Intelligent bomb-throwing device and underwater operating robot

Abstract

The present application relates to underwater mechanical equipment field, specifically point to a kind of intelligent bomb-throwing device and underwater operation robot, a kind of intelligent bomb-throwing device, including bomb-throwing cabin, bomb-throwing mechanism is equipped in bomb-throwing cabin, bomb-throwing mechanism includes cannonball, bomb-throwing bomb support and bomb-throwing motor, bomb-throwing cabin is equipped with cannonball barrel, cannonball barrel is equipped with cannonball and bomb-throwing bomb support, bomb-throwing bomb support is driven by bomb-throwing motor, a kind of underwater operation robot, including robot main body, control system and the above-mentioned intelligent bomb-throwing device are equipped on robot main body, robot main body is equipped with explosive block launching mechanism, buoy mechanism, holder and submachine launching mechanism, explosive block launching mechanism includes blasting cabin, lifting frame, lifting electric push rod, explosive block, explosive block limit frame, manipulator and telescopic component, the present application structure is ingenious, can communicate, can be observed, can search, can bomb-throwing, can be defused, can release submachine, can complete multiple underwater operation simultaneously, operation precision is high.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of underwater mechanical equipment, in particular to an intelligent bomb-throwing device and underwater operation robot. BACKGROUND

[0002] Underwater robots are mainly divided into two categories: one is a tethered underwater robot, which is commonly known as a remote operated vehicle (ROV for short); the other is a tetherless underwater robot, which is commonly known as an autonomous underwater vehicle (AUV for short). The autonomous underwater robot is a new generation of underwater robot, which has the advantages of large activity range, good maneuverability, safety, intelligence, etc., and becomes an important tool for completing various underwater tasks. For example, in the civil field, it can be used for laying pipelines, seabed exploration, data collection, drilling support, seabed construction, underwater equipment maintenance and repair, etc.; in the military field, it can be used for reconnaissance, mining, mine clearance, submarine rescue and lifesaving, etc. The deficiency of the existing autonomous underwater robot is that the structure is single, and it can only complete one task. When multiple tasks need to be performed, the robot needs to enter the water multiple times, which is a large workload, unstable work, low accuracy, time-consuming and laborious, high energy consumption and high cost. SUMMARY

[0003] The purpose of the present application is to solve the problems of the prior art, and to provide an intelligent bomb-throwing device and underwater operation robot which has a clever structure, flexible operation, communication, observation, search, bomb-throwing, explosive disposal, sub-machine release, can complete multiple underwater operations at the same time, and has high operation precision.

[0004] To achieve the above purpose, the technical solution adopted by the present application is:

[0005] An intelligent bomb-throwing device, characterized in that: it comprises a bomb-throwing cabin, a bomb-throwing mechanism is arranged in the bomb-throwing cabin, the bomb-throwing mechanism comprises a cannonball, a bomb-throwing cartridge and a bomb-throwing motor, at least one cannonball barrel is arranged in the bomb-throwing cabin, at least two cannonballs are arranged in the cannonball barrel, a bomb-throwing cartridge is arranged at the lower end of the cannonball barrel, the bomb-throwing cartridge is driven by the bomb-throwing motor, the bomb-throwing motor drives the bomb-throwing cartridge to rotate, so that the bomb-throwing cartridge holds or releases the cannonball, the bomb-throwing motor is fixedly connected with the bomb-throwing cabin, so as to facilitate the bomb-throwing motor to drive the bomb-throwing cartridge to rotate, the cannonball falls out of the bomb-throwing cabin, and the bomb-throwing operation is realized.

[0006] The bomb-throwing bracket of the application comprises two bracket frames, which are arranged at two sides of the bomb-throwing motor and are fixedly connected through a connecting plate, one of the bracket frames is fixedly connected with the output shaft of the bomb-throwing motor, and the other bracket frame is provided with a bomb-throwing driven shaft, one end of the bomb-throwing driven shaft is fixedly connected with the bomb-throwing cabin through a bearing, and the other end is fixedly connected with the bracket frame, one side of the two bracket frames facing the cannonball barrel is respectively provided with a bracket groove, the upper end of the bracket groove is provided with a limiting block, the limiting block is fixedly connected with the bracket frame, the bracket groove holds the cannonball, when the bomb-throwing motor drives the bracket frame to rotate to release one cannonball, the rotation of the bracket frame makes the limiting block rotate into the cannonball barrel, the limiting block abuts against the lower end of another cannonball about to fall in the cannonball barrel, so that the bracket frame holds the cannonball at the lower end of the cannonball barrel, the bomb-throwing motor drives the bracket frame to rotate, and the cannonball at the lower end slides out of the bracket frame, at the same time, the rotation of the bracket frame makes the limiting block rotate into the cannonball barrel, and the limiting block abuts against another cannonball about to fall, so that the cannonball is prevented from continuously falling.

[0007] The upper end of the bomb-throwing cabin is provided with an openable and closable upper cabin cover, and the lower end of the bomb-throwing cabin is provided with an openable and closable lower cabin cover, so that the upper cabin cover is opened to put in the cannonball, the lower cabin cover is opened, the cannonball is thrown out from the lower cabin cover, and the bomb-throwing operation is completed.

[0008] The lower cabin cover is provided with a lower cabin cover steering engine, the lower cabin cover is connected with the lower cabin cover steering engine and is driven to open or close by the lower cabin cover steering engine, and the lower cabin cover steering engine is fixed on the bomb-throwing cabin, so that the lower cabin cover is driven to open by the lower cabin cover steering engine, the cannonball throwing operation is realized, and the lower cabin cover is closed by the lower cabin cover steering engine after the cannonball throwing operation is completed.

[0009] The upper cabin cover is provided with an upper cabin cover steering engine, the upper cabin cover is connected with the upper cabin cover steering engine and is driven to open or close by the upper cabin cover steering engine, and the upper cabin cover steering engine is fixed on the bomb-throwing cabin, so that the upper cabin cover is driven to open by the upper cabin cover steering engine, the cannonball loading operation is completed, and the upper cabin cover is closed by the upper cabin cover steering engine after the cannonball loading operation is completed.

[0010] One end of the upper cabin cover is hingedly connected with the bomb-throwing cabin, and the other end is connected with the bomb-throwing cabin through a buckle, so that the upper cabin cover is manually opened, flexible and convenient, and low in cost.

[0011] An underwater operation robot comprises a robot main body, and the robot main body is provided with a control system, characterized in that the robot main body is provided with the intelligent bomb-throwing device, the bomb-throwing cabin is fixedly connected with the robot main body, and the bomb-throwing motor is connected with the control system, so that the robot realizes the bomb-throwing operation through the bomb-throwing mechanism.

