An underwater robot with a protective structure

Abstract

The application relates to the field of robots, in particular to an underwater robot with a protection structure, which comprises a robot body, a driver, a mounting belt and an electric rotating disc and the like; two drivers are mounted on the robot body; one caterpillar track is mounted on each driver; one mounting belt is slidably connected to each caterpillar track; and the electric rotating disc is mounted on the robot body. The wedge block is inserted into the bottom of the permanent magnet adsorbed on the ship body, so that the permanent magnet is separated from the ship body; meanwhile, since the size of the wedge block is smaller than that of the permanent magnet, the magnetism between the permanent magnet and the ship body can be weakened, but not completely blocked; in this way, the robot body cannot directly fall off the ship body, the equipment is prevented from being damaged, and the operator only needs to exert a small pulling force to separate the robot body from the ship body.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more particularly to an underwater robot with a protective structure. Background Technology

[0002] The hull of a ship is constantly submerged in seawater, accumulating a large amount of marine life, rust, and dirt, leading to increased drag, higher fuel consumption, and even accelerated corrosion. Therefore, regular cleaning of the hull is crucial. Traditional manual cleaning methods are inefficient and risky, making the use of underwater robots for hull cleaning an industry trend. Currently, the mainstream solution uses a tracked permanent magnet adsorption walking mechanism equipped with a high-pressure water gun, allowing the robot to adhere to the metal hull surface and move autonomously.

[0003] However, underwater robot tracks use permanent magnets to provide continuous attraction. Since the track's cyclical movement cannot be controlled by electromagnets, the robot is difficult to detach from the hull after the cleaning operation is completed. In addition, when the robot turns in place on the bottom of the ship, if the high-pressure water gun continues to run, it will cause excessive washing of the cleaned area and damage the ship's paint. If the washing is stopped, the hull will sway due to the waves, which may cause the robot to move with the hull, causing the tracks to press on the uncleaned attachments, thereby reducing the magnetic attraction stability and making the underwater robot prone to instability or even falling off the hull. Summary of the Invention

[0004] To overcome the shortcomings of underwater robots, such as strong permanent magnet adsorption and difficulty in detaching from the hull after operation, this invention provides an underwater robot with a protective structure.

[0005] The technical solution is as follows: An underwater robot with a protective structure includes a robot body; a protective cover is installed on the top of the robot body; the robot body is equipped with several thrusters for underwater movement; a camera is installed on the robot body; it also includes a driver, a mounting belt, an electric turntable, a frustum cover, a translation component, and a magnetic attraction component; two drivers are installed on the robot body; each driver is equipped with a track; the robot body moves by driving the track through the drivers; the track is provided with a raised edge; several embedding slots are formed on the track; a permanent magnet for adsorbing metal hull bottoms is slidably installed in each embedding slot of the track; the permanent magnet protrudes from the embedding slot, and its height is flush with the raised edge; a mounting belt is slidably connected to each track; several wedges for isolating the permanent magnets are fixedly connected to each mounting belt; an electric turntable is installed on the robot body; a connecting frame is fixedly connected to the rotating part of the electric turntable; a pair of frustum covers are connected to the connecting frame; several high-pressure nozzles for cleaning attachments to the hull bottom are installed inside the frustum covers; all high-pressure nozzles of the same frustum cover are connected to a high-pressure water pump.

[0006] Optionally, the translation component includes: a connecting belt, a transmission belt, a mounting frame, and bidirectional telescopic rods; each mounting belt is fixedly connected to several connecting belts; all connecting belts are connected to the transmission belt; two mounting frames are mounted on the robot body; mounting slots are provided on the mounting frames; each transmission belt is located in one mounting slot; several bidirectional telescopic rods are mounted on the robot body; one telescopic end of each bidirectional telescopic rod is fixedly connected to one of the mounting frames, and the other telescopic end is fixedly connected to the other mounting frame.

[0007] Optionally, the magnetic attraction assembly includes: a mounting cylinder, an elastic element, and an electromagnet; a mounting cylinder is installed inside each frustum cover; an electromagnet for attracting metal hulls is slidably connected inside each mounting cylinder; and an elastic element is connected between each electromagnet and the mounting cylinder.

[0008] Optionally, it also includes a tilting motor and a rotating shaft; the tilting motor is mounted on the connecting frame; the rotating shaft is rotatably connected to the connecting frame; two frustum covers are connected to the rotating shaft; and the output shaft of the tilting motor is connected to the rotating shaft.

