Underwater device and its operation method

Abstract

An underwater device and its operation method. The underwater device includes a main body platform, a mechanical claw, a clamping device, and a cable winding and unwinding device; the mechanical claw includes a claw hand that can be controlled to open and close, and is configured to be able to carry a target object. The clamping device is installed on the main body platform and is configured to detachably connect to the mechanical claw and control the mechanical claw; the cable winding and unwinding device includes a first cable that can be controlled to be wound up and released, and the first cable is configured to connect to the target object. The underwater device can place the target object at the target position through simple steps, and the process is simple, efficient, and easy to operate; for example, when the target object is an explosive disposal device, the underwater device can place the explosive disposal device on the projectile body to achieve precise explosive disposal.

Description

Technical Field

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

[0002] Underwater devices can perform corresponding operations in deep waters. For example, in cases where underwater structures such as dams and piers need to be demolished, underwater devices can be used to detonate projectile bodies to achieve the demolition of underwater structures such as dams and piers. This process requires precise control of the underwater device to ensure the detonation of the projectile body safely. Summary of the Invention

[0003] At least one embodiment of the present disclosure provides an underwater device, including a main body platform, a mechanical claw, a clamping device, and a cable retracting and releasing device; the mechanical claw includes a claw hand that can be controlled to open and close, and is configured to carry a target object; the clamping device is installed on the main body platform and is configured to detachably connect to the mechanical claw and control the mechanical claw; the cable retracting and releasing device includes a first cable that can be controlled to retract and release, 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 further 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 device provided by at least one embodiment of the present disclosure further includes: a throwing and anchoring device, including an anchor block and a cable fixing portion provided on the anchor block, wherein the anchor block is configured to be controlled to be released, and the cable fixing portion is configured to fix the first cable.

[0006] For example, in the underwater device provided by at least one embodiment of the present disclosure, the throwing and anchoring device further includes a first driving device and an anchor control portion; the first driving device includes a first output end, and the anchor control portion includes a strip-shaped rotatable member. The anchor block includes a through hole that can be adapted to the rotatable member. The rotatable member is provided 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. The first driving device is configured to control the rotation of the rotatable member to change the relative position between the rotatable member and the through hole to control the release of the anchor block.

[0007] For example, in the underwater device 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. The telescopic member includes a telescopic end, and the telescopic end is connected to the middle section of the claw hand and is configured to be controlled by the control rod to extend and retract.

[0008] For example, in the underwater device provided by at least one embodiment of the present disclosure, the telescopic member includes a gas spring. In a state where the control rod is clamped by the clamping device, the jaws are in an open state and the telescopic end is in a contracted state. In a state where 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 jaws to close.

[0009] For example, in the underwater device provided by at least one embodiment of the present disclosure, the robotic hand has opposite control ends and clamping ends, 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 to the clamping end. The number of both the control rod and the telescopic member is 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 a second hinge point through connecting rods.

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

[0012] For example, in the underwater device provided by at least one embodiment of the present disclosure, the cable winding and unwinding device includes a reel, a second driving device, a reciprocating device, and a wire bundling mechanism. Among them, the first cable is wound around the reel, the second driving device includes a second output end, and the second output end is connected to the reel to drive the reel to rotate. The reciprocating device is connected to the second output end through a synchronous belt to rotate synchronously with the reel. The wire bundling mechanism is arranged on the reciprocating device to be driven by the reciprocating device to perform reciprocating motion. Among them, the first cable passes through the wire bundling mechanism for winding up and releasing.

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

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

[0015] For example, in the operation method provided by at least one embodiment of the present disclosure, 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 further includes: driving the underwater device away from the object to be processed to a target location and controlling the target object to explode through the first cable.

[0016] For example, in the operation 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. 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 to expand and contract; the telescopic member includes a gas spring. In a state where the control rod is clamped by the clamping device, the jaws are in an open state and the telescopic end is in a contracted state. 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 and do not limit the present disclosure.

