Intelligent submersible robot and method of operation thereof

Abstract

The application 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 and right sides of the robot shell, a large propeller is arranged at the tail of the robot shell, and a gas cabin and screw combination device are arranged in the middle of the robot shell. The transmission assembly and the power assembly are installed in the robot shell, and the three propellers and the gas cabin and screw combination device are controlled to realize free movement in the horizontal direction and the vertical direction in water. The working method is that control instructions are output to the power assembly, the transmission assembly is driven by the power assembly, and the intelligent diving robot works in a horizontal plane movement mode or a vertical plane movement mode. The intelligent diving robot can freely move in the three-dimensional space of the marine environment, and has the advantages of simple and reliable structure, small volume, light weight and low realization cost.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent robots, in particular to an intelligent submersible robot and a working method thereof. BACKGROUND

[0002] China is a big country of marine resources, and sustainable development and utilization of marine resources are of great benefit to the present and future generations. For the marine environment that is difficult for humans to access or not suitable for humans to reach, intelligent submersible robots can perform tasks and provide important technical support for scientific research, resource development, safety monitoring and other fields.

[0003] The ballast tank is a common device for achieving submersion. Taking a submarine as an example, according to Archimedes' principle, the submarine changes its own gravity to achieve floating and sinking. When the submarine needs to sink, it will either pump out the water in the ballast tank through an air compressor or let seawater into the ballast tank through a valve to increase the weight of the submarine and make it sink. When the submarine needs to float, it will either pump out the water in the ballast tank through an air compressor or let compressed air into the ballast tank to expel the water, thereby reducing the weight of the submarine and making it float.

[0004] Currently, there are still many technical gaps in the field of intelligent submersible robots in China. Most robots that can move in horizontal and vertical planes are large in size and high in cost. The present application aims to provide an intelligent submersible robot that can freely move in three-dimensional space in a marine environment, and has a simple and reliable structure, small size, light weight, and low implementation cost. SUMMARY

[0005] The present application aims to provide an intelligent submersible robot that is small in size, light in weight, high in flexibility, and low in implementation cost, as well as a working method thereof.

[0006] The technical solution for achieving the present application is as follows: an intelligent submersible robot, comprising a shell assembly, a transmission assembly, and a power assembly;

[0007] The shell assembly is the outer shell of the unmanned intelligent submersible robot, which provides installation space for the transmission assembly and the power assembly, and ensures the airtight 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 submersible robot, and the movement mode includes horizontal plane movement mode and vertical plane movement mode;

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

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

[0011] The upper shell screw hole is located inside the upper shell, the lower shell screw hole is located inside the lower shell, the upper shell screw hole and the lower shell screw hole are correspondingly arranged and symmetrically distributed, and the upper shell screw hole and the lower shell screw hole are installed together through a screw.

[0012] The air cavity is arranged at the center of the lower shell, the support protrusion is arranged at the top of the air cavity, the hollow cup fixing groove is arranged at one end of the lower shell, the pin shaft fixing groove is arranged between the hollow cup fixing groove and the air cavity, the micro motor fixing groove is arranged at the other end of the lower shell, and the rubber ring fixing groove is arranged with a rubber ring to seal the edges of the upper shell and the lower shell.

[0013] Further, the transmission assembly comprises a first gear, a second gear, a third gear, a fourth gear, a screw rod, a screw rod piston, a pin shaft, a pin shaft fixing cover and a gear fixing gland.

[0014] The screw rod piston is arranged in the air cavity, the screw rod is fixedly connected to the screw rod piston, the first gear is provided with an internal thread at the center, and the thread of the screw rod is matched with the internal thread; the second gear is engaged with the first gear, and the second gear is coaxially arranged with the third gear; the third gear is engaged with the fourth gear, and the fourth gear is provided with the gear fixing gland.

[0015] The second gear and the third gear are installed on the pin shaft, and the pin shaft fixing cover is arranged at the top end of the pin shaft.

[0016] Further, the power assembly comprises a battery and circuit board cabin, a first hollow cup motor, a micro motor, a large propeller, a first small propeller, a second small propeller, a second hollow cup motor and a third hollow cup motor.

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

[0018] Further, the horizontal plane motion mode of the unmanned intelligent submersible robot includes straight line motion and turning, the straight line motion includes forward and backward, and the turning includes left turn and right turn.

