Moving system for underwater robot

Abstract

The utility model discloses a moving system for an underwater robot. The moving system for the underwater robot comprises a container, a control device, a folding and unfolding device and a power supply device. Wherein the container is provided with a mounting chamber, the control device is arranged in the mounting chamber, and the control device is used for controlling the underwater robot. And the retracting and releasing device is arranged in the mounting cavity, and the retracting and releasing device is used for being connected with the underwater robot and placing the underwater robot in the mounting cavity into water or retracting the underwater robot in the water into the mounting cavity. The power supply device is arranged in the mounting cavity and electrically connected with the control device and the folding and unfolding device. According to the moving system for the underwater robot, the problem that in the prior art, a control device and a folding and unfolding device for the underwater robot are inconvenient to install is solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the transportation technical field, in particular to a mobile system for underwater robot. BACKGROUND

[0002] The underwater robot is usually used to replace the human body to detect the seabed, so as to avoid the danger of the human body when detecting the seabed. The underwater robot has the characteristics of small volume and small mass, and can usually take the underwater robot to the ship, and then put the underwater robot into the water for detection when the ship moves to the area to be detected.

[0003] In addition, the underwater robot usually needs to be equipped with other devices when used, such as a control device for controlling the underwater robot or a launching and recovering device for putting the underwater robot into the water or recovering the underwater robot from the water. Due to the influence of the external environment, the control device and the launching and recovering device are not convenient to install when the underwater robot is used. CONTENT OF THE UTILITY MODEL

[0004] The main purpose of the present application is to provide a mobile system for underwater robot, so as to at least solve the problem that the control device and the launching and recovering device for underwater robot are not convenient to install in the prior art.

[0005] According to one aspect of the present application, a mobile system for underwater robot is provided, comprising:

[0006] A container, wherein the container is provided with a mounting cavity;

[0007] A control device, wherein the control device is arranged in the mounting cavity, and the control device is used to control the underwater robot;

[0008] A launching and recovering device, wherein the launching and recovering device is arranged in the mounting cavity, and the launching and recovering device is used to connect with the underwater robot, and put the underwater robot in the mounting cavity into the water or recover the underwater robot in the water into the mounting cavity;

[0009] A power supply device, wherein the power supply device is arranged in the mounting cavity, and the power supply device is electrically connected with the control device and the launching and recovering device respectively.

[0010] Further, the container is provided with a first opening and closing door, and the first opening and closing door has an open position and a closed position;

[0011] The retractable device includes a moving assembly, a retractable assembly, and a pulling portion. When the first opening and closing door is in the open position, the moving assembly has a first position extending from the first opening and closing door and a second position retracted within the installation chamber. The retractable assembly is fixed to the bottom of the installation chamber and is electrically connected to the power supply device. A first end of the pulling portion is fixed to the retractable assembly, and a second end of the pulling portion is used to pass through the moving assembly and be connected to the underwater robot.

[0012] Wherein, when the moving component is in the first position, the retractable component is used to drive the underwater robot to move to the outside of the installation chamber through the pulling part; when the moving component is in the second position, the retractable component is used to drive the underwater robot to move into the installation chamber through the pulling part.

[0013] Furthermore, the mobile component includes:

[0014] a cantilever mechanism, the cantilever mechanism being disposed in the mounting chamber and being switchable between the first position and the second position;

[0015] A hanging wheel is fixed on the cantilever mechanism, and the second end of the pulling part is used to pass through the hanging wheel and connect with the underwater robot.

[0016] Furthermore, the cantilever mechanism includes:

[0017] a fixing bracket, wherein the fixing bracket is fixed in the installation chamber;

[0018] a telescopic arm, the telescopic arm being movably arranged on the fixed bracket;

[0019] A first driving member is mounted on the fixed bracket, a driving end of the first driving member is connected to the telescopic arm, and the first driving member drives the telescopic arm to switch between the first position and the second position.

[0020] Furthermore, a rack is provided on the telescopic arm, and the rack extends along the extension direction of the telescopic arm;

[0021] The first driving member includes a motor and a gear. The motor is fixed on the fixing bracket. The gear is installed at the output end of the motor. The gear is engaged with the rack.

