Self-floating split underwater robot and self-floating split wire winding and unwinding method

Abstract

A self-floating split underwater robot and a self-floating split wire collecting and releasing method; at present, the underwater information collection process of the underwater robot is limited by the excessive length of the corresponding communication cable, and it is difficult to uniformly regulate and control the cable due to the excessive length; the top end of the underwater robot body is provided with a wire storage receiving part, a traction type diving block is arranged on the underwater robot body, and a telescopic cable control is arranged between the wire storage receiving part and the traction type diving block; a plurality of traction ropes are arranged on the floating shell, and each traction rope is subjected to reciprocal movement of length contraction or length release between the floating shell and the wire storage receiving part; the self-floating split wire collecting and releasing method comprises a fixed point static detection process and a dynamic detection process: after the underwater detection depth of the underwater robot body is determined according to the detection requirement, the underwater robot body is started to dive to the predetermined underwater detection depth, the traction type diving block is opened and released according to the underwater detection depth, and the telescopic cable control is opened to use the transmission information state.

Description

TECHNICAL FIELD

[0001] The present application relates to a self-floating split underwater robot and a self-floating split wire-releasing method, and belongs to the technical field of underwater robots. BACKGROUND

[0002] An underwater robot is an engineering robot used to perform various tasks in underwater environments. They can be used in fields such as ocean research, ocean resource development, underwater archaeology, underwater rescue, etc. The propulsion system of an underwater robot is an important part of its movement in underwater environments. The propulsion system of an underwater robot can be divided into various types according to its principle and structure, including propeller propulsion, horizontal thruster propulsion, turbine propulsion, underwater glider, etc. Propeller propulsion is the most widely used propulsion method at present, which generates thrust by rotating a propeller to drive the underwater robot forward. Horizontal thruster propulsion uses horizontal thrusters to achieve the movement of the robot. Turbine propulsion uses the kinetic energy of water flow for propulsion, which is a high-efficiency and energy-saving propulsion method. Underwater glider is a way to achieve propulsion by underwater gliding, which has high energy efficiency. Many factors need to be considered when designing and implementing the propulsion system of an underwater robot, such as propulsion efficiency, stability, noise, energy consumption, etc. In terms of propulsion efficiency, propeller propulsion systems are widely used due to their simplicity and stability, but in large underwater robots and deep-sea operations, there is a trend towards using turbine propulsion and underwater glider propulsion systems. Stability is an important indicator of the stability and maneuverability of underwater robots, which 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, so in the design, the balance between propulsion efficiency and noise and energy consumption needs to be considered to meet the actual application requirements. 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 also faces many new challenges and opportunities. With the gradual development of deep-sea resource exploration and development, there is an increasing demand for high-power and high-efficiency underwater robot propulsion systems; the demand for underwater robot manipulation and operation on the seabed is also increasing, which puts higher requirements on the stability and accuracy of its propulsion system. The research on noise control, energy supply, intelligent control, etc. of underwater robot propulsion systems is also the future development direction. With the continuous development of underwater detection, monitoring and operation technology, higher requirements are put forward for the remote control capability and cable management of underwater robots. Traditional underwater robot communication methods usually rely on direct connection cables, which not only limit the range of the robot, but also increase the complexity of communication and the difficulty of cable maintenance. SUMMARY

[0003] The self-floating split underwater robot is used for solving the above problems.

[0004] The self-floating split underwater robot comprises an underwater robot body, a line storage receiving part, a traction type snorkeling block and a telescopic cable control, the top end of the underwater robot body is provided with the line storage receiving part, the traction type snorkeling block is arranged above the underwater robot body, and the telescopic cable control is arranged between the line storage receiving part and the traction type snorkeling block, and the two ends of the telescopic cable control are connected with the underwater robot body and the traction type snorkeling block respectively.

[0005] The traction type snorkeling block comprises a floating shell and a plurality of traction ropes, the outer wall of the floating shell is uniformly provided with the plurality of traction ropes, one end of each traction rope is detachably connected with the outer wall of the floating shell, the other end of each traction rope is connected with the line storage receiving part, and each traction rope is subjected to reciprocating motion of length contraction or length release between the floating shell and the line storage receiving part; when the traction rope is in the length contraction state between the floating shell and the line storage receiving part, the telescopic cable control is in the retracted standby state; when each traction rope is in the length release state under the control of the line storage receiving part, the telescopic cable control is in the elongated information transmission state.

