Underwater mobile robot based on underwater acoustic communication technology

Abstract

This invention belongs to the field of marine engineering technology, specifically an underwater mobile robot based on underwater acoustic communication technology. Addressing the problem that fish-like underwater robots are prone to entanglement and sensor failure due to sediment buildup in complex and turbid waters, severely hindering their maneuverability, the following solution is proposed: The robot includes a fish-shaped shell with a fish head fixedly connected to one side. A motorized auxiliary module, including a mounting plate, is located on one side of the fish head. A tail-swinging mechanism is provided at the tail of the fish-shaped shell. This invention discloses an underwater mobile robot based on underwater acoustic communication technology that can actively remove entangled materials through a movable cutting blade in the motorized auxiliary module, preventing system failure. It also features an automatic cleaning function to keep sensors clean, ensuring stable image quality and significantly reducing maintenance requirements.

Description

Technical Field

[0001] This invention relates to the field of marine engineering technology, and in particular to an underwater mobile robot based on underwater acoustic communication technology. Background Technology

[0002] Robotics and other key technologies have been widely applied in various fields such as aviation and manufacturing. With the increasing demand for marine resource development and the advancement of robotics technology, underwater robots adapted to various unstructured environments have also developed rapidly. Robotic fish are a new type of underwater probe based on biomimicry, imitating the shape and movement patterns of fish to achieve the high efficiency and speed of fish movement. They overcome the shortcomings of traditional propeller-driven underwater robots, such as high noise, low efficiency, high energy consumption, and poor biomimicry. They have significant research value in terms of propulsion efficiency and maneuverability, and have become one of the research hotspots in underwater probes in recent years.

[0003] Existing fish-inspired underwater robots perform well in clear waters. However, in complex waters with high sediment content, turbidity, and abundant aquatic plants, fishing nets, and branches, they are easily entangled by fibrous aquatic plants and discarded fishing nets, causing their power systems to fail. At the same time, their core camera sensors will quickly fail due to the adhesion of sediment particles, resulting in data distortion, which is not conducive to their underwater maneuvering operations. Summary of the Invention

[0004] This invention discloses an underwater mobile robot based on underwater acoustic communication technology, aiming to solve the technical problems of fish-like underwater robots in the background art, which are easily entangled in complex and turbid waters and whose sensors are easily malfunctioning due to mud and sand adhesion, seriously hindering their maneuverability.

[0005] This invention proposes an underwater mobile robot based on underwater acoustic communication technology, comprising a fish-shaped shell, a fish head fixedly connected to one side of the shell, and a motorized auxiliary module including a mounting plate on one side of the fish head. A tail-swinging mechanism is provided at the tail of the shell. A placement frame is fixedly connected to one side of the shell, and a lithium battery is housed inside the frame. A support rail is fixedly connected to one side of the fish head, and two tooling travel frames are slidably connected to the outside of the support rail. Each tooling travel frame has mounting holes on both sides, and the interiors of these mounting holes are designed for sliding... The moving connection includes a limiting travel wheel, which slides inside the support rail. Two locking blocks are fixedly connected to one side of each of the two tooling travel frames, and a common moving chain is fixedly connected to one side of each locking block. Tooling support plates are bolted to one side of each of the two tooling support plates, and cutting blades are fixedly connected to one side of each tooling support plate. Two mounting holes are opened on one side of the fish head, and rotating cylinders are connected to the interior of each mounting hole via bearings. A linkage toothed plate is fixedly connected to one end of each of the two rotating cylinders, and the toothed end of the linkage toothed plate meshes with the moving chain. One side of the mounting plate... A drive motor is fixedly connected to the side of the fish head. The drive end of the drive motor is connected to the other end of one of the rotating cylinders via a coupling. A camera sensor is installed on one side of the fish head. A circular groove is opened on one side of the fish head, and a water-drumming frame is connected to the inside of the circular groove via a bearing. The water-drumming frame surrounds the outside of the camera sensor. A mounting port is opened on one side of the water-drumming frame, and a hollow arc-shaped cleaning frame is fixedly connected inside the mounting port. The water-drumming end of the hollow arc-shaped cleaning frame is at the same horizontal plane as the camera end of the camera sensor. A pump body is fixedly connected to the inside of the fish head, and the water-drumming end of the pump body is connected to the circular groove via a pressurization pipe. Inside the chute, a sieve opening is provided on one side of the fish head. A sieve cover plate is bolted to one side of the sieve opening. Pullers are fixedly connected to the outside of the water-blowing circular frame and one of the rotating cylinders. The two pulleys are slidably connected to the outside of the same linkage belt. A tooling block is fixedly connected to one side of the water-blowing circular frame. An adjustment hole is provided on one side of the tooling block. An adjustment cylinder is connected to the inside of the adjustment hole through a bearing. An angle adjustment frame is fixedly connected to the outside of the adjustment cylinder. A cleaning brush plate is provided on the angle adjustment frame. A universal motor is fixedly connected to one side of the tooling block. The drive end of the universal motor is connected to one end of the adjustment cylinder through a coupling.

