Bottom-sitting staying type underwater robot capable of sailing at any pitch angle

Abstract

The invention belongs to the technical field of underwater robots, and particularly relates to a bottom-supported staying type underwater robot capable of sailing at any pitch angle, which comprises a buoyancy material shell as well as a buoyancy balancing mechanism, a three-degree-of-freedom mass center adjusting mechanism and a telescopic vector propulsion stern section which are sequentially mounted in the buoyancy material shell from a bow section to a stern section, cabin storage type telescopic bottom sitting mechanisms are arranged between the buoyancy balancing mechanism and the three-degree-of-freedom mass center adjusting mechanism and between the three-degree-of-freedom mass center adjusting mechanism and the telescopic vector propelling stern section correspondingly, and the buoyancy balancing mechanism is used for adjusting the driving buoyancy of the underwater robot. Through organic combination of the buoyancy balancing mechanism, the three-degree-of-freedom mass center adjusting mechanism, the cabin storage type telescopic bottom sitting mechanism and the telescopic vector propulsion stern section, organic combination of underwater robots in three different modes can be achieved, the different modes can be switched through the action of the conversion mechanism, and combination of multiple modes and switching of the different modes are achieved. And the efficient exploration of the underwater robot meeting the mode is further improved.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of underwater robots, in particular to a bottom-sitting underwater robot capable of sailing at an arbitrary pitch angle. BACKGROUND

[0002] Under the strategic background of building a strong marine country, autonomous underwater robots play an irreplaceable important role in the field of ocean exploration and deep sea resource exploration. Traditional underwater robots are mainly in single mode, and a small number of underwater robots can be combined in dual mode, but generally in the form of combination, and rarely through online switching to complete "transformation" and then deep sea exploration in different modes. Therefore, the dual-mode underwater robot in the form of combination essentially has both operation capabilities, but both capabilities are declining. Therefore, the exploration efficiency of single-mode and combined dual-mode underwater robots is low, and the operation capability is limited. SUMMARY

[0003] In view of the above problems existing in the traditional underwater robot, the purpose of the present application is to provide a bottom-sitting underwater robot capable of sailing at an arbitrary pitch angle. The bottom-sitting underwater robot has three modes of AUV mode, glider mode and lander mode, can be switched online "transformation", and after the "transformation" switching is completed, it is a single-mode underwater robot, the operation capability is not weakened, but is significantly improved; the multi-mode underwater robot capable of "transformation" switching has stronger capability and can more efficiently assist the efficient exploration of deep sea ocean.

[0004] The purpose of the present application is achieved by the following technical solutions:

[0005] The present application comprises a buoyancy material shell, a buoyancy equalization mechanism, a three-degree-of-freedom center of mass adjustment mechanism and a telescopic vector propulsion stern section installed in the buoyancy material shell from the bow section to the stern section in sequence, a cabin storage type telescopic bottom-sitting mechanism is arranged between the buoyancy equalization mechanism and the three-degree-of-freedom center of mass adjustment mechanism and between the three-degree-of-freedom center of mass adjustment mechanism and the telescopic vector propulsion stern section, the buoyancy equalization mechanism is used for adjusting the driving buoyancy of the underwater robot; wherein

[0006] The three-degree-of-freedom center of mass adjustment mechanism comprises a pressure-resistant sealed cabin body and Z-direction center of mass adjustment mechanism I, Y-direction center of mass adjustment mechanism, X-direction center of mass adjustment mechanism and Z-direction center of mass adjustment mechanism II arranged in the pressure-resistant sealed cabin body, the Z-direction center of mass adjustment mechanism I and the Z-direction center of mass adjustment mechanism II are respectively arranged at the bow and stern of the pressure-resistant sealed cabin body, and are used for Z-direction center of mass adjustment; the X-direction center of mass adjustment mechanism is circumferentially slidably connected with the pressure-resistant sealed cabin body, and is used for X-direction center of mass adjustment; the Y-direction center of mass adjustment mechanism is connected to the end of the X-direction center of mass adjustment mechanism, and the Y-direction center of mass adjustment mechanism rotates circumferentially by driving the X-direction center of mass adjustment mechanism to realize Y-direction center of mass adjustment;

[0007] The retractable vector propulsion stern section comprises a vector propulsion mechanism, a swash plate rotating mechanism, a swing angle adjusting mechanism and a gate mechanism, the gate mechanism is arranged at the rear end of the stern section of the underwater robot, and the vector propulsion mechanism, the swash plate rotating mechanism and the swing angle adjusting mechanism are arranged inside the stern section of the underwater robot; the vector propulsion mechanism is provided with a vector moving frame, the swash plate rotating mechanism comprises a rotating driving device and a rotating swash plate arranged on the vector moving frame, and the rotating swash plate is driven to rotate by the rotating driving device; the swing angle adjusting mechanism comprises a swing angle adjusting device and a propeller connecting shaft, the rear end of the swing angle adjusting device is hinged to the rotating swash plate, and the front end is hinged to the propeller connecting shaft, a universal joint mounting seat is arranged on the rotating swash plate, a universal joint is arranged at the rear end of the propeller connecting shaft, the universal joint is mounted in the universal joint mounting seat, and the front end of the propeller connecting shaft is connected to the propeller; the gate mechanism comprises a plurality of openable gate panels, and when each gate panel is opened, a through hole is formed in the middle of the gate mechanism for the propeller to enter and exit;

[0008] The cabin storage type telescopic bottom sitting mechanism comprises a cabin door unfolding assembly, a cabin door, a bottom sitting plate telescopic driving assembly and a bottom sitting plate, and a bottom sitting plate extension cabin door opening is formed on the buoyancy material shell; the cabin door unfolding assembly is connected with the cabin door, and the cabin door unfolding assembly is used to drive the cabin door to open or close the bottom sitting plate extension cabin door opening; when the cabin door closes the bottom sitting plate extension cabin door opening, the outer peripheral contour line of the cabin door is flush with the outer peripheral contour line of the buoyancy material shell; when the cabin door opens the bottom sitting plate extension cabin door opening, the bottom sitting plate telescopic driving assembly is used to drive the bottom sitting plate to extend from the bottom sitting plate extension cabin door opening to the outside of the buoyancy material shell or to drive the bottom sitting plate to retract from the bottom sitting plate extension cabin door opening to the inside of the buoyancy material shell; each bottom sitting plate extension cabin door opening corresponds to two cabin door unfolding assemblies and two cabin doors.

[0009] The buoyancy equalization mechanism comprises an oil storage component and a pressure-resistant cabin, the oil storage component has an oil bag containing hydraulic oil, the pressure-resistant cabin comprises a hollow pressure-resistant cylinder body, an oil tank cylinder body, a motor pump group A and a motor pump group B are respectively arranged in the pressure-resistant cylinder body, the front end of the oil tank cylinder body is communicated with the oil bag, the motor pump group A and the motor pump group B are arranged outside the rear end of the oil tank cylinder body, a T-shaped cross-section piston is arranged in the oil tank cylinder body, one side of the T-shaped cross-section piston is a high-pressure cavity, and the other side of the T-shaped cross-section piston is a low-pressure cavity and a low-pressure oil tank, the low-pressure oil tank is provided with an energy storage oil tank, the energy storage oil tank is provided with an energy storage piston and an energy storage spring, and the two ends of the energy storage spring are respectively in abutment with the energy storage piston and the inner wall of the energy storage oil tank; one end of the motor pump group B is connected with the oil bag through a pipeline and is provided with an electromagnetic valve A on the pipeline, and the other end of the motor pump group B is connected with the high-pressure cavity through a pipeline; two branches are further arranged between the high-pressure cavity and the oil bag, an electromagnetic valve D is arranged on the branch A, and an electromagnetic valve E is arranged on the branch B; two branches are arranged between the low-pressure cavity and the energy storage oil tank, an electromagnetic valve B is arranged on the branch C, and an electromagnetic valve C is arranged on the branch D, the energy storage oil tank and the low-pressure oil tank are connected through a pipeline and are provided with an electromagnetic valve F on the pipeline; one end of the motor pump group A is connected with the low-pressure oil tank through a pipeline, and the other end of the motor pump group A is connected with the low-pressure cavity through a pipeline; and the rear end of the pressure-resistant cylinder body is provided with a connector.

[0010] An oil bag outer end cover is arranged at the edge of the oil bag, the oil bag outer end cover is annular, the axial section is inverted "U" shape, and the edge of the oil bag is arranged in the opening of the "U" shape; an inner pressing disc is arranged at the inner side of the oil bag outer end cover, an inner tensioning plate is arranged at the outer side of the oil bag outer end cover, the inner tensioning plate is bolted with the inner pressing disc, thereby extruding the oil bag outer end cover outward in the radial direction, and the oil bag outer end cover is clamped at the stopper of the outer edges of the inner pressing disc and the inner tensioning plate, so that the oil bag is clamped.

[0011] A convex is formed at the middle part of the inner pressing disc and extends outward in the axial direction, a stepped through hole is arranged in the convex in the axial direction, a flow guide plug is threadedly connected to the end of the stepped through hole with a large diameter, and the end of the stepped through hole with a small diameter is communicated with the high-pressure cavity in the oil tank cylinder body through a switching oil nozzle; the axial section of the flow guide plug is "T" shape, the vertical edge of the "T" shape is threadedly connected to the end of the stepped through hole with a large diameter, a center hole is arranged in the flow guide plug in the axial direction, the center hole is communicated with the end of the stepped through hole with a large diameter, and a plurality of through holes are uniformly arranged in the vertical edge of the "T" shape in the circumferential direction, and each through hole is communicated with the center hole.

[0012] The T-shaped cross-section piston is provided with a gas cavity between the T-shaped cross edge and the high-pressure cavity, the gas cavity is a stroke space of the T-shaped cross-section piston, the gas cavity is provided with a gas chamber which is not in the stroke range of the T-shaped cross-section piston, the gas chamber is provided with a motor C and a bidirectional air pump, and the bidirectional air pump is used for connecting the gas chamber and the pressure-resistant cylinder.

[0013] The motor pump group A comprises a motor A and a low-pressure pump A, the output shaft of the motor A is connected with the low-pressure pump A through a shaft coupling to drive the low-pressure pump A to work, one end of the low-pressure pump A is connected with a low-pressure oil tank through a pipeline, and the other end of the low-pressure pump A is connected with a low-pressure cavity through a pipeline and is provided with a one-way valve B which can only flow to the low-pressure cavity; the motor pump group B comprises a motor B and a low-pressure pump B, the output shaft of the motor B is connected with the low-pressure pump B through a shaft coupling to drive the low-pressure pump B to work, one end of the low-pressure pump B is connected with an oil bag through a pipeline and is provided with an electromagnetic valve A, and the other end of the low-pressure pump B is connected with a high-pressure cavity through a pipeline and is provided with a one-way valve A which can only flow to the high-pressure cavity.

[0014] A damping hole A is arranged on the pipeline between the electromagnetic valve D, the electromagnetic valve E and the oil bag, and a damping hole B is arranged on the pipeline between the electromagnetic valve F and the low-pressure oil tank.

[0015] The Z-direction centroid adjusting mechanism I and the Z-direction centroid adjusting mechanism II are the same in structure, and both comprise a bottom fixing plate, a lifting plate, a Z-direction counterweight, a lifting guide rod, a lifting mechanism support, a top fixing plate, and a lifting drive module, the lifting mechanism support is fixedly connected with the pressure-resistant sealed cabin body, the top fixing plate and the bottom fixing plate are respectively connected at the top and the bottom of the lifting mechanism support, the lifting guide rod is connected between the top fixing plate and the bottom fixing plate, the lifting plate is slidably connected with the lifting guide rod, the Z-direction counterweight is arranged on the lifting plate, the lifting drive module is arranged between the top fixing plate and the bottom fixing plate and is connected with the lifting plate, and the lifting drive module is used for driving the lifting plate and the Z-direction counterweight to lift.

[0016] The lifting drive module comprises a lifting drive screw, a driving motor and a belt transmission assembly, the lifting drive screw is threadedly connected with the lifting plate, and both ends of the lifting drive screw are rotatably connected with the top fixing plate and the bottom fixing plate respectively, the driving motor is arranged on the top fixing plate and has an output end connected with the lifting drive screw through the belt transmission assembly, and the driving motor drives the lifting drive screw to rotate through the belt transmission assembly, so as to drive the lifting plate to lift.

[0017] The X-direction centroid adjustment mechanism comprises an X-direction centroid adjustment support seat, an X-direction centroid drive module and a main battery, the X-direction centroid adjustment support seat is connected with the pressure-resistant sealed cabin body in a circumferential sliding mode through a rotary sliding block, and the main battery is connected with the X-direction centroid adjustment support seat in an X-direction sliding mode; the X-direction centroid drive module is arranged on the X-direction centroid adjustment support seat and connected with the main battery, the X-direction centroid drive module is used for driving the main battery to move in the X-direction, and the outer circumference of the main battery is provided with a V-shaped notch.

[0018] The X-direction centroid drive module comprises an X-direction centroid drive motor, a shaft coupling and an X-direction drive lead screw, the X-direction centroid drive motor is arranged on one side of the X-direction centroid adjustment support seat, the output end of the X-direction centroid drive motor is connected with one end of the X-direction drive lead screw through the shaft coupling, the X-direction drive lead screw penetrates the center of the main battery in the X-direction and is threadedly connected with the main battery, and the other end of the X-direction drive lead screw is rotationally connected with the other side of the X-direction centroid adjustment support seat; the X-direction centroid drive motor drives the X-direction drive lead screw to rotate, thereby driving the main battery to move in the X-direction.

[0019] The X-direction centroid adjustment support seat comprises an X-direction motor support frame, a sliding rail support, a sliding rail and an X-direction centroid adjustment support frame, the X-direction motor support frame and the X-direction centroid adjustment support frame are arranged at two ends of the sliding rail support respectively, the sliding rail is arranged in the X-direction, two ends of the sliding rail are connected with the X-direction motor support frame and the X-direction centroid adjustment support frame respectively, and the sliding rail is connected with the main battery through a sliding block; the rotary sliding block is arranged on the sliding rail support.

[0020] The three-degree-of-freedom centroid adjustment mechanism further comprises a brake mechanism, the brake mechanism comprises a brake motor, a brake stop support, a screw shaft, a shaft displacement nut and a brake disc, the brake stop support is arranged on one side of the X-direction centroid adjustment support seat and connected with the pressure-resistant sealed cabin body; the brake motor is arranged on the X-direction centroid adjustment support seat, the output end of the brake motor is provided with the screw shaft, the screw shaft is threadedly connected with the shaft displacement nut, the shaft displacement nut penetrates an arc-shaped guide groove arranged on the brake stop support and connected with the brake disc; the brake motor drives the screw shaft to rotate, thereby driving the brake disc to tightly hold the brake stop support through the shaft displacement nut.

[0021] The Y-direction centroid adjusting mechanism comprises a Y-direction centroid driving fixed support, a Y-direction centroid driving motor, a driving rotary gear and a rotary driven internal gear ring, the Y-direction centroid driving fixed support is connected with the pressure-resistant sealed cabin body, the Y-direction centroid driving motor is arranged on the Y-direction centroid driving fixed support, and the output end of the Y-direction centroid driving motor is connected with the driving rotary gear, the rotary driven internal gear ring is arranged on the X-direction centroid adjusting mechanism, and the rotary driven internal gear ring is engaged with the driving rotary gear; the Y-direction centroid driving motor drives the driving rotary gear to rotate, so as to drive the X-direction centroid adjusting mechanism to rotate along the circumference through the rotary driven internal gear ring.

[0022] The cabin door unfolding assembly comprises a fixed base, fixed vertical plates, a cabin door unfolding driving motor structure and a connecting rod swing arm structure, two fixed vertical plates are arranged correspondingly, the two fixed vertical plates are fixedly connected to the fixed base respectively, the cabin door unfolding driving motor structure has a fixed end and a driving end, the fixed end of the cabin door unfolding driving motor structure is arranged on one of the fixed vertical plates, the connecting rod swing arm structure is arranged between the two fixed vertical plates, the driving end of the cabin door unfolding driving motor structure is connected with one end of the cabin door respectively through the connecting rod swing arm structure, and the driving end of the cabin door unfolding driving motor structure drives the corresponding cabin door to first extend out of the cabin door opening of the bottom plate and then swing to open the cabin door opening of the bottom plate through the connecting rod swing arm structure.

[0023] An h-shaped guide sliding groove is arranged on each fixed vertical plate, the h-shaped guide sliding grooves arranged on the two fixed vertical plates are of the same size and are located opposite to each other, and each h-shaped guide sliding groove comprises a vertically long groove part and a lateral circular-arc curved groove part which are connected and communicated;

[0024] The connecting rod swing arm structure comprises a driving connecting rod, an executing connecting rod, cabin door connecting swing arms, an upper synchronous pin shaft and a lower sliding pin shaft, one end of the driving connecting rod is fixedly connected with the driving end of the cabin door unfolding driving motor structure, one end of the executing connecting rod is hingedly connected with the other end of the driving connecting rod, and the other end of the executing connecting rod is hingedly connected with the upper synchronous pin shaft; the cabin door connecting swing arms are provided with two ends, one end of each cabin door connecting swing arm is fixedly connected with one end of the corresponding cabin door, and the other end of each cabin door connecting swing arm is penetrated by the upper synchronous pin shaft, and one lower sliding pin shaft is arranged on each cabin door connecting swing arm, the upper synchronous pin shaft penetrates the h-shaped guide sliding grooves of the two fixed vertical plates respectively, and each lower sliding pin shaft penetrates the corresponding h-shaped guide sliding groove;

[0025] When the hatch is in the state of being stretched out from the floor and not being unfolded, the upper synchronous pin shaft is moved to the intersection of the vertical long groove part and the lateral circular arc curved groove part of the h-shaped guiding chute under the driving of the driving end of the hatch unfolding driving motor structure, the driving connecting rod and the executing connecting rod, at this time, the two lower sliding pin shafts are respectively located at the bottom end of the corresponding vertical long groove part of the h-shaped guiding chute; when the hatch is in the state of being stretched out from the floor and unfolded to the limit position, the upper synchronous pin shaft is moved to the bottom end of the lateral circular arc curved groove part of the h-shaped guiding chute under the driving of the driving end of the hatch unfolding driving motor structure, the driving connecting rod and the executing connecting rod, at this time, the two lower sliding pin shafts are still respectively located at the bottom end of the corresponding vertical long groove part of the h-shaped guiding chute, and each hatch connecting swing arm is driven to swing, and the hatch is unfolded by the hatch connecting swing arm.

