Underwater equipment and operation method thereof

Abstract

A subsea apparatus and a method of operating the same. The underwater equipment comprises a main body platform, a mechanical claw, a clamping device and a cable take-up and pay-off device, the mechanical claw comprises claw hands which can be controlled to be opened and closed and is configured to be capable of carrying a target object, and the clamping device is installed on the main body platform and is configured to be detachably connected with the mechanical claw and control the mechanical claw; the cable take-up and pay-off device comprises a first cable which can be controlled to be taken up and released, and the first cable is configured to be connected with a target object. According to the underwater equipment, the target object can be placed at the target position through simple steps, and the process is simple, efficient and convenient to operate; for example, under the condition that the target object is the explosive ordnance disposal device, the underwater equipment can place the explosive ordnance disposal device on the elastic body so as to realize accurate explosive ordnance disposal.

Description

Technical Field

[0001] Embodiments of the present disclosure relate to an underwater device and an operating method thereof. Background Art

[0002] Underwater equipment can perform corresponding operations in the deep sea. For example, when underwater dams, stone piers and other buildings need to be demolished, underwater equipment can be used to detonate the projectile, thereby achieving the demolition of underwater dams, stone piers and other buildings. This process requires precise control of underwater equipment to ensure the detonation of the projectile in a safe manner. Summary of the invention

[0003] At least one embodiment of the present disclosure provides an underwater device, including a main platform, a mechanical claw, a clamping device and a cable retracting device; the mechanical claw includes a claw hand that can be controlled to open and close, and is configured to carry a target object, and the clamping device is installed on the main platform and is configured to be detachably connected to the mechanical claw and control the mechanical claw; the cable retracting device includes a first cable that can be controlled to be retracted and released, and the first cable is configured to connect to the target object.

[0004] For example, in the underwater device provided by at least one embodiment of the present disclosure, the mechanical claw also includes a target object mounting portion configured to mount the target object, and the first cable is electrically connected to the target object to control the working state of the target object.

[0005] For example, the underwater equipment provided by at least one embodiment of the present disclosure also includes: a loading and anchoring device, including an anchor block and a cable fixing part arranged on the anchor block, wherein the anchor block is configured to be released in a controlled manner, and the cable fixing part is configured to fix the first cable.

[0006] For example, in the underwater equipment provided by at least one embodiment of the present disclosure, the load and anchoring device also includes a first driving device and an anchoring control unit; the first driving device includes a first output end, and the anchoring control unit includes a bar-shaped rotatable part, wherein the anchor block includes a through hole that can be adapted to the rotatable part, and the rotatable part is arranged on a side of the anchor block away from the first driving device and is connected to the first output end through the through hole, and the first driving device is configured to control the release of the anchor block by controlling the rotation of the rotatable part to change the relative position of the rotatable part and the through hole.

[0007] For example, in the underwater equipment provided by at least one embodiment of the present disclosure, the mechanical claw includes a control rod and a telescopic member; the control rod is configured to be clamped by the clamping device and is hinged to the claw hand, and the telescopic member includes a telescopic end, wherein the telescopic end is connected to the middle section of the claw hand and is configured to be controlled by the control rod for telescoping.

[0008] For example, in the underwater equipment provided by at least one embodiment of the present disclosure, the telescopic member includes a gas spring, and when the control rod is clamped by the clamping device, the clamping jaw is in an open state and the telescopic end is in a contracted state, and when the control rod is released by the clamping device, the telescopic member returns to a relaxed state and the telescopic end extends to control the closure of the clamping jaw.

[0009] For example, in the underwater equipment provided by at least one embodiment of the present disclosure, the claw has a relative control end and a clamping end, and includes a first gripper and a second gripper hinged at a first hinge point, the first hinge point is closer to the control end than the clamping end, the number of the control rod and the telescopic member are both two, the two control rods are respectively hinged to the control ends of the first gripper and the second gripper, the telescopic ends of the two telescopic members are respectively hinged to the middle sections of the first gripper and the second gripper, the fixed ends of the two telescopic members and the middle sections of the two control rods are respectively hinged to the second hinge point through connecting rods.

