An underwater crawling salvage robot and a salvage method

Abstract

The present application relates to a kind of underwater crawling salvage robot and salvage method.It includes several sliding rods and several support plates;Support plate center is provided with salvage hole, and edge is provided with mounting hole;The object to be salvaged can pass through the salvage hole in the center of support plate;Several support plate surfaces are parallel and arranged with certain interval, and several sliding rods pass through the mounting hole in the support plate and are fixedly connected with support plate;Clamping part includes movable clamping part and fixed clamping part, respectively located in the both ends of sliding rod, and can clamp the object to be salvaged passing through support plate;Fixed clamping part is fixedly installed relative to sliding rod;Movable clamping part can slide along sliding rod;Linear extension mechanism is fixedly arranged on support plate, and its telescopic end is connected with movable clamping part, and movable clamping part can slide along sliding rod through linear extension mechanism;Control bin is arranged on the surface of support plate, and is used to control the operation of each component.The present application can salvage long cylindrical target object partially buried in underwater silt.

Description

Technical Field

[0001] This invention relates to the field of underwater salvage equipment, and more particularly to an underwater crawling salvage robot and salvage method. Background Technology

[0002] Targets such as torpedoes and submarines buried in the sediment of oceans or lakes are often long, cylindrical objects that are difficult to retrieve due to their large size and mass. Manual retrieval is inefficient; their entrapment in sediment further complicates the process. To prevent technology leaks, minimize economic losses, and obtain fault data, the retrieval of these buried targets is both necessary and urgent. Therefore, a device capable of efficiently capturing and retrieving objects like torpedoes and submarines is needed.

[0003] Chinese patent document CN111268063A discloses an underwater grabbing and salvage equipment and method suitable for long cylindrical devices, including a main structure, lifting points, skids, grabbing and lifting devices, an underwater control system, a first water pump, a first jetting pipe system, nozzles, a second water pump, a second jetting pipe system, a thruster, and a target detection sensor. This invention can efficiently grip the left and right claws into relatively hard silt, increasing the probability of successful grabbing; it solves the problem of adapting to the tilt when the object being retrieved is not directly under the claws; it solves the problem of the object being retrieved being buried under the mud and unable to be lifted; it solves the problem of the claws not being able to grip the mud; and it solves the problem of underwater positioning and orientation of the salvage equipment.

[0004] However, long cylindrical objects submerged in underwater silt or mud are usually not completely buried. They are typically inserted at an angle, with part exposed above the silt and part submerged within it. Using the techniques described in the aforementioned literature to retrieve such objects involves excavating the entire silt layer, similar to using an excavator. When encountering soft silt environments on the lake or seabed, the object is more likely to be completely buried during excavation, making the work difficult and requiring the complete removal of all silt. This also increases the risk of secondary loosening and damage to the object. Therefore, the techniques described in the aforementioned literature are suitable for retrieving objects that are completely buried or exposed, but not for objects inserted at an angle into silt or bottom sand.

[0005] Based on a survey of the current status of underwater salvage operations both domestically and internationally, and on-shore tests of silt adhesion, it is evident that there are currently few salvage operations for buried objects. Successful salvage cases are limited to targets with small buried areas where silt adhesion is weak, facilitating gripping and salvage. For targets buried deeper, there have been cases where the titanium alloy manipulator has broken during salvage. Silt adhesion tests have also demonstrated that the silt adhesion of the buried portion of the target object during salvage is far greater than the object's own weight, rendering traditional brute-force methods inadequate for salvage needs. Therefore, there is an urgent need to develop a salvage device to revolutionize salvage methods and solve the problem of salvaging targets buried in lakebed or seabed silt environments. Summary of the Invention

[0006] To address the problems of existing technologies, the present invention aims to provide an underwater crawling salvage robot and salvage method. Based on the current situation where it is difficult to salvage buried objects, this robot innovatively combines object clamping, movement along the target object's axis, surface silt removal, center of gravity positioning, self-locking clamping, and salvage on the basis of traditional salvage methods, thereby realizing the salvage of buried objects.

