A remotely operated underwater vehicle

Abstract

The application discloses a kind of remotely operated underwater robot, including unmanned submersible body, chopper mechanism and collection mechanism, chopper mechanism is set in the upper of collection mechanism, chopper fan blade rotation is set in unmanned submersible body front side, and placing box is set in unmanned submersible body front side;Two clamps are rotationally arranged on both sides of the placing box, and the placing box is provided with a power mechanism for driving two rotations.The application can chop the sundries in front of the unmanned submersible body, can effectively remove the sundries near the detection target, help the unmanned submersible body better handle these obstacles when performing tasks, improve work efficiency;And the residual fragments can be directly grabbed after chopping the sundries in water, thereby improving cleaning efficiency.

Description

Technical Field

[0001] This invention belongs to the field of ROV device technology, specifically relating to a remotely operated underwater robot for offshore wind power. Background Technology

[0002] ROV stands for Remotely Operated Unmanned Submersible; it is an underwater robot that can be operated remotely and is typically used for underwater surveying, scientific research, engineering tasks, and marine resource development. ROVs can perform various tasks underwater, such as inspecting subsea pipelines and conducting underwater archaeological surveys.

[0003] Chinese Patent No. CN211711037U discloses a main frame for an ROV and the ROV itself. The main frame includes a support structure comprising an upper support, a lower support, an upright connecting the upper and lower supports, and reinforcing components. The upper support consists of multiple intersecting upper crossbeams and upper longitudinal beams; the lower support consists of multiple intersecting lower crossbeams and lower longitudinal beams. The upper support has mounting positions for fixing the buoyancy body and propeller, and the lower support has mounting positions for fixing the power system and control system. The reinforcing components include two symmetrically arranged reinforcing frames, each connected at both ends to the upper and lower supports respectively, and the reinforcing frames are inclined outwards from the lower support along a direction close to it. This invention provides a frame that effectively reduces the overall weight of the frame and effectively improves its strength.

[0004] However, the device cannot clear debris near the target being detected. Therefore, when the ROV encounters debris obstructing its work underwater, it cannot handle the problem in a timely manner, which reduces the efficiency of the ROV underwater. Summary of the Invention

[0005] The purpose of this invention is to overcome the shortcomings of the prior art and provide a remotely operated underwater robot to solve the problem that ROVs cannot deal with the problem of debris obstruction during offshore wind power inspection operations in a timely manner, thus reducing the inspection efficiency of ROVs.

[0006] To achieve the above objectives, the present invention employs the following technical solution: A remotely operated underwater robot includes a submersible body, with several propulsion mechanisms on both sides of the submersible body, and a shredding mechanism and a collection mechanism at the front end of the submersible body; the shredding mechanism is above the collection mechanism, and the front end of the shredding mechanism protrudes beyond the front end of the collection mechanism. The shredding mechanism includes a second motor mounted on the submersible body. The power output end of the second motor is connected to a first connecting post. The outer end of the first connecting post is engaged with the inner end of the second connecting post. The outer end of the second connecting post is connected to a shredding fan blade. A sensor assembly is installed inside the first connecting post. The collection mechanism includes a first gripper and a second gripper that are symmetrical about the longitudinal center plane of the submersible body. A portion of the inner end of the first gripper and the inner end of the second gripper are disposed in a placement box, which is located in front of the submersible body. The first gripper and the second gripper have the same structure. Each of the first gripper and the second gripper includes two gripping arms that are arranged parallel to each other vertically. The two gripping arms are connected by a number of mounting posts, and some of the mounting posts pass through the placement box.

[0007] A first motor is installed in the placement box, and a first bevel gear is connected to the power output end of the first motor. A second bevel gear is installed on the mounting post at the inner end of the first gripper, and the first bevel gear and the second bevel gear mesh. A first gear is mounted on the mounting post at the inner end of the first gripper, and a second gear is mounted on the mounting post at the inner end of the second gripper. The first gear and the second gear mesh.

[0008] A further improvement of the present invention is that: Preferably, each gripping arm is composed of several connecting segments whose ends are sequentially and integrally connected; The angle between each connecting segment and the longitudinal center plane of the submersible body is an acute angle, and the angle becomes smaller as the connecting segment moves further out.

[0009] Preferably, the transverse cross-section of the outermost connecting segment is triangular.

