An underwater variable structure robot

Abstract

The present invention belongs to the field of underwater robots, specifically an underwater variable structure robot, wherein a main frame, an operating system and a variable structure device are all located inside a buoyancy adjustment system, the variable structure device comprising a scissor mechanism and an electric cylinder, the electric cylinder and the scissor mechanism being respectively mounted on the main frame, the output end of the electric cylinder being connected to the scissor mechanism to drive the scissor mechanism to rise and fall; the buoyancy adjustment system comprising upper and lower buoyancy materials, the lower buoyancy material being mounted on the main frame, the upper buoyancy material being mounted on the scissor mechanism, rising and falling with the scissor mechanism, and the robot's own shape being changed by the upper buoyancy material as it rises and falls with the scissor mechanism, thereby realizing switching between the robot's navigation mode and the operating mode; by changing its own shape, the underwater robot's center of gravity is increased, and the robot is switched to a stable operating mode, and fine operations are realized by integrating a robotic arm with a five-finger hand, thereby realizing a platform that takes into account both agile navigation detection and hovering fine operations.

Description

Technical Field

[0001] The invention belongs to the field of underwater robots, in particular to an underwater variable structure robot. Background Art

[0002] Current underwater operations primarily rely on autonomous underwater vehicles (AUVs) for autonomous detection and search, and remotely operated remotely operated vehicles (ROVs) for human intervention. However, with the rapid development of underwater robots and the urgent need for autonomous operations in the marine sector, the development of robots that combine the agile navigation of AUVs with the stable operation of ROVs has become a development trend in the underwater robotics field. Robots that integrate detection and operation can reduce the cost of underwater missions and achieve more efficient underwater detection and operations. Summary of the Invention

[0003] To address the problem of a single underwater robot being unable to achieve integrated detection and operation, the present invention aims to provide an underwater variable-structure robot that can adapt its structure underwater, achieving integrated detection and operation. This underwater variable-structure robot switches between operating modes by changing its own structure, and, equipped with a dexterous robotic arm with high-precision control capabilities, enables agile navigation and stable, precise underwater operations.

[0004] The object of the present invention is achieved through the following technical solutions:

[0005] The present invention includes a main frame, a buoyancy adjustment system, an operating system, a variable structure device and a power propulsion system, wherein the main frame, the operating system and the variable structure device are all located inside the buoyancy adjustment system, the variable structure device includes a scissors mechanism and an electric cylinder, the electric cylinder and the scissors mechanism are respectively installed on the main frame, the output end of the electric cylinder is connected to the scissors mechanism, and drives the scissors mechanism to rise and fall; the buoyancy adjustment system includes an upper buoyancy material and a lower buoyancy material, the lower buoyancy material is installed on the main frame, the upper buoyancy material is installed on the scissors mechanism, and rises and falls with the scissors mechanism, and the upper buoyancy material changes the robot's own shape with the rise and fall of the scissors mechanism, thereby realizing the switching of the robot's navigation mode and the operating mode; the operating system is installed on the main frame, and the execution end of the operating system can be extended from the buoyancy adjustment system to perform operations; the power propulsion system is installed on the main frame to realize the robot's hovering operation, posture control and floating and diving.

[0006] Wherein: the scissor mechanism includes a support rod, an intermediate connecting rod and a bottom connecting rod, and the electric cylinder is symmetrically provided with "X"-shaped support rods on both sides, and the support rods on both sides are connected by an intermediate connecting rod, one end of the bottom of the support rod on each side is fixed to the main frame, and the other end of the bottom is slidably connected to the main frame, one end of the top of the support rod on each side is hinged to the frame top plate, and the other end of the top is slidably connected to the frame top plate; the other ends of the bottom of the support rods on both sides are connected through the bottom connecting rod, and the output end of the electric cylinder is connected to the bottom connecting rod.

