A submersible robot for measuring the seabed topography of a sandy sea area

Abstract

The utility model discloses a kind of submersible robots for sand-containing sea area seabed topography measurement, belong to seabed topography measurement technical field, including shell and rotating blade, the one end of the shell is set fixed box, driving mechanism is set in the fixed box, the end of the driving mechanism is set fixed sleeve, several fixed blocks are set at intervals on the fixed sleeve, and the fixed block is equipped with the spigot groove;Rotating blade end portion both sides are provided with spigot block, square groove is set on the spigot block, first spring is set in square groove, one end of the first spring is connected with square groove inner wall surface, the other end of first spring is connected with clamping plate, one end of clamping plate is connected with connecting shaft, and connecting shaft and the inner wall surface of square groove are movably connected.Can solve the problem that water flow has greater influence on propeller in sand-containing water area, facilitate submersible robot to move in water at any position;And solve the problem that robot is difficult to quickly disassemble and maintain components in complex terrain, realize quick disassembly.

Description

Technical Field

[0001] This utility model belongs to the field of seabed topographic measurement technology, specifically relating to a diving robot for seabed topographic measurement in sandy sea areas. Background Technology

[0002] The statements in this section are merely background information related to this utility model and do not necessarily constitute prior art.

[0003] The seabed topography is often rugged, with complex landforms such as steep slopes, ravines, and reefs. At the same time, the speed and direction of water flow are constantly changing, and the suspended sediment particles in sandy waters together create a complex working environment.

[0004] In practical applications, the adaptability of the propulsion system design to the underwater environment is a particularly prominent issue for existing submersible robots. In sandy waters, the disturbance effect of water flow is even more significant. The high-speed flowing water carries a large amount of sediment particles, creating a continuous impact on the robot's propellers. This impact not only causes wear and corrosion on the propeller surface but also disrupts the stability of the water flow, significantly reducing the propulsion efficiency and causing severe power loss. In extreme cases, the irregular impact force of the water flow may even exceed the control threshold of the propulsion system, causing robot attitude imbalance, trajectory deviation, or even loss of control. This not only affects the normal conduct of measurement tasks but may also cause the robot to collide with obstacles, resulting in equipment damage. Furthermore, the ease of maintenance and component reliability of submersible robots also present certain challenges during operations in complex seabed terrain. Key components such as rotating blades and detection heads, constantly exposed to sandy water currents, are highly susceptible to accumulating silt and debris, or wear and deformation due to collisions with rocks and hard sediments. However, in existing robot designs, the installation methods for some core components are relatively fixed. In complex terrain environments, cleaning, repairing, or replacing these components often requires retrieving the entire robot to the surface or a dedicated platform, making rapid disassembly and maintenance difficult underwater or at the work site. This not only prolongs equipment downtime and reduces operational efficiency but also risks affecting the accuracy and continuity of measurement data due to unresolved component failures, ultimately impacting the reliability of the entire mission. Utility Model Content

[0005] To address the aforementioned problems, this utility model provides a submersible robot for seabed topography surveying in sandy waters. It can solve the problem of the significant impact of water flow on the propeller in sandy waters, making it easier for the submersible robot to move at any position in the water. Furthermore, it solves the problem of the robot's components being difficult to disassemble and maintain quickly in complex terrain, achieving rapid disassembly.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: A submersible robot for seabed topography surveying in sandy sea areas includes a shell and rotating blades. A fixed box is provided at one end of the shell, and a drive mechanism is provided inside the fixed box. A fixed sleeve is provided at the end of the drive mechanism, and a plurality of fixed blocks are spaced apart on the fixed sleeve. Each fixed block has a slot for insertion. Insertion blocks are provided on both sides of the end of the rotating blades. Square grooves are provided on the insertion blocks, and first springs are provided in the square grooves. One end of the first spring is connected to the inner wall of the square groove, and the other end of the first spring is connected to a retaining plate. One end of the retaining plate is connected to a connecting shaft, and the connecting shaft is movably connected to the inner wall of the square groove.