[0010] For example, in the underwater equipment provided by at least one embodiment of the present disclosure, the middle sections of the two control rods are hinged to the second hinge point through the first connecting rod and the second connecting rod respectively, the fixed ends of the two telescopic members are hinged to the second hinge point through the third connecting rod, and the first hinge point and the second hinge point are hinged through the fourth connecting rod.

[0011] For example, in the underwater device provided by at least one embodiment of the present disclosure, the third connecting rod and the fourth connecting rod are an integral structure, and the third connecting rod and the fourth connecting rod are perpendicular.

[0012] For example, in the underwater equipment provided by at least one embodiment of the present disclosure, the cable retracting device includes a drum, a second driving device, a reciprocating device and a wire bundling mechanism, wherein the first cable is wound on the drum, the second driving device includes a second output end, the second output end is connected to the drum to drive the drum to rotate, the reciprocating device is connected to the second output end via a synchronous belt to rotate synchronously with the drum, and the wire bundling mechanism is arranged on the reciprocating device to be driven by the reciprocating device to perform reciprocating motion, wherein the first cable passes through the wire bundling mechanism to be retracted and released.

[0013] At least one embodiment of the present disclosure also provides an operating method for an underwater device, comprising: carrying a target object on the mechanical claw, connecting a first cable to the target object, driving the underwater device to the object to be processed, driving the mechanical claw to clamp the object to be processed and releasing the connection between the clamping device and the mechanical claw, and releasing the first cable, and driving the underwater device away from the object to be processed.

[0014] For example, in the operating method provided by at least one embodiment of the present disclosure, the underwater equipment also includes a loading and anchoring device, and the operating method also includes: driving the loading and anchoring device to release the anchor block so that the anchor block throws the middle section of the first cable to the seabed.

[0015] For example, in the operating method provided in at least one embodiment of the present disclosure, the target object is a bomb disposal device, and connecting a first cable to the target object includes: electrically connecting the first cable to the target object. The operating method also includes: driving the underwater equipment away from the object to be processed to a target location, and controlling the target object to be blasted through the first cable.

[0016] For example, in the operating method provided by at least one embodiment of the present disclosure, the mechanical claw includes a control rod and a telescopic member; the control rod is configured to be clamped by the clamping device and is hinged to the claw hand, and the telescopic member includes a telescopic end, wherein the telescopic end is connected to the middle section of the claw hand and is configured to be controlled by the control rod for telescopic extension; the telescopic member includes a gas spring, and when the control rod is clamped by the clamping device, the jaws are in an open state and the telescopic end is in a retracted state, wherein driving the mechanical claw to clamp the object to be processed and releasing the connection between the clamping device and the mechanical claw includes: controlling the clamping device to release the control rod, the telescopic member returns to a relaxed state, and the telescopic end extends to control the jaws to close. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings of the embodiments will be briefly introduced below. Obviously, the drawings in the following description only relate to some embodiments of the present disclosure, but are not intended to limit the present disclosure.

[0018] Figure 1 A side view of an underwater device provided for at least one embodiment of the present disclosure;

[0019] Figure 2 A top view of an underwater device provided for at least one embodiment of the present disclosure;

[0020] Figure 3 A schematic diagram of a mechanical claw of an underwater device provided by at least one embodiment of the present disclosure in an open state;

[0021] Figure 4 A schematic diagram of a mechanical claw of an underwater device provided by at least one embodiment of the present disclosure in a gripping state;

[0022] Figure 5 for Figure 4 Rear view of the mechanical claw in;

[0023] Figure 6A schematic structural diagram of a loading and anchoring device for underwater equipment provided by at least one embodiment of the present disclosure;

[0024] Figure 7 for Figure 6 A bottom view of the anchor dropping device in FIG.

[0025] Figure 8 A schematic structural diagram of a cable retracting device for underwater equipment provided in at least one embodiment of the present disclosure. DETAILED DESCRIPTION

[0026] In order to make the purpose, technical solution and advantages of the embodiments of the present disclosure clearer, the technical solution of the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings of the embodiments of the present disclosure. Obviously, the described embodiments are part of the embodiments of the present disclosure, not all of the embodiments. Based on the described embodiments of the present disclosure, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present disclosure.

