Integrated underwater robotic hoist and recovery device

Abstract

The application discloses an integrated underwater robot hoisting and recycling device, which comprises a double-hull driven on the water surface, a cabin operated by a driver is arranged in the middle of the double-hull, a display for monitoring underwater salvage is arranged on one side above the cabin, a signal module for wireless transmission and reception is arranged on one side at the rear of the double-hull, a counterweight block for preventing the rear of the double-hull from being lifted is arranged on one side of the signal module, a driving structure for driving the hoisting of the underwater robot is arranged on the deck at the front of the double-hull, and an adjusting structure for adjusting the steering of the adsorption structure of the underwater robot is arranged below the driving structure. The driving structure comprises a mounting frame arranged on the deck support at the front of the double-hull, the first steel wire rope is arranged above the mounting frame to disperse the stress of the mounting frame, connecting grooves are arranged on the two sides of the mounting frame, and the second steel wire rope is wound by the rotation of the first motor and arranged below the roller. The integrated underwater robot hoisting and recycling device ensures the stability of the gravity center of the whole double-hull during the hoisting process through the counterweight block.

Description

Technical Field

[0001] This invention relates to the field of underwater robot technology, specifically to an integrated underwater robot hoisting and recovery device. Background Technology

[0002] As a type of machine designed for extreme underwater operations, underwater robots can replace humans in harsh environments. However, underwater robots are prone to malfunctions during operation, which can prevent them from functioning properly. In such cases, the underwater robot needs to be hoisted and recovered. Currently, the hoisting and recovery process involves divers entering the underwater robot's working area and securing a hoisting rope to the robot. This method is not only inefficient but also poses risks to divers due to the unstable working environment of the underwater robot. Summary of the Invention

[0003] The purpose of this invention is to address the shortcomings of existing technologies by providing an integrated underwater robot hoisting and recovery device, thereby solving the problems mentioned in the background art, such as low work efficiency and the potential dangers to divers caused by the unstable working environment of underwater robots.

[0004] To achieve the above objectives, the present invention provides the following technical solution: an integrated underwater robot hoisting and recovery device, comprising a double hull for driving on the water surface, a cabin for operator operation in the middle of the double hull, a display for monitoring underwater salvage on one side above the cabin, a wireless signal module for receiving and transmitting signals on one side of the rear of the double hull, a counterweight block for preventing tilting at the rear of the double hull on one side of the signal module, a drive structure for hoisting and driving the underwater robot on the front deck of the double hull, and an adjustment structure for adjusting the steering of the underwater robot's adsorption structure below the drive structure;

[0005] The drive structure includes a mounting frame supported on the forward deck of the double hull. A first steel wire rope distributes the force on the mounting frame above it. The mounting frame has connecting grooves on both sides. The connecting grooves are concave. Inside the concave shape are rollers driven by a belt. Below the rollers is a second steel wire rope that is wound around a first motor.

[0006] By adopting the above technical solution, the counterweight blocks ensure the overall stability of the center of gravity of the two ships during the hoisting process.

[0007] Preferably, the drive structure includes a connecting plate with two sides, a second connecting member symmetrically arranged above the connecting plate and rotatably connected to the roller, and a second connecting member movably arranged below the connecting plate and the take-up roller.

[0008] By adopting the above technical solution, the connecting plate achieves a fixed connection on both sides and also provides an adjustment and driving effect.

[0009] Preferably, one end of the take-up roller is provided with a driven gear that meshes with the drive gear, and the surface of the take-up roller is provided with a second steel wire rope that is wound and unwound relative to the drive gear.

[0010] By adopting the above technical solution, the second wire rope can be wound and coiled using a winding roller.

[0011] Preferably, the drive structure includes belt rollers that are rotatably connected to the belt, the belt rollers being symmetrically arranged below the mounting frame, and the two ends of the belt being connected to both sides of the connecting plate.

[0012] By adopting the above technical solution, the belt can drive and adjust the connecting plate.

[0013] Preferably, the adjustment structure includes a mounting block with a groove, a connecting bearing that is rotatably connected to the connecting block inside the groove, a concave wheel that is wound around the connecting rope on the surface of the mounting block, and a take-up roller symmetrically arranged below the connecting plate.