[0012] The robot body is provided with a blasting block throwing mechanism, the blasting block throwing mechanism comprises a blasting cabin, a lifting frame, a lifting electric push rod, a blasting block, a blasting block limiting frame, a mechanical hand and a telescopic assembly, the robot body is provided with a blasting cabin, the blasting cabin is fixedly connected with the robot body, the blasting cabin is provided with an openable or closable blasting cabin door, the side plate of the blasting cabin is provided with a blasting block outlet, the lifting frame is arranged in the blasting cabin, the lifting frame is fixed on the bottom plate of the blasting cabin, the lifting frame is driven to lift by the lifting electric push rod, the upper end of the lifting frame is provided with a blasting block, at least two blasting blocks are arranged, the blasting blocks are stacked and placed on the lifting frame, the outer side of the blasting block is provided with a blasting block limiting frame, the upper side or one side of the blasting block is provided with a mechanical hand, the blasting block limiting frame covers the outer side of the blasting block, so that the blasting block does not move, the blasting block limiting frame is located below the mechanical hand, the lower end of the blasting block limiting frame is fixedly connected with the bottom plate of the blasting cabin, the mechanical hand is provided with a telescopic assembly, the mechanical hand is fixedly connected with the blasting cabin through the telescopic assembly, the mechanical hand is driven through the telescopic assembly, the blasting block is clamped and placed outside the robot body through the blasting block outlet, and the mechanical hand and the telescopic assembly are respectively connected with a control system, so as to place the blasting block at a specified position through the mechanical hand.

[0013] The telescopic assembly comprises a first mechanical arm, a telescopic electric push rod, a second mechanical arm, a connecting seat, a third mechanical arm, a pulley seat, a fourth mechanical arm, a first pulley, a first pull rope, a second pulley and a second pull rope, the first mechanical arm is arranged in the blasting cabin, the telescopic electric push rod is arranged on the first mechanical arm, one end of the first mechanical arm is fixedly connected with the side plate of the blasting cabin, and the other end is provided with the second mechanical arm; one end of the second mechanical arm is arranged in the first mechanical arm and is slidably connected with the first mechanical arm; the outer wall of the other end of the second mechanical arm is provided with the connecting seat; the third mechanical arm is arranged in the second mechanical arm; one end of the third mechanical arm is arranged in the second mechanical arm and is slidably connected with the second mechanical arm; the outer wall of the other end of the third mechanical arm is provided with the pulley seat; the fourth mechanical arm is arranged in the third mechanical arm; one end of the fourth mechanical arm is arranged in the third mechanical arm and is slidably connected with the third mechanical arm; the other end of the fourth mechanical arm is fixedly connected with the mechanical hand; one end of the telescopic electric push rod is connected with the first mechanical arm, and the other end is hingedly connected with the connecting seat; the telescopic electric push rod is connected with the control system; the connecting seat is fixedly connected with the second mechanical arm; the first pulley is arranged on the connecting seat; the first pull rope is arranged on the first pulley; one end of the first pull rope is fixedly connected with the first mechanical arm, and the other end passes through the first pulley and is fixedly connected with the third mechanical arm; the pulley seat is fixedly connected with the third mechanical arm; the second pulley is arranged on the pulley seat; the second pull rope is arranged on the second pulley; one end of the second pull rope is fixedly connected with the second mechanical arm, and the other end passes through the second pulley and is fixedly connected with the fourth mechanical arm, so that the telescopic electric push rod drives the second mechanical arm to move outward, the second mechanical arm drives the first pulley to move, the first pulley moves and drives the first pull rope to move, and then the third mechanical arm moves outward, the third mechanical arm moves and drives the second pulley to move, the second pulley moves and drives the second pull rope to move, and then the fourth mechanical arm moves outward, and the fourth mechanical arm drives the mechanical hand to clamp the blasting block to pass through the blasting block outlet and place the blasting block at a specified position to complete the blasting work.

[0014] The mechanical hand is provided with a mechanical hand illuminating lamp and a mechanical hand camera, and the mechanical hand illuminating lamp and the mechanical hand camera are connected with the control system respectively, so that when the mechanical hand places the blasting block, the mechanical hand illuminating lamp can illuminate, and the mechanical hand camera can record the movement of the mechanical hand at any time, and the operator can check and adjust conveniently.

[0015] The blasting cabin door is provided with a blasting cabin door steering engine, the blasting cabin door is connected with the blasting cabin door steering engine and is driven by the blasting cabin door steering engine to open or close, the blasting cabin door steering engine is fixed on the blasting cabin, and the blasting cabin door steering engine is connected with the control system, so that the blasting cabin door is driven to open by the blasting cabin door steering engine, the blasting block is loaded, and the blasting cabin door is closed by the blasting cabin steering engine after loading.

[0016] The explosion cabin door is hinged to the explosion cabin at one end and connected to the explosion cabin through a buckle at the other end, is manually opened, is flexible and convenient, and has low cost.

[0017] The robot body is provided with a mechanical hand outlet hatch cover, the mechanical hand outlet hatch cover is provided with an outlet rudder, the mechanical hand outlet hatch cover is connected with the outlet rudder and is driven by the outlet rudder to open or close, the outlet rudder is fixed on the robot body, and the outlet rudder is connected with a control system, so that the mechanical hand outlet hatch cover is opened by the outlet rudder, the mechanical hand clamps the blasting block and extends out of the robot body, and after the mechanical hand is retracted, the mechanical hand outlet hatch cover is closed by the outlet rudder.

[0018] The robot body is provided with a float mechanism, the float mechanism comprises a float cabin, a float, a cable, a reel, a reel motor and a float cabin cover rudder, the robot body is provided with the float cabin, the float cabin is fixedly connected with the robot body, an upper end of the float cabin is provided with a float cabin cover, the float cabin is provided with the float, the cable, the reel and the reel motor, the reel is fixed in the float cabin through a reel frame, the reel is driven by the reel motor, one end of the cable is connected with a control system, and the other end of the cable is fixedly connected with the float by winding around the reel, a lower end of the float cabin cover is provided with the float cabin cover rudder, the float cabin cover is connected with the float cabin cover rudder and is driven by the float cabin cover rudder to open or close, so that the float cabin cover is opened, the float is floated out of the robot body from the float cabin cover, and reaches the water surface until communication work is started.

[0019] The output shaft of the reel motor is provided with a slip ring, the inner ring of the slip ring is fixedly connected with the output shaft of the reel motor, and the outer ring of the slip ring is fixedly provided with a cable connector, one end of the cable is connected with the control system through the cable connector, and the other end of the cable is connected with a lead wire at one end of the slip ring, and the cable connected with the lead wire at the other end of the slip ring is fixedly connected with the float by winding around the reel, so that the cable is prevented from being knotted in the process of rotating the reel through the slip ring.

[0020] The front end of the robot body is provided with a holder, the holder is connected with the robot body, a camera and / or a lighting lamp and / or a sonar are installed on the holder, so that the underwater environment is comprehensively understood through illumination of the lighting lamp, photographing of the camera and scanning of the sonar.

[0021] The holder and the robot body are provided with a lifting mechanism, so that the holder is exposed when in use and is retracted when not in use.

[0022] The lifting mechanism comprises a gimbal electric push rod, the lower end of the robot body is provided with a gimbal storage space, the two ends of the gimbal are respectively provided with a gimbal electric push rod, the gimbal electric push rod is arranged in the gimbal storage space, one end of the gimbal electric push rod is fixedly connected with the robot body, and the other end is fixedly connected with the upper end of the gimbal, and the gimbal electric push rod is connected with a control system, so that the lifting of the gimbal is realized through the gimbal electric push rod.