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

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

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

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

[0022] Figure 5 For Figure 4 a rear view of the mechanical claw in

[0023] Figure 6Schematic diagram of the throwing and anchoring device of the underwater device provided by at least one embodiment of the present disclosure;

[0024] Figure 7 For Figure 6 Bottom view of the throwing and anchoring device in

[0025] Figure 8 Schematic diagram of the cable retracting and releasing device of the underwater device provided by at least one embodiment of the present disclosure. Detailed implementation manners

[0026] To make the objectives, technical solutions, and advantages of the embodiments of the present disclosure clearer, the technical solutions of the embodiments of the present disclosure will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present disclosure. Apparently, the described embodiments are some but not all of the embodiments of the present disclosure. All other embodiments obtained by those of ordinary skill in the art based on the described embodiments of the present disclosure without creative efforts shall fall within the protection scope of the present disclosure.

[0027] Unless otherwise defined, the technical terms or scientific terms used in the present disclosure shall have the ordinary meanings understood by those of ordinary skill in the art to which the present disclosure pertains. The "first", "second", and similar terms used in the present disclosure do not denote any order, quantity, or importance, but are only used to distinguish different components. The terms such as "including" or "comprising" mean that the elements or objects appearing before this term cover the elements or objects listed after this term and their equivalents, without excluding other elements or objects. The terms such as "connected" or "coupled" are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. The terms such as "upper", "lower", "left", and "right" are only used to represent relative positional relationships, and when the absolute position of the object being described changes, the relative positional relationship may also change accordingly.

[0028] As described above, a projectile body can be detonated by using an underwater device, so as to achieve the demolition of underwater dams, stone piers, and other buildings. In conventional technologies, the structure of the underwater device is complex and scattered, and the control program is cumbersome, making it difficult to achieve efficient operation.

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

[0030] At least one embodiment of the present disclosure further provides an operation method for an underwater device. The operation method 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, disconnecting the clamping device from the mechanical claw, releasing the first cable, and driving the underwater device away from the object to be processed.

[0031] In the underwater device provided by the embodiment of the present disclosure, the target object can be placed at the target position through simple steps. This process is simple, efficient, and easy to operate. For example, when the target object is an explosive disposal device, the underwater device can place the explosive disposal device on the projectile body to achieve precise explosive disposal.

[0032] The following will illustrate the underwater device and its operation method provided by the embodiment of the present disclosure through several specific embodiments.

[0033] At least one embodiment of the present disclosure provides an underwater device. Figure 1 The side view of the underwater device is shown. Figure 2 The top view of the underwater device is shown. As Figure 1 and Figure 2 shown, the underwater device includes structural components such as a main body platform 10, a mechanical claw 20, a clamping device 30, and a cable retracting and releasing device 40.

[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 be able to carry the target object A, so that it can carry the target object A to grasp the object to be processed and bring the target object A closer 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 body. After the mechanical claw 20 grasps the projectile body, the explosive disposal device can detonate the projectile body to achieve work such as the demolition of underwater dams, piers and other buildings.

[0035] The clamping device 30 is installed on the main body platform 10 and is configured to be detachably connected to the mechanical claw 20 and control the mechanical claw 20. After the underwater device finds the object to be processed, the clamping device 30 controls the mechanical claw 20 to grasp the object to be processed and disconnects the mechanical claw 20 from the clamping device 30 to facilitate the evacuation of the underwater device.

[0036] The cable retracting and releasing device 40 includes a first cable 41 that can be controlled to retract and release. The first cable 41 is configured to be connected to the target object A to tow and control the target object A.

[0037] For example, Figure 3 The schematic diagram of the mechanical claw 20 in the open state is shown. Figure 4 The schematic diagram of the mechanical claw 20 in the grasping state is shown. Figure 5 Shown is Figure 4Rear view of the mechanical claw 20 in []. In some embodiments, such as Figures 3 - 5 shown, the mechanical claw 20 may further include a target object mounting portion 22 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 that can be connected to a control circuit or the like to control the working state of the target object A, such as remotely controlling the target object A to explode.

[0038] For example, as Figure 3 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 basket that can be opened and closed to accommodate and fix the target object A, thereby realizing the stable mounting of the target object A; or, in other examples, the support frame 22A may be in an L shape, and the L-shaped support frame 22A can support the bottom surface and side surface of the target object A. At this time, the target object mounting portion 22 may further include a hoop 22B. When the target object A is mounted on the support frame 22A, it can be fixed by the hoop 22B, thereby realizing the stable mounting 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 do not make specific limitations thereto.

