CN215797724U

CN215797724U - Winding device for underwater robot

Info

Publication number: CN215797724U
Application number: CN202121960923.3U
Authority: CN
Inventors: 赵梓奎; 刘继鑫; 申洪彬; 江景涛
Original assignee: Qingdao Pengpai Ocean Exploration Technology Co ltd
Current assignee: Qingdao Pengpai Ocean Exploration Technology Co ltd
Priority date: 2021-08-20
Filing date: 2021-08-20
Publication date: 2022-02-11
Anticipated expiration: 2031-08-20

Abstract

The utility model relates to the field of underwater robots, in particular to a winding device for an underwater robot. Including bank base case, storing box, optical fiber control box and winding mechanism are located the bank base incasement, and the optical fiber control box passes through optic fibre and is connected with winding mechanism, and storing box adhesive fixation is in the bank base incasement, and the optical fiber control box passes through the cylinder head bolt fastening in the bank base incasement. The wire winding and unwinding device realizes the effects of tidy wire arrangement, automatic wire winding and unwinding, convenient movement, portability and operation, and effectively prevents the occurrence of wire explosion and the like.

Description

Winding device for underwater robot

Technical Field

The utility model relates to the field of underwater robots, in particular to a winding device for an underwater robot.

Background

Underwater robots with different functions, such as an Autonomous Underwater Vehicle (AUV), an autonomous/remote control dual-mode underwater robot (ARV), a remote control underwater vehicle (ROV), and the like, need to be operated with cables in testing and using links. The cable is generally power line carrier line or optic fibre line, and its one end is connected on the body of underwater robot, and the other end is connected with bank base case, can real-time control gesture, monitoring procedure execution step through bank base case, and the cable scope that its test used generally varies from several tens meters to several hundred meters, mainly carries out the test of taking the cable and uses under outdoor scenes such as lakeside, sea, river, pier, scientific investigation ship. However, the following problems can be caused in the actual use process:

1. the cable is difficult to store, and the cable is not stored neatly and occupies space;

2. after the cable is used, the cable can be wound, bent, knotted and the like, and when the cable is serious, part of the cable is in stress concentration, so that the cable can be damaged for a long time;

3. the traditional manual cable winding and unwinding speed is low, and the efficiency is low;

4. when the electric equipment is used for winding and unwinding the cable, the electric equipment is easy to lose efficacy, high in manufacturing cost and difficult to transform under the conditions that the cable carries water, sea waves, rain, snow and the like;

5. the 200-300 m medium-long cable is heavy, and the transportation, movement and development work are difficult;

6. when the cable both sides all are connected, every along the rotatory round of reel axial of cable, the circumference rotation also can take place for cable self, if do not comb, can make the cable be in stress concentration, leads to the cable to damage, the unable wire-wound condition to appear.

SUMMERY OF THE UTILITY MODEL

The utility model aims to overcome the defects in the prior art, and provides a winding device for an underwater robot, which realizes tidy wire arrangement, automatic wire winding and unwinding, convenient movement, portability and operation, and effectively prevents wire explosion and the like.

The technical scheme of the utility model is as follows: a winding device for an underwater robot comprises a shore base box, a storage box, an optical fiber control box and a winding mechanism, wherein the storage box, the optical fiber control box and the winding mechanism are positioned in the shore base box;

the winding mechanism comprises a winding shaft, a slip ring, a left side plate, a left support, a right side plate, a right support and a plugging hand wheel, the winding shaft is hollow, the slip ring, the left side plate and the left support are arranged at the left end of the winding shaft, the right side plate, the right support and the plugging hand wheel are arranged at the right end of the winding shaft, two ends of the winding shaft are respectively and fixedly connected with the left side plate and the right side plate, the left support and the right support are respectively arranged on the outer sides of two ends of the winding shaft, the left support and the right support are respectively and fixedly connected with the bottom of the shore foundation box through flat round head bolts I, and vertical bearing seats are respectively and fixedly arranged in the left support and the right support;

the slip ring comprises a slip ring stator end and a slip ring rotor end, the slip ring stator end is located on the outer side of the slip ring rotor end, the slip ring stator end is connected with the optical fiber control box through optical fibers, the inner end face of the slip ring stator end is rotatably connected with the slip ring rotor end, the slip ring stator end is located in the vertical bearing seat of the left support, a slip ring outer end positioning sleeve is arranged on the outer side of the slip ring stator end, a slip ring inner end positioning sleeve is arranged at the inner end of the slip ring stator end, and the slip ring outer end positioning sleeve is of a slip ring inner end positioning sleeve