[0023] The gimbal is provided with a horizontal rotation mechanism, the horizontal rotation mechanism comprises a gimbal hanging plate and a horizontal rotation motor, the upper end of the gimbal is provided with a gimbal hanging plate, the middle of the gimbal hanging plate is provided with a horizontal rotation motor, the two ends of the gimbal hanging plate are respectively fixedly connected with the lower ends of the gimbal electric push rods, the middle of the gimbal hanging plate is provided with a shaft hole, the horizontal rotation motor is fixed on the gimbal hanging plate, the output shaft of the horizontal rotation motor penetrates through the shaft hole and is fixedly connected with the gimbal, the output shaft of the horizontal rotation motor is fixedly connected with the gimbal hanging plate through a bearing, and the horizontal rotation motor is connected with a control system, so that the gimbal is driven to rotate through the horizontal rotation motor, and multi-angle observation is realized.

[0024] The gimbal is provided with a pitching mechanism, the pitching mechanism comprises a gimbal base, a pitching motor and a pitching driven shaft, the gimbal is provided with a gimbal base, the gimbal base is provided with a pitching motor and a pitching driven shaft, the pitching motor is fixed on the gimbal base, the pitching motor is connected with a control system, the output shaft of the pitching motor penetrates through the gimbal base and is fixedly connected with the gimbal, the output shaft of the pitching motor is fixedly connected with the gimbal base through a bearing, one end of the pitching driven shaft is fixedly connected with the gimbal base through a bearing, and the other end is fixedly connected with the gimbal, the gimbal base is provided with a camera, an illuminating lamp and / or a sonar, the pitching of the gimbal base is driven through the pitching motor, and then the pitching of the camera, the illuminating lamp and / or the sonar is realized.

[0025] The robot body is provided with a sub-machine launching mechanism, the sub-machine launching mechanism comprises a sub-machine cabin, a sub-machine frame, a sub-machine clamping steering engine and a sub-machine, the sub-machine cabin is internally provided with the sub-machine frame, the upper end of the sub-machine is provided with a sub-machine cabin cover which can be opened or closed, the lower end of the sub-machine cabin is provided with a sub-machine cabin door which can be opened or closed, the sub-machine cabin is fixedly connected with the robot body, the sub-machine frame is fixedly connected with the sub-machine cabin, at least one sub-machine storage space is arranged on the sub-machine frame, the two sides of the sub-machine storage space are respectively provided with sub-machine clamping steering engines, the sub-machine clamping steering engines are fixed on the sub-machine frame, the sub-machine clamping steering engines are connected with a control system, a sliding block is arranged on the transmission rod of the sub-machine clamping steering engine, one side of the sliding block towards the sub-machine storage space is provided with a clamping groove, the other side of the sliding block is hinged with the transmission rod, a sliding rail is arranged on the sub-machine frame, the sliding rail is fixedly connected with the sub-machine frame, the sliding rail is matched with the sliding block, the sub-machine is arranged in the sub-machine storage space, clamping blocks are arranged on the two sides of the sub-machine, the clamping blocks are arranged in the clamping grooves to fix the sub-machine in the sub-machine storage space, so as to facilitate the starting of the sub-machine clamping steering engine, the sub-machine clamping steering engine drives the transmission rod to drive the sliding block to slide outward, so that the clamping groove slides outward, the clamping block is out of the clamping groove, and the sub-machine leaves the sub-machine cabin from the sub-machine cabin door.

[0026] The sub-machine cabin is internally provided with a cable cutting mechanism, the cable cutting mechanism comprises a cutting frame, a cutting steering engine, a cutting blade and a connecting cable, the cutting frame is fixedly connected with the sub-machine cabin, at least one cutting steering engine is arranged on the cutting frame, the number of the cutting steering engines is same as the number of the sub-machines, the cutting steering engines are connected with a control system, the cutting steering engines are fixed on the cutting frame, the cutting blade is fixedly arranged on the transmission rod of the cutting steering engine, a cable channel is arranged on one side of the cutting frame of the cutting blade, cable perforations are arranged on the inner wall of the sub-machine cabin, one end of the connecting cable is connected with the control system, the other end of the connecting cable passes through the cable perforations and the cable channel and is arranged in the sub-machine storage space to be connected with the sub-machine, so as to facilitate the communication between the sub-machine and the control system through the connecting cable, when the sub-machine needs to be abandoned or does not need to be retrieved, the cutting steering engine is started, the cutting steering engine drives the blade to rotate, and the connecting cable is cut off.

[0027] The cutting frame is provided with a cable reel, the cable reel is mounted on the cutting frame through a cable support, the number of the cable reels is same as the number of the sub-machines, one end of the connecting cable is connected with the control system, the other end of the connecting cable passes through the cable perforations, passes around the cable reel and passes through the cable channel to be arranged in the sub-machine storage space to be connected with the sub-machine, so as to facilitate the supporting of the connecting cable through the cable reel.

[0028] The lower end of the sub-machine cabin is provided with a sub-machine cabin door steering engine, the sub-machine cabin door steering engine is fixed on the inner wall of the sub-machine cabin, the sub-machine cabin door steering engine is connected with a control system, the sub-machine cabin door steering engine is connected with the sub-machine cabin door, and drives the sub-machine cabin door to be opened or closed, so as to facilitate the opening of the sub-machine cabin door through the sub-machine cabin door steering engine and the convenience of the sub-machine leaving the robot body.

[0029] The upper end of the sub-hull is provided with a sub-hull cover steering engine fixed on the inner wall of the sub-hull, which is connected with a control system and the sub-hull cover, and drives the sub-hull cover to open or close, so as to facilitate opening of the sub-hull cover by the sub-hull cover steering engine and convenient taking and placing of the sub-machine.

[0030] The sub-hull cover is hinged at one end to the sub-hull and connected at the other end to the sub-hull through a buckle, and is manually opened, which is flexible, convenient and low in cost.

[0031] The underwater operation robot has the advantages of ingenious structure, flexible operation, communication, observation, search, bomb throwing, explosive disposal, sub-machine releasing, simultaneous completion of multiple underwater operations, high operation precision and the like. BRIEF DESCRIPTION OF DRAWINGS

[0032] Figure 1 is a structural schematic view of the underwater operation robot in the present application.

[0033] Figure 2 is a state schematic view of the present application when working.

[0034] Figure 3 is a structural schematic view of the intelligent bomb throwing device in the present application.

[0035] Figure 4 is a front view of the present application. Figure 3

[0036] Figure 5 is a structural schematic view of the bomb throwing mechanism in the present application.

[0037] Figure 6 is a state schematic view of the bomb throwing mechanism in the present application when throwing a shell.

[0038] Figure 7 is a state schematic view of the bomb throwing mechanism in the present application when throwing a shell.

[0039] Figure 8 is a structural schematic view of the explosive block throwing mechanism in the present application.

[0040] Figure 9 is a structural schematic view of the mechanical hand and the telescopic assembly in the present application.

[0041] Figure 10 is a structural schematic view of the telescopic assembly driving the mechanical hand to extend in the present application.

[0042] Figure 11 is a structural schematic view of the telescopic assembly driving the mechanical hand to retract in the present application. ​

[0043] Figure 12 is the perspective view of the buoy mechanism in the present application.

[0044] Figure 13 is the front view of the buoy mechanism in the present application.

[0045] Figure 14 is the structural schematic diagram of the buoy mechanism in the present application without the buoy cabin.

[0046] Figure 15 is the structural schematic diagram of the robot body with the pan-tilt exposed in the present application.

