An airdrop-type automatic profile climbing robot

Abstract

The present invention discloses an airdrop type automatic profile cable climbing robot, which relates to the technical field of automatic seawater observation, and comprises a first base barrel, a first partition plate and a second partition plate arranged at intervals in the first base barrel, the first partition plate and the second partition plate divide the first base barrel from top to bottom into a first cavity, a second cavity and a third cavity, a landing device is arranged in the first cavity, a line collecting pipe is arranged in the second cavity, a cable climbing device is arranged in the third cavity, a counterweight base body is arranged at the bottom end of the first base barrel, a connecting ring is arranged on one side of the counterweight base body, a first counterweight plate is arranged in the counterweight base body, the first counterweight plate divides the counterweight base body into a first counterweight cavity and a second counterweight cavity from top to bottom, a guide hole is arranged on the side wall of the first counterweight cavity, a first vertebral body is arranged in the first counterweight cavity, a connecting ring is arranged on the top side of the counterweight base body, and at least one through hole is arranged on the first counterweight plate. The present invention provides an airdrop type automatic profile cable climbing robot with high measurement accuracy and high verticality.

Description

Technical Field

[0001] The invention belongs to the technical field of automatic seawater observation, and in particular relates to an airdrop-type automatic profile cable-climbing robot. Background Art

[0002] Today's ocean observation, forecasting, and research increasingly rely on the automatic and continuous observation of various physical, ecological, and chemical parameters, such as the speed of ocean currents and tides, the observation and forecasting of the El Niño phenomenon, the transport and transfer of nutrients in estuaries, and so on. Obtaining data with high temporal and spatial resolution is the key and foundation. The classical observation methods commonly used at present are generally various types of anchor systems that integrate multiple sensors, including buoys, submersibles, bottom platforms, landers and other carrying platforms. The sensor is fixed to a specific layer in the seawater through a buoyancy device, connecting cable, anchoring device, release device, etc., for long-term continuous observation. However, due to the drastic changes in the ocean topography, the water depth of a specific station can range from tens of meters to thousands of meters. The observation of multiple sets of sensors at specific layers is obviously costly and difficult to operate. Especially in the vast ocean, the observation of multiple anchor stations has caused the cost to rise sharply, so it is particularly urgent to develop an economical and effective automatic profile observation system.

[0003] There are several types of automatic profile observation devices: 1. The motor drives the cable to release and recover, driving the sensor to move up and down. The motor can be placed in the surface float, in the sensor platform, or in the seafloor anchoring device. Such as Idronaut's BuoyProfiler, Mclane's mooredprofiler, WHOI Institute's Ice-tetheredprofiler, etc. This method requires motor drive, high energy consumption and high cost. 2. The buoyancy of the entire platform changes to make the sensor rise or sink. Such as Argo buoys, Glider gliders, AUV underwater robots, etc. It has been widely used in the open ocean, but because the variable buoyancy of the oil bag is very small, it can only carry limited and small-sized temperature and salinity sensors, which limits the acquisition of multi-parameter data, and the automatic control system has high requirements, high cost, and is not easy to deploy near the coast. 3. Wave energy drives the sensor platform to descend in a single direction along the cable, and floats to the sea surface after triggering the switch, such as ODIM's Seahorseprofiler and DelMar's Wirewalker. This method of using wave energy to carry out vertical unidirectional movement is very environmentally friendly, easy to maintain and operate, and has great prospects. However, the surfacing of Seahorse is triggered by an electric switch, which requires a motor, battery and control system. The Wirewalker has a complex structure and the technology is confidential, so the introduction cost is high.

[0004] The prior art is an invention patent named profile observation equipment based on wave energy, and the publication number of this invention patent is WO2022142127A1. This invention includes a floating body, a counterweight device, a connecting device, a bearing device, a one-way device and a trigger device. The connecting device is connected between the floating body and the counterweight device; the bearing device is movably connected to the connecting device and is used to carry a sensor; the one-way device is connected to the bearing device, and has a first state that can realize the one-way movement of the bearing device in a first direction, and a second state that realizes the movement of the bearing device in the opposite second direction; the trigger device includes a first trigger member and a second trigger member, and the first trigger member and the second trigger member are respectively located at the two ends of the moving stroke of the bearing device, and the one-way device can cooperate with the first trigger member or the second trigger member to switch the state. In the above-mentioned detection equipment, the sensor carried by the bearing device can continuously obtain observation data in the vertical direction. Compared with the traditional buoy profile observation, it can reduce the number of sensors, reduce the observation cost, and has high spatial resolution. However, the stability of this invention is slightly poor, and the deployment requires a ship, which is costly and not conducive to rapid deployment. Summary of the invention

[0005] The purpose of the present invention is to provide an air-dropped automatic profile cable climbing robot with high measurement accuracy and high verticality.