[0019] Under the straight line motion instruction, the micro motor controls the large propeller to rotate forward, so that the robot moves forward in the horizontal plane; the micro motor controls the large propeller to rotate reversely, so that the robot moves backward in the horizontal plane.

[0020] Under the turning instruction, the second hollow cup motor and the third hollow cup motor control the first small propeller and the second small propeller to rotate respectively, the rotation speed of the second hollow cup motor on the left side is less than that of the third hollow cup motor on the right side, so that the robot turns left; the rotation speed of the second hollow cup motor on the left side is greater than that of the third hollow cup motor on the right side, so that the robot turns right.

[0021] Further, the vertical plane motion mode of the unmanned intelligent submersible robot includes diving and floating:

[0022] Under the diving instruction, the first hollow cup motor rotates to drive the coaxial fourth gear to rotate forward, and finally drives the first gear to rotate through the transmission of the third gear and the second gear, drives the screw rod to move upward along the first gear axis, thereby drives the screw rod piston to move upward along the axis in the air cavity, fills water in the air cavity, increases the weight of the intelligent submersible robot, and realizes the diving of the intelligent submersible robot in the vertical plane.

[0023] Under the floating instruction, the first hollow cup motor rotates to drive the coaxial fourth gear to rotate reversely, and finally drives the first gear to rotate through the transmission of the third gear and the second gear, drives the screw rod to move downward along the first gear axis, thereby drives the screw rod piston to move downward along the axis in the air cavity, drains water in the air cavity, reduces the weight of the intelligent submersible robot, and realizes the floating of the intelligent submersible robot in the vertical plane.

[0024] A working method of the intelligent submersible robot, comprising the following steps:

[0025] The transmission assembly and the power assembly are installed inside the robot shell assembly, the power assembly provides power for the transmission assembly, and the transmission assembly controls the motion of the unmanned intelligent submersible robot;

[0026] The control instruction is output to the power assembly, the transmission assembly is driven by the power assembly, and the intelligent submersible robot works in the horizontal plane motion mode or the vertical plane motion mode.

[0027] Further, the horizontal plane motion mode includes straight line motion and turning, the straight line motion includes forward and backward, and the turning includes left turn and right turn; the vertical plane motion mode includes diving and floating.

[0028] Compared with the prior art, the present application has the following advantages: (1) the robot can freely move in the three-dimensional space of the marine environment, and is suitable for a wide range of applications; (2) the robot is provided with a combination of a gas chamber and a screw rod to realize the submersion and floating of the robot, and has simple structure and high reliability; (3) the robot has small volume, light weight, low implementation cost, and is suitable for batch production and application. BRIEF DESCRIPTION OF DRAWINGS

[0029] Figure 1 An external structure diagram of the intelligent submersible robot.

[0030] Figure 2 An internal structure diagram of the intelligent submersible robot.

[0031] Figure 3 A structure diagram of a transmission mechanism in the intelligent submersible robot.

[0032] Figure 4 A structure diagram of an upper shell in the intelligent submersible robot.

[0033] Figure 5 A structure diagram of a lower shell in the intelligent submersible robot.

[0034] Figure 6 A structure diagram of a propeller in the intelligent submersible robot.

[0035] In the figure: 1 - shell assembly, 11 - upper shell, 12 - lower shell, 111 - upper shell screw hole, 121 - hollow cup fixing groove, 122 - lower shell screw hole, 123 - pin shaft 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 rod, 26 - screw rod piston, 27 - pin shaft, 28 - pin shaft fixing cover, 29 - gear fixing gland, 3 - control assembly, 31 - battery and circuit board cabin, 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] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific embodiments of the present application will be described in detail below in combination with the drawings of the specification. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor should belong to the protection scope of the present application.

[0037] In the following description, a lot of specific details are set forth in order to provide a thorough understanding of the present application, however, the present application can be practiced in other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the concept of the present application, therefore, the present application is not limited to the specific embodiments disclosed below.

