ROV-based fishing device and fishing method thereof

Abstract

The application discloses a kind of based on ROV's salvage device and its salvage method, it is related to underwater salvage technical field, including suspension platform and ROV body.The application discloses a kind of based on ROV's salvage device and its salvage method has by ROV body drive the equipment to move to salvage object, adjust hydraulic cylinder two drive embedded rod to advance in salvage object, adjust hydraulic cylinder three drive embedded claw to push to outside, in the process of embedded claw deflection, if embedded claw meets extrusion, then follow-up slider one and follow-up slider two respectively in annular guide rail one and annular guide rail two slide, so that embedded claw is separated from barrier, then other position of salvage object is grabbed by each embedded claw, improve the firmness of being grabbed of salvage object, simultaneously, electromagnet is powered on, if there is iron product on salvage object, electromagnet is adsorbed to it, further improve the firmness of being grabbed, ensure that salvage object can be floated with the effect of ROV body.

Description

TECHNICAL FIELD

[0001] The present application relates to the underwater salvage technical field, especially to a salvage device based on ROV and a salvage method thereof. BACKGROUND

[0002] During the process of water product test, product salvage and recovery is an important part of test work, based on the importance of product test data and the requirement of finding product defects and fault zero, sometimes the value of product test data is even higher than the test product itself. In this case, in order to achieve the purpose of analyzing reasons, improving products, shortening test cycle and reducing test cost, salvage and recovery need to be carried out after the test is completed.

[0003] The existing salvage device based on ROV monitors the seabed salvage object through ROV during use, thereby driving the salvage equipment to move, moving it to the outside of the salvage object, and then adjusting the mechanical claw to grab the salvage object. However, there is a certain difference between the distribution of the mechanical claw and the shape of the salvage object, which will cause the grabbed salvage object to easily fall from the gap of the mechanical claw, thereby resulting in poor salvage effect and reducing the use value of the salvage device. SUMMARY

[0004] The present application discloses a salvage device based on ROV, which aims to solve the technical problem that the existing salvage device based on ROV has poor salvage effect and reduces the use value of the salvage device.

[0005] In order to achieve the above purpose, the present application adopts the following technical scheme:

[0006] A kind of salvage device based on ROV, including suspension platform and ROV body, the bottom of the ROV body is equipped with salvage auxiliary assembly, and salvage auxiliary assembly includes installation ring frame, the top of installation ring frame is annularly distributed with boom, the other end of boom is fixedly connected to the bottom of ROV body, the outer side of the downward-facing of installation ring frame is fixedly connected with hydraulic cylinder two at equal intervals, and the output end of each hydraulic cylinder two is fixedly connected with embedded rod, the other end of each embedded rod is fixedly connected with conical extrusion head, the outer side of embedded rod close to conical extrusion head is fixedly connected with annular guide rail two, and the inner side of annular guide rail two is slidably connected with follow-up slider two, the outer side of each follow-up slider two facing upwards is connected with hydraulic cylinder three by hinge, the outer side of embedded rod above annular guide rail two is fixedly connected with annular guide rail one, and the inside of annular guide rail one is slidably connected with follow-up slider one, the outer side of follow-up slider one facing downwards is connected with embedded claw by hinge, the output end of hydraulic cylinder three is connected to the outer side of embedded claw close to bottom end by hinge, the outer side of embedded claw away from embedded rod is fixedly connected with fixed rod, and the other end of fixed rod is equipped with electromagnet.

[0007] By being provided with salvage auxiliary assembly, by ROV body drives the equipment to move to salvage object, adjusts hydraulic cylinder four to drive mechanical gripper to carry out preliminary clamping to salvage object, after preliminary clamping is completed, adjusts hydraulic cylinder two to drive embedded rod to advance to salvage object, when conical extrusion head drives embedded rod to extrude into the gap of salvage object, adjusts hydraulic cylinder three to drive embedded claw to push to the outside, in the process of deflection of embedded claw, if embedded claw meets extrusion, then follow-up slider one and follow-up slider two slide in annular guide rail one and annular guide rail two respectively, so that embedded claw is separated from barrier, then other position of salvage object is grabbed by each embedded claw, improve the firmness of being grabbed of salvage object, simultaneously, electromagnet is electrified, if there is iron product on salvage object, electromagnet is adsorbed, further improve the firmness of being grabbed, ensure that salvage object can float with ROV body, improve the use value of the salvage device.