[0010] Preferably, a fixing plate is provided on the front side of the submersible body, and the placement box is fixedly installed at the front end of the fixing plate; the mounting post at the inner end of the first gripper and the mounting post at the inner end of the second gripper both pass through the placement box. The first gear is located between the bottom of the placement box and the gripping arm at the bottom of the first gripper, and the second gear is located between the bottom of the obstacle placement box and the gripping arm at the bottom of the second gripper.

[0011] Preferably, the sensor assembly includes a damper, a connecting rod, and a sensor, and the sensor assembly is disposed in the cavity opened by the first connecting post; The sensor is located at the inner end of the cavity, the outer end of the connecting rod is fixedly connected to the inner end of the second connecting post, the inner end of the damper is connected to the inner end of the cavity, and the outer end of the damper is connected to the inner end of the second connecting post. When the damper is relaxed, there is a gap between the sensor and the inner end of the connecting rod.

[0012] Preferably, the damper is mounted on the outside of the sensor and connecting rod.

[0013] Preferably, the propulsion mechanism includes a fixed circular plate, which is fixedly mounted on the body of the unmanned submersible; a third motor is mounted on the fixed circular plate, the power output end of the third motor is connected to a centrifugal plate, a fourth motor is connected to the other side of the centrifugal plate, and a propeller is connected to the outer end of the fourth motor.

[0014] Preferably, a protective shell is provided on the outer side of the fixed circular plate, and the third motor is disposed inside the protective shell; one side of the centrifugal plate is fixedly disposed at the outer end of the protective shell.

[0015] Preferably, a connecting frame is connected to each side of the protective shell, and the front ends of the two connecting frames are rotatably connected to a frame structure. A positioning post is provided at the upper and lower ends of the frame structure, and the side wall of the fourth motor is rotatably connected to the two positioning posts.

[0016] Preferably, a detector is provided between the crushing mechanism and the collecting mechanism, and a searchlight is provided on each side of the detector.

[0017] Compared with the prior art, the present invention has the following beneficial effects: This invention discloses an ROV (Remotely Operated Vehicle), comprising an unmanned submersible body, a shredding mechanism, and a collection mechanism. The shredding mechanism is positioned above the collection mechanism, with rotatable shredding blades located at the front of the ROV body. A placement box is also located at the front of the ROV body. Two grippers are rotatably mounted on either side of the placement box, which contains a power mechanism to drive the grippers. This invention can shred debris in front of the ROV body, effectively clearing debris near detection targets and helping the ROV body better handle obstacles during missions, thus improving work efficiency. After shredding the underwater debris, it directly picks up any remaining fragments, thereby improving cleanup efficiency.

[0018] Furthermore, each gripping arm consists of multiple connecting segments, and as the connecting segments move further outward, they converge inward, allowing more debris to be collected when the gripping arm rotates.

[0019] Furthermore, the outermost connecting section has a triangular cross-section, meaning the end of the outermost connecting section has a pointed structure, which reduces resistance and the weight distribution of the entire gripping arm.

[0020] Furthermore, a placement box is set on the front side of the submersible body, the first motor is set inside it, and two gears are placed between the bottom of the placement box and the gripping arm to ensure that the axial direction of the two gears can obtain sufficient support force.

[0021] Furthermore, the sensor assembly is located inside the connecting column, so that the entire shredding mechanism only rotates when it encounters debris, preventing idling and wasting energy and increasing resistance during ROV operation.

[0022] Furthermore, the entire propeller is housed within the propulsion mechanism, which includes a control mechanism and a support mechanism for adjusting the propeller's orientation, allowing the propeller's orientation to be adjusted as needed. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is a schematic diagram of the power mechanism; Figure 3 This is a schematic diagram of the rotating mechanism; Figure 4 This is a schematic diagram of the sensor component. Figure 5 This is a schematic diagram of the control mechanism.

[0024] Reference numerals: 1. Unmanned submersible body; 2. Propulsion mechanism; 3. Mounting plate; 4. Searchlight; 5. Detector; 6. First connecting column; 7. Second connecting column; 8. Crushing fan blade; 9. Fixed circular plate; 10. Fixed plate; 11. Placement box; 12. First motor; 13. First bevel gear; 14. Second bevel gear; 15. Mounting column; 16. First gripper; 17. First gear; 18. Second gear; 19. Second gripper; 20. Second motor; 21. Damper; 22. Connecting rod; 23. Sensor; 24. Protective shell; 25. Third motor; 26. Connecting frame; 27. Centrifuge plate; 28. Fixing block; 29. ​​Frame structure; 30. Cylinder; 31. Fourth motor; 32. Mounting block; 33. Positioning column; 34. Crushing mechanism; 35. Collection mechanism; 36. Grabbing arm; 37. Cavity. Detailed Implementation