[0027] Unless otherwise defined, the technical terms or scientific terms used in the present disclosure should be understood by people with ordinary skills in the field to which the present disclosure belongs. The "first", "second" and similar words used in the present disclosure do not indicate any order, quantity or importance, but are only used to distinguish different components. "Include" or "comprise" and similar words mean that the elements or objects appearing before the word cover the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0028] As described above, the underwater equipment can be used to detonate the projectile, thereby realizing the demolition of underwater dams, stone piers and other buildings. In conventional technology, the structure of underwater equipment is complex and scattered, and the control procedure is cumbersome, making it difficult to achieve efficient work.

[0029] At least one embodiment of the present disclosure provides an underwater device, which includes a main platform, a mechanical claw, a clamping device and a cable retracting device; the mechanical claw includes a claw hand that can be controlled to open and close, and is configured to carry a target object, and the clamping device is installed on the main platform and is configured to be detachably connected to the mechanical claw and control the mechanical claw; the cable retracting device includes a first cable that can be controlled to be retracted and released, and the first cable is configured to connect to the target object.

[0030] At least one embodiment of the present disclosure also provides an operating method for an underwater device, which includes: carrying a target object on a mechanical claw, connecting a first cable to the target object, driving the underwater device to the object to be processed, driving the mechanical claw to clamp the object to be processed, and releasing the connection between the clamping device and the mechanical claw, as well as releasing the first cable and driving the underwater device away from the object to be processed.

[0031] The underwater equipment provided in the embodiment of the present disclosure can place the target object at the target position through simple steps. The process is simple, efficient and easy to operate. For example, when the target object is an explosive disposal device, the underwater equipment can place the explosive disposal device on a bullet-shaped body to achieve precise explosive disposal.

[0032] The underwater equipment and the operating method thereof provided by the embodiments of the present disclosure are described below through several specific embodiments.

[0033] At least one embodiment of the present disclosure provides an underwater device, Figure 1 shows a side view of the underwater device, Figure 2 A top view of the underwater device is shown. Figure 1 and Figure 2 As shown, the underwater equipment includes a main platform 10, a mechanical claw 20, a clamping device 30, a cable retracting device 40 and other structures.

[0034] The mechanical claw 20 includes a claw hand 21 that can be controlled to open and close, and is used to grasp the object to be processed. The mechanical claw 20 is configured to carry the target object A, so that the target object A can be grasped with the target object A, so that the target object A is close to the object to be processed. For example, in some examples, the target object A is an explosive disposal device, and the object to be processed is a projectile, so that after the mechanical claw 20 grasps the projectile, the explosive disposal device can detonate the projectile to achieve the demolition of underwater dams, stone piers and other buildings.

[0035] The clamping device 30 is installed on the main platform 10 and is configured to be detachably connected to the mechanical claw 20 and control the mechanical claw 20, so that after the underwater equipment finds the object to be processed, the mechanical claw 20 is controlled to grasp the object to be processed and the mechanical claw 20 is separated from the clamping device 30 to facilitate the evacuation of the underwater equipment.

[0036] The cable retracting device 40 includes a first cable 41 that can be controlled to be retracted and released. The first cable 41 is configured to be connected to the target object A to pull and control the target object A.

[0037] For example, Figure 3 FIG. 2 shows a schematic diagram of the mechanical claw 20 in an open state. Figure 4 FIG. 2 shows a schematic diagram of the mechanical claw 20 in a grasping state. Figure 5 Shows Figure 4In some embodiments, as shown in FIG. Figure 3-Figure 5 As shown, the mechanical claw 20 may further include a target object mounting portion 22, which is configured to mount the target object A to fix the target object A to the mechanical claw 20. For example, one end of the first cable 41 is electrically connected to the target object A, and the other end of the first cable 41 is a control end, which can be connected to a control circuit, etc., to control the working state of the target object A, such as remotely controlling the target object A to detonate.

