An underwater robot with high strength flow resistance

Abstract

The application relates to the technical field of ocean engineering, in particular to an underwater robot with high-strength flow resistance, which comprises a robot body, a clamping jaw is arranged at the bottom of the robot body, a camera is arranged inside one side of the robot body, a glass cover is arranged at one side of the robot body, a stabilizing mechanism is arranged at the bottom of the robot body, and a cleaning mechanism is arranged at the top of the robot body. The underwater robot is started through a motor and a cylinder, rotation of the cylinder is driven by gear transmission, a drill rod is screwed into silt to fix the robot body, the stability and the flow resistance are improved, the cylinder transmits rotating power to a rotating shaft, drives an eccentric wheel and a swing rod, and a scraper removes impurities on the glass cover, a piston pumps water to extrude seawater to push a moving rod into silt, the adhesion is improved, when the motor is reversed, the swing rod drives the piston to pump water, the water is sprayed from a nozzle through a flow divider, the adhesion between the drill rod and the silt is reduced, and the drill rod is convenient to separate.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of ocean engineering, and in particular to an underwater robot with high-strength flow resistance. BACKGROUND

[0002] An underwater robot, also known as an unmanned remotely operated vehicle, is an important device for performing extreme operations underwater. Due to the complex and dangerous underwater environment, and the limited depth of human diving, it has become a key tool for ocean development. In the early days, operators needed to issue instructions through a human-computer interaction system using abstract symbols or language, and monitor and troubleshoot based on computer-processed information. Today, the development of intelligent underwater robot systems has begun, and operators can only issue tasks, and the robot can autonomously plan, avoid obstacles, and complete designated tasks.

[0003] However, the existing underwater robot is severely affected by the stability and accuracy of the underwater robot during underwater work in areas with high-strength water flow. The impact of water flow can 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 even the equipment may be damaged due to water flow impact.

[0004] In view of the above problems, the present application is improved, and an underwater robot with high-strength flow resistance is provided, which aims to solve the problem and improve the practical value through the technology. SUMMARY

[0005] In view of the above prior art, the present application provides an underwater robot with high-strength flow resistance, which mainly solves the technical problem of how to improve the stability of the underwater robot during underwater work.

[0006] The present application adopts the following technical scheme: an underwater robot with high-strength flow resistance, comprising a robot body, a stabilizing mechanism is arranged at the bottom of the robot body, a water pumping mechanism is arranged on one side of the robot body, a drill rod that can move up and down is arranged at the bottom of the stabilizing mechanism, an enhancing mechanism is arranged inside the drill rod, the enhancing mechanism comprises a mounting groove arranged inside the drill rod, a push plate slides 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 slides inside the limiting groove, a push rod is fixedly connected to one end of the moving rod, the water pumping mechanism is used to pump seawater into the drill rod, and the stabilizing mechanism is used to drive the drill rod to move up and down.

[0007] Preferably, the bottom of the robot body is provided with a clamping jaw, one side of the robot body is internally provided with a camera, one side of the robot body is provided with a glass cover, the bottom of the robot body is provided with two pairs of symmetrically arranged supporting legs, the cleaning mechanism comprises a rotating shaft arranged on the top of a pneumatic cylinder, the top of the rotating shaft is rotatably provided with an eccentric wheel, the top of the eccentric wheel is slidably provided with a swing rod, one end of the swing rod is fixedly connected through a fixing shaft, and the other end of the swing rod is fixedly connected with a scraper.

[0008] Preferably, the stabilizing mechanism comprises a pneumatic cylinder rotatably arranged in the robot body, the bottom of the pneumatic cylinder is provided with a push disc, the bottom of the push disc is provided with a drill rod, the inside of the robot body is provided with a driving mechanism for driving the pneumatic cylinder to rotate, and the outer wall of the drill rod is provided with a spraying mechanism.

[0009] Preferably, the water pumping mechanism comprises a water pumping cylinder arranged on one side of the robot body, a piston slidably arranged in the water pumping cylinder, a sliding rod fixedly connected to one side of the piston, and a water inlet pipe in communication between one end of the water pumping cylinder and the inside of the push disc, one end of the swing rod is provided with a rotating seat, and one end of the sliding rod is rotatably connected with the rotating seat through a rotating rod.