[0025] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments: In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. The terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Furthermore, unless otherwise explicitly specified and limited, the terms "installed," "connected," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection or a detachable connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal connection of two elements. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0026] like Figures 1-5 As shown, this invention proposes a remotely operated underwater vehicle (ROV) comprising an unmanned submersible body 1, a propulsion mechanism 2, a shredding mechanism 34, and a collection mechanism 35; the propulsion mechanism 2, the shredding mechanism 34, and the collection mechanism 35 are all fixedly mounted on the unmanned submersible body 1. The forward direction of the unmanned submersible body 1 is defined as the front of the unmanned submersible body 1, and the longitudinal center plane of the unmanned submersible body 1 is defined as being on the same plane as the overall forward direction of the ROV. In this invention, "inward" refers to the direction towards the unmanned submersible body 1, and "outward" refers to the direction towards the outside.

[0027] Example 1 Several propulsion mechanisms 2 are respectively arranged on both sides of the unmanned submersible body 1. The propulsion mechanisms 2 are used to propel the entire ROV to move in the target direction. The shredding mechanism 34 and the collection mechanism 35 are both arranged on the front side of the unmanned submersible body 1. The shredding mechanism 34 is above the collection mechanism 35, and the foremost end of the shredding mechanism 34 protrudes from the collection mechanism 35, so that the shredding mechanism 34 can contact the debris in front of the unmanned submersible body 1 first, preventing the debris from contacting other parts of the unmanned submersible body 1 first and affecting the forward movement of the unmanned submersible body 1.

[0028] See Figure 1 and Figure 3 The pulverizing mechanism 34 includes a mounting plate 3, a rotating mechanism, pulverizing blades 8, and a sensing component. The pulverizing blades 8 are rotatably mounted on the front side of the unmanned submersible body 1. The mounting plate 3 is provided on the unmanned submersible body 1. One end of the rotating mechanism is installed inside the mounting plate 3. The power output end of the rotating mechanism is connected to the inner end of the pulverizing blades 8. The sensing component is located in the rotating mechanism.

[0029] See Figure 3 and Figure 4The rotating mechanism includes a first connecting post 6, a second connecting post 7, and a second motor 20. The second motor 20 is installed inside the mounting plate 3, and the first connecting post 6 is laterally connected to the output shaft of the second motor 20. The second connecting post 7 is engaged with the other end of the first connecting post 6, and the agitator blade 8 is disposed at the other end of the second connecting post 7. A sensing component for driving the second motor 20 to rotate is disposed inside the first connecting post 6 and the second connecting post 7. When the sensor component is triggered, the power output end of the second motor 20 drives the first connecting post 6 and the second connecting post 7 to rotate, thereby driving the agitator blade 8 to rotate. The sensor component is disposed inside the first connecting post 6 and the second connecting post 7.

[0030] The collection mechanism 35 includes a fixing plate 10, a placement box 11, a first motor 12, a power mechanism, a first gripper 16, and a second gripper 19. The fixing plate 10 is fixedly installed on the front side of the unmanned submersible body 1 and below the shredding fan blades 8. The placement box 11 is fixedly installed on the front side of the fixing plate 10 and is used to place and protect the first motor 12.

[0031] See Figure 2 The first gripper 16 and the second gripper 19 are rotatably mounted on both sides of the placement box 11. The two grippers are symmetrical with respect to the longitudinal center plane of the unmanned submersible body 1. Each gripper has a part inside the placement box 11 and a part outside the placement box 11. The placement box 11 is equipped with a power mechanism that drives the first gripper 16 and the second gripper 19 to rotate.

[0032] Each gripper in the placement box 11 consists of two horizontally arranged and balanced gripping arms 36. The upper gripping arm 36 is located above the placement box 11, and the lower gripping arm 36 is located below the bottom of the placement box 11. Each gripping arm 36 is composed of several connecting segments 361, the ends of which are integrally connected to each other. An angle α is formed between the inner end of each connecting segment 361 in each gripping arm 36 and the longitudinal center plane of the unmanned underwater vehicle body 1. The angle α decreases as the connecting segment 361 moves outward, with the outermost connecting segment 361 having the smallest angle α. This structure makes the two grippers converge relative to the longitudinal center plane, facilitating the collection of debris. Simultaneously, the horizontal cross-section of the outermost connecting segment 361 is triangular, meaning its outermost end is pointed, resulting in less resistance when the entire gripping arm 36 moves forward. The number of connecting segments 361 determines the length of the entire gripper, and the number of connecting segments is set according to actual needs.