[0038] For example, Figure 3 As shown, in some embodiments, the target object mounting portion 22 may include a support frame 22A, and the target object A may be mounted on the support frame 22A. For example, in some examples, the support frame 22A may be a support frame that can be opened and closed to accommodate and fix the target object A, thereby achieving a stable installation of the target object A; or, in other examples, the support frame 22A may be L-shaped, and the L-shaped support frame 22A may support the bottom and side surfaces of the target object A. In this case, the target object mounting portion 22 may also include a clamp 22B. When the target object A is mounted on the support frame 22A, it may be fixed by the clamp 22B, thereby achieving a stable installation of the target object A. For example, in other embodiments, the target object mounting portion 22 may also adopt other suitable forms, and the embodiments of the present disclosure are not specifically limited to this.

[0039] For example, in some embodiments, Figure 3-Figure 5 As shown, the mechanical claw 20 includes a control rod 23 and a telescopic member 24; the control rod 23 is configured to be clamped by the clamping device 30, for example, it can also be called a gripping rod, the control rod 23 is hinged to the claw hand 21 to control the opening and closing of the claw hand 21, and the telescopic member 24 includes a telescopic end 24A, the telescopic end 24A is connected to the middle section of the claw hand 21 (the middle section is not the end of the claw hand 21, between the two ends of the claw hand 21), and is configured to be controlled by the control rod 23 to perform telescoping.

[0040] For example, in some embodiments, the telescopic member 24 may include a retractable device such as a spring, a gas spring, a cylinder, an oil cylinder, etc. The following takes the telescopic member 24 including a gas spring as an example to introduce the driving process of the mechanical claw.

[0041] For example, refer to Figure 3-Figure 5 The telescopic member 24 includes a gas spring. When the control rod 23 is clamped by the clamping device 30, as shown in FIG. Figure 3 As shown, the clamping jaw 21 is controlled to be in an open state, and the telescopic end 24A is compressed and in a contracted state, as shown in FIG. Figure 4 and Figure 5As shown, when the control rod 23 is released by the clamping device 30, the telescopic member 24 returns to a relaxed state, and the telescopic end 24A extends to control the clamping jaws to close. The gas spring has a relatively slow telescopic speed, and the elastic force of the gas spring can be adjusted, for example, by changing the inner cavity pressure to adapt to different loads, thereby widening the use scenarios.

[0042] For example, in some embodiments, reference Figure 5 The gripper 21 has a relative control end T1 and a clamping end T2. A structure for controlling the opening and closing of the gripper 21 is arranged near the control end T1. The clamping end T2 is used to realize the opening and closing of the gripper 21 to grasp the object to be processed.

[0043] For example, the claw hand 21 includes a first gripper 21A and a second gripper 21B hinged at a first hinge point C1, the first hinge point C1 is closer to the control end T1 than the clamping end T2, the number of the control rod 23 and the telescopic member 24 are both two, and the two control rods 23 are hinged to the control ends T1 of the first gripper 21A and the second gripper 21B, respectively. Figure 5 As shown in FIG. 1 , the right ends of the two control rods 23 are respectively hinged to the control ends T1 of the first grip 21A and the second grip 21B. Figure 3 and Figure 4 As shown, the telescopic ends 24A of the two telescopic members 24 are respectively hinged to the middle sections of the first grip 21A and the second grip 21B, and the Figure 3-Figure 5 The fixed end 24B (i.e., the end opposite to the telescopic end 24A) of the two telescopic members 24 and the middle sections of the two control rods 23 (i.e., the ends other than the control rods 23) are respectively hinged to the second hinge point C2 through connecting rods. Thus, the first gripper 21A, the second gripper 21B and the two telescopic members 24 can be symmetrically controlled simultaneously through the two control rods 23.

[0044] For example, Figure 3-Figure 5 As shown, the middle sections of the two control rods 23 are respectively hinged to the second hinge point C2 through the first link L1 and the second link L2, the fixed ends 24B of the two telescopic members 24 are hinged to the second hinge point C2 through the third link L3, and the first hinge point C1 and the second hinge point C2 are hinged through the fourth link L4. For example, in some examples, the third link L3 and the fourth link L4 are an integrated structure, and the third link L3 and the fourth link L4 are perpendicular, which is beneficial to the stability of the entire control structure, so that the two control rods 23 can simultaneously and symmetrically control the opening and closing actions of the first gripper 21A and the second gripper 21B.

