An underwater robot with adsorption function

Abstract

The present invention relates to the field of robot technology, and specifically to an underwater robot with an adsorption function, which solves the problem that the adsorption operation is difficult and the propeller may be entangled by water plants such as water plants and seaweed when operating in an area rich in water plants such as water plants and seaweed, thereby causing the propeller to lose power and become unable to move. It includes an underwater robot. The present invention uses a highly flexible adsorption mechanism to enable the adsorption plate to rotate around the underwater robot, so that during the adsorption and fixation process, it is no longer necessary to manually adjust the overall orientation of the underwater robot, and when the rotating main propeller is entangled by water plants, the self-releasing fixing mechanism can automatically release the fixation of the main propeller, and move the spare propeller to the position of the removed main propeller. The above technical solution can reduce downtime caused by accidents, reduce the cumbersomeness of the adsorption and fixation operation, and make the fixation operation more convenient.

Description

Technical Field

[0001] The invention relates to the technical field of robots, in particular to an underwater robot with an adsorption function. Background Art

[0002] An underwater robot with adsorption function is a specially designed underwater working tool that can firmly attach to the surface of underwater objects using an adsorption device to perform various tasks.

[0003] Existing underwater robots of this type are also divided into suction cup underwater robots according to their different adsorption methods: the adsorption force generated by the air pressure difference inside and outside the suction cup is used to stably adsorb the robot on the surface of underwater objects. This adsorption method is suitable for smooth and not easily damaged surfaces; magnetic suction underwater robots: magnetic materials are installed on the robot, and it is adsorbed on ferromagnetic objects through magnetic force. This method is suitable for the inspection and maintenance of underwater metal structures; and bionic adsorption underwater robots: imitating the adsorption mechanism of certain marine organisms, designing an adsorption surface with a microstructure, and achieving firm adsorption through physical or chemical effects. This adsorption method is more flexible and suitable for surfaces of various materials and shapes.

[0004] However, the adsorption plates installed on the underwater robots are fixed at a certain position and cannot be moved. If the equipment needs to be fixed at a corresponding position, the orientation of the robot needs to be adjusted in the water to align the adsorption plate with the fixed position, and then the robot is controlled to move in the direction of the fixed position to fix the robot at the corresponding position. The adsorption operation of this underwater robot is difficult, and when the underwater robot is operating in a complex water environment, especially in an area rich in aquatic plants such as water plants and seaweed, the propeller may be entangled by the water plants, causing the propeller to lose power, dragging the robot as a whole, making it unable to move, thereby affecting its operating efficiency; therefore, it does not meet the existing needs, and we propose an underwater robot with adsorption function. Summary of the invention

[0005] The object of the present invention is to provide an underwater robot with an adsorption function to solve the problem proposed in the above background technology that the adsorption plates installed on the underwater robot are fixed at a certain position and cannot be moved. If the equipment needs to be fixed at a corresponding position, the orientation of the robot needs to be adjusted in the water to align the adsorption plate with the fixed position, and then the robot is controlled to move in the direction of the fixed position to fix the robot at the corresponding position. The adsorption operation of this underwater robot is difficult, and when the underwater robot is operating in a complex water environment, especially in an area rich in aquatic plants such as water plants and seaweed, the propeller may be entangled by the water plants, resulting in the propeller losing power, dragging the robot as a whole, making it unable to move, thereby affecting its operating efficiency.

[0006] To achieve the above-mentioned object, the present invention provides the following technical solutions: an underwater robot with an adsorption function, comprising an underwater robot, wherein a propeller standby replacement mechanism is installed at the front and rear of the outer surface of the underwater robot, and the two propeller standby replacement mechanisms each comprise two main propellers, two main propeller mounting plates, two self-releasing fixing mechanisms, a standby propeller and an adjustment mechanism, the two main propellers are respectively located at the left and right sides of the underwater robot, and the two main propellers are respectively fixed between the two self-releasing fixing mechanisms and the two main propeller mounting plates;

[0007] The spare propeller is located above the underwater robot, and the adjustment mechanism can make the spare propeller rotate clockwise or counterclockwise around the underwater robot;

[0008] A high-flexibility adsorption mechanism is provided between the two propeller spare replacement mechanisms. The high-flexibility adsorption mechanism includes an adsorption plate and an azimuth rotation adjustment mechanism, and the azimuth rotation adjustment mechanism can make the adsorption plate revolve around the underwater robot.

