Underwater pneumatic robot based on tensile structure

Abstract

The application discloses an underwater pneumatic robot based on a tension structure and relates to the field of six-pole tension whole robots. In order to solve the problems that the existing six-pole tension whole robots have low movement speed, are prone to slipping on smooth ground due to small friction force between the driving end and the ground, have low movement efficiency, have low movement stability and have high maintenance cost, the application adopts an X-axis bidirectional driving assembly, a Y-axis bidirectional driving assembly, a Z-axis bidirectional driving assembly and twenty-four ropes to form a fourteen-face frame, controls the driving expansion and contraction amount of a cylinder to achieve the purpose of tensioning or relaxing the ropes, adopts a rope connecting disc made of glass fiber material to connect the ropes, solves the plastic deformation problem of the mechanism caused by the fact that the traction rope is subjected to large external force due to the terrain and other factors, and the output end of the cylinder is provided with a buffer ball to increase the friction force with the ground and improve the movement efficiency and stability of the mechanism. The application is suitable for the field of underwater robots.

Description

TECHNICAL FIELD

[0001] The application relates to the field of six-pole tensegrity robots, and particularly relates to an underwater pneumatic robot based on a tensegrity structure. BACKGROUND

[0002] The tensegrity structure robot is a self-balancing space system formed by interweaving a series of rigid poles and flexible ropes. The robot has characteristics that exceed the limitations of traditional wheeled robots, and has the following advantages: strong environmental robustness, high mechanical fault tolerance, high mass efficiency, built-in buffer mechanism, and the ability to realize the integration of landing and patrol, which greatly reduces the task cost and landing complexity. These characteristics endow the tensegrity structure robot with broad application value and research prospects in many fields such as hydrological environment monitoring, planetary exploration, pipeline maintenance, and small asteroid mining.

[0003] The current six-pole tensegrity robot has the following problems:

[0004] Firstly, the traditional motor-driven system has obvious shortcomings in speed. The continuity of this driving mode does not match the discrete and explosive nature of the gait required by the tensegrity movement, resulting in a complex operation process and limited gait selection, lack of flexibility and dynamic response ability.

[0005] Secondly, the tensegrity robot based on motor drive faces challenges in cost-effectiveness. The high cost and lack of environmental adaptability make the robot vulnerable to damage when facing external solid particles or liquid intrusion, affecting its stability and reliability in variable environments and increasing maintenance costs.

[0006] Thirdly, the lack of foot end design in traditional tensegrity robots results in insufficient friction with the ground, which limits the application range of the robot and reduces its rolling efficiency in specific situations. The lack of foot end design also affects the robot's mobility and grip on different terrains.

[0007] Fourthly, the traditional tensegrity robot has a complex knotting method, and once the ropes are fixed, it is difficult to adjust or replace them again. This design limits the flexibility and maintainability of the robot, increasing the complexity of long-term work and maintenance.

[0008] Fifthly, due to the open mechanical structure of the tensegrity robot, it cannot adapt to wet or underwater working environments, and the robot itself cannot protect its internal electronic components.

[0009] In summary, the existing six-pole tensioned whole robot movement speed is low, and when moving on the smooth ground, the driving end and the ground friction is small, and the skidding phenomenon is easy to appear, which leads to low movement efficiency, and further leads to low movement stability and high maintenance cost. SUMMARY

[0010] The present application is to solve the problem of low movement speed of the existing six-pole tensioned whole robot, and when moving on the smooth ground, the driving end and the ground friction is small, and the skidding phenomenon is easy to appear, which leads to low movement efficiency, and further leads to low movement stability and high maintenance cost, and proposes a kind of underwater pneumatic robot based on tension structure.

