Robot mounting device

Abstract

The utility model relates to the technical field of underwater operation equipment, in particular to a robot carrying device which comprises a machine frame, a carrying cabin arranged on the machine frame, a machine frame control system arranged on the machine frame, a cable cabin arranged at one end of the carrying cabin, carrying spaces arranged in the carrying cabin at intervals, robots arranged in the carrying spaces and a robot outlet arranged at one end of the carrying space. One end of the rack is provided with a cable cabin, the other end of the rack is provided with a cable connecting port, a wire barrel is arranged in the cable cabin, a cable is arranged in the wire barrel, one end of the cable penetrates out of the cable cabin to be connected with a control system of the rack, the other end of the cable penetrates through the cable connecting port to be connected with a control system of the robot, and the cable cutter is used for cutting off the cable and releasing the robot. The camera is connected with the machine frame through a camera support, a camera unfolding and folding mechanism is arranged between the camera support and the machine frame, a propeller assembly is installed on the machine frame, and an operation driving mechanism is arranged on the machine frame. The water surface condition can be observed, and large-weight target objects can be grabbed.

Description

Technical Field

[0001] The utility model relates to the technical field of underwater operation equipment, in particular to a robot carrying device. Background Art

[0002] An underwater robot is a robot that can perform detection operations on the seabed, mainly used in fields such as underwater construction, public security and fire protection, and scientific research. It can carry a hydraulic or electric underwater manipulator and can perform underwater operations such as underwater salvage, underwater construction, underwater grasping, underwater sampling, and underwater marking. After retrieval, the free grasping device disclosed in Chinese Patent CN215618134U includes a support frame, a driving mechanism, and a clamping jaw mechanism. A floating body is fixedly arranged on the support frame and / or the clamping jaw mechanism, and a thruster is fixedly arranged on the support frame and / or the clamping jaw mechanism.

[0003] The deficiencies of the above patent are as follows: First, the above patent cannot carry a small robot for operation; second, the above patent can only observe the underwater situation. When the target is far from the shore or the ship, the operator cannot understand the water surface situation where the target is located; third, for some heavy targets, the clamping jaw mechanism of the above patent cannot grasp them, and they are easy to fall off and need to be grasped multiple times; fourth, in the above patent, the thrusters are arranged in a scattered manner, resulting in the need for multiple adjustments when adjusting the attitude underwater for the above patent. After grasping an underwater target, more adjustments are needed, which is time-consuming and laborious. Summary of the Invention

[0004] The purpose of the utility model is to solve the deficiencies of the prior art and provide a robot carrying device with a clever structure, capable of carrying a robot, having various operation modes, capable of observing the water surface situation, capable of grasping heavy targets, and with quick and convenient underwater attitude adjustment.

[0005] To achieve the above purpose, the technical solution adopted by the utility model is:

[0006] A robot carrying device includes a frame. It is characterized in that: a carrying cabin is arranged on the frame, the carrying cabin is fixedly connected to the frame, a robot is installed in the carrying cabin, and a robot exit is arranged on one side of the carrying cabin to carry the robot through the carrying cabin, facilitating the release of the robot after the frame enters the water for underwater operation.

[0007] A frame control system is arranged on the frame of the utility model. The robot is connected to the frame control system via a cable. A cable cutter is arranged on the frame or the carrying cabin, and the cutting end of the cable cutter faces the cable, so as to drive the cable cutter to cut the cable when it is necessary to disconnect the robot from the frame.

[0008] One end of the carrying cabin of the present utility model is provided with a cable cabin. The carrying cabin is provided with spaced carrying spaces inside. A robot is arranged in the carrying space. One end of the carrying space is provided with a robot exit, and the other end is provided with a cable connection port. The cable cabin is fixedly connected to the carrying cabin. The cable cabin is provided with spaced cable drums inside. A cable cavity is arranged in the cable drum. One end of the cable drum is fixedly connected to the cable cabin, and the other end is provided with a cable exit facing the carrying space. The cable is placed in the cable cavity. One end of the cable passes out of the cable cavity and is connected to the control system of the frame, and the other end passes through the cable exit and the cable connection port and is connected to the control system of the robot. The cable cutter is fixed on the cable cabin and is arranged facing the cable connection port, so that the robot can operate at a long distance relative to the frame conveniently through the cable, and the information can be transmitted back in time through the cable.

