Self-floating split type cable take-up and pay-off device

Abstract

The utility model discloses a self-floating split type cable take-up and pay-off device. At present, in the underwater information collection process of an underwater robot, a corresponding communication cable is too long, so that the underwater collection range is limited, and a related matching structure capable of reducing the length of the cable and being matched with the underwater robot is lacked; a pull-type snorkeling block is arranged above a wire storage and storage box, a telescopic cable control is arranged between the wire storage and storage box and the pull-type snorkeling block, the upper end of the telescopic cable control is a signal transmitting end, and the lower end of the telescopic cable control is a signal receiving end; a plurality of traction ropes are uniformly distributed on the floating shell, and each traction rope performs reciprocating motion of length gathering or length releasing between the floating shell and the wire storage box; when the traction rope is in a length folding state between the floating shell and the cable storage box, the telescopic cable control piece is in an extension information transmission state; and when each traction rope is in a length release state under the control of the cable storage box, the telescopic cable control piece is in a retraction standby state.

Description

TECHNICAL FIELD

[0001] The utility model relates to a self-floating split type cable winding and unwinding device and belongs to the technical field of underwater robots. BACKGROUND

[0002] With the continuous development of science and technology, underwater robot technology is attracting more and more attention. Underwater robots are mainly composed of a body, sensors, a control system and other components. According to different classification methods, underwater robots can be divided into different types, such as autonomous energy supply and non-autonomous energy supply according to different energy sources; manned and unmanned according to whether manned; shallow water, deep water and deep sea according to different working depths, etc. At the same time, underwater robots have strong adaptability, night work, autonomous operation, programmable control, flexible operation, fast data processing speed and multi-modularization. These characteristics make underwater robots more convenient to interact and operate with the marine environment, greatly improving work efficiency and work range. At the same time, with the vigorous development of China's marine industry, the application demand of underwater robots is also increasing. As the country with the longest coastline in the world, China has abundant marine resources and vast sea areas, which will provide a broad space for the application of underwater robots. Among them, underwater robots are used to control low code (so-called "wire control") underwater robots. Through a remote control or a computer, a remote operator can control the underwater robot to achieve various attitude adjustments and motion control. The advantage of this control technology is high reliability, sufficient control accuracy for most tasks, and low technical foundation required. However, remote control technology also has some obvious disadvantages: large communication delay, strong interference to the marine environment, and inability to achieve autonomous underwater positioning. At the same time, higher requirements are put forward for the remote control capability and cable management of underwater robots. The traditional underwater robot communication method usually relies on a directly connected cable, which not only limits the activity range of the robot, but also increases the communication complexity and the difficulty of cable maintenance. At present, the underwater information collection process of underwater robots is limited by the excessive length of the corresponding communication cable, and there is a lack of related matching structure that can reduce the length of the cable and adapt to underwater robots at the same time. CONTENT OF THE UTILITY MODEL

[0003] The utility model aims at providing a self-floating split type cable winding and unwinding device to solve the above problems.

[0004] A self-floating split type cable winding and unwinding device, comprising a cable storage box, a traction type snorkeling block and a telescopic cable control, the cable storage box is horizontally arranged, the traction type snorkeling block is arranged above the cable storage box, the telescopic cable control is arranged between the cable storage box and the traction type snorkeling block, the upper end of the telescopic cable control is a signal transmitting end, the telescopic cable control is connected with the traction type snorkeling block, and the lower end of the telescopic cable control is a signal receiving end.

[0005] The traction-type snorkeling block includes a floating shell and multiple traction ropes. The multiple traction ropes are evenly distributed on the outer wall of the floating shell. One end of each traction rope is detachably connected to the outer wall of the floating shell, and the other end of each traction rope is connected to the line storage box. Each traction rope performs reciprocating motion between the floating shell and the line storage box to retract or release the length; when the traction rope is in a length-retracted state between the floating shell and the line storage box, the telescopic cable control is in an extended information transmission state; when each traction rope is in a length-released state under the control of the line storage box, the telescopic cable control is in a retracted standby state.

