An underwater robot and method of operating the same

Abstract

An underwater robot and an operating method thereof. Relate to the technical field of river channel sediment repair. Including a mobile platform, the mobile platform is driven by electricity; a medicament releasing device, the medicament releasing device includes a tape and a feeding pipe, the tape is provided with a plurality of medicament storage units along the length direction, the feeding pipe is located above the tape, the tape is in a roll shape and can be released synchronously with the movement of the mobile platform, a plurality of medicament storage units pass through from below the feeding pipe in turn; the tape is released along the horizontal direction, the feeding pipe moves reciprocatingly along the vertical direction, and the feeding pipe is used for pressing the medicament storage units into the sediment. The application can send the medicament body into the deep sediment without pumping out the water in the river channel, the operation is simple, the utilization rate of the medicament body is high, and the repair effect on the sediment is good.

Description

Technical Field

[0001] This application relates to the field of riverbed sediment remediation technology, specifically to an underwater robot, and also to a method for operating the underwater robot. Background Technology

[0002] Due to long-term external input and the deposition of aquatic biological residues, urban riverbed sediments have accumulated large amounts of pollutants, such as heavy metals, nitrogen, phosphorus, and other nutrients, as well as persistent organic matter, becoming a significant secondary source of water pollution. Currently, sediment remediation mainly includes two categories: ex-situ treatment and in-situ treatment. Ex-situ treatment involves removing the contaminated sediment from the water body, essentially treating it through dredging. In-situ treatment leaves the contaminated sediment in place and takes measures to prevent the release of pollutants from the sediment into the water body, cutting off the pollution pathway from the internal pollution source. For example, oxygen-releasing agents can be added to the sediment to alter the oxidation / reduction conditions of the sediment and water, increasing dissolved oxygen levels and effectively removing organic matter and other blackening and odor-causing substances from the sediment.

[0003] In existing related technologies, equipment such as plows are used to stir the bottom sediment, and the agent is added to the sediment during the stirring process. This can achieve reliable mixing of the sediment and the agent and improve the release depth of the agent in the sediment. However, this method requires the removal of water from the river channel first, which is labor-intensive and costly. At the same time, while stirring the sediment increases the release depth, it also causes some of the agent to be stirred to the top of the sediment. As a result, this part of the agent is washed into the water after the river is drained, resulting in waste of the agent.

[0004] Therefore, designing a device capable of deep underwater drug delivery has become a technical problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0005] In order to overcome the problems of existing technologies that require pumping water before drug delivery and result in significant drug waste after delivery, this application provides an underwater robot and its operation method.

[0006] Firstly, this application provides an underwater robot, implemented using the following technical solution:

[0007] An underwater robot includes a mobile platform powered by electricity and a drug release device comprising a feed belt and a feeding pipe. The feed belt has several drug storage units spaced along its length, and the feeding pipe is located above the feed belt. The feed belt is rolled up and can be released synchronously with the movement of the mobile platform. Several drug storage units pass sequentially from below the feeding pipe. The feed belt releases horizontally, and the feeding pipe reciprocates vertically, pressing the drug storage units into the bottom sediment.

[0008] Optionally, the mobile platform has an assembly space in the middle, which extends vertically through the mobile platform, and the agent release device is located within the assembly space. The agent release device further includes a pair of unwinding rollers and a pair of pressure rollers. The pair of unwinding rollers and the pair of pressure rollers are spaced apart along the length of the mobile platform, and the pair of pressure rollers are located between and below the pair of unwinding rollers. One end of the material strip is wound around one of the unwinding rollers, and the other end of the material strip passes under the pair of pressure rollers and is wound around the other unwinding roller. The feeding pipe is located between the pair of pressure rollers, and the material strip is in a straight state between the pair of pressure rollers.

[0009] Optionally, the assembly space includes a movable assembly platform and a fixed assembly platform. The fixed assembly platform is located above the movable assembly platform and is connected to the movable platform via a support column. The movable assembly platform and the fixed assembly platform are connected via at least two second electric push rods. A motor is installed on both sides of the top of the fixed assembly platform to drive the winding and unwinding reels to rotate. A guide channel steel is provided on the movable assembly platform, and the pressure rollers are mounted on the guide channel steel. The material strip between a pair of pressure rollers is conveyed within the guide channel steel. A discharge hole is provided in the middle of the guide channel steel, and the feeding pipe is coaxially arranged with the discharge hole.