[0007] As a further technical solution, the drive mechanism includes a motor, a first gear, a second gear, and a rotating shaft, with the motor installed inside a fixed box.

[0008] As a further technical solution, the output end of the motor is connected to the first gear, and a second gear is provided at one end of the first gear, and the first gear and the second gear mesh.

[0009] As a further technical solution, the second gear is sleeved on the rotating shaft, and the rotating shaft is movably connected to the fixed box; the end of the rotating shaft extends out of the fixed box, and the fixed sleeve is installed at the end of the rotating shaft.

[0010] As a further technical solution, a number of wheels are spaced apart on the side of the housing, and the wheels and the housing are movably connected.

[0011] As a further technical solution, an illumination lamp is provided at the other end of the housing, and the illumination lamp and the housing are detachably connected.

[0012] As a further technical solution, a support frame is provided at the upper end of the housing, a fixed column is provided on the support frame, and a detection head is provided at the lower end of the fixed column.

[0013] As a further technical solution, a sliding groove is provided on the lower side of the fixed column, and a support column is slidably connected inside the sliding groove. Grooves are provided on both sides of the support column, and disassembly and assembly components are fixedly connected to both sides of the groove. The disassembly and assembly components are used to disassemble and assemble the detection head.

[0014] As a further technical solution, the disassembly and assembly assembly includes a second spring, which is fixedly connected to both sides inside the groove. A baffle is fixedly connected to one end of the second spring, and a detection head is fixedly connected to the bottom end of the support column.

[0015] As a further technical solution, the baffle is slidably connected inside the groove and the recess.

[0016] Compared with the prior art, the advantages and positive effects of this utility model are: 1. This utility model provides stable operation in sandy environments. When operating in sandy sea areas, the sediment carried by the water flow can easily affect the propulsion system of the submersible robot. Stable operation is achieved through an interlocking structure between the rotating blade and the fixed block. The interlocking block on one side of the rotating blade slides into the interlocking groove of the fixed block. Simultaneously, the connecting components inside the interlocking block—namely, the locking plate, the first spring, and the connecting shaft—work together. The elastic force of the first spring pushes the locking plate into the inner wall of the interlocking groove, forming a reliable locking and fixation. This structure allows the rotating blade to maintain a stable connection with the drive structure under the impact of water flow, reducing the problem of blade loosening caused by sediment impact.

[0017] When the blades experience power loss due to wear and accumulation of mud and sand, the plug-in quick-release structure allows the plug block to disengage from the plug slot by pressing the locking plate and compressing the first spring. This enables timely replacement or cleaning of the blades, avoiding the interruption of operation caused by the need for overall recovery and maintenance of traditional propulsion systems due to blade failure. It ensures the continuous and effective operation of the robot's propulsion system in sandy waters and improves the stability and reliability of operation in complex sandy environments. 2. This utility model features a dedicated quick-release structure for easily damaged components such as rotating blades and detection heads, enabling convenient maintenance. For the rotating blades, quick release is achieved through the cooperation structure of the insertion block, insertion slot, and connecting assembly: when disassembly is required, press the retaining plate inside the insertion block by hand. The retaining plate compresses the first spring and rotates around the connecting shaft, disengaging from the insertion slot. At this point, simply pull the rotating blade to slide the insertion block out of the insertion slot. The entire process requires no complicated tools. For the detection head, quick release is achieved through the sliding groove structure of the support column and fixed column, along with the disassembly and assembly assembly. The support column is slidably connected within the sliding groove of the fixed column. The disassembly and assembly assembly in the grooves on both sides of the support column, namely the second spring and the baffle, cooperate to provide a fixing effect. The second spring pushes the baffle into the inner wall of the sliding groove.

[0018] During disassembly, pressing the baffle inside the slide groove compresses the second spring, causing it to retract into the groove. This allows the detection head to be pulled, carrying the support column out of the slide groove. This quick-release design enables the robot to quickly disassemble, replace, or maintain worn or faulty rotating blades and detection heads in complex seabed terrain without disassembling the entire robot body. This significantly reduces maintenance time and improves the efficiency and reliability of the equipment. Attached Figure Description

[0019] The accompanying drawings, which form part of this specification, are used to provide a further understanding of this utility model. The illustrative embodiments of this utility model and their descriptions are used to explain this utility model and do not constitute an improper limitation of this utility model.

