Underwater robot lifting equipment for cleaning trash rack and using method of underwater robot lifting equipment

Abstract

The invention discloses underwater robot lifting equipment for cleaning a trash rack and a using method of the underwater robot lifting equipment, and aims to solve the problems that a lifting hook is easy to shake and damage during lifting, and the lifting hook and a robot hook are difficult to butt. The equipment comprises a fixing frame, a supporting arm, a butt joint mechanism, a stabilizing mechanism and a winch. The stabilizing mechanism is slidably installed on the supporting arm, comprises a sliding frame, a bidirectional lead screw, a first sliding rod and a pulley and can control the angles and the lengths of the four steel wire ropes to prevent shaking. The bottom is provided with a lifting hook, the edge is provided with a clamping unit for fixing the robot, and the middle is provided with an adjusting unit for adjusting the height and angle of the lifting hook. During use, the stabilizing mechanism drives the butt joint mechanism to move to the position above the robot, the clamping unit fixes the robot after stable lowering, the adjusting unit controls a lifting hook to be in butt joint with a hook, and then stable lifting and transporting are conducted. The equipment realizes stable hoisting and convenient butt joint, guarantees the safety of the robot, and improves the cleaning operation efficiency.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of hoisting equipment, in particular to an underwater robot hoisting equipment for cleaning trash rack and a use method thereof. BACKGROUND

[0002] The trash rack is a grid composed of a plurality of grid bars, cross beams and outer frames at a certain interval, which can intercept floating objects and has sufficient strength, rigidity and stability. The trash rack can prevent the pollutants in the water flow from entering the unit and ensure the normal operation of the unit. During use, a large amount of pollutants will accumulate on the trash rack, which needs to be cleaned by an underwater cleaning robot in a timely manner. Usually, the cleaning robot is moved by a hoisting equipment to reach a designated position for cleaning. After cleaning is completed, the hoisting equipment is used again to hoist and retrieve the cleaning robot.

[0003] The existing hoisting equipment has less support, and the hook is easy to sway during hoisting, which may even cause damage to the robot. Therefore, a stabilizing mechanism is usually provided on the hoisting equipment. For example, a utility model patent with the application number CN202021534133.4 discloses a stabilizing mechanism for hoisting equipment, which comprises a vertical lifting arm, a hook and a stabilizing rod. The stabilizing rod is fixedly connected with a connecting block at one end close to the hook. A pair of pressing arms are symmetrically movably connected to the connecting block at one end close to the hook. A plurality of fixed rings are fixedly connected to the front surface of the vertical lifting arm in the vertical direction, and the fixed rings are movably sleeved with the outer surface of the stabilizing rod. The stabilizing rod is inserted into the fixed ring at one end, and the other end of the stabilizing rod is pressed on both sides of the hook through the two pressing arms. The swinging of the goods can be limited by the stabilizing rod during horizontal hoisting and moving, which improves the hoisting stability of the goods and ensures the safe hoisting of the goods. The fixed rings are connected at different height positions of the vertical lifting arm, and the stabilizing rod can be placed at different height positions according to the hoisting height of the goods.

[0004] In addition to the hoisting support, the existing cleaning robot hoisting equipment has another problem. The hoisting equipment mainly connects with the hook on the robot through the hook to hoist the robot. Before placing the robot in the water, the operator manually connects the hook with the hook on the robot. However, before hoisting and retrieving the robot in the water, the operator needs to fine-tune the hoisting equipment to move the hook to the position of the robot for connection with the hook on the robot. At this time, the connection needs to rely on the accurate fine operation of the operator. If the operator is not skilled enough, manual operation is often needed to connect the hook with the hook on the robot. SUMMARY

[0005] The technical problems to be solved by the present application are that the hook is easy to sway during hoisting, which may cause damage to the equipment, and the connection between the hook and the hook is difficult.

[0006] To solve the above technical problems, the technical scheme adopted by the present application is: a kind of underwater robot hoisting equipment for trash rack cleaning, including fixed frame, support arm fixedly connected on fixed frame and the docking mechanism of being hoisted below the movable end of support arm by steel wire rope, slidingly installed with the stabilizing mechanism for steel wire rope to pass on support arm, the hook is arranged in the bottom of docking mechanism, the edge of docking mechanism is provided with clamping unit, the height and inclination angle of the hook are adjusted by the adjusting unit arranged in the middle of docking mechanism, the winch for winding steel wire rope is installed on fixed frame.

