Intelligent diving robot and working method thereof

Abstract

The invention discloses an intelligent diving robot and a working method thereof.The robot comprises a shell assembly, a transmission assembly and a power assembly, two small propellers are symmetrically arranged on the left side and the right side of a robot shell, a large propeller is arranged at the tail of the robot shell, and an air cabin and screw combination device is arranged in the middle of the robot shell; a transmission assembly and a power assembly are installed in the robot shell, the three propellers and the air cabin and screw combination device are controlled, and free movement in the horizontal direction and the vertical direction in water is achieved. The working method comprises the steps that a control instruction is output to the power assembly, the power assembly is controlled to drive the transmission assembly, and the intelligent diving robot works in a horizontal plane movement mode or a vertical plane movement mode. The device can freely move in the three-dimensional space of the marine environment, and is simple and reliable in structure, small in size, light in weight and low in implementation cost.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent robots, in particular to an intelligent diving robot and a working method thereof. Background Art

[0002] my country is a nation rich in marine resources. Sustainable development and utilization of these resources will benefit both the present and future generations. Intelligent submersible robots can perform tasks in marine environments difficult or inaccessible to humans, providing important technical support for scientific research, resource development, and safety monitoring.

[0003] Ballast tanks are a common device used to enable diving. Submarines, for example, use Archimedes' principle to achieve buoyancy by altering their own gravity. When a submarine needs to sink, it uses a compressed air pump to drain the water from the ballast tanks, or valves are used to allow seawater to enter the tanks, increasing the submarine's gravity and causing it to sink. When a submarine needs to surface, it uses a compressed air pump to drain the water from the tanks, or valves are used to allow compressed air to enter the tanks, draining the water and reducing the submarine's gravity, causing it to surface.

[0004] Currently, there are still many technological gaps in the field of intelligent submersible robots in China. Most robots capable of moving in both horizontal and vertical planes are large and expensive. This invention aims to provide an intelligent submersible robot that can move freely in three dimensions within an ocean environment, with a simple and reliable structure, small size, light weight, and low implementation cost. Summary of the Invention

[0005] The object of the present invention is to provide an intelligent diving robot with small size, light weight, high flexibility and low implementation cost and a working method thereof.

[0006] The technical solution for achieving the purpose of the present invention is as follows: an intelligent diving robot, comprising a housing assembly, a transmission assembly and a power assembly;

[0007] The housing assembly is the outer shell of the unmanned intelligent submersible robot, and is used to provide installation space for the transmission assembly and the power assembly, and to ensure the sealing and waterproof performance of the transmission assembly and the power assembly;

[0008] The transmission assembly is used to control the movement of the unmanned intelligent diving robot, and the movement modes include horizontal plane movement mode and vertical plane movement mode;

[0009] The power assembly is used to provide power to the transmission assembly.

[0010] Furthermore, the housing assembly includes an upper housing and a lower housing, wherein the upper housing is provided with an upper housing screw hole, and the lower housing is provided with a hollow cup fixing groove, a lower housing screw hole, a pin fixing groove, an air cavity, a rubber ring fixing groove, a micro motor fixing groove and a support protrusion;

[0011] The upper shell screw holes are located inside the upper shell, and the lower shell screw holes are located inside the lower shell. The upper shell screw holes and the lower shell screw holes are correspondingly arranged and symmetrically distributed, and the upper shell screw holes and the lower shell screw holes are installed together by screws;

[0012] An air cavity is provided at the center of the lower shell, and a supporting protrusion is provided on the top of the air cavity; a hollow cup fixing groove is provided at one end of the lower shell, and a pin shaft fixing groove is provided between the hollow cup fixing groove and the air cavity; a micro motor fixing groove is provided at the other end of the lower shell; a rubber ring is provided in the rubber ring fixing groove to seal the edges of the upper shell and the lower shell.

[0013] Furthermore, the transmission assembly includes a first gear, a second gear, a third gear, a fourth gear, a screw, a screw piston, a pin, a pin fixing cover and a gear fixing pressure cover;

[0014] A screw piston is provided in the air cavity, a screw rod is fixedly connected to the screw piston, an internal thread is provided at the center of the first gear, and the thread of the screw rod cooperates with each other; the second gear is meshed with the first gear, and a third gear is coaxially provided with the second gear; the third gear is meshed with the fourth gear, and a gear fixing cover is installed on the fourth gear;

[0015] The second gear and the third gear are mounted on a pin shaft, and a pin shaft fixing cover is provided on the top end of the pin shaft.

