Self-floating split underwater robot and self-floating split take-up and pay-off method

Abstract

The invention discloses a self-floating split underwater robot and a self-floating split take-up and pay-off method. At present, in the underwater information collection process of an underwater robot, the underwater collection range is limited due to the fact that a corresponding communication cable is too long, and unified standard regulation and control difficulty is large due to the fact that the cable is too long; a wire storage and storage part is arranged at the top end of an underwater robot body, a pull-type snorkeling block is arranged on the underwater robot body, and a telescopic cable control part is arranged between the wire storage and storage part and the pull-type snorkeling block; a plurality of traction ropes are distributed on the floating shell, and each traction rope performs reciprocating motion of length gathering or length releasing between the floating shell and the wire storage and storage piece; the self-floating split take-up and pay-off method comprises a fixed-point static detection process and a dynamic detection process: after the underwater detection depth of an underwater robot body is determined according to detection requirements, the underwater robot body is started to dive to a preset underwater detection depth, and a pull-type snorkeling block is started and released according to the underwater detection depth; and the telescopic cable control starts an information transmission use state.

Description

Technical Field

[0001] The present invention specifically relates to a self-floating split underwater robot and a self-floating split line-retracting and -releasing method, belonging to the technical field of underwater robots. Background Art

[0002] An underwater robot is an engineering robot used to perform various tasks in an underwater environment. They can be used in fields such as marine research, marine resource development, underwater archaeology, and underwater rescue. The propulsion system of an underwater robot is an important component for achieving its movement in an underwater environment. The propulsion system of an underwater robot can be divided into many types according to its principle and structure, including propeller propulsion, horizontal thruster propulsion, turbine propulsion, and underwater gliders. Propeller propulsion is currently the most widely used propulsion method, which generates propulsion force by rotating propellers to drive the underwater robot forward. Horizontal thruster propulsion uses horizontal thrusters to achieve robot movement. Turbine propulsion uses the kinetic energy of water flow for propulsion, which is an efficient and energy-saving propulsion method. Underwater gliders are a method of propulsion that uses underwater gliding motion to achieve propulsion, with high energy efficiency. The propulsion system of an underwater robot needs to consider many factors when designing and implementing it, such as propulsion efficiency, stability, noise, and energy consumption. In terms of propulsion efficiency, propeller propulsion systems are widely used because of their simple and stable characteristics, but in large underwater robots and deep-sea operations, there is also a trend of using turbine propulsion and underwater glider propulsion systems. Stability is an important indicator to ensure the stability and controllability of underwater robots. The stability of underwater robots can be improved by adding gyroscopes and inertial navigation systems. In terms of noise and energy consumption, the noise and energy consumption of underwater robot propulsion systems are important obstacles to their application. Therefore, it is necessary to balance propulsion efficiency, noise and energy consumption in the design to meet the actual application needs. With the continuous expansion of the application field of underwater robots and the increasing demand for deep-sea resource development, the propulsion system of underwater robots is also facing many new challenges and opportunities. With the gradual development of deep-sea resource exploration and development, the demand for high-power and high-efficiency underwater robot propulsion systems is also increasing; the demand for underwater robots in seabed manipulation and operation is also gradually increasing, which puts higher requirements on the stability and accuracy of their propulsion systems. Research on underwater robot propulsion systems in noise control, energy supply, intelligent control and other aspects is also a future development direction. With the continuous development of underwater detection, monitoring and operation technologies, higher requirements are placed on the remote control capabilities and cable management of underwater robots. Traditional underwater robot communication methods usually rely on directly connected cables, which not only limits the robot's range of activities, but also increases the complexity of communication and the difficulty of cable maintenance. Summary of the invention

[0003] The purpose of the present invention is to provide a self-floating split underwater robot to solve the above problems.

[0004] A self-floating split underwater robot comprises an underwater robot body, a line storage and receiving member, a traction-type snorkeling block and a telescopic cable control, wherein the top of the underwater robot body is provided with the line storage and receiving member, the traction-type snorkeling block is provided above the underwater robot body, the telescopic cable control is provided between the line storage and receiving member and the traction-type snorkeling block, and two ends of the telescopic cable control are respectively connected to the underwater robot body and the traction-type snorkeling block; The traction-type snorkeling block includes a floating shell and multiple traction ropes. The multiple traction ropes are evenly distributed on the outer wall of the floating shell. One end of each traction rope is detachably connected to the outer wall of the floating shell, and the other end of each traction rope is connected to the line storage and receiving piece. Each traction rope performs reciprocating motion of length contraction or length release between the floating shell and the line storage and receiving piece. When the traction rope is in a length contraction state between the floating shell and the line storage and receiving piece, the telescopic cable control is in a retracted standby state. When each traction rope is in a length release state under the control of the line storage and receiving piece, the telescopic cable control is in an extended information transmission state.