[0047] Figure 16 is the structural schematic diagram of the pan-tilt in the present application,

[0048] Figure 17 is the sectional view of the pan-tilt in the present application. Figure 16

[0049] Figure 18 is the structural schematic diagram of the sub-machine launching mechanism in the present application.

[0050] Figure 19 is the side view of the sub-machine launching mechanism in the present application. Figure 18

[0051] Figure 20 is the structural schematic diagram of the sub-machine launching mechanism in the present application without the sub-machine cabin.

[0052] Figure 21 is the sectional view of the sub-machine launching mechanism in the present application. Figure 20

[0053] Figure 22 is the right view of the sub-machine launching mechanism in the present application. Figure 20

[0054] Figure 23 is the enlarged schematic diagram of the sub-machine clamping steering engine in the present application.

[0055] Figure 24 is the enlarged schematic diagram of the sub-machine clamping steering engine in the present application. Figure 20

[0056] ​​​​​Fig. 1: bomb-throwing cabin 1, bomb-throwing mechanism 2, cannonball 3, bomb-throwing cartridge 4, bomb-throwing motor 5, cannonball barrel 6, cartridge holder 7, holder groove 8, limiting block 9, upper cabin cover 10, lower cabin cover 11, lower cabin cover steering engine 12, robot main body 13, blasting block throwing mechanism 14, blasting cabin 15, lifting frame 16, lifting electric push rod 17, blasting block 18, mechanical hand 19, telescopic assembly 20, blasting cabin door 21, blasting block outlet 22, first mechanical arm 23, telescopic electric push rod 24, second mechanical arm 25, connecting seat 26, third mechanical arm 27, pulley seat 28, fourth mechanical arm 29, first pulley 30, first pull rope 300, second pulley 31, second pull rope 310, mechanical hand illuminating lamp 32, mechanical hand camera 33, mechanical hand outlet cabin cover 34, buoy mechanism 35, buoy cabin 36, buoy 37, cable 38, reel 39, reel motor 40, buoy cabin cover steering engine 41, buoy cabin cover 42, reel holder 43, slip ring 44, cable joint 45, gimbal 46, camera 47, illuminating lamp 48, sonar 49, lifting mechanism 50, gimbal electric push rod 51, horizontal rotation mechanism 52, gimbal hanging plate 53, horizontal rotation motor 54, pitch mechanism 55, gimbal base 56, pitch motor 57, pitch driven shaft 58, sub-machine throwing mechanism 59, sub-machine cabin 60, sub-machine holder 61, sub-machine clamping steering engine 62, sub-machine 63, sub-machine cabin cover 64, sub-machine cabin door 65, sliding block 66, clamping groove 67, sliding rail 68, clamping block 69, cable cutting mechanism 70, cutting holder 71, cutting steering engine 72, cutting blade 73, cable channel 74, connecting cable 75, cable reel 76. DETAILED DESCRIPTION

[0057] The specific embodiments of the present application will be further described in detail below with reference to the accompanying drawings.

[0058] An intelligent bomb-throwing device is characterized by comprising a bomb-throwing cabin 1, wherein the bomb-throwing cabin 1 is provided with a bomb-throwing mechanism 2, the bomb-throwing mechanism 2 comprises a cannonball 3, a bomb-throwing cartridge 4 and a bomb-throwing motor 5, at least one cannonball barrel 6 is arranged in the bomb-throwing cabin 1, at least two cannonballs 3 are arranged in the cannonball barrel 6, a bomb-throwing cartridge 4 is arranged at the lower end of the cannonball barrel 6, the bomb-throwing cartridge 4 is driven by the bomb-throwing motor 5, the bomb-throwing motor 5 drives the bomb-throwing cartridge 4 to rotate, so that the bomb-throwing cartridge 4 holds or releases the cannonball 3, the bomb-throwing motor 5 is fixedly connected with the bomb-throwing cabin 1, so as to facilitate the bomb-throwing motor to drive the bomb-throwing cartridge to rotate, and the cannonball falls out of the bomb-throwing cabin, thereby realizing bomb-throwing operation.

[0059] The bomb-throwing bracket 4 comprises two bomb-throwing brackets 7 which are arranged at two sides of the bomb-throwing motor 5 and are fixedly connected through a connecting plate, one of the bomb-throwing brackets 7 is fixedly connected with the output shaft of the bomb-throwing motor 5, and the other bomb-throwing bracket 7 is provided with a bomb-throwing driven shaft, one end of the bomb-throwing driven shaft is fixedly connected with the bomb-throwing cabin 1 through a bearing, and the other end is fixedly connected with the bomb-throwing bracket 7, one side of the two bomb-throwing brackets 7 facing the cannonball barrel 6 is respectively provided with a bracket groove 8, the upper end of the bracket groove 8 is provided with a limiting block 9 which is fixedly connected with the bomb-throwing bracket 7, the bracket groove 8 holds the cannonball 3, when the bomb-throwing motor 5 drives the bomb-throwing bracket 7 to rotate to release one cannonball 3, the rotation of the bomb-throwing bracket 7 makes the limiting block 9 rotate into the cannonball barrel 6, and the limiting block 9 abuts against the lower end of another cannonball 3 which is about to fall in the cannonball barrel 6, so that the bomb-throwing bracket holds the cannonball at the lower end of the cannonball barrel, the bomb-throwing motor drives the bomb-throwing bracket to rotate, and the cannonball at the lower end slides out of the bomb-throwing bracket, at the same time, the rotation of the bomb-throwing bracket makes the limiting block rotate into the cannonball barrel, and the limiting block abuts against another cannonball which is about to fall, so that the cannonball does not continuously fall.

[0060] The upper end of the bomb-throwing cabin 1 is provided with an openable and closable upper cabin cover 10, and the lower end of the bomb-throwing cabin 1 is provided with an openable and closable lower cabin cover 11, so that the cannonball can be put into the bomb-throwing cabin through the opening of the upper cabin cover, and the cannonball can be thrown out through the opening of the lower cabin cover, and the bomb-throwing operation is completed.

[0061] The lower cabin cover 11 is provided with a lower cabin cover steering engine 12, the lower cabin cover 11 is connected with the lower cabin cover steering engine 12 and is driven to open or close by the lower cabin cover steering engine 12, and the lower cabin cover steering engine 12 is fixed on the bomb-throwing cabin 1, so that the lower cabin cover can be driven to open by the lower cabin cover steering engine, the cannonball throwing operation is realized, and the lower cabin cover is closed by the lower cabin cover steering engine after the cannonball throwing operation is completed.

[0062] The upper cabin cover 10 is provided with an upper cabin cover steering engine, the upper cabin cover 10 is connected with the upper cabin cover steering engine and is driven to open or close by the upper cabin cover steering engine, and the upper cabin cover steering engine is fixed on the bomb-throwing cabin 1, so that the upper cabin cover can be driven to open by the upper cabin cover steering engine, the cannonball loading operation is completed, and the upper cabin cover is closed by the upper cabin cover steering engine after the cannonball loading operation is completed.

[0063] One end of the upper cabin cover 10 is hinged with the bomb-throwing cabin 1, and the other end is connected with the bomb-throwing cabin 1 through a buckle, so that the upper cabin cover can be manually opened, and the operation is flexible, convenient and low in cost.