[0009] Optionally, it also includes a water shield; several water shields are installed on the robot body to protect the bidirectional telescopic rod.

[0010] Optionally, the edges of the permanent magnet opposite to the wedge are chamfered.

[0011] Optionally, the wedge's coverage area is smaller than the surface area of ​​the permanent magnet, thus not completely blocking the permanent magnet's magnetic force.

[0012] Optionally, a sealing layer is provided between the mounting cylinder and the electromagnet.

[0013] Optionally, it also includes a connecting ring and a shock-absorbing spring; a connecting ring is fixedly connected to each end of the rotating shaft; each connecting ring is slidably connected to a frustum cover; and a shock-absorbing spring is connected between each connecting ring and the corresponding frustum cover.

[0014] Optionally, it also includes rubber rings; each frustum cover has an auxiliary cushioning rubber ring at its bottom.

[0015] The beneficial effects are: the present invention uses a wedge to dig into the bottom of the permanent magnet adsorbed on the hull, thus isolating the permanent magnet from the hull; at the same time, since the size of the wedge is smaller than that of the permanent magnet, it can only weaken the magnetism between the permanent magnet and the hull, rather than completely block the magnetism; this ensures that the robot body will not fall directly off the hull, avoiding damage to the equipment, and also allows the operator to separate the robot body from the hull with only a small pulling force. The robot can adjust its direction by turning in place, ensuring that its tracks remain within the cleaned hull area and avoid crushing uncleaned areas. This ensures that uncleaned debris does not affect the permanent magnet's adsorption effect. Simultaneously, the high-pressure nozzles can stop operating to prevent continuous washing of the cleaned area and damage to the ship's paint. If the robot shifts during direction adjustment due to wave movement, causing the tracks to move onto debris, the magnetic stability will decrease, and the robot may become unstable or even detach from the hull. Attached Figure Description

[0016] Figure 1 This is a three-dimensional structural diagram of the underwater robot with a protective structure according to the present invention; Figure 2 This is a three-dimensional structural diagram of the frustum cover of the present invention in the forward-flipped state; Figure 3 This is a three-dimensional structural diagram of the robot body, driver, electric turntable, and frustum cover of the present invention; Figure 4 This is a three-dimensional structural diagram of the robot body and mounting belt of the present invention; Figure 5 This is an exploded view of the driver, track, mounting belt, and mounting frame of the present invention; Figure 6 This is a cross-sectional view of the driver of the present invention; Figure 7 This is a front view of the driver, permanent magnet, mounting strip, and wedge of the present invention; Figure 8 This is a three-dimensional structural diagram of the frustum cover, mounting cylinder, and electromagnet of the present invention; Figure 9 This is a three-dimensional structural diagram of the mounting cylinder and electromagnet of the present invention; Figure 10 This is a schematic diagram of the internal structure of the mounting cylinder of the present invention.

[0017] The above-mentioned figures include the following reference numerals: 1-robot body, 11-protective cover, 12-thruster, 2-driver, 21-track, 211-protrusion edge, 212-embedded groove, 22-permanent magnet, 3-mounting belt, 31-wedge, 32-connecting belt, 33-transmission belt, 34-mounting frame, 341-mounting groove, 35-bidirectional telescopic rod, 36-waterproof cover, 4-electric turntable, 41-connecting frame, 42-tilting motor, 43-rotating shaft, 44-connecting ring, 45-shock-absorbing spring, 5-frustum cover, 51-high-pressure nozzle, 52-rubber ring, 6-mounting cylinder, 61-elastic element, 7-electromagnet. Detailed Implementation

[0018] 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, and 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.