[0006] Compared with the prior art, the beneficial effects of the present invention are:

[0007] The utility model realizes the free retraction and extension of the cable for wireless communication transmission signal through the mutual cooperation between the line storage box, the traction type snorkeling block and the telescopic cable control. The line storage box drives the floating shell to rise or fall through the traction rope. At the same time, the floating shell is connected to the telescopic cable control to ensure that the cable in the telescopic cable control can be extended during the ascent of the floating shell, so that the communication signal can be transmitted to the upper computer at the shore or a fixed location, which is beneficial to improving the quality of remote-controlled underwater robots to complete independent underwater operations or underwater depth detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] For ease of explanation, the present invention is described in detail with reference to the following specific embodiments and accompanying drawings.

[0009] Figure 1 This is a schematic diagram of the first three-dimensional structure of the utility model in use with the underwater robot body;

[0010] Figure 2 This is a schematic diagram of the second three-dimensional structure of the utility model in use with the underwater robot body;

[0011] Figure 3 This is a schematic diagram of the third three-dimensional structure of the utility model in use with the underwater robot body;

[0012] Figure 4 This is a schematic diagram of the first three-dimensional structure of the utility model;

[0013] Figure 5 This is a schematic diagram of the second three-dimensional structure of the present utility model;

[0014] Figure 6 A schematic diagram of the three-dimensional structure of the connection between the buckle cover and the lower seat body;

[0015] Figure 7 A schematic diagram of the three-dimensional structure showing the connection between the gear set, the lower seat, the winding unit and the central shaft;

[0016] Figure 8 is a schematic top view of the connection relationship between the first gear, the second gear, the third gear, the fourth gear and the central shaft;

[0017] Figure 9 is a schematic diagram of the three-dimensional structure of the connection relationship between the upper cover, the second torsion spring and the cable;

[0018] Figure 10 is a schematic diagram of the three-dimensional structure of the connection relationship between the second torsion spring, the cable and the wire sleeve;

[0019] Figure 11 Schematic diagram of the top view of the connection relationship between the lower shell, the positioning shaft, the second torsion spring, the cable and the wire sleeve;

[0020] Figure 12 is a schematic diagram of the three-dimensional structure of the connection relationship between the winding sleeve, the first torsion spring and the central shaft;

[0021] Figure 13 A schematic diagram of the three-dimensional structure of the connection between the upper circular plate and the cylinder;

[0022] Figure 14 A schematic diagram of the three-dimensional structure showing the connection relationship between the upper cover, the lower shell and the cable from a first perspective;

[0023] Figure 15 A schematic diagram of the three-dimensional structure of the connection relationship between the upper cover, the lower shell and the cable from a second perspective.

[0024] In the figure: 1- underwater robot body;

[0025] 2 - cable storage box; 21 - buckle cover; 22 - gear set; 22-1 - first gear; 22-2 - second gear; 22-3 - third gear; 22-4 - fourth gear; 23 - lower seat; 24 - winding unit; 24-1 - winding sleeve; 24-2 - first torsion spring; 24-3 - annular winding groove; 25 - central axis;

[0026] 3- traction snorkel block; 3-1- floating shell; 3-2- traction rope;

[0027] 4-telescopic cable control; 4-1-upper cover; 4-1-1-upper circular plate; 4-1-2-cylinder; 4-2-lower shell; 4-3-positioning shaft; 4-4-second torsion spring; 4-5-cable; 4-6-wire receiving sleeve; 4-6-1-first through-port; 4-6-2-second through-port; 5-wire receiving cavity; 6-winding gap; 7-first gap; 8-second gap; 9-annular wire receiving groove; 10-frame; 11-thruster; 12-sealed cabin; 13-camera. DETAILED DESCRIPTION

[0028] In order to make the purpose, technical solutions and advantages of the present invention clearer, the present invention is described below through the specific embodiments shown in the accompanying drawings. However, it should be understood that these descriptions are only exemplary and are not intended to limit the scope of the present invention. The structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in the specification for people familiar with this technology to understand and read. They are not used to limit the limiting conditions for the implementation of the present invention, so they have no technical significance. Any structural modification, change in proportional relationship or adjustment of size should still fall within the scope of the technical content disclosed in the present invention without affecting the efficacy and purpose that can be achieved by the present invention. In addition, in the following description, the description of known structures and technologies is omitted to avoid unnecessary confusion of the concept of the present invention.