[0038] The present application provides an intelligent submersible robot, comprising a shell assembly 1, a transmission assembly 2 and a power assembly 3;

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

[0040] The transmission assembly 2 is used to control the movement of the unmanned intelligent submersible robot, and the movement mode includes horizontal plane movement mode and vertical plane movement mode;

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

[0042] As a specific example, the shell assembly 1 comprises an upper shell 11 and a lower shell 12, wherein 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 shaft 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 hole 111 is located inside the upper shell 11, 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 correspondingly arranged and symmetrically distributed, and the upper shell screw hole 111 and the lower shell screw hole 122 are installed together by screws;

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

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

[0046] The screw rod piston 26 is arranged in the air cavity 124, the screw rod 25 is fixedly connected to the screw rod piston 26, the first gear 21 is arranged with an inner thread in the center, and the thread of the screw rod 25 is matched with the thread of the first gear 21; the second gear 22 is engaged with the first gear 21, the second gear 22 is coaxially arranged with the third gear 23; the third gear 23 is engaged with the fourth gear 24, and the gear fixing cover 29 is mounted on the fourth gear 24.

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

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

[0049] The first hollow cup motor 32 is mounted in the hollow cup fixing groove 121, the battery and circuit board cabin 31 is mounted between the air cavity 124 inside the lower shell 12 and the micro motor fixing groove 126; the micro motor 33 is mounted in the micro motor fixing groove 126, the output shaft of the micro motor 33 is connected with the large propeller 34, and the micro motor 33 provides power for the large propeller 34; the output shaft of the first hollow cup motor 32 is connected with the fourth gear 24, and the first gear 21, the second gear 22, the third gear 23, and the fourth gear 24 provide power for the screw rod piston 26; 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 with 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 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.

[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 the horizontal plane; the micro motor 33 controls the large propeller 34 to rotate reversely, so that the robot moves backward in the horizontal plane.

[0052] Under the turning instruction, 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, the rotation speed of the second hollow cup motor 37 on the left side is less than that of the third hollow cup motor 38 on the right side, so that the robot turns left; the rotation speed of the second hollow cup motor 37 on the left side is greater than that of the third hollow cup motor 38 on the right side, so that the robot turns right.

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

[0054] Under the diving instruction, the first hollow cup motor 32 rotates to drive the coaxial fourth gear 24 to rotate forward, and finally drives the first gear 21 to rotate through the third gear 23 and the second gear 22, drives 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, water is injected into the air cavity 124, the weight of the intelligent submersible robot is increased, and the intelligent submersible robot is realized in the vertical plane.

[0055] Under the floating up instruction, the first hollow cup motor 32 rotates to drive the coaxial fourth gear 24 to rotate reversely, and finally drives the first gear 21 to rotate through the third gear 23 and the second gear 22, drives the screw rod 25 to move downward along the axis of the first gear 21, thereby drives the screw rod piston 26 to move downward along the axis in the air cavity 124, water is drained in the air cavity 124, the weight of the intelligent submersible robot is reduced, and the intelligent submersible robot is realized in the vertical plane.

[0056] The application also provides a working method of the intelligent submersible robot, comprising the following steps:

[0057] The transmission assembly 2 and the power assembly 3 are installed inside the robot shell assembly 1, the power assembly 3 provides power for the transmission assembly 2, and the transmission assembly 2 controls the motion of the unmanned intelligent submersible robot.

[0058] The control instruction is output to the power assembly 3, the transmission assembly 2 is driven by controlling the power assembly 3, and the intelligent submersible robot works in the horizontal plane motion mode or the vertical plane motion mode.

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

[0060] The application will be further described in detail below in combination with the drawings and specific embodiments.

[0061] Embodiment

[0062] As Figures 1-4 shown, the application provides an intelligent submersible robot, which comprises a shell assembly 1, a transmission assembly 2 and a power assembly 3.

[0063] The shell assembly 1 is the shell of the unmanned intelligent submersible 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 component 2 is used to control the movement of the unmanned intelligent underwater robot, including forward and backward movement, turning and lifting movements;

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

[0066] As a specific example, such as Figure 1 As shown, the housing assembly 1 includes an upper housing 11 and a lower housing 12, as follows: Figure 4 , Figure 5 As shown, 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.

[0067] 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 correspondingly arranged and symmetrically distributed. The upper shell screw hole 111 and the lower shell screw hole 122 are installed together by screws.

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

[0069] As a specific example, such as 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 cover 29.

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

[0071] The second gear 22 and the third gear 23 are mounted on the pin 27, and the top of the pin 27 is provided with a pin fixing cover 28.

