Adjustable strapping device for underwater operations

Abstract

The application provides an adjustable binding device for underwater operation, which comprises a main body, an adjusting assembly connected to the main body and a binding assembly connected to the adjusting assembly, the adjusting assembly comprises adjusting structures for stretching and retracting the binding assembly relative to the main body, rotating along the axis of stretching and retracting, rotating around the end of stretching and retracting and translating along the radial direction of rotating, the binding assembly comprises a binding shell connected to the end of the adjusting assembly and output mechanisms provided on the binding shell and used for outputting binding wires, guiding mechanisms used for guiding the binding wires to bind, cutting mechanisms used for cutting the binding wires and tightening mechanisms used for clamping the end of the binding wires to rotate and tighten. The adjustable binding device for underwater operation can meet the requirement of binding objects with different angles and realize stable and reliable binding of underwater objects.

Description

Technical Field

[0001] This invention belongs to the technical field of underwater lashing equipment, specifically relating to an adjustable lashing device for underwater operations. Background Technology

[0002] In today's underwater operations field, underwater robots are playing an increasingly important role, widely used in many key industries such as marine resource exploration, underwater facility maintenance, and port engineering construction. In these operational scenarios, the efficient and reliable securing of various underwater objects is a fundamental and crucial task, aimed at securing equipment, connecting components, or transporting objects.

[0003] However, existing lashing devices for underwater robots have significant limitations. The underwater environment is complex, with objects exhibiting diverse positions, shapes, and sizes. Traditional lashing devices have extremely limited adjustability when dealing with objects at different angles. Most devices can only perform simple horizontal or vertical lashing operations, making it difficult to adapt to objects with irregular angles such as tilts or bends. This results in many objects with unusual angles failing to be effectively lashed in actual operations, severely impacting the integrity and efficiency of underwater operations. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the prior art and provide an adjustable binding device for underwater operations that can stably and reliably bind objects at different angles.

[0005] To achieve the above objectives, the technical solution of the present invention is implemented as follows: This invention provides an adjustable binding device for underwater operations, comprising a main body, an adjustment assembly connected to the main body, and a binding assembly connected to the adjustment assembly. The adjustment assembly includes an adjustment structure for extending and retracting the binding assembly relative to the main body, rotating it along the axis of extension and retraction, rotating it about the end of the extension and retraction, and translating it radially along the rotation. The binding assembly includes a binding housing connected to the end of the adjustment assembly, an output mechanism for outputting binding wires provided on the binding housing, a guide mechanism for guiding the binding wires to bind, a cutting mechanism for cutting the binding wires, and a tightening mechanism for clamping the end of the binding wires and rotating it to tighten it.

[0006] In one embodiment, the output mechanism includes a take-up roller, a second motor, and two parallel guide rollers. Each guide roller is fixedly connected to a rotating shaft that passes through its center. The two guide rollers are each fixedly connected to a gear via the rotating shaft, and the two gears mesh. The rotating shaft of one guide roller is fixedly connected to the output shaft of the second motor. The second motor drives the two gears to rotate synchronously in opposite directions, thereby outputting the binding wire on the take-up roller.

[0007] In one embodiment, the guiding mechanism includes a lower guide groove and an upper guide groove extending along the binding wire output direction of the output mechanism. The lower guide groove includes a lower guide groove segment with an arc-shaped bottom, and the upper guide groove includes an upper guide groove segment with an arc-shaped bottom. The bottom of the upper guide groove segment and the bottom of the lower guide groove segment are directly opposite each other, and the two bottoms are spaced apart to form an arc segment on the same circle to guide the binding wire to wrap around the object in a circular manner.

[0008] In one embodiment, the cutting mechanism includes an electric telescopic rod three and a cutting blade fixedly installed on the telescopic end of the electric telescopic rod three. The telescopic direction of the electric telescopic rod three is perpendicular to the extension direction of the lower guide groove, and the cutting blade is engaged with the lower guide groove through a locking port on the lower guide groove.

[0009] In one embodiment, the fastening mechanism is located between the output mechanism and the guide mechanism. The fastening mechanism includes a motor, an electric telescopic rod connected to the output end of the motor, and a clamping assembly connected to the output end of the electric telescopic rod. The telescopic direction of the electric telescopic rod is consistent with the extension direction of the lower guide groove. The clamping assembly includes a guide rail fixedly connected to the electric telescopic rod, a lower clamping plate fixedly connected to the guide rail, and an upper clamping plate slidably connected to the guide rail. The electric telescopic rod pushes the lower clamping plate and the upper clamping plate to slide along the lower guide groove and the upper guide groove, respectively, so that the lower clamping plate and the upper clamping plate clamp the binding wire.

