A robot and working method for operating on the surface of a complex underwater structure

Abstract

The present invention belongs to the field of robot technology, and relates to a robot and a working method for operating on the surface of a complex underwater structure, comprising a robot body and two sets of negative pressure adsorption components symmetrically mounted on the lower part of the robot body, the negative pressure adsorption components comprising a frame module, a vertical adjustment module, an angle adjustment module, and an adsorption module, wherein the vertical adjustment module, the angle adjustment module, and the adsorption module are all mounted on the frame module. The angle adjustment module is used to adjust the angle of the adsorption disc, and the position is adjusted to be horizontal, V-shaped, or inverted V-shaped as needed, so as to achieve adaptive and reliable adsorption of concave or convex surfaces of complex structures. The vertical adjustment module is used to adjust the height of the adsorption spacing between the adsorption disc and the surface of the complex structure, so as to adjust the robot's wall obstacle crossing capability and adhesion strength, enhance the adsorption strength and thus improve the load carrying level, thereby increasing the application range of underwater operation robots on non-structural complex walls.

Description

Technical Field

[0001] The present invention belongs to the technical field of robots, and in particular relates to a robot operating on the surface of a complex underwater structure and a working method thereof. Background Art

[0002] A wall climbing robot is an automated robot that can climb and perform tasks on walls. The robot automatically attaches to and crawls on the surface of various equipment platforms, efficiently completing tasks such as reconnaissance, inspection, welding, repair, sandblasting, grinding, and cleaning of the surface of structures, freeing humans from harsh and dangerous environments and having high economic and social benefits.

[0003] Wall-climbing robots can be classified according to the principle of the adsorption mechanism into four types: vacuum adsorption, magnetic adsorption, thrust adsorption and negative pressure adsorption. Among them, magnetic adsorption uses permanent magnets or electromagnetic coil elements to achieve attachment to the surface of the structure, and requires the adsorbed structure to be made of magnetic conductive material. Negative pressure adsorption has certain similarities with vacuum adsorption. It uses devices such as turbofans and fans to form a pressure difference between the inside and outside of high-speed fluids, thereby achieving wall adsorption. This method allows for a certain amount of fluid leakage. Combined with the surface conditions of the structures in the currently known application scenarios, the most mature and effective methods are magnetic adsorption and negative pressure adsorption.

[0004] For robots to operate on complex curved surfaces, such as underwater bridge piers and submarine pipelines, they must be securely attached to the surface and be able to adaptively adjust their height and angle according to the curvature of the surface. Furthermore, they must be able to withstand external disturbances while carrying a load, requiring the robot to possess high adhesion force and the ability to adjust the height and angle of adhesion. Magnetic adsorption is only suitable for magnetic surfaces and has high requirements for surface materials. It is not suitable for building exterior walls, glass curtains, cement pile foundations of offshore platforms, or the walls of bridges and dams, thus having significant application limitations.

[0005] Common negative pressure adsorption solutions include: The utility model patent with application number 202020165565.6 discloses a marine platform bracket cleaning robot, which uses the centrifugal effect generated by the high-speed rotation of the centrifugal impeller of the centrifugal impeller suction cup to form negative pressure, and the magnetic attraction generated by the permanent magnetic track and the drive wheel, so that the robot can be stably adsorbed on the surface of the marine platform pillar. The utility model patent with application number 202023183543.1 discloses a self-stabilizing underwater robot. When the underwater robot is operating underwater, the adsorption mechanism can adjust the adsorption distance at will. The invention patent with application number 202011356092.9 discloses an underwater robot with both swimming and adsorption functions, which can realize three modes: free swimming, adsorption swimming and fixed-point adsorption. The existing negative pressure adsorption solution is based on the Bernoulli negative pressure adsorption principle. It cannot autonomously adjust the height and angle of the negative pressure adsorption flow channel space at any time according to the curvature changes on the surface of complex structures. It is impossible to maintain a high adsorption force on surfaces with different curvatures when the robot operates underwater. On complex non-structural wall surfaces, it is easy for the robot to slip and fall off due to the loss of part or even all of the adsorption force. Summary of the Invention

[0006] The purpose of the present invention is to provide a robot for operating on the surface of complex underwater structures, which can adaptively adjust the adsorption height and adsorption angle to ensure that stable adsorption force can be maintained on the surfaces of complex structures with different curvatures, thereby improving the load-carrying level.

[0007] The technical solution adopted by the present invention to solve its technical problems is: a robot operating on the surface of complex underwater structures, including a robot body and two sets of negative pressure adsorption components symmetrically installed on the lower part of the robot body; the robot body is used to install and fix the various components of the robot, and the negative pressure adsorption components are used to provide the adsorption force required by the robot.

[0008] The robot body includes at least a frame, a float, a propulsion device, and a control device. The float is fixedly installed on the top of the frame. There are multiple propulsion devices, which are respectively installed at the front end, rear end and top of the frame to propel the robot backward, forward and downward. The control device is installed and fixed in the frame, and the propulsion device is electrically connected to the control device.

[0009] Each set of negative pressure adsorption components includes a frame module, a vertical adjustment module, an angle adjustment module, and an adsorption module. The angle adjustment module is installed on the frame module. Several adsorption modules are evenly distributed on the frame module. The angle adjustment module is connected to the adsorption module, and the angle adjustment module can drive the adsorption module to rotate to achieve angle adjustment of the adsorption module. One side of the frame module is slidingly connected with multiple vertical adjustment modules. The vertical adjustment module is fixedly installed on the frame. The vertical adjustment module can drive the frame module to move up and down to achieve vertical displacement adjustment of the adsorption module.

[0010] Furthermore, the frame module includes a main bracket, a motor bracket, a guide bracket, and a sub-bracket. The main bracket is arranged horizontally, the motor bracket and the guide bracket are fixedly connected to one side of the main bracket, and the sub-bracket is fixedly connected to the other side of the main bracket. The motor bracket, the guide bracket, and the sub-bracket are used to connect the support angle adjustment module.

[0011] Furthermore, the vertical adjustment module includes a guide rail bracket, a guide rail motor and a slider. The guide rail bracket is arranged longitudinally, the guide rail bracket is connected and fixed to the frame, a guide rail is longitudinally provided on the guide rail bracket, the slider is slidably connected to the guide rail, the slider is fixed to the frame module, the guide rail motor is electrically connected to the control device to realize power drive, the guide rail motor is fixedly installed on the slider, the output shaft of the guide rail motor is in contact and engagement with the guide rail bracket, and the guide rail motor drives the slider to move vertically along the guide rail bracket, thereby driving the adsorption module connected to the frame module to move vertically.