[0007] Preferably, the docking mechanism includes a rectangular support frame, the clamping unit includes a linkage ring vertically arranged at the center of the support frame and a door-shaped clamping claw horizontally slidingly arranged at the edge of the support frame, a tension spring is connected between the middle of the clamping claw and the support frame, the top end of the clamping claw is horizontally rotatably arranged in the horizontal sliding groove on the top of the clamping claw, and an arc-shaped push block is arranged on the outer side wall of the linkage ring to push the top end of the clamping claw to slide outward during rotation.

[0008] Preferably, the horizontal sliding groove is arranged on the support frame, the clamping claw includes a sliding shaft at the top and a limiting rod vertically connected at both ends of the sliding shaft, the bottom end of the tension spring is rotatably connected at the middle of the limiting rod, the end of the limiting rod is rotatably connected at the end of the sliding shaft, and an arc-shaped protruding structure is arranged on the side wall of the linkage ring facing the sliding shaft.

[0009] Preferably, a circular mounting hole is coaxially arranged in the middle of the support frame, the middle of the linkage ring is rotatably connected in the mounting hole, the linkage ring has an annular structure with thick ends and a thin middle, and the two ends of the linkage ring are respectively fitted on the upper side wall and the lower side wall of the support frame, an arc-shaped rack is fixedly arranged on the outer side wall of the top end of the linkage ring, the arc-shaped rack is coaxial with the linkage ring, a motor two is fixedly installed on the top of the support frame, and a gear one engaged with the arc-shaped rack is connected to the output end of the motor two.

[0010] Preferably, the adjusting unit includes a support frame two fixedly connected to the top of the support frame one, a movable pulley for the steel wire rope to pass through is arranged at the top of the support frame two, a rack rod is vertically slidingly arranged in the middle of the support frame two, the hook is arranged at the bottom end of the rack rod, gears two are arranged on both sides of the rack rod and engaged with the rack rod, the gears two are rotatably arranged, and a synchronous reverse driving structure of the gears two on both sides of the support frame two is installed on the support frame two.

[0011] Preferably, the synchronous reverse driving structure includes a worm rotatably arranged on the top of the support frame two and a motor three driving the worm to rotate, the gears two are coaxially fixedly connected with worm wheels, the worm wheels are engaged with the worm, and the spiral directions of the two ends of the worm are opposite.

[0012] Preferably, the top end of the hook is rotatably connected to the bottom end of the rack rod, and an electric cylinder is arranged between the middle part of the hook and the bottom part of the rack rod.

[0013] Preferably, the stabilizing mechanism is sleeved on the support arm, and a first air cylinder and a second air cylinder for driving the stabilizing mechanism to move are fixedly connected to the support arm.

[0014] Preferably, the stabilizing mechanism comprises a sliding frame slidably connected to the support arm, and a pair of bidirectional screws are arranged in parallel on both sides of the bottom part of the sliding frame, the two ends of each bidirectional screw are provided with threads in opposite directions, and a sliding rod one is threadedly connected to each end of each bidirectional screw, a pulley through which the steel wire rope passes is mounted on the sliding rod one, and the pulley is arranged in one-to-one correspondence with a movable pulley one at the top of the support frame two, and the sliding rod one is horizontally arranged and perpendicular to the bidirectional screws.

[0015] Preferably, a sliding block is sleeved on the sliding rod one, the output end of the second air cylinder is hingedly connected with a connecting rod, the connecting rod is distributed on both sides of the second air cylinder, a sliding groove is horizontally and fixedly arranged on each side of the sliding frame, a sliding rod two is slidably arranged in the sliding groove, the sliding rod two is arranged in parallel to the support arm, the top of the sliding block is slidably connected to the sliding rod two, and the movable end of the connecting rod is hingedly connected to the middle part of the sliding rod two.