[0014] By adopting the above technical solution, the installation block can be rotated and adjusted by connecting ropes.

[0015] Preferably, the connecting block is concave, and a connecting shaft for rotating and adjusting the spring sheet and the mounting block is provided inside the concave shape. A force-bearing plate for supporting the spring sheet is provided below the connecting shaft. The spring sheet is spiral-shaped, and the connecting block is suspended above the second steel wire rope.

[0016] By adopting the above technical solution, the spring sheet serves as a connecting rope, achieving an elastic winding and wrapping effect.

[0017] Preferably, the segment structure includes a connecting frame for driving and stretching the connecting rope. The connecting frame is L-shaped, and one end of the L-shape is provided with a first multi-stage telescopic rod for driving and adjusting. The first multi-stage telescopic rod is provided on one side of the connecting block.

[0018] By adopting the above technical solution, the first multi-stage telescopic rod achieves the driving and adjustment effect.

[0019] Preferably, the adsorption structure includes a storage compartment for recovering the underwater robot. An underwater camera for observing the underwater environment is provided on one side above the storage compartment. The interior of the storage compartment is hollow. Inside the hollow structure is a mounting plate that is elastically connected to one end of a second multi-stage telescopic rod via an elastic connector. The storage compartment is rotatably positioned above the mounting plate below the mounting block.

[0020] By adopting the above technical solution, the underwater robot can be hoisted and stored using a storage compartment.

[0021] Preferably, a protective cover for the magnet is provided below the mounting plate, and the protective cover is made of polyethylene material.

[0022] By adopting the above technical solution, the protective cover can achieve an adsorption and protection effect on the top of the underwater robot.

[0023] Compared with the prior art, the beneficial effects of the present invention are: this integrated underwater robot hoisting and recovery device,

[0024] (1) An adsorption structure is provided. When the storage compartment is below the underwater robot's working area, the second multi-stage telescopic rod is controlled to work. During the operation of the second multi-stage telescopic rod, the mounting plate is moved above the underwater robot and adsorbed by the magnet. During the movement of the mounting plate, the position of the magnet is observed by the underwater camera, so as to accurately adsorb, retrieve and hoist the underwater robot. This avoids the situation where divers enter the water to tie the underwater robot and then hoist and retrieve it. This not only improves work efficiency but also makes it convenient for the operator to observe and operate from above the two hulls, avoiding the possibility of accidents during the process of divers tying the underwater robot.

[0025] (2) An adjustment structure is provided. During the operation of the first multi-stage telescopic rod, the rotation angle of the connecting block is adjusted by the connecting rope. During the rotation of the connecting block, the storage compartment rotates in the same direction. By changing the rotation angle of the storage compartment, it is convenient for the adsorption structure to adsorb and retrieve the underwater robot. In addition, during the elastic release of the spring plate, the connecting rope is driven to wrap around the concave wheel to avoid the connecting rope being unable to return to its original state after the work is completed, thus affecting the normal operation and working condition of the overall equipment.

[0026] (3) A drive structure is provided. During the operation of the second motor, the second steel wire rope is driven to move. During the operation of the second steel wire rope, the adjustment structure is driven to move downward or upward. By changing the lifting position of the adjustment structure, the underwater robot can be hoisted and salvaged or the underwater robot can be hoisted and recovered. At the same time, during the operation of the first motor, the connecting plate and the mounting column are driven to move left and right, which makes it convenient to place the underwater robot after hoisting and salvaging on the double hull deck for easy maintenance.

[0027] (4) It is equipped with a double hull. By driving the double hull, the hoisting equipment can be driven to the underwater robot's working area, which facilitates the hoisting and salvage of the underwater robot. The display on the top of the double hull allows the operator to operate the underwater equipment below from the cabin of the double hull. This not only improves the efficiency of operation, but also allows for accurate hoisting and recovery of the underwater robot. The above-mentioned structural components on the top of the double hull concentrate multiple hoisting and salvage functions on the top of the double hull, increasing the speed and efficiency of hoisting and salvage. Attached Figure Description

[0028] Figure 1 This is a frontal cross-sectional view of the present invention;

[0029] Figure 2 This is a top view schematic diagram of the twin-hull structure of the present invention;

[0030] Figure 3 This is a schematic diagram of the mounting frame, first connector, first wire rope, second connector, connecting plate, first motor, and second motor of the present invention.