[0009] Preferably, the self-releasing fixing mechanism includes a pushing single-bar cylinder, the piston rod of the pushing single-bar cylinder is connected to a connecting plate, a pushing sleeve is fixedly provided on both sides of the outer surface of the connecting plate, a pushing spring is provided inside the pushing sleeve, one end of the pushing spring is connected to a fixing rod fixed to the main propeller, and a signal transmitter is fixedly installed on one side of the outer surface of the main propeller.

[0010] Preferably, the top end of the fixing rod is hemispherical;

[0011] A fixing through hole located on the outer surface of the main propeller mounting plate is provided on the outer side of the fixing rod, an annular fixing groove located on the outer surface of the fixing rod is provided on one side of the fixing through hole, a rectangular fixing block is clamped on both sides of the annular fixing groove, a fixing spring is connected to one side of the outer surface of the rectangular fixing block, and the surface of the push sleeve facing the rectangular fixing block is an inclined surface.

[0012] Preferably, the adjustment mechanism includes a stepper motor, the output shaft of the stepper motor is connected to a transmission shaft via a coupling, a spur gear is fixedly sleeved on the outer surface of the transmission shaft, the spur gear is meshed with an inner gear ring, a fan-shaped outer shell is fixedly provided at the middle position of the upper end surface of the inner gear ring, and the spare propeller is fixedly installed at the middle position of the upper end surface of the fan-shaped outer shell.

[0013] Preferably, an arc-shaped storage plate is provided below the spare propeller, a support spring is provided between the arc-shaped storage plate and the inner gear ring, both ends of the support spring are respectively connected to the two main propeller mounting plates, and the bottom end of the main propeller mounting plate is slidably connected to the arc-shaped storage plate.

[0014] Preferably, the surfaces of the main propeller and the spare propeller facing the inner gear ring are fixed with electrical connectors, the outer side of the electrical connector is provided with an electrical connection port, one side of the outer surface of the electrical connection port is connected to a control line, and the electrical connection port is electrically connected to the underwater robot through the control line.

[0015] Preferably, the highly flexible adsorption mechanism further comprises a bevel ring, and a circle of monitoring cameras is fixedly mounted on the surface of the bevel ring facing the adsorption plate.

[0016] Preferably, the azimuth rotation adjustment mechanism comprises a direction adjustment cylinder, a piston rod of the direction adjustment cylinder is connected to a tooth row, the tooth row is meshed with a gear, and the axis of the gear is connected to a gear shaft.

[0017] Preferably, an upper fixed sleeve on the outer surface of the gear shaft is provided with a bevel gear, the bevel gear is meshed with an inner bevel gear ring, and the outer side of the inner bevel gear ring is provided with a direction adjustment sleeve sleeved on the middle position of the outer surface of the underwater robot.

[0018] Preferably, a connecting rod is fixedly provided at the middle position of the upper end surface of the direction adjustment sleeve, and the upper end surface of the connecting rod is fixed to the adsorption plate;

[0019] A guide annular slide rail is provided on both sides below the adsorption plate, and the adsorption plate is slidably connected to the guide annular slide rail.

[0020] Compared with the prior art, the present invention has the following beneficial effects:

[0021] 1. The present invention uses a highly flexible adsorption mechanism to enable the adsorption plate to rotate around the underwater robot. When the adsorption function of the device needs to be used, the direction of the adsorption plate can be directly adjusted through the highly flexible adsorption mechanism so that the adsorption plate is directly aligned with the fixed position. Then, the device can be fixed by remotely operating the underwater robot to move in the corresponding direction. Through the above technical solution, during the adsorption and fixing process of the underwater robot, it is no longer necessary to manually adjust the overall direction of the underwater robot, thereby reducing the cumbersomeness of the operation during the adsorption and fixing process, making the fixing operation more convenient;

[0022] 2. The present invention can automatically release the fixing of the entangled main propeller through a self-releasing fixing mechanism when the rotating main propeller of the underwater robot performing regional operations is entangled by water plants, dragging the underwater robot and making it unable to move, so that the underwater robot can regain its freedom. Thereafter, the spare backup propeller can be moved to the position of the removed main propeller through an adjusting mechanism, so as to ensure that the underwater robot can continue to be used normally. When the underwater robot continues to perform regional operations, divers are dispatched to locate the position of the removed main propeller through a signal transmitter and recover it. The above technical solution can reduce downtime caused by accidents, ensure the continuity and efficiency of underwater operation tasks, avoid loss of control or damage of the underwater robot due to the entanglement of the main propeller, and improve the operation safety of the underwater robot in complex water environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0024] Figure 2 A side view of the present invention as a whole;

[0025] Figure 3 For the present invention Figure 2 A magnified view of the structure at center A;

[0026] Figure 4 For the present invention Figure 3 A magnified view of the structure at B in the middle;

[0027] Figure 5 It is a front view of the internal structure of the present invention as a whole;

[0028] Figure 6 For the present invention Figure 5 Enlarged view of the structure at C in the middle.