[0039] For example, in some embodiments, as Figures 3 - 5 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, and can also be referred to as a grip rod for example. The control rod 23 is hinged to the claw hand 21 to control the opening and closing of the claw hand 21. The telescopic member 24 includes a telescopic end 24A, and the telescopic end 24A is connected to the middle section of the claw hand 21 (the middle section is the non-end part 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 spring, a gas spring, a cylinder, an oil cylinder and other telescopic devices. Taking the telescopic member 24 including a gas spring as an example, the driving process of the mechanical claw will be introduced below.

[0041] For example, referring to Figures 3 - 5 , the telescopic member 24 includes a gas spring. In the state where the control rod 23 is clamped by the clamping device 30, as Figure 3 shown, the claw 21 is controlled to be in an open state, and the telescopic end 24A is compressed and in a contracted state, as Figure 4 and Figure 5As shown, in the state where 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 closing of the jaws. The telescopic speed of the gas spring is relatively slow, and the elastic force of the gas spring can be adjusted, for example, by changing the internal cavity pressure to adapt to different loads, so that the usage scenarios can be broadened.

[0042] For example, in some embodiments, referring to Figure 5 , the gripper 21 has opposite control ends T1 and clamping ends T2. A structure for controlling the opening and closing of the gripper 21 is provided near the control end T1, and 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 gripper 21 includes a first gripper 21A and a second gripper 21B hinged at the first hinge point C1. The first hinge point C1 is closer to the control end T1 than to the clamping end T2. The number of both the control rods 23 and the telescopic members 24 is two. The two control rods 23 are respectively hinged to the control ends T1 of the first gripper 21A and the second gripper 21B. Figure 5 Shown in Figure 3 and Figure 4 as the right ends of the two control rods 23 are respectively hinged to the control ends T1 of the first gripper 21A and the second gripper 21B. As Figures 3 - 5 shown, the telescopic ends 24A of the two telescopic members 24 are respectively hinged to the middle sections of the first gripper 21A and the second gripper 21B. Combining Figures 3 - 5 , the fixed ends 24B of the two telescopic members 24 (that is, the ends opposite to the telescopic ends 24A) and the middle sections of the two control rods 23 (that is, the non-end sections of the control rods 23) are respectively hinged to the second hinge point C2 through connecting rods. Thus, the two control rods 23 can simultaneously and symmetrically control the first gripper 21A, the second gripper 21B, and the two telescopic members 24.

[0044] For example, as Figures 3 - 5 shown, the middle sections of the two control rods 23 are respectively hinged to the second hinge point C2 through the first connecting rod L1 and the second connecting rod L2. The fixed ends 24B of the two telescopic members 24 are hinged to the second hinge point C2 through the third connecting rod L3. The first hinge point C1 and the second hinge point C2 are hinged through the fourth connecting rod L4. For example, in some examples, the third connecting rod L3 and the fourth connecting rod L4 are of an integral structure, and the third connecting rod L3 and the fourth connecting rod L4 are perpendicular, which is beneficial to the stability of the entire control structure, enabling the two control rods 23 to 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, as 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, rotating, etc., so as to facilitate the flexible movement of the manipulator 20 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 may adopt a multi-degree-of-freedom movement control mechanism, and the clamping unit 32 adopts a device such as a robotic arm that can clamp and release the control rod 23. The specific forms of the motion control unit 31 and the clamping unit 32 in the embodiments of the present disclosure are not limited 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, as Figure 3 shown, the two control rods 23 approach 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 Figure 4 and Figure 5 shown. In the state where the control rod 23 is released by the clamping device 30, the telescopic member 24 returns to the relaxed state, 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. Thus, by whether the clamping device 30 grasps the control rod 23, the detachable connection of the robotic claw 20 and the control of opening and closing can be simultaneously achieved.

[0047] For example, in some embodiments, as Figure 2 shown, the underwater device may further include a payload and anchor dropping device 50. Figure 6 shows a schematic structural view of the payload and anchor dropping device of the underwater device. Figure 7 shows Figure 6 the bottom view of the payload and anchor dropping device in Figure 6 and Figure 7 shown. The payload and anchor dropping device 50 includes an anchor block 51 and a cable fixing part 52 provided on the anchor block 51. The anchor block 51 is configured to be released under control, and the cable fixing part 52 is configured to fix the first cable 41.

