Rigid-flexible coupled multi-purpose seabed in situ sampling device and method thereof

Abstract

This invention discloses a rigid-flexible coupled multi-purpose seabed insitu sampling device and method thereof. [Solution] The seabed multi-purpose insitu sampling device comprises a crawler wheel chassis, a drilling device, a gripping device installed on the crawler wheel chassis, a sealed tank, a storage tank installed at the bottom of the crawler wheel chassis, a float frame, floats connected to the float frame, a stereo camera, LED lights, and a hydraulic pump. By utilizing a flexible torsional actuator and a flexible hand claw provided in a rigid-flexible coupled manipulator, the present invention enables complex operations such as pulling and extracting, and makes it possible to grip multiple objects of different shapes and materials in a limited space. At the same time, the drilling device can perform drilling exploration and work in cooperation with the gripping device. The collected objects are stored in the storage tank.

Description

Technical Field

[0001] The present invention relates to the technical field of marine equipment, and specifically relates to a rigid-flexible coupled seabed multi-purpose in-situ sampling apparatus and a method therefor. Background Art

[0002] The ocean covers 70% of the Earth's surface, and abundant undeveloped resources are buried on the seabed. These resources include various benthic organisms worthy of in-depth research, a large amount of mineable polymetallic nodule deposits, and also cultural relics and heritage sunken on the seabed. Sampling research on benthic organisms helps deepen the understanding of their ecology. Seabed manganese nodule deposits are rich in metal elements that are scarce on land, and there are many unconfirmed ore-rich zones. Seabed cultural relic resources mainly consist of various sunken vessels, and it is extremely difficult to salvage precious cultural relics from sunken vessels. Since the seabed environment is complex and dangerous, humans need to rely on external tools to perform specific tasks such as sampling, exploration, and salvage.

[0003] Most conventional sampling and salvage apparatuses use hard materials, which have disadvantages such as complex structure, lack of flexibility, and high risk, resulting in single function and poor adaptability of the apparatus. In addition, seabed scientific research tasks are diverse and involve multiple sampling targets, while the number of portable apparatuses that can be carried is limited. Therefore, the present invention provides a rigid-flexible coupled multi-purpose in-situ sampling robot for seabed. Summary of Invention Means for Solving the Problems

[0004] An object of the present invention is to provide a rigid-flexible coupled seabed multi-purpose in-situ sampling apparatus and a method therefor.

[0005] In a first aspect, the present invention provides a rigid-flexible coupled seabed multi-purpose in-situ sampling apparatus, The system includes a crawler wheel chassis and a sampling structure, a float structure, a sealed compartment, and a storage compartment attached to the crawler wheel chassis, wherein the sampling structure is used to collect target material, the float structure is used to adjust the underwater buoyancy of the sampling device, an integrated control system for controlling other modules is integrated inside the sealed compartment, and the storage compartment is used to store the target material collected by the sampling structure. The sampling structure includes an excavation device and a gripping device. The excavation device is used for excavation and cleaning of debris. The gripping device employs a rigid-flexible coupled manipulator and includes a base, a rotary table, a connecting arm, a connecting seat, a flexible torsion actuator, a flexible connecting disc, and a flexible hand claw. The base is mounted on a crawler wheel chassis, the rotary table is connected to the base to control the rotation of the entire gripping device, the connecting seat is attached to the rotary table through a multi-joint connecting arm, the large diameter end of the flexible torsion actuator is connected to the connecting seat, the flexible connecting disc is connected to the other end of the flexible torsion actuator, and the flexible hand claw is mounted below the flexible connecting disc. The flexible torsion actuator and the flexible hand claw have a hollow structure and are driven by compressed fluid.

[0006] Preferably, the rotary table and the multi-jointed connecting arm are driven by joint reduction motors, and the joint reduction motors and the connecting arm are sequentially connected to constitute the rigid part of the rigid-flexible coupled manipulator.

[0007] Preferably, the excavation device includes a fixed seat, a main hydraulic arm, a sub-hydraulic arm, and a grab shovel structure, wherein the fixed seat is fixed to a storage tank, one end of the main hydraulic arm is hinged to the fixed seat and the other end is hinged to the sub-hydraulic arm, power is transmitted between the main hydraulic arm and the sub-hydraulic arm by a first piston mechanism, and power is transmitted between the main hydraulic arm and the fixed seat by a second piston mechanism.