[0016] A use method of the underwater robot hoisting device for cleaning the trash rack, comprising the following steps: Step one: according to the position of the underwater robot, the stabilizing mechanism is controlled to move on the support arm, so that the stabilizing mechanism moves to the top of the underwater robot, at the same time, the stabilizing mechanism drives the docking mechanism to move, so that the docking mechanism moves to the top of the underwater robot, and in the moving process of the stabilizing mechanism, the winch is controlled to rotate, and the length of the steel wire rope is controlled, so that the distance between the docking mechanism and the stabilizing mechanism is stable; Step two: the winch is controlled to pay out the steel wire rope, and in the paying-out process of the steel wire rope, the stabilizing mechanism controls the inclination angle of the four sections of the steel wire rope connected to the bottom part, so as to maintain the stable vertical descent of the docking mechanism, until the docking mechanism moves to the top of the underwater robot; Step three: the docking mechanism controls the rotation of the limiting rods at the edges, eight limiting rods are used to comprehensively clamp the underwater robot, so as to realize the stable connection between the docking mechanism and the underwater robot; Step four: the rack rod is controlled to drive the hook to move downward, and the angle of the hook is adjusted in the descending process, so that the movable end of the hook is located on one side of the hook at the top of the underwater robot, then the hook is controlled to rotate, so that the hook hooks the hook at the top of the underwater robot. Step 5: Control the winch to wind up. During the winding process, the docking mechanism and the underwater robot are lifted synchronously by the steel wire rope. During the lifting process, adjust the angle of the four steel wire ropes connecting the stabilizing mechanism and the docking mechanism to make the underwater robot lift horizontally. Step Six: Control the stabilizing mechanism to move the docking mechanism and the underwater robot, and then lower the underwater robot to the placement area.

[0017] Preferably, when the wire rope is being wound or unwound, the change in the length of the wire rope causes a change in the height of the docking mechanism. The length changes of the four wire rope segments between the stabilizing mechanism and the docking mechanism occur subsequently. At this time, the angle of each wire rope segment is controlled so that the length of each wire rope segment is the same in the vertical direction.

[0018] This invention provides an underwater robot lifting device for cleaning trash racks and its usage method, which has the following beneficial effects.

[0019] 1. The stabilizing mechanism comprises a multi-degree-of-freedom rope control structure consisting of a sliding frame, a two-way lead screw, a sliding rod, and pulleys. The two-way lead screw adjusts the distance between the pulleys on both sides, and the sliding rod, in conjunction with cylinder two, adjusts the position of the pulleys along the support arm. Each pulley corresponds one-to-one with the movable pulley of the docking mechanism, allowing real-time control of the tilt angle and length of the four wire rope segments. During lifting, whether lowering the docking mechanism or raising the robot, the stabilizing mechanism maintains the wire rope in a vertical or uniformly stressed state, preventing robot collision damage caused by insufficient support and rope swaying in traditional lifting equipment. Furthermore, the stabilizing mechanism moves with cylinder one on the support arm to adapt to different lifting positions, further ensuring stability throughout the lifting process.

[0020] 2. The equipment uses four sections of steel wire rope to connect the stabilizing mechanism and the docking mechanism (four corner pulleys at the top of the support frame). Compared with traditional single or double rope lifting, the multiple sections of steel wire rope can distribute the force, and through the independent adjustment of each section of steel wire rope by the stabilizing mechanism, the eccentric force caused by airflow, water flow or slight movement of the equipment during the lifting process can be quickly offset, ensuring that the docking mechanism and the robot are always raised and lowered horizontally, greatly reducing the risk of component wear or structural deformation caused by shaking. Attached Figure Description

[0021] The present invention will be further described below with reference to the accompanying drawings and embodiments: Figure 1 This is a schematic diagram of the overall structure of an embodiment of the present invention.

[0022] Figure 2 This is a schematic diagram of the stabilizing mechanism in an embodiment of the present invention.

[0023] Figure 3 This is a side view of the stabilizing mechanism in an embodiment of the present invention.

[0024] Figure 4It is a structural schematic diagram of the docking mechanism in the embodiment of the present application.

[0025] Figure 5 It is a structural schematic diagram of the docking mechanism in the embodiment of the present application.

[0026] Figure 6 It is a structural schematic diagram of the support frame one in the embodiment of the present application.

