Underwater robot with high-strength anti-flow capability

Abstract

The invention relates to the technical field of ocean engineering, in particular to an underwater robot with high-strength anti-flow capability, which comprises a robot body, a clamping jaw is mounted at the bottom of the robot body, a camera is mounted in one side of the robot body, a glass cover is mounted on one side of the robot body, and the glass cover is mounted on the other side of the robot body. A stabilizing mechanism is arranged at the bottom of the robot body, a cleaning mechanism is arranged at the top of the robot body, a motor and an air cylinder are started, gear transmission is utilized to enable the air cylinder to drive a push disc to rotate, a drill rod drills into sludge through spiral threads, the robot body is fixed, and the stability and the flow resistance are improved; when the motor rotates reversely, the swing rod drives the piston to pump water, the water is sprayed out of the nozzle through the flow dividing disc, the adsorption force of the drill rod and the sludge is reduced, and the drill rod is convenient to separate from the sludge.

Description

Technical Field

[0001] The invention relates to the technical field of marine engineering, and in particular to an underwater robot with high-strength flow resistance. Background Art

[0002] Underwater robots, also known as unmanned remote-controlled submersibles, are important equipment for performing extreme operations underwater. Due to the complex and dangerous underwater environment and the limited diving depth of humans, it has become a key tool for ocean development. In the early days, operators needed to issue instructions through a human-computer interaction system in abstract symbols or language, and monitor and troubleshoot based on computer-processed information. Now, the development of intelligent underwater robot systems has begun. Operators only need to issue tasks, and the robots can autonomously plan, avoid obstacles, and complete the specified tasks.

[0003] However, when existing underwater robots work underwater, in areas with high-intensity water flow, the impact force of the water flow will seriously affect the stability and operating accuracy of the underwater robots. The water flow may cause the robot to deviate from the predetermined position, making it difficult for the robot to accurately reach the target position to perform tasks, and the equipment may even be damaged by the impact of the water flow.

[0004] In view of this, research and improvement are conducted on the existing problems, and an underwater robot with high-strength anti-current capability is provided, aiming to solve the problem and improve the practical value through this technology. Summary of the invention

[0005] In view of the above-mentioned prior art, the present invention provides an underwater robot with high-strength flow resistance, and the main technical problem to be solved is how to improve the stability of the underwater robot during underwater operation.

[0006] The present invention adopts the following technical scheme: an underwater robot with high-strength anti-current capability, comprising a robot body, a stabilizing mechanism is arranged at the bottom of the robot body, a pumping mechanism is arranged at one side of the robot body, a drill rod that can move up and down is arranged at the bottom of the stabilizing mechanism, a reinforcing mechanism is arranged inside the drill rod, the reinforcing mechanism comprises a mounting groove opened inside the drill rod, a push plate is slid inside the mounting groove, a guide rod is fixedly connected to the bottom of the push plate, a limiting groove is arranged on the outer wall of the drill rod, a moving rod is slid inside the limiting groove, one end of the moving rod is fixedly connected to the push rod, the pumping mechanism is used to extract seawater and inject it into the drill rod, and the stabilizing mechanism is used to drive the drill rod to move up and down.

[0007] Preferably, a clamp is installed at the bottom of the robot body, a camera is installed inside one side of the robot body, a glass cover is installed on one side of the robot body, and legs symmetrically arranged in pairs are installed at the bottom of the robot body. The cleaning mechanism includes a rotating shaft installed on the top of the cylinder, an eccentric wheel is rotatably installed on the top of the rotating shaft, a swing rod is slidably provided on the top of the eccentric wheel, one end of the swing rod is fixedly connected by a fixed shaft, and the other end of the swing rod is fixedly connected to a scraper.