[0005] As a preferred solution: the wire storage and organizing piece includes a gear set, a lower seat body, a plurality of winding units and a plurality of center axes, the lower seat body being a box body with an open top, the buckle cover being detachably connected to the open part of the lower seat body, a plurality of center axes being arranged in the lower seat body, the center axes being arranged in one-to-one correspondence with the winding units, each winding unit being sleeved on its corresponding center axis, the gear set being arranged above the plurality of winding units, each winding unit making self-rotation motion under the drive of the gear set, the winding units and traction ropes being arranged in one-to-one correspondence, one end of each traction rope being fixedly connected to its corresponding winding unit, and the other end of each traction rope passing through the lower seat body and being fixedly connected to the floating shell.

[0006] As a preferred solution: the winding unit includes a winding sleeve and a first torsion spring, the winding sleeve is sleeved on its corresponding center axis, the first torsion spring is arranged in the winding sleeve, one end of the first torsion spring is connected to the center axis, and the other end of the first torsion spring is connected to the end of the corresponding traction rope, and the outer wall of the winding sleeve is processed with an annular winding groove matching the traction rope.

[0007] As a preferred solution: the telescopic cable control includes an upper cover, a lower shell, a positioning shaft, a second torsion spring, a cable and a wire receiving sleeve. The upper cover and the lower shell are detachably connected. When the upper cover and the lower shell are connected, a wire receiving cavity is formed between the upper cover and the lower shell. The positioning shaft is arranged in the wire receiving cavity. The lower end of the positioning shaft is hinged to the top surface of the lower shell. The wire receiving sleeve is sleeved on the positioning shaft. The second torsion spring is arranged in the wire receiving sleeve. One end of the second torsion spring is fixedly connected to the positioning shaft. A winding gap for matching the cable is formed between the outer wall of the second torsion spring and the inner wall of the wire receiving sleeve. The wire receiving sleeve is respectively processed with a first through-port and a second through-port connected to the winding gap. The middle part of the cable is fixedly connected to the outer wall of the other end of the second torsion spring. One end of the cable passes through the first through-port and is connected to the underwater robot body. The other end of the cable passes through the second through-port and is connected to the traction type snorkeling block. The cable makes an extension movement driven by the traction type snorkeling block, and the cable makes a retraction and winding movement driven by the torsional movement of the second torsion spring.

[0008] As a preferred solution: the upper cover is a circular cover body, the lower shell is a circular plate body, the upper cover includes an upper circular plate and a cylinder, the bottom surface of the upper circular plate is coaxially connected with the cylinder, the cylinder is processed with a first slit along the thickness direction of its cylinder wall, the first slit is connected to the first through-port, the cylinder is processed with a second slit along the thickness direction of its cylinder wall, the second slit is connected to the second through-port.

[0009] As a preferred solution: an annular wire receiving groove matching the cable is processed on the outer wall of the wire receiving sleeve.

[0010] As a preferred solution: the floating shell is in the shape of a semi-cylinder.

[0011] A self-floating split line-retracting method is implemented by using the above-mentioned self-floating split underwater robot. The self-floating split line-retracting method includes a fixed-point static detection process: after determining the underwater detection depth of the underwater robot body according to the detection requirements, the underwater robot body is started to dive to the predetermined underwater detection depth, and the traction snorkeling block is opened and released according to the underwater detection depth. The floating shell drives multiple traction ropes to extend through the upward movement, the traction ropes are pulled out from the line storage and receiving part, the first torsion spring is stretched, and the telescopic cable control moves along with the upward movement of the floating shell. The traction rope and the telescopic cable control are stretched synchronously until the buoyant shell floats to the water surface, and the traction rope and the telescopic cable control stop stretching synchronously, and the telescopic cable control starts the use state of transmitting information; after the information of the underwater robot body is transmitted to the upper computer on the shore through the telescopic cable control, the line storage and receiving part is started to wind the traction rope into the line storage and receiving part under the rebound of the first torsion spring, and the traction rope is in a state of length contraction, and the telescopic cable control is synchronously wound around the line storage sleeve under the rebound of the second torsion spring, and the buoyant shell is pulled back into the water until it is against the top surface of the line storage and receiving part.

[0012] A self-floating split line-retracting method is implemented by using the above-mentioned self-floating split underwater robot. The self-floating split line-retracting method includes a dynamic detection process: after the underwater robot body is started to dive to a predetermined underwater detection depth, the traction snorkeling block is opened and released according to the underwater detection depth corresponding to the underwater robot body diving to the initial position, the floating shell drives multiple traction ropes to extend through the floating movement, the traction ropes are pulled out from the line storage and receiving piece, the first torsion spring is stretched, and the telescopic cable control is synchronously extended with the floating movement of the floating shell until the traction rope and the telescopic cable control stop stretching synchronously after the floating shell floats to the water surface; when the underwater robot body is in a translational motion underwater, the floating shell is always on the water surface with the cooperation of the line storage and receiving piece, so as to ensure that the telescopic cable control is in a state of continuous information transmission; when the underwater robot body is in an upward or downward motion underwater, the traction rope performs a corresponding movement of length contraction or length release between the floating shell and the line storage and receiving piece, so as to ensure that the floating shell is always on the water surface and the telescopic cable control is in a state of continuous information transmission.

