A pitch adjustment device for underwater robot driven by a crank-connecting rod mechanism

Abstract

The present invention discloses a pitch adjustment device for an underwater robot, which is driven by a crank-connecting rod mechanism. The device comprises a motor, a worm gear, a crank-connecting rod, a bearing, a fixing plate, a bracket, a load battery pack, a battery pack pull rod, and a spring. The power unit and the battery pack are both placed in the pitch adjustment compartment housing, with the power unit mounted on the fixing plate at the front end of the adjustment compartment, and the motor driving the worm gear to rotate the crank. Three auxiliary sliding devices are mounted at the front and rear ends of the load battery pack, respectively. These devices are composed of a bearing and a bracket, with the outer ring of the bearing in contact with the inner wall of the compartment, and the bracket fixed to the ends of the battery pack pull rod. A spring of appropriate stiffness is mounted between the bracket and the battery pack end plate, with the pull rod as the axis. The present invention is simple to install and maintain, and can make the pitch motion of the underwater robot more responsive.

Description

Technical Field

[0001] The invention belongs to a pitch adjustment device for an underwater robot, and in particular relates to a pitch adjustment device for an underwater robot which is driven by a crank-connecting rod mechanism. Background Art

[0002] With the rapid development of science and technology, underwater robots have begun to play an important role in civilian applications, including marine environmental observation, deep-sea mineral resource development, seafloor topography mapping, and 3D reconstruction of polar sea ice structures. Furthermore, as powerful weapons and equipment for tasks such as target detection, underwater robots also play a crucial role in the military.

[0003] Pitching motion is a common movement of underwater robots. Methods for achieving pitching motion can be categorized into two types. The first involves the interaction between external manipulators and the surrounding fluid. For example, a sailing underwater robot achieves pitching motion by changing the angle of its horizontal rudder. The second involves internal pitch adjustment devices that alter the fore-aft position of the underwater robot's center of gravity. Pitch adjustment devices enable pitching motion even when the underwater robot is at low speed or in suspension, and are therefore crucial for motion control of low-speed underwater robots.

[0004] CN201511017744.5 discloses a center of mass adjustment device for an underwater robot. The device utilizes the underwater robot's eccentric battery pack as the mass block of the present invention. The pitch worm gear, pitch worm, and gear rack of the pitch drive device mesh with each other to cause the eccentric battery pack to slide on the square tube shaft, thereby enabling the center of mass adjustment device to adjust the center of mass to move along its axis. The heel worm gear and heel worm of the roll adjustment device mesh with each other to rotate, driving the square tube shaft and the eccentric battery pack to rotate. Because the center of mass of the eccentric battery pack is eccentric to the axis of the square tube shaft, the center of mass of the entire center of mass adjustment device rotates around its axis, thus achieving the pitch and roll adjustment functions of the entire underwater robot system. The present invention meets the requirements of the underwater robot for compact structure, low energy consumption, and reliable operation.

[0005] CN201811392367.7 discloses an all-round tracking and positioning device for an underwater robot moving near the seabed, which belongs to the field of underwater robot tracking technology. The device includes a signal generating system located on the underwater robot and a seabed base station communicatively connected to a seabed observation network; the signal generating system includes a position detector for sensing the direction of a laser, three light-emitting bodies for generating light signals, and a first controller, and the first controller adjusts the posture of the light-emitting body according to the direction of the laser sensed by the position detector; the seabed base station includes a base fixed on the seabed, a laser generator movably mounted on the base, a camera for photographing the light-emitting body, and a second controller, the shooting direction of the camera is the same as the laser emission direction of the laser generator, and the second controller controls the posture of the laser generator and the camera and calculates the position and posture of the underwater robot based on the image of the light-emitting body taken by the camera.

[0006] In existing technology, pitch adjustment devices typically rely on a motor to drive a heavy load cell to translate along a square tube axis, thereby achieving forward and backward movement of the underwater robot's center of gravity. Traditional pitch adjustment devices are fixedly connected to the load cell, with the motor driving a gear to rotate. This gear meshes with a rack fixed to the square tube axis to enable the load cell to slide back and forth along the axis. However, the sliding design of the load cell and the square tube axis often involves contact and friction between the parts. As the operation time increases, the lubricant tends to dry out, which is very detrimental to underwater robots during long-term operation and poses a safety hazard.

[0007] In addition, since the square tube axis is fixed at the center of the pitch adjustment compartment, the internal space of the compartment is divided, making it impossible to arrange more batteries and larger sensors and components, which brings certain limitations to the improvement of the underwater robot's endurance and operational capabilities.