[0006] The technical solution adopted by the present invention to achieve the above-mentioned purpose is:

[0007] An airdrop-type automatic profile cable-climbing robot comprises a first base barrel, wherein the first base barrel has a first partition and a second partition arranged at intervals along an axial direction, the first partition and the second partition divide the first base barrel from top to bottom into a first cavity, a second cavity and a third cavity, a landing device is provided in the first cavity, a wire collecting pipe is provided in the second cavity, a cable-climbing device is provided in the third cavity, a counterweight assembly is provided at the bottom end of the first base barrel, the counterweight assembly comprises a counterweight base, a connecting ring is provided on one side of the counterweight base, a first counterweight plate is provided in the counterweight base, the first counterweight plate divides the counterweight base into a first counterweight cavity and a second counterweight cavity from top to bottom, a side wall of the first counterweight cavity has a guide hole, a first vertebra is provided in the first counterweight cavity, a connecting ring is provided on the top side of the counterweight base, and the first counterweight plate has at least one through hole.

[0008] According to an embodiment of the present invention, a cable is wound around the cable collection pipe, and the cable is connected to the cable climbing device and the counterweight assembly in sequence.

[0009] The whole device is dropped at a designated location by a vehicle through airdrop. The vehicle can be a small flying device or an unmanned flying device. After the device is dropped, since there is a counterweight assembly at the bottom of the first base barrel, the counterweight assembly can adjust the posture of the device during the falling process, that is, the first base barrel at the end of the counterweight assembly is facing downward. After being dropped, the landing device located in the first cavity will be decelerated. It should be noted that the landing device includes a parachute and an opening device. The opening device can open the parachute according to the height or timing, that is, the accuracy of the device during the falling process can be achieved, and the situation that the device deviates too far from the predetermined interval due to the early opening of the parachute under the action of the lateral wind can be prevented. The parachute can reduce the speed of the whole device to a suitable speed to prevent the internal parts from being damaged due to excessive impact when impacting the water surface due to excessive speed. In addition, the method of opening the parachute by height and timing can be applied in various occasions.

[0010] A cable is wrapped around the cable collection pipe in the second chamber, and the cable connects the cable climbing device and the counterweight assembly in sequence. When the device falls into the water, the counterweight assembly will continue to pull the cable downward under the action of inertia, and the cable climbing device can move along the direction of the cable to record the water quality parameters at each level.

[0011] By setting the counterweight assembly, when the device falls into the water, the counterweight assembly will continue to move downward under the action of inertia. When the counterweight assembly is in the water body, the water will first pass through the second counterweight cavity, and then enter the first counterweight cavity through the through hole. The first counterweight cavity has a first vertebra, and the first vertebra and the through hole are set correspondingly. Therefore, the water from the through hole will be diverted to the surrounding by the action of the first vertebra. There are multiple diversion holes on the side wall of the first counterweight cavity. Finally, the water will discharge the counterweight assembly through the diversion holes, which can realize the diversion of the water body and then realize the stable movement of the counterweight assembly in the water body, which is conducive to the vertical downward movement of the counterweight assembly, and then realize the vertical state of the cable, thereby limiting the movement range of the device in the water body, and can improve the accuracy of data collection during the up and down movement of the cable climbing device along the cable, and improve the collection efficiency and data resolution.

[0012] It should be noted that the connection between the counterweight assembly and the first base barrel will be disconnected after being subjected to a certain impact force, thereby enabling the counterweight assembly to separate from the first base barrel and move downward.

[0013] Furthermore, the cable climbing device is also provided with a GPS positioning device.