[0012] Furthermore, the angle adjustment module includes a guide motor, a first horizontal guide module, a second vertical guide module, a conversion mechanism and a synchronization mechanism. The guide motor is electrically connected to the control device. The guide motor is fixedly connected to one side of the main bracket through a motor bracket. The output shaft of the guide motor is connected to one end of the first horizontal guide module. The other end of the first horizontal guide module is hingedly connected to the top of the second vertical guide module. The bottom end of the second vertical guide module is connected to the synchronization mechanism through the conversion mechanism. The synchronization mechanism is fixedly connected to the adsorption module through the bracket. The guide motor drives the first horizontal guide module to move horizontally, and then drives the second vertical guide module to rotate. Through the force transmission and conversion effect of the conversion mechanism, the synchronization mechanism is driven to rotate, and then the adsorption module connected to the synchronization mechanism is driven to rotate, thereby realizing the angle flip adjustment of the adsorption module.

[0013] Furthermore, the first horizontal guide module includes a swing arm, a first guide shaft and a guide bearing, the second vertical guide module includes an upper guide swing arm, a second guide shaft and a lower guide swing arm, and the conversion mechanism includes a first conversion shaft, a conversion disk, a second conversion shaft, a conversion flange and a conversion retaining ring.

[0014] One end of the swing arm is connected to the output shaft of the guide motor, and the other end of the swing arm is hingedly connected to one end of the first guide shaft, the other end of the first guide shaft is hingedly connected to the upper end of the upper guide swing arm, and the lower end of the upper guide swing arm is fixedly connected to the upper end of the lower guide swing arm through the second guide shaft. One end of the first conversion shaft is hingedly connected to the auxiliary bracket, and the end where the first conversion shaft is connected to the auxiliary bracket is provided with a conversion retaining ring, the other end of the first conversion shaft is connected to one side of the conversion disk, the conversion disk is sleeved inside the lower end of the lower guide swing arm, the other side of the conversion disk is connected to one end of the second conversion shaft, the other end of the second conversion shaft passes through the lower guide swing arm and is fixed by a conversion flange, the synchronization mechanism is sleeved on the first conversion shaft, and the synchronization mechanism is fixedly connected to the lower guide swing arm.

[0015] The guide motor drives the swing arm to rotate, and then drives the first guide shaft to move horizontally. Since the first guide shaft is hingedly connected to the upper guide swing arm, it drives the upper guide swing arm to rotate. The upper guide swing arm, the second guide shaft, the lower guide swing arm, and the synchronization mechanism are fixedly connected in sequence, and finally drive the synchronization mechanism to rotate around the first conversion shaft.

[0016] The guide light shaft is slidably connected to the top of the guide bracket by a guide bearing, and the guide shaft front arm and the guide shaft rear arm are both provided with a limit baffle on the upper surfaces of the guide shaft front arm and the guide shaft rear arm at the connection with the guide light shaft, and the other end of the guide shaft rear arm is hingedly connected to the upper end of the upper guide swing arm.

[0017] The guide motor drives the front swing arm to rotate, and then drives the swing arm guide shaft and the rear swing arm to rotate in the same direction. During the rotation, the swing arm guide shaft slides and extends, and the limiting ball head prevents the swing arm guide shaft from falling out of the front swing arm. The rear swing arm pulls the guide shaft front arm, guide light axis, and guide shaft rear arm to move horizontally. The limiting baffle will prevent the guide light axis from excessive displacement, and the guide shaft rear arm pulls the upper guide swing arm to move.

[0018] In another embodiment of the present invention, an electric limit sensor may be selected to replace the limit baffle. The electric limit may adopt a specific structure in the prior art, including but not limited to a potentiometer, a proximity switch, and the like.

[0019] Furthermore, the synchronization mechanism includes a first synchronization L bracket, a second synchronization L bracket, a synchronization cross bar, a synchronization end shaft, a synchronization end shaft fixing seat, and a synchronization connecting shaft. The bottom of the first synchronization L bracket is fixedly connected to the adsorption module, the upper side wall of the first synchronization L bracket is sleeved on the first conversion shaft, and the upper side wall of the first synchronization L bracket is fixed to the lower guide swing arm through a synchronization connecting shaft. The upper side wall of the first synchronization L bracket is fixedly connected to the synchronization cross bar, and multiple groups of synchronization cross bars are arranged in parallel. The two ends of the synchronization cross bar are respectively fixedly connected to the upper side wall of the second synchronization L bracket, and the second synchronization L bracket is divided into two sets of left and right sets, which are symmetrically arranged relative to the main bracket. The upper side wall of the second synchronization L bracket is hingedly connected to the synchronization end shaft fixing seat through the synchronization end shaft. A synchronization end shaft retaining ring is provided at the connection between the synchronization end shaft and the upper side wall of the second synchronization L bracket, and a synchronization end shaft flange is provided at the connection between the synchronization end shaft and the synchronization end shaft fixing seat. The synchronization end shaft fixing seat is fixedly connected to the lower end face of the end of the main bracket. Similar to the first synchronous L bracket, the bottom end surfaces of the second synchronous L bracket are fixedly connected to their corresponding adsorption modules, and the number of adsorption modules is consistent with the number of L brackets.

[0020] Furthermore, the adsorption module includes an underwater motor and a guide tube, the bottom periphery of the guide tube is connected to an adsorption disk, the outer wall of the guide tube is connected and fixed to the bottom of the first synchronous L bracket and the second synchronous L bracket, a propeller is provided in the guide tube, the propeller is connected to the output shaft of the underwater motor, the underwater motor is installed on the top of the guide tube, and the underwater motor is electrically connected to the control device to realize power drive.

[0021] Furthermore, a motion mechanism is provided at the bottom of the robot body, and the motion mechanism includes at least a gear train, which is fixed to the bottom of the frame and is used to enable the robot to crawl on the underwater wall.

[0022] Furthermore, the robot of the present invention can also carry working tools, which are installed on the robot body. Different working tools can be installed according to needs.

[0023] Another object of the present invention is to provide a method for operating a robot on the surface of a complex underwater structure, including a method for adjusting the robot's adaptive and reliable adsorption of the complex underwater structure surface, the specific steps of which are as follows:

[0024] 1) The control device controls the guide rail motor to rotate in the forward direction. The guide rail motor drives the guide rail bracket to rise, thereby driving the adsorption module on the frame module connected to the slider to descend, thereby reducing the height of the distance between the adsorption disc and the surface of the complex structure;

[0025] 2) The control device controls the guide rail motor to rotate in the reverse direction, and step 1) is performed in reverse, thereby increasing the height between the adsorption plate and the surface of the complex structure. In this state, the robot's adhesion and mobility performance on uneven surfaces such as protrusions and curvatures can also be improved by increasing the height of the adsorption plate relative to the wall.