[0008] Preferably, the grab shovel structure is mounted on a sub-hydraulic arm and includes a short hydraulic cylinder, a grab shovel frame, a small piston rod, a slider, a link, and a shovel, wherein the upper part of the short hydraulic cylinder is connected to the sub-hydraulic arm and the bottom part is connected to the grab shovel frame, the grab shovel frame and the slider form a sliding pair that slides axially on the grab shovel frame and is driven by a small piston rod, the center of the slider is fixed to the end of the small piston rod and its edge is hinged to the upper end of the shovel, one end of the link is hinged to the lower end of the grab shovel frame and the other end is hinged to the shovel and the edge of the slider is hinged to the upper end of the shovel.

[0009] Preferably, the float structure includes a float frame and two side floats and a center float attached to the float frame, the float frame being fixed to the crawler wheel chassis via supports, the two side floats being fixed to both ends of the float frame, and the center float being fixed to the middle section of the float frame.

[0010] Preferably, the enclosed tank comprises a sealing pad, a tank cover, and a pipe frame, and the enclosed tank is fixed to the crawler wheel chassis via the sealing pad, and the integrated control system is provided inside the tank cover.

[0011] Preferably, the storage tank includes a tank body, a drive motor, a spring seat, and a dump bucket, the tank body being fixed to a crawler wheel chassis, the dump bucket being hinged to the front of the tank body, one end of the spring seat being clamped and fixed to the right side inside the tank body and the other end abutting against the dump bucket, the inside of the tank body being provided with a plurality of rotating partition plates that divide the tank body into four regions and are rotatable around a center, and the tank body being provided with an electrical interlock.

[0012] Preferably, the crawler wheel chassis includes a support plate, a transmission structure fixed to both sides of the support plate, the transmission structure including a side plate, a rear drive wheel, a front follower wheel, a crawler belt, and a roller set, the side plate being connected below the support plate, the rear drive wheel and front follower wheel both being rotatably connected to the side plate, the roller set comprising a plurality of corresponding rollers and support rods, the plurality of rollers all being rotatably connected to the side plate via the support rods, and the outer edges of the rear drive wheel, front follower wheel, and rollers all being in contact with the inside of the crawler.

[0013] Preferably, the sealed tank is equipped with a stereo camera used for providing underwater image information and for identifying and positioning cultural artifacts, and the float frame is equipped with LED lamps for underwater illumination.

[0014] In a second embodiment, the present invention provides a rigid-flexible coupled rigid-flexible multi-purpose seafloor insitu sampling method employing the rigid-flexible coupled seafloor multi-purpose insitu sampling device described above, wherein the seafloor multi-purpose insitu sampling method includes the following steps: The multi-purpose in situ sampling device for the seabed is deployed into the target area, and while the drilling device grasps and cleans up foreign matter, it simultaneously scoops up a sample of polymetallic nuclei. The movement of the rigid-flexible coupled manipulator and flexible hand claw is controlled by the rotating table and joint reduction motor of the grasping device to align with the target object, and after the flexible hand claw is retracted to grasp the object, the flexible hand claw is further rotated and pulled back by a flexible torsion actuator, and the grasping device transfers the target material to the storage tank, completing the sampling of the target material. [Effects of the Invention]

[0015] The beneficial effects of this invention are as follows: 1. The gripping device of the present invention employs a rigid-flexible coupled manipulator, in which the rigid part provides the load necessary for gripping the object while simultaneously guaranteeing the positional accuracy of the flexible hand claw. The flexible torsional actuator can simultaneously achieve rotational motion and axial linear motion, enabling the manipulator to perform complex operations such as pulling and retrieving, while simultaneously simplifying the device structure. 2. The present invention employs a flexible hand claw made of a superelastic soft material, which deforms to different degrees depending on the shape of the object to be grasped. Therefore, it has excellent flexibility and can grasp a variety of objects, including objects with smooth surfaces, fragile objects, small objects, and flexible biological materials. The flexible hand claw and the flexible manipulator at the tip can absorb most of the energy generated by the impact, preventing damage to the work environment. 3. The hydraulic excavation device of the present invention is capable of excavating buried objects, and its grab shovel can be used for gripping and cleaning various miscellaneous materials, and can work in cooperation with a gripping device, as well as being able to be equipped with other auxiliary equipment. [Brief explanation of the drawing]

