CN210503132U

CN210503132U - Underwater emergency rescue navigation and diving device for ship

Info

Publication number: CN210503132U
Application number: CN201921623800.3U
Authority: CN
Inventors: 尚雨贤; 张振浩; 范潇然; 马宁婧
Original assignee: Shandong Jiaotong University
Current assignee: Shandong Jiaotong University
Priority date: 2019-09-27
Filing date: 2019-09-27
Publication date: 2020-05-12
Anticipated expiration: 2029-09-27

Abstract

The utility model discloses an underwater emergency rescue submarine vehicle for ship, which comprises a shell, an operation control system, a vertical propulsion system, a power propulsion system, an emergency repair system, a docking fixing system, a lighting lamp, a pressure-resistant cover, a camera, an intelligent sensing system, a power supply and an electronic speed regulator, wherein the emergency repair system is arranged at the upper end of the docking fixing system, the underwater emergency rescue submarine vehicle can realize the emergency observation of ship and the emergency leak stoppage of ship cabin breaking, achieves the intelligent and accurate underwater free-moving type unmanned special operation, can make a robot firmly adsorbed on the ship wall by the miniature water ring vacuum pump sucker through the docking fixing system, makes the robot expand through an inflation method by utilizing a filling inflatable bag, fills the whole pipeline section by utilizing the filling inflatable bag when the gas pressure in the filling inflatable bag reaches the specified requirement, and blocks the water leakage by utilizing the friction force generated by the filling and supplementing airbag wall and the pipeline, can quickly finish the small-area cabin-breaking leakage-stopping operation.

Description

Underwater emergency rescue navigation and diving device for ship

Technical Field

The utility model belongs to the technical field of emergency rescue ware of navigating and diving is relevant, concretely relates to boats and ships emergency rescue ware of navigating and diving under water.

Background

At present, international rescue aiming at ship sinking accidents has various modes, such as a mode of floating a ship body by an air bag and then injecting oxygen into the ship body, or a mode of hoisting a lost ship by a hoisting ship to perform cutting operation and then enabling personnel to enter for rescue. Due to the fact that special conditions such as emergency water flow, abnormal underwater posture of the accident ship, serious damage to the inside of the ship body and the like are often accompanied at accident sites, the operation and implementation of a mode of directly hoisting the accident ship are not convenient, and the risk of secondary damage to personnel also exists in the operation process.

In 1.2015, 6.2.night, the loose wheel of the "eastern star" turns over and sinks in the Yangtze river, and 442 people are in distress due to accidents. 2 persons are searched and rescued on site from ship sinking to the end of search and rescue. The whole search and rescue process is completely carried out manually by divers, and the underwater working time is greatly limited because the divers carry limited oxygen. In addition to the internal damage of the sunken vessel, the area that divers can reach is limited. The lack of underwater emergency rescue means causes that the search and rescue actions of sunken ships cannot be carried out in a large range, and the optimal rescue time is delayed to a certain extent. The underwater emergency rescue equipment is an urgent means for dealing with a sunken ship accident. 2. The key point of rescue of the sunken ship accident is time, action is taken in shorter time, and the probability of successful search and rescue is higher. At present, international rescue aiming at ship sinking accidents has various modes, such as a mode of floating a ship body by an air bag and then injecting oxygen into the ship body, or a mode of hoisting a lost ship by a hoisting ship to perform cutting operation and then enabling personnel to enter for rescue. Due to the fact that special conditions such as emergency water flow, abnormal underwater posture of the accident ship, serious damage to the inside of the ship body and the like are often accompanied at accident sites, the operation and implementation of a mode of directly hoisting the accident ship are not convenient, and the risk of secondary damage to personnel also exists in the operation process. Therefore, the rescue method frequently used is an underwater rescue method by using divers, but the rescue method by using divers has the defects of limited time and range and incapability of large-area development. How to take effective measures to survey damaged parts of ships and perform cabin-breaking plugging is a problem which needs to be solved urgently at present

The existing emergency rescue submarine craft has the following problems: the rescue method frequently used is an underwater rescue mode by using divers, but the underwater rescue mode has the defects of limited time and range and incapability of large-area development, the underwater robots on the market are mature at present, but most underwater robots are dedicated to marine exploration, marine development and rescue of people falling into water, and the underwater rescue method for ship rescue still has a large development space.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a boats and ships emergency rescue ware of diving under water to current rescue mode that provides in solving above-mentioned background art does not reach the effect of quick rescue, and the ship that leaks that can not be fine carries out the problem of preliminary function of repairing.

