CN118025453B - A salvage robot with high redundancy for underwater operation and control method thereof - Google Patents

Abstract

The invention relates to the field of marine devices, in particular to a salvage robot with high redundancy for underwater operation and a control method thereof. The salvaging robot for marine underwater operation comprises a machine body, a telescopic rod, a high-redundancy salvaging bucket device, a marine winch, a crawler belt, a camera and a lighting system. The high-redundancy salvaging bucket device realizes the large-range distance adjustment of the high-redundancy salvaging bucket through the screw rod. The high-redundancy salvaging bucket realizes the telescopic bending adjustment pose through the volume change of the sealed rubber capsule chamber in the heating sealed rubber capsule part and the cooling sealed rubber capsule part, and the three-axis gyroscope at the front end realizes the perception of a terminal, so that the high degree of freedom is realized. The flexible salvaging bucket has the advantages that the flexible salvaging bucket solves the problem of dynamic sealing of a rigid structure, and the salvaging robot has higher precision and high degree of freedom, can be suitable for underwater operation in multiple scenes, and is particularly suitable for salvaging valuables.

Description

A salvage robot with high redundancy for underwater operation and control method thereof

Technical Field

The invention relates to the field of marine devices, and in particular to a high-redundancy underwater salvage robot and a control method thereof.

Background technique

At present, in underwater operation scenarios, it is generally necessary to salvage specific underwater objects, but the robots currently using this salvage action mainly perform it in the traditional way of a mechanical arm or a rigid grab.

However, since the environment of the salvaged objects in the water is much more complicated than that on the ground, and there may be some gaps or cracks, the above-mentioned traditional salvage methods are difficult to meet the environmental requirements of underwater salvage.

For example, patent CN117262163A discloses an underwater salvage robot, which uses a rigid structure to realize underwater salvage operations, and realizes operations from the ship to the underwater through a winch. The underwater environment is complex, the salvage objects are precious, and the location of the objects is uncertain. It is difficult to complete underwater operations in multiple scenarios using traditional rigid salvage buckets for salvage operations. Although the rigid structure used has good bearing capacity, it cannot effectively protect precious and fragile ancient cultural relics and natural resource exploration, and the rigid moving parts have high dynamic sealing requirements due to waterproof requirements, which increases the cost of use and reduces the service life. The rigid structure is easily restricted in activity and cannot adapt to multi-scenario work sites, especially when the water pressure is too high, it is difficult to overcome the influence of water pressure.

Therefore, how to effectively control the salvage robot in an underwater environment to achieve high control accuracy, fast response speed, and adaptability to various underwater environments is a technical problem that needs to be solved.

Summary of the invention

The technical problem to be solved by the present invention is to provide a highly redundant underwater salvage robot and a control method thereof. The existing underwater salvage robots have insufficient reaction accuracy, insufficient reaction speed, weak flexibility, and cannot adapt to underwater multi-scene operation environments. They use a rigid bucket for salvage, which can easily cause damage to the salvaged items and are not suitable for salvaging precious items.