The connecting plate of the sliding ring outer end positioning sleeve is fixedly connected with the outer end face of the vertical bearing seat, the sleeve of the sliding ring outer end positioning sleeve is sleeved on the outer side of the ring of the sliding ring stator end, the sliding ring inner end positioning sleeve is sleeved on the outer side of the ring of the sliding ring stator end, the inner end face of the sliding ring stator end is fixedly connected with the sliding ring inner end positioning sleeve, and the sliding ring outer end positioning sleeve is fixedly connected with the sliding ring inner end positioning sleeve;

a left outer wheel shaft is arranged between the vertical bearing seat and the sliding ring outer end positioning sleeve, a through hole is formed in the center of the left side plate, the left outer wheel shaft penetrates through the through hole, a shaft shoulder is arranged on the annular outer surface of the left outer wheel shaft, a spring clamp spring I for a shaft is arranged between the shaft shoulder and the inner surface of the vertical bearing seat, the inner end face of the left outer wheel shaft is fixedly connected with the inner end face of the left side plate, the inner end face of the left outer wheel shaft is also fixedly connected with a sliding ring protection seat, the sliding ring protection seat is positioned on the outer side of the sliding ring inner end positioning sleeve, one end of an optical fiber is connected with a sliding ring end, and the other end of the optical fiber penetrates through a notch of the winding shaft and is wound on the winding shaft;

the right-hand member of spool still is equipped with right side foreign steamer axle, right side foreign steamer axle passes the through-hole at right side board center, the interior terminal surface of right side foreign steamer axle and the medial surface fixed connection of right side board, right side foreign steamer axle is located the vertical bearing frame of right support, the annular surface of right side foreign steamer axle is equipped with the shaft shoulder, be equipped with axle spring jump ring I between the internal surface of shaft shoulder and vertical bearing frame, the outer pot head of right side foreign steamer axle has the plug hand wheel, the outside terminal surface and the locking flange fixed connection of vertical bearing frame, the locking flange cover is in the outside of right side foreign steamer axle, be equipped with butterfly bolt I in the locking flange, the tip and the right side foreign steamer contact of butterfly bolt I.

According to the utility model, the optical fiber enveloping pipe is arranged on the outer side of the optical fiber connecting the optical fiber control box and the winding mechanism, two ends of the optical fiber enveloping pipe are respectively and fixedly connected with the optical fiber control box and the winding mechanism, and the connecting plates of the optical fiber enveloping pipe and the sliding ring outer end positioning sleeve are fixedly connected with the outer end face of the vertical bearing seat through the cylindrical head bolt in sequence.

The outer end of the left outer wheel shaft is in transition fit with the inner surface of the vertical bearing seat, and the right outer wheel shaft is in transition fit with the vertical bearing seat.

The plug hand wheel and the right outer wheel shaft are in clearance fit, so that the plug hand wheel can be conveniently inserted and pulled out.

The left support and the right support are fixedly connected with support frames respectively, the other end of each support frame is fixed with a front-end rod respectively, the end part of each front-end rod is provided with a watertight plug and a watertight plug fixing sleeve respectively, the watertight plug and the watertight plug fixing sleeves are correspondingly arranged, the watertight plug fixing sleeves are used for fixing the watertight plug, and the watertight plug is fixedly connected with the free end of the optical fiber.

The front end of the slip ring rotor is fixedly provided with a linear guide rod which is arranged in a groove of the sliding environment-friendly protection seat, and the linear guide rod is restrained by the sliding environment-friendly protection seat, so that the end of the slip ring rotor and the winding shaft keep synchronous motion.

The utility model has the beneficial effects that:

(1) the winding shaft is driven to rotate through the rotation of the plugging hand wheel, and the cable winding and unwinding work is completed;

(2) the speed of cable winding is controlled by unscrewing and screwing the butterfly-shaped spiral I, so that the cable explosion is prevented;

(3) the sliding ring stator end is fixed, the sliding ring rotor end is protected, and the problems of cable winding, bending, knotting and the like are solved;

(4) through the design of the shore-based box, the influence of working conditions such as water, sea waves, rain, snow and the like of the cable is eliminated, and the cable can be transported, moved and carried out conveniently under the conditions that the cable with large length in 200 plus 300 meters is heavy and the like;

(5) the device is simple and reliable, compact in structure, portable and convenient, convenient to operate and low in price, and the wound cable can reach 360 meters at most and can adapt to severe working condition environments.