[0033] Furthermore, the two gripping arms 36 in the same gripper are connected by a set of mounting posts 15. The innermost mounting post 15 passes through the placement box 11, and its upper and lower ends are fixedly connected to the two gripping arms 36 of the gripper, respectively. The two ends of the mounting posts 15 outside the placement box 11 are directly connected to the upper and lower gripping arms 36 in the same gripper. A second bevel gear 14 is provided on the innermost mounting post 15 of the first gripper 16. The mounting post 15 is the gear shaft of the second bevel gear 14 and can rotate under the drive of the second bevel gear 14. A first gear 17 is provided at the bottom of the mounting post 15 and is located between the bottom of the placement box 11 and the gripping arm 36 on the lower side. The lower end of the innermost mounting post 15 of the second gripper 19 is connected to a second gear 18. The second gear 18 is located between the bottom of the placement box 11 and the gripping arm 36 on the lower side of the second gripper 19. The second gear 18 meshes with the first gear 17. This structure allows the second bevel gear 15 to rotate, thereby driving the mounting post and the gripper located on its shaft to rotate. At the same time, the first gear 17 rotates, which in turn drives the second gear 18 to rotate. The second gear 18 drives the mounting post 15 and the entire second gripper 19 to rotate inward simultaneously, causing the first gripper 16 and the second gripper 19 to simultaneously retract inward or spread outward.

[0034] The power mechanism includes a first motor 12, a first bevel gear 13, a second bevel gear 14, a first gear 17, and a second gear 18. The first motor 12 is fixedly mounted on the inner wall of the placement box 11. The rotation shaft of the first bevel gear 13 is connected to the output shaft of the first motor 12. The second bevel gear 14, whose axial direction is vertical, meshes with the first bevel gear 13.

[0035] Preferably, a detector 5 is provided between the crushing mechanism 34 and the collecting mechanism 35, and the fixing plate 10 is located below the detector 5; the detector 5 is located on the front side of the unmanned submersible body 1, and the searchlight 4 is located on both edges of the unmanned submersible body 1.

[0036] Preferably, the detector 5 is positioned directly in front of the unmanned submersible body 1, and the searchlight 4 is positioned on both sides of the detector 5.

[0037] Working principle: During operation, when the unmanned submersible 1 is working in the water, if it encounters obstacles or debris while moving forward, it will first touch the probe at the front of the agitator blade 8. Then, it will drive the second connecting column 7 to move closer to the first connecting column 6. When the second connecting column 7 touches the sensor assembly, the sensor assembly will send a signal to the second motor 20, thereby driving the first connecting column 6, the second connecting column 7, and the agitator blade 8 to rotate, thus agitating the debris in front of the unmanned submersible 1. After agitation, the first motor 12 is activated, which drives the first bevel gear 13 to rotate, thereby driving the second bevel gear 14 and the mounting column 15 to rotate. The rotation of the mounting column 15 drives the first gripper 16 and the first gear 17 to rotate, thereby driving the second gear 18 to rotate, and also driving the second gripper 19 to rotate. The rotation of the first gripper 16 and the second gripper 19 can directly grab the remaining fragments after agitating the debris in the water and throw them to the set position, thereby improving the cleaning efficiency. This helps to quickly clean up debris in the water and reduce the impact on the ecological environment.

[0038] Example 2 like Figures 3-4 As shown, the ROV proposed in this invention, compared to Embodiment 1, has a cavity 37 inside the first connecting post 6. A sensing assembly for driving the second motor 20 to rotate is installed inside the cavity 37. The sensing assembly includes a damper 21, a connecting rod 22, and a sensor 23, all disposed within the cavity 37. The outer end of the connecting rod 22 is fixedly connected to the inner end of the second connecting post 7, and the sensor 23 is disposed at the inner end of the cavity 37. One end of the damper 21 is connected to the inner end of the cavity 37, and the other end of the damper 21 is connected to the inner end of the second connecting post 7. The damper 21 is sleeved on the outer peripheral wall of the connecting rod 22 and the sensor 23.