[0016] [Figure 1] This is a schematic diagram of the structure of Embodiment 1 of the present invention. [Figure 2] This is a top view of Embodiment 1 of the present application. [Figure 3] This is a left side view of the crawler wheel chassis of Embodiment 1 of the present application. [Figure 4] This is a schematic diagram of the structure of the drilling apparatus according to Embodiment 1 of the present invention. [Figure 5] This is a schematic diagram of the structure of the gripping device according to Embodiment 1 of the present application. [Figure 6] This is a sealed compartment according to Embodiment 1 of the present application. [Figure 7] This is a storage tank according to Embodiment 1 of the present application. [Modes for carrying out the invention]

[0017] The present invention will be described in more detail below with reference to the drawings.

[0018] (Example 1) As shown in Figures 1 and 2 of Embodiment 1, the rigid-flexible coupled seabed multi-purpose in-situ sampling device comprises a crawler wheel chassis 1, a sampling mechanism mounted on the crawler wheel chassis 1, a float mechanism, a sealed compartment 4, a storage compartment 5, and a hydraulic pump 10. The sampling mechanism comprises an excavating device 2 and a gripping device 3. The excavating device 2 is mounted on the storage compartment 5 via bolts, and is used for excavating and cleaning impurities. The gripping device 3 is fixed to the crawler wheel chassis 1, and is used for gripping a target object. The float mechanism is used for adjusting the buoyancy of the sampling device in water, and comprises a float frame 6, two side floats 7 mounted on the float frame 6, and a center float 12. The float frame 6 is fixed to the crawler wheel chassis 1 via a support post 11, the middle sections of the two side floats 7 are respectively fixed to two ends of the float frame 6, and the center float 12 is fixed to the middle section of the float frame 6. The float frame 6 is further provided with an LED light 9 for underwater illumination. The bottom of the sealed compartment 4 is fixed to the crawler wheel chassis 1, and the upper part of the sealed compartment 4 is welded to the float frame 6. An integrated control system is arranged inside the sealed compartment 4 to prevent damage to the integrated control system caused by water immersion. The integrated control system communicates with the outside via a zero-buoyancy cable and controls other modules. The storage compartment 5 is arranged at the bottom of the crawler wheel chassis 1, and is used for storing substances sampled by the sampling mechanism. The hydraulic pump 10 supplies pressure to the sampling mechanism.

[0019] As shown in Figure 3, the crawler wheel chassis 1 includes a support plate 1-2 and a transmission mechanism fixed to both sides of the support plate 1-2. The transmission mechanism includes a side plate 1-1, a rear drive wheel 1-3, a front follower wheel 1-4, a crawler belt 1-7, and a roller set. The side plate 1-1 is connected to the lower part of the support plate 1-2 via rivets, and both the rear drive wheel 1-3 and the front follower wheel 1-4 are rotatably connected to the side plate 1-1. The roller set includes four rollers 1-5 and four support rods 1-6, and all four rollers 1-5 are rotatably connected to the side plate 1-1 via the support rods 1-6. The outer edges of the rear drive wheel 1-3, the front follower wheel 1-4, and the rollers 1-5 all contact the inside of the crawler belt 1-7, and the rear drive wheel 1-3 drives the crawler belt 1-7 to rotate, causing the front follower wheel 1-4 and the rollers 1-5 to move along, thereby controlling the travel and movement of the entire device.