[0006] As a preferred scheme, the line storage receiving part comprises a gear set, a lower seat body, a plurality of winding single bodies and a plurality of central shafts, the lower seat body is a box body with an open top end, a buckle cover is detachably connected at the opening of the lower seat body, a plurality of central shafts are arranged in the lower seat body, the central shafts are one-to-one correspondingly arranged with the winding single bodies, each winding single body is sleeved on the corresponding central shaft, the gear set is arranged above the plurality of winding single bodies, each winding single body is subjected to self-rotation motion under the driving of the gear set, the winding single bodies and the traction ropes are one-to-one correspondingly arranged, one end of each traction rope is fixedly connected with the corresponding winding single body, and the other end of each traction rope is fixedly connected with the floating shell through the lower seat body.

[0007] As a preferred scheme, the winding single body comprises a winding sleeve and a first torsional spring, the winding sleeve is sleeved on the corresponding central shaft, the first torsional spring is arranged in the winding sleeve, one end of the first torsional spring is connected with the central shaft, the other end of the first torsional spring is connected with the end of the corresponding traction rope, and the outer wall of the winding sleeve is processed with an annular winding groove matched with the traction rope.

[0008] As a preferred solution: the telescopic cable control device comprises an upper cover, a lower shell, a positioning shaft, a second torsion spring, a cable and a cable sleeve, the upper cover is detachably connected with the lower shell, a cable cavity is formed between the upper cover and the lower shell when the upper cover is connected with the lower shell, the positioning shaft is arranged in the cable cavity, the lower end of the positioning shaft is hingedly connected with the top surface of the lower shell, the cable sleeve is sleeved on the positioning shaft, the second torsion spring is arranged in the cable sleeve, one end of the second torsion spring is fixedly connected with the positioning shaft, a winding gap for the cable is formed between the outer wall of the second torsion spring and the inner wall of the cable sleeve, the cable sleeve is respectively provided with a first through hole and a second through hole which are in communication with 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 hole and is connected with the underwater robot body, the other end of the cable passes through the second through hole and is connected with the towing diving block, the cable is elongated under the driving of the towing diving block, and the cable is retracted and wound under the driving of the torsional movement of the second torsion spring.

[0009] As a preferred solution: the upper cover is a circular cover body, the lower shell is a circular plate body, the upper cover comprises an upper circular plate and a cylinder, the cylinder is coaxially connected to the bottom surface of the upper circular plate, the cylinder is provided with a first gap in the thickness direction of the cylinder wall, the first gap is in communication with the first through hole, and the cylinder is provided with a second gap in the thickness direction of the cylinder wall, and the second gap is in communication with the second through hole.

[0010] As a preferred solution: an annular cable sleeve groove matched with the cable is formed in the outer wall of the cable sleeve.

[0011] As a preferred solution: the shape of the floating shell is a semicylindrical body.

[0012] A self-floating split wire winding and unwinding method is realized by using the self-floating split underwater robot, and the self-floating split wire winding and unwinding method comprises a fixed-point static detection process: after the underwater detection depth of the underwater robot body is determined according to detection requirements, the underwater robot body is started to dive to the predetermined underwater detection depth, the towing diving block is started and released according to the underwater detection depth, the floating shell drives the elongation of the plurality of traction ropes through the upward movement, the traction ropes are pulled out of the wire storage and collection member, the first torsion spring is stretched, the telescopic cable control device is synchronously elongated with the upward movement of the floating shell, until the traction ropes and the telescopic cable control device are synchronously stopped stretching after the floating shell is floated to the water surface, and the use state of the transmission information of the telescopic cable control device is started; after the information of the underwater robot body is transmitted to the host computer on the shore through the telescopic cable control device, the wire storage and collection member is started to wind the traction ropes in the wire storage and collection member under the rebound of the first torsion spring, the traction ropes are in a length contraction state, the telescopic cable control device is synchronously wound with the rebound of the second torsion spring, the floating shell is pulled back underwater until it is attached to the top surface of the wire storage and collection member.