Drawings

FIG. 1 is a schematic perspective view of the present invention;

FIG. 2 is a schematic top view of the present invention;

fig. 3 is a schematic sectional view of the winding mechanism.

In the figure: 1, a shore-based box; 2, a storage box; 3, an optical fiber control box; 4, enveloping the tube with optical fiber; 5, a cylindrical head bolt I; 6, positioning a sleeve at the outer end of the slip ring; 7, a spring clamp spring I for a shaft; 8, a vertical bearing seat; 9, a left support; 10, a flat round head bolt I; 11 a left side plate; 12 a left outer wheel shaft; 13 a cylindrical head bolt II; 14, a cylindrical head bolt III; 15 grooving taper end fastening bolts I; 16 slip ring stator end; 17, a smooth environment-friendly protection seat; 18 slip ring inner end locating sleeve; 19 a cylindrical head bolt IV; 20 a slip ring rotor end; 21 a winding shaft; 22 an optical fiber; 23, a cylindrical head bolt V; 24 a cylindrical head bolt VI; 25 right outer wheel shaft; 26 a right side plate; 27 right support; 28 a stop flange; 29, a butterfly bolt I; 30 cylindrical head bolts VII; 31 inserting and pulling a hand wheel; 32 watertight plugs; 33 watertight plug securing sleeve; 34 a support frame; 35 front end roller bar; 36 cylindrical head bolt VIII; 37 cylindrical head bolt IX.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.

In the following description, specific details are set forth in order to provide a thorough understanding of the present invention. The utility model can be implemented in a number of ways different from those described herein and similar generalizations can be made by those skilled in the art without departing from the spirit of the utility model. Therefore, the present invention is not limited to the specific embodiments disclosed below.

As shown in fig. 1 to 3, the winding device for the underwater robot of the present invention includes a shore-based box 1, a storage box 2, an optical fiber control box 3 and a winding mechanism, wherein the storage box 2, the optical fiber control box 3 and the winding mechanism are located in the shore-based box 1, and the shore-based box 1 plays a role in loading and transportation. In this embodiment, the storage box 2 is fixed in the shore box 1 through sticky mode, and the optical fiber control box 3 is fixed in the shore box 1 through the cylinder head bolt. The optical fiber control box 3 is connected with the winding mechanism through optical fibers, optical fiber signal transmission articles such as an optical fiber switch and a power supply are arranged in the optical fiber control box 3 and used for collecting and transmitting working signals of the winding mechanism, an optical fiber enveloping pipe 4 is arranged on the outer side of the optical fibers connecting the optical fiber control box 3 and the winding mechanism, and two ends of the optical fiber enveloping pipe 4 are fixedly connected with the optical fiber control box 3 and the winding mechanism through cylindrical head bolts I5 respectively.

The winding mechanism comprises a winding shaft 21, a sliding ring, a left side plate 11, a left support 9, a right side plate 26, a right support 27 and a plugging hand wheel 31, the winding shaft 21 is hollow, the sliding ring, the left side plate 11 and the left support 9 are arranged at the left end of the winding shaft 21, the right side plate 26, the right support 27 and the plugging hand wheel 31 are arranged at the right end of the winding shaft 21, two ends of the winding shaft 21 are fixedly connected with the left side plate 11 and the right side plate 26 respectively through cylindrical head bolts V23, the left support 9 and the right support 27 are respectively arranged at the outer sides of two ends of the winding shaft 21, the left support 9 and the right support 27 are respectively fixedly connected with the bottom of the shore base box 1 through flat round head bolts I10, vertical bearing seats 8 are respectively arranged in the left support 9 and the right support 27, the vertical bearing seats 8 are positioned in inner holes of the left support 9 and the right support 27, the vertical bearing seat 8 is fixedly connected with the left support 9 and the right support 27 through a cylindrical head bolt VIII 36.