[0008] Furthermore, because conventional pitch adjustment devices adjust the underwater robot's center of gravity at a constant speed, their response to the robot's pitch motion is often delayed. When the underwater robot's pitch angle is small, the center of gravity needs to move forward and backward at a faster rate to quickly initiate the pitch motion and change from a stationary state. However, when the underwater robot's pitch angle is large, the center of gravity needs to move forward and backward at a slower rate to avoid excessive pitch motion response. Therefore, pitch adjustment devices that adjust the center of gravity at a constant speed are not conducive to achieving timely dynamic response in underwater robots, making it difficult to achieve good control of the underwater robot. Summary of the Invention

[0009] To address the aforementioned shortcomings of the prior art, the present invention aims to provide a highly efficient pitch adjustment device for an underwater robot, driven by a crank-connecting rod mechanism. This pitch adjustment device is simple to install and maintain, and can rapidly shift the robot's center of gravity back and forth when the robot's pitch angle is small, enabling rapid initiation of pitch motion. At higher pitch angles, it can also shift the center of gravity back and forth at a low speed to prevent excessive pitch motion response, resulting in a more timely pitch motion response.

[0010] The object of the present invention is achieved through the following technical solution: A pitch adjustment device for an underwater robot driven by a crank-connecting rod mechanism, comprising a power unit fixing plate, a power unit, a pitch adjustment cabin, a crank-connecting rod mechanism and a load battery; the power unit is fixed to the power unit fixing plate;

[0011] The power unit fixing plate is fixedly installed on one end of the pitch adjustment cabin shell, one end of the crank connecting rod mechanism is connected to the output end of the power unit, and the other end is fixed to the load battery; the load battery is slidably arranged inside the pitch adjustment cabin shell.

[0012] Through the above technical solution, the power unit outputs the rotation angle according to the control requirements, and the crank-connecting rod mechanism converts the rotational motion into a forward and backward translational motion that pushes the load battery through the pulley device in the pitch adjustment cabin, thereby realizing the adjustment of the center of gravity and achieving the purpose of controlling the pitch angle of the underwater robot.

[0013] Optionally, pulley devices are provided at both ends of the load battery, and the load battery is slidably arranged inside the pitch adjustment cabin shell through the pulley devices.

[0014] Through the above technical solution, the pulley device can be used to stably slide inside the pitch adjustment cabin, thereby ensuring the integrity and stability of the load battery.

[0015] Optionally, the power unit includes a motor, a base, a worm gear, a worm, and a worm gear shaft. The motor is fixed on the base, the output end of the motor is connected to the worm, one end of the worm gear shaft is rotatably connected to the base, the worm gear is fixedly installed on the side of the worm gear shaft and cooperates with the worm, and the worm gear shaft is connected to the crank-connecting rod mechanism.

[0016] Through the above technical solution, the motor and worm gear are used to cooperate to output motion and torque. It has a large single-stage speed ratio, low noise, small vibration, and can also use its self-locking principle to improve operational reliability.

[0017] Optionally, the crank-connecting rod mechanism includes a crank and a connecting rod; the crank and the connecting rod are rotationally connected, and the other end of the crank is rotationally connected to the output end of the worm gear shaft, and the other end of the connecting rod is rotationally connected to the load battery.

[0018] Through the above technical solution, the crank slider structure movement principle is adopted, which has low energy consumption, fast response speed and longer effective operation time.

[0019] Optionally, there is an eccentric distance between the connection between the crank and the power unit and the connection between the connecting rod and the load battery.

[0020] Optionally, the pulley device includes two brackets 1, a bracket 2, and three bearing fixing rods. The bracket 1 is in a ram horn shape, and the two brackets 1 are installed on both sides above the end of the load battery, wherein the two bearing fixing rods are fixedly installed on the outside of the corresponding bracket 1, and the bracket 2 is installed below the end of the load battery. The cross-section of the bracket 2 is A-shaped, and the other bearing fixing rod is fixedly installed at the bottom end of the bracket 2. A group of bearings are rotatably set on the outside of the bracket 1 and the outside of the bracket 2, and the outer ring of the bearing is against the inner wall of the pitch adjustment cabin shell.

[0021] Through the above technical solution, rolling friction is adopted to greatly reduce the impact of friction.

