Underwater robot system capable of staying on seabed for long time

Abstract

The utility model relates to an underwater robot system capable of staying on the seabed for a long time, which comprises a robot library, a mooring rope winch, a mooring rope releasing guide wheel assembly and a mooring rope output guide wheel assembly are arranged in the robot library, and an underwater robot is stored in the robot library. The head end of a mooring rope on the mooring rope winch is led out and then sequentially bypasses a release guide wheel in the mooring rope release guide wheel assembly and an output guide wheel in the mooring rope output guide wheel assembly to be connected with the underwater robot, a battery pack support is arranged at the upper end of the robot library, and a battery pack is arranged in the battery pack support. A buoy assembly is arranged at the upper end of the battery pack support. The device can reside on the seabed for a long time, and when the underwater robot enters and exits the garage, the mooring line winding and unwinding cannot be influenced by the complex seabed environment.

Description

Technical Field

[0001] The utility model relates to the field of underwater robots, in particular to an underwater robot system which resides on the seabed for a long time. Background Art

[0002] Underwater robots are important equipment for marine engineering construction and marine scientific research. However, in the existing technology, underwater robot operations at sea require a mother ship to carry the underwater robot and its retrieval and deployment system, and the underwater robot needs to be released into the deep sea every time it operates. As the duration of a single operation of the underwater robot increases and the frequency of operations increases, the economic and time costs of this method also increase accordingly.

[0003] In order to solve the above problems, some underwater charging and supply devices have appeared in the prior art. For example, the patent with publication number CN115571304A discloses a deep-sea self-balancing permanent underwater AUV recovery and supply station, which includes a supply station frame, and the supply station frame and the underwater robot are placed on the seabed together. A guide to position is provided at the upper end of the supply station frame, and an acoustic and optical combined guidance system is provided at the upper end of the guide to position to guide the AUV into the supply station. However, the device mainly uses the supply station main control communication system to connect with the shore end through a cable to exchange information and control the operation of the supply station, and uses the supply station sub-control system to detect whether the AUV is in place and to transmit power and data to the AUV body.

[0004] The patent with the authorization announcement number CN216035033U discloses an underwater robot with a cable retracting function, including a controller, a repeater frame and an underwater robot connected in sequence by cables. When the underwater robot is working, the underwater robot and the repeater frame are released to the underwater operation position at the same time, and then the underwater robot starts to come out of the electrical compartment of the repeater frame to perform underwater operations. The system is provided with a cable retracting installation layer at the bottom of the underwater robot to realize the cable retracting operation. The cable retracting installation layer is a frame structure matching the underwater robot, and a cable retracting device is provided inside. The cable retracting device includes a cable retracting drive reduction motor, a cable reel, a slip ring device and other structures, and in order to reduce the volume, the cable reel is placed horizontally. However, the system has the following disadvantages: First, adding a cable-retracting installation layer on the lower side of the underwater robot will increase the overall weight of the underwater robot; second, the internal volume of the cable-retracting installation layer is limited, and its cable storage length is also limited; third, although the system has a cable tensioning device that cooperates with the cable reel in the frame of the cable-retracting installation layer, due to the complex deep-sea current environment and the fact that the mooring cable usually has a certain diameter and hardness (especially for large underwater robots), the fixed active wheel, driven wheel and guide wheel structure in the above-mentioned cable tensioning device cannot ensure that the output direction of the mooring cable does not fluctuate, and the rigid bending of the mooring cable is also prone to damage. Utility Model Content

[0005] The utility model aims to provide an underwater robot system that resides on the seabed for a long time, which can reside on the seabed for a long time, and when the underwater robot enters and leaves the warehouse, the retraction and release of the mooring will not be affected by the complex environment of the seabed.