[0010] Optionally, the top of the movable assembly table is provided with a rotating seat with the same number of the second electric push rods. One end of the second electric push rod is connected to the bottom of the fixed assembly table, and the other end of the second electric push rod is connected to the rotating seat. The outer sides of both ends of the guide channel steel are provided with the second electric push rods, which are used to adjust the height and tilt angle of the movable assembly table.

[0011] Optionally, a fixed plate is provided above the fixed assembly table, and the fixed plate is connected to the movable assembly table by a screw. A first electric push rod is fixed on the fixed plate, and the first electric push rod is connected to the feeding pipe by a flange. The first electric push rod is used to drive the feeding pipe to reciprocate in the vertical direction. The screw and the first electric push rod pass through the fixed assembly table and are separate from the fixed assembly table support.

[0012] Optionally, an air pump is provided on the fixed assembly platform, and an air pipe is passed through the flange. One end of the air pipe is connected to the air outlet of the air pump, and the other end of the air pipe is connected to the feeding pipe. The air pump is used to deliver gas into the feeding pipe, and the gas is used to blow the drug storage unit downward. The air pipe is a retractable corrugated pipe.

[0013] Optionally, the upper inner diameter of the feeding tube is smaller than the lower inner diameter of the feeding tube, and the connection between the upper and lower parts of the feeding tube is provided with a rounded corner; a fixing ring is provided on the upper part of the inner wall of the feeding tube, a piston is provided below the fixing ring, the fixing ring and the piston are connected by a tension spring, and the connection between the air pipe and the feeding tube is located above the piston.

[0014] Optionally, the drug storage unit includes a drug body and a covering film. The drug body is placed in the middle of the conveyor belt, and the covering film covers the outside of the drug body and is adhered to the top of the conveyor belt. An annular easy-tear line is provided on the conveyor belt and on the outside of the covering film. The contact position between the feeding pipe and the conveyor belt is located between the outside of the covering film and the inside of the easy-tear line. The covering film is made of a water-soluble material.

[0015] Optionally, the mobile platform is equipped with a battery module and a controller. The battery module is used to provide power to the mobile platform, the motor, the first electric push rod, and the second electric push rod. The controller is used to control the moving direction and speed of the mobile platform, the rotation direction and speed of the motor, and the extension and retraction amount and speed of the first and second electric push rods.

[0016] Secondly, this application provides a method for operating an underwater robot, implemented using the following technical solution:

[0017] A method for operating an underwater robot includes the following steps:

[0018] S1. Wrap one end of the strip around a winding wheel, then pass the other side of the strip through two pressure rollers and wrap it around another winding wheel.

[0019] S2. Jog the two motors to make the belt tensioned and one of the drug storage units on the belt above the discharge hole. Jog the first electric push rod to make the feeding pipe above and close to the drug storage unit.

[0020] S3. Place the mobile platform into the river channel and jog the second electric push rod to make the bottom of the mobile assembly platform contact the bottom mud in the river channel.

[0021] S4. The mobile platform moves in the river channel. The first electric push rod presses the chemical storage unit located above the discharge hole into the inner side of the bottom mud. After pressing is completed, the first electric push rod resets.

[0022] S5. The two motors operate in opposite directions, causing the material belt to be released from one unwinding reel to the other and causing a new agent storage unit to be displaced above the discharge port.

[0023] S6. Repeat steps S4 and S5 until all the reagent storage units on the conveyor belt are pressed into the inner side of the bottom mud. Then retract the moving platform to complete the process.

[0024] Compared with the prior art, this application has the following beneficial effects:

[0025] 1. The material belt is transported via a mobile platform that can travel underwater. Both ends of the material belt are wound around two reels. At the same time, several chemical storage units are spaced apart on the material belt. In this way, with one reel releasing the material belt and the other reel winding it up, several chemical storage units can pass through the discharge hole and the feed pipe in sequence. Then, the chemical storage units are sent into the depth of the bottom sediment through the vertically moving feed pipe. The bottom sediment can be treated and repaired without pumping water from the river. The operation is simple and the repair efficiency is high.

[0026] 2. The reagent is encased between the feed strip and the water-soluble cover film. By selecting appropriate materials to make the cover film and reasonably extending the dissolution time of the cover film, it is ensured that all the reagent will come into contact with and react with the bottom sediment after being sent deep into the sediment, effectively reducing the waste of the reagent.