[0064] The underwater operation robot comprises a robot main body 13 which is provided with a control system, characterized in that the intelligent bomb-throwing device is arranged on the robot main body 13, the bomb-throwing cabin 1 is fixedly connected with the robot main body 13, and the bomb-throwing motor 5 is connected with the control system, so that the robot can realize the bomb-throwing operation through the bomb-throwing mechanism.

[0065] The robot body 13 is provided with a blasting block throwing mechanism 14, the blasting block throwing mechanism 14 comprises a blasting cabin 15, a lifting frame 16, a lifting electric push rod 17, a blasting block 18, a blasting block limiting frame, a mechanical hand 19 and a telescopic assembly 20, the robot body 13 is provided with a blasting cabin 15, the blasting cabin 15 is fixedly connected with the robot body 13, the blasting cabin 15 is provided with an openable or closable blasting cabin door 21, the side plate of the blasting cabin 15 is provided with a blasting block outlet 22, the lifting frame 16 is arranged in the blasting cabin 15, the lifting frame 16 is fixed on the bottom plate of the blasting cabin 15, the lifting frame 16 is driven to lift by the lifting electric push rod 17, the upper end of the lifting frame 16 is provided with the blasting block 18, the blasting block 18 is at least two, the blasting block 18 is stacked on the lifting frame 16, the outer side of the blasting block 18 is provided with the blasting block limiting frame, the upper side or one side of the blasting block 18 is provided with the mechanical hand 19, the blasting block limiting frame is covered outside the blasting block 18, so that the blasting block 18 does not move, the blasting block limiting frame is below the mechanical hand 19, the lower end of the blasting block limiting frame is fixedly connected with the bottom plate of the blasting cabin 15, the mechanical hand 19 is provided with the telescopic assembly 20, the mechanical hand 19 is fixedly connected with the blasting cabin 15 through the telescopic assembly 20, the mechanical hand 19 is driven through the telescopic assembly 20, the blasting block 18 is clamped and placed outside the robot body 13 through the blasting block outlet 22, the mechanical hand 19 and the telescopic assembly 20 are connected with the control system respectively, so as to place the blasting block at the specified position through the mechanical hand.

[0066] The telescopic assembly 20 comprises a first mechanical arm 23, a telescopic electric push rod 24, a second mechanical arm 25, a connecting seat 26, a third mechanical arm 27, a pulley seat 28, a fourth mechanical arm 29, a first pulley 30, a first pull rope 300, a second pulley 31 and a second pull rope 310.

[0067] The mechanical hand 19 is provided with a mechanical hand illuminating lamp 32 and a mechanical hand camera 33, which are connected with the control system respectively, so that the mechanical hand illuminating lamp can illuminate the mechanical hand when the mechanical hand places the blasting block, and the mechanical hand camera can record the movement of the mechanical hand at any time, which is convenient for the operator to check and adjust.

[0068] The explosion cabin door 21 is provided with an explosion cabin door steering engine, the explosion cabin door 21 is connected with the explosion cabin door steering engine and is driven to open or close by the explosion cabin door steering engine, the explosion cabin door steering engine is fixed on the explosion cabin 15, and the explosion cabin door steering engine is connected with a control system, so as to facilitate opening of the explosion cabin door by the explosion cabin door steering engine, loading of the blasting block, and closing of the explosion cabin door by the explosion cabin steering engine after loading.

[0069] The explosion cabin door 21 is hinged to one end of the explosion cabin 15 and connected to the other end of the explosion cabin 15 through a buckle, is manually opened, is flexible and convenient, and has low cost.

[0070] The robot main body 13 is provided with a mechanical hand outlet cabin cover 34, the mechanical hand outlet cabin cover 34 is provided with an outlet steering engine, the mechanical hand outlet cabin cover 34 is connected with the outlet steering engine and is driven to open or close by the outlet steering engine, the outlet steering engine is fixed on the robot main body 13, and the outlet steering engine is connected with a control system, so as to facilitate opening of the mechanical hand outlet cabin cover by the outlet steering engine, extension of the mechanical hand clamping the blasting block out of the robot main body, and closing of the mechanical hand outlet cabin cover by the outlet steering engine after the mechanical hand is retracted.

[0071] The robot main body 13 is provided with a float mechanism 35, the float mechanism 35 includes a float cabin 36, a float 37, a cable 38, a reel 39, a reel motor 40 and a float cabin cover steering engine 41, the robot main body 13 is provided with the float cabin 36, the float cabin 36 is fixedly connected with the robot main body 13, an upper end of the float cabin 36 is provided with a float cabin cover 42, the float cabin 36 is internally provided with the float 37, the cable 38, the reel 39 and the reel motor 40, the reel 39 is fixed in the float cabin 36 through a reel frame 43, the reel 39 is driven by the reel motor 40, one end of the cable 38 is connected with a control system, and the other end of the cable 38 is fixedly connected with the float 37 by passing through the reel 39, a lower end of the float cabin cover 42 is provided with the float cabin cover steering engine 41, the float cabin cover 42 is connected with the float cabin cover steering engine 41 and is driven to open or close by the float cabin cover steering engine 41, so as to facilitate opening of the float cabin cover, floating of the float out of the robot main body from the float cabin cover, and reaching of the float to the water surface to start communication work.

[0072] The output shaft of the reel motor 40 is provided with a slip ring 44, the inner ring of the slip ring 44 is fixedly connected with the output shaft of the reel motor 40, the outer ring of the slip ring 44 is fixedly provided with a cable joint 45, one end of the cable is connected with a control system through the cable joint 45, the other end of the cable is connected with a lead wire at one end of the slip ring 44, and the cable 38 connected with the lead wire at the other end of the slip ring 44 is fixedly connected with the float 37 by passing through the reel 39, so as to facilitate opening of the float cabin cover, floating of the float out of the robot main body from the float cabin cover, and reaching of the float to the water surface to start communication work.

[0073] The front end of the robot body 13 is provided with a holder 46, the holder 46 is connected with the robot body 13, a camera 47 and / or a lighting lamp 48 and / or a sonar 49 are installed on the holder 46, so as to facilitate the illumination by the lighting lamp, the photographing by the camera and the scanning by the sonar, and the comprehensive understanding of the underwater environment.

[0074] The holder 46 and the robot body 13 are provided with a lifting mechanism 50, so as to facilitate the function of the holder being exposed when being used and being retracted when not being used.

[0075] The lifting mechanism 50 comprises a holder electric push rod 51, the lower end of the robot body 13 is provided with a holder storage space, the two ends of the holder 46 are respectively provided with the holder electric push rod 51, the holder electric push rod 51 is arranged in the holder storage space, one end of the holder electric push rod 51 is fixedly connected with the robot body 13, and the other end is fixedly connected with the upper end of the holder 46, and the holder electric push rod 51 is connected with a control system, so as to facilitate the lifting of the holder through the holder electric push rod, and the holder can be retracted into the holder storage space when not being used, and the external space of the robot body is not occupied, and the flow guiding property is good.

[0076] The holder 46 is provided with a horizontal rotation mechanism 52, the horizontal rotation mechanism 52 comprises a holder hanging plate 53 and a horizontal rotation motor 54, the upper end of the holder 46 is provided with the holder hanging plate 53, the middle of the holder hanging plate 53 is provided with the horizontal rotation motor 54, the two ends of the holder hanging plate 53 are respectively fixedly connected with the lower ends of the holder electric push rods 51, the middle of the holder hanging plate 53 is provided with a shaft hole, the horizontal rotation motor 54 is fixed on the holder hanging plate 53, the output shaft of the horizontal rotation motor 54 passes through the shaft hole and is fixedly connected with the holder 46, the output shaft of the horizontal rotation motor 54 is fixedly connected with the holder hanging plate 53 through a bearing, and the horizontal rotation motor 54 is connected with a control system, so as to facilitate the rotation of the holder through the horizontal rotation motor and the multi-angle observation.