[0039] The working process of this embodiment is as follows: by setting up a shredding fan blade 8, a first connecting column 6, a second connecting column 7, a second motor 20, a damper 21, a connecting rod 22, and a sensor 23, when the contact at the front end of the shredding fan blade 8 touches debris in the water, it will drive the second connecting column 7, the damper 21, and the connecting rod 22 to squeeze against the inner wall of the first connecting column 6, thereby triggering the sensor 23. When the connecting rod 22 touches the sensor 23, the sensor 23 will send a signal to the second motor 20, thereby driving the first connecting column 6, the second connecting column 7, and the shredding fan blade 8 to rotate, thereby shredding the debris in front of the unmanned underwater vehicle body 1. This can effectively remove garbage and debris in the water, reduce environmental pollution, and help the unmanned underwater vehicle body 1 better handle these obstacles when performing tasks, thus improving work efficiency.

[0040] Example 3 like Figure 5As shown, the ROV proposed in this invention, compared to Embodiment 1, has each propulsion mechanism 2 mounted on the unmanned submersible body 1 via a fixed circular plate 9. Four propulsion mechanisms 2 are provided, respectively located on both sides of the entire unmanned submersible body 1. A control mechanism for driving the propulsion mechanism 2 to rotate is provided on the fixed circular plate 9, and a support mechanism for supporting the control mechanism is also provided on the fixed circular plate 9.

[0041] The support mechanism includes a protective shell 24, a connecting frame 26, and a frame structure 29. The protective shell 24 is located on the outside of the fixed circular plate 9 to protect the third motor 25. A connecting frame 26 is provided on each side of the protective shell 24, and a cylinder 30 is provided at the other end of each connecting frame 26. The frame structure 29 is rotatably connected to the two sets of cylinders 30 and is located between the two connecting frames 26. Positioning columns 33 are provided on the other two sides of the frame structure 29.

[0042] The control mechanism includes a third motor 25, a centrifugal plate 27, and a fourth motor 31. The third motor 25 is located on one side of the fixed circular plate 9 and inside the protective shell 24. The centrifugal plate 27 is connected to the output shaft of the third motor 25 and is located on one side of the protective shell 24. A positioning column 33 is installed at the upper and lower center of the frame structure 29. The two positioning columns 33 are rotatably connected to the side wall of the fourth motor 31, and the fourth motor 31 is rotatably positioned between the two sets of positioning columns 33. A fixing block 28 is provided at the inner end of the fourth motor 31. The fixing block 28 is connected to one side of the centrifugal plate 27, and a mounting block 32 is provided at the other end of the fourth motor 31. The propeller in the propulsion mechanism is connected to the mounting block 32. Preferably, the frame structure 29 is a square frame, which facilitates the design and installation of the entire structure.

[0043] Specifically, the centrifugal plate 27 includes an integrally connected central part and an edge part. The central part is a ring-shaped structure and is fixedly connected to the power output shaft of the third motor 25. The edge part is a plate-shaped structure, and the angle between the plane of the edge part and the axis of the central part is an acute angle.

[0044] In this embodiment, by setting up a propulsion mechanism 2, a third motor 25, a centrifugal plate 27, and a fourth motor 31, the third motor 25 drives the centrifugal plate 27 to rotate, and the centrifugal plate 27 drives the fourth motor 31 to rotate through the fixing block 28. During the rotation, the positioning column 33 rotates around the axis of the positioning column 33 (swinging left and right), and the cylinder 30 rotates around the cylinder 30, that is, pitching. This can drive the propeller to rotate at various angles, so that the travel position of the unmanned underwater vehicle body 1 can be changed arbitrarily according to the needs, thereby facilitating large-scale underwater inspection and other tasks.