[0027] 3. By supplying air into the feeding pipe through an air pump, the piston moves within the feeding pipe, thereby increasing the depth to which the chemical storage unit is inserted into the bottom mud. This avoids waste of the chemical and improves the repair effect. Attached Figure Description

[0028] Figure 1 This is an illustrative three-dimensional representation of the present application. Figure 1 ;

[0029] Figure 2 This is an illustrative three-dimensional representation of the present application.Figure 2 ;

[0030] Figure 3 This is a reference diagram showing the assembly status of the drug release device and the mobile platform;

[0031] Figure 4 This is a schematic three-dimensional representation of the drug release device and its fixed and movable assembly platforms. Figure 1 ;

[0032] Figure 5 This is a schematic three-dimensional representation of the drug release device and its fixed and movable assembly platforms. Figure 2 ;

[0033] Figure 6 This is a cross-sectional view of the internal structure of the feed tube;

[0034] Figure 7 This is a schematic 3D diagram of a pharmaceutical storage unit;

[0035] Figure 8 This is a schematic diagram showing the relative positions of the feed pipe and the conveyor belt;

[0036] In the diagram: 1. Mobile platform; 11. Assembly space; 12. Movable assembly table; 120. Rotating seat; 13. Fixed assembly table; 14. Support column; 15. Second electric push rod; 16. Guide channel steel; 160. Discharge hole; 17. Battery module; 18. Controller;

[0037] 2. Drug release device; 21. Feed belt; 210. Easy-tear line; 22. Feeding pipe; 221. Flange; 222. Fixing ring; 223. Piston; 224. Tension spring; 23. Drug storage unit; 231. Drug body; 232. Covering film; 24. Winding reel; 25. Pressure roller; 26. Electric motor; 27. Fixing plate; 270. Screw; 28. First electric push rod; 29. ​​Air pump; 290. Air pipe. Detailed Implementation

[0038] The present application will now be further described in conjunction with the accompanying drawings and specific embodiments. It should be noted that, without conflict, the various embodiments or technical features described below can be arbitrarily combined to form new embodiments.

[0039] This embodiment discloses an underwater robot.

[0040] Figure 1 This is an illustrative three-dimensional representation of the present application. Figure 1 , Figure 2 This is an illustrative three-dimensional representation of the present application. Figure 2 See figure and Figure 2An underwater robot includes a mobile platform 1, with an assembly space 11 in the middle. The assembly space 11 contains a fixed assembly table 13, a movable assembly table 12, and a chemical release device 2. The mobile platform 1 can be a tracked platform to ensure stable movement on the riverbed sediment. The mobile platform 1 is equipped with a battery module 17 and a controller 18. The battery module 17 supplies power to the mobile platform 1 and the equipment on it. The controller 18 controls the mobile platform 1 to move along a designated route and controls the movement of the equipment on it.

[0041] Figure 3 This is a reference diagram showing the assembly state of the drug delivery device and the moving platform. (See also...) Figure 3 and combined Figure 1 The agent release device 2 includes a material belt 21, a feeding pipe 22 and a first electric push rod 28. The material belt 21 is provided with a plurality of agent storage units 23, which are spaced apart along the length of the material belt 21. The first electric push rod 28 is used to drive the feeding pipe 22 to move back and forth in the vertical direction, thereby pressing the agent storage units 23 on the material belt 21 into the bottom mud of the river.