[0011] The underwater pneumatic robot based on tension structure of the present application comprises X-axis bidirectional driving assembly 1, Y-axis bidirectional driving assembly 2, Z-axis bidirectional driving assembly 3 and rope 4;

[0012] The X-axis bidirectional driving assembly 1, Y-axis bidirectional driving assembly 2 and Z-axis bidirectional driving assembly 3 are arranged perpendicular to each other in pairs, and the X-axis bidirectional driving assembly 1, Y-axis bidirectional driving assembly 2 and Z-axis bidirectional driving assembly 3 are the same in structure, wherein the X-axis bidirectional driving assembly 1 comprises a pair of double-head cylinder driving units;

[0013] The double-head cylinder driving unit comprises cylinder connecting piece 5, two cylinders 6, rope connecting disc 7, buffer ball fixing support 8 and buffer ball 9;

[0014] The tail ends of the two cylinders 6 are fixedly connected through the cylinder connecting piece 5, the output end of each cylinder 6 is provided with the buffer ball fixing support 8, the connecting portion between the bottom of the buffer ball fixing support 8 and the output end of the cylinder 6 is provided with the rope connecting disc 7, and the buffer ball 9 is embedded on the buffer ball fixing support 8;

[0015] Four through holes on the rope connecting disc 7 at one end of one double-head cylinder driving unit in the Y-axis bidirectional driving assembly 2 are connected with the rope connecting disc 7 at two ends of one double-head cylinder driving unit in the X-axis bidirectional driving assembly 1 and two ends at the bottom of the Z-axis bidirectional driving assembly 3 through the rope 4 respectively;

[0016] Four through holes on the rope connecting disc 7 at the other end of one double-head cylinder driving unit in the Y-axis bidirectional driving assembly 2 are connected with the rope connecting disc 7 at two ends of the other double-head cylinder driving unit in the X-axis bidirectional driving assembly 1 and two ends at the top of the Z-axis bidirectional driving assembly 3 through the rope 4 respectively;

[0017] The four through holes on the rope connecting disc 7 at one end of the other double-ended cylinder driving unit in the Y-axis bidirectional driving assembly 2 are connected with the two ends of one of the double-ended cylinder driving units in the X-axis bidirectional driving assembly 1 and the rope connecting disc 7 on the top of the other double-ended cylinder driving unit in the Z-axis bidirectional driving assembly 3 through the ropes 4 respectively;

[0018] The four through holes on the rope connecting disc 7 at the other end of the other double-ended cylinder driving unit in the Y-axis bidirectional driving assembly 2 are connected with the two ends of the other double-ended cylinder driving unit in the X-axis bidirectional driving assembly 1 and the rope connecting disc 7 on the bottom of the other double-ended cylinder driving unit in the Z-axis bidirectional driving assembly 3 through the ropes 4 respectively;

[0019] The two through holes on the rope connecting disc 7 at the top of one of the double-ended cylinder driving units in the Z-axis bidirectional driving assembly 3 are connected with the two rope connecting discs 7 on one end of the X-axis bidirectional driving assembly 1 through the ropes 4 respectively;

[0020] The two through holes on the rope connecting disc 7 at the top of the other double-ended cylinder driving unit in the Z-axis bidirectional driving assembly 3 are connected with the two rope connecting discs 7 on the other end of the X-axis bidirectional driving assembly 1 through the ropes 4 respectively;

[0021] The two through holes on the rope connecting disc 7 at the bottom of one of the double-ended cylinder driving units in the Z-axis bidirectional driving assembly 3 are connected with the two rope connecting discs 7 on one end of the X-axis bidirectional driving assembly 1 through the ropes 4 respectively;

[0022] The two through holes on the rope connecting disc 7 at the bottom of the other double-ended cylinder driving unit in the Z-axis bidirectional driving assembly 3 are connected with the two rope connecting discs 7 on the other end of the X-axis bidirectional driving assembly 1 through the ropes 4 respectively;

[0023] Further, the X-axis bidirectional driving assembly 1, the Y-axis bidirectional driving assembly 2, the Z-axis bidirectional driving assembly 3 and the twenty-four ropes 4 constitute a fourteen-faced frame;

[0024] Further, each face of the fourteen-faced frame is a triangle;

[0025] Further, the outer surface of the fourteen-faced frame is provided with a layer of skin;

[0026] Further, the material of the skin is silica gel;