[0006] The purpose of this utility model is achieved through the following technical solutions:

[0007] An underwater robot system that resides on the seabed for a long time includes a robot library, and the robot library is provided with a mooring winch, a mooring release guide wheel assembly and a mooring output guide wheel assembly. The underwater robot is stored in the robot library, and the mooring head end on the mooring winch is led out and successively passes around the release guide wheel in the mooring release guide wheel assembly and the output guide wheel in the mooring output guide wheel assembly to be connected to the underwater robot, a battery pack bracket is provided at the upper end of the robot library, and a battery pack is provided inside the battery pack bracket, and a buoy assembly is provided at the upper end of the battery pack bracket.

[0008] The mooring cable output guide wheel assembly includes an output guide wheel frame, a pressure wheel and an elastic component, wherein the output guide wheel is rotatably arranged in the output guide wheel frame, and a plurality of elastic components and a plurality of pressure wheels are arranged on the output guide wheel frame, each pressure wheel is evenly distributed on the mooring cable input side of the output guide wheel frame along the circumferential direction, and each pressure wheel is respectively installed on a corresponding elastic component, and the mooring cable passes between the output guide wheel and each pressure wheel.

[0009] The elastic component includes a slide seat, a fixed seat, a guide rod, a spring and a limit nut, wherein the slide seat is slidably connected to the output guide wheel frame, the pressure wheel is fixedly connected to the slide seat, and a slide support plate is provided on the slide seat, the lower end of the guide rod is fixed to the fixed seat, and the upper end passes through the slide support plate and is threadedly connected to the limit nut, and the spring is sleeved on the guide rod and arranged between the limit nut and the slide support plate.

[0010] A slide guide groove is provided on the outside of the output guide wheel frame, and the slide is slidably arranged in the corresponding slide guide groove, a connecting guide groove is provided at the bottom of the slide guide groove, the slide is fixedly connected to the wheel seat of the pressure wheel arranged in the output guide wheel frame through a connecting element, and the connecting element passes through the connecting guide groove.

[0011] A protective cover is provided on the cable output side of the output guide wheel frame, an output pressure wheel seat is provided at the upper end of the output guide wheel frame, and an output pressure wheel is provided on the lower side of the output pressure wheel seat, a cable guide opening is provided at the upper end of the protective cover, and the cable passes through the gap between the output pressure wheel and the output guide wheel and is output through the cable guide opening.

[0012] The output guide wheel frame is provided with a cable-releasing driving device, and the output guide wheel is driven to rotate by the cable-releasing driving device.

[0013] The mooring cable release guide wheel assembly comprises a mounting frame, and a rotatable lead screw is arranged on the mounting frame, a nut sleeve is sleeved on the lead screw, and the nut sleeve is connected to the release guide wheel.

[0014] The mounting frame is provided with guide shafts, and two guide shafts are respectively arranged on both sides of the lead screw, and guide sleeves are arranged on both sides of the nut sleeve, and the guide sleeves are respectively sleeved on the guide shafts on the corresponding sides.

[0015] The buoy assembly includes a buoy satellite antenna, an armored optical fiber and a fiber optic winch, wherein the fiber optic winch is arranged on a fiber optic winch bracket at the upper end of a battery pack bracket, the armored optical fiber is wound around the fiber optic winch, and the head end of the armored optical fiber is led out by the fiber optic winch and first passes through a fiber optic guide hole arranged at the upper end of the fiber optic winch bracket, and then is connected to the buoy satellite antenna.

[0016] A clamping arm for clamping and fixing the underwater robot is arranged inside the robot library.

[0017] The advantages and positive effects of the utility model are:

[0018] 1. The utility model can stay on the seabed for a long time, and when the underwater robot enters and exits the robot library, the mooring cable will not be affected by the complex seabed environment when it is retracted and released. After the mooring winch releases the mooring cable, the mooring cable is output after passing through the mooring cable release guide wheel assembly and the mooring cable output guide wheel assembly in sequence, and the mooring cable output guide wheel assembly is evenly distributed with pressure wheels along the circumferential direction on the mooring cable input side of the output guide wheel. The pressure wheels are installed on the elastic assembly, thereby realizing adaptive elastic compression of the mooring cable, so it will not affect the mooring cable output or damage the mooring cable.