[0027] In the figure: 1, fixed frame; 101, support arm; 2, stabilizing mechanism; 201, air cylinder one; 202, sliding frame; 203, bidirectional screw; 204, sliding rod one; 205, sliding rod two; 206, air cylinder two; 207, connecting rod; 208, sliding block; 209, motor one; 210, winch; 211, steel wire rope; 3, docking mechanism; 301, support frame one; 302, limiting rod; 303, tension spring; 304, sliding shaft; 305, linkage ring (3051, arc-shaped push block; 3052, arc-shaped rack); 306, motor two; 307, gear one; 308, support frame two; 309, motor three; 310, worm; 311, worm gear; 312, gear two; 313, rack rod; 314, lifting hook; 315, electric cylinder. DETAILED DESCRIPTION

[0028] As Figure 1 shown, the present application provides a kind of underwater robot hoist equipment for trash rack cleaning, including fixed frame 1, support arm 101 of fixed connection on fixed frame 1 and the docking mechanism 3 of hoisting under the movable end of support arm 101 by steel wire rope 211, support arm 101 is slidably installed with the stabilizing mechanism 2 for steel wire rope 211 to pass through, the bottom of docking mechanism 3 is provided with lifting hook 314, the edge of docking mechanism 3 is provided with clamping unit, the middle part of docking mechanism 3 is provided with the height and inclination angle of adjusting hook 314 adjusting unit, fixed frame 1 is installed with winch 210 of winding steel wire rope 211.

[0029] Motor one 209 is installed on fixed frame 1, and motor one 209 is used to drive winch 210 to rotate, and the winding and unwinding control of steel wire rope 211 is carried out.

[0030] The bottom of fixed frame 1 is provided with a stabilizing table for ensuring the stability of fixed frame 1, and the stabilizing table serves as a counterweight structure.

[0031] The winding and unwinding control of steel wire rope 211 is carried out through winch 210, the docking mechanism 3 is pulled when winding, the docking mechanism 3 is lifted, and when steel wire rope 211 is unwound, the docking mechanism 3 can be lowered.

[0032] As Figure 6As shown. The docking mechanism 3 includes a rectangular support frame 301. The clamping unit includes a linkage ring 305 vertically rotatably disposed at the center of the support frame 301 and a gate-shaped clamping claw with its top end horizontally slidably disposed at the edge of the support frame 301. A tension spring 303 is connected between the middle of the clamping claw and the support frame 301. The top end of the clamping claw is horizontally rotatably disposed in a horizontal sliding groove at its top. An arc-shaped push block 3051 is provided on the outer wall of the linkage ring 305 to push the top end of the clamping claw to slide outward during rotation.

[0033] When the gripper claw is needed to grip the underwater robot, the linkage ring 305 is driven to rotate. During the rotation, the linkage ring 305 pushes the top of the gripper claw to slide outward. The middle part of the gripper claw rotates under the tension of the tension spring 303, so that the bottom of the gripper claw rotates towards the inside of the support frame 301. The four gripper claws on the edge of the support frame 301 stably grip the side wall of the underwater robot, ensuring a tight connection between the docking mechanism 3 and the underwater robot, and providing a foundation for the precise docking of the hook 314 in the future.

[0034] like Figure 6 As shown. The horizontal sliding groove is provided on the support frame 301. The clamping claw includes a top sliding shaft 304 and a limiting rod 302 vertically connected to both ends of the sliding shaft 304. The bottom end of the tension spring 303 is rotatably connected to the middle part of the limiting rod 302, and the end of the limiting rod 302 is rotatably connected to the end of the sliding shaft 304. The sliding shaft 304 has an arc-shaped protrusion structure on its side wall facing the linkage ring 305.

[0035] The limiting rod 302 has an inclined section in the middle to enhance its bending resistance. When the linkage ring 305 rotates, the arc-shaped push block 3051 on the linkage ring 305 contacts the protruding structure on the sliding shaft 304 during rotation. By pushing the protruding structure, the sliding shaft 304 is pushed toward the outside of the support frame 301.

