Wired underwater robot positioning device and method

Abstract

The invention discloses a wired underwater robot positioning device and method, and belongs to the technical field of underwater robots. The two positioning mechanisms are arranged, each positioning mechanism comprises a buoy, a propeller, a light reflecting component and a take-up component, the buoy is embedded between the inner walls of the underwater robot body in a sliding mode, the positions of two sliding blocks are adjusted through a power component, so that a connecting wire and the buoy are loosened through a limiting block, and through cooperation of the take-up components, the underwater robot body is driven to move. The underwater robot body is conveniently positioned through the arrangement of a reflecting plate and a colored lamp band, a reciprocating lead screw is driven to rotate through a take-up motor, a moving block drives a cleaning cylinder to move, and the underwater robot body is cleaned through the cleaning cylinder; the cleaning cylinder rotates while moving on the reciprocating lead screw and the supporting rod, the surface of the cable is cleaned, and meanwhile the cable is evenly wound and stored on the take-up roller through the cable guide wheel.

Description

Technical Field

[0001] The invention belongs to the technical field of underwater robots, and in particular relates to a wired underwater robot positioning device and method. Background Art

[0002] Wired underwater robots, also known as cable remote controlled submersibles, have become an important tool for developing the ocean due to the harsh and dangerous underwater environment and the limited diving depth of humans. With the continuous development of electronics, computers, communications and other technologies, the performance of wired underwater robots has been continuously improved, and their operational capabilities have become stronger and stronger. At the same time, in order to overcome the limitation of cable length, researchers are exploring the use of wireless communication technology or optical fiber communication technology to achieve remote control and operation of ROVs. In short, as an important tool for underwater operations, wired underwater robots play an increasingly important role in the fields of ocean development, resource exploration, search and rescue, and salvage. With the continuous advancement of technology and the continuous expansion of application fields, the development prospects of wired underwater robots will be broader.

[0003] In actual use, some existing wired underwater robots cannot be accurately positioned when they are damaged or stuck, making it inconvenient for staff to find the wired underwater robots for recovery. In addition, when storing cables, some existing wired underwater robots recover the cables by shaking the take-up roller, the surface of which is dirty and cannot be cleaned, and the cables are stored unevenly. Summary of the invention

[0004] The purpose of the present invention is to provide a wired underwater robot positioning device and method, which drives one of the adjusting synchronous wheels to rotate by turning on the adjusting motor, drives the bidirectional threaded rod to rotate by the synchronous belt transmission, adjusts the position of the two sliding blocks by the limit of the fixed limit rod, and loosens the connection line and the float through the cooperation of the connecting piece and the connecting plate. At the same time, the installation motor is turned on, and the take-up rod loosens the connection line through the transmission of the installation synchronous wheel, connects the protective net through the limit block, and the propeller drives the float to separate from the underwater robot body. Through the cooperation of the float and the propeller, the float floats out of the water and passes through the reflector. The arrangement of the colored light strip facilitates the positioning of the underwater robot body, the reciprocating screw rod is driven to rotate by the take-up motor, the take-up roller is driven to rotate by the transmission of the fixed synchronous wheel and the transmission synchronous wheel, the moving block drives the cleaning cylinder to move, and through the engagement of the fixed gear and the fixed rack, the cleaning cylinder moves on the reciprocating screw rod and the support rod while the cleaning cylinder rotates, so as to clean the surface of the cable, and at the same time, the cable is evenly wound and stored on the take-up roller through the wire wheel, and the position of the wire wheel is adjusted by the electric telescopic rod to limit the cable, so that the cable surface is cleaned and the cable is evenly stored on the take-up roller.

[0005] The technical solution adopted by the present invention is as follows: a wired underwater robot positioning device, comprising: an underwater robot body; a positioning mechanism, wherein the positioning mechanism is provided with two groups, each group of the positioning mechanism comprises a float, a propeller, a reflective component and a line-receiving component, the float is slidably embedded between the inner walls of the underwater robot body, the propeller is fixedly connected between the inner walls of the float, and the reflective component and the line-receiving component are both arranged on the float; a fixing mechanism, wherein the fixing mechanism comprises a power component and two groups of pushing components, the power component is arranged on the underwater robot body, and each group of the pushing components is arranged on the power component; a line-receiving bracket; a line-receiving mechanism, wherein the line-receiving mechanism comprises an adjusting component, a cleaning component, a guiding component and a transmission component, the adjusting component and the transmission component are both arranged on the line-receiving bracket, and the cleaning component and the guiding component are both arranged on the adjusting component; a cable, wherein the cable is arranged on the line-receiving mechanism and the underwater robot body.

