Underwater robot

Abstract

The invention belongs to the technical field of underwater robots, and particularly relates to an underwater robot which comprises a shell, a first driving part, a second driving part and a water suction and drainage device, the first driving part, the second driving part and the water suction and drainage device are mounted on the shell, the water suction and drainage device comprises a water containing bin and a driving mechanism, and the water containing bin is provided with a water containing cavity and a water outlet; the driving mechanism is installed in the water containing bin and used for providing driving force so that water in the external environment can flow between the water containing cavity and the external environment through the water outlet, and therefore the underwater robot can float up and down in the water. According to the underwater robot, ascending and descending can be controlled by controlling water inlet and water outlet of the water containing bin, that is, omnidirectional movement of the underwater robot in water can be achieved by providing power through the first driving part and the second driving part, only two drivers are arranged, the overall structure is simpler and more compact, the manufacturing cost is reduced, the number of the drivers is reduced, and the underwater robot is more convenient to use. The overall size of the underwater robot is reduced, and the maneuverability and flexibility of the underwater robot are improved.

Description

Technical Field

[0001] This application belongs to the technical field of underwater robots, and more specifically, relates to an underwater robot. Background Art

[0002] An underwater robot, also known as a remotely operated underwater vehicle or an autonomous underwater vehicle, is a robotic device that can autonomously or remotely complete various tasks underwater. With the continuous deepening of ocean exploration and development, underwater robots are playing an increasingly important role in many fields such as ocean scientific research, underwater engineering operations, and military applications.

[0003] In related technologies, most existing underwater robots need to rely on at least three actuators to achieve complex three-dimensional underwater movements. Their overall structure is complex and the volume is large, resulting in difficulties in improving the mobility and flexibility of underwater robots, greatly restricting the application of underwater robots in narrow underwater spaces. Especially in some complex environments, such as pipeline cleaning and diving operations, the robot often cannot meet the requirements of flexibility and efficiency at the same time. Summary of the Invention

[0004] The purpose of the embodiments of this application is to provide an underwater robot with a simple, compact structure and capable of achieving three-dimensional omnidirectional swimming.

[0005] To achieve the above purpose, the technical solution adopted in this application is:

[0006] Provide an underwater robot, including:

[0007] A housing;

[0008] A first driving member and a second driving member are installed on opposite sides of the housing along a first direction to drive the underwater robot to move within a first plane, and the first plane is parallel to the first direction;

[0009] A water suction and drainage device is installed on the housing;

[0010] Wherein, the water suction and drainage device includes a water storage chamber and a driving mechanism. The water storage chamber has a water storage cavity for accommodating water and a water outlet communicating the water storage cavity with the external environment. The driving mechanism is installed on the water storage chamber and is used to provide a driving force so that water in the external environment can flow between the water storage cavity and the external environment through the water outlet, thereby enabling the underwater robot to float up and down in the water along a second direction perpendicular to the first direction.

[0011] In some embodiments, the first driving member and the second driving member are symmetrically installed on the housing with the center line of the underwater robot as the axis of symmetry. The first direction is perpendicular to the center line of the underwater robot. The cavity of the water storage cavity is rotationally symmetric with the center line of the underwater robot as the axis, and the center of the cross-section of the water outlet along the first direction is located on the center line of the underwater robot.

[0012] In some embodiments, the housing is provided with a cavity, the water suction and drainage device is arranged in the cavity, and the water outlet penetrates through the housing along the central axis of the underwater robot.

[0013] In some embodiments, the housing includes a first half and a second half that are symmetrically arranged along a first direction. Taking the symmetry axis of the first half and the second half as the center line, along a second direction, the center of gravity of the underwater robot is located below the center line, and the buoyancy center of the underwater robot coincides with the center of gravity or the buoyancy center is located above the center of gravity.

[0014] In some embodiments, at least part of the cavity is located in the first half, the water storage chamber is installed in the first half, and the water outlet penetrates through the bottom wall of the first half facing away from the second half.

[0015] In some embodiments, the first half and the second half are detachably connected, and / or the water storage chamber is detachably installed in the first half.

[0016] In some embodiments, the housing is symmetrically provided with two installation chambers along a first direction. The opposite ends of the installation chambers along a third direction respectively penetrate through the opposite two surfaces of the housing, and the first driving member and the second driving member are respectively installed in the two installation chambers in one-to-one correspondence. The first direction, the second direction, and the third direction are perpendicular to each other in pairs.

[0017] In some embodiments, both the first driving member and the second driving member are propeller-type drivers, and the rotating shafts of the first driving member and the second driving member are parallel to the third direction;

[0018] Alternatively, both the first driving member and the second driving member are two-way jet-type drivers, and water spray nozzles are respectively arranged at both ends of the first driving member and the second driving member along the third direction.

[0019] In some embodiments, the housing is a spherical housing, and the first driving member and the second driving member are received in the corresponding installation chambers.

[0020] In some embodiments, the water storage chamber includes a chamber main body and a nozzle connected to the chamber main body. A water storage cavity is arranged in the chamber main body, the nozzle penetrates through the water storage cavity, one end of the nozzle facing away from the chamber main body is open and forms a water outlet, the housing is provided with a plug hole, the nozzle is hermetically plugged in the plug hole, and the water outlet penetrates through the plug hole.

[0021] In some embodiments, the driving mechanism includes a piston and a driving motor. The piston is movably arranged in the water storage cavity, the peripheral side wall of the piston is slidably and hermetically connected to the cavity side wall of the water storage cavity, and the driving motor is drivingly connected to the piston;

[0022] Wherein, when the driving motor drives the piston to move away from the nozzle, water in the external environment is sucked into the water storage cavity, and when the driving motor drives the piston to move towards the nozzle, the water in the water storage cavity is discharged.

[0023] In some embodiments, the water storage bin further includes a bin cover. One side of the bin body facing away from the nozzle is open. The bin cover is connected to the bin body and seals the opening of the bin body. The piston and the driving motor are both installed on the bin cover.

[0024] In some embodiments, the driving mechanism further includes a push rod, a first gear, and a second gear. One end of the push rod is located in the water storage cavity and is connected to the piston. The other end of the push rod passes through the water storage cavity and is screwed to the bin cover. The first gear is installed at the end of the push rod passing through the water storage bin, and the second gear is installed on the output shaft of the driving motor and meshes with the first gear.

[0025] In some embodiments, the water storage cavity is a cylindrical cavity, and the inner diameter of the opening of the nozzle penetrating the water storage cavity is smaller than the inner diameter of the water storage cavity.