[0029] In the figure: 1, underwater robot; 2, propeller spare replacement mechanism; 201, stepper motor; 202, transmission shaft; 203, spur gear; 204, inner gear ring; 205, fan-shaped housing; 206, spare propeller; 207, main propeller mounting plate; 208, main propeller; 209, fixing rod; 210, annular fixing groove; 211, fixing through hole; 212, rectangular fixing block; 213, fixing spring; 214, pushing sleeve; 215, inclined surface; 216, connecting plate ; 217, push bar cylinder; 218, arc storage plate; 219, support spring; 220, electrical connector; 221, electrical connector; 222, control line; 223, signal transmitter; 224, push spring; 3, bevel ring; 4, monitoring camera; 5, guide ring slide; 6, adsorption plate; 7, connecting rod; 8, direction adjustment sleeve; 9, direction adjustment cylinder; 10, gear row; 11, gear; 12, gear shaft; 13, umbrella gear; 14, inner umbrella gear ring. DETAILED DESCRIPTION

[0030] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0031] See also Figures 1 to 6 , an embodiment of the present invention: an underwater robot with an adsorption function, comprising an underwater robot 1, wherein a propeller standby replacement mechanism 2 is installed at the front and rear of the outer surface of the underwater robot 1, and the two propeller standby replacement mechanisms 2 each comprise two main propellers 208, two main propeller mounting plates 207, two self-releasing fixing mechanisms, a standby propeller 206 and an adjustment mechanism, the two main propellers 208 are respectively located at the left and right sides of the underwater robot 1, and the two main propellers 208 are respectively fixed to the two main propeller mounting plates 207 through the two self-releasing fixing mechanisms;

[0032] The backup propeller 206 is located above the underwater robot 1 , and the adjustment mechanism can make the backup propeller 206 rotate clockwise or counterclockwise around the underwater robot 1 .

[0033] The self-releasing fixing mechanism includes a pushing horizontal bar cylinder 217, the piston rod of which is connected to a connecting plate 216, a pushing sleeve 214 is fixedly provided on both sides of the outer surface of the connecting plate 216, a pushing spring 224 is provided inside the pushing sleeve 214, one end of the pushing spring 224 is connected to a fixing rod 209 fixed to the main propeller 208, and a signal transmitter 223 is fixedly installed on one side of the outer surface of the main propeller 208; when the equipment needs to be used, it is put into the corresponding underwater area for operation, and the main propeller 208 is started to drive the underwater robot 1 to move in the water. When the rotating main propeller 208 is entangled by water plants and drags the underwater robot 1 so that it cannot move, the pushing horizontal bar cylinder 217 is started to push the connecting plate 216 outwards, and as the connecting plate 216 moves, the pushing sleeve 214 fixed thereto will move along with it, and the pushing sleeve 214 is pushed outwards at this time.

[0034] The top end of the fixing rod 209 is hemispherical;

[0035] The outer side of the fixing rod 209 is provided with a fixing through hole 211 located on the outer surface of the main propeller mounting plate 207, and one side of the fixing through hole 211 is provided with an annular fixing groove 210 located on the outer surface of the fixing rod 209, and both sides of the inside of the annular fixing groove 210 are clamped with a rectangular fixing block 212, and one side of the outer surface of the rectangular fixing block 212 is connected with a fixing spring 213, and the surface of the pushing sleeve 214 facing the rectangular fixing block 212 is an inclined surface 215; the main propeller 208 itself is fixed to the outer surface of the main propeller mounting plate 207 by two fixing rods 209 connected thereto and fixed inside the main propeller mounting plate 207. When the pushing sleeve 214 moves outward, the inclined surface 215 located on its outer surface will contact the rectangular fixing block 212 and push the rectangular fixing block 212 outward. When the rectangular fixing block 212 completely leaves the inside of the annular fixing groove 210 located on the outer surface of the fixing rod 209, the fixation of the fixing rod 209 is released. When the fixation of the two fixing rods 209 is released, the fixing rod 209 and the main propeller 208 fixed thereto can be pushed outward by the spring force of the pushing spring 224. When the main propeller 208 is completely detached from the outer surface of the main propeller mounting plate 207, the pushing single-bar cylinder 217 is closed.