[0045] For example, in some embodiments, Figure 2As shown, the clamping device 30 may include a motion control unit 31 and a clamping unit 32. The motion control unit 31 is configured to control the movement of the clamping unit 32, such as moving and rotating, so that the manipulator 20 can move flexibly to grasp the object to be processed. The clamping unit 32 can clamp the control rod 23 to connect and control the manipulator 20. For example, the motion control unit 31 can adopt a multi-degree-of-freedom motion control mechanism, and the clamping unit 32 can adopt a device such as a mechanical arm that can clamp and release the control rod 23. The embodiments of the present disclosure do not limit the specific forms of the motion control unit 31 and the clamping unit 32, as long as the corresponding functions can be achieved.

[0046] For example, when the two control rods 23 are clamped by the clamping device 30, Figure 3 As shown, the two control rods 23 are moved closer to each other, thereby controlling the first gripper 21A and the second gripper 21B to open, and the telescopic end 24A is compressed to be in a contracted state, as shown in FIG. Figure 4 and Figure 5 As shown, when the control rod 23 is released by the clamping device 30, the telescopic member 24 returns to the relaxed state, and the telescopic end 24A extends to control the first gripper 21A and the second gripper 21B to close, and the two control rods 23 move away from each other. Therefore, by whether the clamping device 30 grasps the control rod 23, the detachable connection and the opening and closing control of the mechanical claw 20 can be achieved at the same time.

[0047] For example, in some embodiments, Figure 2 As shown, the underwater equipment may also include a load and anchor throwing device 50, Figure 6 The schematic diagram of the structure of the underwater equipment loading and anchoring device is shown. Figure 7 Shows Figure 6 Bottom view of the anchor dropping device in Figure 6 and Figure 7 As shown, the load and anchor device 50 includes an anchor block 51 and a cable fixing portion 52 disposed on the anchor block 51 . The anchor block 51 is configured to be released in a controlled manner, and the cable fixing portion 52 is configured to fix the first cable 41 .

[0048] For example, the anchor block 51 may be a metal block or other object with a certain weight to throw the first cable 41 to the seabed; for example, the cable fixing portion 52 may be a metal sheet, a hard plastic sheet, etc., with both ends fixed to the anchor block 51, and the middle section between the two ends is spaced from the anchor block 51, so that the first cable 41 can pass through the space. For example, there are two cable fixing portions 52, and the two cable fixing portions 52 are symmetrically arranged at the ends of the anchor block 51 to achieve fixed connection to the first cable 41.

[0049] For example, Figure 6 and Figure 7As shown, the load-dropping and anchoring device 50 may also include a first driving device 53 and an anchoring control unit 54; the first driving device 53 includes a first output terminal 53A, the anchoring control unit 54 includes a bar-shaped rotatable member, the anchoring block 51 includes a through hole 51A that can be adapted to the rotatable member, the rotatable member is arranged on a side of the anchoring block 51 away from the first driving device 53, and is connected to the first output terminal 53A through the through hole 51A, and the first driving device 53 is configured to control the release of the anchoring block 51 by controlling the rotation of the rotatable member to change the relative position of the rotatable member and the through hole 51A.

[0050] For example, the shape of the through hole 51A is basically the same as the shape of the rotatable part, which is a strip shape. The size of the through hole 51A is slightly larger than the size of the rotatable part. When the rotatable part rotates to be accommodated in the through hole 51A, the through hole 51A of the anchor block 51 can pass through the rotatable part to make the anchor block 51 fall off. At this time, the detached anchor block 51 can sink to the bottom of the sea with the first cable 41.

[0051] For example, Figure 6 As shown, the anchoring device 50 may further include a limiting member 55, which is used to limit the anchor block 51, for example, to prevent the anchor block 51 from rotating or other movements. Figure 7 As shown, the rotatable member in the initial state is arranged vertically with the through hole 51A, so that the anchor block 51 is fully fixed in combination with the limit member 55. When the anchor block 51 needs to be thrown out, the first driving device 53 drives the rotatable member to rotate. After the rotatable member rotates 90 degrees, the rotatable member rotates to be accommodated in the through hole 51A, and the anchor block 51 falls off.