[0020] As shown in FIG. 4, the drilling device 2 includes a fixed seat 2-1, a main hydraulic arm 2-3, a sub hydraulic arm 2-4, and a grab shovel mechanism. The fixed seat 2-1 is fixed to the storage compartment 5 via bolts, one end of the main hydraulic arm 2-3 is hinged to the fixed seat 2-1 via a pin shaft 2-2, and the other end is hinged to the sub hydraulic arm 2-4 via a pin shaft 2-2. Transmission is performed by a first piston mechanism between the end of the main hydraulic arm 2-3 adjacent to the fixed seat 2-1 and the sub hydraulic arm 2-4, and transmission is performed by a second piston mechanism between the end of the main hydraulic arm 2-3 adjacent to the sub hydraulic arm 2-4 and the fixed seat 2-1. Both the first piston mechanism and the second piston mechanism include a hydraulic cylinder 2-5 and a piston rod 2-6, and the relative sliding between the hydraulic cylinder 2-5 and the piston rod 2-6 in the first piston mechanism and the second piston mechanism drives the main hydraulic arm 2-3 and the sub hydraulic arm 2-4 to move. The grab shovel mechanism is installed on the sub hydraulic arm 2-4, and includes a short hydraulic cylinder 2-7, a grab shovel frame 2-8, a small piston rod 2-9, a slider 2-10, a link 2-11, and a shovel 2-12. The upper part of the short hydraulic cylinder 2-7 is connected to the sub hydraulic arm 2-4, and the lower part is connected to the grab shovel frame 2-8. The grab shovel frame 2-8 and the slider 2-10 form a sliding pair that slides along the axial direction of the grab shovel frame 2-8, and are driven by the small piston rod 2-9. The center of the slider 2-10 is fixed to the distal end of the small piston rod 2-9, and the edge is hinged to the upper end of the shovel 2-12. One end of the link 2-11 is hinged to the lower end of the grab shovel frame 2-8, and the other end is hinged to the shovel 2-12. Three branch portions arranged at equal intervals in the circumferential direction are provided at the edge of the slider 2-10, and each branch portion is hinged to the upper end of one shovel 2-12 respectively. The three shovels 2-12 are distributed at equal intervals in the circumferential direction, the included angle between the two side surfaces of the bottom of each shovel 2-12 is 120°, and the three shovels 2-12 can be closed toward the central axis, and are used for desert excavation and grabbing and cleaning of impurities. Since the drilling device 2 adopts hydraulic drive, it can cope with larger loads.

[0021] As shown in Figure 5, the gripping device 3 employs a rigid-flexible coupled manipulator and includes a base 3-1, a rotary table 3-2, an articulated reduction motor 3-3, a connecting arm 3-4, a connecting seat 3-5, a flexible torsional actuator 3-6, a flexible connecting disc 3-7, and a flexible hand claw 3-8. The base 3-1 is mounted on the support plate 1-2 of the crawler wheel chassis 1, and the rotary table 3-2 is connected to the base 3-1 to control the rotation of the entire gripping device 3. The connecting seat 3-5 is mounted on the rotary table 3-2 via a multi-section connecting arm 3-4, and the rotary table 3-2 and the multi-section connecting arm 3-4 are driven by the articulated reduction motor 3-3. The articulated reduction motor 3-3 is sequentially connected to the connecting arm 3-4 and constitutes the rigid part of the rigid-flexible coupled manipulator. The large-diameter end of the flexible torsional actuator 3-6 is connected to the connecting seat 3-5, and the flexible connecting disc 3-7 is connected to the other end of the flexible torsional actuator 3-6. The flexible hand claw 3-8 is connected to the lower part of the flexible connecting disc 3-7, and the flexible hand claw 3-8 and the flexible torsional actuator 3-6 are arranged coaxially. The flexible torsional actuator 3-6, the flexible connecting disc 3-7, and the flexible hand claw 3-8 are all made of flexible silicone rubber material, which can absorb most of the energy from impact and have a small environmental impact. The flexible torsional actuator 3-6 and the flexible hand claw 3-8 have a hollow structure and are driven by pressurized fluid, with the flexible torsional actuator 3-6 driving the flexible hand claw 3-8 to perform rotational and feeding motions simultaneously. The flexible hand claw 3-8 is used to grip objects of different shapes and materials.

[0022] As shown in Figure 6, the sealed tank 4 includes a seal pad 4-1, a tank cover 4-2, a pipe frame 4-3, and a stereo camera frame 4-4. The sealed tank 4 is fixed to the support plate 1-2 of the crawler wheel chassis 1 via bolts. The integrated control system is installed inside the tank cover 4-2, which is provided with a waterproof interface 4-5 and a zero-buoyancy cable outlet 4-6. The waterproof interface 4-5 is connected to the power and communication lines within the device, and the pipe frame 4-3 is hinged to the stereo camera frame 4-4. A stereo camera 8 is installed in the stereo camera frame 4-4 and is used to provide underwater image information and for the identification and positioning of artifacts. The data lines of the stereo camera 8 pass through the stereo camera frame 4-4 and the pipe frame 4-3 and are connected to the integrated control system inside the sealed tank 4.