[0048] For example, the anchor block 51 may be an object with a certain weight such as a metal block to drop the first cable 41 to the seabed; for example, the cable fixing part 52 may adopt 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 this space. For example, there are two cable fixing parts 52, and the two cable fixing parts 52 are symmetrically arranged at the end of the anchor block 51 to achieve the fixed connection of the first cable 41.

[0049] For example, as Figure 6 and Figure 7As shown, the throwing and anchoring device 50 may further include a first driving device 53 and an anchoring control unit 54; the first driving device 53 includes a first output end 53A, the anchoring control unit 54 includes a strip-shaped rotatable member, and the anchoring block 51 includes a through hole 51A capable of being adapted to the rotatable member. The rotatable member is disposed on a side of the anchoring block 51 away from the first driving device 53 and is connected to the first output end 53A through the through hole 51A. 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 positions of the rotatable member and the through hole 51A.

[0050] For example, the shape of the through hole 51A is substantially the same as that of the rotatable member, being strip-shaped, and the size of the through hole 51A is slightly larger than that of the rotatable member. When the rotatable member rotates to be accommodated in the through hole 51A, the through hole 51A of the anchoring block 51 can pass through the rotatable member, so that the anchoring block 51 falls off. At this time, the fallen anchoring block 51 can sink to the seabed with the first cable 41.

[0051] For example, as Figure 6 shown, the throwing and anchoring device 50 may further include a limiting member 55, and the limiting member 55 is used to limit the anchoring block 51, for example, to prevent the anchoring block 51 from performing movements such as rotation. For example, as Figure 7 shown, the rotatable member in the initial state is vertically arranged with the through hole 51A, so as to fully fix the anchoring block 51 in combination with the limiting member 55. When it is necessary to throw the anchoring block 51, the first driving device 53 drives the rotatable member to rotate. When the rotatable member rotates 90 degrees, the rotatable member rotates to be accommodated in the through hole 51A, and the anchoring block 51 falls off.

[0052] For example, as Figure 6 shown, the cross section of the limiting member 55 is U-shaped to limit the anchoring block 51 on opposite sides. For example, the first driving device 53 may adopt any suitable driving device such as a motor, and the specific form of the first driving device 53 is not limited in the embodiments of the present disclosure.

[0053] For example, Figure 8 shows a schematic structural diagram of a cable winding and unwinding device of an underwater device, as Figure 8As shown, the cable winding and unwinding device 40 may include structures such as a reel 42, a second driving device 43, a reciprocating device 44, and a wire bundling mechanism 45. The first cable 41 is wound around the reel 42. The second driving device 43 includes a second output end 43A, and the second output end 43A is connected to the reel 42 to drive the reel 42 to rotate, for example, rotate clockwise or counterclockwise, so as to wind 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 reel 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 winding and unwinding of the cable more orderly.

[0054] For example, in some embodiments, the reciprocating device 44 may adopt a lead screw, and the wire bundling mechanism 45 includes a slider that cooperates with the lead screw. Thus, when the lead screw rotates in different directions, the wire bundling mechanism 45 can perform reciprocating motion along the lead screw to match the winding and unwinding process of the cable. For example, the wire bundling mechanism 45 further includes a through hole for the first cable to pass through to realize the constraint of the first cable 41. The second driving device 43 may adopt any form of driving device such as a motor, and the specific form of the second driving device 43 is not limited in the embodiments of the present disclosure.

[0055] For example, when the cable winding and unwinding device 40 operates, the underwater device can control the second driving device 43 to drive the reel 42 to rotate, and at the same time drive the reciprocating device 44 to rotate by using the synchronous belt 46. The wire bundling mechanism 45 moves correspondingly on the reciprocating device 44 to constrain the first cable 41, so as to realize the orderly laying of the first cable 41.

[0056] For example, in some embodiments, as Figure 1 shown, the underwater device may further include a crawler movement mechanism 60. The crawler movement mechanism 60 includes a driving wheel, a driven wheel, and a crawler wound around the driving wheel and the driven wheel, so that the underwater device can be controlled to move.

[0057] For example, in some embodiments, the underwater device may further 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 elaborated here.