[0052] For example, Figure 6 As shown, the cross section of the limiting member 55 is U-shaped to limit the anchor block 51 on two opposite sides. For example, the first driving device 53 can be any suitable driving device such as a motor, and the embodiment of the present disclosure does not limit the specific form of the first driving device 53.

[0053] For example, Figure 8 The schematic diagram of the structure of the cable retracting device of the underwater equipment is shown in FIG. Figure 8As shown, the cable taking-up and releasing device 40 may include a drum 42, a second driving device 43, a reciprocating device 44 and a wire bundling mechanism 45 and other structures. The first cable 41 is wound around the drum 42. The second driving device 43 includes a second output end 43A. The second output end 43A is connected to the drum 42 to drive the drum 42 to rotate, for example, clockwise or counterclockwise, to take up or release the cable. The reciprocating device 44 is connected to the second output end 43A through a synchronous belt 46 to rotate synchronously with the drum 42. The wire bundling mechanism 45 is arranged on the reciprocating device 44 to be driven by the reciprocating device 44 to perform reciprocating motion. The first cable 41 passes through the wire bundling mechanism 45 to make the taking up and releasing of the cable more orderly.

[0054] For example, in some embodiments, the reciprocating device 44 may be a lead screw, and the cable harness mechanism 45 includes a slider that cooperates with the lead screw, so that when the lead screw rotates in different directions, the cable harness mechanism 45 can reciprocate along the lead screw to match the cable retraction and release process. For example, the cable harness mechanism 45 also includes a through hole for the first cable to pass through, so as to constrain the first cable 41. The second drive device 43 can be a drive device in any form, such as a motor, and the embodiments of the present disclosure do not limit the specific form of the second drive device 43.

[0055] For example, when the cable retracting device 40 is in operation, the underwater equipment can control the second driving device 43 to drive the reel 42 to rotate, and at the same time use the synchronous belt 46 to drive the reciprocating device 44 to rotate, and the wire bundling mechanism 45 moves accordingly on the reciprocating device 44 to constrain the first cable 41, thereby realizing orderly laying of the first cable 41.

[0056] For example, in some embodiments, Figure 1 As shown, the underwater device may further include a tracked motion mechanism 60, which includes a driving wheel, a driven wheel, and a track wound around the driving wheel and the driven wheel, so that the underwater device can move in a controlled manner.

[0057] For example, in some embodiments, the underwater equipment may also include other functional devices such as a controller and an antenna to realize functions such as automatic control and signal interaction, which will not be described in detail here.

[0058] The underwater equipment provided by the embodiment of the present disclosure integrates a cable retracting device, a detachable mechanical claw, and a load-dropping and anchoring device, and can complete the bomb disposal work of underwater cylinders (such as bullet-shaped bodies) through simple operations. In addition, the underwater equipment provided by the embodiment of the present disclosure can also realize more functions. For example, the detachable mechanical claw can also be used alone to grab objects in the sea / river and then detach, and use the first cable to pull the object to a specified position; the cable retracting device can also be used alone to lay the first cable in the sea / river; the load-dropping and anchoring device can also be used alone to anchor and fix equipment in the sea / river or to drop and rescue the equipment, etc. The embodiments of the present disclosure will not be repeated.

[0059] At least one embodiment of the present disclosure further provides an operating method for underwater equipment, and the operating method includes steps S101-S104.

[0060] Step S101 : The target object A is mounted on the robot gripper 20 , and the first cable 41 is connected to the target object A.

[0061] For example, combined with Figure 3 , the target object A can be mounted on the target object mounting portion 22 of the mechanical claw 20 , and the first cable 41 can be electrically connected to the target object A. Thus, the target object A can be transported to the target location by the underwater equipment, and can be towed and controlled by the first cable 41 .

[0062] Step S102: driving the underwater device to the object to be processed.

[0063] For example, an underwater robot can be used to transport the underwater equipment to a target location, such as an object to be processed. For example, the underwater robot can use a camera, a sensor and other devices to search for the object to be processed, and after searching for the object to be processed, the underwater robot can transport the underwater equipment to the object to be processed.

[0064] Step S103 : driving the mechanical claw 20 to clamp the object to be processed, and releasing the connection between the clamping device 30 and the mechanical claw 20 .