[0006] Among them, each group of the reflective components includes two protective nets, two reflective plates and a colored light strip. The two protective nets are fixedly embedded between the inner walls of the float, each of the reflective plates is fixedly mounted on the outer surface of the float, and the colored light strip is fixedly mounted on the inner wall of the float.

[0007] Among them, each group of the wire-taking components includes a connecting wire, a wire-taking rod, an installing synchronous wheel and an installing motor. The wire-taking rod is rotatably connected between the front and rear inner walls of the underwater robot body, and the installing motor is fixedly connected to the upper inner wall of the underwater robot body. One of the installing synchronous wheels is fixedly sleeved on the output end of the installing motor, and the other installing synchronous wheel is fixedly sleeved on the outer surface of the wire-taking rod. The two installing synchronous wheels are mutually transmitted through a synchronous belt. One end of the connecting wire is wound around the outer surface of the wire-taking rod, and the other end of the connecting wire is fixedly connected to the bottom of one of the protective nets.

[0008] Among them, the power component includes an adjusting motor, two adjusting synchronous wheels, a bidirectional threaded rod, two fixed limit rods and two sliding blocks, the bidirectional threaded rod is rotatably connected between the front and rear inner walls of the underwater robot body, each of the fixed limit rods is fixedly connected between the front and rear inner walls of the underwater robot body, each of the sliding blocks is threadedly sleeved on the outer surface of the bidirectional threaded rod, and each sliding block is slidably sleeved between the two fixed limit rods, the adjusting motor is fixedly connected to the upper inner wall of the underwater robot body, one of the adjusting synchronous wheels is fixedly sleeved on the output end of the adjusting motor, and the other adjusting synchronous wheel is fixedly sleeved on the outer surface of the bidirectional threaded rod, and the two adjusting synchronous wheels are mutually transmitted through a synchronous belt.

[0009] Among them, each group of the pushing components includes four connecting parts, two connecting plates and a limit block, wherein two of the connecting parts are respectively fixedly connected to the outer surface of one side of the sliding block, and the other two connecting parts are fixedly connected to the outer surface of one side of the limit block, and the two ends of each connecting plate are rotatably connected between the two connecting parts.

[0010] Among them, the adjusting component includes a wire-taking motor, a reciprocating screw, a support rod and a moving block, the reciprocating screw is rotatably connected between the inner walls on both sides of the wire-taking bracket, the support rod is fixedly connected between the inner walls on both sides of the wire-taking bracket, the wire-taking motor is fixedly connected to the outer surface of one side of the wire-taking bracket, and the output end of the wire-taking motor is fixedly connected to one end of the reciprocating screw, the moving block is threadedly sleeved on the outer surface of the reciprocating screw, and the moving block is slidably sleeved on the outer surface of the support rod.

[0011] Among them, the cleaning component includes a fixed rack, a fixed gear, a cleaning cylinder and two rotating circles, the top of each rotating circle is fixedly connected to the bottom of the moving block, the cleaning cylinder is rotatably embedded between the inner walls of the two rotating circles, the fixed gear is fixedly sleeved on the outer surface of the cleaning cylinder, the top of the fixed rack is fixedly connected to the outer surface of the support rod, and the fixed rack and the fixed gear are meshed with each other.

[0012] Wherein, the guide component includes a fixed plate, two electric telescopic rods, two support plates and a wire wheel, one side of the fixed plate is fixedly connected to the outer surface of one side of the moving block, the top end of each electric telescopic rod is fixedly connected to the bottom of the fixed plate, the top end of each support plate is fixedly connected to the extended end of the electric telescopic rod, and the wire wheel is rotatably connected between the two support plates.

[0013] Among them, the transmission component includes a fixed synchronous wheel, a transmission synchronous wheel and a take-up roller, the take-up roller is rotatably connected between the inner walls of both sides of the take-up bracket, the transmission synchronous wheel is fixedly sleeved on the outer surface of one end of the take-up roller, the fixed synchronous wheel is fixedly sleeved on the outer surface of one end of the reciprocating screw rod, and the fixed synchronous wheel and the transmission synchronous wheel are mutually transmitted through a synchronous belt, one end of the cable is wound around the outer surface of the take-up roller, and the other end of the cable passes through the cleaning cylinder and is fixedly connected to the top of the underwater robot body.