[0010] In one embodiment, the adjustment assembly includes a motor installed on the main body and an electric telescopic rod fixedly connected to the output end of the motor. The output end of the electric telescopic rod is fixedly connected to a connecting top plate. A rotating mechanism that rotates around the output end of the electric telescopic rod is installed on the connecting top plate. A translation mechanism is provided at the output end of the rotating mechanism. The binding assembly is installed on the moving end of the translation mechanism.

[0011] In one embodiment, the rotation mechanism includes two opposing side plates connected to the connecting top plate, a dual-axis motor mounted on the connecting top plate, two protrusions connected to the two output shafts of the dual-axis motor, and a short shaft connected to both protrusions. The two output shafts of the dual-axis motor pass through the corresponding side plates and are connected to the corresponding protrusions, while the two ends of the short shaft pass through the corresponding side plates and are connected to the corresponding protrusions. An arc-shaped sliding opening is provided on any side plate relative to the rotation trajectory of the short shaft, and the short shaft is fixedly connected to the translation mechanism.

[0012] In one embodiment, the translation mechanism includes a connecting horizontal plate fixedly connected to the rotation mechanism, a guide rail on the connecting horizontal plate, a slide block connected to the guide rail, and a connecting block fixedly connected to the slide block. The connecting block is fixedly connected to the binding assembly.

[0013] In one embodiment, the guide rail is a ball screw as the driving component, the slide is a nut seat as the passive component, and the ball screw is driven by a servo motor.

[0014] In one embodiment, a propeller is provided at one end of the main body.

[0015] Compared with the prior art, the adjustable binding device for underwater operations of the present invention allows the binding assembly to be adjusted relative to the underwater robot, including extension, rotation, rotation around the extension end, and radial translation. It can drive the entire binding assembly to rise and fall vertically to adapt to objects at different heights. It can also rotate around the extension axis, rotate around the extension end, and translate radially to meet the needs of binding objects at different angles. The binding assembly includes an output mechanism for outputting binding wire, a guide mechanism for guiding the binding wire to bind, a cutting mechanism for cutting the binding wire, and a tightening mechanism for clamping the end of the binding wire and rotating it to tighten it. It can achieve stable and reliable binding of underwater objects. Attached Figure Description

[0016] Figure 1 This is a perspective structural diagram of an embodiment of an adjustable binding device for underwater operations according to the present invention; Figure 2 for Figure 1 The adjustable lashing device for underwater operations shown is a structural cross-sectional view at a first angle. Figure 3 for Figure 1 The adjustable lashing device for underwater operations shown is a structural cross-sectional view from a second angle. Figure 4 for Figure 1 The diagram shows the structural schematic of the lashing assembly of the adjustable lashing device used for underwater operations.

[0017] Explanation of reference numerals in the attached drawings: 1. Robot shell; 2. Controller; 3. Screw propeller; 4. Adjustment assembly; 411. Motor 1; 412. Electric telescopic rod; 413. Connecting top plate; 414. Side plate; 415. Waterproof shell; 416. Dual-axis motor; 417. Long shaft; 418. Protrusion; 419. Short shaft; 4111. Connecting cross plate; 4112. Guide rail 1; 4113. Slide 1; 4114. Connecting block; 5. Binding assembly; 511. Binding shell; 51... 2 Connecting shaft, 513 Rewinding roller, 514 Motor II, 515 Rotating shaft, 516 Guide roller, 517 Gear, 518 Partition plate, 519 Motor III, 5111 Electric telescopic rod II, 5112 Lower guide groove, 5113 Upper guide groove, 5114 Electric telescopic rod III, 5115 Cutting blade, 5116 Connecting outer frame, 5117 Lower clamping plate, 5118 Guide rail II, 5119 Slide II, 5220 Upper clamping plate. Detailed Implementation

[0018] See also Figure 1-4 This embodiment provides an adjustable binding device for underwater operations, including a main body, an adjustment component 4 and a binding component 5. The main body includes a robot shell 1, a controller 2 and a propeller 3 located at one end of the robot shell 1. The adjustment component 4 is located at the bottom of the robot shell 1, and the binding component 5 is located at the bottom of the adjustment component 4.