[0013] The self-floating split wire winding and unwinding method is realized by the self-floating split underwater robot, and the self-floating split wire winding and unwinding method comprises a dynamic detection process: after the underwater robot body is started to dive to a predetermined underwater detection depth, the traction type floating block is started and released according to the underwater detection depth corresponding to the initial position of the underwater robot body, the floating shell drives the elongation movement of the plurality of traction ropes through the upward movement, the traction ropes are pulled out from the wire storage receiving part, the first torsional spring is stretched, the telescopic cable control is synchronously elongated with the upward movement of the floating shell, and the traction ropes and the telescopic cable control are synchronously stopped stretching until the floating shell floats to the water surface; when the underwater robot body is in the translational movement underwater, the floating shell is ensured to be always at the water surface under the cooperation of the wire storage receiving part, so that the telescopic cable control is ensured to be in the continuous information transmission state; when the underwater robot body is in the upward or downward movement underwater, the traction ropes are in the corresponding movement of length contraction or length release between the floating shell and the wire storage receiving part, so that the floating shell is always ensured to be at the water surface to make the telescopic cable control be in the continuous information transmission state.

[0014] Compared with the prior art, the self-floating split wire winding and unwinding method has the beneficial effects that:

[0015] The underwater robot body, the wire storage receiving part, the traction type floating block and the telescopic cable control are cooperated to realize the wireless underwater deep sea detection, the traction type floating block drives the telescopic cable control through the wire storage receiving part to realize the functions of synchronous winding and unwinding of the cable and remote communication, the split structure configuration of deep water detection and data transmission can realize the independent detection feedback mode of single body irrelevant, the communication is not required to be directly connected from the shore to the underwater robot through the cable, the other areas cannot be detected due to the limitation of the length of the cable is avoided, the autonomous detection use performance of the underwater robot can be further improved, the wide-angle detection process of deep diving and long distance is more beneficial, the upper computer is avoided, and the method can be adapted to various extreme or severe emergency detection environments. BRIEF DESCRIPTION OF DRAWINGS

[0016] For easy description, the application is described in detail by the following specific embodiments and drawings.

[0017] Figure 1 It is a first three-dimensional structure schematic diagram of the application;

[0018] Figure 2 It is a second three-dimensional structure schematic diagram of the application;

[0019] Figure 3 It is a third three-dimensional structure schematic diagram of the application;

[0020] Figure 4 It is a three-dimensional structure schematic diagram of the wire storage receiving part;

[0021] Figure 5The schematic view of the three-dimensional structure of other small components constituting the line storage receiving part;

[0022] Figure 6 The schematic view of the three-dimensional structure of the traction type diving block;

[0023] Figure 7 The schematic view of the three-dimensional structure of other small components constituting the traction type diving block;

[0024] Figure 8 The schematic view of the three-dimensional structure of the telescopic cable control;

[0025] Figure 9 The schematic view of the three-dimensional structure of other small components constituting the telescopic cable control;

[0026] Figure 10 The schematic view of the three-dimensional structure of the connection relationship between the gear set, the lower seat body, the winding sleeve, the first torsional spring, the annular winding groove and the central shaft;

[0027] Figure 11 The schematic view of the front structure of the present application;

[0028] Figure 12 The schematic view of the three-dimensional structure of the connection relationship between the upper circular plate and the cylinder;

[0029] Figure 13 The schematic view of the three-dimensional structure of the connection relationship between the second torsional spring, the cable and the wire receiving sleeve;

[0030] Figure 14 The schematic view of the three-dimensional structure of the connection relationship between the upper cover, the lower shell and the cable;

[0031] Figure 15 The schematic view of the three-dimensional structure of the connection relationship between the upper cover, the second torsional spring and the cable;

[0032] Figure 16 The schematic view of the three-dimensional structure of the connection relationship between the second torsional spring, the cable, the wire receiving sleeve from the top.