[0019] 2. The mooring output guide wheel assembly of the utility model is provided with a protective cover on the mooring output side of the output guide wheel frame, and an output pressure wheel seat is provided on the upper end of the output guide wheel frame. The above structure can ensure that the mooring is output along the tangent direction of the output guide wheel and the direction will not be changed by the complex seabed environment. In addition, the cable release drive device in the mooring output guide wheel assembly drives the output guide wheel to rotate. In addition to achieving the purpose of mooring output, it can also control the mooring output speed according to actual conditions. Therefore, the utility model can better adapt to the complex seabed cable release environment when releasing and retracting the cable, and can ensure that the mooring direction does not change, thereby ensuring that the underwater robot can enter and exit the warehouse smoothly.

[0020] 3. The utility model is provided with a buoy assembly, and when the underwater robot and the robot warehouse are lowered together, the buoy satellite antenna in the buoy assembly always keeps floating on the sea surface to realize satellite control information transmission, thereby ensuring the control of the underwater robot's actions such as entering and exiting the warehouse. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1It is a structural schematic diagram of the utility model.

[0022] Figure 2 for Figure 1 The front view of the utility model,

[0023] Figure 3 for Figure 2 Enlarged schematic diagram of the middle mooring winch, mooring release guide wheel assembly and mooring output guide wheel assembly,

[0024] Figure 4 for Figure 3 An enlarged schematic diagram of the middle mooring cable output guide wheel assembly.

[0025] Figure 5 for Figure 4 An enlarged schematic diagram of the middle elastic component and the output pressure wheel seat,

[0026] Figure 6 for Figure 4 The back view of the middle mooring cable output guide wheel assembly.

[0027] Figure 7 for Figure 3 A view in the figure.

[0028] Among them, 1 is an underwater robot, 2 is a robot library, 201 is a clamping arm, 202 is a control cabin, 203 is a battery pack bracket, 204 is a fiber optic winch bracket, 3 is a battery pack, 4 is a mooring winch, 401 is a winch sprocket, 5 is a mooring output guide wheel assembly, 501 is an output guide wheel frame, 5011 is a slide seat guide groove, 5012 is a connecting guide groove, 502 is a pressure wheel, 503 is an elastic component, 5031 is a limit nut, 5032 is a spring, 5033 is a slide seat, 5034 is a guide rod, and 5035 is a fixed seat , 5036 is a connecting element, 504 is a cable release drive device, 505 is an output pressure wheel seat, 5051 is an output pressure wheel, 506 is a protective cover, 5061 is a mooring guide opening, 507 is an output guide wheel, 6 is a buoy assembly, 601 is a buoy satellite antenna, 602 is an armored optical fiber, 603 is an optical fiber guide hole, 7 is a mooring release guide wheel assembly, 701 is a screw sprocket, 702 is a mounting frame, 703 is a screw, 704 is a guide shaft, 705 is a nut sleeve, 706 is a guide sleeve, and 707 is a release guide wheel. DETAILED DESCRIPTION

[0029] The utility model is further described in detail below in conjunction with the accompanying drawings.

[0030] like Figures 1 to 7As shown, the utility model includes a robot library 2, and the robot library 2 is provided with a mooring winch 4, a mooring release guide wheel assembly 7 and a mooring output guide wheel assembly 5, the underwater robot 1 is stored in the robot library 2, and the mooring head end on the mooring winch 4 is led out and successively passes around the release guide wheel 707 in the mooring release guide wheel assembly 7 and the output guide wheel 507 in the mooring output guide wheel assembly 5 and then is connected to the underwater robot 1, a battery pack bracket 203 is provided at the upper end of the robot library 2, and a battery pack 3 is provided inside the battery pack bracket 203, and a buoy assembly 6 is provided at the upper end of the battery pack bracket 203.

[0031] like Figures 2-3 As shown, in this embodiment, the mooring cable release guide wheel assembly 7 includes a mounting frame 702, and a rotatable screw 703 is provided on the mounting frame 702, a nut sleeve 705 is mounted on the screw 703, and the nut sleeve 705 is connected to the release guide wheel 707. When the screw 703 rotates to drive the nut sleeve 705 to move, the nut sleeve 705 drives the release guide wheel 707 to move to cooperate with the mooring cable retraction and release progress on the mooring winch 4.