[0008] In a preferred scheme, the bottom of the ROV body is fixedly connected with a mounting column, and the bottom of the mounting column is fixedly connected with a bottom ring frame. The outer side of the mounting column is equally spaced by a hinge connected with a mechanical gripper. The outer side of the bottom ring frame facing each mechanical gripper is connected by a hinge with a hydraulic cylinder four. The output end of the hydraulic cylinder four is connected by a hinge to the outer side of the adjacent mechanical gripper. The mechanical gripper and the embedded rod are distributed in a staggered manner.

[0009] In a preferred scheme, the top of the suspension platform is fixedly connected with two shaft plates, and the outer side of one of the shaft plates is fixedly connected with a drive motor. The output shaft of the drive motor is fixedly connected with a rotating shaft through a shaft coupling. The other end of the rotating shaft is connected to the outer side of the other shaft plate through a bearing.

[0010] In an preferred embodiment, the outer side of the rotating shaft is fixedly connected with a winding roller, and the outer side of the winding roller is wound with a steel wire rope, and the other end of the steel wire rope is arranged on the top of the ROV body.

[0011] In an preferred embodiment, the outer side of the two shaft plates is provided with a same waste collecting assembly, and the waste collecting assembly comprises two fixed plates, and the two fixed plates are fixedly connected to the outer side of the shaft plate, and the opposite side of the two fixed plates is fixedly connected with a same moving long rod.

[0012] In an preferred embodiment, the outer side of the moving long rod is slidingly connected with a pushing carriage, and the side of one of the fixed plates facing the pushing carriage is fixedly connected with a hydraulic cylinder one, and the output end of the hydraulic cylinder one is fixedly connected to the outer side of the pushing carriage.

[0013] In an preferred embodiment, the outer side of the pushing carriage is fixedly connected with an impurity removing frame, and the opposite side of the impurity removing frame close to the top is fixedly connected with an upper arc plate, and the outer side of the upper arc plate facing downward is fixedly connected with a scraper at equal distance, and the two sides of the impurity removing frame are fixedly connected with a connecting rod, and the other end of the two connecting rods is fixedly connected with a same waste collecting frame, and the steel wire rope passes through the inside of the impurity removing frame.

[0014] By arranging the waste collecting assembly, when the ROV body and the salvage object are collected, the scrapers in the inside of the impurity removing frame scrape off the impurities on the outer side of the steel wire rope, and the waste collecting frame collects the impurities, so that the impurities on the outer side of the steel wire rope are prevented from being accumulated too much to cause the steel wire rope to be unable to be wound on the outer side of the winding roller, and meanwhile, in the process of recycling the steel wire rope, the hydraulic cylinder one drives the steel wire rope to move back and forth, so that the steel wire rope can be neatly wound on the outer side of the winding roller.

[0015] In an preferred embodiment, the ROV body is provided with a suspension assembly, and the suspension assembly comprises a limiting frame, and the top of the limiting frame is fixedly connected with a connecting frame, and the connecting frame is fixedly connected to the top of the ROV body.

[0016] In an preferred embodiment, the top of the ROV body close to the connecting frame is fixedly connected with a gas storage tank, and the inside of the limiting frame is placed with a suspension air bag, and one side of the limiting frame is fixedly connected with a pump frame, and the top of the pump frame is fixedly connected with a gas pump, and one end of the gas pump is fixedly connected with a gas pipe, and the other end of the gas pipe is connected with the gas input end of the gas storage tank, and the other end of the gas pump is connected to the inside of the suspension air bag through a pipeline.

[0017] By setting the suspension assembly, when the ROV body drives the fishing object to rise, the air pump is started, the air pump draws the gas in the gas storage tank into the suspension air bag, so that the suspension air bag expands rapidly, and the expanded suspension air bag is limited by the limiting frame, and its expansion volume is limited, the expansion of the suspension air bag reduces the gravity pull of the fishing object on the ROV body, thereby improving the upper limit of the weight of the fishing object of the device.

