Skid plate and punching and burying robot

Abstract

The utility model belongs to the technical field of underwater robots, and particularly relates to a skid plate and a flushing and burying robot. The problem that the weight of a skid plate of a related punching and burying robot is difficult to adjust is solved. According to the skid plate and the flushing and burying robot, the skid plate is arranged to be of the structure with the cavity, the water injection opening is formed in the rear end of the skid plate, and water can be added into the cavity through the water injection opening so that the weight of the skid plate can be adjusted. When the surface of the seabed contains more gravel, the cavity is filled with water to increase the weight of the skid plate and the flushing and burying robot, so that the whole flushing and burying robot sinks to a certain depth, and the burying depth of the submarine cable is increased; when the seabed is soft, the control valve is opened to empty water in the cavity, so that the weight of the skid plate and the flushing and burying robot is reduced, the overall sinking amount of the skid plate is reduced, the flushing and burying robot can be pushed forwards more easily, and therefore the different use scenes of the flushing and burying robot are met.

Description

Technical Field

[0001] The embodiments of the present application relate to the technical field of underwater robots, and in particular, to a skid plate and a burying robot. Background Art

[0002] A submarine cable is a cable wrapped with insulating material and laid on the seabed for telecommunication transmission. A burying robot is a robot used for cable laying and maintenance in an underwater environment. The burying robot can cut the seabed to form a cable trench and bury the submarine cable in the cable trench, thereby realizing the laying of the submarine cable.

[0003] In the related art, the burying robot has a skid plate. When the burying robot works on the seabed, the skid plate serves as the contact surface with the seabed to bear the underwater weight of the burying robot, so that the burying robot can realize the walking function under the propulsion of the underwater propeller system.

[0004] However, during the process of the related burying robot moving on the seabed, the weight of the skid plate cannot be adjusted, resulting in the difficulty for the burying robot to meet different usage scenarios. Summary of the Utility Model

[0005] In view of this, the main purpose of the embodiments of the present application is to provide a skid plate and a burying robot to solve the technical problem that the weight of the skid plate of the related burying robot is difficult to adjust.

[0006] To achieve the above object, the embodiments of the present application provide a skid plate, including an upper plate body, a lower plate body, a front end plate, a rear end plate, a connecting member and a control valve;

[0007] The upper plate body is located on the top of the lower plate body. The front end plate closes the front ends of the upper plate body and the lower plate body. The rear end plate closes the rear ends of the upper plate body and the lower plate body. The upper plate body, the lower plate body, the front end plate and the rear end plate enclose a hollow cavity, and the length of the cavity in the height direction of the skid plate decreases from the center of the cavity to both ends along the width direction of the skid plate;

[0008] The connecting member is arranged on the top of the upper plate body and is used for connecting with the burying robot;

[0009] The rear end plate is provided with a water injection port, and the water injection port is communicated with the cavity;

[0010] The skid plate further includes a control valve, and the control valve is arranged at the water injection port.

[0011] In some embodiments that may include the above embodiments, the skid plate includes an end segment and a main body segment, and the end segment is adjacent to the front end of the main body segment; the end segment slopes upward from one end close to the main body segment to the other end away from the main body segment, and the length of the end segment in the width direction gradually decreases from one end close to the main body segment to the other end away from the main body segment.

[0012] In some embodiments that may include the above embodiments, the main body segment includes an upper main body segment, and both ends of the upper main body segment in the width direction have lower sliding main plates. In the width direction, the lower sliding main plates slope downward from one end away from the edge of the upper plate body to the other end close to the edge of the upper plate body; the end segment includes an upper end segment, and the upper end segment and the upper main body segment form the upper plate body. Both ends of the upper end segment in the width direction have lower sliding end plates, and the lower sliding end plates and the lower sliding main plates are adjacent to each other in the length direction of the skid plate. The lower sliding end plates slope upward from one end close to the lower sliding main plates to the other end away from the lower sliding main plates; in the width direction, the lower sliding end plates slope downward from one end away from the edge of the upper plate body to the other end close to the edge of the upper plate body.

