Underwater detection robot and system applied to narrow space

Abstract

The invention discloses an underwater detection robot and system applied to a narrow space, and the robot comprises a detection module, and also comprises a fixing module and an adjusting module, the fixing module is connected with the detection module, and the fixing module is used for fixing the detection module on narrow and uneven wall surfaces at two sides; the adjusting module is arranged below the fixing module, the adjusting module comprises a link joint, and the link joint is used for being connected with the fixing module; the power motor is arranged between the link joint and the shoulder joint, and the power motor is used for driving the shoulder joint and the link joint to rotate mutually; the supporting arm assembly and the shoulder joint are rotationally arranged, and a temperature measuring tail end is arranged at the end, away from the shoulder joint, of the supporting arm assembly. Through the arrangement of the fixing module, firm clamping can be achieved on the pipe wall with the two narrow sides and the uneven surface, the problem that a traditional wheel type or crawler type robot slips and overturns due to water flow impact is solved, and the operation stability in the ponding environment is remarkably improved.

Description

Technical Field

[0001] This invention belongs to the field of underwater robot technology, and particularly relates to an underwater inspection robot and system for use in confined spaces. Background Technology

[0002] Confined space inspection is a common problem in daily inspection needs. These spaces are often narrow and enclosed, typically resembling long, narrow tunnels, less than 1 meter wide and generally less than 0.8 meters high, with numerous right-angle bends and longitudinal slope changes, significantly increasing the difficulty of manual inspection. While tracked / wheeled inspection robots developed in recent years have significantly improved operational efficiency, they still face multiple technical bottlenecks in practical applications. Some confined spaces are located underground and prone to water accumulation, greatly impacting the stability of the robot's inspection device. Due to fluctuations in groundwater levels and rainwater infiltration, these spaces often have a water depth of 0.3-0.5 meters, and the water flow velocity can surge to over 1.2 m / s due to the influence of municipal drainage systems. The high-speed scouring of water within confined spaces, along with complex impurities and undercurrents, poses a significant challenge to the safety and stability of the inspection robot.

[0003] Therefore, there is an urgent need to design an underwater inspection robot for use in confined spaces to solve the problems mentioned above. Summary of the Invention

[0004] To address the shortcomings mentioned in the background art, such as the uneven force on underwater inspection robots and inaccurate detection caused by water flow impact, water impurities interference, and undercurrents in confined spaces, an underwater inspection robot and system for use in confined spaces are provided.

[0005] To achieve the above objectives, the specific technical solution of the present invention for an underwater inspection robot and system applied in confined spaces is as follows: An underwater inspection robot for use in confined spaces includes an inspection module and also includes: The fixing module is connected to the detection module and is used to fix the detection module to the narrow and uneven walls on both sides. An adjustment module is located below the fixed module. The adjustment module includes a connecting joint for connecting to the fixed module; a power motor and a shoulder joint, with the power motor positioned between the connecting joint and the shoulder joint for driving the shoulder joint and the connecting joint to rotate relative to each other; and a support arm assembly that is rotatably mounted to the shoulder joint, with a temperature measuring terminal located at the end of the support arm assembly furthest from the shoulder joint.

[0006] Furthermore, the support arm assembly includes an upper arm and a lower arm that are hinged to each other. The upper arm is larger than the lower arm. The upper arm is rotatably connected to the shoulder joint, and the temperature measuring end is located at the end of the lower arm.

[0007] Furthermore, the fixed module includes: Support components are connected to the detection module; The transmission component adjusts the extension of the support component to bring the support component closer to or away from the uneven wall surface. Abutment component, located at the end of the support component, is used to abut against uneven wall surfaces.

[0008] Furthermore, the support assembly includes a first support arm and a second support arm that are slidably disposed, and both ends of the first support arm and the second support arm are provided with foot abutment components, which are connected to the first support arm and the second support arm by limiting pins.

[0009] Furthermore, the transmission assembly includes a slider and a slide rail that are slidably disposed. Multiple sliders are disposed on the first support arm and the second support arm respectively. The first support arm and the second support arm adjust their extension to each other by sliding between the slider and the slide rail.