[0019] Example 1: An underwater robot with a protective structure, such as Figures 1-10 As shown, it includes a robot body 1; a protective cover 11 is installed on the top of the robot body 1; the robot body 1 is equipped with several thrusters 12; and a camera is installed on the robot body 1. It also includes a driver 2, a mounting belt 3, an electric turntable 4, a frustum shaped cover 5, a translation component, and a magnetic attraction component; a driver 2 is installed on each side of the robot body 1; a track 21 is installed on each driver 2; the robot body 1 moves by driving the track 21 through the driver 2; the track 21 is provided with a raised edge 211; several embedded slots 212 are opened on the track 21; a permanent magnet 22 is slidably installed in each embedded slot 212 of the track 21; the part of the permanent magnet 22 protruding from the embedded slot 212 is flush with the raised edge 211; a mounting belt 3 is slidably connected to each track 21; several wedges 31 are fixedly connected to each mounting belt 3; an electric turntable 4 is installed on the robot body 1; a connecting frame 41 is fixedly connected to the rotating part of the electric turntable 4; a pair of frustum shaped covers 5 with open bottoms are connected to the connecting frame 41; six high-pressure nozzles 51 are installed in a ring array inside the frustum shaped cover 5; all the high-pressure nozzles 51 of the same frustum shaped cover 5 are connected to a high-pressure water pump.

[0020] The translation assembly includes: connecting belts 32, transmission belts 33, mounting frames 34, and bidirectional telescopic rods 35; each mounting belt 3 is fixedly connected to four connecting belts 32; all connecting belts 32 are connected to the transmission belts 33; two mounting frames 34 are slidably mounted on the robot body 1; mounting frames 34 have mounting slots 341; each transmission belt 33 is located in one mounting slot 341; four bidirectional telescopic rods 35 are mounted on the robot body 1; one telescopic end of each bidirectional telescopic rod 35 is fixedly connected to one of the mounting frames 34, and the other telescopic end is fixedly connected to the other mounting frame 34.

[0021] The retraction of the bidirectional telescopic rod 35 drives the mounting frame 34, which in turn drives the transmission belt 33 and the connecting belt 32. The connecting belt 32 then drives the mounting belt 3, causing the wedge block 31 to move toward the permanent magnet 22, thus separating the permanent magnet 22 from the metal bottom of the ship and reducing the magnetic attraction.

[0022] The magnetic attraction assembly includes: a mounting cylinder 6, an elastic element 61, and an electromagnet 7; a mounting cylinder 6 is installed inside each frustum cover 5; an electromagnet 7 is slidably connected inside each mounting cylinder 6; an elastic element 61 is connected between each electromagnet 7 and the mounting cylinder 6; the elastic element 61 is a tension spring, used to pull the electromagnet 7 to reset.

[0023] It also includes a flip motor 42 and a rotating shaft 43; the flip motor 42 is mounted on the connecting frame 41; the rotating shaft 43 is rotatably connected to the connecting frame 41; the two frustum covers 5 are connected to the rotating shaft 43; the output shaft of the flip motor 42 is connected to the rotating shaft 43, driving the rotating shaft 43 to rotate the frustum covers 5, so that the frustum covers 5 change from facing down to facing forward.

[0024] It also includes a water-proof cover 36; four water-proof covers 36 are installed on the robot body 1.

[0025] The edges of the permanent magnet 22 and the wedge block 31 opposite each other are chamfered to facilitate the wedge block 31 to move the permanent magnet 22.

[0026] The coverage area of ​​the wedge 31 is smaller than the surface area of ​​the permanent magnet 22, so it does not completely block the magnetic force of the permanent magnet 22, thus preventing the robot body 1 from falling directly from the hull after the magnetic force of the permanent magnet 22 is cut off.

[0027] A sealing layer is provided between the mounting cylinder 6 and the electromagnet 7 to prevent water from entering the mounting cylinder 6 and causing a short circuit to the electrical structure of the electromagnet 7.

[0028] The steps for using this invention are as follows: First, the robot body 1 is placed in the water near the hull and autonomously navigated to the side of the hull using the remote-controlled thrusters 12. Then, the rotation speed and orientation of each thruster 12 are adjusted to synthesize the required force and torque, achieving six degrees of freedom motion. This adjusts the posture of the robot body 1, so that the permanent magnet 22 at the bottom of the track 21 faces the hull. Next, the robot body 1 is brought closer to the hull, and the permanent magnet 22 attracts the hull, sliding out a distance from the embedding groove 212 and adsorbing and fixing itself onto the hull, thus magnetically securing the robot body 1. At this time, the frustum cover 5 and the high-pressure nozzle 51 face the surface of the hull, allowing the robot body 1 to adhere to the metal hull surface and move autonomously. Afterward, the external high-pressure water pump is activated, causing the high-pressure nozzle 51 to pump out high-pressure water to impact and remove the adhering substances on the hull surface.