[0008] Preferably, the stabilizing mechanism comprises a cylinder rotating inside the robot body, a push plate is installed at the bottom of the cylinder, a drill rod is installed at the bottom of the push plate, a driving mechanism for driving the cylinder to rotate is arranged inside the robot body, and an injection mechanism is arranged on the outer wall of the drill rod;

[0009] Preferably, the water pumping mechanism includes a water pumping cylinder installed on one side of the robot body, a piston sliding inside the water pumping cylinder, a sliding rod fixedly connected to one side of the piston, one end of the water pumping cylinder is connected to the interior of the push plate through a water pipe, a rotating seat is installed at one end of the swing rod, and one end of the sliding rod is rotatably connected to the rotating seat through a rotating rod.

[0010] Preferably, the driving mechanism comprises a motor installed inside the robot body, the output end of the motor is sleeved with a gear A, the outer wall of the cylinder is sleeved with a gear B, and the gear A is meshingly connected with the gear B.

[0011] Preferably, a notch is provided on the surface of the swing rod, and the swing rod is slidably connected to the inside of the notch.

[0012] Preferably, a one-way valve is installed at one end of the water pump.

[0013] Preferably, a limiting plate is sliding inside the limiting groove, and the limiting plate is sleeved on the outer wall of the moving rod, multiple groups of springs A are installed between the inner wall of the limiting groove and one side of the limiting plate, and springs B are installed between the top of the push plate and the inner wall of the installation groove.

[0014] Preferably, the bottom of the guide rod is arranged in an inclined shape, one end of the push rod is arranged in an inclined shape, and the guide rod is in contact with the push rod.

[0015] Preferably, the injection mechanism comprises a diverter plate sleeved on the outer wall of the drill pipe, the outer wall of the diverter plate is installed with multiple groups of nozzles, the diverter plate and the drill pipe are connected through a water inlet channel, and a solenoid valve is installed inside the water inlet channel.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] The present invention can push the drill rod into the mud by cooperating with the strengthening mechanism through the stabilizing mechanism, effectively improving the stability of the device, and the present invention is provided with a pumping mechanism, which can extract seawater and press it into the drill rod. The continuous entry of seawater increases the pressure inside the drill rod, pushes the guide rod downward, squeezes the push rod to push the moving rod out and insert it into the mud, enhances the grip, effectively resists the impact of water flow, and significantly improves the stability and flow resistance of the robot during underwater monitoring, shooting or water sampling.

[0018] In summary, the present invention sets a reinforcing mechanism in conjunction with a stabilizing mechanism to control the drill rod to be inserted into the sludge, and then further extracts seawater through a pumping mechanism to push the moving rod to be inserted into the sludge, thereby significantly improving the stability and flow resistance of the robot during underwater monitoring, shooting or water sampling. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a schematic diagram of the overall structure of an underwater robot with high-strength flow resistance proposed by the present invention;

[0020] Figure 2 A schematic diagram of the bottom structure of an underwater robot with high-strength flow resistance proposed by the present invention;

[0021] Figure 3 A schematic diagram of the side structure of an underwater robot with high-strength flow resistance proposed by the present invention;

[0022] Figure 4 This is a schematic cross-sectional view of an underwater robot with high-strength flow resistance proposed by the present invention;

[0023] Figure 5 This is a schematic diagram of the enlarged structure of part A of an underwater robot with high-strength flow resistance proposed by the present invention;

[0024] Figure 6 This is a schematic diagram of the enlarged structure of part B of an underwater robot with high-strength flow resistance proposed by the present invention;

[0025] Figure 7 This is a schematic diagram of the cleaning and pumping mechanism structure of an underwater robot with high-strength flow resistance proposed by the present invention.

[0026] Legend:

[0027] 1. Robot body; 2. Legs; 3. Gripper; 4. Camera; 5. Glass cover; 6. Stabilizing mechanism; 7. Cleaning mechanism; 8. Pumping mechanism; 9. Reinforcement mechanism; 10. Injection mechanism;

[0028] 601, motor; 602, cylinder; 603, gear A; 604, gear B; 605, push plate; 606, drill rod;

[0029] 701, rotating shaft; 702, eccentric wheel; 703, swing rod; 704, fixed shaft; 705, scraper;

[0030] 801, water pump; 802, piston; 803, slide rod; 804, one-way valve; 805, water pipe; 806, rotating seat; 807, rotating rod;

