An amphibious intelligent inspection robot

Abstract

The application belongs to the field of inspection robots, and discloses an amphibious intelligent inspection robot, which comprises a deep water sealed bin, an annular support, a posture conversion mechanism, a water-land dual-mode power mechanism, an underwater auxiliary propulsion mechanism and a self-adaptive flow stabilizing mechanism; in use, the posture conversion mechanism driven by the annular support and the deep water steering engine realizes full-automatic and rapid switching of vertical storage on land and horizontal expansion underwater, the water-land dual-mode power mechanism integrated with wheels and paddles realizes land obstacle crossing and underwater active diving operation functions in a single structure, the underwater auxiliary propulsion mechanism solves the problems of low underwater maneuvering precision, turning lag and posture control difficulty of traditional robots, and the self-adaptive flow stabilizing mechanism is additionally provided to realize pure mechanical linkage triggering relying on mechanical displacement of the whole machine posture switching, without additional electric control driving, and to adaptively complete the form conversion of horizontal storage on land and vertical expansion underwater.

Description

Technical Field

[0001] This invention relates to the field of inspection robot technology, and in particular to an amphibious intelligent inspection robot. Background Technology

[0002] Water conservancy inspection, aquatic ecological monitoring, tidal flat exploration, and water emergency rescue are all water-related scenarios with complex operating environments, covering cross-media conditions such as tidal flats, shallow water areas, and deep water areas. Equipment needs to have integrated operation capabilities for both land-based and underwater navigation.

[0003] Currently, most inspection robots on the market have limited functionality, primarily being purely land-based robots or purely underwater vehicles. They lack true amphibious cross-media operation capabilities and cannot simultaneously adapt to the needs of navigating complex land terrain and conducting underwater inspections, resulting in significant limitations in scenario adaptability. Purely land-based robots cannot enter water or perform underwater operations, and can only complete shoreline inspections, with extremely limited water coverage. Purely underwater vehicles cannot walk on mudflats, wetlands, or land, lacking the ability to navigate ashore and thus unable to complete continuous inspections of the shore-water interface area, leading to overall operational gaps and incomplete coverage.

[0004] In addition, a few inspection robots can be used amphibiously, but they lack a dedicated adaptive attitude stabilization structure. Underwater, they are prone to drifting, tilting, or even tipping over due to water flow disturbances and left-right dynamic deviations, resulting in poor attitude stability and anti-interference capabilities. Summary of the Invention

[0005] The present invention provides an amphibious intelligent inspection robot that solves the technical problems of functional separation between land and water and instability during underwater operations.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: an amphibious intelligent inspection robot, which includes a deep-water sealed chamber, a ring support, an attitude conversion mechanism, a dual-mode power mechanism for water and land, an underwater auxiliary propulsion mechanism, and an adaptive flow stabilization mechanism; The deep-water sealed chamber is fixedly installed on the inner wall of the annular bracket; The attitude conversion mechanism, the dual-mode power mechanism, the underwater auxiliary propulsion mechanism, and the adaptive current stabilization mechanism are respectively installed on one side of the ring support, enabling the robot to walk on land, dive underwater, and perform attitude-adaptive and stable operations.

[0007] As a further improvement of the present invention: the attitude conversion mechanism includes a conversion swing arm and a deep-water servo motor. The deep-water servo motor is fixedly mounted on the outer surface of the annular support. The conversion swing arm is hinged to the outer surface of the annular support. The deep-water servo motor is connected to the conversion swing arm through a gear transmission structure. The deep-water servo motor drives the conversion swing arm to complete a 90° rotation, thereby enabling the annular support to switch between vertical storage on land and horizontal deployment underwater.

[0008] As a further improvement of the present invention: the dual-mode power mechanism includes a deep-sea motor, a main wheel frame and a curved pressurized blade. The deep-sea motor is fixedly mounted on one side of the conversion swing arm. The output shaft of the deep-sea motor is rigidly connected to the main wheel frame. The curved pressurized blade is integrally formed on the inner side of the main wheel frame.