[0007] The scissor lift mechanism also includes pulleys and slide rails. Slide rails fixed to the main frame are symmetrically provided on both sides of the electric cylinder. Strip holes are opened on the slide rails on each side along the length direction. One end of the bottom of the support rod on each side is fixed to the slide rail on the same side. Pulleys are installed on both sides of the bottom connecting rod, and the pulleys on each side slide back and forth in the strip holes on the slide rail on the same side.

[0008] One side or both sides of the bottom connecting rod are provided with a horizontal guide rail, and the horizontal guide rail is installed on the main frame through a horizontal guide rail bracket. The bottom connecting rod is provided with a sliding sleeve that is slidably connected to the horizontal guide rail.

[0009] One end of the top of the support rod on each side is hinged with a top connecting piece, and the top connecting piece is fixedly connected to the lower surface of the frame top plate; the other ends of the top of the support rods on both sides are connected through a top connecting rod, and slider adapters are installed on both sides of the top connecting rod, and a slide rail slider combination is fixed on the slider adapter on each side, and the slider in the slide rail slider combination is fixed on the slider adapter, and the slide rail is fixed to the lower surface of the frame top plate.

[0010] The electric cylinder includes a shell and a motor, a nut, a screw and a push rod respectively accommodated in the shell. The shell is fixed to the main frame. The output end of the motor is connected to the screw to drive the screw to rotate. The screw is threaded with a nut. The push rod is a hollow structure and is sleeved on the outside of the screw. One end of the push rod is connected to the nut, and the other end is connected to the scissor mechanism as the output end of the electric cylinder. The push rod extends from the shell and a dynamic seal is used between the push rod and the shell.

[0011] The power propulsion system is divided into multiple groups, each group includes a horizontal propeller, a vertical propeller, a horizontal propeller groove, a vertical propeller groove, a horizontal propeller bracket and a vertical propeller bracket. The horizontal propeller groove and the vertical propeller groove are respectively fixed to the main frame through the horizontal propeller bracket and the vertical propeller bracket. The horizontal propeller is installed in the horizontal propeller groove, and the vertical propeller is installed in the vertical propeller groove.

[0012] The main frame includes a frame bottom plate, a rear horizontal plate of the base, a middle horizontal plate of the base, a support seat, a vertical plate, a front horizontal plate of the base and a frame top plate. Two vertical plates are symmetrically fixed on the frame bottom plate. The front, middle and rear positions of the two vertical plates are respectively connected by the front horizontal plate of the base, the middle horizontal plate of the base and the rear horizontal plate of the base. The support seat is installed on the middle horizontal plate of the base, and the frame top plate is connected to the scissors mechanism; the electric cylinder is supported and fixed by the rear horizontal plate of the base and the support seat, the power propulsion system and the lower buoyancy material are respectively installed on the frame bottom plate, and the upper buoyancy material is installed on the frame top plate.

[0013] The robot also includes a camera and lighting system, which includes a rear lighting camera system, an upward lighting camera system and a front lighting camera system. Each lighting camera system includes a lighting camera bracket, a camera and a lighting lamp. The lighting camera bracket is fixed to the main frame, and a camera and a lighting lamp are respectively installed on both sides of the lighting camera bracket.

[0014] The buoyancy adjustment system is also provided with a main control cabin, a navigation cabin, a control battery cabin, a branching cabin, a power battery cabin, a depth gauge and a sensor. The camera in the camera and lighting system is connected to the navigation cabin, the lighting in the camera and lighting system is connected to the branching cabin, the navigation cabin and the branching cabin are respectively connected to the main control cabin; the control battery cabin, the power battery cabin, the depth gauge, the sensor, the electric cylinder and the power propulsion system are respectively connected to the main control cabin.

[0015] The advantages and positive effects of the present invention are:

[0016] 1. The buoyancy adjustment system of the present invention is divided into two parts. The working mode can be switched by changing the height between the upper and lower buoyancy materials to ensure a better hydrodynamic streamline appearance or stronger stable operation capability, so that a single platform can take into account both agile navigation and detection and precise hovering operations.