[0026] 3) The control device controls the guide motor to rotate forward, driving the front swing arm to rotate counterclockwise, and then driving the swing arm guide shaft and the rear swing arm to rotate counterclockwise. During the rotation, the swing arm guide shaft slides inside the front swing arm, and the rear swing arm pulls the guide shaft front arm, the guide optical axis, and the guide shaft rear arm to move horizontally in the direction close to the swing arm. The guide shaft rear arm pulls the top end of the second vertical guide module to move in the direction close to the swing arm, and the bottom end of the second vertical guide module rotates counterclockwise upward, thereby driving the first synchronous L bracket to rotate counterclockwise upward around the first conversion axis, and then driving the adsorption module to rotate counterclockwise upward to achieve angle adjustment of the adsorption disc; when the guide motors on the two sets of negative pressure adsorption components are controlled to adjust synchronously in the opposite direction, the two sets of negative pressure adsorption components are adjusted at the same time, and the two sets of adsorption discs are in a V-shaped posture, thereby achieving adaptive adjustment of adsorption for concave surfaces of complex structures;

[0027] 4) The control device controls the guide motor to rotate in the opposite direction, driving the front swing arm to rotate in the clockwise direction, thereby driving the swing arm guide shaft and the rear swing arm to rotate in the clockwise direction. During the rotation process, the swing arm guide shaft slides in the front swing arm, and the rear swing arm pushes the guide shaft front arm, the guide optical axis, and the guide shaft rear arm to move horizontally in the direction away from the swing arm. The limit baffle prevents excessive movement, and the guide shaft rear arm pushes the top of the second vertical guide module to move in the direction away from the swing arm, and the bottom end of the second vertical guide module rotates clockwise. The lower guide swing arm of the second vertical guide module is fixedly connected to the first synchronous L bracket, and the first synchronous L bracket is fixedly connected to the adsorption module, so that it can drive the first synchronous L bracket to rotate clockwise around the first conversion axis, thereby driving the adsorption module to rotate downward clockwise to achieve angle adjustment of the adsorption disc; when the guide motors on the two sets of negative pressure adsorption components are controlled to adjust synchronously in the opposite direction, the two sets of negative pressure adsorption components are adjusted in the opposite direction with the horizontal angle at the same time, and the two sets of adsorption discs are in an inverted V-shaped posture, thereby achieving adaptive adsorption of complex structures with convex surfaces;

[0028] 5) The control device controls the guide motors in the two sets of negative pressure adsorption components to rotate in the same direction. Through the power transmission process in the above steps, the two sets of adsorption discs can eventually be adjusted synchronously with the horizontal angle, thereby achieving a stable adhesion to a certain specific wall structure.

[0029] The present invention has the following beneficial effects: The robot of the present invention, which operates on the surface of a complex underwater structure, can adjust the angle of the adsorption disc through an angle adjustment module, and can be adjusted to a horizontal, V-shaped, inverted V-shaped, or even other specific position configurations as needed, thereby achieving adaptive and reliable adsorption of complex structural surfaces with flat surfaces, rough surfaces, concave surfaces, convex surfaces, or even specific wall structures. The vertical adjustment module can be used to adjust the height of the adsorption spacing between the adsorption disc and the surface of the complex structure, and the spacing between the adsorption disc and the wall can be adjusted to change the robot's obstacle crossing performance, adapting to wall environments with protrusions, depressions, curvatures, and cracks. The robot of the present invention can perform adaptive adjustment of the adsorption height and adsorption angle to ensure that a stable adsorption force can be maintained on the surfaces of complex structures of different structures and non-structures, and is no longer limited by the material of the structure surface, thereby improving the application range and load-carrying capacity of the underwater operation robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is a schematic diagram of the overall three-dimensional structure of the robot of the present invention operating on the surface of a complex underwater structure.

[0031] Figure 2 It is a left-side structural schematic diagram of the robot of the present invention.

[0032] Figure 3 It is a schematic diagram of the top view of the robot of the present invention.

[0033] Figure 4 It is a schematic diagram of the structure of the robot of the present invention when viewed from above.

[0034] Figure 5 It is a schematic diagram of the overall three-dimensional structure of a single group of negative pressure adsorption components of the present invention.

[0035] Figure 6 yes Figure 5 A magnified view of the local structure at point A.

[0036] Figure 7 yes Figure 5 Enlarged view of the local structure at point B in the middle.

[0037] Figure 8 It is a schematic diagram of the main structure of the negative pressure adsorption component of the present invention.

[0038] Figure 9 It is a left-side structural schematic diagram of the negative pressure adsorption component of the present invention.

[0039] Figure 10 It is a right side structural schematic diagram of the negative pressure adsorption component of the present invention.

[0040] Figure 11 It is a rear structural schematic diagram of the negative pressure adsorption component of the present invention.

[0041] Figure 12 It is a schematic diagram of the top structure of the negative pressure adsorption component of the present invention.

[0042] Figure 13 yes Figure 12 Enlarged view of the local structure at point C in the middle.

[0043] Figure 14 yes Figure 12 Enlarged view of the local structure at point D in the middle.

[0044] Figure 15 It is a schematic diagram of the structure of the negative pressure adsorption component of the present invention when viewed from above.

[0045] Figure 16 It is a schematic diagram of the left oblique effect of the adsorption module of the negative pressure adsorption component of the present invention.

[0046] Figure 17 It is a schematic diagram of the right-slanted effect of the adsorption module of the negative pressure adsorption component of the present invention.

[0047] Figure 18 It is a schematic diagram of the downward adjustment effect of the adsorption module of the negative pressure adsorption component of the present invention.

[0048] Figure 19 It is a schematic diagram of the rising adjustment effect of the adsorption module of the negative pressure adsorption component of the present invention.

[0049] Figure 20 It is a schematic diagram of the overall effect of the robot adsorption module of the present invention when it is adjusted upward.

[0050] Figure 21 It is a schematic diagram of the overall effect of the robot adsorption module of the present invention when it is lowered and adjusted.

[0051] Figure 22 It is a schematic diagram of the effect of the robot adsorbing the disc into an inverted V shape.

[0052] Figure 23 It is a schematic diagram of the effect of the robot of the present invention sucking the disc into a V shape.

[0053] In the figure, 1, robot body, 11, frame, 12, floating body, 13, propulsion device, 14, control device, 15 motion mechanism, 2, negative pressure adsorption component, 21, frame module, 22, vertical adjustment module, 23, angle adjustment module, 24, adsorption module, 211, main bracket, 212, motor bracket, 213, guide bracket, 214, auxiliary bracket, 221, guide rail bracket, 222, guide rail motor, 223, slider, 231, guide motor, 232, first horizontal guide module, 233, second vertical guide module, 234, conversion mechanism, 235, synchronization mechanism, 2321, swing arm, 2322, first guide shaft, 2323, guide bearing, 2321A, front swing arm, 2321B, rear swing arm, 2321C, swing arm guide shaft, 23 21D, limit ball head, 2322A, guide shaft front arm, 2322B, guide light shaft, 2322C, limit baffle, 2322D, guide shaft rear arm, 2331, upper guide swing arm, 2332, second guide shaft, 2333, lower guide swing arm, 2341, first conversion shaft, 2342, conversion disk, 2343, second conversion shaft, 2344, conversion flange, 2345, conversion retaining ring, 2351, first synchronous L bracket, 2352, second synchronous L bracket, 2353, synchronous cross bar, 2354, synchronous end shaft, 2355, synchronous end shaft flange, 2356, synchronous end shaft retaining ring, 2357, synchronous end shaft fixing seat, 2358, synchronous connecting shaft, 241, adsorption disk, 242, guide tube, 243, propeller, 244, underwater motor. DETAILED DESCRIPTION

[0054] The following are specific embodiments of the present invention to further describe the technical solution of the present invention, but the scope of protection of the present invention is not limited to these embodiments. Any changes or equivalent substitutions that do not deviate from the concept of the present invention are included in the scope of protection of the present invention.