[0029] It should also be noted here that, in order to avoid obscuring the present invention due to unnecessary details, only structures and / or processing steps closely related to the solution according to the present invention are shown in the accompanying drawings, while other details that are not closely related to the present invention are omitted.

[0030] Specific implementation method 1: Combination Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 、 Figure 6 、 Figure 7 、 Figure 8 、 Figure 9 、 Figure 10 、 Figure 11 、 Figure 12 、 Figure 13 、 Figure 14 and Figure 15 Explain this embodiment, this embodiment includes a line storage box 2, a towable snorkeling block 3 and a telescopic cable control 4, the line storage box 2 is horizontally arranged, the towable snorkeling block 3 is arranged above the line storage box 2, the telescopic cable control 4 is arranged between the line storage box 2 and the towable snorkeling block 3, the upper end of the telescopic cable control 4 is a signal transmitting end, the telescopic cable control 4 is connected to the towable snorkeling block 3, and the lower end of the telescopic cable control 4 is a signal receiving end;

[0031] Among them, the towing snorkeling block 3 includes a floating shell 3-1 and multiple towing ropes 3-2. Multiple towing ropes 3-2 are evenly distributed on the outer wall of the floating shell 3-1. One end of each towing rope 3-2 is detachably connected to the outer wall of the floating shell 3-1, and the other end of each towing rope 3-2 is connected to the line storage box 2. Each towing rope 3-2 performs a reciprocating motion of length retraction or length release between the floating shell 3-1 and the line storage box 2; when the towing rope 3-2 is in a length-retracted state between the floating shell 3-1 and the line storage box 2, the telescopic cable control 4 is in an extended information transmission state; when each towing rope 3-2 is in a length-released state under the control of the line storage box 2, the telescopic cable control 4 is in a retracted standby state.

[0032] Furthermore, the towable snorkeling block 3 drives the telescopic cable control 4 under the control of the line storage box 2 to realize the function of free contraction and release, wherein the telescopic cable control 4 is a device for transmitting and receiving signals. When the telescopic cable control 4 is in an extended state, the staff can detect the depths of the ocean through the wireless communication signal in the telescopic cable control 4 and realize the function of remote control at the same time.

[0033] Specific embodiment 2: This embodiment is a further limitation of specific embodiment 1. The line storage box 2 includes a buckle cover 21, a gear set 22, a lower seat 23, a plurality of winding monomers 24 and a plurality of central shafts 25. The lower seat 23 is a box body with an open top. The lower seat 23 is detachably connected to the top of the underwater robot body 1. The signal receiving end of the telescopic cable control 4 is connected to the signal transmitting end of the underwater robot body 1. The buckle cover 21 is detachably connected to the open end of the lower seat 23. The lower seat 23 is provided with Multiple central shafts 25 are provided, and the central shafts 25 are arranged in a one-to-one correspondence with the winding monomers 24. Each winding monomer 24 is mounted on its corresponding central shaft 25. The gear set 22 is provided above the multiple winding monomers 24. Each winding monomer 24 rotates under the drive of the gear set 22. The winding monomers 24 and the traction ropes 3-2 are provided in a one-to-one correspondence. One end of each traction rope 3-2 is fixedly connected to its corresponding winding monomer 24, and the other end of each traction rope 3-2 passes through the lower seat 23 and is fixedly connected to the floating shell 3-1.

[0034] The gear set 22 includes a first gear 22-1, a second gear 22-2, a third gear 22-3 and a fourth gear 22-4, the first gear 22-1 is engaged with the second gear 22-2, the third gear 22-3 is engaged with the fourth gear 22-4, and the first gear 22-1 and the third gear 22-3 are arranged side by side, and the second gear 22-2 and the fourth gear 22-4 are arranged side by side, when the first gear 22-1 and the third gear 22-3 rotate, the first gear 22-1 and the third gear 22-3 drive the second gear 22-2 and the fourth gear 22-4 to rotate, thereby driving the plurality of winding units 24 to rotate, and the winding unit 24 can be freely wound and unwound during rotation.