[0014] Furthermore, a buffer cavity is provided on the side of the second cavity facing the first cavity, and a buffer assembly is provided in the buffer cavity. Since the entire device will be subject to a large resistance when it falls into the water body, the speed of the first base barrel will drop sharply during this process, but the counterweight assembly located on the lower side of the first base barrel will pull the cable to continue to move downward under the action of inertia, and the cable will be realized as a cable climbing device with a fixed up and down movement route. The cable collection pipe located in the second cavity will be subject to a large impact force. By setting up the buffer cavity, the impact force on the cable collection pipe can be absorbed to prevent the cable collection pipe from being damaged, resulting in the inability to pull out the cable wrapped around the cable collection pipe, resulting in the counterweight assembly and the cable climbing device being unable to achieve the intended purpose. In addition, by providing a buffer cavity, the cable climbing device can also be protected to prevent the cable climbing device located in the third cavity from being damaged by the impact force. Furthermore, the buffer assembly is a buffer airbag.

[0015] According to an embodiment of the present invention, the second vertebral body is accommodated in the second counterweight cavity, and at least two connecting rods are extended from the side wall of the second counterweight cavity, and the connecting rods are used to fix the second vertebral body.

[0016] According to an embodiment of the present invention, the second vertebral body is provided with flow holes.

[0017] During the airdrop process, the counterweight assembly is first in contact with the water. During the contact process, the water enters the second counterweight sleeve, and the second vertebral body will change the flow direction of the water in the second counterweight cavity. Specifically, after passing through the second vertebral body, the water will flow upward along the inner wall of the second counterweight cavity. In addition, when the counterweight assembly enters the water and continues to move downward, the second vertebral body can change the flow direction of the water, which can reduce the downward movement speed of the counterweight assembly in the water, and solve the problem that if the cable is not retracted and released fast enough, the upper first base barrel will be pulled into the water, and the cable cannot be effectively deployed in the water.

[0018] In addition, after the counterweight assembly falls to the seabed, the setting of the counterweight assembly can help to quickly collect seabed sediments, that is, by utilizing the configuration of the first vertebra and the second vertebra of the counterweight assembly, the velocity of the seabed water flow is slowed down when passing through the counterweight assembly or through the counterweight assembly, and objects in the ocean current are more likely to stay near the counterweight assembly, increasing the accumulation of sediments around the counterweight assembly, improving the detection accuracy of the cable climbing device and realizing long-term detection, that is, the cable position is determined through the rapid positioning of the counterweight assembly and is not easy to move.

[0019] According to an embodiment of the present invention, at least three flow guide sealing plates are arranged around the first vertebral body at intervals, and one side of the flow guide sealing plate is connected to the first vertebral body through a first spring.

[0020] It should be noted that the guide seal is inclined, and one side of the guide seal is arranged in contact with the through hole. Specifically, when the water flows from the second counterweight cavity through the through hole into the first counterweight cavity, the water will impact the guide seal in the process, and the guide seal will swing and move under the action of the first spring due to the flow velocity and impact force of the water, which can further change the flow direction of the water, that is, change the direction of the water flowing vertically upward along the counterweight assembly, so that part of the water flow is inclined upward, which can reduce the downward movement speed of the counterweight assembly in the water compared to the vertical upward flow, and solve the problem that after the airdrop, the counterweight assembly moves quickly to the bottom of the water, and the cable is not retracted and released fast enough, which will pull the upper first base barrel into the water, and the cable cannot be effectively deployed in the water. In this case, the cable release is easy to get stuck or the device is partially broken due to the rapid pull-down of the counterweight assembly.

[0021] According to one embodiment of the present invention, a buoyancy adjustment control is slidably provided on the cable of the cable climbing device away from the counterweight assembly, and the buoyancy adjustment control comprises a control base, and the control base is surrounded by at least three control vertical blades, and the control vertical blades comprise at least three bending leaves;

[0022] The regulating base is provided with at least one regulating horizontal blade extending in the circumferential direction, and the regulating horizontal blade includes at least three bending leaves.

[0023] According to one embodiment of the present invention, a gravity control component is slidably provided on the cable of the cable climbing device on the side away from the counterweight component.

[0024] A buoyancy regulating component and a gravity control component are respectively provided on the upper and lower sides of the cable climbing device. The buoyancy component and the gravity regulating component are used to ensure that the cable to which the cable climbing device is attached is in a relatively vertical or upright state in the water. The buoyancy component and the gravity regulating component are also used to clean the surface of the cable during the up and down displacement of the cable climbing device, remove attached organisms and drive away gathered fish, thereby improving the detection accuracy of the cable climbing device and increasing the life of the overall device.