[0042] Figure 4 This is a schematic three-dimensional representation of the drug release device and its fixed and movable assembly platforms. Figure 1 , Figure 5 This is a schematic three-dimensional representation of the drug release device and its fixed and movable assembly platforms. Figure 2 See also Figure 4 and Figure 5A motor 26 is installed on both sides of the top of the fixed assembly table 13. A winding and unwinding roller 24 is mounted on the output shaft of the motor 26. Meanwhile, a guide channel steel 16 is installed on the top of the movable assembly table 12. Two pressure rollers 25 are placed on the guide channel steel 16 and rotate around their own axis on the guide channel steel 16. The height of the winding and unwinding roller 24 is higher than the height of the pressure rollers 25, and the two pressure rollers 25 are at the same height. Thus, one end of the material strip 21 is wound around one winding and unwinding roller 24, and the other end of the material strip 21 passes successively through the lower part of the two pressure rollers 25 and finally wraps around the other winding and unwinding roller 24. At this time, the two motors 26 rotate in opposite directions, which can keep the material strip 21 taut between the winding and unwinding roller 24 and the pressure rollers 25, and ensure that the material strip 21 extends horizontally between the two pressure rollers 25. A discharge hole 160 is provided in the middle of the guide channel steel 16. When the unwinding wheel 24 with more material strip 21 and the unwinding wheel 24 with less material strip 21 rotate at the same time, the material strip 21 will be unwound from one unwinding wheel 24 and moved and wound around to another unwinding wheel 24. During the movement and winding of the material strip 21, the medicine storage unit 23 on the material strip 21 will pass through the discharge hole 160 in sequence. When the first chemical storage unit 23 moves above the discharge hole 160, both motors 26 stop or reduce their rotation speed simultaneously, while the first electric push rod 28 quickly pushes the feeding pipe 22 downwards. In this way, the feeding pipe 22, which is coaxial with the discharge hole 160 and located above the material belt 21, can quickly pierce the material belt 21 and press the chemical storage unit 23 into the inner side of the bottom mud. Then the first electric push rod returns to its original position, and the two motors 26 resume operation until the second chemical storage unit 23 moves above the discharge hole 160. This process is repeated, so that all the chemical storage units 23 on the material belt 21 can be pressed into the inner side of the bottom mud synchronously during the movement of the moving platform 1. The bottom mud can be repaired without removing water from the river channel. The operation is simple, the repair efficiency is high, and the cost is low.

[0043] See Figure 4 and Figure 5The fixed assembly platform 13 is located above the movable assembly platform 12. The fixed assembly platform 13 is connected to the movable platform 1 via a support column 14. The bottom of the movable assembly platform 12 and the fixed assembly platform 13 are connected via a second electric push rod 15. Specifically, a fixed plate 27 is provided above the fixed assembly platform 13. The fixed plate 27 is connected to the movable assembly platform 12 via a screw 270. One end of the first electric push rod 28 is mounted on the fixed plate 27, and the other end of the first electric push rod 28 is connected to the feeding pipe 22 via a flange 221. The fixed assembly platform 13 is U-shaped, so that the extension and retraction of the first electric push rod 28 will not interfere with the fixed assembly platform 13. At least two rotating seats 120 are provided on the top of the movable assembly platform 12. The number of rotating seats 120 is the same as the number of second electric push rods 15. One end of the second electric push rod 15 is connected to the fixed assembly platform 13, and the other end of the second electric push rod 15 is connected to the rotating seat 120. When the two second electric push rods 15 move synchronously, the movable assembly table 12 can move back and forth in the vertical direction. This allows the height of the movable assembly table 12 and the guide channel steel 16 to be adjusted so that the guide channel steel 16 can move to a state that is close to or slightly higher than the bottom mud. This reduces the amount of push of the first electric push rod 28 to the feeding pipe 22. In other words, the first electric push rod 28 can push the drug storage unit 23 with a small displacement. When the two second electric push rods 15 move asynchronously, such as one second electric push rod 15 remaining stationary or extending at low speed while the other second electric push rod 15 extends rapidly, the movable assembly table 12 can move linearly in the vertical direction while also rotating in the horizontal direction. On the one hand, this allows the guide channel steel 16 to fit more precisely with the bottom mud, and on the other hand, it allows the movable assembly table 12 and the guide channel steel 16 to be tilted towards the bottom mud, which can flatten the bottom mud or push it to both sides of the guide channel steel 16 to a certain extent, thereby preventing the bottom mud from accumulating between the guide channel steel 16 and the material belt 21 to the greatest extent, thus affecting the accuracy of the arrangement and pushing of the agent storage unit 23.