[0026] In some embodiments, along the second direction from the inside of the cavity to the outside, the inner diameter of the nozzle gradually decreases.

[0027] In some embodiments, the underwater robot further includes an image acquisition component housed in the cavity. The outer shell is provided with an image acquisition window, and the lens of the image acquisition component is arranged facing the image acquisition window.

[0028] And / or, the underwater robot further includes an electric control system housed in the cavity. The first driving member, the second driving member, and the driving mechanism are all electrically connected to the electric control system.

[0029] The beneficial effects of the underwater robot provided by the present application are as follows: The underwater robot includes an outer shell, a first driving member, and a second driving member. Among them, the first driving member and the second driving member are installed on two side parts of the outer shell along the first direction. The first driving member and the second driving member provide power to drive the underwater robot to move in the first plane. On this basis, a water suction and drainage device is further installed on the outer shell. The water suction and drainage device is provided with a water storage bin and a driving mechanism. When the driving mechanism works, it can make the water in the external environment flow between the water storage cavity of the water storage bin and the external environment through the water outlet to adjust the overall weight of the underwater robot, so that the underwater robot can realize floating up and down in the water along the second direction perpendicular to the first direction. In this way, the omnidirectional movement of the underwater robot in the water can be realized by the power provided by two drivers. At the same time, by controlling the water inlet and drainage of the water storage bin, the underwater robot can be controlled to rise and dive. In this way, the three-dimensional omnidirectional propulsion of the underwater robot can be completed. Compared with the traditional underwater robot with multiple drivers, it only has two drivers, the overall structure is simpler and more compact, the manufacturing cost is reduced, and the motion control is also easier to achieve. In addition, the reduction of the drivers makes the overall volume of the underwater robot smaller, which is more convenient for operating in a narrow underwater space, effectively improving the mobility and flexibility of the underwater robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] To more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the accompanying drawings required in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other accompanying drawings can be obtained based on these drawings.

[0031] Figure 1 Structural schematic diagram of the underwater robot provided by the embodiment of the present application;

[0032] Figure 2 is Figure 1 Cross-sectional view of the underwater robot shown;

[0033] Figure 3 is Figure 1 Structural schematic diagram when the second half of the hidden housing of the underwater robot shown is removed;

[0034] Figure 4 is Figure 2 Enlarged view at position A in

[0035] Figure 5 is Figure 1 Structural schematic diagram of the water suction and drainage device of the underwater robot shown;

[0036] Figure 6 is Figure 6 Cross-sectional view of the water suction and drainage device shown;

[0037] Figure 7 is Figure 6 Exploded view of the water suction and drainage device shown.

[0038] Among them, the reference numerals in the figures:

[0039] 10. Housing; 101. Cavity; 11. First half; 12. Second half; 13. Installation chamber; 14. Insertion hole; 15. Image acquisition window; 16. Limit baffle;

[0040] 20. First driving member; 30. Second driving member;

[0041] 40. Water suction and drainage device; 41. Water storage bin; 411. Water storage cavity; 412. Water outlet; 413. Bin main body; 414. Nozzle; 415. Bin cover; 4151. Installation groove; 42. Driving mechanism; 421. Piston; 422. Driving motor; 423. Push rod; 424. First gear; 425. Second gear;

[0042] 50. Image acquisition component; 60. Electric control system. Detailed implementation manners

[0043] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application more clearly understood, the following further describes the present application in detail with reference to the accompanying drawings Figures 1 to 7 and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0044] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0045] It should be understood that the orientation or positional relationship indicated by terms such as "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present application.

[0046] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present application, the meaning of "a plurality" is two or more, the meaning of "multiple groups" is two or more groups, the meaning of "multiple pieces" is two or more pieces, and the meaning of "several" is one or more, unless otherwise specifically defined.

[0047] An underwater robot, also known as an unmanned remotely operated vehicle or an autonomous underwater vehicle, is a robotic device that can autonomously or remotely perform various tasks underwater.

[0048] Underwater robots are generally divided into remotely operated underwater vehicles (ROVs) and autonomous underwater vehicles (AUVs). Among them, ROVs are connected to the surface control station through an umbilical cable. Operators can operate and control them through remote control equipment at the surface control station, and can obtain information such as images captured by the underwater robot and measured data in real time, and transmit it to the surface control station. The power of the ROV is provided by the umbilical cable, which can operate underwater for a long time, and can carry various different sensors and operation tools according to task requirements; AUVs do not rely on umbilical cables and have the ability of autonomous decision-making and action. It relies on a pre-set program or senses the environment through its own sensors, autonomously plans the path and executes tasks. AUVs usually carry a certain energy supply, such as batteries, etc., enabling them to independently complete tasks within a certain time and range, and have high autonomy and flexibility.

[0049] Underwater robots have a propulsion system, which provides power for their forward, backward and turning movements. Among them, the propulsion system usually includes a propeller system and a water jet propulsion system. When operating underwater, the three-dimensional movement ability of the underwater robot is crucial. Among them, three-dimensional movement refers to the movement of an object along the horizontal direction (this direction is parallel to the plane determined by the mutually perpendicular X-axis and Y-axis), and the depth direction (Z-axis direction). It includes forward, backward, turning along the horizontal direction, and floating and diving along the depth direction.

[0050] Omnidirectional swimming is one of the key technologies for underwater robots to achieve high flexibility in complex environments. An underwater robot that can achieve three-dimensional omnidirectional movement can move freely and avoid obstacles flexibly in a complex underwater environment and complete various tasks. Compared with traditional directional movement, an underwater robot that can achieve omnidirectional swimming has better maneuverability and can flexibly move through narrow underwater spaces. Omnidirectional robots can be equipped with multiple independent thrusters or a combination of propulsion shafts to enable them to have the ability to move forward and rotate simultaneously. For example, equipment such as omnidirectional thrusters and underwater electric thrusters (such as ring thrusters or turbo thrusters) can be used.

[0051] In related technologies, the propulsion system usually includes multiple drivers to meet the three-dimensional underwater movement requirements of underwater robots. For example, an underwater spherical robot needs eight drivers to achieve three-dimensional omnidirectional swimming underwater. Although this design achieves the omnidirectional movement function, the large number of drivers makes the robot structure complex and the volume large, seriously affecting the effective improvement of the maneuverability and flexibility of the underwater robot, and greatly restricting the application of the underwater robot in narrow underwater spaces. Especially in some complex environments, such as pipeline cleaning and diving operations, the robot often cannot meet the requirements of flexibility and efficiency at the same time.

