Dredging adsorption module, underwater robot and control method thereof

Abstract

The embodiments of the present invention provide a dredging and adsorption module, an underwater robot and a control method thereof, which relate to the technical field of underwater detection equipment. The dredging and adsorption module is applied to the underwater robot, and the dredging and adsorption module includes a main pipe, a propeller, a bellows, a first mounting plate, a second mounting plate, a first driving component, a second driving component, a first flexible rod, a second flexible rod and a suction cup; the first driving component is used to drive the first flexible rod to telescopically move, so as to drive the portion of the bellows located between the first mounting plate and the second mounting plate to telescope; the second driving component is used to drive the second flexible rod to telescopically move, so as to drive the portion of the bellows located between the second mounting plate and the suction cup to telescope or bend. The dredging and adsorption module can realize different operational requirements such as floating movement in water, wall adsorption detection, bottom plate dredging detection, etc., and can fully adapt to the needs of surface defect detection in various scenarios of underwater buildings of water conservancy and hydropower facilities.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater detection equipment, and in particular to a dredging adsorption module, an underwater robot and a control method thereof. Background Art

[0002] The underwater inspection conditions of underwater structures of water conservancy and hydropower facilities can be mainly divided into the following two situations:

[0003] 1. Concrete surface inspection of vertical surfaces (abbreviated as: facades) and steep slopes (abbreviated as: slopes) of underwater buildings. According to actual exploration, the facades and slopes of underwater buildings are within the range of 0 to 10 meters underwater. Aquatic plants and aquatic organisms are attached to the surface, but there is almost no damage to the concrete surface. Therefore, the inspection is mainly carried out in a completely lightless environment below 10 meters underwater. To cope with the inspection of facades, the underwater robot needs to be equipped with a special adsorption device to achieve stable detection of concrete surface defects on the facades and slopes, and quantify the three-dimensional size of the defects.

[0004] 2. The plane at the top or bottom of underwater structures (collectively referred to as planes). Since silt is commonly found at the underwater bottom of water conservancy and hydropower facilities, in order to detect concrete surface defects at the bottom covered with silt, the underwater robot first needs to perform local silt removal and then be able to inspect the underwater bottom in turbid water. Summary of the Invention

[0005] The purpose of the present invention includes providing a dredging adsorption module, an underwater robot and its control method, which can realize different operational requirements such as floating movement in water, wall adsorption detection, bottom plate dredging detection, etc., and can fully adapt to the needs of surface defect detection in various scenarios of underwater buildings of water conservancy and hydropower facilities.

[0006] The embodiments of the present invention can be implemented as follows:

[0007] In a first aspect, the present invention provides a dredging and adsorption module for use with an underwater robot. The dredging and adsorption module includes a main pipe, a propeller, a bellows, a first mounting plate, a second mounting plate, a first driving component, a second driving component, a first flexible rod, a second flexible rod, and a suction cup.

[0008] The propeller is installed in the main pipe and is used to suck water into or out of the main pipe; the main pipe is connected to the bellows; the suction cup is installed at the end of the bellows and is used to adhere to the surface of the underwater structure;

[0009] The first mounting plate is connected to the outer circumference of the main pipe, and a plurality of first driving components are connected to the first mounting plate at intervals and arranged around the main pipe; the second mounting plate is connected to the outer circumference of the corrugated pipe, and a plurality of second driving components are connected to the second mounting plate at intervals and arranged around the corrugated pipe;

[0010] One end of the first flexible rod is connected to the first driving component, and the other end of the first flexible rod is fixedly connected to the second mounting plate. The first driving component is used to drive the first flexible rod to move telescopically, thereby driving the portion of the bellows located between the first mounting plate and the second mounting plate to extend and retract;

[0011] One end of the second flexible rod is connected to the second driving component, and the other end of the second flexible rod is fixedly connected to the suction cup. The second driving component is used to drive the second flexible rod to telescope and move, thereby driving the part of the bellows located between the second mounting plate and the suction cup to telescope or bend.

