Structure-variable gliding fixed-wing underwater robot

Abstract

The invention discloses a variable-structure gliding fixed-wing underwater robot, and relates to the technical field of underwater robots. The variable-structure gliding fixed-wing underwater robot comprises a robot body, a buoyancy control mechanism is arranged in the robot body, a protection frame is fixedly installed at the rear end of the robot body, a steering engine is fixedly installed above the protection frame, a flow guide plate is fixedly installed above the steering engine, and a lift mechanism is arranged on the outer side of the robot body; the rotation angle of a main wing shell is adjusted through extension and retraction of a connecting electric push rod, the main wing shell and a wingtip shell are adjusted to be in a horizontal state, water in a buoyancy bin in a fuselage is discharged, a propeller is driven by a transmission motor to rotate to provide power for the device in the gliding process, and due to the elevation angle of the main wing shell, the transmission motor points to the inclined upper portion, the gliding efficiency is improved. The device can be conveniently separated from the sea surface to glide above the sea surface, and the robot can quickly approach a specified water area in a gliding manner, so that the laying efficiency is improved.

Description

Technical Field

[0001] The invention relates to the technical field of underwater robots, in particular to a variable configuration gliding fixed-wing underwater robot. Background Art

[0002] Unmanned underwater vehicles are devices that travel underwater without human pilots and rely on remote control or automatic control. They mainly refer to intelligent systems that replace divers or manned small submarines to perform high-risk underwater operations such as deep-sea exploration, rescue, and mine removal. Therefore, unmanned underwater vehicles are also called "diving robots" or "underwater robots."

[0003] The existing referenceable Chinese invention patent with announcement number CN115092630B relates to the field of robot technology, specifically underwater robots. The positioning component determines the position information of the underwater robot; the control component controls the underwater robot to run to the underwater target position according to the position information; after the underwater robot runs to the underwater target position, the control component controls the first one-way valve to open, the second one-way valve to close, and controls the pumping component to extract the sampled water body; after the underwater robot runs to the underwater target position, the water body detection component detects the water body around the sampled water body and transmits the detection result to the control component; the control component stores the detection result; the control component is also used to control the first one-way valve to close, the second one-way valve to open, and control the sampled water body to flow out from the pumping component after the underwater robot has finished taking water. It not only ensures that the underwater robot can accurately run to the underwater target position, but also improves the accuracy and convenience of collecting sampled water bodies at the underwater target position.

[0004] The above-mentioned underwater robot uses the outer paddles to drive the underwater robot to move, lift and turn. During operation, since the direction of the paddles cannot be adjusted, a large resistance will be generated during the forward movement. In the process of moving forward, the robot's operating posture is only controlled by the fins on both sides of the upper side, which may cause the underwater robot to capsize underwater. The above-mentioned underwater robot only controls the robot through the outer side, while the existing underwater robots need to be deployed near designated waters, which is very inconvenient. Summary of the invention

[0005] In view of the shortcomings of the prior art, the present invention provides a variable-configuration gliding fixed-wing underwater robot, which solves the problems of easy capsizing during operation, increased underwater resistance caused by blades used for steering and lifting, and the need to be close to designated waters for deployment operations.

[0006] To achieve the above object, the present invention is realized through the following technical solutions: A variable-configuration gliding fixed-wing underwater robot includes a fuselage. Inside the fuselage, a buoyancy control mechanism is provided. At the rear end of the fuselage, a protective frame is fixedly installed. Above the protective frame, a steering gear is fixedly installed. Above the steering gear, a deflector is fixedly installed. On the outer side of the fuselage, a lift mechanism is provided:

[0007] A connecting frame. On both sides of the connecting frame, main wing components are provided to provide the main lift. At the end of the main wing components, a connecting component is provided, including a transmission electric push rod arranged inside the main wing components. At the end of the transmission electric push rod, a transmission block is movably installed. At the end of the main wing components, wing tip components are provided to provide auxiliary lift.