In order to solve the above technical problems, the present invention provides a high-redundancy salvage robot for underwater operation, including a body, a telescopic rod is installed on the body, a high-redundancy salvage bucket device is connected to the bottom end of the telescopic rod, the high-redundancy salvage bucket device includes a high-redundancy salvage bucket, the high-redundancy salvage bucket includes at least two sections of heating sealing rubber bag parts and at least two sections of cooling sealing rubber bag parts, the heating sealing rubber bag parts and the cooling sealing rubber bag parts are arranged alternately, the heating sealing rubber bag parts and the cooling sealing rubber bag parts each include four sealing rubber bag chambers, the sealing rubber bag chambers are circumferentially distributed and fixed around the central axis of the high-redundancy salvage bucket, the heating sealing rubber bag part and the cooling sealing rubber bag part are connected by an intermediate partition piece, the sealing rubber bag chambers are filled with high expansion oil, the heating sealing rubber bag part and the cooling sealing rubber bag part are connected by an intermediate partition piece ... The upper ends of the four sealing rubber bag chambers of the sealing rubber bag part are fixedly installed with electric heating rings. The center of the electric heating ring is grid-shaped and is provided with a protruding temperature transfer rod. When the corresponding temperature transfer rod is heated, the volume of the high expansion oil increases, and the corresponding sealing rubber bag chamber is elongated. The heating degrees of the four sealing rubber bag chambers can be different and controllable, thereby realizing different degrees of bending or different length changes of the heated sealing rubber bag part of this section. A semiconductor refrigeration ring is fixedly installed around the four sealing rubber bag chambers in the cooling sealing rubber bag part. The cooling ring is fixedly connected to the outside of the semiconductor refrigeration ring. The semiconductor refrigeration ring is electrically controlled for cooling, and the high expansion oil shrinks at low temperature, so that the corresponding sealing rubber bag chamber is quickly shortened. In conjunction with the changes in the heated sealing rubber bag part, subtle angle adjustments can be achieved.

Preferably, the high-redundancy salvage bucket device is further provided with a limit frame, and the top of the limit frame is connected to the bottom of the telescopic rod.

Preferably, the limit frame is cross-shaped with four sides of equal length, a center fixed block is fixedly installed in the center of the limit frame, four screws are arranged horizontally inside the limit frame, one end of the four screws is fixedly connected to the center fixed block, and the other end is connected to the drive motor, a nut slider is arranged on the screw, and a high-redundancy salvage bucket is fixedly connected to the bottom of the nut slider through an intermediate partition piece.

Preferably, a three-axis gyroscope is provided at the bottom of the high-redundancy salvage bucket, a fan-shaped flexible bucket is connected to the bottom of the three-axis gyroscope, and a front-end flexible head is provided at the terminal end of the fan-shaped flexible bucket.

Preferably, the robot also includes an onboard winch connecting the robot to the ship, a camera is fixed above the center of the long side of the body, a lighting system is fixedly installed on both sides of the camera, and tracks are fixedly installed on both sides of the short side of the body.

In order to solve the above technical problems, the present invention provides the following technical solution: a control method for a high-redundancy salvage robot for underwater operations, comprising the following steps:

Step S1: The lighting system and the camera are used to position the salvage robot above the object to be salvaged, and the telescopic rod controls the high-redundancy salvage bucket device at the bottom to descend to a certain height;

Step S2: using a three-axis gyroscope fixed at the front end of the high-redundancy salvage bucket device to detect the posture of each high-redundancy salvage bucket, using a camera to detect and determine the boundary line contour of the object to be salvaged, controlling the drive motor to drive the nut slider to move horizontally, thereby driving the high-redundancy salvage bucket to move, and adjusting each high-redundancy salvage bucket to be above the boundary line of the object according to the boundary size of the salvage object;

Step S3: Outputting heat to the corresponding sealing rubber capsule chamber through the electric heating ring, the four sealing rubber capsule chambers can have different temperature changes, and each sealing rubber capsule chamber can be stretched to different degrees, so as to achieve the length change of the whole section or the bending of different spatial angles. The corresponding sealing rubber capsule chamber is cooled by the semiconductor refrigeration ring, and the high thermal expansion oil in the sealing rubber capsule chamber shrinks in volume, so as to achieve the different degree of contraction of each sealing rubber capsule chamber, so as to achieve the length change of the whole section or the slight bending of different spatial angles.

Step S4: When the front flexible head contacts the bottom of the salvaged object, the position of the nut slider is adjusted by driving the motor so that the high-redundancy salvage bucket shrinks from the periphery to the center of the object, and the salvaged object is wrapped inside the high-redundancy salvage bucket device. At this time, the winch on the ship is operated to bring the high-redundancy salvage robot back to the ship and take out the salvaged object.