The slip ring comprises a slip ring stator end 16 and a slip ring rotor end 20, the slip ring stator end 16 is located on the outer side of the slip ring rotor end 20, the slip ring stator end 16 is connected with the optical fiber control box 3 through optical fibers, and the inner end face of the slip ring stator end 16 is rotatably connected with the slip ring rotor end 20. The sliding ring stator end 16 is positioned in the vertical bearing seat 8 of the left support 9, the outer side of the sliding ring stator end 16 is provided with a sliding ring outer end positioning sleeve 6, and the inner end of the sliding ring stator end 16 is provided with a sliding ring inner end positioning sleeve 18. The outer end of the slip ring is provided with a positioning sleeve 6

The optical fiber enveloping tube 4 and the connecting plate of the sliding ring outer end positioning sleeve 6 are fixedly connected with the outer end face of the vertical bearing seat 8 sequentially through a cylindrical head bolt I5, and the sleeve of the sliding ring outer end positioning sleeve 6 is sleeved on the annular outer side of the sliding ring stator end 16 as shown in figure 3. The inner end positioning sleeve 18 of the sliding ring is sleeved on the annular outer side of the sliding ring stator end 16, and the end face of the inner side of the sliding ring stator end 16 is fixedly connected with the inner end positioning sleeve 18 of the sliding ring through a cylindrical head bolt IV 19. The positioning sleeve 6 at the outer end of the sliding ring is fixedly connected with the positioning sleeve 18 at the inner end of the sliding ring through a slotted taper end fastening bolt I15.

And a left outer wheel shaft 12 is arranged between the vertical bearing seat 8 and the sliding ring outer end positioning sleeve 6, a through hole is formed in the center of the left side plate 11, and the left outer wheel shaft 12 penetrates through the through hole. Be transition fit between the outer end of left side foreign steamer axle 12 and the internal surface of vertical bearing frame 8, the annular surface of left side foreign steamer axle 12 is equipped with the shaft shoulder, is equipped with an axle between the internal surface of shaft shoulder and vertical bearing frame 8 and uses spring jump ring I7, and shaft shoulder and axle use spring jump ring I7 combined action have played axial positioning's effect to left side foreign steamer axle 12. The inner end face of the left outer wheel shaft 12 is fixedly connected with the inner side end face of the left side plate 11 through a cylindrical head bolt II 13, and the inner end face of the left outer wheel shaft 12 is fixedly connected with a slip ring protection seat 17 through a cylindrical head bolt III 14. The sliding ring protection seat 17 is located on the outer side of the sliding ring inner end positioning sleeve 18, the connecting end of the sliding ring rotor end 20 and the sliding ring stator end 16 is located in the sliding ring protection seat 17, and the sliding ring protection seat 17 protects the sliding ring rotor end 20. One end of the optical fiber 22 is connected with the slip ring mover end 20, and the other end passes through the slot on the right side of the spool 21 and is wound on the spool 21.

In this description, the slip ring stator end 16 is fixedly connected to the left end of the bobbin 21, and the slip ring stator end 16 is rotatably connected to the slip ring mover end 20. Because the front end of the sliding ring rotor end is fixed with the linear guide rod which is arranged in the groove of the sliding environment-friendly protection seat 17, the linear guide rod is restrained by the sliding environment-friendly protection seat 17, so that the sliding ring rotor end 20 and the winding shaft 21 keep synchronous motion, and the phenomenon that the rotating speed is inconsistent between the sliding ring rotor end 20 and the optical fiber 22 to cause knotting of the optical fiber is prevented.

The right end of the winding shaft 21 is also provided with a right outer wheel shaft 25, the right outer wheel shaft 25 penetrates through a through hole in the center of the right plate, and the inner end face of the right outer wheel shaft 25 is fixedly connected with the inner end face of the right plate 26 through a cylindrical head bolt VI 24. The right outer wheel shaft 25 is positioned in the vertical bearing seat 8 of the right support 27, and the right outer wheel shaft 25 is in transition fit with the vertical bearing seat 8. The annular surface of right side foreign steamer axle 25 is equipped with the shaft shoulder, is equipped with for the axle spring jump ring I7 between the internal surface of shaft shoulder and vertical bearing frame 8, and shaft shoulder and for the axle spring jump ring I7 combined action have played axial positioning's effect to right side foreign steamer axle 25. The outer pot head of right side outer wheel axle 25 has plug hand wheel 31, and in this embodiment, be clearance fit between plug hand wheel 31 and the right side outer wheel axle 25, make things convenient for inserting and extracting of plug hand wheel 31. The outer end face of the vertical bearing seat 8 is fixedly connected with a stop flange 28 through a cylindrical head bolt VII 30, the stop flange 28 is sleeved on the outer side of the right outer wheel shaft 25, a butterfly bolt I29 is arranged in the stop flange 28, the stop flange 28 is provided with an internal thread, the butterfly bolt I29 is in threaded connection with the internal thread of the stop flange 28, when the butterfly bolt I29 is rotated, the butterfly bolt I29 is screwed in or out, when the butterfly bolt I29 is screwed in, the contact amount between the butterfly bolt I29 and the right outer wheel shaft 25 is increased, so that the friction force in the rotating process of the right outer wheel shaft 25 is increased, thereby changing the rotating speed of the right outer wheel shaft 25, and thus by changing the amount of contact between the thumb screw i 29 and the right outer wheel shaft 25, the rotating speed of the right outer wheel shaft 25 is controlled, thereby changing the rotating speed of the entire spool 21 and thus controlling the speed of the incoming and outgoing wire.