[0016] Furthermore, the power assembly includes a battery and circuit board compartment, a first coreless motor, a micro motor, a large propeller, a first small propeller, a second small propeller, a second coreless motor and a third coreless motor;

[0017] The first hollow cup motor is installed in the hollow cup fixing groove, and the battery and circuit board compartment are installed between the air cavity inside the lower shell and the micro motor fixing groove; the micro motor is installed in the micro motor fixing groove, and the micro motor output shaft is connected to the large propeller to provide power for the large propeller; the output shaft of the first hollow cup motor is connected to the fourth gear, and provides power to the screw piston through the first gear, the second gear, the third gear, and the fourth gear; the second hollow cup motor and the third hollow cup motor are symmetrically distributed on both sides of the micro motor fixing groove in the lower shell, and the output shafts are respectively connected to the first small propeller and the second small propeller to provide power for the first small propeller and the second small propeller.

[0018] Furthermore, the horizontal motion mode of the unmanned intelligent submersible robot includes linear motion and turning, wherein the linear motion includes forward and backward motion, and the turning includes left turn and right turn.

[0019] Under the linear motion command, the micro motor controls the large propeller to rotate forward, so that the robot moves forward in a straight line on the horizontal plane; the micro motor controls the large propeller to rotate in the reverse direction, so that the robot moves backward in a straight line on the horizontal plane;

[0020] Under the steering command, the second hollow cup motor and the third hollow cup motor control the rotation of the first small propeller and the second small propeller respectively. The speed of the second hollow cup motor on the left is less than the speed of the third hollow cup motor on the right, thereby causing the robot to turn left; the speed of the second hollow cup motor on the left is greater than the speed of the third hollow cup motor on the right, thereby causing the robot to turn right.

[0021] Furthermore, the vertical motion modes of the unmanned intelligent diving robot include diving and surfacing:

[0022] Under the dive command, the first hollow cup motor rotates to drive the coaxial fourth gear to rotate forward, which is then transmitted through the third gear and the second gear to finally rotate the first gear, driving the screw to move upward along the axis of the first gear, thereby driving the screw piston to move upward along the axis in the air cavity, filling the air cavity with water, increasing the weight of the intelligent submersible robot, and realizing the intelligent submersible robot diving in the vertical plane;

[0023] Under the buoyancy command, the first hollow cup motor rotates to drive the coaxial fourth gear to rotate in the opposite direction, and finally the first gear rotates through the third gear and the second gear, driving the screw to move downward along the axis of the first gear, thereby driving the screw piston to move downward along the axis in the air cavity, draining the air cavity, reducing the weight of the intelligent submersible robot, and realizing the buoyancy of the intelligent submersible robot in the vertical plane.

[0024] A working method of the intelligent diving robot comprises the following steps:

[0025] A transmission assembly and a power assembly are installed inside the robot housing assembly. The power assembly provides power to the transmission assembly, and the transmission assembly controls the movement of the unmanned intelligent diving robot.

[0026] The control instructions are output to the power component, which drives the transmission component by controlling the power component, so that the intelligent diving robot works in the horizontal plane movement mode or the vertical plane movement mode.

[0027] Furthermore, the horizontal plane movement mode includes linear movement and turning, the linear movement includes forward and backward, and the turning includes left turn and right turn; the vertical plane movement mode includes diving and floating.

[0028] Compared with the existing technology, the present invention has the following significant advantages: (1) it can move freely in the three-dimensional space of the marine environment and has a wide range of applications; (2) it uses an air chamber and a screw combination device to realize the robot's diving and floating, with a simple structure and high reliability; (3) it is small in size, light in weight, and has a low implementation cost, making it suitable for mass production and application. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 A schematic diagram of the external structure of an intelligent diving robot of the present invention.

[0030] Figure 2 Schematic diagram of the internal structure of the present invention.

[0031] Figure 3 Schematic diagram of the structure of the transmission mechanism in the present invention.