[0044] Figure 6 This is a cross-sectional view of the internal structure of the feed tube. Figure 7 This is a schematic three-dimensional diagram of the pharmaceutical storage unit. See also... Figure 6 and Figure 7 and combined Figure 5An air pump 29 is installed on the fixed assembly table 13. An air pipe 290 is installed on the flange 221. One end of the air pipe 290 is connected to the air outlet of the air pump 29, and the other end of the air pipe 290 is connected to the feeding pipe 22. The air inlet of the air pump 29 can be connected to the air storage tank (the air storage tank is also installed on the fixed assembly table 13). Alternatively, an air inlet pipe 290 can be installed on the air inlet pipe 290 of the air pump 29, and a float ball can be installed at the end of the air inlet pipe 290 so that the end of the air inlet pipe 290 is always above the water surface. This ensures that external gas can be drawn into the air pump 29 through the air inlet pipe 290, and thus ensures that the air pump 29 can reliably pump gas into the air pipe 290 and the feeding pipe 22. The air pipe 290 is a retractable corrugated pipe, which ensures that the air pipe 290 will not be torn during the adjustment of the guide channel steel 16 and the movable assembly table 12 by the second electric push rod 15, thus ensuring that the air pipe 290 can reliably connect to the feed pipe 22 and the air pump 29. The upper inner diameter of the feed pipe 22 is smaller than the lower inner diameter of the feed pipe 22. The connection between the upper and lower parts of the feed pipe 22 is rounded. A fixing ring 222 is provided on the upper part of the inner wall of the feed pipe 22. A piston 223 is provided below the fixing ring 222. The fixing ring 222 and the piston 223 are connected by a tension spring 224. The connection between the air pipe 290 and the feed pipe 22 is located above the piston 223. The drug storage unit 23 includes a drug body 231 and a covering film 232. The drug body 231 is placed in the middle of the conveyor belt 21, and the covering film 232 covers the outside of the drug body 231 and is adhered to the top of the conveyor belt 21. An annular easy-tear line 210 is provided on the conveyor belt 21 and located on the outside of the covering film 232. The contact position between the feed tube 22 and the conveyor belt 21 is located between the outside of the covering film 232 and the inside of the easy-tear line 210. The covering film 232 is made of a water-soluble material.

[0045] Figure 8 This is a schematic diagram showing the relative positions of the feed tube and the conveyor belt. (See also...) Figure 8Referring to the figure, when a drug storage unit 23 is displaced above the discharge port 160, the first electric push rod 28 moves downward. At this time, the lower end of the feed pipe 22 contacts the conveyor belt 21, and the contact position is located between the outer edge of the tear line 210 and the outer edge of the cover film 232. When the feed pipe 22 is in this position, it can easily push the entire drug storage unit 23 off the conveyor belt 21. In this way, the cover film 232, the drug body 231, and the torn and pushed-out conveyor belt 21 form a treatment agent. Although the continuous downward pressure of the feed pipe 22 will cause the treatment agent to contact the bottom mud, under the resistance of the bottom mud, the treatment agent and the bottom mud will move towards the inside of the feed pipe 22 until the treatment agent adheres to the piston 223. At this time, the treatment agent is already in a relatively deep position inside the bottom mud. Then, the air pump 29 begins to blow gas into the feed pipe 22, increasing the air pressure inside the feed pipe 22. This pushes the treatment agent and bottom sediment out of the discharge pipe, achieving separation of the treatment agent from the discharge pipe. If the air pump 29 can deliver a large amount of gas in a short time, the air pressure inside the feed pipe 22 will rise rapidly, thereby spraying the treatment agent to the outside of the feed pipe 22 at a faster speed. This increases the depth of treatment agent application, ensuring that the treatment agent does not mix into the water body and minimizing the waste of the agent body 231.

[0046] Once a treatment agent is blown into place, the first electric push rod 28 retracts upward and moves the feed pipe 22 upward. During this process, the air pump 29 remains in pumping mode, so that the piston 223 is still located in the lower part of the feed pipe 22 with a larger inner diameter. In this way, after the feed pipe 22 is pulled out from the bottom mud, because there is a distance between the outer wall of the piston 223 and the lower part of the inner wall of the feed pipe 22, the gas can blow and clean the inner side of the feed pipe 22, the piston 223 and the tension spring 224, and remove all the bottom mud in the feed pipe 22. Then the air pump 29 stops working, and the piston 223 returns to its original position under the action of the tension spring 224, minimizing the impact of the bottom mud on the sealing between the piston 223 and the upper part of the feed pipe 22. To improve the cleaning effect on piston 223 and feed pipe 22, air pump 29 can also be replaced with water pump. Water is pumped into the inside of feed pipe 22, thereby driving and cleaning piston 223 through the water.