[0009] The cable cutter of the present utility model includes a cable-cutting electric push rod and a cable-cutting knife. The cable-cutting electric push rod is fixed on the inner wall of the cable cabin. The cable-cutting knife is located on one side of the cable connection port. The cable-cutting knife is driven by the cable-cutting electric push rod, so as to drive the cable-cutting knife through the cable-cutting electric push rod to cut the cable connecting the robot, and the connection between the robot and the frame is disconnected.

[0010] A camera is arranged above the frame of the present utility model. The camera is connected to the frame through a camera support bracket, so that when the frame floats on the water surface, the camera can observe the nearby water surface situation above the water surface.

[0011] A camera unfolding and retracting mechanism is arranged between the camera support bracket and the frame of the present utility model. The camera support bracket is rotatably connected to the frame through the camera unfolding and retracting mechanism, so that when in use, the camera can be erected, and when not in use, the camera can be flipped and placed on the frame to save the usage space.

[0012] The camera unfolding and retracting mechanism of the present utility model can be composed of a driving motor and a driving shaft. The lower end of the camera support bracket is provided with a driving shaft. The driving shaft is fixedly connected to the camera support bracket. The driving shaft is driven by the driving motor. The driving motor is fixedly connected to the frame, so as to drive the driving shaft to rotate through the driving motor, and then drive the camera support bracket to rotate to realize the flipping, unfolding and retracting of the camera support bracket.

[0013] The camera unfolding and folding mechanism of the present utility model can also be composed of a flipping frame, a locking tension spring, and a limiting rod. A flipping frame is provided between the camera support and the frame. The lower end of the camera support is hinged to the frame. An arc-shaped guiding groove is provided on the flipping frame, and the flipping frame is fixedly connected to the frame. Both ends of the arc-shaped guiding groove extend towards the center of the arc-shaped guiding groove to form limiting grooves. Locking tension springs are provided on both sides of the lower end of the camera support. A guiding card slot is provided on the camera support above the locking tension spring. Both ends of the limiting rod pass through the guiding card slot and the arc-shaped guiding groove is provided with limiting holes. The middle part of the limiting rod is slidably connected with the arc-shaped guiding groove in a matching manner, and both ends of the limiting rod are connected with the guiding card slot in a matching manner to move up and down. One end of the locking tension spring is fixedly connected to the camera support, and the other end passes through the limiting hole and is fixed. The limiting rod is clamped into the limiting groove to fixedly connect the camera support and the frame, so as to drive the camera support to flip by sliding the limiting rod along the arc-shaped guiding groove, and fix the position of the camera support by fixing the locking tension spring and the limiting rod.

[0014] A red and green signal lamp is fixedly provided on the camera support of the present utility model to facilitate the operator to find the robot in a complex environment.

[0015] A thruster assembly capable of promoting the full-attitude adjustment of the frame underwater is installed on the frame of the present utility model. The thruster assembly includes a first thruster and a second thruster. The first thrusters are arranged on the upper left and right sides of one side of the frame, and the first thrusters are arranged on the upper left and right sides of the other side. The second thrusters are arranged on the lower left and right sides of one side of the frame, and the second thrusters are arranged on the lower left and right sides of the other side. The first thruster and the second thruster are respectively fixedly connected to the frame, so as to enable the frame to freely adjust its attitude underwater by setting the first thruster and the second thruster.

[0016] The first thruster and the second thruster of the present utility model are inclined relative to the frame, so as to conveniently adjust the center of gravity of the frame by adjusting the inclination angles of the first thruster and the second thruster, and facilitate the robot to better adjust its attitude underwater.

[0017] Third thrusters are arranged on both sides of the middle of one side of the frame of the present utility model, and third thrusters are arranged on both sides of the middle of the other side. The third thruster is fixedly connected to the frame, so as to further improve the flexibility of the robot underwater through the third thruster, and at the same time facilitate the robot to quickly leave the water after grasping heavy objects.

[0018] An operation driving mechanism is provided on the frame of the present utility model. One end of the frame is connected to the operation driving mechanism, and the other end extends outwards to form a hoisting connection end, so as to bear the force of the operation of the operation driving mechanism through the frame directly connected to the hoisting equipment, and increase the strength of the operation driving mechanism.

[0019] The utility model provides a hanging frame at the other end of the frame, and the hanging frame is fixedly connected to the frame, so as to support the operation driving mechanism after being hung by the hanging frame.