[0010] Furthermore, the transmission assembly also includes a drive unit and a transmission unit disposed at the output end of the drive unit. The transmission unit includes a gear and a rack disposed on the first support arm and the second support arm. The drive unit drives the first support arm and the second support arm to move relative to each other by driving the gear and the rack.

[0011] Furthermore, the foot abutment component includes a locating pin and a foot end disc, the foot end disc being used to abut against the uneven wall surface and being mounted on the support component via the locating pin.

[0012] Furthermore, the abutment assembly also includes a spring sleeve pin and a spring. The spring sleeve pin is disposed on the outer wall of the positioning pin, and the spring sleeve pin and the positioning pin are connected by the spring for abutment.

[0013] Furthermore, the locating pin is connected to the foot disc via a ball joint.

[0014] An underwater inspection system for use in confined spaces utilizes the aforementioned underwater inspection robot.

[0015] The underwater inspection robot of this invention, applicable to confined spaces, has the following advantages: By incorporating a "fixed module," it can be firmly clamped onto narrow, uneven pipe walls, avoiding the slippage and overturning problems of traditional wheeled or tracked robots due to water flow impact, significantly improving operational stability in flooded environments. The "linking joint" and "shoulder joint" in the adjustment module, driven by a power motor, enable multi-degree-of-freedom rotation, allowing the support arm assembly to flexibly adjust its angle to adapt to detection points at different heights and directions, increasing detection coverage. The temperature-sensing end is installed at the distal end of the support arm, and driven by the robotic arm, it can extend into narrow gaps or dead-end areas for localized temperature monitoring, compensating for blind spots that are inaccessible to humans or difficult for sensors to reach. The overall non-moving, clinging structure is unaffected by water flow velocity (such as the instantaneous high flow velocity caused by municipal drainage), solving the technical problem of existing underwater robots being easily swept away.

[0016] The underwater inspection system of this invention, applicable to confined spaces, offers the following advantages: It integrates a high-performance robot as a sensing terminal, along with a communication module, data processing platform, and remote monitoring system, forming a closed loop of "sensing-transmission-analysis-decision," enabling unmanned inspection. Multiple robots of this invention can be deployed in different pipe sections, achieving information sharing and task allocation through wireless networking, significantly improving inspection efficiency and coverage. In addition to temperature measurement terminals, the system can be equipped with cameras, pH sensors, dissolved oxygen meters, etc., expanding into a multi-functional water quality and structural health monitoring platform. It is particularly suitable for the periodic inspection of enclosed spaces such as subway tunnels, integrated pipe corridors, and drainage ditches, contributing to the safety management of smart city infrastructure. It replaces manual entry into hazardous environments, eliminating safety accidents such as suffocation and drowning, while reducing downtime and manpower input. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the underwater inspection robot of the present invention; Figure 2 This is a schematic diagram of the fixing module of the present invention; Figure 3 This is a schematic diagram of the transmission assembly of the present invention; Figure 4 This is a schematic diagram of the structure of the support component of the present invention; Figure 5 This is a schematic diagram of the structure of the foot support component of the present invention; Figure 6 This is a schematic diagram of the drive device of the present invention; Figure 7 This is a schematic diagram of the adjustment module of the present invention; Figure 8 This is a structural schematic diagram of the underwater inspection robot of the present invention from another perspective.

[0018] Explanation of markings in the diagram: 1. Transmission assembly; 101. Transmission rack; 102. Slider; 103. Slide rail; 104. Transmission gear; 105. Motor drive unit; 2. Support components; 201. First support arm; 202. Second support arm; 203. Limiting pin; 3. Foot support assembly; 301. Locating pin; 302. Compression spring; 303. Compression spring sleeve pin; 304. Foot end disc; 305. Ball bearing; 401. Motor output shaft; 402. Glyd ring pressure plate; 403. Sealing cover; 404. Motor mounting flange; 405. Motor sealing cover; 406. Drive motor; 407. Motor sealing end cover; 408. Motor cable outlet connector; 5. Adjustment module; 501. Connecting joint; 502. Power motor; 503. Shoulder joint; 504. Upper arm; 505. Forearm; 506. Temperature measuring terminal; 601. Fixing mechanism; 602. Detection arm; 603. Battery compartment; 604. Control compartment; 605. Thruster; 606. Ranging sonar. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. The terms "first position" and "second position" refer to two different positions.