[0065] For example, before finding the object to be processed, the clamping device 30 always clamps the control rod 23 of the mechanical claw 20. At this time, the claw 21 is in an open state. After finding the object to be processed, the clamping device 30 is controlled to move so that the mechanical claw 20 grasps the object to be processed. Thereafter, the clamping device 30 is controlled to release the control rod 23, for example, slowly release the control rod 23. At this time, the connection between the clamping device 30 and the mechanical claw 20 is released, the mechanical claw 20 is separated from the underwater equipment, the telescopic part 24 returns to a relaxed state, and the telescopic end 24A extends to control the closing of the claw 21, so that the claw 21 grasps the object to be processed.

[0066] Step S104: Release the first cable 41 and drive the underwater device away from the object to be processed.

[0067] For example, after the mechanical claw 20 grasps the object to be processed, the cable retracting device 40 is used to release the first cable 41 and drive the underwater device away from the object to be processed. The cable retracting device 40 can realize the orderly deployment of the first cable 41.

[0068] For example, in some embodiments, the underwater equipment may further include a load and anchor dropping device 50. After the first cable 41 is released for a period of time using the cable retracting device 40, the operating method further includes step S105.

[0069] Step S105: driving the anchoring device 50 to release the anchoring block, so that the anchoring block throws the middle section of the first cable 41 to the seabed.

[0070] For example, after the first cable 41 is laid a certain distance, the underwater equipment can control the second driving device 43 of the load and anchor device 50 to operate, the rotatable part rotates 90 degrees, and the anchor block 51 is released to fix the first cable 41 to the bottom of the water to prevent the first cable 41 from being entangled in the equipment when the underwater equipment is running.

[0071] For example, in some embodiments, the target object A is an explosive disposal device, the object to be processed is a projectile, and the explosive disposal device is used to detonate the projectile. In this case, the operation method further includes step 106.

[0072] Step 106: Drive the underwater device away from the object to be processed to the target location, and control the target object A to be blasted through the first cable 41.

[0073] For example, an underwater robot may be used to transport the underwater equipment to a target location, that is, a safe location, and then the underwater bomb may be controlled by the first cable 41 to activate the bomb disposal.

[0074] It should be noted that the embodiments of the present disclosure do not limit the specific implementation order of the above steps S101-S105, as long as the corresponding functions can be achieved. For example, step S104 and step S105 can be performed at the same time.

[0075] Therefore, the embodiments of the present disclosure can place the target object at the target position through the above-mentioned simple operations. The process is simple, efficient and easy to operate. For example, when the target object is an explosive disposal device, the underwater equipment can place the explosive disposal device on the bomb-shaped body to achieve precise explosive disposal. The operation process is simple, safe and easy to implement.

[0076] There are a few points to note:

[0077] (1) The drawings of the embodiments of the present disclosure only relate to the structures related to the embodiments of the present disclosure. Other structures may refer to the general design.

[0078] (2) For the sake of clarity, in the drawings used to describe the embodiments of the present disclosure, the thickness of layers or regions is enlarged or reduced, that is, these drawings are not drawn according to the actual scale.

[0079] (3) In the absence of conflict, the embodiments of the present disclosure and the features therein may be combined with each other to obtain new embodiments.

[0080] The above are only specific implementations of the present disclosure, but the protection scope of the present disclosure is not limited thereto, and the protection scope of the present disclosure shall be based on the protection scope of the claims.

Claims

1. An underwater device comprising: Main platform, A mechanical gripper, comprising a gripper hand controlled to open and close, configured to carry a target object, a clamping device, mounted on the main platform, configured to detachably connect to the mechanical claw and control the mechanical claw, and The cable retracting and releasing device comprises a first cable which can be controlled to be retracted and released, wherein the first cable is configured to be connected to the target object.

2. The underwater device according to claim 1, wherein: The mechanical gripper further includes a target object mounting portion configured to mount the target object. The first cable is electrically connected to the target object to control a working state of the target object.

3. The underwater device according to claim 1 or 2, further comprising: The load-dropping and anchoring device comprises an anchoring block and a cable fixing portion arranged on the anchoring block. Wherein, the anchor block is configured to be released in a controlled manner, and the cable fixing portion is configured to fix the first cable.