[0052] Based on this, the embodiments of the present application provide an underwater robot to solve the above problems.

[0053] Please refer to Figures 1 to 7 together. The following provides a detailed description of the underwater robot provided in the embodiments of the present application in conjunction with specific embodiments. In the embodiments of the present application, the first direction is the direction shown by the X-axis in the figure, the second direction is perpendicular to the first direction, the second direction is the direction shown by the Z-axis in the figure, the third direction is the direction shown by the Y-axis in the figure, the first direction, the second direction and the third direction are perpendicular to each other in pairs, the first direction and the third direction define a first plane, and the second direction is perpendicular to the first plane.

[0054] In the embodiments of the present application, as Figures 1 to 4 shown, the underwater robot includes a housing 10, a first driving member 20, a second driving member 30, and a water suction and drainage device 40. Among them, the housing 10 is hollow inside and is provided with a cavity 101; the first driving member 20 and the second driving member 30 are installed on opposite sides of the housing 10 along the first direction to drive the underwater robot to move in the first plane, and the first plane is parallel to the first direction; the water suction and drainage device 40 is installed on the housing 10; among them, the water suction and drainage device 40 includes a water storage chamber 41 and a driving mechanism 42. The water storage chamber 41 has a water storage cavity 411 for accommodating water and a water outlet 412 communicating the water storage cavity 411 and the external environment. The driving mechanism 42 is installed in the water storage chamber 41 and is used to provide a driving force so that the water in the external environment can flow between the water storage cavity 411 and the external environment through the water outlet 412, so that the underwater robot can float up and down in the water along the second direction perpendicular to the first direction.

[0055] In the embodiments of the present application, as Figures 1 to 3 shown, the underwater robot includes a housing 10. Among them, the housing 10 can be a hollow shell structure. The inside of the housing 10 forms an installation space to provide an installation space for internal components of the underwater robot such as a control system and a power supply system. The housing 10 is a basic structure for accommodating other components.

[0056] As Figure 1 and Figure 3 shown, the underwater robot further includes a first driving member 20 and a second driving member 30. The first driving member 20 and the second driving member 30 are installed on opposite sides of the housing 10 along the first direction. These two driving members are used to drive the underwater robot to move in the first plane parallel to the first direction. Exemplarily, the first direction can be a horizontal direction, such as the direction shown by the X-axis in the figure. Then, the first driving member 20 and the second driving member 30 work together to enable the robot to perform actions such as moving forward, backward, and turning on the horizontal plane. In this way, by controlling the opening and closing and speed regulation of the first driving member 20 and the second driving member 30, the movement form of the underwater robot in the first plane such as the horizontal plane can be adjusted.

[0057] Understandably, in some embodiments, the first driving member 20 and the second driving member 30 may be driving members of the same type, or may also be driving members of different types. For example, the first driving member 20 may be a propeller-type driver or a jet-type driver, and the second driving member 30 may also be a propeller-type driver or a jet-type driver. Exemplarily, for the convenience of coordinated control of the first driving member 20 and the second driving member 30, the first driving member 20 and the second driving member 30 may be driving members of the same type, such as both being propeller-type drivers or both being jet-type drivers, and having the same model and power.

[0058] On this basis, as Figures 2 to 4 shown, the underwater robot of the present application further includes a water suction and drainage device 40 installed on the housing 10, which includes a water storage chamber 41 and a driving mechanism 42 installed in the water storage chamber 41. Among them, the water storage chamber 41 is provided with a water storage cavity 411, and the water storage cavity 411 provides a storage space for storing water. The water storage chamber 41 is also provided with a water outlet 412 communicating with the water storage cavity 411, and the water storage cavity 411 communicates with the external environment through the water outlet 412. The driving mechanism 42 provides a driving force, and when it works, it can make the water in the external environment flow between the water storage cavity 411 and the external environment through the water outlet 412. In this way, by controlling the inflow and outflow of water in the water suction and drainage device 40, the overall weight of the underwater robot can be adjusted, so that it can float up and down in the water along a second direction perpendicular to the first direction.

[0059] Understandably, when the driving mechanism 42 drives the water in the external environment to enter the water storage cavity 411, the weight of the underwater robot increases. When the weight increases until the gravity received is greater than the buoyancy, the underwater robot can dive. On the contrary, when the driving mechanism 42 drives the water in the water storage cavity 411 to be discharged, the weight of the underwater robot becomes smaller. When the weight increases until the gravity received is less than the buoyancy, the underwater robot can float up. Among them, the driving mechanism 42 is a mechanism for driving the flow of water. Exemplarily, the driving mechanism 42 may be a piston 421 pump driven by a motor, a centrifugal pump or a peristaltic pump, etc.

[0060] The underwater robot according to the embodiment of the present application includes a housing 10, a first driving member 20, and a second driving member 30. Among them, the first driving member 20 and the second driving member 30 are installed on two side portions of the housing 10 along a first direction. The first driving member 20 and the second driving member 30 provide power to drive the underwater robot to move within a first plane. On this basis, a water suction and drainage device 40 is further installed on the housing 10. The water suction and drainage device 40 is provided with a water storage chamber 41 and a driving mechanism 42. When the driving mechanism 42 operates, it can enable the water in the external environment to flow between the water storage cavity 411 of the water storage chamber 41 and the external environment through the water outlet 412, so as to adjust the overall weight of the underwater robot, so that the underwater robot can float up and down in the water along a second direction perpendicular to the first direction. In this way, the omnidirectional movement of the underwater robot in the water can be realized by the power provided by the two driving members. At the same time, by controlling the water intake and drainage of the water storage chamber 41, the ascent and descent of the underwater robot can be controlled. In this way, the three-dimensional omnidirectional propulsion of the underwater robot can be completed. Compared with the traditional underwater robot with multiple driving members, it only has two driving members, the overall structure is simpler and more compact, the manufacturing cost is reduced, and the motion control is also easier to implement. In addition, the reduction of the driving members makes the overall volume of the underwater robot smaller, which is more convenient for operating in a narrow underwater space, effectively improving the mobility and flexibility of the underwater robot.

[0061] In some embodiments, as Figure 1 and Figure 3 shown, the first driving member 20 and the second driving member 30 are symmetrically installed on the housing 10 with the center line of the underwater robot as the axis of symmetry. The first direction is perpendicular to the center line of the underwater robot. The cavity of the water storage cavity 411 is rotationally symmetric with the center line of the underwater robot as the axis, and the center of the cross-section of the water outlet 412 along the first direction is located on the center line of the underwater robot.