[0020] The operating drive mechanism of the utility model includes a clamping claw and a clamping claw driving cylinder. The lower end of the frame is provided with a clamping claw that opens and closes relatively. The upper end of the clamping claw is hinged to the frame. The outer wall of the clamping claw is provided with a clamping claw driving cylinder. One end of the clamping claw driving cylinder is hinged to the clamping claw, and the other end is hinged to the frame, so as to facilitate the clamping claw to grasp underwater heavy objects through the frame supporting the clamping claw, thereby improving the safety of grasping heavy objects.

[0021] The robot of the utility model is equipped with a propeller at one end and a camera and lighting equipment at the other end. The camera, lighting equipment and propeller are respectively connected to the control system of the robot to facilitate the robot to drive out of the carrying cabin under the action of its own propeller, adjust its posture underwater, and complete underwater tasks.

[0022] Due to the adoption of the above structure, the utility model has the advantages of ingenious structure, being able to carry robots, having various operation modes, being able to observe the water surface conditions, being able to grab heavy targets, and being able to quickly and conveniently adjust the underwater posture. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a structural schematic diagram of the utility model at one angle.

[0024] Figure 2 It is a structural schematic diagram of the utility model from another angle.

[0025] Figure 3 It is a cross-sectional view of the utility model.

[0026] Figure 4 It is an enlarged schematic diagram of the carrying cabin in the utility model.

[0027] Figure 5 It is a structural schematic diagram of the cable cabin in the utility model.

[0028] Figure 6 It is an enlarged schematic diagram of the thread cutter in the utility model.

[0029] Figure 7 This utility model Figure 5 Schematic diagram of the center line tube cut open.

[0030] Figure 8 It is an enlarged schematic diagram of the robot in the utility model.

[0031] Figure 9 The utility model is a structural schematic diagram of a camera unfolding and retracting mechanism.

[0032] Figure 10 This utility modelFigure 9 Schematic diagram of a state after the camera support is retracted.

[0033] Figure 11 It is another structural schematic diagram of the camera deployment and retraction mechanism of the present utility model.

[0034] Reference numerals: operation drive mechanism 2, frame 3, clamping jaw 4, jaw drive cylinder 5, lifting frame 6, first thruster 7, second thruster 8, third thruster 9, camera 10, camera support 11, camera deployment and retraction mechanism 12, drive motor 13, flipping frame 14, arc-shaped guide groove 15, limit groove 16, locking tension spring 17, guide card slot 18, limit rod 19, limit hole 20, carrying cabin 30, robot 31, robot exit 32, cable cabin 33, cable connection port 34, cable drum 35, cable cutter 36, cable cutting electric push rod 37, cable cutting knife 38, cable 39, cable cavity 40. Specific embodiments

[0035] The following will further describe in detail the specific embodiments of the present utility model in conjunction with the accompanying drawings.

[0036] A robot carrying device includes a frame 3, characterized in that: a carrying cabin 30 is provided on the frame 3, the carrying cabin 30 is fixedly connected to the frame 3, a robot 31 is installed in the carrying cabin 30, and a robot exit 32 is provided on one side of the carrying cabin 30 to carry the robot through the carrying cabin, facilitating the release of the robot after the frame enters the water for underwater operations.

[0037] A frame control system is provided on the frame 3 of the present utility model. A cable cabin 33 is provided at one end of the carrying cabin 30. Spaced carrying spaces are provided in the carrying cabin 30. A robot 31 is provided in the carrying space. A robot exit 32 is provided at one end of the carrying space, and a cable connection port 34 is provided at the other end. The cable cabin 33 is fixedly connected to the carrying cabin 30. Spaced cable drums 35 are provided in the cable cabin 33. A cable cavity 40 is provided in the cable drum 35. One end of the cable drum 35 is fixedly connected to the cable cabin 33, and the other end faces the carrying space with a cable outlet. A cable 39 is provided in the cable drum 35. The cable 39 is placed in the cable cavity 40. One end of the cable 39 passes out of the cable cavity 40 and is connected to the frame control system, and the other end passes through the cable outlet and the cable connection port 34 and is connected to the control system of the robot 31. The cable cutter 36 is fixed on the cable cabin 33 and faces the cable connection port 34, so that the robot can operate at a relatively long distance from the frame through the cable and transmit information back in time through the cable. When it is necessary to disconnect the robot from the frame, the cable cutter is driven to cut the cable.