[0026] The hatch unfolding driving motor structure comprises a driving motor A, a motor fixed outer cylinder A, a motor sealing cylinder A and a motor adapter fixing plate. One end of the motor fixed outer cylinder A is connected with one end of the motor sealing cylinder A. The housing of the driving motor A is located in the interior of the motor fixed outer cylinder A and is fixedly connected with the motor fixed outer cylinder A. The driving shaft of the driving motor A is taken out from the motor adapter fixing plate as the driving end of the hatch unfolding driving motor structure and is fixedly connected with one end of the driving connecting rod. The motor sealing cylinder A is provided with a sealing joint mounting port A and an oil pipe connecting port A. The sealing joint mounting port A is used for mounting a sealing joint A. The sealing joint A is connected with the driving motor A through wires and is also used for being connected with the control system of the AUV. The oil pipe connecting port A is used for being connected with an external oil pressure balancing device in communication and filling the interior of the whole formed by the motor sealing cylinder A and the motor fixed outer cylinder A with oil to realize the external pressure balance protection and the insulation protection of the driving motor A. The other end of the motor fixed outer cylinder A is provided with a connecting flange part A. The connecting flange part A is connected with the motor adapter fixing plate through screws.

[0027] The one end of the motor fixed outer cylinder A is connected with the one end of the motor sealing cylinder A through at least two radially arranged fixed pins A, a sealing ring A is arranged at the joint between the one end of the motor fixed outer cylinder A and the one end of the motor sealing cylinder A, a sealing ring B is arranged at the joint between the connecting flange part A and the motor adapter fixing plate, a lip type dynamic sealing installation groove A is arranged on the motor adapter fixing plate, a lip type dynamic sealing A is embedded in the lip type dynamic sealing installation groove A, a dynamic sealing compression nut A is threadedly connected in the lip type dynamic sealing installation groove A, the dynamic sealing compression nut A compresses the lip type dynamic sealing A in the lip type dynamic sealing installation groove A, and the driving shaft of the driving motor A also respectively passes through the lip type dynamic sealing A and the dynamic sealing compression nut A.

[0028] The bottom-sitting plate telescopic driving assembly comprises a telescopic driving motor structure, an outer fixed cylinder body, an inner thread screw sleeve, a screw rod, a bottom-sitting plate support and a bottom-sitting plate support adapter, the upper end of the screw rod is rotationally arranged in the outer fixed cylinder body, the telescopic driving motor structure is used for driving the screw rod to rotate, the lower end of the screw rod is provided with an outer thread, the inner thread screw sleeve is located in the outer fixed cylinder body, an inner thread is arranged in the inner hole of the inner thread screw sleeve and matched with the outer thread of the screw rod, the outer thread of the screw rod and the inner thread of the inner thread screw sleeve are self-locking threads, the inner thread screw sleeve is connected with the screw rod through threads, the axis of the outer fixed cylinder body, the axis of the inner thread screw sleeve and the axis of the screw rod are collinear, at least one sliding key is embedded on the outer side surface of the upper part of the inner thread screw sleeve, sliding key grooves for the sliding keys to pass through are respectively arranged on the inner wall of the outer fixed cylinder body and corresponding to the sliding keys, the lower end of the inner thread screw sleeve passes out of the lower end of the outer fixed cylinder body, the bottom-sitting plate support adapter is installed at the lower end of the inner thread screw sleeve and located at the lower side of the screw rod, the upper end of the bottom-sitting plate support is fixedly connected with the bottom-sitting plate support adapter, and the lower end of the bottom-sitting plate support is fixedly connected with the bottom-sitting plate.

[0029] The upper end of the outer fixed cylinder body is connected with the housing of a corner turner, the housing of the corner turner is connected with the outside of the telescopic driving motor structure through a motor adapter installation sleeve, the input shaft of the corner turner is connected with the driving end of the telescopic driving motor structure, and the output shaft of the corner turner is connected with the upper end of the screw rod; the lower end of the outer fixed cylinder body is installed with an outlet end flange, the lower end of the inner thread screw sleeve passes out of the inner hole of the outlet end flange, and an annular guide belt and a dustproof ring are sequentially arranged on the inner hole wall of the outlet end flange from top to bottom.

[0030] The outer part of the outer fixed cylinder is respectively formed with an upper connecting seat part and a lower connecting seat part, the upper connecting seat part is located on the upper side of the lower connecting seat part, the upper connecting seat part and the lower connecting seat part are respectively provided with corresponding adjusting pads, the upper connecting seat part and the adjusting pad corresponding to the upper connecting seat part are jointly fixed on the frame in the buoyancy material shell through screws, and the lower connecting seat part and the adjusting pad corresponding to the lower connecting seat part are jointly fixed on the frame in the buoyancy material shell through screws; the inside of the outer fixed cylinder is provided with a plurality of ceramic bearings corresponding to the upper end of the lead screw, and each ceramic bearing is rotationally connected with the upper end of the lead screw; the bottom of the bottom plate support adapter is provided with a limiting clamping groove, and the upper end of the bottom plate support is clamped into the limiting clamping groove of the bottom plate support adapter and is fixed with the bottom plate support adapter through screws.

[0031] The telescopic drive motor structure comprises a drive motor B, a motor fixed outer cylinder B and a motor sealing cylinder B, one end of the motor fixed outer cylinder B is connected with one end of the motor sealing cylinder B, the housing of the drive motor B is located in the interior of the motor fixed outer cylinder B and is fixed with the motor fixed outer cylinder B, the drive shaft of the drive motor B passes through the motor adapter mounting sleeve and is fixed with the input shaft of the corner piece as the driving end of the telescopic drive motor structure, a sealing joint mounting port B and an oil pipe connecting port B are formed on the motor sealing cylinder B, the sealing joint mounting port B is used for mounting a sealing joint B, the sealing joint B is connected with the drive motor B through wires and is also used for being connected with the control system of the AUV, the oil pipe connecting port B is used for being connected with an external oil pressure balancing device in communication and filling oil in the interior of the whole formed by the motor sealing cylinder B and the motor fixed outer cylinder B to realize the external pressure balance protection and the insulation protection of the drive motor B, a connecting flange part B is formed on the outer periphery of the other end of the motor fixed outer cylinder B, and the connecting flange part B is connected with the motor adapter mounting sleeve through screws.

[0032] One end of the motor fixed outer cylinder B is connected with one end of the motor sealing cylinder B through at least two radially arranged fixed pins B, a sealing ring C is arranged at the joint between one end of the motor fixed outer cylinder B and one end of the motor sealing cylinder B, a sealing ring D is arranged at the joint between the connecting flange part B and the motor adapter mounting sleeve, a lip-shaped dynamic sealing installation groove B is formed on the motor adapter mounting sleeve, a lip-shaped dynamic sealing B is embedded in the interior of the lip-shaped dynamic sealing installation groove B, a dynamic sealing compression nut B is threadedly connected in the interior of the lip-shaped dynamic sealing installation groove B, the lip-shaped dynamic sealing B is compressed in the lip-shaped dynamic sealing installation groove B by the dynamic sealing compression nut B, and the drive shaft of the drive motor B also respectively passes through the lip-shaped dynamic sealing B and the dynamic sealing compression nut B.

[0033] The vector propulsion mechanism comprises a propulsion driving device, a propulsion mounting seat and a propulsion slider, the propulsion slider is slidingly arranged in the propulsion mounting seat, the lower end of the vector moving frame is fixedly connected with the propulsion slider through a frame bottom plate, the propulsion driving device is fixedly arranged on the frame bottom plate, the inside of the propulsion slider is provided with a propulsion gear, and the power shaft of the propulsion driving device penetrates through the frame bottom plate and is inserted into the propulsion slider to be fixedly connected with the propulsion gear, and one side of the propulsion mounting seat is provided with a propulsion rack, and the propulsion gear is engaged with the propulsion rack.

[0034] The inside of the propulsion mounting seat is provided with a sliding rail, and the propulsion slider is provided with a sliding groove matched with the sliding rail; the propulsion driving device is provided with a sealing flange, and the sealing flange is fixedly arranged on the frame bottom plate; the inside of the propulsion slider is provided with a gear groove for accommodating the propulsion gear, and the upper side of the gear groove is sealed by a slider cover plate, and the power shaft of the propulsion driving device is sequentially penetrated through the frame bottom plate and the slider cover plate and then fixedly connected with the propulsion gear.

[0035] The rotation driving device in the swash plate rotation mechanism is arranged on the vector moving frame, the rear side of the rotation swash plate is provided with a swash plate connecting shaft fixedly connected with the power end of the rotation driving device; the rotation swash plate is provided with a swash plate hinged seat, the connecting shaft of the propeller is provided with a connecting shaft hinged seat, the rear end of the swing angle adjusting device is hinged with the swash plate hinged seat, and the front end is hinged with the connecting shaft hinged seat.

[0036] One side of the universal joint of the swing angle adjusting mechanism is sleeved with a first joint sleeve, and the other side is sleeved with a second joint sleeve, one end of the first joint sleeve is provided with a first front flange, and the other end is provided with a first rear flange, the second joint sleeve is provided with a second flange, the first rear flange is fixedly connected with the universal joint mounting seat arranged on the rotation swash plate, the first front flange is fixedly connected with the second flange, and the inner wall of the first joint sleeve and the universal joint and the inner wall of the second joint sleeve and the universal joint are both provided with a guide sliding member with a lubricating grease groove.

[0037] The gate mechanism comprises a gate mounting plate, a door plate connecting rod, an annular internal rack and a gate driving device, the annular internal rack is rotationally arranged on the outer edge of the gate mounting plate, the gate driving device is fixedly arranged on the gate mounting plate, and the output shaft of the gate driving device is provided with an internal gear engaged with the annular internal rack; a plurality of arc-shaped guide grooves are uniformly distributed along the circumferential direction on the edge of the gate mounting plate, the outer end of the door plate connecting rod is provided with a connecting rod sliding shaft, and the connecting rod sliding shaft is fixedly connected with the annular internal rack after penetrating through the corresponding guide groove; one end of the outer side of the gate door plate is hinged with the inner end of the corresponding door plate connecting rod through a first door plate hinge shaft, and the other end of the outer side is rotationally mounted on the gate mounting plate through a second door plate hinge shaft; the middle part of the gate mounting plate is provided with a through hole for the propeller to enter and exit, and the through hole is closed and plugged by each gate door plate.

[0038] The gate door plate is in a sector structure, and one end of the outer arc of the gate door plate is hinged to the inner end of the corresponding door plate connecting rod through a first door plate hinge shaft, and the other end of the outer arc of the gate door plate is rotatably installed on the gate mounting plate through a second door plate hinge shaft; when each gate door plate is closed, the inner side angle end of each gate door plate forms an axle hole for the propeller connecting shaft to pass through; the gate mounting plate is provided with a mounting seat, and the gate driving device is fixedly arranged on the mounting seat; a rotating connecting element is arranged between the annular internal gear rack and the gate mounting plate.

[0039] The advantages and positive effects of the present application are:

[0040] 1. The multi-mode operation of the underwater robot realized by the combined action of multiple sets of actuators can switch online, has stronger adjustment ability than the single mode and the combined double-mode underwater robot, and the operation ability of the single mode is also significantly improved, and the efficient exploration of the deep ocean can be significantly improved.

[0041] 2. The present application can improve the ability of AUVs that can travel horizontally to AUVs that can travel at any pitch angle, and provides a new systematic solution for vertical plane exploration and cross-water layer observation. Compared with the traditional glider that can only glide at a pitch angle of less than ±45 degrees, the glider mode in the present application can realize large-angle gliding travel of ±90 degrees.

[0042] 3. The three-mode underwater robot of the present application can protect the hull line type well through the organic combination of multiple sets of actuators. After the bottom sitting mechanism and the retractable stern thruster are retracted, the corresponding hatch closing mechanisms are closed to close the above-mentioned two extendable mechanisms inside the line type. The whole hull body has no position where the line type is damaged, so that the overall navigation resistance is small and the steering performance is better.

[0043] 4. The buoyancy equalization mechanism of the present application can provide a passive energy storage buoyancy equalization mechanism for the underwater robot, which can recover the propelling power during power diving and store it in the energy storage tank of the mechanism, so as to realize passive buoyancy equalization.

[0044] 5. The buoyancy equalization mechanism of the present application can provide a passive energy release buoyancy equalization mechanism for the AUV, which can release the power stored in the energy storage tank during power ascent under the condition of basically no energy consumption, so as to realize passive buoyancy equalization.

[0045] 6. The buoyancy balancing mechanism of the present application can provide an active buoyancy balancing mechanism for AUVs, which can output high-pressure oil liquid with low power consumption and low-pressure oil pump through the variable cross-section ratio of the T-shaped cross-section piston, and the inverse proportion of the cross-sectional area to the oil cavity pressure. The area ratio of the piston rod cavity and the rodless cavity can realize the pressure reduction driving of the high-pressure water environment and the low-power design of the system.

[0046] 7. The three-degree-of-freedom centroid adjustment mechanism of the present application has comprehensive adjustment degrees and strong attitude adjustment capability: the centroid adjustment mechanism contains X, Y and Z direction adjustment degrees, and belongs to a full-drive centroid adjustment mechanism. Compared with the traditional AUV which can only realize limited direction centroid fine adjustment, the present application can realize all-around and accurate adjustment of the AUV attitude, and greatly improves the attitude control capability of the AUV.

[0047] 8. The cabin-stored telescopic bottom-sitting mechanism of the present application can open the hatch to extend the bottom-sitting plate outside the linear shape of the AUV when needed, so as to ensure that the bottom equipment of the AUV avoids contact or friction with the seabed silt or sediment, so that the AUV can continuously survey the seabed at close range during the bottom-sitting period, protect the bottom equipment, further realize close-to-seabed continuous survey, and improve the safety of the AUV bottom-sitting.

[0048] 9. The cabin-stored telescopic bottom-sitting mechanism of the present application can wrap the bottom-sitting plate telescopic driving assembly and the bottom-sitting plate inside the linear shape of the AUV when the AUV is sailing, so that the sailing resistance of the AUV is much smaller than the current scheme of simply placing the bottom-sitting plate outside the cabin, effectively reducing the system power consumption and improving the sailing time and distance.

[0049] 10. The telescopic vector propulsion stern section of the present application is provided with a gate mechanism at the rear end of the underwater robot stern section, and the gate mechanism is provided with a plurality of openable and closable gate plates. In addition, the underwater robot stern section is provided with a vector propulsion mechanism, a swash plate rotating mechanism and a swing angle adjusting mechanism inside the underwater robot stern section, wherein the swing angle adjusting mechanism is provided with a propeller connecting shaft and a propeller, and the vector propulsion mechanism can drive the swash plate rotating mechanism, the swing angle adjusting mechanism and the propeller to move synchronously to enter or exit the gate mechanism, so as to realize the output or retraction of the propeller inside the underwater robot stern section, and further realize the conversion between the normal sailing mode (propeller output) and the gliding sailing mode (propeller retraction) of the underwater robot.

[0050] 11. The telescopic vector propulsion stern of the present application can also adjust the propeller by using the swash plate rotating mechanism and the swing angle adjusting mechanism when the underwater robot is in normal navigation mode, wherein the rotating swash plate in the swash plate rotating mechanism can drive the swing angle adjusting mechanism and the propeller to rotate synchronously around the axial direction of the swash plate connecting shaft, and the swing angle adjusting device in the swing angle adjusting mechanism can drive the propeller connecting shaft to swing around the center point of the rear universal joint, thereby driving the propeller to swing, so that the present application can assist the AUV in the need of navigation direction, and can directly rotate the propeller of the stern of the underwater robot to the required steering direction, which is efficient and fast in operation, and can realize high-efficiency vector propulsion of the underwater robot at any pitch angle. BRIEF DESCRIPTION OF DRAWINGS

[0051] Figure 1 It is a perspective structural schematic diagram of the glider mode of the present application;

[0052] Figure 2 It is a perspective structural schematic diagram of the AUV mode of the present application;

[0053] Figure 3 It is a perspective structural schematic diagram of the AUV mode of the present application;

[0054] Figure 4 It is a perspective structural schematic diagram of the lander mode of the present application;

[0055] Figure 5 It is a perspective structural schematic diagram of the lander mode of the present application;

[0056] Figure 6 It is a perspective structural schematic diagram of the lander mode of the present application;

[0057] Figure 7 It is a schematic diagram of the internal structure of the present application after removing the buoyancy material shell;

[0058] Figure 8 It is a schematic diagram of the internal structure of the present application after removing the buoyancy material shell;

[0059] Figure 9 It is a schematic diagram of the internal structure of the present application after removing the buoyancy material shell;

[0060] Figure 10 It is a schematic diagram of the internal structure of the present application after removing the buoyancy material shell;

[0061] Figure 11 It is a schematic diagram of the internal structure of the buoyancy equalization mechanism of the present application;

[0062] Figure 12 It is a schematic diagram of the internal structure of the buoyancy equalization mechanism of the present application;

[0063] Figure 13 Structure diagram of the oil storage part in the buoyancy equalization mechanism of the application;

[0064] Figure 14 Structure diagram of the oil storage part in the buoyancy equalization mechanism of the application; Figure 13 Structure diagram of the oil storage part in the buoyancy equalization mechanism of the application;

[0065] Figure 15 Structure diagram of the rear end in the pressure-resistant cabin in the buoyancy equalization mechanism of the application;

[0066] Figure 16 Structure diagram of the buoyancy equalization mechanism of the application;

[0067] Figure 17 Structure diagram of the three-degree-of-freedom mass center adjustment mechanism of the application;

[0068] Figure 18 Structure diagram of the Z-direction mass center adjustment mechanism of the application; Figure 17 Structure diagram of the Z-direction mass center adjustment mechanism of the application;

[0069] Figure 19 Structure diagram of the X-direction and Y-direction mass center adjustment mechanism of the application; Figure 17 Structure diagram of the X-direction and Y-direction mass center adjustment mechanism of the application;

[0070] Figure 20 Structure diagram of the X-direction and Y-direction mass center adjustment mechanism of the application; Figure 19 Structure diagram of the X-direction and Y-direction mass center adjustment mechanism of the application;

[0071] Figure 21 Structure diagram of the X-direction and Y-direction mass center adjustment mechanism of the application; Figure 17 Structure diagram of the X-direction and Y-direction mass center adjustment mechanism of the application;

[0072] Figure 22 Structure diagram of the brake mechanism of the application; Figure 17 Structure diagram of the brake mechanism of the application;

[0073] Figure 23 Structure diagram of the cabin door of the cabin storage type telescopic bottoming mechanism of the application when the door is closed;

[0074] Figure 24 Structure diagram of the cabin door of the cabin storage type telescopic bottoming mechanism of the application when the door is opened and the bottoming plate is extended;

[0075] Figure 25 Structure diagram of the cabin door of the cabin storage type telescopic bottoming mechanism of the application when the door is closed;

[0076] Figure 26 Structure diagram of the cabin door of the cabin storage type telescopic bottoming mechanism of the application when the door is extended downward;

[0077] Figure 27 Structure diagram of the cabin door of the cabin storage type telescopic bottoming mechanism of the application when the door is closed;

[0078] Figure 28This is a schematic diagram of the structure of the storage-type telescopic bottom seat mechanism of the present invention when the door is closed;

[0079] Figure 29 This is a schematic diagram of the structure of the storage-type telescopic bottom mechanism of the present invention when the bottom plate telescopic drive assembly extends downward;

[0080] Figure 30 This is a schematic diagram of the structure of the storage-type telescopic bottom seat mechanism of the present invention when the door is unfolded;

[0081] Figure 31 This is a schematic diagram of the external structure of the door unfolding drive motor structure of the storage telescopic bottom mechanism of the present invention.

