Underwater intelligent robot

Abstract

The underwater intelligent robot comprises a robot body, a turbine submersible propeller is installed on the robot body, a suspension mechanism and an anti-suspension mechanism are arranged on the two sides of the robot body respectively, and the suspension mechanism and the anti-suspension mechanism can be driven by a motor to rotate synchronously; a dovetail adjusting mechanism is installed at the tail of the machine body, and a plurality of water spraying holes are formed in the surface of the oval shell. A drainage pipeline of the turbine submersible propeller is arranged to be a venturi tube, the small-diameter part of the venturi tube is fixedly sleeved with a sealing sleeve shell, and one side of the sealing sleeve shell communicates with an electromagnetic valve set. A single-chip microcomputer controller and a gyroscope sensor are installed in the machine body. According to the underwater intelligent robot, when moving at a low speed, various actions such as inclination, turning, pitching, diving and the like similar to those of an aircraft during high-speed flight are achieved, when the underwater intelligent robot is applied to a complex underwater environment, the flexibility is higher, and detection or operation of the underwater environment can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater robots, and in particular to an underwater intelligent robot. Background Art

[0002] Underwater robots, also known as unmanned remote-controlled submersibles, are extreme operation robots that work underwater. The underwater environment is harsh and dangerous, and the diving depth of humans is limited, so underwater robots have become an important tool for developing the ocean. Unmanned remote-controlled submersibles mainly include: cabled remote-controlled submersibles and cable-free remote-controlled submersibles. Among them, cabled remote-controlled submersibles are divided into three types: self-propelled in water, towed, and able to crawl on seabed structures.

[0003] Underwater robots can replace humans in long-term underwater operations in highly dangerous environments, polluted environments, and waters with zero visibility. Underwater robots are generally equipped with sonar systems, cameras, lighting, robotic arms and other devices. They can provide real-time video and sonar images. The robotic arms can grab heavy objects. Underwater robots are widely used in oil development, maritime law enforcement and evidence collection, scientific research, and military fields.

[0004] The underwater environment in many areas is complex, especially near the seabed, in areas with a large number of reefs or corals, near or in underwater pipelines. General underwater robots can generally float in the water, move and turn; because they carry a lot of equipment, the center of gravity needs to be balanced, and they generally cannot tilt or move in an oblique direction. They have poor flexibility and are not easy to operate and transfer positions in complex underwater environments. For this reason, we propose an underwater intelligent robot. Summary of the invention

[0005] In view of this, the present invention provides an underwater intelligent robot, which is used to solve the problem of poor flexibility of underwater intelligent robots in the prior art when moving.

[0006] An underwater intelligent robot comprises a body, a turbine submersible propeller is installed on the body, a suspension mechanism and an anti-suspension mechanism are respectively arranged on both sides of the body, the suspension mechanism and the anti-suspension mechanism are arranged in parallel with the body, and the suspension mechanism and the anti-suspension mechanism can be driven by a motor to rotate synchronously;

[0007] A dovetail adjustment mechanism is installed at the tail of the machine body, and the dovetail adjustment mechanism includes two connecting pipes, one end of each connecting pipe is fixedly connected to an elliptical shell, and a plurality of water spray holes are opened on the surface of the elliptical shell;

[0008] The drainage pipeline of the turbine submersible propulsion device is set as a venturi tube, a sealing sleeve is fixedly mounted on the thin-diameter part of the venturi tube, a drainage hole communicating with the inside of the sealing sleeve is opened on the thin-diameter part, a solenoid valve group is connected to one side of the sealing sleeve, and multiple water outlets of the solenoid valve group are connected to the multiple water spray holes through multiple pipelines in a one-to-one correspondence;

[0009] A single-chip microcomputer controller and a gyro sensor are installed inside the body, the signal output end of the gyro sensor is connected to the signal input end of the single-chip microcomputer controller, and the suspension mechanism, anti-suspension mechanism, motor, turbine submersible propulsion device and solenoid valve group are all controlled by the single-chip microcomputer controller.

[0010] Preferably, the above-mentioned suspension mechanism and anti-suspension mechanism both include four sets of propeller lifts, which are symmetrically and evenly connected on both sides of the body; wherein the propeller lifts of the suspension mechanism have the same structure as the propeller lifts of the anti-suspension mechanism, and are arranged in opposite drainage directions.