[0031] Figure 4 This is a schematic diagram of the mounting frame, first connector, first wire rope, belt roller, belt, and second motor structure of the present invention.

[0032] Figure 5 This is a schematic diagram of the connecting plate, winding roller, driven gear, second wire rope, driving gear and first motor of the present invention;

[0033] Figure 6 This is a schematic diagram of the adjustment structure of the present invention;

[0034] Figure 7 This is a schematic diagram of the connecting block, connecting shaft, and spring sheet structure of the present invention;

[0035] Figure 8 This is a schematic diagram of the adsorption structure of the present invention.

[0036] In the diagram: 1. Double hull; 101. Cabin; 102. Display; 103. Signal module; 2. Drive structure; 201. Mounting bracket; 202. First connector; 203. First wire rope; 204. Connecting groove; 205. Roller; 206. Second connector; 207. Connecting plate; 208. Winding roller; 209. Driven gear; 210. Second wire rope; 211. Drive gear; 212. First motor; 213. Belt roller; 214. Belt; 215. 1. Second motor; 3. Adjustment structure; 301. Mounting block; 302. Connecting bearing; 303. Concave wheel; 304. Connecting rope; 305. Connecting block; 306. Connecting shaft; 307. Spring plate; 308. Force plate; 309. Connecting frame; 310. First multi-stage telescopic rod; 4. Adsorption structure; 401. Storage compartment; 402. Underwater camera; 403. Second multi-stage telescopic rod; 404. Shock absorber; 405. Mounting plate; 406. Magnet; 407. Protective cover. Detailed Implementation

[0037] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0038] Please see Figure 1-8 This invention provides a technical solution: an integrated underwater robot hoisting and recovery device, such as... Figure 1 and Figure 2 As shown, the system includes a double hull 1 for water surface propulsion, a cabin 101 for operator operation in the middle of the double hull 1, a display 102 for underwater salvage monitoring on one side above the cabin 101, a wireless signal module 103 for receiving and transmitting signals on one side of the rear of the double hull 1, a counterweight block for preventing tilting at the rear of the double hull 1 on one side of the signal module 103, a drive structure 2 for lifting underwater robots on the front deck of the double hull 1, and an adjustment structure 3 for adjusting the steering of the underwater robot adsorption structure 4 below the drive structure 2.

[0039] In the preferred embodiment, the operator drives the dual-hull 1 to travel within the underwater robot's working area. Then, the operator operates the control buttons on the dual-hull 1 to control the drive structure 2. During operation, the drive structure 2 carries the adjustment structure 3 and the adsorption structure 4 in the same direction. When the drive structure 2 controls the adjustment structure 3 and the adsorption structure 4 to move above the underwater robot's water area, the drive structure 2 controls the adjustment structure 3 and the adsorption structure 4 to sink to the underwater robot's position. During the sinking process, the adjustment structure 3 is operated to adjust the rotation angle of the adsorption structure 4, facilitating the adsorption structure 4 to quickly adsorb, retrieve, and hoist the underwater robot.

[0040] Specifically, the twin hull 1 is provided with a cabin 101, and a display 102 is installed inside the cabin 101. The display 102 is electrically connected to the cabin 101. A signal module 103 is provided on one side of the rear of the cabin 101. The signal module 103 is electrically connected to the display 102 and the cabin 101 through wires. A counterweight is provided on one side of the signal module 103.

[0041] Preferably, the twin hull 1 adopts the hull structure of the existing technology, so that when the twin hull 1 is set up in the existing technology structure, it not only ensures the normal installation of the lifting equipment, but also ensures the overall stability and anti-capsulation effect of the twin hull 1 during the underwater robot lifting and salvage process.

[0042] In the preferred embodiment, the operator climbs into the cabin 101 above the double hull 1 to drive the entire double hull 1 to work. During the operation of the double hull 1, the driving structure 2, the adsorption structure 4 and the adjustment structure 3 are carried to travel in the underwater robot's working area to lift, salvage and recover the underwater robot.