[0055] like Figure 1-4As shown, a robot for operating on the surface of complex underwater structures includes a robot body 1 and two sets of negative pressure adsorption components 2 symmetrically mounted below the robot body 1. The robot body 1 is used to mount and secure various components of the robot, and the negative pressure adsorption components 2 are used to provide the required adsorption force for the robot. The robot body 1 includes at least a frame 11, a float 12, a propulsion device 13, and a control device 14. The frame 11 is open-frame to facilitate fluid flow. The float 12 is fixedly mounted on the top of the frame 11 and is used to generate buoyancy for the robot body 1 in the water. There are multiple propulsion devices 13, mounted at the front, rear, and top of the frame 11. The propulsion devices 13 at the front and rear ends of the frame 11 are horizontal propulsion devices, while the propulsion device 13 at the top of the frame 11 is a vertical propulsion device used to propel the robot backward, forward, and downward. The propulsion devices 13 can be propeller-type propulsion devices. The control device 14 is fixed within the frame 11 and is electrically connected to the propulsion device 13.

[0056] The robot's main body 1 is equipped with a motion mechanism 15 at its base. This mechanism comprises at least a gear train, which is fixed to the bottom of the frame 11 and is used to enable the robot to move across complex underwater structures. A control device 14 controls the front, rear, or top propulsion devices 13 as needed, pushing the robot's gear train backward or forward, or propelling the robot toward the surface of a structure.

[0057] The robot of the present invention may further include a working tool, which is installed on the robot body 1 , and different working tools may be installed as needed.

[0058] like Figure 5 、 15 As shown, each group of negative pressure adsorption components 2 includes a frame module 21, a vertical adjustment module 22, an angle adjustment module 23, and an adsorption module 24. The angle adjustment module 23 is installed on the frame module 21. Several adsorption modules 24 are evenly distributed on the frame module 21. The angle adjustment module 23 is connected to the adsorption module 24, and the angle adjustment module 23 can drive the adsorption module 24 to rotate to achieve angle adjustment of the adsorption module 24. One side of the frame module 21 is slidably connected with multiple vertical adjustment modules 22. The vertical adjustment module 22 is fixedly installed on the frame 11. The vertical adjustment module 22 can drive the frame module 21 to move up and down to achieve vertical displacement adjustment of the adsorption module 24.

[0059] like Figure 7 、 Figure 9As shown, the frame module 21 includes a main bracket 211, a motor bracket 212, a guide bracket 213, and a sub-bracket 214. The main bracket 211 is arranged horizontally, the motor bracket 212 and the guide bracket 213 are fixedly connected to one side of the main bracket 211, and the sub-bracket 214 is fixedly connected to the other side of the main bracket 211. The motor bracket 212, the guide bracket 213, and the sub-bracket 214 are used to connect the support angle adjustment module 23.

[0060] like Figure 8-10 As shown, the vertical adjustment module 22 includes a guide rail bracket 221, a guide rail motor 222 and a slider 223. The guide rail bracket 221 is longitudinally arranged, and the guide rail bracket 221 is fixedly connected to the frame 11. A guide rail is longitudinally provided on the guide rail bracket 221. The slider 223 is slidably connected with the guide rail. The slider 223 is fixed on the frame module 21. The guide rail motor 222 is electrically connected to the control device 14 to realize power drive. The guide rail motor 222 is fixedly installed on the slider 223. The output shaft of the guide rail motor 222 is in contact and engagement with the guide rail bracket 221. The guide rail motor 22 drives the slider 223 to move vertically along the guide rail bracket 221, thereby driving the adsorption module 24 connected to the frame module 21 to move vertically.

[0061] In one embodiment of the present invention, the output shaft of the guide rail motor 222 is meshed with the guide rail bracket 221 through a gear rack. A driving gear is sleeved on the output shaft of the guide rail motor 222, and a driven rack is vertically provided on the guide rail bracket 221. The driving gear is meshed with the driven rack. The output shaft of the guide rail motor 222 drives the driving gear to rotate, and the vertical movement of the guide rail bracket 221 is realized through the meshing transmission effect of the driving gear and the driven rack. Since the guide rail bracket 221 is fixedly connected to the frame 11, the slider 223 is vertically moved relative to the guide rail bracket 221 along the guide rail on the guide rail bracket 221.

[0062] As another embodiment, in addition to the gear-rack drive solution described in the present invention, the vertical adjustment module 22 may also adopt technical solutions including but not limited to ball screw slides, cylinders, synchronous belt slides, etc. to achieve the same effect.

[0063] like Figure 10-12As shown, the angle adjustment module 23 includes a guide motor 231, a first horizontal guide module 232, a second vertical guide module 233, a conversion mechanism 234 and a synchronization mechanism 235. The guide motor 231 is electrically connected to the control device 14. The guide motor 231 is fixedly connected to one side of the main bracket 211 through the motor bracket 212. The output shaft of the guide motor 231 is connected to one end of the first horizontal guide module 232, and the other end of the first horizontal guide module 232 is hingedly connected to the top of the second vertical guide module 233. The bottom end of the second vertical guide module 233 is connected to the synchronization mechanism 235 through the conversion mechanism 234. The synchronization mechanism 235 is fixedly connected to the adsorption module 24 through the bracket. The guide motor 231 drives the first horizontal guide module 232 to move horizontally, and then drives the second vertical guide module 233 to rotate. Through the force transmission and conversion effect of the conversion mechanism 234, the synchronization mechanism 235 is driven to rotate, and then the adsorption module 24 connected to the synchronization mechanism 235 is driven to rotate, thereby realizing the angle flip adjustment of the adsorption module 24.

[0064] like Figure 6-14 As shown, the first horizontal guide module 232 includes a swing arm 2321, a first guide shaft 2322 and a guide bearing 2323, the second vertical guide module 233 includes an upper guide swing arm 2331, a second guide shaft 2332 and a lower guide swing arm 2333, and the conversion mechanism 234 includes a first conversion shaft 2341, a conversion disk 2342, a second conversion shaft 2343, a conversion flange 2344, and a conversion retaining ring 2345.