[0036] The adjustment mechanism includes a stepper motor 201, the output shaft of the stepper motor 201 is connected to a transmission shaft 202 through a coupling, a spur gear 203 is fixedly sleeved on the outer surface of the transmission shaft 202, and the spur gear 203 is meshed with an inner gear ring 204, a fan-shaped shell 205 is fixedly provided at the middle position of the upper end surface of the inner gear ring 204, and a spare propeller 206 is fixedly installed at the middle position of the upper end surface of the fan-shaped shell 205; when the main propeller 208 entangled by aquatic plants is detached from the main propeller mounting plate 207, the stepper motor 201 is started to drive the transmission shaft 202 connected thereto and the spur gear 203 fixedly sleeved on the outer surface of the transmission shaft 202 to rotate, and the inner gear ring 204 meshed therewith can be driven to rotate through the spur gear 203, and when the inner gear ring 204 rotates, the fan-shaped shell 205 fixed to the upper end surface of the inner gear ring 204 and the spare propeller 206 are fixedly installed at the middle position of the upper end surface of the fan-shaped shell 205 The spare propeller 206 on the outer surface of the fan-shaped housing 205 will rotate with the underwater robot 1 as the center. At this time, the spare propeller 206 is moved toward the main propeller mounting plate 207 from which the main propeller 208 is removed. When the spare propeller 206 is moved to the corresponding position, it can replace the original main propeller 208, thereby ensuring that the underwater robot 1 can continue to be used normally. When the underwater robot 1 continues to perform regional operations, divers are sent to locate the position of the removed main propeller 208 through the signal transmitter 223 and recover it. The above technical solution can reduce downtime caused by accidents, ensure the continuity and efficiency of underwater operation tasks, and avoid loss of control or damage of the underwater robot 1 due to the entanglement of the main propeller 208, thereby improving the operation safety of the underwater robot 1 in complex water environments.

[0037] An arc-shaped storage plate 218 is provided below the spare propeller 206, and a support spring 219 is provided between the arc-shaped storage plate 218 and the inner gear ring 204. The two ends of the support spring 219 are respectively connected to the two main propeller mounting plates 207, and the bottom end of the main propeller mounting plate 207 is slidably connected to the arc-shaped storage plate 218; the two main propeller mounting plates 207 are supported by the spring force of the support spring 219 to prevent them from moving, and the arc-shaped storage plate 218 slidably connected thereto can limit the main propeller mounting plates 207 to prevent them from being misplaced;

[0038] When the spare propeller 206 is driven to move by the fan-shaped housing 205, the corresponding main propeller mounting plate 207 will be pushed to move together. During the movement of the main propeller mounting plate 207, the supporting spring 219 will be squeezed. When the regional operation of the underwater robot 1 is completed and the disassembled main propeller 208 is recovered by the divers, the spare propeller 206 is moved back to its original position by the adjustment mechanism. During the process of the spare propeller 206 moving to its original position, the main propeller mounting plate 207 pushed by the fan-shaped housing 205 can be pushed back to its original position by the reaction force of the squeezed supporting spring 219. Then, the connecting plate 216 and the pushing sleeve 214 are pulled back to their original positions by pushing the single-bar cylinder 217.

[0039] When the pushing sleeve 214 returns to its original position, the two fixing rods 209 located on the outer surface of the removed main propeller 208 are aligned with the two fixing through holes 211 respectively and then inserted. In the process of the fixing rod 209 penetrating into the fixing through hole 211, the semicircular top end of the fixing rod 209 will contact the rectangular fixing block 212 and push the rectangular fixing block 212 outward. In the process of moving outward, the rectangular fixing block 212 will squeeze the fixing spring 213 connected to it. When the main propeller 208 is completely fitted between the main propeller mounting plate 207, the annular fixing groove 210 located on the outer surface of the fixing rod 209 will also move to the position corresponding to the rectangular fixing block 212. Then, through the reaction force of the squeezed fixing spring 213, the rectangular fixing block 212 can be pushed inward, so that the top end of the fixing rod 209 is again stuck in the annular fixing groove 210, thereby completing the installation of the main propeller 208.