[0007] The details are as follows:

[0008] An underwater crawling salvage robot includes:

[0009] A support frame includes several sliding rods and several support plates; each support plate has a retrieval hole at its center and mounting holes at its edges; the object to be retrieved can pass through the retrieval hole at the center of the support plate; the surfaces of the several support plates are parallel to each other and arranged at certain intervals; the several sliding rods pass through the mounting holes on the support plates and are fixedly connected to the support plates; the several sliding rods are parallel to each other.

[0010] A clamping part is provided and installed on the sliding rod, which can clamp the object to be retrieved through the support plate; the clamping part includes a movable clamping part and a fixed clamping part, which are respectively located at both ends of the sliding rod; the fixed clamping part is fixedly installed relative to the sliding rod; the movable clamping part can slide along the sliding rod;

[0011] A linear telescopic mechanism is fixedly installed on the support plate, and its telescopic end is connected to the movable clamping part. The movable clamping part can slide along the sliding rod through the linear telescopic mechanism.

[0012] The control compartment is installed on the support plate and is used to control the operation of various components.

[0013] Furthermore, the support plate includes a front support plate, a rear support plate, and a middle support plate. The front and rear support plates are installed at both ends of the sliding rod, and the middle support plate is installed in the middle section of the sliding rod. The fixed clamping part is installed on the outside of the rear support plate, and the movable clamping part is installed between the middle support plate and the front support plate. The linear telescopic mechanism is installed on the middle support plate, and its telescopic end is fixedly connected to the movable clamping part and its telescopic direction is parallel to the sliding rod. The movable clamping part can move along the sliding rod by extending or retracting the telescopic end of the linear telescopic mechanism.

[0014] Furthermore, the linear telescopic mechanism includes a push rod, a sleeve, a drive motor, and a transmission module; one end of the sleeve is fixedly connected to the middle support plate, and the other end is connected to the transmission module and then fixedly connected to the rear support plate; a through hole is provided on the middle support plate, one end of the push rod passes through the through hole and is movably installed in the sleeve, and the other end is connected to the movable clamping part; the push rod and the sleeve are connected in the form of a lead screw and nut; the drive motor is mounted on the transmission module, and the drive motor, after being driven by the transmission module, allows the push rod to extend or retract from the sleeve.

[0015] Furthermore, it also includes an underwater salvage clamp; the underwater salvage clamp is installed between the transmission module and the rear support plate, including two salvage clamps and two salvage clamping links; the salvage clamps are "J" shaped, the middle sections of the two salvage clamps are hinged to each other, one end of the two salvage clamping links is hinged to each other, and the other end is respectively hinged to the straight end of the two salvage clamps; the hinge point where the two salvage clamping links are hinged to each other is the lifting point, and the lifting point is raised during salvage, and the two salvage clamps clamp and embrace the object to be salvaged.

[0016] Furthermore, it also includes a spraying section, which includes several high-pressure spray nozzles and a high-pressure water pump; the high-pressure water pump is installed on the surface of the middle support plate; the high-pressure spray nozzles are installed on the outside of the front support plate and the rear support plate, and are connected to the water outlet of the high-pressure water pump through a pipe; the high-pressure water pump can draw in water and spray it out through the high-pressure spray nozzles to clean the surface of the object to be salvaged that has passed through the support plate.

[0017] Furthermore, it also includes a camera lighting system and a housing. The camera lighting system is installed on the outside of the movable clamping part and the fixed clamping part for photographing the object to be retrieved. The housing is fixedly assembled with the front support part and the rear support plate, and has a hole opened at the position opposite to the retrieval hole.