In order to achieve the above object, the utility model provides a following technical scheme: the underwater emergency rescue navigation device for the ship comprises a shell, an operation control system, a vertical propulsion system, a power propulsion system, an emergency repair system, a parking fixing system, a lighting lamp, pressure-resistant covers, cameras, an intelligent sensing system, a power supply and an electronic speed regulator, wherein the emergency repair system is arranged at the upper end of the parking fixing system, the shell is respectively arranged at the left side and the right side of the upper end of the emergency repair system, the operation control system is arranged at the inner side of the shell at the two sides, the intelligent sensing system is respectively arranged at the left ends of the two shells, the camera is respectively arranged at the left ends of the two intelligent sensing systems, the pressure-resistant covers are respectively arranged at the left ends of the two cameras, the lighting lamp is respectively and vertically arranged at the lower ends of the two cameras, the vertical propulsion system is respectively arranged at the outer ends of the right sides, far, the right ends of the two vertical propulsion systems are respectively provided with a power propulsion system, the vertical propulsion systems and the power propulsion systems are used for controlling the forward and backward movement, upward floating and diving and steering of the underwater vehicle, the camera is used for surveying underwater conditions and forming records, the intelligent sensing system is used for detecting the environmental conditions around the navigation vehicle and transmitting data to the control center, the emergency repair system can repair and rescue the ship at the first time after finding that the ship breaks the cabin and leaks water, the docking and fixing system enables the navigation device to be adsorbed and fixed near a cabin wall breach to increase the stability of the navigation device for repairing and rescuing operation, the operation control system can remotely control the submarine vehicle to operate underwater in a wireless way, the power supply in the shell is a rechargeable lithium battery, the electronic speed regulator inside the shell is a bidirectional brushless regulator and a one-driving-two bidirectional brushless regulator.

Preferably, the vertical propulsion system and the power propulsion system of the power device are used for controlling the advancing, retreating, floating, submerging and steering of the underwater emergency rescue submarine vehicle of the ship in water, the camera is used for surveying the underwater situation and forming a record, the intelligent sensing system is used for detecting the environmental situation around the submarine vehicle and transmitting data to the control center, the emergency repair system can repair and rescue the ship at the first time after finding that the cabin of the ship breaks and leaks water, the berthing fixing system enables the submarine vehicle to be adsorbed and fixed near a cabin wall break to increase the stability of the submarine vehicle for repairing and rescuing operation, the control center can wirelessly and remotely control the submarine vehicle to carry out underwater operation, a cavity is arranged in the shell, a watertight cabin is arranged in the shell, an electric controller, a battery and a receiver for placing the submarine vehicle, and an installable and detachable counterweight are further arranged in the shell, for controlling the draft of the robot.

Preferably, the power propulsion system and the vertical propulsion system are respectively a jet pump propeller and two motors, the jet pump propellers of the power propulsion system and the vertical propulsion system are connected with a bidirectional electric brush and a power supply and are used for realizing power supply and voltage stabilization states, a pair of positive and negative propellers are arranged on the motors of the power propulsion system and the vertical propulsion system and are used for realizing floating and submerging of the robot, and the motors of the power propulsion system and the vertical propulsion system are electrically connected with a battery and a one-to-two bidirectional brushless electric motor for realizing power supply and voltage stabilization. The battery electricity in the shell is adjusted and connected into a circuit and is connected with the receiver, the counter weight in the shell is a metal block and is uniformly fixed in the shell

Preferably, the shell comprises an electric regulation system, a battery system, a shell, a receiver system and a counterweight system, wherein the counterweight system is respectively arranged at the left end and the right end of the inside of the shell, the electric regulation system is arranged at the left end of the inside of the shell, the battery system is arranged at the right end of the electric regulation system, the receiver system is arranged at the right end of the battery system, and the shell is welded and fixed with the vertical propulsion system through the shell.

Preferably, emergent repair system's constitution is including filling gas cell, inserted magnetization piece, magnetism proof frame, body and fixed plate, the axle center department of the inside of fixed plate is provided with the body, the inside of body is provided with fills the gas cell, the four corners department of the inside of fixed plate respectively is provided with an inserted magnetization piece, four the outside a week department of inserted magnetization piece is provided with magnetism proof frame, emergent repair system passes through fixed plate and shell welded fastening.