[0032] Figure 4 A schematic structural diagram of the upper shell in the present invention.

[0033] Figure 5 A schematic structural diagram of the lower shell in the present invention.

[0034] Figure 6 Schematic diagram of the structure of the propeller in the present invention.

[0035] In the figure: 1-housing assembly, 11-upper housing, 12-lower housing, 111-upper housing screw hole, 121-hollow cup fixing groove, 122-lower housing screw hole, 123-pin fixing groove, 124-air cavity, 125-rubber ring fixing groove, 126-micro motor fixing groove, 127-support protrusion, 2-transmission assembly, 21-first gear, 22-second gear, 23-third gear, 24-fourth gear, 25-screw, 26-screw piston, 27-pin, 28-pin fixing cover, 29-gear fixing cover, 3-control assembly, 31-battery and circuit board compartment, 32-first hollow cup motor, 33-micro motor, 34-large propeller, 35-first small propeller, 36-second small propeller, 37-second hollow cup motor, 38-third hollow cup motor. DETAILED DESCRIPTION

[0036] To make the above-mentioned objects, features, and advantages of the present invention more clearly understood, the following detailed description of the specific embodiments of the present invention is given in conjunction with the accompanying drawings. It is obvious that the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary persons in this field without creative work should fall within the scope of protection of the present invention.

[0037] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0038] The present invention provides an intelligent diving robot, comprising a housing assembly 1, a transmission assembly 2 and a power assembly 3;

[0039] The housing assembly 1 is the outer shell of the unmanned intelligent diving robot, which is used to provide installation space for the transmission assembly 2 and the power assembly 3 and ensure the sealing and waterproof performance of the transmission assembly 2 and the power assembly 3;

[0040] The transmission component 2 is used to control the movement of the unmanned intelligent diving robot, and the movement modes include horizontal plane movement mode and vertical plane movement mode;

[0041] The power assembly 3 is used to provide power to the transmission assembly 2 .

[0042] As a specific example, the housing assembly 1 includes an upper housing 11 and a lower housing 12, wherein the upper housing 11 is provided with an upper housing screw hole 111, and the lower housing 12 is provided with a hollow cup fixing groove 121, a lower housing screw hole 122, a pin fixing groove 123, an air cavity 124, a rubber ring fixing groove 125, a micro motor fixing groove 126 and a support protrusion 127;

[0043] The upper shell screw holes 111 are located inside the upper shell 11, and the lower shell screw holes 122 are located inside the lower shell 12. The upper shell screw holes 111 and the lower shell screw holes 122 are correspondingly arranged and symmetrically distributed. The upper shell screw holes 111 and the lower shell screw holes 122 are installed together by screws;

[0044] An air cavity 124 is provided at the center of the lower shell 12, and a support protrusion 127 is provided on the top of the air cavity 124; a hollow cup fixing groove 121 is provided at one end of the lower shell 12, and a pin fixing groove 123 is provided between the hollow cup fixing groove 121 and the air cavity 124; a micro motor fixing groove 126 is provided at the other end of the lower shell 12; a rubber ring is provided in the rubber ring fixing groove 125 to seal the edges of the upper shell 11 and the lower shell 12.

[0045] As a specific example, the transmission assembly 2 includes a first gear 21, a second gear 22, a third gear 23, a fourth gear 24, a screw 25, a screw piston 26, a pin 27, a pin fixing cover 28 and a gear fixing pressure cover 29;

[0046] A screw piston 26 is provided in the air cavity 124, and a screw 25 is fixedly connected to the screw piston 26. An internal thread is provided at the center of the first gear 21, which cooperates with the thread of the screw 25. The second gear 22 is meshed with the first gear 21, and a third gear 23 is coaxially provided with the second gear 22. The third gear 23 is meshed with the fourth gear 24, and a gear fixing cover 29 is installed on the fourth gear 24.

[0047] The second gear 22 and the third gear 23 are mounted on a pin 27 , and a pin fixing cover 28 is provided on the top of the pin 27 .