[0027] Further, a double-hole safety rope lock is arranged at the connection between the end of the rope 4 and the through hole on the rope connecting disc 7;

[0028] Further, the cylinder connecting piece 5 includes a left half of the cylinder connecting piece and a right half of the cylinder connecting piece, and the left half of the cylinder connecting piece and the right half of the cylinder connecting piece are connected through bolts;

[0029] Further, the cross section of the left half of the cylinder connecting piece and the right half of the cylinder connecting piece is circular arc, the left half of the cylinder connecting piece circular arc inner surface is processed with square groove, the square protrusion of the tail of the cylinder 6 is embedded into the square groove inside the left half of the cylinder connecting piece circular arc inner surface;

[0030] Further, in use, by controlling the extension and contraction of the output ends of the twelve cylinders in the X-axis bidirectional driving assembly 1, the Y-axis bidirectional driving assembly 2 and the Z-axis bidirectional driving assembly 3, the robot is deformed in a short time, so that the center of gravity is offset, and the forward impulse is obtained to complete the somersault movement. The gas-driven tension robot can also control the movement of the double cylinders to make the robot jump, or control the three cylinders to make the robot rotate, thereby producing various forms of movement. In terms of movement, the movement of the tension robot is discrete, that is, from point to point, and the movement of the cylinder is two-point type. The combined movement mode makes the movement control of the machine extremely simple. Compared with the continuous rotation of the traditional electric motor, the movement of the robot can be completed by controlling the input and output of the gas.

[0031] Compared with the prior art, the present application has the following advantages:

[0032] The present application overcomes the shortcomings of the prior art, and adopts an X-axis bidirectional driving assembly, a Y-axis bidirectional driving assembly, a Z-axis bidirectional driving assembly and twenty-four ropes to form a fourteen-faced frame. The X-axis bidirectional driving assembly, the Y-axis bidirectional driving assembly and the Z-axis bidirectional driving assembly are of the same structure. The X-axis bidirectional driving assembly includes a pair of double-head cylinder driving units, each double-head cylinder driving unit contains two cylinders, and there are a total of twelve cylinders. By controlling the driving extension and contraction of the cylinders, the purpose of tightening or loosening the ropes is achieved. The extension rod of the cylinder is made of stainless steel, which is light in material and long in service life. Through finite element analysis, it is found that the cylinder rod is uniformly stressed and is not prone to deformation. Secondly, the connection between the ropes is achieved by using a rope connecting disc made of glass fiber material, which solves the problem of plastic deformation of the mechanism caused by the traction rope being subjected to a large external force due to terrain and other factors. Thirdly, the output end of the cylinder is provided with a buffer ball fixing bracket, and a buffer ball is embedded on the buffer ball fixing bracket to increase the friction with the ground and improve the motion efficiency and stability of the mechanism. Fourthly, the whole robot is sealed with a silicone skin, which protects the internal mechanical structure and electrical control device and meets the operation requirements in underwater environment. Fifthly, this structure is convenient to install and maintain, and the maintenance cost is reduced. BRIEF DESCRIPTION OF DRAWINGS

[0033] Figure 1 is a three-dimensional structural perspective view of the underwater pneumatic robot based on the tension structure according to the present application;

[0034] Figure 2 is a front view of the underwater pneumatic robot based on the tension structure according to the present application;

[0035] Figure 3 It is a front view of a double-head cylinder driving unit in an underwater pneumatic robot based on a tensile structure according to the present application;

[0036] Figure 4 It is a front view of a cylinder connecting piece according to the present application;

[0037] Figure 5 It is a side view of a right half of a cylinder connecting piece according to the present application;

[0038] Figure 6 It is a front view of a rope connecting disc according to the present application;

[0039] Figure 7 It is a front view of a buffer ball fixing support according to the present application. DETAILED DESCRIPTION

[0040] DETAILED DESCRIPTION Figures 1 to 7 According to the present application, the underwater pneumatic robot based on a tensile structure comprises an X-axis bidirectional driving assembly 1, a Y-axis bidirectional driving assembly 2, a Z-axis bidirectional driving assembly 3, and a rope 4.