[0010] Preferably, the driving mechanism comprises a motor arranged in the inside of the robot body, a gear A sleeved on the output end of the motor, a gear B sleeved on the outer wall of the pneumatic cylinder, and the gear A and the gear B are in meshing connection.

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

[0012] Preferably, one end of the water pumping cylinder is provided with a one-way valve.

[0013] Preferably, the inside of the limiting groove is slidably provided with a limiting plate, the limiting plate is sleeved on the outer wall of the moving rod, a plurality of groups of springs A are arranged between the inner wall of the limiting groove and one side of the limiting plate, and the top of the push plate and the inner wall of the mounting groove are provided with springs B.

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

[0015] Preferably, the spraying mechanism comprises a flow distribution disc sleeved on the outer wall of the drill rod, a plurality of groups of nozzles arranged on the outer wall of the flow distribution disc, a water inlet channel in communication between the flow distribution disc and the drill rod, and an electromagnetic valve arranged in the inside of the water inlet channel.

[0016] Compared with the prior art, the present application has the following advantages:

[0017] The application can promote the drill rod to insert into the silt by the stable mechanism and the reinforcing mechanism, effectively improve the stability of the device, and the water pumping mechanism can pump seawater into the drill rod. The continuous entry of seawater increases the pressure in the drill rod, pushes the guide rod downward, extrudes the push rod to push the moving rod into the silt, enhances the grip, effectively resists the flow impact, and significantly improves the stability and flow resistance of the robot when monitoring, shooting or water sampling underwater.

[0018] In summary, the application sets the reinforcing mechanism in cooperation with the stable mechanism, controls the drill rod to insert into the silt, and further extracts seawater by the water pumping mechanism to push the moving rod into the silt, which significantly improves the stability and flow resistance of the robot when monitoring, shooting or water sampling underwater. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 The overall structure schematic diagram of the underwater robot with high strength and flow resistance ability is provided for the application;

[0020] Figure 2 The bottom structure schematic diagram of the underwater robot with high strength and flow resistance ability is provided for the application;

[0021] Figure 3 The side view structure schematic diagram of the underwater robot with high strength and flow resistance ability is provided for the application;

[0022] Figure 4 The cross-sectional structure schematic diagram of the underwater robot with high strength and flow resistance ability is provided for the application;

[0023] Figure 5 The A part enlarged structure schematic diagram of the underwater robot with high strength and flow resistance ability is provided for the application;

[0024] Figure 6 The B part enlarged structure schematic diagram of the underwater robot with high strength and flow resistance ability is provided for the application;

[0025] Figure 7 The cleaning and water pumping mechanism structure schematic diagram of the underwater robot with high strength and flow resistance ability is provided for the application.

[0026] LEGEND:

[0027] 1, robot body; 2, supporting leg; 3, clamping jaw; 4, camera; 5, glass cover; 6, stable mechanism; 7, cleaning mechanism; 8, water pumping mechanism; 9, reinforcing mechanism; 10, jet mechanism;

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

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

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

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

[0032] 1001, flow dividing disc; 1002, nozzle; 1003, water inlet channel; 1004, electromagnetic valve. DETAILED DESCRIPTION

[0033] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the claimed present application, but only represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative labor fall within the scope of protection of the present application.

[0034] The present application provides a kind of underwater robot with high strength resistance flow ability, including robot body 1, the bottom of robot body 1 is equipped with gripper 3, the inside of one side of robot body 1 is equipped with camera 4, one side of robot body 1 is equipped with glass cover 5, the bottom of robot body 1 is provided with stabilizing mechanism 6, the top of robot body 1 is provided with cleaning mechanism 7, one side of robot body 1 is provided with water pumping mechanism 8;

[0035] Referring to Figures 1 to 5 As shown, stabilizing mechanism 6 includes cylinder 602 rotating in the inside of robot body 1, the bottom of cylinder 602 is equipped with push disc 605, the bottom of push disc 605 is equipped with drill rod 606, the inside of robot body 1 is provided with driving mechanism for driving cylinder 602 to rotate, the inside of drill rod 606 is provided with reinforcing mechanism 9, the outer wall of drill rod 606 is provided with injection mechanism 10;