[0048] As a specific example, the power assembly 3 includes a battery and circuit board compartment 31, a first coreless motor 32, a micro motor 33, a large propeller 34, a first small propeller 35, a second small propeller 36, a second coreless motor 37 and a third coreless motor 38;

[0049] The first hollow cup motor 32 is installed in the hollow cup fixing groove 121, and the battery and circuit board compartment 31 is installed between the air cavity 124 inside the lower shell 12 and the micro motor fixing groove 126; the micro motor 33 is installed in the micro motor fixing groove 126, and the output shaft of the micro motor 33 is connected to the large propeller 34 to provide power for the large propeller 34; the output shaft of the first hollow cup motor 32 is connected to the fourth gear 24, and provides power to the screw piston 26 through the first gear 21, the second gear 22, the third gear 23, and the fourth gear 24; the second hollow cup motor 37 and the third hollow cup motor 38 are symmetrically distributed on both sides of the micro motor fixing groove 126 in the lower shell 12, and the output shafts are respectively connected to the first small propeller 35 and the second small propeller 36 to provide power for the first small propeller 35 and the second small propeller 36.

[0050] As a specific example, the horizontal motion mode of the unmanned intelligent submersible robot includes linear motion and turning, wherein the linear motion includes forward and backward, and the turning includes left turning and right turning:

[0051] Under the linear motion instruction, the micro motor 33 controls the large propeller 34 to rotate forward, so that the robot moves forward in a straight line on the horizontal plane; the micro motor 33 controls the large propeller 34 to rotate reversely, so that the robot moves backward in a straight line on the horizontal plane;

[0052] Under the steering command, the second hollow cup motor 37 and the third hollow cup motor 38 respectively control the rotation of the first small propeller 35 and the second small propeller 36. The speed of the second hollow cup motor 37 on the left is less than the speed of the third hollow cup motor 38 on the right, thereby causing the robot to turn left; the speed of the second hollow cup motor 37 on the left is greater than the speed of the third hollow cup motor 38 on the right, thereby causing the robot to turn right.

[0053] As a specific example, the vertical motion mode of the unmanned intelligent diving robot includes diving and surfacing:

[0054] Under the dive command, the first hollow cup motor 32 rotates to drive the coaxial fourth gear 24 to rotate forward, which is then transmitted through the third gear 23 and the second gear 22 to finally rotate the first gear 21, driving the screw 25 to move upward along the axis of the first gear 21, thereby driving the screw piston 26 to move upward along the axis in the air cavity 124, filling the air cavity 124 with water, increasing the weight of the intelligent submersible robot, and realizing the intelligent submersible robot diving in the vertical plane;

[0055] Under the buoyancy command, the first hollow cup motor 32 rotates to drive the coaxial fourth gear 24 to rotate in the opposite direction, and finally drives the first gear 21 to rotate through the third gear 23 and the second gear 22, driving the screw 25 to move downward along the axis of the first gear 21, thereby driving the screw piston 26 to move downward along the axis in the air cavity 124, so that the air cavity 124 is drained, reducing the weight of the intelligent diving robot, and realizing the buoyancy of the intelligent diving robot in the vertical plane.

[0056] The present invention also provides a working method of the intelligent diving robot, comprising the following steps:

[0057] The robot housing assembly 1 is internally installed with a transmission assembly 2 and a power assembly 3. The power assembly 3 provides power to the transmission assembly 2, which controls the movement of the unmanned intelligent diving robot.

[0058] The control instruction is output to the power component 3, which drives the transmission component 2 by controlling the power component 3, so that the intelligent diving robot works in the horizontal plane movement mode or the vertical plane movement mode.

[0059] As a specific example, the horizontal plane motion mode includes linear motion and turning, linear motion includes forward and backward, and turning includes left turn and right turn; the vertical plane motion mode includes diving and floating.

[0060] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0061] Example

[0062] like Figures 1 to 4 As shown, the present invention provides an intelligent diving robot, comprising a housing assembly 1, a transmission assembly 2 and a power assembly 3;

[0063] The housing assembly 1 is the outer shell of the unmanned intelligent diving robot, which is used to provide installation space for the transmission assembly 2 and the power assembly 3 and ensure the sealing and waterproof performance of the transmission assembly 2 and the power assembly 3;

[0064] The transmission assembly 2 is used to control the movement of the unmanned intelligent diving robot, including forward and backward, turning and lifting movements;

[0065] The power assembly 3 is used to provide power to the transmission assembly 2 .