[0018] Furthermore, the clamping part includes a clamping motor, a transmission lead screw, a slider, a lead screw seat, two clamping clamps, two clamping connecting rods, and a mounting bracket; the output end of the clamping motor is fixedly connected to one end of the transmission lead screw, and the other end of the transmission lead screw passes through the slider and is rotatably connected to the lead screw seat; the clamping clamps are arc-shaped, with both ends of the lead screw seat hinged to one end of the clamping clamp, both ends of the slider hinged to one end of the clamping connecting rod, and the other end of the clamping connecting rod connected to the clamping clamp on the same side. The device is hinged; when the clamping motor rotates, it drives the transmission screw to rotate, and the slider moves linearly along the axis of the transmission screw, simultaneously causing the clamping clamps to open or close around the junction point with the screw seat, clamping and releasing the object to be retrieved; the top of the mounting frame is connected to the top of the clamping motor, and the bottom of the mounting frame clamps both sides of the screw seat and is fixedly connected to the screw seat; through holes are provided on both sides of the mounting frame, and when the clamping part is installed on the sliding rod, the sliding rod passes through the through holes provided on the mounting frame.

[0019] A method for salvaging an underwater crawling salvage robot involves first fitting one end of the robot's front support plate onto the unburied end of the object to be salvaged. Then, the control chamber controls the movable clamping part to grip the object. Next, the spray nozzle is activated to spray the surface of the object, while simultaneously starting the drive motor to retract the push rod into the sleeve, reducing the distance between the movable and fixed clamping parts. After the fixed clamping part moves to a predetermined position, the drive motor stops, and the control chamber controls the fixed clamping part to grip the object, while the movable clamping part releases it. Then, the drive motor is restarted to extend the push rod out of the sleeve, increasing the distance between the movable and fixed clamping parts, causing the robot to crawl along the axis of the object. Once the robot reaches the center of gravity of the object, the control chamber controls both the fixed and movable clamping parts to grip the object together, lifting the robot to complete the salvage operation.

[0020] Furthermore, after the robot moves to the center of gravity of the object to be salvaged, the control chamber controls the fixed clamping part and the movable clamping part to clamp the object together, while simultaneously lifting the underwater salvage gripper. As the tension of the salvage cable increases, the underwater salvage gripper clamps the target object more tightly, and then the robot is lifted to complete the salvage.

[0021] Furthermore, underwater conditions were observed using a camera and lighting system during the salvage operation.

[0022] The present invention has the following advantages over the prior art:

[0023] (i) Inheriting the advantages of traditional salvage methods, using surface support in conjunction with underwater operations for salvage, making full use of surface mother ships, cranes, human-machine interaction platforms and other auxiliary underwater operations, reducing the design difficulty of underwater crawling salvage robots, concentrating advantages on the salvage design of buried targets, and using clamping before salvage in accordance with the basic operation process, and expanding functions on this basis.

[0024] (II) A novel axial crawling technology along the target object is proposed, separating the salvage clamping from the motion clamping. A set of motion clamping parts is designed, namely a movable clamping part and a fixed clamping part, which alternately clamp and release. A telescopic linear telescopic mechanism is designed, which uses the relative motion of the push rod and the sleeve to realize the underwater crawling salvage robot's effective clamping and axial crawling motion on the target object, providing support for further spraying and dredging. At the same time, the axial crawling motion enables the underwater crawling salvage robot to move to the center of gravity of the target object, so that the salvage clamping point is at the center of gravity, preventing the target object from tilting and slipping during salvage.

[0025] (III) Apply water jetting technology to underwater salvage. By utilizing the change in water flow rate to achieve different jetting forces, the silt on the surface of the target object is jetted, which greatly reduces the adhesion force of the silt to the target object. At the same time, in conjunction with axial crawling motion, the silt on the entire surface of the target object is effectively removed, providing support for further clamping and salvage.