[0006] In a preferred embodiment, quick-change modules are provided on both sides of the fish head, and the quick-change modules include a placement circular plate, which is fixedly connected to one side of the fish head. A tooling circular frame one is fixedly connected to one side of the placement circular plate, a tooling circular frame two is fixedly connected to one side of the tooling circular frame one, and an electric telescopic cylinder is fixedly connected to one side of the placement circular plate. An adjusting circular plate is fixedly connected to the drive end of the electric telescopic cylinder, and the same telescopic spring is fixedly connected to the opposite side of the adjusting circular plate and the placement circular plate. The telescopic spring is located outside the electric telescopic cylinder.

[0007] In a preferred embodiment, the outer side of the tooling frame is provided with an annular slot, and the interior of each slot is connected to a rotating rod via a bearing. Each rotating rod is fixedly connected to a pressure arm, and each pressure arm is fixedly connected to one side of two sliding columns.

[0008] In a preferred embodiment, one side of the adjusting disc has a second slot in an annular shape, and the interior of each of the multiple slots is connected to a rotating block via a bearing. Each of the multiple rotating blocks has two limiting cylinders fixedly connected to one side. A sliding column slides inside the limiting cylinder, and the same limiting spring is fixedly connected to the opposite side of the sliding column and the limiting cylinder.

[0009] In a preferred embodiment, the outer side of the tooling circular frame two is provided with a limiting slide in an annular shape, and the interior of each limiting slide is slidably connected with an arc-shaped clamping seat. The outer side of the tooling circular frame two is fixedly connected with a U-shaped support frame in an annular shape. An airbag one is fixedly connected to one side of the U-shaped support frame. One side of the airbag one is fixedly connected to one side of the arc-shaped clamping seat. A return spring is fixedly connected to one side of the airbag one. One side of the return spring is fixedly connected to one side of the arc-shaped clamping seat. A sensor body is placed inside the tooling circular frame two. The exterior of the sensor body abuts against the clamping end of the arc-shaped clamping seat.

[0010] In a preferred embodiment, the outer side of the tooling circular frame two is fixedly connected with connecting plates in a ring shape, and each of the multiple connecting plates has an installation port on one side. Each of the multiple installation ports is fixedly connected with an airbag two. The air outlet of the airbag two is connected to the inside of the airbag one through an air inflator. One end of the pressure arm is connected to a pressure seat through a bearing. The pressure end of the pressure seat is fixedly connected to one end of the airbag two. A connector is provided on the side where the circular plate is placed.

[0011] As can be seen from the above, the underwater mobile robot based on underwater acoustic communication technology provided by the present invention has the beneficial effects of actively removing entangled objects through the movable cutting blade of the motorized auxiliary module, preventing system failure, and having an automatic cleaning function to keep the sensor clean, ensuring stable image quality, and significantly reducing maintenance requirements. Attached Figure Description

[0012] Figure 1 This is a schematic diagram of the main structure of an underwater mobile robot based on underwater acoustic communication technology proposed in this invention.

[0013] Figure 2 This is a schematic diagram of the tail swing mechanism of an underwater mobile robot based on underwater acoustic communication technology proposed in this invention.

[0014] Figure 3This is a schematic diagram of the structure of a motion assistance module for an underwater mobile robot based on underwater acoustic communication technology, as proposed in this invention.