[0018] A fishing method of a ROV-based fishing device, using a ROV-based fishing device as described above, the fishing method comprising the following steps:

[0019] Step one: move the device to the fishing object by the ROV body, adjust the hydraulic cylinder four to drive the mechanical gripper to preliminarily clamp the fishing object;

[0020] Step two: after the preliminary clamping is completed, adjust the hydraulic cylinder two to drive the embedded rod to advance towards the fishing object, when the conical extrusion head drives the embedded rod to extrude into the gap of the fishing object, adjust the hydraulic cylinder three to drive the embedded claw to push outward, then realize the grabbing of other positions of the fishing object through each embedded claw, at the same time, the electromagnet is energized, if there is an iron product on the fishing object, the electromagnet is adsorbed;

[0021] Step three: when the ROV body drives the fishing object to rise, start the air pump, the air pump draws the gas in the gas storage tank into the suspension air bag, so that the suspension air bag expands rapidly, the expanded suspension air bag is limited by the limiting frame, and its expansion volume is limited, and it expands as much as possible in the horizontal direction, thereby improving the suspension area;

[0022] Step four: finally start the driving motor, the driving motor drives the winding roller to wind the steel wire rope, in the winding process, the scraper in the impurity removal frame scrapes off the impurities on the outside of the steel wire rope, the waste collection frame collects the impurities, the hydraulic cylinder one drives the steel wire rope to move back and forth, to ensure that it can be neatly wound on the outside of the winding roller, after the recovery is completed, the fishing operation is ended.

[0023] From the above, the salvage device based on ROV provided by the application has the technical effects that the equipment is moved to the salvage object by the ROV body, the mechanical gripper is preliminarily clamped to the salvage object by adjusting the hydraulic cylinder four, after the preliminary clamping is completed, the embedded rod is pushed into the salvage object by adjusting the hydraulic cylinder two, when the tapered extrusion head extrudes the embedded rod into the gap of the salvage object, the embedded claw is pushed to the outside by adjusting the hydraulic cylinder three, in the process of deflection of the embedded claw, if the embedded claw meets extrusion, the follow-up sliding block one and the follow-up sliding block two slide in the annular guide rail one and the annular guide rail two respectively, so that the embedded claw is separated from the blocking object, then other position of the salvage object is gripped through the embedded claws, the firmness of the salvage object gripped is improved, at the same time, the electromagnet is electrified, if there is an iron product on the salvage object, the electromagnet is adsorbed to the iron product, the firmness of the gripping is further improved, and the technical effect that the salvage object can be floated with the ROV body is ensured. BRIEF DESCRIPTION OF DRAWINGS

[0024] Figure 1 The overall structure schematic diagram of the salvage device based on ROV is provided for the application.

[0025] Figure 2 The overall structure front view of the salvage device based on ROV is provided for the application.

[0026] Figure 3 The ROV body and the salvage auxiliary assembly combined structure schematic diagram of the salvage device based on ROV is provided for the application.

[0027] Figure 4 The salvage auxiliary assembly schematic diagram of the salvage device based on ROV is provided for the application.

[0028] Figure 5 The annular guide rail one and the annular guide rail two combined structure schematic diagram of the salvage device based on ROV is provided for the application.

[0029] Figure 6 The waste collection assembly schematic diagram of the salvage device based on ROV is provided for the application.

[0030] Figure 7 The suspension assembly schematic diagram of the salvage device based on ROV is provided for the application.

[0031] In the figure: 1, suspension platform; 2, steel wire rope; 3, winding roller; 4, driving motor; 5, shaft plate; 6, waste collection assembly; 601, waste collection frame; 602, connecting rod; 603, fixed plate; 604, pushing carriage; 605, scraper; 606, upper arc plate; 607, impurity removal frame; 608, hydraulic cylinder one; 609, moving long rod; 7, suspension assembly; 701, limiting frame; 702, connecting frame; 703, air pump; 704, suspension air bag; 705, gas storage tank; 706, air pipe; 707, pump frame; 8, ROV body; 9, mechanical gripper; 10, rotating shaft; 11, fishing auxiliary assembly; 1101, mounting ring frame; 1102, conical extrusion head; 1103, embedded rod; 1104, hydraulic cylinder two; 1105, boom; 1106, annular guide rail one; 1107, follow-up slider one; 1108, electromagnet; 1109, fixed rod; 1110, embedded claw; 1111, follow-up slider two; 1112, annular guide rail two; 1113, hydraulic cylinder three; 12, mounting column; 13, hydraulic cylinder four; 14, bottom ring frame. DETAILED DESCRIPTION

[0032] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all.