[0077] The holder 46 is provided with a pitching mechanism 55, the pitching mechanism 55 comprises a holder base 56, a pitching motor 57 and a pitching driven shaft 58, the holder 46 is internally provided with the holder base 56, the holder base 56 is provided with the pitching motor 57 and the pitching driven shaft 58, the pitching motor 57 is fixed on the holder base 56, the pitching motor 57 is connected with a control system, the output shaft of the pitching motor 57 passes through the holder base 56 and is fixedly connected with the holder 46, the output shaft of the pitching motor 57 is fixedly connected with the holder base 56 through a bearing, one end of the pitching driven shaft 58 is fixedly connected with the holder base 56 through a bearing, and the other end is fixedly connected with the holder 46, and the camera 47 and / or the lighting lamp 48 and / or the sonar 49 are installed on the holder base 56, so as to facilitate the pitching of the holder base through the driving of the pitching motor, and the pitching of the camera, the lighting lamp and the sonar.

[0078] The robot body 13 is provided with a sub-machine launching mechanism 59, the sub-machine launching mechanism 59 comprises a sub-machine cabin 60, a sub-machine rack 61, a sub-machine clamping steering wheel 62 and a sub-machine 63, the sub-machine cabin 60 is provided with the sub-machine rack 61, the upper end of the sub-machine cabin 60 is provided with a sub-machine cabin cover 64 which can be opened or closed, the lower end of the sub-machine cabin 60 is provided with a sub-machine cabin door 65 which can be opened or closed, the sub-machine cabin 60 is fixedly connected with the robot body 13, the sub-machine rack 61 is fixedly connected with the sub-machine cabin 60, at least one sub-machine storage space is arranged on the sub-machine rack 61, the sub-machine clamping steering wheel 62 is arranged on the two sides of the sub-machine storage space respectively, the sub-machine clamping steering wheel 62 is fixed on the sub-machine rack 61, the sub-machine clamping steering wheel 62 is connected with the control system, the transmission rod of the sub-machine clamping steering wheel 62 is provided with a sliding block 66, one side of the sliding block 66 facing the sub-machine storage space is provided with a clamping groove 67, the other side of the sliding block 66 is hinged with the transmission rod, the sub-machine rack 61 is provided with a sliding rail 68, the sliding rail 68 is matched with the sliding block 66, the sliding rail 68 is fixedly connected with the sub-machine rack 61, the sub-machine 63 is arranged in the sub-machine storage space, the two sides of the sub-machine 63 are respectively provided with clamping blocks 69, the clamping blocks 69 are arranged in the clamping grooves 67 to fix the sub-machine 63 in the sub-machine storage space, so as to facilitate the starting of the sub-machine clamping steering wheel, the sub-machine clamping steering wheel drives the transmission rod to drive the sliding block to slide outward, so that the clamping groove slides outward, the clamping block is out of the clamping groove, and the sub-machine leaves the sub-machine cabin from the sub-machine cabin door.

[0079] The sub-machine cabin 60 is provided with a cable cutting mechanism 70, the cable cutting mechanism 70 comprises a cutting rack 71, a cutting steering wheel 72, a cutting blade 73 and a connecting cable 75, the sub-machine cabin 60 is provided with the cutting rack 71, the cutting rack 71 is located on one side of the sub-machine rack 61, the cutting rack 71 is fixedly connected with the sub-machine cabin 60, at least one cutting steering wheel 72 is arranged on the cutting rack 71, the number of the cutting steering wheel 72 is same as the number of the sub-machine 63, the cutting steering wheel 72 is connected with the control system, the cutting steering wheel 72 is fixed on the cutting rack 71, the cutting blade 73 is fixedly arranged on the transmission rod of the cutting steering wheel 72, the cutting rack 71 on one side of the cutting blade 73 is provided with a cable passage 74, the inner wall of the sub-machine cabin 60 is provided with a cable through hole, one end of the connecting cable 75 is connected with the control system, the other end passes through the cable through hole and the cable passage 74 and is arranged in the sub-machine storage space and connected with the sub-machine 63, the cutting edge of the cutting blade 73 faces the connecting cable 75, so as to facilitate the communication between the sub-machine and the control system through the connecting cable, when it is needed to give up or not to retrieve the sub-machine, the cutting steering wheel is started, the cutting steering wheel drives the blade to rotate, and the connecting cable is cut off.

[0080] The cutting frame 71 of the present invention is provided with a cable reel 76. The cable reel 76 is installed on the cutting frame 71 via a cable bracket. The number of cable reels 76 is the same as the number of slave machines 63. One end of the connecting cable 75 is connected to the control system, and the other end passes through the cable hole, around the cable reel 76, and then through the cable channel 74 to be placed in the slave machine storage space and connected to the slave machine 63, so as to facilitate the support of the connecting cable by the cable reel.

[0081] The sub-cabin 60 of the present invention is provided with a sub-cabin door servo motor at its lower end. The sub-cabin door servo motor is fixed on the inner wall of the sub-cabin 60 and is connected to the control system. The sub-cabin door servo motor is connected to the sub-cabin door 65 and drives the sub-cabin door 65 to open or close, so as to facilitate the opening of the sub-cabin door by the sub-cabin door servo motor and facilitate the sub-machine to leave the robot body.

[0082] The sub-engine compartment 60 of the present invention is provided with a sub-engine compartment cover servo motor at the upper end. The sub-engine compartment cover servo motor is fixed on the inner wall of the sub-engine compartment 60. The sub-engine compartment cover servo motor is connected to the control system. The sub-engine compartment cover servo motor is connected to the sub-engine compartment cover 64 and drives the sub-engine compartment cover 64 to open or close, so as to facilitate the opening of the sub-engine compartment cover by the sub-engine compartment cover servo motor and facilitate the loading and unloading of the sub-engine.

[0083] The sub-cabin cover 64 of the present invention is hinged at one end to the sub-cabin 60, and the other end is connected to the sub-cabin 60 via a buckle. It can be opened manually, which is flexible, convenient and low in cost.