[0043] like Figure 3 As shown, the drive structure 2 includes a mounting frame 201 supported on the forward deck of the double hull 1. The mounting frame 201 is supported by a first steel wire rope 203 to distribute the force on the mounting frame 201. The mounting frame 201 has connecting grooves 204 on both sides. The connecting grooves 204 are concave. Inside the concave shape are rollers 205 driven by a belt 215. Below the rollers 205 is a second steel wire rope 2011 wound by a second motor 214.

[0044] Specifically, the two ends of the first wire rope 203 are wrapped and fixed to one end of the first connector 202, and the other end of the first connector 202 is fixedly connected to one side and the top of the mounting frame 201. The mounting frame 201 has connecting grooves 204 on both sides and is fixedly connected to the front deck of the double hull 1.

[0045] Preferably, the stretching shape between the first connector 202, the first wire rope 203, and the mounting frame 201 is triangular. It is clear from existing technology and structures that a triangle is the most stable structure among all structures and shapes. Therefore, the triangular connection between the first connector 202, the first wire rope 203, and the mounting frame 201 ensures the stability and force distribution effect of one end of the mounting frame 201 during the force application process.

[0046] In the preferred embodiment, the twin hulls 1 drive the mounting frame 201 to move synchronously in the underwater robot's working area during the movement of the twin hulls 1, thereby lifting and salvaging the underwater robot.

[0047] like Figure 5 As shown, the drive structure 2 includes a double-sided connecting plate 207. A second connecting member 206 is symmetrically arranged above the connecting plate 207 and is rotatably connected to the roller 205. The connecting plate 207 is movably arranged below the winding roller 208 through another second connecting member 206.

[0048] Specifically, one end of the second connector 206 is movably connected to the roller 205 via a mounting shaft, the other end of the second connector 206 is fixedly connected to the top of the connecting plate 207, and the bottom of the connecting plate 207 is fixedly connected to one end of another second connector 206.

[0049] Preferably, one side of the connecting plate 207 is provided with four second connecting members 206 that are movably connected to the roller 205, thereby ensuring the stability and balance of the connecting plate 207 during the force-bearing movement process, and ensuring the uniform distribution effect of the force on the connecting plate 207. The other side of the connecting plate 207 is provided with five second connecting members 206, thereby facilitating the installation of other structural components below the connecting plate 207.

[0050] In the preferred embodiment, the connecting plate 207 drives the second connecting member 206 to move during the process of being subjected to force, and the second connecting member 206 causes the roller 205 to rotate inside the connecting groove 204 during the movement of the roller 205.

[0051] One end of the take-up roller 208 is provided with a driven gear 209 that meshes with the drive gear 211. The surface of the take-up roller 208 is provided with a second steel wire rope 210 that is wound and unwound relative to the drive gear 211. The take-up roller 208 is symmetrically arranged below the connecting plate 207.

[0052] Specifically, a driven gear 209 is fixedly inserted through one end of the winding roller 208, and the surface of the winding roller 208 is wound and fixed to one end of the second wire rope 210. At the same time, the two ends of the winding roller 208 are movably installed below the connecting plate 207 through the second connecting piece 206. The driving gear 211 is fixedly connected through the output end of the first motor 212 through the second connecting piece 206, and the driving gear 211 is meshed with the driven gear 209. The first motor 212 is electrically connected to the cabin 101.

[0053] Preferably, there are two driven gears 209. By having two driven gears 209, the winding roller 208 can be adjusted in the opposite direction during its rotational movement. During the reverse adjustment of the winding roller 208, the second wire rope 210 is driven to wind and be hoisted from below. When the second wire rope 210 is wound around the surface of the winding roller 208, the winding direction is set in the opposite direction to ensure the synchronous winding and hoisting effect of the second wire rope 210.

[0054] In the preferred embodiment, the operator operates the control button inside the cabin 101 to control the first motor 212 to work. During the operation of the first motor 212, the driving gear 211 is driven to work. During the operation of the driving gear 211, the driven gear 209 is driven to rotate in the opposite direction. During the opposite movement of the driven gear 209, the winding roller 208 is driven to rotate in the opposite direction. During the downward rotation of the winding roller 208, the second wire rope 210 is hoisted from below.