[0036] It should be noted that when the robot body 1 is submerged to the bottom of the water, the motor 601 and the air cylinder 602 are started at the same time, the gear A 603 starts to rotate, and due to the meshing relationship between the gear A 603 and the gear B 604, the gear B 604 also rotates. This gear transmission mode can transmit the rotating power of the motor 601 to the air cylinder 602, so as to realize the rotation of the air cylinder 602. When the air cylinder 602 rotates, the push plate 605 also rotates. The bottom of the push plate 605 is provided with a drill rod 606, so that the rotation of the push plate 605 drives the drill rod 606 to rotate. The outer wall of the drill rod 606 is designed with a spiral thread. When the push plate 605 drives the drill rod 606 to rotate, the drill rod 606 will spiral downward. This spiral movement enables the drill rod 606 to gradually enter the silt, thereby fixing the robot body 1, preventing the water flow from impacting the robot body 1 from the side, and preventing the robot body 1 from shaking or overturning, thereby improving the stability of the robot body 1 during monitoring and shooting or water sampling, and enhancing the flow resistance of the robot.

[0037] Referring to Figure 7 As shown in the figure, the cleaning mechanism 7 includes a rotating shaft 701 installed on the top of the air cylinder 602. An eccentric wheel 702 is rotatably installed on the top of the rotating shaft 701. A swing rod 703 slides on the top of the eccentric wheel 702. One end of the swing rod 703 is fixedly connected through a fixed shaft 704. The other end of the swing rod 703 is fixedly connected with a scraper 705.

[0038] It should be noted that when the air cylinder 602 rotates, the rotating shaft 701 on the top of the air cylinder 602 will rotate synchronously. The rotating power of the air 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 around its eccentric point, thereby generating a periodic eccentric force. When the eccentric wheel 702 rotates, the eccentric force acts on the swing rod 703, so that the swing rod 703 reciprocatingly swings 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 reciprocatingly swings, the scraper 705 also reciprocatingly scrapes on the outer wall of the glass cover 5. The reciprocating scraping of the scraper 705 can effectively remove the impurities on the surface of the glass cover 5, so as to ensure that the camera 4 can obtain clear images during monitoring and shooting, and improve the quality and effect of monitoring and shooting.

[0039] Referring to Figures 1 to 7 As shown in the figure, the water pumping mechanism 8 includes a water pumping cylinder 801 installed on one side of the robot body 1. A piston 802 slides in the water pumping cylinder 801. One side of the piston 802 is fixedly connected with a sliding rod 803. One end of the water pumping cylinder 801 is communicated with the inside of the push plate 605 through a water conveying pipe 805. One end of the swing rod 703 is provided with a rotating seat 806. One end of the sliding rod 803 is rotatably connected with the rotating seat 806 through a rotating rod 807.

[0040] Referring to Figures 4 to 6 As shown, the reinforcing mechanism 9 includes a mounting groove 901 opened in the inside of the drill rod 606, the inside of the mounting groove 901 slidingly has a push plate 902, the bottom of the push plate 902 is fixedly connected with a guide rod 903, the outer wall of the drill rod 606 is provided with a limiting groove 904, the inside of the limiting groove 904 slidingly has a moving rod 905, one end of the moving rod 905 is fixedly connected with a push rod 906.

[0041] It should be noted that in the process of rotating the swing rod 703, the slide rod 803 is moved left and right by the rotating rod 807, and the slide rod 803 drives the piston 802 to move in the inside of the water pump 801. The seawater is sucked into the inside of the water pump 801 through the action of the one-way valve 804, and then the piston 802 compresses the seawater into the inside of the push disc 605 through the water delivery pipe 805, and then the seawater enters the inside of the drill rod 606 through the inner cavity of the push disc 605. When the seawater continuously enters the inside of the drill rod 606, the pressure in the inside of the drill rod 606 becomes larger, the guide rod 903 is pushed down by the seawater, the guide rod 903 extrudes the two push rods 906 to move, and the moving rod 905 is further pushed out by the push rod 906, so that the moving rod 905 is inserted into the silt, thereby enhancing the grip to make the robot body 1 better resist the impact of the water flow underwater, and improve the stability and flow resistance of the robot when monitoring, shooting or water sampling.