[0017] 2. The present invention utilizes an electric cylinder in conjunction with a scissor mechanism to separate the upper and lower buoyancy materials, thereby changing its own shape. By changing its own shape, the center of gravity of the underwater robot is increased, and the robot switches to a stable operation mode. Precision operations are achieved through the integration of a robotic arm and a five-finger hand.

[0018] 3. To ensure the hydrodynamic performance in agile navigation mode, the present invention places the operating system inside the buoyancy regulation system, and the entire robot is designed as a streamlined wing-body fusion.

[0019] 4. The layout design of the horizontal thrusters and vertical thrusters in the power propulsion system of the present invention ensures the maneuverability of underwater navigation and realizes the hovering operation, posture control and ascent and descent of the underwater variable structure robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1It is a schematic diagram of the overall structure of the present invention;

[0021] Figure 2 This is a schematic diagram of the overall structure of the buoyancy adjustment system of the present invention in the upper and lower separated states;

[0022] Figure 3 This is a schematic diagram of the structure of the present invention after removing the buoyancy adjustment system;

[0023] Figure 4 It is a schematic diagram of the three-dimensional structure of the main frame and the variable structure device of the present invention;

[0024] Figure 5 This is a structural diagram of the main control cabin of the present invention;

[0025] Figure 6 This is a schematic structural diagram of the navigation cabin of the present invention;

[0026] Figure 7 This is a schematic diagram of the structure of the control battery compartment of the present invention;

[0027] Figure 8 This is a structural diagram of the wiring compartment of the present invention;

[0028] Figure 9 It is a structural schematic diagram of the operating system of the present invention;

[0029] Figure 10 Schematic diagram of the structure of the variable structure device of the present invention;

[0030] Figure 11 Schematic diagram of the structure of the electric cylinder of the present invention;

[0031] Figure 12 Schematic diagram of the structure of the power propulsion system of the present invention;

[0032] Figure 13 This is a schematic structural diagram of the power battery compartment of the present invention;

[0033] Among them: 1 is the main frame, 2 is the buoyancy adjustment system, 3 is the lighting and camera system, 4 is the upper buoyancy material, 5 is the main control cabin, 6 is the navigation cabin, 7 is the control battery cabin, 8 is the branch cabin, 9 is the operation system, 10 is the lower buoyancy material, 11 is the variable structure device, 12 is the power propulsion system, 13 is the power battery cabin, 14 is the depth gauge, 15 is the sensor, 16 is the frame bottom plate, 17 is the rear horizontal plate of the base, 18 is the support seat, 19 is the vertical plate, 20 is the front horizontal plate of the base, 21 is the rear lighting and camera system, 22 is the frame top plate, 23 is the upward lighting and camera system, 24 is the front lighting and camera system, 25 is the lighting and camera bracket, 26 is the camera, 27 is the lighting lamp, 28 is the main control cabin hatch, 29 is the main control cabin glass cover, 30 is the main control cabin body, 31 is the navigation cabin hatch, 32 is the navigation cabin body, 33 is the control battery Cabin cover, 34 is the control battery compartment body, 35 is the branching compartment cover, 36 is the branching compartment body, 37 is the robotic arm, 38 is the five-finger hand, 39 is the scissors mechanism, 40 is the electric cylinder, 41 is the bottom connecting part, 42 is the support rod, 43 is the middle connecting rod, 44 is the bottom connecting rod, 45 is the horizontal guide rail, 46 is the horizontal guide rail bracket, 47 is the pulley, 48 is the slide rail, 49 is the conditional hole, 50 is the top connecting part, 51 is the slide rail slider combination, 52 is the top connecting rod, 53 is the slider adapter, 54 is the outer shell, 55 is the motor, 56 is the nut, 57 is the screw, 58 is the push rod, 59 is the horizontal propeller, 60 is the vertical propeller, 61 is the horizontal propeller groove, 62 is the vertical propeller groove, 63 is the horizontal propeller bracket, 64 is the vertical propeller bracket, 65 is the power battery compartment cover, and 66 is the power battery compartment body. DETAILED DESCRIPTION

[0034] The present invention will be further described below in conjunction with the accompanying drawings.