[0047] The covering membrane 232 can be a polyvinyl alcohol film. By selecting a reasonable formula, the covering membrane 232 can dissolve after several hours, allowing sufficient time for the treatment agent to be added. Simultaneously, it can dissolve promptly after all treatment agents have been added, thereby reducing the time it takes for the agent body 231 to contact the sediment and begin to react, maximizing treatment efficiency. Since the robot operates underwater, the motor 26, the first electric actuator 28, and the second electric actuator 15 all need to be selected with high waterproof ratings. At the same time, the controller 18, battery module 17, and air pump 29, among other equipment, require waterproofing measures, such as designing a dedicated waterproof box. Furthermore, to improve the stability of the mobile platform 1 during underwater movement, the shell and frame of the mobile platform 1 can be made of steel coated with anti-rust paint, thereby increasing its weight.

[0048] This embodiment also discloses an operation method for an underwater robot.

[0049] A method for operating an underwater robot includes the following steps:

[0050] S1. Wrap one end of the material strip 21 around a winding wheel 24, and then pass the other side of the material strip 21 through two pressure rollers 25 and wrap it around another winding wheel 24.

[0051] S2. Jog the two motors 26 to make the material belt 21 tensioned and a medicine storage unit 23 on the material belt 21 above the discharge hole 160. Jog the first electric push rod 28 to make the feeding pipe 22 above and close to the medicine storage unit 23.

[0052] S3. Place the mobile platform 1 into the river channel and jog the second electric push rod 15 so that the bottom of the movable assembly platform 12 contacts the bottom mud in the river channel.

[0053] S4. The mobile platform 1 moves in the river channel. The first electric push rod 28 presses the agent storage unit 23 located above the discharge hole 160 into the inner side of the bottom mud. After pressing is completed, the first electric push rod 28 resets.

[0054] S5. The two motors 26 operate in opposite directions, causing the material belt 21 to be released from one unwinding reel 24 to the other unwinding reel 24 and causing a new drug storage unit 23 to be displaced above the discharge port 160.

[0055] S6. Repeat steps S4 and S5 until all the reagent storage units 23 on the material belt 21 are pressed into the inner side of the bottom mud, then retract the moving platform 1 to complete the process.

[0056] The above embodiments are merely preferred embodiments of this application and should not be construed as limiting the scope of protection of this application. Any non-substantial changes and substitutions made by those skilled in the art based on this application shall fall within the scope of protection claimed by this application.

Claims

1. An underwater robot, characterized in that, Includes a mobile platform (1), which is electrically powered; A drug release device (2) is provided, comprising a material belt (21) and a feeding pipe (22). A plurality of drug storage units (23) are spaced apart along the length of the material belt (21). The feeding pipe (22) is located above the material belt (21). The material belt (21) is rolled up and can be released synchronously with the movement of the moving platform (1). A plurality of drug storage units (23) pass through the bottom of the feeding pipe (22) in sequence. The material belt (21) is released in the horizontal direction, and the feeding pipe (22) moves back and forth in the vertical direction. The feeding pipe (22) is used to press the drug storage units (23) into the bottom mud. The mobile platform (1) has an assembly space (11) in the middle, which extends vertically through the mobile platform (1). The drug release device (2) is located in the assembly space (11). The drug release device (2) also includes a pair of unwinding rollers (24) and a pair of pressure rollers (25). The pair of unwinding rollers (24) and the pair of pressure rollers (25) are spaced apart along the length of the mobile platform (1). The pair of pressure rollers (25) are located between the pair of unwinding rollers (24) and below them. One end of the strip (21) is wound around one of the unwinding rollers (24), and the other end of the strip (21) passes under the pair of pressure rollers (25) and is wound around the other unwinding roller (24). The feeding pipe (22) is located between the pair of pressure rollers (25), and the strip (21) is straight between the pair of pressure rollers (25). The assembly space (11) is provided with a movable assembly table (12) and a fixed assembly table (13). The fixed assembly table (13) is located above the movable assembly table (12). The fixed assembly table (13) is connected to the movable platform (1) by a support column (14). The movable assembly table (12) and the fixed assembly table (13) are connected by at least two second electric push rods (15). The fixed assembly table (13) has a motor (26) on both sides of its top. The motor (26) is used to drive the winding and unwinding wheel (24) to rotate. The movable assembly table (12) is provided with a guide channel steel (16). The pressure roller (25) is mounted on the guide channel steel (16). The material strip (21) between a pair of pressure rollers (25) is conveyed in the guide channel steel (16). The guide channel steel (16) has a discharge hole (160) in the middle. The feeding pipe (22) is coaxially arranged with the discharge hole (160).