[0065] One end of the swing arm 2321 is connected to the output shaft of the guide motor 231, and the other end of the swing arm 2321 is hingedly connected to one end of the first guide shaft 2322. The other end of the first guide shaft 2322 is hingedly connected to the upper end of the upper guide swing arm 2331. The lower end of the upper guide swing arm 2331 is fixedly connected to the upper end of the lower guide swing arm 2333 through the second guide shaft 2332. One end of the first conversion shaft 2341 is hingedly connected to the auxiliary bracket 214. The end where the first conversion shaft 2341 is connected to the auxiliary bracket 214 is provided with a conversion shaft. The retaining ring 2345, the other end of the first conversion shaft 2341 is connected to one side of the conversion disk 2342, the conversion disk 2342 is sleeved inside the lower end of the lower guide swing arm 2333, the other side of the conversion disk 2342 is connected to one end of the second conversion shaft 2343, the other end of the second conversion shaft 2343 passes through the lower guide swing arm 2333 and is connected and fixed by the conversion flange 2344, the synchronization mechanism 235 is sleeved on the first conversion shaft 2341, and the synchronization mechanism 235 is fixedly connected to the lower guide swing arm 2333.

[0066] The guide motor 231 drives the swing arm 2321 to rotate, and then drives the first guide shaft 2322 to move horizontally. Since the first guide shaft 2322 is hingedly connected to the upper guide swing arm 2331, it drives the upper guide swing arm 2331 to rotate. The upper guide swing arm 2331, the second guide shaft 2332, the lower guide swing arm 2333, and the synchronization mechanism 235 are fixedly connected in sequence, and finally drive the synchronization mechanism 235 to rotate around the first conversion shaft 2341.

[0067] like Figure 6 、 7 As shown, the swing arm 2321 includes a front swing arm 2321A, a rear swing arm 2321B, a swing arm guide shaft 2321C, and a limiting ball head 2321D, and the first guide shaft 2322 includes a guide shaft front arm 2322A, a guide light axis 2322B, a limiting baffle 2322C, and a guide shaft rear arm 2322D. One end of the front swing arm 2321A is connected to the output shaft of the guide motor 231, and the other end of the front swing arm 2321A is connected to one end of the rear swing arm 2321B through the swing arm guide shaft 2321C. The swing arm guide shaft 2321C is slidably connected to the front swing arm 2321A, and a sliding groove is provided on the front swing arm 2321A. The end of the swing arm guide shaft 2321C is located in the sliding groove and the end of the swing arm guide shaft 2321C is provided with a limiting ball head 2321D to prevent the swing arm guide shaft 2321C from falling out. The swing arm guide shaft 2321C is fixedly connected to the rear swing arm 2321B, and the rear swing arm The other end of 2321B is hingedly connected to one end of the guide shaft front arm 2322A, and the other end of the guide shaft front arm 2322A is connected to one end of the guide shaft rear arm 2322D through the guide light axis 2322B. The guide light axis 2322B is slidingly connected to the top of the guide bracket 213 through the guide bearing 2323. A limit baffle 2322C is provided on the upper surface of the guide shaft front arm 2322A and the guide shaft rear arm 2322D at the connection with the guide light axis 2322B. The other end of the guide shaft rear arm 2322D is hingedly connected to the upper end of the upper guide swing arm 2331.

[0068] The guide motor 231 drives the front swing arm 2321A to rotate, and then drives the swing arm guide shaft 2321C and the rear swing arm 2321B to rotate in the same direction. During the rotation, the swing arm guide shaft 2321C slides and extends, and the limiting ball head 2321D prevents the swing arm guide shaft 2321C from escaping from the front swing arm 2321A. The rear swing arm 2321B pulls the guide shaft front arm 2322A, the guide light axis 2322B, and the guide shaft rear arm 2322D to move horizontally. The limiting baffle 2322C prevents the guide light axis 2322B from excessive displacement, and the guide shaft rear arm 2322D pulls the upper guide swing arm 2331 to move.

[0069] In another embodiment of the present invention, an electric limit sensor may be selected to replace the limit baffle 2322C. The electric limit may adopt a specific structure in the prior art, including but not limited to a potentiometer, a proximity switch, etc.

[0070] like Figure 11-14 As shown, the synchronization mechanism 235 includes a first synchronization L bracket 2351, a second synchronization L bracket 2352, a synchronization cross bar 2353, a synchronization end shaft 2354, a synchronization end shaft fixing seat 2357, and a synchronization connecting shaft 2358. The bottom of the first synchronization L bracket 2351 is fixedly connected to the adsorption module 24, the upper side wall of the first synchronization L bracket 2351 is sleeved on the first conversion shaft 2341, and the upper side wall of the first synchronization L bracket 2351 is connected and fixed to the lower guide swing arm 2333 through the synchronization connecting shaft 2358. The upper side wall of the first synchronization L bracket 2351 is fixedly connected to the synchronization cross bar 2353, and the synchronization cross bar 2353 is provided with multiple parallel The two ends of the synchronization crossbar 2353 are respectively fixedly connected to the upper side walls of the second synchronization L bracket 2352. The second synchronization L bracket 2352 is divided into two sets, which are arranged symmetrically with respect to the main bracket 211. The upper side wall of the second synchronization L bracket 2352 is hingedly connected to the synchronization end shaft 2354 and the synchronization end shaft fixing seat 2357. The connection between the synchronization end shaft 2354 and the upper side wall of the second synchronization L bracket 2352 is provided with a synchronization end shaft retaining ring 2356. The connection between the synchronization end shaft 2354 and the synchronization end shaft fixing seat 2357 is provided with a synchronization end shaft flange 2355. The synchronization end shaft fixing seat 2357 is fixedly connected to the lower end surface of the end of the main bracket 211. Similar to the first synchronization L bracket 2351, the bottom end surface of the second synchronization L bracket 2352 is respectively fixedly connected to its corresponding adsorption module 24, and the number of adsorption modules 24 is the same as the number of L brackets.

[0071] The lower guide swing arm 2333 drives the first synchronous L bracket 2351 to rotate around the first conversion axis 2341. The first synchronous L bracket 2351 and the second synchronous L bracket 2352 are connected and fixed by the synchronous cross bar 2353. The second synchronous L bracket 2352 is hingedly connected to the synchronous end shaft fixing seat 2357 through the synchronous end shaft 2354, and then drives the second synchronous L bracket 2352 to rotate synchronously around the synchronous end shaft 2354 through the synchronous cross bar 2353. The first synchronous L bracket 2351 and the second synchronous L bracket 2352 are both connected and fixed to the adsorption module 24, so they can drive all the adsorption modules 24 on the first synchronous L bracket 2351 and the second synchronous L bracket 2352 to rotate synchronously to achieve consistent angle adjustment.

[0072] In this embodiment of the present invention, each negative pressure adsorption assembly 2 is equipped with three adsorption modules 24. Accordingly, there is one first synchronous L-shaped bracket 2351 located in the middle of the synchronous crossbar 2353, and two second synchronous L-shaped brackets 2352 are provided, one at each end of the synchronous crossbar 2353. When there are n adsorption modules 24, there is one first synchronous L-shaped bracket 2351 and n-1 second synchronous L-shaped brackets 2352. The first synchronous L-shaped bracket 2351 is located near the middle of the synchronous crossbar 2353, while the second synchronous L-shaped brackets 2352 are evenly distributed.