[0021] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances. Furthermore, the technical features involved in the different embodiments of this invention described below can be combined with each other as long as they do not conflict with each other.

[0022] Those skilled in the art will understand that although some embodiments herein include certain features included in other embodiments but not others, combinations of features from different embodiments are intended to be within the scope of the invention and form different embodiments. For example, in the claims, any of the claimed embodiments can be used in any combination.

[0023] The following is a reference to the appendix. Figure 1 To be continued Figure 8 This invention describes an underwater inspection robot and system for use in confined spaces.

[0024] This embodiment provides an underwater inspection robot applicable to confined spaces, such as... Figure 1 and Figure 2 As shown, the underwater inspection robot includes a detection module, a fixing module, and an adjustment module 5. The fixing module is connected to the detection module and is used to fix the detection module to the narrow, uneven walls on both sides. The adjustment module 5 is located below the fixing module and includes a connecting joint 501, which is connected to the fixing module; a power motor 502 and a shoulder joint 503, with the power motor 502 positioned between the connecting joint 501 and the shoulder joint 503, and used to drive the shoulder joint 503 and the connecting joint 501 to rotate relative to each other; and a support arm assembly, which is rotatably mounted to the shoulder joint 503, with a temperature measuring end 506 provided at the end of the support arm assembly away from the shoulder joint 503.

[0025] Understandably, by setting up a "fixed module," it can be firmly clamped onto the narrow and uneven pipe walls on both sides, avoiding the slippage and overturning problems of traditional wheeled or tracked robots due to water flow impact, significantly improving operational stability in waterlogged environments. The "link joint 501" and "shoulder joint 503" in adjustment module 5, driven by the power motor 502, can achieve multi-degree-of-freedom rotation, allowing the support arm assembly to flexibly adjust its angle to adapt to detection points at different heights and directions, improving detection coverage. The temperature-sensing end effector 506 is installed at the far end of the support arm and, driven by the robotic arm, can extend into narrow gaps or dead-end areas for localized temperature monitoring, compensating for blind spots that are inaccessible to humans or difficult for sensors to reach. The overall design employs a non-moving, clinging structure, unaffected by water flow velocity (such as the instantaneous high flow velocity caused by municipal drainage), solving the technical problem of existing underwater robots being easily swept away.

[0026] Furthermore, such as Figure 2 As shown, the support arm assembly includes a large arm 504 and a small arm 505 that are hinged to each other. The large arm 504 is larger than the small arm 505. The large arm 504 is rotatably connected to the shoulder joint 503. The temperature measuring end 506 is located at the end of the small arm 505.

[0027] Understandably, the upper arm 504 provides the main supporting torque, while the forearm 505 is responsible for fine-tuning, mimicking the "humerus-forearm" structure of the human arm to achieve dual control of "coarse adjustment + fine adjustment," improving the spatial accessibility and operational accuracy of the end effector. The upper arm 504 has a larger cross-sectional dimension and greater rigidity, bearing the main bending stress; the lightweight design of the forearm 505 reduces inertial load, making the power motor 502 run more smoothly and energy-efficiently. The forearm 505 can be folded and retracted to the side of the upper arm 504, reducing the overall profile when passing through curves or low passages and preventing collision damage to the equipment. The forearm 505 has strong independent movement capabilities at its end, allowing for fine-tuning of the temperature probe's posture to conform to curved or inclined walls, ensuring accurate and reliable contact temperature measurement data.

[0028] Furthermore, such as Figure 1 and Figure 3 As shown, the fixing module includes a support component 2, a transmission component 1, and a foot abutment component 3. The support component 2 is connected to the detection module. The transmission component 1 adjusts the extension of the support component 2 so that the support component 2 is close to or away from the uneven wall surface. The foot abutment component 3 is disposed at the end of the support component 2 and is used to abut against the uneven wall surface.