[0013] In some embodiments that may include the above embodiments, the upper main body segment further has a connecting main plate, and the connecting main plate is located between the lower sliding main plates at both ends in the width direction. The connecting member is arranged on the top of the connecting main plate; the upper end segment further has a connecting end plate, and the connecting end plate is located between the lower sliding end plates at both ends in the width direction. The connecting end plate and the connecting main plate are adjacent to each other in the length direction.

[0014] In some embodiments that may include the above embodiments, a maintenance opening is formed on the connecting main plate, and the maintenance opening communicates with the cavity; the skid plate further includes a sealing member, the sealing member covers the maintenance opening, and the sealing member is detachably connected to the connecting main plate.

[0015] In some embodiments that may include the above embodiments, the main body section includes a lower main body section, the lower main body section includes a first lower main board and a second lower main board that are adjacent to each other in the width direction, the first lower main board is inclined upward from the end close to the second lower main board to the end far from the second lower main board, and the second lower main board is inclined upward from the end close to the first lower main board to the end far from the first lower main board; the end section includes a lower end section, the lower end section and the lower main body section form the lower plate body, and the lower end section includes a first lower end board and a second lower end board that are adjacent to each other in the width direction; the first lower end board and the first lower main board are adjacent to each other in the length direction of the skid plate, and the first lower end board is inclined upward from the end close to the first lower main board to the end far from the first lower main board; the second lower end board and the second lower main board are adjacent to each other in the length direction, and the second lower end board is inclined upward from the end close to the second lower main board to the end far from the second lower main board; the first lower end board is inclined upward from the end close to the second lower end board to the end far from the second lower end board, and the second lower end board is inclined upward from the end close to the first lower end board to the end far from the first lower end board.

[0016] In some embodiments that may include the above embodiments, the skid plate further includes a plurality of reinforcing members, the plurality of reinforcing members are arranged at intervals in the length direction of the skid plate in the cavity, and the cavities on both sides of the reinforcing member in the length direction are communicated; the top end of the reinforcing member extends to the upper plate body, and the bottom end of the reinforcing member extends to the lower plate body.

[0017] In some embodiments that may include the above embodiments, the reinforcing member includes a reinforcing plate, the edge of the reinforcing plate is connected to the inner wall of the cavity, and a communication port is formed on the reinforcing plate.

[0018] In some embodiments that may include the above embodiments, the skid plate further includes a support plate, the support plate is inclined relative to the horizontal direction, the top end of the support plate is connected to the edge of the upper plate body in the width direction, and the bottom end of the support plate is connected to the edge of the lower plate body in the width direction.

[0019] The embodiment of the present application further provides a punching and burying robot, including the skid plate according to any one of the above embodiments.

[0020] The skid plate and the burying robot provided by the embodiment of the present application include an upper plate body, a lower plate body, a front end plate, a rear end plate, a connecting member, and a control valve; the upper plate body is located on the top of the lower plate body, the front end plate is closed at the front ends of the upper plate body and the lower plate body, the rear end plate is closed at the rear ends of the upper plate body and the lower plate body, and the upper plate body, the lower plate body, the front end plate, and the rear end plate enclose a hollow cavity, and the length of the cavity in the height direction of the skid plate decreases from the center of the cavity to both ends along the width direction of the skid plate; the connecting member is arranged on the top of the upper plate body and is used for connecting with the burying robot; a water injection port is arranged on the rear end plate, and the water injection port is communicated with the cavity; the skid plate further includes a control valve, and the control valve is arranged at the water injection port. Through the above arrangement, water can be added into the cavity through the water injection port to adjust the weight of the skid plate. When there is a lot of sand and gravel on the seabed surface, the cavity can be filled with water to increase the weight of the skid plate, and then increase the overall weight of the burying robot, so that the burying robot sinks to a certain depth as a whole, thereby increasing the burying depth of the submarine cable and improving the protection effect on the submarine cable; when the seabed is relatively soft, the resistance for the burying robot to move forward is large. At this time, the control valve can be opened to drain the water in the cavity to reduce the weight of the skid plate, and then reduce the overall weight of the burying robot, reduce the overall subsidence amount of the skid plate, and make the burying robot easier to be pushed forward, so as to meet different usage scenarios of the burying robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0022] Figure 1 It is a schematic structural diagram of the skid plate provided by the embodiment of the present application from the first perspective;

[0023] Figure 2 It is a schematic structural diagram of the skid plate provided by the embodiment of the present application from the second perspective;

[0024] Figure 3 It is a schematic structural diagram of the skid plate provided by the embodiment of the present application from the third perspective;

[0025] Figure 4 is Figure 3 a cross-sectional view taken along the line A-A in

[0026] Figure 5 It is a partial exploded view of the skid plate provided by the embodiment of the present application.

