Battery compartment structure of underwater robot

Abstract

The invention provides an underwater robot battery compartment structure which comprises a compartment body, a connecting cylinder with a partition plate and a piston disc, an unlocking assembly, a compressed air tank and an adjusting mechanism, a control module, a clamping mechanism, a battery assembly and a pressure detection module are arranged on the compartment body, an inflation cavity is formed between the piston disc and the partition plate, an air bag with an end cover is arranged on the piston disc, and the pressure detection module is connected with the air bag. A fastening assembly, an unlocking assembly and a trigger block are arranged on the mounting cylinder, the compressed air tank is provided with a communication assembly communicated with the air inflation cavity, an adjusting mechanism for adjusting the position of the piston disc is arranged on the connecting cylinder, the piston disc is adjusted through the structure, and then the size of the air inflation cavity can be adjusted, namely the buoyancy is adjusted. According to the snorkeling propeller, the burden of the snorkeling propeller can be reduced when heavy objects are carried, energy consumption is reduced, the endurance is improved, the unlocking assembly is matched with the trigger block to release the air bag and inflate the air bag, the buoyancy is further improved, sufficient buoyancy can be provided when heavy heavy objects are fished, and the fishing work requirement is met.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater equipment, and in particular to a battery compartment structure of an underwater robot. Background Art

[0002] Underwater robots (AUVs) play a vital role in ocean exploration, advancing scientific research, ensuring marine safety, and promoting resource development. They are typically equipped with batteries and housed in an independent, sealed cabin. This cabin, crucial for ensuring the robot's endurance and operational reliability, must meet the requirements for secure power supply, structural protection, thermal management, and fault redundancy in extreme environments such as high pressure, corrosion, and impact.

[0003] In order to reduce the size of the equipment, existing small underwater robots are usually composed of a cabin and a frame. The cabin has a built-in power supply and control module, and the frame is equipped with propellers for snorkeling and propulsion. The propellers for snorkeling are usually arranged vertically, and the propellers for propulsion are usually arranged horizontally. The control module controls the coordinated work of each propeller to drive the device to move in the water. In order to perform salvage work, a gripper for clamping objects is usually also provided on the cabin or frame. When this type of underwater robot is performing the work of salvaging heavy objects, in addition to the buoyancy of the device itself, it also needs to rely on the buoyancy provided by the vertically arranged propeller to lift the heavy objects and then transport the heavy objects to the destination. However, relying solely on the buoyancy provided by the propeller is not easy to lift heavy objects. It can only salvage objects of smaller weights, which is difficult to meet the needs of salvage work. In addition, the process of transporting heavy objects by relying solely on the buoyancy provided by the propeller consumes a lot of electricity, resulting in a short battery life of the underwater robot, which is difficult to meet the use requirements. Summary of the Invention

[0004] The purpose of the present invention is to address the deficiencies in the above-mentioned technologies and to propose a battery compartment structure for an underwater robot, aiming to solve the above-mentioned problems.

[0005] The present invention provides a battery compartment structure for an underwater robot, comprising: Compared with the prior art, the present invention has the following beneficial effects: 1. The clamping mechanism can clamp heavy objects, and cooperate with the underwater robot's forward and floating process to realize the transportation and salvage of heavy objects. When the clamping mechanism clamps ordinary heavy objects, the control module controls the working state of the adjustment mechanism and the connecting component according to the weight information of the heavy object detected by the pressure detection module. The connecting component connects the compressed gas tank and the inflation chamber. The adjustment mechanism adjusts the volume of the inflation chamber by adjusting the position of the piston disc. During the process of adjusting the position of the piston disc by the adjustment mechanism, the inflation chamber is inflated and deflated in cooperation with the connecting component and the compressed gas tank, thereby realizing the adjustment of the buoyancy of the underwater equipment, which can reduce the burden on the snorkeling propeller when carrying heavy objects, increase the surfacing speed, save energy consumption and improve endurance.

[0006] 2. When it is necessary to clamp a heavier object and salvage it, the control module controls the working status of the adjustment mechanism and the connecting component according to the weight information of the object detected by the pressure detection module. The connecting component connects the compressed gas tank and the inflation chamber. The adjustment mechanism first pushes the piston disc to the end of the connecting tube. The trigger block at the end of the connecting tube triggers the unlocking mechanism to release the clamping state of the buckle assembly on the end cover. In conjunction with the automatic inflation process of the compressed gas tank, the airbag is released and driven to expand, further increasing the buoyancy, which can provide sufficient buoyancy when salvaging heavier objects and meet the needs of salvage work.