[0082] Figure 32 This is a schematic diagram of the internal structure of the drive motor for the unfolding of the cabin door of the storage telescopic bottom mechanism of the present invention.

[0083] Figure 33 This is a cross-sectional structural schematic diagram of the retractable drive assembly of the storage-type retractable seating mechanism of the present invention.

[0084] Figure 34 This is one of the partial structural schematic diagrams of the retractable drive assembly of the storage-type retractable seating mechanism of the present invention;

[0085] Figure 35 This is a second partial structural schematic diagram of the retractable drive assembly of the storage-type retractable seating mechanism of the present invention.

[0086] Figure 36 This is the third partial structural schematic diagram of the retractable drive assembly of the storage-type retractable seating mechanism of the present invention;

[0087] Figure 37 This is a schematic diagram of the structure of the base plate bracket adapter of the storage-type telescopic base mechanism of the present invention;

[0088] Figure 38 This is a schematic diagram of the structure of the stern section of the scalable vector propulsion system of the present invention;

[0089] Figure 39 for Figure 38 Structural cross-sectional view of the medium vector propulsion mechanism and the swashplate rotation mechanism;

[0090] Figure 40 for Figure 1 Schematic diagram of the swing angle adjustment mechanism;

[0091] Figure 41 for Figure 40 Cross-sectional view of the swing angle adjustment mechanism;

[0092] Figure 42 for Figure 41enlarged view of B in FIG.

[0093] Figure 43 is Figure 38 schematic diagram of the state when the gate mechanism in FIG.

[0094] Figure 44 is Figure 43 rear view of the gate mechanism in FIG.

[0095] Figure 45 is Figure 44 sectional view of C in FIG.

[0096] Figure 46 is Figure 43 overall sectional view of the gate mechanism in FIG.

[0097] Figure 47 is Figure 43 schematic diagram of the state when the gate mechanism in FIG.

[0098] Figure 48 is the schematic diagram of the use state of the retractable vector propulsion stern section of the application Figure 1 ;

[0099] Figure 49 is the schematic diagram of the use state of the retractable vector propulsion stern section of the application Figure 2 ;

[0100] Wherein: A is a buoyancy equalizing mechanism, 1 is an oil storage component, 101 is an oil bag, 102 is an internal compression disc, 103 is an oil bag outer end cover, 104 is an internal tensioning plate, 105 is a flow guide plug, 106 is a protrusion, 107 is a stepped through hole, 108 is a center hole, 109 is a through hole; 2 is a pressure-resistant cabin, 201 is a pressure-resistant cabin front end cover, 202 is a adapter oil nozzle, 203 is an oil tank cylinder, 204 is a T-shaped cross-section piston, 205 is a linear displacement sensor, 206 is a detection magnetic ring, 207 is an air chamber, 208 is an air cavity, 209 is a high-pressure cavity, 210 is a low-pressure cavity, 211 is a low-pressure oil tank, 212 is an energy storage oil tank, 213 is an energy storage piston, 214 is an energy storage spring, 215 is a one-way valve B, 216 is a pressure-resistant cylinder, 217 is a pressure-resistant cabin rear end cover, 218 is a connector, 219 is a controller, 220 is a motor A, 221 is a low-pressure pump A, 222 is a motor B, 223 is an electromagnetic valve A, 224 is an electromagnetic valve B, 225 is an electromagnetic valve C, 226 is an electromagnetic valve D, 227 is an electromagnetic valve E, 228 is an electromagnetic valve F, 229 is an oil tank cylinder rear end cover, 230 is a pressure sensor, 231 is a temperature sensor, 232 is a damping hole A, 233 is a damping hole B, 234 is a low-pressure pump B, 235 is a one-way valve A, 236 is a motor C, 237 is a two-way air pump; 3 is an adapter fixed chuck, 4 is a bow section frame;

[0101] B is a three-degree-of-freedom mass center adjustment mechanism, 5 is a pressure-resistant cabin body end cover I, 6 is a Z-direction mass center adjustment mechanism I, 601 is a bottom fixing plate, 602 is a lifting plate, 603 is a Z-direction counterweight, 604 is a lifting guide rod, 605 is a lifting mechanism support, 606 is a lifting drive screw, 607 is a top fixing plate, 608 is a V belt, 609 is a drive motor, 610 is a pulley motor support, 7 is a Y-direction mass center adjustment mechanism, 701 is a Y-direction mass center drive fixed support, 702 is a Y-direction mass center drive motor, 703 is a driving rotary gear, 704 is a rotary driven inner ring, 705 is a fixed connection flange, 8 is a pressure-resistant cabin body, 9 is a main battery, 10 is a rotary locking ring, 11 is an X-direction mass center adjustment mechanism, 1101 is an X-direction motor support, 1102 is a position switch, 1103 is an X-direction mass center drive motor, 1104 is a shaft coupling, 1105 is an X-direction drive screw, 1106 is a brake motor, 1107 is a rotary slide block, 1108 is a slide rail support, 1109 is a slide rail, 1110 is an X-direction mass center adjustment support, 1111 is a brake stop support, 1112 is a screw shaft, 1113 is a shaft moving nut, 1114 is a brake disc, 1115 is a locking nut, 1116 is an arc-shaped guide groove, 12 is a Z-direction mass center adjustment mechanism II, 13 is a pressure-resistant cabin body end cover II;

[0102] C is a cabin storage telescopic bottom sitting mechanism, 14 is a cabin door, 15 is a bottom sitting plate, 16 is a fixed base frame, 17 is a fixed vertical plate, 1701 is an h-shaped guide sliding groove, 18 is a driving connecting rod, 19 is an execution connecting rod, 20 is a cabin door connecting swing arm, 21 is an upper synchronous pin shaft, 22 is a lower sliding pin shaft, 23 is a drive motor A, 24 is a motor fixed outer cylinder A, 25 is a motor sealing cylinder A, 2501 is a sealing joint mounting port A, 2502 is an oil pipe connecting port A, 26 is a motor adapter fixing plate, 27 is a fixed pin A, 28 is a sealing ring A, 29 is a sealing ring B, 30 is a lip-type dynamic sealing A, 31 is a dynamic sealing compression nut A, 32 is an outer fixed cylinder body, 3201 is an upper connecting seat part, 3202 is a lower connecting seat part, 33 is an internally threaded screw sleeve, 34 is a screw rod, 35 is a bottom sitting plate support, 36 is a bottom sitting plate support adapter, 3601 is a limit clamping groove, 37 is a sliding key, 38 is a corner device, 39 is a motor adapter mounting sleeve, 40 is an outlet end flange, 41 is an annular guide belt, 42 is a dustproof ring, 43 is an adjustment pad, 44 is a ceramic bearing, 45 is a drive motor B, 46 is a motor fixed outer cylinder B, 47 is a motor sealing cylinder B, 48 is an adapter flange piece;

[0103] D is the retractable vector propulsion stern section; 49 is the vector propulsion mechanism; 4901 is the propulsion drive device; 49011 is the power shaft; 4902 is the propulsion mounting base; 4903 is the propulsion slider; 49031 is the slider cover plate; 4904 is the propulsion gear; 4905 is the propulsion rack; 4906 is the slide rail; 4907 is the second baffle; 4908 is the first baffle; 4909 is the vector moving frame; 49091 is the frame base plate; 4910 is the sealing flange; 50 is the swashplate rotation mechanism; 5001 is the rotation drive device; 5002 is the swashplate; 50021 is the swashplate connecting shaft; 50022 is the swashplate hinge seat; 50023 is the universal joint mounting base; 51 is the swing angle adjustment mechanism; 5101 is the swing angle adjustment device; 5102 is the propeller connecting shaft; 51021 is the connecting shaft hinge seat. 5103 is a universal joint, 51031 is an internal threaded hole, 5104 is the first joint sleeve, 51041 is the first front flange, 51042 is the first rear flange, 51043 is a protrusion, 5105 is the second joint sleeve, 51051 is the second flange, 5106 is a guide sliding component, 51061 is a grease groove, 52 is the gate mechanism, 5201 is the gate mounting plate, and 52011 is a guide... 5202 is a gate plate connecting rod, 52021 is a connecting rod sliding shaft, 5203 is a gate plate, 52031 is a second gate plate hinge shaft, 52032 is a first gate plate hinge shaft, 52033 is a shaft hole, 5204 is an annular internal rack, 5205 is a gate drive device, 5206 is a mounting base, 5207 is an internal gear, 53 is a propeller, 54 is a stern section frame, and 5401 is a leveling mounting base;

[0104] E represents the buoyancy material of the outer shell. Detailed Implementation

[0105] The invention will now be described in further detail with reference to the accompanying drawings.

[0106] like Figures 1-10 As shown, the present invention includes a buoyancy shell E and a buoyancy balancing mechanism A, a three-degree-of-freedom center of mass adjustment mechanism B, and a retractable vector propulsion stern section D, which are installed sequentially from the bow section to the stern section within the buoyancy shell E. A storage-type retractable bottoming mechanism C is provided between the buoyancy balancing mechanism A and the three-degree-of-freedom center of mass adjustment mechanism B, and between the three-degree-of-freedom center of mass adjustment mechanism B and the retractable vector propulsion stern section D. The buoyancy balancing mechanism A is used to adjust the driving buoyancy of the underwater robot.

[0107] In this embodiment, a bow frame 4 is fixedly connected to the bow section and a stern frame 54 is fixedly connected to the stern section inside the buoyancy material shell E. The buoyancy material of the buoyancy material shell E is existing technology and can be an epoxy glass microsphere composite material. The connection method between the buoyancy material shell E and the bow frame 4 and stern frame 54 also adopts existing technology, which will not be described in detail here.

[0108] like Figures 1-16As shown, the buoyancy equalization mechanism A of the embodiment includes an oil storage component 1 and a pressure cabin 2. The oil storage component 1 has an oil bag 101 containing hydraulic oil. The pressure cabin 2 includes a hollow pressure cylinder 216 fixed on an adapter fixing chuck 3 on the bow section frame 4. The pressure cylinder 216 has an oil tank cylinder 203, a motor pump group A and a motor pump group B installed therein. The front end of the oil tank cylinder 203 is in communication with the oil bag 101. The motor pump group A and the motor pump group B are installed outside the rear end of the oil tank cylinder 203. The oil tank cylinder 203 is provided with a T-shaped cross-section piston 204. One side of the T-shaped cross-section piston 204 is a high-pressure cavity 209, and the other side is a low-pressure cavity 210 and a low-pressure oil tank 211. The low-pressure oil tank 211 is provided with an energy storage oil tank 212. The energy storage oil tank 212 is provided with an energy storage piston 213 and an energy storage spring 214. The two ends of the energy storage spring 214 are in abutment with the energy storage piston 213 and the inner wall of the energy storage oil tank 212, respectively. One end of the motor pump group B is connected with the oil bag 101 through a pipeline and is provided with a solenoid valve A 223 on the pipeline. The other end of the motor pump group B is connected with the high-pressure cavity 209 through a pipeline. Two branches, branch A and branch B, are further provided between the high-pressure cavity 209 and the oil bag 101. The branch A is provided with a solenoid valve D 226, and the branch B is provided with a solenoid valve E 227. Two branches, branch C and branch D, are provided between the low-pressure cavity 210 and the energy storage oil tank 212. The branch C is provided with a solenoid valve B 224, and the branch D is provided with a solenoid valve C 225. The energy storage oil tank 212 and the low-pressure oil tank 211 are connected through a pipeline and are provided with a solenoid valve F 228 on the pipeline. One end of the motor pump group A is connected with the low-pressure oil tank 211 through a pipeline, and the other end of the motor pump group A is connected with the low-pressure cavity 210 through a pipeline. The rear end of the pressure cylinder 216 is provided with a connector 218.

[0109] The front end cover 201 and the rear end cover 217 are respectively sealed and connected to the front end and the rear end of the pressure cylinder 216 of the embodiment. The connector 218 is installed on the rear end cover 217.

[0110] The oil bag 101 of the embodiment is provided with an oil bag outer end cover 103 at the edge thereof, the inner side of the oil bag outer end cover 103 is provided with an inner pressing disc 102, the outer side of the oil bag outer end cover 103 is provided with an inner tensioning plate 104, the inner tensioning plate 104 is bolted with the inner pressing disc 102, and then the oil bag outer end cover 103 is extruded outward in the radial direction, so as to clamp the oil bag 101. The oil bag outer end cover 103 of the embodiment is in the shape of a circular ring, the axial section thereof is in the shape of an inverted “U”, and the O-shaped cross-section oil bag opening of the oil bag 101 is accommodated in the opening of the “U”; the oil bag outer end cover 103 is clamped at the stop opening of the outer edge of the inner pressing disc 102 and the inner tensioning plate 104. The inner pressing disc 102 of the embodiment is in the shape of a disc, the middle part thereof extends outward in the axial direction to form a protrusion 106, a stepped through hole 107 is formed in the protrusion 106 in the axial direction, a flow guide plug 105 is threadedly connected to the large-diameter end of the stepped through hole 107, and the small-diameter end of the stepped through hole 107 is communicated with a high-pressure cavity 209 in an oil tank cylinder 203 through an adapter oil nozzle 202. The axial section of the flow guide plug 105 of the embodiment is in the shape of a “T”, the vertical edge of the “T” is threadedly connected to the large-diameter end of the stepped through hole 107, a central hole 108 is formed in the flow guide plug 105 in the axial direction, the central hole 108 is communicated with the large-diameter end of the stepped through hole 107, and a plurality of through holes 109 are uniformly formed in the vertical edge of the “T” in the circumferential direction, each of the through holes 109 is communicated with the central hole 108. The structure of the stepped through hole 107, in cooperation with the flow guide plug 105 on the inner pressing disc 102, can ensure that the hydraulic oil in the oil bag 101 avoids being sealed by being attached to the surface of the inner pressing disc 102 to form a seal during the process of flowing to the pressure-resistant cabin 2, so as to cause the oil passage to be cut off. The inner tensioning plate 104 of the embodiment is in the shape of a circular ring, a plurality of bolt holes are uniformly formed in the circumferential direction of the inner tensioning plate 104; a same number of blind holes are formed on the side of the inner pressing disc 102 facing the inner tensioning plate 104, a bolt is respectively screwed into each of the bolt holes and the corresponding blind hole, the distance between the inner pressing disc 102 and the inner tensioning plate 104 is reduced by tightening the bolt, and then the oil bag outer end cover 103 is extruded outward in the radial direction, so as to clamp the O-shaped cross-section oil bag opening of the oil bag 101, and realize sealing.

[0111] The T-shaped cross-section piston 204 is provided with a gas cavity 208 between the T-shaped cross edge and the high-pressure cavity 209. The gas cavity 208 is a stroke space of the T-shaped cross-section piston 204. The gas cavity 208 is provided with a gas chamber 207. The gas chamber 207 is arranged in a groove at the front end of the gas cavity 208 and is not in the stroke range of the T-shaped cross-section piston 204. The gas chamber 207 is provided with a motor C 236 and a bidirectional air pump 237 which are installed on the side wall of the gas chamber 207. The bidirectional air pump 237 is used to communicate the gas chamber 207 and the pressure cylinder 216, and can exchange gas with the air in the pressure cylinder 216. Specifically, the motor C 236 drives the bidirectional air pump 237 to establish positive or negative gas pressure in the gas cavity 208. When the underwater robot floats or completes the bottom sitting and bottom leaving, the T-shaped cross-section piston 204 moves upwards (moves towards the front end). At this time, the bidirectional air pump 237 extracts the gas in the gas chamber 207 and injects it into the pressure cylinder 216. The stroke negative pressure in the gas cavity 208 and the gas chamber 207 accelerates the upward movement of the T-shaped cross-section piston 204 while reducing energy loss. Conversely, when the underwater robot dives or needs to sit on the bottom, the T-shaped cross-section piston 204 moves downwards (moves towards the rear end). At this time, the bidirectional air pump 237 extracts the gas in the pressure cylinder 216 and injects it into the gas chamber 207. The stroke positive pressure in the gas cavity 208 and the gas chamber 207 accelerates the downward movement of the T-shaped cross-section piston 204 while reducing energy loss.