[0023] In some embodiments, the integrated control system extends to the hull at sea level via a zero-buoyancy cable to enable communication with the hull.

[0024] As shown in Figure 7, the storage container 5 comprises a container body 5-1, a drive motor 5-2, a spring seat 5-4, and a dump bucket 5-5. The container body 5-1 is fixed to the lower part of the support plate 1-2 of the crawler wheel chassis 1, and the dump bucket 5-5 is hinged to the front of the container body 5-1. The dump bucket 5-5 is restricted by the support plate 1-2 of the crawler wheel chassis 1 and can only rotate up to 45 degrees. One end of the spring seat 5-4 is clamped and fixed to the right side inside the container body 5-1, and the other end abuts against the dump bucket 5-5. Multiple rotating partition plates 5-3 are provided inside the container body 5-1, and these rotating partition plates 5-3 divide the container body 5-1 into four regions and are rotatable around a central axis, and are used to separate and store the grasped object in each region. Both the rotating partition plate 5-3 and the inner surface of the cargo bay 5-1 are fitted with sponge to function as a protective layer. The cargo bay 5-1 is equipped with an electric interlock 5-6, which works in cooperation with the dump bucket 5-5 to lock the dump bucket 5-5 by causing the lock core to protrude when the dump bucket 5-5 is closed. Drive motors 5-2 are symmetrically installed on both sides of the cargo bay 5-1, and the output shafts of the drive motors 5-2 are connected to the rear drive wheels 1-3 of the crawler wheel chassis 1.

[0025] (Example 2) A rigid-flexible coupled type multi-purpose seafloor insitu sampling method employs the rigid-flexible coupled type multi-purpose seafloor insitu sampling device described in Example 1. This seafloor multi-purpose insitu sampling method is Step 1 involves either dropping a multi-purpose insitu sampling device onto the seabed from a ship, or transporting the device to the target location by a remotely operated unmanned submersible. Based on image information transmitted from the stereo camera 8, the crawler wheel chassis 1 is remotely controlled to move and search for the target object. The drilling device 2 operates by driving a hydraulic manipulator with hydraulic cylinders 2-5 and piston rods 2-6, which drives the grab shovel mechanism to excavate the buried object. Simultaneously, the shovel 2-12 is opened and closed by short hydraulic cylinders 2-7 and small piston rods 2-9 to grasp and clean up foreign matter, as well as to scoop up a sample of the polymetallic core in step 2. The stereo camera 8 positions the object, and the rotating table 3-2 and joint reduction motor 3-3 of the gripping device 3 control the movement of the rigid-flexible coupled manipulator and the flexible hand claw 3-8 to align with the object. After the flexible hand claw 3-8 is retracted to grip the object, the flexible torsion actuator 3-6 rotates the flexible hand claw 3-8 and pulls it back in step 3. Step 4 involves moving the object to the opening of the dump bucket 5-5 of the storage tank 5, opening the flexible hand claw 3-8, and dropping the object into the tank body 5-1. Then, the rotating partition plate 5-3 is rotated 90 degrees clockwise to move the object into the divided area, and after the collection of the object is completed, the collection of the next object is carried out. Step 5 includes the following steps: After all object search and collection operations are completed, the gripping device 3 pushes the dump bucket 5-5 to close it, causing the lock core of the electric interlock 5-6 to protrude and lock the dump bucket 5-5; then the device is lifted up by a cable connected to the ship, or returned to a remotely operated underwater vehicle, and recovered to the surface by the remotely operated underwater vehicle. [Explanation of symbols]