[0007] 3. The connecting tube and battery assembly are installed in a detachable manner, and multiple battery assemblies can be spared, which makes it easy to replace the battery assembly as needed to meet the battery life requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] The technical solution of the present invention is further elaborated in detail below in conjunction with the drawings and specific embodiments of the specification. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which the present invention belongs. The terms used in the specification of the present invention herein are only for the purpose of describing specific embodiments and are not intended to limit the present invention. In the following description, reference is made to "some embodiments", which describes a subset of all possible embodiments, but it should be understood that "some embodiments" can be the same subset or different subsets of all possible embodiments, and can be combined with each other without conflict.

[0009] It should also be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may be an intermediate element. When an element is referred to as being "connected to" another element, it may be directly connected to the other element or there may be an intermediate element. The terms "vertical," "horizontal," "inner," "outer," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only implementation methods.

[0010] This section will describe in detail the specific embodiments of the present invention. The preferred embodiments of the present invention are shown in the accompanying drawings. The purpose of the accompanying drawings is to supplement the description of the text part of the specification with graphics, so that people can intuitively and vividly understand each technical feature and the overall technical solution of the present invention, but it should not be understood as a limitation on the scope of protection of the present invention.

[0011] Figure 1 This is a schematic diagram of the external structure of the cabin and the connecting tube for installing the clamping mechanism in an embodiment of the present invention; Figure 2 This is a schematic diagram of the internal structure of the cabin and the connecting tube without the clamping mechanism installed in an embodiment of the present invention; Figure 3 This is a schematic diagram of the internal structure of the connecting tube in one embodiment of the present invention; Figure 4 This is a schematic diagram of the structure of the mounting cylinder and the unlocking assembly in one embodiment of the present invention; Figure 5 for Figure 4 Enlarged view of point A in the middle; Figure 6 Schematic diagram of an underwater robot structure equipped with a clamping mechanism comprising a motor, a screw rod, a slide, and an electric clamping claw in one embodiment of the present invention; Figure 7 for Figure 6 Schematic diagram of the structure of the bottom track and cabin; Figure 8 A schematic structural diagram of a clamping mechanism and a cabin body composed of a motor, a screw rod, a slide, and an electric clamping claw in one embodiment of the present invention; Figure 9 The figure is a schematic structural diagram of an underwater robot equipped with a clamping mechanism in the form of an electric clamping claw in an embodiment of the present invention.

[0012] In the figure, 1-cabin; 11-battery assembly; 12-pressure detection module; 13-track; 2-clamping mechanism; 21-motor; 22-screw; 23-slide; 24-electric clamp; 3-connecting cylinder; 31-piston disc; 32-partition; 33-inflatable chamber; 34-trigger block; 35-adjusting mechanism; 4-mounting cylinder; 41-airbag; 42-end cover; 421-slot; 43-first groove; 44-second groove; 45-second abutment portion; 46-slide; 5-fastening assembly; 51-slide; 511 -first abutment; 512-second abutment plate; 52-slide rod; 521-first abutment plate; 53-first spring; 54-block; 6-unlocking assembly; 61-second spring; 62-third spring; 63-slider; 631-toggle plate; 64-push block; 7-compressed gas tank; 71-main body; 72-intake pipe; 73-first reversing valve; 8-connecting assembly; 81-inflating pipe; 811-rotating joint; 82-solenoid valve; 9-connecting pipe; 91-connecting pipe; 92-exhaust pipe; 93-second reversing valve. DETAILED DESCRIPTION

[0013] This section will describe in detail the specific embodiments of the present invention. The preferred embodiments of the present invention are shown in the accompanying drawings. The purpose of the accompanying drawings is to supplement the description of the text part of the specification with graphics, so that people can intuitively and vividly understand each technical feature and the overall technical solution of the present invention, but it should not be understood as a limitation on the scope of protection of the present invention.