[0112] The oil tank cylinder 203 is also provided with a linear displacement sensor 202. One end of the linear displacement sensor 202 is installed on the inside top of the low-pressure oil tank 211 and is sealed between the low-pressure oil tank 211 by static sealing. The other end of the linear displacement sensor 202 is inserted into the blind hole in the center of the T-shaped cross-section piston 204. The top of the blind hole in the center of the T-shaped cross-section piston 204 is provided with a detection magnetic ring 206. During the movement of the T-shaped cross-section piston 204, the relative position relationship between the detection magnetic ring 206 and the linear displacement sensor 202 can be measured to obtain the volume of the hydraulic oil in the low-pressure oil tank 211 or the oil bladder 101.

[0113] The pressure-resistant cylinder 216 of the embodiment further has a controller 219, a pressure sensor 230 and a temperature sensor 231. The controller 219 is installed on the pressure-resistant cabin rear end cover 217 of the pressure-resistant cylinder 216. The pressure sensor 230, the temperature sensor 231, the motor pump group A, the motor pump group B, the electromagnetic valve A 223, the electromagnetic valve B 224, the electromagnetic valve C 225, the electromagnetic valve D 226, the electromagnetic valve E 227, and the electromagnetic valve F 228 are installed on the oil tank cylinder rear end cover 229. The motor pump group A, the motor pump group B, the pressure sensor 230, the temperature sensor 231, the electromagnetic valve A 223, the electromagnetic valve B 224, the electromagnetic valve C 225, the electromagnetic valve D 226, the electromagnetic valve E 227, and the electromagnetic valve F 228 are connected with the controller 219. The controller and the connector 218 are connected with the control system. The control system is installed on the bow section frame 4 or the stern section frame 54, close to the cabin storage type telescopic bottoming mechanism C. The controller 219 and the control system of the embodiment are prior art, which will not be described here.

[0114] The motor pump group A of the embodiment includes a motor A 220 and a low-pressure pump A 221. The output shaft of the motor A 220 is connected with the low-pressure pump A 221 through a shaft coupling, driving the low-pressure pump A 221 to work. One end of the low-pressure pump A 221 is communicated with the low-pressure oil tank 211 through a pipeline. The other end of the low-pressure pump A 221 is communicated with the low-pressure cavity 210 through a pipeline, and a one-way valve B 215 that can only flow to the low-pressure cavity 210 is arranged on the pipeline.

[0115] The motor pump group B of the embodiment includes a motor B 222 and a low-pressure pump B 234. The output shaft of the motor B 222 is connected with the low-pressure pump B 234 through a shaft coupling, driving the low-pressure pump B 234 to work. One end of the low-pressure pump B 234 is communicated with the oil bladder 101 through a pipeline, and an electromagnetic valve A 223 is arranged on the pipeline. The other end of the low-pressure pump B 134 is communicated with the high-pressure cavity 209 through a pipeline, and a one-way valve A 235 that can only flow to the high-pressure cavity 209 is arranged on the pipeline.

[0116] The embodiment is provided with a damping hole A 232 on the pipeline between the electromagnetic valve D 226 and the electromagnetic valve E 227 and the oil bladder 101. A damping hole B 233 is arranged on the pipeline between the electromagnetic valve F 228 and the low-pressure oil tank 211. The damping hole A 232 and the damping hole B 233 of the embodiment are formed by reducing the inner diameter of the pipeline at two positions. The diameter of the damping hole A 232 and the damping hole B 233 of the embodiment can be 0.2 mm.

[0117] The electromagnetic valve A 223, the electromagnetic valve B 224, the electromagnetic valve C 225, the electromagnetic valve D 226, the electromagnetic valve E 227, and the electromagnetic valve F 228 of the embodiment are all two-position two-way valves.

[0118] As Figures 1-10The three-degree-of-freedom mass center adjusting mechanism B of the embodiment includes a pressure-resistant sealed cabin body 8 and Z-direction mass center adjusting mechanism I 6, Y-direction mass center adjusting mechanism 7, X-direction mass center adjusting mechanism 11 and Z-direction mass center adjusting mechanism II 12 arranged in the pressure-resistant sealed cabin body 8, and the axial direction of the pressure-resistant sealed cabin body 8 is defined as the X direction. The Z-direction mass center adjusting mechanism I 6 and the Z-direction mass center adjusting mechanism II 12 are arranged at the bow and stern of the pressure-resistant sealed cabin body 8 respectively, and are used for Z-direction mass center adjustment; the X-direction mass center adjusting mechanism 11 is in sliding connection with the pressure-resistant sealed cabin body 8 in the circumferential direction, and is used for X-direction mass center adjustment; the Y-direction mass center adjusting mechanism 7 is connected to the end of the X-direction mass center adjusting mechanism 11, and the Y-direction mass center adjusting mechanism 7 rotates the X-direction mass center adjusting mechanism 11 in the circumferential direction through driving, so as to realize Y-direction mass center adjustment.

[0119] The pressure-resistant sealed cabin body 8 of the embodiment is a rotary body, and the bow and stern thereof are respectively sealed and connected with pressure cabin end cover I 5 and pressure cabin end cover II 13; the pressure cabin end cover I 5 is fixedly connected with the bow section frame 4, and the pressure cabin end cover II 13 is fixedly connected with the stern section frame 54. The inner wall of the pressure-resistant sealed cabin body 8 is provided with two groups of rotary locking rings 10 for limiting the axial direction of the X-direction mass center adjusting mechanism 11.

[0120] The Z-direction mass center adjusting mechanism I 6 and the Z-direction mass center adjusting mechanism II 12 of the embodiment are the same in structure, and each include a bottom fixed plate 601, a lifting plate 602, a Z-direction counterweight 603, a lifting guide rod 604, a lifting mechanism support 605, a top fixed plate 607 and a lifting driving module. The lifting mechanism support 605 is in annular structure, and double-row fixed through holes are uniformly arranged on the lifting mechanism support 605 in the circumferential direction, and the lifting mechanism support 605 is fixedly screwed in the pressure-resistant sealed cabin body 8. The top fixed plate 607 and the bottom fixed plate 601 are respectively connected to the top and bottom of the lifting mechanism support 605, and the top fixed plate 607 and the bottom fixed plate 601 are connected through four lifting guide rods 604, the lifting plate 602 is in sliding connection with the four lifting guide rods 604, the Z-direction counterweight 603 is arranged on the lifting plate 602, the lifting driving module is arranged between the top fixed plate 607 and the bottom fixed plate 601 and is connected with the lifting plate 602, and the lifting driving module is used for driving the lifting plate 602 and the Z-direction counterweight 603 to lift.

[0121] The lifting driving module of the embodiment comprises a lifting driving screw rod 606, a driving motor 609, a pulley motor support 610 and a belt transmission assembly. The lifting driving screw rod 606 is designed with self-locking threads, cooperates with a driving nut a sleeved on the lifting driving screw rod 606, and the driving nut a is fixedly connected to the lifting plate 602. Specifically, the self-locking threads can be T-shaped threads with a thread angle less than 4 degrees. The two ends of the lifting driving screw rod 606 are rotationally connected to the top fixed plate 607 and the bottom fixed plate 601 respectively. The pulley motor support 610 is arranged on the top fixed plate 607, the driving motor 609 is arranged on the pulley motor support 610 and the output end thereof is connected to the lifting driving screw rod 606 through the belt transmission assembly. The driving motor 609 drives the lifting driving screw rod 606 to rotate through the belt transmission assembly, thereby driving the lifting plate 602 to lift. Specifically, the belt transmission assembly comprises a V belt 608 and two pulleys, the two pulleys are arranged on the output end of the driving motor 609 and the upper end of the lifting driving screw rod 606 respectively, and are locked by lock nuts. The V belt 608 is used to connect the two pulleys to realize power transmission.

[0122] The X-direction centroid adjustment mechanism 11 of the embodiment comprises an X-direction centroid adjustment support seat, an X-direction centroid driving module and a main battery 9. The X-direction centroid adjustment support seat is connected to the pressure-resistant sealed cabin body 8 in a circumferential sliding manner through a rotary sliding block 1107, and the main battery 9 is connected to the X-direction centroid adjustment support seat in an X-direction sliding manner. The X-direction centroid driving module is arranged on the X-direction centroid adjustment support seat and connected to the main battery 9. The X-direction centroid driving module is used to drive the main battery 9 to move in the X direction. The outer circumference of the main battery 9 has a V-shaped notch. The rotation of the non-rotationally symmetric main battery 9 is used to adjust the centroid position. Specifically, the X-direction centroid adjustment support seat comprises an X-direction motor support frame 1101, a sliding rail support 1108, a sliding rail 1109 and an X-direction centroid adjustment support frame 1110. The X-direction motor support frame 1101 and the X-direction centroid adjustment support frame 1110 are arranged at the two ends of the sliding rail support 1108 respectively. The sliding rail 1109 is in a cylindrical rod shape and arranged in the X direction. The two ends of the sliding rail 1109 are connected to the X-direction motor support frame 1101 and the X-direction centroid adjustment support frame 1110 respectively. The sliding rail 1109 is connected to the main battery 9 through a sliding block. The rotary sliding block 1107 is arranged on the sliding rail support 1108. The rotary sliding block 1107 is axially (in the X direction) limited by two rotary locking rings 10. That is, the X-direction centroid adjustment mechanism 11 is axially locked by two pairs of rotary locking rings 10, so that the X-direction centroid adjustment mechanism 11 only has the freedom of rotation around the X axis.

[0123] The X-direction mass center driving module of the embodiment comprises an X-direction mass center driving motor 1103, a shaft coupling 1104 and an X-direction driving screw 1105. The X-direction mass center driving motor 1103 is arranged on an X-direction motor support frame 1101, and the output end of the X-direction mass center driving motor 1103 is connected with one end of the X-direction driving screw 1105 through the shaft coupling 1104. The X-direction driving screw 1105 penetrates through the center of the main battery 9 along the X direction and is threadedly connected with the main battery 9. The other end of the X-direction driving screw 1105 is rotationally connected with an X-direction mass center adjusting support frame 1110, and the X-direction driving screw 1105 is parallel to the slide rails 1109. The X-direction mass center driving motor 1103 drives the X-direction driving screw 1105 to rotate, thereby driving the main battery 9 to move along the X direction, so as to realize the X-direction mass center adjustment. Specifically, the X-direction driving screw 1105 has self-locking capability. The X-direction driving screw 1105 is threadedly connected with a driving nut b, and the driving nut b is fixedly connected to the main battery 9 with a V-shaped notch through a screw. Two slide rails 1109 are connected between the X-direction motor support frame 1101 and the X-direction mass center adjusting support frame 1110. Two moving sliders are arranged on each slide rail 1109. The main battery 9 is fixedly supported on the slide rails 1109 by the four sliders. When the X-direction mass center driving motor 1103 rotates, the main battery 9 can be driven to move along the X-direction driving screw 1105, so as to realize the adjustment of the X-direction mass center. Further, a position reaching switch 1102 is arranged on the X-direction motor support frame 1101. The position reaching switch 1102 is used to detect whether the main battery 9 is in place.

[0124] The Y-direction mass center adjusting mechanism 7 of the embodiment comprises a Y-direction mass center driving fixed support 701, a Y-direction mass center driving motor 702, a driving rotary gear 703 and a rotary driven inner ring 704. The Y-direction mass center driving fixed support 701 is fixedly connected with the pressure-resistant sealed cabin body 8 through a fixed connection flange 705. The Y-direction mass center driving motor 702 is arranged on the Y-direction mass center driving fixed support 701, and the output end of the Y-direction mass center driving motor 702 is connected with the driving rotary gear 703 through a key. The rotary driven inner ring 704 is fixedly connected with the X-direction motor support frame 1101 and is engaged with the driving rotary gear 703. The Y-direction mass center driving motor 702 drives the driving rotary gear 703 to rotate, thereby driving the X-direction mass center adjusting mechanism 11 to rotate along the circumference through the rotary driven inner ring 704.

[0125] On the basis of the above embodiment, the three-degree-of-freedom mass center adjusting mechanism of the application further comprises a brake mechanism. When the Y-direction mass center driving motor 702 rotates, the X-direction mass center adjusting mechanism 11 is driven to rotate as a whole, so as to realize the adjustment of the Y-direction mass center. Since the gear engagement does not have self-locking capability, the brake mechanism is specially designed for locking and positioning.

[0126] The brake mechanism of the embodiment comprises a brake motor 1106, a brake stop support 1111, a screw rod shaft 1112, a shaft shift nut 1113 and a brake disc 1114. The brake stop support 1111 is arranged on the outside of the X-direction motor support frame 1101 and is connected with the pressure-resistant sealed cabin body 8. The brake stop support 1111 is provided with an arc-shaped guide groove 1116 with the center of rotation of the X-direction centroid adjusting mechanism 11 as the center. The brake motor 1106 is arranged on the X-direction motor support frame 1101. The output end of the brake motor 1106 is provided with the screw rod shaft 1112. The screw rod shaft 1112 is threadedly connected with the shaft shift nut 1113. The shaft shift nut 1113 penetrates through the arc-shaped guide groove 1116 on the brake stop support 1111 and is connected with the brake disc 1114. The brake motor 1106 drives the screw rod shaft 1112 to rotate, thereby driving the brake disc 1114 to axially move through the shaft shift nut 1113, so as to tightly hold the brake stop support 1111, thereby realizing the brake function. Specifically, the inner side of the shaft shift nut 1113 is provided with an inner thread matched with the screw rod shaft 1112. The outermost side of the shaft shift nut 1113 is provided with an outer thread matched with the locking nut 1115 for screwing. The brake disc 1114 is clamped on the shaft shoulder of the shaft shift nut 1113 and is locked through the locking nut 1115. After locking, the three parts are threadedly driven on the screw rod shaft 1112 through the inner thread of the shaft shift nut 1113. When the brake motor 1106 rotates forward, the three locked parts are pulled and tightly held on the brake stop support 1111, thereby realizing the brake. When the brake motor 1106 reversely rotates, the brake is released.

[0127] As Figures 1-10 As shown in Figs. 23-37, the cabin storage type telescopic bottom-sitting mechanism C of the embodiment comprises a cabin door unfolding assembly, a cabin door 14, a bottom-sitting plate telescopic driving assembly and a bottom-sitting plate 15.

[0128] The cabin door unfolding assembly is arranged on the bow section frame 4 or the stern section frame 54. The cabin door unfolding assembly is connected with the cabin door 14. The cabin door unfolding assembly is used to drive the cabin door 14 to open or close the bottom-sitting plate to extend out of the cabin door opening. When the cabin door 14 closes the bottom-sitting plate to extend out of the cabin door opening, the outer peripheral contour line of the cabin door 14 is flush with the outer peripheral contour line of the buoyancy material shell E.

[0129] The bottom-sitting plate telescopic driving assembly is arranged on the bow section frame 4 or the stern section frame 54. When the cabin door 14 opens the bottom-sitting plate to extend out of the cabin door opening, the bottom-sitting plate telescopic driving assembly is used to drive the bottom-sitting plate 15 to extend out of the cabin door opening to the outside of the underwater robot or to drive the bottom-sitting plate 15 to retract into the underwater robot from the cabin door opening.

[0130] As Figure 1 and Figure 6As shown, the structure schematic diagram of the underwater robot when the hatch is closed and the structure schematic diagram of the underwater robot when the bottom plate is extended after the hatch is opened. The same underwater robot is provided with two groups of front and rear corresponding cabin storage type telescopic bottom plates C, and the overall bottom plate extension drive assembly and bottom plate 15 of the two groups of cabin storage type telescopic bottom plates C are mirror image arranged. In this embodiment, each single bottom plate extension hatch door corresponds to two hatch expansion assemblies and two hatches 14, which can effectively reduce the size of the hatch structure used compared to only using a hatch structure. When the underwater robot is straight sailing, the hatch 14 is in a closed state, and the overall center of gravity of the hatch expansion assembly, the hatch 14, the bottom plate extension drive assembly, and the bottom plate 15 is high, so that the underwater robot has high mobility and is beneficial to sailing; when the hatch 14 is expanded and the bottom plate 15 is extended, the overall center of gravity of the hatch expansion assembly, the hatch 14, the bottom plate extension drive assembly, and the bottom plate 15 is lowered, which is beneficial to the stable bottom sitting of the underwater robot.

[0131] In this embodiment, the hatch expansion assembly includes a fixed base frame 16, a fixed vertical plate 17, a hatch expansion drive motor structure, and a connecting rod swing arm structure. The fixed base frame 16 is fixedly connected to the bow section frame 4 or the stern section frame 54 by screws. Two fixed vertical plates 17 are provided correspondingly, and the two fixed vertical plates 17 are fixedly connected to the fixed base frame 16 by screws. The hatch expansion drive motor structure has a fixed end and a driving end. The fixed end of the hatch expansion drive motor structure is arranged on one of the fixed vertical plates 17. The connecting rod swing arm structure is arranged between the two fixed vertical plates 17. The driving end of the hatch expansion drive motor structure is connected to one end of the hatch 14 through the connecting rod swing arm structure. The driving end of the hatch expansion drive motor structure drives the corresponding hatch 14 to first extend from the bottom plate extension hatch and then swing to open the bottom plate extension hatch. The above-mentioned form of driving the hatch 14 ensures that the hatch 14 can reliably close the bottom plate extension hatch when closed, and the hatch 14 does not interfere with other structures such as the buoyancy material shell E when opened.

[0132] An h-shaped guide slot 1701 is formed on each fixed vertical plate 17. The h-shaped guide slots 1701 on the two fixed vertical plates 17 are the same in size and correspond to each other in position. Each h-shaped guide slot 1701 is divided into a vertically long slot portion and a laterally circular-arc curved slot portion.