[0035] like Figures 1 to 4As shown, the present invention includes a main frame 1, a buoyancy adjustment system 2, a camera and lighting system 3, a main control cabin 5, a navigation cabin 6, a control battery compartment 7, a wiring compartment 8, an operating system 9, a variable structure device 11, a propulsion system 12, a power battery compartment 13, a depth gauge 14, and a sensor 15. The main frame 1, main control cabin 5, navigation cabin 6, control battery compartment 7, wiring compartment 8, operating system 9, variable structure device 11, propulsion system 12, power battery compartment 13, depth gauge 14, and sensor 15 are all located within the buoyancy adjustment system 2. The variable structure device 11 includes a scissor mechanism 39 and an electric cylinder 40. The electric cylinder 40 and the scissor mechanism 39 are respectively mounted on the main frame 1. The output end of the electric cylinder 40 is connected to the scissor mechanism 39 to drive the scissor mechanism 39 to rise and fall. The operating system 9 is mounted on the main frame 1, and the actuator end of the operating system 9 can be extended from the buoyancy adjustment system 2 to perform operations. The power propulsion system 12 is installed on the main frame 1 to realize the robot's hovering operation, posture control, and ascent and descent. The camera in the camera and lighting system 3 is connected to the navigation cabin 6, and the lighting in the camera and lighting system 3 is connected to the branching cabin 8. The navigation cabin 6 and the branching cabin 8 are respectively connected to the main control cabin 5; the control battery cabin 7, the power battery cabin 13, the depth gauge 14, the sensor 15, the electric cylinder 40 and the power propulsion system 12 are respectively connected to the main control cabin 5, and the sensor 15 is used to detect the robot's underwater posture information. The main control cabin 5, the navigation cabin 6, the control battery cabin 7, the branching cabin 8, the operating system 9, the power battery cabin 13, the depth gauge 14 and the sensor 15 of the present invention are prior art and will not be repeated here.

[0036] The main frame 1 of this embodiment has an open structure and includes a frame bottom plate 16, a base rear transverse plate 17, a base middle transverse plate, a support base 18, a vertical plate 19, a base front transverse plate 20, and a frame top plate 22. Two vertical plates 19 are symmetrically fixed to the frame bottom plate 16. The front, middle, and rear positions of the two vertical plates 19 are connected by the base front transverse plate 20, the base middle transverse plate, and the base rear transverse plate 17, respectively. The support base 18 is mounted on the base middle transverse plate, and an arc-shaped groove is provided in the middle of the base rear transverse plate 17. The frame top plate 22 is connected to the scissor mechanism 39.

[0037] The buoyancy adjustment system 2 of this embodiment includes an upper buoyancy member 4 and a lower buoyancy member 10. The lower buoyancy member 10 is bolted to the frame bottom plate 16 of the main frame 1, while the upper buoyancy member 4 is bolted to the frame top plate 22. The upper buoyancy member 4 rises and falls with the scissor mechanism 39 during operation, adjusting the robot's overall metacentric height through changes in height, enabling the robot to switch between navigation mode and operating mode. Furthermore, in navigation mode, the upper buoyancy member 4 and the lower buoyancy member 10 form a closed, streamlined shape, effectively reducing the robot's navigation resistance.

[0038] The camera and lighting system 3 of this embodiment includes a rear lighting camera system 21, an upward lighting camera system 23 and two front lighting camera systems 24. Each lighting camera system includes a lighting camera bracket 25, a camera 26 and a lighting lamp 27. The lighting camera bracket 25 is fixed to the frame top plate 22 in the main frame 1. Cameras 26 and lighting lamps 27 are fixed on both sides of the lighting camera bracket 25 through hose clamps. Each camera 26 is connected to the navigation cabin 6 respectively, and each lighting lamp 27 is connected to the distribution cabin 8 respectively. The robot's navigation and operation are completed through the cooperation of the four lighting camera systems.