[0015] Figure 4 This is a schematic diagram of the motor assistance module of an underwater mobile robot based on underwater acoustic communication technology proposed in this invention.

[0016] Figure 5 This is a schematic diagram of the cutting blade part of an underwater mobile robot based on underwater acoustic communication technology proposed in this invention.

[0017] Figure 6 This is a schematic diagram of the water-drumming circular frame structure of an underwater mobile robot based on underwater acoustic communication technology proposed in this invention.

[0018] Figure 7 for Figure 6 A magnified structural diagram of part A;

[0019] Figure 8 This is a schematic diagram of a quick-change module structure for an underwater mobile robot based on underwater acoustic communication technology proposed in this invention.

[0020] Figure 9 This is a schematic diagram of the quick-change module structure of an underwater mobile robot based on underwater acoustic communication technology proposed in this invention.

[0021] Figure 10 This is a schematic diagram of the arc-shaped clamping base of an underwater mobile robot based on underwater acoustic communication technology proposed in this invention.

[0022] In the diagram: 1. Fish body shell; 2. Fish head; 3. Tail swinging mechanism; 4. Motorized auxiliary module; 401. Load-bearing track; 402. Screen cover plate; 403. Pump body; 404. Pressurized pipeline; 405. Rotating cylinder; 406. Linkage toothed plate; 407. Tooling travel frame; 408. Locking block; 409. Limiting travel wheel; 410. Cutting blade; 411. Moving chain; 412. Drive motor; 413. Tooling support plate; 414. Water-blowing circular frame; 415. Linkage belt; 416. Hollow arc-shaped cleaning frame; 417. Tooling block; 418. Adjusting cylinder; 419. Angle adjustment frame; 420. Cleaning brush plate; 421. General motor; 422. 5. Mounting plate; 6. Quick-change module; 7. Placement plate; 8. Connector; 9. Tooling frame one; 10. Sensor body; 11. Tooling frame two; 12. U-shaped support frame; 13. Electric telescopic cylinder; 14. Adjustment plate; 15. Telescopic spring; 16. Arc-shaped clamping seat; 17. Airbag one; 18. Reset spring; 19. Connecting plate; 20. Inflator pipe; 21. Airbag two; 32. Rotating rod; 43. Pressure arm; 54. Pressure seat; 55. Rotating block; 64. Limiting cylinder; 75. Limiting spring; 86. Sliding column; 9. Placement frame; 10. Lithium battery; 11. Camera sensor. Detailed Implementation

[0023] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0024] The underwater mobile robot disclosed in this invention, based on underwater acoustic communication technology, is mainly applied to scenarios where fish-like underwater robots are easily entangled in complex and turbid waters, and their sensors are prone to failure due to mud and sand adhesion, which seriously hinders their maneuverability.