4. The underwater device according to claim 3, wherein: The load and anchor throwing device also includes: The first driving device includes a first output terminal, and Anchor control unit, including a rotatable bar, The anchor block includes a through hole that can be adapted to the rotatable member, and the rotatable member is arranged on a side of the anchor block away from the first driving device and connected to the first output end through the through hole. The first driving device is configured to control the release of the anchor block by controlling the rotation of the rotatable member to change the relative position of the rotatable member and the through hole.

5. The underwater device according to claim 1 or 2, wherein: The mechanical claw comprises: a control rod configured to be clamped by the clamping device and articulated with the gripper, and The telescopic member comprises a telescopic end, wherein the telescopic end is connected to the middle section of the claw hand and is configured to be controlled by the control rod to be telescopic.

6. The underwater device according to claim 5, wherein: The telescopic member comprises a gas spring, When the control rod is clamped by the clamping device, the clamping claw is in an open state and the telescopic end is in a retracted state. When the control rod is released by the clamping device, the telescopic member returns to a relaxed state, and the telescopic end extends to control the clamping claw to close.

7. The underwater device according to claim 5, wherein: The gripper has a control end and a clamping end opposite to each other, and includes a first gripper and a second gripper hinged at a first hinge point, wherein the first hinge point is closer to the control end than to the clamping end, The number of the control rod and the number of the telescopic member are both two, The two control rods are respectively hinged to the control ends of the first gripper and the second gripper, and the telescopic ends of the two telescopic members are respectively hinged to the middle sections of the first gripper and the second gripper. The fixed ends of the two telescopic members and the middle sections of the two control rods are respectively hinged to the second hinge point through connecting rods.

8. The underwater device according to claim 7, wherein: The middle sections of the two control rods are hinged to the second hinge point through the first connecting rod and the second connecting rod respectively, the fixed ends of the two telescopic members are hinged to the second hinge point through the third connecting rod, and the first hinge point and the second hinge point are hinged through the fourth connecting rod.

9. The underwater device according to claim 8, wherein: The third connecting rod and the fourth connecting rod are an integral structure, and the third connecting rod and the fourth connecting rod are perpendicular.

10. The underwater device according to claim 1 or 2, wherein: The cable retracting device comprises: a drum, wherein the first cable is wound on the drum, A second driving device comprises a second output end, wherein the second output end is connected to the reel to drive the reel to rotate, A reciprocating device is connected to the second output end through a synchronous belt so as to rotate synchronously with the reel. A wire harness mechanism is arranged on the reciprocating device to be driven by the reciprocating device to perform reciprocating motion. Wherein, the first cable passes through the cable harness mechanism to be retracted and released.

11. A method for operating an underwater device according to any one of claims 1 to 10, comprising: The target object is mounted on the mechanical claw, and a first cable is connected to the target object. driving the underwater device to the object to be processed, driving the mechanical claw to clamp the object to be processed, and releasing the connection between the clamping device and the mechanical claw, and The first cable is released, and the underwater device is driven away from the object to be processed.

12. The operating method according to claim 11, wherein: The underwater equipment also includes a load and anchor throwing device. The operation method also includes: The load and anchor dropping device is driven to release the anchoring block, so that the anchoring block drops the middle section of the first cable to the seabed.

13. The operating method according to claim 12, wherein: The target object is an explosive disposal device. Connecting the first cable to the target object includes: electrically connecting the first cable to the target object, The operation method also includes: driving the underwater device away from the object to be processed to a target location, The target object is controlled to be blasted via the first cable.

14. The operating method according to claim 12, wherein: The mechanical claw comprises: a control rod configured to be clamped by the clamping device and articulated with the gripper, and The telescopic member comprises a telescopic end, wherein the telescopic end is connected to the middle section of the gripper and is configured to be controlled by the control rod to be telescopic; the telescopic member comprises a gas spring, and when the control rod is clamped by the clamping device, the clamping claw is in an open state and the telescopic end is in a retracted state. Wherein, driving the mechanical claw to clamp the object to be processed and releasing the connection between the clamping device and the mechanical claw includes: The clamping device is controlled to release the control rod, the telescopic member returns to a relaxed state, and the telescopic end extends to control the clamping claw to close.

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