[0035] Further, the line storage box 2 is installed on the underwater robot body 1, the floating shell 3-1 is close to or away from the line storage box 2 through the traction rope 3-2, and the floating shell 3-1 drives the telescopic cable control 4 to extend or retract, thereby ensuring that the staff remotely controls the device, can detect, investigate and record in water, avoid being limited by too long communication cable, and can flexibly shuttle between various areas.

[0036] Specific embodiment three: the embodiment is a further limitation of the first or second embodiment, the winding unit 24 includes a winding sleeve 24-1 and a first torsional spring 24-2, the winding sleeve 24-1 is sleeved on the corresponding center shaft 25, the first torsional spring 24-2 is arranged in the winding sleeve 24-1, one end of the first torsional spring 24-2 is connected with the center shaft 25, the other end of the first torsional spring 24-2 is connected with the end of the corresponding traction rope 3-2, and the outer wall of the winding sleeve 24-1 is processed with a ring-shaped winding groove 24-3 matched with the traction rope 3-2.

[0037] Further, one end of the first torsional spring 24-2 is connected with the center shaft 25, the other end of the first torsional spring 24-2 is connected with the traction rope 3-2, the gear set 22 drives the first torsional spring 24-2 to rotate, ensures that the first torsional spring 24-2 drives the traction rope 3-2 to wind on the winding sleeve 24-1, and when the traction rope 3-2 drives the floating shell 3-1 to approach or move away from the line storage box 2, ensures that the staff controls the movement of the device under water through the telescopic cable control 4,

[0038] Specific embodiment four: the specific embodiment is further limited to the specific embodiments one, two or three, the telescopic cable control 4 includes the upper cover 4-1, the lower shell 4-2, the positioning shaft 4-3, the second torsional spring 4-4, the cable 4-5 and the wire sleeve 4-6, the upper cover 4-1 is detachably connected with the lower shell 4-2, when the upper cover 4-1 is connected with the lower shell 4-2, the wire cavity 5 is formed between the upper cover 4-1 and the lower shell 4-2, the positioning shaft 4-3 is arranged in the wire cavity 5, the lower end of the positioning shaft 4-3 is hingedly connected with the top surface of the lower shell 4-2, the wire sleeve 4-6 is sleeved on the positioning shaft 4-3, the second torsional spring 4-4 is arranged in the wire sleeve 4-6, one end of the second torsional spring 4-4 is fixedly connected with the positioning shaft 4-3, the outer wall of the second torsional spring 4-4 and the inner wall of the wire sleeve 4-6 form the winding gap 6 for accommodating the cable 4-5, the wire sleeve 4-6 is respectively machined with the first through hole 4-6-1 and the second through hole 4-6-2 which are in communication with the winding gap 6, the middle part of the cable 4-5 is fixedly connected to the outer wall of the other end of the second torsional spring 4-4, one end of the cable 4-5 passes through the first through hole 4-6-1 and is connected with the underwater robot body 1, the other end of the cable 4-5 passes through the second through hole 4-6-2 and is connected with the traction type snorkeling block 3, the cable 4-5 is elongated under the traction of the traction type snorkeling block 3, and the cable 4-5 is retracted and wound under the traction of the second torsional spring 4-4.

[0039] Further, the two ends of the second torsional spring 4-4 are hingedly connected between the upper cover 4-1 and the lower shell 4-2, which ensures that the second torsional spring 4-4 can wind the cable 4-5 on the wire sleeve 4-6 when rotating, and one end of the cable 4-5 is installed on the underwater robot body 1 through the first through hole 4-6-1, and the other end of the cable 4-5 is installed on the traction type snorkeling block 3 through the second through hole 4-6-2, so as to ensure that the cable 4-5 transmits communication signals to the shore or fixed place, and the staff can be remotely controlled, improving the efficiency of underwater work and realizing the flexibility of the device in underwater work.

[0040] Specific embodiment five: the specific embodiment is further limited to the specific embodiments one, two, three or four, the upper cover 4-1 is a circular cover body, and the lower shell 4-2 is a circular plate body, the upper cover 4-1 includes an upper circular plate 4-1-1 and a cylinder 4-1-2, the cylinder 4-1-2 is coaxially connected to the bottom surface of the upper circular plate 4-1-1, the cylinder 4-1-2 is machined with a first gap 7 along the thickness direction of the cylinder wall, the first gap 7 is in communication with the first through hole 4-6-1, the cylinder 4-1-2 is machined with a second gap 8 along the thickness direction of the cylinder wall, and the second gap 8 is in communication with the second through hole 4-6-2.