The invention has the following beneficial effects: since a sealing rubber chamber filled with high thermal expansion oil is provided, the length of the sealing rubber chamber is changed by electrically controlling the temperature, the control accuracy is high, the underwater salvage robot has high reaction accuracy, high speed, high flexibility, and can adapt to the underwater multi-scene operation environment, and the flexible bucket is used for salvage, which solves the problem of dynamic sealing of the traditional rigid salvage bucket in underwater operation, and plays a good role in protecting the salvaged objects, and is suitable for the salvage of precious objects. And when there is impact force, buffering can be achieved to improve the safety of the operation and protect the working environment.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG1 is a side cross-sectional view of a high-redundancy underwater salvage robot according to the present invention.

FIG2 is a bottom view of a high-redundancy salvage bucket device of a high-redundancy salvage robot for underwater operations according to the present invention.

FIG3 is a schematic diagram of a high-redundancy salvage bucket device of a high-redundancy salvage robot for underwater operations according to the present invention.

FIG4 is a schematic diagram of a high-redundancy salvage bucket of a high-redundancy salvage robot for underwater operations according to the present invention.

FIG5 is a cross-sectional view of a high-redundancy salvage bucket of a high-redundancy salvage robot for underwater operations according to the present invention.

FIG. 6 is a top view of a heating and sealing rubber bag portion of a high-redundancy salvage robot for underwater operations according to the present invention.

FIG. 7 is a top view of a cooling and sealing rubber bag portion of a high-redundancy salvage robot for underwater operations according to the present invention.

FIG8 is a schematic diagram of a sealing rubber bag chamber of a high-redundancy salvage robot for underwater operations according to the present invention.

FIG. 9 is a schematic diagram of the extension of the heating sealing rubber bag portion of a high-redundancy salvage robot for underwater operations according to the present invention.

FIG. 10 is a schematic diagram of a shortened cooling and sealing rubber bag portion of a high-redundancy salvage robot for underwater operations according to the present invention.

FIG11 is a schematic diagram of a high-redundancy salvage bucket of a high-redundancy salvage robot for underwater operations according to the present invention in a straightened state.

FIG12 is a schematic diagram of a bending state of a high-redundancy salvage bucket of a high-redundancy salvage robot for underwater operations according to the present invention.

FIG. 13 is a schematic diagram showing the bending principle of a high-redundancy bucket of a high-redundancy salvage robot for underwater operations according to the present invention.

Explanation of the reference numerals in the accompanying drawings: 1. driving motor; 2. limiting frame; 3. nut slider; 4. screw; 6. center fixing block; 13. high redundancy salvage bucket device; 5. high redundancy salvage bucket; 51. middle partition piece; 52. heating sealing rubber bag part; 521. electric heating ring; 522. temperature transfer rod; 53. cooling sealing rubber bag part; 531. semiconductor refrigeration ring; 532. cooling ring; 54. fan-shaped flexible bucket; 55. three-axis gyroscope; 56. front flexible head; 57. sealing rubber bag chamber; 7. onboard winch; 8. machine body; 9. crawler track; 10. camera; 11. lighting system; 12. telescopic rod.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention. All other embodiments obtained by those skilled in the art without making creative work are within the scope of protection of the present invention.

As shown in Fig. 1-10, the purpose of the present invention can be achieved by the following technical scheme: a high-redundancy salvage robot for underwater operation includes a body 8, a telescopic rod 12 is fixedly installed on the top of the body 8, and a high-redundancy salvage bucket device 13 is connected to the bottom of the telescopic rod 12. The high-redundancy salvage bucket device 13 includes a drive motor 1, a limit frame 2, a nut slider 3, a screw 4, a high-redundancy salvage bucket 5, and a central fixed block 6; the bottom of the telescopic rod 12 is connected to the limit frame 2, the screw 4 is installed inside the limit frame 2, the nut slider 3 is installed on the screw 4, and the lower end of the nut slider 3 is fixedly connected to the high-redundancy salvage bucket 5 through the middle partition piece 51. The high-redundancy salvage robot for underwater operation also includes a shipboard winch 7, a body 8, a crawler 9, a camera 10, and a lighting system 11.