Preferably, the composition of the fixing system for parking is including first connecting plate, water ring vacuum pump sucking disc, accept board and second connecting plate, the left end of accepting the board is provided with first connecting plate, the right-hand member of accepting the board is provided with the second connecting plate, the inside table end of first connecting plate and second connecting plate respectively is provided with two water ring vacuum pump sucking discs, the fixing system for parking passes through first connecting plate and shell welded fastening.

Preferably, the lighting lamps are arranged in two, the two lighting lamps are symmetrically arranged on two sides of the upper end of the parking fixing system respectively, and the two lighting lamps are vertically arranged below the camera.

Preferably, the control system comprises a receiver and a wireless remote control and display module, and the receiver and the wireless remote control and display module in the control system are used for remotely controlling each system of the robot connected with the wireless receiver to complete special work tasks and receive image information transmitted back by the camera system.

Preferably, the two pressure-resistant covers are arranged in total, the two pressure-resistant covers are of a semicircular structure, the two pressure-resistant covers are of a transparent structure, and the two pressure-resistant covers are respectively arranged at the front ends of the two shells.

Preferably, the power propulsion system and the vertical propulsion system are jet pump propellers and two motors, the jet pump propellers inside the power propulsion system and the vertical propulsion system are electrically adjusted with two-way brush and connected with a power supply to realize power supply and voltage stabilization, and a pair of positive and negative propellers is arranged on the motors inside the power propulsion system and the vertical propulsion system to realize the floating and submerging of the robot.

Compared with the prior art, the utility model provides a boats and ships emergency rescue ware of diving under water possesses following beneficial effect:

(1) the utility model can realize the emergency observation of ships and the emergency leakage stoppage of ship breaking cabins through the arrangement of a power propulsion system, a vertical propulsion system, an underwater camera system, an intelligent sensing system, an emergency repair system, a docking and fixing system, a power supply, an electronic speed regulator and an operation control system, thereby achieving the intelligent and precise underwater free-moving type underwater unmanned special operation;

(2) the utility model discloses in be miniature water ring vacuum pump sucking disc through berthhing fixed system, can make the robot firmly adsorb in the ship wall, and be the electromagnetic means that can adsorb fast and fill the gas cell at emergent repair system, the fill gas cell that utilizes high-quality rubber to make makes its inflation through inflation method, when gas pressure in filling the gas cell reaches the regulation requirement, fill the gas cell and fill whole pipeline section, the frictional force that utilizes to fill and to supplement gasbag wall and pipeline production plugs up and leaks, thereby reach the purpose that does not have the infiltration in the target pipeline section, can accomplish the broken cabin leaking stoppage operation of small area rapidly.

Drawings

FIG. 1 is a schematic structural view of the underwater emergency rescue submarine vehicle of the present invention;

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

FIG. 3 is a schematic structural view of the emergency repair system of the present invention;

FIG. 4 is a schematic structural view of the docking station of the present invention;