[0039] like Figures 1 to 4 and Figure 5 As shown, the main control cabin 5 of this embodiment is a dry cabin, including a main control cabin cover 28, a main control cabin glass cover 29 and a main control cabin body 30; the main control cabin 5 adopts an O-ring static seal, and a circuit board and electronic components are installed in the cabin body. The main control cabin body 30 of the main control cabin 5 is fixed to the frame bottom plate 16 in the main frame 1 by bolts, and the main control cabin cover 28, the main control cabin glass cover 29 and the main control cabin body 30 are connected together by bolts and nuts.

[0040] like Figures 1 to 4 and Figure 6 As shown, the navigation cabin 6 of this embodiment is a dry cabin, including a navigation cabin cover 31 and a navigation cabin body 32; the navigation cabin 6 adopts an O-ring static seal, and a circuit board and electronic components are installed in the cabin body. The navigation cabin body 32 of the navigation cabin 6 is fixed to the vertical plate 19 in the main frame 1 through a throat clamp, and the navigation cabin cover 31 is connected to the navigation cabin body 32 through bolts.

[0041] like Figures 1 to 4 and Figure 7 As shown, the control battery compartment 7 of this embodiment is a dry compartment, including a control battery compartment cover 33 and a control battery compartment body 34; the control battery compartment 7 adopts an O-ring static seal, and a control battery is installed in the compartment. The control battery compartment body 34 of the control battery compartment 7 is fixed to the frame bottom plate 16 in the main frame 1 through a throat clamp, and the control battery compartment cover 33 is connected to the control battery compartment body 34 through bolts.

[0042] like Figures 1 to 4 and Figure 8 As shown, the wiring compartment 8 of this embodiment is a dry compartment, including a wiring compartment cover 35 and a wiring compartment body 36; the wiring compartment 8 adopts an O-ring static seal, and a circuit board and electronic components are installed in the compartment body. The wiring compartment body 36 of the wiring compartment 8 is fixed to the vertical plate 19 in the main frame 1 through a throat clamp, and the wiring compartment cover 35 is connected to the wiring compartment body 36 by bolts.

[0043] like Figures 1 to 4 and Figure 9 As shown, the operating system 9 of this embodiment includes a six-degree-of-freedom robotic arm 37 and a five-finger hand 38. The six-degree-of-freedom robotic arm 37 is a prior art and will not be described in detail here. The six-degree-of-freedom robotic arm 37 is fixed to the frame base plate 16 in the main frame 1 by bolts, and the execution end is the five-finger hand 38. The five-finger hand 38 can be extended from the notch opened on the upper buoyancy material 4. The robot's grasping and other operating tasks are completed through the cooperation of the robotic arm 37 and the five-finger hand 38.