[0013] Compared with the prior art, the present invention has the following beneficial effects: The present invention realizes wireless underwater deep-sea detection through the mutual cooperation between the underwater robot body, the line storage and receiving piece, the towable snorkeling block and the telescopic cable control. The towable snorkeling block drives the telescopic cable control through the line storage and receiving piece to realize the functions of synchronous cable retraction and remote communication. The split structural configuration of deep-water detection and data transmission can realize an independent detection feedback mode of single-body unrelatedness, without the need to directly connect to the underwater robot from the shore through a cable for communication, avoiding the inability to detect other areas due to the limitation of the cable length, and at the same time can further improve the autonomous detection performance of the underwater robot, which is more conducive to the wide-angle detection process of deep diving and long distance, and avoids the involvement of the host computer, and can be adapted to a variety of extreme or harsh emergency detection environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] For ease of explanation, the present invention is described in detail with reference to the following specific embodiments and accompanying drawings.

[0015] Figure 1 It is a schematic diagram of the first three-dimensional structure of the present invention; Figure 2 It is a schematic diagram of the second three-dimensional structure of the present invention; Figure 3 It is a schematic diagram of the third three-dimensional structure of the present invention; Figure 4 It is a schematic diagram of the three-dimensional structure of the wire storage unit; Figure 5 A schematic diagram of the three-dimensional structure of other small components that make up the wire storage unit; Figure 6 It is a schematic diagram of the three-dimensional structure of the towing snorkeling block; Figure 7 It is a schematic diagram of the three-dimensional structure of other small components that make up the towing snorkeling block; Figure 8 It is a schematic diagram of the three-dimensional structure of the telescopic cable control; Fig. 9 A schematic diagram of the three-dimensional structure of other small components in the telescopic cable control; Fig.10 It is a three-dimensional structural schematic diagram of the connection relationship between the gear set, the lower seat body, the winding sleeve, the first torsion spring, the annular winding groove and the central shaft; Fig.11 It is a schematic diagram of the main structure of the present invention; Fig.12 It is a three-dimensional structural schematic diagram of the connection relationship between the upper circular plate and the cylinder; Fig.13 is a three-dimensional structural schematic diagram of the connection relationship between the second torsion spring, the cable and the wire receiving sleeve; Fig.14 A three-dimensional structural diagram showing the connection relationship between the upper cover, the lower shell and the cables; Fig.15 is a three-dimensional structural schematic diagram of the connection relationship between the upper cover, the second torsion spring and the cable; Fig.16 It is a top view structural schematic diagram of the connection relationship between the second torsion spring, the cable, and the wire receiving sleeve.

[0016] In the figure: 1-underwater robot body; 2-line storage component; 21-buckle cover; 22-gear set; 23-lower seat; 24-winding unit; 24-1-winding sleeve; 24-2-first torsion spring; 24-3-annular winding groove; 25-central axis; 3-traction snorkeling block; 3-1-floating shell; 3-2-traction rope; 4-telescopic cable control; 4-1-upper cover; 4-1-1-upper circular plate; 4-1-2-cylinder; 4-2-lower shell; 4-3-positioning shaft; 4-4-second torsion spring; 4-5-cable; 4-6-wire sleeve; 4-6-1-first through-port; 4-6-2-second through-port; 5-wire receiving cavity; 6-winding gap; 7-first gap; 8-second gap; 9-annular wire receiving groove. DETAILED DESCRIPTION

[0017] In order to make the purpose, technical scheme and advantages of the present invention clearer, the present invention is described below by the specific embodiments shown in the accompanying drawings. However, it should be understood that these descriptions are only exemplary and are not intended to limit the scope of the present invention. The structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in the specification for people familiar with this technology to understand and read, and are not used to limit the limiting conditions that the present invention can be implemented, so they have no technical substantive significance. Any structural modification, change in proportional relationship or adjustment of size, without affecting the effects that the present invention can produce and the purposes that can be achieved, should still fall within the scope of the technical content disclosed by the present invention. In addition, in the following description, the description of known structures and technologies is omitted to avoid unnecessary confusion of the concept of the present invention.

[0018] It should also be noted that, in order to avoid obscuring the present invention due to unnecessary details, only structures and / or processing steps closely related to the solutions according to the present invention are shown in the accompanying drawings, while other details that are not closely related to the present invention are omitted.