[0026] (iv) It is designed with a retrieval gripper, which is different from the gripper for motion. Its structure is strong and can withstand large loads. The retrieval gripper is cleverly designed to have a self-locking function. That is, within the range of structural strength, the heavier the target object, the greater the pulling force, the tighter the gripper locks, and it is not easy for the gripper to loosen. At the same time, the greater the clamping force, the greater the friction between the target object and the gripper, and the less likely the target object will slip out of the gripper. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the overall structure of the salvage robot according to an embodiment of the present invention;

[0028] Figure 2 This is a schematic diagram of the overall structure of the salvage robot described in another embodiment of the present invention;

[0029] Figure 3 This is a schematic diagram of the internal structure of the salvage robot described in an embodiment of the present invention;

[0030] Figure 4 This is a schematic diagram of the internal structure of the salvage robot described in another embodiment of the present invention;

[0031] Figure 5 This is a schematic diagram of the clamping part structure according to an embodiment of the present invention;

[0032] Figure 6This is a schematic diagram of the internal structure of the clamping part according to an embodiment of the present invention;

[0033] Figure 7 This is a schematic diagram of the underwater salvage clamp structure according to an embodiment of the present invention;

[0034] Figure 8 This is a schematic diagram illustrating the usage state of an embodiment of the present invention;

[0035] Figure 9 This is a schematic diagram showing the state of the movable clamping part when it is away from the fixed clamping part according to an embodiment of the present invention;

[0036] Figure 10 This is a schematic diagram showing the state of the movable clamping part when it is close to the fixed clamping part according to an embodiment of the present invention.

[0037] In the picture:

[0038] 1—Sliding rod;

[0039] 2—Support plate; 21—Front support plate; 22—Rear support plate; 23—Middle support plate;

[0040] 3—Clamping part; 31—Modible clamping part; 32—Fixed clamping part; 33—Clamping motor; 34—Transmission screw; 35—Slider; 36—Screw seat; 37—Clamping clamp; 38—Clamping link; 39—Mounting bracket;

[0041] 4—Underwater salvage gripper; 41—Salvage clamp; 42—Salvage gripping link;

[0042] 5—Outer casing; 6—High-pressure jet nozzle; 7—Camera and lighting system; 8—High-pressure water pump;

[0043] 9—Linear telescopic mechanism; 91—Drive motor; 92—Transmission module; 93—Sleeve; 94—Push rod;

[0044] 10—Control compartment; 11—Object to be salvaged. Detailed Implementation

[0045] In order to make the technical means, creative features and objectives of the present invention easy to understand, the technical solution of the invention will be further explained below with reference to one embodiment and specific implementation method of the underwater crawling salvage robot and salvage method provided by the present invention.

[0046] like Figure 1-10 As shown, specific embodiments of the invention are given below:

[0047] An underwater crawling salvage robot includes a support frame, a clamping part 3, a linear telescopic mechanism 9, an underwater salvage gripper 4, a jetting part, a camera and lighting system 7, a shell 5, and a control compartment 10.

[0048] The support frame includes four sliding rods 1 and three support plates 2. Each support plate 2 has a retrieval hole in its center and mounting holes along its edges. The object to be retrieved 11 can pass through the retrieval hole in the center of the support plate 2. The three support plates 2 are parallel to each other and spaced apart. The four sliding rods 1 pass through the mounting holes in the support plates 2 and are fixedly connected to them. The four sliding rods 1 are parallel to each other. A clamping part 3 is mounted on the sliding rods 1 and can clamp the object to be retrieved 11 that passes through the support plates 2. The clamping part 3 includes a movable clamping part 31 and a fixed clamping part 32, located at both ends of the sliding rods 1. The fixed clamping part 32 is fixedly mounted relative to the sliding rods 1. The movable clamping part 31 can slide along the sliding rods 1. A linear telescopic mechanism 9 is fixedly mounted on the support plate 2, and its telescopic end is connected to the movable clamping part 31. The linear telescopic mechanism 9 allows the movable clamping part 31 to slide along the sliding rods 1. A control compartment 10 is mounted on the surface of the support plate 2 and is used to control the operation of each component.