[0022] Optionally, the load battery includes several battery cells, each of which includes a single cell, two battery pack end plates, four battery pack rods and several battery protective tubes. The single cell is arranged between the two battery pack end plates, and the four battery pack rods are horizontally installed between the two battery pack end plates, with the ends extending to the outside of the battery pack end plates. Several four battery pack rods are installed on the outside between the two battery pack end plates.

[0023] Optionally, the two brackets are respectively fixed on the corresponding two battery pack pull rods; the bracket at the bottom is composed of three rods forming an A shape, two of which are respectively fixed on the two battery pack pull rods at the bottom of the load battery, the third rod is connected to the middle of the above two rods, and one of the bearing fixing rods is installed at the bottom end of the above two rods.

[0024] Optionally, the crank-connecting rod mechanism is connected to the load battery via a crossbeam, both ends of the crossbeam are fixed on corresponding battery pack pull rods, and the middle of the crossbeam is connected to the connecting rod via a bushing and a connecting rod shaft.

[0025] Optionally, a spring is installed between the battery pack end plate and the crossbeam.

[0026] Through the above technical solution, the vibration generated by the movement of the load battery in the pitch adjustment cabin is buffered.

[0027] The present invention has the following beneficial effects and advantages:

[0028] 1. The present invention adopts the crank slider structure movement principle as a whole, with low energy consumption, fast response speed, more convenient installation and disassembly, and longer effective operation time.

[0029] 2. The present invention uses a motor and a worm gear to output motion and torque. It has a large single-stage speed ratio, low noise, small vibration, and can also use its self-locking principle to improve operational reliability.

[0030] 3. The load battery of the present invention does not need to be punched, and maintains its integrity so as to carry more energy.

[0031] 4. The present invention has a stronger dynamic response function and can adjust the center of gravity position at a variable speed, thereby achieving a faster and more efficient pitch adjustment function of the underwater robot.

[0032] 5. The movable pulley mechanism of the present invention changes sliding friction into rolling friction, which can greatly reduce the impact of friction, and is fixed on the load battery pack pull rod to increase its use function, and the frame and buffer spring improve the stability of the entire structure.

[0033] 6. The present invention can be used on underwater robots with functions such as marine environment observation, deep-sea mineral resource development, seabed topography mapping, and polar sea ice three-dimensional structure reconstruction. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments.

[0035] Figure 1 It is the overall structural diagram of the present invention;

[0036] Figure 2 A reference diagram for pitch adjustment position changes of the present invention;

[0037] Figure 3 This is a structural diagram of the power unit of the present invention;

[0038] Figure 4 It is a structural diagram of the crank connecting rod of the present invention;

[0039] Figure 5 It is a structural diagram of the pulley device of the present invention;

[0040] Figure 6 This is a structural diagram of a load battery of the present invention;

[0041] Among them: 1 is the power unit fixing plate, 2 is the power unit, 3 is the pitch adjustment cabin, 4 is the crank-connecting rod mechanism, 5 is the load battery, 6 is the pulley device, 7 is the fixing frame, 8 is the motor, 9 is the base, 10 is the coupling, 11 is the worm, 12 is the worm shaft bearing, 13 is the worm wheel, 14 is the worm wheel shaft bearing, 15 is the worm wheel shaft, 16 is the end cover, 17 is the crank fixing pin, 18 is the crank, 19 is the pin shaft, 20 is the fixing nut, 21 is the connecting rod, 22 is the shaft sleeve, 23 is the connecting rod shaft, 24 is the crossbeam, 25 is the bracket 1, 26 is the bearing fixing rod, 27 is the bearing, 28 is the battery pack pull rod, 29 is the bracket 2, 30 is the battery pack end plate, 31 is the single battery, and 32 is the battery protective tube. DETAILED DESCRIPTION

[0042] The present invention will be further described below in conjunction with specific examples. The following examples will help those skilled in the art further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that those skilled in the art may make several changes and modifications without departing from the scope of the present invention. These all fall within the scope of protection of the present invention.

[0043] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art of the art to which the present invention pertains. The terms used in the specification of the invention herein are for the purpose of describing specific embodiments only and are not intended to limit the present invention.

[0044] A pitch adjustment device for an underwater robot driven by a crank-connecting rod mechanism includes a power unit fixing plate 1, a power unit 2, a pitch adjustment chamber shell 3, a crank-connecting rod mechanism 4, and a load battery 5; the power unit 2 is fixed to the power unit fixing plate 1, the power unit fixing plate 1 is fixedly mounted on one end of the pitch adjustment chamber shell 3, one end of the crank-connecting rod mechanism 4 is connected to the output end of the power unit 2, and the other end is fixed to the load battery 5; the load battery 5 is slidably arranged inside the pitch adjustment chamber shell 3.