[0041] The X-axis bidirectional driving assembly 1, the Y-axis bidirectional driving assembly 2, and the Z-axis bidirectional driving assembly 3 are arranged perpendicular to each other in pairs, and the X-axis bidirectional driving assembly 1, the Y-axis bidirectional driving assembly 2, and the Z-axis bidirectional driving assembly 3 are of the same structure, wherein the X-axis bidirectional driving assembly 1 comprises a pair of double-head cylinder driving units.

[0042] The double-head cylinder driving unit comprises a cylinder connecting piece 5, two cylinders 6, a rope connecting disc 7, a buffer ball fixing support 8, and a buffer ball 9.

[0043] The tail ends of the two cylinders 6 are fixedly connected through the cylinder connecting piece 5, the output end of each cylinder 6 is provided with the buffer ball fixing support 8, the connecting part between the bottom of the buffer ball fixing support 8 and the output end of the cylinder 6 is provided with the rope connecting disc 7, and the buffer ball fixing support 8 is embedded with the buffer ball 9.

[0044] The four through holes on the rope connecting disc 7 at one end of the double-head cylinder driving unit in the Y-axis bidirectional driving assembly 2 are respectively connected with the rope connecting discs 7 at the two ends of one of the double-head cylinder driving units in the X-axis bidirectional driving assembly 1 and the two ends at the bottom of the Z-axis bidirectional driving assembly 3 through the ropes 4.

[0045] The four through holes on the rope connecting disc 7 on the other end of the double-end cylinder driving unit in the Y-axis bidirectional driving assembly 2 are connected with the two ends of the other double-end cylinder driving unit in the X-axis bidirectional driving assembly 1 and the rope connecting discs 7 on the top of the Z-axis bidirectional driving assembly 3 through the ropes 4 respectively;

[0046] The four through holes on the rope connecting disc 7 on the other end of the double-end cylinder driving unit in the Y-axis bidirectional driving assembly 2 are connected with the two ends of the other double-end cylinder driving unit in the X-axis bidirectional driving assembly 1 and the rope connecting discs 7 on the top of the Z-axis bidirectional driving assembly 3 through the ropes 4 respectively;

[0047] The four through holes on the rope connecting disc 7 on the other end of the double-end cylinder driving unit in the Y-axis bidirectional driving assembly 2 are connected with the two ends of the other double-end cylinder driving unit in the X-axis bidirectional driving assembly 1 and the rope connecting discs 7 on the top of the Z-axis bidirectional driving assembly 3 through the ropes 4 respectively;

[0048] The two through holes on the rope connecting disc 7 on the top of the double-end cylinder driving unit in the Z-axis bidirectional driving assembly 3 are connected with the two rope connecting discs 7 on one end of the X-axis bidirectional driving assembly 1 through the ropes 4 respectively;

[0049] The two through holes on the rope connecting disc 7 on the top of the double-end cylinder driving unit in the Z-axis bidirectional driving assembly 3 are connected with the two rope connecting discs 7 on one end of the X-axis bidirectional driving assembly 1 through the ropes 4 respectively;

[0050] The two through holes on the rope connecting disc 7 on the top of the double-end cylinder driving unit in the Z-axis bidirectional driving assembly 3 are connected with the two rope connecting discs 7 on one end of the X-axis bidirectional driving assembly 1 through the ropes 4 respectively;

[0051] The two through holes on the rope connecting disc 7 on the top of the double-end cylinder driving unit in the Z-axis bidirectional driving assembly 3 are connected with the two rope connecting discs 7 on one end of the X-axis bidirectional driving assembly 1 through the ropes 4 respectively;

[0052] In use, the specific embodiment controls the extension and retraction of the output ends of the twelve cylinders in the X-axis bidirectional drive assembly 1, the Y-axis bidirectional drive assembly 2 and the Z-axis bidirectional drive assembly 3 to cause the robot to deform in a short time, thereby causing the center of gravity to shift and obtaining a forward impulse to complete the rolling motion. The pneumatic tension robot can also control the movement of the double cylinders to make the robot jump, or control the three cylinders to make the robot rotate, thereby producing various forms of motion. In terms of motion, the tension robot performs discrete motion, i.e. from point to point, while the motion of the cylinder is two-point type. The combined motion of the two makes the motion control of the machine extremely simple. Compared with the continuous rotation of the traditional electric motor, the movement of the robot can be completed by controlling the input and output of the gas.