[0045] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A remotely operated underwater robot, characterized in that, The submersible body (1) includes several propulsion mechanisms (2) on both sides of the submersible body (1), and a shredding mechanism (34) and a collection mechanism (35) are provided at the front end of the submersible body (1); the shredding mechanism (34) is above the collection mechanism (35), and the front end of the shredding mechanism (34) protrudes from the front end of the collection mechanism (35). The shredding mechanism (34) includes a second motor (20) mounted on the submersible body (1). The power output end of the second motor (20) is connected to a first connecting post (6). The outer end of the first connecting post (6) is engaged with the inner end of the second connecting post (7). The outer end of the second connecting post (7) is connected to a shredding fan blade (8). A sensor assembly is installed inside the first connecting post (6). The collection mechanism (35) includes a first gripper (16) and a second gripper (19) symmetrical about the longitudinal center plane of the submersible body (1). The inner ends of the first gripper (16) and the second gripper (19) are each partially disposed in a placement box (11), which is located in front of the submersible body (1). The first gripper (16) and the second gripper (19) have the same structure. Each of the first gripper (16) and the second gripper (19) includes two gripping arms (36) arranged parallel to each other. The two gripping arms (36) are connected by a number of mounting posts (15), and some of the mounting posts (15) pass through the placement box (11). A first motor (12) is installed in the placement box (11). The power output end of the first motor (12) is connected to a first bevel gear (13). A second bevel gear (14) is installed on the mounting post (15) at the inner end of the first gripper (16). The first bevel gear (13) and the second bevel gear (14) mesh. The first gear (17) is mounted on the mounting post (15) at the inner end of the first gripper (16), and the second gear (18) is mounted on the mounting post (15) at the inner end of the second gripper (19). The first gear (17) and the second gear (18) mesh. The sensor assembly includes a damper (21), a connecting rod (22) and a sensor (23), and the sensor assembly is disposed in a cavity (37) opened in the first connecting post (6); The sensor (23) is located at the inner end of the cavity (37), the outer end of the connecting rod (22) is fixedly connected to the inner end of the second connecting post (7), the inner end of the damper (21) is connected to the inner end of the cavity (37), and the outer end of the damper (21) is connected to the inner end of the second connecting post (7). When the damper (21) is in the relaxed state, there is a gap between the sensor (23) and the inner end of the connecting rod (22); When the contact at the front end of the agitator (8) touches the debris in the water, it will drive the second connecting post (7), the damper (21) and the connecting rod (22) to move toward the first connecting post (6), so that the connecting rod (22) touches the sensor (23); at this time, the sensor (23) sends a signal to the second motor (20), thereby driving the first connecting post (6), the second connecting post (7) and the agitator (8) to rotate.

2. The remotely operated underwater robot according to claim 1, characterized in that, Each gripping arm (36) is composed of several connecting segments (361) whose ends are connected in sequence. The angle between each connecting segment (361) and the longitudinal center plane of the submersible body (1) is an acute angle, and the angle is smaller the further out the connecting segment is.

3. The remotely operated underwater robot according to claim 2, characterized in that, The transverse cross section of the outermost connecting segment (361) is triangular.

4. The remotely operated underwater robot according to claim 1, characterized in that, A fixing plate (10) is provided on the front side of the submersible body (1), and a placement box (11) is fixedly installed at the front end of the fixing plate (10); the mounting post (15) at the inner end of the first gripper (16) and the mounting post (15) at the inner end of the second gripper (19) both pass through the placement box (11). The first gear (17) is located between the bottom of the placement box (11) and the gripping arm (36) at the bottom of the first gripper (16), and the second gear (18) is located between the bottom of the placement box (11) and the gripping arm (36) at the bottom of the second gripper (19).

5. A remotely operated underwater robot according to claim 1, characterized in that, The damper (21) is mounted on the outside of the sensor (23) and the connecting rod (22).

6. A remotely operated underwater robot according to claim 1, characterized in that, The propulsion mechanism (2) includes a fixed circular plate (9), which is fixedly mounted on the unmanned submersible body (1); a third motor (25) is mounted on the fixed circular plate (9), the power output end of the third motor (25) is connected to a centrifugal plate (27), and a fourth motor (31) is connected to the other side of the centrifugal plate (27), and a propeller is connected to the outer end of the fourth motor (31).

7. A remotely operated underwater robot according to claim 6, characterized in that, A protective shell (24) is provided on the outside of the fixed circular plate (9), and the third motor (25) is located inside the protective shell (24); one side of the centrifugal plate (27) is fixedly located at the outer end of the protective shell (24).

8. A remotely operated underwater robot according to claim 7, characterized in that, The protective shell (24) is connected to a connecting frame (26) on both sides. The front ends of the two connecting frames (26) are rotatably connected to a frame structure (29). The upper and lower ends of the frame structure (29) are each provided with a positioning column (33). The side wall of the fourth motor (31) is rotatably connected to the two positioning columns (33).

9. The remotely operated underwater robot according to any one of claims 1-8, characterized in that, A detector (5) is provided between the crushing mechanism (34) and the collecting mechanism (35), and a searchlight (4) is provided on each side of the detector (5).

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