[0062] In this embodiment, it can be understood that the center line of the underwater robot is a virtual reference line used to describe its structure and motion characteristics. The center line refers to a virtual straight line passing through the geometric center of the overall structure of the underwater robot, which is closely related to the specific structure and motion direction of the underwater robot. Exemplarily, for a spherical underwater robot, the center line of its structure usually refers to a virtual straight line passing through the center of the sphere, as Figure 2 and Figure 3 shown by the dashed line L in

[0063] In this embodiment, the first driving member 20 and the second driving member 30 are symmetrically installed on the outer shell 10 with the central axis of the underwater robot as the axis of symmetry. The first direction is perpendicular to the central axis of the underwater robot. Such a setting enables balanced force when moving in the first plane (parallel to the first direction). Exemplarily, when the first plane is the horizontal plane, that is, when the underwater robot moves in a straight line on the horizontal plane, when the symmetrically installed first driving member 20 and second driving member 30 generate thrusts in the same direction and of equal magnitude, the underwater robot can be driven to move forward stably in a straight line without deviation due to uneven force; when steering is required, by adjusting the power output of the first driving member 20 and the second driving member 30, that is, adjusting the magnitudes of the driving forces of the first driving member 20 and the second driving member 30, flexible steering can be achieved.

[0064] In this embodiment, the water storage cavity 411 is rotationally symmetric with the central axis of the underwater robot as the axis. Thus, during the process of pumping and draining water, the forces received by the underwater robot are evenly distributed, and when the forces change dynamically, the stability of the robot's attitude will not be affected due to the offset of the center of gravity; similarly, the center of the cross-section of the water outlet 412 along the first direction is located on the central axis of the underwater robot, and the water body flows in and out along the central axis of the robot, which can also enable the robot to better maintain stability when floating upward.

[0065] In some embodiments, as Figure 2 and Figure 3 shown, the outer shell 10 is provided with a cavity 101, the water suction and drainage device 40 is arranged in the cavity 101, and the water outlet 412 penetrates through the outer shell 10 along the central axis of the underwater robot.

[0066] In this embodiment, a cavity 101 is provided inside the outer shell 10. The cavity 101 provides an installation and protection space for various components of the underwater robot. The cavity 101 can accommodate various devices such as the water suction and drainage device 40, the control board, and the battery. Concentrating these devices in a relatively enclosed space can not only effectively protect them from the erosion of the harsh underwater environment, but also make the structure of the robot more compact and orderly. At the same time, it is also more convenient to uniformly manage and maintain the internal devices of the robot, which helps to improve the reliability and stability of the robot.

[0067] In this way, the water suction and drainage device 40 is housed inside the housing 10. The housing 10 can play a role in protecting the water suction and drainage device. The environment inside the cavity 101 is relatively stable, which is beneficial to the normal operation of the water suction and drainage device 40 and reduces the influence of external interference on its water suction and drainage function. The water outlet 412 is provided to penetrate the housing 10 along the center line of the underwater robot. During the process of water inflow and outflow, the acting force generated on the robot by the water is evenly distributed on the center line, reducing the risk of the robot tilting or becoming unstable during vertical floating due to uneven water flow, improving the stability of the robot's movement and the accuracy of movement control, enabling the robot to achieve vertical floating more smoothly. At the same time, the water outlet 412 penetrates the housing 10 straight along the center line, making the water flow channel smoother, capable of reducing water flow resistance, improving the efficiency of water suction and drainage, thereby increasing the response speed of the underwater robot's vertical floating and enhancing the flexibility of movement.

[0068] In some embodiments, as Figures 1 to 3 shown, the housing 10 includes a first half 11 and a second half 12 symmetrically arranged along a first direction. Taking the symmetry axis of the first half 11 and the second half 12 as the center line, along a second direction, the center of gravity of the underwater robot is located below the center line, and the buoyancy center of the underwater robot coincides with the center of gravity.

[0069] In this embodiment, the housing 10 includes a first half 11 and a second half 12 symmetrically arranged along a first direction. The symmetrical design helps to simplify the manufacturing process of the robot. For example, the same or similar molds can be used to produce the two halves, thereby reducing the production cost. In addition, the symmetrical housing 10 receives more uniform resistance in water, reducing the water flow disorder caused by asymmetrical shape, improving the movement efficiency and stability of the robot, and making its movement in water smoother.

[0070] In this embodiment, the first direction is perpendicular to the second direction. Thus, when the underwater robot is in water, the first half 11 is the upper half and the second half 12 is the lower half. Through structural design, the center of gravity of the underwater robot is located below the midline, endowing the robot with a stable characteristic similar to that of a "tumbler". When the robot is disturbed by an external force, gravity will generate a moment that urges it to return to the initial equilibrium state. On this basis, through mechanism design, the center of buoyancy coincides with the center of gravity, enabling the robot to be in a neutrally buoyant state in water. In this state, regardless of the robot's attitude, the buoyancy and gravity are always equal in magnitude, opposite in direction, and act on the same straight line, which can ensure its stable operation in a complex water flow environment, reduce the risk of attitude drift, and contribute to improving the task accuracy and reliability of the robot for performing tasks such as fixed-point observation and sampling. Moreover, the robot can stably maintain its current attitude without additional energy consumption, reducing energy consumption. It can be understood that the center of gravity of the underwater robot refers to the equivalent concentrated point of the masses of all parts of the robot, while the center of buoyancy refers to the equivalent center of gravity of the liquid displaced by the underwater robot.

[0071] In some other embodiments, different from the previous embodiment, the center of buoyancy of the underwater robot is located above the center of gravity. In these embodiments, the underwater robot is in a stable equilibrium state. When the robot tilts under the action of an external force, the buoyancy and gravity will form a restoring moment that urges the robot to return to the initial equilibrium position, just like the "tumbler" principle. The lower center of gravity enhances the stability of the robot. In practical applications, when performing underwater detection operations, even when encountering disturbances such as water flow impacts, it can rely on this stable equilibrium characteristic to quickly return to a stable attitude, thereby improving the continuity and accuracy of the detection work.

[0072] In some embodiments, as Figure 2 and Figure 3 shown, at least part of the cavity 101 is located in the first half 11, the water storage chamber 41 is installed in the first half 11, and the water outlet 412 penetrates the bottom wall of the first half 11 facing away from the second half 12.