[0020] Figure 1A three-dimensional view of a submersible robot for measuring seabed topography in sandy sea areas proposed in this utility model; Figure 2 This is a schematic diagram of the drive component structure of a submersible robot for seabed topography surveying in sandy sea areas, as proposed in this utility model. Figure 3 This is a partial structural breakdown diagram of a submersible robot for measuring seabed topography in sandy sea areas proposed in this utility model. Figure 4 This is a cross-sectional view of the plug-in block of a submersible robot for measuring seabed topography in sandy sea areas, as proposed in this utility model. Figure 5 This is a cross-sectional view of the disassembly and assembly components of a submersible robot for measuring seabed topography in sandy sea areas, as proposed in this utility model. Figure 6 for Figure 5 Enlarged view of point A in the image.

[0021] In the diagram: 1. Housing; 2. Wheel; 3. Illumination lamp; 4. Fixing box; 5. Motor; 6. First gear; 7. Second gear; 8. Rotating shaft; 9. Fixing sleeve; 10. Fixing block; 11. Insertion slot; 12. Insertion block; 13. Rotating blade; 14. Connecting shaft; 15. Clamping plate; 16. First spring; 17. Support frame; 18. Fixing column; 19. Slide groove; 20. Supporting column; 21. Groove; 22. Second spring; 23. Baffle; 24. Detection head. Detailed Implementation It should be noted that the following detailed description is illustrative and intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0022] In practical applications, the adaptability of the propulsion system design to the underwater environment is a particularly prominent issue for existing submersible robots. In sandy waters, the disturbance effect of water flow is even more significant. The high-speed flowing water carries a large amount of sediment particles, creating a continuous impact on the robot's propellers. This impact not only causes wear and corrosion on the propeller surface but also disrupts the stability of the water flow, significantly reducing the propulsion efficiency and causing severe power loss. In extreme cases, the irregular impact force of the water flow may even exceed the control threshold of the propulsion system, causing robot attitude imbalance, trajectory deviation, or even loss of control. This not only affects the normal conduct of measurement tasks but may also cause the robot to collide with obstacles, resulting in equipment damage.

[0023] Furthermore, the ease of maintenance and component reliability of submersible robots also present certain challenges during operations in complex seabed terrain. Key components such as rotating blades and detection heads, constantly exposed to sandy water currents, are highly susceptible to accumulating silt and debris, or wear and deformation due to collisions with rocks and hard sediments. However, in existing robot designs, the installation methods for some core components are relatively fixed. In complex terrain environments, cleaning, repairing, or replacing these components often requires retrieving the entire robot to the surface or a dedicated platform, making rapid disassembly and maintenance difficult underwater or at the work site. This not only prolongs equipment downtime and reduces operational efficiency but also risks affecting the accuracy and continuity of measurement data due to unresolved component failures, ultimately impacting the reliability of the entire mission.

[0024] The present invention will now be described in detail with reference to the accompanying drawings. This embodiment discloses a submersible robot for seabed topography surveying in sandy sea areas, such as... Figure 1 , Figure 3 as well as Figure 4 As shown, the device includes a housing 1 and a rotating blade 13. A fixed box 4 is provided at one end of the housing 1. A drive mechanism is provided inside the fixed box 4. A fixed sleeve 9 is provided at the end of the drive mechanism. Several fixed blocks 10 are provided at intervals on the fixed sleeve 9. The fixed blocks 10 are provided with insertion slots 11. Insertion blocks 12 are provided on both sides of the end of the rotating blade 13. Square grooves are provided on the insertion blocks 12. A first spring 16 is provided in the square groove. One end of the first spring 16 is connected to the inner wall of the square groove. The other end of the first spring 16 is connected to a clamping plate 15. One end of the clamping plate 15 is connected to a connecting shaft 14. The connecting shaft 14 is movably connected to the inner wall of the square groove.