[0019] In this embodiment, the adjustment component 4 includes a motor 411 installed on the main body and an electric telescopic rod 412 fixedly connected to the output end of the motor 411. A connecting top plate 413 is fixedly connected to the output end of the electric telescopic rod 412. A rotating mechanism that rotates around the output end of the electric telescopic rod 412 is installed on the connecting top plate 413. A translation mechanism is provided at the output end of the rotating mechanism, and the binding component 5 is installed on the moving end of the translation mechanism. Specifically, the motor 411 is fixedly installed inside the robot shell 1. The electric telescopic rod 412 is provided at the output end of the motor 411. The telescopic end of the electric telescopic rod 412 extends through the bottom of the inner wall of the robot shell 1 and reaches the bottom of the outer wall of the robot shell 1, and is fixedly connected to the connecting top plate 413.

[0020] In this embodiment, the rotation mechanism includes two side plates 414 connected to the connecting top plate 413, a dual-axis motor 416 mounted on the connecting top plate 413, two protrusions 418 connected to the two output shafts of the dual-axis motor 416, and a short shaft 419 connected to both protrusions 418. The two output shafts of the dual-axis motor 416 pass through the corresponding side plates 414 and are connected to the corresponding protrusions 418, while the two ends of the short shaft 419 pass through the corresponding side plates 414 and are connected to the corresponding protrusions 418. An arc-shaped sliding opening is provided on any side plate 414 relative to the rotation trajectory of the short shaft 419. The short shaft 419 is fixedly connected to the translation mechanism. Specifically, side plates 414 are symmetrically fixedly installed at the bottom of the top plate 413, and a waterproof housing 415 is fixedly installed at the bottom of the top plate 413. The waterproof housing 415 is positioned between the side plates 414, and a dual-axis motor 416 is fixedly installed inside the waterproof housing 415. Long shafts 417 are respectively provided at the output ends on both sides of the dual-axis motor 416. The other end of the long shaft 417 movably passes through the side of the waterproof housing 415, the inner side of the side plate 414, and extends to the outer side of the side plate 414, and is rotatably connected to the waterproof housing 415 and the side plate 414 respectively via bearings. An arc-shaped sliding opening is provided inside the side plate 414. A protrusion 418 is fixedly fitted onto one end of the outer wall of the long shaft 417, and a short shaft 419 is simultaneously fixedly fitted onto one side of the protrusion 418. The short shaft 419 movably passes through the arc-shaped sliding opening. The waterproof housing 415 effectively provides waterproof protection for the internal dual-axis motor 416. The long shaft 417 is rotatably connected to the waterproof housing 415 and the side plate 414 via bearings, allowing the long shaft 417 to rotate freely. When the dual-axis motor 416 drives the long shaft 417 to rotate, the protrusion 418 fixedly sleeved on one end of the outer wall of the long shaft 417 rotates accordingly, and the short shaft 419 on the protrusion 418 slides within the arc-shaped sliding opening of the side plate 414.

[0021] In this embodiment, the translation mechanism includes a connecting horizontal plate 4111 fixedly connected to the rotation mechanism, a guide rail 4112 disposed on the connecting horizontal plate 4111, a slide block 4113 connected to the guide rail 4112, and a connecting block 4114 fixedly connected to the slide block 4113. The connecting block 4114 is fixedly connected to the binding assembly 5. The guide rail 4112 is a ball screw as the driving component, and the slide block 4113 is a nut seat as the passive component. The ball screw is driven by a servo motor. Specifically, the connecting horizontal plate 4111 is fixedly installed between the short shafts 419, the guide rail 4112 is fixedly installed at the bottom of the connecting horizontal plate 4111, the slide block 4113 is slidably connected to the outer wall of the guide rail 4112, and the connecting block 4114 is fixedly installed at the bottom of the slide block 4113. By activating the electric telescopic rod 412, its telescopic end extends or retracts, pushing the connecting top plate 413 up and down. This, in turn, causes the entire adjusting assembly 4 and the binding assembly 5 below to rise and fall vertically to accommodate objects at different heights. When horizontal rotation is required, motor 411 is activated. Motor 411 drives the entire adjusting assembly 4 and binding assembly 5 to rotate via the electric telescopic rod 412. The dual-axis motor 416 starts under the control of the controller, and its long shaft 417 rotates accordingly. The long shaft 417 drives the protrusion 418 fixed to one end of its outer wall to rotate, thereby causing the short shaft 419 on the protrusion 418 to rotate on the side plate. The connecting horizontal plate 4111 slides within the arc-shaped sliding opening of 414. Since the connecting horizontal plate 4111 is fixedly connected between the short shafts 419, the rotation of the long shaft 417 causes the connecting horizontal plate 4111 to change its angle around the axis of the long shaft 417, thereby adjusting the angle of the binding component 5 fixed at the bottom of the connecting horizontal plate 4111 to meet the needs of binding objects at different angles. The guide rail 4112 works under the control of the controller, and the slide block 4113 on its outer wall can slide along the length direction of the guide rail 4112. Since the binding component 5 is fixedly installed at the bottom of the slide block 4113, the sliding of the slide block 4113 can make the binding component 5 move in the length direction of the connecting horizontal plate 4111.