[0012] In an optional embodiment, the number of the first flexible rods is at least two, wherein the two first flexible rods are located on opposite sides of the corrugated tube.

[0013] In an optional embodiment, the number of the second flexible rods is greater than the number of the first flexible rods, and the second flexible rods are evenly spaced around the corrugated tube.

[0014] In an optional embodiment, the first driving component is mounted on a side of the first mounting plate close to the main pipe, the first mounting plate is provided with a first guide hole, and the first flexible rod passes through the first guide hole;

[0015] The second driving component is installed on a side of the second mounting plate close to the main pipe. The second mounting plate is provided with a second guide hole, and the second flexible rod passes through the second guide hole.

[0016] In an optional embodiment, the first driving component and the second driving component have the same structure.

[0017] In an optional embodiment, the first driving component includes a cylinder and a connecting block, the cylinder body of the cylinder is connected to the first mounting plate, the piston of the cylinder extends along the length direction of the main pipe and is higher than the cylinder body of the cylinder, and the connecting block connects the first flexible rod and the piston of the cylinder into one.

[0018] In an optional embodiment, the first driving component includes a motor, a driving gear, a driven gear, a driving roller and a driven roller, the motor is connected to the first mounting plate, the output shaft of the motor is perpendicular to the length direction of the main pipe, the driving gear is installed on the output shaft of the motor, the driven gear is engaged with the driving gear, the driving roller is connected to the driving gear and is coaxially arranged, the driven roller is connected to the driven gear and is coaxially arranged, and the first flexible rod is clamped between the driving roller and the driven roller.

[0019] In an optional embodiment, the silt removal and adsorption module further includes a controller, which is electrically connected to the first driving component and the second driving component;

[0020] The controller is used to control the plurality of first driving components to drive the plurality of first flexible rods to synchronously extend and retract, so as to drive the portion of the bellows located between the first mounting plate and the second mounting plate to extend and retract along the length direction of the main pipe;

[0021] The controller is also used to control the multiple second driving components to drive the multiple second flexible rods to move synchronously or asynchronously to extend and retract, so as to drive the portion of the bellows located between the second mounting plate and the suction cup to extend and retract or bend.

[0022] In a second aspect, the present invention provides an underwater robot, which includes the dredging adsorption module of the aforementioned embodiment.

[0023] In a third aspect, the present invention provides a method for controlling an underwater robot, the method being used to control the underwater robot of the aforementioned embodiment, the method comprising:

[0024] Controlling the underwater robot to enter a floating state includes controlling the first driving component and the second driving component to retract the bellows to a minimum along the length direction of the main pipe;

[0025] Controlling the underwater robot to enter the adsorption state includes controlling the first driving component and the second driving component to extend the bellows to its longest length along the length of the main pipe, and controlling the propeller to discharge water in the main pipe away from the suction cup;

[0026] Controlling the underwater robot to enter the dredging state includes controlling the first drive component and the second drive component to operate synchronously or asynchronously, driving the bellows to expand or contract or bend, so that the mouth of the bellows is aligned with the location of the silt, and controlling the propeller to discharge the water in the main pipe toward the direction close to the suction cup.

[0027] The beneficial effects of the dredging adsorption module, underwater robot, and control method thereof provided by the embodiments of the present invention include:

[0028] The coordinated action of the first drive component and the first flexible rod can drive the portion of the bellows located between the first and second mounting plates to expand and contract. The coordinated action of the second drive component and the second flexible rod can drive the portion of the bellows located between the second mounting plate and the suction cup to expand and contract or bend. This allows the underwater robot to contract the bellows to its shortest position when floating, reducing floating resistance. It also allows the underwater robot to extend the bellows to its longest position when adsorbing, allowing the suction cup to easily attach to a vertical, inclined, or flat surface. In the dredging state, the underwater robot can align the bellows' opening with the location of silt, facilitating efficient silt removal. Furthermore, the system can fully meet the needs of surface defect detection in various scenarios for underwater structures in water conservancy and hydropower facilities. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying any creative work.