[0073] As another embodiment, the number N of the second synchronous L brackets 2352 is greater than or equal to 1.

[0074] Preferably, in order to reasonably configure the number of adsorption modules 24, the number N of the second synchronous L brackets 2352 can be an even number.

[0075] like Figure 10 As shown, the adsorption module 24 includes an underwater motor 244 and a guide tube 242. An adsorption disc 241 is connected to the outer periphery of the bottom of the guide tube 242. The outer wall of the guide tube 242 is fixedly connected to the bottom of the first synchronous L-shaped bracket 2351 and the second synchronous L-shaped bracket 2352. A propeller 243 is installed in the guide tube 242 and connected to the output shaft of the underwater motor 244. The underwater motor 244 is mounted on the top of the guide tube 242 and is electrically connected to the control device 14 to achieve power drive. The control device 14 controls the operation of the underwater motor 244, which drives the propeller 243 to drive the fluid from the bottom adsorption disc 241 through the guide tube 242 to the top, generating a negative pressure adsorption force based on the Bernoulli effect.

[0076] The specific adsorption principle is as follows:

[0077] 1) The underwater motor 244 rotates, driving the propeller 243 to rotate. The propeller 243 drives the fluid to flow. The fluid flows into the flow channel between the adsorption disc 241 and the surface of the structure, enters the guide tube 242 and flows toward the top.

[0078] 2) According to the law of conservation of fluid mass, the cross-sectional area of ​​the flow channel between the adsorption disc 241 and the surface of the structure is large near the outer edge of the adsorption disc 241, and the flow velocity is slow; while the cross-sectional area of ​​the flow channel near the center of the adsorption disc is small, and the flow velocity is fast. Therefore, the flow velocity of the fluid in the flow channel gap between the adsorption disc and the surface of the structure is faster than the flow velocity of the fluid outside the robot body 1;

[0079] 3) According to Bernoulli's equation: It is known that the pressure is low where the flow rate is high, and the pressure is high where the flow rate is low. Therefore, the fluid pressure inside the flow channel between the adsorption disc 241 and the surface of the structure is lower than that outside. As a result, the fluid pressure squeezes the adsorption disc 241 onto the surface of the structure, and the robot realizes the negative pressure adsorption function.

[0080] Furthermore, a motion mechanism 15 is provided at the bottom of the robot body 1. The motion mechanism 15 at least includes a gear train, which is fixed to the bottom of the frame 11 and is used to enable the robot to crawl on the underwater wall.

[0081] Furthermore, the robot of the present invention can also carry working tools, which are installed on the robot body 1. Different working tools can be installed according to needs.

[0082] A method for operating a robot on the surface of a complex underwater structure includes adjusting the robot's adaptive and reliable adsorption of the complex underwater structure surface. The specific steps are as follows:

[0083] 1) The control device 14 controls the guide rail motor 222 to rotate forward, and the guide rail motor 222 drives the guide rail bracket 221 to rise. Since the guide rail bracket 221 is fixedly connected to the frame 11, the slider 223 is driven to descend relative to the guide rail bracket 221. Figure 18 As shown, the adsorption module 24 on the frame module 21 connected to the slider 223 is driven to descend, as shown in FIG. Figure 21 As shown, the distance between the adsorption disk 241 and the surface of the complex structure is reduced;

[0084] 2) The control device 14 controls the guide rail motor 222 to rotate in the reverse direction, and step 1) is implemented in reverse, such as Figure 19 As shown, the slider 223 is driven to rise relative to the guide rail bracket 221, as shown in FIG. Figure 20 As shown, the distance between the adsorption plate 241 and the surface of the complex structure is increased; in this state, the robot's adhesion and mobility performance on uneven surfaces such as protrusions and curvatures can be improved by increasing the height of the adsorption plate 241 relative to the wall.

[0085] 3) The control device 14 controls the guide motor 231 to rotate forward, driving the front swing arm 2321A to rotate counterclockwise, thereby driving the swing arm guide shaft 2321C and the rear swing arm 2321B to rotate counterclockwise. During the rotation, the swing arm guide shaft 2321C slides in the front swing arm 2321A, and the rear swing arm 2321B pulls the guide shaft front arm 2322A, the guide optical axis 2322B, and the guide shaft rear arm 2322D to move horizontally toward the swing arm 2321. The guide shaft rear arm 2322D pulls the top end of the second vertical guide module 233 to move toward the swing arm 2321, and the bottom end of the second vertical guide module 233 rotates counterclockwise upward, thereby driving the first synchronous L bracket 2351 to rotate counterclockwise upward around the first conversion shaft 2341, thereby driving the adsorption module 24 to rotate counterclockwise upward, as shown in FIG. Figure 16 As shown, the angle adjustment of the adsorption disc 241 is achieved; when the guide motor 231 on the two sets of negative pressure adsorption components 2 is controlled to adjust synchronously in the opposite direction, the two sets of negative pressure adsorption components 2 are adjusted at the same time, and the two sets of adsorption discs 241 are in a V-shaped posture, as shown Figure 23 As shown, the adaptive adjustment adsorption of the concave surface of the complex structure is achieved;

[0086] 4) The control device 14 controls the guide motor 231 to rotate in the opposite direction, driving the front swing arm 2321A to rotate in the clockwise direction, thereby driving the swing arm guide shaft 2321C and the rear swing arm 2321B to rotate in the clockwise direction. During the rotation, the swing arm guide shaft 2321C slides inside the front swing arm 2321A, and the rear swing arm 2321B pushes the guide shaft front arm 2322A, the guide optical axis 2322B, and the guide shaft rear arm 2322D to move horizontally away from the swing arm 2321. The limit baffle 2322C prevents excessive movement. , the guide shaft rear arm 2322D pushes the top end of the second vertical guide module 233 to move away from the swing arm 2321, and the bottom end of the second vertical guide module 233 rotates clockwise. The lower guide swing arm 2333 of the second vertical guide module 233 is fixedly connected to the first synchronous L bracket 2351, and the first synchronous L bracket 2351 is fixedly connected to the adsorption module 24. Therefore, it can drive the first synchronous L bracket 2351 to rotate clockwise around the first conversion shaft 2341, thereby driving the adsorption module 24 to rotate clockwise downward, as shown in FIG. Figure 17 As shown, the angle adjustment of the adsorption disc 241 is achieved; when the guide motors 231 on the two sets of negative pressure adsorption components 2 are controlled to adjust synchronously in the opposite direction, the two sets of negative pressure adsorption components 2 are adjusted in the opposite direction with the horizontal angle at the same time, and the two sets of adsorption discs 241 are in an inverted V-shaped posture, as shown Figure 22 As shown, adaptive adsorption is achieved on the convex surface of complex structures;

[0087] 5) The control device 14 controls the guide motors 231 in the two groups of negative pressure adsorption components 2 to rotate in the same direction. Through the power transmission process in the above steps, the two groups of adsorption discs 241 can eventually be adjusted synchronously with the horizontal angle, thereby achieving a stable adhesion to a certain specific wall structure.