[0008] Preferably, the buoyancy control mechanism includes a limiting frame fixedly installed inside the fuselage. At the rear side of the limiting frame, a drainage electric push rod is fixedly installed. At the rear end of the drainage electric push rod, a limiting plate is fixedly installed. At the rear side of the limiting plate, a silica gel plug is fixedly installed. Inside the rear end of the fuselage, a driving motor is fixedly installed. On the outer side of the rotating shaft of the driving motor, a paddle is fixedly installed. At the top of the front side of the fuselage, an antenna is fixedly installed.

[0009] Preferably, the lift mechanism further includes fixed blocks fixedly installed on both sides of the connecting frame. Below the fixed blocks, connecting electric push rods are movably installed. A flow guide tube is inserted through the outer side of the connecting electric push rods. The fixed blocks are also movably installed at the bottom of the connecting electric push rods. The front side of the flow guide tube is of a triangular prism structure.

[0010] Preferably, the main wing components include a main wing housing fixedly installed at the bottom of the fixed block at the bottom end of the connecting electric push rod. At the bottom end of the main wing housing, a transfer frame rotatably connected to the connecting frame is fixedly installed. At the rear side of the main wing housing, a flow guide unit is provided. At the front side of the main wing housing, a driving motor is fixedly installed. On the outer side of the rotating shaft of the driving motor, a propeller is fixedly installed.

[0011] Preferably, the flow guide unit includes a flap movably installed at the rear side of the main wing housing. Above the cylindrical structures at both ends of the flap, transmission rods are movably installed. At the front end of the transmission rods, driving rods are movably installed. On one side of the driving rods, a stepping motor is fixedly installed. The rear end of the transmission rod is rotatably connected to the flap, and the front end of the transmission rod is rotatably connected to the driving rod. The stepping motor is fixed inside the main wing housing.

[0012] Preferably, the connecting component further includes a guide plate fixedly installed at the top end of one side of the inner wall of the main wing housing. Inside the guide plate, a guide shaft is fitted. On the outer side of the guide shaft, a connecting rod is movably installed. At the bent part of the connecting rod, a main shaft is inserted. At the end of the connecting rod, a limiting shaft is inserted.

[0013] Preferably, the guide plates are symmetrically installed at both ends of the guide shaft with the center of the guide shaft as the reference. Rectangular sliders are provided at both ends of the guide shaft. A chute structure for fitting with the rectangular sliders of the guide shaft is provided on one side of the guide plates. The connecting rods are symmetrically installed on both sides of the main shaft through the main shaft and are staggered in the front and rear positions. Rotational connections are formed between the connecting rods and the main shaft and the guide shaft respectively.

[0014] Preferably, the wing tip assembly includes a wing tip housing fixedly installed on one side of the guide plate outside the main wing housing. A sealing plate and wing bones are fixedly installed inside the wing tip housing.

[0015] Preferably, the transmission block is fixed to the top of one side of the inner wall of the wing tip housing. A limiting structure is provided inside the transmission block for limiting the maximum angle between the transmission block and the connecting rod.

[0016] Beneficial effects

[0017] The present invention provides a variable-configuration gliding fixed-wing underwater robot. Compared with the prior art, it has the following beneficial effects:

[0018] (1). For this variable-configuration gliding fixed-wing underwater robot, canards are provided on both sides of the front end of the fuselage to balance the traveling attitude of the fuselage. Rotational connections are formed between the bottom sides of the connecting frames and the adapter frames, so as to allow the main wing assembly to rotate while restricting the position of the main wing assembly. The fixed block at the bottom end of the connecting electric push rod is fixed to the top of the main wing housing, so as to connect the electric push rod to drive the main wing housing to rotate with the connection between the adapter frame and the connecting frame as the reference, and the main wing housing rotates to a vertical state and folds on both sides of the fuselage. The main wing housing in the vertical state and the rear deflector are used to prevent the fuselage from capsizing underwater.