[0032] like Figure 3 As shown, the mounting frame 702 is provided with a guide shaft 704, and the two guide shafts 704 are respectively arranged on both sides of the lead screw 703, and guide sleeves 706 are provided on both sides of the nut sleeve 705, and the guide sleeves 706 are respectively mounted on the guide shafts 704 on the corresponding sides. The above structure can ensure the linear movement of the release guide wheel 707.

[0033] like Figure 3 As shown, in this embodiment, a winch sprocket 401 is provided at one end of the mooring winch 4, and a screw sprocket 701 is provided at one end of the screw 703, and the winch sprocket 401 and the screw sprocket 701 are connected by a chain, and the winch sprocket 401 is also mounted on the output shaft of the winch motor that drives the mooring winch 4 to rotate. The rotation of the winch motor drives the winch sprocket 401 and the screw sprocket 701 to rotate synchronously, thereby driving the mooring winch 4 and the screw 703 to rotate synchronously, and the transmission speed ratio of the winch sprocket 401 and the screw sprocket 701 can be designed according to actual needs to ensure that the movement of the release guide wheel 707 can match the progress of the mooring cable on the mooring winch 4.

[0034] like Figures 4 to 6 As shown, in this embodiment, the cable output guide wheel assembly 5 includes an output guide wheel frame 501, a pressure wheel 502 and an elastic component 503, wherein Figure 6 As shown, the output guide wheel 507 is rotatably arranged in the output guide wheel frame 501. Figures 4-5As shown, the output guide wheel frame 501 is provided with a plurality of elastic components 503 and a plurality of pressure wheels 502, wherein each pressure wheel 502 is evenly distributed on the mooring cable input side of the output guide wheel frame 501 along the circumferential direction, and the pressure wheels 502 are respectively installed in the corresponding elastic components 503, and the mooring cable passes between the pressure wheels 502 and the output guide wheel 507. Since the mooring cable has a transmission function, it has a certain diameter and hardness, and when the underwater robot 1 enters and exits the robot library 2 in the deep sea, the mooring cable is also easily affected by factors such as seabed currents, so the utility model utilizes each pressure wheel 502 to cooperate with elastic adaptive compression to tighten the mooring cable, while ensuring the mooring cable output, it also avoids the fluctuation of the mooring cable output.

[0035] like Figures 4-5 As shown, in this embodiment, the elastic component 503 includes a slide seat 5033, a fixed seat 5035, a guide rod 5034, a spring 5032 and a limit nut 5031, wherein the slide seat 5033 is slidably connected to the output guide wheel frame 501, the pressure wheel 502 is fixedly connected to the slide seat 5033, and a slide support plate is provided on the slide seat 5033, the lower end of the guide rod 5034 is fixed to the fixed seat 5035, and the upper end passes through the slide support plate and is threadedly connected to the limit nut 5031, and the spring 5032 is sleeved on the guide rod 5034 and is provided between the limit nut 5031 and the slide support plate. When the utility model is working, each pressure wheel 502 can elastically press the mooring cable from the outside through the elastic action of the spring 5032, thereby ensuring that the mooring cable is fixed without damaging the mooring cable. The pressure wheel 502 moves outward under the bending action of the mooring cable, thereby driving the slide seat 5033 to move outward. At this time, the slide seat support plate cooperates with the limit nut 5031 to compress the spring 5032. In addition, the utility model can also screw the limit nut 5031 according to actual needs to change its position on the guide rod 5034, and then adjust the elasticity of the spring 5032 to adapt to the tightening needs of mooring cables with different diameters and hardness specifications, which improves the flexibility of use and the scope of application of the utility model.