[0030] Figure 1 A schematic structural diagram of an underwater robot provided by an embodiment of the present invention;

[0031] Figure 2 It is a structural diagram of the dredging adsorption module and the replacement detection component;

[0032] Figure 3 A structural diagram of the dredging adsorption module from one perspective;

[0033] Figure 4 This is a structural diagram of the dredging adsorption module from a second perspective;

[0034] Figure 5 is a schematic diagram of a first structure of a first driving component;

[0035] Figure 6 is a front view schematic diagram of a second structure of the first driving component;

[0036] Figure 7 is a schematic top view of a second structure of the first driving component;

[0037] Figure 8 This is a schematic diagram of the structure of the dredging adsorption module of the underwater robot in the floating state;

[0038] Figure 9 This is a structural diagram of the underwater robot's dredging adsorption module in the adsorption state;

[0039] Figure 10 It is a structural diagram of the suction cup adsorbing the plane;

[0040] Figure 11 This is a schematic diagram of the structure of the suction cup adsorbing an inclined surface or a curved surface;

[0041] Figure 12 This is a structural diagram of the dredging adsorption module of the underwater robot in the dredging state;

[0042] Figure 13 It is a structural diagram of the bellows rotating in a direction parallel to the wall;

[0043] Figure 14 Schematic diagram of the structure of the bellows rotating in a direction perpendicular to the wall.

[0044] Icon: 100- underwater robot; 1- frame; 2- float; 3- crawling chassis; 4- driving propeller; 5- control cabin; 6- replacement detection assembly; 61- lifting assembly; 62- replacement box; 63- underwater fill light assembly; 64- underwater laser sensor; 65- underwater camera; 7- dredging adsorption module; 71- main pipe; 72- propeller; 73- bellows; 74- first mounting plate; 75- second mounting plate; 76- first driving component; 78- second driving component; 79- first flexible rod; 80- second flexible rod; 81- suction cup; 9- first guide hole; 10- cylinder; 11- connecting block; 12- motor; 13- driving gear; 14- driven gear; 15- driving roller; 16- driven roller. DETAILED DESCRIPTION

[0045] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings herein can be arranged and designed in various different configurations.

[0046] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention as claimed, but rather merely represents selected embodiments of the present invention. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without creative effort shall fall within the scope of protection of the present invention.

[0047] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not need to be further defined or explained in subsequent drawings.

[0048] In the description of the present invention, it should be noted that if the terms "upper", "lower", "inside", "outside", etc. appear, the orientation or position relationship indicated is based on the orientation or position relationship shown in the accompanying drawings, or is the orientation or position relationship in which the product of the invention is usually placed when in use. It is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be understood as a limitation on the present invention.

[0049] In addition, the terms "first", "second", etc., if used, are merely used to distinguish and describe, and should not be understood as indicating or implying relative importance.

[0050] It should be noted that, in the absence of conflict, the features in the embodiments of the present invention may be combined with each other.

[0051] Please refer to Figure 1 This embodiment provides an underwater robot 100, which includes a frame 1, a float 2, a crawling chassis 3, a driving propeller 4, a silt removal adsorption module 7, a replacement detection component 6 and a control cabin 5.

[0052] The crawling chassis 3 is installed at the bottom of the frame 1, the float 2 is installed at the top of the frame 1, multiple driving propellers 4 are installed around the frame 1, and the dredging adsorption module 7, the replacement detection component 6 and the control cabin 5 are installed inside the frame 1.

[0053] Please refer to Figure 2 The replacement detection component 6 includes a lifting component 61, a replacement box 62, an underwater fill light component 63, an underwater laser sensor 64 and an underwater camera 65.