[0084] As attached Figure 1 and attached Figure 2 In this invention, cameras and lights can be installed at intervals on the front end of the robot body. An energy control compartment is mounted on the robot body, containing a battery and control system. A thruster is installed at the rear end of the robot body. The robotic arm uses existing robotic arms that can open and close; this part of the structure is the same as existing technology and will not be described in detail. From front to back, the robot body in this invention is equipped with a demolition compartment, a bomb disposal compartment, and a buoy compartment. A liftable gimbal is also installed at the front end of the robot body, as shown in the attached diagram. Figure 1 , attached Figure 2 , attached Figure 15 To the attached Figure 17 When not in use, the gimbal can be retracted and concealed within the robot's main body, reducing water resistance. During operation, the control system activates the gimbal's electric actuator, extending it and lowering the gimbal to expose the robot's main body. When rotation is required, the control system drives the horizontal rotation motor, enabling horizontal rotation. For pitch control, the control system drives the pitch motor, which in turn moves the gimbal base, allowing the cameras, lights, and sonar on the base to observe from multiple angles and directions, expanding the robot's detection range, increasing search efficiency, and ensuring smooth underwater operations. During blasting operations, as shown in the attached... Figure 1 , attached Figure 2, attached Figure 8 to attached Figure 11 , the control system drives the lifting electric push rod to push the lifting frame up, the blasting block is lifted up, at the same time, the control system drives the mechanical hand to open, the uppermost blasting block is placed in the mechanical hand, the control system drives the telescopic electric push rod to extend, the telescopic electric push rod drives the second mechanical arm to move outward, the second mechanical arm drives the first pulley to move, the first pulley moves, drives the first pull rope to move, and then makes the third mechanical arm move outward, the third mechanical arm moves, drives the second pulley to move, the second pulley moves, drives the second pull rope to move, and then drives the fourth mechanical arm to move outward, the fourth mechanical arm drives the mechanical hand to clamp the blasting block to pass through the blasting block outlet, the mechanical hand outlet hatch cover and be placed outside the robot body in turn, the blasting block is placed at the specified position, the front end of the mechanical hand can be provided with a mechanical hand illuminating lamp and a mechanical hand camera, guiding and monitoring the mechanical hand to accurately complete the blasting block placement work, after use, the staff can add blasting blocks by opening the blasting cabin door, the blasting cabin door can be opened by the rudder or can be opened by setting the buckle, manually pressed, and set according to requirements; when the bomb launching operation is performed, as attached Figure 2 -attached Figure 7 , the number of cannon barrels can be set according to requirements, in the embodiment, six cannon barrels are arranged in the bomb launching cabin, a plurality of cannonballs can be arranged in each cannon barrel, the cannonballs are stacked in the cannon barrel, and a bomb launching cradle is arranged at the lower end of each cannon barrel, the bomb launching cradle includes two cradle frames, and the cannonball can be well supported, the staff can add cannonballs into each cannon barrel by opening the upper hatch cover, the upper hatch cover can be opened by the rudder or can be opened by setting the buckle, manually pressed, and set according to requirements, as attached Figure 4 and attached Figure 6 The left part, when the bomb launching is needed, the control system drives the lower hatch rudder to open the lower hatch, then the control system drives the bomb launching motor in one of the six cannon barrels, the bomb launching motor drives the bomb launching cradle to rotate, as attached Figure 6 The right part, the bomb launching cradle rotates, the last cannonball in the cannon barrel is separated from the supporting groove of the bomb launching cradle and is shot out of the lower hatch, at the same time, the bomb launching cradle rotates to make the limiting block rotate into the cannon barrel and abut against the second last cannonball in the cannon barrel, then the bomb launching motor is controlled to rotate in the reverse direction, as attached Figure 7 The right part, the bomb launching cradle rotates in the reverse direction, so that the second last cannonball in the cannon barrel enters the supporting groove of the bomb launching cradle, and preparation is made for the next step of launching, a plurality of cannonballs can be arranged in the bomb launching cabin of the application, and a plurality of underwater tasks can be completed in one time of entering water, and the working efficiency is high; as attached Figure 2 , attached Figure 12 -attached Figure 14The present application also provides a floating mechanism, when in use, the control system drives the floating hatch rudder to open the floating hatch, the control system drives the reel motor to rotate the reel to release the cable, the float is taken out of the floating hatch under the action of the buoyancy, continues to float upwards until reaching the water surface, and the float starts to perform communication work. Figure 18 -attached Figure 24 The present application also provides a sub-machine launching mechanism and a cable cutting mechanism, when in use, the control system drives the sub-machine hatch rudder to open the sub-machine hatch, the sub-machine hatch can be provided with one or two opposite hatches according to the need, one corresponding to one rudder and two corresponding to two rudders, which can be set according to the need, after the sub-machine hatch is opened, the sub-machine clamping rudders on both sides of the lowermost sub-machine in the sub-machine cabin are driven, in the embodiment, three sub-machines are provided in the sub-machine cabin, and sub-machine clamping rudders are provided on both sides of each sub-machine, and three cutting rudders and three cable reels are provided correspondingly, when in use, the sub-machine clamping rudders on both sides of the lowermost sub-machine in the sub-machine cabin are driven first, the sub-machine clamping rudder drives the transmission rod to drive the sliding block to slide outward, so that the clamping groove slides outward, the clamping block is out of the clamping groove, and the sub-machine falls out of the sub-machine hatch, then the remaining two sub-machines in the sub-machine cabin are released according to the need by the above method, after the sub-machines are released, whether to recover the sub-machines is selected according to the working tasks of the sub-machines, if the sub-machines are not needed to be recovered, if the sub-machines perform dangerous tasks, after the sub-machines reach the destination, the cutting rudders beside the connecting cables connected with the sub-machines are started, the connecting cables are cut off by the cutting blades, so that the sub-machines are separated from the robot main body, then the sub-machine hatch rudder is started to close the sub-machine hatch, the robot completes the task and returns to the shore, the sub-machines can be supplemented by opening the sub-machine hatch cover, the sub-machine hatch cover can be manually opened or opened by the rudder according to the need, and the sub-machine hatch cover can also be provided with one or two according to the need, which can be set according to the need, the robot in the present application can complete observation, searching, bomb launching, blasting, communication and sub-machine releasing work at the same time, the sub-machines are flexible and controllable, multi-angle and multi-direction observation and searching are realized by setting the lifting holder, the underwater detection capability of the robot is expanded, the blasting task can be accurately completed by placing the blasting block at the specified position by the mechanical hand, the working stability is good and the accuracy is high, a plurality of cannonballs are provided in the bomb launching cabin, which can enter the water at one time, and multiple bomb launching work can be realized, the working efficiency is high, the robot is provided with a float, the float can perform hidden work and return information, and good communication guarantee is provided for the underwater swimming of the robot, and the communication capability of the robot underwater is improved.

[0085] The present application has the advantages of ingenious structure, flexible operation, communication, observation, searching, bomb launching, explosive disposal, sub-machine releasing, simultaneous completion of multiple underwater work, high work precision and the like.