[0088] As another embodiment, when the robot is adsorbed on a wall, the vertical thruster in the propulsion device 13 can provide a specific thrust to assist the robot in adsorbing on the wall, thereby increasing the robot's adhesion strength and thus improving its load-carrying capacity.

[0089] As a preferred embodiment, when the robot enters the water to hover for observation or operation, in addition to the propulsion device 13 providing thrust for hovering or underwater movement, the propeller 243 in the present invention can also provide vector thrust of a specific intensity. The specific steps are as follows:

[0090] 1) When the adsorption disc 241 is horizontal and parallel to the robot frame 11, the underwater motor 244 rotates forward or reverse, and the two sets of negative pressure adsorption components 2 provide vertical upward or downward thrust;

[0091] 2) Changing the speed or direction of the underwater motor 244 corresponding to any set of adsorption discs 241 can provide the robot with the thrust required for rolling posture adjustment;

[0092] 3) Adjusting the angle of the guide motor 231 and controlling the pointing angle of any set of adsorption discs 241 and guide tubes 242 can provide the robot with the thrust component required for posture adjustment such as left and right lateral movement.

[0093] As one of the embodiments of the present invention, the motion mechanism 15 may be a passive wheel structure, and the robot can slide on the wall through the mechanism through the thrust effect of the horizontal propeller in the propulsion device 13 of the present invention.

[0094] As another embodiment, the motion mechanism 15 can be an active drive wheel structure or an active wheel-passive wheel composite structure. The motion mechanism 15 is electrically connected to the control device 14, and the wheel system is rotated through the power source of the active drive wheel structure to drive the robot to crawl on the wall.

[0095] The present invention is not limited to the above-mentioned embodiments. Anyone should be aware that any structural changes made under the guidance of the present invention, and any technical solutions that are the same or similar to those of the present invention, fall within the scope of protection of the present invention.

[0096] The technology, shape, and structure not described in detail in the present invention are all well-known technologies.

Claims

1. A robot for operating on the surface of a complex underwater structure, characterized in that: It includes a robot body and two sets of negative pressure adsorption components symmetrically installed on the lower part of the robot body; the robot body is used to install and fix the various components of the robot, and the negative pressure adsorption components are used to provide the adsorption force required by the robot; The robot body at least includes a frame, a float, a propulsion device, and a control device. The float is fixedly mounted on the top of the frame. There are multiple propulsion devices, which are respectively mounted on the front end, rear end, and top of the frame to propel the robot backward, forward, and downward. The control device is fixedly mounted on the frame, and the propulsion device is electrically connected to the control device. Each set of negative pressure adsorption components includes a frame module, a vertical adjustment module, an angle adjustment module, and an adsorption module. The angle adjustment module is installed on the frame module. Several adsorption modules are evenly distributed on the frame module. The angle adjustment module is connected to the adsorption module, and the angle adjustment module can drive the adsorption module to rotate to achieve angle adjustment of the adsorption module. One side of the frame module is slidably connected with multiple vertical adjustment modules. The vertical adjustment module is fixedly installed on the frame. The vertical adjustment module can drive the frame module to move up and down to achieve vertical displacement adjustment of the adsorption module. The angle adjustment module includes a guide motor, a first horizontal guide module, a second vertical guide module, a conversion mechanism and a synchronization mechanism. The guide motor is electrically connected to the control device. The guide motor is fixedly connected to one side of the main bracket through a motor bracket. The output shaft of the guide motor is connected to one end of the first horizontal guide module, and the other end of the first horizontal guide module is hingedly connected to the top of the second vertical guide module. The bottom end of the second vertical guide module is connected to the synchronization mechanism through the conversion mechanism. The synchronization mechanism is fixedly connected to the adsorption module through the bracket. The guide motor drives the first horizontal guide module to move horizontally, and then drives the second vertical guide module to rotate. Through the force transmission and conversion effect of the conversion mechanism, the synchronization mechanism is driven to rotate, and then the adsorption module connected to the synchronization mechanism is driven to rotate, thereby realizing the angle flip adjustment of the adsorption module; The first horizontal guide module includes a swing arm, a first guide shaft and a guide bearing, the second vertical guide module includes an upper guide swing arm, a second guide shaft and a lower guide swing arm, and the conversion mechanism includes a first conversion shaft, a conversion disk, a second conversion shaft, a conversion flange and a conversion retaining ring; One end of the swing arm is connected to the output shaft of the guide motor, and the other end of the swing arm is hingedly connected to one end of the first guide shaft, and the other end of the first guide shaft is hingedly connected to the upper end of the upper guide swing arm, and the lower end of the upper guide swing arm is fixedly connected to the upper end of the lower guide swing arm through the second guide shaft, one end of the first conversion shaft is hingedly connected to the auxiliary bracket, and a conversion retaining ring is provided at the end where the first conversion shaft is connected to the auxiliary bracket, and the other end of the first conversion shaft is connected to one side of the conversion disk, and the conversion disk is sleeved inside the lower end of the lower guide swing arm, and the other side of the conversion disk is connected to one end of the second conversion shaft, and the other end of the second conversion shaft passes through the lower guide swing arm and is fixed by a conversion flange, and a synchronization mechanism is sleeved on the first conversion shaft, and the synchronization mechanism is fixedly connected to the lower guide swing arm; The guide motor drives the swing arm to rotate, thereby driving the first guide shaft to move horizontally. Since the first guide shaft is hingedly connected to the upper guide swing arm, the upper guide swing arm is driven to rotate. The upper guide swing arm, the second guide shaft, the lower guide swing arm, and the synchronization mechanism are fixedly connected in sequence, and finally the synchronization mechanism is driven to rotate around the first conversion axis. The first guide shaft comprises a front guide arm, a rear guide arm, a guide light shaft, a limit baffle, and a rear guide arm of the guide shaft; one end of the front guide arm is connected to the output shaft of the guide motor through the swing arm guide shaft and one end of the rear guide arm. The swing arm guide shaft is slidably connected to the front guide arm by the swing arm guide shaft. The end of the swing arm guide shaft is located in the slide groove, and the end of the swing arm guide shaft is provided with a limit ball head to prevent the swing arm guide shaft from falling out of the swing arm guide shaft. The other end of the swing arm guide shaft is fixedly connected to one end of the guide shaft front arm through the guide light shaft The guide motor drives the front swing arm to rotate, and then drives the swing arm guide shaft and the rear swing arm to rotate in the same direction. During the rotation, the swing arm guide shaft slides and retracts, and the limiting ball head prevents the swing arm guide shaft from falling out of the front swing arm. The rear swing arm pulls the guide shaft front arm, guide light axis and guide shaft rear arm to move horizontally. The limiting baffle prevents the guide light axis from excessive displacement, and the guide shaft rear arm pulls the upper guide swing arm to move.