[0027] Description of the reference numerals:

[0028] 10 - upper plate body;

[0029] 20 - Lower plate body;

[0030] 30 - Front end plate;

[0031] 40 - Rear end plate;

[0032] 401 - Water injection port;

[0033] 50 - Connecting piece;

[0034] 501 - First assembly hole;

[0035] 60 - Cavity;

[0036] 70 - End segment;

[0037] 710 - Upper end segment;

[0038] 711 - Lower sliding end plate; 712 - Connecting end plate;

[0039] 720 - Lower end segment;

[0040] 721 - First lower end plate; 722 - Second lower end plate;

[0041] 80 - Main body segment;

[0042] 810 - Upper main body segment;

[0043] 811 - Lower sliding main board; 812 - Connecting main board;

[0044] 813 - Maintenance port; 814 - Second assembly hole;

[0045] 820 - Lower main body segment;

[0046] 821 - First lower main board; 822 - Second lower main board;

[0047] 90 - Sealing part;

[0048] 901 - Third assembly hole;

[0049] 100 - Reinforcing plate;

[0050] 101 - Communication port;

[0051] 110 - Support plate;

[0052] 111 - Support end plate; 112 - Support main board. Detailed implementation mode

[0053] First of all, those skilled in the art should understand that these embodiments are only used to explain the technical principles of this application and are not intended to limit the protection scope of this application. Those skilled in the art can make adjustments according to needs to adapt to specific application scenarios.

[0054] Secondly, it should be noted that in the description of the embodiments of this application, the terms indicating the direction or positional relationship such as "inner" and "outer" are based on the direction or positional relationship shown in the drawings. This is only for the convenience of description and does not indicate or imply that the device or component must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to this application.

[0055] In addition, it should also be noted that in the description of the embodiments of this application, unless otherwise clearly specified and limited, the terms "connected" and "coupled" 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 or an electrical connection; it can be directly connected or indirectly connected 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 the embodiments of this application can be understood according to specific situations.

[0056] To make the objectives, technical solutions and advantages of the embodiments of this application clearer, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of this application. Obviously, the described embodiments are part of the embodiments of this application, rather than all the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the protection scope of this application.

[0057] As described in the background art, the skid plates of the trench-digging and burying robots in the related art have the problem that their weights are difficult to adjust, resulting in a large traveling resistance of the trench-digging and burying robots when the seabed is soft, a large propulsion force required for forward movement, and high energy consumption. When there is a lot of sand and gravel on the seabed surface, the burial depth of the submarine cable by the trench-digging and burying robot is too shallow, and the protection of the seabed for the submarine cable is weak. After research by the applicant, it is found that the reason for this problem is that the weights of the skid plates of the related trench-digging and burying robots cannot be adjusted, so they cannot adapt to different usage scenarios.

[0058] In view of the above technical problems, an embodiment of the present application provides a skid plate and a jet trenching robot. The skid plate is configured with a cavity structure, and a water injection port is opened at the rear end of the skid plate. Water can be added into the cavity through the water injection port to adjust the weight of the skid plate. When there is a lot of sand and gravel on the seabed surface, the cavity can be filled with water to increase the weight of the skid plate, thereby increasing the overall weight of the jet trenching robot, causing the jet trenching robot to sink to a certain depth as a whole, so as to increase the burial depth of the submarine cable and improve the protection effect on the submarine cable. When the seabed is relatively soft, the resistance for the jet trenching robot to move forward is large. At this time, the control valve can be opened to drain the water in the cavity, so as to reduce the weight of the skid plate, thereby reducing the overall weight of the jet trenching robot and reducing the overall subsidence amount of the skid plate, making it easier for the jet trenching robot to be pushed forward, thus meeting different usage scenarios of the jet trenching robot.