The high-redundancy salvage bucket 5 includes two sections of heating sealing rubber sac parts 52 and two sections of cooling sealing rubber sac parts 53. The heating sealing rubber sac parts 52 and the cooling sealing rubber sac parts 53 are arranged alternately. The heating sealing rubber sac parts 52 and the cooling sealing rubber sac parts 53 each include four sealing rubber sac chambers 57. The sealing rubber sac chambers 57 are filled with high expansion oil.

Four electric heating rings 521 are fixedly installed on the upper ends of the sealing rubber chambers 57 of the heating sealing rubber chamber 52. By controlling the electric heating rings 521, the volume of the high expansion oil increases rapidly, and the sealing rubber chambers 57 corresponding to the electric heating rings 521 can be extended rapidly. By controlling the heating of different electric heating rings 521, the different lengths of the four sealing rubber chambers 57 corresponding to the electric heating rings 521 can be changed. In order to conduct heat faster, the center of the electric heating ring 521 is grid-shaped, and there are extended temperature transfer rods 522. The corresponding temperature transfer rods 522 can accurately achieve the extension and bending of the heating sealing rubber chamber 52.

Semiconductor refrigeration rings 531 are installed around the four sealing rubber chambers 57 in the cooling sealing rubber chamber 53, and cooling rings 532 are installed outside the semiconductor refrigeration rings 531. The semiconductor refrigeration rings 531 are refrigerated, and the high expansion oil in the four sealing rubber chambers 57 surrounded by the semiconductor refrigeration rings 531 shrinks in volume due to the cold, so that the cooling sealing rubber chamber 53 is shortened or slightly bent. A three-axis gyroscope 55 is installed at the bottom of the cooling sealing rubber chamber 53 of the end section of the high-redundancy salvage bucket 5. The three-axis gyroscope 55 detects the change in the angle of the high-redundancy salvage bucket 5. The bottom of the three-axis gyroscope 55 is connected to a fan-shaped flexible bucket 54, and a front flexible head 56 is installed at the terminal of the fan-shaped flexible bucket 54.

When it is necessary to remove objects in gaps such as underwater reefs, firstly, the length of the high-redundancy salvage bucket 5 is preliminarily determined based on the depth of the objects in the gap, and the high-redundancy salvage robot is placed in front of the gap through the onboard winch 7 and crawler 9, and the drive motor 1 is turned on to drive the nut slider 3 toward the gap, so that the high-redundancy salvage bucket 5 moves toward the gap, and the high-redundancy salvage bucket 5 quickly and accurately goes deep into the gap to hook out the objects. After the objects are hooked out of the gap, the boundary line contour of the objects to be salvaged is detected and determined by the camera 10, and the drive motor 1 is controlled to drive the nut slider 3 to move horizontally, thereby driving the high-redundancy salvage bucket 5 to move, and according to the boundary size of the salvage object, the four high-redundancy salvage buckets 5 are adjusted to be above the boundary line of the objects. The telescopic rod 12 controls the high-redundancy salvage bucket 5 to descend, and the bottom of the front flexible head 56 contacts the bottom of the object, and the four high-redundancy salvage buckets 5 bend inward at the same time to achieve grabbing. At this time, the salvaged objects are wrapped inside the high-redundancy salvage bucket device 13, and the onboard winch 7 is operated to bring the high-redundancy salvage robot back to the ship to take out the salvaged objects.

The heated sealing rubber sac 52 adjusts a wide range of length and angle, and the fine length and angle are adjusted by the cooled sealing rubber sac 53. The heated sealing rubber sac 52 and the cooled sealing rubber sac 53 each include four sealing rubber sac chambers 57. The material of the above-mentioned rubber is mainly silicone rubber, with polyurethane and high-strength fabric added additionally; wherein silicone rubber has excellent elasticity and temperature resistance, can withstand frequent expansion and contraction, while maintaining the stability of physical properties, silicone rubber also has good chemical stability, is not easy to age, and is suitable for long-term use. Since polyurethane material has high elongation, good wear resistance, and strong tear strength, it is suitable for use as an airbag and chamber material. The addition of high-strength fabric is to enhance the durability and load-bearing capacity of the rubber sac, such as nylon or Kevlar fabric, which can provide additional strength and wear resistance to prevent the rubber sac from bursting under high pressure. As shown in FIG8, a schematic diagram of the sealing rubber sac chamber 57 is a spring-like structure that will expand and contract longitudinally after being subjected to force. When a plurality of sealing rubber chambers 57 are arranged longitudinally and circumferentially, each sealing rubber chamber 57 has a different length, which will cause the overall bending, as shown in FIG. 12 .