[0036] like Figure 5 As shown, in this embodiment, a slide seat guide groove 5011 is provided on the outer side of the output guide wheel frame 501, and the slide seat 5033 is slidably arranged in the corresponding slide seat guide groove 5011, and a connecting guide groove 5012 is provided at the bottom of the slide seat guide groove 5011, and the slide seat 5033 is fixedly connected with the wheel seat of the pressure wheel 502 arranged in the output guide wheel frame 501 through a connecting element 5036, and the connecting element 5036 passes through the connecting guide groove 5012, so that when the slide seat 5033 moves along the slide seat guide groove 5011, the connecting element 5036 moves along the connecting guide groove 5012 at the same time. The connecting element 5036 can be a bolt or other element according to actual needs.

[0037] like Figures 4-5 As shown, the output guide wheel frame 501 has pressure wheels 502 evenly distributed along the circumferential direction on the mooring cable input side, and a protective cover 506 is provided on the mooring cable output side of the output guide wheel frame 501 to ensure that the mooring cable is output along the tangential direction of the output guide wheel 507, wherein as shown in FIG. Figure 4 As shown, the output guide wheel frame 501 has an output pressure wheel seat 505 at its upper end, and as shown in Figure 5 As shown, an output pressure wheel 5051 is provided on the lower side of the output pressure wheel seat 505, and a mooring cable guide opening 5061 is provided on the upper end of the protective cover 506. The mooring cable passes through the gap between the output pressure wheel 5051 and the output guide wheel 507 and is output through the mooring cable guide opening 5061 and connected to the underwater robot 1.

[0038] like Figure 4 As shown, a cable-releasing driving device 504 is provided in the middle of the output guide wheel frame 501 , and the middle of the output guide wheel 507 is installed on the cable-releasing driving device 504 and driven to rotate by the cable-releasing driving device 504 .

[0039] like Figure 1 As shown, in this embodiment, the buoy assembly 6 includes a buoy satellite antenna 601, an armored optical fiber 602 and an optical fiber winch, wherein the optical fiber winch is arranged on the optical fiber winch bracket 204 at the upper end of the battery pack bracket 203, the armored optical fiber 602 is wound on the optical fiber winch, and the head end of the armored optical fiber 602 is led out by the optical fiber winch and first passes through the optical fiber guide hole 603 arranged at the upper end of the optical fiber winch bracket 204, and then is connected to the buoy satellite antenna 601. When the utility model is used, the underwater robot 1 is lowered to the seabed together with the robot library 2, and during the lowering process, the buoy satellite antenna 601 always floats on the sea surface, and the optical fiber winch cooperates with the robot library 2 to continuously release the armored optical fiber 602 as the depth decreases, until the robot library 2 reaches the seabed, and then the utility model controls the robot library 2 to decouple from the mother ship through satellite control, and remotely controls the underwater robot 1 to leave the library for underwater operations through satellite control, and the relevant control information is transmitted through the buoy satellite antenna 601 and the armored optical fiber 602. The buoy satellite antenna 601 and the armored optical fiber 602 are well-known technologies in the art and are commercially available products. In addition, the optical fiber winch is also well-known technologies in the art, and its structural principle is the same as that of the mooring winch 4.

[0040] like Figures 1-2As shown, in this embodiment, a clamping arm 201 is provided inside the robot warehouse 2 for clamping and fixing the underwater robot 1. When the clamping arm 201 is opened, the underwater robot 1 can be put in and out of the warehouse. The clamping arm 201 can be opened by lifting drive (such as lifting by a cylinder) or rotating drive (such as rotating by a motor) according to actual needs.

[0041] like Figure 1 As shown, in this embodiment, a control cabin 202 is provided inside the robot library 2 for accommodating various control system modules. In addition, the electrical components in the robot library 2 are also powered by the battery pack 3.