[0053] Floating and diving of the robot in water

[0054] When the robot needs to dive, the separately configured SY3120 two-position five-way electromagnetic valve is opened to connect the external air pump to the sealed space inside the robot through the air pipe, and the air pump is controlled to suck air, so that the buoyancy of the robot is less than the gravity, and the robot dives.

[0055] When the robot needs to float, the SY3120 two-position five-way electromagnetic valve configured on the twelve cylinders is opened to make all the motion rods of the cylinders fully extend, as shown in Figure Five The separately configured SY3120 two-position five-way electromagnetic valve is opened to connect the external air pump to the sealed space inside the robot through the air pipe, and the air pump is controlled to inflate, so that the buoyancy of the robot is greater than the gravity, and the robot floats.

[0056] Movement of the robot on the water bottom

[0057] The tension robot is connected by twelve cylinders and controlled by electromagnetic valves to input and output gas. When the tension robot needs to perform a rolling motion, the electromagnetic valve of one of the cylinders on the bottom surface is controlled to make the gas in the air pump enter, so that the rod of the cylinder extends rapidly, causing the robot to deform and obtain a forward impulse, thereby completing a rolling motion. Then the electromagnetic valve is controlled to release the gas, and the rod of the cylinder is retracted, and the cycle is repeated. Different distances and directions of rolling motion can be completed by the combination of the extension and retraction of different rods.

[0058] Specific embodiment two: combined Figures 1 to 7 This embodiment is a further limitation of the robot described in specific embodiment one. The X-axis bidirectional drive assembly 1, the Y-axis bidirectional drive assembly 2, the Z-axis bidirectional drive assembly 3 and the twenty-four ropes 4 constitute a fourteen-faced frame.

[0059] Specific embodiment three: combinedFigures 1 to 7 The embodiment is further limited to the robot as defined in embodiment two, and the underwater pneumatic robot based on tensile structure, wherein each face of the tetrahedron frame is a triangle.

[0060] Embodiment four: in combination Figures 1 to 7 The embodiment is further limited to the robot as defined in embodiment three, and the underwater pneumatic robot based on tensile structure, wherein the outer surface of the tetrahedron frame is provided with a layer of skin.

[0061] In the embodiment, the outer surface of the tetrahedron frame is provided with a layer of skin, so that the tetrahedron frame forms a sealed cavity for underwater use.

[0062] Embodiment five: in combination Figures 1 to 7 The embodiment is further limited to the robot as defined in embodiment four, and the underwater pneumatic robot based on tensile structure, wherein the material of the skin is silica gel.

[0063] Embodiment six: in combination Figures 1 to 7 The embodiment is further limited to the robot as defined in embodiment one, and the underwater pneumatic robot based on tensile structure, wherein a double-hole safety rope lock is arranged at the connection between the end of the rope 4 and the through hole of the rope connecting disc 7.

[0064] In the embodiment, a double-hole safety rope lock is arranged at the connection between the end of the rope 4 and the through hole of the rope connecting disc 7, so as to avoid the phenomenon of relaxation of the rope 4 after long-term use.

[0065] Embodiment seven: in combination Figures 1 to 7 The embodiment is further limited to the robot as defined in embodiment one, and the underwater pneumatic robot based on tensile structure, wherein the air cylinder connecting piece 5 comprises an air cylinder connecting piece left half and an air cylinder connecting piece right half, the air cylinder connecting piece left half and the air cylinder connecting piece right half are connected by bolts, and the air cylinder connecting piece left half and the air cylinder connecting piece right half are the same in structure.