[0066] As a specific example, Figure 1 As shown, the housing assembly 1 includes an upper housing 11 and a lower housing 12. Figure 4 、 Figure 5 As shown, the upper shell 11 is provided with an upper shell screw hole 111, and the lower shell 12 is provided with a hollow cup fixing groove 121, a lower shell screw hole 122, a pin fixing groove 123, an air cavity 124, a rubber ring fixing groove 125, a micro motor fixing groove 126 and a support protrusion 127;

[0067] The upper shell screw holes 111 are located inside the upper shell 11, and the lower shell screw holes 122 are located inside the lower shell 12. The upper shell screw holes 111 and the lower shell screw holes 122 are correspondingly arranged and symmetrically distributed. The upper shell screw holes 111 and the lower shell screw holes 122 are installed together by screws;

[0068] An air cavity 124 is provided at the center of the lower shell 12, and a support protrusion 127 is provided on the top of the air cavity 124; a hollow cup fixing groove 121 is provided at one end of the lower shell 12, and a pin fixing groove 123 is provided between the hollow cup fixing groove 121 and the air cavity 124; a micro motor fixing groove 126 is provided at the other end of the lower shell 12; a rubber ring is provided in the rubber ring fixing groove 125 to seal the edges of the upper shell 11 and the lower shell 12.

[0069] As a specific example, Figure 2 、 Figure 3 As shown, the transmission assembly 2 includes a first gear 21, a second gear 22, a third gear 23, a fourth gear 24, a screw 25, a screw piston 26, a pin 27, a pin fixing cover 28 and a gear fixing pressure cover 29;

[0070] A screw piston 26 is provided in the air cavity 124, and a screw 25 is fixedly connected to the screw piston 26. An internal thread is provided at the center of the first gear 21, which cooperates with the thread of the screw 25. The second gear 22 is meshed with the first gear 21, and a third gear 23 is coaxially provided with the second gear 22. The third gear 23 is meshed with the fourth gear 24, and a gear fixing cover 29 is installed on the fourth gear 24.

[0071] As described above, the second gear 22 and the third gear 23 are mounted on the pin 27 , and a pin fixing cover 28 is provided at the top end of the pin 27 .

[0072] As a specific example, Figure 2 、 Figure 3As shown, the power assembly 3 includes a battery and circuit board compartment 31, a first coreless motor 32, a micro motor 33, a large propeller 34, a first small propeller 35, a second small propeller 36, a second coreless motor 37 and a third coreless motor 38;

[0073] The first hollow cup motor 32 is installed in the hollow cup fixing groove 121, and the battery and circuit board compartment 31 is installed between the air cavity 124 inside the lower shell 12 and the micro motor fixing groove 126; the micro motor 33 is installed in the micro motor fixing groove 126, and the output shaft of the micro motor 33 is connected to the large propeller 34 to provide power for the large propeller 34; the output shaft of the first hollow cup motor 32 is connected to the fourth gear 24, and provides power to the screw piston 26 through the first gear 21, the second gear 22, the third gear 23, and the fourth gear 24; the second hollow cup motor 37 and the third hollow cup motor 38 are symmetrically distributed on both sides of the micro motor fixing groove 126 in the lower shell 12, and the output shafts are respectively connected to the first small propeller 35 and the second small propeller 36 to provide power for the first small propeller 35 and the second small propeller 36.

[0074] As a specific example, the structures of the large propeller 34, the first small propeller 35, and the second small propeller 36 are as follows: Figure 6 As shown, the rotation of the large propeller 34, the first small propeller 35, and the second small propeller 36 generates thrust, which drives the intelligent diving robot to perform corresponding movements.