[0042] The working principle of the utility model is:

[0043] When the utility model is working, the underwater robot 1 and the robot library 2 are lowered to the seabed together by the mother ship winch, and during the lowering process, the buoy satellite antenna 601 always keeps floating on the sea surface to realize satellite control information transmission. When the robot library 2 is lowered to the seabed, it is unhooked from the mother ship winch, and then the utility model remotely controls the underwater robot 1 to leave the library for underwater operation through satellite remote control, wherein Figures 2-3 As shown, when the underwater robot 1 is out of the warehouse, the clamping arm 201 in the robot warehouse 2 for fixing the underwater robot 1 is opened first, and then the underwater robot 1 is output, and at the same time the mooring winch 4 cooperates to release the mooring cable, and the mooring cable passes through the mooring cable release guide wheel assembly 7 and the mooring cable output guide wheel assembly 5 in turn and is then output, wherein the release guide wheel 707 in the mooring cable release guide wheel assembly 7 can move to cooperate with the progress of the mooring cable release.

[0044] like Figures 4 to 6As shown, the mooring cable output guide wheel assembly 5 of the present invention is uniformly provided with elastic pressure wheels 502 along the circumferential direction on the mooring cable input side of the output guide wheel 507, and the mooring cable passes between the pressure wheels 502 and the output guide wheel 507. Since the mooring cable has a certain diameter and hardness, and the mooring cable is easily affected by factors such as seabed current when the underwater robot 1 enters and exits the robot library 2 in the deep sea, the present invention uses each pressure wheel 502 to cooperate with the compression of the mooring cable to ensure that the mooring cable output does not fluctuate, wherein the pressure wheel 502 is installed on the elastic assembly 5 03 can realize adaptive elastic compression of the mooring cable, so it will not affect the mooring cable output or damage the mooring cable, and the mooring cable output side of the output guide wheel frame 501 is provided with a protective cover 506, and the upper end of the output guide wheel frame 501 is provided with an output pressure wheel seat 505. The above structure can ensure that the mooring cable is output along the tangent direction of the output guide wheel 507 and the direction will not be changed by the complex seabed environment. In addition, the cable release drive device 504 drives the output guide wheel 507 to rotate. In addition to achieving the purpose of mooring cable output, it can also control the mooring cable output speed according to actual conditions. Therefore, compared with the prior art that mainly releases the cable from the mother ship to cooperate with the release of the underwater robot, the utility model can better adapt to the complex seabed cable release environment when releasing the cable, and can ensure that the direction of the mooring cable does not change, thereby ensuring that the underwater robot 1 can enter and exit the warehouse smoothly. At the same time, the mooring winch 4 of the utility model can store a sufficient length of mooring cable, thereby ensuring that the underwater robot can achieve a large range of movement to meet the needs of the operation.

[0045] When the underwater robot 1 enters the warehouse, the mooring winch 4 rotates in the opposite direction to cooperate with the cable collection. At this time, the mooring output guide wheel assembly 5 mainly ensures that the direction of the mooring does not change, and then cooperates with the underwater robot 1 to enter the warehouse smoothly. At this time, the cable release drive device 504 does not need to be started. If encountering special circumstances, such as large seabed resistance, the cable release drive device 504 can be started to increase the mooring cable recovery power. After the underwater robot 1 enters the warehouse, the clamping arm 201 clamps and fixes the underwater robot 1 again, and the underwater robot 1 enters the standby state and stays on the seabed waiting for the next task.

Claims

1. An underwater robot system that resides on the seabed for a long time, characterized in that: The invention comprises a robot library (2), wherein a mooring winch (4), a mooring release guide wheel assembly (7) and a mooring output guide wheel assembly (5) are arranged in the robot library (2); an underwater robot (1) is stored in the robot library (2), and the mooring head end on the mooring winch (4) is led out and then passes through a release guide wheel (707) in the mooring release guide wheel assembly (7) and an output guide wheel (507) in the mooring output guide wheel assembly (5) in sequence, and then is connected to the underwater robot (1); a battery pack bracket (203) is arranged at the upper end of the robot library (2), and a battery pack (3) is arranged inside the battery pack bracket (203); and a buoy assembly (6) is arranged at the upper end of the battery pack bracket (203).