[0066] Embodiment eight: in combination Figures 1 to 7The embodiment is a further limitation of the robot described in the seventh embodiment. The cross section of the left half of the cylinder connecting piece and the right half of the cylinder connecting piece is circular arc shaped. A square groove is formed on the inner surface of the left half of the cylinder connecting piece. A square protrusion on the tail of the cylinder 6 is embedded in the square groove on the inner surface of the left half of the cylinder connecting piece.

[0067] In this embodiment, the stability of the two cylinders 6 is improved, and the structural strength of the double-head cylinder driving unit is improved.

[0068] Working principle

[0069] In use, by controlling the extension and retraction of the output ends of the twelve cylinders 6 in the X-axis bidirectional driving assembly 1, the Y-axis bidirectional driving assembly 2, and the Z-axis bidirectional driving assembly 3, the robot deforms in a short time, thereby shifting the center of gravity and obtaining a forward impulse to complete the rolling motion. The gas-driven tension robot can also control the movement of the double cylinders to make the robot jump, or control the three cylinders to make the robot rotate, thereby producing various forms of motion. In terms of motion, the tension robot performs discrete motion, i.e., from one point to another point, while the movement of the cylinders is two-point type. The combined movement of the two makes the movement control of the robot extremely simple. Compared with the continuous rotation of traditional electric motors, the movement of the robot can be completed by controlling the input and output of gas.

[0070] The robot's rising and diving in water:

[0071] When the robot needs to dive, the separately configured SY3120 two-position five-way electromagnetic valve is controlled to open, the external air pump is connected to the internal sealed space of the robot through the air pipe, the air pump is controlled to exhaust, the buoyancy of the robot is less than the gravity, and the robot dives.

[0072] When the robot needs to rise, the SY3120 two-position five-way electromagnetic valve configured on the twelve cylinders is controlled to open, the movement rods of all the cylinders are fully extended, as shown in Figure Five The separately configured SY3120 two-position five-way electromagnetic valve is controlled to open, the external air pump is connected to the internal sealed space of the robot through the air pipe, the air pump is controlled to inflate, the buoyancy of the robot is greater than the gravity, and the robot rises.

[0073] The robot's movement on the water bottom:

[0074] The tension robot is connected by twelve cylinders, and the input and output of the gas are controlled by electromagnetic valves. When the tension robot needs to perform a rolling motion, the electromagnetic valve of one of the cylinders on the bottom surface is controlled to make the gas in the air pump enter, so that the cylinder rod extends quickly, so that the robot deforms and obtains a forward impulse, thereby completing a rolling motion. Then the electromagnetic valve is controlled to release the gas, so that the cylinder rod is retracted, and the cycle is repeated. Different distances and directions of rolling motion can be completed by the combination of different rods.