[0073] In this embodiment, the water suction and drainage device 40 is installed in the first half 11, i.e., the lower half. Among them, the water suction and drainage device 40 is the core component for realizing the up and down floating of the robot. Installing it in the first half 11, that is, near the center of gravity of the underwater robot or below the center of gravity, can reduce the interference of the water body entering and leaving the water storage cavity 411 on the horizontal movement of the robot. On this basis, the water outlet 412 penetrates the bottom wall of the first half 11 facing away from the second half 12, making the flow path of the water body relatively direct, which can reduce the water flow resistance and improve the water suction and drainage efficiency. When the robot needs to rise, the driving mechanism 42 drives the water in the water storage bin 41 to be inhaled or discharged through the water outlet 412, so as to quickly increase or reduce the weight of the robot to achieve up and down floating. Moreover, since the water outlet 412 is located on the bottom wall of the first half 11 facing away from the second half 12, during the water suction and drainage process, the water flow direction is relatively stable and will not impact other parts on the side, which can also improve the stability of the robot during the water suction and drainage process and is beneficial for it to smoothly change its up and down position in the water.

[0074] In some embodiments, the first half 11 and the second half 12 are detachably connected. The detachable connection between the first half 11 and the second half 12 facilitates the installation and maintenance of each internal component.

[0075] In a specific embodiment, the first half 11 and the second half 12 can be connected by fasteners such as screws or bolts, or they can be connected by snap-fit structures, or they can also be connected by threaded structures. Among them, no matter which connection method is selected for the first half 11 and the second half 12, the sealing performance of the connection position needs to be considered to reduce the risk of external water entering the cavity 101 and provide protection for the internal structure.

[0076] In some embodiments, the water storage bin 41 is detachably installed in the first half 11. During the pumping and drainage processes, the water suction and drainage device 40 may be affected by impurities in the water, resulting in component wear or blockage. The detachable design enables maintenance personnel to conveniently remove the water suction and drainage device 40 from the first half 11 for maintenance or replacement, so as to ensure the normal operation of the water suction and drainage function.

[0077] In a specific embodiment, the water storage bin 41 can also be connected to the first half 11 by fasteners such as screws or bolts, or it can be connected to the first half 11 by snap-fit structures, or it can also be connected to the first half 11 by threaded structures. Exemplarily, two limiting baffles 16 are arranged at intervals at the position of the cavity 101 in the first half 11, and the water storage bin 41 is snap-fitted between the two limiting baffles 16.

[0078] Of course, in other embodiments, the water storage bin 41 can also be integrally formed with the first half 11, which is convenient for processing and manufacturing and does not require assembly, helping to improve the overall assembly efficiency of the robot.

[0079] In some embodiments, the first half 11 and the second half 12 may also be partially or entirely transparent shell structures, so that the internal structure can be observed from the outside of the outer shell 10.

[0080] In some embodiments, such as Figure 1 and Figure 3 shown, the outer shell 10 is symmetrically provided with two installation chambers 13 in the first direction. The opposite ends of the installation chamber 13 in the third direction respectively penetrate through the opposite two surfaces of the outer shell 10. The first driving member 20 and the second driving member 30 are respectively installed in the two installation chambers 13 in a one-to-one correspondence. The first direction, the second direction, and the third direction are perpendicular to each other in pairs.

[0081] In this embodiment, the two installation chambers 13 are symmetrically arranged on the outer shell 10 in the first direction, so that the outer shell 10 maintains balance in structure. At the same time, the opposite ends of the two installation chambers 13 in the third direction penetrate through the opposite two surfaces of the outer shell 10, providing a reasonable space for the installation and operation of the driving members. The installation chamber 13 penetrates through the surface of the outer shell 10. Among them, the third direction is a direction perpendicular to the first direction and the second direction. The first direction and the third direction are parallel to the first plane, so that the first driving member 20 and the second driving member 30 are in direct contact with the external water body, so as to drive the water body to move along the third reverse direction to generate a driving force in the third direction, so that the underwater robot can move in the first plane. Moreover, the first driving member 20 and the second driving member 30 are installed in symmetric positions, and can generate relatively independent and cooperative driving forces. In the first plane, by controlling the rotation speed and steering of the first driving member 20 and the second driving member 30, actions such as the robot moving forward, backward, and turning in this plane can be realized. Cooperating with the water suction and drainage device 40 of the robot, that is, the up and down floating function in the second direction, enables the robot to move freely in three-dimensional space and meet the operation requirements of complex underwater environments.

[0082] Exemplarily, in a specific embodiment, such as Figure 3As shown, the underwater robot can achieve motion transformation in the following ways: When the first driving member 20 and the second driving member 30 rotate forward at the same speed (for example, rotate in the direction shown by arrow F1), the robot can move forward; when the first driving member 20 and the second driving member 30 rotate backward at the same speed (for example, rotate in the direction shown by arrow F2), the robot can move backward; when the first driving member 20 rotates forward and the second driving member 30 rotates backward at the same speed, the robot can turn in place; when the first driving member 20 rotates forward at a low speed and the second driving member 30 rotates forward at a high speed, the robot can turn forward (for example, turn left); when the first driving member 20 rotates forward at a high speed and the second driving member 30 rotates forward at a low speed, the robot can turn backward (for example, turn right). On this basis, the driving mechanism 42 starts to rotate forward to drive water into the water storage cavity 411, realizing the diving of the robot, and the driving mechanism 42 starts to rotate backward to drive water out of the water storage cavity 411, thereby realizing the ascent of the robot. Among them, the ascent and descent can occur simultaneously with the forward, backward and various turning motions described above, so as to realize the three-dimensional omnidirectional motion of the underwater robot.

[0083] In some embodiments, as Figure 1 and Figure 3 shown, both the first driving member 20 and the second driving member 30 are propeller-type drivers, and the rotating shafts of the first driving member 20 and the second driving member 30 are parallel to the third direction.

[0084] Among them, the propeller-type driver is widely used in the underwater environment. Through the rotation of the propeller, it pushes the surrounding water to generate a reaction force, thereby providing power for the robot. The advantages of this type of driver are relatively simple structure, high reliability, and can generate relatively stable thrust. As Figure 3 shown, the rotating shafts of the first driving member 20 and the second driving member 30 are parallel to the third direction, and the distances W1 and W2 between the two rotating shafts and the center line of the underwater robot are equal, that is, the two rotating shafts are symmetrical. Thus, when the propellers rotate, the thrust direction generated is parallel to the third direction. In the first plane, the two propeller-type drivers can achieve various motion modes of the robot in this plane through different rotational speed and steering combinations. When the two propellers rotate in the same direction at the same speed, the robot can move straight forward in the first plane; when the rotational speeds of the two propellers are different, the robot can achieve a turning motion.