[0009] As a further improvement of the present invention: the underwater auxiliary propulsion mechanism includes an underwater thruster, a fixed frame, a brushless motor and a propeller. The fixed frame is fixed to the inner wall of the underwater thruster, the brushless motor is installed on one side of the fixed frame, and the propeller is installed at the output end of the brushless motor. The underwater thruster is fixedly installed on the inner wall of the annular bracket.

[0010] As a further improvement of the present invention: the adaptive flow stabilization mechanism includes a support frame, a sealing cylinder, and a cylinder. The sealing cylinder and the cylinder are both fixedly installed at the bottom of the support frame. The inner wall of the sealing cylinder is movably embedded in the outer surface of two circular plates. The two circular plates are fixedly installed at one end of two support rods on opposite sides.

[0011] As a further improvement of the present invention: the ends of the two support rods are connected to connecting ropes, and the other end of the connecting ropes is fixedly connected to the side wall of the underwater thruster.

[0012] As a further improvement of the present invention: a gas guide pipe is provided between the sealing cylinder and the cylinder, a transmission rod is movably embedded in the inner wall of the cylinder, a spring is sleeved on the outer side of the transmission rod, and a push plate is fixedly provided at the end of the transmission rod.

[0013] As a further improvement of the present invention: a hinge joint is fixed at one end of the push plate, and two elastic plates are fixedly provided on the inner wall of the sealing cylinder, with one side of each elastic plate fixedly provided on the opposite side of the two circular plates.

[0014] As a further improvement of the present invention: the adaptive current stabilizing mechanism includes an adaptive flip current stabilizing component, the adaptive flip current stabilizing component includes a slide plate, a guide rail, a connecting plate and a damping current stabilizing plate, the guide rail is fixedly disposed on one side of the damping current stabilizing plate, the slide plate is slidably embedded in the inner wall of the guide rail, and the slide plate is hinged to the hinge joint.

[0015] As a further improvement of the present invention: the connecting plate is rotatably mounted at the bottom of the support frame, and a damping flow stabilizing plate is fixedly mounted on one side of the connecting plate.

[0016] Compared with the prior art, the advantages and positive effects of the present invention are as follows: This invention utilizes a ring-shaped support combined with a deep-water servo-driven attitude conversion mechanism to achieve fully automatic and rapid switching between vertical folding on land and horizontal deployment underwater. It abandons the complex switching schemes of traditional electronic control, resulting in a simplified structure, rapid response, and strong operational stability. This effectively enhances the robot's adaptability to multiple scenarios and its ability to navigate terrain. Through an integrated propeller-driven dual-mode power mechanism, a single structure can handle both land obstacle crossing and active underwater diving operations. Combined with an underwater auxiliary propulsion mechanism, it solves the problems of low underwater maneuverability, lag in steering, and difficulty in attitude control inherent in traditional robots. Furthermore, an adaptive flow stabilization mechanism is added, relying on the mechanical displacement of the robot's attitude switching to achieve purely mechanical linkage triggering, eliminating the need for additional electronic control. It can adaptively complete the form conversion between horizontal folding on land and vertical deployment underwater. The triangular-pointed flow stabilization structure effectively breaks up water flow, reduces underwater resistance, and minimizes power loss. Simultaneously, it utilizes a vertical damping surface to counteract lateral water flow disturbances, automatically compensates for deviations in the speed and angle of the left and right propellers, and corrects the robot's attitude in real time, preventing underwater drift, tilting, and rollover instability. Attached Figure Description

[0017] Figure 1 This is a schematic diagram illustrating a scenario for an amphibious intelligent inspection robot proposed in this invention.

[0018] Figure 2 This is a side view of the ring-shaped bracket in an embodiment of this application.

[0019] Figure 3 This is a schematic diagram of the bottom structure of the ring-shaped bracket in an embodiment of this application.

[0020] Figure 4 This is a schematic diagram of the adaptive current stabilization mechanism in the embodiments of this application.