[0033] The fishing device based on ROV disclosed in the present application is mainly applied to the existing fishing device based on ROV. In the use process, the ROV is used to monitor the seabed fishing object, so as to drive the fishing equipment to move, and after the fishing object is moved to the outside of the fishing object, the mechanical gripper is used to grab the fishing object. However, there is a certain difference between the distribution of the mechanical gripper and the shape of the fishing object, which will cause the fishing object after being grabbed to easily fall from the gap of the mechanical gripper, thereby causing the scene that the fishing effect is poor.

[0034] REFERENCE Figures 1-7The application relates to a ROV-based salvage device which comprises a suspension platform 1 and a ROV body 8, the bottom of the ROV body 8 is provided with a salvage auxiliary assembly 11, the salvage auxiliary assembly 11 comprises a mounting ring frame 1101, the top of the mounting ring frame 1101 is annularly distributed with hangers 1105, the other ends of the hangers 1105 are fixedly connected to the bottom of the ROV body 8, the outer side of the downward-facing mounting ring frame 1101 is fixedly connected with hydraulic cylinders two 1104 at equal intervals, the output ends of each hydraulic cylinder two 1104 are fixedly connected with embedding rods 1103, the other ends of each embedding rod 1103 are fixedly connected with conical extrusion heads 1102, the outer side of the embedding rod 1103 close to the conical extrusion head 1102 is fixedly connected with an annular guide rail two 1112, the inner side of the annular guide rail two 1112 is slidably connected with a follow-up slider two 1111, the outer side of each follow-up slider two 1111 facing upwards is connected with a hydraulic cylinder three 1113 through a hinge, the outer side of the embedding rod 1103 above the annular guide rail two 1112 is fixedly connected with an annular guide rail one 1106, the inner side of the annular guide rail one 1106 is slidably connected with a follow-up slider one 1107, the outer side of the follow-up slider one 1107 facing downwards is connected with an embedding claw 1110 through a hinge, the output end of the hydraulic cylinder three 1113 is connected to the outer side of the embedding claw 1110 close to the bottom end through a hinge, the outer side of the embedding claw 1110 away from the embedding rod 1103 is fixedly connected with a fixed rod 1109, and the other end of the fixed rod 1109 is provided with an electromagnet 1108.

[0035] In a specific application scenario, the device is moved to a salvage object by the ROV body 8, the mechanical gripper 9 is driven by the hydraulic cylinder four 13 to preliminarily clamp the salvage object, after the preliminary clamping is completed, the embedding rod 1103 is driven by the hydraulic cylinder two 1104 to advance towards the salvage object, when the embedding rod 1103 is extruded into the gap of the salvage object by the conical extrusion head 1102, the embedding claw 1110 is driven by the hydraulic cylinder three 1113 to push outwards, in the deflection process of the embedding claw 1110, if the embedding claw 1110 is extruded, the follow-up slider one 1107 and the follow-up slider two 1111 slide in the annular guide rail one 1106 and the annular guide rail two 1112 respectively, so that the embedding claw 1110 is separated from the blocking object, then other positions of the salvage object are gripped by the embedding claws 1110, the firmness of the salvage object being gripped is improved, meanwhile, the electromagnet 1108 is electrified, if there is an iron product on the salvage object, the electromagnet 1108 adsorbs the iron product, the firmness of the gripping is further improved, and it is ensured that the salvage object can float upwards with the ROV body 8, and the use value of the salvage device is improved.

[0036] Reference Figure 1 , Figure 2 and Figure 3In one preferred embodiment, the bottom of the ROV body 8 is fixedly connected with a mounting column 12, the bottom of the mounting column 12 is fixedly connected with a bottom ring frame 14, the outer side of the mounting column 12 is equidistantly connected with mechanical grippers 9 through hinges, the outer side of the bottom ring frame 14 facing each mechanical gripper 9 is connected with a hydraulic cylinder four 13 through a hinge, the output end of the hydraulic cylinder four 13 is connected with the outer side of the adjacent mechanical gripper 9 through a hinge, and the mechanical grippers 9 and the embedded rods 1103 are distributed in a staggered manner.