[0022] In this embodiment, the binding assembly 5 includes a binding housing 511 connected to the end of the adjustment assembly 4, an output mechanism for outputting binding steel wires provided on the binding housing 511, a guide mechanism for guiding the binding steel wires to bind, a cutting mechanism for cutting the binding steel wires, and a tightening mechanism for clamping the end of the binding steel wires and rotating and tightening them.

[0023] In this embodiment, the output mechanism includes a take-up roller 513, a second motor 514, and two parallel guide rollers 516. Each guide roller 516 is fixedly connected to a rotating shaft 515 that passes through the middle. The two guide rollers 516 are respectively fixedly connected to a gear 517 through the end of the rotating shaft 515, and the two gears 517 mesh. The rotating shaft 515 of one guide roller 516 is fixedly connected to the output shaft of the second motor 514. The second motor 514 drives the two gears 517 to rotate, thereby outputting the binding wire on the take-up roller 513. The guiding mechanism includes a lower guide groove 5112 and an upper guide groove 5113 extending along the output direction of the binding wire of the output mechanism. The lower guide groove 5112 includes a lower guide groove section with an arc-shaped bottom, and the upper guide groove 5113 includes an upper guide groove section with an arc-shaped bottom. The bottoms of the upper guide groove section and the lower guide groove section are directly opposite each other, and the two bottoms are spaced apart to form an arc segment on the same circle to guide the binding wire to wrap around the object in a circular motion. The cutting mechanism includes an electric telescopic rod 5114 and a cutting blade 5115 fixedly installed at the telescopic end of the electric telescopic rod 5114. The telescopic direction of the electric telescopic rod 5114 is perpendicular to the extension direction of the lower guide groove 5112, and the cutting blade 5115 is engaged with the lower guide groove 5112 through a locking port on the lower guide groove 5112. The clamping mechanism is located between the output mechanism and the guide mechanism. The clamping mechanism includes a motor 3 519, an electric telescopic rod 2 5111 connected to the output end of the motor 3 519, and a clamping assembly connected to the output end of the electric telescopic rod 2 5111. The telescopic direction of the electric telescopic rod 2 5111 is consistent with the extension direction of the lower guide groove 5112. The clamping assembly includes a guide rail 2 5118 fixedly connected to the electric telescopic rod 2 5111, a lower clamping plate 5117 fixedly connected to the guide rail 2 5118, and an upper clamping plate 5220 slidably connected to the guide rail 2 5118. The electric telescopic rod 2 5111 pushes the lower clamping plate 5117 and the upper clamping plate 5220 to slide along the lower guide groove 5112 and the upper guide groove 5113 respectively so that the lower clamping plate 5117 and the upper clamping plate 5220 clamp the binding wire. Motor 3 519 drives electric telescopic rod 2 5111 and clamping assembly connected to the output end of electric telescopic rod 2 5111 to rotate. Sufficient rotation space only needs to be reserved inside the binding shell 511.