[0026] 1. Crawler wheel chassis; 2. Excavation device; 3. Gripping device; 4. Enclosed compartment; 5. Storage compartment; 6. Float frame; 7. Side floats; 8. Stereo camera; 9. LED lights; 10. Hydraulic pump; 11. Support column; 12. Center float; 1-1. Side plate; 1-2. Support plate; 1-3. Rear drive wheel; 1-4. Front follower wheel; 1-5. Roller; 1-6. Support rod; 1-7. Crawler belt; 2-1. Fixed seat; 2-2. Pin shaft; 2-3. Main hydraulic arm; 2-4. Sub hydraulic arm; 2-5. Hydraulic cylinder; 2-6. Piston rod; 2-7. Short hydraulic cylinder; 2-8. Grab shovel Frame; 2-9, small piston rod; 2-10, slider; 2-11, link; 2-12, shovel; 3-1, base; 3-2, rotary table; 3-3, articulated reduction motor; 3-4, connecting arm; 3-5, connecting seat; 3-6, flexible torsion actuator; 3-7, flexible connecting disc; 3-8, flexible hand claw; 4-1, seal pad; 4-2, cargo cover; 4-3, pipe frame; 4-4, stereo camera frame; 4-5, waterproof interface; 4-6, zero buoyancy cable outlet; 5-1, cargo body; 5-2, drive motor; 5-3, rotating partition plate; 5-4, spring seat; 5-5, dump bucket; 5-6, electric interlock.

Claims

1. A rigid-flexible coupled multi-purpose in situ sampling device for the seabed, comprising a crawler wheel chassis (1) and a sampling structure, a float structure, a sealed container (4), and a storage container (5) attached to the crawler wheel chassis (1), wherein the sampling structure is used to collect target material, the float structure is used to adjust the underwater buoyancy of the sampling device, an integrated control system for controlling other modules is integrated inside the sealed container (4), and the storage container (5) is used to store the target material collected by the sampling structure. The sampling structure includes an excavation device (2) and a gripping device (3). The excavation device (2) is used for excavation and cleaning of debris, and the gripping device (3) employs a rigid-flexible coupled manipulator and includes a base (3-1), a rotary table (3-2), a connecting arm (3-4), a connecting seat (3-5), a flexible torsional actuator (3-6), a flexible connecting disc (3-7), and a flexible hand claw (3-8). The base (3-1) is attached to a crawler wheel chassis (1), and the rotary table (3-2) is connected to the base (3-1) and the entire gripping device (3) The rotation of the body is controlled, the connecting seat (3-5) is attached to the rotary table (3-2) via a multi-joint connecting arm (3-4), the large diameter end of the flexible torsion actuator (3-6) is connected to the connecting seat (3-5), the flexible connecting disc (3-7) is connected to the other end of the flexible torsion actuator (3-6), the flexible hand claw (3-8) is attached below the flexible connecting disc (3-7), the inside of the flexible torsion actuator (3-6) and the flexible hand claw (3-8) is a hollow structure and is driven by compressed fluid. The storage container (5) comprises a container body (5-1), a drive motor (5-2), a spring seat (5-4), and a dump bucket (5-5), wherein the container body (5-1) is fixed to a crawler wheel chassis (1), the dump bucket (5-5) is hinged to the front of the container body (5-1), one end of the spring seat (5-4) is clamped and fixed to the right side inside the container body (5-1), and the other end abuts against the dump bucket (5-5), the container body (5-1) is provided with a plurality of rotatable partition plates (5-3) that divide the container body (5-1) into four regions and are rotatable around the center, and the container body (5-1) is provided with an electric interlock (5-6), characterized in that a rigid-flexible coupled type multi-purpose seabed in situ sampling device is provided.

2. The rigid-flexible coupled type multi-purpose seabed in situ sampling device according to claim 1, characterized in that the rotary table (3-2) and the multi-jointed connecting arm (3-4) are driven by a joint reduction motor (3-3), and the joint reduction motor (3-3) and the connecting arm (3-4) are sequentially connected to constitute the rigid part of the rigid-flexible coupled manipulator.

3. The drilling device (2) includes a fixed seat (2-1), a main hydraulic arm (2-3), a sub-hydraulic arm (2-4), and a grab shovel structure, wherein the fixed seat (2-1) is fixed to a storage tank (5), one end of the main hydraulic arm (2-3) is hinged to the fixed seat (2-1), and the other end is hinged to the sub-hydraulic arm (2-4), power is transmitted between the main hydraulic arm (2-3) adjacent to the fixed seat (2-1) and the sub-hydraulic arm (2-4) by a first piston mechanism, and power is transmitted between the main hydraulic arm (2-3) adjacent to the sub-hydraulic arm (2-4) and the fixed seat (2-1) by a second piston mechanism, characterized in that the rigid-flexible coupled type multi-purpose seabed in situ sampling device according to claim 1.