[0019] Specific implementation method 1: Combination Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 , Fig. 9 , Fig.10 , Fig.11 , Fig.12 , Fig.13 , Fig.14 , Fig.15 and Fig.16 The present embodiment is described. The present embodiment comprises an underwater robot body 1, a line storage and receiving member 2, a towing snorkeling block 3 and a telescopic cable control 4. The top of the underwater robot body 1 is provided with the line storage and receiving member 2, the towing snorkeling block 3 is provided above the underwater robot body 1, the telescopic cable control 4 is provided between the line storage and receiving member 2 and the towing snorkeling block 3, and the two ends of the telescopic cable control 4 are respectively connected to the underwater robot body 1 and the towing snorkeling block 3; The towing snorkeling block 3 includes a floating shell 3-1 and multiple towing ropes 3-2. Multiple towing ropes 3-2 are evenly distributed on the outer wall of the floating shell 3-1. One end of each towing rope 3-2 is detachably connected to the outer wall of the floating shell 3-1, and the other end of each towing rope 3-2 is connected to the line storage and receiving component 2. Each towing rope 3-2 performs a reciprocating motion of length contraction or length release between the floating shell 3-1 and the line storage and receiving component 2; when the towing rope 3-2 is in a length contraction state between the floating shell 3-1 and the line storage and receiving component 2, the telescopic cable control 4 is in a retracted standby state; when each towing rope 3-2 is in a length release state under the control of the line storage and receiving component 2, the telescopic cable control 4 is in an extended information transmission state.

[0020] Furthermore, the underwater robot body 1 is respectively provided with a line storage and storage piece 2 and a towing type snorkeling block 3, and the telescopic cable control 4 is arranged between the line storage and storage piece 2 and the towing type snorkeling block 3, one end of the telescopic cable control 4 is arranged in the towing type snorkeling block 3, and the other end of the telescopic cable control 4 is connected to the underwater robot body 1, wherein the floating shell 3-1 on the towing type snorkeling block 3 is connected to the line storage and storage piece 2 through multiple towing ropes 3-2, and when the towing ropes 3-2 and the line storage and storage piece 2 are in a length release state, the telescopic cable control 4 can be extended to transmit information and perform remote communication functions, and at the same time, the staff can control the underwater robot body 1 to perform underwater operations, thereby ensuring the efficiency of the underwater robot body 1 in underwater activities and avoiding being restricted to a certain area during use, thereby achieving the depth of underwater activities and the flexibility of autonomous operation.

[0021] Specific embodiment 2: This embodiment is a further limitation of specific embodiment 1. The wire storage and organizing part 2 includes a buckle cover 21, a gear set 22, a lower seat body 23, a plurality of winding monomers 24 and a plurality of center shafts 25. The lower seat body 23 is a box body with an open top. The buckle cover 21 is detachably connected to the open part of the lower seat body 23. A plurality of center shafts 25 are arranged in the lower seat body 23. The center shafts 25 are arranged in a one-to-one correspondence with the winding monomers 24. Each winding monomer 24 is mounted on its corresponding center shaft 25. The gear set 22 is arranged above the plurality of winding monomers 24. Each winding monomer 24 rotates under the drive of the gear set 22. The winding monomers 24 and the traction ropes 3-2 are arranged in a one-to-one correspondence. One end of each traction rope 3-2 is fixedly connected to its corresponding winding monomer 24, and the other end of each traction rope 3-2 passes through the lower seat body 23 and is fixedly connected to the floating shell 3-1.

[0022] Furthermore, a plurality of central shafts 25 are provided in the lower seat body 23, and the winding units 24 and the gear set 22 are sequentially mounted on the central shafts 25, and the gear set 22 is arranged above the winding units 24. Each winding unit 24 rotates under the drive of the gear set 22, and at the same time, each winding unit 24 is fixedly connected to one end of each traction rope 3-2, and the other end of each traction rope 3-2 is connected to the floating shell 3-1, ensuring that the line storage and receiving part 2 controls the traction rope 3-2 to drive the floating shell 3-1 to approach the line storage and receiving part 2 or move away from the line storage and receiving part 2, and at the same time, the floating shell 3-1 drives the telescopic cable control 4 to extend or contract, ensuring that the signal can be transmitted to the onshore host computer through the telescopic cable control 4 during use, thereby improving the flexibility of underwater activities.

[0023] Specific embodiment three: This embodiment is a further limitation of specific embodiment two. The winding unit 24 includes a winding sleeve 24-1 and a first torsion spring 24-2. The winding sleeve 24-1 is mounted on its corresponding center axis 25. The first torsion spring 24-2 is arranged in the winding sleeve 24-1. One end of the first torsion spring 24-2 is connected to the center axis 25, and the other end of the first torsion spring 24-2 is connected to the end of the corresponding traction rope 3-2. The outer wall of the winding sleeve 24-1 is processed with an annular winding groove 24-3 that matches the traction rope 3-2.