[0011] Preferably, the propeller lifter of the above-mentioned suspension mechanism and the propeller lifter of the anti-suspension mechanism are fixedly connected via a rotating shaft, and the rotating shaft is rotatably mounted on one end of the side arm of the body via a bearing, and the motor is fixedly mounted in the side arm, and the motor is transmission-connected to the rotating shaft via a bevel gear.

[0012] Preferably, a spring wire is connected to the side wall of the propeller lifter, and one end of the spring wire passes through the side arm.

[0013] Preferably, the above also includes an "X"-shaped center of gravity adjustment mechanism, which is arranged in the inner lower part of the machine body and parallel to the machine body; the four extending arms of the center of gravity adjustment mechanism are each provided with a piston cavity, and a piston block is installed inside the piston cavity. The piston block is driven by a screw motor and can move in the piston cavity to absorb or discharge water, and one end of the piston cavity is connected to the water hole opened on the side arm through a pipe.

[0014] Preferably, the above-mentioned screw motor is fixedly installed in the inner cavity of the center of gravity adjusting mechanism, and the motor shaft of the screw motor is set as a threaded shaft, a threaded sleeve is threadedly installed on the threaded shaft, and one end of the threaded sleeve is fixedly connected to the center of one side of the piston block; an L-shaped sliding rod is fixedly connected to the inner wall of the piston cavity, and a sliding sleeve is slidably sleeved on the L-shaped sliding rod, and one end of the sliding sleeve is fixedly connected to the surface of one side of the piston block.

[0015] Preferably, the above also includes a balance bar, and the balance bar is provided in two groups, and the two groups of balance bars are symmetrically installed on the side arms on both sides of the body.

[0016] Preferably, a ball is fixedly sleeved in the middle of the above-mentioned balance bar, and a ball socket is opened on one side of the side arm, and the ball is movably installed in the ball socket; a plurality of electromagnets arranged in a ring are installed inside the side arm, and one end of the balance bar is set as an iron structure, and this end of the balance bar is located at the center of the plurality of electromagnets.

[0017] Preferably, springs are fixedly connected to the upper side, lower side, left side and right side of one end of the balance bar, and the other end of the spring is fixedly connected to the inner wall of the side arm; and the stiffness coefficients of the four springs are the same.

[0018] Preferably, the solenoid valve group is composed of a plurality of separate solenoid valves, a plurality of reversing valves or a multi-way valve.

[0019] Implementing the embodiments of the present invention will have the following beneficial effects:

[0020] The above-mentioned underwater intelligent robot is adopted;

[0021] By setting the suspension mechanism and the anti-suspension mechanism, the anti-suspension mechanism can accelerate the sinking when in use, and the propeller suspension devices on the suspension mechanism and the anti-suspension mechanism can rotate, breaking the balance between buoyancy and gravity after the rotation. By adjusting the lift of the propeller suspension device, it can quickly balance at another point. After balancing, the body can be suspended on the water surface in an inclined state, and can move forward in the inclined state;

[0022] Through the cooperation of the dovetail adjustment mechanism, no matter what state the aircraft is in, it can perform dive, pitch and turn to adjust the direction;

[0023] At the same time, the power of the dovetail adjustment mechanism is the water pressure generated in the drainage pipe of the turbine submersible propulsion unit, and there is no need to add other pressurizing equipment to provide power for drainage. At the same time, the drainage holes in the small diameter part can also play a preliminary filtering role to prevent larger impurities from clogging the water spray holes on the dovetail adjustment mechanism, which is very convenient.

[0024] Through the "X"-shaped center of gravity adjustment mechanism, when the body is in a tilted state, the buoyancy of the body can be adjusted according to the tilt angle (controlled by displacement), which can maintain the stability of the tilt of the body faster and more stably;

[0025] The balance bar can balance the torque when the machine moves, tilts or turns; and the vibration can quickly maintain balance, so that the machine can maintain balance and stability in various flexible movements, and can fine-tune the direction of movement;

[0026] The underwater intelligent robot of the present application can achieve various actions such as tilting, turning, pitching, and diving when moving at a low speed, which are similar to the actions of an airplane flying at a high speed. When used in a complex underwater environment, it has higher flexibility and can improve the detection or operation of the underwater environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0028] in:

[0029] Figure 1 A schematic diagram of the structure of an underwater intelligent robot in one embodiment;

[0030] Figure 2 is a schematic structural diagram of a side arm in one embodiment;

[0031] Figure 3 It is a partial structural schematic diagram of a suspension mechanism and an anti-suspension mechanism in one embodiment;

[0032] Figure 4 is a schematic diagram of a top view of a center of gravity adjustment mechanism in one embodiment;

[0033] Figure 5 A schematic diagram of a partial structure of a dovetail adjustment mechanism in one embodiment;

[0034] Figure 6 A schematic diagram of the structure of a drainage pipeline of a turbine submersible propulsion device in one embodiment;

[0035] Figure 7 is a schematic diagram of the cross-sectional structure of a thin-diameter portion in one embodiment;

[0036] Figure 8 FIG. 4 is a schematic diagram of the structure of a balance bar in an embodiment.