[0049] The support plate 2 includes a front support plate 21, a rear support plate 22, and a middle support plate 23. The front support plate 21 and the rear support plate 22 are installed at both ends of the sliding rod 1, and the middle support plate 23 is installed in the middle section of the sliding rod 1. The fixed clamping part 32 is installed on the outside of the rear support plate 22, and the movable clamping part 31 is installed between the middle support plate 23 and the front support plate 21. The clamping part 3 includes a clamping motor 33, a transmission screw 34, a slider 35, a screw seat 36, two clamping clamps 37, two clamping connecting rods 38, and a mounting bracket 39. The output end of the clamping motor 33 is fixedly connected to one end of the transmission screw 34, and the other end of the transmission screw 34 passes through the slider 35 and is rotatably connected to the screw seat 36. The clamping clamps 37 are arc-shaped. The two ends of the screw seat 36 are respectively hinged to one end of the clamping clamp 37, and the two ends of the slider 35 are respectively hinged to one end of the clamping connecting rod 38. The other end of the clamping connecting rod 38 is connected to the clamping clamp 37 on the same side. The device is hinged; when the clamping motor 33 rotates, it drives the transmission screw 34 to rotate, and the slider 35 moves linearly along the axis of the transmission screw 34. At the same time, it drives the clamping clamp 37 to open or close around the intersection point with the screw seat 36, clamping and releasing the object 11 to be retrieved. The top of the mounting frame 39 is connected to the top of the clamping motor 33, and the bottom of the mounting frame 39 clamps both sides of the screw seat 36 and is fixedly connected to the screw seat 36. The mounting frame 39 has through holes on both sides. When the clamping part 3 is installed on the sliding rod 1, the sliding rod 1 passes through the through holes in the mounting frame 39. The linear telescopic mechanism 9 is installed on the middle support plate 23. Its telescopic end is fixedly connected to the movable clamping part 31 and the telescopic direction is parallel to the sliding rod 1. The extension or retraction of the telescopic end of the linear telescopic mechanism 9 allows the movable clamping part 31 to move along the sliding rod 1. The linear telescopic mechanism 9 includes a push rod 94, a sleeve 93, a drive motor 91, and a transmission module 92. One end of the sleeve 93 is fixedly connected to the middle support plate 23, and the other end is connected to the transmission module 92 and then fixedly connected to the rear support plate 22. A through hole is provided on the middle support plate 23. One end of the push rod 94 passes through the through hole and is movably installed in the sleeve 93, and the other end is connected to the movable clamping part 31. The push rod 94 and the sleeve 93 are connected in the form of a screw and nut. The drive motor 91 is installed on the transmission module 92. After being driven by the transmission module 92, the drive motor 91 can extend or retract the push rod 94 from the sleeve 93.

[0050] The underwater salvage clamp 4 is installed between the transmission module 92 and the rear support plate 22, and includes two salvage clamps 41 and two salvage clamping links 42. The salvage clamps 41 are "J" shaped, and the middle sections of the two salvage clamps 41 are hinged to each other. One end of the two salvage clamping links 42 is hinged to each other, and the other end is hinged to the straight end of the two salvage clamps 41 respectively. The hinge point where the two salvage clamping links 42 are hinged to each other is the lifting point. During salvage, the lifting point is raised, and the two salvage clamps 41 clamp and hug the object to be salvaged 11.

[0051] The spraying section includes several high-pressure spray nozzles 6 and a high-pressure water pump 8; the high-pressure water pump 8 is installed on the surface of the middle support plate 23; the high-pressure spray nozzles 6 are installed on the outside of the front support plate 21 and the rear support plate 22, and are connected to the water outlet of the high-pressure water pump 8 through a pipe; the high-pressure water pump 8 can draw in water and spray it out through the high-pressure spray nozzles 6 to clean the surface of the object to be salvaged 11 that has passed through the support plate 2.

[0052] The camera lighting system 7 is installed on the outside of the movable clamping part 31 and the fixed clamping part 32 to photograph the situation of the object to be retrieved 11; the outer shell 5 is fixedly assembled with the front support part and the rear support plate 22, and has a hole opened relative to the retrieval hole position.