[0014] A positioning method for a wired underwater robot positioning device comprises the following steps:

[0015] Step 1, positioning device: When the underwater robot body is damaged and cannot run, the adjusting motor is turned on to drive one of the adjusting synchronous wheels to rotate, and the bidirectional threaded rod is driven to rotate through the synchronous belt transmission, and the position of the two sliding blocks is adjusted through the limit of the fixed limit rod. Through the cooperation of the connecting piece and the connecting plate, the limit block loosens the connecting line and the float. At the same time, the installation motor is turned on, and the transmission of the installation synchronous wheel is used to loosen the connecting line of the take-up rod. The connecting line is connected to the protective net through the limit block, and the propeller drives the float to separate from the underwater robot body. Through the cooperation of the float and the propeller, the float floats out of the water. Through the setting of the reflector and the colored light belt, it is convenient to locate the underwater robot body;

[0016] Step 2, collecting the cable: When the cable needs to be collected, turn on the take-up motor, which drives the reciprocating screw rod to rotate, and drives the take-up roller to rotate through the transmission of the fixed synchronous wheel and the transmission synchronous wheel, and the moving block drives the cleaning cylinder to move. Through the meshing of the fixed gear and the fixed rack, the cleaning cylinder moves on the reciprocating screw rod and the support rod while the cleaning cylinder rotates to clean the surface of the cable. At the same time, the cable is wound and collected on the take-up roller through the wire wheel. The position of the wire wheel is adjusted by the electric telescopic rod, and the cable can be squeezed on the fixed plate to limit the cable.

[0017] Step 3, reset the positioning mechanism: when resetting the positioning mechanism, turn on the installation motor, rotate the take-up rod by installing the transmission of the synchronous wheel, collect the connecting line on the take-up rod through the limit block, and then clamp the float on the underwater robot body. Adjust the position of the sliding block by adjusting the motor so that the limit block squeezes the connecting line and the float, and fixes the float on the underwater robot body.

[0018] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are:

[0019] (1) In the present invention, the adjusting motor is turned on to drive one of the adjusting synchronous wheels to rotate, and the bidirectional threaded rod is driven to rotate through the synchronous belt transmission. The positions of the two sliding blocks are adjusted by limiting the fixed limit rod. The limit block loosens the connecting line and the float through the cooperation of the connecting piece and the connecting plate. At the same time, the installation motor is turned on, and the transmission of the installation synchronous wheel is used to loosen the connecting line of the take-up rod. The connecting line is connected to the protective net through the limit block. The propeller drives the float to separate from the underwater robot body. Through the cooperation of the float and the propeller, the float floats out of the water. The setting of the reflector and the colored light belt facilitates the positioning of the underwater robot body.

[0020] (2) In the present invention, the reciprocating screw is driven to rotate by the take-up motor, the take-up roller is driven to rotate by the transmission of the fixed synchronous wheel and the transmission synchronous wheel, the moving block drives the cleaning cylinder to move, and through the engagement of the fixed gear and the fixed rack, the cleaning cylinder moves on the reciprocating screw and the support rod and rotates at the same time, thereby cleaning the surface of the cable. At the same time, the cable is evenly wound on the take-up roller through the wire pulley. The position of the wire pulley is adjusted by the electric telescopic rod, which limits the cable, and the cable surface is cleaned while the cable is evenly stored on the take-up roller. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a front perspective view of the present invention;

[0022] Figure 2 It is a partial front perspective view of the wire taking-up mechanism of the present invention;

[0023] Figure 3 It is a frontal stereoscopic cross-sectional view of a portion of the wire-taking mechanism of the present invention;

[0024] Figure 4 is a rear perspective view of the present invention;

[0025] Figure 5 It is a front perspective view of a portion of the wire-taking mechanism of the present invention;

[0026] Figure 6 It is a side perspective cross-sectional view of a portion of the wire-taking mechanism of the present invention;

[0027] Figure 7 It is a partial front perspective cross-sectional view of the present invention;

[0028] Figure 8 It is a partial top perspective cross-sectional view of the present invention;

[0029] Fig. 9 For the present invention Figure 8 A magnified view of part A;

[0030] Fig.10 It is a front perspective view of the positioning mechanism of the present invention;

[0031] Fig.11 It is a front three-dimensional half-section view of the positioning mechanism of the present invention.