[0031] 901, mounting slot; 902, push plate; 903, guide rod; 904, limit slot; 905, moving rod; 906, push rod; 907, limit plate; 908, spring A; 909, spring B;

[0032] 1001, diverter plate; 1002, nozzle; 1003, water inlet channel; 1004, solenoid valve. DETAILED DESCRIPTION

[0033] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0034] The present invention provides an underwater robot with high-strength flow resistance, comprising a robot body 1, a gripper 3 is installed at the bottom of the robot body 1, a camera 4 is installed inside one side of the robot body 1, a glass cover 5 is installed at one side of the robot body 1, a stabilizing mechanism 6 is arranged at the bottom of the robot body 1, a cleaning mechanism 7 is arranged at the top of the robot body 1, and a water pumping mechanism 8 is arranged at one side of the robot body 1;

[0035] See also Figures 1 to 5 As shown, the stabilizing mechanism 6 includes a cylinder 602 rotating inside the robot body 1, a push plate 605 is installed at the bottom of the cylinder 602, a drill rod 606 is installed at the bottom of the push plate 605, a driving mechanism for driving the cylinder 602 to rotate is arranged inside the robot body 1, a reinforcing mechanism 9 is arranged inside the drill rod 606, and a jetting mechanism 10 is arranged on the outer wall of the drill rod 606;

[0036] It should be noted that when the robot body 1 dives to the bottom of the water, the motor 601 and the cylinder 602 are started at the same time, and the gear A603 starts to rotate. Due to the meshing relationship between the gear A603 and the gear B604, the gear B604 also rotates accordingly. This gear transmission method can transmit the rotational power of the motor 601 to the cylinder 602 to realize the rotation of the cylinder 602. When the cylinder 602 rotates, the push plate 605 also rotates accordingly. A drill rod 606 is installed at the bottom of the push plate 605, so the rotation of the push plate 605 will drive the drill rod 606 to rotate together. The outer wall of the drill rod 606 is designed with spiral patterns. When the push plate 605 drives the drill rod 606 to rotate, the drill rod 606 will spiral downward. This spiral movement allows the drill rod 606 to gradually enter the silt, which plays a role in fixing the robot body 1, thereby preventing the water flow from impacting the robot body 1 from the side, causing shaking or overturning, thereby improving the stability of the robot body 1 during monitoring and shooting or water sampling, and enhancing the robot's anti-flow ability.

[0037] See also Figure 7 As shown, the cleaning mechanism 7 includes a rotating shaft 701 installed on the top of the cylinder 602, an eccentric wheel 702 is rotatably installed on the top of the rotating shaft 701, a swing rod 703 is slidably provided on the top of the eccentric wheel 702, one end of the swing rod 703 is fixedly connected via a fixed shaft 704, and the other end of the swing rod 703 is fixedly connected to a scraper 705;

[0038] It should be noted that when the cylinder 602 rotates, the rotating shaft 701 on its top will rotate synchronously, and the rotational power of the cylinder 602 is directly transmitted to the rotating shaft 701, so that the rotating shaft 701 also rotates. When the rotating shaft 701 drives the eccentric wheel 702 to rotate, the eccentric wheel 702 will rotate with its eccentric point as the center, thereby generating a periodic eccentric force. When the eccentric wheel 702 rotates, its eccentric force will act on the swing rod 703, so that the swing rod 703 swings back and forth under the support of the fixed shaft 704, so that the swing rod 703 swings back and forth within a certain range. When the swing rod 703 swings back and forth, the scraper 705 also scrapes back and forth on the outer wall of the glass cover 5. The reciprocating scraping of the scraper 705 can effectively remove impurities on the surface of the glass cover 5, ensuring that the camera 4 can obtain clear images during monitoring and shooting, thereby improving the quality and effect of monitoring and shooting.