[0037] With reference to Figure 1 and Figure 2 In one preferred embodiment, the top of the suspension platform 1 is fixedly connected with two shaft plates 5, the outer side of one of the shaft plates 5 is fixedly connected with a driving motor 4, the output shaft of the driving motor 4 is fixedly connected with a rotating shaft 10 through a shaft coupling, and the other end of the rotating shaft 10 is connected with the outer side of the other shaft plate 5 through a bearing.

[0038] With reference to Figure 1 , Figure 2 and Figure 6 In one preferred embodiment, the outer side of the rotating shaft 10 is fixedly connected with a winding roller 3, the outer side of the winding roller 3 is wound with a steel wire rope 2, the other end of the steel wire rope 2 is arranged at the top of the ROV body 8, the outer sides of the two shaft plates 5 are provided with the same waste collecting assembly 6, and the waste collecting assembly 6 comprises two fixed plates 603, the two fixed plates 603 are fixedly connected with the outer sides of the shaft plates 5, and the opposite side of each fixed plate 603 is fixedly connected with the same moving long rod 609.

[0039] In the application, the outer side of the moving long rod 609 is slidingly connected with a pushing carriage 604, the side of one of the fixed plates 603 facing the pushing carriage 604 is fixedly connected with a hydraulic cylinder one 608, the output end of the hydraulic cylinder one 608 is fixedly connected with the outer side of the pushing carriage 604, the outer side of the pushing carriage 604 is fixedly connected with a dedusting frame 607, the opposite side of the dedusting frame 607 close to the top is fixedly connected with an upper arc plate 606, the outer side of the upper arc plate 606 facing downward is equidistantly fixedly connected with wipers 605, the two sides of the dedusting frame 607 are fixedly connected with connecting rods 602, the other ends of the two connecting rods 602 are fixedly connected with the same waste collecting frame 601, and the steel wire rope 2 passes through the inside of the dedusting frame 607.

[0040] It should be noted that when the ROV body 8 and the salvaged object are collected, the wipers 605 in the dedusting frame 607 scrape off the impurities on the outer side of the steel wire rope 2, and the waste collecting frame 601 collects the impurities, so that the impurities on the outer side of the steel wire rope 2 are prevented from being accumulated too much to cause the steel wire rope 2 to be unable to be wound on the outer side of the winding roller 3, and meanwhile, in the process of recycling the steel wire rope 2, the hydraulic cylinder one 608 drives the steel wire rope to move back and forth, so that the steel wire rope can be neatly wound on the outer side of the winding roller 3.

[0041] Referring to Figure 1 , Figure 2 and Figure 7 , in a preferred embodiment, the ROV body 8 is provided with a suspension assembly 7, and the suspension assembly 7 comprises a limiting frame 701, the top of the limiting frame 701 is fixedly connected with a connecting frame 702, the connecting frame 702 is fixedly connected to the top of the ROV body 8, the top of the ROV body 8 close to the connecting frame 702 is fixedly connected with a gas storage tank 705, and the inside of the limiting frame 701 is placed with a suspension air bag 704, one side of the limiting frame 701 is fixedly connected with a pump frame 707, the top of the pump frame 707 is fixedly connected with a gas pump 703, one end of the gas pump 703 is fixedly connected with a gas pipe 706, the other end of the gas pipe 706 is connected with the gas conveying end of the gas storage tank 705, and the other end of the gas pump 703 is connected to the inside of the suspension air bag 704 through a pipeline.

[0042] Specifically, when the ROV body 8 drives the fishing object to rise, the gas pump 703 is started, the gas pump 703 draws the gas in the gas storage tank 705 into the suspension air bag 704, so that the suspension air bag 704 expands rapidly, and the expanded suspension air bag 704 is limited by the limiting frame 701, so that the expansion volume is limited, and the expansion of the suspension air bag 704 reduces the gravity pull of the fishing object on the ROV body 8, thereby improving the upper limit of the weight of the fishing object of the device.