[0038] The cable cutter 36 of the present utility model includes a cable-cutting electric push rod 37 and a cable-cutting knife 38. The cable-cutting electric push rod 37 is fixed on the inner wall of the cable compartment 33. The cable-cutting knife 38 is located on one side of the cable connection port 34. The cable-cutting knife 38 is driven by the cable-cutting electric push rod 37 to cut the cable connecting the robot through the cable-cutting electric push rod, so as to disconnect the connection between the robot and the frame.

[0039] Above the frame 3 of the present utility model, there is a camera 10. The camera 10 is connected to the frame 3 through a camera support 11, so that when the frame 3 floats on the water surface, the camera can observe the nearby water surface situation above the water surface.

[0040] Between the camera support 11 and the frame 3 of the present utility model, there is a camera unfolding and retracting mechanism 12. The camera support 11 is reversibly connected to the frame 3 through the camera unfolding and retracting mechanism 12, so as to facilitate standing up the camera during use and placing the camera on the frame 3 after flipping it when not in use, saving the use space.

[0041] The camera unfolding and retracting mechanism 12 of the present utility model can be composed of a driving motor 13 and a driving shaft. The lower end of the camera support 11 is provided with a driving shaft. The driving shaft is fixedly connected to the camera support 11. The driving shaft is driven by the driving motor 13. The driving motor 13 is fixedly connected to the frame 3, so as to drive the driving shaft to rotate through the driving motor, and then drive the camera support to rotate, realizing the flipping, unfolding and retracting of the camera support.

[0042] The camera unfolding and retracting mechanism 12 of the present utility model can also be composed of a flipping frame 14, a locking tension spring 17 and a limiting rod 19. A flipping frame 14 is provided between the camera support 11 and the frame 3. The lower end of the camera support 11 is hinged to the frame 3. The flipping frame 14 is provided with an arc-shaped guiding groove 15. The flipping frame 14 is fixedly connected to the frame 3. Both ends of the arc-shaped guiding groove 15 extend towards the center of the arc-shaped guiding groove 15 to form limiting grooves 16. Locking tension springs 17 are provided on both sides of the lower end of the camera support 11. A guiding card slot 18 is provided on the camera support 11 above the locking tension spring 17. Both ends of the limiting rod 19 pass through the guiding card slot 18 and the arc-shaped guiding groove 15 and are provided with limiting holes 20. The middle part of the limiting rod 19 is slidably connected with the arc-shaped guiding groove 15. Both ends of the limiting rod 19 are connected with the guiding card slot 18 to move up and down in cooperation. One end of the locking tension spring 17 is fixedly connected to the camera support 11, and the other end passes through the limiting hole 20 and is fixed. The limiting rod 19 is clamped into the limiting groove 16 to fixedly connect the camera support 11 and the frame 3, so as to drive the camera support to flip by sliding the limiting rod along the arc-shaped guiding groove and fix the position of the camera support by fixing the locking tension spring and the limiting rod.

[0043] On the camera support 11 of the present utility model, there are fixedly installed red and green signal lights to facilitate the operator to find the robot 31 in a complex environment.

[0044] On the frame 3 of the present utility model, a thruster assembly is installed that can promote the full-attitude adjustment of the frame 3 underwater. The thruster assembly includes a first thruster 7 and a second thruster 8. On the upper part of the left and right sides of one side of the frame 3, the first thrusters 7 are provided, and on the upper part of the left and right sides of the other side, the first thrusters 7 are provided. On the lower part of the left and right sides of one side of the frame 3, the second thrusters 8 are provided, and on the lower part of the left and right sides of the other side, the second thrusters 8 are provided. The first thrusters 7 and the second thrusters 8 are respectively fixedly connected to the frame 3, so that the frame 3 can freely adjust its attitude underwater by setting the first thrusters and the second thrusters.

[0045] The first thruster 7 and the second thruster 8 of the present utility model are inclined relative to the frame 3, so as to conveniently adjust the center of gravity of the frame 3 by adjusting the inclination angles of the first thruster and the second thruster, and facilitate the robot 31 to better adjust its attitude underwater.