[0032] Markings in the figure: 1. underwater robot body; 2. wire-receiving mechanism; 201. wire-receiving motor; 202. reciprocating screw rod; 203. support rod; 204. fixed rack; 205. moving block; 206. cleaning cylinder; 207. fixed gear; 208. rotating circle; 209. fixed plate; 210. electric telescopic rod; 211. support plate; 212. wire pulley; 213. fixed synchronous wheel; 214. transmission synchronous wheel; 215. wire-receiving roller; 3. positioning mechanism; 30 1. Float; 302. Reflector; 303. Protective net; 304. Colored light strip; 305. Propeller; 306. Connecting line; 307. Wire-reeling rod; 308. Install synchronous wheel; 309. Install motor; 4. Wire-reeling bracket; 5. Cable; 6. Fixing mechanism; 601. Adjusting motor; 602. Adjusting synchronous wheel; 603. Bidirectional threaded rod; 604. Fixing limit rod; 605. Sliding block; 606. Connecting piece; 607. Connecting plate; 608. Limit block. DETAILED DESCRIPTION

[0033] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0034] Reference Figure 1-Figure 11 The present invention provides a technical solution: a wired underwater robot positioning device, comprising: an underwater robot body 1; a positioning mechanism 3, wherein the positioning mechanism 3 is provided with two groups, each group of the positioning mechanism 3 comprises a float 301, a propeller 305, a reflective component and a line-receiving component, the float 301 is slidably embedded between the inner walls of the underwater robot body 1, the propeller 305 is fixedly connected between the inner walls of the float 301, and the reflective component and the line-receiving component are both arranged on the float 301; a fixing mechanism 6, wherein the fixing mechanism 6 comprises a power component and two groups of pushing components, the power component is arranged on the underwater robot body 1, and each group of pushing components is arranged on the power component; a line-receiving bracket 4; a line-receiving mechanism 2, wherein the line-receiving mechanism 2 comprises an adjusting component, a cleaning component, a guiding component and a transmission component, the adjusting component and the transmission component are both arranged on the line-receiving bracket 4, and the cleaning component and the guiding component are both arranged on the adjusting component; a cable 5, wherein the cable 5 is arranged on the line-receiving mechanism 2 and the underwater robot body 1.

[0035] In this embodiment, the positioning mechanism 3 is used for positioning, the float 301 can float on the water surface, the propeller 305 can adjust the position of the underwater robot body 1 when the float 301 is located in the underwater robot body 1, and can drive the float 301 to rise quickly when the float 301 is separated from the underwater robot body 1. The setting of the reflective component makes the float 301 more conspicuous on the water surface, which is convenient for users to find. The setting of the line-receiving component can reset the float 301, and the setting of the fixing mechanism 6 can fix the float 301 in the underwater robot body 1. The power component is provided to provide rotational force, the two sets of pushing components are provided to connect the float 301, the line-receiving bracket 4 is provided to install the line-receiving mechanism 2, the line-receiving mechanism 2 is provided to clean and store the surface of the cable 5, the adjusting component is provided to adjust the positions of the cleaning component and the guide component, and the cable 5 can be evenly stored on the transmission component, the cleaning component is provided to clean the cable 5, the guide component is provided to guide the cable 5, and the cable 5 can also be limited, and the transmission component is provided to transmit and store the cable 5.

[0036] Specifically, each set of reflective components includes two protective nets 303, two reflective plates 302 and a colored light strip 304. The two protective nets 303 are fixedly embedded between the inner walls of the float 301, each reflective plate 302 is fixedly mounted on the outer surface of the float 301, and the colored light strip 304 is fixedly mounted on the inner wall of the float 301.

[0037] In this embodiment, two protection nets 303 are provided to protect the propeller 305 , and two reflective plates 302 and a colored light strip 304 are provided to make the float 301 conspicuous, so that the user can find the float 301 easily.

[0038] Specifically, each set of wire-taking components includes a connecting wire 306, a wire-taking rod 307, an installation synchronous wheel 308 and an installation motor 309. The wire-taking rod 307 is rotatably connected between the front and rear inner walls of the underwater robot body 1, and the installation motor 309 is fixedly connected to the upper inner wall of the underwater robot body 1. One of the installation synchronous wheels 308 is fixedly sleeved on the output end of the installation motor 309, and the other installation synchronous wheel 308 is fixedly sleeved on the outer surface of the wire-taking rod 307. The two installation synchronous wheels 308 are mutually transmitted through a synchronous belt. One end of the connecting wire 306 is wound around the outer surface of the wire-taking rod 307, and the other end of the connecting wire 306 is fixedly connected to the bottom of one of the protective nets 303.

[0039] In the present embodiment: the connection line 306 is used to connect the float 301, the take-up rod 307 is used to store the connection line 306, the synchronous wheel 308 is used for transmission, and the motor 309 is used to provide rotational force. The principle and structure of the motor 309 are common knowledge to those skilled in the art and will not be introduced in detail here. The model can be selected according to actual usage.