[0043] A fishing method of a ROV-based fishing device, using a ROV-based fishing device as described above, the fishing method comprising the following steps:

[0044] Step one: move the device to the fishing object by the ROV body 8, and adjust the hydraulic cylinder four 13 to drive the mechanical gripper 9 to preliminarily clamp the fishing object;

[0045] Step two: after the preliminary clamping is completed, adjust the hydraulic cylinder two 1104 to drive the embedding rod 1103 to advance towards the fishing object, when the conical extrusion head 1102 drives the embedding rod 1103 to extrude into the gap of the fishing object, adjust the hydraulic cylinder three 1113 to drive the embedding claws 1110 to push outward, and then realize the grabbing of other positions of the fishing object through the embedding claws 1110, at the same time, the electromagnet 1108 is electrified, and if there is an iron product on the fishing object, the electromagnet 1108 is used to adsorb the iron product.

[0046] Step three: when the ROV body 8 drives the fishing object to rise, the gas pump 703 is started, the gas pump 703 draws the gas in the gas storage tank 705 into the suspension air bag 704, so that the suspension air bag 704 expands rapidly, and the expanded suspension air bag 704 is limited by the limiting frame 701, so that the expansion volume is limited, and the expansion of the suspension air bag 704 reduces the gravity pull of the fishing object on the ROV body 8, thereby improving the upper limit of the weight of the fishing object of the device.

[0047] Step four: finally start the drive motor 4, drive motor 4 drive roll 3 on the steel wire rope 2 winding operation, in the process of winding, the scrapers 605 inside the impurity removal frame 607 will be the impurities on the outside of the steel wire rope 2 scraped off, waste collection frame 601 to collect, adjust the hydraulic cylinder 608 drive steel wire rope to move back and forth, to ensure that it can be neatly wound on the outside of the winding roll 3, after the recovery is completed, end fishing operation.

[0048] The above is only the preferred specific embodiments of the present application, but the protection scope of the present application is not limited to this, any skilled in the art of the technical personnel in the technical range disclosed by the present application, according to the technical scheme of the present application and the invention concept to equivalent replacement or change, should be covered in the protection scope of the present application.

Claims

1. A ROV-based fishing device comprising a suspended platform (1) and a ROV body (8), characterized in that, The bottom of the ROV body (8) is provided with a salvage auxiliary assembly (11), and the salvage auxiliary assembly (11) comprises a mounting ring frame (1101), the top of the mounting ring frame (1101) is annularly distributed with davits (1105), the other ends of the davits (1105) are fixedly connected to the bottom of the ROV body (8), the outer side of the mounting ring frame (1101) facing downward is fixedly connected with hydraulic cylinders two (1104) at equal intervals, and the output ends of each hydraulic cylinder two (1104) are fixedly connected with embedding rods (1103), the outer side of each embedding rod (1103) close to the conical extrusion head (1102) is fixedly connected with a ring guide rail two (1112), and the inner side of the ring guide rail two (1112) is slidably connected with a follow-up slider two (1111), the outer side of each follow-up slider two (1111) facing upward is connected with a hydraulic cylinder three (1113) through a hinge, the outer side of the embedding rod (1103) above the ring guide rail two (1112) is fixedly connected with a ring guide rail one (1106), and the inner side of the ring guide rail one (1106) is slidably connected with a follow-up slider one (1107), the outer side of the follow-up slider one (1107) facing downward is connected with an embedding claw (1110) through a hinge, and the output end of the hydraulic cylinder three (1113) is connected to the outer side of the embedding claw (1110) close to the bottom end through a hinge, the outer side of the embedding claw (1110) away from the embedding rod (1103) is fixedly connected with a fixed rod (1109), and the other end of the fixed rod (1109) is provided with an electromagnet (1108); the bottom of the ROV body (8) is fixedly connected with a mounting column (12), the bottom of the mounting column (12) is fixedly connected with a bottom ring frame (14), the outer side of the mounting column (12) is connected with a mechanical gripper (9) through a hinge at equal intervals, the outer side of the bottom ring frame (14) facing each mechanical gripper (9) is connected with a hydraulic cylinder four (13) through a hinge, the output end of the hydraulic cylinder four (13) is connected to the outer side of the adjacent mechanical gripper (9) through a hinge, and the mechanical gripper (9) and the embedding rod (1103) are distributed in a staggered manner.

2. A ROV-based fishing device according to claim 1, characterized in that The top of the suspension platform (1) is fixedly connected with two shaft plates (5), and the outer side of one of the shaft plates (5) is fixedly connected with a driving motor (4), the output shaft of the driving motor (4) is fixedly connected with a rotating shaft (10) through a shaft coupling, and the other end of the rotating shaft (10) is connected to the outer side of the other shaft plate (5) through a bearing.