[0045] Specifically, pulley devices 6 are provided at both ends of the load battery 5 , and the load battery 5 is slidably arranged inside the pitch adjustment cabin 3 through the pulley devices 6 , and the two sets of pulley devices 6 are symmetrically arranged.

[0046] Specifically, the power unit 2 includes a motor 8, a base 9, a worm gear 13, a worm 11 and a worm gear shaft 15; the motor 8 is fixed on the base 9, the output end of the motor 8 is connected to the worm 11, and one end of the worm gear shaft 15 is rotatably connected to the base 9; the worm gear 13 is fixedly installed on the side of the worm gear shaft 15 and cooperates with the worm 11, and the worm gear shaft 15 is connected to the crank-connecting rod mechanism 4.

[0047] Specifically, the crank-connecting rod mechanism 4 includes a crank 18 and a connecting rod 21; the crank 18 and the connecting rod 21 are rotationally connected, the crank 18 is rotationally connected to the output end of the worm gear shaft 15, and the connecting rod 21 is rotationally connected to the load battery 5. There is an eccentric distance between the connection between the crank 18 and the power unit 2 and the connection between the connecting rod 21 and the load battery 5.

[0048] Specifically, the pulley device 6 includes a bracket 1 25, a bracket 29 and a bearing fixing rod 26; the bracket 1 25 is in the shape of a ram's horn, and the two brackets 1 25 are installed on both sides above the end of the load battery 5, and the two bearing fixing rods 26 are fixedly installed on the outside of the corresponding bracket 1 15, and the bracket 2 29 is installed below the end of the load battery 5. The cross-section of the bracket 2 29 is A-shaped, and one bearing fixing rod 26 is fixedly installed at the bottom end of the bracket 2 29. A group of bearings 27 are rotatably provided on the outside of the bracket 1 25 and the outside of the bracket 2 29, and the outer ring of the bearing 27 is against the inner wall of the pitch adjustment cabin 3.

[0049] Specifically, the load battery 5 includes several battery units, each of which includes a single battery 31, a battery pack end plate 30, a battery pack tie rod 28, and several battery protective tubes 32. The single battery 31 is arranged between two battery pack end plates 30. Four battery pack tie rods 28 are horizontally installed between the two battery pack end plates 30, and their ends extend to the outside of the battery pack end plates 30. Several four battery pack tie rods 28 are installed outside between the two battery pack end plates 30.

[0050] Specifically, the two brackets 29 are respectively fixed on the corresponding two battery pack pull rods 28; the bracket 29 at the bottom is composed of three rods forming an A shape, two of which are respectively fixed on the two battery pack pull rods 28 at the bottom of the load battery 5, one of which is a bearing fixing rod 26 installed at the bottom end of the above two rods, and the third rod is connected to the middle of the above two rods.

[0051] Specifically, the crank-connecting rod mechanism 4 and the load battery 5 are connected via a crossbeam 24. Both ends of the crossbeam 24 are fixed to corresponding battery pack pull rods 28. The middle of the crossbeam 24 is connected to the connecting rod 21 via a sleeve 22 and a connecting rod shaft 23. A spring 33 is installed between the battery pack end plate 30 and the crossbeam 24.

[0052] Example 1

[0053] like Figure 1 and Figure 2As shown, a pitch adjustment device for an underwater robot driven by a crank-connecting rod mechanism includes a power unit fixing plate 1, a power unit 2, a pitch adjustment cabin shell 3, a crank-connecting rod mechanism 4, and a load battery 5. The power unit fixing plate 1 is fixed to one end of the pitch adjustment cabin shell 3 by screws, and the power unit 2 is installed on the power unit fixing plate 1. One end of the crank-connecting rod mechanism 4 is connected to the output end of the power unit 2, and the other end is fixed to the load battery 5. The load battery 5 is slidably arranged inside the pitch adjustment cabin shell 3.

[0054] The whole adopts the crank slider structure movement principle, uses the power unit 2 as the driving force, rotates the crank connecting rod mechanism 4, and makes the load battery 5 slide in the pitch adjustment cabin shell 3, realizing the mutual conversion between rotation and movement, with low energy consumption, fast response speed, and more convenient installation and disassembly.