[0040] Specifically, the power component includes an adjusting motor 601, two adjusting synchronous wheels 602, a bidirectional threaded rod 603, two fixed limit rods 604 and two sliding blocks 605. The bidirectional threaded rod 603 is rotatably connected between the front and rear inner walls of the underwater robot body 1, each fixed limit rod 604 is fixedly connected between the front and rear inner walls of the underwater robot body 1, each sliding block 605 is threadedly sleeved on the outer surface of the bidirectional threaded rod 603, and each sliding block 605 is slidably sleeved between the two fixed limit rods 604. The adjusting motor 601 is fixedly connected to the upper inner wall of the underwater robot body 1, one of the adjusting synchronous wheels 602 is fixedly sleeved on the output end of the adjusting motor 601, and the other adjusting synchronous wheel 602 is fixedly sleeved on the outer surface of the bidirectional threaded rod 603, and the two adjusting synchronous wheels 602 are mutually transmitted through a synchronous belt.

[0041] In this embodiment: the setting of the adjusting motor 601 is used to provide rotational force, the setting of the two adjusting synchronous wheels 602 is used for transmission, the outer surface of the bidirectional threaded rod 603 is engraved with two opposite threads, and the two sliding blocks 605 are respectively located on two different threads. By rotating the bidirectional threaded rod 603, the two sliding blocks 605 can be adjusted to move closer to or farther away from each other, thereby adjusting the position of the pushing component, and the setting of the two fixed limit rods 604 is used for limiting, so that the two sliding blocks 605 can move stably on the bidirectional threaded rod 603. The four groups of two sliding blocks 605 are used to install the pushing component. The principle and structure of the adjusting motor 601 are common knowledge known to technicians in this field and will not be introduced in detail here. Its model can be selected according to actual usage.

[0042] Specifically, each group of pushing components includes four connecting members 606, two connecting plates 607 and a limit block 608, wherein two connecting members 606 are respectively fixedly connected to the outer surface of one side of the sliding block 605, and the other two connecting members 606 are fixedly connected to the outer surface of one side of the limit block 608, and the two ends of each connecting plate 607 are rotatably connected between the two connecting members 606.

[0043] In this embodiment: four connecting members 606 are provided to connect two connecting plates 607, and the two connecting plates 607 are provided to support a limit block 608, which can fix the float 301 in the underwater robot body 1. An outer surface of one side of the limit block 608 is provided with an installation groove that conforms to the connecting line 306. The limit block 608 can also limit the connecting line 306. When the connecting line 306 is stored or released, the installation groove also serves as a guide.

[0044] Specifically, the adjusting components include a wire-taking motor 201, a reciprocating screw rod 202, a support rod 203 and a moving block 205. The reciprocating screw rod 202 is rotatably connected between the inner walls of the wire-taking bracket 4 on both sides, the support rod 203 is fixedly connected between the inner walls of the wire-taking bracket 4 on both sides, the wire-taking motor 201 is fixedly connected to the outer surface of one side of the wire-taking bracket 4, and the output end of the wire-taking motor 201 is fixedly connected to one end of the reciprocating screw rod 202, the moving block 205 is threadedly sleeved on the outer surface of the reciprocating screw rod 202, and the moving block 205 is slidably sleeved on the outer surface of the support rod 203.

[0045] In this embodiment: the wire-taking motor 201 is configured to provide rotational force, the reciprocating screw 202 is configured to enable the moving block 205 to move back and forth on the reciprocating screw 202, the support rod 203 is configured to play a limiting role, so that the moving block 205 moves on the reciprocating screw 202, and the moving block 205 is configured to install a cleaning component and a guide component. Through the cooperation of the wire-taking motor 201, the reciprocating screw 202 and the support rod 203, the moving block 205 drives the cleaning component and the guide component to move back and forth. The principle and structure of the wire-taking motor 201 are common knowledge of those skilled in the art and will not be introduced in detail here. Its model can be selected according to actual usage.

[0046] Specifically, the cleaning component includes a fixed rack 204, a fixed gear 207, a cleaning cylinder 206 and two rotating circles 208. The top of each rotating circle 208 is fixedly connected to the bottom of the moving block 205, the cleaning cylinder 206 is rotatably embedded between the inner walls of the two rotating circles 208, the fixed gear 207 is fixedly sleeved on the outer surface of the cleaning cylinder 206, the top of the fixed rack 204 is fixedly connected to the outer surface of the support rod 203, and the fixed rack 204 and the fixed gear 207 are meshed with each other.