[0025] Reference Figures 1-7An underwater mobile robot based on underwater acoustic communication technology includes a fish-shaped shell 1. A fish head 2 is fixedly connected to one side of the fish-shaped shell 1, and a motorized auxiliary module 4 is provided on one side of the fish head 2. The motorized auxiliary module 4 includes a mounting plate 422. A tail swing mechanism 3 is provided at the tail of the fish-shaped shell 1. A placement frame 6 is fixedly connected to one side of the inside of the fish-shaped shell 1, and a lithium battery 7 is placed inside the placement frame 6. A support rail 401 is fixedly connected to one side of the fish head 2, and two tooling walking frames 407 are slidably connected to the outside of the support rail 401. The two tooling walking frames 407 have mounting holes on both sides, and limit wheels 409 are slidably connected inside the multiple mounting holes. Inside the track of the bearing track 401, two locking blocks 408 are fixedly connected to one side of each of the two tooling travel frames 407, and the same moving chain 411 is fixedly connected to one side of each of the multiple locking blocks 408. Tooling support plates 413 are bolted to one side of each of the two tooling travel frames 407, and cutting blades 410 are fixedly connected to one side of each of the two tooling support plates 413. Two mounting holes are opened on one side of the fish head 2, and rotating cylinders 405 are connected to the inside of each of the two mounting holes through bearings. Linkage tooth plates 406 are fixedly connected to one end of each of the two rotating cylinders 405. The toothed end of the linkage tooth plate 406 meshes with the moving chain 411. A drive motor 4 is fixedly connected to one side of the mounting plate 422. 12. The drive end of the drive motor 412 is connected to the other end of one of the rotating cylinders 405 via a coupling. A camera sensor 8 is provided on one side of the fish head 2. A circular groove is opened on one side of the fish head 2, and a water-drumming frame 414 is connected to the inside of the circular groove via a bearing. The water-drumming frame 414 surrounds the outside of the camera sensor 8. An installation port is opened on one side of the water-drumming frame 414, and a hollow arc-shaped cleaning frame 416 is fixedly connected inside the installation port. The cleaning water-drumming end of the hollow arc-shaped cleaning frame 416 is located on the same horizontal plane as the camera end of the camera sensor 8. A pump body 403 is fixedly connected to one side of the inside of the fish head 2, and the water-drumming end of the pump body 403 is connected to the inside of the circular groove via a pressurization pipe 404. A sieve opening is provided, and a sieve cover plate 402 is bolted to one side of the sieve opening. Pullers are fixedly connected to the exterior of the water-blowing circular frame 414 and one of the rotating cylinders 405. The two pulleys are slidably connected to the same linkage belt 415. A tooling block 417 is fixedly connected to one side of the water-blowing circular frame 414. An adjustment hole is provided on one side of the tooling block 417. An adjustment cylinder 418 is connected to the interior of the adjustment hole through a bearing. An angle adjustment frame 419 is fixedly connected to the exterior of the adjustment cylinder 418. A cleaning brush plate 420 is provided on the angle adjustment frame 419. A general-purpose motor 421 is fixedly connected to one side of the tooling block 417. The drive end of the general-purpose motor 421 is connected to one end of the adjustment cylinder 418 through a coupling.

[0026] Specifically, the tail-mounted swaying mechanism 3 simulates the swaying of a real fish tail, generating sinusoidal propulsion force through a motor drive, enabling the robot to move forward, turn, or hover efficiently in water. Compared to traditional propellers, this biomimetic propulsion method has the advantages of low noise, high efficiency, and good maneuverability. The underwater acoustic communication sensor can be installed through a quick-change module 5, which utilizes the propagation characteristics of sound waves in water to overcome the problem of rapid attenuation of radio signals underwater. The lithium battery 7 provides continuous power, supporting replacement and long-term operation. When the robot operates in waters with aquatic plants, fishing nets, or dense branches, the drive motor 412 starts, driving the robot through a coupling. A rotating cylinder 405 rotates, and the linkage toothed plate 406 at the end of the rotating cylinder 405 away from the drive motor 412 meshes with the moving chain 411, driving the moving chain 411 to circulate. The moving chain 411 connects two tooling travel frames 407 through a locking block 408, causing the tooling travel frames 407 to move synchronously along the bearing rail 401. The limiting travel wheels 409 on the tooling travel frames 407 slide inside the bearing rail 401, ensuring smooth movement and preventing derailment. The tooling support plate 413 is fixed to the tooling travel frame 407, causing the cutting blade 410 on the tooling support plate 413 to move accordingly, forming... The cutting action effectively cuts off the fibrous debris entangled in front of the fish head 2. This design allows the robot to actively clear obstacles during its forward movement, preventing the propulsion system from getting tangled. The camera sensor 8 is used for underwater image acquisition, but it is easily covered by deposits in waters with high silt content. The cleaning process is divided into two steps: water rinsing: the pump body 403 draws in filtered water from the screen cover plate 402. The screen cover plate 402 prevents large particles of impurities from entering. High-pressure water is injected into the circular groove through the pressurization pipe 404. The water-blowing circular frame 414 is connected to the circular groove through bearings and rotates under the drive of the linkage belt 415. The linkage belt 415 connects to... The water-drumming circular frame 414 and the rotating cylinder 405 are connected to achieve power transmission. The hollow arc-shaped cleaning frame 416 on the water-drumming circular frame 414 sprays high-pressure water as it rotates, which washes the mirror surface of the camera sensor 8 in a fan shape to remove mud, sand and biological attachments. Mechanical brushing: At the same time, the general motor 421 drives the adjusting cylinder 418 to rotate, which drives the angle adjusting frame 419 and the cleaning brush plate 420 to swing at a certain angle. The cleaning brush plate 420 is made of soft material to avoid scratching the sensor mirror surface. It works in conjunction with water flushing to thoroughly remove stubborn dirt. This dual cleaning mechanism can be automatically triggered during robot operation without interrupting the task.