[0022] Furthermore, the fixing bracket includes:

[0023] A fixing seat, the fixing seat being fixed to the top of the installation chamber, the fixing seat comprising a plurality of fixing seats, the plurality of fixing seats being spaced apart along the extension direction of the telescopic arm, and the fixing seat being provided with an avoidance passage for the telescopic arm to pass through;

[0024] a crossbeam connected between the plurality of fixing seats;

[0025] A mounting side plate is connected to the crossbeam and is located between two adjacent fixing seats. The first driving member is fixed on the mounting side plate.

[0026] Furthermore, the pulling portion includes a cable, and a sensing portion is provided on the outer periphery of one end of the cable close to the underwater robot;

[0027] The hanging wheel is provided with a detection part, and the detection part is in communication connection with the retractable component. When the detection part detects the sensing part, the sensing part releases an in-position signal to the retractable component, and the retractable component stops working after receiving the in-position signal.

[0028] Furthermore, the retractable assembly includes:

[0029] Support frame;

[0030] a roller, the roller being rotatably disposed on the support frame for winding the cable;

[0031] A cable arranging device is provided on the support frame and can reciprocate in a direction parallel to the axis of the drum, and the cable arranging device is provided with a cable passing gap for the cable to pass through;

[0032] In which, the cable arranger includes a first clamping part and a second clamping part, the second clamping part is connected to the first clamping part through an adjusting component, the wire passing gap is set between the first clamping part and the second clamping part, and the adjusting component has a first movement state of separating the first clamping part and the second clamping part from each other to gradually increase the wire passing gap, and a second movement state of bringing the first clamping part and the second clamping part closer to each other to gradually reduce the wire passing gap.

[0033] Furthermore, the support frame includes a first support frame and a second support frame arranged at intervals, and the roller is rotatably connected between the first support frame and the second support frame;

[0034] The cable arranging device further includes a lead screw and a second driving member, wherein the lead screw is rotatably arranged between the first support frame and the second support frame, the second clamping portion is mounted on the lead screw, and the second driving member is mounted on the first support frame or the second support frame, and the second driving member is connected to the lead screw to drive the lead screw to rotate and drive the second clamping portion to move along the length direction of the lead screw;

[0035] The retractable assembly further includes a controller, and both the first support frame and the second support frame are provided with in-position sensors, and the in-position sensors are electrically connected to the controller and the second driving member respectively;

[0036] When the second clamping portion touches the first support frame or the second support frame, the in-position sensor releases an in-position signal. After receiving the in-position signal, the controller controls the second driving member to drive the lead screw to rotate in a direction opposite to the current rotation direction.

[0037] Furthermore, the container is provided with a second opening and closing door. When the second opening and closing door is opened and closed, a passage is formed between the installation chamber and the outside of the container.

[0038] Compared with the prior art, in the mobile system for underwater robots of the present application, the control device, the retractable device and the power supply device are all integrated in a container, and the container can be selectively installed on a ship or on the shore of a designated water area. In addition, the container is equipped with a power supply device, which can provide power to the retractable device and the control device. Therefore, in a short period of time, it is not necessary to connect the retractable device and the control device to an external power source, and the entire system can still operate normally. In addition, the container provides protection for the control device, the retractable device and the power supply device to prevent damage to the control device, the retractable device and the power supply device caused by the external environment. Therefore, the mobile system for underwater robots of the present application solves the problem that the control device and the retractable device are inconvenient to install, and has its own power supply device, which enables the underwater robot to be used in more scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0040] Figure 1 This is a schematic diagram of the structure of the mobile system for the underwater robot disclosed in this application;

[0041] Figure 2 for Figure 1 Enlarged schematic diagram of area I in the middle;

[0042] Figure 3This is a schematic structural diagram of the retractable assembly disclosed in this application;

[0043] Figure 4 This is a partial structural diagram of the cable arranger disclosed in this application.

[0044] The above drawings include the following reference numerals:

[0045] 1. Underwater robot; 10. Support frame; 11. First support frame; 12. Second support frame; 20. Drum; 30. Cable arranger; 31. First clamping part; 32. Second clamping part; 36. Lead screw; 37. Second driving member; 40. Adjusting member; 60. In-position sensor; 90. Container; 91. First opening and closing door; 92. Second opening and closing door; 93. Passageway; 94. Installation chamber; 100. Control device; 110. Retracting and releasing device; 111. Moving component; 112. Retracting and releasing component; 113. Pulling part; 120. Power supply device; 130. Fixed bracket; 131. Fixed seat; 132. Crossbeam; 133. Mounting side plate; 140. First driving member; 150. Telescopic arm; 151. Rack; 160. Detection unit; 1111. Cantilever mechanism; 1112. Hanging wheel; 1131. Cable. DETAILED DESCRIPTION

[0046] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments in this application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0047] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or combinations thereof.