[0021] Figure 5 This is a schematic diagram of the internal structure of the underwater thruster in an embodiment of this application.

[0022] Figure 6 This is a schematic diagram of the support frame in an embodiment of this application.

[0023] Figure 7 This is a cross-sectional view of the sealing cylinder in an embodiment of this application.

[0024] Figure 8 This is a cross-sectional structural diagram of the cylinder barrel in an embodiment of this application.

[0025] Legend: 1. Ring bracket; 101. Deep-water sealed chamber; 2. Convertible swing arm; 201. Deep-water motor; 202. Wheel main frame; 203. Curved pressurized blade; 204. Deep-water servo; 205. Underwater propulsion; 206. Fixed frame; 207. Brushless motor; 208. Propeller; 3. Support frame; 301. Cylinder; 302. Push plate; 303. Transmission rod; 304. Spring; 305. Hinge joint; 306. Slide plate; 307. Connecting plate; 308. Damping flow stabilizer plate; 309. Guide rail; 310. Sealing cylinder; 311. Circular plate; 312. Connecting rope; 313. Air duct; 314. Support rod; 315. Elastic sheet. Detailed Implementation

[0026] 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.

[0027] Please see Figure 1 - Figure 8 This invention provides an amphibious intelligent inspection robot, which includes a deep-water sealed chamber 101, a ring-shaped support 1, an attitude conversion mechanism, a dual-mode power mechanism for both land and water, an underwater auxiliary propulsion mechanism, and an adaptive current stabilization mechanism. The deep-water sealed chamber 101 is fixedly installed on the inner wall of the ring-shaped support 1. The attitude conversion mechanism, the dual-mode power mechanism for both land and water, the underwater auxiliary propulsion mechanism, and the adaptive current stabilization mechanism are respectively installed on one side of the ring-shaped support 1, enabling the robot to walk on land, navigate underwater, and perform adaptive and stable operations.

[0028] In land-based operations, the ring-shaped support 1 is vertically stowed, working in conjunction with the dual-mode power mechanism to perform ground walking, obstacle crossing, and inspection operations. The adaptive flow stabilization mechanism is stowed and fits snugly against the bottom of the robot body, ensuring smooth and frictionless passage on land. When the robot enters water, the attitude conversion mechanism drives the ring-shaped support 1 to rotate from a vertically stowed position to a horizontally deployed position. Simultaneously, the dual-mode power mechanism and underwater auxiliary propulsion mechanism switch to underwater working mode, enabling active underwater diving and maneuvering operations. At the same time, the mechanical displacement linkage of the attitude switching triggers the adaptive flow stabilization mechanism to automatically deploy the flow stabilization structure to complete underwater attitude correction, anti-drift, and anti-rollover stabilization operations. It can autonomously adapt to fully automatic switching and stable operation in both land and underwater scenarios.

[0029] Please see Figure 1 - Figure 8In one embodiment, the attitude conversion mechanism includes a conversion swing arm 2 and a deep-water servo motor 204. The deep-water servo motor 204 is fixedly mounted on the outer surface of the ring bracket 1, and the conversion swing arm 2 is hinged to the outer surface of the ring bracket 1. The deep-water servo motor 204 is connected to the conversion swing arm 2 through a gear transmission structure. The deep-water servo motor 204 drives the conversion swing arm 2 to complete a 90° rotation, thereby enabling the ring bracket 1 to switch between vertically retracted on land and horizontally deployed underwater. The deep-water servo motor 204, in conjunction with the gear set, achieves precise deceleration and torque increase transmission, ensuring that the rotation of the conversion swing arm 2 is smooth and the positioning is accurate, and quickly completing the switching between the land and water attitudes of the entire machine. In the land state, the ring bracket 1 is vertically retracted, reducing the lateral volume of the entire machine, avoiding scratches and jamming on the terrain, and improving the ability to cross obstacles on land. In the underwater state, the ring bracket 1 is horizontally deployed, increasing the lateral span of the entire machine and effectively improving the lateral stability underwater.