[0019] (2). For this variable-configuration gliding fixed-wing underwater robot, a buoyancy chamber for sucking liquid is provided inside the fuselage, and an opening structure is provided at the bottom of the rear end of the buoyancy chamber. The liquid content inside the fuselage is controlled by driving the silica gel plug at the rear side of the limiting plate to move through the drainage electric push rod, so as to adjust the buoyancy, so as to be able to quickly sink on the water and quickly float underwater. The steering gear can drive the deflector to rotate to adjust the angle between the deflector and the traveling direction. The deflector is used to guide the airflow and water flow to achieve the steering effect. This method can reduce the resistance of the underwater robot during movement while having the steering effect.

[0020] (3) The variable-configuration gliding fixed-wing underwater robot drives the connecting rod to move through a transmission electric push rod, so that the connecting rod drives the transmission block fixed inside the wing tip housing to move, causing the wing tip housing to rotate under the drive of the transmission block for folding or stretching. The rotation angle of the main wing housing is adjusted by the telescopic movement of the connecting electric push rod. The main wing housing and the wing tip housing are adjusted to a horizontal state, and the water in the buoyancy tank inside the fuselage is discharged. The propeller is driven to rotate by a transmission motor to provide power for the device during the gliding process. Due to the elevation angle of the main wing housing, the transmission motor points obliquely upward, which facilitates the device to break away from the sea surface and glide above the sea surface. By gliding, the robot can quickly approach the designated water area, thereby improving the deployment efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 is a schematic diagram of the overall structure of the present invention;

[0022] Figure 2 is a schematic diagram of the cross-sectional structure of the fuselage of the present invention;

[0023] Figure 3 is a schematic diagram of the installation structure of the connecting electric push rod of the present invention;

[0024] Figure 4 is a schematic diagram of the connection structure between the main wing assembly and the wing tip assembly of the present invention;

[0025] Figure 5 is a schematic diagram of the cross-sectional structure of the main wing housing of the present invention;

[0026] Figure 6 is a schematic diagram of the connection structure between the guide shaft and the guide plate of the present invention;

[0027] Figure 7 is a schematic diagram of the connection structure between the flap and the transmission rod of the present invention.

[0028] Figure 8 is a schematic diagram of the cross-sectional structure of the wing tip housing of the present invention.

[0029] In the figure: 1. fuselage; 11. buoyancy control mechanism; 111. limit frame; 112. drainage electric push rod; 113. limit plate; 114. silica gel plug; 12. protection frame; 13. servo; 14. deflector; 15. drive motor; 16. propeller blade; 17. antenna; 2. lift mechanism; 21. connecting frame; 22. main wing assembly; 221. main wing housing; 222. adapter frame; 223. flow guiding unit; 2231. flap; 2232. transmission rod; 2233. drive rod; 2234. stepper motor; 224. transmission motor; 225. propeller; 23. connecting component; 231. transmission electric push rod; 232. connecting rod; 233. guide plate; 234. guide shaft; 235. connecting rod; 236. main shaft; 237. limit shaft; 238. transmission block; 24. wing tip assembly; 241. wing tip housing; 242. sealing plate; 243. wing bone; 25. fixing block; 26. connecting electric push rod; 27. flow guiding pipe. Detailed implementation manners

[0030] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0031] Please refer to Figure 1-2 , the present invention provides a technical solution: a variable-configuration gliding fixed-wing underwater robot includes a fuselage 1, a buoyancy control mechanism 11 is arranged inside the fuselage 1, a protection frame 12 is fixedly installed at the rear end of the fuselage 1, a servo 13 is fixedly installed above the protection frame 12, a deflector 14 is fixedly installed above the servo 13, the buoyancy control mechanism 11 includes a limit frame 111 fixedly installed inside the fuselage 1, a drainage electric push rod 112 is fixedly installed at the rear side of the limit frame 111, a limit plate 113 is fixedly installed at the rear end of the drainage electric push rod 112, a silica gel plug 114 is fixedly installed at the rear side of the limit plate 113, a drive motor 15 is fixedly installed inside the rear end of the fuselage 1, a propeller blade 16 is fixedly installed on the outer side of the rotating shaft of the drive motor 15, and an antenna 17 is fixedly installed at the top of the front side of the fuselage 1.