[0048] Unless otherwise specifically stated, the relative arrangement of the parts and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present application. At the same time, it should be understood that, for ease of description, the sizes of the various parts shown in the drawings are not drawn according to actual proportional relationships. The techniques, methods and equipment known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, the techniques, methods and equipment should be considered as part of the authorization specification. In all examples shown and discussed here, any specific values ​​should be interpreted as being merely exemplary, not as limitations. Therefore, other examples of the exemplary embodiments may have different values. It should be noted that similar numbers and letters represent similar items in the following figures, and therefore, once an item is defined in one figure, it does not need to be further discussed in subsequent figures.

[0049] As mentioned in the background art, the existing underwater robot 1 usually needs to be brought onto a ship or placed into the water on the shore. On the one hand, in order to enable the underwater robot 1 to be recovered after exploring the water area, a retracting device 110 needs to be provided; on the other hand, in order for the underwater robot 1 to be able to explore through a designated road when exploring the water area, a control device 100 needs to be provided to remotely control the underwater robot 1 and improve the accuracy of the underwater robot 1's exploration. However, since the retracting device 110 and the control device 100 are affected by the external environment, for example, it is not convenient to install the retracting device 110 and the control device 100 on the shore or on the ship, the control device 100 is easily damaged by water in the open air, or it is difficult to connect to an external power supply on the shore or on the ship, and it is impossible to provide current to the retracting device 110 and the control device 100. Therefore, when the underwater robot 1 is used to explore the water area, the inconvenience of installing the retracting device 110 and the control device 100 limits the use scenarios of the underwater robot 1.

[0050] In this embodiment, see Figures 1 to 4 As shown, a mobile system for an underwater robot is provided, which includes a container 90, a control device 100, a retracting device 110 and a power supply device 120.

[0051] The container 90 is provided with an installation chamber 94, within which a control device 100 is disposed. The control device 100 is used to control the underwater robot 1. A retractable device 110 is disposed within the installation chamber 94. The retractable device 110 is connected to the underwater robot 1 and is used to place the underwater robot 1 within the installation chamber 94 into the water or to retract the underwater robot 1 from the water back into the installation chamber 94. A power supply device 120 is disposed within the installation chamber 94 and is electrically connected to the control device 100 and the retractable device 110.

[0052] Specifically, in the mobile system for the underwater robot of this embodiment, the control device 100, the retractable device 110, and the power supply device 120 are all integrated in the container 90, and the container 90 can be selectively installed on a ship or on the shore of a designated water area. In addition, the power supply device 120 is equipped in the container 90, which can provide power to the retractable device 110 and the control device 100. Therefore, in a short period of time, it is not necessary to connect the retractable device 110 and the control device 100 to an external power source, and the entire system can still operate normally. In addition, the container 90 provides protection for the control device 100, the retractable device 110, and the power supply device 120 to prevent damage to the control device 100, the retractable device 110, and the power supply device 120 caused by the external environment. Therefore, the mobile system for the underwater robot of this embodiment solves the problem that the control device 100 and the retractable device 110 are inconvenient to install, and the built-in power supply device 120 can enable the underwater robot 1 to be used in more scenarios.

[0053] When actually surveying a water area, the underwater robot 1 is first placed in the installation chamber 94 of the container 90. After selecting an exploration area, the container 90 is either secured to the shore or to a vessel. The power supply 120 is then activated to provide power to the retractable device 110 and the control device 100. The operator then manipulates the retractable device 110 to lower the underwater robot 1 into the water and controls it using the control device 100. After the exploration is complete, the retractable device 110 is again manipulated to retrieve the underwater robot 1.

[0054] Furthermore, the container 90 is provided with a first opening and closing door 91 , which has an open position and a closed position. The retracting device 110 includes a moving component 111, a retracting component 112 and a pulling portion 113. When the first opening and closing door 91 is in the open position, the moving component 111 has a first position extending from the first opening and closing door 91 and a second position retracted in the installation chamber 94. The retracting component 112 is fixed to the bottom of the installation chamber 94. The retracting component 112 is electrically connected to the power supply device 120. The first end of the pulling portion 113 is fixed to the retracting component 112, and the second end of the pulling portion 113 is used to pass through the moving component 111 and be connected to the underwater robot 1; wherein, when the moving component 111 is in the first position, the retracting component 112 is used to drive the underwater robot 1 to move to the outside of the installation chamber 94 through the pulling portion 113, and when the moving component 111 is in the second position, the retracting component 112 is used to drive the underwater robot 1 to move into the installation chamber 94 through the pulling portion 113.