[0075] As a specific example, the motion modes of the unmanned intelligent submersible robot include a horizontal motion mode and a vertical motion mode, as follows:

[0076] The horizontal motion mode includes linear motion and turning, linear motion includes forward and backward, and turning includes left turn and right turn:

[0077] Under the linear motion instruction, the micro motor 33 controls the large propeller 34 to rotate forward, so that the robot moves forward in a straight line on the horizontal plane; the micro motor 33 controls the large propeller 34 to rotate reversely, so that the robot moves backward in a straight line on the horizontal plane;

[0078] Under the steering command, the second coreless motor 37 and the third coreless motor 38 respectively control the rotation of the first small propeller 35 and the second small propeller 36. The speed of the second coreless motor 37 on the left side is lower than that of the third coreless motor 38 on the right side, thereby causing the robot to turn left. The speed of the second coreless motor 37 on the left side is higher than that of the third coreless motor 38 on the right side, thereby causing the robot to turn right.

[0079] The vertical movement mode includes diving and floating:

[0080] Under the dive command, the first hollow cup motor 32 rotates to drive the coaxial fourth gear 24 to rotate forward, which is then transmitted through the third gear 23 and the second gear 22 to finally rotate the first gear 21, driving the screw 25 to move upward along the axis of the first gear 21, thereby driving the screw piston 26 to move upward along the axis in the air cavity 124, filling the air cavity 124 with water, increasing the weight of the intelligent submersible robot, and realizing the intelligent submersible robot diving in the vertical plane;

[0081] Under the buoyancy command, the first hollow cup motor 32 rotates to drive the coaxial fourth gear 24 to rotate in the opposite direction, and finally drives the first gear 21 to rotate through the third gear 23 and the second gear 22, driving the screw 25 to move downward along the axis of the first gear 21, thereby driving the screw piston 26 to move downward along the axis in the air cavity 124, so that the air cavity 124 is drained, reducing the weight of the intelligent diving robot, and realizing the buoyancy of the intelligent diving robot in the vertical plane.

[0082] The above are only preferred embodiments of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. An intelligent diving robot, characterized in that: It comprises a housing assembly (1), a transmission assembly (2) and a power assembly (3); The housing assembly (1) is the outer shell of the unmanned intelligent submersible robot, and is used to provide installation space for the transmission assembly (2) and the power assembly (3), and to ensure the airtight and waterproof performance of the transmission assembly (2) and the power assembly (3); The transmission component (2) is used to control the movement of the unmanned intelligent diving robot, and the movement mode includes a horizontal plane movement mode and a vertical plane movement mode; The power component (3) is used to provide power for the transmission component (2).

2. The intelligent submersible robot according to claim 1, characterized in that: The housing assembly (1) comprises an upper housing (11) and a lower housing (12), wherein the upper housing (11) is provided with an upper housing screw hole (111), and the lower housing (12) is provided with a hollow cup fixing groove (121), a lower housing screw hole (122), a pin fixing groove (123), an air cavity (124), a rubber ring fixing groove (125), a micro motor fixing groove (126) and a supporting protrusion (127); The upper shell screw hole (111) is located inside the upper shell (11), and the lower shell screw hole (122) is located inside the lower shell (12). The upper shell screw hole (111) and the lower shell screw hole (122) are arranged correspondingly and symmetrically, and the upper shell screw hole (111) and the lower shell screw hole (122) are installed together by screws; An air cavity (124) is arranged at the center of the lower shell (12), and a supporting protrusion (127) is arranged at the top of the air cavity (124); a hollow cup fixing groove (121) is arranged at one end of the lower shell (12), and a pin fixing groove (123) is arranged between the hollow cup fixing groove (121) and the air cavity (124); a micro motor fixing groove (126) is arranged at the other end of the lower shell (12); and a rubber ring is arranged in the rubber ring fixing groove (125) to seal the edges of the upper shell (11) and the lower shell (12).

3. The intelligent submersible robot according to claim 2, characterized in that: The transmission assembly (2) comprises a first gear (21), a second gear (22), a third gear (23), a fourth gear (24), a screw (25), a screw piston (26), a pin (27), a pin fixing cover (28) and a gear fixing cover (29); A screw piston (26) is arranged in the air cavity (124), a screw rod (25) is fixedly connected to the screw piston (26), an internal thread is arranged at the center of the first gear (21), and the internal thread cooperates with the thread of the screw rod (25); the second gear (22) is meshed with the first gear (21), and a third gear (23) is coaxially arranged on the second gear (22); the third gear (23) is meshed with the fourth gear (24), and a gear fixing cover (29) is installed on the fourth gear (24); The second gear (22) and the third gear (23) are mounted on a pin shaft (27), and a pin shaft fixing cover (28) is arranged at the top end of the pin shaft (27).