[0030] Please see Figure 1 - Figure 8 In one embodiment, the dual-mode power mechanism includes a deep-sea motor 201, a main wheel frame 202, and a curved pressurized blade 203. The deep-sea motor 201 is fixedly mounted on one side of the switching swing arm 2, and its output shaft is rigidly connected to the main wheel frame 202. The curved pressurized blade 203 is integrally formed on the inner side of the main wheel frame 202, adopting an integrated wheel-blade composite structure. Relying on the switching swing arm 2 to switch postures according to the shape, it realizes the single-structure dual-mode operation function. In the land mode, the deep-sea motor 201 drives the outer ring of the main wheel frame 202 to roll, realizing straight movement, turning, and obstacle crossing on land. In the underwater mode, the integrally formed curved pressurized blade 203 rotates at high speed with the wheel, efficiently stirring the water flow to generate stable downforce, overcoming the buoyancy of the robot itself, and realizing the robot's autonomous and controllable diving, levitation, and posture adjustment, meeting the power output requirements of both land and water scenarios.

[0031] Please see Figure 1 - Figure 8 In one embodiment, the underwater auxiliary propulsion mechanism includes an underwater thruster 205, a fixed frame 206, a brushless motor 207, and a propeller 208. The fixed frame 206 is fixed to the inner wall of the underwater thruster 205. The brushless motor 207 is installed on one side of the fixed frame 206, and the propeller 208 is installed at the output end of the brushless motor 207. The underwater thruster 205 is fixedly installed on the inner wall of the annular bracket 1. The underwater thruster 205 completes the water and land attitude switching synchronously with the annular bracket 1. In the land state, it is hidden and stored without affecting the land passability. In the underwater state, it is deployed and operates. The brushless motor 207 drives the propeller 208 to rotate at high speed to generate directional auxiliary thrust, which makes up for the defects of insufficient underwater fine adjustment accuracy and steering lag of the propeller structure. This supports the robot to complete precise underwater forward, backward, turn on the spot, and low-speed hovering fine adjustment.

[0032] Please see Figure 1 - Figure 8 In one embodiment, the adaptive flow stabilization mechanism includes a support frame 3, a sealing cylinder 310, and a cylinder 301. The sealing cylinder 310 and the cylinder 301 are both fixedly installed at the bottom of the support frame 3. The inner wall of the sealing cylinder 310 is movably embedded in the outer surface of two circular plates 311. The two circular plates 311 are fixedly installed on one end of two support rods 314 on opposite sides. The sealing cylinder 310 forms a sealed air chamber. The mechanical displacement is converted into air pressure energy through the two circular plates 311 and the support rods 314. The air chamber is compressed by the mechanical stroke of the underwater thruster 205 attitude switching, providing a pure mechanical power source for subsequent air pressure transmission and structural flipping.

[0033] Furthermore, the ends of the two support rods 314 are connected to connecting ropes 312, and the other end of the connecting ropes 312 is fixedly connected to the side wall of the underwater thruster 205. The linkage between the attitude change of the underwater thruster 205 and the pneumatic mechanism is established through the connecting ropes 312 to achieve precise transmission of attitude displacement. When the underwater thruster 205 changes from vertical storage to horizontal deployment, it automatically pulls the support rods 314 and the circular plate 311 to move, realizing fully automatic triggering of mechanical actions without manual control, and ensuring that the mode switching and the action of the flow stabilization mechanism are synchronized.

[0034] Furthermore, an air guide pipe 313 is provided between the sealing cylinder 310 and the cylinder 301. A transmission rod 303 is movably embedded in the inner wall of the cylinder 301. A spring 304 is sleeved on the outside of the transmission rod 303. A push plate 302 is fixedly provided at the end of the transmission rod 303. The air guide pipe 313 enables the air pressure inside the sealing cylinder 310 and the cylinder 301 to be interconnected and transmitted, converting the compressed air pressure into linear mechanical thrust. The transmission rod 303 and the push plate 302 are responsible for power output. The spring 304 can provide a reset force when the pressure is released, ensuring stable air pressure transmission and smooth operation, and realizing bidirectional adaptive action of underwater deployment and automatic land reset.