2. The robot for operating on the surface of a complex underwater structure according to claim 1, characterized in that: The frame module includes a main bracket, a motor bracket, a guide bracket, and a sub-bracket. The main bracket is arranged horizontally. The motor bracket and the guide bracket are fixedly connected to one side of the main bracket, and the sub-bracket is fixedly connected to the other side of the main bracket. The motor bracket, the guide bracket and the sub-bracket are used to connect the support angle adjustment module.

3. The robot for operating on the surface of a complex underwater structure according to claim 1 or 2, characterized in that: The vertical adjustment module includes a guide rail bracket, a guide rail motor and a slider. The guide rail bracket is arranged longitudinally and is fixedly connected to the frame. A guide rail is longitudinally provided on the guide rail bracket. The slider is slidably connected to the guide rail. The slider is fixed to the frame module. The guide rail motor is electrically connected to the control device to realize power drive. The guide rail motor is fixedly installed on the slider. The output shaft of the guide rail motor is in contact and engagement with the guide rail bracket. The guide rail motor drives the slider to move vertically along the guide rail bracket, thereby driving the adsorption module connected to the frame module to move vertically.

4. The robot for operating on the surface of a complex underwater structure according to claim 1, characterized in that: The synchronization mechanism includes a first synchronization L bracket, a second synchronization L bracket, a synchronization cross bar, a synchronization end shaft, a synchronization end shaft fixing seat, and a synchronization connecting shaft. The bottom of the first synchronization L bracket is fixedly connected to the adsorption module, the upper side wall of the first synchronization L bracket is sleeved on the first conversion shaft, and the upper side wall of the first synchronization L bracket is connected and fixed to the lower guide swing arm through the synchronization connecting shaft. The upper side wall of the first synchronization L bracket is fixedly connected to the synchronization cross bar. Multiple groups of synchronization cross bars are provided in parallel. The two ends of the synchronization cross bar are respectively fixedly connected to the upper side wall of the second synchronization L bracket. Then, the second synchronous L bracket is divided into two sets on the left and right and are arranged symmetrically relative to the main bracket. The upper side wall of the second synchronous L bracket is hingedly connected to the synchronous end shaft and the synchronous end shaft fixing seat through the synchronous end shaft. A synchronous end shaft retaining ring is provided at the connection between the synchronous end shaft and the upper side wall of the second synchronous L bracket, and a synchronous end shaft flange is provided at the connection between the synchronous end shaft and the synchronous end shaft fixing seat. The synchronous end shaft fixing seat is fixedly connected to the lower end face of the end of the main bracket, and the bottom end faces of the second synchronous L bracket are respectively fixedly connected to their corresponding adsorption modules, and the number of adsorption modules is consistent with the number of L brackets.

5. The robot for operating on the surface of a complex underwater structure according to claim 4, characterized in that: The adsorption module includes an underwater motor and a guide tube. The bottom periphery of the guide tube is connected to an adsorption disk. The outer wall of the guide tube is connected and fixed to the bottom of the first synchronous L bracket and the second synchronous L bracket. A propeller is provided in the guide tube, and the propeller is connected to the output shaft of the underwater motor. The underwater motor is installed on the top of the guide tube, and the underwater motor is electrically connected to the control device to realize power drive.

6. The robot for operating on the surface of a complex underwater structure according to claim 1, characterized in that: A motion mechanism is provided at the bottom of the robot body. The motion mechanism includes at least a gear train, which is fixed to the bottom of the frame and is used to enable the robot to crawl on the underwater wall.

7. The working method of a robot operating on the surface of a complex underwater structure according to claim 1, characterized in that: The method includes adjusting the robot's adaptive and reliable adsorption to the surface of a complex underwater structure, and the specific steps are as follows: 1) The control device controls the guide rail motor to rotate in the forward direction. The guide rail motor drives the guide rail bracket to rise, thereby driving the adsorption module on the frame module connected to the slider to descend, thereby reducing the height of the distance between the adsorption plate and the surface of the complex structure; 2) The control device controls the guide rail motor to rotate in the reverse direction, and step 1) is performed in reverse, thereby increasing the height of the distance between the adsorption plate and the surface of the complex structure; 3) The control device controls the guide motor to rotate in the forward direction, driving the front swing arm to rotate counterclockwise, thereby driving the swing arm guide shaft and the rear swing arm to rotate counterclockwise. During the rotation process, the swing arm guide shaft slides inside the front swing arm, and the rear swing arm pulls the guide shaft front arm, the guide optical axis, and the guide shaft rear arm to move horizontally toward the swing arm. The guide shaft rear arm pulls the top of the second vertical guide module to move toward the swing arm. The bottom end of the second vertical guide module rotates counterclockwise upward, thereby driving the first synchronous L bracket to rotate counterclockwise upward around the first conversion axis, thereby driving the adsorption module to rotate counterclockwise upward, thereby adjusting the angle of the adsorption disc. When the guide motors on the two sets of negative pressure adsorption components are controlled to adjust synchronously in the opposite direction, the two sets of negative pressure adsorption components are adjusted at the same time, and the two sets of adsorption discs are in a V-shaped posture, thereby achieving adaptive adjustment of adsorption for concave surfaces of complex structures. 4) The control device controls the guide motor to rotate in the opposite direction, driving the front swing arm to rotate in the clockwise direction, thereby driving the swing arm guide shaft and the rear swing arm to rotate in the clockwise direction. During the rotation process, the swing arm guide shaft slides inside the front swing arm, and the rear swing arm pushes the guide shaft front arm, the guide optical axis, and the guide shaft rear arm to move horizontally away from the swing arm. The limit baffle prevents excessive movement. The guide shaft rear arm pushes the top of the second vertical guide module to move away from the swing arm, and the bottom end of the second vertical guide module rotates clockwise. The lower guide swing arm of the second vertical guide module is fixedly connected to the first synchronous L bracket, and the first synchronous L bracket is fixedly connected to the adsorption module. Therefore, it can drive the first synchronous L bracket to rotate clockwise around the first conversion axis, thereby driving the adsorption module to rotate clockwise downward to achieve angle adjustment of the adsorption disc. When the guide motors on the two sets of negative pressure adsorption components are controlled to adjust synchronously in the opposite direction, the angles of the two sets of negative pressure adsorption components with the horizontal are simultaneously adjusted in the opposite direction, and the two sets of adsorption discs are in an inverted V-shaped posture, achieving adaptive adsorption of complex structures with convex surfaces. 5) The control device controls the guide motors in the two sets of negative pressure adsorption components to rotate in the same direction. Through the power transmission process in the above steps, the two sets of adsorption discs are ultimately adjusted synchronously with the horizontal angle, achieving stable adhesion to complex wall structures.

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