[0032] Specifically, canards are provided on both sides of the front end of the fuselage 1 for balancing the traveling attitude of the fuselage 1. A buoyancy chamber for sucking in liquid and an equipment chamber for installing detection equipment are arranged inside the fuselage 1. The liquid content inside the fuselage 1 is controlled by driving the silicone plug 114 behind the limiting plate 113 to move through the drainage electric push rod 112, so as to adjust the buoyancy. The protective frame 12 can protect the blades 16. The servo motor 13 can drive the deflector 14 to rotate to adjust the angle between the deflector 14 and the traveling direction. The air flow and water flow are guided by the deflector 14 to achieve the turning effect. The drive motor 15 can drive the blades 16 to rotate to provide power for the device underwater.

[0033] Please refer to Figure 1 , attached Figures 3-8 , a lift mechanism 2 is provided on the outer side of the fuselage 1:

[0034] A connecting frame 21, and main wing assemblies 22 are provided on both sides of the connecting frame 21 for providing the main lift. The main wing assemblies 22 include a main wing housing 221 fixedly installed at the bottom of the fixed block 25 at the bottom end of the connecting electric push rod 26. A transfer frame 222 rotatably connected to the connecting frame 21 is fixedly installed at the bottom end of the main wing housing 221. A flow guiding unit 223 is arranged at the rear side of the main wing housing 221. The flow guiding unit 223 includes a flap 2231 movably installed at the rear side of the main wing housing 221. Transmission rods 2232 are movably installed above the cylindrical structures at both ends of the flap 2231. A driving rod 2233 is movably installed at the front end of the transmission rod 2232. A stepping motor 2234 is fixedly installed on one side of the driving rod 2233. A rotational connection is formed between the rear end of the transmission rod 2232 and the flap 2231, and a rotational connection is formed between the front end of the transmission rod 2232 and the driving rod 2233. The stepping motor 2234 is fixed inside the main wing housing 221. A transmission motor 224 is fixedly installed at the front side of the main wing housing 221. A propeller 225 is fixedly installed on the outer side of the rotating shaft of the transmission motor 224.

[0035] Specifically, the two sides of the bottom of the connecting frame 21 are rotatably connected to the adapter frame 222, so as to allow the main wing assembly 22 to rotate while limiting the position of the main wing assembly 22. The sled plate at the bottom of the connecting frame 21 can provide certain protection for the fuselage 1 during gliding. The main wing shell 221 has a certain elevation angle, which can provide lift for the device when it is unfolded. The driving rod 2233 is driven to rotate by the stepping motor 2234, so that the driving rod 2233 can drive the flap 2231 to rotate with the axis of the columnar structure at both ends as the reference through the transmission rod 2232, so as to adjust the pitch angle during the gliding of the device. The propeller 225 is driven to rotate by the transmission motor 224 to provide power for the device during the gliding process. Due to the elevation angle of the main wing shell 221, the transmission motor 224 points obliquely upward, which can facilitate the device to leave the sea surface. When the main wing assembly 22 is in a folded state, the main wing shell 221 is in a vertical state, which can stabilize the moving posture of the fuselage 1 underwater.