[0054] The replacement box 62 is installed on the lifting assembly 61 , and the underwater fill light assembly 63 , the underwater laser sensor 64 and the underwater camera 65 are installed on the replacement box 62 .

[0055] Four dredging adsorption modules 7 are arranged around the replacement detection component 6. The four dredging adsorption modules 7 are used to blow away the silt on the wall of the underwater building. The replacement box 62 is then moved to the wall of the underwater building by the lifting component 61, and the underwater fill light component 63, underwater laser sensor 64 and underwater camera 65 are used to monitor the avoided situation.

[0056] Please refer to Figure 3 and Figure 4 The desilting adsorption module 7 includes a main pipe 71, a propeller 72, a bellows 73, a first mounting plate 74, a second mounting plate 75, a first driving component 76, a second driving component 78, a first flexible rod 79, a second flexible rod 80 and a suction cup 81.

[0057] The propeller 72 is installed in the main pipe 71 and is used to draw water into or out of the main pipe 71. The main pipe 71 can be a hard or soft circular pipe. The desilting adsorption module 7 is fixedly mounted on the frame 1 by the main pipe 71.

[0058] The main pipe 71 is connected to the bellows 73. A suction cup 81 is installed at the end of the bellows 73, and the suction cup 81 is used to be adsorbed on the surface of the underwater building. Wherein, the bellows 73 is a soft variable length pipe.

[0059] The first mounting plate 74 and the second mounting plate 75 are both annular plates. The first mounting plate 74 is connected to the outer circumference of the main pipe 71. A plurality of first driving components 76 are connected to the first mounting plate 74 at intervals and are arranged around the main pipe 71. The second mounting plate 75 is connected to the outer circumference of the corrugated pipe 73. A plurality of second driving components 78 are connected to the second mounting plate 75 at intervals and are arranged around the corrugated pipe 73.

[0060] One end of the first flexible rod 79 is connected to the first driving component 76, and the other end of the first flexible rod 79 is fixedly connected to the second mounting plate 75. The first driving component 76 is used to drive the first flexible rod 79 to telescopically move, thereby driving the part of the bellows 73 located between the first mounting plate 74 and the second mounting plate 75 to telescope.

[0061] One end of the second flexible rod 80 is connected to the second driving component 78, and the other end of the second flexible rod 80 is fixedly connected to the suction cup 81. The second driving component 78 is used to drive the second flexible rod 80 to telescope and move, thereby driving the part of the bellows 73 located between the second mounting plate 75 and the suction cup 81 to telescope or bend.

[0062] There are at least two first flexible rods 79, which are located on opposite sides of the bellows 73. Because the first flexible rods 79 only control the expansion and contraction of the bellows 73, while the second flexible rods 80 need to control the expansion and contraction as well as the bending of the bellows 73, the number of the second flexible rods 80 is greater than the number of the first flexible rods 79, and the second flexible rods 80 are evenly spaced around the bellows 73.

[0063] The first driving component 76 is mounted on the side of the first mounting plate 74 close to the main pipe 71. The first mounting plate 74 is provided with a first guide hole 9 (see Figure 7 ), the first flexible rod 79 passes through the first guide hole 9. In this way, the first driving component 76 and the first guide hole 9 jointly guide the first flexible rod 79, and the position where the first flexible rod 79 connects to the first driving component 76 to the position where it matches the first guide hole 9 can remain straight.

[0064] The second driving member 78 is mounted on a side of the second mounting plate 75 near the main pipe 71. The second mounting plate 75 defines a second guide hole through which the second flexible rod 80 passes. Thus, the second driving member 78 and the second guide hole together guide the second flexible rod 80, and the second flexible rod 80 can maintain a straight line from the position where it connects to the second driving member 78 to the position where it engages the second guide hole.

[0065] In this embodiment, the first driving component 76 and the second driving component 78 have the same structure. The first driving component 76 can have a variety of structural options, and this embodiment provides two specific structural options.