[0037] Reference numerals: 100, body; 200, turbine submersible propeller; 201, venturi tube; 202, thin-diameter portion; 203, drainage hole; 300, side arm; 301, water hole; 302, spring wire; 303, motor; 304, bevel gear; 305, rotating shaft; 306, bearing; 307, ball socket;

[0038] 400, suspension mechanism; 500, anti-suspension mechanism;

[0039] 600, center of gravity adjustment mechanism; 601, inner cavity; 602, screw motor; 603, threaded shaft; 604, threaded sleeve; 605, piston block; 606, piston cavity; 607, L-shaped sliding rod; 608, sliding sleeve;

[0040] 700, gyro sensor;

[0041] 800, balance bar; 801, ball; 802, spring; 803, electromagnet;

[0042] 900, dovetail adjustment mechanism; 901, connecting pipe; 902, elliptical shell; 903, water spray hole; 904, sealing sleeve; 905, solenoid valve group; 906, pipeline. DETAILED DESCRIPTION

[0043] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by technicians in the technical field of the present application; the terms used in the specification of the application herein are only for the purpose of describing specific embodiments and are not intended to limit the present application; the terms "including" and "having" and any variations thereof in the specification and claims of the present application and the above-mentioned drawings are intended to cover non-exclusive inclusions. The terms "first", "second", etc. in the specification and claims of the present application or the above-mentioned drawings are used to distinguish different objects, not to describe a specific order.

[0044] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0045] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings.

[0046] Example 1

[0047] See also Figure 1-8 An underwater intelligent robot includes a body 100, wherein the body 100 can also be equipped with some conventional detection operation equipment, such as a sonar system, a camera, a lighting lamp and a mechanical arm; at the same time, a battery and a communication module can be set in the body 100, and the battery is used for power supply, and the communication module is used for wireless signal control or signal transmission. For an environment that is not conducive to signal transmission, it can also be directly connected to the tail of the body 100 through a cable.

[0048] like Figure 1 As described in the figure, a turbine submersible propeller 200 is installed on the body 100, wherein the turbine submersible propeller 200 is a prior art. More specifically, the turbine submersible propeller 200 is built with a waterproof motor and turbine blades. The waterproof motor drives the turbine blades to pump water from the front of the body 100 and discharge it from the rear, and the body 100 can be driven forward by the recoil force. During implementation, a suspension mechanism 400 and an anti-suspension mechanism 500 are respectively arranged on both sides of the body 100. The suspension mechanism 400 and the anti-suspension mechanism 500 are arranged parallel to the body 100, and the suspension mechanism 400 and the anti-suspension mechanism 500 can be driven by the motor 303 to rotate synchronously. The drainage direction can be changed by rotation, and the lift direction can be adjusted. When the lift on both sides of the body 100 is different, a tilting force will occur, causing the body 100 to tilt. Then, when the buoyancy adjustment and gravity reach a balance again, the tilt state of the body 100 can be maintained.

[0049] Specifically, Figure 1 and Figure 5 As shown, a dovetail adjustment mechanism 900 is installed at the tail of the body 100, and the dovetail adjustment mechanism 900 includes two connecting pipes 901, one end of the connecting pipe 901 is fixedly connected to an elliptical shell 902, and a plurality of water spray holes 903 are opened on the surface of the elliptical shell 902; the dovetail adjustment mechanism 900 can be provided with water pressure by a separate submersible pump, and sprayed out from the water spray holes 903 to form a recoil force, so that the dovetail adjustment mechanism 900 can adjust the direction.