As shown in Figure 13, taking the heating sealing rubber capsule 52 as an example, there are four sealing rubber capsule chambers 57 inside, and the four sealing rubber capsule chambers 57 are arranged circumferentially around the central axis of the heating sealing rubber capsule 52. Two sealing rubber capsule chambers 57 are arranged side by side above the central axis of the heating sealing rubber capsule 52, and two sealing rubber capsule chambers 57 are arranged side by side below the central axis of the heating sealing rubber capsule 52. Since each sealing rubber capsule chamber 57 has a corresponding electric heating ring 521 and a temperature transfer rod 522, its heating degree can be controlled separately. In Figure 13, the elongation of the upper two sealing rubber capsule chambers 57 is _L2 , and the elongation of the lower two sealing rubber capsule chambers 57 is _L1 . The distance between the centers of the upper and lower two layers of sealing rubber capsule chambers 57 is _L3 , and the angle generated after elongation is α. Thus, a triangular model as shown in the lower part of Figure 13 is established. The distance from the center of the lower two layers of sealing rubber capsule chambers 57 to the lower vertex of the triangle is unknown, set as x; _L1 , _L2 , _L3 , x satisfy the following relationship:

tanα=L ₂ /(x+L ₃ )=L ₁ /x

(L ₂ -L ₁ )x = L ₁ L ₃

x=L ₁ L ₃ /(L ₂ -L ₁ )

tanα=L ₁ /x=(L ₂ -L ₁ )/L ₃

α=arctan［(L ₂ -L ₁ )/L ₃ ］

It can be seen from the above formula that by controlling the length of the extension of the four sealing rubber chambers 57, the extension distance _L2 of the upper two sealing rubber chambers 57 is greater than the extension distance L1 of the lower two sealing rubber chambers 57 _{, and} the distance _L3 between the centers of the two sealing rubber chambers 57 is a constant value. If the target angle α is to be obtained, only L1 and L2 need to be adjusted. The three-axis gyroscope 55 detects the change in the angle of the high-redundancy salvage bucket 5. Similarly, the bending of the cooling sealing rubber chamber 53 is also based on the above principle.

Depending on the salvaged objects, the limiting frame 2 may be in other shapes suitable for the objects.

When the water level is deep and the water pressure is high or the gap is deep, the high-redundancy salvage bucket 5 is provided with multiple sections of heating sealing rubber bag parts 52 and multiple sections of cooling sealing rubber bag parts 53, which are arranged alternately in the order of heating sealing rubber bag parts 52 and cooling sealing rubber bag parts 53, and multi-section coupling is used to increase the range of motion to resist the influence of the filling water pressure.

Specific control methods:

Step S1: The lighting system 11 cooperates with the camera 10 to position the salvage robot above the object to be salvaged, and the telescopic rod 12 controls the high-redundancy salvage bucket device 13 at the bottom to descend to a certain height;

Step S2: Use the three-axis gyroscope 55 to detect the position of each high-redundancy salvage bucket 5. Use the camera 10 to detect and determine the boundary line contour of the object to be salvaged, control the drive motor 1 to drive the nut slider 3 to move horizontally, and then drive the high-redundancy salvage bucket 5 to move, and adjust each high-redundancy salvage bucket 5 to be above the boundary line of the object according to the boundary size of the salvage object;