[0047] In this embodiment: the fixed rack 204 and the fixed gear 207 are used for transmission, the fixed rack 204 and the fixed gear 207 cooperate to rotate the cleaning cylinder 206, the cleaning cylinder 206 is used to clean the outer surface of the cable 5, and the two rotating circles 208 are used to install the cleaning cylinder 206.

[0048] Specifically, the guide component includes a fixed plate 209, two electric telescopic rods 210, two support plates 211 and a wire wheel 212. One side of the fixed plate 209 is fixedly connected to the outer surface of one side of the moving block 205, the top of each electric telescopic rod 210 is fixedly connected to the bottom of the fixed plate 209, the top of each support plate 211 is fixedly connected to the extended end of the electric telescopic rod 210, and the wire wheel 212 is rotatably connected between the two support plates 211.

[0049] In this embodiment: the fixed plate 209 is used to install two electric telescopic rods 210, and the two electric telescopic rods 210 are used to push the two support plates 211 to move, adjust the position of the wire wheel 212, and the setting of the wire wheel 212 guides the cable 5. By adjusting the position of the electric telescopic rod 210, the cable 5 can be limited between the fixed plate 209 and the wire wheel 212. The principle structure of the two electric telescopic rods 210 is common knowledge known to those skilled in the art and will not be described in detail here. The model can be selected according to actual usage.

[0050] Specifically, the transmission components include a fixed synchronous wheel 213, a transmission synchronous wheel 214 and a take-up roller 215. The take-up roller 215 is rotatably connected between the inner walls of the take-up bracket 4 on both sides. The transmission synchronous wheel 214 is fixedly sleeved on the outer surface of one end of the take-up roller 215. The fixed synchronous wheel 213 is fixedly sleeved on the outer surface of one end of the reciprocating screw rod 202, and the fixed synchronous wheel 213 and the transmission synchronous wheel 214 are mutually transmitted through a synchronous belt. One end of the cable 5 is wound around the outer surface of the take-up roller 215, and the other end of the cable 5 passes through the cleaning tube 206 and is fixedly connected to the top of the underwater robot body 1.

[0051] In this embodiment, the fixed synchronous wheel 213 and the transmission synchronous wheel 214 are used for transmission, and the take-up roller 215 is used for storing the cable 5 .

[0052] The following is a detailed description of the use of a wired underwater robot positioning device and method provided by an embodiment of the present invention. The use method includes the following steps: Step 1, positioning device: When the underwater robot body 1 is damaged and cannot operate, the adjustment motor 601 is turned on to drive one of the adjustment synchronous wheels 602 to rotate, and the bidirectional threaded rod 603 is driven to rotate through the synchronous belt transmission, and the position of the two sliding blocks 605 is adjusted through the limit of the fixed limit rod 604, and the limit block 608 is loosened through the cooperation of the connecting piece 606 and the connecting plate 607. 6 and the float 301, and at the same time, the installation motor 309 is turned on, and the take-up rod 307 is loosened by the transmission of the installation synchronous wheel 308. The connecting line 306 is connected to the protective net 303 through the limit block 608, and the propeller 305 drives the float 301 to separate from the underwater robot body 1. Through the cooperation of the float 301 and the propeller 305, the float 301 floats to the surface, and the setting of the reflector 302 and the colored light belt 304 facilitates the positioning of the underwater robot body 1; Step 2, storing the cable 5: When the cable 5 needs to be stored, the take-up motor 201 is turned on, and the take-up motor The machine 201 drives the reciprocating screw rod 202 to rotate, and the fixed synchronous wheel 213 and the transmission synchronous wheel 214 drive the take-up roller 215 to rotate, and the moving block 205 drives the cleaning cylinder 206 to move. Through the meshing of the fixed gear 207 and the fixed rack 204, the cleaning cylinder 206 moves on the reciprocating screw rod 202 and the support rod 203. At the same time, the cleaning cylinder 206 rotates to clean the surface of the cable 5. At the same time, the cable 5 is wound and stored on the take-up roller 215 through the wire wheel 212. The position of the wire wheel 212 is adjusted by the electric telescopic rod 210, and the cable 5 can be squeezed out. Pressing on the fixed plate 209, it limits the cable 5; step three, resetting the positioning mechanism 3: when resetting the positioning mechanism 3, turn on the installation motor 309, and rotate the take-up rod 307 through the transmission of the installed synchronous wheel 308, and store the connecting line 306 on the take-up rod 307 through the limit block 608, and then clamp the float 301 on the underwater robot body 1, and adjust the position of the sliding block 605 by adjusting the motor 601, so that the limit block 608 squeezes the connecting line 306 and the float 301, and fixes the float 301 on the underwater robot body 1.