[0041] Furthermore, the middle part of the cable 4-5 is connected to the second torsion spring 4-4, and the two ends of the cable 4-5 are connected to the underwater robot body 1 and the towing snorkeling block 3 through the first through-hole 4-6-1 and the second through-hole 4-6-2 respectively. The upper cover 4-1 and the lower shell 4-2 can protect the cable 4-5 while also being able to freely retract and release the cable 4-5. The cylinder 4-1-2 on the upper cover 4-1 is processed with a first gap 7 and a second gap 8 to prevent the cable 4-5 from being unable to be installed on the underwater robot body 1, thereby preventing the communication signal from being able to be transmitted to the host computer on the shore or at a fixed location.

[0042] Specific embodiment six: This embodiment is a further limitation of specific embodiments one, two, three, four or five, and an annular wire receiving groove 9 that matches the cable 4-5 is processed on the outer wall of the wire receiving sleeve 4-6.

[0043] Furthermore, the cable 4-5 avoids confusion during winding, so that the second torsion spring 4-4 ​​drives the cable 4-5 to be wound around the annular wire groove 9 during rotation, and the two ends of the cable 4-5 are respectively installed on the underwater robot body 1 and the traction-type snorkeling block 3, so as to realize remote control of the detection of the utility model in the water, thereby avoiding restrictions on the utility model during underwater activities, improving the flexibility of deep operation, improving the disadvantages of information transmission, providing a new method of autonomous transmission, and avoiding the situation where traction causes space occupation and limits or affects the operation path.

[0044] Specific embodiment seven: This embodiment is a further limitation of specific embodiments one, two, three, four, five or six, and the shape of the floating shell 3-1 is a semi-cylinder.

[0045] Furthermore, the buoyancy shell 3-1 ensures that it can be stably maintained above the underwater robot body 1 to avoid deviation, thereby being able to steadily drive the cable 4-5 to achieve vertical extension or retraction, thereby improving the practicality and automation level of the device.

[0046] Specific embodiment eight: This embodiment is a further limitation of specific embodiments one, two, three, four, five, six or seven. The bottom surface of the floating shell 3-1 is a straight surface. The bottom surface of the floating shell 3-1 is electromagnetically connected to the top of the underwater robot body 1. The two are connected by electromagnetic attraction. The bottom surface of the floating shell 3-1 is provided with a metal sheet, and the top of the underwater robot body 1 is provided with an electromagnetic block. The two are connected or separated by electrical control to ensure that the floating shell 3-1 can be stably connected to the underwater robot body 1 when not in use, reducing interference with the driving of the underwater robot body 1. When in use, it can be completely separated from the underwater robot body 1 and quickly perform upward movement.

[0047] Specific embodiment nine: this embodiment is further limited to specific embodiments one, two, three, four, five, six, seven or eight, the underwater robot body 1 further comprises a frame 10, a plurality of propellers 11, a sealed cabin 12 and a camera 13, the frame 10 is respectively provided with a plurality of propellers 11, a sealed cabin 12 and a camera 13, the camera 13 is arranged at both ends of the frame 10, the sealed cabin 12 is arranged below the frame 10, and the sealed cabin 12 is arranged near the line storage box 2 above. The controller and the sensor are arranged in the sealed cabin 12, so that the worker can remotely control the device, one end of the cable 4-5 in the telescopic cable control 4 is connected to the floating shell 3-1, and the other end of the cable 4-5 is arranged in the sealed cabin 12, so that the signal can be transmitted to the upper computer on the shore or the fixed place through the cable 4-5, and the plurality of propellers 11 are arranged on both sides of the frame 10 and both sides of the sealed cabin 12, so as to ensure that the device can float and dive underwater.

[0048] Further, the camera 13 is arranged on the frame 10, which can observe and record the underwater operation when the underwater robot moves in the water.