[0044] like Figures 1 to 4 and Figure 10 As shown, the scissor-type mechanism 39 of this embodiment is fixed on the main frame 1 as a whole through a connecting piece; the scissor-type mechanism 39 of this embodiment includes a bottom connecting piece 41, a support rod 42, an intermediate connecting rod 43, a bottom connecting rod 44, a horizontal guide rail 45, a horizontal guide rail bracket 46, a pulley 47, a slide rail 48, a top connecting piece 50, a slide rail slider assembly 51, a top connecting rod 52 and a slider adapter 53, and "X"-shaped support rods 42 are symmetrically provided on both sides of the electric cylinder 40. The "X"-shaped hinged joints of the support rods 42 on both sides are connected by an intermediate connecting rod 43, one end of the bottom of each side support rod 42 is fixed to the main frame 1, and the other end of the bottom is slidably connected to the main frame 1, one end of the top of each side support rod 42 is hinged to the frame top plate 22, and the other end of the top is slidably connected to the frame top plate 22. In this embodiment, a bottom connector 41 is provided at one end of the bottom of each support rod 42. The other ends of the bottoms of the two support rods 42 are connected via a bottom connector 44. The output end of the electric cylinder 40 is connected to the bottom connector 44. Slide rails 48 are symmetrically provided on both sides of the electric cylinder 40. The slide rails 48 are fixedly connected to the rear transverse plate 17, the middle transverse plate 17, and the front transverse plate 20 of the base in the main frame 1. Each slide rail 48 has a strip-shaped hole 49 formed along its length. The bottom end of each support rod 42 is fixedly connected to the slide rail 48 on the same side via the bottom connector 41. Pulleys 47 are installed on both sides of the bottom connector 44. The pulleys 47 on each side slide back and forth within the strip-shaped hole 49 on the slide rail 48 on the same side. A horizontal guide rail 45 is provided on one or both sides of the bottom connecting rod 44. In this embodiment, two parallel horizontal guide rails 45 are symmetrically provided on both sides of the bottom connecting rod 44. The front and rear ends of the horizontal guide rails 45 are respectively fixed to the base front cross plate 20 and the base middle cross plate in the main frame 1 via horizontal guide rail brackets 46. The bottom connecting rod 44 is provided with a sliding sleeve that is slidably connected to the horizontal guide rail 45. One end of the top of each side support rod 42 is hinged to a top connecting member 50, which is fixed to the lower surface of the frame top plate 22. The other ends of the tops of the two side support rods 42 are connected by a top connecting rod 52. Slider adapters 53 are installed on both sides of the top connecting rod 52. A slide rail and slider assembly 51 is fixed to each slider adapter 53. The sliders in the slide rail and slider assembly 51 are fixed to the slider adapter 53, and the slide rails are fixed to the lower surface of the frame top plate 22.

[0045] like Figures 1 to 4 and Figure 11 As shown, the electric cylinder 40 of this embodiment includes a shell 54 and a motor 55, a nut 56, a screw 57, and a push rod 58 respectively accommodated in the shell 54. The shell 54 is fixed to the base rear horizontal plate 17 and the base middle horizontal plate in the main frame 1. The cylindrical part of the shell 54 is accommodated in the arc-shaped groove on the base rear horizontal plate 17 to support the shell 54, and the shell 54 is also passed through the support seat 18; the output end of the motor 55 is connected to the screw 57 to drive the screw 57 to rotate. The screw 57 of this embodiment is a T-shaped screw. A nut 56 is threaded on the screw 57, and the nut moves along the axial direction of the screw 57. The push rod 58 is a hollow structure and is sleeved on the outside of the screw 57. One end of the push rod 58 is connected to the nut 56, and the other end is connected to the bottom connecting rod 44 as the output end of the electric cylinder 40, driving the variable structure device 11 to move as a whole, and converting the horizontal displacement of the bottom into vertical displacement; the push rod 58 extends from the shell 54, and a dynamic seal is used between it and the shell 54.

[0046] like Figures 1 to 4 and Figure 12 As shown, the power propulsion system 12 of this embodiment is divided into four groups, one group being installed at each of the four corners of the square frame base plate 16; each group includes a horizontal propeller 59, a vertical propeller 60, a horizontal propeller channel 61, a vertical propeller channel 62, a horizontal propeller bracket 63, and a vertical propeller bracket 64. The horizontal propeller channel 61 and the vertical propeller channel 62 are respectively fixed to the frame base plate 16 in the main frame 1 through the horizontal propeller bracket 63 and the vertical propeller bracket 64. The horizontal propeller 59 is installed in the horizontal propeller channel 61, and the vertical propeller 60 is installed in the vertical propeller channel 62. The horizontal propellers 59 and vertical propellers 60 in each group are vector-distributed (i.e., the horizontal propellers 59 and vertical propellers 60 in each group are installed at a set angle), which can achieve high-speed navigation and stable control of the robot.