[0039] See also Figures 1 to 7 As shown, the pumping mechanism 8 includes a pumping cylinder 801 installed on one side of the robot body 1, a piston 802 slides inside the pumping cylinder 801, a sliding rod 803 is fixedly connected to one side of the piston 802, one end of the pumping cylinder 801 is connected to the inside of the push plate 605 through a water pipe 805, a rotating seat 806 is installed at one end of the swing rod 703, and one end of the sliding rod 803 is rotatably connected to the rotating seat 806 through a rotating rod 807;

[0040] See also Figures 4 to 6 As shown, the reinforcing mechanism 9 includes a mounting groove 901 provided inside the drill rod 606, a push plate 902 is slidably arranged inside the mounting groove 901, a guide rod 903 is fixedly connected to the bottom of the push plate 902, a limiting groove 904 is provided on the outer wall of the drill rod 606, a moving rod 905 is slidably arranged inside the limiting groove 904, and a push rod 906 is fixedly connected to one end of the moving rod 905.

[0041] It should be noted that, during the rotation of the swing rod 703, the sliding rod 803 is driven to move left and right by the rotating rod 807, and the sliding rod 803 then drives the piston 802 to move inside the water pumping cylinder 801. Through the action of the one-way valve 804, the seawater is sucked into the water pumping cylinder 801, and then the piston 802 compresses the seawater into the push plate 605 through the water pipe 805, and then enters the drill rod 606 through the inner cavity of the push plate 605. When the seawater continuously enters the drill rod 606, the pressure inside the drill rod 606 increases, and the guide rod 903 is pushed downward by the seawater, so that the guide rod 903 squeezes the two push rods 906 to move, and the push rod 906 further pushes the moving rod 905 out, so that the moving rod 905 is inserted into the silt, thereby enhancing the grip so that the robot body 1 can better resist the impact of water flow underwater, thereby improving its stability and flow resistance during monitoring, shooting or water sampling.

[0042] See also Figure 1 to Figure 2 As shown, the bottom of the robot body 1 is equipped with two symmetrical legs 2, and the design of the legs 2 increases the contact area between the robot and the bottom of the water. The larger contact area can disperse the pressure of the robot on the bottom of the water, reduce the damage to the bottom of the water, and better adapt to the uneven bottom surface, thereby improving the stability and adaptability of the robot.

[0043] See also Figure 4 As shown, the driving mechanism includes a motor 601 installed inside the robot body 1, the output end of the motor 601 is sleeved with a gear A603, the outer wall of the cylinder 602 is sleeved with a gear B604, and the gear A603 is meshed and connected with the gear B604.

[0044] See also Figure 7 As shown, a notch is provided on the surface of the swing rod 703, and the swing rod 703 slides inside the notch. The notch can accurately limit the movement trajectory of the swing rod 703, ensuring that the swing rod 703 always remains on a predetermined path during the reciprocating swing process.

[0045] See also Figure 7As shown, one side of the scraper 705 slides on the outer wall of the glass cover 5. The scraper 705 is made of rubber material. The rubber material has good flexibility and wear resistance. It can clean impurities without scratching the surface of the glass cover 5, thereby protecting the integrity of the glass cover 5.

[0046] See also Figure 7 As shown, a one-way valve 804 is installed at one end of the water pumping cylinder 801, and its main function is to ensure that water can only be sucked in from the outside of the water pumping cylinder 801 and cannot flow out in the opposite direction.

[0047] See also Figures 4 to 6 As shown, there is a limiting plate 907 sliding inside the limiting groove 904, and the limiting plate 907 is sleeved on the outer wall of the moving rod 905. Multiple sets of springs A908 are installed between the inner wall of the limiting groove 904 and one side of the limiting plate 907. Springs B909 are installed on the top of the push plate 902 and the inner wall of the mounting groove 901. The elastic properties of the springs A908 and B909 can ensure that the moving rod 905 and the push plate 902 can be accurately reset during movement.

[0048] See also Figures 4 to 6 As shown, the bottom of the guide rod 903 is set in an inclined shape, one end of the push rod 906 is set in an inclined shape, and the guide rod 903 and the push rod 906 are in contact with each other. The inclined contact design can increase the contact area between the guide rod 903 and the push rod 906, making the force transmission between the two more uniform and stable.