[0036] like Figure 6 As shown, to achieve the rotation drive of the linkage ring 305, a circular mounting hole is coaxially opened in the middle of the support frame 301. The middle part of the linkage ring 305 is rotatably connected in the mounting hole. The linkage ring 305 is an annular structure that is thick at both ends and thin in the middle. The two ends of the linkage ring 305 are respectively attached to the upper and lower side walls of the support frame 301. An arc-shaped rack 3052 is fixedly installed on the outer side wall of the top of the linkage ring 305. The arc-shaped rack 3052 is coaxial with the linkage ring 305. A motor 306 is fixedly installed on the top of the support frame 301. A gear 307 that meshes with the arc-shaped rack 3052 is connected to the output end of the motor 306.

[0037] L-shaped support is installed on one corner of the top of support frame one 301, motor two 306 is fixedly installed on the top of the L-shaped support, gear one 307 is located on the inner bottom of the L-shaped support, gear one 307 is fixedly installed on the output shaft of motor two 306, through the meshing between gear one 307 and arc-shaped rack 3052, linkage ring 305 is driven to rotate.

[0038] As shown in Figure 4 and Figure 5 , the adjusting unit comprises support frame two 308 fixedly connected on the top of support frame one 301, four corners of the top of support frame two 308 are provided with movable pulleys through which steel wire rope 211 passes, rack rod 313 is vertically and slidingly arranged in the middle of support frame two 308, hook 314 is arranged at the bottom end of rack rod 313, gear two 312 is arranged on both sides of rack rod 313 and meshes with rack rod 313, gear two 312 is rotationally arranged, synchronous reverse driving structure of gear two 312 on both sides of rack rod 313 is installed on support frame two 308.

[0039] Steel wire rope 211 is wound on winch 210, after steel wire rope 211 continuously passes through four movable pulleys, through the winding of steel wire rope 211, steel wire rope 211 will lift docking mechanism 3. Four movable pulleys are arranged at four corners of support frame two 308, which can ensure the stability of the lifting or lowering process. Through the rotation of driving gear two 312, gear two 312 drives rack rod 313 meshing therewith to ascend or descend in the rotation process, and rack rod 313 drives hook 314 to move up and down. The rotation directions of gear two 312 on both sides of rack rod 313 are opposite, and the rotation speeds are the same.

[0040] As shown in Figure 4 and Figure 5 , the synchronous reverse driving structure comprises worm 310 rotationally arranged on the top of support frame two 308 and motor three 309 driving worm 310 to rotate, gear two 312 is coaxially and fixedly connected with worm gear 311, worm gear 311 meshes with worm 310, and the spiral directions of both ends of worm 310 are opposite.

[0041] Worm 310 is driven to rotate by motor three 309, and worm 310 simultaneously drives two gear twos 312 meshing therewith to rotate, because the spiral directions of both ends of worm 310 are opposite, under the driving of worm 310, gear twos 312 on both sides of rack rod 313 are synchronously and reversely rotated, and the lifting adjustment of rack rod 313 is performed.

[0042] As shown in Figure 5 , the top end of hook 314 is rotationally connected to the bottom end of rack rod 313, and electric cylinder 315 is hingedly arranged between the middle of hook 314 and the bottom of rack rod 313.

[0043] During the process of lowering the hook 314, first control the electric cylinder 315 to contract, so that the hook 314 rotates to the inclined state, the rack rod 313 is used to align the hook of the underwater robot, then control the electric cylinder 315 to elongate, so that the movable end of the hook 314 is threaded on the hook, and the accurate connection of the hook 314 and the hook is realized.

[0044] As shown in Figure 2 and Figure 3 , the stabilizing mechanism 2 is sleeved on the support arm 101, and the support arm 101 is fixedly connected with a cylinder one 201 and a cylinder two 206 that drive the stabilizing mechanism 2 to move.

[0045] By simultaneously controlling the cylinder one 201 and the cylinder two 206 to extend and retract, the stabilizing mechanism 2 can be driven to reciprocate on the support arm 101, and the stabilizing mechanism 2 is moved to the front of the underwater robot, and at this time, the docking structure 3 is also located in the front of the underwater robot.