[0024] Specifically, such as Figure 4As shown, the binding housing 511 is fixedly installed at the bottom of the connecting block 4114, the connecting shaft 512 is fixedly installed inside the binding housing 511, the motor 514 is fixedly installed on one side of the outer wall of the binding housing 511, two rotating shafts 515 are symmetrically and movably arranged inside the binding housing 511, the partition 518 is fixedly installed inside the binding housing 511, the lower guide groove 5112 is fixedly installed at the bottom of the inner wall of the binding housing 511, the upper guide groove 5113 is fixedly installed at the top of the inner wall of the binding housing 511, a take-up roller 513 is movably sleeved on the outer wall of the connecting shaft 512, and one end of the rotating shaft 515 passes through... The bearing is rotatably connected to the binding housing 511. The other end of the rotating shaft 515 moves through one side of the inner wall of the binding housing 511 and extends to one side of the outer wall of the binding housing 511. The output end of the second motor 514 is connected to the other end of one of the rotating shafts 515. Guide rollers 516 are fixedly sleeved on the outer walls of the two rotating shafts 515 respectively, and gears 517 are fixedly sleeved on the same end of the two rotating shafts 515 respectively. The two gears 517 are meshed and connected. The guide rollers 516 fixed on the rotating shafts 515 can ensure that the binding steel wire always maintains the correct path during the movement, avoiding problems such as entanglement and deviation. A motor 3 519 is fixedly installed on the inner side of the partition 518. An electric telescopic rod 2 5111 is installed at the output end of the motor 3 519. The telescopic end of the electric telescopic rod 2 5111 movably passes through the inner side of the partition 518 and extends to the outer side of the partition 518, and is rotatably connected to the partition 518 via a bearing. A connecting frame 5116 is fixedly installed at the telescopic end of the electric telescopic rod 2 5111. A guide rail 2 5118 is fixedly installed inside the connecting frame 5116. The guide rail 2 5118 is an electric guide rail identical to the guide rail 1 4112. A sliding contact is slidably connected to the outer wall of the guide rail 2 5118. The second slide block 5119 has a sliding opening on the outer side of the connecting outer frame 5116. The second slide block 5119 moves through the sliding opening. An upper clamping plate 5220 is fixedly installed on the other side of the second slide block 5119. A lower clamping plate 5117 is fixedly installed on the outer side of the connecting outer frame 5116. A snap-fit ​​opening is opened on one side of the lower guide groove 5112. An electric telescopic rod 5114 is fixedly installed on one side of the inner wall of the binding shell 511. A cutting blade 5115 is fixedly installed at the telescopic end of the electric telescopic rod 5114. The cutting blade 5115 is snap-fitted into the lower guide groove 5112 through the snap-fit ​​opening. By simply designing the distance between the position of the cutting blade 5115 and the position where the upper clamping plate 5220 clamps the binding wire, the cut end of the binding wire can be made to extend along the lower guide groove 5112 under inertia and stop at the position clamped by the lower clamping plate 5117 and the upper clamping plate 5220.The grooves of the upper guide groove 5113 and the lower guide groove 5112 are matched to form a circle. For example, when binding two intersecting objects, the upper guide groove 5113 and the lower guide groove 5112 are moved to the intersection of the objects, and the objects must be between the upper guide groove 5113 and the lower guide groove 5112. The two guide rollers 516 driven by the second motor 514 transport the binding wire out of the channel of the lower guide groove 5112 (the driving speed of the second motor 514 must be fast to give the binding wire inertia; if it is too slow, the wire cannot be wound). The wire moves to the upper left through the arc-shaped groove at the end of the lower guide groove 5112, thus entering the upper guide groove 5113. Inside the upper guide groove 5113, because the interior is semi-circular, the end of the inertial steel wire re-enters the interior of the lower guide groove 5112, forming a circle. It then wraps around the intersection of the object two or three times before being cut. The lower clamping plate 5117 and the upper clamping plate 5220 then clamp the binding wire. The binding wire is then stretched and rotated by the motor 519, the electric telescopic rod 5111, and the clamping plates, thus tightening the binding wire and completing the wrapping. The upper and lower clamping plates form a stable clamping structure. During the binding process, sufficient clamping force is provided to ensure the binding wire tightly wraps around the object, preventing displacement and ensuring the stability and reliability of the binding operation, thereby improving the binding quality.