[0025] Specifically, stable operation is achieved through the insertion structure between the rotating blade 13 and the fixed block 10. The insertion block 12 on one side of the rotating blade 13 slides into the insertion groove 11 of the fixed block 10. At the same time, the connecting components inside the insertion block 12, namely the locking plate 15, the first spring 16, and the connecting shaft 14, work together. The elastic force of the first spring 16 pushes the locking plate 15 into the inner wall of the insertion groove 11, forming a reliable locking and fixation. This structure allows the rotating blade 13 to maintain a stable connection with the drive structure under the impact of water flow, reducing the problem of blade loosening caused by the impact of mud and sand.

[0026] When the blades experience power loss due to wear and accumulation of mud and sand, the plug-in quick-release structure allows the plug block 12 to disengage from the plug slot 11 by pressing the locking plate 15 to compress the first spring 16. This enables timely replacement or cleaning of the blades, avoiding the interruption of operation caused by the need for overall recovery and maintenance of traditional propulsion systems due to blade failure. It ensures the continuous and effective operation of the robot's propulsion system in sandy waters and improves the stability and reliability of operation in complex sandy environments.

[0027] like Figure 2 As shown, the drive mechanism includes a motor 5, a first gear 6, a second gear 7, and a rotating shaft 8. The motor 5 is installed inside the fixed housing 4. The output end of the motor 5 is connected to the first gear 6, and the second gear 7 is disposed at one end of the first gear 6. The first gear 6 and the second gear 7 mesh. The second gear 7 is sleeved on the rotating shaft 8, and the rotating shaft 8 is movably connected to the fixed housing 4. The end of the rotating shaft 8 extends out of the fixed housing 4, and a fixed sleeve 9 is installed at the end of the rotating shaft 8.

[0028] Specifically, a corresponding power source is set inside the housing 1, such as a battery to power the motor 5. When the motor 5 starts, it drives the first gear 6 to rotate. The rotation of the first gear 6 drives the second gear 7 to rotate. The rotation of the second gear 7 drives the rotating shaft 8 to rotate, which in turn drives the bushing to rotate, causing the fixed block 10 on the bushing to rotate, which in turn drives the rotating blade 13 to rotate, providing propulsion for the movement of the device.

[0029] Several wheels 2 are spaced apart on the side of the housing 1, and the wheels 2 and the housing 1 are movably connected.

[0030] Specifically, the number of wheels 2 can be set according to actual needs. Two wheels 2 are set on each side of the housing 1. The wheels 2 and the housing 1 are movably connected, allowing the wheels 2 to rotate. When the drive mechanism provides propulsion, the wheels 2 rotate, thereby driving the entire device to move.

[0031] An illumination lamp 3 is provided at the other end of the housing 1, and the illumination lamp 3 and the housing 1 are detachably connected.

[0032] Specifically, the illumination lamp 3 is powered by a power source, which can be located inside the housing 1. If an environment with insufficient light is required, the illumination lamp 3 can be turned on to provide illumination, ensuring a clear path for the device's movement and preventing collisions due to insufficient light.

[0033] A support frame 17 is provided at the upper end of the housing 1, a fixing column 18 is provided on the support frame 17, and a detection head 24 is provided at the lower end of the fixing column 18.

[0034] Specifically, the detection head 24 is a camera, which is fixed to the bottom of the support column 20. After the support column 20 slides into the groove 19 of the fixing column 18, the second spring 22 pushes the baffle 23 into the groove 19 for limiting. When disassembling, pressing the baffle 23 compresses the spring, and the camera can be quickly removed. This quick-release structure is suitable for the maintenance needs of underwater cameras. Even if the camera needs to be repaired in sandy waters due to siltation or lens wear, it can be easily disassembled and assembled using this structure without affecting the overall operation of the robot.