[0033] In the figure: 1-the underwater robot body; 2-the line storage receiving part; 21-the buckle cover; 22-the gear set; 23-the lower seat body; 24-the winding monomer; 24-1-the winding sleeve; 24-2-the first torsional spring; 24-3-the annular winding groove; 25-the central shaft; 3-the traction type diving block; 3-1-the floating shell; 3-2-the traction rope; 4-the telescopic cable control; 4-1-the upper cover; 4-1-1-the upper circular plate; 4-1-2-the cylinder; 4-2-the lower shell; 4-3-the positioning shaft; 4-4-the second torsional spring; 4-5-the cable; 4-6-the wire receiving sleeve; 4-6-1-the first through port; 4-6-2-the second through port; 5-the wire receiving cavity; 6-the winding gap; 7-the first gap; 8-the second gap; 9-the annular wire receiving groove. DETAILED DESCRIPTION

[0034] To make the objectives, technical solutions and advantages of the present application clearer, the present application will be described below in connection with specific embodiments shown in the drawings. However, it should be understood that these descriptions are only exemplary and are not intended to limit the scope of the present application. The structures, proportions, sizes, etc. shown in the drawings attached to the present specification are only used to illustrate the content disclosed in the present specification for the understanding and reading of those skilled in the art, and are not intended to limit the defined conditions under which the present application can be implemented, and therefore do not have technical substantive significance. Any modification of the structure, change of the proportional relationship or adjustment of the size, which does not affect the effects that can be produced by the present application and the purposes that can be achieved, should still fall within the scope of the technical content disclosed by the present application. In addition, in the following description, the description of well-known structures and technologies is omitted to avoid unnecessary confusion of the concept of the present application.

[0035] It should also be noted here that, in order to avoid obscuring the present application due to unnecessary details, only structures and / or processing steps closely related to the solutions according to the present application are shown in the drawings, and other details that are not closely related to the present application are omitted.

[0036] Specific embodiment one: combination Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 、 Figure 6 、 Figure 7 、 Figure 8 、 Figure 9 、 Figure 10 、 Figure 11 、 Figure 12 、 Figure 13 、 Figure 14 、 Figure 15 and Figure 16 This embodiment includes an underwater robot body 1, a line storage receiving member 2, a traction type snorkeling block 3, and a telescopic cable control 4. The top end of the underwater robot body 1 is provided with a line storage receiving member 2, the traction type snorkeling block 3 is arranged above the underwater robot body 1, the telescopic cable control 4 is arranged between the line storage receiving member 2 and the traction type snorkeling block 3, and the two ends of the telescopic cable control 4 are respectively connected with the underwater robot body 1 and the traction type snorkeling block 3.

[0037] The traction type floating block 3 comprises a floating shell 3-1 and a plurality of traction ropes 3-2, the outer wall of the floating shell 3-1 is uniformly distributed with the plurality of traction ropes 3-2, one end of each traction rope 3-2 is detachably connected with the outer wall of the floating shell 3-1, the other end of each traction rope 3-2 is connected with the line storage member 2, and each traction rope 3-2 reciprocally moves in length contraction or length release between the floating shell 3-1 and the line storage member 2; when the traction rope 3-2 is in the length contraction state between the floating shell 3-1 and the line storage member 2, the telescopic cable control 4 is in the retracted standby state; when each traction rope 3-2 is in the length release state under the control of the line storage member 2, the telescopic cable control 4 is in the elongated information transmission state.

[0038] Further, the underwater robot body 1 is respectively provided with the line storage member 2 and the traction type floating block 3, the telescopic cable control 4 is arranged between the line storage member 2 and the traction type floating block 3, one end of the telescopic cable control 4 is arranged in the traction type floating block 3, and the other end of the telescopic cable control 4 is connected with the underwater robot body 1, wherein the floating shell 3-1 on the traction type floating block 3 is connected with the line storage member 2 through the plurality of traction ropes 3-2, when the traction rope 3-2 is in the length release state with the line storage member 2, the telescopic cable control 4 can be elongated to transmit information and perform remote communication function, and at the same time, the staff can control the underwater robot body 1 to perform underwater operation, thereby ensuring the efficiency of the underwater activity of the underwater robot body 1, avoiding being limited in a certain area during use, and realizing the depth of underwater activity and the flexibility of autonomous operation.