[0025] The setting of the buoyancy adjustment control can achieve a slow-flow impact effect on the water flow in the water, which can reduce the shaking of the cable in the water caused by the water flow impact.

[0026] Furthermore, the buoyancy adjustment control, the cable climbing device and the gravity adjustment control are connected in sequence through a connecting rope. The connecting rope can realize that the spacing between the buoyancy adjustment control, the cable climbing device and the gravity control component is controlled within a range, and prevents the buoyancy adjustment control, the cable climbing device and the gravity control component from being too far apart, resulting in the inability to realize the functions of the buoyancy adjustment control and the gravity control component. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1This is a schematic diagram of the deployment of an airdropped automatic profile cable climbing robot;

[0028] Figure 2 This is a schematic diagram of the internal structure of the airdrop automatic profile cable climbing robot;

[0029] Figure 3 It is a schematic diagram of the internal structure of the counterweight assembly;

[0030] Figure 4 It is a schematic diagram of the coordination of the cable climbing device, the buoyancy adjustment component and the gravity control component;

[0031] Figure 5 It is a schematic diagram of the buoyancy adjustment control structure;

[0032] Figure 6 It is a three-dimensional schematic diagram of the connecting ring body;

[0033] Figure 7 It is a front view schematic diagram of the connecting ring body;

[0034] Figure 8 It is a top view schematic diagram of the connecting ring body.

[0035] Figure numbers: first base barrel 1, first partition 11, second partition 12, first cavity 13, second cavity 14, third cavity 15, landing device 16, cable collection pipe 17, cable climbing device 2, counterweight assembly 3, counterweight base 31, connecting ring 32, first counterweight plate 33, first counterweight cavity 34, second counterweight cavity 35, guide hole 36, first vertebra 37, guide sealing plate 371, first spring 372 through hole 38, second vertebra 4, connecting rod 41, flow hole 42, cable 5, buoyancy adjustment control unit 6, control base 61, control vertical blade 62, bending leaf 63, control horizontal blade 64, gravity control assembly 7, connecting ring body 8, ring base 81, guide hole 82, fan blade structure 83, cone sleeve 84. DETAILED DESCRIPTION

[0036] The technical solution of the present invention is further described in detail below in conjunction with specific implementations and drawings:

[0037] Embodiment 1:

[0038] like Figure 1-Figure 5As shown, an airdrop-type automatic profile cable climbing robot comprises a first base barrel 1, wherein the first base barrel 1 has a first partition 11 and a second partition 12 arranged at intervals along the axial direction, wherein the first partition 11 and the second partition 12 separate the first base barrel 1 from top to bottom into a first chamber 13, a second chamber 14 and a third chamber 15, wherein a descending device 16 is arranged in the first chamber 13, a cable collecting pipe 17 is arranged in the second chamber 14, a cable climbing device 2 is arranged in the third chamber 15, and a counterweight is arranged at the bottom end of the first base barrel 1 Component 3, the counterweight component 3 includes a counterweight base 31, a connecting ring 32 is provided on one side of the counterweight base 31, a first counterweight plate 33 is provided in the counterweight base 31, the first counterweight plate 33 divides the counterweight base 31 into a first counterweight cavity 34 and a second counterweight cavity 35 from top to bottom, a guide hole 36 is provided on the side wall of the first counterweight cavity 34, a first vertebra 37 is provided in the first counterweight cavity 34, a connecting ring 32 is provided on the top side of the counterweight base 31, and at least one through hole 38 is provided on the first counterweight plate 33.

[0039] A cable 5 is wound around the cable collection pipe 17 , and the cable 5 connects the cable climbing device 2 and the counterweight assembly 3 in sequence.

[0040] The whole device is dropped at a designated location by a vehicle through airdrop, and the vehicle can be a small flying device or an unmanned flying device. After the device is dropped, since there is a counterweight assembly 3 at the bottom of the first base barrel 1, the counterweight assembly 3 can adjust the posture of the device during the falling process, that is, the first base barrel 1 at the end of the counterweight assembly 3 is facing downward. After the drop, the landing device 16 located in the first cavity 13 will be slowed down. It should be noted that the landing device 16 includes a parachute and an opening device. The opening device can open the parachute according to the height or timing, that is, the accuracy of the device during the falling process can be achieved, and the situation that the device deviates too far from the predetermined interval due to the early opening of the parachute under the action of the lateral wind can be prevented, and the parachute can reduce the speed of the whole device to a suitable speed, and prevent the internal parts from being damaged due to excessive impact when the speed is too fast when impacted by the water surface; in addition, the method of opening the parachute by height and timing can be realized in various occasions.