[0029] During the cleaning process, the protective cover 11 reduces the impact of the fallen debris on the robot body 1. The robot body 1 drives the track 21 to walk on the surface of the metal hull through the driver 2. When the permanent magnet 22 is located at the bottom of the track 21 and is attracted to the hull, the permanent magnet 22 protrudes out of the embedded groove 212. When the track 21 rotates, the permanent magnet 22 disengages from the hull and is located above the embedded groove 212. Under the action of gravity, the permanent magnet 22 will slide back into the embedded groove 212. The permanent magnet 22 is embedded and slides in the embedded groove 212 and never disengages from the embedded groove 212. When the track 21 runs, it synchronously drives the mounting belt 3, wedge block 31, connecting belt 32 and transmission belt 33 to run. The transmission belt 33 runs in the mounting groove 341 of the mounting frame 34.

[0030] After the cleaning work is completed, the bidirectional telescopic rod 35 is retracted. The bidirectional telescopic rod 35 drives the mounting frame 34 to move closer to the waterproof cover 36. The mounting frame 34 drives the transmission belt 33 in its mounting groove 341. The transmission belt 33 drives the connecting belt 32. The connecting belt 32 drives the two mounting belts 3 to move closer to the protruding edge 211. The wedge 31 moves closer to the permanent magnet 22. The wedge 31 scoops into the bottom of the permanent magnet 22 that is adsorbed on the hull, pushing the permanent magnet 22 upward and retracting it into the embedding groove 212, separating the permanent magnet 22 from the hull. At the same time, because the coverage area of ​​the wedge 31 is smaller than the area of ​​the permanent magnet 22, the wedge 31 only weakens the magnetism between the permanent magnet 22 and the hull, and does not completely block the magnetism, ensuring that the robot body 1 does not fall directly off the hull and avoid damaging the equipment. The operator only needs to apply a pulling force to separate the robot body 1 from the hull.

[0031] When the robot body 1 moves along a straight line from one end of the hull to the other, it needs to turn to clean other locations. Before turning, the high-pressure nozzle 51 is stopped from spraying water, and then the electromagnet 7 is energized. The electromagnet 7 forms an attraction with the metal hull, and the electromagnet 7 slides out of the mounting cylinder 6. The electromagnet 7 stretches the elastic element 61 and adheres to the hull, fixing the frustum cover 5 to the hull, thereby fixing the connecting frame 41 and the rotating part of the electric turntable 4. After starting the electric turntable 4, its fixed part rotates relative to the rotating part, thereby driving the robot body 1 to rotate, adjusting the orientation of the robot body 1, and turning in place.

[0032] During the stationary turning process, the bidirectional telescopic rod 35 is retracted, causing the wedge 31 to block the permanent magnet 22 between the permanent magnet 22 and the hull, reducing the attraction force of the permanent magnet 22 and facilitating the turning movement of the track 21. After the robot body 1 completes the turning, the bidirectional telescopic rod 35 is extended, causing the wedge 31 to release the magnetic barrier to the permanent magnet 22. The robot body 1 then firmly reattaches to the hull. After that, the power supply to the electromagnet 7 is disconnected, and the electromagnet 7 no longer attracts the hull. The stretched elastic element 61 retracts, causing the electromagnet 7 to retract into the mounting cylinder 6. Thus, the fixation between the truncated cone 5 and the hull is released. Then, the electric turntable 4 is controlled to drive the connecting frame 41 to rotate, causing the truncated cone 5 to rotate to the front of the robot body 1. When the robot body 1 moves forward, the high-pressure nozzle 51 inside the truncated cone 5 sprays water to remove the hull attachments on the forward path.

[0033] Therefore, during the turning process, the robot body 1 remains in the cleaned hull area. The tracks 21 do not crush the uncleaned hull, and the uncleaned attachments do not affect the adsorption effect of the permanent magnet 22. Furthermore, the high-pressure nozzle 51 can stop working to avoid excessive rinsing of the cleaned area and damage to the ship's paint caused by continuous operation of the high-pressure nozzle 51. If rinsing is paused, when the robot body 1 adjusts its direction, the tracks 21 may shift onto the attachments due to the impact of surging waves, resulting in decreased magnetic stability and making the robot body 1 prone to instability and detachment from the hull.