[0053] The specific installation steps are as follows:

[0054] The four sliding rods 1 are passed through the front support plate 21, the movable clamping part 31, the middle support plate 23, the rear support plate 22, and the fixed clamping part 32 in sequence, and the two ends of the sliding rods 1 are fixed to the front support plate 21 and the rear support plate 22.

[0055] Retract the push rod 94 of the linear telescopic mechanism 9 into the sleeve 93, and place the whole assembly between the middle support plate 23 and the retrieval clamp. Let the sleeve 93 pass through the retrieval clamp and be fixedly installed on the rear support plate 22. Align the other end of the sleeve 93 with the corresponding position of the middle support plate 23 and fix it in place. Extend the push rod 94 out of the sleeve 93 and connect it to the movable clamping part 31. Fix the telescopic drive motor 91 to the internal transmission module 92 of the linear telescopic mechanism 9.

[0056] The camera lighting system 7 is assembled to the corresponding positions on the top of the movable clamping part 31 and the fixed clamping part 32, and the nozzle is assembled to the corresponding positions on the front support plate 21 and the rear support plate 22.

[0057] The internal signal cables, power cables, water pipes, etc. are arranged and fixed. The signal cables and power cables are mainly led out from the control compartment and connected to the camera and lighting system 7, clamping motor 33, telescopic drive motor 91 and other electrical components. The water pipes are mainly led out from the high-pressure water pump 8 and distributed to each nozzle.

[0058] The high-pressure water pump 8 is installed onto the middle support plate 23 via a bracket; the control cabin is installed onto the other middle support plate 23 via a bracket; and the buoyancy material shell 5 is then assembled onto the front support plate 21 and the rear support plate 22, completing the assembly of the entire underwater crawling salvage robot.

[0059] A salvage method using an underwater crawling salvage robot involves observing the underwater situation through a camera and lighting system 7. During salvage, one end of the robot's front support plate 21 is first inserted into the unburied end of the object to be salvaged 11. Then, the control chamber 10 controls the movable clamping part 31 to clamp the object 11. Next, the spray nozzle is opened to spray the surface of the object 11, while simultaneously starting the drive motor 91 to rotate and retract the push rod 94 into the sleeve 93, reducing the distance between the movable clamping part 31 and the fixed clamping part 32. After the fixed clamping part 32 moves to a predetermined position, the drive motor 91... 1. Stop rotation. Control chamber 10 controls fixed clamping part 32 to clamp the object to be salvaged 11, and movable clamping part 31 releases the object to be salvaged 11. Then start drive motor 91 to rotate so that push rod 94 extends out of sleeve 93, increasing the distance between movable clamping part 31 and fixed clamping part 32, so that robot crawls along the axis of object to be salvaged 11. After the robot moves to the center of gravity position of object to be salvaged 11, control chamber 10 controls fixed clamping part 32 and movable clamping part 31 to clamp object to be salvaged 11 together, and lifts underwater salvage gripper 4 while lifting robot to complete salvage.

[0060] This invention enables the salvage of elongated cylindrical objects partially buried in lakebed or seabed silt. Through processes such as object clamping, axial movement along the object, surface silt removal, center of gravity positioning, clamping self-locking, and salvage, the buried object is retrieved. Inheriting the characteristics of traditional object clamping methods, it innovatively proposes key technologies such as axial crawling, surface silt removal, and center of gravity positioning. This solves problems such as the inability to salvage buried objects due to strong silt adhesion and object slippage caused by clamping position deviation from the center of gravity, filling a gap in the field of buried object salvage technology. Furthermore, the salvage of buried objects provides technical solutions for preventing technology leakage, reducing economic losses, and obtaining fault data.

[0061] It should be understood that the specific embodiments described above are merely illustrative or explanatory of the principles of the present invention and do not constitute a limitation thereof. Therefore, any modifications, equivalent substitutions, improvements, etc., made without departing from the spirit and scope of the present invention should be included within the protection scope of the present invention. The appended claims are intended to cover all variations and modifications falling within the scope and boundaries of the appended claims, or equivalent forms of such scope and boundaries.