2. An underwater robot according to claim 1, characterized in that, The top of the movable assembly table (12) is provided with rotating seats (120) in the same number as the second electric push rods (15). One end of the second electric push rod (15) is connected to the bottom of the fixed assembly table (13), and the other end of the second electric push rod (15) is connected to the rotating seat (120). The guide channel steel (16) is provided with the second electric push rod (15) on both outer sides. The second electric push rod (15) is used to adjust the height and tilt angle of the movable assembly table (12).

3. An underwater robot according to claim 1, characterized in that, A fixed plate (27) is provided above the fixed assembly table (13). The fixed plate (27) is connected to the movable assembly table (12) by a screw (270). A first electric push rod (28) is fixed on the fixed plate (27). The first electric push rod (28) is connected to the feeding pipe (22) by a flange (221). The first electric push rod (28) is used to drive the feeding pipe (22) to reciprocate in the vertical direction. The screw (270) and the first electric push rod (28) pass through the fixed assembly table (13) and are separated from the support of the fixed assembly table (13).

4. An underwater robot according to claim 3, characterized in that, An air pump (29) is provided on the fixed assembly table (13), and an air pipe (290) is provided on the flange (221). One end of the air pipe (290) is connected to the air outlet of the air pump (29), and the other end of the air pipe (290) is connected to the feeding pipe (22). The air pump (29) is used to deliver gas into the feeding pipe (22), and the gas is used to blow the drug storage unit (23) downward. The air pipe (290) is a retractable corrugated pipe.

5. An underwater robot according to claim 4, characterized in that, The upper inner diameter of the feeding pipe (22) is smaller than the lower inner diameter of the feeding pipe (22), and the upper part of the feeding pipe (22) and the lower part of the feeding pipe (22) are provided with rounded corners at the connection. The upper part of the inner wall of the feeding pipe (22) is provided with a fixing ring (222), and a piston (223) is provided below the fixing ring (222). The fixing ring (222) and the piston (223) are connected by a tension spring (224). The connection between the air pipe (290) and the feeding pipe (22) is located above the piston (223).

6. An underwater robot according to claim 5, characterized in that, The drug storage unit (23) includes a drug body (231) and a covering film (232). The drug body (231) is placed in the middle of the material belt (21), and the covering film (232) covers the outside of the drug body (231) and is attached to the top of the material belt (21). An annular easy-tear line (210) is provided on the material strip (21) and on the outside of the cover film (232). The contact position between the feeding tube (22) and the material strip (21) is located between the outside of the cover film (232) and the inside of the easy-tear line (210). The cover film (232) is made of water-soluble material.

7. An underwater robot according to any one of claims 1-5, characterized in that, The mobile platform (1) is equipped with a battery module (17) and a controller (18). The battery module (17) is used to provide power to the mobile platform (1), the motor (26), the first electric push rod (28) and the second electric push rod (15). The controller (18) is used to control the moving direction and speed of the mobile platform (1), to control the rotation direction and speed of the motor (26), and to control the extension and retraction amount and speed of the first electric push rod (28) and the second electric push rod (15).

8. A method for operating an underwater robot as described in claim 7, characterized in that, Includes the following steps: S1. Wrap one end of the strip (21) around a winding wheel (24), and then pass the other side of the strip (21) through two pressure rollers (25) and wrap it around another winding wheel (24); S2. Jog the two motors (26) to make the material belt (21) tensioned and a medicine storage unit (23) on the material belt (21) above the discharge hole (160). Jog the first electric push rod (28) to make the feeding pipe (22) above and close to the medicine storage unit (23). S3. Place the mobile platform (1) into the river channel and jog the second electric push rod (15) so that the bottom of the movable assembly platform (12) contacts the bottom mud in the river channel. S4. The mobile platform (1) moves in the river channel. The first electric push rod (28) presses the agent storage unit (23) located above the discharge hole (160) into the inner side of the bottom mud. After pressing is completed, the first electric push rod (28) resets. S5. The two motors (26) operate in opposite directions, causing the material belt (21) to be released from one unwinding reel (24) to the other unwinding reel (24) and causing a new drug storage unit (23) to be displaced above the discharge port (160); S6. Repeat steps S4 and S5 until all the agent storage units (23) on the material belt (21) are pressed into the inner side of the bottom mud, then retract the moving platform (1) to complete.

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