[0046] As shown in Figure 1 , Figure 2 and Figure 3 , the stabilizing mechanism 2 comprises a sliding frame 202 slidingly connected to the support arm 101, and a bidirectional screw rod 203 is arranged in parallel on both sides of the bottom of the sliding frame 202, the two ends of the bidirectional screw rod 203 are provided with threads in opposite directions, and the two ends of the bidirectional screw rod 203 are threadedly connected with a sliding rod one 204, the sliding rod one 204 is provided with a pulley through which the steel wire rope 211 passes, the pulley is arranged in one-to-one correspondence with the movable pulley one at the top of the support frame two 308, and the sliding rod one 204 is horizontally arranged and perpendicular to the bidirectional screw rod 203.

[0047] Since the pulley is installed on the sliding rod one 204, by adjusting the position between the pulley and the movable pulley, the inclination angle of the steel wire rope section can be adjusted to maintain all the steel wire rope sections at the same length in the vertical direction, thereby ensuring the levelness of the docking mechanism 3.

[0048] The rotation of the bidirectional screw rod 203 is driven by the motor, and since the sliding frame 202 is slidingly connected to the support arm 101, under the action of the bidirectional screw rod 203, the sliding frame 202 is reciprocated along the axial direction of the support arm 101, and the pulley is also moved.

[0049] As shown in Figure 2 and Figure 3The sliding block 208 is sleeved on the sliding rod one 204, the connecting rods 207 are hinged to the output ends of the air cylinders two 206, the connecting rods 207 are distributed on the two sides of the air cylinders two 206, the sliding grooves are horizontally and fixedly arranged on the two sides of the sliding frame 202, the sliding rod two 205 is slidably arranged in the sliding grooves, the sliding rod two 205 is parallel to the support arm 101, the top of the sliding block 208 is slidably connected to the sliding rod two 205, and the movable ends of the connecting rods 207 are hinged to the middle of the sliding rod two 205.

[0050] The stable length of the control air cylinder one 201 is maintained, the air cylinders two 206 are controlled to be telescopic, the connecting rods 207 are swung, the connecting rods 207 pull the sliding rod two 205 to move along the sliding frame 202, and then the sliding block 208 is driven to move horizontally in a direction perpendicular to the support arm 101. In this way, the movement of the sliding block 208 in the horizontal direction is realized.

[0051] A use method of a underwater robot hoisting device for cleaning a trash rack, comprising the following steps: Step one, according to the position of the underwater robot, the stable mechanism 2 is controlled to move on the support arm 101, so that the stable mechanism 2 moves to the top of the underwater robot, at the same time, the docking mechanism 3 is driven by the stable mechanism 2 to move, so that the docking mechanism 3 moves to the top of the underwater robot, in the moving process of the stable mechanism 2, the winch 210 is controlled to rotate, and the length of the steel wire rope 211 is controlled, so that the spacing between the docking mechanism 3 and the stable mechanism 2 is stable; Step two, the winch 210 is controlled to release the steel wire rope 211, and in the releasing process of the steel wire rope 211, the stable mechanism 2 controls the inclination angle of the four sections of the steel wire rope 211 connected at the bottom, so that the docking mechanism 3 stably and vertically descends, until the docking mechanism 3 moves to the top of the underwater robot; Step three, the limiting rods 302 at the edges of the docking mechanism 3 are controlled to rotate, and the eight limiting rods 302 comprehensively clamp the underwater robot, so that the stable connection between the docking mechanism 3 and the underwater robot is realized; Step four, the rack rod 313 is controlled to drive the lifting hook 314 to move downward, and the angle of the lifting hook 314 is adjusted in the descending process, so that the movable end of the lifting hook 314 is located on one side of the hook at the top of the underwater robot, then the lifting hook 314 is controlled to rotate, so that the lifting hook 314 hooks the hook of the underwater robot; Step five, the winch 210 is controlled to be wound, and in the winding process, the docking mechanism 3 and the underwater robot are synchronously lifted through the steel wire rope 211, and in the lifting process, the angle of the four sections of the steel wire rope 211 connected between the stable mechanism 2 and the docking mechanism 3 is adjusted, so that the underwater robot is lifted horizontally; Step six, the stable mechanism 2 is controlled to drive the docking mechanism 3 and the underwater robot to move, and after the underwater robot is transported to the placement area, the underwater robot is lowered.