[0055] Specifically, when the underwater robot 1 is needed to explore the water area, the first opening and closing door 91 is first controlled to be in the open position. The moving assembly 111 is then controlled to move to the first position. At this time, the moving assembly 111 pulls the pulling portion 113 to move the underwater robot 1 to the outside of the container 90. Finally, the retracting assembly 112 is controlled to allow the underwater robot 1 to enter the water area. When the underwater robot 1 needs to be recovered, the retracting assembly 112 is first controlled to pull the underwater robot 1 out of the water area. The moving assembly 111 is then controlled to move from the first position to the second position. The moving assembly 111 pulls the pulling portion 113 to allow the underwater robot 1 to enter the installation chamber 94 from the outside of the container 90. In some specific embodiments, the first opening and closing door 91 is a rolling shutter door.

[0056] Furthermore, the moving assembly 111 includes a cantilever mechanism 1111 and a suspension wheel 1112. The cantilever mechanism 1111 is disposed in the installation chamber 94 and can be switched between a first position and a second position. The suspension wheel 1112 is fixed to the cantilever mechanism 1111, and the second end of the pulling portion 113 is used to pass through the suspension wheel 1112 and connect to the underwater robot 1.

[0057] In a specific embodiment, a cantilever mechanism 1111 is suspended within the installation chamber 94 and is located on top of the control device 100. The cantilever mechanism 1111 extends in a direction close to the first opening and closing door 91. A hanging wheel 1112 is provided at one end of the cantilever mechanism 1111 close to the first opening and closing door 91. The hanging wheel 1112 is used to change the direction of the pulling portion 113 and reduce the friction force applied to the pulling portion 113 during movement, thereby facilitating cooperation with the retracting assembly 112 to place the underwater robot 1 into the water. When the cantilever mechanism 1111 switches between the first position and the second position, the pulling portion 113 passing through the hanging wheel 1112 is driven by the hanging wheel 1112 to pull the underwater robot 1 to switch between inside and outside the installation chamber 94. Since some underwater robots 1 are large in size, if the underwater robot 1 is moved manually to the outside of the container 90, it will be time-consuming and labor-intensive, and it will easily cause the operator to be injured when moving the underwater robot 1. Therefore, the structure of this embodiment is used to quickly change the position of the underwater robot 1 through mechanical power control, which can avoid the above situation to a certain extent.

[0058] As attached Figure 2As shown, the cantilever mechanism 1111 includes a fixed bracket 130, a telescopic arm 150, and a first driving member 140. The fixed bracket 130 is fixed in the installation chamber 94, the telescopic arm 150 is movably installed on the fixed bracket 130, and the first driving member 140 is installed on the fixed bracket 130. The driving end of the first driving member 140 is connected to the telescopic arm 150, and the first driving member 140 drives the telescopic arm 150 to switch between the first position and the second position.

[0059] Specifically, the fixing bracket 130 is fixed to the top of the installation chamber 94 and extends a predetermined length along the bottom of the installation chamber 94. The telescopic arm 150 is installed on the mounting bracket and suspended in the installation chamber 94. The hanging wheel 1112 is fixedly connected to the telescopic arm 150. During operation, the first driving member 140 is controlled to quickly switch the telescopic arm 150 between the first position and the second position, thereby quickly recovering the underwater robot 1 or placing the underwater robot 1 into the water.

[0060] Furthermore, a rack 151 is provided on the telescopic arm 150, and the rack 151 extends along the extension direction of the telescopic arm 150; the first driving member 140 includes a motor and a gear (not shown in the figure), the motor is fixed on the fixed bracket 130, and the gear is installed at the output end of the motor, and the gear is engaged with the rack 151.

[0061] In this embodiment, when the motor rotates forward, the gear moves and cooperates with the rack 151 to move the telescopic arm 150 in a direction closer to the first position. When the motor rotates reversely, the gear drives the rack 151 to move the telescopic arm 150 in a direction closer to the second position. In addition, in some embodiments, stop blocks are provided at both ends of the rack 151. When the gear contacts the stop blocks, the telescopic arm 150 stops moving, and the telescopic arm 150 is now in the first position or the second position. Alternatively, the first drive member 140 can be a linear motor, the output end of which is fixed to the telescopic arm 150. When the linear motor is activated, it can drive the telescopic arm 150 to move in a direction closer to the first position or the second position.