[0014] Example 1: Reference Figures 1 to 9 The present invention provides a battery compartment structure for an underwater robot, comprising: The cabin 1 is provided with a control module and a clamping mechanism 2. A battery assembly 11 is detachably mounted in the inner cavity of the cabin 1. A pressure detection module 12 electrically connected to the control module is provided at the connection between the clamping mechanism 2 and the cabin 1. A connecting cylinder 3 is detachably mounted on the cabin body 1. A piston disc 31 is movably mounted on the connecting cylinder 3. A baffle 32 for sealing the cabin body 1 is disposed at one end of the connecting cylinder 3. An inflation chamber 33 is formed between the piston disc 31 and the baffle 32. A mounting cylinder 4 is disposed on the piston disc 31. An airbag 41 communicating with the inflation chamber 33 is disposed on the mounting cylinder 4. An end cap 42 is disposed at one end of the airbag 41. The end cap 42 is used to cover the mounting cylinder 4 to accommodate the airbag 41. A fastening assembly 5 for clamping the end cap 42 is provided on the mounting cylinder 4. The unlocking assembly 6 is provided on the mounting tube 4 and is used to adjust the clamping state between the fastening assembly 5 and the end cover 42. The end of the connecting tube 3 is provided with a trigger block 34 for triggering the unlocking assembly 6 to release the clamping state between the fastening assembly 5 and the end cover 42; A compressed gas tank 7 is mounted on the cabin 1 and is provided with a communication component 8 communicating with the inflation chamber 33; The adjusting mechanism 35 is provided on the partition plate 32 and is used to adjust the position of the piston disc 31 .

[0015] Among them, the cabin 1 is connected to the outside of the frame, and a number of propellers for snorkeling and propulsion are provided on the frame. The control module is electrically connected to the several propellers and controls the working status of the several propellers. The cabin 1 is connected to the frame with several propellers, and the working status of the several propellers is controlled by the control module. It belongs to the basic structure of a conventional underwater robot and will not be repeated in this application. The pressure detection module 12 can use a pressure sensor with model DCLF-Y20, DCLF-Y20A or DCLF-Y20B. The battery assembly 11 can be composed of two battery connections. Compared with a single battery, the use of two batteries improves the endurance. The adjustment mechanism 35 can use one or more electric telescopic rods, hydraulic cylinders or air cylinders controlled by the control module. The cylinder part is installed on the partition 32, and the rod part is connected to the piston disk 31 and drives the piston disk 31 to move.

[0016] During operation, the cabin 1 dives into the water with the entire underwater robot, and can clamp heavy objects through the clamping mechanism 2, and cooperate with the underwater robot's forward and floating process to realize the transportation and salvage of heavy objects. When the clamping mechanism 2 clamps ordinary heavy objects, the control module controls the working state of the adjustment mechanism 35 and the connecting component 8 according to the weight information of the heavy object detected by the pressure detection module 12. The connecting component 8 connects the compressed gas tank 7 and the inflation chamber 33. The adjustment mechanism 35 adjusts the volume of the inflation chamber 33 by adjusting the position of the piston disc 31. During the process of adjusting the position of the piston disc 31 by the adjustment mechanism 35, the inflation chamber 33 is inflated and deflated in cooperation with the connecting component 8 and the compressed gas tank 7, thereby realizing the adjustment of the buoyancy of the underwater equipment, which can reduce the burden on the snorkeling propeller when carrying heavy objects, increase the floating speed, save energy consumption and improve the endurance; When it is necessary to clamp a heavier object and salvage it, the control module controls the working status of the adjustment mechanism 35 and the connecting component 8 according to the weight information of the heavy object detected by the pressure detection module 12. The connecting component 8 connects the compressed gas tank 7 and the inflation chamber 33. The adjustment mechanism 35 first pushes the piston disc 31 to the end of the connecting tube 3. The trigger block 34 at the end of the connecting tube 3 triggers the unlocking mechanism to release the clamping state of the buckle component 5 on the end cover 42. The automatic inflation process of the compressed gas tank 7 releases the airbag 41 and drives the airbag 41 to expand, further increasing the buoyancy, which can provide sufficient buoyancy when salvaging heavier objects and meet the needs of salvage work. The connecting tube 3 and the battery assembly 11 are installed in a detachable manner, and multiple battery assemblies 11 can be spared, which is convenient for replacing the battery assembly 11 as needed to meet the battery life requirements.