2. The underwater robot system for long-term seabed residence according to claim 1, characterized in that: The mooring cable output guide wheel assembly (5) comprises an output guide wheel frame (501), a pressure wheel (502) and an elastic assembly (503), wherein an output guide wheel (507) is rotatably arranged in the output guide wheel frame (501), a plurality of elastic assemblies (503) and a plurality of pressure wheels (502) are arranged on the output guide wheel frame (501), each pressure wheel (502) is evenly distributed on the mooring cable input side of the output guide wheel frame (501) along the circumferential direction, and each pressure wheel (502) is respectively installed on a corresponding elastic assembly (503), and the mooring cable passes between the output guide wheel (507) and each pressure wheel (502).

3. The underwater robot system for long-term seabed residence according to claim 2, characterized in that: The elastic component (503) comprises a slide seat (5033), a fixed seat (5035), a guide rod (5034), a spring (5032) and a limit nut (5031), wherein the slide seat (5033) is slidably connected to the output guide wheel frame (501), the pressure wheel (502) is fixedly connected to the slide seat (5033), and a slide seat support plate is provided on the slide seat (5033), the lower end of the guide rod (5034) is fixed to the fixed seat (5035), and the upper end passes through the slide seat support plate and is threadedly connected to the limit nut (5031), and the spring (5032) is sleeved on the guide rod (5034) and is provided between the limit nut (5031) and the slide seat support plate.

4. The underwater robot system for long-term seabed residence according to claim 3, characterized in that: A slide guide groove (5011) is provided on the outer side of the output guide wheel frame (501), and the slide seat (5033) is slidably arranged in the corresponding slide guide groove (5011), and a connecting guide groove (5012) is provided at the bottom of the slide guide groove (5011), and the slide seat (5033) is fixedly connected to the wheel seat of the pressure wheel (502) arranged in the output guide wheel frame (501) through a connecting element (5036), and the connecting element (5036) passes through the connecting guide groove (5012).

5. The underwater robot system for long-term seabed residence according to claim 2, characterized in that: A protective cover (506) is provided on the mooring cable output side of the output guide wheel frame (501); an output pressure wheel seat (505) is provided on the upper end of the output guide wheel frame (501); an output pressure wheel (5051) is provided on the lower side of the output pressure wheel seat (505); a mooring cable guide opening (5061) is provided on the upper end of the protective cover (506); and the mooring cable passes through a gap between the output pressure wheel (5051) and the output guide wheel (507) and is output through the mooring cable guide opening (5061).

6. The underwater robot system for long-term seabed residence according to claim 2, characterized in that: The output guide wheel frame (501) is provided with a cable-releasing driving device (504), and the output guide wheel (507) is driven to rotate by the cable-releasing driving device (504).

7. The underwater robot system for long-term seabed residence according to claim 1, characterized in that: The mooring cable release guide wheel assembly (7) comprises a mounting frame (702), and a rotatable lead screw (703) is provided on the mounting frame (702), a nut sleeve (705) is sleeved on the lead screw (703), and the nut sleeve (705) is connected to the release guide wheel (707).

8. The underwater robot system for long-term seabed residence according to claim 7, characterized in that: The mounting frame (702) is provided with a guide shaft (704), and two guide shafts (704) are respectively arranged on both sides of the lead screw (703); guide sleeves (706) are provided on both sides of the nut sleeve (705), and the guide sleeves (706) are respectively sleeved on the guide shafts (704) on the corresponding sides.

9. The underwater robot system for long-term seabed residence according to claim 1, characterized in that: The buoy assembly (6) comprises a buoy satellite antenna (601), an armored optical fiber (602) and an optical fiber winch, wherein the optical fiber winch is arranged on an optical fiber winch bracket (204) at the upper end of a battery pack bracket (203), the armored optical fiber (602) is wound around the optical fiber winch, and the head end of the armored optical fiber (602) is led out by the optical fiber winch and first passes through an optical fiber guide hole (603) arranged at the upper end of the optical fiber winch bracket (204), and then is connected to the buoy satellite antenna (601).

10. The underwater robot system for long-term seabed residence according to claim 1, characterized in that: A clamping arm (201) for clamping and fixing the underwater robot (1) is provided inside the robot library (2).

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