in the figure: 1. a housing; 11. an electric tuning system; 12. a battery system; 13. a housing; 14. a receiver system; 15. a counterweight system; 2. a steering control system; 3. a vertical propulsion system; 4. a power propulsion system; 5. an emergency repair system; 51. filling the inflatable bag; 52. an embedded magnetized block; 53. a magnetism isolating frame; 54. a body; 55. a fixing plate; 6. a docking fixture system; 61. a first connecting plate; 62. a water ring vacuum pump sucker; 63. a bearing plate; 64. a second connecting plate; 7. an illuminating lamp; 8. a pressure-resistant cover; 9. a camera; 10. an intelligent sensing system.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Referring to fig. 1-4, the present invention provides a technical solution: an underwater emergency rescue submarine vehicle for ships comprises a shell 1, an operation control system 2, a vertical propulsion system 3, a power propulsion system 4, an emergency repair system 5, a parking fixing system 6, a lighting lamp 7, a pressure-resistant cover 8, a camera 9, an intelligent sensing system 10, a power supply and an electronic speed regulator, wherein the electronic speed regulator inside the shell 1 is a bidirectional electric regulation with brush and a one-to-two bidirectional electric regulation without brush, the emergency repair system 5 is arranged at the upper end of the parking fixing system 6, the left side and the right side of the upper end of the emergency repair system 5 are respectively provided with the shell 1, the shell 1 comprises an electric regulation system 11, a battery system 12, a shell 13, a receiver system 14 and a counterweight system 15, the left end and the right end inside the shell 13 are respectively provided with the counterweight system 15, the left end inside the shell 13 is provided with the electric regulation system 11, and the right end of, the right end of the battery system 12 is provided with a receiver system 14, the shell 1 is welded and fixed with the vertical propulsion system 3 through a shell 13, the inner sides of the shells 1 at two sides are provided with an operation control system 2, the operation control system 2 comprises a receiver and a wireless remote control and display module, the receiver and the wireless remote control and display module in the operation control system 2 are used for remotely controlling each system of a robot connected with the wireless receiver to finish special operation tasks and receive image information transmitted back by the camera system, the left ends of the two shells 1 are respectively provided with an intelligent sensing system 10, the intelligent sensing system 10 is an infrared thermal imager, the detection is controlled by a remote operation center and is used for observation of appearance abnormity and identification of temperature abnormity, the left ends of the two intelligent sensing systems 10 are respectively provided with a camera 9, the left ends of the two cameras 9 are respectively provided with a pressure-resistant cover 8, the two pressure-resistant covers 8 are arranged in total, the two pressure-resistant covers 8 are of semicircular structures, the two pressure-resistant covers 8 are of transparent structures, through the arrangement of the two pressure-resistant covers 8, better water pressure resistance can be realized, the two pressure-resistant covers 8 are respectively arranged at the front ends of the two shells 1, the lower ends of the two cameras 9 are respectively and vertically provided with an illuminating lamp 7, the two illuminating lamps 7 are respectively and symmetrically arranged at two sides of the upper end of the parking fixing system 6, through the arrangement of the two illuminating lamps 7, better illumination effect can be realized, the two illuminating lamps 7 are vertically arranged below the cameras 9, the outer ends of the mutually far right sides of the two shells 1 are respectively provided with a vertical propulsion system 3, the right ends of the two vertical propulsion systems 3 are respectively provided with a power propulsion system 4, the power propulsion system 4 and the vertical propulsion systems 3 are respectively provided with a jet pump and two motors, the power propulsion system 4 and the jet pump propeller in the vertical propulsion system 3 are connected with a bidirectional electric brush and a power supply to realize power supply and voltage stabilization states, the motors in the power propulsion system 4 and the vertical propulsion system 3 are provided with a pair of positive and negative propellers to realize upward floating and downward submerging of a robot, the vertical propulsion system 3 and the power propulsion system 4 are used for controlling the forward and backward movement, upward floating and downward submerging and steering of the underwater navigation submerging device, the power propulsion system 4 and the vertical propulsion system 3 are respectively a jet pump propeller and two motors, the jet pump propellers of the power propulsion system 4 and the vertical propulsion system 3 are connected with the bidirectional electric brush and the power supply to realize power supply and voltage stabilization states, the motors of the power propulsion system 4 and the vertical propulsion system 3 are connected with a battery and a one-driving-two-way electric brush-free electric brush to realize power supply and voltage stabilization, the battery in the shell 1 is electrically connected with a receiver, the counter weight inside the shell 1 is a metal block and is uniformly fixed inside the shell 1, the camera 9 is used for surveying underwater conditions and forming records, the intelligent sensing system 10 is used for detecting environmental conditions around the navigation and navigation device and transmitting data to a control center, the emergency repair system 5 can repair and rescue at the first time after finding water leakage of a broken cabin of a ship, the emergency repair system 5 comprises a filling air bag 51, an embedded type magnetized block 52, a magnetism isolating frame 53, a body 54 and a fixing plate 55, the body 54 is arranged at the axis inside the fixing plate 55, the filling air bag 51 is arranged inside the body 54, the embedded type magnetized blocks 52 are respectively arranged at four corners inside the fixing plate 55, the magnetism isolating frame 53 is arranged at the periphery outside the four embedded type magnetized blocks 52, the emergency repair system 5 is fixedly connected with the shell 1 through the fixing plate 55, and works of the emergency repair system are controlled by the remote control center, the utility model discloses a quick repair and emergency leaking stoppage of broken storehouse of boats and ships, inlay type magnetization piece 52 and fill up gas cell 51 and independently fix on shell 1, be used for quick repair and emergency leaking stoppage of boats and ships, it makes near cabin wall breach increase navigation submersible vehicle stability fix to dock fixing system 6 to berth, the constitution of berthing fixing system 6 is including first connecting plate 61, water ring vacuum pump sucking disc 62, accept board 63 and second connecting plate 64, the left end of accepting board 63 is provided with first connecting plate 61, the right-hand member of accepting board 63 is provided with second connecting plate 64, the inside table end of first connecting plate 61 and second connecting plate 64 respectively is provided with two water ring vacuum pump sucking discs 62, it is fixed with shell 1 welding through first connecting plate 61 to berth fixing system 6, but operation control system 2 wireless remote control navigation submersible vehicle carries out underwater operation, operation control system 2 is wireless remote control device.