Step S3: The electric heating ring 521 outputs heat to the corresponding sealing rubber capsule chamber 57, and the four sealing rubber capsule chambers 57 can have different temperature changes, so that each sealing rubber capsule chamber 57 can be stretched to different degrees, so as to achieve the length change of the whole section or the bending of different spatial angles; the semiconductor refrigeration ring 531 is used to cool the corresponding sealing rubber capsule chamber 57, and the high thermal expansion oil in the sealing rubber capsule chamber 57 shrinks in volume, so that each sealing rubber capsule chamber 57 can shrink to different degrees, so as to achieve the length change of the whole section or the slight bending of different spatial angles;

Step S4: When the front flexible head 56 contacts the bottom of the salvaged object, the position of the nut slider 3 is adjusted by driving the motor 1, so that the high-redundancy salvage bucket 5 shrinks from the periphery to the center of the object. At this time, the salvaged object is wrapped inside the high-redundancy salvage bucket device 13. At this time, the winch 7 on the ship is operated to bring the high-redundancy salvage robot back to the ship and take out the salvaged object.

Although the embodiments of the present invention have been shown and described, it will be apparent to those skilled in the art that various changes, modifications, substitutions and variations may be made to these embodiments without departing from the principles and spirit of the present invention. As long as they do not depart from the spirit and scope of the technical solution of the present invention, they should all be included in the scope of the claims of the present invention.

Claims (5)