4. The grab shovel structure is mounted on a sub-hydraulic arm (2-4) and includes a short hydraulic cylinder (2-7), a grab shovel frame (2-8), a small piston rod (2-9), a slider (2-10), a link (2-11), and a shovel (2-12). The upper part of the short hydraulic cylinder (2-7) is connected to the sub-hydraulic arm (2-4), and the bottom part is connected to the grab shovel frame (2-8). The grab shovel frame (2-8) and the slider (2-10) slide in the axial direction of the grab shovel frame (2-8). The rigid-flexible coupled multi-purpose seabed in situ sampling device according to claim 3, characterized in that it forms a pair and is propelled by a small piston rod (2-9), the center of the slider (2-10) is fixed to the end of the small piston rod (2-9) and its edge is hinged to the upper end of the shovel (2-12), one end of the link (2-11) is hinged to the lower end of the grab shovel frame (2-8) and the other end is hinged to the shovel (2-12), and the edge of the slider (2-10) is hinged to the upper end of the shovel (2-12).

5. The float structure comprises a float frame (6), two side floats (7) and a center float (12) attached to the float frame (6), the float frame (6) being fixed to a crawler wheel chassis (1) via support columns (11), the two side floats (7) being fixed to both ends of the float frame (6), and the center float (12) being fixed to the middle section of the float frame (6), as described in claim 1.

6. The rigid-flexible coupled multi-purpose seabed in situ sampling device according to claim 1, wherein the sealed container (4) comprises a seal pad (4-1), a container cover (4-2), and a pipe frame (4-3), the sealed container (4) is fixed to the crawler wheel chassis (1) via the seal pad (4-1), and the integrated control system is provided inside the container cover (4-2).

7. The crawler wheel chassis (1) includes a support plate (1-2), a transmission structure fixed to both sides of the support plate (1-2), the transmission structure including a side plate (1-1), a rear drive wheel (1-3), a front follower wheel (1-4), a crawler belt (1-7), and a roller set, the side plate (1-1) being connected below the support plate (1-2), and both the rear drive wheel (1-3) and the front follower wheel (1-4) being connected to the side plate The rigid-flexible coupled multi-purpose seabed in situ sampling device according to claim 1, characterized in that the roller set is rotatably connected to a to (1-1), and the roller set comprises a plurality of corresponding rollers (1-5) in a one-to-one pair and a support rod (1-6), and all of the plurality of rollers (1-5) are rotatably connected to a side plate (1-1) via the support rod (1-6), and the outer edges of the rear drive wheel (1-3), front follower wheel (1-4), and rollers (1-5) are all in contact with the inside of the crawler (1-7).

8. The rigid-flexible coupled multi-purpose seabed insitu sampling device according to claim 5, characterized in that the sealed container (4) is provided with a stereo camera (8) used for providing underwater image information and for identifying and positioning cultural artifacts, and the float frame (6) is provided with an LED lamp (9) for underwater illumination.

9. A rigid-flexible coupled type multi-purpose seabed insitu sampling method employing the rigid-flexible coupled seabed multi-purpose insitu sampling device described in claim 1, wherein the seabed multi-purpose insitu sampling method is A rigid-flexible coupled type multipurpose seafloor in situ sampling method is characterized by deploying a seafloor multipurpose in situ sampling device into the target area, using a drilling device (2) to grasp and clean up foreign matter while simultaneously scooping up a sample of polymetallic nuclei, controlling the movement of a rigid-flexible coupled manipulator and a flexible hand claw (3-8) using a rotating table (3-2) and articulated reduction motor (3-3) of a grasping device (3) to align with the target material, retracting the flexible hand claw (3-8) to grasp the target material, further rotating the flexible hand claw (3-8) with a flexible torsional actuator (3-6) to pull the target material back, and the grasping device (3) transferring the target material to a storage tank (5), thereby completing the sampling of the target material.

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