[0055] like Figure 4 As shown, the drive structure 2 includes a belt roller 213 rotatably connected to the belt 214. The belt roller 213 is symmetrically arranged below the mounting frame 201, and the two ends of the belt 214 are connected to both sides of the connecting plate 207.

[0056] Specifically, belt roller 213 is fixedly connected to the lower part of mounting frame 201, and belt roller 213 is fixedly connected to the output end of second motor 215. Second motor 215 is fixedly connected to the upper side of mounting frame 201 through mounting plate. Second motor 215 is electrically connected to cabin 101. One end of belt 214 passes through belt roller 213 and is fixedly connected to one side of connecting plate 207, and the other end of belt 214 passes through the lower part of connecting plate 207 and another belt roller 213 and is fixedly connected to the other side of connecting plate 207.

[0057] Preferably, two belt rollers 213 are provided to ensure the conveying and driving connection of the belt 214 during movement, and the two belt rollers 213 also provide a movement limiting effect for the connecting plate 207.

[0058] In the preferred embodiment, the operator controls the second motor 215 by using the control buttons inside the cabin 101. During the operation of the second motor 215, the belt roller 213 moves. During the movement of the belt roller 213, the connecting plate 207 moves left and right on the mounting frame 201 via the belt 214, thereby moving the corresponding equipment to the underwater robot's working area for salvage and hoisting.

[0059] like Figure 6 As shown, the adjustment structure 3 includes a mounting block 301 with a groove, a connecting bearing 302 that is rotatably connected to the connecting block 305 inside the groove, and a concave wheel 303 that is wound and connected to the connecting rope 304 on the surface of the mounting block 301.

[0060] Specifically, the surface of the concave wheel 303 is wrapped and fixed to one end of the connecting rope 304, the bottom of the mounting block 301 is fixedly connected through the inner ring of the concave wheel 303, the bottom of the connecting block 305 is installed and connected through the inner ring of the connecting bearing 302, and the inner ring of the connecting bearing 302 is installed and connected to the inner groove of the mounting block 301.

[0061] Preferably, both the mounting block 301 and the connecting block 305 are concave, which provides a bidirectional mounting connection between the inner and outer sides. Furthermore, both the mounting block 301 and the connecting block 305 are made of metal material coated with anti-oxidation coating, which not only effectively extends the service life of the mounting block 301 and the connecting block 305, but also facilitates welding and fixing with the inner and outer rings of the connecting bearing 302.

[0062] In the preferred embodiment, the connecting rope 304 drives the concave wheel 303 to move during the process of being stressed. During the movement of the concave wheel 303, the mounting block 301 rotates. During the rotation of the mounting block 301, the outer ring of the connecting bearing 302 rotates relative to the inner ring of the connecting bearing 302 and the connecting block 305.

[0063] like Figure 7As shown, the connecting block 305 is concave, and the concave interior is provided with a connecting shaft 306 for rotating and adjusting the spring plate 307 and the mounting block 301. Below the connecting shaft 306 is a force-bearing plate 308 that supports the spring plate 307. The spring plate 307 is spiral-shaped, and the connecting block 305 is hoisted above the second wire rope 210.

[0064] Specifically, one end of the connecting shaft 306 is fixedly connected to one end of the spring plate 307, one end of the spring plate 307 is fixedly connected to the inner side of the connecting block 305 through the connecting block, one end of the connecting shaft 306 is fixedly connected to the upper inner side of the connecting block 305 through the bearing seat, the force plate 308 passes through the connecting shaft 306 and is fixedly connected to the lower inner side of the connecting block 305, and the other end of the connecting shaft 306 passes through the connecting bearing 302 and is fixedly connected to the lower inner side of the mounting block 301.

[0065] Preferably, the spring plate 307 is spiral-shaped, which facilitates the fixed connection between the center point of the spiral and one end of the connecting shaft 306, and facilitates the rotation adjustment of the spring plate 307 during the rotation of the connecting shaft 306 under force. In addition, the force plate 308 is set with a through hole, which provides support for the spring plate 307.

[0066] In the preferred embodiment, the mounting block 301 drives the connecting shaft 306 to move during the force application process. During the movement of the connecting shaft 306, it rotates relative to the force plate 308. During the rotation of the connecting shaft 306, it drives the spring sheet 307 to elastically retract.