[0085] In some other embodiments, both the first driving member 20 and the second driving member 30 are bidirectional jet-type drivers, and water spray nozzles are respectively provided at both ends of the first driving member 20 and the second driving member 30 along the third direction.

[0086] In these embodiments, the first driving member 20 and the second driving member 30 are both bidirectional jet drivers. Such bidirectional jet drivers generate reaction forces by jetting water flows to push the underwater robot to move. When encountering a complex underwater environment and needing to quickly change the moving direction, the bidirectional jet drivers can quickly switch the jetting direction to provide a reverse thrust for the robot, enabling the robot to avoid obstacles in time. The first driving member 20 and the second driving member 30 are respectively provided with water jet outlets at both ends along the third direction. When the robot needs to move forward in the first plane, water can be jetted from the water jet outlets at the same end of the two driving members to generate a forward thrust. If it needs to move backward, the water jet outlets at the other end are controlled to jet water. By adjusting the water jet volume and jetting angle of different water jet outlets, the turning action of the robot in the first plane can also be achieved.

[0087] In the above embodiments, a propeller driver or a bidirectional jet driver is adopted, and at the same time, the water suction and drainage device 40 is combined to provide power for the three-dimensional movement of the underwater robot. Moreover, the first driving member 20, the second driving member 30 and the water storage chamber 41 are arranged in a similar triangular form, and the water storage chamber 41 is arranged close to the center of gravity. Compared with traditional bionic robots, the risk of shaking is reduced, making the movement of the underwater robot more stable and reliable, and thus effectively improving the working accuracy of the underwater robot such as image acquisition and visual navigation.

[0088] In some embodiments, such as Figure 1 and Figure 3 shown, the underwater robot further includes an image acquisition component 50 housed in the cavity 101. The housing 10 is provided with an image acquisition window 15, and the lens of the image acquisition component 50 is arranged facing the image acquisition window 15 so as to intuitively obtain the image information to be acquired.

[0089] In some embodiments, the underwater robot further includes an electric control system 60 housed in the cavity 101. The driving motors 422 of the first driving member 20, the second driving member 30 and the driving mechanism 42 are all electrically connected to the electric control system 60. On the one hand, the electric control system 60 provides power for the drivers. On the other hand, it is also used to output control logic to control the opening and closing, rotation speed and steering of different drivers, etc.

[0090] In some embodiments, such as Figures 1 to 3 shown, the housing 10 is a spherical housing, and the first driving member 20 and the second driving member 30 are housed in the corresponding installation chambers 13.

[0091] In this embodiment, the outer shell 10 is a spherical outer shell, that is, the overall shape of the outer shell 10 is spherical. The outer shell 10 adopts a spherical design. From a mechanical perspective, the spherical structure can evenly disperse the pressure from the outside. In an underwater high-pressure environment, compared with outer shells 10 of other shapes, the spherical outer shell is more pressure-resistant, can effectively protect the internal components, and reduce the risk of structural damage caused by water pressure; in addition, the spherical shape results in less resistance when the robot moves in water, better hydrodynamic performance, helps improve the movement efficiency of the robot, and reduces energy consumption.

[0092] On this basis, the first driving member 20 and the second driving member 30 are received in the corresponding installation chambers 13, that is, the first driving member 20 and the second driving member 30 are located within the space defined by the spherical outer shell and do not protrude from the surface of the outer shell 10, reducing the influence of the structures of the first driving member 20 and the second driving member 30 on the water flow.

[0093] In some embodiments, the water storage chamber 41 includes a chamber main body 413 and a nozzle 414 connected to the chamber main body 413. The water storage cavity 411 is provided in the chamber main body 413. The nozzle 414 penetrates through the water storage cavity 411. One end of the nozzle 414 facing away from the chamber main body 413 is open to form a water outlet 412. The outer shell 10 is provided with a plug hole 14, and the nozzle 414 is hermetically plugged into the plug hole 14, and the water outlet 412 penetrates through the plug hole 14.

[0094] In this embodiment, the water storage chamber 41 includes two parts, namely a chamber main body 413 and a nozzle 414. Among them, the chamber main body 413 is the main part for accommodating water, and a water storage cavity 411 is provided therein for storing a certain amount of water. The nozzle 414 is connected to the chamber main body 413 and penetrates through the water storage cavity 411, and its function is to guide the water body to flow into or out of the water storage cavity 411.

[0095] The outer shell 10 is provided with a plug hole 14, and the nozzle 414 is hermetically plugged into the plug hole 14 to improve the connection stability between the water storage chamber 41 and the outer shell 10. At the same time, the connection is sealed to reduce the risk of water in the external environment entering the inner cavity 101 of the outer shell 10 from the connection between the nozzle 414 and the plug hole 14. One end of the nozzle 414 facing away from the chamber main body 413 is open to form a water outlet 412, and the water outlet 412 penetrates through the plug hole 14. When the water in the water storage chamber 41 flows out through the nozzle 414, it will be discharged to the outside of the outer shell 10 through the water outlet 412 and the plug hole 14.

[0096] In some embodiments such as Figures 2 to 4 shown, the water storage cavity 411 is a cylindrical cavity, and the inner diameter of the opening of the nozzle 414 penetrating through the water storage cavity 411 is smaller than the inner diameter of the water storage cavity 411.

[0097] Among them, the water storage cavity 411 is designed as a cylindrical cavity. The cylindrical cavity can achieve a relatively large volume within a limited space, effectively improving the water storage capacity of the water storage bin 41. The inner diameter d of the nozzle 414 penetrating the opening of the water storage cavity 411 is smaller than the inner diameter D of the water storage cavity 411, that is, the nozzle 414 communicates with the water storage cavity 411 with a smaller opening. In this way, the smaller inner diameter of the orifice of the nozzle 414 can play a role in restricting the flow, enabling the water in the water storage cavity 411 to be more precisely controlled when discharged. By controlling the water flow velocity and flow rate at the orifice of the nozzle 414, the buoyancy change of the underwater robot can be adjusted more precisely, and then the attitude and depth of the robot can be finely adjusted.

[0098] In some embodiments, as Figures 2 to 4 shown, along the second direction from the inside of the cavity 101 outwards, the inner diameter of the nozzle 414 gradually decreases.

[0099] In this way, along the second direction from the inside of the cavity 101 outwards, that is, starting from the end connected to the water storage cavity 411 and along the second direction, as the distance from the water storage cavity 411 increases, the inner diameter of the nozzle 414 gradually becomes smaller, making the nozzle 414 form a structure similar to a truncated cone. The surface tension of the water body in the nozzle 414 increases, so that when the water body in the water storage cavity 411 is not under the driving force of the driving mechanism 42, it can be reliably retained in the water storage cavity 411 without leaking quickly through the nozzle 414.