[0024] Furthermore, the winding sleeve 24-1 is sleeved on the central shaft 25, and the first torsion spring 24-2 is arranged in the winding sleeve 24-1. One end of the first torsion spring 24-2 is connected to the central shaft 25, and the other end of the first torsion spring 24-2 is connected to the end of the traction rope 3-2. At the same time, the outer wall of the winding sleeve 24-1 is processed with an annular winding groove 24-3. When the gear set 22 drives the winding sleeve 24-1 to rotate, the first torsion spring 24-2 also rotates, thereby ensuring that the traction rope 3-2 is wound around the winding sleeve 24-1 through the annular winding groove 24-3, and at the same time it can be freely retracted and released, and emergency regulation can be carried out as needed.

[0025] Specific implementation method four: This implementation method is a further limitation of specific implementation method three. The telescopic cable control 4 includes an upper cover 4-1, a lower shell 4-2, a positioning shaft 4-3, a second torsion spring 4-4, a cable 4-5 and a wire receiving sleeve 4-6. The upper cover 4-1 and the lower shell 4-2 are detachably connected. When the upper cover 4-1 is connected to the lower shell 4-2, a wire receiving cavity 5 is formed between the upper cover 4-1 and the lower shell 4-2. The positioning shaft 4-3 is arranged in the wire receiving cavity 5. The lower end of the positioning shaft 4-3 is hinged to the top surface of the lower shell 4-2. The wire receiving sleeve 4-6 is sleeved on the positioning shaft 4-3. The second torsion spring 4-4 ​​is arranged in the wire receiving sleeve 4-6. One end of the second torsion spring 4-4 ​​is fixedly connected to the positioning shaft 4-3. The second torsion spring A winding gap 6 for matching the cable 4-5 is formed between the outer wall of 4-4 and the inner wall of the wire-taking sleeve 4-6. The wire-taking sleeve 4-6 is respectively processed with a first through-hole 4-6-1 and a second through-hole 4-6-2 which are connected to the winding gap 6. The middle part of the cable 4-5 is fixedly connected to the outer wall of the other end of the second torsion spring 4-4. One end of the cable 4-5 passes through the first through-hole 4-6-1 and is connected to the underwater robot body 1. The other end of the cable 4-5 passes through the second through-hole 4-6-2 and is connected to the traction-type snorkeling block 3. The cable 4-5 makes an extension movement driven by the traction-type snorkeling block 3, and the cable 4-5 makes a retraction and winding movement driven by the torsional movement of the second torsion spring 4-4.

[0026] Furthermore, one end of the cable 4-5 passes through the first through-hole 4-6-1 and is connected to the underwater robot body 1, and the other end of the cable 4-5 passes through the second through-hole 4-6-2 and is connected to the traction type snorkeling block 3. The cable 4-5 is driven by the torsion of the second torsion spring 4-4 ​​to realize the extension or release state. At the same time, when the traction rope 3-2 on the traction type snorkeling block 3 drives the floating shell 3-1 to be in a retracted state, the second torsion spring 4-4 ​​drives the cable 4-5 to be in a contracted and winding state. When the traction rope 3-2 drives the floating shell 3-1 to be in a released state, the second torsion spring 4-4 ​​drives the cable 4-5 to be extended and transmitted information state, thereby ensuring that the underwater robot body 1 can realize underwater operations or deep-sea detection through the wireless communication function when moving underwater, and avoiding limiting the moving area of ​​the underwater robot due to the excessive length of the cable 4-5.

[0027] Specific implementation mode five: This implementation mode is a further limitation of specific implementation modes one, two, three or four, the upper cover 4-1 is a circular cover body, the lower shell 4-2 is a circular plate body, the upper cover 4-1 includes an upper circular plate 4-1-1 and a cylinder 4-1-2, the cylinder 4-1-2 is coaxially connected to the bottom surface of the upper circular plate 4-1-1, the cylinder 4-1-2 is processed with a first slit 7 along the thickness direction of its cylinder wall, the first slit 7 is connected to the first through-port 4-6-1, the cylinder 4-1-2 is processed with a second slit 8 along the thickness direction of its cylinder wall, the second slit 8 is connected to the second through-port 4-6-2.

[0028] Furthermore, the cylinder 4-1-2 is processed with a first gap 7 and a second gap 8 along its wall thickness, respectively, to ensure that the cable 4-5 is connected to the underwater robot body 1 and the towed snorkeling block 3, so that the cable 4-5 can be used to transmit information and control the underwater robot body 1 to work underwater to achieve remote deep-sea detection. At the same time, the upper cover 4-1 and the lower shell 4-2 can store the cable 4-5 in the wire receiving cavity 5, realizing free retraction and deep-level independent wireless communication functions.