[0035] like Figure 5 and Figure 6As shown, a groove 19 is provided on the lower side of the fixed column 18. A support column 20 is slidably connected inside the groove 19. Grooves 21 are provided on both sides of the support column 20. Disassembly and assembly components are fixedly connected to both sides of the grooves 21. These components are used to disassemble and assemble the detection head 24. Each disassembly and assembly component includes a second spring 22, which is fixedly connected to both sides of the groove 21. A baffle 23 is fixedly connected to one end of the second spring 22, and the detection head 24 is fixedly connected to the bottom end of the support column 20. The baffle 23 is slidably connected inside the groove 19 and the groove 21.

[0036] Specifically, when the detection head 24 needs to be installed, first align the support column 20 with the slide groove 19 on the lower side of the fixed column 18, and then push the support column 20 down along the slide groove 19. At this time, the disassembly and assembly components in the grooves 21 on both sides of the support column 20 begin to function, and the second springs 22 on both sides inside the grooves 21 are in a naturally extended state, pushing the baffle 23 to extend away from the grooves 21. As the support column 20 slides within the groove 19, when the baffle 23 moves to contact the inner wall of the groove 19, the second spring 22 is compressed and contracts, and the baffle 23 temporarily retracts into the groove 21. When the support column 20 is fully inserted into the groove 19, the baffle 23 reaches the corresponding position within the groove 19, the second spring 22 returns to its extended state, and pushes the baffle 23 against the inner wall of the groove 19, so that the baffle 23 is simultaneously inserted into both the groove 19 and the groove 21, achieving a stable connection between the support column 20 and the fixed column 18, thereby completing the installation and fixation of the detection head 24, ensuring that the detection head 24 will not loosen due to water flow impact or robot shaking during underwater operations.

[0037] If, after operating in sandy waters, the surface of the detection head 24 becomes covered with mud and sand, affecting image clarity, or if lens wear occurs requiring repair, simply insert a tool or finger into the slide groove 19 and press the baffles 23 on both sides of the support column 20. The baffles 23, under pressure, compress the second spring 22, retracting from the slide groove 19 into the groove 21. At this point, the limiting mechanism between the support column 20 and the fixing column 18 is released, allowing the support column 20 to be directly pulled out of the slide groove 19, along with the detection head 24 at the bottom. After cleaning, repairing, or replacing the detection head 24, reinsert the support column 20 into the slide groove 19 following the above installation steps. The second spring 22 will push the baffles 23 back into place, quickly completing the reinstallation of the detection head 24 and ensuring the submersible robot can rapidly return to operational status.

[0038] Specifically, for the rotating blade 13, quick disassembly is achieved through the cooperation structure of the plug-in block 12, the plug-in groove 11, and the connecting component: when disassembly is required, press the retaining plate 15 inside the plug-in block 12 by hand. The retaining plate 15 compresses the first spring 16 and rotates around the connecting shaft 14, disengaging from the plug-in groove 11. At this time, simply pull the rotating blade 13 to drive the plug-in block 12 out of the plug-in groove 11. The entire process requires no complicated tools. For the detection head 24, quick disassembly is achieved through the structure of the support column 20, the sliding groove 19 of the fixed column 18, and the disassembly and assembly components. The support column 20 is slidably connected in the sliding groove 19 of the fixed column 18. The disassembly and assembly components in the grooves 21 on both sides of the support column 20, namely the second spring 22 and the baffle 23, cooperate to fix it. The second spring 22 pushes the baffle 23 into the inner wall of the sliding groove 19.

[0039] During disassembly, pressing the baffle 23 inside the slide groove 19 compresses the second spring 22, causing it to retract into the groove 21. This allows the detection head 24 to be pulled, driving the support column 20 out of the slide groove 19. This quick-release design allows the robot to quickly disassemble, replace, or maintain worn or faulty rotating blades 13 and detection heads 24 in complex seabed terrain without disassembling the entire robot body. This significantly reduces maintenance time and improves the efficiency and reliability of the equipment.