Claims

1. An underwater crawling salvage robot, characterized in that, include: The support frame includes several sliding rods (1) and several support plates (2); the support plate (2) has a retrieval hole in the center and mounting holes on the edge; the object to be retrieved (11) can pass through the retrieval hole in the center of the support plate (2); the surfaces of the several support plates (2) are parallel to each other and arranged at certain intervals, and the several sliding rods (1) pass through the mounting holes in the support plate (2) and are fixedly connected to the support plate (2); the several sliding rods (1) are parallel to each other; A clamping part (3) is installed on the sliding rod (1) and can clamp the object (11) to be retrieved through the support plate (2); the clamping part (3) includes a movable clamping part (31) and a fixed clamping part (32), which are located at both ends of the sliding rod (1); the fixed clamping part (32) is fixedly installed relative to the sliding rod (1); the movable clamping part (31) can slide along the sliding rod (1); A linear telescopic mechanism (9) is fixedly installed on the support plate (2), and its telescopic end is connected to the movable clamping part (31). The movable clamping part (31) can slide along the sliding rod (1) through the linear telescopic mechanism (9). The control compartment (10) is installed on the support plate (2) and is used to control the operation of each component; The support plate (2) includes a front support plate (21), a rear support plate (22), and a middle support plate (23). The front support plate (21) and the rear support plate (22) are installed at both ends of the sliding rod (1), and the middle support plate (23) is installed in the middle section of the sliding rod (1). The fixed clamping part (32) is installed on the outside of the rear support plate (22), and the movable clamping part (31) is installed between the middle support plate (23) and the front support plate (21). The linear telescopic mechanism (9) is installed on the middle support plate (23), and its telescopic end is fixedly connected to the movable clamping part (31) and its telescopic direction is parallel to the sliding rod (1). The movable clamping part (31) can move along the sliding rod (1) by extending or retracting the telescopic end of the linear telescopic mechanism (9).

2. The underwater crawling salvage robot as described in claim 1, characterized in that: The linear telescopic mechanism (9) includes a push rod (94), a sleeve (93), a drive motor (91), and a transmission module (92). One end of the sleeve (93) is fixedly connected to the middle support plate (23), and the other end is connected to the transmission module (92) and then fixedly connected to the rear support plate (22). The middle support plate (23) has a through hole, and one end of the push rod (94) is movably installed in the sleeve (93) through the through hole, and the other end is connected to the movable clamping part (31). The push rod (94) and the sleeve (93) are connected in the form of a screw and nut. The drive motor (91) is installed on the transmission module (92), and the drive motor (91) can extend or retract the push rod (94) from the sleeve (93) after being driven by the transmission module (92).

3. The underwater crawling salvage robot as described in claim 2, characterized in that: It also includes an underwater salvage clamp (4); the underwater salvage clamp (4) is installed between the transmission module (92) and the rear support plate (22), including two salvage clamps (41) and two salvage clamping rods (42); the salvage clamps (41) are "J" shaped, the middle sections of the two salvage clamps (41) are hinged to each other, one end of the two salvage clamping rods (42) is hinged to each other, and the other end is respectively hinged to the straight end of the two salvage clamps (41); the hinge point where the two salvage clamping rods (42) are hinged to each other is the lifting point. When salvaging, the lifting point is raised, and the two salvage clamps (41) clamp and hug the object to be salvaged (11).

4. The underwater crawling salvage robot as described in claim 3, characterized in that: It also includes a spraying section, which includes several high-pressure spray nozzles (6) and a high-pressure water pump (8); the high-pressure water pump (8) is installed on the surface of the middle support plate (23); the high-pressure spray nozzles (6) are installed on the outside of the front support plate (21) and the rear support plate (22), and are connected to the water outlet of the high-pressure water pump (8) through a pipe; the high-pressure water pump (8) can suck in water and spray it out through the high-pressure spray nozzles (6) to clean the surface of the object (11) to be salvaged that has passed through the support plate (2).