[0049] See also Figure 6 As shown, the injection mechanism 10 includes a diverter plate 1001 sleeved on the outer wall of the drill rod 606, and a plurality of nozzles 1002 are installed on the outer wall of the diverter plate 1001. The diverter plate 1001 is connected to the drill rod 606 through a water inlet channel 1003. A solenoid valve 1004 is installed inside the water inlet channel 1003. When the drill rod 606 needs to be pulled out, the motor 601 is controlled to reverse, and the solenoid valve 1004 inside the water inlet channel 1003 is opened. When the drill rod 606 rotates upward, the solenoid valve 1004 is opened. During the drilling process, the swing rod 703 continuously swings back and forth, so that the pumping cylinder 801 continuously compresses the seawater against the mounting groove 901 inside the drill rod 606, so that the seawater passes through the water inlet channel 1003 and then into the diverter plate 1001, and is sprayed out through the nozzle 1002. The seawater forms a layer of seawater film between the drill rod 606 and the silt, which effectively reduces the direct contact area between the drill rod 606 and the silt, reduces the adsorption force between the two, and makes it easier for the drill rod 606 to separate from the silt.

[0050] See also Figure 4 As shown, in this embodiment, the drill rod 606 and the moving rod 905 are both made of stainless steel. Stainless steel has excellent corrosion resistance and can effectively resist the erosion of salt, microorganisms and other corrosive substances in seawater.

[0051] The present invention starts the motor 601 and the cylinder 602, and utilizes the meshing transmission of the gear A603 and the gear B604 to transmit the power of the motor 601 to the cylinder 602, so that the cylinder 602 drives the push plate 605 to rotate, and the drill rod 606 at the bottom of the push plate 605 rotates with it. Since the outer wall of the drill rod 606 has spiral patterns, it will spiral downward and gradually enter the silt, thereby fixing the robot body 1, effectively resisting the side impact of the water flow, avoiding shaking or tipping, and greatly improving the stability and flow resistance of the robot during monitoring, shooting, and water sampling.

[0052] The present invention transmits the rotational power to the rotating shaft 701 through the cylinder 602, drives the eccentric wheel 702 to rotate with the eccentric point as the center, generates a periodic eccentric force to act on the swing rod 703, makes it swing back and forth under the support of the fixed shaft 704, and then drives the scraper 705 to scrape the impurities on the outer wall of the glass cover 5, ensures that the camera 4 can shoot clearly, and improves the monitoring quality. At the same time, when the swing rod 703 rotates, the sliding rod 803 is driven to move left and right through the rotating rod 807, so that the piston 802 moves in the pumping cylinder 801, and the seawater is sucked in by the one-way valve 804, and is pressed into the push plate 605 and the drill rod 606 through the water pipe 805. The continuous entry of seawater increases the pressure in the drill rod 606, pushes the guide rod 903 downward, squeezes the push rod 906, pushes the moving rod 905 out and inserts it into the mud, enhances the grip, effectively resists the impact of water flow, and significantly improves the stability and anti-flow ability of the robot during underwater monitoring and shooting or water sampling.

[0053] The present invention controls the motor 601 to reverse and opens the electromagnetic valve inside the water inlet channel 1003. During the process of the drill rod 606 rotating and moving upward, the swing rod 703 continuously swings back and forth, so that the pumping cylinder 801 continuously compresses the seawater against the mounting groove 901 inside the drill rod 606, so that the seawater passes through the water inlet channel 1003 and then into the diverter plate 1001, and is sprayed out through the nozzle 1002. The seawater forms a layer of seawater film between the drill rod 606 and the silt, effectively reducing the direct contact area between the drill rod 606 and the silt, reducing the adsorption force between the two, and making it easier for the drill rod 606 to separate from the silt.