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

[0073] The first hollow cup motor 32 is installed in a hollow cup fixing groove 121, and the battery and circuit board cabin 31 is installed between an internal air cavity 124 of the lower shell 12 and a 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, which provides power for 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 structure of the large propeller 34, the first small propeller 35, and the second small propeller 36 is as shown in Figure 6 As shown, by rotating the large propeller 34, the first small propeller 35, and the second small propeller 36, thrust is generated to push the intelligent submersible robot to move accordingly.

[0075] As a specific example, the motion mode of the unmanned intelligent submersible robot includes a horizontal plane motion mode and a vertical plane motion mode, which are as follows:

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

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

[0078] Under the turning instruction, 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, the rotation speed of the second hollow cup motor 37 on the left side is less than that of the third hollow cup motor 38 on the right side, so that the robot turns left; the rotation speed of the second hollow cup motor 37 on the left side is greater than that of the third hollow cup motor 38 on the right side, so that the robot turns right;

[0079] The vertical plane motion mode includes diving and floating:

[0080] Under the diving instruction, the first hollow cup motor 32 rotates to drive the coaxial fourth gear 24 to rotate forward, and finally drives the first gear 21 to rotate through the third gear 23 and the second gear 22, drives the screw rod 25 to move upward along the axis of the first gear 21, and drives the screw rod piston 26 to move upward along the axis in the air cavity 124, so as to inject water in the air cavity 124 and increase the weight of the intelligent diving robot, thereby realizing the diving of the intelligent diving robot in the vertical plane.

[0081] Under the floating instruction, the first hollow cup motor 32 rotates to drive the coaxial fourth gear 24 to rotate reversely, and finally drives the first gear 21 to rotate through the third gear 23 and the second gear 22, drives the screw rod 25 to move downward along the axis of the first gear 21, and drives the screw rod piston 26 to move downward along the axis in the air cavity 124, so as to drain water in the air cavity 124 and reduce the weight of the intelligent diving robot, thereby realizing the floating of the intelligent diving robot in the vertical plane.

[0082] The above is only the preferred embodiment of the present application, and it should be pointed out that for ordinary skilled in the art, without departing from the principles of the present application, a number of improvements and refinements can be made, and these improvements and refinements should also be considered as the protection scope of the present application.

Claims

1. An intelligent submersible robot, characterized in that, The shell assembly (1), the transmission assembly (2) and the power assembly (3) are included. The shell assembly (1) is the shell of the unmanned intelligent submersible robot, which is used for providing installation space for the transmission assembly (2) and the power assembly (3) and ensuring the sealing and waterproof performance of the transmission assembly (2) and the power assembly (3). The transmission assembly (2) is used for controlling the movement of the unmanned intelligent submersible robot, and the movement mode includes a horizontal plane movement mode and a vertical plane movement mode. The power assembly (3) is used for providing power for the transmission assembly (2). The shell assembly (1) includes an upper shell (11) and a lower shell (12), wherein the upper shell (11) is provided with an upper shell screw hole (111), the lower shell (12) is provided with a hollow cup fixing groove (121), a lower shell screw hole (122), a pin shaft fixing groove (123), an air cavity (124), a rubber ring fixing groove (125), a micro motor fixing groove (126) and a support protrusion (127). The upper shell screw hole (111) is located in the inside of the upper shell (11), the lower shell screw hole (122) is located in the inside of the lower shell (12), the upper shell screw hole (111) and the lower shell screw hole (122) are correspondingly arranged and symmetrically distributed, and the upper shell screw hole (111) and the lower shell screw hole (122) are installed together through a screw. The lower shell (12) is provided with the air cavity (124) at the center position, the support protrusion (127) is arranged at the top of the air cavity (124), the hollow cup fixing groove (121) is arranged at one end of the lower shell (12), the pin shaft fixing groove (123) is arranged between the hollow cup fixing groove (121) and the air cavity (124), the micro motor fixing groove (126) is arranged at the other end of the lower shell (12), and the rubber ring fixing groove (125) is provided with a rubber ring for sealing the edges of the upper shell (11) and the lower shell (12). The transmission assembly (2) includes a first gear (21), a second gear (22), a third gear (23), a fourth gear (24), a screw rod (25), a screw rod piston (26), a pin shaft (27), a pin shaft fixing cover (28) and a gear fixing cover (29). The screw rod piston (26) is arranged in the air cavity (124), the screw rod (25) is fixedly connected to the screw rod piston (26), the first gear (21) is provided with an internal thread at the center, and the thread of the screw rod (25) is matched with the internal thread; the second gear (22) is engaged with the first gear (21), the second gear (22) is coaxially provided with the third gear (23); the third gear (23) is engaged with the fourth gear (24), and the fourth gear (24) is provided with the gear fixing cover (29); The second gear (22) and the third gear (23) are installed on the pin shaft (27), and the pin shaft (27) is provided with the pin shaft fixing cover (28) at the top end. The power assembly (3) comprises a battery and circuit board cabin (31), a first hollow cup motor (32), a micro motor (33), a large propeller (34), a first small propeller (35), a second small propeller (36), a second hollow cup motor (37) and a third hollow cup motor (38); The first hollow cup motor (32) is installed in a hollow cup fixing groove (121), the battery and circuit board cabin (31) is installed between an internal air cavity (124) of the lower shell (12) and a micro motor fixing groove (126), the micro motor (33) is installed in the micro motor fixing groove (126), the output shaft of the micro motor (33) is connected with the large propeller (34) to provide power for the large propeller (34), the output shaft of the first hollow cup motor (32) is connected with the fourth gear (24), the first gear (21), the second gear (22), the third gear (23) and the fourth gear (24) provide power for the screw rod piston (26), the second hollow cup motor (37) and the third hollow cup motor (38) are symmetrically distributed on the two sides of the micro motor fixing groove (126) in the lower shell (12), the output shafts are respectively connected with 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).