[0042] Referring to Figures 1 to 2 As shown, the bottom of the robot body 1 is provided with two pairs of symmetrically arranged supporting legs 2, and the design of the supporting legs 2 increases the contact area of the robot with the water bottom. The larger contact area can disperse the pressure of the robot on the water bottom, reduce the damage to the water bottom terrain, and better adapt to the uneven water bottom surface, improve the stability and adaptability of the robot.

[0043] Referring to Figure 4 As shown, the driving mechanism includes a motor 601 installed in the inside of the robot body 1, a gear A 603 sleeved on the output end of the motor 601, a gear B 604 sleeved on the outer wall of the cylinder 602, and the gear A 603 and the gear B 604 are engagedly connected.

[0044] Referring to Figure 7 As shown, the surface of the swing rod 703 is provided with a notch, and the swing rod 703 slides in the inside of the notch. The notch can accurately limit the movement track of the swing rod 703, and ensure that the swing rod 703 always remains on the predetermined path during reciprocating swing.

[0045] Referring to Figure 7As shown, the 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, which can clean impurities without scratching the surface of the glass cover 5, and protect the integrity of the glass cover 5.

[0046] Referring to Figure 7 As shown, one end of the water suction cylinder 801 is provided with a one-way valve 804, which mainly ensures that water flow can only be sucked from the outside of the water suction cylinder 801 and cannot flow out in the opposite direction.

[0047] Referring to Figures 4 to 6 As shown, the inside of the limiting groove 904 slides the limiting plate 907, and the limiting plate 907 is sleeved on the outer wall of the moving rod 905. A plurality of spring A 908 is installed between the inner wall of the limiting groove 904 and one side of the limiting plate 907. The top of the push plate 902 and the inner wall of the installation groove 901 are provided with spring B 909. The elastic properties of spring A 908 and spring B 909 can ensure that the moving rod 905 and the push plate 902 can be accurately reset during movement.

[0048] Referring to Figures 4 to 6 As shown, the bottom of the guide rod 903 is arranged in an inclined manner, one end of the push rod 906 is arranged in an inclined manner, the guide rod 903 and the push rod 906 are in abutting contact, and the inclined contact design can increase the contact area between the guide rod 903 and the push rod 906, so that the force transmission between the two is more uniform and stable.

[0049] Referring to Figure 6 As shown, the injection mechanism 10 includes a flow distribution disc 1001 sleeved on the outer wall of the drill rod 606, a plurality of nozzles 1002 are installed on the outer wall of the flow distribution disc 1001, the flow distribution disc 1001 and the drill rod 606 are communicated through the water inlet channel 1003, and the electromagnetic valve 1004 is installed in the water inlet channel 1003. When it is necessary to pull out the drill rod 606, the motor 601 is controlled to reverse rotation, and the electromagnetic valve 1004 in the water inlet channel 1003 is opened. During the rotation and upward movement of the drill rod 606, the swing rod 703 continuously and continuously reciprocates, so that the water suction cylinder 801 continuously compresses seawater in the installation groove 901 inside the drill rod 606, so that the seawater enters the inside of the flow distribution disc 1001 through the water inlet channel 1003, and is sprayed out through the nozzle 1002. A layer of seawater film is formed 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.

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

[0051] The present application drives the motor 601 and the cylinder 602, utilizes the meshing transmission of the gear A 603 and the gear B 604, transmits the power of the motor 601 to the cylinder 602, drives the push disc 605 to rotate, the drill rod 606 at the bottom of the push disc 605 rotates with it, the spiral thread on the outer wall of the drill rod 606 spirally moves downwards, gradually enters the silt, thereby fixing the robot body 1, effectively resisting the side impact of the water flow, avoiding shaking or overturning, and greatly improving the stability and flow resistance of the robot when monitoring, shooting and water sampling.

[0052] The present application drives the motor 601 and the cylinder 602, utilizes the meshing transmission of the gear A 603 and the gear B 604, transmits the power of the motor 601 to the cylinder 602, drives the push disc 605 to rotate, the drill rod 606 at the bottom of the push disc 605 rotates with it, the spiral thread on the outer wall of the drill rod 606 spirally moves downwards, gradually enters the silt, thereby fixing the robot body 1, effectively resisting the side impact of the water flow, avoiding shaking or overturning, and greatly improving the stability and flow resistance of the robot when monitoring, shooting and water sampling.