[0029] Understandably, the support component 2 can be adjusted in length via the transmission component 1 to automatically adapt to pipe width variations within the range of 0.5 to 1 meter, enabling rapid deployment without manual intervention. The foot component 3 directly contacts the wall surface, and in conjunction with the transmission component 1, pushes both ends outward synchronously to achieve bidirectional clamping, maintaining stable anchoring even on irregular surfaces such as concrete spalling or rust. Simultaneous application of positive pressure from both sides generates sufficient static friction to resist lateral water flow impact, preventing the robot from slipping along the pipe axis. Each component has a clearly defined function and interface, facilitating the disassembly and replacement of worn parts (such as the foot disc), extending the overall machine's service life.

[0030] Furthermore, such as Figure 1 , Figure 3 and Figure 4 As shown, the support assembly 2 includes a first support arm 201 and a second support arm 202 that are slidably disposed. Both ends of the first support arm 201 and the second support arm 202 are provided with foot abutment 3. The foot abutment 3 is connected to the first support arm 201 and the second support arm 202 through a limiting pin 203.

[0031] Understandably, the first and second support arms 202 form a sliding pair, sliding relative to each other along the axial direction. This structure is simple, reliable, and has a fast response, making it suitable for frequent extension and retraction movements. Both arms are equipped with foot-holding components 3 at their ends, ensuring a symmetrical distribution of the clamping force and preventing unilateral force from causing body deflection or stress concentration. Limiting the maximum sliding distance prevents overextension that could lead to structural instability or derailment, providing mechanical limit protection. The sliding structure has a built-in guiding function, working in conjunction with the limit pin 203 to guide the movement trajectory, reducing the risk of jamming and improving operational smoothness.

[0032] Furthermore, such as Figure 3 As shown, the transmission assembly 1 includes a slider 102 and a slide rail 103 that are slidably disposed. Multiple sliders 102 are disposed on the first support arm 201 and the second support arm 202 respectively. The first support arm 201 and the second support arm 202 adjust their extension to each other by sliding between the slider 102 and the slide rail 103.

[0033] Understandably, the slider 102 and slide rail 103 work together to provide stable linear guidance, ensuring that the two support arms remain parallel during extension and retraction, preventing skewing and jamming. The slider 102 / slide rail 103 combination can be made of stainless steel or engineering plastic, adaptable to humid or even immersion conditions, and will not deform over long-term use. The low coefficient of rolling or sliding friction reduces drive power requirements, facilitating miniaturized power supply configurations and extending battery life. Multiple sliders 102 are distributed in different positions, distributing the load; even if individual sliders 102 fail, basic functions can still be maintained, demonstrating strong system fault tolerance.

[0034] Furthermore, the transmission assembly 1 also includes a drive unit and a transmission unit disposed at the output end of the drive unit. The transmission unit includes a gear and a rack disposed on the first support arm 201 and the second support arm 202. The drive unit drives the first support arm 201 and the second support arm 202 to move relative to each other by driving the gear and the rack.

[0035] Understandably, the gears simultaneously mesh with two racks (located on the first and second support arms 202 respectively), ensuring that the left and right arms move in opposite directions at the same speed, achieving symmetrical extension and retraction and avoiding uneven load. The gear and rack system is a rigid transmission with no elastic slippage, resulting in minimal energy loss and fast control command response, making it suitable for automated closed-loop control. In the power-off state, the gear and rack system has a certain self-locking capability to prevent accidental retraction due to gravity or water flow, improving safety. The drive unit (such as a servo motor) can be directly connected to the gear shaft, facilitating integration with a PLC or embedded controller to achieve remote control or automatic program deployment.

[0036] Furthermore, such as Figure 6 As shown, the foot support component 3 includes a positioning pin 301 and a foot end disc 304. The foot end disc 304 is used to abut against the uneven wall surface and is set on the support component 2 by the positioning pin 301.