[0027] In specific application scenarios, the cutting blade 410 of the motorized auxiliary module 4 adopts a movable design, covering the key area in front of the fish head 2. It can actively cut entangled objects such as aquatic plants and fishing nets. Compared with fixed cutters, its stroke is adjustable, adapting to obstacles of different densities and sizes, effectively preventing the propulsion system and sensors from getting tangled, and significantly reducing the failure rate. Through the combination of water flushing and mechanical brushing, the cleanliness of the camera sensor 8 is ensured. Even in turbid waters with high mud and sand content, the image acquisition quality can still meet the recognition requirements. The cleaning process is automated, requiring no external intervention, reducing the frequency of manual maintenance and improving data accuracy.

[0028] Reference Figure 1 , Figure 8 , Figure 9 and Figure 10 In a preferred embodiment, quick-change modules 5 are provided on both sides of the fish head 2, and the quick-change modules 5 include a placement circular plate 501. The placement circular plate 501 is fixedly connected to one side of the fish head 2. A tooling circular frame 1 503 is fixedly connected to one side of the placement circular plate 501. A tooling circular frame 2 505 is fixedly connected to one side of the tooling circular frame 1 503. An electric telescopic cylinder 507 is fixedly connected to one side of the placement circular plate 501. An adjusting circular plate 508 is fixedly connected to the drive end of the electric telescopic cylinder 507. The same telescopic spring 509 is fixedly connected to the opposite side of the adjusting circular plate 508 and the placement circular plate 501. The telescopic spring 509 is located outside the electric telescopic cylinder 507.

[0029] Reference Figure 1 , Figure 8 , Figure 9 and Figure 10 In a preferred embodiment, the tooling frame 503 has an annular slot on its outer side, and the interior of each slot is connected to a rotating rod 516 via a bearing. Each rotating rod 516 is fixedly connected to a pressure arm 517 on its outer side, and each pressure arm 517 is fixedly connected to one side of two sliding columns 522.

[0030] Reference Figure 1 , Figure 8 , Figure 9 and Figure 10 In a preferred embodiment, one side of the adjusting circular plate 508 is provided with a second groove in an annular shape. The interior of each of the multiple second grooves is connected to a rotating block 519 via a bearing. One side of each of the multiple rotating blocks 519 is fixedly connected to two limiting cylinders 520. A sliding column 522 slides inside the limiting cylinder 520. The same limiting spring 521 is fixedly connected to the opposite side of the sliding column 522 and the limiting cylinder 520.

[0031] Reference Figure 1 , Figure 8 , Figure 9 and Figure 10 In a preferred embodiment, the outer side of the tooling circular frame 505 is provided with a limiting slide in an annular shape, and an arc-shaped clamping seat 510 is slidably connected inside the multiple limiting slides. A U-shaped support frame 506 is fixedly connected to the outer side of the tooling circular frame 505 in an annular shape. An airbag 511 is fixedly connected to one side of the U-shaped support frame 506. One side of the airbag 511 is fixedly connected to one side of the arc-shaped clamping seat 510. A return spring 512 is fixedly connected to one side of the airbag 511. One side of the return spring 512 is fixedly connected to one side of the arc-shaped clamping seat 510. A sensor body 504 is placed inside the tooling circular frame 505. The outer side of the sensor body 504 abuts against the clamping end of the arc-shaped clamping seat 510.

[0032] Reference Figure 1 , Figure 8 , Figure 9 and Figure 10 In a preferred embodiment, the outer side of the tooling circular frame 505 is fixedly connected with a connecting plate 513 in a ring shape, and each of the multiple connecting plates 513 has an installation port on one side. Each of the multiple installation ports is fixedly connected with an airbag 515. The air outlet of the airbag 515 is connected to the inside of the airbag 511 through an air blower 514. One end of the pressure arm 517 is connected to a pressure seat 518 through a bearing. The pressure end of the pressure seat 518 is fixedly connected to one end of the airbag 515. A connector 502 is provided on one side of the circular plate 501.