[0062] Furthermore, the fixing bracket 130 includes a fixing seat 131, a crossbeam 132, and a mounting side plate 133. The fixing seat 131 is fixed to the top of the mounting chamber 94. There are multiple fixing seats 131, spaced apart along the extension direction of the telescopic arm 150. Each fixing seat 131 is provided with an escape passage for the telescopic arm 150 to pass through. The crossbeam 132 connects between the multiple fixing seats 131. The mounting side plate 133 is connected to the crossbeam 132 and is located between two adjacent fixing seats 131. The first driving member 140 is fixed to the mounting side plate 133.

[0063] In one specific embodiment, two fixed bases 131 are spaced apart from each other along the direction from the second position to the first position. Two rotating wheels are provided on the fixed bases 131, forming an escape passage between the two rotating wheels. The telescopic arm 150 passes through the two escape passages of the two fixed bases 131 in sequence. A motor is fixed to the mounting side plate 133. A gear is mounted on the motor's output shaft, which meshes with a rack 151 on the telescopic arm 150. As the telescopic arm 150 switches between the first and second positions, the rotating wheels rotate accordingly, reducing friction between the telescopic arm 150 and the fixed base 131.

[0064] In addition, the pulling portion 113 is a cable 1131. In order to prevent the retracting assembly 112 from excessively retracting the cable 1131 during the process of recovering the underwater robot 1, thereby preventing the underwater robot 1 from colliding with the hanging wheel 1112 or the cantilever mechanism 1111, thereby damaging the cantilever mechanism 1111 and the hanging wheel 1112, in this embodiment, a sensing portion (not shown in the figure) is provided on the outer periphery of the cable 1131 near the end of the underwater robot 1, and a detection portion 160 is provided on the hanging wheel 1112. The detection portion 160 is communicatively connected with the retracting assembly 112. When the detection portion 160 detects the sensing portion, the sensing portion releases an in-position signal to the retracting assembly 112, and the retracting assembly 112 stops working after receiving the in-position signal.

[0065] Specifically, when the retractable assembly 112 retracts the cable 1131, the detection unit 160 on the hoisting wheel 1112 detects the sensing unit. At this time, the detection unit 160 releases a position signal to the retractable assembly 112, and the retractable assembly 112 subsequently stops working, thereby preventing the underwater robot 1 from colliding with the hoisting wheel 1112 or the cantilever mechanism 1111. In this embodiment, the detection unit 160 is a metal sensor, and the sensing unit is a metal ring, which is provided on the outer circumference of the cable 1131. It is worth mentioning that the cable 1131 in this embodiment can be used to pull the underwater robot 1 on the one hand, and on the other hand, the cable 1131 can also provide current to the underwater robot 1, so that the underwater robot 1 can operate underwater for a long time.

[0066] In addition, the retractable assembly 112 includes a support frame 10, a drum 20 and a cable arranging device 30. The drum 20 is rotatably arranged on the support frame 10 for winding the cable 1131. The cable arranging device 30 is arranged on the support frame 10 and can reciprocate in a direction parallel to the axis of the drum 20. The cable arranging device 30 is provided with a wire clearance (not shown in the figure) for the cable 1131 to pass through. Among them, the cable arranging device 30 includes a first clamping portion 31 and a second clamping portion 32, the second clamping portion 32 is connected to the first clamping portion 31 through an adjusting component 40, and the wire clearance is provided between the first clamping portion 31 and the second clamping portion 32. The adjusting component 40 has a first motion state of separating the first clamping portion 31 and the second clamping portion 32 from each other so that the wire clearance gradually increases, and a second motion state of bringing the first clamping portion 31 and the second clamping portion 32 closer to each other so that the wire clearance gradually decreases.

[0067] It is understood that when underwater robots 1 of different sizes are used to explore water areas, cables 1131 of different sizes should be used to accommodate the underwater robots 1. For example, if the underwater robot 1 is too large and consumes a lot of power, using a cable 1131 with a smaller radius will not provide a stable current. Furthermore, when retrieving the underwater robot 1, the cable 1131 may break due to its weak strength, making it impossible to reclaim the underwater robot 1. When the size of the cable 1131 changes, the cable clearance should be adapted to the size change of the cable 1131 so that the cables 1131 can be neatly arranged in a close proximity after being retracted onto the drum 20. Similarly, when using a smaller underwater robot 1, a cable 1131 with a smaller radius should be used to improve the underwater robot 1's exploration flexibility. In this case, the cable clearance should be set smaller to increase the pressure applied by the cable arranging device 30 on the cable 1131.