[0037] Understandably, the foot-end disc 304 increases the contact area with the wall surface, preventing sharp points from damaging fragile structures (such as aged concrete) and protecting the inspected equipment. The locating pin 301 connection allows for quick replacement of worn foot-end discs 304, making it particularly suitable for scenarios involving long-term operation in waters with high levels of sand and gravel. As a core component of the rotating or sliding pair, the locating pin 301 ensures that the foot-end assembly will not detach or loosen under stress. Without relying on complex bearings or universal joints, basic motion requirements are met with a pin connection alone, resulting in low manufacturing costs and convenient maintenance.

[0038] Furthermore, such as Figure 6 As shown, the foot abutment assembly 3 also includes a spring 302 sleeve pin and a spring 302. The spring 302 sleeve pin is disposed on the outer wall of the positioning pin 301, and the spring 302 sleeve pin and the positioning pin 301 are connected by the spring 302.

[0039] Understandably, the compression spring 302 provides preload, ensuring the foot disc 304 remains firmly against the wall surface. Even when encountering localized depressions or steps, it automatically compensates for gaps, maintaining effective contact. When the robot encounters sudden changes in water flow or starts / stops, the spring absorbs vibration energy, reducing impact on the robot's structure and extending system lifespan. The elastic connection prevents component breakage or deformation caused by rigid impacts, making it particularly suitable for turbid water environments containing suspended particles. The spring continuously applies positive pressure, enhancing friction and further suppressing lateral slippage, especially effective on slopes.

[0040] Furthermore, such as Figure 6 As shown, the positioning pin 301 is connected to the foot disc 304 via a ball shaft 305.

[0041] Understandably, the ball joint 305 structure allows the foot disc 304 to swing at multiple angles in space (pitch, yaw, roll), automatically matching the angle of tilted or twisted walls to ensure a complete fit. Even if the support arm is slightly misaligned, the ball joint can adjust its posture to avoid fatigue fracture caused by internal stress accumulation due to forced alignment. When crossing wall protrusions, welds, or deposits, the foot can rotate around the ball center to avoid obstacles without affecting the overall clamping state. The contact surfaces always maintain surface contact rather than point contact, resulting in uniform wear and extending the service life of the foot.

[0042] Furthermore, such as Figure 7 As shown, the motor for the underwater inspection robot applied in confined spaces also includes a drive unit. The drive unit comprises a motor output shaft 401, a Glyd ring pressure plate 402, a sealing cover 403, a motor mounting flange 404, a motor sealing cover 405, a drive motor 406, a motor sealing end cover 407, and a motor cable outlet connector 408. The hollow design of the cable outlet connector allows the power and communication lines of the drive motor 406 to pass through. Since the inspection robot's fixing mechanism 601 operates underwater, the motor requires a waterproof casing to ensure watertightness. The motor sealing cover 405 encloses the entire motor. An O-ring is used for static sealing at the connection between the motor cable outlet end (i.e., the motor sealing end cover 407) and the motor sealing cover 405. A flange is used for dynamic sealing between the motor output end (i.e., the motor sealing cover 403) and the Glyd ring pressure plate 402. The output end of the drive motor 406 is connected to the motor output shaft 401 to drive the transmission rack 101 to rotate.

[0043] Furthermore, such as Figure 8 As shown, the underwater inspection robot motor described above, applied to confined spaces, also includes a robot system. The robot system comprises a mounting mechanism 601, an inspection arm 602, a battery compartment 603, a control compartment 604, a thruster 605, and a ranging sonar 606. The main body is connected by plates and houses the battery compartment 603, control compartment 604, thruster 605, ranging sonar 606, and other basic robot components. The mounting mechanism 601 module is mounted on top, with its slide rail 103 connected to the main body plate by screws. The inspection arm 602 module is mounted below the main body plate and connected to the robot body via a hinge joint. This modular design facilitates robot assembly and debugging, and allows for the installation of different inspection devices according to operational needs, improving the robot's applicability to various inspection tasks.