[0039] Specific implementation method two: the implementation method is a further limitation of the specific implementation method one, the line storage member 2 comprises a buckle cover 21, a gear set 22, a lower seat body 23, a plurality of winding bodies 24 and a plurality of center shafts 25, the lower seat body 23 is a box body with an open top end, the buckle cover 21 is detachably connected at the opening of the lower seat body 23, a plurality of center shafts 25 are arranged in the lower seat body 23, the center shaft 25 is correspondingly arranged with the winding body 24, each winding body 24 is sleeved on the corresponding center shaft 25, the gear set 22 is arranged above the plurality of winding bodies 24, each winding body 24 rotates under the driving of the gear set 22, the winding body 24 and the traction rope 3-2 are correspondingly arranged, one end of each traction rope 3-2 is fixedly connected with the corresponding winding body 24, and the other end of each traction rope 3-2 passes through the lower seat body 23 and is fixedly connected with the floating shell 3-1.

[0040] Further, a plurality of central shafts 25 are arranged in the lower seat body 23, the winding body 24 and the gear set 22 are sequentially sleeved on the central shafts 25, the gear set 22 is arranged above the winding body 24, each winding body 24 rotates under the driving of the gear set 22, each winding body 24 is fixedly connected with one end of each traction rope 3-2, the other end of each traction rope 3-2 is connected with the floating shell 3-1, which ensures that the line storage device 2 controls the traction rope 3-2 to drive the floating shell 3-1 to approach or move away from the line storage device 2, and the floating shell 3-1 drives the telescopic cable control 4 to extend or contract, which ensures 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.

[0041] Specific embodiment three: the winding body 24 includes a winding sleeve 24-1 and a first torsional spring 24-2, the winding sleeve 24-1 is sleeved on the corresponding central shaft 25, and the first torsional spring 24-2 is arranged in the winding sleeve 24-1, one end of the first torsional spring 24-2 is connected with the central shaft 25, and the other end of the first torsional spring 24-2 is connected with the end of the corresponding traction rope 3-2, and the outer wall of the winding sleeve 24-1 is processed with an annular winding groove 24-3 matched with the traction rope 3-2.

[0042] Further, the winding sleeve 24-1 is sleeved on the central shaft 25, the first torsional spring 24-2 is arranged in the winding sleeve 24-1, one end of the first torsional spring 24-2 is connected with the central shaft 25, and the other end of the first torsional spring 24-2 is connected with the end of the traction rope 3-2, and 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 torsional spring 24-2 also rotates, thereby ensuring that the traction rope 3-2 is wound on the winding sleeve 24-1 through the annular winding groove 24-3, and can also be freely wound and unwound as needed.

[0043] Specific embodiment four: this embodiment is a further limitation of specific embodiment three, the telescopic cable control 4 includes an upper cover 4-1, a lower shell 4-2, a positioning shaft 4-3, a second torsional spring 4-4, a cable 4-5 and a wire sleeve 4-6, the upper cover 4-1 is detachably connected with the lower shell 4-2, when the upper cover 4-1 is connected with the lower shell 4-2, a wire 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 cavity 5, the lower end of the positioning shaft 4-3 is hingedly connected with the top surface of the lower shell 4-2, the wire sleeve 4-6 is sleeved on the positioning shaft 4-3, the second torsional spring 4-4 is arranged in the wire sleeve 4-6, one end of the second torsional spring 4-4 is fixedly connected with the positioning shaft 4-3, a winding gap 6 for the cable 4-5 is formed between the outer wall of the second torsional spring 4-4 and the inner wall of the wire sleeve 4-6, the wire sleeve 4-6 is respectively processed with a first through hole 4-6-1 and a second through hole 4-6-2 which are in communication with the winding gap 6, the middle part of the cable 4-5 is fixedly connected with the outer wall of the other end of the second torsional spring 4-4, one end of the cable 4-5 passes through the first through hole 4-6-1 and is connected with 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 with the traction diving block 3, the cable 4-5 makes extension movement under the traction of the traction diving block 3, the cable 4-5 makes retraction and winding movement under the torsional movement of the second torsional spring 4-4.

[0044] Further, one end of the cable 4-5 passes through the first through hole 4-6-1 and is connected with 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 with the traction diving block 3, the cable 4-5 realizes the state of extension or release under the torsion of the second torsional spring 4-4, at the same time, when the traction rope 3-2 drives the floating shell 3-1 to be in the state of folding, the second torsional spring 4-4 drives the cable 4-5 to be in the state of retraction and winding, when the traction rope 3-2 drives the floating shell 3-1 to be in the state of release, the second torsional spring 4-4 drives the cable 4-5 to be in the state of extension and information transmission, thereby ensuring that the underwater robot body 1 can realize underwater operation or deep sea detection through wireless communication function when moving underwater, avoiding that the underwater robot is limited in the moving area due to the cable 4-5 being too long.