[0046] On the middle of both sides of one side of the frame 3 of the present utility model, third thrusters 9 are provided, and on the middle of both sides of the other side, third thrusters 9 are provided. The third thrusters 9 are fixedly connected to the frame 3, so as to further improve the flexibility of the robot 31 underwater through the third thrusters, and at the same time facilitate the robot 31 to quickly leave the water after grasping heavy objects.

[0047] On the frame 3 of the present utility model, an operation driving mechanism 2 is provided. One end of the frame 3 is connected to the operation driving mechanism 2, and the other end extends outwards to form a hoisting connection end, so that the frame 3 directly connected to the hoisting equipment bears the force of the operation of the operation driving mechanism, and the strength of the operation driving mechanism is increased.

[0048] On the other end of the frame 3 of the present utility model, a hoisting frame 6 is provided. The hoisting frame 6 is fixedly connected to the frame 3, so as to facilitate supporting the operation driving mechanism after being hoisted by the hoisting frame.

[0049] The operation driving mechanism 2 of the present utility model includes a clamping claw 4 and a claw driving cylinder 5. At the lower end of the frame 3, relatively openable and closable clamping claws 4 are provided. The upper ends of the clamping claws 4 are hinged to the frame 3. The outer walls of the clamping claws 4 are provided with claw driving cylinders 5. One end of the claw driving cylinder 5 is hinged to the clamping claws 4, and the other end is hinged to the frame 3, so as to facilitate the frame 3 to support the clamping claws to grasp heavy objects underwater and improve the safety of grasping heavy objects.

[0050] One end of the robot 31 of the present utility model is equipped with a thruster, and the other end is equipped with a camera and a lighting device. The camera, the lighting device, and the thruster are respectively connected to the control system of the robot 31, so as to facilitate the robot to drive out of the carrying cabin under the action of its own thruster, adjust its attitude underwater, and complete underwater tasks.

[0051] As shown in the appendix Figure 1-11, in the present utility model, a sonar can be arranged on the frame 3, a floating body is installed on the frame 3, and the control systems of the frame control system and the robot 31 can both adopt a PLC control system. The jaw driving cylinder 5, the first thruster 7, the second thruster 8, the third thruster 9, the camera 10, and the driving motor 13 are all controlled by the frame control system. The frame control system can be connected to the water control platform through a cable, facilitating the operator to timely understand the underwater and water surface conditions on the shore or on the ship.

[0052] As shown in the appendix Figure 8 , a camera and a lighting lamp are installed at one end of the robot 31, and thrusters are installed at the other end. The robot 31 is connected to the frame control system through a cable 39. The camera, the lighting lamp, the thrusters, and the cable cutting electric push rod 37 are connected to the control system of the robot 31, and the camera screen can be transmitted back in real time. The robot 31 can perform obstacle clearing operations or carry explosive devices. When the robot 31 reaches the designated position, the frame control system controls the explosive device to explode to achieve blasting operations. When the robot 31 cannot be recovered, the wire cutter 36 is controlled to extend to cut the cable 39, realizing the separation of the robot 31 from the frame 3. The carrying cabin 30 of the present utility model can carry multiple robots 31 at a time, improving the operation efficiency.

[0053] A camera 10 is arranged above the frame 3 of the present utility model, which can be used to observe complex water surface conditions. The camera 10 can swing relative to the frame 3, that is, the height of the camera 10 relative to the frame 3 can be adjusted. When in use, the camera 10 is erected, and when not in use, the camera 10 is flipped and retracted close to the frame 3. This embodiment provides two camera unfolding and retracting mechanisms 12. One camera unfolding and retracting mechanism 12 is as shown in the appendix Figure 9 and the appendix Figure 10 , by driving the camera support 11 to rotate through the driving motor 13, the position of the camera support 11 can be automatically adjusted. As shown in the appendix Figure 10 , the camera support 11 rotates 90° to the left, and the camera support 11 is close to the frame 3 to retract the camera 10. When in use, the driving motor is started, and the driving motor drives the camera support 11 to rotate upward to erect the camera support 11, forming Figure 1 a state. At this time, the camera 10 is located above the frame 3. When the frame 3 floats on the water surface, the camera 10 is located above the water surface and can observe the surrounding conditions. A guiding frame can be arranged below the camera support 11. The guiding frame is fixed to the frame 3, and guiding grooves are arranged on the guiding frame. A guiding rod is fixed to the lower end of the camera support 11, and the guiding rod slides along the guiding groove to guide the rotation of the camera support 11, which can be set according to requirements.