[0036] A connecting assembly 23 is provided at the end of the main wing assembly 22, including a transmission electric push rod 231 arranged inside the main wing assembly 22, a connecting rod 232 is movably installed at the end of the transmission electric push rod 231, and a transmission block 238 is movably installed at one end of the connecting rod 232. The connecting assembly 23 also includes a guide plate 233 fixedly installed at the top end of one side of the inner wall of the main wing shell 221, a guide shaft 234 is embedded in the guide plate 233, a connecting rod 235 is movably installed on the outer side of the guide shaft 234, a main shaft 236 is inserted and installed at the bending part of the connecting rod 235, and a limit shaft 237 is inserted and installed at the end of the connecting rod 235. Plate 233 is installed at both ends of guide shaft 234 in a mirror-symmetrical manner with the center of guide shaft 234 as the reference. Rectangular sliders are set at both ends of guide shaft 234. One side of guide plate 233 is provided with a slide groove structure that is engaged with the rectangular slider of guide shaft 234. Connecting rod 235 is installed at both sides of main shaft 236 in a mirror-symmetrical manner through main shaft 236, and the positions are staggered front and back. Connecting rod 235 and main shaft 236 and guide shaft 234 are all rotationally connected. Transmission block 238 is fixed to the top end of one side of the inner wall of wingtip outer shell 241. A limiting structure is set inside transmission block 238 to limit the maximum angle between transmission block 238 and connecting rod 232.

[0037] Specifically, the driving electric push rod 231 drives the connecting rod 232 to move, so that the connecting rod 232 drives the transmission block 238 fixed inside the wing tip housing 241 to move. Due to the limiting structure inside the transmission block 238, the angle between the transmission block 238 and the driving electric push rod 231 does not change during the first half of the process when the driving electric push rod 231 retracts and drives the connecting rod 232 to retract. The connecting rods 235 are symmetrically installed on both sides of the main shaft 236 in a mirror image and are staggered front and back. The rear ends of the connecting rods 235 on both sides of the main shaft 236 are connected to the guide plate 233 through the guide shafts 234. A rotational connection is formed between the connecting rod 235 and the guide shaft 234, and a sliding connection is formed between the guide shaft 234 and the guide plates 233 at both ends. The end of the connecting rod 235 is fixedly connected to the limiting shaft 237, and rotational connections are formed between both ends of the limiting shaft 237 and the guide plates 233 on both sides respectively. During the process of the main wing housing 221 and the wing tip housing 241 rotating from the docking state to the folding state, the connecting rod 235 will rotate with the axis of the end limiting shaft 237 as the reference, and the angle between the connecting rods 235 on both sides of the main shaft 236 increases, and the guide shaft 234 is driven to move to the front side of the chute structure of the guide plate 233, so as to avoid the wing tip housing 241 contacting the main wing housing 221 after folding and affecting the folding.

[0038] A wing tip assembly 24 is provided at the end of the main wing assembly 22 for providing auxiliary lift. The wing tip assembly 24 includes a wing tip housing 241 fixedly installed on one side of the guide plate 233 outside the main wing housing 221. A sealing plate 242 and a wing bone 243 are fixedly installed inside the wing tip housing 241.

[0039] Specifically, the wing tip housing 241 can provide a small amount of lift for the device. The sealing plate 242 can prevent liquid from entering the inside of the wing tip housing 241 and causing an increase in weight. The sealing plate 242 and the wing bone 243 are also installed inside the main wing housing 221, and the wing bone 243 can increase the strength of the wing tip housing 241 and the main wing housing 221.

[0040] The lift mechanism 2 further includes fixed blocks 25 fixedly installed on both sides of the connecting frame 21. A connecting electric push rod 26 is movably installed below the fixed block 25. A guide pipe 27 is inserted through the outside of the connecting electric push rod 26. The fixed block 25 is also movably installed at the bottom of the connecting electric push rod 26. The front side of the guide pipe 27 is a triangular prism structure.

[0041] Specifically, the fixed block 25 can limit the positions of both ends of the connecting electric push rod 26, and reduce the wind resistance coefficient of the connecting electric push rod 26 through the guide pipe 27. The fixed block 25 at the bottom end of the connecting electric push rod 26 is fixed to the top of the main wing housing 221, so as to facilitate the connecting electric push rod 26 to drive the main wing housing 221 to rotate with the connection point between the adapter frame 222 and the connecting frame 21 as the reference, and make the main wing housing 221 rotate to the vertical state and fold on both sides of the fuselage 1.