[0133] The connecting rod swing arm structure comprises a driving connecting rod 18, an execution connecting rod 19, a hatch connecting swing arm 20, an upper synchronous pin shaft 21 and a lower sliding pin shaft 22. One end of the driving connecting rod 18 is fixedly connected with a driving end of the hatch unfolding driving motor structure. One end of the execution connecting rod 19 is hingedly connected with the other end of the driving connecting rod 18. The other end of the execution connecting rod 19 is hingedly connected with the upper synchronous pin shaft 21. The hatch connecting swing arm 20 is provided with two ends, one end of each of the two hatch connecting swing arms 20 is fixedly connected with one end of the corresponding hatch 14 through a pin shaft with a regular hexagonal cross section, and the other end of each of the two hatch connecting swing arms 20 is penetrated by the upper synchronous pin shaft 21 and is fixedly connected. One lower sliding pin shaft 22 is further arranged on each of the two hatch connecting swing arms 20. The upper synchronous pin shaft 21 penetrates the h-shaped guide sliding groove 1701 of each of the two fixed vertical plates 17. Each of the lower sliding pin shafts 22 penetrates the corresponding h-shaped guide sliding groove 1701.

[0134] When the hatch 14 is in the state of being closed and the bottom plate is extended out of the hatch opening, the upper synchronous pin shaft 21 is driven by the driving end of the hatch unfolding driving motor structure, the driving connecting rod 18 and the execution connecting rod 19 to move to the top end of the vertical long groove part of the h-shaped guide sliding groove 1701. At this time, the two lower sliding pin shafts 22 are respectively located at the intersection of the vertical long groove part and the lateral circular arc curved groove part of each h-shaped guide sliding groove 1701. When the hatch 14 is in the state of being extended out of the bottom plate and not unfolded, the upper synchronous pin shaft 21 is driven by the driving end of the hatch unfolding driving motor structure, the driving connecting rod 18 and the execution connecting rod 19 to move to the intersection of the vertical long groove part and the lateral circular arc curved groove part of the h-shaped guide sliding groove 1701. At this time, the two lower sliding pin shafts 22 are respectively located at the bottom end of the vertical long groove part of the corresponding h-shaped guide sliding groove 1701. When the hatch 14 is in the state of being extended out of the bottom plate and unfolded to the limit position, the upper synchronous pin shaft 21 is driven by the driving end of the hatch unfolding driving motor structure, the driving connecting rod 18 and the execution connecting rod 19 to move to the bottom end of the lateral circular arc curved groove part of the h-shaped guide sliding groove 1701. At this time, the two lower sliding pin shafts 22 are still respectively located at the bottom end of the vertical long groove part of the corresponding h-shaped guide sliding groove 1701, and each hatch connecting swing arm 20 is driven to swing, and the hatch 14 is driven to unfold by each hatch connecting swing arm 20. If the driving end of the hatch unfolding driving motor structure is reversely moved, the hatch 14 will move in the opposite order of the above-mentioned action, so as to realize the closing of the hatch 14.

[0135] The cabin door unfolding driving motor structure of the embodiment comprises a driving motor A 23, a motor fixed outer cylinder A 24, a motor sealing cylinder A 25 and a motor adapter fixing plate 26. The driving motor A 23 of the embodiment adopts a commercially available brushless motor product and is controlled to act by a control system. One end of the motor fixed outer cylinder A 24 is connected with one end of the motor sealing cylinder A 25. The housing of the driving motor A 23 is located inside the motor fixed outer cylinder A 24 and is fixed to the motor fixed outer cylinder A 24 by screws. The driving shaft of the driving motor A 23 serves as a driving end of the cabin door unfolding driving motor structure and penetrates out of the motor adapter fixing plate 26 and is fixed to one end of the driving connecting rod 18. The motor sealing cylinder A 25 is provided with a sealing joint mounting port A 2501 and an oil pipe connecting port A 2502. The sealing joint mounting port A 2501 is used for mounting a sealing joint A. The sealing joint A is connected with the driving motor A 23 by wires and is also used for being connected with the control system. The oil pipe connecting port A 2502 is used for being connected with an external oil pressure balancing device to communicate with the motor sealing cylinder A 36 and the motor fixed outer cylinder A 35 to fill oil in the whole inside to realize external pressure balance protection and insulation protection of the driving motor A 23. The external oil pressure balancing device is located inside the underwater robot. The external oil pressure balancing device and its setting mode are prior art and will not be described here. The outer periphery of the other end of the motor fixed outer cylinder A 24 is formed with a connecting flange part A. The connecting flange part A is connected with the motor adapter fixing plate 26 by screws. One end of the motor fixed outer cylinder A 24 is connected with one end of the motor sealing cylinder A 25 by two radially arranged fixed pins A 27 to realize fixed connection between the motor fixed outer cylinder A 24 and the motor sealing cylinder A 25. A sealing ring A 28 is arranged at the joint between one end of the motor fixed outer cylinder A 24 and one end of the motor sealing cylinder A 25. A sealing ring B 29 is arranged at the joint between the connecting flange part A and the motor adapter fixing plate 26. A lip-type dynamic sealing installation groove A is formed in the motor adapter fixing plate 26. A lip-type dynamic sealing A 30 is embedded in the lip-type dynamic sealing installation groove A. A dynamic sealing compression nut A 31 is screwed in the lip-type dynamic sealing installation groove A to compress the lip-type dynamic sealing A 30 in the lip-type dynamic sealing installation groove A. The driving shaft of the driving motor A 23 also penetrates through the lip-type dynamic sealing A 30 and the dynamic sealing compression nut A 31. The sealing ring A 28, the sealing ring B 29, the lip-type dynamic sealing A 30 and the dynamic sealing compression nut A 31 are arranged to improve the sealing reliability.

[0136] The telescopic drive assembly of the bottom plate of the embodiment comprises a telescopic drive motor structure, an outer fixed cylinder 32, an inner threaded screw sleeve 33, a screw rod 34, a bottom plate support 35 and a bottom plate support adapter 36. The outer part of the outer fixed cylinder 32 is fixedly connected with the bow frame 4 or the stern frame 54. The upper end of the screw rod 34 is rotatably arranged in the outer fixed cylinder 32. The telescopic drive motor structure is used to drive the rotation of the screw rod 34. The lower end of the screw rod 34 is provided with external threads. The inner threaded screw sleeve 33 is located in the outer fixed cylinder 32. The inner hole of the inner threaded screw sleeve 33 is provided with internal threads matched with the external threads of the screw rod 34. The inner threaded screw sleeve 33 is connected with the screw rod 34 through threads. The external threads of the screw rod 34 and the internal threads of the inner threaded screw sleeve 33 are self-locking threads, for example, T-shaped threads with a thread angle less than 4 degrees. The axis of the outer fixed cylinder 32, the axis of the inner threaded screw sleeve 33 and the axis of the screw rod 34 are collinear. Two symmetrically arranged sliding keys 37 are embedded on the outer side surface of the upper part of the inner threaded screw sleeve 33. The inner wall of the outer fixed cylinder 32 is provided with sliding key grooves corresponding to the sliding keys 37 to prevent the relative rotation between the inner threaded screw sleeve 33 and the outer fixed cylinder 32. The lower end of the inner threaded screw sleeve 33 penetrates out of the lower end of the outer fixed cylinder 32. The bottom plate support adapter 36 is threadedly installed at the lower end of the inner threaded screw sleeve 33 and located below the screw rod 34. The upper end of the bottom plate support 35 is fixedly connected with the bottom plate support adapter 36. The lower end of the bottom plate support 35 is fixedly connected with the bottom plate 15.

[0137] The upper end of the outer fixed cylinder 32 of the embodiment is connected with the outer shell of the corner turner 38 through the adapter flange 48 and the screw. The outer shell of the corner turner 38 is connected with the outer part of the telescopic drive motor structure through the motor adapter installation sleeve 39. The input shaft of the corner turner 38 is connected with the driving end of the telescopic drive motor structure through the shaft coupling. The output shaft of the corner turner 38 is connected with the upper end of the screw rod 34 through the shaft coupling. The corner turner 38 is a commercially available product of the prior art mainly composed of an outer shell and two bevel gears. The space reversing of the transmission shaft can be realized through the setting of the corner turner 38. The length dimension of the single shaft is avoided from being too large, which causes the telescopic drive motor structure to protrude from the linear shape of the underwater robot, resulting in the increase of resistance and the increase of the difficulty of operation.

[0138] The lower end of the outer fixed cylinder 32 is threadedly installed with the outlet end flange 40. The lower end of the inner threaded screw sleeve 66 penetrates out of the inner hole of the outlet end flange 40. The inner hole wall of the outlet end flange 40 is sequentially provided with the annular guide belt 41 and the dustproof ring 42 from top to bottom. The inner threaded screw sleeve 33 is frictionally matched with the annular guide belt 41 and the dustproof ring 42. The dustproof ring 42 can prevent external impurities from entering. The annular guide belt 41 is used to avoid the direct contact and friction between the outer peripheral surface of the inner threaded screw sleeve 33 and the inner wall of the outlet end flange 40.

[0139] The outer part of the outer fixed cylinder 32 is respectively formed with an upper connecting seat part 3201 and a lower connecting seat part 3202, the upper connecting seat part 3201 is located on the upper side of the lower connecting seat part 3202, the upper connecting seat part 3201 and the lower connecting seat part 3202 are respectively provided with corresponding adjusting pads 43, the upper connecting seat part 3201 and the adjusting pad 43 corresponding to the upper connecting seat part 3201 are jointly fixed on the bow frame 4 or the stern frame 54 by screws, the lower connecting seat part 3202 and the adjusting pad 43 corresponding to the lower connecting seat part 3202 are jointly fixed on the bow frame 4 or the stern frame 54 by screws, so as to facilitate the fixed connection between the outer fixed cylinder 32 and the bow frame 4 or the stern frame 54; the adjusting pad 43 is arranged to facilitate the adjustment and installation to ensure reliable fixation.

[0140] The inner part of the outer fixed cylinder 32 is provided with two ceramic bearings 44 corresponding to the upper end of the lead screw 34, each ceramic bearing 44 is respectively rotationally connected with the upper end of the lead screw 34, so as to stably rotate the lead screw 34. The mounting mode of the ceramic bearing 44 adopts the prior art.

[0141] The bottom of the bottom plate support adapter 36 is provided with a limiting clamping groove 3601, the upper end of the bottom plate support 35 is clamped into the limiting clamping groove 3601 of the bottom plate support adapter 36, and then the bottom plate support adapter 36 is fixed with the bottom plate support 35 by screws, so as to facilitate the positioning and fixing between the bottom plate support adapter 36 and the bottom plate support 35.

[0142] The telescopic drive motor structure includes a drive motor B 45, a motor fixed outer cylinder B 46 and a motor sealing cylinder B 47, the setting mode of the telescopic drive motor structure is basically similar to that of the hatch door unfolding drive motor structure, the drive motor B 45 also adopts a commercially available brushless motor product, and the action is controlled by the control system. One end of the motor fixed outer cylinder B 46 is connected with one end of the motor sealing cylinder B 47, the shell of the drive motor B 45 is located in the interior of the motor fixed outer cylinder B 46 and is fixed with the motor fixed outer cylinder B 46 by screws, the drive shaft of the drive motor B 45 passes through the motor adapter mounting sleeve 39 as the driving end of the telescopic drive motor structure and is fixed with the input shaft of the corner gear 38 through a shaft coupling, the motor sealing cylinder B 37 is provided with a sealing joint mounting port B and an oil pipe connecting port B, the sealing joint mounting port B is used for mounting a sealing joint B, the sealing joint B is connected with the drive motor B 45 through wires and is also used for connecting with the control system, the oil pipe connecting port B is used for communicating with an external oil pressure balancing device and filling oil in the interior of the whole formed by the motor sealing cylinder B 47 and the motor fixed outer cylinder B 46 to realize the external pressure balance protection and the insulation protection of the drive motor B 45. The outer periphery of the other end of the motor fixed outer cylinder B 46 is formed with a connecting flange part B, the connecting flange part B is connected with the motor adapter mounting sleeve 39 through screws.

[0143] One end of the motor fixing outer cylinder B 46 is connected to one end of the motor sealing cylinder B 47 by two radially arranged fixing pins B. A sealing ring C is provided at the joint between one end of the motor fixing outer cylinder B 46 and one end of the motor sealing cylinder B 47, and a sealing ring D is provided at the joint between the connecting flange B and the motor adapter mounting sleeve 39. A lip-type dynamic seal mounting groove B is provided on the motor adapter mounting sleeve 39, and a lip-type dynamic seal B is embedded inside the lip-type dynamic seal mounting groove B. A dynamic seal clamping nut B is also threadedly connected inside the lip-type dynamic seal mounting groove B, which presses the lip-type dynamic seal B into the lip-type dynamic seal mounting groove B. The drive shaft of the drive motor B 45 also passes through the lip-type dynamic seal B and the dynamic seal clamping nut B to improve the sealing reliability at each point.

[0144] like Figures 1-10 As shown in Figures 38-49, the retractable vector propulsion stern section D of this embodiment includes a vector propulsion mechanism 49, a swashplate rotation mechanism 50, a swashplate angle adjustment mechanism 51, and a gate mechanism 52. The gate mechanism 52 is located at the rear end of the underwater robot's stern section and fixed to the stern section frame 54. The vector propulsion mechanism 49, the swashplate rotation mechanism 50, and the swashplate angle adjustment mechanism 51 are all located inside the underwater robot's stern section. The vector propulsion mechanism 49 is provided with a vector moving frame 4909. The swashplate rotation mechanism 50 includes a rotation drive device 5001 and a swashplate 5002 provided on the vector moving frame 4909, and the swashplate 5002 is connected by the rotation drive device 5001. Driven rotation; the swing angle adjustment mechanism 51 includes a swing angle adjustment device 5101 and a pusher connecting shaft 5102. The rear end of the swing angle adjustment device 5101 is hinged to the slewing plate 5002 and the front end is hinged to the pusher connecting shaft 5102. The slewing plate 5002 is provided with a universal joint mounting seat 50023. The rear end of the pusher connecting shaft 5102 is provided with a universal joint 5103 installed in the universal joint mounting seat 50023. The front end of the pusher connecting shaft 5102 is connected to the pusher 53. The gate mechanism 52 includes a plurality of gate plates 5203 that can be opened and closed, and each gate plate 5203 forms a through hole in the middle for the pusher 53 to enter and exit when it is opened.

[0145] The vector propulsion mechanism 49 of the embodiment comprises a propulsion driving device 4901, a propulsion mounting base 4902, and a propulsion slider 4903 which is slidingly arranged in the propulsion mounting base 4902. The lower end of a vector moving frame 4909 is fixedly connected with the propulsion slider 4903. The propulsion driving device 4901 is fixedly arranged on a frame bottom plate 49091 of the vector moving frame 4909. The propulsion slider 4903 is internally provided with a propulsion gear 4904. The power shaft 49011 of the propulsion driving device 4901 penetrates the frame bottom plate 49091 and is inserted into the propulsion slider 4903 to be fixedly connected with the propulsion gear 4904. One side of the propulsion mounting base 4902 is provided with a propulsion rack 4905, and the propulsion gear 4904 is engaged with the propulsion rack 4905. In operation, the propulsion gear 4904 is driven to rotate by the propulsion driving device 4901 and rolls along the propulsion rack 4905, thereby driving the propulsion slider 4903 and the vector moving frame 4909 to move. In the embodiment, the propulsion driving device 4901 can be an underwater speed reduction servo motor or the like. The propulsion mounting base 4902 is internally provided with slide rails 4906 on both sides. The propulsion slider 4903 is provided with slide grooves on both sides which are matched with the corresponding slide rails 4906, thereby achieving the sliding connection with the propulsion mounting base 4902. The propulsion driving device 4901 is provided with a sealing flange 4910 which is fixedly arranged on the frame bottom plate 49091. The propulsion slider 4903 is internally provided with a gear groove for accommodating the propulsion gear 4904. The upper side of the gear groove is sealed by a slider cover plate 49031. The power shaft 49011 of the propulsion driving device 4901 penetrates the frame bottom plate 49091 and the slider cover plate 49031 in sequence and is fixedly connected with the propulsion gear 4904.

[0146] The stern frame 54 of the embodiment is provided with a leveling mounting base 5401. The propulsion mounting base 4902 is fixedly arranged on the upper side of the leveling mounting base 5401. The lower side of the leveling mounting base 5401 is shaped to match the stern frame 54. In addition, one end of the propulsion mounting base 4902 is provided with a first baffle 4908 and the other end is provided with a second baffle 4907 to prevent the propulsion slider 4903 from being separated from the propulsion mounting base 4902.

[0147] The rotation driving device 5001 of the swash plate rotation mechanism 50 of the embodiment is arranged on the vector moving frame 4909. The rear side of the rotation swash plate 5002 is provided with a swash plate connecting shaft 50021 which is fixedly connected with the power end of the rotation driving device 5001. The rotation driving device 5001 can be an underwater speed reduction servo motor or the like. The rotation swash plate 5002 is provided with a swash plate hinge base 50022. The propeller connecting shaft 5102 is provided with a connecting shaft hinge base 51021. The rear end of the swing angle adjusting device 5101 is hingedly connected with the swash plate hinge base 50022 through a hinge shaft, and the front end is hingedly connected with the connecting shaft hinge base 51021 through a hinge shaft. The swing angle adjusting device 5101 can be a linear driving device such as an underwater electric push rod according to the need.