[0067] The adjustment structure 3 includes a connecting frame 309 that drives the connecting rope 304 to stretch. The connecting frame 308 is L-shaped, and one end of the L-shape is provided with a first multi-stage telescopic rod 310 for driving adjustment. The first multi-stage telescopic rod 310 is provided on one side of the connecting block 305.

[0068] Specifically, one end of the connecting frame 308 is wound and connected to the other end of the connecting rope 304, and the other end of the connecting frame 308 is fixedly connected to the output end of the first multi-stage telescopic rod 310. The other end of the first multi-stage telescopic rod 310 is fixedly connected to one side of the connecting block 305 through the mounting groove. The first multi-stage telescopic rod 310 is electrically connected to the cabin 101.

[0069] Preferably, the L-shaped connecting frame 308 not only serves as a connection between the two ends but also provides a driving stretching and reverse winding effect for the connecting rope 304.

[0070] In the preferred embodiment, the operator operates the control button inside the cabin 101 to control the first multi-stage telescopic rod 310 to work. During the operation of the first multi-stage telescopic rod 310, the connecting frame 308 is driven to move. During the movement of the connecting frame 308, one end of the connecting rope 304 is stretched. When one end of the connecting rope 304 is stretched, the other end of the connecting rope 304 drives the concave wheel 303 to rotate.

[0071] like Figure 8 As shown, the adsorption structure 4 includes a storage compartment 401 for recovering the underwater robot. An underwater camera 402 for observing the underwater environment is provided on one side above the storage compartment 401. The storage compartment 401 has a hollow structure inside. Inside the hollow structure is a mounting plate 405 that is elastically connected to one end of the second multi-stage telescopic rod 403 via an elastic connector. The storage compartment 401 is rotatably positioned above the mounting block 301.

[0072] Specifically, an underwater camera 402 is installed above the storage compartment 401. The underwater camera 402 is electrically connected to the display 102, the cabin 101, and the signal module 103 via wires. One end of the second multi-stage telescopic rod 403 is fixedly connected to the inside of the storage compartment 401. The output end of the second multi-stage telescopic rod 403 is fixedly connected to the top of the mounting plate 405 via a shock absorber 404. The second multi-stage telescopic rod 403 is also electrically connected to the cabin 101. The top of the storage compartment 401 is fixedly connected to the bottom of the mounting block 301.

[0073] Preferably, when the storage compartment 401 is designed with surface-driven through holes, it not only drains water but also prevents water from accumulating inside the storage compartment 401. Furthermore, the storage compartment 401 is designed with metal materials that are coated with anti-corrosion materials. Thus, the storage compartment 401 can be lowered to the working position of the underwater robot using its own weight to perform adsorption and retrieval. The elastic connector adopts the shock absorber 404 in the existing structure. During the compression process, the shock absorber 404 changes the relative height between the mounting plate 405 and the second multi-stage telescopic rod 403 to adapt to different models of underwater robots for adsorption and retrieval.

[0074] In the preferred embodiment, during the process of the storage compartment 401 being subjected to force, the underwater camera 402 is driven to sink to the working position of the underwater robot. At this time, the operator observes the surrounding environment of the storage compartment 401 through the underwater camera 402 and adjusts the rotation position of the storage compartment 401 to determine the position of the underwater robot. Then, the operator operates the control button of the cabin 101 to control the second multi-stage telescopic rod 403 to work. During the operation of the second multi-stage telescopic rod 403, the shock absorber 404 is driven to work. During the operation of the shock absorber 404, the mounting plate 405 is moved above the underwater robot for adsorption and recovery.

[0075] Below the mounting plate 405 is a protective cover 407 that encloses and connects to the magnet 406. The protective cover 407 is made of polyethylene material.

[0076] Specifically, a magnet 406 is provided below the mounting plate 405, and a protective cover 407 is wrapped around the bottom of the mounting plate 405.

[0077] Preferably, the protective cover 407 is made of flexible polyethylene material. By wrapping the magnet 406 with the protective cover 407, the service life of the magnet 406 is not only effectively extended, but the top of the underwater robot is also isolated and protected.