1. A high-redundancy salvage robot for underwater operation, comprising a body (8), the body (8) being provided with a telescopic rod (12), characterized in that: a high-redundancy salvage bucket device (13) is connected to the bottom end of the telescopic rod (12), the high-redundancy salvage bucket device (13) comprising a high-redundancy salvage bucket (5), the high-redundancy salvage bucket (5) comprising at least two sections of heating sealing rubber sacs (52) and at least two sections of cooling sealing rubber sacs (53), the heating sealing rubber sacs (52) and the cooling sealing rubber sacs (53) being arranged alternately, the heating sealing rubber sacs (52) and the cooling sealing rubber sacs (53) each comprising four sealing rubber sac chambers (57), the sealing rubber sac chambers (57) being distributed and fixed around the central axis of the high-redundancy salvage bucket (5), the heating sealing rubber sacs (52) and the cooling sealing rubber sacs (53) being connected via an intermediate partition plate (51), the sealing rubber sac chambers (57) being filled with high expansion oil, the heating sealing rubber sacs (52) and the cooling sealing rubber sacs (53) being arranged alternately, An electric heating ring (521) is fixedly installed at the upper end of each of the four sealing rubber capsule chambers (57) of the capsule portion (52). The center of the electric heating ring (521) is in a grid shape and is provided with a protruding temperature transfer rod (522). When the corresponding temperature transfer rod (522) is heated, the volume of the high expansion oil increases, and the corresponding sealing rubber capsule chamber (57) is extended. The heating degrees of the four sealing rubber capsule chambers (57) can be different and controllable, thereby achieving different degrees of bending or different length changes of the corresponding heated sealing rubber capsule portion (52). A semiconductor refrigeration ring (531) is fixedly installed around the four sealing rubber capsule chambers (57) in the cooling sealing rubber capsule portion (53). The semiconductor refrigeration ring (531) is fixedly connected to the cooling ring (532) outside. By electrically controlling the semiconductor refrigeration ring (531) for cooling, the high expansion oil shrinks at low temperature, so that the corresponding sealing rubber capsule chamber (57) is quickly shortened. In combination with the changes in the heated sealing rubber capsule portion (52), fine angle adjustment can be achieved. A three-axis gyroscope (55) is arranged at the bottom of the high-redundancy salvage bucket (5), a fan-shaped flexible bucket (54) is connected to the bottom of the three-axis gyroscope (55), and a front flexible head (56) is arranged at the terminal end of the fan-shaped flexible bucket (54); The principle of bending the heated sealing rubber bag portion (52) is as follows: the elongation of the upper two sealing rubber bag chambers (57) of the four sealing rubber bag chambers (57) is L2 , the elongation of the lower two sealing rubber bag chambers (57) is _L1 , the distance between the centers of the upper and lower sealing rubber bag chambers ( ₅₇ ) is L3 , the angle generated after elongation _{is α} , and the distance from the center of the lower two sealing rubber bag chambers (57) to the vertex of angle α is unknown and is set to x ; L1 _, L2 , L3 _, and x satisfy the following relationship: By controlling the elongated lengths of the four sealing rubber chambers (57), the elongated distance L2 of the two upper sealing rubber chambers (57) is greater than the elongated distance _L1 of the two _lower sealing rubber chambers (57) _{, and} the distance L3 between the centers of the two sealing rubber chambers (57) is a constant _value . To obtain the target angle _α , only L1 and L2 need to be adjusted. The three-axis gyroscope (55) detects the change in the angle of the high-redundancy salvage bucket (5); similarly, the bending of the cooling sealing rubber chamber (53) is also based on the above principle. 2. A high-redundancy salvage robot for underwater operations according to claim 1, characterized in that: the high-redundancy salvage bucket device (13) is also provided with a limit frame (2), and the top of the limit frame (2) is connected to the bottom of the telescopic rod (12). 3. A high-redundancy salvage robot for underwater operations according to claim 2, characterized in that: the limit frame (2) is a cross with four sides of equal length, a center fixing block (6) is fixedly installed in the center of the limit frame (2), four screws (4) are arranged in the horizontal direction inside the limit frame (2), one end of the four screws (4) is fixedly connected to the center fixing block (6), and the other end is connected to the drive motor (1), a nut slider (3) is arranged on the screw (4), and a high-redundancy salvage bucket (5) is fixedly connected to the bottom of the nut slider (3) through an intermediate partition plate (51). 4. A highly redundant underwater salvage robot according to claim 3, characterized in that it also includes a winch (7) on board the ship for connecting the robot to the ship, a camera (10) is fixed above the center of the long side of the body (8), a lighting system (11) is fixedly installed on both sides of the camera (10), and tracks (9) are fixedly installed on both sides of the short side of the body (8). 5. A control method for the underwater operation high-redundancy salvage robot according to claim 4, characterized in that it comprises the following steps: Step S1: using the lighting system (11) and the camera (10) to coordinately position the salvage robot above the object to be salvaged, and the telescopic rod (12) controls the high-redundancy salvage bucket device (13) at the bottom to descend to a certain height; Step S2: using a three-axis gyroscope (55) fixed at the front end of the high-redundancy salvage bucket device (13) to detect the position of each high-redundancy salvage bucket (5), detecting and determining the boundary line contour of the object to be salvaged through a camera (10), controlling the drive motor (1) to drive the nut slider (3) to move horizontally, thereby driving the high-redundancy salvage bucket (5) to move, and adjusting each high-redundancy salvage bucket (5) to be above the boundary line of the object according to the boundary size of the salvage object; Step S3: outputting heat to the corresponding sealing rubber capsule chamber (57) through the electric heating ring (521), so that the four sealing rubber capsule chambers (57) can have different temperature changes, so that each sealing rubber capsule chamber (57) can be stretched to different degrees, so as to achieve a change in the length of the entire section or a bending at different spatial angles; cooling the corresponding sealing rubber capsule chamber (57) through the semiconductor refrigeration ring (531), so that the high thermal expansion oil in the sealing rubber capsule chamber (57) shrinks in volume, so that each sealing rubber capsule chamber (57) shrinks to different degrees, so as to achieve a change in the length of the entire section or a slight bending at different spatial angles; Step S4: When the front flexible head (56) contacts the bottom of the salvaged object, the position of the nut slider (3) is adjusted by driving the motor (1) so that the high-redundancy salvage bucket (5) shrinks from the periphery to the center of the object, and the salvaged object is wrapped inside the high-redundancy salvage bucket device (13). At this time, the onboard winch (7) is operated to bring the high-redundancy salvage robot back to the ship and take out the salvaged object.