[0025] In use, when the vertical height of the binding assembly 5 needs to be adjusted, the electric telescopic rod 412 is activated. The telescopic end of the electric telescopic rod 412 extends or retracts, pushing the connecting top plate 413 to move up and down, thereby driving the entire adjusting assembly 4 and the binding assembly 5 below to rise and fall vertically to accommodate objects at different heights. When horizontal rotation is required, the motor 411 is activated. The motor 411 drives the entire adjusting assembly 4 and binding assembly 5 to rotate via the electric telescopic rod 412. The dual-axis motor 416 is activated under the control of the controller, and its output long shaft 417 rotates accordingly. The long shaft 417 drives the protrusion 418 fixed to one end of its outer wall to rotate. The short shaft 419 on the protrusion 418 rotates on the side plate 413. The 14 slides within the arc-shaped sliding opening. Since the connecting horizontal plate 4111 is fixedly connected between the short shafts 419, the rotation of the long shaft 417 causes the connecting horizontal plate 4111 to change angle around the axis of the long shaft 417, thereby adjusting the angle of the binding assembly 5 fixed to the bottom of the connecting horizontal plate 4111 to meet the needs of binding objects at different angles. The guide rail 4112 operates under the control of the controller, and its outer wall slide block 4113 can slide along the length of the guide rail 4112. Since the binding assembly 5 is fixedly installed at the bottom of the slide block 4113, the sliding of the slide block 4113 allows the binding assembly 5 to move horizontally, facilitating precise alignment with the binding position of the object to be bound. The motor 2 514 starts. Its output end drives the connected rotating shaft 515 to rotate. Since the gears 517 on the two rotating shafts 515 mesh with each other, the two rotating shafts 515 rotate synchronously in opposite directions, thereby driving the two guide rollers 516 to rotate synchronously in opposite directions, driving the binding wire on the take-up roller 513 to be released. Driven by the two guide rollers 516, the binding wire is guided by the upper guide groove 5113 and the lower guide groove 5112 to be circularly wound around the binding position. After the binding wire has been wound around the object to be bound a suitable number of times, the electric telescopic rod 5114 is first started. The electric telescopic rod 5114 extends under the control of the controller, and the cutting blade 5115 fixedly installed at its telescopic end follows the engagement joint on one side of the lower guide groove 5112. While the binding wire is being cut, the cut end of the binding wire will continue to extend along the lower guide groove 5112 due to inertia and continue to wrap around the binding position. Then, the electric telescopic rod 5111 is activated to extend. The electric telescopic rod 5111 pushes the connecting outer frame 5116 and the lower clamping plate 5117 fixed on its outside and the upper clamping plate 5220 installed on the connecting outer frame 5116 through the slide block 5119 to move, clamping both ends of the binding wire. Then, the motor 3 519 is activated, and the motor 3 519 drives the electric telescopic rod 5111 to rotate. The electric telescopic rod 5111 drives the binding wire to rotate and tighten through the upper clamping plate 5220. After tightening, the binding wire can be released.

[0026] The adjustable binding device for underwater operations in this embodiment has an adjustment component that allows the binding component to be extended, rotated, rotated around the end of the extension, and translated radially relative to the underwater robot. It can drive the entire binding component to rise and fall vertically to adapt to objects at different heights. It can also rotate around the extension axis, rotate around the end of the extension, and translate radially to meet the needs of binding objects at different angles. The binding component includes an output mechanism for outputting binding wire, a guide mechanism for guiding the binding wire to bind, a cutting mechanism for cutting the binding wire, and a tightening mechanism for clamping the end of the binding wire and rotating it to tighten it. It can achieve stable and reliable binding of underwater objects.

[0027] Those skilled in the art should understand that the discussion of any of the above embodiments is merely exemplary and is not intended to imply that the scope of protection of this application is limited to these examples; within the framework of this application, the technical features of the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations of different aspects of one or more embodiments of this application as described above, which are not provided in detail for the sake of brevity.

[0028] One or more embodiments in this application are intended to cover all such substitutions, modifications, and variations that fall within the broad scope of this application. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of one or more embodiments in this application should be included within the protection scope of this application.