[0148] The universal joint 5103 of the swing angle adjusting mechanism 51 of the embodiment is spherical, and one side of the universal joint 5103 is sleeved with the first joint sleeve 5104 and the other side of the universal joint 5103 is sleeved with the second joint sleeve 5105. The first joint sleeve 5104 is provided with the first front flange 51041 at one end and the first rear flange 51042 at the other end. The second joint sleeve 5105 is provided with the second flange 51051. The first rear flange 51042 is fixedly connected with the universal joint mounting seat 50023 provided on the swash plate 5002, and the first front flange 51041 is fixedly connected with the second flange 51051, so that the first joint sleeve 5104 and the second joint sleeve 5105 completely wrap the universal joint 5103. The inner wall of the first joint sleeve 5104 and the universal joint 5103 and the inner wall of the second joint sleeve 5105 and the universal joint 5103 are both provided with the guide sliding member 5106 with the grease groove 51061. The guide sliding member 5106 is used to ensure smooth rotation between the universal joint 5103 and the two joint sleeves. Through the above design, the universal joint 5103 can be conveniently installed and the guide sliding member 5106 can be replaced. In the embodiment, the guide sliding member 5106 is a metal belt wrapped around the universal joint 5103. The universal joint 5103 is internally provided with the internally threaded hole 51031, and the rear end of the propeller connecting shaft 5102 is inserted into the internally threaded hole 51031. The first joint sleeve 5104 and the second joint sleeve 5105 are provided with the protruding part 51043 and the recess which are embedded and matched. The protruding part 51043 is provided on the first joint sleeve 5104, and the recess is provided on the second joint sleeve 5105.

[0149] The gate mechanism 52 of the embodiment comprises a gate mounting plate 5201, a door plate connecting rod 5202, an annular internal rack 5204 and a gate driving device 5205. The annular internal rack 5204 is rotationally mounted on the outer edge of the gate mounting plate 5201. The gate driving device 5205 is fixedly arranged on the gate mounting plate 5201, and an internal gear 5207 is arranged on the output shaft of the gate driving device 5205 and engaged with the annular internal rack 5204. A plurality of arc-shaped guide grooves 52011 are uniformly distributed along the circumferential direction on the edge of the gate mounting plate 5201. The outer end of the door plate connecting rod 5202 is provided with a connecting rod sliding shaft 52021, and the connecting rod sliding shaft 52021 is fixedly connected with the annular internal rack 5204 after penetrating through the corresponding guide groove 52011. The gate door plate 5203 has a sector structure, and the outer arc-shaped one end of the gate door plate 5203 is hingedly connected with the inner end of the corresponding door plate connecting rod 5202 through a first door plate hinge shaft 52032. The outer arc-shaped other end of the gate door plate 5203 is rotationally mounted on the gate mounting plate 5201 through a second door plate hinge shaft 52031. A through hole is arranged in the middle of the gate mounting plate 5201 for the pusher 53 to enter and exit, and the through hole is closed and blocked by each gate door plate 5203. When it is necessary to open each gate door plate 5203, the gate driving device 5205 drives the annular internal rack 5204 to rotate through the internal gear 5207, thereby driving each door plate connecting rod 5202 to swing synchronously. The connecting rod sliding shaft 52021 at the outer end of the door plate connecting rod 5202 slides along the corresponding guide groove 52011 to limit the swing path of each door plate connecting rod 5202. Each gate door plate 5203 is driven by the corresponding door plate connecting rod 5202 to rotate outward around the corresponding second door plate hinge shaft 52031, so that the through hole in the middle of the gate mounting plate 5201 is exposed.

[0150] The gate mounting plate 5201 of the embodiment is provided with a mounting seat 5206, and the gate driving device 5205 is fixedly arranged on the mounting seat 5206. The gate driving device 5205 can adopt a speed reduction servo motor or other device used underwater.

[0151] The annular internal rack 5204 and the outer edge of the gate mounting plate 5201 can be provided with a suitable rotating connection element according to the needs, such as a ball bearing arranged between the annular internal rack 5204 and the gate mounting plate 5201. This is a commonly known technology in the art.

[0152] When each gate door plate 5203 is closed, the inner side corner end of each gate door plate 5203 forms an axle hole 52033 through which the pusher connecting shaft 5102 penetrates to drive the pusher 53 to enter and exit the gate mechanism 52.

[0153] The working principle of the buoyancy balancing mechanism A of the embodiment is as follows:

[0154] The buoyancy equalization mechanism A has the ability to actively and passively adjust and balance the buoyancy, and can be dynamically adjusted according to the task requirements to assist the AUV to complete four operation modes.

[0155] Mode one: active oil absorption, rapid diving, auxiliary completion of sitting on the bottom or large pitch angle rapid diving. In the water surface working condition, the low-pressure pump B234 can be directly started by starting the motor B222 to suck the hydraulic oil in the oil tank 101 into the high-pressure cavity 209, the hydraulic oil in the high-pressure cavity 209 pushes the T-shaped section piston 204 to move downward, at this time the electromagnetic valve B224 is energized, the hydraulic oil in the low-pressure cavity 210 is injected into the energy storage oil tank 212 under the action of the T-shaped section piston 204, the energy storage oil tank 212 has the same principle as the accumulator, which can convert the high pressure of the hydraulic oil into the elastic potential energy of the energy storage spring 214 and store it, at this time the hydraulic oil pressure of the energy storage oil tank 212 and the hydraulic oil pressure of the low-pressure cavity 210 are equal, both are 1 / 5 of the high-pressure cavity 209. Due to the decrease of the displacement of the buoyancy equalization mechanism A (the volume of the oil tank 101 decreases), the underwater robot can be assisted to achieve rapid diving with negative buoyancy. When the T-shaped section piston 204 moves upward, the bidirectional air pump 237 and the motor C236 in the air chamber 207 will start to extract the gas in the gas cavity 208 and inject it into the inside of the pressure cylinder 216, at this time the gas cavity 208 forms negative pressure, which assists the T-shaped section piston 204 to move upward. Conversely, the bidirectional air pump 237 and the motor C236 will start to extract the gas in the inside of the pressure cylinder 216 and inject it into the gas cavity 208, at this time the gas cavity 208 forms positive pressure, which assists the T-shaped section piston 204 to move downward, thereby reducing the resistance of the T-shaped section piston 204 and improving the working efficiency of the system.

[0156] Mode two: active oil discharge, rapid floating, auxiliary completion of off-bottom or large pitch angle rapid floating. In the underwater working condition, due to the area ratio of the T-shaped section piston 204 of the high-pressure cavity 209 and the low-pressure cavity 210 being 1:5, the low-pressure cavity 210 can drive the 125MPa load of the high-pressure cavity 209 at a pressure of 25MPa to achieve super-high pressure output with low power consumption and small power. It can assist the underwater robot to achieve rapid floating and switch from the sitting on the bottom state to the rapid oil filling of the oil tank to drive the underwater robot to quickly off the bottom. Specifically, the low-pressure pump A221 is started to extract the hydraulic oil in the low-pressure oil tank 211 by starting the motor A220, the hydraulic oil is injected into the low-pressure cavity 210 through the one-way valve B215 at a pressure of 1 / 5 (maximum 125 / 5=25) of the environmental pressure, the hydraulic oil in the high-pressure cavity 209 flows upward, at this time the electromagnetic valve E227 is opened, the hydraulic oil in the high-pressure cavity 209 is injected into the oil tank 101, the displacement of the water increases rapidly, and the buoyancy increases rapidly.

[0157] Mode three: passive oil absorption, in the process of underwater robot power diving (relying on the propeller 53 in the telescopic vector propulsion stern section D to push), or by adsorbing the way of diving pressure iron to realize the process of unpowered diving, with the increase of the depth of the underwater robot, the environmental pressure energy is converted and stored as high pressure hydraulic oil pressure, while absorbing energy, it plays a role in reducing the buoyancy of the underwater robot carrier (with the increase of depth, the underwater robot increases the buoyancy), at this time the hydraulic oil in the oil storage part 1 is reduced, at the same time, it further reduces the energy consumption of the power diving process, and carries out power recovery. It can assist to complete the bottom sitting or large pitch angle diving. Specifically: first open electromagnetic valve D226, the hydraulic oil in the oil bladder 101 enters the high pressure cavity 209 through the passage of the electromagnetic valve D226, the high pressure hydraulic oil pushes the T-shaped cross section piston 204 to move down, and the hydraulic oil in the low pressure cavity 210 is compressed, at this time the electromagnetic valve B224 is connected, the hydraulic oil in the low pressure cavity 210 flows into the energy storage tank 212 through the passage of the electromagnetic valve B224, the high pressure hydraulic oil pushes the energy storage piston 213 in the energy storage tank 212, and the pressure energy of the high pressure hydraulic oil is converted into the elastic potential energy of the energy storage spring 214 in the energy storage tank 212 and stored, the whole process converts the driving power of power diving into the elastic potential energy of the energy storage spring 214. When the T-shaped cross section piston 204 moves up, the bidirectional air pump 237 and motor C236 in the air chamber 207 will start, the gas in the air cavity 208 is injected into the inside of the pressure cylinder 216, at this time the air cavity 208 forms negative pressure, which assists the T-shaped cross section piston 204 to move up. Conversely, the bidirectional air pump 237 and motor C236 will start, the gas in the inside of the pressure cylinder 216 is injected into the air cavity 208, at this time the air cavity 208 forms positive pressure, which assists the T-shaped cross section piston 204 to move down, thereby reducing the resistance of the T-shaped cross section piston 204, improving the working efficiency of the system.

[0158] Mode four: passive oil discharge, in the process of AUV floating (relying on the propeller 53 in the telescopic vector propulsion stern section D to push), as the AUV floating depth decreases (with the decrease of the depth, the buoyancy of the AUV decreases), the hydraulic energy stored in the high-pressure oil is slowly released (power release), at this time the oil in the oil storage part increases, which plays a role in increasing the buoyancy of the AUV carrier. In the process of floating, first start the electromagnetic valve C225, the high-pressure hydraulic oil stored in the energy storage tank 212 is injected into the low-pressure cavity 210 through the passage of the electromagnetic valve C225 (at this time the hydraulic oil pressure of the low-pressure cavity 210 is 1 / 5 of the ambient pressure), the area of the low-pressure cavity 210 is 5 times the area of the high-pressure cavity 209, at this time as the AUV power floats, the ambient pressure decreases over time, the high-pressure hydraulic oil stored in the energy storage tank 212 is discharged outward at all times, the electromagnetic valve E227 is started, the hydraulic oil in the high-pressure cavity 209 is injected into the oil bladder 101 through the passage of the electromagnetic valve E227, which increases the buoyancy of the AUV, releases the high-pressure energy stored in the energy storage tank 212 during the diving process, and increases the buoyancy of the AUV, reduces the propelling resistance of the power floating, passively balances the buoyancy, further reduces the propelling power of the AUV, and reduces the system power consumption.

[0159] The energy storage tank 212 and the low-pressure oil tank 211 can be connected through the electromagnetic valve F228, and then flow through the damping hole B233 after passing through the passage of the electromagnetic valve F228, and enter the low-pressure oil tank 211 for oil supplement. When the hydraulic oil level in the low-pressure oil tank 211 is less than the design requirement, the oil supplement is carried out by operating the electromagnetic valve F228. The 0.2mm damping hole is a buffer hole designed to reduce the oil flow rate and protect the system. The actual aperture can be designed and selected according to the needs of the system.

[0160] The buoyancy balancing mechanism A can not only actively balance the buoyancy, but also has the ability to passively balance the buoyancy, and can recover and store the kinetic energy during the diving process of the AUV or the diving process without power; on the other hand, through the variable-area pressure-increasing scheme, a small-pressure pump is used to output super-high-pressure oil, the high-pressure output of the entire mechanism avoids the selection difficulty of small high-pressure plunger pumps, and the system has stronger maximum working pressure output capability and higher upper limit. The actual passive buoyancy balancing process is a process of recovering and storing the diving power. The diving power is collected and stored in the high-pressure oil. In the process of AUV floating, the kinetic energy stored in the high-pressure oil is slowly released, the oil is released into the oil storage part, the displacement of the AUV increases, the buoyancy increases, and the power release is completed. The passive adjustment process only needs the action of the electromagnetic valve, and the process energy consumption is very small.

[0161] The working principle of the three-degree-of-freedom centroid adjusting mechanism B of the application is:

[0162] The center of mass adjusting mechanism comprises adjusting of three directions of freedom of center of mass adjustment, belongs to the full drive center of mass adjusting mechanism, has strong attitude adjustment capability, and has comprehensive adjusting freedom.

[0163] When the underwater robot needs to perform vertical attitude diving, first, the Z-direction center of mass adjusting mechanism I 6 and the Z-direction center of mass adjusting mechanism II 12 are used to realize lifting of the weight, so that the center of mass is lifted, at this time, the position of the center of buoyancy is unchanged, the center of mass is lowered, and the mobility of the underwater robot is improved. Then, the Y-direction center of mass adjusting mechanism 7 is used to realize rotation of the X-direction center of mass adjusting mechanism 10, so that the center of mass is further lifted until the center of mass coincides with the center of buoyancy or the difference between the two is close to 0. At this time, the underwater robot has very high vertical mobility. Finally, the X-direction center of mass adjusting mechanism 11 is driven, so that the main battery 9 is moved to the farthest end, and then a pitch angle of -90 degrees can be obtained, and vice versa, so that the main battery 9 is moved to the farthest end, and then a pitch angle of +90 degrees can be obtained.

[0164] When the AUV wants to turn, S-bend on the horizontal plane or spiral motion on the vertical plane, the Y-direction center of mass adjusting mechanism 7 can be adjusted to the left to realize left turning or left spiral, or the Y-direction center of mass adjusting mechanism 7 can be adjusted to the right to realize right turning or right spiral.

[0165] The three-degree-of-freedom center of mass adjusting mechanism B can assist the underwater robot to realize a pitch angle of ±90 degrees of the pitch angle navigation mechanism, realize rapid vertical diving or diving of the underwater robot, and realize the vertical section observation capability of the underwater robot. The three-degree-of-freedom center of mass adjusting mechanism B has the advantages of comprehensive adjusting freedom, strong attitude adjustment capability, rich operation function and the like, and is suitable for scenes such as ocean scientific investigation and deep sea resource exploration, and provides a new supplementary scheme for the detection operation mode of the underwater robot. At the same time, after the underwater robot has the vertical diving capability, after calibration of the satellite or GPS on the water surface, the underwater robot is dived without drift through vertical diving, so that the large navigation initial error brought by diving of the underwater robot is eliminated.

[0166] The working principle of the telescopic vector propulsion stern D is as follows:

[0167] When the telescopic vector propulsion stern D is working, the vector propulsion mechanism 49 drives the propeller 53 to enter and exit the gate mechanism 52, so that the underwater robot can realize the conversion between the normal navigation mode and the gliding navigation mode. The gate mechanism 52 is arranged at the rear end of the stern of the underwater robot. When each gate door plate 5203 of the gate mechanism 52 is opened, a through hole for the propeller 53 to enter and exit is exposed in the middle of the gate mounting plate 5201 of the gate mechanism 52. Then, the propeller driving device 4901 in the vector propulsion mechanism 49 is started, and drives the vector moving frame 4909 to move outward together with the swash plate rotating mechanism 50, the swing angle adjusting mechanism 51 and the propeller 53. The propeller connecting shaft 5102 in the swing angle adjusting mechanism 51 drives the propeller 53 to output to the outside of the stern of the underwater robot. At this time, the underwater robot can realize propeller driving through the propeller 53, that is, the normal navigation mode of the underwater robot. In addition, after the propeller 53 is output, each gate door plate 5203 of the gate mechanism 52 can be closed according to actual needs. In this way, the shaft hole 52033 formed at the inner side angle end of each gate door plate 5203 can be used to lock the position of the propeller connecting shaft 5102, and then the position of the propeller 53 is locked.

[0168] In the normal navigation mode of the underwater robot, the telescopic vector propulsion stern D can also adjust the propeller 53 by using the swash plate rotating mechanism 50 and the swing angle adjusting mechanism 51, so as to realize efficient vector propulsion of the underwater robot at any pitch angle. Specifically, after the propeller 53 is output, the gate mechanism 52 is not closed. Then, the rotating driving device 5201 in the swash plate rotating mechanism 52 is started, and drives the rotating swash plate 5202 together with the swing angle adjusting mechanism 51 and the propeller 53 on the rotating swash plate 5202 to rotate synchronously around the axial direction of the swash plate connecting shaft 50021. The swing angle adjusting device 5101 in the swing angle adjusting mechanism 51 drives the propeller connecting shaft 5102 to swing around the center point of the rear spherical universal joint 5103 through the telescopic action, and then drives the propeller 53 to swing and adjust. Therefore, the underwater robot can be directly rotated to the required steering direction according to the needs of the navigation direction of the underwater robot, and the operation is efficient and fast.

[0169] When the underwater robot is converted into the gliding navigation mode, the vector propulsion mechanism 49 drives the propeller 53 to retreat and retract into the stern of the underwater robot, and each gate door plate 5203 of the gate mechanism 52 is in a closed state. In this way, the linear whole body of the underwater robot is in an open or partially damaged state, the navigation resistance is small, and the hydrodynamic efficiency is better. At this time, the glider mode of the underwater robot can be started to realize the sawtooth long navigation time or long navigation range search survey.

[0170] The underwater robot of the present application has three modes:

[0171] Mode one: AUV mode, in this mode, it can be used as AUV, in the full depth of sea, with any pitch angle attitude, efficient exploration navigation, pitch angle includes ± 90 degrees. At this time, the buoyancy equalization mechanism A can change the depth and the buoyancy, to ensure that the AUV can always be efficient navigation with zero buoyancy. The propulsion mode adopts the retractable vector propulsion stern D propeller 53 (at this time, the stern gate is opened, and the propeller 53 is stretched out outside the AUV stern), to realize the full space range of steering depth, direction change, and realize the zero angle of attack attitude efficient navigation. When vertical plane exploration or large pitch angle diving is needed, three degree of freedom center of mass adjusting mechanism B can be used to realize the attitude change or the stability change (large stability height attitude is more stable, small stability high maneuverability is stronger).