[0059] The principles and features of the embodiments of the present application will be described below with reference to the accompanying drawings. The examples given are only used to explain the embodiments of the present application and are not intended to limit the scope of the embodiments of the present application.

[0060] Reference Figure 1 and Figure 2 In this embodiment, a skid plate is provided, which is applied to a jet trenching robot. The skid plate includes an upper plate body 10, a lower plate body 20, a front end plate 30, a rear end plate 40, a connecting member 50 and a control valve.

[0061] Among them, the connecting member 50 can be a connecting pipe. The bottom end of the connecting pipe is arranged on the top of the upper plate body 10, and the top end of the connecting pipe is used to connect with the jet trenching robot.

[0062] The top end of the connecting pipe can be provided with a first assembly hole 501, and the jet trenching robot and the connecting pipe can be connected by fastening bolts passing through the first assembly hole 501.

[0063] The upper plate body 10 is located on the top of the lower plate body 20. The front end plate 30 closes the front ends of the upper plate body 10 and the lower plate body 20, and the rear end plate 40 closes the rear ends of the upper plate body 10 and the lower plate body 20. The upper plate body 10, the lower plate body 20, the front end plate 30 and the rear end plate 40 enclose a hollow cavity 60.

[0064] It should be noted that in the embodiments of the present application, the directions "front" and "rear" are referenced with respect to the traveling direction of the skid plate. The direction towards the traveling direction (i.e., the positive direction of the length direction X in the accompanying drawings) is the front, and the direction away from the traveling direction (i.e., the negative direction of the length direction X in the accompanying drawings) is the rear.

[0065] Reference Figure 3 and Figure 4, a water injection port 401 is provided on the rear end plate 40. The water injection port 401 is communicated with the cavity 60. A control valve is arranged at the water injection port 401 to control the opening or closing of the water injection port 401, so as to inject water into the cavity 60 or drain the water in the cavity 60 through the water injection port 401.

[0066] Water can be added into the cavity 60 through the water injection port 401 to adjust the weight of the skid plate and meet different usage scenarios of the plowing and burying robot.

[0067] Exemplarily, when there is more sand and gravel on the seabed surface, the cavity 60 can be filled with water to increase the weight of the skid plate, and then increase the overall weight of the plowing and burying robot, so that the plowing and burying robot sinks to a certain depth as a whole, thereby increasing the burial depth of the submarine cable and improving the protection effect on the submarine cable.

[0068] When the seabed is relatively soft, the resistance for the plowing and burying robot to move forward is relatively large. At this time, the control valve can be opened to drain the water in the cavity 60, so as to reduce the weight of the skid plate, and then reduce the overall weight of the plowing and burying robot, reduce the overall subsidence amount of the skid plate, and make the plowing and burying robot easier to be pushed forward.

[0069] In some possible implementation manners of the embodiments of the present application, the length of the cavity 60 along the height direction Z of the skid plate decreases from the center of the cavity 60 to both ends along the width direction Y of the skid plate. In this way, on the one hand, the height of the top of the cavity 60 can be increased, thereby increasing the difficulty for sediment to reach the top of the skid plate and making it difficult for sediment to accumulate on the top of the skid plate. On the other hand, the linearity of the skid plate can be optimized, so that the skid plate can obtain better maneuverability under a smaller propulsion power state.

[0070] In some possible implementation manners of the embodiments of the present application, referring to Figure 3 , the skid plate may include a main body section 80 and an end section 70. The main body section 80 may extend along the length direction X of the skid plate, and the end section 70 is adjacent to the front end of the main body section 80.

[0071] Referring to Figure 3 and Figure 4 , the end section 70 is inclined upward from the end close to the main body section 80 to the end far from the main body section 80, that is, the end section 70 is upturned relative to the main body section 80. The contact area between the end section 70 and the seabed is reduced, and the frictional resistance between the end section 70 and the seabed is also reduced, which makes the end section 70 easier to rotate and change direction, so that the skid plate is easier to control when turning.