[0033] Specifically, the sensor body 504 (such as a water acoustic sensor, temperature sensor, etc.) is fixed by a pneumatic clamping mechanism. When replacement is needed, the electric telescopic cylinder 507 is activated, driving the adjusting circular plate 508 to move towards the tooling circular frame 503, compressing the telescopic spring 509. The adjusting circular plate 508 pushes the sliding column 522 through the rotating block 519 and the limiting cylinder 520, causing the pressure arm 517 to rotate inward around the rotating rod 516. The pressure seat 518 at the end of the pressure arm 517 away from the sliding column 522 compresses the second airbag 515. The gas in the second airbag 515 is injected into the first airbag 511 through the air inflator 514. 11. Expansion pushes the arc-shaped clamping seat 510 to slide towards the center along the limiting slide of the tooling frame 2 505. The clamping force acts on the outside of the sensor body 504. The reset spring 512 provides a reverse reset force to ensure that the clamping force is moderate and uniform, avoiding damage to the sensor. The connector 502 automatically connects with the sensor interface to achieve electrical connection. When replacing, the electric telescopic cylinder 507 retracts, the telescopic spring 509 pushes the adjusting plate 508 to reset, the airbag 1 511 contracts under the action of the reset spring 512, and the arc-shaped clamping seat 510 releases the sensor, which can be quickly removed. The whole process does not require tools, greatly shortening the maintenance time.

[0034] In specific application scenarios, the quick-change module 5 adopts a pneumatic clamping and spring reset mechanism to shorten the sensor replacement time, which is more efficient than the traditional bolt fixing method. The flexible design of airbag 1 511 and airbag 2 515 avoids damage to the sensor surface. The automatic docking of connector 502 ensures the reliability of electrical connection. This modular design also supports the expansion of other sensors, enhancing the robot's adaptability.

[0035] Working principle: When this fish-like robot operates underwater, its tail-mounted oscillating mechanism 3 simulates the swinging motion of a real fish tail, generating sinusoidal propulsion force via a motor drive. This allows the robot to move forward, turn, or hover efficiently in the water. Compared to traditional propellers, this biomimetic propulsion method has the advantages of low noise, high efficiency, and good maneuverability. The underwater acoustic communication sensor can be installed via a quick-change module 5. It utilizes the propagation characteristics of sound waves in water to overcome the problem of rapid attenuation of radio signals underwater. The lithium battery 7 provides continuous power, supporting replacement and long-term operation. When the robot operates in waters covered with weeds, fishing nets, or dense branches, the drive motor 412 starts, driving one of the rotating cylinders 405 to rotate via a coupling. The linkage toothed plate 406 at the end of the rotating cylinder 405 away from the drive motor 412 meshes with the moving chain 411, causing the moving chain 411 to circulate. The moving chain 411 connects two tooling travel frames 407 via a locking block 408, causing the tooling travel frames 407 to move synchronously along the bearing rail 401. The limiting travel wheels 409 on the tooling travel frames 407 are on the bearing rail. The internal sliding mechanism of track 401 ensures smooth movement and prevents derailment. Tooling support plate 413 is fixed to tooling travel frame 407, causing the cutting blade 410 on tooling support plate 413 to move accordingly, creating a cutting action that effectively cuts fibrous debris entangled in front of the fish head 2. This design allows the robot to actively clear obstacles during its forward movement, preventing the propulsion system from getting stuck. Camera sensor 8 is used for underwater image acquisition, but it is easily covered by deposits in waters with high sediment content. The cleaning process is divided into two steps: water rinsing: pump body 40... 3. Filtered water is drawn in from the sieve cover plate 402. The sieve cover plate 402 prevents large particles of impurities from entering. High-pressure water is injected into the smooth groove through the pressurization pipe 404. The water-blowing circular frame 414 is connected to the smooth groove through the bearing and rotates under the drive of the linkage belt 415. The linkage belt 415 connects the water-blowing circular frame 414 and the rotating cylinder 405 to realize power transmission. The hollow arc-shaped cleaning frame 416 on the water-blowing circular frame 414 sprays out high-pressure water as it rotates, and washes the mirror surface of the camera sensor 8 in a fan shape to remove mud, sand and biological attachments.Mechanical scrubbing: Simultaneously, the general-purpose motor 421 drives the adjusting cylinder 418 to rotate, causing the angle adjusting frame 419 and the cleaning brush plate 420 to swing at a certain angle. The cleaning brush plate 420 is made of soft material to avoid scratching the sensor mirror surface. Working in conjunction with water flushing, it thoroughly removes stubborn dirt. The sensor body 504 (such as a water sound sensor, temperature sensor, etc.) is fixed by a pneumatic clamping mechanism. When replacement is needed, the electric telescopic cylinder 507 is activated, driving the adjusting plate 508 to move towards the tooling frame 503, compressing the telescopic spring 509. The adjusting plate 508 pushes the sliding column 522 through the rotating block 519 and the limiting cylinder 520, causing the pressure arm 517 to rotate inward around the rotating rod 516. The end of the pressure arm 517 away from the sliding column 522... The pressure seat 518 compresses the second airbag 515. Gas inside the second airbag 515 is injected into the first airbag 511 through the air inflator 514. The first airbag 511 inflates, pushing the arc-shaped clamping seat 510 to slide towards the center along the limiting slide of the tooling frame 505. The clamping force acts on the outside of the sensor body 504. The return spring 512 provides a reverse return force, ensuring moderate and uniform clamping force to prevent sensor damage. The connector 502 automatically connects to the sensor interface for electrical connection. During replacement, the electric telescopic cylinder 507 retracts, the telescopic spring 509 pushes the adjusting plate 508 to reset, and the first airbag 511 contracts under the action of the return spring 512. The arc-shaped clamping seat 510 releases the sensor, allowing for quick removal. The entire process requires no tools, significantly reducing maintenance time.