[0049] Working process one: static detection process: after the underwater detection depth of the underwater robot body 1 is determined according to the detection requirement, the underwater robot body 1 is started to dive to the predetermined underwater detection depth, the traction type float block 3 is started and released according to the underwater detection depth, the floating shell 3-1 drives a plurality of traction ropes 3-2 to elongate by the floating movement, the traction rope 3-2 is pulled out from the line storage box 2, the first torsional spring 24-2 is stretched, the telescopic cable control 4 is elongated synchronously with the floating movement of the floating shell 3-1, until the traction rope 3-2 and the telescopic cable control 4 stop stretching synchronously after the floating shell 3-1 floats to the water surface, the telescopic cable control 4 opens the use state of the transmission information; after the information of the underwater robot body 1 is transmitted to the upper computer on the shore through the telescopic cable control 4, the traction rope 3-2 is wound in the line storage box 2 under the rebound of the first torsional spring 24-2, the traction rope 3-2 is in the length contraction state, the telescopic cable control 4 is wound with the cable 4-5 in the line sleeve 4-6 under the rebound of the second torsional spring 4-4, and the floating shell 3-1 is pulled back underwater until it is attached to the top surface of the line storage box 2.

[0050] Working process 2: Dynamic detection process: After the underwater robot body 1 is started and dives to the predetermined underwater detection depth, the traction snorkeling block 3 is opened and released according to the underwater detection depth corresponding to the initial position of the underwater robot body 1. The floating shell 3-1 drives the multiple traction ropes 3-2 to extend through the upward movement. The traction ropes 3-2 are pulled out of the line storage box 2, the first torsion spring 24-2 is stretched, and the telescopic cable control 4 is synchronously extended with the upward movement of the floating shell 3-1 until the traction ropes 3-2 are extended after the floating shell 3-1 floats to the surface. 2 and the telescopic cable control 4 stop stretching synchronously; when the underwater robot body 1 is in translational motion underwater, the floating shell 3-1 is always on the water surface with the cooperation of the line storage and storage box 2, thereby ensuring that the telescopic cable control 4 is in a state of continuous information transmission; when the underwater robot body 1 is in an ascending or descending motion underwater, the traction rope 3-2 performs a corresponding movement of contraction or release of the length between the floating shell 3-1 and the line storage and storage box 2, thereby ensuring that the floating shell 3-1 is always on the water surface and the telescopic cable control 4 is in a state of continuous information transmission.

Claims

1. A self-floating split cable retracting device, characterized by: The invention comprises a line storage box (2), a traction-type snorkeling block (3) and a telescopic cable control (4), wherein the line storage box (2) is arranged horizontally, the traction-type snorkeling block (3) is arranged above the line storage box (2), the telescopic cable control (4) is arranged between the line storage box (2) and the traction-type snorkeling block (3), the upper end of the telescopic cable control (4) is a signal transmitting end, the telescopic cable control (4) is connected to the traction-type snorkeling block (3), and the lower end of the telescopic cable control (4) is a signal receiving end; The towing type snorkeling block (3) comprises a floating shell (3-1) and a plurality of towing ropes (3-2). The plurality of towing ropes (3-2) are evenly distributed on the outer wall of the floating shell (3-1). One end of each towing rope (3-2) is detachably connected to the outer wall of the floating shell (3-1), and the other end of each towing rope (3-2) is connected to the line storage box (2). Each towing rope (3-2) performs a reciprocating motion of length contraction or length release between the floating shell (3-1) and the line storage box (2); when the towing rope (3-2) is in a length contraction state between the floating shell (3-1) and the line storage box (2), the telescopic cable control (4) is in an extension information transmission state; when each towing rope (3-2) is in a length release state under the control of the line storage box (2), the telescopic cable control (4) is in a retracted standby state.

2. The self-floating split cable retracting device according to claim 1, characterized in that: The cable storage box (2) comprises a buckle cover (21), a gear set (22), a lower seat (23), a plurality of winding units (24) and a plurality of central shafts (25), wherein the lower seat (23) is a box body with an open top, the lower seat (23) is detachably connected to the top of the underwater robot body (1), the signal receiving end of the telescopic cable control (4) is connected to the signal transmitting end of the underwater robot body (1), the buckle cover (21) is detachably connected to the open portion of the lower seat (23), and a plurality of central shafts (25) are arranged in the lower seat (23), the central shafts (2 5) are arranged in a one-to-one correspondence with the winding monomers (24), each winding monomer (24) is mounted on its corresponding central axis (25), the gear set (22) is arranged above the plurality of winding monomers (24), each winding monomer (24) performs self-rotation under the drive of the gear set (22), the winding monomers (24) and the traction ropes (3-2) are arranged in a one-to-one correspondence, one end of each traction rope (3-2) is fixedly connected to its corresponding winding monomer (24), and the other end of each traction rope (3-2) passes through the lower seat (23) and is fixedly connected to the floating shell (3-1).