[0042] Meanwhile, the content not described in detail in this specification belongs to the prior art well-known to those skilled in the art.

[0043] During operation, canards are provided on both sides of the front end of the fuselage 1 to balance the traveling attitude of the fuselage 1. A rotational connection is formed between the bottom sides of the connecting frame 21 and the adapter frame 222, so as to allow the main wing assembly 22 to rotate while restricting the position of the main wing assembly 22. The fixing block 25 connecting the bottom end of the electric push rod 26 is fixed to the top of the main wing housing 221, so that the electric push rod 26 can drive the main wing housing 221 to rotate with the connection point between the adapter frame 222 and the connecting frame 21 as the reference, and the main wing housing 221 rotates to a vertical state and folds on both sides of the fuselage 1. The vertical main wing housing 221 and the rear spoiler 14 are used to prevent the fuselage 1 from capsizing underwater. A buoyancy chamber for sucking liquid is provided inside the fuselage 1, and an opening structure is provided at the bottom of the rear end of the buoyancy chamber. The silicone plug 114 on the rear side of the limiting plate 113 is driven by the drainage electric push rod 112 to move to control the liquid content inside the fuselage 1, thereby adjusting the buoyancy, so as to quickly sink on the water surface and quickly float underwater. The steering gear 13 can drive the spoiler 14 to rotate to adjust the angle between the spoiler 14 and the traveling direction. By guiding the air flow and water flow through the spoiler 14, the steering effect can be achieved. This method can reduce the resistance of the underwater robot during movement while having the steering effect. The transmission electric push rod 231 drives the connecting rod 232 to move, so that the connecting rod 232 drives the transmission block 238 fixed inside the wing tip housing 241 to move, and the wing tip housing 241 rotates under the drive of the transmission block 238 for folding or stretching. The rotation angle of the main wing housing 221 is adjusted by the telescopic movement of the connecting electric push rod 26. The main wing housing 221 and the wing tip housing 241 are adjusted to a horizontal state, and the water in the buoyancy chamber inside the fuselage 1 is discharged. The transmission motor 224 drives the propeller 225 to rotate to provide power for the device during the gliding process. Due to the elevation angle of the main wing housing 221, the transmission motor 224 points obliquely upward, which is convenient for the device to break away from the sea surface and glide above the sea surface. By gliding, the robot can quickly approach the designated water area to improve the deployment efficiency.

[0044] It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or elements inherent to such process, method, article or device.

[0045] Although embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A variable-configuration gliding fixed-wing underwater robot, comprising a fuselage (1), characterized in that: Inside the fuselage (1), a buoyancy control mechanism (11) is provided. At the rear end of the fuselage (1), a protective frame (12) is fixedly installed. Above the protective frame (12), a servo (13) is fixedly installed. Above the servo (13), a deflector (14) is fixedly installed. On the outside of the fuselage (1), a lift mechanism (2) is provided: A connecting frame (21), on both sides of the connecting frame (21), there are main wing assemblies (22) for providing the main lift. At the end of the main wing assembly (22), there is a connecting component (23), including a transmission electric push rod (231) arranged inside the main wing assembly (22). At the end of the transmission electric push rod (231), a connecting rod (232) is movably installed. At one end of the connecting rod (232), a transmission block (238) is movably installed. At the end of the main wing assembly (22), there is a wing tip assembly (24) for providing auxiliary lift.