5. The underwater crawling salvage robot as described in claim 4, characterized in that: It also includes a camera lighting system (7) and a housing (5). The camera lighting system (7) is installed on the outside of the movable clamping part (31) and the fixed clamping part (32) for photographing the situation of the object to be retrieved (11). The housing (5) is fixedly assembled with the front support part and the rear support plate (22) and has a hole opened relative to the retrieval hole position.

6. The underwater crawling salvage robot as described in claim 1, characterized in that: The clamping part (3) includes a clamping motor (33), a transmission lead screw (34), a slider (35), a lead screw seat (36), two clamping clamps (37), two clamping connecting rods (38), and a mounting bracket (39). The output end of the clamping motor (33) is fixedly connected to one end of the transmission lead screw (34), and the other end of the transmission lead screw (34) passes through the slider (35) and is rotatably connected to the lead screw seat (36). The clamping clamps (37) are arc-shaped, and the two ends of the lead screw seat (36) are respectively hinged to one end of the clamping clamps (37). The two ends of the slider (35) are respectively hinged to one end of the clamping connecting rods (38), and the other end of the clamping connecting rods (38) is connected to the clamping clamps on the same side. The clamp (37) is hinged; when the clamping motor (33) rotates, it drives the transmission screw (34) to rotate, and the slider (35) moves linearly along the axis of the transmission screw (34), while driving the clamping clamp (37) to open or close around the junction point with the screw seat (36) to clamp and release the object (11) to be retrieved; the top of the mounting frame (39) is connected to the top of the clamping motor (33), and the bottom of the mounting frame (39) clamps the two sides of the screw seat (36) and is fixedly connected to the screw seat (36); the mounting frame (39) has through holes on both sides, and when the clamping part (3) is installed on the sliding rod (1), the sliding rod (1) passes through the through holes opened on the mounting frame (39).

7. A salvage method based on the underwater crawling salvage robot according to claim 5, characterized in that: During the salvage operation, one end of the front support plate (21) of the salvage robot is first inserted into the unburied end of the object to be salvaged (11); then, the movable clamping part (31) is controlled by the control chamber (10) to clamp the object to be salvaged (11); next, the spraying part is opened to spray the surface of the object to be salvaged (11), and at the same time, the drive motor (91) is started to rotate so that the push rod (94) retracts into the sleeve (93), reducing the distance between the movable clamping part (31) and the fixed clamping part (32); after the fixed clamping part (32) moves to the predetermined position, the drive motor (91) stops rotating, and the control chamber (10) controls the movement of the fixed clamping part (32) to stop. The fixed clamping part (32) clamps the object to be retrieved (11), and the movable clamping part (31) releases the object to be retrieved (11); then the drive motor (91) is started to rotate so that the push rod (94) extends out of the sleeve (93), increasing the distance between the movable clamping part (31) and the fixed clamping part (32), so that the robot crawls along the axis of the object to be retrieved (11); after the robot moves to the center of gravity of the object to be retrieved (11), the control chamber (10) controls the fixed clamping part (32) and the movable clamping part (31) to clamp the object to be retrieved (11) together, and lifts the robot to complete the retrieval.

8. The salvage method of an underwater crawling salvage robot as described in claim 7, characterized in that: After the robot moves to the center of gravity of the object to be salvaged (11), the control chamber (10) controls the fixed clamping part (32) and the movable clamping part (31) to clamp the object to be salvaged (11) together, and at the same time lift the underwater salvage clamp (4). As the tension of the salvage cable increases, the underwater salvage clamp (4) clamps the target object more tightly, and then lifts the robot to complete the salvage.

9. The salvage method of an underwater crawling salvage robot as described in claim 7, characterized in that: During the salvage operation, the underwater conditions were observed using a camera and lighting system (7).

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