[0047] like Figures 1 to 4 and Figure 13 As shown, the power battery compartment 13 of this embodiment is a dry compartment, including a power battery compartment cover 65 and a power battery compartment body 66; the power battery compartment 13 adopts an O-ring static seal, and a power battery is installed in the compartment. The power battery compartment body 66 of the power battery compartment 13 is fixed to the vertical plate 19 in the main frame 1 through a throat clamp, and the power battery compartment cover 65 and the power battery compartment body 66 are connected by bolts.

[0048] The specific embodiments described above further illustrate the objectives, technical solutions, and beneficial effects of the present invention. It should be understood that the above description is merely a specific embodiment of the present invention and is not intended to limit the present invention. It can also be a reasonable combination of the features described in the above embodiments. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention shall be included in the scope of protection of the present invention.

Claims

1. An underwater variable structure robot, characterized by: The invention comprises a main frame (1), a buoyancy regulating system (2), an operating system (9), a variable structure device (11) and a power propulsion system (12), wherein the main frame (1), the operating system (9) and the variable structure device (11) are all located inside the buoyancy regulating system (2), the variable structure device (11) comprises a scissor mechanism (39) and an electric cylinder (40), the electric cylinder (40) and the scissor mechanism (39) are respectively installed on the main frame (1), the output end of the electric cylinder (40) is connected to the scissor mechanism (39) and drives the scissor mechanism (39) to rise and fall; the buoyancy regulating system (2) comprises an upper buoyancy material (4) and a lower buoyancy material (5). The buoyancy material (10) is installed on the main frame (1), and the upper buoyancy material (4) is installed on the scissor mechanism (39) and rises and falls with the scissor mechanism (39). The upper buoyancy material (4) changes the robot's own shape with the rise and fall of the scissor mechanism (39), thereby realizing the switching of the robot's navigation mode and operation mode; the operation system (9) is installed on the main frame (1), and the execution end of the operation system (9) can be extended from the buoyancy adjustment system (2) to perform operation; the power propulsion system (12) is installed on the main frame (1) to realize the robot's hovering operation, posture control, and floating and diving; The scissor mechanism (39) includes a support rod (42), an intermediate connecting rod (43) and a bottom connecting rod (44), and the electric cylinder (40) is symmetrically provided with an "X"-shaped support rod (42) on both sides, and the support rods (42) on both sides are connected by the intermediate connecting rod (43), one end of the bottom of each support rod (42) is fixed to the main frame (1), and the other end of the bottom is slidably connected to the main frame (1), one end of the top of each support rod (42) is hinged to the frame top plate (22), and the other end of the top is slidably connected to the frame top plate (22); the other ends of the bottom of the support rods (42) on both sides are connected by the bottom connecting rod (44), and the output end of the electric cylinder (40) is connected to the bottom connecting rod (44); The scissor mechanism (39) further includes a pulley (47) and a slide rail (48), the electric cylinder (40) being symmetrically provided with slide rails (48) fixed to the main frame (1) on both sides, the slide rails (48) on each side being provided with a strip hole (49) along the length direction, one end of the bottom of the support rod (42) on each side being fixed to the slide rail (48) on the same side, the pulleys (47) being installed on both sides of the bottom connecting rod (44), the pulleys (47) on each side sliding back and forth in the strip hole (49) on the slide rail (48) on the same side; The main frame (1) includes a frame bottom plate (16), a base rear transverse plate (17), a base middle transverse plate, a support seat (18), a vertical plate (19), a base front transverse plate (20) and a frame top plate (22). Two vertical plates (19) are symmetrically fixed to the frame bottom plate (16). The front, middle and rear positions of the two vertical plates (19) are respectively connected by the base front transverse plate (20), the base middle transverse plate and the base rear transverse plate (17). The support seat (18) is installed on the base middle transverse plate. The frame top plate (22) is connected to the scissor mechanism (39). The electric cylinder (40) is supported and fixed by the base rear transverse plate (17) and the support seat (18). The power propulsion system (12) and the lower buoyancy material (10) are respectively installed on the frame bottom plate (16), and the upper buoyancy material (4) is installed on the frame top plate (22).