[0045] Specific embodiment five: this embodiment is a further limitation of specific embodiment 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 bottom surface of the upper circular plate 4-1-1 is coaxially connected with the cylinder 4-1-2, the cylinder 4-1-2 is processed with a first gap 7 along the thickness direction of the cylinder wall, the first gap 7 is arranged in communication with the first through hole 4-6-1, the cylinder 4-1-2 is processed with a second gap 8 along the thickness direction of the cylinder wall, the second gap 8 is arranged in communication with the second through hole 4-6-2.

[0046] Further, the cylinder 4-1-2 is machined with a first gap 7 and a second gap 8 along the wall thickness, respectively, to ensure that the cable 4-5 is connected to the underwater robot body 1 and the traction diving block 3, so that information can be transmitted by the cable 4-5, and the underwater robot body 1 can be controlled to work underwater, realizing 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 storage cavity 5, realizing free storage and release and deep independent autonomous wireless communication function.

[0047] Specific implementation method six: this implementation method is a further limitation of specific implementation methods one, two, three, four or five, and the outer wall of the wire storage sleeve 4-6 is machined with an annular wire storage groove 9 matched with the cable 4-5.

[0048] Further, the cable 4-5 is wound on the wire storage sleeve 4-6 by the second torsional spring 4-4, and the outer wall of the wire storage sleeve 4-6 is machined with an annular wire storage groove 9. The cable 4-5 is wound on the annular wire storage groove 9 of the wire storage sleeve 4-6, ensuring that the cable 4-5 can be freely stored and released during winding, while transmitting information to the shore, realizing wireless communication function, and facilitating underwater work.

[0049] Specific implementation method seven: this implementation method is a further limitation of specific implementation methods one, two, three, four, five or six, and the shape of the floating shell 3-1 is a semi-cylindrical body.

[0050] Further, the traction diving 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 stored and released, responding to emergency control as needed, and the movement posture is more convenient, without considering the interference of the traction operation of the upper computer.

[0051] Specific implementation method eight: in combination with Figures 1 to 16According to the present embodiment, the floating body split-line releasing method comprises a fixed-point static detection process: after the underwater robot body 1 is set to a predetermined underwater detection depth according to detection requirements, the underwater robot body 1 is started to dive to the predetermined underwater detection depth, the traction floating 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 perform elongation movement by floating movement, the traction ropes 3-2 are pulled out from the line storage device 2, the first torsional spring 24-2 is stretched, the telescopic cable control 4 is synchronized to elongate with the floating movement of the floating shell 3-1, until the traction ropes 3-2 and the telescopic cable control 4 are synchronized to stop stretching after the floating shell 3-1 floats to the water surface, the telescopic cable control 4 opens the transmission information use state; 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 device 2 is started to wind the traction ropes 3-2 in the line storage device 2 under the rebound of the first torsional spring 24-2, the traction ropes 3-2 are in a length contraction state, the telescopic cable control 4 is synchronized to wind the cable 4-5 in the line storage sleeve 4-6 through the rebound of the second torsional spring 4-4, and the floating shell 3-1 is pulled back underwater until it is attached to the top surface of the line storage device 2.

[0052] Further, after the underwater robot body 1 dives to a certain depth, the traction ropes 3-2 are stretched through the floating shell 3-1, and the cable 4-5 in the telescopic cable control 4 is elongated, the staff on the shore remotely controls the underwater underwater robot body 1 through the remote communication function and detects the underwater environment.