The left support 9 and the right support 27 are respectively fixedly connected with a support frame 34 through cylindrical head bolts, the other end of the support frame 34 is respectively fixed with a front-end stick 35, the end part of the front-end stick 35 is respectively provided with a watertight plug 32 and a watertight plug fixing sleeve 33, the watertight plug fixing sleeve 33 is used for fixing the watertight plug 32, the watertight plug 32 is fixedly connected with the free end of the optical fiber 22, on one hand, the optical fiber 22 can be prevented from being loose in a shore base box, and on the other hand, the watertight plug 32 with the end part of the optical fiber can be directly connected with an underwater robot.

The working process of realizing paying-off and taking-up by using the device is as follows: when the underwater robot needs to be cabled in a testing and operating link, the shore-based case 1 is opened, the watertight plug 32 is taken down from the watertight plug fixing sleeve 33 and connected to the underwater robot, the butterfly bolt I29 on the stop flange 28 is unscrewed, the rotating speed of the right outer wheel shaft 25 is controlled through the butterfly bolt I29, the right outer wheel shaft 25 is fixedly connected with the right side plate 26, the right side plate 26 is fixed at the end part of the winding shaft 21, the rotating speed of the right outer wheel shaft 25 is the same as that of the winding shaft 21, the paying-off speed of the optical fiber wound on the winding shaft 21 is controlled, and when the length of the optical fiber 22 reaches the expected length, the butterfly bolt I29 is screwed, the winding shaft 21 stops rotating, and the paying-off is stopped.

In the process of taking up the cable, the plugging hand wheel 31 is taken out of the storage box 2, the plugging hand wheel 31 is inserted into the end part of the right outer wheel shaft 25, the butterfly bolt I29 on the stop flange is unscrewed, the plugging hand wheel 31 is shaken, the optical fiber can be wound on the winding shaft 21 again, the optical fiber is retracted, after the optical fiber is completely retracted, the stop flange 28 is screwed again, the watertight plug 32 is taken down and fixed in the watertight plug fixing sleeve 33, and the plugging hand wheel 31 is taken down and placed in the storage box 2.

The winding device of the underwater robot provided by the utility model is described in detail above. The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the method and its core concepts. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention. The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the utility model. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A winding device for an underwater robot is characterized in that: the optical fiber cable winding device comprises a shore base box (1), a storage box (2), an optical fiber control box (3) and a winding mechanism, wherein the storage box (2), the optical fiber control box (3) and the winding mechanism are located in the shore base box (1), the optical fiber control box (3) is connected with the winding mechanism through optical fibers, the storage box (2) is fixed in the shore base box (1) in an adhesive mode, and the optical fiber control box (3) is fixed in the shore base box (1) through cylindrical head bolts;

the winding mechanism comprises a winding shaft (21), a slip ring, a left side plate (11), a left support (9), a right side plate (26), a right support (27) and a plugging hand wheel (31), the winding shaft (21) is hollow, the left end of the winding shaft (21) is provided with the slip ring, the left side plate (11) and the left support (9), the right end of the winding shaft (21) is provided with the right side plate (26), the right support (27) and the plugging hand wheel (31), two ends of the winding shaft (21) are respectively and fixedly connected with the left side plate (11) and the right side plate (26), the outer sides of two ends of the winding shaft (21) are respectively provided with the left support (9) and the right support (27), the left support (9) and the right support (27) are respectively and fixedly connected with the shore base box (1), and vertical bearing seats (8) are respectively and fixedly arranged in the left support (9) and the right support (27);

the slip ring comprises a slip ring stator end (16) and a slip ring rotor end (20), the slip ring stator end (16) is located on the outer side of the slip ring rotor end (20), the slip ring stator end (16) is connected with the optical fiber control box (3) through optical fibers, the inner end face of the slip ring stator end (16) is rotatably connected with the slip ring rotor end (20), the slip ring stator end (16) is located in a vertical bearing seat (8) of the left support (9), a slip ring outer end positioning sleeve (6) is arranged on the outer side of the slip ring stator end (16), a slip ring inner end positioning sleeve (18) is arranged at the inner end of the slip ring stator end (16), and the slip ring outer end positioning sleeve (6) is a slip ring inner end positioning sleeve (18)