[0072] The upturned end section 70 can more easily slide over or cross obstacles (sand piles, sand and gravel, etc.), improving the sliding speed and stability of the skid plate.

[0073] In addition, the upturned end section 70 can reduce the vibration and jitter of the skid plate during high-speed sliding, thereby improving the stability of the skid plate during sliding.

[0074] In some possible implementation manners of the embodiments of the present application, referring to Figures 1-4 , the length of the end section 70 in the width direction Y gradually decreases from the end close to the main body section 80 to the end far from the main body section 80, and the length of the end section 70 in the width direction Y gradually increases from the front to the back, so as to optimize the linearity of the skid plate, reduce the resistance during the sliding of the skid plate, and enable the skid plate to obtain better maneuverability under a smaller propulsion power state.

[0075] In some possible implementation manners of the embodiments of the present application, referring to Figure 1 and Figure 3 , the main body section 80 may include an upper main body section 810. Both ends of the upper main body section 810 in the width direction Y are provided with lower sliding main plates 811, and the lower sliding main plates 811 can extend along the length direction X of the skid plate. Along the width direction Y of the skid plate, the lower sliding main plates 811 are inclined downward from the end far from the edge of the upper plate body 10 to the end close to the edge of the upper plate body 10. In this way, the sediment accumulated on the upper main body section 810 can slide down along the lower sliding main plates 811 into the sea water during the recovery process of the burial robot, reducing the amount of seabed mud and sand carried by the burial robot after recovery.

[0076] The end section 70 may include an upper end section 710, and the upper end section 710 and the upper main body section 810 form the upper plate body 10. Both ends of the upper end section 710 in the width direction Y are provided with lower sliding end plates 711, and the lower sliding end plates 711 and the lower sliding main plates 811 are adjacent to each other along the length direction X of the skid plate. The lower sliding end plates 711 are inclined upward from the end close to the lower sliding main plates 811 to the end far from the lower sliding main plates 811.

[0077] Along the width direction Y of the skid plate, the lower sliding end plates 711 are inclined downward from the end far from the edge of the upper plate body 10 to the end close to the edge of the upper plate body 10. The sediment accumulated on the upper end section 710 can slide down along the lower sliding end plates 711 into the sea water during the recovery process of the burial robot, reducing the amount of seabed mud and sand carried by the burial robot after recovery.

[0078] In some possible implementation manners of the embodiments of the present application, referring to Figure 1 , the upper main body section 810 may further have a connecting main plate 812. The connecting main plate 812 is located between the lower sliding main plates 811 at both ends in the width direction Y, the connecting main plate 812 can extend along the length direction X of the skid plate, and the connecting main plate 812 and the lower sliding main plates 811 at both ends form the upper main body section 810.

[0079] The connecting member 50 is disposed on the top of the connecting main board 812, which can increase the height of the connecting member 50 and reduce the possibility of sediment accumulation on the connecting member 50.

[0080] The upper end section 710 may further have a connecting end plate 712, which is located between the downward-sliding end plates 711 at both ends in the width direction Y. The connecting end plate 712 and the connecting main board 812 are adjacent to each other in the length direction X. The connecting end plate 712 slopes upward from the end close to the connecting main board 812 to the end far from the connecting main board 812. In this way, the sediment accumulated on the connecting end plate 712 can slide into the sea water along the inclined connecting end plate 712 during the recovery process of the burying and washing robot, reducing the amount of seabed sediment carried by the burying and washing robot after recovery.

[0081] In some possible implementation manners of the embodiments of the present application, with reference to Figure 1 and Figure 5 , a maintenance opening 813 may be formed on the connecting main board 812, and the maintenance opening 813 communicates with the cavity 60. The skid plate further includes a sealing member 90, which covers the maintenance opening 813, and the sealing member 90 is detachably connected to the connecting main board 812.