[0044] In this embodiment, the distance sensor can be used to measure the distance from the support foot to the wall. During operation, the motor rotates to extend the support structure, so that the robot is firmly and stably placed on the trench wall in the narrow space. When the operation is completed, the motor can also be rotated to retract the support structure, so that the robot can move to the next designated location for operation.

[0045] This embodiment also provides an underwater inspection system for use in confined spaces, which uses the underwater inspection robot described above.

[0046] Understandably, by using high-performance robots as sensing terminals, integrating communication modules, data processing platforms, and remote monitoring systems, a closed loop of "perception-transmission-analysis-decision" is formed, enabling unmanned inspection. Multiple robots of this invention can be deployed in different pipe sections, achieving information sharing and task allocation through wireless networking, significantly improving detection efficiency and coverage. In addition to the 506 temperature measurement terminal, the system can be equipped with cameras, pH sensors, dissolved oxygen meters, etc., expanding into a multi-functional water quality and structural health monitoring platform. It is particularly suitable for the regular inspection of enclosed spaces such as subway tunnels, integrated pipe corridors, and drainage ditches, contributing to the safety management of smart city infrastructure. It replaces manual entry into dangerous environments, eliminating safety accidents such as suffocation and drowning, while reducing downtime and manpower input.

[0047] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. An underwater inspection robot for use in confined spaces, comprising an inspection module, characterized in that, Also includes: The fixing module is connected to the detection module and is used to fix the detection module to the narrow and uneven walls on both sides. An adjustment module is located below the fixed module. The adjustment module includes a connecting joint for connecting to the fixed module; a power motor and a shoulder joint, with the power motor positioned between the connecting joint and the shoulder joint for driving the shoulder joint and the connecting joint to rotate relative to each other; and a support arm assembly that is rotatably mounted to the shoulder joint, with a temperature measuring terminal located at the end of the support arm assembly furthest from the shoulder joint.

2. The underwater inspection robot for confined spaces according to claim 1, characterized in that, The support arm assembly includes an upper arm and a lower arm that are hinged to each other. The upper arm is larger than the lower arm. The upper arm is rotatably connected to the shoulder joint. The temperature measuring end is located at the end of the lower arm.

3. The underwater inspection robot for confined spaces according to claim 1, characterized in that, Fixed modules include: Support components are connected to the detection module; The transmission component adjusts the extension of the support component to bring the support component closer to or away from the uneven wall surface. A foot support assembly is located at the end of the support assembly and is used to abut against an uneven wall surface.

4. The underwater inspection robot for confined spaces according to claim 3, characterized in that, The support assembly includes a first support arm and a second support arm that are slidably disposed. Both ends of the first support arm and the second support arm are provided with foot abutments, which are connected to the first support arm and the second support arm by limit pins.

5. The underwater inspection robot for confined spaces according to claim 4, characterized in that, The transmission assembly includes a slider and a slide rail that are slidably configured. Multiple sliders are configured and are respectively mounted on the first support arm and the second support arm. The first support arm and the second support arm adjust their extension to each other by sliding between the slider and the slide rail.

6. The underwater inspection robot for use in confined spaces according to claim 5, characterized in that, The transmission assembly also includes a drive unit and a transmission unit disposed at the output end of the drive unit. The transmission unit includes a gear and a rack disposed on the first support arm and the second support arm. The drive unit drives the first support arm and the second support arm to move relative to each other by driving the gear and the rack.

7. The underwater inspection robot for use in confined spaces according to claim 3, characterized in that, The foot support assembly includes a locating pin and a foot end disc, which is used to abut against the uneven wall surface and is set on the support assembly by the locating pin.

8. The underwater inspection robot for use in confined spaces according to claim 7, characterized in that, The abutment assembly also includes a spring sleeve pin and a spring. The spring sleeve pin is located on the outer wall of the positioning pin, and the spring sleeve pin and the positioning pin are connected by the spring.

9. The underwater inspection robot for use in confined spaces according to claim 8, characterized in that, The locating pin is connected to the foot disc via a ball joint.

10. An underwater detection system for use in confined spaces, characterized in that, The underwater inspection robot as described in any one of claims 1-9 was used.

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