The connecting plate of the sliding ring outer end positioning sleeve is fixedly connected with the outer end face of the vertical bearing seat (8), the sleeve of the sliding ring outer end positioning sleeve (6) is sleeved on the annular outer side of the sliding ring stator end (16), the sliding ring inner end positioning sleeve (18) is sleeved on the annular outer side of the sliding ring stator end (16), the inner side end face of the sliding ring stator end (16) is fixedly connected with the sliding ring inner end positioning sleeve (18), and the sliding ring outer end positioning sleeve (6) is fixedly connected with the sliding ring inner end positioning sleeve (18);

a left outer wheel shaft (12) is arranged between the vertical bearing seat (8) and the sliding ring outer end positioning sleeve (6), a through hole is formed in the center of the left side plate (11), the left outer wheel shaft (12) penetrates through the through hole, a shaft shoulder is arranged on the annular outer surface of the left outer wheel shaft (12), a spring clamp spring I (7) for a shaft is arranged between the shaft shoulder and the inner surface of the vertical bearing seat (8), the inner end surface of the left outer wheel shaft (12) is fixedly connected with the inner end surface of the left side plate (11), the inner end surface of the left outer wheel shaft (12) is also fixedly connected with a sliding ring protection seat (17), the sliding ring protection seat (17) is located on the outer side of the sliding ring inner end positioning sleeve (18), one end of an optical fiber (22) is connected with a sliding ring rotor end (20), and the other end of the optical fiber penetrates through a notch of the winding shaft (21) and is wound on the winding shaft (21);

the right-hand member of spool (21) still is equipped with right side foreign steamer (25), right side foreign steamer (25) pass the through-hole at right side board center, the interior terminal surface of right side foreign steamer (25) and the medial surface fixed connection of right side board (26), right side foreign steamer (25) are located vertical bearing frame (8) of right support (27), the annular surface of right side foreign steamer (25) is equipped with the shaft shoulder, be equipped with an axle between the internal surface of shaft shoulder and vertical bearing frame (8) and use spring jump ring I (7), the outer pot head of right side foreign steamer (25) has plug hand wheel (31), the outside terminal surface and the flange (28) fixed connection of vertical bearing frame (8), flange (28) cover is in the outside of right side foreign steamer (25), be equipped with butterfly bolt I (29) in flange (28), the tip and the right side foreign steamer (25) contact of butterfly bolt I (29).

2. The winding device for an underwater robot according to claim 1, wherein: the two ends of the optical fiber enveloping pipe (4) are respectively fixedly connected with the optical fiber control box (3) and the winding mechanism, and the connecting plates of the optical fiber enveloping pipe (4) and the sliding ring outer end positioning sleeve (6) are fixedly connected with the outer end face of the vertical bearing seat (8) through a cylindrical head bolt in sequence.

3. The winding device for an underwater robot according to claim 1, wherein: the outer end of the left outer wheel shaft (12) is in transition fit with the inner surface of the vertical bearing seat (8), and the right outer wheel shaft (25) is in transition fit with the vertical bearing seat (8).

4. The winding device for an underwater robot according to claim 1, wherein: the plugging hand wheel (31) is in clearance fit with the right outer wheel shaft (25).

5. The winding device for an underwater robot according to claim 1, wherein: left side support (9) and right support (27) are fixedly connected with support frame (34) respectively, and the other end of support frame (34) is fixed with front end rod (35) respectively, and the tip of front end rod (35) is equipped with the fixed cover (33) of watertight plug (32) and watertight plug respectively, and watertight plug (32) and the fixed cover (33) of watertight plug are corresponding the setting, and the fixed cover (33) of watertight plug is used for fixed watertight plug (32), the free end fixed connection of watertight plug (32) and optic fibre (22).

6. The winding device for an underwater robot according to claim 1, wherein: the front end of the slip ring rotor is fixedly provided with a linear guide rod which is arranged in a groove of the sliding environment-friendly protection seat (17), and the linear guide rod is restrained by the sliding environment-friendly protection seat (17), so that the slip ring rotor end (20) and the winding shaft (21) keep synchronous motion.