[0082] Exemplarily, a second assembly hole 814 may be provided on the connecting main board 812, and a third assembly hole 901 may be formed on the sealing member 90. The sealing member 90 and the connecting main board 812 may be connected by fastening bolts passing through the third assembly hole 901 and the second assembly hole 814. When it is necessary to open the maintenance opening 813, loosen the fastening bolts and separate the sealing member 90 from the connecting main board 812 to open the maintenance opening 813. When it is necessary to close the maintenance opening 813, pass the fastening bolts through the third assembly hole 901 and the second assembly hole 814, and tighten the fastening bolts to make the sealing member 90 close the maintenance opening 813.

[0083] When water is filled in the cavity 60 for a long time, the water in the cavity 60 will corrode the inner wall of the cavity 60. Therefore, by making the sealing member 90 and the connecting main board 812 detachably connected, the maintenance opening 813 can be opened, and the water and other impurities in the cavity 60 can be cleaned through the maintenance opening 813 to maintain the skid plate, thereby extending the service life of the skid plate.

[0084] In some possible implementation manners of the embodiments of the present application, with reference to Figure 2 and Figure 3 , the main body section 80 may include a lower main body section 820, and the lower main body section 820 includes a first lower main board 821 and a second lower main board 822 adjacent to each other in the width direction Y. The first lower main board 821 and the second lower main board 822 may both extend along the length direction X of the skid plate.

[0085] The first lower main board 821 slopes upward from the end close to the second lower main board 822 to the end far from the second lower main board 822, and the second lower main board 822 slopes upward from the end close to the first lower main board 821 to the end far from the first lower main board 821. In this way, the first lower main board 821 and the second lower main board 822 are in a "V" shape, reducing the adsorption force between the skid plate and the seabed, and thus reducing the resistance when the skid plate slides on the seabed.

[0086] When the skid plate slides on the seabed, the part close to the tip formed between the first lower main board 821 and the second lower main board 822 contacts the seabed, reducing the contact area between the skid plate and the seabed, and thus reducing the frictional resistance between the skid plate and the seabed. This enables the skid plate to obtain better maneuverability under a smaller propulsion power state, reducing the energy consumption of the impact burial robot.

[0087] In some possible implementation manners of the embodiments of the present application, referring to Figure 2 and Figure 3 , the end segment 70 may include a lower end segment 720. The lower end segment 720 and the lower main body segment 820 form the lower plate body 20. The lower end segment 720 includes a first lower end plate 721 and a second lower end plate 722 that are adjacent along the width direction Y. The first lower end plate 721 and the first lower main board 821 are adjacent along the length direction X of the skid plate. The first lower end plate 721 slopes upward from the end close to the first lower main board 821 to the end far from the first lower main board 821; the second lower end plate 722 and the second lower main board 822 are adjacent along the length direction X, and the second lower end plate 722 slopes upward from the end close to the second lower main board 822 to the end far from the second lower main board 822.

[0088] The first lower end plate 721 slopes upward from the end close to the second lower end plate 722 to the end far from the second lower end plate 722, and the second lower end plate 722 slopes upward from the end close to the first lower end plate 721 to the end far from the first lower end plate 721. With such a setting, the contact area between the lower end segment 720 and the seabed can be reduced, thereby reducing the frictional resistance between the lower end segment 720 and the seabed, making it easier for the end segment 70 to rotate and change direction, and thus making it easier to control the skid plate when turning.

[0089] The lower end segment 720 can make it easier for the skid plate to cross or slide over obstacles (such as sand piles, gravel, etc.), improving the sliding speed and stability of the skid plate.

[0090] In some possible implementation manners of the embodiments of the present application, the skid plate may further include a plurality of strengthening members, referring to Figure 4, the reinforcing member can be a reinforcing plate 100. A plurality of reinforcing plates 100 are arranged in the cavity 60 at intervals along the length direction X of the skid plate. The edge of the reinforcing plate 100 is connected to the inner wall of the cavity 60. The top end of the reinforcing plate 100 extends to the upper plate body 10, and the bottom end of the reinforcing plate 100 extends to the lower plate body 20. The reinforcing plate 100 is supported between the upper plate body 10 and the lower plate body 20 to increase the structural strength of the skid plate.