[0066] Please refer to Figure 5The first driving component 76 may include a cylinder 10 and a connecting block 11. The cylinder body of the cylinder 10 is connected to the first mounting plate 74. The piston of the cylinder 10 extends along the length of the main pipe 71 and is higher than the cylinder body of the cylinder 10. The connecting block 11 integrally connects the first flexible rod 79 and the piston of the cylinder 10. In this way, multiple cylinders 10 can drive the multiple first flexible rods 79 to expand and contract synchronously, thereby driving the portion of the bellows 73 located between the first mounting plate 74 and the second mounting plate 75 to expand and contract.

[0067] Please refer to Figure 6 and Figure 7 The first driving component 76 may include a motor 12, a driving gear 13, a driven gear 14, a driving roller 15, and a driven roller 16. The motor 12 is connected to the first mounting plate 74. The output shaft of the motor 12 is perpendicular to the length direction of the main pipe 71. The driving gear 13 is mounted on the output shaft of the motor 12. The driven gear 14 meshes with the driving gear 13. The driving roller 15 is connected to the driving gear 13 and is coaxially arranged. The driven roller 16 is connected to the driven gear 14 and is coaxially arranged. The first flexible rod 79 is clamped between the driving roller 15 and the driven roller 16. In this way, the motor 12 can drive the driving roller 15 and the driven roller 16 to rotate synchronously in opposite directions. The driving roller 15 and the driven roller 16 can drive the first flexible rod 79 to extend and retract. The motors 12 of multiple first driving components 76 operate synchronously, which can drive the portion of the bellows 73 located between the first mounting plate 74 and the second mounting plate 75 to extend and retract.

[0068] The desilting and suction module 7 also includes a controller (not shown), which can be integrated into the control cabin 5 and electrically connected to the first drive component 76 and the second drive component 78. The controller can be embedded with a program that controls the multiple first drive components 76 to drive the multiple first flexible rods 79 to move synchronously, thereby causing the portion of the bellows 73 located between the first mounting plate 74 and the second mounting plate 75 to extend and retract along the length of the main pipe 71. The controller can also control the multiple second drive components 78 to drive the multiple second flexible rods 80 to move synchronously or asynchronously, thereby causing the portion of the bellows 73 located between the second mounting plate 75 and the suction cup 81 to extend or bend.

[0069] This embodiment also provides a control method for the underwater robot 100, which includes:

[0070] Please refer to Figure 8 , controlling the underwater robot 100 to enter a floating state, including controlling the first driving component 76 and the second driving component 78 to shrink the bellows 73 to the shortest along the length direction of the main pipe 71, ensuring that there is enough space at the bottom of the underwater robot 100 for water to flow in and out, while reducing the overall positive water-facing cross-sectional area of the dredging adsorption module 7, thereby reducing the resistance of the water flow to the underwater robot 100 as a whole.

[0071] Please refer to Figures 9 to 11 , controlling the underwater robot 100 to enter the adsorption state, including controlling the first driving component 76 and the second driving component 78 to extend the bellows 73 to the longest length along the main pipe 71, so that the suction cup 81 at the bottom of the bellows 73 can be close to the wall, and controlling the propeller 72 to discharge the water in the main pipe 71 away from the suction cup 81, so that the suction cup 81 is adsorbed on the wall. The suction cup 81 can be a circular ring structure with uniform thickness, such as Figure 10 The suction cup 81 can also be a circular ring structure with thickness gradually increasing from the inside to the outside, as shown. Figure 11 As shown, the suction cup 81 can be easily attached to uneven curved or inclined surfaces. The suction cup 81 can be made of a flexible material to facilitate attachment to surfaces of varying flatness. The gap between the suction cup 81 and the wall can be adjusted by controlling the first drive component 76 and the second drive component 78, thereby adjusting the suction force of the suction cup 81.