[0053] Specific embodiment nine: combined Figures 1 to 16The embodiment is described, and the self-floating split body 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 floating block 3 is started and released according to the underwater detection depth corresponding to the initial position of the underwater robot body 1, the floating shell 3-1 drives the elongation movement of the plurality of traction ropes 3-2 through the upward movement, the traction ropes 3-2 are pulled out from the line storage part 2, the first torsional spring 24-2 is stretched, the telescopic cable control 4 is synchronously elongated with the upward movement of the floating shell 3-1, and the traction ropes 3-2 and the telescopic cable control 4 are synchronously stopped stretching after the floating shell 3-1 is floated to the water surface; when the underwater robot body 1 is in the underwater translation movement, the floating shell 3-1 is ensured to be always at the water surface under the cooperation of the line storage part 2, so that the telescopic cable control 4 is ensured to be in the continuous information transmission state; when the underwater robot body 1 is in the underwater upward or downward movement, the traction ropes 3-2 are correspondingly moved in the length contraction or length release between the floating shell 3-1 and the line storage part 2, so that the floating shell 3-1 is always ensured to be at the water surface to make the telescopic cable control 4 be in the continuous information transmission state.

[0054] Further, when the underwater robot body 1 is in the diving water, the traction type floating block 3 on the underwater robot body 1 needs to be started and released after the underwater robot body 1 is dived to a certain depth, and the traction ropes 3-2 are pulled out from the line storage part 2, so that the telescopic cable control 4 can release the communication function; when the underwater robot body 1 moves horizontally underwater, the traction type floating block 3 is driven by the line storage part 2 to be at the water surface, so that the staff can remotely control the underwater robot body 1 connected through wireless communication, and the independence and flexibility of underwater detection are further improved.

[0055] The working process of the application: after the self-floating split body underwater robot dives to a certain depth underwater, the traction type floating block 3 on the underwater robot body 1 is started, the floating shell 3-1 on the traction type floating block 3 drives the length release of the plurality of traction ropes 3-2 in the line storage part 2, so that the telescopic cable control 4 is in the elongation information transmission state, the terminal on the shore remotely controls the underwater robot body 1 through the transmitted signals, and can monitor underwater, after completion, the line storage part 2 winds and contracts the traction ropes 3-2, the traction ropes 3-2 drive the floating shell 3-1 to approach the line storage part 2, and the telescopic cable control 4 is in the contraction standby state.

Claims

1. A self-floated split underwater robot, characterized by: The utility model provides a kind of underwater robot, including underwater robot body (1), line storage receiving member (2), traction type snorkeling block (3) and telescopic cable control (4), the top of underwater robot body (1) is provided with line storage receiving member (2), traction type snorkeling block (3) is set above underwater robot body (1), telescopic cable control (4) is between line storage receiving member (2) and traction type snorkeling block (3), the both ends of telescopic cable control (4) are respectively connected with underwater robot body (1) and traction type snorkeling block (3); The traction type snorkeling block (3) includes a plurality of traction ropes (3-2) and a floating shell (3-1). The floating shell (3-1) is uniformly provided with a plurality of traction ropes (3-2) on its outer wall. One end of each traction rope (3-2) is detachably connected to the outer wall of the floating shell (3-1). The other end of each traction rope (3-2) is connected to the line storage receiving member (2). Each traction rope (3-2) reciprocally moves between the floating shell (3-1) and the line storage receiving member (2) to contract or release its length. When the traction rope (3-2) is in the contracted state between the floating shell (3-1) and the line storage receiving member (2), the telescopic cable control (4) is in the retracted standby state. When each traction rope (3-2) is in the released state under the control of the line storage receiving member (2), the telescopic cable control (4) is in the elongated information transmission state. The telescopic cable control (4) includes an upper cover (4-1), a lower shell (4-2), a positioning shaft (4-3), a second torsional spring (4-4), a cable (4-5), and a cable receiving sleeve (4-6). The upper cover (4-1) is detachably connected to the lower shell (4-2). When the upper cover (4-1) is connected to the lower shell (4-2), a cable 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 cable receiving cavity (5). The lower end of the positioning shaft (4-3) is hingedly connected to the top surface of the lower shell (4-2). The cable receiving sleeve (4-6) is sleeved on the positioning shaft (4-3). The second torsional spring (4-4) is arranged in the cable receiving sleeve (4-6). One end of the second torsional spring (4-4) is fixedly connected to the positioning shaft (4-3). The outer wall of the second torsional spring (4-4) and the inner wall of the cable receiving sleeve (4-6) form a winding gap (6) for the cable (4-5). The cable receiving sleeve (4-6) is respectively provided with a first through hole (4-6-1) and a second through hole (4-6-2) which are in communication with 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 torsional 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) is elongated under the traction of the traction type snorkeling block (3). The cable (4-5) is retracted and wound under the torsional movement of the second torsional spring (4-4).