[0034] Furthermore, the robot body 1 autonomously navigates to the side of the boat. The operator uses a camera on the robot body 1 to observe the surrounding situation. However, the adsorption point of the permanent magnet 22 is located on the bottom surface of the track 21, requiring the robot body 1 to adjust its posture for adsorption. Water surges can easily cause instability in the robot body 1's posture. In addition, the low underwater visibility and complex flow environment make it difficult to precisely align the permanent magnet 22 on the bottom surface of the track 21 with the boat hull, making the adsorption operation quite difficult. Therefore, after the robot body 1 is submerged, the tilting motor 42 drives the rotating shaft 43 to rotate 90 degrees relative to the connecting frame 41. The rotating shaft 43 then drives the frustum cover 5 to rotate 90 degrees. Figure 2 As shown, the bottom of the frustum cover 5 faces the direction of travel. Then, the robot body 1 is driven forward by the thruster 12. The frustum cover 5 faces the hull, and the electromagnet 7 is energized. When the frustum cover 5 is fastened to the surface of the hull, the electromagnet 7 will form an attraction with the metal hull. The electromagnet 7 slides relative to the mounting cylinder 6, and then protrudes out of the mounting cylinder 6 and is attracted to the hull, thus fixing the frustum cover 5 to the hull in advance. Then, the flip motor 42 is controlled to drive the rotating shaft 43 to rotate 90 degrees to reset. Since the frustum cover 5 is fixed to the hull at this time, the connecting frame 41 rotates relative to the rotating shaft 43. The robot body 1 rotates around the rotating shaft 43 as the rotation center. The robot body 1 moves closer to the hull, and finally the bottom of the track 21 contacts the hull. The robot body 1 is attracted to the hull, completing the posture adjustment of the robot body 1 and attracting the hull for subsequent comprehensive cleaning work.

[0035] Furthermore, the surface of the hull is covered with adhering material, which hinders the magnetism of the permanent magnet 22, causing the robot body 1 to be unstable when initially attached to the hull. This requires repeated operations or searching for a suitable attachment area, wasting a lot of time and power of the robot body 1. Therefore, before the robot body 1 adheres to the hull, the frustum cover 5 is controlled to rotate and face the hull, and the robot body 1 is driven closer to the hull by the thruster 12. At this time, the high-pressure nozzle 51 faces the hull and is activated to wash away the adhering material on the hull surface. By controlling the rotation of the frustum cover 5, the vertical orientation of the high-pressure nozzle 51 is adjusted. The electric turntable 4 drives the connecting frame 41 and the frustum cover 5 to rotate, adjusting the horizontal orientation of the high-pressure nozzle 51 to change the washing position of the high-pressure nozzle 51. An area for the robot body 1 to initially attach to the hull is cleared in advance, allowing the robot body 1 to initially and stably attach to the hull. This reduces the number of times the robot body 1 needs to attach to the hull and eliminates the need to search for a suitable attachment area, significantly improving work efficiency.

[0036] Example 2: Based on Example 1, such as Figure 1 , Figure 3 and Figure 8 As shown, it also includes a connecting ring 44 and a shock-absorbing spring 45; a connecting ring 44 is fixedly connected to each end of the rotating shaft 43; each connecting ring 44 is slidably connected to a frustum cover 5; and a shock-absorbing spring 45 is connected between each connecting ring 44 and the frustum cover 5.

[0037] It also includes a rubber ring 52; a rubber ring 52 is provided at the bottom of each frustum cover 5.

[0038] The operation steps for using this embodiment are as follows: During the process of clearing an initial attachment area on the hull, the large surging waves could easily push the robot body 1 towards the hull, causing the frustum-shaped cover 5 to violently impact the hull and potentially damage its structure. Before the robot body 1 approaches the hull, the frustum-shaped cover 5 is controlled to rotate and face the hull, and an initial attachment area is cleared using the high-pressure nozzle 51. During this process, if the robot body 1 is pushed towards the hull by the surging waves, the electromagnet 7 is not energized. The frustum-shaped cover 5 collides with the hull, and the reaction force of the impact pushes the frustum-shaped cover 5 relative to the connecting ring 44, compressing the corresponding shock-absorbing spring 45, thus weakening the impact of the surging waves on the robot body 1. The squeezing force generated by the truncated cone 5, through the contact between the truncated cone 5 and the hull, provides shock absorption and cushioning for the entire equipment. The rubber ring 52 at the bottom of the truncated cone 5 first contacts the hull, and its deformation capability enhances the shock absorption and cushioning effect, reducing the probability of direct impact to the truncated cone 5 and damage to its structure. Then, the operator controls the thruster 12 to reverse, driving the robot body 1 away from the hull. It continues to clean an initial attachment area for the permanent magnet 22 to adhere to through the high-pressure nozzle 51. Then, the operator controls the robot body 1 to move and adhere to the hull with the help of the permanent magnet 22 for subsequent comprehensive cleaning work.