The utility model discloses a theory of operation and use flow: when the underwater rescue navigation device is used, firstly, the program of the navigation device is set through an external control handle and is electrically connected with a control system 2, the control system 2 consists of a receiver system 14 and a wireless remote control and display and is used for remotely controlling each system of a robot connected with a wireless receiver to finish special operation tasks and receive image information sent back by a camera system, then the navigation device is put into water and is controlled through a power propulsion system 4 and a vertical propulsion system 3, the power propulsion system 4 and the vertical propulsion system 3 are a jet pump propeller and two motors, the jet pump propeller is connected with a bidirectional electric brush regulator and a power supply to realize the power supply and voltage stabilization states, the motors are provided with a pair of positive and negative propellers to realize the floating and submerging of the robot, and are also connected with a battery and a bidirectional electric brushless electric regulator, for realizing power supply and voltage stabilization, a circuit formed by connecting a battery system 12 and an electric adjusting system 11 in a cavity shell 1 is electrically connected with a receiver system 14, the battery system 12 is 10000mah 40C, a counterweight is a metal block and is uniformly fixed in the shell 1, an illuminating lamp 7 is vertically arranged below a camera 9, the camera 9 is arranged on a robot body and is used for receiving a control command sent by an operation control center to realize the rotation angle and zooming of the camera 9 and upload an image to a remote control center, an intelligent sensing system 10 is an infrared thermal imager, is arranged in front of the robot body and is electrically connected with the receiver system 14, the detection is controlled by the remote operation center and is used for observation of abnormal appearance and identification of abnormal temperature, an emergency repairing system 5 is an embedded magnetization block 52, a magnetism isolating frame 53, a filling gas-filling bag 51 and other related magnetic devices are electrically connected with the receiver system 14, the work of the air navigation vehicle is controlled by a remote control center, the magnetic block and the filling inflatable bag 51 are independently fixed on the vehicle body, the filling inflatable bag 51 made of high-quality rubber is inflated by an inflation method, when the gas pressure in the filling inflatable bag 51 meets the specified requirements, the filling inflatable bag 51 fills the section of the whole pipeline, and water leakage is blocked by the friction force generated by the wall of the filling inflatable bag 51 and the pipeline, so that the aim of no water leakage in a target pipeline section is fulfilled, small-area cabin-breaking leakage stoppage operation can be rapidly finished, and the filling inflatable bag can be adsorbed and fixed on the ship wall to increase stability when being used for robot operation through the parking fixing system 6 when the leakage is required, and the air navigation vehicle is used.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. Ship is emergent rescue ware of diving under water, including shell (1), operation control system (2), perpendicular propulsion system (3), power propulsion system (4), emergent repair system (5), berth fixed system (6), light (7), withstand voltage cover (8), camera (9), intelligent sensing system (10) and power, electronic governor, its characterized in that: an emergency repairing system (5) is arranged at the upper end of the parking fixing system (6), the left side and the right side of the upper end of the emergency repairing system (5) are respectively provided with a shell (1), the inner sides of the shells (1) at the two sides are provided with an operation control system (2), the left ends of the two shells (1) are respectively provided with an intelligent sensing system (10), the left ends of the two intelligent sensing systems (10) are respectively provided with a camera (9), the left ends of the two cameras (9) are respectively provided with a pressure-resistant cover (8), the lower ends of the two cameras (9) are respectively vertically provided with an illuminating lamp (7), the outer ends of the two shells (1) at the right sides far away from each other are respectively provided with a vertical propelling system (3), and the right ends of the two vertical propelling systems (3) are respectively provided with a power propelling system (4), the vertical propulsion system (3) and the power propulsion system (4) are used for controlling the forward and backward movement, the upward floating and diving and the steering of the navigation and diving device in water, the camera (9) is used for surveying underwater conditions and forming records, the intelligent sensing system (10) is used for detecting the environmental conditions around the submarine and transmitting data to the control center, the emergency repair system (5) can repair and rescue the ship at the first time after finding that the ship breaks the cabin and leaks water, the docking fixing system (6) enables the submarine to be adsorbed and fixed near a cabin wall breach to increase the stability of the submarine for repairing and rescuing operation, the operation control system (2) can remotely control the submarine by wireless to carry out underwater operation, the power supply in the shell (1) is a rechargeable lithium battery, the electronic speed regulator in the shell (1) is bidirectional and one-to-two bidirectional brushless electric regulators.