[0078] In the preferred embodiment, the mounting plate 405 drives the magnet 406 to move during the force applied. During the movement of the magnet 406, it is attracted to the top of the underwater robot through the protective cover 407, and the attracted underwater robot is transported into the storage compartment 401.

[0079] The terms “center,” “longitudinal,” “lateral,” “front,” “rear,” “left,” “right,” “vertical,” “horizontal,” “top,” “bottom,” “inner,” and “outer,” etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are merely simplified descriptions for the convenience of describing the present invention and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting the scope of protection of the present invention.

[0080] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An integrated underwater robotic hoisting and recovery device comprising a catamaran (1) driven at the water surface, characterized in that: The middle of the double hull (1) is provided with a cabin (101) operated by the driver, the upper side of the cabin (101) is provided with a display (102) for monitoring underwater salvage, the side of the rear of the double hull (1) is provided with a signal module (103) for wireless transmission, the side of the signal module (103) is provided with a counterweight for preventing the rear of the double hull (1) from being lifted, and the front deck of the double hull (1) is provided with a driving structure (2) for hoisting and driving the underwater robot, and the driving structure (2) is provided below the underwater robot suction structure (4) for adjusting the steering of the underwater robot. The driving structure (2) comprises a mounting frame (201) provided on the front deck of the double hull (1), a first steel wire rope (203) is arranged above the mounting frame (201) to disperse the stress of the mounting frame (201), connecting grooves (204) are arranged on both sides of the mounting frame (201), the connecting grooves (204) are concave, and the concave interiors are provided with rollers (205) driven by a belt (214) to the left and right, and a second motor (215) is arranged below the rollers (205) to rotate and wind a second steel wire rope (210). The driving structure (2) comprises a belt roller (213) rotatably connected with the belt (214), the belt roller (213) is symmetrically arranged below the mounting frame (201), and the belt (214) is connected with the connecting plates (207) on both sides. The adjusting structure (3) comprises a mounting block (301) provided with a groove, a connecting bearing (302) rotatably connected with a connecting block (305) is arranged in the groove, and a recessed wheel (303) connected with a connecting rope (304) is arranged on the surface of the mounting block (301). The connecting block (305) is concave, a connecting shaft (306) is arranged in the concave interior to rotationally adjust the spring sheet (307) and the mounting block (301), a stress plate (308) is arranged below the connecting shaft (306) to support the spring sheet (307), the spring sheet (307) is spiral-shaped, and the connecting block (305) is hoisted with the second steel wire rope (210) above. The adjusting structure (3) comprises a connecting frame (309) for driving and stretching the connecting rope (304), the connecting frame (309) is L-shaped, a first multi-stage telescopic rod (310) for driving adjustment is arranged at one end of the L-shaped connecting frame (309), and the first multi-stage telescopic rod (310) is arranged on one side of the connecting block (305).

2. An integrated underwater robotic hoisting and recovery device according to claim 1, wherein: The driving structure (2) comprises a connecting plate (207) arranged on both sides, a second connecting piece (206) rotatably connected with the roller (205) is symmetrically arranged above the connecting plate (207), and the connecting plate (207) is movably arranged with a winding roller (208) through another second connecting piece (206) below.

3. The integrated underwater robotic hoist and recovery apparatus of claim 2, wherein: One end of the winding roller (208) is provided with a driven gear (209) meshed with a driving gear (211), the surface of the winding roller (208) is provided with a second steel wire rope (210) wound in opposite directions, and the winding roller (208) is symmetrically arranged below the connecting plate (207).

4. An integrated underwater robotic hoisting and recovery device according to claim 1, wherein: The adsorption structure (4) comprises a receiving cabin (401) for underwater robot recovery, an underwater camera (402) for observing underwater environment is arranged on one side above the receiving cabin (401), the receiving cabin (401) is in a hollow structure, an installation plate (405) is elastically arranged at one end of the second multi-stage telescopic rod (403) through an elastic connecting piece, and the receiving cabin (401) is rotatably arranged below the installation block (301).

5. An integrated underwater robotic hoisting and recovery apparatus as claimed in claim 4, wherein: A protective cover (407) for wrapping the magnet (406) is arranged below the installation plate (405), and the protective cover (407) is made of polyethylene material.

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