[0054] Another camera unfolding and retracting mechanism 12 is as shown in the appendix Figure 11 , and the camera support 11 is adjusted manually. As shown in the appendix Figure 11This is the erected state of the camera support 11. At this time, passing the upper end of the locking tension spring 17 through the limit hole 20 can pull the limit rod 19 downward through the two locking tension springs 17 on both sides of the camera support 11, causing the limit rod 19 to slide downward along the guiding slot 18. The limit rod 19 is inserted into the limit slot 16 and is limited and fixed. The middle of the limit rod 19 is cylindrical and can slide along the guiding slot 18. The two sides at both ends of the limit rod 19 are flat, enabling the two ends of the limit rod 19 to move up and down in cooperation with the guiding slot 18 and unable to move left and right. After the limit rod 19 is fixed, the camera support 11 is fixed in a vertical state and can be used. When it is not needed, pull the upper end of the locking tension spring 17 out of the limit hole 20 and manually lift the limit rod 19 upward, causing the limit rod 19 to move upward along the guiding slot 18. The limit rod enters the arc-shaped guiding slot 15 from the limit slot 16. At this time, manually rotate the camera support 11 and rotate the camera support 11 downward to approach the frame 3. When the camera support 11 rotates 90°, stop. The camera support 11 is in a nearly horizontal state. There is also a limit slot 16 at the lower end of the arc-shaped guide 15. At this time, connect the locking tension spring 17 to the limit hole 20 on the limit rod 19 to limit and fix the position of the camera support 11, realizing the retraction of the camera. One of the two methods is automatic control and the other is manual control. You can choose according to your needs.

[0055] As shown in the appendix Figure 1 and the appendix Figure 2 As shown in the appendix

[0056] Before use, adjust the camera support 11 to the deployed state, as shown in the appendix Figure 1 shown. Then lower this utility model into the water. The hoisting equipment is connected to the hoisting frame 6 through a hoisting rope. Adjust the attitude of this utility model in the water through the first thruster 7, the second thruster 8, and the third thruster 9, and observe the water surface situation through the camera 10.

[0057] After reaching the designated position, the driving robot 31 leaves the carrier cabin 30 through its own thruster. The robot 31 transmits the pictures taken by the camera in real time through the cable 39, enabling the operator to timely understand the environment and operation situation where the robot 31 is located. When the operation of the robot 31 is completed and it needs to be recovered, the robot 31 returns under the action of its own thruster, or directly returns by being pulled by the frame 3 through the cable 39. When the robot 31 does not need to be recovered, the frame control system controls the cable cutter 36 to cut off the cable 39, cutting off the connection cable 39 between the robot 31 and the frame 3, and the robot 31 does not need to be recovered.

[0058] As shown in the appendix Figure 5 and the appendix Figure 7, the bobbin 35 is horizontally placed. A cable cavity 40 is provided inside the bobbin 35. The cable 39 is wound and stacked inside the cable cavity 40. One end of the cable 39 is connected to the control system of the frame, and the other end is connected to the control system of the robot 31. When the robot 31 leaves the carrying cabin 33, the robot 31 pulls the cable 39 out of the cable cavity 40.

[0059] The utility model can also salvage underwater heavy objects. By driving the second thruster 8 and the third thruster 9, the utility model is moved above the target object. The clamping jaw driving cylinder 5 is started to open the clamping jaws 4. The clamping jaws 4 are driven to grab the target object downward by the first thruster 7, the second thruster 8, and the third thruster 9 and then closed. Since the clamping jaws 4 are installed on the frame 3, the upper end of the frame 3 is connected to the lifting equipment through the lifting frame 6 and the lifting rope. The utility model can grab heavy target objects through the lifting equipment and the frame 3, take the target object out of the water surface, and realize the grasping of the target object. The structure of the utility model is ingenious. By setting the frame 3, the weight of the heavy target object to be grabbed is transmitted to the lifting frame through the frame 3, and the lifting frame is connected to the lifting equipment through the lifting rope, realizing heavy-duty salvage. The safety of grasping the target object is high, and it will not fall. It can be grasped once without repeated grasping. In addition, the utility model is provided with 4 first thrusters 7 and 4 second thrusters 8. These 8 thrusters are all inclined. The inclination angle of the 8 thrusters is preferably 45°. The utility model is also provided with 4 third thrusters 9, which are arranged vertically and horizontally, enabling the utility model to achieve full-attitude control in water, grab target objects in various postures in water, and adapt to various working environments. The utility model can not only release the robot 1 for underwater obstacle removal operations and blasting operations, but also perform salvage operations through the clamping jaws 4, with various operation methods. When the target object is far from the shore or the ship, the utility model can also observe the water surface situation where the target object is located through the camera 10, improving the salvage efficiency.