[0091] The cavities 60 on both sides of the reinforcing plate 100 along the length direction X are communicated with each other, so that the reinforcing plate 100 does not completely divide the cavity 60. Exemplarily, a communication port 101 is provided on the reinforcing plate 100, and the cavities 60 on both sides of the reinforcing plate 100 are communicated through the communication port 101, so that the water injected from the water injection port 401 can fill the entire cavity 60.

[0092] In some possible implementation manners of the embodiments of the present application, the reinforcing member can be a reinforcing column. The reinforcing column can extend along the height direction Z of the skid plate. The top end of the reinforcing column extends to the upper plate body 10, and the bottom end of the reinforcing column extends to the lower plate body 20. The reinforcing column is supported between the upper plate body 10 and the lower plate body 20 to increase the structural strength of the skid plate.

[0093] In some possible implementation manners of the embodiments of the present application, refer to Figure 1 and Figure 2 , the skid plate can further include a support plate 110. The support plate 110 is inclined relative to the horizontal direction. Exemplarily, the support plate 110 can extend along the height direction Z of the skid plate or be inclined relative to the height direction Z. The top end of the support plate 110 is connected to the edge of the upper plate body 10 along the width direction Y, and the bottom end of the support plate 110 is connected to the edge of the lower plate body 20 along the width direction Y. The support plate 110 supports the upper plate body 10 and the lower plate body 20. On the one hand, it can increase the height of the upper plate body 10, thereby increasing the difficulty for sediment to reach the upper plate body 10 and making it difficult for sediment to accumulate on the upper plate body 10. On the other hand, the support plate 110 supports the upper plate body 10 and the lower plate body 20, improving the structural strength of the skid plate.

[0094] In some possible implementation manners of the embodiments of the present application, refer to Figure 1 and Figure 2 , the support plate 110 can include a support main board 112 and a support end board 111.

[0095] The support main board 112 can extend along the length direction X of the skid plate. The support main board 112 is connected between the edge of the upper main body segment 810 along the width direction Y and the edge of the lower main body segment 820 along the width direction Y to support the upper main body segment 810 and the lower main body segment 820.

[0096] The support end plate 111 and the support main plate 112 are adjacent to each other along the length direction X of the skid plate. The support end plate 111 is inclined upward from the end close to the support main plate 112 to the end away from the support main plate 112. The support end plate 111 is connected between one end of the upper section 710 along the width direction Y and one end of the lower section 720 along the width direction Y to support the upper section 710 and the lower section 720.

[0097] The embodiment of the present application further provides a punching and burying robot, including the skid plate in the foregoing embodiment.

[0098] The punching and burying robot can be provided with at least one set of skid plates, and each set of skid plates can include two symmetrically arranged skid plates.

[0099] Among them, the specific structure, working principle and functions of the skid plate have been described in detail in the foregoing embodiment, and will not be elaborated here.

[0100] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A skid plate, characterized in that, It includes an upper plate body (10), a lower plate body (20), a front end plate (30), a rear end plate (40), a connecting member (50) and a control valve; The upper plate body (10) is located at the top of the lower plate body (20). The front end plate (30) closes the front ends of the upper plate body (10) and the lower plate body (20). The rear end plate (40) closes the rear ends of the upper plate body (10) and the lower plate body (20). The upper plate body (10), the lower plate body (20), the front end plate (30) and the rear end plate (40) enclose a hollow cavity (60). The length of the cavity (60) in the height direction of the skid plate decreases from the center of the cavity (60) to both ends along the width direction of the skid plate; The connecting member (50) is arranged on the top of the upper plate body (10), and the connecting member (50) is used for connecting with a punching and burying robot; The rear end plate (40) is provided with a water injection port (401), and the water injection port (401) communicates with the cavity (60); The skid plate further includes a control valve, and the control valve is arranged at the water injection port (401).

2. The skid plate according to claim 1, wherein, The skid plate includes an end section (70) and a main body section (80), and the end section (70) is adjacent to the front end of the main body section (80); The end section (70) slopes upward from one end close to the main body section (80) to the other end away from the main body section (80), and the length of the end section (70) in the width direction of the skid plate gradually decreases from one end close to the main body section (80) to the other end away from the main body section (80).