[0041] A cable 5 is wound around the cable collection pipe 17 located in the second chamber 14, and the cable 5 is connected to the cable climbing device 2 and the counterweight assembly 3 in sequence. When the device falls into the water, the counterweight assembly 3 will continue to pull the cable 5 downward under the action of inertia, and the cable climbing device 2 can move along the direction of the cable 5 to record the water quality parameters of each layer.

[0042] By setting the counterweight component 3, when the device falls into the water, the counterweight component 3 will continue to move downward under the action of inertia. When the counterweight component 3 is in the water body, the water will first pass through the second counterweight cavity 35, and then enter the first counterweight cavity 34 through the through hole 38. The first counterweight cavity 34 has a first vertebra 37, and the first vertebra 37 and the through hole 38 are correspondingly arranged. Therefore, the water from the through hole 38 will be diverted to the surrounding by the action of the first vertebra 37. There are multiple guide holes 36 on the side wall of the first counterweight cavity 34. Finally, the water will be discharged from the counterweight component 3 through the guide holes 36, which can realize the diversion of the water body and thus realize the stable movement of the counterweight component 3 in the water body, which is conducive to the vertical downward movement of the counterweight component 3, and then realize the vertical state of the cable 5, thereby limiting the movement range of the device in the water body, and can improve the accuracy of data collection during the up and down movement of the cable climbing device 2 along the cable 5, and improve the collection efficiency and data resolution.

[0043] It should be noted that the connection between the counterweight assembly 3 and the first base barrel 1 will be disconnected after being subjected to a certain impact force, thereby enabling the counterweight assembly 3 to separate from the first base barrel 1 and move downward.

[0044] Furthermore, the cable climbing device 2 is also provided with a GPS positioning device.

[0045] Furthermore, a buffer cavity is provided on the side of the second cavity 14 body facing the first cavity 13 body, and a buffer assembly is provided in the buffer cavity. Since the whole device will be subject to a large resistance when it falls into the water body, the speed of the first base barrel 1 will drop sharply during this process, but the counterweight assembly 3 located on the lower side of the first base barrel 1 will pull the cable 5 to continue to move downward under the action of inertia, and the cable 5 will be realized as the cable climbing device 2 having a fixed up and down movement route, and the collection pipe 17 located in the second cavity 14 will be subject to a large impact force. Through the setting of the buffer cavity, the impact force on the collection pipe 17 can be absorbed to prevent the collection pipe 17 from being damaged, resulting in the inability to pull out the cable 5 wound on the collection pipe 17, resulting in the counterweight assembly 3 and the cable climbing device 2 being unable to achieve the intended purpose. In addition, by providing a buffer cavity, the cable climbing device 2 can also be protected to prevent the cable climbing device 2 located in the third cavity 15 from being damaged by the impact force. Furthermore, the buffer assembly is a buffer airbag.

[0046] The second counterweight cavity 35 accommodates the second vertebral body 4 . No less than two connecting rods 41 are extended from the side wall of the second counterweight cavity 35 . The connecting rods 41 are used to fix the second vertebral body 4 .

[0047] The second vertebral body 4 is provided with a flow hole 42 .

[0048] During the airdrop process, the counterweight assembly 3 first comes into contact with the water body. During the contact process, the water body enters the second counterweight sleeve, and the second vertebral body 4 will change the flow direction of the water body in the second counterweight cavity 35. Specifically, after passing through the second vertebral body 4, the water body will flow upward along the inner wall surface of the second counterweight cavity 35; in addition, when the counterweight assembly 3 enters the water body and continues to move downward, the second vertebral body 4 can change the flow direction of the water body, which can reduce the downward movement speed of the counterweight assembly 3 in the water, and the problem that the cable 5 is not retracted and released fast enough will pull the upper first base barrel 1 into the water, and the cable 5 cannot be effectively deployed in the water.