[0060] Due to the adoption of the above structure, the utility model has the advantages of ingenious structure, can carry a robot, has various operation methods, can observe the water surface situation, can grab heavy target objects, and has fast and convenient underwater attitude adjustment.

Claims

1. A robot carrying device, comprising a frame (3), characterized in that: The frame (3) is provided with a carrying cabin (30), the carrying cabin (30) is fixedly connected to the frame (3), a robot (31) is installed in the carrying cabin (30), a robot exit (32) is provided on one side of the carrying cabin (30), a frame control system is provided on the frame (3), the robot (31) is connected to the frame control system via a cable (39), and a wire cutter (36) is provided on the frame (3) or the carrying cabin (30), a wire cutting end of the wire cutter (36) is arranged toward the cable (39).

2. A robot carrying device according to claim 1, characterized in that: A cable compartment (33) is provided at one end of the carrying compartment (30), a carrying space is provided in the carrying compartment (30), a robot (31) is provided in the carrying space, a robot exit (32) is provided at one end of the carrying space, and a cable connection port (34) is provided at the other end; the cable compartment (33) is fixedly connected to the carrying compartment (30), a cable (39) and a wire reel (35) are provided in the cable compartment (33), one end of the cable (39) passes through the cable compartment (33) to be connected to a rack control system, and the other end passes through the cable connection port (34) to be connected to a control system of the robot (31).

3. A robot carrying device according to claim 1 or 2, characterized in that: The wire cutter (36) comprises a cable cutting electric push rod (37) and a cable cutting knife (38); the cable cutting electric push rod (37) is fixed on the carrying cabin (30); and the cable cutting knife (38) is driven by the cable cutting electric push rod (37).

4. A robot carrying device according to claim 1 or 2, characterized in that: A camera (10) is provided above the frame (3), and the camera (10) is connected to the frame (3) via a camera bracket (11).

5. A robot carrying device according to claim 4, characterized in that: A camera unfolding and retracting mechanism (12) is provided between the camera support (11) and the frame (3), and the camera support (11) is connected to the frame (3) in a flippable manner via the camera unfolding and retracting mechanism (12).

6. A robot carrying device according to claim 1, 2 or 5, characterized in that: The frame (3) is provided with a propeller assembly capable of causing the frame (3) to perform full posture adjustment underwater, the propeller assembly comprising a first propeller (7) and a second propeller (8), the first propeller (7) being arranged on both sides of the upper left and right sides of one side of the frame (3), and the first propeller (7) being arranged on both sides of the upper left and right sides of the other side of the frame (3), the second propeller (8) being arranged on both sides of the lower left and right sides of one side of the frame (3), and the second propeller (8) being arranged on both sides of the lower left and right sides of the other side of the frame (3), the first propeller (7) and the second propeller (8) being fixedly connected to the frame (3) respectively.

7. A robot carrying device according to claim 6, characterized in that: The frame (3) has third propellers (9) on both sides of the middle of one side, and third propellers (9) on both sides of the middle of the other side. The third propellers (9) are fixedly connected to the frame (3).

8. A robot carrying device according to claim 1 or 2 or 5 or 7, characterized in that: An operating drive mechanism (2) is provided on the frame (3); one end of the frame (3) is connected to the operating drive mechanism (2), and the other end of the frame (3) extends outward to form a lifting connection end.

9. A robot carrying device according to claim 8, characterized in that: The operation drive mechanism (2) comprises a clamping claw (4) and a clamping claw driving cylinder (5); the lower end of the frame (3) is provided with a clamping claw (4) that opens and closes relatively; the upper end of the clamping claw (4) is hinged to the frame (3); the outer wall of the clamping claw (4) is provided with a clamping claw driving cylinder (5); one end of the clamping claw driving cylinder (5) is hinged to the clamping claw (4), and the other end is hinged to the frame (3).

Images