[0054] Working principle: When the robot body 1 dives to the bottom of the water, the motor 601 and the cylinder 602 are started at the same time, and the gear A603 starts to rotate. Due to the meshing relationship between the gear A603 and the gear B604, the gear B604 also rotates. This gear transmission method can transmit the rotational power of the motor 601 to the cylinder 602 to realize the rotation of the cylinder 602. When the cylinder 602 rotates, the push plate 605 also rotates. A drill rod 606 is installed at the bottom of the push plate 605. Therefore, the rotation of the push plate 605 will drive the drill rod 606 to rotate together. The outer wall of the drill rod 606 is designed with spiral patterns. When the push plate 605 drives the drill rod 606 to rotate, the drill rod 606 will spiral downward. This spiral movement allows the drill rod 606 to gradually enter the silt, which plays a role in fixing the robot body 1, thereby preventing the water flow from impacting the robot body 1 from the side, causing shaking or overturning, thereby improving the stability of the robot body 1 during monitoring and shooting or water sampling, and enhancing the robot's anti-flow ability;

[0055] When the cylinder 602 rotates, the rotating shaft 701 on its top will rotate synchronously, and the rotating power of the cylinder 602 is directly transmitted to the rotating shaft 701, so that the rotating shaft 701 also rotates. When the rotating shaft 701 drives the eccentric wheel 702 to rotate, the eccentric wheel 702 will rotate with its eccentric point as the center, thereby generating a periodic eccentric force. When the eccentric wheel 702 rotates, its eccentric force will act on the swing rod 703, so that the swing rod 703 swings back and forth under the support of the fixed shaft 704, so that the swing rod 703 swings back and forth within a certain range. When the swing rod 703 swings back and forth, the scraper 705 also scrapes back and forth on the outer wall of the glass cover 5. The reciprocating scraping of the scraper 705 can effectively remove impurities on the surface of the glass cover 5, ensuring that the camera 4 can obtain clear images during monitoring and shooting, thereby improving the quality and effect of monitoring and shooting;

[0056] During the rotation of the swing rod 703, the sliding rod 803 is driven to move left and right by the rotating rod 807, and the sliding rod 803 drives the piston 802 to move inside the water pumping cylinder 801. Through the action of the one-way valve 804, the seawater is sucked into the water pumping cylinder 801, and then the piston 802 compresses the seawater into the push plate 605 through the water pipe 805, and then enters the drill rod 606 through the inner cavity of the push plate 605. When the seawater continuously enters the drill rod 606, the pressure inside the drill rod 606 increases, and the guide rod 903 is pushed downward by the seawater, so that the guide rod 903 squeezes the two push rods 906 to move, and the push rod 906 further pushes the moving rod 905 out, so that the moving rod 905 is inserted into the silt, thereby enhancing the grip so that the robot body 1 can better resist the impact of water flow underwater, thereby improving its stability and anti-flow ability during monitoring, shooting or water sampling;

[0057] When the drill rod 606 needs to be pulled out, the motor 601 is controlled to reverse and the solenoid valve 1004 inside the water inlet channel 1003 is opened. During the process of the drill rod 606 rotating and moving upward, the swing rod 703 continuously swings back and forth, so that the pumping cylinder 801 continuously compresses the seawater against the mounting groove 901 inside the drill rod 606, so that the seawater enters the diverter plate 1001 through the water inlet channel 1003 and is sprayed out through the nozzle 1002. The seawater forms a layer of seawater film between the drill rod 606 and the silt, which effectively reduces the direct contact area between the drill rod 606 and the silt, reduces the adsorption force between the two, and makes it easier for the drill rod 606 to separate from the silt.

[0058] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. An underwater robot with high-strength flow resistance, comprising a robot body (1), characterized in that: A stabilizing mechanism (6) is provided at the bottom of the robot body (1), a pumping mechanism (8) is provided on one side of the robot body (1), a drill rod (606) movable up and down is provided at the bottom of the stabilizing mechanism (6), a reinforcing mechanism (9) is provided inside the drill rod (606), the reinforcing mechanism (9) comprises a mounting groove (901) provided inside the drill rod (606), a push plate (902) is slidably provided inside the mounting groove (901), a guide rod (903) is fixedly connected to the bottom of the push plate (902), a limiting groove (904) is provided on the outer wall of the drill rod (606), a moving rod (905) is slidably provided inside the limiting groove (904), one end of the moving rod (905) is fixedly connected to the push rod (906), the pumping mechanism (8) is used to extract seawater and inject it into the drill rod (606), and the stabilizing mechanism (6) is used to drive the drill rod (606) to move up and down.