[0050] During implementation, a single-chip microcomputer controller and a gyro sensor 700 are installed inside the body 100, and the signal output end of the gyro sensor 700 is connected to the signal input end of the single-chip microcomputer controller, and the suspension mechanism 400, the anti-suspension mechanism 500, the motor 303, the turbine submersible propulsion device 200 and the electromagnetic valve group 905 are all controlled by the single-chip microcomputer controller. Through the single-chip microcomputer controller, when the user inputs the required angle, or after taking a picture for recognition and automatically judging the tilt angle that needs to be input, the single-chip microcomputer controller can automatically control the suspension mechanism 400, the anti-suspension mechanism 500, the motor 303, the turbine submersible propulsion device 200 and the electromagnetic valve group 905 to perform flexible angle tilting and movement according to the needs, which is very convenient.

[0051] Specifically, the suspension mechanism 400 and the anti-suspension mechanism 500 both include four sets of propeller lifts, which are symmetrically and evenly connected to both sides of the body 100; wherein the propeller lift of the suspension mechanism 400 has the same structure as the propeller lift of the anti-suspension mechanism 500, and the drainage directions are opposite. The propeller lift is also a prior art, specifically including a waterproof motor and a propeller, and the waterproof motor drives the propeller to rotate in the water, which can provide lift.

[0052] Among them, the propeller lifter of the suspension mechanism 400 is fixedly connected with the propeller lifter of the anti-suspension mechanism 500 through the rotating shaft 305, and the rotating shaft 305 is rotatably installed at one end of the side arm 300 of the body 100 through the bearing 306, and the motor 303 is fixedly installed in the side arm 300, and the motor 303 is transmission-connected with the rotating shaft 305 through the bevel gear 304. During implementation, it should be noted that a spring wire 302 is connected to the side wall of the propeller lifter, and one end of the spring wire 302 penetrates into the side arm 300. The rotation of the propeller lifter does not affect the connection of the wire.

[0053] Example 2

[0054] Different from the prior art and also different from the first embodiment, the present embodiment does not use a separate submersible pump to drive the dovetail adjustment mechanism 900; the details are as follows:

[0055] like Figure 6 As shown in the figure, the drainage pipe of the turbine submersible propulsion device 200 is set as a venturi tube 201, and a sealing sleeve 904 is fixedly mounted on the thin-diameter portion 202 of the venturi tube 201. The thin-diameter portion 202 is provided with a drainage hole 203 that communicates with the inside of the sealing sleeve 904. One side of the sealing sleeve 904 is connected to a solenoid valve group 905, and multiple water outlets of the solenoid valve group 905 are connected to multiple water spray holes 903 one by one through multiple pipelines 906. In this embodiment, the power of the dovetail adjustment mechanism 900 is cleverly replaced by the water pressure in the drainage pipe of the turbine submersible propeller 200. On the one hand, the design of the submersible pump is saved. On the other hand, a sealing sleeve 904 is installed on the drainage pipe of the turbine submersible propeller 200, and drainage holes 203 are arranged on the thin-diameter portion 202. During implementation, the drainage holes 203 can be densely arranged to form a filtering effect; and the arrangement of the Venturi tube 201 increases the pressure and flow rate in the thin-diameter portion 202, so that the sealing sleeve 904 and the thin-diameter portion 202 are combined to form a filter effect, and can discharge sewage normally without clogging, which is very convenient.

[0056] Example 3

[0057] Different from Example 2, it also includes an "×"-shaped center of gravity adjustment mechanism 600, which is arranged in the inner lower part of the body 100 and is parallel to the body 100; the four extending arms of the center of gravity adjustment mechanism 600 are each provided with a piston cavity 606, and a piston block 605 is installed inside the piston cavity 606. The piston block 605 is driven by a screw motor 602 and can move in the piston cavity 606 to absorb or discharge water. One end of the piston cavity 606 is connected to the water hole 301 opened on the side arm 300 through a pipe.

[0058] like Figure 4 As shown in the figure, the screw motor 602 is fixedly installed in the inner cavity 601 of the center of gravity adjustment mechanism 600, and the motor shaft of the screw motor 602 is set as a threaded shaft 603, on which a threaded sleeve 604 is threadedly installed, and one end of the threaded sleeve 604 is fixedly connected to the center of one side of the piston block 605; an L-shaped sliding rod 607 is fixedly connected to the inner wall of the piston cavity 606, and a sliding sleeve 608 is slidably sleeved on the L-shaped sliding rod 607, and one end of the sliding sleeve 608 is fixedly connected to the surface of one side of the piston block 605.