[0068] In this embodiment, the retractable assembly 112 is an electric winch. Therefore, since the electric winch is provided with an adjustment component 40, and the adjustment component 40 is used to adjust the size of the wire clearance, when the size of the cable 1131 changes, the size of the wire clearance is appropriately adjusted through the adjustment component 40, so that the pressure applied by the cable traverser 30 on the cable 1131 can cause the cable 1131 to pass through the cable traverser 30 in a straight and unbendable manner. In other words, when the electric winch uses a cable 1131 with a smaller radius, the adjustment component 40 is first controlled to the second motion state, thereby reducing the size of the wire clearance, so that the external force applied by the first clamping portion 31 and the second clamping portion 32 on the cable 1131 can cause the cable 1131 to pass straight through the wire clearance. However, when the electric winch uses a cable 1131 with a larger radius, if the wire gap is small, the cable 1131 cannot pass through the wire gap. At this time, the adjustment component 40 is controlled to separate the first clamping part 31 and the second clamping part 32 from each other to increase the wire gap. At the same time, it is necessary to ensure that the cable 1131 passing through the wire gap is straight and without bends.

[0069] Furthermore, the support frame 10 includes a first support frame 11 and a second support frame 12 spaced apart, and the roller 20 is rotatably connected between the first support frame 11 and the second support frame 12. The cable arranging device 30 also includes a lead screw 36 and a second driving member 37. The lead screw 36 is rotatably arranged between the first support frame 11 and the second support frame 12. The second clamping portion 32 is mounted on the lead screw 36. The second driving member 37 is mounted on the first support frame 11 or the second support frame 12. The second driving member 37 is connected to the lead screw 36 to drive the lead screw 36 to rotate and drive the second clamping portion 32 to move along the length of the lead screw 36. The retracting assembly 112 also includes a controller. In-position sensors 60 are provided on both the first support frame 11 and the second support frame 12. The in-position sensors 60 are electrically connected to the controller and the second driving member 37, respectively. When the second clamping portion 32 touches the first support frame 11 or the second support frame 12 , the in-position sensor 60 releases an in-position signal. After receiving the in-position signal, the controller controls the second driving member 37 to drive the lead screw 36 to rotate in a direction opposite to the current rotation direction.

[0070] In this embodiment, when the drum 20 rotates, the second driving member 37 needs to drive the lead screw 36 to rotate, thereby causing the cable loader 30 to move along the length direction of the lead screw 36, so that when the drum 20 unwinds and rewinds the cable 1131, the cable loader 30 can move to the corresponding lead screw 36 position of the unwinding or rewinding cable 1131. In addition, when the second clamping portion 32 on the cable loader 30 moves to touch the first support frame 11 or the second support frame 12, the in-position sensor 60 detects the second clamping portion 32. At this time, the in-position sensor 60 sends an in-position signal to the controller. The controller controls the cable loader 30 to move in the direction from the touched first support frame 11 or second support frame 12 to the opposite support frame according to the in-position signal, so as to prevent the cable loader 30 from being stuck at the first support frame 11 or the second support frame 12 after touching the first support frame 11 or the second support frame 12.

[0071] In addition, the container 90 is further provided with a second opening and closing door 92 . When the second opening and closing door 92 is opened and closed, a passage 93 is formed between the installation chamber 94 and the outside of the container 90 .

[0072] Specifically, the second opening and closing doors 92 are disposed on opposite sides of the container 90 from the first opening and closing door 91. When the second opening and closing doors 92 are opened and closed, an operator can enter the container 90 through the passage 93 to control the control device 100 and the retractable device 110. Furthermore, when both the first opening and closing doors 91 and the second opening and closing doors 92 are closed, the container 90 provides temporary protection for the control device 100, the retractable device 110, the power supply device 120, and the operator, thereby preventing injury to the operator or damage to the equipment from external inclement weather, such as heavy rain, during operation of the underwater robot's mobile system.

[0073] In some embodiments, the container 90 is further provided with a power socket extending from the outer wall of the container 90 into the mounting chamber 94. The power supply device 120 is electrically connected to the power socket. When an external power source is available in the survey environment, the external power source can be connected to the power socket, allowing the power to flow into the power supply device 120.