[0053] The present application drives the motor 601 and the cylinder 602, utilizes the meshing transmission of the gear A 603 and the gear B 604, transmits the power of the motor 601 to the cylinder 602, drives the push disc 605 to rotate, the drill rod 606 at the bottom of the push disc 605 rotates with it, the spiral thread on the outer wall of the drill rod 606 spirally moves downwards, gradually enters the silt, thereby fixing the robot body 1, effectively resisting the side impact of the water flow, avoiding shaking or overturning, and greatly improving the stability and flow resistance of the robot when monitoring, shooting and water sampling.

[0054] Working principle: when the robot body 1 is submerged to the bottom of the water, the motor 601 and the air cylinder 602 are started at the same time, the gear A 603 starts to rotate, due to the meshing relationship between the gear A 603 and the gear B 604, the gear B 604 also rotates, this gear transmission mode can transmit the rotating power of the motor 601 to the air cylinder 602, realize the rotation of the air cylinder 602, when the air cylinder 602 rotates, the push plate 605 also rotates, the bottom of the push plate 605 is provided with a drill rod 606, so the rotation of the push plate 605 drives the drill rod 606 to rotate, the outer wall of the drill rod 606 is designed with a spiral thread, when the push plate 605 drives the drill rod 606 to rotate, the drill rod 606 will spiral downward. This spiral movement makes the drill rod 606 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 flow resistance of the robot;

[0055] When the air cylinder 602 rotates, the rotating shaft 701 at the top of the air cylinder 602 will rotate synchronously, the rotating power of the air 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 around its eccentric point, thereby generating a periodic eccentric force, when the eccentric wheel 702 rotates, the eccentric force will act on the swing rod 703, so that the swing rod 703 reciprocatingly swings 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 reciprocatingly swings, the scraper 705 also reciprocatingly scrapes on the outer wall of the glass cover 5, the reciprocating scraping of the scraper 705 can effectively remove the impurities on the surface of the glass cover 5, ensuring that the camera 4 can obtain clear images during monitoring and shooting, improving the quality and effect of monitoring and shooting;

[0056] In the process of rotating the swing rod 703, the rotating rod 807 drives the slide rod 803 to move left and right, the slide rod 803 drives the piston 802 to move in the inside of the water pump 801, under the action of the one-way valve 804, the seawater is sucked into the inside of the water pump 801, then the piston 802 compresses the seawater into the inside of the push plate 605 through the water delivery pipe 805, and then into the inside of the drill rod 606 through the inner cavity of the push plate 605, when the seawater continuously enters the inside of the drill rod 606, the pressure in the inside of the drill rod 606 becomes larger, the guide rod 903 is driven to move downward by the seawater, so that the guide rod 903 extrudes the two push rods 906 to move, and the further push rod 906 pushes the moving rod 905 out, so that the moving rod 905 is inserted into the silt, thereby enhancing the grip to make the robot body 1 better resist the impact of the water flow under water, improving its stability and flow resistance during monitoring and shooting or water sampling;

[0057] When it is needed to pull out the drill pipe 606, the motor 601 is controlled to reverse, and the electromagnetic valve 1004 inside the water inlet channel 1003 is opened. During the rotation of the drill pipe 606, the swing rod 703 continuously reciprocates, so that the water cylinder 801 continuously compresses seawater in the installation groove 901 inside the drill pipe 606, so that the seawater enters the inside of the flow distribution disc 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 pipe 606 and the sludge, effectively reduces the direct contact area of the drill pipe 606 and the sludge, reduces the adsorption force between the two, and makes the drill pipe 606 more easily separated from the sludge.

[0058] Finally, it should be noted that: the above only for the preferred embodiments of the present application, and not for limiting the present application, although the foregoing embodiments of the present application are described in detail, for those skilled in the art, it still can be modified, or part of the technical features of the equivalent replacement, within the spirit and principles of the present application, any modification, equivalent replacement, improvement, etc., should be included in the scope of protection of the present application.