[0017] Example 2: Reference Figures 2 to 5 , Combined with the technical solution of Example 1, in this embodiment, the buckle assembly 5 includes a slide cylinder 51, a slide rod 52, a first spring 53 and a block 54. The mounting cylinder 4 is provided with a slide groove 46 for the slide cylinder 51 to move radially relative to the mounting cylinder 4, and the slide rod 52 is movably installed in the inner cavity of the slide cylinder 51, and a first abutting disk 521 is provided on the slide rod 52, and a first abutting portion 511 for the first abutting disk 521 to abut against is provided on the slide cylinder 51, and the first spring 53 is installed in the inner cavity of the slide cylinder 51. The first spring 53 pushes the first abutting disk 521 toward the first abutting portion 511 to drive the slide cylinder 52 to extend relative to the slide cylinder 51, and the block 54 is provided on the slide rod 52, and the mounting cylinder 4 is provided with a first groove 43 for the block 54 to enter and exit. The unlocking assembly 6 is used to cooperate with the trigger block 34 to adjust the position of the slide cylinder 51 so as to adjust the position of the block 54 relative to the first groove 43.

[0018] Specifically, the unlocking assembly 6 includes a second spring 61, a third spring 62, a slider 63 and a push block 64. The slider 63 is movably installed on the outside of the mounting cylinder 4 and moves axially relative to the mounting cylinder 4. The push block 64 is arranged at the end of the slide cylinder 51. The mounting cylinder 4 is provided with a second groove 44 for the push block 64 to enter and exit. One side of the push block 64 is provided with an inclined surface for the slider 63 to push. The second spring 61 is arranged at the slide groove 46. A second abutment plate 512 is provided on the slide cylinder 51. The mounting cylinder 4 is provided with a second abutment portion 45 for the second abutment plate 512 to abut against. The second spring 61 pushes the second abutment plate 512 toward the second abutment portion 45 to drive the protrusion to extend out of the second groove 44. The third spring 62 pushes the slider 63 to drive the slider 63 to push the push block 64 into the second groove 44. The slider 63 is provided with a toggle plate 631 for the trigger block 34 to push. The elastic force of the third spring 62 is greater than that of the second spring 61 , so that the slider 63 can smoothly push the protrusion into the second groove 44 under the elastic force of the third spring 62 .

[0019] Specifically, a surface of the clamping block 54 facing the outside of the mounting tube 4 is an inclined surface.

[0020] There may be multiple buckle assemblies 5 , and correspondingly, there may also be multiple unlocking mechanisms and trigger blocks 34 .

[0021] Working principle: In the normal state, the toggle plate 631 does not abut against the trigger block 34, and the slider 63 pushes the protrusion into the second groove 44 under the action of the third spring 62. The second spring 61 contracts, the slide 51 leans against the first groove 43, and the block 54 on the slide rod 52 extends out of the first groove 43 under the action of the first spring 53; in this normal state, the airbag 41 can be manually stored in the mounting tube 4. The specific operation is: manually fold the airbag 41 into the mounting tube 4 and drive the end cover 42 to approach the mounting tube 4. The end cover 42 drives the block 54 to retract into the first groove 43 by recursively pushing the inclined surface on the block 54. When the slot 421 on the end cover 42 is aligned with the block 54, the block 54 is reset under the action of the first spring 53 and is stuck in the slot 421, thereby fixing the end cover 42.

[0022] When it is necessary to salvage a heavier object or to float in an emergency, the adjusting mechanism 35 drives the piston disc 31 to drive the mounting cylinder 4 close to the end of the connecting cylinder 3. The piston disc 31 is pushed to the end of the connecting cylinder 3 and stops under the limiting action of the trigger block 34 at the end of the connecting cylinder 3. The trigger block 34 at the end of the connecting cylinder 3 abuts against the toggle plate 631 and pushes the toggle plate 631 to push the slider 63 away from the second groove 44. The protrusion extends out of the second groove 44 under the action of the second spring 61, and the slide cylinder 51 drives the slide rod 52 to move downward. The block 54 on the slide rod 52 moves into the first groove 43 to release the clamping state of the end cover 42. The compressed gas tank 7 inflates the inflation chamber 33 and the airbag 41. The airbag 41 is released and pushes the end cover 42 out of the mounting cylinder 4. On the basis of the expansion of the original inflation chamber 33, the volume is further expanded by the inflation of the airbag 41, that is, the buoyancy is further increased, which can be used for the salvage of larger objects and for rapid floating in an emergency.