[0072] Please refer to Figure 12 Controlling the underwater robot 100 to enter the silt removal state includes controlling the first drive component 76 and the second drive component 78 to operate synchronously or asynchronously to drive the bellows 73 to extend or bend so that the mouth of the bellows 73 is aligned with the location of the silt, and controlling the propeller 72 to discharge the water in the main pipe 71 toward the suction cup 81. For example, the first drive component 76 can be controlled to operate synchronously to extend the portion of the bellows 73 located between the first mounting plate 74 and the second mounting plate 75, and the second drive component 78 can be controlled to operate asynchronously to direct the mouths of the four bellows 73 toward the wall directly below the underwater robot 100.

[0073] Please refer to Figure 13 By controlling the second driving component 78 to drive the second flexible stem to expand and contract, the mouth of the bellows 73 can be rotated in a direction parallel to the wall surface, and the rotation angle a can be 120°. Figure 14 By controlling the second drive member 78 to drive the second flexible stem to expand and contract, the mouth of the bellows 73 can be rotated perpendicular to the wall surface, with the rotation angle b being 60°. Thus, by controlling the asynchronous operation of multiple second drive members 78, the mouth of the bellows 73 can be rotated over a wide range, allowing sludge to be cleared over a wide area.

[0074] The beneficial effects of the dredging adsorption module 7, the underwater robot 100, and the control method thereof provided in this embodiment include:

[0075] 1. Through the coordinated action of the first driving component 76 and the first flexible rod 79, the portion of the bellows 73 located between the first mounting plate 74 and the second mounting plate 75 can be driven to expand and contract; through the coordinated action of the second driving component 78 and the second flexible rod 80, the portion of the bellows 73 located between the second mounting plate 75 and the suction cup 81 can be driven to expand and contract or bend. As a result, the underwater robot 100 can shrink the bellows 73 to its shortest position in the floating state to reduce floating resistance; in the adsorption state, the underwater robot 100 can extend the bellows 73 to its longest position so that the suction cup 81 can be easily adsorbed to a vertical surface, an inclined surface or a flat surface; in the dredging state, the underwater robot 100 can align the pipe opening of the bellows 73 with the location of the silt to facilitate efficient silt removal.

[0076] 2. The silt removal and adsorption module 7 has a large rotation range and can clean silt over a wide area, fully adapting to the needs of surface defect detection in various scenarios of underwater structures of water conservancy and hydropower facilities;

[0077] 3. The dredging adsorption module 7 can be installed on various types of robots on the market, and has high versatility and market value.

[0078] The above are merely specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present invention should be included in the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. A dredging adsorption module, applied to an underwater robot, characterized in that: The desilting adsorption module comprises a main pipe (71), a propeller (72), a bellows (73), a first mounting plate (74), a second mounting plate (75), a first driving component (76), a second driving component (78), a first flexible rod (79), a second flexible rod (80) and a suction cup (81); The propeller (72) is installed in the main pipe (71), and the propeller (72) is used to suck water into or discharge water from the main pipe (71); the main pipe (71) is connected to the bellows (73); the suction cup (81) is installed at the end of the bellows (73), and the suction cup (81) is used to be adsorbed on the surface of the underwater building; The first mounting plate (74) is connected to the outer circumference of the main pipe (71), and a plurality of the first driving components (76) are connected to the first mounting plate (74) at intervals and are arranged around the main pipe (71); the second mounting plate (75) is connected to the outer circumference of the bellows (73), and a plurality of the second driving components (78) are connected to the second mounting plate (75) at intervals and are arranged around the bellows (73); One end of the first flexible rod (79) is connected to the first driving component (76), and the other end of the first flexible rod (79) is fixedly connected to the second mounting plate (75). The first driving component (76) is used to drive the first flexible rod (79) to move telescopically, thereby driving the portion of the bellows (73) located between the first mounting plate (74) and the second mounting plate (75) to move telescopically. One end of the second flexible rod (80) is connected to the second driving component (78), and the other end of the second flexible rod (80) is fixedly connected to the suction cup (81). The second driving component (78) is used to drive the second flexible rod (80) to telescope and move, so as to drive the portion of the bellows (73) located between the second mounting plate (75) and the suction cup (81) to telescope or bend.