[0059] Among them, the four sets of screw motors 602 can be controlled separately, such as Figure 4 ( Figure 4 As shown in the top view, if there is more water in the two piston chambers 606 on the upper side (the perspective in the figure), the center of gravity will move forward; if there is more water in the two piston chambers 606 on the lower side, the center of gravity will move backward; if there is more water in the two piston chambers 606 on the left side, the center of gravity will be biased to the left; if there is more water in the two piston chambers 606 on the right side, the center of gravity will be biased. During use, it can be adjusted as needed, which is more convenient.

[0060] Example 4

[0061] The difference from the third embodiment is that it further comprises a balancing bar 800 , and two groups of balancing bars 800 are provided. The two groups of balancing bars 800 are symmetrically mounted on the side arms 300 on both sides of the body 100 .

[0062] Specifically, a ball 801 is fixedly sleeved in the middle of the balancing rod 800, a ball socket 307 is provided on one side of the side arm 300, and the ball 801 is movably installed in the ball socket 307; a plurality of electromagnets 803 arranged in a ring are installed inside the side arm 300, and one end of the balancing rod 800 is set as an iron structure, and the end of the balancing rod 800 is located at the center of the plurality of electromagnets 803. In implementation, the electromagnets 803 are arranged in pairs, and the magnetism of two electromagnets 803 in a pair of electromagnets 803 is cyclically opened and closed, so that the balancing rod 800 can form a vibration effect; and when the action of different pairs of electromagnets 803 is switched, the vibration plane of the balancing rod 800 can be changed; the balancing rod 800 simulates the balancing torque and steering adjustment of two-winged insects such as mosquitoes and flies on the underwater robot, and is very flexible.

[0063] During implementation, springs 802 are fixedly connected to the upper side, lower side, left side, and right side of one end of the balance bar 800, and the other end of the spring 802 is fixedly connected to the inner wall of the side arm 300; and the four springs 802 have the same stiffness coefficient. The design using springs 802 is more flexible, and does not require the use of paired electromagnets 803. Vibration can also be achieved by using the restoring force of the springs 802, which is very convenient.

[0064] Example 5

[0065] Different from Example 1, the present application discloses a specific structure of the solenoid valve group 905, and the solenoid valve group 905 is composed of a plurality of separate solenoid valves, a plurality of reversing valves or a multi-way valve.

[0066] Taking separate solenoid valves as an example, the surfaces of the two elliptical shells 902 on the dovetail adjustment mechanism 900 have eight water spray holes 903. The eight water spray holes 903 spray water from different angles, which can provide recoil forces at corresponding angles, so that the direction can be adjusted. Two or even three water spray holes 903 can be opened at the same time, and the direction can be adjusted by combined force, which makes the adjustment direction more flexible. The same is true whether a reversing valve or a multi-way valve is used. By combining different water spray holes 903, different direction adjustments can be formed, which is very convenient.

[0067] Obviously, the embodiments described above are only some embodiments of the present application, rather than all embodiments. The preferred embodiments of the present application are given in the accompanying drawings, but they do not limit the patent scope of the present application. The present application can be implemented in many different forms. On the contrary, the purpose of providing these embodiments is to make the understanding of the disclosure of the present application more thorough and comprehensive. Although the present application is described in detail with reference to the aforementioned embodiments, for those skilled in the art, it is still possible to modify the technical solutions recorded in the aforementioned specific implementation methods, or to perform equivalent replacement of some of the technical features therein. Any equivalent structure made using the contents of the specification and drawings of this application, directly or indirectly used in other related technical fields, is similarly within the scope of patent protection of this application.

Claims

1. An underwater intelligent robot, characterized in that: include: A body (100), wherein a turbine submersible propeller (200) is installed on the body (100), and a suspension mechanism (400) and an anti-suspension mechanism (500) are respectively arranged on both sides of the body (100), wherein the suspension mechanism (400) and the anti-suspension mechanism (500) are arranged in parallel with the body (100), and the suspension mechanism (400) and the anti-suspension mechanism (500) can be driven by a motor (303) to rotate synchronously; A dovetail adjustment mechanism (900) is installed at the tail of the machine body (100), and the dovetail adjustment mechanism (900) comprises two connecting pipes (901), one end of the connecting pipe (901) is fixedly connected to an elliptical shell (902), and a plurality of water spray holes (903) are provided on the surface of the elliptical shell (902); The drainage pipeline of the turbine submersible propeller (200) is configured as a venturi tube (201); a sealing sleeve (904) is fixedly mounted on the thin-diameter portion (202) of the venturi tube (201); a drainage hole (203) communicating with the inside of the sealing sleeve (904) is provided on the thin-diameter portion (202); a solenoid valve group (905) is connected to one side of the sealing sleeve (904); and a plurality of water outlets of the solenoid valve group (905) are connected to the plurality of water spray holes (903) in a one-to-one correspondence through a plurality of pipelines (906); A single-chip microcomputer controller and a gyro sensor (700) are installed inside the body (100); a signal output end of the gyro sensor (700) is connected to a signal input end of the single-chip microcomputer controller; and the suspension mechanism (400), the anti-suspension mechanism (500), the motor (303), the turbine submersible propulsion device (200) and the solenoid valve group (905) are all controlled by the single-chip microcomputer controller.