[0023] Example 3: Reference Figure 1 、 Figure 2 、 Figure 3 、 Figure 6 and Figure 9 Combining the technical solutions of Example 1 and Example 2, in this embodiment, the connecting component 8 includes an inflation tube 81 and a solenoid valve 82. The inflation tube 81 is used to connect the compressed gas tank 7 and the inflation chamber 33. The solenoid valve 82 is arranged on the inflation tube 81 and is electrically connected to the control module.

[0024] The control module controls the connection state of the inflation tube 81 through the solenoid valve 82 , thereby realizing the inflation and deflation of the inflation chamber 33 .

[0025] Specifically, the compressed gas tank 7 is connected to a main body 71, which is connected to an inflation pipe 81 and an intake pipe 72. A first reversing valve 73 is provided at the junction of these three pipes. The connecting tube 3 is provided with a connecting pipe 9 that communicates with the inflation chamber 33. The connecting pipe 9 is connected to a connecting pipe 91 and an exhaust pipe 92. A second reversing valve 93 is provided at the junction of these three pipes. Both the exhaust pipe 92 and the intake pipe 72 have threaded portions for threaded connection with a rotary structure. An air pump with rotary joints 811 at each end can be connected to the exhaust pipe 92 and intake pipe 72, respectively, to pump air from the airbag 41 back into the compressed gas tank 7.

[0026] Specifically, a rotary joint 811 is rotatably provided at the end of the inflation tube 81, and the connecting tube 91 is threadedly connected to the rotary joint 811. The rotary joint 811 is threadedly connected to the connecting tube 91 with a sealing ring to ensure airtightness at the connection between the inflation tube 81 and the connecting tube 91. The use of the rotary joint 811 in conjunction with the sealing ring to achieve a sealed connection of the pipeline is a conventional technique for pipeline connection and will not be further described in this application. The detachable installation of the inflation tube 81 facilitates complete separation of the connecting tube 3 from the cabin 1, facilitating replacement of the battery assembly 11.

[0027] When used underwater, manually adjust the first reversing valve 73 and the second reversing valve 93 to drive the main body 71 to connect with the inflation pipe 81, and the connecting pipe 9 to connect with the connecting pipe 91, that is, the compressed gas tank 7 and the inflation chamber 33 are connected through the inflation pipe 81, and the connection state of the inflation pipe 81 is controlled by the solenoid valve 82.

[0028] After the airbag 41 expands and drives the underwater robot to the surface, the airbag 41 can be re-stored in the following manner: After the airbag 41 expands and drives the entire underwater robot to float and recover the entire underwater robot, the control module opens the inflation tube 81 through the solenoid valve 82 and drives the piston disc 31 to retract into the connecting tube 3 through the adjusting mechanism 35 for reset. During this reset process, the gas in the inflation chamber 33 is pressed back into the compressed gas tank 7. At this time, the snap assembly is away from the trigger block 34. An air pump with a rotary joint 811 at both ends can be used to connect to the exhaust pipe 92 and the intake pipe 72 respectively, and the first reversing valve 73 and the second reversing valve 93 are operated to cut off the connection state of the inflation tube 81 and drive the main body 71 to connect with the intake pipe 72, and the connecting pipe 9 is connected with the exhaust pipe 92. The air in the airbag 41 is pumped back to the compressed gas tank 7 through the air pump. After the airbag 41 is deflated and contracted, the end cover 42 and the snap-on assembly 5 can be used to store the airbag 41 into the mounting tube 4.

[0029] Among them, the second reversing valve 93 can be operated alone to drive the connecting pipe 9 and the exhaust pipe 92 to connect for exhaust work; the air pump can also be connected to the air intake pipe 72 and the first reversing valve 73 can be operated alone to drive the air intake pipe 72 and the main body 71 to connect for inflating the compressed air tank 7.

[0030] Specifically, the connecting tube 3 is connected to the pod 1 by screws. The screw connection realizes the detachable installation between the pod 1 and the connecting tube 3, which is convenient for removing the connecting tube 3 to replace the battery assembly 11 as needed.