[0049] In addition, after the counterweight assembly 3 falls to the seabed, the setting of the counterweight assembly 3 can help to quickly collect seabed sediments, that is, by utilizing the configuration of the first vertebra 37 and the second vertebra 4 of the counterweight assembly 3, the velocity of the seabed water flow is slowed down when passing through the counterweight assembly 3 or through the counterweight assembly 3, so that objects in the ocean current are more likely to stay near the counterweight assembly 3, increasing the accumulation of sediments around the counterweight assembly 3, improving the detection accuracy of the cable climbing device 2 and realizing long-term detection, that is, through the rapid positioning of the counterweight assembly 3, the position of the cable 5 is determined and it is not easy to move.

[0050] No less than three guide sealing plates 371 are arranged around the first vertebral body 37 at intervals, and one side of the guide sealing plate 371 is connected to the first vertebral body 37 through a first spring 372 .

[0051] It should be noted that the guide sealing plate 371 is arranged to be inclined, and one side of the guide sealing plate 371 is arranged to fit the through hole 38 . Specifically, when water flows from the second counterweight cavity 35 into the first counterweight cavity 34 through the through hole 38, the water will impact the guide seal 371 during this process. The guide seal 371 will swing and move under the action of the first spring 372 due to the flow velocity and impact force of the water, and can further change the flow direction of the water, that is, change the direction of the water flowing vertically upward along the counterweight assembly 3, so that part of the water flows obliquely upward. Compared with the vertically upward flow, the downward movement speed of the counterweight assembly 3 in the water can be reduced, which solves the problem that after the airdrop, the counterweight assembly 3 quickly moves down to the bottom of the water, and the cable 5 is not retracted and released fast enough, which will pull the upper first base barrel 1 into the water, and the cable 5 cannot be effectively deployed in the water. In this case, the cable 5 is easily stuck when released, or the device is partially damaged due to the rapid downward pull of the counterweight assembly 3.

[0052] A buoyancy adjustment control 6 is slidably provided on the cable 5 at one side of the cable climbing device 2 away from the counterweight assembly 3. The buoyancy adjustment control 6 includes a control base 61. The control base 61 is surrounded by at least three control vertical blades 62. The control vertical blades 62 include at least three bending leaves 63.

[0053] The regulating base 61 is provided with at least one regulating horizontal blade 64 extending in the circumferential direction, and the regulating horizontal blade 64 includes at least three bending leaves 63 .

[0054] A gravity regulating assembly 7 is slidably provided on the cable 5 at the side of the cable climbing device 2 away from the counterweight assembly 3 .

[0055] A buoyancy regulating component and a gravity control component are respectively provided on the upper and lower sides of the cable climbing device 2. The buoyancy component and the gravity regulating component are used to ensure that the cable 5 to which the cable climbing device 2 is attached is in a relatively vertical or upright state in the water. The buoyancy component and the gravity regulating component are also used to clean the surface of the cable 5 during the up and down displacement of the cable climbing device 2, remove attached organisms and drive away gathered fish, thereby improving the detection accuracy of the cable climbing device 2 and increasing the life of the overall device.

[0056] The setting of the buoyancy adjustment component 6 can achieve a slow-flow impact effect on the water flow in the water, which can reduce the shaking of the cable 5 in the water caused by the water flow impact.

[0057] Furthermore, the buoyancy adjustment control 6, the cable climbing device 2 and the gravity adjustment control are sequentially connected by a connecting rope. The connecting rope can realize that the spacing between the buoyancy adjustment control 6, the cable climbing device 2 and the gravity control component is controlled within a range, and prevents the buoyancy adjustment control 6, the cable climbing device 2 and the gravity control component from being too far apart, resulting in the inability to realize the functions of the buoyancy adjustment control 6 and the gravity control component.

[0058] Embodiment 2:

[0059] like Figure 6-Figure 8 As shown, an airdrop-type automatic profile cable climbing robot according to another embodiment of the present invention is different from Example 1 in that a connecting ring body 8 is provided around the first base barrel 1, and the connecting ring body 8 includes a ring base 81, and no less than three guide holes 82 are provided around the ring base 81, and a fan blade structure 83 is provided in the guide hole 82.

[0060] A conical sleeve 84 is provided around the ring base 81 and extends therearound.