[0040] An electrical connector 220 is fixedly provided on the surface of the main propeller 208 and the spare propeller 206 facing the inner gear ring 204, an electrical connection port 221 is provided on the outer side of the electrical connector 220, a control line 222 is connected to one side of the outer surface of the electrical connection port 221, and the electrical connection port 221 is electrically connected to the underwater robot 1 through the control line 222; the main propeller 208 and the spare propeller 206 can be electrically connected to the underwater robot 1 through the electrical connector 220, the electrical connection port 221 and the control line 222, and the underwater robot 1 can control the main propeller 208 and the spare propeller 206 through this connection.

[0041] A high-flexibility adsorption mechanism is provided between the two propeller spare replacement mechanisms 2. The high-flexibility adsorption mechanism includes an adsorption plate 6 and an azimuth rotation adjustment mechanism. The azimuth rotation adjustment mechanism can make the adsorption plate 6 revolve around the underwater robot 1.

[0042] The highly flexible adsorption mechanism also includes a bevel ring 3, on the surface of which a circle of monitoring cameras 4 is fixedly installed facing the adsorption plate 6; when the underwater robot 1 needs to be fixed at a corresponding position through the adsorption plate 6, the direction of the adsorption plate 6 is first confirmed through the monitoring camera 4.

[0043] The azimuth rotation adjustment mechanism includes a direction adjustment cylinder 9, a piston rod of which is connected to a gear row 10, the gear row 10 is meshed with a gear 11, and the axis of the gear 11 is connected to a gear shaft 12; when the orientation of the adsorption plate 6 is confirmed, the direction adjustment cylinder 9 is started, and the direction adjustment cylinder 9 can drive the gear row 10 connected thereto to move forward and backward. During the forward and backward movement of the gear row 10, the gear 11 meshed therewith and the gear shaft 12 connected to the axis of the gear 11 will rotate synchronously therewith.

[0044] A bevel gear 13 is fixedly sleeved on the upper side of the outer surface of the gear shaft 12, and the bevel gear 13 is meshed with an inner bevel gear ring 14. The outer side of the inner bevel gear ring 14 is provided with a direction adjustment sleeve 8 sleeved on the middle position of the outer surface of the underwater robot 1; when the gear shaft 12 rotates, the bevel gear 13 fixedly sleeved on the upper side of the outer surface of the gear shaft 12 and the inner bevel gear ring 14 meshed therewith will rotate together, and the rotating inner bevel gear ring 14 can drive the direction adjustment sleeve 8 fixed thereto to rotate together.

[0045] A connecting rod 7 is fixedly arranged at the middle position of the upper end surface of the direction adjustment sleeve 8, and the upper end surface of the connecting rod 7 is fixed to the adsorption plate 6; when the direction adjustment sleeve 8 rotates, the adsorption plate 6 fixed thereto through the connecting rod 7 will rotate with the underwater robot 1 as the center, and at this time, the direction of the adsorption plate 6 is adjusted to align it with the fixed position. When the position adjustment of the adsorption plate 6 is completed, the underwater robot 1 can be fixed by moving it in the corresponding direction by remote control. Through the above technical solution, during the adsorption and fixing process of the underwater robot 1, it is no longer necessary to manually adjust the overall direction of the underwater robot 1, thereby reducing the cumbersomeness of the operation during the adsorption and fixing process, and making the fixing operation more convenient;

[0046] The reason why the direction adjustment cylinder 9 is used as the power source here is that the cylinder is more controllable than the motor. In the process of adjusting the direction of the adsorption plate 6, if the motor is used as the power source, after the motor is turned off, the rotating shaft connected to the motor will continue to rotate due to inertia, thereby changing the direction of the adsorption plate 6, and its controllability is poor. If the cylinder is used as the power source, the inertia when pushing the gear row 10 is lower, so that the direction of the adsorption plate 6 can be adjusted more accurately.

[0047] A guide annular slide rail 5 is provided on both sides below the adsorption plate 6, and the adsorption plate 6 is slidably connected to the guide annular slide rail 5; the two guide annular slide rails 5 can prevent the rotating adsorption plate 6 from being misaligned, thereby improving its stability.

