterized in that: The locking mechanism also includes a stop structure, which is arranged between the locking pin (73) and the pin hole, or at least one position in the locking pin (73) and the pin hole, so as to achieve a relative stop connection between the locking pin (73) and the pin hole.

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