2. The desilting adsorption module according to claim 1, characterized in that: The number of the first flexible rods (79) is at least two, and the first flexible rods (79) are evenly spaced around the corrugated tube (73).

3. The desilting adsorption module according to claim 1, characterized in that: The number of the second flexible rods (80) is greater than the number of the first flexible rods (79), and the second flexible rods (80) are evenly spaced around the corrugated tube (73).

4. The desilting adsorption module according to claim 1, characterized in that: The first driving component (76) is mounted on a side of the first mounting plate (74) close to the main pipe (71); a first guide hole (9) is formed on the first mounting plate (74); and the first flexible rod (79) passes through the first guide hole (9); The second driving component (78) is mounted on a side of the second mounting plate (75) close to the main pipe (71); a second guide hole is provided on the second mounting plate (75); and the second flexible rod (80) passes through the second guide hole.

5. The desilting adsorption module according to claim 1, characterized in that: The first driving component (76) and the second driving component (78) have the same structure.

6. The desilting adsorption module according to claim 5, characterized in that: The first driving component (76) includes a cylinder (10) and a connecting block (11). The cylinder body of the cylinder (10) is connected to the first mounting plate (74). The piston of the cylinder (10) extends along the length direction of the main pipe (71) and is higher than the cylinder body of the cylinder (10). The connecting block (11) connects the first flexible rod (79) and the piston of the cylinder (10) into one piece.

7. The desilting adsorption module according to claim 5, characterized in that: The first driving component (76) includes a motor (12), a driving gear (13), a driven gear (14), a driving roller (15) and a driven roller (16). The motor (12) is connected to the first mounting plate (74). The output shaft of the motor (12) is perpendicular to the length direction of the main pipe (71). The driving gear (13) is mounted on the output shaft of the motor (12). The driven gear (14) is engaged with the driving gear (13). The driving roller (15) is connected to the driving gear (13) and is coaxially arranged. The driven roller (16) is connected to the driven gear (14) and is coaxially arranged. The first flexible rod (79) is clamped between the driving roller (15) and the driven roller (16).

8. The desilting adsorption module according to claim 1, characterized in that: The desilting adsorption module further includes a controller, wherein the controller is electrically connected to the first driving component (76) and the second driving component (78); The controller is used to control the plurality of first driving components (76) to drive the plurality of first flexible rods (79) to synchronously extend and retract, thereby driving the portion of the bellows (73) located between the first mounting plate (74) and the second mounting plate (75) to extend and retract along the length direction of the main pipe (71); The controller is also used to control the plurality of second driving components (78) to drive the plurality of second flexible rods (80) to move synchronously or asynchronously to extend and retract, thereby causing the portion of the bellows (73) located between the second mounting plate (75) and the suction cup (81) to extend and retract or bend.

9. An underwater robot, characterized in that: The underwater robot includes the dredging adsorption module according to claim 1.

10. A method for controlling an underwater robot, characterized in that: The method is used to control the underwater robot according to claim 9, and the method comprises: Controlling the underwater robot to enter a floating state includes controlling the first driving component (76) and the second driving component (78) to shrink the bellows (73) to a minimum along the length direction of the main pipe (71); Controlling the underwater robot to enter the adsorption state includes controlling the first driving component (76) and the second driving component (78) to extend the bellows (73) to its longest length along the length direction of the main pipe (71), and controlling the propeller (72) to discharge water in the main pipe (71) in a direction away from the suction cup (81); Controlling the underwater robot to enter a dredging state includes controlling the first driving component (76) and the second driving component (78) to operate synchronously or asynchronously, driving the bellows (73) to expand or contract, so that the mouth of the bellows (73) is aligned with the location of the silt, and controlling the propeller (72) to discharge the water in the main pipe (71) toward the direction close to the suction cup (81).

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