[0074] In summary, the mobile system for the underwater robot of the present application integrates the power supply device 120, the retracting device 110, and the control device 100 into the container 90, thereby solving the problem of the inconvenience of installing the retracting device 110 and the control device 100. In addition, in this embodiment, the retracting device 110 includes a cantilever mechanism 1111 and a hanging wheel 1112, and the cable 1131 passes through the hanging wheel 1112 and is connected to the underwater robot 1, thereby preventing the cable 1131 from being stuck by obstacles on the ground after being bent, resulting in the cable 1131 being unable to be retracted. At the same time, when the cable 1131 moves, the setting of the hanging wheel 1112 can reduce the friction force on the cable 1131 to a certain extent. Furthermore, the cantilever mechanism 1111 has a first position extending from the container 90 and a second position retracted within the installation chamber 94. When the underwater robot 1 needs to be placed in the water, the cantilever mechanism 1111 moves to the first position, allowing the cable 1131 to drive the underwater robot 1 to the outside of the container 90. At this point, the electric winch unwinds, allowing the underwater robot 1 to enter the water. When the underwater robot 1 needs to be recovered, the electric winch rewinds. Once the underwater robot 1 has been retrieved to shore, the cantilever mechanism 1111 is then controlled to move to the second position, and the electric winch is again controlled to rewind, allowing the underwater robot 1 to enter the installation chamber 94. On the other hand, the electric winch of the present application is provided with an adjusting component 40, which is used to adjust the wire passing gap between the first clamping part 31 and the second clamping part 32, so that when the size of the cable 1131 changes, the wire passing gap can adapt to the size of the cable 1131, so that the cable 1131 passing through the cable arranger 30 is straight and without bends. After the electric winch reels the cable 1131, each turn of the cable 1131 can be arranged neatly and closely on the drum 20 in sequence.

[0075] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used herein to describe the spatial positional relationship of a device or feature to other devices or features as shown in the figures. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figures. For example, if the device in the drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0076] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of this application.

[0077] The above are merely preferred embodiments of the present application and are not intended to limit the present application. Those skilled in the art will readily appreciate that various modifications and variations are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present application shall be included within the scope of protection of the present application.

Claims

1. A mobile system for an underwater robot, characterized in that: include: A container (90), wherein the container (90) is provided with a mounting chamber (94); A control device (100), the control device (100) being arranged in the installation chamber (94), and the control device (100) being used to control the underwater robot (1); a retracting device (110), the retracting device (110) being arranged in the installation chamber (94), the retracting device (110) being used to connect with the underwater robot (1) and to place the underwater robot (1) in the installation chamber (94) into water or to retract the underwater robot (1) in water into the installation chamber (94); A power supply device (120) is provided in the installation chamber (94), and the power supply device (120) is electrically connected to the control device (100) and the retractable device (110) respectively.

2. The underwater robot movement system according to claim 1, characterized in that: The container (90) is provided with a first opening and closing door (91), and the first opening and closing door (91) has an open position and a closed position; The retractable device (110) comprises a moving assembly (111), a retractable assembly (112) and a pulling portion (113). When the first opening and closing door (91) is in the open position, the moving assembly (111) has a first position extending from the first opening and closing door (91) and a second position retracted in the installation chamber (94). The retractable assembly (112) is fixed to the bottom of the installation chamber (94), the retractable assembly (112) is electrically connected to the power supply device (120), a first end of the pulling portion (113) is fixed to the retractable assembly (112), and a second end of the pulling portion (113) is used to pass through the moving assembly (111) and be connected to the underwater robot (1); When the moving component (111) is in the first position, the retracting component (112) is used to drive the underwater robot (1) to move to the outside of the installation chamber (94) through the pulling portion (113); when the moving component (111) is in the second position, the retracting component (112) is used to drive the underwater robot (1) to move into the installation chamber (94) through the pulling portion (113).

3. The underwater robot movement system according to claim 2, characterized in that: The moving component (111) comprises: a cantilever mechanism (1111), the cantilever mechanism (1111) being disposed in the installation chamber (94), the cantilever mechanism (1111) being switchable between the first position and the second position; A hanging wheel (1112), the hanging wheel (1112) is fixed on the cantilever mechanism (1111), and the second end of the pulling part (113) is used to pass through the hanging wheel (1112) and be connected to the underwater robot (1).