2. An underwater intelligent robot according to claim 1, characterized in that: The suspension mechanism (400) and the anti-suspension mechanism (500) both include four sets of propeller lifts, which are symmetrically and evenly connected to both sides of the body (100); wherein the propeller lifts of the suspension mechanism (400) and the propeller lifts of the anti-suspension mechanism (500) have the same structure and are arranged in opposite directions of drainage.

3. An underwater intelligent robot according to claim 2, characterized in that: The propeller lifter of the suspension mechanism (400) and the propeller lifter of the anti-suspension mechanism (500) are fixedly connected via a rotating shaft (305), and the rotating shaft (305) is rotatably mounted on one end of the side arm (300) of the machine body (100) via a bearing (306), and the motor (303) is fixedly mounted in the side arm (300), and the motor (303) is transmission-connected to the rotating shaft (305) via a bevel gear (304).

4. An underwater intelligent robot according to claim 3, characterized in that: A spring wire (302) is connected to the side wall of the propeller suspension device, and one end of the spring wire (302) penetrates into the side arm (300).

5. The underwater intelligent robot according to claim 3, characterized in that: Also includes The center of gravity adjustment mechanism (600) is in the shape of "×", and the center of gravity adjustment mechanism (600) is arranged at the inner lower part of the machine body (100) and is parallel to the machine body (100); the four extending arms of the center of gravity adjustment mechanism (600) are each provided with a piston cavity (606), and a piston block (605) is installed inside the piston cavity (606). The piston block (605) is driven by a screw motor (602) to move in the piston cavity (606) and absorb or discharge water, and one end of the piston cavity (606) is communicated with a water hole (301) provided on the side arm (300) through a pipe.

6. An underwater intelligent robot according to claim 5, characterized in that: The screw motor (602) is fixedly installed in the inner cavity (601) of the center of gravity adjustment mechanism (600), and the motor shaft of the screw motor (602) is set as a threaded shaft (603), and a threaded sleeve (604) is threadedly installed on the threaded shaft (603), and one end of the threaded sleeve (604) is fixedly connected to the center of one side of the piston block (605); an L-shaped sliding rod (607) is fixedly connected to the inner wall of the piston cavity (606), and a sliding sleeve (608) is slidably sleeved on the L-shaped sliding rod (607), and one end of the sliding sleeve (608) is fixedly connected to the surface of one side of the piston block (605).

7. The underwater intelligent robot according to claim 1, characterized in that: It also includes balancing bars (800), wherein two groups of balancing bars (800) are provided, and the two groups of balancing bars (800) are symmetrically mounted on the side arms (300) on both sides of the machine body (100).

8. An underwater intelligent robot according to claim 7, characterized in that: A round ball (801) is fixedly sleeved in the middle of the balancing rod (800), a ball socket (307) is provided on one side of the side arm (300), and the round ball (801) is movably installed in the ball socket (307); a plurality of electromagnets (803) arranged in a ring shape are installed inside the side arm (300), one end of the balancing rod (800) is arranged as an iron structure, and the end of the balancing rod (800) is located at the center of the plurality of electromagnets (803).

9. An underwater intelligent robot according to claim 8, characterized in that: The upper side, lower side, left side and right side of one end of the balance bar (800) are all fixedly connected with springs (802), and the other end of the spring (802) is fixedly connected to the inner wall of the side arm (300); and the stiffness coefficients of the four springs (802) are the same.

10. The underwater intelligent robot according to claim 1, characterized in that: The solenoid valve group (905) is composed of a plurality of separate solenoid valves, a plurality of reversing valves or a multi-way valve.

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