[0053] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A wired underwater robot positioning device, characterized in that: include: Underwater robot body (1); A positioning mechanism (3), wherein the positioning mechanism (3) is provided in two groups, each group of the positioning mechanism (3) comprises a float (301), a propeller (305), a reflective component and a line-receiving component, the float (301) is slidably embedded between the inner walls of the underwater robot body (1), the propeller (305) is fixedly connected between the inner walls of the float (301), and the reflective component and the line-receiving component are both provided on the float (301); A fixing mechanism (6), the fixing mechanism (6) comprising a power component and two groups of pushing components, the power component being arranged on the underwater robot body (1), and each group of pushing components being arranged on the power component; Wire take-up bracket (4); A wire taking-up mechanism (2), the wire taking-up mechanism (2) comprising an adjusting component, a cleaning component, a guiding component and a transmission component, the adjusting component and the transmission component are both arranged on a wire taking-up bracket (4), and the cleaning component and the guiding component are both arranged on the adjusting component; and A cable (5), wherein the cable (5) is arranged on a wire-receiving mechanism (2) and an underwater robot body (1).

2. A wired underwater robot positioning device as claimed in claim 1, characterized in that: Each group of the reflective components comprises two protective nets (303), two reflective plates (302) and a colored light strip (304); the two protective nets (303) are fixedly embedded between the inner walls of the float (301); each reflective plate (302) is fixedly sleeved on the outer surface of the float (301); and the colored light strip (304) is fixedly sleeved on the inner surface wall of the float (301).

3. A wired underwater robot positioning device as claimed in claim 2, characterized in that: Each group of the wire-receiving components comprises a connecting wire (306), a wire-receiving rod (307), an installation synchronous wheel (308) and an installation motor (309); the wire-receiving rod (307) is rotatably connected between the front and rear inner walls of the underwater robot body (1); the installation motor (309) is fixedly connected to the upper inner wall of the underwater robot body (1); one of the installation synchronous wheels (308) is fixedly sleeved on the output end of the installation motor (309); the other installation synchronous wheel (308) is fixedly sleeved on the outer surface of the wire-receiving rod (307); the two installation synchronous wheels (308) are mutually driven by a synchronous belt; one end of the connecting wire (306) is wound around the outer surface of the wire-receiving rod (307), and the other end of the connecting wire (306) is fixedly connected to the bottom of one of the protective nets (303).

4. A wired underwater robot positioning device as claimed in claim 3, characterized in that: The power component comprises an adjusting motor (601), two adjusting synchronous wheels (602), a bidirectional threaded rod (603), two fixed limit rods (604) and two sliding blocks (605); the bidirectional threaded rod (603) is rotatably connected between the front and rear inner walls of the underwater robot body (1); each of the fixed limit rods (604) is fixedly connected between the front and rear inner walls of the underwater robot body (1); each of the sliding blocks (605) is threadedly sleeved on the outer surface of the bidirectional threaded rod (603); and each of the sliding blocks (605) is slidably sleeved between the two fixed limit rods (604); the adjusting motor (601) is fixedly connected to the upper inner wall of the underwater robot body (1); one of the adjusting synchronous wheels (602) is fixedly sleeved on the output end of the adjusting motor (601); the other of the adjusting synchronous wheels (602) is fixedly sleeved on the outer surface of the bidirectional threaded rod (603); and the two adjusting synchronous wheels (602) are mutually driven by a synchronous belt.

5. A wired underwater robot positioning device as claimed in claim 4, characterized in that: Each group of the pushing components comprises four connecting members (606), two connecting plates (607) and a limiting block (608), wherein two of the connecting members (606) are respectively fixedly connected to the outer surface of one side of the sliding block (605), and the other two connecting members (606) are fixedly connected to the outer surface of one side of the limiting block (608), and the two ends of each connecting plate (607) are rotatably connected between the two connecting members (606).

6. A wired underwater robot positioning device as claimed in claim 5, characterized in that: The adjusting component comprises a wire taking-up motor (201), a reciprocating screw rod (202), a support rod (203) and a moving block (205); the reciprocating screw rod (202) is rotatably connected between the inner walls on both sides of the wire taking-up bracket (4); the support rod (203) is fixedly connected between the inner walls on both sides of the wire taking-up bracket (4); the wire taking-up motor (201) is fixedly connected to the outer surface of one side of the wire taking-up bracket (4); and the output end of the wire taking-up motor (201) is fixedly connected to one end of the reciprocating screw rod (202); the moving block (205) is threadedly sleeved on the outer surface of the reciprocating screw rod (202); and the moving block (205) is slidably sleeved on the outer surface of the support rod (203).