2. The intelligent submersible robot of claim 1, wherein, The horizontal plane movement mode of the unmanned intelligent submersible robot comprises linear motion and turning, the linear motion comprises forward motion and backward motion, and the turning comprises left turning and right turning. Under the linear motion instruction, the micro motor (33) controls the large propeller (34) to rotate forward, so that the robot moves forward in the horizontal plane; the micro motor (33) controls the large propeller (34) to rotate reversely, so that the robot moves backward in the horizontal plane; Under the turning instruction, the second hollow cup motor (37) and the third hollow cup motor (38) control the first small propeller (35) and the second small propeller (36) to rotate respectively, the rotating speed of the second hollow cup motor (37) on the left side is less than that of the third hollow cup motor (38) on the right side, so that the robot turns left; the rotating speed of the second hollow cup motor (37) on the left side is greater than that of the third hollow cup motor (38) on the right side, so that the robot turns right.

3. The intelligent submersible robot of claim 1, wherein, The vertical plane movement mode of the unmanned intelligent submersible robot comprises diving and floating up: Under the diving instruction, the first hollow cup motor (32) rotates to drive the coaxial fourth gear (24) to rotate forward, the third gear (23) and the second gear (22) are driven to finally make the first gear (21) rotate, the screw rod (25) moves upward along the axis of the first gear (21), so that the screw rod piston (26) moves upward along the axis in the air cavity (124), water is injected into the air cavity (124), the weight of the intelligent submersible robot is increased, and the intelligent submersible robot realizes diving in the vertical plane; Under the floating instruction, the first hollow cup motor (32) rotates to drive the coaxial fourth gear (24) to rotate reversely, and finally the first gear (21) rotates through the third gear (23) and the second gear (22) transmission, drives the screw rod (25) to move downward along the axis of the first gear (21), thereby driving the screw rod piston (26) to move downward along the axis in the air cavity (124), discharges water in the air cavity (124), reduces the weight of the intelligent submersible robot, and realizes the intelligent submersible robot to float in the vertical plane.

4. A method of operating a smart submersible robot as claimed in any one of claims 1 to 3, wherein, The method comprises the following steps: The transmission assembly (2) and the power assembly (3) are installed inside the robot shell assembly (1), 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 instruction is output to the power assembly (3), the power assembly (3) drives the transmission assembly (2) to make the intelligent submersible robot work in the horizontal plane movement mode or the vertical plane movement mode.

5. The method of claim 4, wherein, The horizontal plane movement mode includes linear motion and turning, the linear motion includes forward and backward, and the turning includes left turning and right turning; the vertical plane movement mode includes diving and floating.

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