2. The underwater variable structure robot according to claim 1, characterized in that: One side or both sides of the bottom connecting rod (44) are provided with a horizontal guide rail (45), the horizontal guide rail (45) is mounted on the main frame (1) via a horizontal guide rail bracket (46), and the bottom connecting rod (44) is provided with a sliding sleeve that is slidably connected to the horizontal guide rail (45).

3. The underwater variable structure robot according to claim 1, characterized in that: One end of the top of the support rod (42) on each side is hinged with a top connecting piece (50), and the top connecting piece (50) is fixed to the lower surface of the frame top plate (22); the other ends of the tops of the support rods (42) on both sides are connected through a top connecting rod (52), and slider adapters (53) are installed on both sides of the top connecting rod (52), and a slide rail slider assembly (51) is fixed to the slider adapter (53) on each side, and the slider in the slide rail slider assembly (51) is fixed to the slider adapter (53), and the slide rail is fixed to the lower surface of the frame top plate (22).

4. The underwater variable structure robot according to claim 1, characterized in that: The electric cylinder (40) includes a housing (54) and a motor (55), a nut (56), a lead screw (57), and a push rod (58) respectively accommodated in the housing (54). The housing (54) is fixed on the main frame (1). The output end of the motor (55) is connected to the lead screw (57) to drive the lead screw (57) to rotate. The lead screw (57) is threadedly connected with a nut (56). The push rod (58) is a hollow structure and is sleeved on the outside of the lead screw (57). One end of the push rod (58) is connected to the nut (56), and the other end is connected to the scissor mechanism (39) as the output end of the electric cylinder (40). The push rod (58) extends from the housing (54) and a dynamic seal is used between the push rod and the housing (54).

5. The underwater variable structure robot according to claim 1, characterized in that: The power propulsion system (12) is divided into multiple groups, each group includes a horizontal propeller (59), a vertical propeller (60), a horizontal propeller groove (61), a vertical propeller groove (62), a horizontal propeller bracket (63) and a vertical propeller bracket (64), the horizontal propeller groove (61) and the vertical propeller groove (62) are respectively fixed to the main frame (1) through the horizontal propeller bracket (63) and the vertical propeller bracket (64), the horizontal propeller (59) is installed in the horizontal propeller groove (61), and the vertical propeller (60) is installed in the vertical propeller groove (62).

6. The underwater variable structure robot according to claim 1, characterized in that: The robot further includes a camera lighting system (3), wherein the camera lighting system (3) includes a rear lighting camera system (21), an upward lighting camera system (23) and a front lighting camera system (24), each lighting camera system includes a lighting camera bracket (25), a camera (26) and a lighting lamp (27), the lighting camera bracket (25) is fixed to the main frame (1), and a camera (26) and a lighting lamp (27) are respectively installed on both sides of the lighting camera bracket (25).

7. The underwater variable structure robot according to claim 6, characterized in that: The buoyancy adjustment system (2) is further provided with a main control cabin (5), a navigation cabin (6), a control battery cabin (7), a branching cabin (8), a power battery cabin (13), a depth gauge (14) and a sensor (15); the camera in the camera and lighting system (3) is connected to the navigation cabin (6); the lighting in the camera and lighting system (3) is connected to the branching cabin (8); the navigation cabin (6) and the branching cabin (8) are respectively connected to the main control cabin (5); the control battery cabin (7), the power battery cabin (13), the depth gauge (14), the sensor (15), the electric cylinder (40) and the power propulsion system (12) are respectively connected to the main control cabin (5).

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