[0048] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

Claims

1. An underwater robot with an adsorption function, comprising an underwater robot (1), characterized in that: A propeller standby replacement mechanism (2) is installed at the front and rear of the outer surface of the underwater robot (1), and the two propeller standby replacement mechanisms (2) each comprise two main propellers (208), two main propeller mounting plates (207), two self-releasing fixing mechanisms, a standby propeller (206) and an adjustment mechanism. The two main propellers (208) are respectively located on the left and right sides of the underwater robot (1), and the two main propellers (208) are respectively fixed between the two self-releasing fixing mechanisms and the two main propeller mounting plates (207); The spare propeller (206) is located above the underwater robot (1), and the adjustment mechanism can make the spare propeller (206) rotate clockwise or counterclockwise with the underwater robot (1) as the center; A high-flexibility adsorption mechanism is provided between the two propeller spare replacement mechanisms (2), the high-flexibility adsorption mechanism comprising an adsorption plate (6) and an azimuth rotation adjustment mechanism, and the azimuth rotation adjustment mechanism can cause the adsorption plate (6) to revolve around the underwater robot (1); The self-releasing fixing mechanism comprises a push-bar cylinder (217), a piston rod of the push-bar cylinder (217) is connected to a connecting plate (216), a push sleeve (214) is fixedly provided on both sides of the outer surface of the connecting plate (216), a push spring (224) is provided inside the push sleeve (214), one end of the push spring (224) is connected to a fixing rod (209) fixed to the main propeller (208), and a signal transmitter (223) is fixedly installed on one side of the outer surface of the main propeller (208); The top end of the fixing rod (209) is hemispherical; The outer side of the fixing rod (209) is provided with a fixing through hole (211) located on the outer surface of the main propeller mounting plate (207); one side of the fixing through hole (211) is provided with an annular fixing groove (210) located on the outer surface of the fixing rod (209); both sides of the annular fixing groove (210) are clamped with a rectangular fixing block (212); one side of the outer surface of the rectangular fixing block (212) is connected to a fixing spring (213); and the surface of the pushing sleeve (214) facing the rectangular fixing block (212) is an inclined surface (215).

2. The underwater robot with adsorption function according to claim 1, characterized in that: The adjustment mechanism comprises a stepper motor (201), the output shaft of the stepper motor (201) being connected to a transmission shaft (202) via a coupling, a spur gear (203) being fixedly sleeved on the outer surface of the transmission shaft (202), the spur gear (203) being meshed with an inner gear ring (204), a fan-shaped outer shell (205) being fixedly provided at a middle position of an upper end surface of the inner gear ring (204), and the spare propeller (206) being fixedly mounted at a middle position of an upper end surface of the fan-shaped outer shell (205).

3. The underwater robot with adsorption function according to claim 2, characterized in that: An arc-shaped storage plate (218) is provided below the spare propeller (206), a support spring (219) is provided between the arc-shaped storage plate (218) and the inner gear ring (204), two ends of the support spring (219) are respectively connected to the two main propeller mounting plates (207), and the bottom end of the main propeller mounting plate (207) is slidably connected to the arc-shaped storage plate (218).

4. The underwater robot with adsorption function according to claim 3, characterized in that: An electrical connector (220) is fixedly provided on the surfaces of the main propeller (208) and the spare propeller (206) facing the inner gear ring (204); an electrical connection port (221) is provided on the outer side of the electrical connector (220); a control line (222) is connected to one side of the outer surface of the electrical connection port (221); and the electrical connection port (221) is electrically connected to the underwater robot (1) via the control line (222).

5. The underwater robot with adsorption function according to claim 1, characterized in that: The highly flexible adsorption mechanism further comprises a bevel ring (3), and a circle of monitoring cameras (4) is fixedly mounted on the surface of the bevel ring (3) facing the adsorption plate (6).

6. The underwater robot with adsorption function according to claim 1, characterized in that: The azimuth rotation adjustment mechanism comprises a direction adjustment cylinder (9), the piston rod of the direction adjustment cylinder (9) is connected to a tooth row (10), the tooth row (10) is meshed with a gear (11), and the axis of the gear (11) is connected to a gear shaft (12).

7. The underwater robot with adsorption function according to claim 6, characterized in that: A bevel gear (13) is provided on the upper fixed sleeve of the outer surface of the gear shaft (12); the bevel gear (13) is meshed with an inner bevel gear ring (14); and a direction adjustment sleeve (8) is provided on the outer side of the inner bevel gear ring (14) and is sleeved on the middle position of the outer surface of the underwater robot (1).

8. The underwater robot with adsorption function according to claim 7, characterized in that: A connecting rod (7) is fixedly provided at a middle position of the upper end surface of the direction adjustment sleeve (8), and the upper end surface of the connecting rod (7) is fixed to the adsorption plate (6); A guide annular slide rail (5) is provided on both sides below the adsorption plate (6), and the adsorption plate (6) is slidably connected to the guide annular slide rail (5).

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