[0172] Mode two: glider mode, in this mode, it can be used as a glider, in the full depth of sea, with any pitch angle attitude, efficient gliding navigation, pitch angle includes ± 90 degrees. At this time, the retractable vector propulsion stern D propeller 53 is retracted into the stern line type, and the gate is in the closed state. The line type of the robot is all in the closed state, the resistance of the hull is small, and the maneuverability is excellent. The driving process is realized by the active buoyancy adjusting mechanism of the bow buoyancy equalization mechanism A. When diving is needed, the buoyancy of the bow buoyancy equalization mechanism A is adjusted to negative buoyancy, that is, the hydraulic oil in the outer oil tank 101 is sucked into the oil tank, reducing the displacement of the bow. At this time, the underwater robot is below the pitch angle and navigates downward. If you need to increase the navigation angle, you can use the three degree of freedom center of mass adjusting mechanism B to realize the diving of any pitch angle. When the underwater robot reaches the predetermined depth, the buoyancy of the bow buoyancy equalization mechanism A is first adjusted to positive buoyancy by the active buoyancy adjusting mechanism of the bow buoyancy equalization mechanism A. That is, the hydraulic oil in the oil tank is discharged into the outer oil tank 101, increasing the displacement of the bow, so that the robot floats up with a small pitch angle. If you need to increase the navigation angle, you can use the three degree of freedom center of mass adjusting mechanism B to realize the diving of any pitch angle. During the pitch gliding process, if the direction needs to be changed, the roll (stability center) Y adjusting mechanism of the three degree of freedom center of mass adjusting mechanism B can be used to adjust the direction. During the navigation exploration, the Y type stabilizing wing on the retractable vector propulsion stern D is used to realize the horizontal plane and vertical plane navigation stability, and the lift acting on the left and right stabilizing wings is used to assist the gliding navigation. The usual glider uses flat plate type gliding stabilizing wing to glide. It is completely different from the Y-shaped NACA line type stabilizing wing designed in this invention. Since the whole gliding process does not need propeller, the active buoyancy adjusting process usually works for a short time, and the system power consumption is low. Repeat the above adjustment process to realize the sawtooth efficient and low power consumption navigation exploration in the full depth of sea.

[0173] Mode three: lander mode, which can be used as a lander, in the full depth range, bottom stay, long-term low-power deep sea fixed-point survey. In the process of completing the large-scale navigation exploration in the first two modes, the bottom stay is carried out at the obtained abnormal point, and the long-term fixed-point stay exploration is carried out to obtain long-term exploration data. This process first opens the hatch at the bottom of the cabin storage telescopic bottom stay mechanism C, then extends the telescopic bottom stay mechanism, completes the extension of the bottom stay mechanism to the position. Then, with the help of the buoyancy equalizing mechanism A, the active or passive buoyancy recovery is carried out, that is, the hydraulic oil in the oil tank 101 is sucked into the mechanism, the displacement of the robot is reduced, and the robot is in a negative buoyancy state, and then the negative buoyancy is used to stabilize the bottom stay. When the bottom stay observation is completed, the buoyancy equalizing mechanism A discharges the hydraulic oil in the oil tank to the oil tank 101, increases the displacement of the robot, increases the buoyancy, and realizes the off-bottom operation of the robot.

[0174] The four sets of execution mechanisms of the buoyancy equalizing mechanism A, the three-degree-of-freedom center of mass adjusting mechanism B, the cabin storage telescopic bottom stay mechanism C and the telescopic vector propulsion stern D can realize the organic combination of the three different modes of the underwater robot, and the different modes can be switched by changing the mechanism action, so that the multi-mode combination and the switching of different modes are realized. Further improve the efficient exploration of the mode underwater robot.

Claims

1. A bottom standing underwater robot of the bottom standing type, which can navigate at an arbitrary pitch angle, characterized in that: The underwater robot comprises a buoyancy material shell (E), a buoyancy balancing mechanism (A), a three-degree-of-freedom center of mass adjusting mechanism (B) and a telescopic vector propulsion stern (D) which are sequentially arranged in the buoyancy material shell (E) from the bow to the stern, and a cabin storage telescopic bottom sitting mechanism (C) is arranged between the buoyancy balancing mechanism (A) and the three-degree-of-freedom center of mass adjusting mechanism (B) and between the three-degree-of-freedom center of mass adjusting mechanism (B) and the telescopic vector propulsion stern (D), and the buoyancy balancing mechanism (A) is used for adjusting the driving buoyancy of the underwater robot The three-degree-of-freedom center of mass adjusting mechanism (B) comprises a pressure-resistant sealed cabin body (8) and Z-direction center of mass adjusting mechanisms I (6) and II (12), a Y-direction center of mass adjusting mechanism (7) and an X-direction center of mass adjusting mechanism (11) which are arranged in the pressure-resistant sealed cabin body (8), the Z-direction center of mass adjusting mechanisms I (6) and II (12) are arranged at the bow and the stern of the pressure-resistant sealed cabin body (8) respectively and are used for Z-direction center of mass adjustment, the X-direction center of mass adjusting mechanism (11) is in circumferential sliding connection with the pressure-resistant sealed cabin body (8), the X-direction center of mass adjusting mechanism (11) is used for X-direction center of mass adjustment, the Y-direction center of mass adjusting mechanism (7) is connected to the end of the X-direction center of mass adjusting mechanism (11), the Y-direction center of mass adjusting mechanism (7) rotates the X-direction center of mass adjusting mechanism (11) in the circumferential direction to realize Y-direction center of mass adjustment The telescopic vector propulsion stern (D) comprises a vector propulsion mechanism (49), a swash plate rotating mechanism (50), a swing angle adjusting mechanism (51) and a gate mechanism (52), the gate mechanism (52) is arranged at the rear end of the stern of the underwater robot, the vector propulsion mechanism (49), the swash plate rotating mechanism (50) and the swing angle adjusting mechanism (51) are arranged in the interior of the stern of the underwater robot, the vector propulsion mechanism (49) is provided with a vector moving frame (4909), the swash plate rotating mechanism (50) comprises a rotating driving device (5001) and a rotating swash plate (5002) which are arranged on the vector moving frame (4909), and the rotating swash plate (5002) is driven to rotate by the rotating driving device (5001), the swing angle adjusting mechanism (51) comprises a swing angle adjusting device (5101) and a propeller connecting shaft (5102), the rear end of the swing angle adjusting device (5101) is hinged to the rotating swash plate (5102) and the front end of the swing angle adjusting device (5101) is hinged to the propeller connecting shaft (5102), the rotating swash plate (5002) is provided with a universal joint mounting seat (50023), the rear end of the propeller connecting shaft (5102) is provided with a universal joint (5103), the universal joint (5103) is mounted in the universal joint mounting seat (50023), and the front end of the propeller connecting shaft (5102) is connected to a propeller (53), the gate mechanism (52) comprises a plurality of openable gate plates (5203), and a through hole is formed in the middle of the gate mechanism (52) for the propeller (53) to enter and exit when each gate plate (5203) is opened The cabin storage type telescopic bottom sitting mechanism (C) comprises a cabin door unfolding assembly, a cabin door (14), a bottom sitting plate telescopic driving assembly and a bottom sitting plate (15), a bottom sitting plate extending cabin door opening is formed on the buoyancy material shell (E); the cabin door unfolding assembly is connected with the cabin door (14), and the cabin door unfolding assembly is used for driving the cabin door (14) to open or close the bottom sitting plate extending cabin door opening; when the cabin door (14) closes the bottom sitting plate extending cabin door opening, the outer peripheral surface contour line of the cabin door (14) is flush with the outer peripheral contour line of the buoyancy material shell (E); when the cabin door (14) opens the bottom sitting plate extending cabin door opening, the bottom sitting plate telescopic driving assembly is used for driving the bottom sitting plate (15) to extend from the bottom sitting plate extending cabin door opening to the outside of the buoyancy material shell (E) or driving the bottom sitting plate (15) to retract from the bottom sitting plate extending cabin door opening to the inside of the buoyancy material shell (E); each single bottom sitting plate extending cabin door opening corresponds to two cabin door unfolding assemblies and two cabin doors (3) respectively.

2. The bottom resting subsea robot of claim 1, wherein: The buoyancy equalization mechanism (A) comprises an oil storage component (1) and a pressure-resistant cabin (2), the oil storage component (1) has an oil bag (101) containing hydraulic oil, the pressure-resistant cabin (2) comprises a hollow pressure-resistant cylinder body (216), the pressure-resistant cylinder body (216) is internally provided with an oil tank cylinder body (203), a motor pump group A and a motor pump group B, the front end of the oil tank cylinder body (203) is communicated with the oil bag (101), the motor pump group A and the motor pump group B are installed outside the rear end of the oil tank cylinder body (203), the oil tank cylinder body (203) is internally provided with a T-shaped cross-section piston (204), one side of the T-shaped cross-section piston (204) is a high-pressure cavity (209), and the other side is a low-pressure cavity (210) and a low-pressure oil tank (211) respectively, the low-pressure oil tank (211) is internally provided with an energy storage oil tank (212), the energy storage oil tank (212) is internally provided with an energy storage piston (213) and an energy storage spring (214), and the two ends of the energy storage spring (214) are respectively abutted against the energy storage piston (213) and the inner wall of the energy storage oil tank (212); one end of the motor pump group B is connected with the oil bag (101) through a pipeline and is provided with an electromagnetic valve A (223) on the pipeline, and the other end of the motor pump group B is connected with the high-pressure cavity (209) through a pipeline; two branches are further arranged between the high-pressure cavity (209) and the oil bag (101), an electromagnetic valve D (226) is arranged on branch A, and an electromagnetic valve E (227) is arranged on branch B; two branches are arranged between the low-pressure cavity (210) and the energy storage oil tank (212), an electromagnetic valve B (224) is arranged on branch C, and an electromagnetic valve C (225) is arranged on branch D, the energy storage oil tank (212) and the low-pressure oil tank (211) are connected through a pipeline, and an electromagnetic valve F (228) is arranged on the pipeline; one end of the motor pump group A is connected with the low-pressure oil tank (211) through a pipeline, and the other end of the motor pump group A is connected with the low-pressure cavity (210) through a pipeline; the rear end of the pressure-resistant cylinder body (216) is provided with a connector (218).

3. The bottom resting subsea robot of claim 2, wherein: The oil bag (101) is provided with an oil bag outer end cover (103) at the edge, the oil bag outer end cover (103) is circular annular, the axial section is inverted "U" shape, the edge of the oil bag (101) is contained in the opening of the "U" shape; the inner side of the oil bag outer end cover (103) is provided with an internal pressing disc (102), the outer side of the oil bag outer end cover (103) is provided with an internal tensioning plate (104), the internal tensioning plate (104) is bolted with the internal pressing disc (102), and then the oil bag outer end cover (103) is extruded outward in the radial direction, the oil bag outer end cover (103) is clamped at the stop opening of the outer edge of the internal pressing disc (102) and the internal tensioning plate (104), and the oil bag (101) is clamped.

4. The bottom resting subsea robot of claim 3, wherein: The middle part of the internal pressing disc (102) extends outward in the axial direction to form a protrusion (106), a stepped through hole (107) is formed in the protrusion (106) in the axial direction, one end of the stepped through hole (107) with a large diameter is threadedly connected with a flow guide plug (105), and the other end of the stepped through hole (107) with a small diameter is communicated with a high-pressure cavity (209) in an oil tank cylinder (203) through an adapter oil nozzle (202); the axial section of the flow guide plug (105) is "T" shape, the vertical edge of the "T" shape is threadedly connected with one end of the stepped through hole (107) with a large diameter, a central hole (108) is formed in the flow guide plug (105) in the axial direction, the central hole (108) is communicated with one end of the stepped through hole (107) with a large diameter, and a plurality of through holes (109) are uniformly formed in the vertical edge of the "T" shape in the circumferential direction, and each through hole (109) is communicated with the central hole (108).

5. The bottom resting subsea robot of claim 2, wherein: The T-shaped cross-section piston (204) is provided with a gas cavity (208) between the T-shaped cross-section piston (204) and the high-pressure cavity (209), the gas cavity (208) is a stroke space of the T-shaped cross-section piston (204), the gas cavity (208) is provided with a gas chamber (207) which is not in the stroke range of the T-shaped cross-section piston (204), the gas chamber (207) is provided with a motor C (236) and a bidirectional air pump (237), and the bidirectional air pump (237) is used for communicating the gas chamber (237) and the pressure-resistant cylinder (216).

6. The bottom resting subsea robot of claim 2, wherein: The motor pump group A comprises a motor A (220) and a low-pressure pump A (221), the output shaft of the motor A (220) is connected with the low-pressure pump A (221) through a shaft coupling and drives the low-pressure pump A (221) to work, one end of the low-pressure pump A (221) is communicated with a low-pressure tank (211) through a pipeline, and the other end of the low-pressure pump A (221) is communicated with a low-pressure cavity (210) through a pipeline and is provided with a one-way valve B (215) on the pipeline, which can only flow to the low-pressure cavity (210); the motor pump group B comprises a motor B (222) and a low-pressure pump B (234), the output shaft of the motor B (222) is connected with the low-pressure pump B (234) through a shaft coupling and drives the low-pressure pump B (234) to work, one end of the low-pressure pump B (234) is communicated with an oil bag (101) through a pipeline and is provided with an electromagnetic valve A (223) on the pipeline, and the other end of the low-pressure pump B (134) is communicated with a high-pressure cavity (209) through a pipeline and is provided with a one-way valve A (235) on the pipeline, which can only flow to the high-pressure cavity (209).

7. The bottom resting subsea robot of claim 2, wherein: A damping hole A (232) is arranged on the pipeline between the electromagnetic valve D (226) and the oil bag (101), and a damping hole B (233) is arranged on the pipeline between the electromagnetic valve F (228) and the low-pressure tank (211).

8. The bottom resting subsea robot of claim 1, wherein: The Z-direction centroid adjusting mechanism I (6) and the Z-direction centroid adjusting mechanism II (12) are the same in structure and each comprises a bottom fixing plate (601), a lifting plate (602), a Z-direction counterweight (603), a lifting guide rod (604), a lifting mechanism support (605), a top fixing plate (607) and a lifting drive module, the lifting mechanism support (605) is fixedly connected with the pressure-resistant sealed cabin body (8), the top fixing plate (607) and the bottom fixing plate (601) are connected at the top and the bottom of the lifting mechanism support (605) respectively, the top fixing plate (607) and the bottom fixing plate (601) are connected through the lifting guide rod (604), the lifting plate (602) is slidably connected with the lifting guide rod (604), the Z-direction counterweight (603) is arranged on the lifting plate (602), the lifting drive module is arranged between the top fixing plate (607) and the bottom fixing plate (601) and connected with the lifting plate (602), and the lifting drive module is used for driving the lifting plate (602) and the Z-direction counterweight (603) to lift.

9. The bottom resting subsea robot of claim 8, wherein: The lifting drive module comprises a lifting drive screw rod (606), a drive motor (609) and a belt transmission assembly, the lifting drive screw rod (606) is threadedly connected with a lifting plate (602), and the two ends of the lifting drive screw rod (606) are rotationally connected with a top fixed plate (607) and a bottom fixed plate (601) respectively, the drive motor (609) is arranged on the top fixed plate (607) and the output end thereof is connected with the lifting drive screw rod (606) through the belt transmission assembly, and the drive motor (609) drives the lifting drive screw rod (606) to rotate through the belt transmission assembly, so as to drive the lifting plate (602) to lift.

10. The bottom-resident underwater robot of claim 1, wherein: The X-direction centroid adjustment mechanism (11) comprises an X-direction centroid adjustment support seat, an X-direction centroid drive module and a main battery (9), the X-direction centroid adjustment support seat is slidably connected with the pressure-resistant sealed cabin body (8) in the circumferential direction through a rotary sliding block (1107), and the main battery (9) is slidably connected with the X-direction centroid adjustment support seat; the X-direction centroid drive module is arranged on the X-direction centroid adjustment support seat and connected with the main battery (9), the X-direction centroid drive module is used for driving the main battery (9) to move in the X direction, and the main battery (9) has a V-shaped notch on the outer circumference.

11. The bottom-resident underwater robot of claim 10, wherein: The X-direction centroid drive module comprises an X-direction centroid drive motor (1103), a shaft coupling (1104) and an X-direction drive screw (1105), the X-direction centroid drive motor (1103) is arranged on one side of the X-direction centroid adjustment support seat, the output end of the X-direction centroid drive motor (1103) is connected with one end of the X-direction drive screw (1105) through the shaft coupling (1104), the X-direction drive screw (1105) penetrates the center of the main battery (9) in the X direction and is threadedly connected with the main battery (9), and the other end of the X-direction drive screw (1105) is rotationally connected with the other side of the X-direction centroid adjustment support seat; the X-direction centroid drive motor (1103) drives the X-direction drive screw (1105) to rotate, so as to drive the main battery (9) to move in the X direction.

12. The bottom-resident underwater robot of claim 10, wherein: The X-direction centroid adjustment support seat comprises an X-direction motor support frame (1101), a slide rail support seat (1108), a slide rail (1109) and an X-direction centroid adjustment support frame (1110), the X-direction motor support frame (1101) and the X-direction centroid adjustment support frame (1110) are arranged at the two ends of the slide rail support seat (1108) respectively, the slide rail (1109) is arranged in the X direction, the two ends of the slide rail (1109) are connected with the X-direction motor support frame (1101) and the X-direction centroid adjustment support frame (1110) respectively, and the slide rail (1109) is connected with the main battery (9) through a sliding block; the rotary sliding block (1107) is arranged on the slide rail support seat (1108).

13. The bottom-resident underwater robot of claim 1, wherein: The three-degree-of-freedom mass center adjusting mechanism (B) further comprises a brake mechanism, the brake mechanism comprising a brake motor (1106), a brake stop support (1111), a screw rod shaft (1112), a shaft displacement nut (1113) and a brake disc (1114), the brake stop support (1111) being arranged on one side of the X-direction mass center adjusting support seat and connected with the pressure-resistant sealed cabin body (8); the brake motor (1106) is arranged on the X-direction mass center adjusting support seat, and the output end of the brake motor (1106) is provided with the screw rod shaft (1112), the screw rod shaft (1112) is threadedly connected with the shaft displacement nut (1113), the shaft displacement nut (1113) penetrates the arc-shaped guide groove (1116) provided on the brake stop support (1111) and is connected with the brake disc (1114); the brake motor (1106) drives the screw rod shaft (1112) to rotate, thereby driving the brake disc (1114) to tightly hold the brake stop support (1111) through the shaft displacement nut (1113).