[0061] When the parachute is opened, the first base barrel 1 can achieve a vertical landing state under the action of the counterweight assembly 3. The design of the cone sleeve 84 and the connecting ring body 8 can further reduce the impact force generated when the first base barrel 1 collides with the water body, thereby reducing or avoiding the first base barrel 1 from being directly inserted into the seawater due to the impact force, that is, the cone sleeve 84 and the connecting ring body 8 are used to expand the contact area between the first base barrel 1 and the water surface, so as to reduce the possibility of the first base barrel 1 sinking into the water after airdrop landing and to play the impact force of the first base barrel 1 contacting the water surface at the moment of landing. In addition, the fan blade structure 83 set in the guide hole 82 can control and maintain the shape of the first base barrel 1 during the falling process, so as to keep the first base barrel 1 vertical and control the speed of the first base barrel 1.

[0062] In addition, when the first base barrel 1 floats on the water, the impact of waves on the first base barrel 1 can be reduced by the cone sleeve 84, the connecting ring body 8 and the fan blade structure 83. Specifically, when the surface waves hit the side of the first base barrel 1, a part of the water of the surface waves flows along the surface of the cone sleeve 84 and then pushes up the first base barrel 1, which helps to move the first base barrel 1 upward, and then straighten the cable 5 connected to the cable climbing device 2 placed out of the cable collection pipe 17 below it, so that the robot crawls more vertically. When the other part of the water of the surface waves passes through the connecting ring body 8 and the rotating blades, the water flow speed can be reduced and the water flow direction can be changed, which has the effect of reducing waves, thereby improving the stability of the first base barrel 1.

[0063] The embodiments described above provide a detailed description of the technical solutions of the present invention. It should be understood that the above are only specific embodiments of the present invention and are not intended to limit the present invention. Any modifications, supplements or similar substitutions made within the scope of the principles of the present invention should be included in the protection scope of the present invention.

Claims

1. An airdrop-type automatic profile cable climbing robot, comprising a first base barrel (1), wherein the first base barrel (1) has a first partition (11) and a second partition (12) arranged at intervals along an axial direction, wherein the first partition (11) and the second partition (12) separate the first base barrel (1) from top to bottom into a first chamber (13), a second chamber (14) and a third chamber (15), wherein the first chamber (13) is provided with a descending device (16), the second chamber (14) is provided with a cable collecting pipe (17), and the third chamber (15) is provided with a cable climbing device (2), characterized in that: A counterweight assembly (3) is provided at the bottom end of the first base barrel (1), the counterweight assembly (3) comprising a counterweight base (31), a connecting ring (32) being provided on one side of the counterweight base (31), a first counterweight plate (33) being provided inside the counterweight base (31), the first counterweight plate (33) dividing the counterweight base (31) into a first counterweight cavity (34) and a second counterweight cavity (35) at the top and bottom, a guide hole (36) being provided on the side wall of the first counterweight cavity (34), a first vertebra (37) being provided inside the first counterweight cavity (34), a connecting ring (32) being provided on the top side of the counterweight base (31), and at least one through hole (38) being provided on the first counterweight plate (33); A cable (5) is wound around the cable collection tube (17), and the cable (5) is connected in sequence to the cable climbing device (2) and the counterweight assembly (3).

2. According to claim 1, an airdrop-type automatic profile cable climbing robot is characterized in that: The second counterweight cavity (35) contains a second vertebral body (4), and at least two connecting rods (41) are provided extending from the side wall of the second counterweight cavity (35), and the connecting rods (41) are used to fix the second vertebral body (4).

3. According to claim 2, an airdrop-type automatic profile cable climbing robot is characterized in that: The second vertebral body (4) is provided with a circulation hole (42).

4. According to claim 1, the airdrop-type automatic profile cable climbing robot is characterized in that: No less than three flow guide sealing plates (371) are arranged at intervals around the first vertebral body (37), and one side of the flow guide sealing plate (371) is connected to the first vertebral body (37) via a first spring (372).

5. The airdrop-type automatic profile cable climbing robot according to claim 1, characterized in that: A buoyancy adjustment control unit (6) is slidably provided on the cable (5) at a side of the cable climbing device (2) away from the counterweight assembly (3), the buoyancy adjustment control unit (6) comprising an adjustment base (61), the adjustment base (61) being surrounded by at least three adjustment vertical blades (62), the adjustment vertical blades (62) comprising at least three bending leaves (63); The regulating base (61) is provided with at least one regulating horizontal blade (64) extending in the circumferential direction, and the regulating horizontal blade (64) comprises at least three bending leaves (63).

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