[0052] When the steel wire rope 211 is being wound or unwound, the length of the steel wire rope 211 changes, which causes the height of the docking mechanism 3 to change. The length of the four sections of the steel wire rope 211 between the stabilizing mechanism 2 and the docking mechanism 3 changes subsequently. At this time, the angle of each section of the steel wire rope 211 is controlled so that the lengths of the sections of the steel wire rope 211 in the vertical direction are the same.

Claims

1. An underwater robotic hoist for silt fence cleaning, characterized by: The utility model provides a kind of crane, including fixed frame (1), support arm (101) fixedly connected on fixed frame (1) and the butt joint mechanism (3) hoisted below the movable end of support arm (101) by steel wire rope (211), support arm (101) is slidably installed with the stable mechanism (2) for steel wire rope (211) to pass, the bottom of butt joint mechanism (3) is provided with lifting hook (314), the edge of butt joint mechanism (3) is provided with clamping unit, the height and inclination angle of adjusting lifting hook (314) are provided with adjusting unit in the middle of butt joint mechanism (3), fixed frame (1) is installed with winch (210) that winds steel wire rope (211).

2. The underwater robot hoisting device for cleaning the trash rack according to claim 1, characterized in that: The butt joint mechanism (3) includes a rectangular support frame one (301), the clamping unit includes a linkage ring (305) vertically rotatingly arranged at the center of the support frame one (301) and a door-shaped clamping claw horizontally slidably arranged at the edge of the support frame one (301), a tension spring (303) is connected between the middle of the clamping claw and the support frame one (301), the top end of the clamping claw is horizontally rotatably arranged in a horizontal sliding groove at the top of the clamping claw, and an arc-shaped push block (3051) is arranged on the outer side wall of the linkage ring (305) to push the top end of the clamping claw to slide outward during rotation.

3. The underwater robot hoisting device for cleaning the trash rack according to claim 2, characterized in that: The horizontal sliding groove is arranged on the support frame one (301), the clamping claw includes a sliding shaft (304) at the top and a limiting rod (302) perpendicularly connected at both ends of the sliding shaft (304), the bottom end of the tension spring (303) is rotatably connected at the middle of the limiting rod (302), the end of the limiting rod (302) is rotatably connected at the end of the sliding shaft (304), and an arc-shaped protruding structure is arranged on the side wall of the linkage ring (305) towards the sliding shaft (304).

4. The underwater robot hoisting device for cleaning the trash rack according to claim 3, characterized in that: A circular mounting hole is coaxially arranged at the middle of the support frame one (301), the middle of the linkage ring (305) is rotatably connected in the mounting hole, the linkage ring (305) has an annular structure with thick ends and a thin middle, and the two ends of the linkage ring (305) are respectively attached to the upper side wall and the lower side wall of the support frame one (301), an arc-shaped rack (3052) is fixedly arranged on the outer side wall of the top end of the linkage ring (305), the arc-shaped rack (3052) is coaxial with the linkage ring (305), a motor two (306) is fixedly installed at the top of the support frame one (301), and a gear one (307) engaged with the arc-shaped rack (3052) is connected to the output end of the motor two (306).

5. The underwater robotic boom recovery apparatus of claim 2, wherein: The adjusting unit comprises a support frame two (308) fixedly connected at the top of the support frame one (301), four corners of the top of the support frame two (308) are provided with movable pulleys through which the steel wire rope (211) passes, a rack rod (313) is vertically and slidingly arranged in the middle of the support frame two (308), the lifting hook (314) is arranged at the bottom end of the rack rod (313), gear two (312) is arranged at both sides of the rack rod (313) and meshes with the rack rod (313), the gear two (312) is rotationally arranged, and the synchronous reverse driving structure of the gear two (312) at both sides of the rack rod (313) is installed on the support frame two (308).

6. The underwater robotic boom recovery apparatus of claim 5, wherein: The synchronous reverse driving structure comprises a worm (310) horizontally rotationally arranged at the top of the support frame two (308) and a motor three (309) driving the worm (310) to rotate, the gear two (312) is coaxially and fixedly connected with a worm wheel (311), the worm wheel (311) meshes with the worm (310), and the screw directions of the two ends of the worm (310) are opposite.