[0029] Specific implementation method six: This implementation method is a further limitation of specific implementation methods one, two, three, four or five. An annular wire receiving groove 9 matching with the cable 4-5 is processed on the outer wall of the wire receiving sleeve 4-6.

[0030] Furthermore, the cable 4-5 is driven by the second torsion spring 4-4 ​​to be wound around the wire receiving sleeve 4-6. At the same time, an annular wire receiving groove 9 is processed on the outer wall of the wire receiving sleeve 4-6. The cable 4-5 is wound around the annular wire receiving groove 9 on the wire receiving sleeve 4-6, ensuring that the cable 4-5 can be freely retracted and released during winding, and at the same time, information is transmitted to the shore, realizing wireless communication function, which is convenient for underwater work.

[0031] Specific implementation method 7: This implementation method is a further limitation of specific implementation methods 1, 2, 3, 4, 5 or 6, and the shape of the floating shell 3-1 is a semi-cylinder.

[0032] Furthermore, the towing snorkeling block 3 ensures that the telescopic cable control 4 can maintain a stable state on the underwater robot body 1, and can also be freely retracted and extended, and emergency adjustment can be performed as needed, and the movement posture is more convenient without considering the interference of the upper computer's towing operation.

[0033] Specific implementation method eight: Combination Figures 1 to 16The present embodiment is described. The self-floating split-body line-retracting and releasing method of the present embodiment includes a fixed-point static detection process: after determining the underwater detection depth of the underwater robot body 1 according to the detection requirements, the underwater robot body 1 is started to dive to the predetermined underwater detection depth, and the traction snorkeling block 3 is opened and released according to the underwater detection depth. The floating shell 3-1 drives the multiple traction ropes 3-2 to extend through the floating movement, and the traction ropes 3-2 are pulled out of the line storage and receiving part 2, and the first torsion spring 24-2 is stretched, and the telescopic cable control 4 is synchronously extended with the floating movement of the floating shell 3-1 until the floating shell 3-1 floats up. After reaching the water surface, the traction rope 3-2 and the telescopic cable control 4 stop stretching synchronously, and the telescopic cable control 4 starts the use state of transmitting information; after the information of the underwater robot body 1 is transmitted to the upper computer on the shore through the telescopic cable control 4, the line storage and storage component 2 is started to wind the traction rope 3-2 around the line storage and storage component 2 under the rebound of the first torsion spring 24-2, and the traction rope 3-2 is in a state of length contraction. The telescopic cable control 4 synchronously winds the cable 4-5 around the line storage sleeve 4-6 under the rebound of the second torsion spring 4-4, and the floating shell 3-1 is pulled back into the water until it is close to the top surface of the line storage and storage component 2.

[0034] Furthermore, after the underwater robot body 1 dives to a certain depth, the traction rope 3-2 is stretched through the floating shell 3-1, and the cable 4-5 in the telescopic cable control 4 is extended. The staff on the shore remotely controls the underwater underwater robot body 1 through the remote communication function and performs underwater environment inspection and other tasks. After the inspection is completed, the traction rope 3-2 is retracted through the line storage and receiving part 2, and the traction rope 3-2 drives the floating shell 3-1 to approach the line storage and receiving part 2, and the cable 4-5 in the telescopic cable control 4 is retracted.

[0035] Specific implementation method nine: Combination Figures 1 to 16The present embodiment is described. The self-floating split line-retracting and releasing method of the present embodiment includes a dynamic detection process: after the underwater robot body 1 is started to dive to a predetermined underwater detection depth, the traction-type snorkeling block 3 is opened and released according to the underwater detection depth corresponding to the initial position of the underwater robot body 1, and the floating shell 3-1 drives the multiple traction ropes 3-2 to extend through the upward movement, the traction ropes 3-2 are pulled out of the line storage and receiving part 2, the first torsion spring 24-2 is stretched, and the telescopic cable control 4 is synchronously extended with the upward movement of the floating shell 3-1 until the floating shell 3-1 floats up. After reaching the water surface, the towing rope 3-2 and the telescopic cable control 4 stop stretching synchronously; when the underwater robot body 1 is in translational motion underwater, the floating shell 3-1 is always on the water surface with the cooperation of the line storage and storage component 2, thereby ensuring that the telescopic cable control 4 is in a state of continuous information transmission; when the underwater robot body 1 is in an ascending or descending motion underwater, the towing rope 3-2 performs corresponding movements of length contraction or length release between the floating shell 3-1 and the line storage and storage component 2, thereby ensuring that the floating shell 3-1 is always on the water surface and the telescopic cable control 4 is in a state of continuous information transmission.