[0036] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. An underwater mobile robot based on underwater acoustic communication technology, comprising a fish-shaped shell (1), characterized in that, A fish head (2) is fixedly connected to one side of the fish body shell (1), and a motorized auxiliary module (4) is provided on one side of the fish head (2). The motorized auxiliary module (4) includes a mounting plate (422). A tail swing mechanism (3) is provided at the tail of the fish body shell (1). A placement frame (6) is fixedly connected to one side of the inside of the fish body shell (1), and a lithium battery (7) is provided inside the placement frame (6). A carrying rail (401) is fixedly connected to one side of the fish head (2), and two tooling walking frames (407) are slidably connected to the outside of the carrying rail (401). Mounting round holes are provided on both sides of the two tooling walking frames (407), and limit walking wheels (409) are slidably connected inside the multiple mounting round holes. The wheel (409) slides inside the track of the bearing track (401). Two locking blocks (408) are fixedly connected to one side of each of the two tooling walking frames (407), and the same moving chain (411) is fixedly connected to one side of each of the multiple locking blocks (408). Tooling support plates (413) are bolted to one side of each of the two tooling walking frames (407), and cutting blades (410) are fixedly connected to one side of each of the two tooling support plates (413). Two mounting round openings are opened on one side of the fish head (2), and rotating cylinders (405) are connected to the inside of each of the two mounting round openings through bearings. A linkage toothed plate (406) is fixedly connected to one end of each of the two rotating cylinders (405). The toothed end of the linkage toothed plate (406) is connected to the toothed end of the linkage toothed plate (406). The moving chain (411) meshes with the drive motor (412) fixedly connected to one side of the mounting plate (422). The drive end of the drive motor (412) is connected to the other end of one of the rotating cylinders (405) through a coupling. A camera sensor (8) is provided on one side of the fish head (2). A circular groove is opened on one side of the fish head (2), and a water-drumming frame (414) is connected to the inside of the circular groove through a bearing. The water-drumming frame (414) surrounds the outside of the camera sensor (8). An installation port is opened on one side of the water-drumming frame (414). A hollow arc-shaped cleaning frame (416) is fixedly connected inside the installation port. The cleaning water-drumming end of the hollow arc-shaped cleaning frame (416) and the camera end of the camera sensor (8) are located on the same horizontal plane. The fish head (2) is fixedly connected to a pump body (403) on one side, and the pump body (403) is connected to the inside of the circular groove through a pressurization pipe (404). A sieve opening is opened on one side of the fish head (2), and a sieve cover plate (402) is bolted to one side of the sieve opening. The pumping circular frame (414) and one of the rotating cylinders (405) are fixedly connected to pulleys on the outside. The two pulleys are slidably connected to the same linkage belt (415). A tooling block (417) is fixedly connected to one side of the pumping circular frame (414). An adjustment hole is opened on one side of the tooling block (417). An adjustment cylinder (418) is connected to the inside of the adjustment hole through a bearing. An angle adjustment frame (419) is fixedly connected to the outside of the adjustment cylinder (418).A cleaning brush plate (420) is provided on the angle adjustment frame (419). A universal motor (421) is fixedly connected to one side of the tooling block (417). The drive end of the universal motor (421) is connected to one end of the adjustment cylinder (418) via a coupling.