[0039] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present invention.

Claims

1. An underwater robot with a protective structure, comprising a robot body (1); a protective cover (11) is installed on the top of the robot body (1); the robot body (1) is provided with a plurality of thrusters (12) for underwater movement; and a camera is provided on the robot body (1); characterized in that, It also includes a driver (2), a mounting belt (3), an electric turntable (4), a frustum cover (5), a translation component, and a magnetic attraction component; two drivers (2) are installed on the robot body (1); each driver (2) is equipped with a track (21); the robot body (1) drives the track (21) to move through the driver (2); the track (21) is provided with a raised edge (211); the track (21) is provided with several embedded slots (212); each embedded slot (212) of the track (21) is slidably provided with a permanent magnet (22) for adsorbing the metal bottom of the ship; the permanent magnet (22) protrudes. The height of the part in the embedded groove (212) is flush with the raised edge (211); each track (21) is slidably connected to an installation belt (3); each installation belt (3) is fixedly connected to several wedges (31) for isolating permanent magnets (22); an electric turntable (4) is installed on the robot body (1); a connecting frame (41) is fixedly connected to the rotating part of the electric turntable (4); a pair of frustum covers (5) are connected to the connecting frame (41); several high-pressure nozzles (51) for cleaning the bottom of the ship are installed inside the frustum cover (5); all the high-pressure nozzles (51) of the same frustum cover (5) are connected to a high-pressure water pump. The translation component includes: a connecting belt (32), a transmission belt (33), a mounting frame (34), and a bidirectional telescopic rod (35); each mounting belt (3) is fixedly connected to several connecting belts (32); all connecting belts (32) are connected to the transmission belt (33); two mounting frames (34) are installed on the robot body (1); mounting slots (341) are opened on the mounting frames (34); each transmission belt (33) is located in a mounting slot (341); several bidirectional telescopic rods (35) are installed on the robot body (1); one telescopic end of each bidirectional telescopic rod (35) is fixedly connected to one of the mounting frames (34), and the other telescopic end is fixedly connected to the other mounting frame (34); The edges of the permanent magnet (22) and the wedge (31) opposite each other are chamfered; The coverage area of ​​the wedge (31) is smaller than the surface area of ​​the permanent magnet (22), and it does not completely block the magnetic force of the permanent magnet (22).

2. An underwater robot with a protective structure according to claim 1, characterized in that, The magnetic attraction assembly includes: a mounting cylinder (6), an elastic element (61), and an electromagnet (7); a mounting cylinder (6) is installed inside each frustum cover (5); an electromagnet (7) for attracting metal hulls is slidably connected inside each mounting cylinder (6); an elastic element (61) is connected between each electromagnet (7) and the mounting cylinder (6).

3. An underwater robot with a protective structure according to claim 2, characterized in that, It also includes a flip motor (42) and a rotating shaft (43); the flip motor (42) is mounted on the connecting frame (41); the rotating shaft (43) is rotatably connected to the connecting frame (41); two frustum covers (5) are connected to the rotating shaft (43); the output shaft of the flip motor (42) is connected to the rotating shaft (43).

4. An underwater robot with a protective structure according to claim 1, characterized in that, It also includes a water shield (36); the robot body (1) is equipped with several water shields (36) for protecting the bidirectional telescopic rod (35).

5. An underwater robot with a protective structure according to claim 2, characterized in that, A sealing layer is provided between the mounting cylinder (6) and the electromagnet (7).

6. An underwater robot with a protective structure according to claim 5, characterized in that, It also includes a connecting ring (44) and a shock-absorbing spring (45); a connecting ring (44) is fixed to each end of the rotating shaft (43); each connecting ring (44) is slidably connected to a frustum cover (5); and a shock-absorbing spring (45) is connected between each connecting ring (44) and the corresponding frustum cover (5).

7. An underwater robot with a protective structure according to claim 6, characterized in that, It also includes a rubber ring (52); each frustum cover (5) has an auxiliary buffer rubber ring (52) at its bottom.

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