Claims

1. An underwater robot with high strength flow resistance, comprising a robot body (1), characterized in that: The bottom of the robot body (1) is provided with a stabilizing mechanism (6), one side of the robot body (1) is provided with a water pumping mechanism (8), the bottom of the stabilizing mechanism (6) is provided with a drill rod (606) which can move up and down, the inside of the drill rod (606) is provided with a reinforcing mechanism (9), the reinforcing mechanism (9) comprises a mounting groove (901) opened in the inside of the drill rod (606), the inside of the mounting groove (901) slidably has a push plate (902), the bottom of the push plate (902) is fixedly connected with a guide rod (903), the outer wall of the drill rod (606) is provided with a limiting groove (904), the inside of the limiting groove (904) slidably has a moving rod (905), one end of the moving rod (905) is fixedly connected with a push rod (906), the water pumping mechanism (8) is used for pumping seawater into the inside of the drill rod (606), the stabilizing mechanism (6) is used for driving the drill rod (606) to move up and down, the stabilizing mechanism (6) comprises a pneumatic cylinder (602) which rotates in the inside of the robot body (1), the bottom of the pneumatic cylinder (602) is provided with a push disc (605), the bottom of the push disc (605) is provided with the drill rod (606), the inside of the robot body (1) is provided with a driving mechanism for driving the pneumatic cylinder (602) to rotate, the outer wall of the drill rod (606) is provided with a spraying mechanism (10), the spraying mechanism (10) comprises a flow divider (1001) which is sleeved on the outer wall of the drill rod (606), a plurality of nozzles (1002) are mounted on the outer wall of the flow divider (1001), the flow divider (1001) and the drill rod (606) are communicated through a water inlet channel (1003), and the inside of the water inlet channel (1003) is provided with an electromagnetic valve (1004).

2. The underwater robot with high strength flow resistance according to claim 1, characterized in that: The bottom of the robot body (1) is provided with a clamping jaw (3), one side of the robot body (1) is internally provided with a camera (4), one side of the robot body (1) is provided with a glass cover (5), the bottom of the robot body (1) is provided with two pairs of symmetrically arranged supporting legs (2), the cleaning mechanism (7) comprises a rotating shaft (701) mounted on the top of the pneumatic cylinder (602), an eccentric wheel (702) is rotatably mounted on the top of the rotating shaft (701), a swing rod (703) slidably extends from the top of the eccentric wheel (702), one end of the swing rod (703) is fixedly connected through a fixed shaft (704), and the other end of the swing rod (703) is fixedly connected with a scraper (705).

3. The underwater robot with high strength flow resistance according to claim 2, 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) slidably extends in the inside of the water pumping cylinder (801), one side of the piston (802) is fixedly connected with a sliding rod (803), one end of the water pumping cylinder (801) is communicated with the inside of the push disc (605) through a water conveying pipe (805), one end of the swing rod (703) is provided with a rotating seat (806), and one end of the sliding rod (803) is rotatably connected with the rotating seat (806) through a rotating rod (807).

4. The underwater robot with high strength flow resistance according to claim 3, characterized in that: The driving mechanism comprises a motor (601) mounted 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), and the gear A (603) is in meshing connection with the gear B (604).

5. The underwater robot with high strength flow resistance according to claim 4, characterized in that: The surface of the swing rod (703) is provided with a notch, and the swing rod (703) is in sliding connection with the inside of the notch.

6. The underwater robot with high strength flow resistance according to claim 4, characterized in that: One end of the water pumping cylinder (801) is provided with a one-way valve (804).

7. The underwater robot with high strength flow resistance according to claim 4, characterized in that: The inside of the limiting groove (904) is slidably provided with a limiting plate (907), the limiting plate (907) is sleeved on the outer wall of the moving rod (905), a plurality of spring groups A (908) are arranged between the inner wall of the limiting groove (904) and one side of the limiting plate (907), and the top of the push plate (902) and the inner wall of the mounting groove (901) are provided with a spring B (909).

8. The underwater robot with high strength flow resistance according to claim 4, characterized in that: The bottom of the guide rod (903) is arranged in an inclined manner, one end of the push rod (906) is arranged in an inclined manner, and the guide rod (903) and the push rod (906) are in abutting contact.

Images