14. The bottom-resident underwater robot of claim 1, wherein: The Y-direction mass center adjusting mechanism (7) comprises a Y-direction mass center driving fixed support (701), a Y-direction mass center driving motor (702), a driving rotary gear (703) and a rotary driven inner gear ring (704), the Y-direction mass center driving fixed support (701) being connected with the pressure-resistant sealed cabin body (8), the Y-direction mass center driving motor (702) being arranged on the Y-direction mass center driving fixed support (701), and the output end of the Y-direction mass center driving motor (702) being connected with the driving rotary gear (703), the rotary driven inner gear ring (704) being arranged on the X-direction mass center adjusting mechanism (11), and the rotary driven inner gear ring (704) being engaged with the driving rotary gear (703); the Y-direction mass center driving motor (702) drives the driving rotary gear (703) to rotate, thereby driving the X-direction mass center adjusting mechanism (11) to rotate along the circumference through the rotary driven inner gear ring (704).

15. The bottom-resident underwater robot of claim 1, wherein: The cabin door unfolding assembly comprises a fixed base frame (16), fixed vertical plates (17), a cabin door unfolding driving motor structure and a connecting rod swing arm structure, two of the fixed vertical plates (17) are respectively fixedly connected to the fixed base frame (16), the cabin door unfolding driving motor structure has a fixed end and a driving end, the fixed end of the cabin door unfolding driving motor structure is arranged on one of the fixed vertical plates (17), the connecting rod swing arm structure is arranged between the two fixed vertical plates (17), and one end of the cabin door (14) is connected with the connecting rod swing arm structure, respectively. The driving end of the cabin door unfolding driving motor structure drives the corresponding cabin door (14) to first extend out of the cabin door opening of the bottom plate and then swing to open the cabin door opening of the bottom plate through the connecting rod swing arm structure.

16. The bottom-resident underwater robot of claim 15, wherein: Each of the fixed vertical plates (17) is provided with an h-shaped guide slot (1701), the h-shaped guide slots (1701) on the two fixed vertical plates (17) are of the same size and are in corresponding positions, and each of the h-shaped guide slots (1701) is divided into a vertically long groove part and a lateral circular-arc curved groove part which are in communication; The link swing arm structure comprises a driving link (18), an executing link (19), cabin door connecting swing arms (20), an upper synchronous pin shaft (21) and a lower sliding pin shaft (22), one end of the driving link (18) is fixedly connected with a driving end of a cabin door unfolding driving motor structure, one end of the executing link (19) is hingedly connected with the other end of the driving link (18), the other end of the executing link (19) is hingedly connected with the upper synchronous pin shaft (21), the cabin door connecting swing arms (20) are provided in two, one end of each of the two cabin door connecting swing arms (20) is fixedly connected with one end of a corresponding cabin door (14), the other end of each of the two cabin door connecting swing arms (20) is penetrated by the upper synchronous pin shaft (21), and each of the cabin door connecting swing arms (20) is further provided with one lower sliding pin shaft (22), the upper synchronous pin shaft (21) penetrates the h-shaped guide slots (1701) of the two fixed vertical plates (17), and each of the lower sliding pin shafts (22) penetrates a corresponding h-shaped guide slot (1701). When the cabin door (14) is in a state of being closed and the bottom plate is extended out of the cabin door opening, the upper synchronous pin shaft (21) is driven by the driving end of the cabin door unfolding driving motor structure, the driving link (18) and the executing link (19) to move to the top end of the vertically long groove part of the h-shaped guide slot (1701), at this time, the two lower sliding pin shafts (22) are respectively located at the intersection of the vertically long groove part and the lateral circular-arc curved groove part of each h-shaped guide slot (1701); when the cabin door (14) is in a state of being extended out of the bottom plate and not unfolded, the upper synchronous pin shaft (21) is driven by the driving end of the cabin door unfolding driving motor structure, the driving link (18) and the executing link (19) to move to the intersection of the vertically long groove part and the lateral circular-arc curved groove part of the h-shaped guide slot (1701), at this time, the two lower sliding pin shafts (22) are respectively located at the bottom end of the vertically long groove part of the corresponding h-shaped guide slot (1701); when the cabin door (14) is in a state of being extended out of the bottom plate and unfolded to the limit position, the upper synchronous pin shaft (21) is driven by the driving end of the cabin door unfolding driving motor structure, the driving link (18) and the executing link (19) to move to the bottom end of the lateral circular-arc curved groove part of the h-shaped guide slot (1701), at this time, the two lower sliding pin shafts (22) are still respectively located at the bottom end of the vertically long groove part of the corresponding h-shaped guide slot (1701), and each cabin door connecting swing arm (20) is driven to swing, and the cabin door (14) is driven to unfold by each cabin door connecting swing arm (20).

17. The bottom-resident underwater robot of claim 16, wherein: The hatch door unfolding driving motor structure comprises a driving motor A (23), a motor fixed outer cylinder A (24), a motor sealing cylinder A (25), and a motor adapter fixing plate (26). One end of the motor fixed outer cylinder A (24) is connected with one end of the motor sealing cylinder A (25). The housing of the driving motor A (23) is located inside the motor fixed outer cylinder A (24) and is fixedly connected with the motor fixed outer cylinder A (24). The driving shaft of the driving motor A (23) is connected with one end of the driving connecting rod (18) and is used as the driving end of the hatch door unfolding driving motor structure. The motor sealing cylinder A (25) is provided with a sealing joint mounting port A (2501) and an oil pipe connecting port A (2502). The sealing joint mounting port A (2501) is used for mounting a sealing joint A. The sealing joint A is connected with the driving motor A (23) through wires and is also used for being connected with the control system of the AUV. The oil pipe connecting port A (2502) is used for being connected with an external oil pressure balancing device and is filled with oil in the whole inside of the motor sealing cylinder A (25) and the motor fixed outer cylinder A (24) to realize the external pressure balance protection and the insulation protection of the driving motor A (23). The other end of the motor fixed outer cylinder A (24) is provided with a connecting flange part A. The connecting flange part A is connected with the motor adapter fixing plate (26) through screws.

18. The bottom-resident underwater robot of claim 17, wherein: One end of the motor fixed outer cylinder A (24) is connected with one end of the motor sealing cylinder A (25) through at least two radially arranged fixed pins A (27). The joint between one end of the motor fixed outer cylinder A (24) and one end of the motor sealing cylinder A (25) is provided with a sealing ring A (28). The joint between the connecting flange part A and the motor adapter fixing plate (26) is provided with a sealing ring B (29). The motor adapter fixing plate (26) is provided with a lip-type dynamic sealing installation groove A. The lip-type dynamic sealing installation groove A is embedded with a lip-type dynamic sealing A (30). The lip-type dynamic sealing installation groove A is also screwed with a dynamic sealing compression nut A (31). The dynamic sealing compression nut A (31) compresses the lip-type dynamic sealing A (30) in the lip-type dynamic sealing installation groove A. The driving shaft of the driving motor A (23) also passes through the lip-type dynamic sealing A (30) and the dynamic sealing compression nut A (31).

19. The bottom-resident underwater robot of claim 1, wherein: The bottom plate telescopic drive assembly comprises a telescopic drive motor structure, an outer fixed cylinder (32), an inner thread screw sleeve (33), a screw rod (34), a bottom plate support (35), and a bottom plate support adapter (36). The upper end of the screw rod (34) is rotationally arranged in the outer fixed cylinder (32). The telescopic drive motor structure is used to drive the screw rod (34) to rotate. The lower end of the screw rod (34) is provided with external threads. The inner thread screw sleeve (33) is located in the outer fixed cylinder (32). The inner hole of the inner thread screw sleeve (33) is provided with internal threads matched with the external threads of the screw rod (34). The external threads of the screw rod (34) and the internal threads of the inner thread screw sleeve (33) are self-locking threads. The inner thread screw sleeve (33) is connected with the screw rod (34) through threads. The axis of the outer fixed cylinder (32), the axis of the inner thread screw sleeve (33), and the axis of the screw rod (34) are collinear. At least one sliding key (37) is embedded on the outer side surface of the upper part of the inner thread screw sleeve (33). The inner wall of the outer fixed cylinder (32) is provided with sliding key grooves corresponding to the sliding keys (37) for the sliding keys (37) to pass through. The lower end of the inner thread screw sleeve (33) passes out of the lower end of the outer fixed cylinder (32). The bottom plate support adapter (36) is installed at the lower end of the inner thread screw sleeve (33) and located below the screw rod (34). The upper end of the bottom plate support (35) is fixedly connected with the bottom plate support adapter (36). The lower end of the bottom plate support (35) is fixedly connected with the bottom plate (15).

20. The bottom-resident underwater robot of claim 19, wherein: The upper end of the outer fixed cylinder (32) is connected with the housing of a corner turner (38). The housing of the corner turner (38) is connected with the outside of the telescopic drive motor structure through a motor adapter mounting sleeve (39). The input shaft of the corner turner (38) is connected with the driving end of the telescopic drive motor structure. The output shaft of the corner turner (38) is connected with the upper end of the screw rod (34). The lower end of the outer fixed cylinder (32) is provided with a branch flange (40). The lower end of the inner thread screw sleeve (33) passes out of the inner hole of the branch flange (40). The inner hole wall of the branch flange (40) is sequentially provided with an annular guide belt (41) and a dustproof ring (42) from top to bottom.

21. The bottom-resident underwater robot of claim 20, wherein: The outer part of the outer fixed cylinder (32) is respectively formed with an upper connecting seat part (3201) and a lower connecting seat part (3202), the upper connecting seat part (3201) is located on the upper side of the lower connecting seat part (3202), the upper connecting seat part (3201) and the lower connecting seat part (3202) are respectively provided with corresponding adjusting pads (43), the upper connecting seat part (3201) and the adjusting pad (43) corresponding to the upper connecting seat part (3201) are jointly fixed on the frame in the buoyancy material shell (E) through screws, and the lower connecting seat part (3202) and the adjusting pad (43) corresponding to the lower connecting seat part (3202) are jointly fixed on the frame in the buoyancy material shell (E) through screws; the inner part of the outer fixed cylinder (32) is provided with a plurality of ceramic bearings (44) corresponding to the upper end of the lead screw (34), and each ceramic bearing (44) is rotatably connected with the upper end of the lead screw (34); the bottom of the bottom plate support adapter (36) is provided with a limiting clamping groove (3601), and the upper end of the bottom plate support (35) is clamped into the limiting clamping groove (3601) of the bottom plate support adapter (36) and is fixed with the bottom plate support adapter (36) through screws.

22. The bottom-resident underwater robot of claim 21, wherein: The telescopic drive motor structure includes a drive motor B (45), a motor fixed outer cylinder B (46), and a motor sealing cylinder B (47). One end of the motor fixed outer cylinder B (46) is connected with one end of the motor sealing cylinder B (47). The housing of the drive motor B (45) is located in the interior of the motor fixed outer cylinder B (46) and is fixed with the motor fixed outer cylinder B (46). The drive shaft of the drive motor B (45) passes through the motor adapter mounting sleeve (39) as the driving end of the telescopic drive motor structure and is fixed with the input shaft of the corner device (38). The motor sealing cylinder B (47) is provided with a sealing joint mounting port B and an oil pipe connecting port B. The sealing joint mounting port B is used for mounting a sealing joint B. The sealing joint B is connected with the drive motor B (45) through wires and is also used for connecting with the control system of the AUV. The oil pipe connecting port B is used for communicating with an external oil pressure balancing device and filling oil in the interior of the whole motor sealing cylinder B (47) and the motor fixed outer cylinder B (46) to realize external pressure balance protection and insulation protection of the drive motor B (45). The other end of the motor fixed outer cylinder B (46) is formed with a connecting flange part B. The connecting flange part B is connected with the motor adapter mounting sleeve (39) through screws. One end of the motor fixed outer cylinder B (46) is connected with one end of the motor sealing cylinder B (47) through at least two radially arranged fixed pins B, a sealing ring C is arranged at the joint between one end of the motor fixed outer cylinder B (46) and one end of the motor sealing cylinder B (47), a sealing ring D is arranged at the joint between the connecting flange part B and the motor adapter mounting sleeve (39), a lip-type dynamic sealing mounting groove B is formed in the motor adapter mounting sleeve (39), a lip-type dynamic seal B is embedded in the lip-type dynamic sealing mounting groove B, and a dynamic sealing compression nut B is threadedly connected in the lip-type dynamic sealing mounting groove B, the dynamic sealing compression nut B compresses the lip-type dynamic seal B in the lip-type dynamic sealing mounting groove B, and the drive shaft of the driving motor B (45) also passes through the lip-type dynamic seal B and the dynamic sealing compression nut B.

23. The bottom-resident underwater robot of claim 1, wherein: The vector propulsion mechanism (49) comprises a propulsion driving device (4901), a propulsion mounting seat (4902) and a propulsion sliding block (4903), the propulsion sliding block (4903) is slidingly arranged in the propulsion mounting seat (4902), the lower end of the vector moving frame (4909) is fixedly connected with the propulsion sliding block (4903), the propulsion driving device (4901) is fixedly arranged on the frame bottom plate (49091), the propulsion sliding block (4903) is internally provided with a propulsion gear (4904), the power shaft (49011) of the propulsion driving device (4901) passes through the frame bottom plate (49091) and is inserted into the propulsion sliding block (4903) and fixedly connected with the propulsion gear (4904), and one side of the propulsion mounting seat (4902) is provided with a propulsion rack (4905), and the propulsion gear (4904) is engaged with the propulsion rack (4905).

24. The bottom-resident underwater robot of claim 23, wherein: The propulsion mounting seat (4902) is internally provided with a sliding rail (4906), the propulsion sliding block (4903) is provided with a sliding groove matched with the sliding rail (4906); the propulsion driving device (4901) is provided with a sealing flange (4910), and the sealing flange (4910) is fixedly arranged on the frame bottom plate (49091); the propulsion sliding block (4903) is internally provided with a gear groove accommodating the propulsion gear (4904), and the upper side of the gear groove is sealed by a sliding block cover plate (49031), and the power shaft (49011) of the propulsion driving device (4901) passes through the frame bottom plate (49091) and the sliding block cover plate (49031) in sequence and is fixedly connected with the propulsion gear (4904).

25. The bottom-resident underwater robot of claim 1, wherein: The rotary drive device (5001) in the swash plate rotary mechanism (50) is installed on the vector moving frame (4909), the rear side of the rotary swash plate (5002) is provided with a swash plate connecting shaft (50021) and is fixedly connected with the power end of the rotary drive device (5001); the rotary swash plate (5002) is provided with a swash plate hinged seat (50022), the propeller connecting shaft (5102) is provided with a connecting shaft hinged seat (51021), the rear end of the swing angle adjusting device (5101) is hinged with the swash plate hinged seat (50022), and the front end is hinged with the connecting shaft hinged seat (51021).

26. The bottom-resident underwater robot of claim 1, wherein: The universal joint (5103) of the swing angle adjusting mechanism (51) is sleeved with a first joint sleeve (5104) on one side and a second joint sleeve (5105) on the other side, one end of the first joint sleeve (5104) is provided with a first front flange (51041), the other end is provided with a first rear flange (51042), the second joint sleeve (5105) is provided with a second flange (51051), the first rear flange (51042) is fixedly connected with the universal joint mounting seat (50023) provided on the rotary swash plate (5002), the first front flange (51041) is fixedly connected with the second flange (51051), and the inner walls of the first joint sleeve (5104) and the second joint sleeve (5105) and the universal joint (5103) are both provided with guide sliding members (5106) with grease grooves (51061).

27. The bottom-resident underwater robot of claim 1, wherein: The gate mechanism (52) comprises a gate mounting plate (5201), a gate plate connecting rod (5202), an annular internal gear rack (5204) and a gate drive device (5205), the annular internal gear rack (5204) is rotationally arranged on the outer edge of the gate mounting plate (5201), the gate drive device (5205) is fixedly arranged on the gate mounting plate (5201), and an internal gear (5207) is arranged on the output shaft of the gate drive device (5205) and is engaged with the annular internal gear rack (5204); a plurality of arc-shaped guide grooves (52011) are uniformly distributed on the edge of the gate mounting plate (5201) along the circumferential direction, the outer end of the gate plate connecting rod (5202) is provided with a connecting rod sliding shaft (52021), and the connecting rod sliding shaft (52021) is fixedly connected with the annular internal gear rack (5204) after penetrating through the corresponding guide groove (52011); one end of the outer side of the gate door plate (5203) is hinged with the inner end of the corresponding gate plate connecting rod (5202) through a first gate plate hinge shaft (52032), and the other end of the outer side is rotationally installed on the gate mounting plate (5201) through a second gate plate hinge shaft (52031); the middle part of the gate mounting plate (5201) is provided with a through hole for the propeller (53) to enter and exit, and the through hole is closed and plugged by each gate door plate (5203).

28. The bottom-resident underwater robot of claim 27, wherein: The gate door plate (5203) is in a fan shape structure, and an outer arc-shaped one end of the gate door plate (5203) is hinged to an inner end of a corresponding door plate connecting rod (5202) through a first door plate hinge shaft (52032), and an outer arc-shaped other end of the gate door plate (5203) is rotatably installed on a gate installation plate (5201) through a second door plate hinge shaft (52031); when each gate door plate (5203) is closed, an inner side corner end of each gate door plate (5203) forms an axle hole (52033) for a propeller connecting shaft (5102) to pass through; the gate installation plate (5201) is provided with a mounting seat (5206), and a gate driving device (5205) is fixedly arranged on the mounting seat (5206); a rotating connecting element is arranged between the annular inner rack (5204) and the gate installation plate (5201).

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