4. The intelligent submersible robot according to claim 3, characterized in that: The power assembly (3) comprises a battery and circuit board compartment (31), a first coreless motor (32), a micro motor (33), a large propeller (34), a first small propeller (35), a second small propeller (36), a second coreless motor (37) and a third coreless motor (38); The first hollow cup motor (32) is installed in the hollow cup fixing groove (121), and the battery and circuit board compartment (31) are installed between the air cavity (124) inside the lower shell (12) and the micro motor fixing groove (126); the micro motor (33) is installed in the micro motor fixing groove (126), and the output shaft of the micro motor (33) is connected to the large propeller (34) to provide power for the large propeller (34); the output shaft of the first hollow cup motor (32) is connected to the fourth gear (24), and the screw piston (26) is provided with power through the first gear (21), the second gear (22), the third gear (23), and the fourth gear (24); the second hollow cup motor (37) and the third hollow cup motor (38) are symmetrically distributed on both sides of the micro motor fixing groove (126) in the lower shell (12), and the output shafts are respectively connected to the first small propeller (35) and the second small propeller (36) to provide power for the first small propeller (35) and the second small propeller (36).

5. The intelligent submersible robot according to claim 4, characterized in that: The horizontal plane motion mode of the unmanned intelligent submersible robot includes linear motion and turning, the linear motion includes forward and backward, and the turning includes left turn and right turn: Under the linear motion instruction, the micro motor (33) controls the large propeller (34) to rotate in the forward direction, so that the robot moves forward in a straight line on the horizontal plane; the micro motor (33) controls the large propeller (34) to rotate in the reverse direction, so that the robot moves backward in a straight line on the horizontal plane; Under the steering command, the second hollow cup motor (37) and the third hollow cup motor (38) respectively control the first small propeller (35) and the second small propeller (36) to rotate, and the rotation speed of the second hollow cup motor (37) on the left side is less than the rotation speed of the third hollow cup motor (38) on the right side, thereby causing the robot to turn left; and the rotation speed of the second hollow cup motor (37) on the left side is greater than the rotation speed of the third hollow cup motor (38) on the right side, thereby causing the robot to turn right.

6. The intelligent submersible robot according to claim 4, characterized in that: The vertical motion modes of the unmanned intelligent submersible robot include diving and surfacing: Under the diving command, the first hollow cup motor (32) rotates to drive the coaxial fourth gear (24) to rotate in the positive direction, and finally drives the first gear (21) to rotate through the third gear (23) and the second gear (22), thereby driving the screw rod (25) to move upward along the axis of the first gear (21), thereby driving the screw rod piston (26) to move upward along the axis in the air cavity (124), so that water is filled in the air cavity (124), thereby increasing the weight of the intelligent submersible robot and realizing the diving of the intelligent submersible robot in the vertical plane; Under the buoyancy instruction, the first hollow cup motor (32) rotates to drive the coaxial fourth gear (24) to rotate in the opposite direction, and finally drives the first gear (21) to rotate through the third gear (23) and the second gear (22), thereby driving the screw (25) to move downward along the axis of the first gear (21), thereby driving the screw piston (26) to move downward along the axis in the air cavity (124), so that the air cavity (124) is drained, the weight of the intelligent submersible robot is reduced, and the intelligent submersible robot can float in the vertical plane.

7. A working method of the intelligent submersible robot according to any one of claims 1 to 6, characterized in that: The following steps are involved: A transmission assembly (2) and a power assembly (3) are installed inside the robot housing assembly (1), wherein the power assembly (3) provides power for the transmission assembly (2), and the transmission assembly (2) controls the movement of the unmanned intelligent submersible robot; The control command is output to the power component (3), and the power component (3) is controlled to drive the transmission component (2), so that the intelligent submersible robot operates in a horizontal plane motion mode or a vertical plane motion mode.

8. The working method of the intelligent submersible robot according to claim 7, characterized in that: The horizontal plane movement mode includes linear movement and turning, the linear movement includes forward and backward, and the turning includes left turn and right turn; the vertical plane movement mode includes diving and floating.

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