[0031] Example 4: Reference Figures 1 to 9, combined with the technical solutions of Examples 1-3, in this embodiment, the control module includes a main control circuit board and an IMU module, a GPS module, a lighting module and a camera electrically connected to the main control circuit board, and the clamping mechanism 2, the pressure detection module 12 and the adjustment mechanism 35 are electrically connected to the main control circuit board respectively. Among them, the main control circuit board is a circuit board with an STM32 control chip. The IMU module is composed of a gyroscope and an accelerometer, and belongs to the attitude measurement and motion tracking technology commonly used in the existing underwater robots and drone fields, which will not be repeated in this application. The pressure detection module 12 can adopt a pressure sensor with model DCLF-Y20, DCLF-Y20A or DCLF-Y20B. Among them, a transparent cover is provided at the front end of the cabin 1, and the lighting module and the camera can be illuminated and photographed through the transparent cover.

[0032] Example 5: Reference Figures 6 to 8 In combination with the technical solutions of Examples 1-4, in this embodiment, the clamping mechanism 2 includes a motor 21, a screw rod 22, a slide 23, and an electric clamp 24. The bottom of the cabin 1 is provided with a track 13 for the slide 23 to be moved and installed. The slide 23 is provided with a screw hole that cooperates with the screw rod 22. The electric clamp 24 is installed on the slide 23. The pressure detection module 12 is provided at the connection between the electric clamp 24 and the slide 23. The motor 21 is provided on the cabin 1 and is used to drive the screw rod 22 to rotate. After the electric gripper 24 grips the weight, the control module can control the motor 21 to operate based on the information detected by the IMU and pressure detection module 12. The motor 21 drives the screw 22 to rotate to adjust the position of the electric gripper 24 on the slide 23 relative to the cabin 1, thereby adjusting the center position of the underwater robot to prevent excessive deflection or tipping of the underwater robot due to excessive center offset. After adjusting the center of gravity, the underwater robot as a whole tends to a horizontal state, which can reduce the component forces of the propulsion propeller and snorkeling propeller in other directions, facilitating the stable propulsion and buoyancy of the underwater robot. Among them, the screw 22 can be made of stainless steel such as 304 or 316 or use a ceramic coating to achieve rust resistance. Among them, the motor 21, screw 22 and slide 23 on the track 13 are all detachably mounted on the cabin 1 with screws connected to the track 13. The motor 21 and the electric gripper 24 on the slide 23 are connected to the control module of the cabin 1 via wires. The entire track 13 can be removed with a screwdriver, making it easy to disassemble, clean and replace the various parts of the clamping mechanism 2 as needed.

[0033] Example 6: Reference Figure 9, combined with the technical solutions of Examples 1-4, in this embodiment, the clamping mechanism 2 only includes an electric clamp 24, which is directly installed on the cabin body 1 and a pressure detection module 12 is set at the connection between the electric clamp 24 and the cabin body 1 to detect the weight of the heavy object clamped by the electric clamp 24.

[0034] Among them, the various parts and accessories in the present invention can be assembled by screwing or bolting, and can be disassembled, repaired and replaced as needed. The metal parts used in the present invention can be made of stainless steel such as 304, 316 or ceramic coating to achieve rust prevention.

[0035] The above are only preferred embodiments of the present invention and are not intended to limit the present invention in any form. Any person skilled in the art can, without departing from the scope of the technical solution of the present invention, use the above technical content to make many possible changes and modifications to the technical solution of the present invention, or modify it into an equivalent embodiment with equivalent changes. Therefore, any changes, modifications, equivalent changes and modifications made to the above embodiments based on the technology of the present invention without departing from the content of the technical solution of the present invention shall fall within the scope of protection of the present technical solution.