[0036] Furthermore, when the underwater robot body 1 is diving, it is necessary to dive the underwater robot body 1 to a certain depth, then start and release the traction type snorkeling block 3 on the underwater robot body 1, and pull the traction rope 3-2 out of the line storage and receiving part 2, so as to ensure that the telescopic cable control 4 can release the communication function; when underwater, the underwater robot body 1 moves horizontally, and the traction type snorkeling block 3 is on the water surface driven by the line storage and receiving part 2, so as to ensure that the staff can connect to the underwater robot body 1 through wireless communication and perform remote control, thereby further improving the independence and flexibility of underwater detection.

[0037] The working process of the present invention is as follows: after the self-floating split underwater robot dives to a certain depth underwater, and the traction snorkeling block 3 on the underwater robot body 1 is started, the floating shell 3-1 on the traction snorkeling block 3 drives multiple traction ropes 3-2 to release their length in the line storage and receiving part 2, so that the telescopic cable control 4 is in an extended information transmission state, and the terminal on the shore remotely controls the underwater robot body 1 through the transmitted signal and can perform underwater monitoring. After completion, the line storage and receiving part 2 winds and contracts the traction rope 3-2, and the traction rope 3-2 drives the floating shell 3-1 to move closer to the line storage and receiving part 2, and the telescopic cable control 4 is in a contracted standby state.

Claims

1. A self-floating split underwater robot, characterized in that: The invention comprises an underwater robot body (1), a line storage and receiving component (2), a towing snorkeling block (3) and a telescopic cable control (4), wherein the top of the underwater robot body (1) is provided with a line storage and receiving component (2), the towing snorkeling block (3) is provided above the underwater robot body (1), the telescopic cable control (4) is provided between the line storage and receiving component (2) and the towing snorkeling block (3), and the two ends of the telescopic cable control (4) are respectively connected to the underwater robot body (1) and the towing snorkeling block (3); The towing snorkeling block (3) comprises a floating shell (3-1) and a plurality of towing ropes (3-2). The plurality of towing ropes (3-2) are evenly distributed on the outer wall of the floating shell (3-1). One end of each towing rope (3-2) is detachably connected to the outer wall of the floating shell (3-1), and the other end of each towing rope (3-2) is connected to a line storage and receiving component (2). Each towing rope (3-2) performs a reciprocating motion of length contraction or length release between the floating shell (3-1) and the line storage and receiving component (2). When the towing rope (3-2) is in a length contraction state between the floating shell (3-1) and the line storage and receiving component (2), the telescopic cable control (4) is in a retracted standby state. When each towing rope (3-2) is in a length release state under the control of the line storage and receiving component (2), the telescopic cable control (4) is in an extended information transmission state.

2. A self-floating split underwater robot according to claim 1, characterized in that: The wire storage and receiving member (2) comprises a buckle cover (21), a gear set (22), a lower seat (23), a plurality of wire winding units (24) and a plurality of central shafts (25); the lower seat (23) is a box body with an open top; the buckle cover (21) is detachably connected to the open portion of the lower seat (23); a plurality of central shafts (25) are arranged in the lower seat (23); the central shafts (25) are arranged one by one with the wire winding units (24); each wire winding unit (24) is mounted on On the corresponding central axis (25), a gear set (22) is arranged above a plurality of winding units (24); each winding unit (24) performs self-rotation under the drive of the gear set (22); the winding units (24) and the traction ropes (3-2) are arranged in one-to-one correspondence; one end of each traction rope (3-2) is fixedly connected to its corresponding winding unit (24); and the other end of each traction rope (3-2) passes through the lower seat body (23) and is fixedly connected to the floating shell (3-1).

3. A self-floating split underwater robot according to claim 2, characterized in that: The winding unit (24) comprises a winding sleeve (24-1) and a first torsion spring (24-2); the winding sleeve (24-1) is sleeved on a corresponding central shaft (25); the first torsion spring (24-2) is arranged in the winding sleeve (24-1); one end of the first torsion spring (24-2) is connected to the central shaft (25); the other end of the first torsion spring (24-2) is connected to the end of a corresponding traction rope (3-2); and an annular winding groove (24-3) matching the traction rope (3-2) is processed on the outer wall of the winding sleeve (24-1).