3. A ROV-based fishing device according to claim 2, wherein, The outer side of the rotating shaft (10) is fixedly connected with a winding roller (3), the outer side of the winding roller (3) is wound with a steel wire rope (2), and the other end of the steel wire rope (2) is arranged at the top of the ROV body (8).

4. A ROV-based fishing device according to claim 3, wherein, The outer side of two shaft plates (5) is provided with a same waste collecting assembly (6), and the waste collecting assembly (6) comprises two fixed plates (603), both of which are fixedly connected to the outer side of the shaft plate (5), and the opposite side of the two fixed plates (603) is fixedly connected with a same moving long rod (609).

5. An ROV-based fishing device according to claim 4, wherein, The outer side of the moving long rod (609) is slidably connected with a pushing carriage (604), and the side of one of the fixed plates (603) facing the pushing carriage (604) is fixedly connected with a hydraulic cylinder one (608), and the output end of the hydraulic cylinder one (608) is fixedly connected to the outer side of the pushing carriage (604).

6. An ROV-based fishing device according to claim 5, wherein, The outer side of the pushing carriage (604) is fixedly connected with a dedusting frame (607), and the opposite side of the dedusting frame (607) close to the top is fixedly connected with an upper arc plate (606), the outer side of the upper arc plate (606) facing downwards is fixedly connected with a scraper (605) at equal distances, and the two sides of the dedusting frame (607) are fixedly connected with connecting rods (602), and the other end of the two connecting rods (602) is fixedly connected with a same waste collecting frame (601), and the steel wire rope (2) passes through the inside of the dedusting frame (607).

7. An ROV-based fishing device according to claim 6, wherein, The ROV body (8) is provided with a suspension assembly (7), and the suspension assembly (7) comprises a limiting frame (701), and the top of the limiting frame (701) is fixedly connected with a connecting frame (702), and the connecting frame (702) is fixedly connected to the top of the ROV body (8).

8. An ROV-based fishing device according to claim 7, characterized in that The top of the ROV body (8) close to the connecting frame (702) is fixedly connected with a gas storage tank (705), and the inside of the limiting frame (701) is placed with a suspension air bag (704), one side of the limiting frame (701) is fixedly connected with a pump frame (707), the top of the pump frame (707) is fixedly connected with an air pump (703), one end of the air pump (703) is fixedly connected with an air pipe (706), the other end of the air pipe (706) is connected with the gas conveying end of the gas storage tank (705), and the other end of the air pump (703) is connected to the inside of the suspension air bag (704) through a pipeline.

9. A method of fishing using a ROV-based fishing device as claimed in claim 8, characterised in that, The fishing method comprises the following steps: Step one: the ROV body (8) drives the fishing device to move to the fishing object, and adjusts the hydraulic cylinder four (13) to drive the mechanical gripper (9) to preliminarily clamp the fishing object; Step two: after the preliminary clamping is completed, the hydraulic cylinder two (1104) drives the embedding rod (1103) to push forward towards the fishing object, when the tapered extrusion head (1102) drives the embedding rod (1103) to extrude into the gap of the fishing object, the hydraulic cylinder three (1113) drives the embedding claw (1110) to push outward, and then the embedding claws (1110) realize the grabbing of other positions of the fishing object, at the same time, the electromagnet (1108) is electrified, and if there is an iron product on the fishing object, the electromagnet (1108) adsorbs it. Step three: when the ROV body (8) drives the fishing object to rise, start the air pump (703), the air pump (703) draws the gas in the gas storage tank (705) into the suspension air bag (704), so that the suspension air bag (704) expands rapidly, the expanded suspension air bag (704) is limited by the limiting frame (701), its expansion volume is limited, and the expansion is as much as possible in the horizontal direction, so as to improve the suspension area; Step four: finally, start the driving motor (4), the driving motor (4) drives the winding roller (3) to wind the steel wire rope (2), in the winding process, the scrapes (605) in the impurity removal frame (607) scrape off the impurities on the outside of the steel wire rope (2), and the waste collecting frame (601) collects them, the adjusting hydraulic cylinder one (608) drives the steel wire rope to move back and forth, so as to ensure that it is wound on the outside of the winding roller (3) in an orderly manner, after the recovery is completed, the fishing operation is ended.

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