[0055] Example 2

[0056] like Figure 5 As shown, the difference between this embodiment and embodiment 1 is:

[0057] Pulley devices 6 are provided at both ends of the load battery 5 , and the load battery 5 is slidably arranged inside the pitch adjustment housing 3 through the pulley devices 6 , and the two sets of pulley devices 6 are symmetrically arranged.

[0058] The pulley device 6 includes two brackets 25, a bracket 29, and three bearing fixing rods 26. The bracket 1 25 is in the shape of a ram's horn. The two brackets 1 25 are installed on both sides above the end of the load battery 5. The two bearing fixing rods 26 are fixedly installed on the outside of the corresponding bracket 1 15. The bracket 2 29 is installed below the end of the load battery 5. The bracket 2 29 is A-shaped. The other bearing fixing rod 26 is fixedly installed at the bottom end of the bracket 2 29. A group of bearings 27 are rotatably set on the outside of the bracket 1 25 and the outside of the bracket 2 29. Each group of bearings 27 consists of two, which are symmetrically arranged on the corresponding bearing fixing rods 26, and the outer rings of the bearings 27 are against the inner wall of the pitch adjustment cabin 3.

[0059] This embodiment adopts a pulley device 6 on the basis of embodiment 1, and utilizes a bearing 27 to press against the inner wall of the pitch adjustment cabin 3, thereby greatly reducing the influence caused by friction when the load battery 5 slides.

[0060] Example 3

[0061] like Figure 3 As shown, the difference between this embodiment and embodiment 2 is:

[0062] The power unit 2 of this embodiment has an overall shape of a rectangular parallelepiped, and includes a motor 8, a base 9, a worm gear 13, a worm 11, a worm gear shaft 15, and an end cover 16. The motor 8 is a rotary drive motor. The motor 8 is mounted on the base 9 by screws using a fixing frame 7, and the output shaft of the motor 8 is connected to the worm 11 through a coupling 10. The other end of the worm 11 is fixed in a worm shaft bearing 12 in the end cover 16. The worm 11 engages with the worm wheel 13 and outputs the rotational motion through the worm gear shaft 15. The worm gear shaft 15 is fixed on a worm gear shaft bearing 14 that is fixed by the base 9 and the end cover 16.

[0063] like Figure 4 As shown, the crank-connecting rod mechanism 4 includes a crank 18 and a connecting rod 21, which are connected together by a pin 19 and a fixing nut 20, and the other end of the crank 18 is rotatably connected to the output end of the worm gear shaft 15 through a cylindrical pin 17, and the other end of the connecting rod 21 is rotatably connected to the load battery 5.

[0064] There is an eccentric distance between the connection between the crank 18 and the power unit 2 and the connection between the connecting rod 21 and the load battery 5 .

[0065] This embodiment uses a motor 8 in conjunction with a worm wheel 13 and a worm 11 to output motion and torque. It has a large single-stage speed ratio, low noise, small vibration, and can also utilize its self-locking principle to improve operational reliability.

[0066] Example 4

[0067] like Figure 4 and Figure 6 As shown, the difference between this embodiment and embodiment 3 is that:

[0068] The load battery 5 includes several battery cells, each of which includes a single battery cell 31, two battery end plates 30, four battery tie rods 28, and several battery protective tubes 32. The single battery cell 31 is arranged between the two battery end plates 30. The four battery tie rods 28 are installed horizontally between the two battery end plates 30, with their ends extending to the outside of the battery end plates 30. Several four battery tie rods 28 are installed outside between the two battery end plates 30. In particular, each pair of adjacent battery cells can share a battery end plate 30.

[0069] The two brackets 29 are respectively fixed on the corresponding two battery pack pull rods 28; the bracket 29 at the bottom is composed of three rods forming an A shape, two of which are respectively fixed on the two battery pack pull rods 28 at the bottom of the load battery 5, and the third rod is connected to the middle of the above two rods, and one of the bearing fixing rods 26 is installed at the bottom end of the above two rods.

[0070] The bracket 1 25 is fixed to the end of the corresponding battery pack tie rod 28 through a nut (the end of the battery pack tie rod 28 has a thread, and the connection with the nut is achieved through the thread).

[0071] The two rods in the second bracket 29 are fixed to the ends of the corresponding battery pack pull rods 28 through nuts.

[0072] The crank-connecting rod mechanism 4 and the load battery 5 are connected by a crossbeam 24 , both ends of which are fixed on the corresponding battery pack pull rods 28 . A connecting rod shaft 23 is provided in the middle of the crossbeam 24 , and a shaft sleeve 22 is rotatably provided on the outer side of the connecting rod shaft 23 , and the shaft sleeve is connected to the connecting rod 21 .