2. The underwater robot with high-strength flow resistance according to claim 1, characterized in that: A gripper (3) is installed at the bottom of the robot body (1), a camera (4) is installed inside one side of the robot body (1), a glass cover (5) is installed at one side of the robot body (1), and legs (2) symmetrically arranged in pairs are installed at the bottom of the robot body (1). The cleaning mechanism (7) comprises a rotating shaft (701) installed at the top of the cylinder (602), an eccentric wheel (702) is rotatably installed at the top of the rotating shaft (701), a swing rod (703) is slidably installed at the top of the eccentric wheel (702), one end of the swing rod (703) is fixedly connected via a fixed shaft (704), and the other end of the swing rod (703) is fixedly connected to a scraper (705).

3. The underwater robot with high-strength flow resistance according to claim 2, characterized in that: The stabilizing mechanism (6) comprises a cylinder (602) rotating inside the robot body (1), a push plate (605) is installed at the bottom of the cylinder (602), a drill rod (606) is installed at the bottom of the push plate (605), a driving mechanism for driving the cylinder (602) to rotate is arranged inside the robot body (1), and an injection mechanism (10) is arranged on the outer wall of the drill rod (606).

4. The underwater robot with high-strength flow resistance according to claim 3, characterized in that: The water pumping mechanism (8) comprises a water pumping cylinder (801) mounted on one side of the robot body (1), a piston (802) slidingly arranged inside the water pumping cylinder (801), a sliding rod (803) fixedly connected to one side of the piston (802), one end of the water pumping cylinder (801) being connected to the inside of the push plate (605) via a water pipe (805), a rotating seat (806) being mounted on one end of the swing rod (703), and one end of the sliding rod (803) being rotatably connected to the rotating seat (806) via a rotating rod (807).

5. The underwater robot with high-strength flow resistance according to claim 4, characterized in that: The driving mechanism comprises a motor (601) installed inside the robot body (1); the output end of the motor (601) is sleeved with a gear A (603); the outer wall of the cylinder (602) is sleeved with a gear B (604); the gear A (603) is meshingly connected with the gear B (604).

6. The underwater robot with high-strength flow resistance according to claim 5, characterized in that: A notch is provided on the surface of the swing rod (703), and the swing rod (703) is slidably connected to the inside of the notch.

7. The underwater robot with high-strength flow resistance according to claim 5, characterized in that: A one-way valve (804) is installed at one end of the water pump (801).

8. The underwater robot with high-strength flow resistance according to claim 5, characterized in that: The limiting groove (904) has an internal sliding limiting plate (907), and the limiting plate (907) is sleeved on the outer wall of the moving rod (905), a plurality of groups of springs A (908) are installed between the inner wall of the limiting groove (904) and one side of the limiting plate (907), and a spring B (909) is installed between the top of the push plate (902) and the inner wall of the mounting groove (901).

9. The underwater robot with high-strength flow resistance according to claim 5, characterized in that: The bottom of the guide rod (903) is arranged in an inclined shape, one end of the push rod (906) is arranged in an inclined shape, and the guide rod (903) and the push rod (906) are in contact with each other.

10. The underwater robot with high-strength flow resistance according to claim 5, characterized in that: The injection mechanism (10) comprises a diverter plate (1001) sleeved on the outer wall of a drill rod (606), the outer wall of the diverter plate (1001) being provided with a plurality of nozzles (1002), the diverter plate (1001) being connected to the drill rod (606) via a water inlet channel (1003), and a solenoid valve (1004) being provided inside the water inlet channel (1003).

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