4. The underwater robot movement system according to claim 3, characterized in that: The cantilever mechanism (1111) comprises: a fixed bracket (130), wherein the fixed bracket (130) is fixed in the installation chamber (94); a telescopic arm (150), the telescopic arm (150) being movably mounted on the fixed bracket (130); A first driving member (140) is installed on the fixed bracket (130), a driving end of the first driving member (140) is connected to the telescopic arm (150), and the first driving member (140) drives the telescopic arm (150) to switch between the first position and the second position.

5. The underwater robot movement system according to claim 4, characterized in that: A rack (151) is provided on the telescopic arm (150), and the rack (151) extends along the extension direction of the telescopic arm (150); The first driving member (140) comprises a motor and a gear, the motor is fixed on the fixed bracket (130), the gear is installed at the output end of the motor, and the gear is meshed with the rack (151).

6. The underwater robot movement system according to claim 4, characterized in that: The fixing bracket (130) comprises: a fixing seat (131), the fixing seat (131) being fixed to the top of the installation chamber (94), the fixing seat (131) comprising a plurality of fixing seats (131), the plurality of fixing seats (131) being spaced apart along the extension direction of the telescopic arm (150), and the fixing seat (131) being provided with an avoidance passage for the telescopic arm (150) to pass through; A crossbeam (132), the crossbeam (132) being connected between the plurality of fixing seats (131); A mounting side plate (133) is connected to the crossbeam (132) and is located between two adjacent fixing seats (131); and the first driving member (140) is fixed on the mounting side plate (133).

7. The underwater robot movement system according to claim 3, characterized in that: The pulling portion (113) includes a cable (1131), and a sensing portion is provided on the outer periphery of one end of the cable (1131) close to the underwater robot (1); The hanging wheel (1112) is provided with a detection part (160), and the detection part (160) is in communication connection with the retractable assembly (112). When the detection part (160) detects the sensing part, the sensing part releases an in-position signal to the retractable assembly (112), and the retractable assembly (112) stops working after receiving the in-position signal.

8. The underwater robot movement system according to any one of claims 2 to 7, characterized in that: The pulling portion (113) includes a cable (1131), and the retracting assembly (112) includes: Support frame (10); a roller (20), the roller (20) being rotatably disposed on the support frame (10) for winding the cable (1131); A cable arranging device (30), the cable arranging device (30) being arranged on the support frame (10) and being capable of reciprocating along a direction parallel to the axis of the drum (20), and the cable arranging device (30) being provided with a cable passing gap for the cable (1131) to pass through; Wherein, the cable arranger (30) comprises a first clamping portion (31) and a second clamping portion (32), the second clamping portion (32) is connected to the first clamping portion (31) through an adjusting component (40), the line gap is set between the first clamping portion (31) and the second clamping portion (32), and the adjusting component (40) has a first movement state of separating the first clamping portion (31) and the second clamping portion (32) from each other so that the line gap gradually increases, and a second movement state of bringing the first clamping portion (31) and the second clamping portion (32) closer to each other so that the line gap gradually decreases.

9. The underwater robot movement system according to claim 8, characterized in that: The support frame (10) comprises a first support frame (11) and a second support frame (12) which are spaced apart from each other, and the roller (20) is rotatably connected between the first support frame (11) and the second support frame (12); The cable arranger (30) further comprises a lead screw (36) and a second driving member (37), wherein the lead screw (36) is rotatably arranged between the first support frame (11) and the second support frame (12), the second clamping portion (32) is mounted on the lead screw (36), and the second driving member (37) is mounted on the first support frame (11) or the second support frame (12), and the second driving member (37) is connected to the lead screw (36) to drive the lead screw (36) to rotate and drive the second clamping portion (32) to move along the length direction of the lead screw (36); The retractable assembly (112) further includes a controller, and both the first support frame (11) and the second support frame (12) are provided with in-position sensors (60), and the in-position sensors (60) are electrically connected to the controller and the second driving member (37) respectively; When the second clamping portion (32) touches the first support frame (11) or the second support frame (12), the in-position sensor (60) releases an in-position signal. After receiving the in-position signal, the controller controls the second driving member (37) to drive the lead screw (36) to rotate in a direction opposite to the current rotation direction.

10. The underwater robot movement system according to any one of claims 1 to 7, characterized in that: The container (90) is further provided with a second opening and closing door (92). When the second opening and closing door (92) is opened and closed, a passage (93) is formed between the installation chamber (94) and the outside of the container (90).

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