3. The skid plate according to claim 2, characterized in that, The main body section (80) includes an upper main body section (810). Both ends of the upper main body section (810) in the width direction of the skid plate have a lower sliding main board (811). Along the width direction of the skid plate, the lower sliding main board (811) slopes downward from one end away from the edge of the upper plate body (10) to the other end close to the edge of the upper plate body (10); The end section (70) includes an upper end section (710). The upper end section (710) and the upper main body section (810) constitute the upper plate body (10). Both ends of the upper end section (710) in the width direction of the skid plate have a lower sliding end plate (711). The lower sliding end plate (711) and the lower sliding main board (811) are adjacent to each other in the length direction of the skid plate. The lower sliding end plate (711) slopes upward from one end close to the lower sliding main board (811) to the other end away from the lower sliding main board (811); Along the width direction of the skid plate, the lower sliding end plate (711) slopes downward from one end away from the edge of the upper plate body (10) to the other end close to the edge of the upper plate body (10).

4. The skid plate according to claim 3, characterized in that, The upper main body section (810) further has a connecting main board (812). The connecting main board (812) is located between the lower sliding main boards (811) at both ends in the width direction of the skid plate, and the connecting member (50) is arranged on the top of the connecting main board (812); The upper end section (710) further has a connecting end plate (712) which is located between the lower end plates (711) at both ends in the width direction of the skid plate, and the connecting end plate (712) and the connecting main plate (812) are adjacent to each other in the length direction of the skid plate.

5. The skid plate according to claim 4, characterized in that, A maintenance opening (813) is formed on the connecting main plate (812), and the maintenance opening (813) communicates with the cavity (60). The skid plate further includes a seal (90) which covers the maintenance opening (813), and the seal (90) is detachably connected to the connecting main plate (812).

6. The skid plate according to any one of claims 2-5, characterized in that, The main body section (80) includes a lower main body section (820) which includes a first lower main plate (821) and a second lower main plate (822) adjacent to each other in the width direction of the skid plate. The first lower main plate (821) slopes upward from the end close to the second lower main plate (822) to the end away from the second lower main plate (822), and the second lower main plate (822) slopes upward from the end close to the first lower main plate (821) to the end away from the first lower main plate (821). The end section (70) includes a lower end section (720), and the lower end section (720) and the lower main body section (820) form the lower plate body (20). The lower end section (720) includes a first lower end plate (721) and a second lower end plate (722) adjacent to each other in the width direction of the skid plate. The first lower end plate (721) and the first lower main plate (821) are adjacent to each other in the length direction of the skid plate, and the first lower end plate (721) slopes upward from the end close to the first lower main plate (821) to the end away from the first lower main plate (821). The second lower end plate (722) and the second lower main plate (822) are adjacent to each other in the length direction of the skid plate, and the second lower end plate (722) slopes upward from the end close to the second lower main plate (822) to the end away from the second lower main plate (822). The first lower end plate (721) slopes upward from the end close to the second lower end plate (722) to the end away from the second lower end plate (722), and the second lower end plate (722) slopes upward from the end close to the first lower end plate (721) to the end away from the first lower end plate (721).

7. The skid plate according to any one of claims 1-5, characterized in that, The skid plate further includes a plurality of reinforcing members which are arranged at intervals in the cavity (60) in the length direction of the skid plate, and the cavities (60) on both sides of the reinforcing members in the length direction of the skid plate communicate with each other. The top end of the reinforcing member extends to the upper plate body (10), and the bottom end of the reinforcing member extends to the lower plate body (20).

8. The skid plate according to claim 7, wherein The reinforcing member includes a reinforcing plate (100), the edge of the reinforcing plate (100) is connected to the inner wall of the cavity (60), and a communication opening (101) is formed on the reinforcing plate (100).

9. The skid plate according to any one of claims 1-5, characterized in that, The skid plate further includes a support plate (110), the support plate (110) is inclined relative to the horizontal direction, the top end of the support plate (110) is connected to the edge of the upper plate body (10) along the width direction of the skid plate, and the bottom end of the support plate (110) is connected to the edge of the lower plate body (20) along the width direction of the skid plate.

10. A punching and burying robot, characterized in that, Comprising the skid plate according to any one of claims 1-9.

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