2. The underwater emergency rescue submarine vessel for ships according to claim 1, characterized in that: the power propulsion system (4) and the vertical propulsion system (3) are respectively a jet pump propeller and two motors, the jet pump propellers of the power propulsion system (4) and the vertical propulsion system (3) are connected with a bidirectional electric brush regulator and a power supply and are used for realizing power supply and voltage stabilization states, a pair of positive and negative propellers are arranged on the motors of the power propulsion system (4) and the vertical propulsion system (3) and are used for realizing upward floating and downward submerging of a robot, and the motors of the power propulsion system (4) and the vertical propulsion system (3) are connected with a battery and a one-driven bidirectional electric brush regulator and are used for realizing power supply and voltage stabilization; the battery electricity in shell (1) is transferred and is linked into the circuit and be connected with the receiver, the inside counter weight of shell (1) is the metal block and evenly fixes inside shell (1).

3. The underwater emergency rescue submarine vessel for ships according to claim 1, characterized in that: the utility model discloses a solar energy remote control electric regulation system, including shell (1), constitution including electricity accent system (11), battery system (12), casing (13), receiver system (14) and counter weight system (15), both ends respectively are provided with one counter weight system (15) about the inside of casing (13), the left end of the inside of casing (13) is provided with electricity accent system (11), the right-hand member of electricity accent system (11) is provided with battery system (12), the right-hand member of battery system (12) is provided with receiver system (14), shell (1) is through casing (13) and perpendicular propulsion system (3) welded fastening.

4. The underwater emergency rescue submarine vessel for ships according to claim 1, characterized in that: emergent repair system's (5) constitution is including filling up gas cell (51), inserted magnetization piece (52), magnetism frame (53), body (54) and fixed plate (55), the axle center department of the inside of fixed plate (55) is provided with body (54), the inside of body (54) is provided with fills gas cell (51), the four corners department of the inside of fixed plate (55) respectively is provided with one inserted magnetization piece (52), four the outside a week department of inserted magnetization piece (52) is provided with magnetism frame (53), emergent repair system (5) are through fixed plate (55) and shell (1) welded fastening.

5. The underwater emergency rescue submarine vessel for ships according to claim 1, characterized in that: the utility model discloses a parking fixing system (6) is including first connecting plate (61), water ring vacuum pump sucking disc (62), accept board (63) and second connecting plate (64), the left end of accepting board (63) is provided with first connecting plate (61), the right-hand member of accepting board (63) is provided with second connecting plate (64), the table end of the inside of first connecting plate (61) and second connecting plate (64) respectively is provided with two water ring vacuum pump sucking discs (62), parking fixing system (6) is through first connecting plate (61) and shell (1) welded fastening.

6. The underwater emergency rescue submarine vessel for ships according to claim 1, characterized in that: the illuminating lamps (7) are arranged in two, the illuminating lamps (7) are symmetrically arranged on two sides of the upper end of the parking fixing system (6) respectively, and the illuminating lamps (7) are vertically arranged below the camera (9).

7. The underwater emergency rescue submarine vessel for ships according to claim 1, characterized in that: the control system (2) comprises a receiver and a wireless remote control and display module, wherein the receiver and the wireless remote control and display module in the control system (2) are used for remotely controlling each system of the robot connected with the wireless receiver to complete special operation tasks and receive image information returned by the camera system.

8. The underwater emergency rescue submarine vessel for ships according to claim 1, characterized in that: the pressure-resistant covers (8) are arranged in two, the two pressure-resistant covers (8) are of semicircular structures, the two pressure-resistant covers (8) are of transparent structures, and the two pressure-resistant covers (8) are respectively arranged at the front ends of the two shells (1).

9. The underwater emergency rescue submarine vessel for ships according to claim 1, characterized in that: the jet pump is characterized in that the power propulsion system (4) and the vertical propulsion system (3) are jet pump propellers and two motors, the jet pump propellers inside the power propulsion system (4) and the vertical propulsion system (3) are electrically adjusted with two-way brushing and connected with a power supply to realize power supply and voltage stabilization, and a pair of positive and negative propellers mounted on the motors inside the power propulsion system (4) and the vertical propulsion system (3) are used for realizing floating and submerging of a robot.