2. The variable-configuration gliding fixed-wing underwater robot according to claim 1, characterized in that: The buoyancy control mechanism (11) includes a limit frame (111) fixedly installed inside the fuselage (1). At the rear side of the limit frame (111), a drainage electric push rod (112) is fixedly installed. At the rear end of the drainage electric push rod (112), a limit plate (113) is fixedly installed. At the rear side of the limit plate (113), a silica gel plug (114) is fixedly installed. Inside the rear end of the fuselage (1), a drive motor (15) is fixedly installed. On the outer side of the rotating shaft of the drive motor (15), a paddle (16) is fixedly installed. At the top of the front side of the fuselage (1), an antenna (17) is fixedly installed.

3. A variable-configuration gliding fixed-wing underwater robot according to claim 1, characterized in that: The lift mechanism (2) further includes fixed blocks (25) fixedly installed on both sides of the connecting frame (21). Below the fixed blocks (25), connecting electric push rods (26) are movably installed. A flow guide pipe (27) is inserted and installed on the outer side of the connecting electric push rod (26). The fixed blocks (25) are also movably installed at the bottom of the connecting electric push rod (26). The front side of the flow guide pipe (27) is of a triangular prism structure.

4. The variable-configuration gliding fixed-wing underwater robot according to claim 1, wherein: The main wing assembly (22) includes a main wing housing (221) fixedly installed at the bottom of the fixed block (25) at the bottom end of the connecting electric push rod (26). At the bottom end of the main wing housing (221), a transfer frame (222) is fixedly installed and rotatably connected to the connecting frame (21). At the rear side of the main wing housing (221), there is a flow guide unit (223). At the front side of the main wing housing (221), a transmission motor (224) is fixedly installed. On the outer side of the rotating shaft of the transmission motor (224), a propeller (225) is fixedly installed.

5. A variable-configuration gliding fixed-wing underwater robot according to claim 4, characterized in that: The flow guiding unit (223) includes a flap (2231) movably installed at the rear side of the main wing housing (221). A transmission rod (2232) is movably installed above the cylindrical structures at both ends of the flap (2231). A driving rod (2233) is movably installed at the front end of the transmission rod (2232). A stepping motor (2234) is fixedly installed on one side of the driving rod (2233). A rotational connection is formed between the rear end of the transmission rod (2232) and the flap (2231), and a rotational connection is formed between the front end of the transmission rod (2232) and the driving rod (2233). The stepping motor (2234) is fixed inside the main wing housing (221).

6. The variable-configuration gliding fixed-wing underwater robot according to claim 1, characterized in that: The connection assembly (23) further includes a guide plate (233) fixedly installed at the top of one side of the inner wall of the main wing housing (221). A guide shaft (234) is fitted and installed inside the guide plate (233). A connecting rod (235) is movably installed on the outer side of the guide shaft (234). A main shaft (236) is inserted through the bent portion of the connecting rod (235). A limiting shaft (237) is inserted through the end of the connecting rod (235).

7. The variable-configuration gliding fixed-wing underwater robot according to claim 6, characterized in that: The guide plates (233) are symmetrically installed at both ends of the guide shaft (234) with the center of the guide shaft (234) as the reference. Rectangular sliders are provided at both ends of the guide shaft (234). A chute structure for fitting the rectangular sliders of the guide shaft (234) is provided on one side of the guide plate (233). The connecting rods (235) are symmetrically installed on both sides of the main shaft (236) through the main shaft (236), and the positions are staggered front and back. Rotational connections are formed between the connecting rod (235) and the main shaft (236) and the guide shaft (234).

8. A variable-configuration gliding fixed-wing underwater robot according to claim 1, characterized in that: The wing tip assembly (24) includes a wing tip housing (241) fixedly installed on one side of the guide plate (233) outside the main wing housing (221). A sealing plate (242) and a wing bone (243) are fixedly installed inside the wing tip housing (241).

9. The variable-configuration gliding fixed-wing underwater robot according to claim 1, characterized in that: The transmission block (238) is fixed at the top of one side of the inner wall of the wing tip housing (241). A limiting structure is provided inside the transmission block (238) for limiting the maximum angle between the transmission block and the connecting rod (232).

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