2. A self-floated split underwater robot according to claim 1, characterized in that: The line storage device (2) comprises a cover (21), a gear set (22), a lower seat body (23), a plurality of winding units (24) and a plurality of central shafts (25), the lower seat body (23) is a box body with an open top, the cover (21) is detachably connected at the opening of the lower seat body (23), a plurality of central shafts (25) are arranged in the lower seat body (23), the central shafts (25) are arranged one by one corresponding to the winding units (24), each winding unit (24) is sleeved on the corresponding central shaft (25), the gear set (22) is arranged above the plurality of winding units (24), each winding unit (24) rotates under the drive of the gear set (22), the winding units (24) and the traction ropes (3-2) are arranged one by one, one end of each traction rope (3-2) is fixedly connected to the corresponding winding unit (24), and the other end of each traction rope (3-2) is fixedly connected to the floating shell (3-1) through the lower seat body (23).

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

4. The self-floated split underwater robot according to claim 1, characterized in that: 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) 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 processed with a first gap (7) along the thickness direction of the cylinder wall, the first gap (7) is arranged in communication with the first through hole (4-6-1), the cylinder (4-1-2) is processed with a second gap (8) along the thickness direction of the cylinder wall, and the second gap (8) is arranged in communication with the second through hole (4-6-2).

5. A self-floated split underwater robot according to claim 1 or 4, characterized in that: The outer wall of the cable sleeve (4-6) is processed with an annular cable receiving groove (9) matched with the cable (4-5).

6. The self-floated split underwater robot according to claim 1, wherein: The floating shell (3-1) is in the shape of a semi-cylindrical body.

7. A self-float type split-line releasing method, which is implemented by using the self-float type split underwater robot according to any one of claims 1 to 6, characterized in that: The self-floating split body line winding and unwinding method comprises a static detection process: after the underwater robot body (1) is determined to dive to a predetermined underwater detection depth according to detection requirements, the underwater robot body (1) is started to dive to the predetermined underwater detection depth, and then the traction type floating 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 perform elongation movement through the upward floating movement, the traction ropes (3-2) are pulled out from the line storage device (2), the first torsional spring (24-2) is stretched, the telescopic cable control (4) is synchronously elongated with the upward floating movement of the floating shell (3-1), and the traction ropes (3-2) and the telescopic cable control (4) are synchronously stopped from stretching after the floating shell (3-1) is floated to the water surface; the telescopic cable control (4) is opened to transmit the use state of 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 device (2) is started to wind the traction ropes (3-2) in the line storage device (2) under the rebound of the first torsional spring (24-2), the traction ropes (3-2) are in a length contraction state, the telescopic cable control (4) is synchronously wound in the cable (4-5) at the line storage sleeve (4-6) under the rebound of the second torsional spring (4-4), and the floating shell (3-1) is pulled back underwater until it is attached to the top surface of the line storage device (2).

8. A self-float type split-line releasing method, which is implemented by using the self-float type split underwater robot according to any one of claims 1 to 6, characterized in that: The self-floating split body line winding and unwinding 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 floating block (3) is opened and released according to the underwater detection depth corresponding to the initial position of the underwater robot body (1) diving; the floating shell (3-1) drives the multiple traction ropes (3-2) to perform elongation movement through the upward floating movement, the traction ropes (3-2) are pulled out from the line storage device (2), the first torsional spring (24-2) is stretched, the telescopic cable control (4) is synchronously elongated with the upward floating movement of the floating shell (3-1), and the traction ropes (3-2) and the telescopic cable control (4) are synchronously stopped from stretching after the floating shell (3-1) is floated to the water surface; when the underwater robot body (1) is in translational motion underwater, the floating shell (3-1) is ensured to be always at the water surface under the cooperation of the line storage device (2), so that the telescopic cable control (4) is in a continuous information transmission state; when the underwater robot body (1) is in upward or downward motion underwater, the traction ropes (3-2) perform corresponding movement of length contraction or length release between the floating shell (3-1) and the line storage device (2), so that the floating shell (3-1) is always at the water surface to make the telescopic cable control (4) in a continuous information transmission state.

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