Claims

1. A battery compartment structure for an underwater robot, characterized in that: include: A cabin body, wherein a control module and a clamping mechanism are provided on the cabin body, a battery assembly is detachably installed in the cabin body cavity, and a pressure detection module electrically connected to the control module is provided at the connection between the clamping mechanism and the cabin body; A connecting cylinder, the connecting cylinder is detachably mounted on the cabin body, a piston disc is movably provided on the connecting cylinder, a partition for sealing the cabin body is provided at one end of the connecting cylinder, an inflation chamber is formed between the piston disc and the partition, a mounting cylinder is provided on the piston disc, an air bag communicating with the inflation chamber is provided on the mounting cylinder, an end cap is provided at one end of the air bag, the end cap is used to cover the mounting cylinder to accommodate the air bag, and a buckle assembly for clamping the end cap is provided on the mounting cylinder; An unlocking assembly, the unlocking assembly being provided on the mounting cylinder and being used to adjust the clamping state between the buckle assembly and the end cover, the end of the connecting cylinder being provided with a trigger block for triggering the unlocking assembly to release the clamping state between the buckle assembly and the end cover; A compressed gas tank, the compressed gas tank being mounted on the cabin body and provided with a communication component communicating with the inflation cavity; An adjusting mechanism is provided on the partition plate and is used for adjusting the position of the piston disc.

2. The underwater robot battery compartment structure according to claim 1, characterized in that: The locking assembly includes a slide cylinder, a slide rod, a first spring and a blocking block, the mounting cylinder is provided with a slide groove for radially moving the slide cylinder relative to the mounting cylinder, the slide rod is movably mounted in the inner cavity of the slide cylinder, the slide rod is provided with a first abutment plate, the slide cylinder is provided with a first abutment portion for abutting the first abutment plate, the first spring is installed in the inner cavity of the slide cylinder, the first spring pushes the first abutment plate toward the first abutment portion to drive the slide cylinder to extend relative to the slide cylinder, the blocking block is provided on the slide rod, and the mounting cylinder is provided with a first groove for the blocking block to enter and exit, the unlocking assembly is used to cooperate with the trigger block to adjust the position of the slide cylinder so as to adjust the position of the blocking block relative to the first groove.

3. The underwater robot battery compartment structure according to claim 2, characterized in that: The unlocking assembly includes a second spring, a third spring, a slider and a push block, the slider being movably mounted on the outside of the mounting cylinder and axially moving relative to the mounting cylinder, the push block being arranged on the end of the slide cylinder, the mounting cylinder being provided with a second groove for the push block to enter and exit, one side of the push block being provided with an inclined surface for the slider to push forward, the second spring being arranged on the slide groove, the slide cylinder being provided with a second abutment plate, and the mounting cylinder being provided with a second abutment portion for the second abutment plate to abut, the second spring pushing the second abutment plate toward the second abutment portion to drive the protrusion to extend out of the second groove, and the third spring repeatedly pushing the slider to drive the slider to push the push block to move into the second groove, and the slider being provided with a toggle plate for the trigger block to push forward.

4. The underwater robot battery compartment structure according to any one of claims 2 or 3, characterized in that: A surface of the clamping block facing the outside of the mounting tube is an inclined surface.

5. The underwater robot battery compartment structure according to claim 1, characterized in that: The connecting component includes an inflation tube and a solenoid valve. The inflation tube is used to connect the compressed gas tank and the inflation chamber. The solenoid valve is arranged on the inflation tube and is electrically connected to the control module.

6. The underwater robot battery compartment structure according to claim 5, characterized in that: The compressed gas tank is connected to a main body, the main body is connected to the inflation pipe and the air intake pipe, and a first reversing valve is provided at the connection point of the three pipes. The connecting tube is provided with a connecting pipe connected to the inflation chamber, the connecting pipe is connected to the exhaust pipe, and a second reversing valve is provided at the connection point of the three pipes.

7. The underwater robot battery compartment structure according to claim 6, characterized in that: The end of the inflation tube is rotatably provided with a rotary joint, and the connecting tube is threadedly connected to the rotary joint.

8. The underwater robot battery compartment structure according to claim 1, characterized in that: The connecting tube is connected to the cabin body through screws.

9. The underwater robot battery compartment structure according to claim 1, characterized in that: The control module includes a main control circuit board and an IMU module, a GPS module, a lighting module and a camera electrically connected to the main control circuit board. The clamping mechanism, the pressure detection module and the adjustment mechanism are respectively electrically connected to the main control circuit board.

10. The underwater robot battery compartment structure according to claim 1, characterized in that: The clamping mechanism includes a motor, a screw rod, a slide and an electric clamp. A track for the movable installation of the slide is provided at the bottom of the cabin. A screw hole that cooperates with the screw rod is provided on the slide. The electric clamp is installed on the slide. The pressure detection module is provided at the connection between the electric clamp and the slide. The motor is provided on the cabin and is used to drive the screw rod to rotate.

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