Claims

1. An adjustable binding device for underwater operations, characterized in that, The device includes a main body, an adjustment assembly (4) connected to the main body, and a binding assembly (5) connected to the adjustment assembly (4). The adjustment assembly (4) includes an adjustment structure that allows the binding assembly (5) to extend and retract relative to the main body, rotate along the axis of extension and retraction, rotate around the end of extension and retraction, and translate radially along the rotation. The binding assembly (5) includes a binding housing (511) connected to the end of the adjustment assembly (4), an output mechanism for outputting binding wires provided on the binding housing (511), a guide mechanism for guiding binding wires to bind, a cutting mechanism for cutting binding wires, and a tightening mechanism for clamping the end of binding wires and rotating and tightening them. The guiding mechanism includes a lower guide groove (5112) and an upper guide groove (5113) extending along the output direction of the binding wire of the output mechanism. The lower guide groove (5112) includes a lower guide groove section with an arc-shaped bottom, and the upper guide groove (5113) includes an upper guide groove section with an arc-shaped bottom. The bottom of the upper guide groove section and the bottom of the lower guide groove section are directly opposite each other and the two bottoms are spaced apart to form an arc on the same circle to guide the binding wire to wrap around the object in a circular manner. The fastening mechanism is located between the output mechanism and the guide mechanism. The fastening mechanism includes a third motor (519), a second electric telescopic rod (5111) connected to the output end of the third motor (519), and a clamping assembly connected to the output end of the second electric telescopic rod (5111). The telescopic direction of the second electric telescopic rod (5111) is consistent with the extension direction of the lower guide groove (5112). The clamping assembly includes a second guide rail fixedly connected to the second electric telescopic rod (5111). (5118), a lower clamping plate (5117) fixedly connected to the second guide rail (5118) and an upper clamping plate (5220) slidably connected to the second guide rail (5118), the second electric telescopic rod (5111) pushes the lower clamping plate (5117) and the upper clamping plate (5220) to slide along the lower guide groove (5112) and the upper guide groove (5113) respectively so that the lower clamping plate (5117) and the upper clamping plate (5220) clamp the binding wire; The adjustment assembly (4) includes a motor (411) installed on the main body and an electric telescopic rod (412) fixedly connected to the output end of the motor (411). The output end of the electric telescopic rod (412) is fixedly connected to a connecting top plate (413). A rotating mechanism that rotates around the output end of the electric telescopic rod (412) is installed on the connecting top plate (413). A translation mechanism is provided at the output end of the rotating mechanism. The binding assembly (5) is installed on the moving end of the translation mechanism. The rotating mechanism includes two opposing side plates (414) connected to the connecting top plate (413), a dual-axis motor (416) mounted on the connecting top plate (413), two protrusions (418) connected to the two output shafts of the dual-axis motor (416), and a short shaft (419) connected to both protrusions (418). The two output shafts of the dual-axis motor (416) pass through the corresponding side plates (414) and are connected to the corresponding protrusions (418). At the same time, both ends of the short shaft (419) pass through the corresponding side plates (414) and are connected to the corresponding protrusions (418). An arc-shaped sliding opening is provided on any side plate (414) relative to the rotation trajectory of the short shaft (419). The short shaft (419) is fixedly connected to the translation mechanism.

2. The adjustable binding device for underwater operations as described in claim 1, characterized in that, The output mechanism includes a take-up roller (513), a second motor (514), and two parallel guide rollers (516). Each of the guide rollers (516) is fixedly connected to a rotating shaft (515) that passes through the middle. The two guide rollers (516) are respectively fixedly connected to a gear (517) through the rotating shaft (515), and the two gears (517) mesh. The rotating shaft (515) of one of the guide rollers (516) is fixedly connected to the output shaft of the second motor (514). The second motor (514) drives the two gears (517) to rotate synchronously in opposite directions, thereby outputting the binding wire on the take-up roller (513).

3. The adjustable binding device for underwater operations as described in claim 1, characterized in that, The cutting mechanism includes an electric telescopic rod three (5114) and a cutting blade (5115) fixedly installed at the telescopic end of the electric telescopic rod three (5114). The telescopic direction of the electric telescopic rod three (5114) is perpendicular to the extension direction of the lower guide groove (5112). The cutting blade (5115) is engaged with the lower guide groove (5112) through a snap-fit ​​port on the lower guide groove (5112).

4. The adjustable binding device for underwater operations as described in any one of claims 1-3, characterized in that, The translation mechanism includes a connecting horizontal plate (4111) fixedly connected to the rotation mechanism, a guide rail (4112) provided on the connecting horizontal plate (4111), a slide (4113) connected to the guide rail (4112), and a connecting block (4114) fixedly connected to the slide (4113). The connecting block (4114) is fixedly connected to the binding assembly (5).

5. The adjustable binding device for underwater operations as described in claim 4, characterized in that, The first guide rail (4112) is a ball screw that serves as the active component, and the first slide (4113) is a nut seat that serves as the passive component. The ball screw is driven by a servo motor.

6. The adjustable binding device for underwater operations as described in any one of claims 1-3, characterized in that, One end of the main body is provided with a spiral propeller (3).

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