[0100] It can be understood that in other embodiments, a blocking structure can also be provided in the nozzle 414. The blocking structure is used to open the water outlet 412 when water absorption and drainage are required, so that the water body can flow between the water storage bin 41 and the external environment. The blocking structure is also used to close the water outlet 412 when water absorption and drainage are not required, so that the water body in the water storage cavity 411 can stay stably in the water storage bin 41, reducing the risk of water body leakage.

[0101] In some embodiments, as Figure 2 、 Figure 4 and Figure 6 shown, the driving mechanism 42 includes a piston 421 and a driving motor 422. The piston 421 is movably arranged in the water storage cavity 411. The peripheral side wall of the piston 421 is slidably and sealingly connected to the side wall of the cavity of the water storage cavity 411. The driving motor 422 is drivingly connected to the piston 421. Among them, when the driving motor 422 drives the piston 421 to move away from the nozzle 414, water in the external environment is sucked into the water storage cavity 411, and when the driving motor 422 drives the piston 421 to move towards the nozzle 414, the water in the water storage cavity 411 is discharged.

[0102] In this embodiment, the driving mechanism 42 includes a piston 421 and a driving motor 422. The piston 421 is disposed in the water-containing cavity 411. The peripheral side wall of the piston 421 is slidably and sealingly connected to the cavity side wall of the water-containing cavity 411, so that the piston 421 can move up and down (away from or close to the nozzle 414) relative to the nozzle 414 in the water-containing cavity 411. The driving motor 422 is drivingly connected to the piston 421. The driving motor 422 provides power for the movement of the piston 421 and controls the movement of the piston 421 in the water-containing cavity 411.

[0103] Wherein, when the driving motor 422 drives the piston 421 to move away from the nozzle 414, the piston 421 moves backward relative to the nozzle 414 in the water-containing cavity 411, so that the volume of the water-containing cavity 411 increases. Since the water-containing cavity 411 is connected to the external environment through the nozzle 414, according to the principle of fluid mechanics, the pressure in the water-containing cavity 411 decreases at this time. The water in the external environment is sucked into the water-containing cavity 411 under the action of the pressure difference, so as to increase the weight of the underwater robot and make the robot move downward; on the contrary, when the driving motor 422 drives the piston 421 to move toward the nozzle 414, the piston 421 moves forward relative to the nozzle 414 in the water-containing cavity 411, the volume of the water-containing cavity 411 gradually decreases, and the water in the water-containing cavity 411 is squeezed by the piston 421, and the pressure increases, so as to be discharged to the external environment through the nozzle 414, completing the discharge process of the water, so as to realize reducing the weight of the underwater robot and making the robot float upward.

[0104] In this way, through the reciprocating movement of the piston 421 in the water-containing cavity 411 and the precise control of the movement of the piston 421 by the driving motor 422, the driving mechanism 42 can realize the flexible suction and discharge of the water in the water-containing cavity 411, so that the underwater robot can change the buoyancy of the robot by adjusting the amount of water in the water-containing cavity 411, and realize actions such as floating, sinking or attitude adjustment of the robot underwater. Moreover, the piston 421 is used to drive the water flow, and the driving structure is simple. Compared with a water pump, the driving motor 422 is disposed outside the water body and is less affected by the water body, and the use reliability and stability are higher. At the same time, the movement of the piston 421 is combined with the pressure change to change the amount of water in the water-containing cavity 411, and the water volume adjustment control is simpler, and it is also more convenient to realize the stable retention of the water in the water-containing cavity 411, such as no need to set a blocking structure to open and close the water outlet 412, etc.

[0105] In some embodiments, the piston 421 is made of rubber or silica gel, so that the piston 421 can maintain a reliable sliding seal with the cavity wall of the water-containing cavity 411.

[0106] In some embodiments, such as Figures 4 to 6As shown, the water storage chamber 41 further includes a chamber cover 415. The side of the chamber main body 413 facing away from the nozzle 414 is open, and the chamber cover 415 is connected to the chamber main body 413 and seals the opening of the chamber main body 413. The piston 421 and the driving motor 422 are both installed on the chamber cover 415.

[0107] In this embodiment, the water storage chamber 41 includes a chamber main body 413, a nozzle 414, and a chamber cover 415. An opening is provided on the side of the chamber main body 413 facing away from the nozzle 414. The opening provides a passage for installing and maintaining the piston 421. The chamber cover 415 is connected to the chamber main body 413 and seals the opening of the chamber main body 413, so that the water in the water storage chamber 411 will not leak from the opening of the chamber main body 413. At the same time, the sealed environment provides a basis for changing the pressure in the water storage chamber 411 by moving the piston 421, ensuring the normal storage and control of the water volume in the water storage chamber 41. In addition, the piston 421 and the driving motor 422 are both installed on the chamber cover 415, which is convenient for the assembly and disassembly of the overall structure. When maintaining the equipment or replacing components, the chamber cover 415 together with the piston 421 and the driving motor 422 installed on it can be conveniently removed from the chamber main body 413 without complex disassembly of the entire water storage chamber 41, reducing the maintenance cost and difficulty.

[0108] In some embodiments, as Figures 5 to 7 shown, the driving mechanism 42 further includes a push rod 423, a first gear 424, and a second gear 425. One end of the push rod 423 is located in the water storage chamber 411 and is connected to the piston 421. The other end of the push rod 423 passes through the water storage chamber 411 and is screwed to the chamber cover 415. The first gear 424 is installed at the end of the push rod 423 passing through the water storage chamber 41, and the second gear 425 is installed on the output shaft of the driving motor 422 and is meshed and connected to the first gear 424.

[0109] In this embodiment, the driving mechanism 42 further includes a push rod 423, a first gear 424, and a second gear 425. One end of the push rod 423 is fixedly connected to the piston 421, and the other end is threadedly connected to the chamber cover 415, so that the push rod 423 can rotate axially and move up and down relative to the chamber cover 415, providing support and guidance for the movement of the piston 421. The driving motor 422 drives the first gear 424 through the meshing of the second gear 425. The first gear 424 is installed on the push rod 423, and the second gear 425 is installed on the output shaft of the driving motor 422. When the driving motor 422 rotates, the second gear 425 rotates to drive the first gear 424 to rotate. Since the push rod 423 is threadedly connected to the chamber cover 415, the rotation of the push rod 423 will cause it to move in the axial direction, thereby pushing or pulling the piston 421 to move in the water storage chamber 411 and move away from or close to the nozzle 414 to adjust the pressure in the water storage chamber 411 and realize the inflow or discharge of water.