[0058] The underwater equipment provided by the embodiments of the present disclosure integrates a cable retracting and deploying device, a detachable mechanical claw, and a throwing and anchoring device, and can complete the explosive disposal work of an underwater cylinder (such as a projectile) through simple operations. In addition, the underwater equipment provided by the embodiments of the present disclosure can also achieve more functions. For example, the detachable mechanical claw can also be used alone to grab an object in the sea / river and then detach, and use the first cable to pull the object to a designated position; the cable retracting and deploying device can also be used alone to deploy the first cable in the sea / river; the throwing and anchoring device can also be used alone for anchoring and fixing the equipment in the sea / river or for self-rescue by throwing, etc. The embodiments of the present disclosure will not be elaborated herein.

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

[0060] Step S101: Mount the target object A on the mechanical claw 20, and connect the first cable 41 to the target object A.

[0061] For example, in combination with Figure 3 , the target object A can be installed on the target object mounting portion 22 on 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 position by the underwater device and be towed and controlled by the first cable 41.

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

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

[0064] Step S103: Drive the mechanical claw 20 to clamp the object to be processed, and release 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 jaws 21 are in an open state. After finding the object to be processed, control the clamping device 30 to move so that the mechanical claw 20 grabs the object to be processed. Then, control the clamping device 30 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 detaches from the underwater device, the telescopic member 24 returns to a relaxed state, and the telescopic end 24A extends to control the jaws 21 to close, so that the jaws 21 grip the object to be processed tightly.

[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 robotic claw 20 grasps the object to be processed, the cable winding and releasing device 40 releases the first cable 41 and drives the underwater device away from the object to be processed. The cable winding and releasing device 40 can achieve the orderly laying of the first cable 41.

[0068] For example, in some embodiments, the underwater device may further include a load throwing and anchoring device 50. After the cable winding and releasing device 40 releases the first cable 41 for a period of time, the operation method further includes step S105.

[0069] Step S105: Drive the load throwing and anchoring device 50 to release the anchor block so that the anchor block throws the middle section of the first cable 41 to the seabed.

[0070] For example, when the first cable 41 is laid for a certain distance, the underwater device can control the second driving device 43 of the load throwing and anchoring 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, preventing the first cable 41 from winding around the device during the operation of the underwater device.

[0071] For example, in some embodiments, the target object A is an explosive disposal device, the object to be processed is a projectile body, and the explosive disposal device is used to detonate the projectile body. At this time, 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 explode through the first cable 41.

[0073] For example, an underwater robot can be used to transport the underwater device to the target location, that is, a safe location, and then control the underwater projectile body to activate the explosive disposal through the first cable 41.

[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, steps S104 and S105 can be carried out simultaneously.

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

[0076] There are also the following points to note:

[0077] (1) The drawings of the embodiments of the present disclosure only relate to the structures involved in the embodiments of the present disclosure, and other structures can refer to the general design.

[0078] (2) For 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 to actual scale.

[0079] (3) Without conflict, the embodiments of the present disclosure and the features in the embodiments may be combined with each other to obtain new embodiments.

[0080] The above are only the specific embodiments of the present disclosure, but the protection scope of the present disclosure is not limited thereto. The protection scope of the present disclosure shall be subject to 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 be detachably connected to the mechanical claw and to control the mechanical claw, wherein the mechanical claw is used to grasp the object to be processed and is controlled to be separated from the clamping device, and A cable retracting device, comprising a first cable that can be retracted and released under control, wherein one end of the first cable is electrically connected to a target object, and the other end of the first cable is configured to be connected to a control circuit to remotely control the target object for detonation; The mechanical claw further includes a target object mounting portion configured to mount the target object; the target object mounting portion includes a support frame, and the target object is mounted on the support frame; The target object is an explosive disposal device.

2. The underwater device according to claim 1, 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.

3. The underwater device according to claim 2, 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.

4. The underwater device according to claim 1, 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.

5. The underwater device according to claim 4, wherein: The telescopic member comprises a gas spring, When the control rod is clamped by the clamping device, the 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 closure of the claw hand.

6. The underwater device according to claim 4, 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.

7. The underwater device according to claim 6, 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.

8. The underwater device according to claim 7, 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.

9. The underwater device according to claim 1, 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.

10. A method for operating an underwater device according to any one of claims 1 to 9, 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 releasing the first cable and driving the underwater device away from the object to be processed; 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.

11. The operating method according to claim 10, 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.

12. The operating method according to claim 11, 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; the telescopic member comprises a gas spring, and when the control rod is clamped by the clamping device, the claw hand 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 claw hand to close.

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