7. The underwater robotic boom recovery apparatus of claim 5, wherein: The top end of the lifting hook (314) is rotationally connected to the bottom end of the rack rod (313), and an electric cylinder (315) is hingedly arranged between the middle of the lifting hook (314) and the bottom of the rack rod (313).

8. The underwater robotic boom recovery apparatus of claim 5, wherein: The stabilizing mechanism (2) is sleeved on the support arm (101), and the support arm (101) is fixedly connected with a cylinder one (201) and a cylinder two (206) driving the stabilizing mechanism (2) to move.

9. The underwater robotic boom recovery apparatus of claim 8, wherein: The stabilizing mechanism (2) comprises a sliding frame (202) slidingly connected to the support arm (101), both sides of the bottom of the sliding frame (202) are parallelly provided with bidirectional lead screws (203), the two ends of the bidirectional lead screws (203) are provided with threads in opposite directions, the two ends of the bidirectional lead screws (203) are both threadedly connected with sliding rods one (204), the sliding rods one (204) are provided with pulleys through which the steel wire rope (211) passes, the pulleys are one-to-one correspondingly arranged with the movable pulleys at the top of the support frame two (308), and the sliding rods one (204) are horizontally arranged and perpendicular to the bidirectional lead screws (203).

10. The underwater robotic boom recovery apparatus of claim 9, wherein: The sliding rods one (204) are slidingly sleeved with sliding blocks (208), the output end of the cylinder two (206) is hingedly connected with connecting rods (207) distributed at both sides of the cylinder two (206), both sides of the sliding frame (202) are horizontally and fixedly provided with sliding grooves, sliding rods two (205) are slidingly arranged in the sliding grooves, the sliding rods two (205) are parallel to the support arm (101), the top of the sliding block (208) is slidingly connected to the sliding rod two (205), and the movable ends of the connecting rods (207) are hingedly connected to the middle of the sliding rod two (205).

11. A method of using a hoisting device for underwater robots for cleaning trash racks according to any of claims 1-10, characterized in that, The method comprises the following steps: Step one, according to the position of the underwater robot, the stable mechanism (2) is moved on the support arm (101) by control, so that the stable mechanism (2) moves to the top of the underwater robot, at the same time, the docking mechanism (3) is moved by the stable mechanism (2), so that the docking mechanism (3) moves to the top of the underwater robot, in the process of moving the stable mechanism (2), control the winch (210) to rotate, control the length of the steel wire rope (211), so that the docking mechanism (3) and the stable mechanism (2) are stable; Step two, control the winch (210) to release the steel wire rope (211), in the process of releasing the steel wire rope (211), the stable mechanism (2) controls the inclination angle of the four sections of steel wire rope (211) connected at the bottom, maintains the stable vertical descent of the docking mechanism (3), until the docking mechanism (3) moves to the top of the underwater robot; Step three, the docking mechanism (3) controls the rotation of the limiting rod (302) at its edge, and eight limiting rods (302) are used to clamp the underwater robot comprehensively, so as to realize the stable connection between the docking mechanism (3) and the underwater robot; Step four, control the rack rod (313) to drive the hook (314) to move downward, and adjust the angle of the hook (314) in the process of descending, so that the movable end of the hook (314) is located on one side of the hook at the top of the underwater robot, then control the hook (314) to rotate, so that the hook (314) hooks the hook of the underwater robot; Step five, control the winch (210) to wind, in the process of winding, the docking mechanism (3) and the underwater robot are lifted synchronously by the steel wire rope (211), in the process of lifting, the angle of the four sections of steel wire rope (211) connected between the stable mechanism (2) and the docking mechanism (3) is adjusted, so that the underwater robot is lifted horizontally; Step six, control the stable mechanism (2) to drive the docking mechanism (3) and the underwater robot to move, and then lower the underwater robot to the placement area.

12. The method of claim 11, wherein: When winding or unwinding the steel wire rope (211), the length of the steel wire rope (211) changes, which changes the height of the docking mechanism (3), and the length of the four sections of steel wire rope (211) between the stable mechanism (2) and the docking mechanism (3) changes subsequently, at this time, the angle of each section of steel wire rope (211) is controlled, so that the length of each section of steel wire rope (211) in the vertical direction is the same.

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