4. The self-floating split underwater robot according to claim 1, characterized in that: The telescopic cable control (4) comprises an upper cover (4-1), a lower shell (4-2), a positioning shaft (4-3), a second torsion spring (4-4), a cable (4-5) and a wire receiving sleeve (4-6); the upper cover (4-1) and the lower shell (4-2) are detachably connected; when the upper cover (4-1) and the lower shell (4-2) are connected, a wire receiving cavity (5) is formed between the upper cover (4-1) and the lower shell (4-2); the positioning shaft (4-3) is arranged in the wire receiving cavity (5); the lower end of the positioning shaft (4-3) is hinged to the top surface of the lower shell (4-2); the wire receiving sleeve (4-6) is sleeved on the positioning shaft (4-3); the second torsion spring (4-4) is arranged in the wire receiving sleeve (4-6); one end of the second torsion spring (4-4) is fixedly connected to the positioning shaft (4-3); the outer wall of the second torsion spring (4-4) is hinged to the top surface of the lower shell (4-2); A winding gap (6) matching the cable (4-5) is formed between the inner walls of the wire-receiving sleeve (4-6), and a first through-hole (4-6-1) and a second through-hole (4-6-2) connected to the winding gap (6) are respectively processed on the wire-receiving sleeve (4-6). The middle part of the cable (4-5) is fixedly connected to the outer wall of the other end of the second torsion spring (4-4). One end of the cable (4-5) passes through the first through-hole (4-6-1) and is connected to the underwater robot body (1). The other end of the cable (4-5) passes through the second through-hole (4-6-2) and is connected to the traction-type snorkeling block (3). The cable (4-5) performs an extension movement under the drive of the traction-type snorkeling block (3), and the cable (4-5) performs a retraction and winding movement under the drive of the torsion movement of the second torsion spring (4-4).

5. A self-floating split underwater robot according to claim 4, characterized in that: The upper cover (4-1) is a circular cover body, and the lower shell (4-2) is a circular plate body. The upper cover (4-1) comprises an upper circular plate (4-1-1) and a cylinder (4-1-2). The cylinder (4-1-2) is coaxially connected to the bottom surface of the upper circular plate (4-1-1). The cylinder (4-1-2) is machined with a first slit (7) along the thickness direction of its cylinder wall, and the first slit (7) is connected to the first through-hole (4-6-1). The cylinder (4-1-2) is machined with a second slit (8) along the thickness direction of its cylinder wall, and the second slit (8) is connected to the second through-hole (4-6-2).

6. A self-floating split underwater robot according to claim 4 or 5, characterized in that: An annular wire receiving groove (9) matching with the cable (4-5) is processed on the outer wall of the wire receiving sleeve (4-6).

7. The self-floating split underwater robot according to claim 1, characterized in that: The floating shell (3-1) is in the shape of a semi-cylinder.

8. A self-floating split-body line-retracting and -releasing method, implemented by using a self-floating split-body underwater robot according to any one of claims 1 to 7, characterized in that: The self-floating split-body line-retracting and -releasing method comprises a fixed-point static detection process: after determining the underwater detection depth of an underwater robot body (1) according to detection requirements, the underwater robot body (1) is started to dive to a predetermined underwater detection depth, and then the traction snorkeling block (3) is opened and released according to the underwater detection depth, and the floating shell (3-1) drives a plurality of traction ropes (3-2) to extend through an upward movement, the traction ropes (3-2) are pulled out of the line storage and receiving member (2), the first torsion spring (24-2) is stretched, and the telescopic cable control (4) is synchronously extended with the upward movement of the floating shell (3-1), until the traction ropes (3-2) are extended after the floating shell (3-1) floats to the water surface. ) and the telescopic cable control (4) stop stretching synchronously, and the telescopic cable control (4) starts the use state of transmitting information; after the information of the underwater robot body (1) is transmitted to the upper computer on the shore through the telescopic cable control (4), the line storage and storage component (2) is started to wind the traction rope (3-2) into the line storage and storage component (2) under the rebound of the first torsion spring (24-2), and the traction rope (3-2) is in a length-retracted state. The telescopic cable control (4) synchronously winds the cable (4-5) around the line storage sleeve (4-6) under the rebound of the second torsion spring (4-4), and the floating shell (3-1) is pulled back into the water until it is attached to the top surface of the line storage and storage component (2).

9. A self-floating split line retracting and releasing method, implemented by using a self-floating split underwater robot according to any one of claims 1 to 7, characterized in that: The self-floating split-body line-retracting and -releasing method comprises a dynamic detection process: after the underwater robot body (1) is started to dive to a predetermined underwater detection depth, the traction-type snorkeling block (3) is opened and released according to the underwater detection depth corresponding to the initial position of the underwater robot body (1) when it dives, the floating shell (3-1) drives a plurality of traction ropes (3-2) to extend through an upward movement, the traction ropes (3-2) are pulled out of the line storage and receiving part (2), the first torsion spring (24-2) is stretched, and the telescopic cable control (4) is synchronously extended with the upward movement of the floating shell (3-1), until the traction ropes (3-1) float to the surface of the water. (3-2) and the telescopic cable control (4) stop stretching synchronously; when the underwater robot body (1) is in translational motion underwater, the floating shell (3-1) is always on the water surface with the cooperation of the line storage and receiving part (2), thereby ensuring that the telescopic cable control (4) is in a state of continuous information transmission; when the underwater robot body (1) is in an upward or downward motion underwater, the traction rope (3-2) performs a corresponding movement of length contraction or length release between the floating shell (3-1) and the line storage and receiving part (2), thereby ensuring that the floating shell (3-1) is always on the water surface and the telescopic cable control (4) is in a state of continuous information transmission.

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