[0040] How do underwater robots work? When using this device, the wheels 2 enable the submersible robot to move on land. Starting the motor 5 activates the first gear 6, which in turn drives the second gear 7, which in turn drives the rotating shaft 8, which in turn drives the fixing sleeve 9, which in turn drives the fixing block 10, which in turn drives the rotating blade 13, thus enabling the submersible robot to move in the water. Inserting a finger into the insertion slot 11 pushes the locking plate 15, causing it to disengage from the insertion slot 11. The locking plate 15 then moves the connecting shaft 14, which rotates within the insertion block 12, thereby affecting the first spring 16. By squeezing and then manually moving the rotating blade 13, the rotating blade 13 moves and drives the plug block 12 to move, causing the plug block 12 to disengage from the plug slot 11. This allows the submersible robot to move to any position in the water and facilitates the disassembly and assembly of the rotating blade 13, improving its practicality. By inserting fingers into the slide groove 19 and pushing the two baffles 23, the baffles 23 disengage from the slide groove 19 and slide inside the groove 21, thereby squeezing the second spring 22. Then, by manually moving the detection head 24, the detection head 24 moves and drives the support column 20 to move, causing the support column 20 to disengage from the slide groove 19. This facilitates the disassembly and assembly of the detection head 24, making it easy to inspect and maintain.

[0041] Although the specific embodiments of the present utility model have been described above in conjunction with the accompanying drawings, this is not intended to limit the scope of protection of the present utility model. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art without creative effort based on the technical solution of the present utility model are still within the scope of protection of the present utility model.

Claims

1. A submersible robot for surveying seabed topography in sandy sea areas, characterized in that, The device includes a housing and rotating blades. A fixed box is provided at one end of the housing, and a drive mechanism is provided inside the fixed box. A fixed sleeve is provided at the end of the drive mechanism, and a plurality of fixed blocks are provided at intervals on the fixed sleeve. Each fixed block has a slot for insertion. Insertion blocks are provided on both sides of the end of the rotating blades. Square grooves are provided on the insertion blocks, and a first spring is provided in the square grooves. One end of the first spring is connected to the inner wall of the square groove, and the other end of the first spring is connected to a retaining plate. One end of the retaining plate is connected to a connecting shaft, and the connecting shaft is movably connected to the inner wall of the square groove.

2. The submersible robot for seabed topography surveying in sandy sea areas as described in claim 1, characterized in that, The drive mechanism includes a motor, a first gear, a second gear, and a rotating shaft, with the motor installed inside a fixed housing.

3. The submersible robot for seabed topography surveying in sandy sea areas as described in claim 2, characterized in that, The output end of the motor is connected to the first gear, and a second gear is provided at one end of the first gear. The first gear and the second gear mesh.

4. The submersible robot for seabed topography surveying in sandy sea areas as described in claim 3, characterized in that, The second gear is sleeved on the rotating shaft, which is movably connected to the fixed box; the end of the rotating shaft extends out of the fixed box, and the fixed sleeve is installed at the end of the rotating shaft.

5. A submersible robot for seabed topography surveying in sandy sea areas as described in claim 1, characterized in that, The side of the housing is provided with several wheels at intervals, and the wheels and the housing are movably connected.

6. The submersible robot for seabed topography surveying in sandy sea areas as described in claim 1, characterized in that, An illumination lamp is provided at the other end of the housing, and the illumination lamp and the housing are detachably connected.

7. A submersible robot for seabed topography surveying in sandy sea areas as described in claim 1, characterized in that, A support frame is provided at the upper end of the housing, a fixed column is provided on the support frame, and a detection head is provided at the lower end of the fixed column.

8. A submersible robot for seabed topography surveying in sandy sea areas as described in claim 7, characterized in that, The lower side of the fixed column is provided with a sliding groove, and a support column is slidably connected inside the sliding groove. Both sides of the support column are provided with grooves, and both sides of the grooves are fixedly connected with disassembly and assembly components. The disassembly and assembly components are used to disassemble and assemble the detection head.

9. A submersible robot for seabed topography surveying in sandy sea areas as described in claim 8, characterized in that, The disassembly and assembly assembly includes a second spring, which is fixedly connected to both sides inside the groove. One end of the second spring is fixedly connected to a baffle, and the bottom end of the support column is fixedly connected to a detection head.

10. A submersible robot for seabed topography surveying in sandy sea areas as described in claim 9, characterized in that, The baffle is slidably connected inside the groove and the recess.

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