2. The underwater mobile robot based on underwater acoustic communication technology according to claim 1, characterized in that, Both sides of the fish head (2) are provided with quick-change modules (5), and the quick-change modules (5) include a placement round plate (501). The placement round plate (501) is fixedly connected to one side of the fish head (2). A tooling round frame one (503) is fixedly connected to one side of the placement round plate (501). A tooling round frame two (505) is fixedly connected to one side of the tooling round frame one (503). An electric telescopic cylinder (507) is fixedly connected to one side of the placement round plate (501). An adjusting round plate (508) is fixedly connected to the drive end of the electric telescopic cylinder (507). The same telescopic spring (509) is fixedly connected to the opposite side of the adjusting round plate (508) and the placement round plate (501). The telescopic spring (509) is located outside the electric telescopic cylinder (507).

3. The underwater mobile robot based on underwater acoustic communication technology according to claim 2, characterized in that, The tooling frame (503) has an annular slot on its exterior, and a rotating rod (516) is connected to the interior of each slot via a bearing. A pressure arm (517) is fixedly connected to the exterior of each rotating rod (516), and two sliding columns (522) are fixedly connected to one side of each pressure arm (517).

4. The underwater mobile robot based on underwater acoustic communication technology according to claim 3, characterized in that, The adjusting disc (508) has a groove 2 on one side in an annular shape. The interior of each groove 2 is connected to a rotating block (519) through a bearing. Each rotating block (519) has two limiting cylinders (520) fixedly connected to one side. The sliding column (522) slides inside the limiting cylinder (520). The same limiting spring (521) is fixedly connected to the opposite side of the sliding column (522) and the limiting cylinder (520).

5. An underwater mobile robot based on underwater acoustic communication technology according to claim 4, characterized in that, The tooling circular frame two (505) has a ring-shaped limit slide on its outside, and an arc-shaped clamping seat (510) is slidably connected inside the multiple limit slides. A U-shaped support frame (506) is fixedly connected to the outside of the tooling circular frame two (505). An airbag one (511) is fixedly connected to one side of the U-shaped support frame (506). One side of the airbag one (511) is fixedly connected to one side of the arc-shaped clamping seat (510). A return spring (512) is fixedly connected to one side of the airbag one (511). One side of the return spring (512) is fixedly connected to one side of the arc-shaped clamping seat (510). A sensor body (504) is placed inside the tooling circular frame two (505). The outside of the sensor body (504) abuts against the clamping end of the arc-shaped clamping seat (510).

6. An underwater mobile robot based on underwater acoustic communication technology according to claim 5, characterized in that, The tooling circular frame 2 (505) is fixedly connected to a connecting plate (513) in a ring shape. Each of the multiple connecting plates (513) has an installation port on one side. Each of the multiple installation ports is fixedly connected to an airbag 2 (515). The air outlet of the airbag 2 (515) is connected to the inside of the airbag 1 (511) through an air pipe (514). One end of the pressure arm (517) is connected to a pressure seat (518) through a bearing. The pressure end of the pressure seat (518) is fixedly connected to one end of the airbag 2 (515). A plug connector (502) is provided on one side of the circular plate (501).

Images