Claims

1. A tensile structure based underwater pneumatic robot, characterized by: It includes X-axis bidirectional drive assembly (1), Y-axis bidirectional drive assembly (2), Z-axis bidirectional drive assembly (3) and rope (4); The X-axis bidirectional drive assembly (1), Y-axis bidirectional drive assembly (2) and Z-axis bidirectional drive assembly (3) are arranged perpendicular to each other in pairs, and the X-axis bidirectional drive assembly (1), Y-axis bidirectional drive assembly (2) and Z-axis bidirectional drive assembly (3) are the same in structure, wherein the X-axis bidirectional drive assembly (1) comprises a pair of double-head cylinder drive units; The double-head cylinder drive unit comprises a cylinder connecting piece (5), two cylinders (6), a rope connecting disc (7), a buffer ball fixing support (8) and a buffer ball (9); The tail ends of the two cylinders (6) are fixedly connected through the cylinder connecting piece (5), the output end of each cylinder (6) is provided with the buffer ball fixing support (8), the connecting part between the bottom of the buffer ball fixing support (8) and the output end of the cylinder (6) is provided with the rope connecting disc (7), and the buffer ball (9) is embedded on the buffer ball fixing support (8); One end of the rope connecting disc (7) of one double-head cylinder drive unit in the Y-axis bidirectional drive assembly (2) is connected with the rope connecting disc (7) at the two ends of one double-head cylinder drive unit in the X-axis bidirectional drive assembly (1) and the bottom of the Z-axis bidirectional drive assembly (3) through four through holes respectively by the ropes (4); The other end of the rope connecting disc (7) of the other double-head cylinder drive unit in the Y-axis bidirectional drive assembly (2) is connected with the rope connecting disc (7) at the two ends of the other double-head cylinder drive unit in the X-axis bidirectional drive assembly (1) and the top of the Z-axis bidirectional drive assembly (3) through four through holes respectively by the ropes (4); The four through holes on the rope connecting disc (7) of one end of the other double-head cylinder drive unit in the Y-axis bidirectional drive assembly (2) are connected with the rope connecting disc (7) at the two ends of one double-head cylinder drive unit in the X-axis bidirectional drive assembly (1) and the top of the Z-axis bidirectional drive assembly (3) through the ropes (4) respectively; The four through holes on the rope connecting disc (7) of the other end of the other double-head cylinder drive unit in the Y-axis bidirectional drive assembly (2) are connected with the rope connecting disc (7) at the two ends of the other double-head cylinder drive unit in the X-axis bidirectional drive assembly (1) and the bottom of the Z-axis bidirectional drive assembly (3) through the ropes (4) respectively; The two through holes on the rope connecting disc (7) at the top of one double-head cylinder drive unit in the Z-axis bidirectional drive assembly (3) are connected with the two rope connecting discs (7) on one end of the X-axis bidirectional drive assembly (1) through the ropes (4) respectively; The two through holes on the rope connecting disc (7) at the top of the other double-head cylinder drive unit in the Z-axis bidirectional drive assembly (3) are connected with the two rope connecting discs (7) on the other end of the X-axis bidirectional drive assembly (1) through the ropes (4) respectively; The two through holes on the rope connecting disc (7) at the bottom of one double-head cylinder drive unit in the Z-axis bidirectional drive assembly (3) are connected with the two rope connecting discs (7) on one end of the X-axis bidirectional drive assembly (1) through the ropes (4) respectively; Two through holes on the bottom end rope connecting disc (7) of the other double-end cylinder driving unit of the Z-axis bidirectional driving assembly (3) are connected with two rope connecting discs (7) on the other end of the X-axis bidirectional driving assembly (1) through ropes (4) respectively.

2. An underwater pneumatic robot based on tensile structures according to claim 1, characterized in that: The X-axis bidirectional driving assembly (1), the Y-axis bidirectional driving assembly (2), the Z-axis bidirectional driving assembly (3) and the twenty-four ropes (4) constitute a fourteen-faced frame.

3. An underwater pneumatic robot based on tensile structures according to claim 2, characterized in that: Each face of the fourteen-faced frame is a triangle.

4. An underwater pneumatic robot based on tensile structures according to claim 3, characterized in that: An outer surface of the fourteen-faced frame is provided with a layer of skin.

5. An underwater pneumatic robot based on tensile structures according to claim 4, characterized in that: The material of the skin is silica gel.

6. The underwater pneumatic robot based on tensile structures according to claim 1, characterized in that: A double-hole safety rope lock is arranged at the connection between the end of the rope (4) and the through hole on the rope connecting disc (7).

7. The underwater pneumatic robot based on tensile structures according to claim 1, characterized in that: The cylinder connecting piece (5) comprises a left half of the cylinder connecting piece and a right half of the cylinder connecting piece, the left half of the cylinder connecting piece and the right half of the cylinder connecting piece are connected through bolts, and the left half of the cylinder connecting piece and the right half of the cylinder connecting piece are the same in structure.

8. An underwater pneumatic robot based on tensile structures according to claim 7, characterized in that: The cross section of the left half of the cylinder connecting piece and the right half of the cylinder connecting piece is in the shape of an arc, a square groove is processed on the inner surface of the arc of the left half of the cylinder connecting piece, and a square protrusion at the tail of the cylinder (6) is embedded into the square groove on the inner surface of the arc of the left half of the cylinder connecting piece.

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