[0073] A spring 33 is installed between the battery pack end plate 30 and the cross beam 24 , and the spring 33 is centered on the corresponding battery pack tie rod 28 .

[0074] The spring 33 can be used to buffer the vibration generated by the movement of the load battery 5 in the pitch adjustment housing 3 .

[0075] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily make changes or substitutions within the technical scope disclosed in the present invention, and all such changes or substitutions fall within the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be subject to the scope of protection of the claims.

Claims

1. A pitch adjustment device for an underwater robot driven by a crank-connecting rod mechanism, characterized in that: It comprises a power unit fixing plate (1), a power unit (2), a pitch adjustment cabin shell (3), a crank-connecting rod mechanism (4) and a load battery (5); the power unit (2) is fixed on the power unit fixing plate (1); The power unit fixing plate (1) is fixedly mounted on one end of the pitch adjustment housing (3); one end of the crank connecting rod mechanism (4) is connected to the output end of the power unit (2), and the other end is fixed to the load battery (5); the load battery (5) is slidably arranged inside the pitch adjustment housing (3); Both ends of the load battery (5) are provided with pulley devices (6), and the load battery (5) is slidably arranged inside the pitch adjustment cabin (3) via the pulley devices (6); The power unit (2) comprises a motor (8), a base (9), a worm wheel (13), a worm (11) and a worm wheel shaft (15); the motor (8) is fixed on the base (9), the output end of the motor (8) is connected to the worm (11), and one end of the worm wheel shaft (15) is rotatably connected to the base (9); the worm wheel (13) is fixedly mounted on the side of the worm wheel shaft (15) and matched with the worm (11), and the worm wheel shaft (15) is connected to the crank-connecting rod mechanism (4); The crank-connecting rod mechanism (4) includes a crank (18) and a connecting rod (21); the crank (18) and the connecting rod (21) are rotatably connected, the crank (18) is rotatably connected to the output end of the worm gear shaft (15), and the connecting rod (21) is rotatably connected to the load battery (5); There is an eccentric distance between the connection between the crank (18) and the power unit (2) and the connection between the connecting rod (21) and the load battery (5); The pulley device (6) includes a bracket 1 (25), a bracket 2 (29) and a bearing fixing rod (26); the bracket 1 (25) is in the shape of a ram's horn, and two brackets 1 (25) are installed on both sides above the end of the load battery (5), and the two bearing fixing rods (26) are fixedly installed on the outside of the corresponding bracket 1 (25), and the bracket 2 (29) is installed below the end of the load battery (5). The cross section of the bracket 2 (29) is A-shaped, and one bearing fixing rod (26) is fixedly installed at the bottom end of the bracket 2 (29). A group of bearings (27) are rotatably provided on the outside of the bracket 1 (25) and the outside of the bracket 2 (29), and the outer ring of the bearing (27) is against the inner wall of the pitch adjustment cabin (3); The load battery (5) includes a plurality of battery units, each of which includes a single battery (31), a battery pack end plate (30), a battery pack tie rod (28) and a plurality of battery protection tubes (32). The single battery (31) is arranged between two battery pack end plates (30). Four battery pack tie rods (28) are horizontally installed between the two battery pack end plates (30), and their ends extend through the outside of the battery pack end plates (30). The plurality of four battery pack tie rods (28) are installed outside between the two battery pack end plates (30).

2. The pitch adjustment device for an underwater robot driven by a crank-connecting rod mechanism according to claim 1, characterized in that: The two second brackets (29) are respectively fixed on the corresponding two battery group pull rods (28); the second bracket (29) located at the bottom is composed of three rods forming an A shape, two of which are respectively fixed on the two battery group pull rods (28) at the bottom of the load battery (5), one of the bearing fixing rods (26) is installed at the bottom ends of the above two rods, and the third rod is connected to the middle of the above two rods.

3. The pitch adjustment device for an underwater robot driven by a crank-connecting rod mechanism according to claim 2, characterized in that: The crank-connecting rod mechanism (4) and the load battery (5) are connected via a crossbeam (24). Both ends of the crossbeam (24) are fixed on corresponding battery pack pull rods (28). The middle of the crossbeam (24) is connected to the connecting rod (21) via a shaft sleeve (22) and a connecting rod shaft (23).

4. The pitch adjustment device for an underwater robot driven by a crank-connecting rod mechanism according to claim 3, characterized in that: A spring (33) is installed between the battery pack end plate (30) and the crossbeam (24).

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