Claims

1. An underwater operation robot, comprising a robot body (13), wherein the robot body (13) is provided with a control system, characterized in that: The robot body (13) is equipped with an intelligent bomb-throwing device, which includes a bomb-throwing compartment (1). The bomb-throwing compartment (1) is equipped with a bomb-throwing mechanism (2). The bomb-throwing mechanism (2) includes a shell (3), a bomb-throwing tray (4), and a bomb-throwing motor (5). The bomb-throwing compartment (1) contains at least one shell tube (6), and the shell tube (6) contains at least two shells (3). The lower end of the shell tube (6) is equipped with a bomb-throwing tray (4), which is driven by the bomb-throwing motor (5). The bomb-throwing motor (5) drives the bomb-throwing tray (4) to rotate, so that the bomb-throwing tray (4) holds or releases the shell (3). The bomb-throwing motor (5) is fixedly connected to the bomb-throwing compartment (1), and the bomb-throwing compartment (1) is connected to the robot body. The main body (13) is fixedly connected, the bomb-throwing motor (5) is connected to the control system, the bomb-throwing tray (4) includes two trays (7), the two trays (7) are spaced apart on both sides of the bomb-throwing motor (5), the two trays (7) are fixedly connected by a connecting plate, one tray (7) is fixedly connected to the output shaft of the bomb-throwing motor (5), the other tray (7) is provided with a bomb-throwing driven shaft and is fixedly connected to one end of the bomb-throwing driven shaft, the other end of the bomb-throwing driven shaft is fixedly connected to the bomb-throwing chamber (1) via a bearing, the two trays (7) are respectively provided with a tray (8) on the side facing the shell tube (6), the upper end of the tray (8) is provided with a limiting block (9), the limiting block (9) is fixedly connected to the tray (7), the tray (8) holds the shell (3) When the bombing motor (5) drives the bomb holder (7) to rotate and release a shell (3), the rotation of the bomb holder (7) causes the limiting block (9) to screw into the shell tube (6). The limiting block (9) abuts against the lower end of another shell (3) that is about to fall into the shell tube (6). The robot body (13) is provided with a blasting block delivery mechanism (14). The blasting block delivery mechanism (14) includes a blasting chamber (15), a lifting frame (16), a lifting electric push rod (17), a blasting block (18), a blasting block limiting frame, a manipulator (19), and a telescopic component (20). The robot body (13) is provided with a blasting chamber (15). The blasting chamber (15) is fixedly connected to the robot body (13). The explosive chamber (15) is equipped with an openable or closable explosive chamber door (21). An explosive block outlet (22) is provided on the side plate of the explosive chamber (15). An elevator (16) is provided inside the explosive chamber (15). The elevator (16) is fixed to the bottom plate of the explosive chamber (15). The elevator (16) is driven to rise and fall by an electric lifting rod (17). An explosive block (18) is provided at the upper end of the elevator (16). The explosive blocks (18) are stacked on the elevator (16). An explosive block limiting frame is provided on the outside of the explosive blocks (18). A robotic arm (19) is provided above or to one side of the explosive blocks (18). The explosive block limiting frame covers the outside of the explosive blocks (18), preventing the explosive blocks (18) from moving. The explosive block limiting frame is located below the robotic arm (19).The lower end of the blasting block limiting frame is fixedly connected to the bottom plate of the blasting chamber (15). The robotic arm (19) is equipped with a telescopic component (20). The robotic arm (19) is fixedly connected to the blasting chamber (15) via the telescopic component (20). Driven by the telescopic component (20), the robotic arm (19) clamps the blasting block (18) and passes it through the blasting block outlet (22) to the outside of the robot body (13). The robotic arm (19) and the telescopic component (20) are respectively connected to the control system.

2. The underwater operation robot according to claim 1, characterized in that: The telescopic assembly (20) includes a first robotic arm (23), a telescopic electric actuator (24), a second robotic arm (25), a connecting seat (26), a third robotic arm (27), a pulley seat (28), a fourth robotic arm (29), a first pulley (30), a first pull rope (300), a second pulley (31), and a second pull rope (310). The first robotic arm (23) is installed inside the blast chamber (15), and the telescopic electric actuator (24) is installed on the first robotic arm (23). One end of the first robotic arm (23) is fixed to the side plate of the blast chamber (15). The first mechanical arm (23) is connected to the second mechanical arm (23) at one end and is slidably connected to the first mechanical arm (23). The outer wall of the other end of the second mechanical arm (25) is provided with a connecting seat (26). The second mechanical arm (25) is provided with a third mechanical arm (27) inside the second mechanical arm (25). The third mechanical arm (27) is slidably connected to the second mechanical arm (25) at one end and is provided with a pulley seat (28) on the outer wall of the other end. The third mechanical arm (27) is provided with a fourth mechanical arm. (29) One end of the fourth robotic arm (29) is placed inside the third robotic arm (27) and slidably connected to the third robotic arm (27). The other end of the fourth robotic arm (29) is fixedly connected to the robotic hand (19). One end of the telescopic electric push rod (24) is hinged to the first robotic arm (23), and the other end is hinged to the connecting seat (26). The telescopic electric push rod (24) is connected to the control system. The connecting seat (26) is fixedly connected to the second robotic arm (25). A first pulley (30) is installed on the connecting seat (26). The first pulley (30) is provided with The first pull rope (300) has one end fixedly connected to the first robotic arm (23) and the other end passes through the first pulley (30) and is fixedly connected to the third robotic arm (27). The pulley seat (28) is fixedly connected to the third robotic arm (27). A second pulley (31) is installed on the pulley seat (28). A second pull rope (310) is provided on the second pulley (31). One end of the second pull rope (310) is fixedly connected to the second robotic arm (25) and the other end passes through the second pulley (31) and is fixedly connected to the fourth robotic arm (29).

3. An underwater operation robot according to claim 1 or 2, characterized in that: The robotic arm (19) is equipped with a robotic arm lighting lamp (32) and a robotic arm camera (33), which are respectively connected to the control system.

4. An underwater operation robot according to claim 1 or 2, characterized in that: The robot body (13) is provided with a buoy mechanism (35). The buoy mechanism (35) includes a buoy compartment (36), a buoy (37), a cable (38), a reel (39), and a reel motor (40). The robot body (13) is provided with a buoy compartment (36). The buoy compartment (36) is fixedly connected to the robot body (13). The upper end of the buoy compartment (36) is provided with a buoy compartment cover (42) that can be automatically opened or closed. The buoy compartment (36) is provided with a buoy (37), a cable (38), a reel (39), and a reel motor (40). The reel (39) is fixed in the buoy compartment (36) by a reel frame (43). The reel (39) is driven by the reel motor (40). One end of the cable (38) is connected to the control system, and the other end passes around the reel (39) and is fixedly connected to the buoy (37).

5. An underwater operation robot according to claim 4, characterized in that: The output shaft of the reel motor (40) is provided with a slip ring (44). The inner ring of the slip ring (44) is fixedly connected to the output shaft of the reel motor (40). The outer ring of the slip ring (44) is fixedly provided with a cable connector (45). One end of the cable is connected to the control system through the cable connector (45), and the other end is connected to the lead wire at one end of the slip ring (44). The cable (38) connected to the lead wire at the other end of the slip ring (44) passes around the reel (39) and is fixedly connected to the buoy (37).

6. An underwater operation robot according to claim 1, 2, or 5, characterized in that: The robot body (13) has a gimbal (46) at the front end, which is connected to the robot body (13). The gimbal (46) is equipped with a camera (47) and / or a lighting lamp (48) and / or a sonar (49).

7. An underwater operation robot according to claim 6, characterized in that: A lifting mechanism (50) is provided between the gimbal (46) and the robot body (13).

8. An underwater operation robot according to claim 7, characterized in that: The lifting mechanism (50) includes a gimbal electric actuator (51). The lower end of the robot body (13) is provided with a gimbal storage space. The gimbal (46) is provided with gimbal electric actuators (51) at both ends. The gimbal electric actuators (51) are placed in the gimbal storage space. One end of the gimbal electric actuator (51) is fixedly connected to the robot body (13), and the other end is fixedly connected to the upper end of the gimbal (46). The gimbal electric actuator (51) is connected to the control system. The gimbal (46) is provided with a horizontal rotation mechanism (52) and a pitch mechanism (55).

9. An underwater operation robot according to claim 1, 2, 5, 7, or 8, characterized in that: The robot body (13) is equipped with a sub-machine delivery mechanism (59).

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