3. The self-floating split cable retracting device according to claim 2, characterized in that: The winding unit (24) includes a winding sleeve (24-1) and a first torsion spring (24-2). The winding sleeve (24-1) is sleeved on its corresponding central shaft (25). The first torsion spring (24-2) is arranged in the winding sleeve (24-1). One end of the first torsion spring (24-2) is connected to the central shaft (25), and the other end of the first torsion spring (24-2) is connected to the end of its corresponding traction rope (3-2). The outer wall of the winding sleeve (24-1) is processed with an annular winding groove (24-3) that matches the traction rope (3-2).

4. The self-floating split cable retracting device according to claim 1, characterized in that: The telescopic cable control (4) comprises an upper cover (4-1), a lower shell (4-2), a positioning shaft (4-3), a second torsion spring (4-4), a cable (4-5) and a wire receiving sleeve (4-6). The upper cover (4-1) and the lower shell (4-2) are detachably connected. When the upper cover (4-1) and the lower shell (4-2) are connected, a wire receiving cavity (5) is formed between the upper cover (4-1) and the lower shell (4-2). The positioning shaft (4-3) is arranged in the wire receiving cavity (5). The lower end of the positioning shaft (4-3) is hinged to the top surface of the lower shell (4-2). The wire receiving sleeve (4-6) is sleeved on the positioning shaft (4-3). The second torsion spring (4-4) is arranged in the wire receiving sleeve (4-6). One end of the second torsion spring (4-4) is fixedly connected to the positioning shaft (4-3). The outer wall of the second torsion spring (4-4) is fixed to the positioning shaft (4-3). A winding gap (6) for matching the cable (4-5) is formed between the inner walls of the wire sleeve (4-6), and a first through-hole (4-6-1) and a second through-hole (4-6-2) connected to the winding gap (6) are respectively processed on the wire sleeve (4-6). The middle part of the cable (4-5) is fixedly connected to the outer wall of the other end of the second torsion spring (4-4). One end of the cable (4-5) passes through the first through-hole (4-6-1) and is connected to the underwater robot body (1). The other end of the cable (4-5) passes through the second through-hole (4-6-2) and is connected to the traction type snorkeling block (3). The cable (4-5) performs an extension movement under the drive of the traction type snorkeling block (3), and the cable (4-5) performs a retraction and winding movement under the drive of the torsion movement of the second torsion spring (4-4).

5. The self-floating split cable retracting device according to claim 4, characterized in that: The upper cover (4-1) is a circular cover body, and the lower shell (4-2) is a circular plate body. The upper cover (4-1) includes an upper circular plate (4-1-1) and a cylinder (4-1-2). The cylinder (4-1-2) is coaxially connected to the bottom surface of the upper circular plate (4-1-1). The cylinder (4-1-2) is processed with a first slit (7) along the thickness direction of its cylinder wall. The first slit (7) is connected to the first through-hole (4-6-1). The cylinder (4-1-2) is processed with a second slit (8) along the thickness direction of its cylinder wall. The second slit (8) is connected to the second through-hole (4-6-2).

6. A self-floating split cable retracting device according to claim 4 or 5, characterized in that: An annular wire receiving groove (9) matching the cable (4-5) is machined on the outer wall of the wire receiving sleeve (4-6).

7. The self-floating split cable retracting device according to claim 1, characterized in that: The floating shell (3-1) is in the shape of a semi-cylinder.

8. The self-floating split cable retracting device according to claim 7, characterized in that: The bottom surface of the floating shell (3-1) is a straight surface, and the bottom surface of the floating shell (3-1) is electromagnetically connected to the top of the underwater robot body (1).

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