[0110] In this way, by adopting the gear drive method to drive the piston 421 to move, the movement of the piston 421 can be precisely controlled. By adjusting the rotation speed and direction of the drive motor 422, the rotation speed and direction of the second gear 425 can be accurately controlled, and then the movement of the first gear 424 and the push rod 423 can be precisely controlled. Finally, the precise control of the movement of the piston 421 in the water storage chamber 411 is achieved, meeting the high-precision requirements of the underwater robot for buoyancy adjustment. At the same time, the gear drive also has high transmission efficiency and stability, can reliably transmit power during long-term operation, reduce energy loss and transmission error, and improve the performance and reliability of the entire drive mechanism 42. In addition, the structure of the gear drive system is relatively compact, occupies less space, and can meet the development requirements of the miniaturization and compactness of the structure of the underwater robot.

[0111] In some embodiments, as Figures 5 to 7 shown, the hatch cover 415 is provided with an installation groove 4151, and the first gear 424 is rotatably installed in the installation groove 4151, and the drive motor 422 is installed on the hatch cover 415.

[0112] The descriptions of the above embodiments tend to emphasize the differences between the embodiments, and their similarities or similarities can be referred to each other. For the sake of brevity, they will not be repeated in this article.

[0113] The above are only the preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. An underwater robot, characterized in that: include: shell; A first driving member and a second driving member are installed on opposite sides of the housing along a first direction to drive the underwater robot to move in a first plane, wherein the first plane is parallel to the first direction; A suction and drainage device installed on the shell; Among them, the water suction and drainage device includes a water storage tank and a driving mechanism, the water storage tank has a water storage chamber for storing water and a water outlet connecting the water storage chamber and the external environment, the driving mechanism is installed on the water storage tank and is used to provide driving force so that the water in the external environment can flow between the water storage chamber and the external environment through the water outlet, so that the underwater robot can float up and down in the water along a second direction perpendicular to the first direction.

2. The underwater robot according to claim 1, characterized in that: The first driving member and the second driving member are symmetrically installed on the shell with the center line of the underwater robot as the symmetry axis, the first direction is perpendicular to the center line of the underwater robot, the body of the water holding chamber is rotationally symmetrical with the center line of the underwater robot as the axis, and the center of the cross-section of the water outlet along the first direction is located on the center line of the underwater robot.

3. The underwater robot according to claim 2, characterized in that: The shell is provided with a cavity, the suction and drainage device is arranged in the cavity, and the water outlet passes through the shell along the center line of the underwater robot.

4. The underwater robot according to claim 2, characterized in that: The shell includes a first half and a second half symmetrically arranged along the first direction, with the axis of symmetry of the first half and the second half as the center line. Along the second direction, the center of gravity of the underwater robot is located below the center line, and the center of buoyancy of the underwater robot coincides with the center of gravity or the center of buoyancy is located above the center of gravity.

5. The underwater robot according to claim 4, characterized in that: The water storage tank is installed on the first half, and the water outlet is arranged at the bottom of the first half away from the second half.

6. The underwater robot according to claim 5, characterized in that: The first half is detachably connected to the second half, and / or the water storage tank is detachably mounted on the first half.

7. The underwater robot according to claim 2, characterized in that: The shell is symmetrically provided with two installation chambers along the first direction, and the opposite ends of the installation chambers along the third direction respectively penetrate the opposite surfaces of the shell, the first driving member and the second driving member are installed in the two installation chambers one by one, and the first direction, the second direction and the third direction are perpendicular to each other.

8. The underwater robot according to claim 7, characterized in that: The first driving member and the second driving member are both propeller-type drivers, and the rotating shafts of the first driving member and the second driving member are parallel to the third direction; Alternatively, both the first driving member and the second driving member are bidirectional jet-type drivers, and both ends of the first driving member and the second driving member along the third direction are provided with water spray outlets respectively.

9. The underwater robot according to claim 7, characterized in that: The housing is a spherical housing, and the first driving member and the second driving member are accommodated in the corresponding installation chambers.

10. The underwater robot according to any one of claims 3 to 9, characterized in that: The water storage bin includes a bin body and a nozzle connected to the bin body, the water storage chamber is provided in the bin body, the nozzle passes through the water storage chamber, one end of the nozzle is open away from the bin body and forms the water outlet, the outer shell is provided with a plug-in hole, the nozzle is sealingly plugged into the plug-in hole, and the water outlet passes through the plug-in hole.

11. The underwater robot according to claim 10, characterized in that: The driving mechanism comprises a piston and a driving motor, wherein the piston is movably disposed in the water containing cavity, the peripheral side wall of the piston is slidably and sealedly connected to the cavity side wall of the water containing cavity, and the driving motor is drivingly connected to the piston; The driving motor draws water from the external environment into the water containing chamber when driving the piston to move away from the nozzle, and discharges the water from the water containing chamber when driving the piston to move toward the nozzle.

12. The underwater robot according to claim 11, characterized in that: The water storage tank further comprises a tank cover. The tank body has an opening on one side facing away from the nozzle. The tank cover is connected to the tank body and seals the opening of the tank body. The piston and the drive motor are both mounted on the tank cover.

13. The underwater robot according to claim 12, characterized in that: The driving mechanism also includes a push rod, a first gear and a second gear. One end of the push rod is located in the water containing chamber and connected to the piston, and the other end of the push rod passes through the water containing chamber and is screwed to the chamber cover. The first gear is installed on the end of the push rod that passes through the water containing chamber, and the second gear is installed on the output shaft of the driving motor and is meshed with the first gear.

14. The underwater robot according to claim 10, characterized in that: The water containing cavity is a cylindrical cavity, and the inner diameter of the mouth of the nozzle penetrating the water containing cavity is smaller than the inner diameter of the water containing cavity.

15. The underwater robot according to claim 14, characterized in that: From the cavity outward along the second direction, the inner diameter of the nozzle gradually decreases.

16. The underwater robot according to any one of claims 1 to 15, characterized in that: The underwater robot further comprises an image acquisition component housed in the cavity, the housing is provided with an image acquisition window, and a lens of the image acquisition component is arranged facing the image acquisition window; And / or, the underwater robot further includes an electric control system accommodated in the cavity, and the first driving member, the second driving member and the driving mechanism are all electrically connected to the electric control system.

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