7. A wired underwater robot positioning device as claimed in claim 6, characterized in that: The cleaning component comprises a fixed rack (204), a fixed gear (207), a cleaning cylinder (206) and two rotating circles (208); the top of each rotating circle (208) is fixedly connected to the bottom of the moving block (205); the cleaning cylinder (206) is rotatably embedded between the inner walls of the two rotating circles (208); the fixed gear (207) is fixedly sleeved on the outer surface of the cleaning cylinder (206); the top of the fixed rack (204) is fixedly connected to the outer surface of the support rod (203); and the fixed rack (204) and the fixed gear (207) are meshed with each other.

8. A wired underwater robot positioning device as claimed in claim 7, characterized in that: The guide component comprises a fixed plate (209), two electric telescopic rods (210), two support plates (211) and a guide wheel (212); one side of the fixed plate (209) is fixedly connected to the outer surface of one side of the moving block (205); the top end of each electric telescopic rod (210) is fixedly connected to the bottom of the fixed plate (209); the top end of each support plate (211) is fixedly connected to the extended end of the electric telescopic rod (210); and the guide wheel (212) is rotatably connected between the two support plates (211).

9. A wired underwater robot positioning device as claimed in claim 8, characterized in that: The transmission component comprises a fixed synchronous wheel (213), a transmission synchronous wheel (214) and a wire-receiving roller (215); the wire-receiving roller (215) is rotatably connected between the inner walls of both sides of the wire-receiving bracket (4); the transmission synchronous wheel (214) is fixedly sleeved on the outer surface of one end of the wire-receiving roller (215); the fixed synchronous wheel (213) is fixedly sleeved on the outer surface of one end of the reciprocating screw rod (202); and the fixed synchronous wheel (213) and the transmission synchronous wheel (214) are mutually transmitted via a synchronous belt; one end of the cable (5) is wound around the outer surface of the wire-receiving roller (215), and the other end of the cable (5) passes through the cleaning cylinder (206) and is fixedly connected to the top of the underwater robot body (1).

10. A positioning method for a wired underwater robot positioning device, applied to the wired underwater robot positioning device according to claim 9, characterized in that: The following steps are involved: S1. Positioning device: When the underwater robot body (1) is damaged and cannot operate, the adjusting motor (601) is turned on to drive one of the adjusting synchronous wheels (602) to rotate, and the bidirectional threaded rod (603) is driven to rotate through the synchronous belt transmission. The positions of the two sliding blocks (605) are adjusted through the limit of the fixed limit rod (604). Through the cooperation of the connecting piece (606) and the connecting plate (607), the limit block (608) is loosened from the connecting line (306) and the float (301), and the installation motor is turned on at the same time. (309), the wire-reeling rod (307) releases the connecting wire (306) by installing the transmission of the synchronous wheel (308), the connecting wire (306) is connected to the protective net (303) through the limit block (608), the propeller (305) drives the float (301) to separate from the underwater robot body (1), and the float (301) floats to the surface through the cooperation of the float (301) and the propeller (305), and the underwater robot body (1) is conveniently positioned by setting the reflective plate (302) and the colored light strip (304); S2, storing the cable (5): when the cable (5) needs to be stored, the wire taking-up motor (201) is turned on, the wire taking-up motor (201) drives the reciprocating screw rod (202) to rotate, and the wire taking-up roller (215) is driven to rotate through the transmission of the fixed synchronous wheel (213) and the transmission synchronous wheel (214), and the moving block (205) drives the cleaning cylinder (206) to move, and through the meshing of the fixed gear (207) and the fixed rack (204), the cleaning cylinder (206) moves on the reciprocating screw rod (202) and the support rod (203) while the cleaning cylinder (206) rotates to clean the surface of the cable (5), and at the same time, the cable (5) is wound and stored on the wire taking-up roller (215) through the wire guide wheel (212), and the position of the wire guide wheel (212) is adjusted through the electric telescopic rod (210), so that the cable (5) can be squeezed on the fixed plate (209), which plays a role in limiting the position of the cable (5); S3, resetting the positioning mechanism (3): when resetting the positioning mechanism (3), the installation motor (309) is turned on, and the wire take-up rod (307) is rotated by the transmission of the installation synchronous wheel (308), and the connecting line (306) is stored on the wire take-up rod (307) through the limit block (608), and then the float (301) is clamped on the underwater robot body (1), and the position of the sliding block (605) is adjusted by adjusting the motor (601), so that the limit block (608) squeezes the connecting line (306) and the float (301), and the float (301) is fixed on the underwater robot body (1).

Images