[0035] Furthermore, a hinge joint 305 is fixed to one end of the push plate 302, and two elastic plates 315 are fixedly installed on the inner wall of the sealing cylinder 310. One side of each elastic plate 315 is fixedly installed on the opposite side of the two circular plates 311. The hinge joint 305 realizes the torque conversion of linear thrust into rotational swing force, providing a hinge transmission basis for the flipping of the flow stabilizer plate. The elastic plate 315 can buffer and limit the sliding stroke of the circular plate 311, avoiding sliding jamming and impact shaking problems, while storing reset spring force to ensure that the circular plate 311 quickly resets when the whole machine switches to land mode, improving the stability and durability of the entire pneumatic mechanism in cyclic operation.

[0036] Furthermore, the adaptive flow stabilizing mechanism includes an adaptive flip flow stabilizing component, which includes a slide plate 306, a guide rail 309, a connecting plate 307, and a damping flow stabilizing plate 308. The guide rail 309 is fixedly mounted on one side of the damping flow stabilizing plate 308. The slide plate 306 is slidably embedded in the inner wall of the guide rail 309. The slide plate 306 is hinged to the hinge joint 305. The connecting plate 307 is rotatably mounted at the bottom of the support frame 3. The damping flow stabilizing plate 308 is fixedly mounted on one side of the connecting plate 307. The flow stabilizing plate 308 is slidably mounted on the slide plate 306 and the guide rail 309. The rotational engagement of the connecting plate 307 forms a complete articulated flipping transmission link, converting the linear thrust of air pressure into the rotational motion of the plate. This ultimately enables the damping and stabilizing plate 308 to automatically switch between horizontally folding into the bottom on land and automatically vertically unfolding underwater. Once unfolded, it can utilize the triangular fluid structure to break up water flow and reduce navigation resistance. At the same time, it can counteract lateral water flow disturbances, compensate for the power and angle deviations of the left and right propellers, correct the body attitude, effectively solve the problems of underwater drifting, tilting, and rollover, and significantly improve the stability of the robot's underwater hovering and cruising operations.

[0037] It is worth noting that during underwater operations, the main frame 202 of the two wheel bodies and the curved pressurized blades 203 have slight differences in rotational speed and angular assembly deviations. At the same time, there are irregular lateral water flow disturbances in the water, which can easily lead to uneven stress on the fuselage, resulting in lateral drift, tilting, or even capsizing. After this structure is deployed, the vertical damping and flow stabilizing plate 308 can form a centrally located and stable damping surface, increasing the lateral water resistance of the fuselage underwater, effectively blocking and diverting lateral turbulence, and weakening the lateral thrust of the water flow on the fuselage. At the same time, it can balance the force difference between the left and right sides of the fuselage, offset the off-center load torque generated by the operation of the wheel propellers in real time, and automatically center and correct the fuselage attitude.

[0038] Working Principle: When the robot is operating on land, the deep-water sealed chamber 101 serves as the main load-bearing and protective structure, ensuring the overall rigidity and sealing performance of the robot body. The deep-water servo motor 204 acts as the switching power source, controlling the gear set to drive the switching swing arm 2 to maintain a vertical locked state, keeping the two side ring supports 1 in a vertically retracted posture. Simultaneously, it drives the main wheel frame 202 and underwater thrusters 205 to maintain a vertically retracted shape, fitting snugly against the sides of the robot body, reducing land collisions and preventing structural exposure. At this time, the deep-water motor 201 drives the main wheel frame 202 to rotate, relying on the outer ring of the wheel to achieve rolling movement on land. This is suitable for obstacle crossing and straight-line cruising in complex terrains such as sand, mudflats, and reed beds. The underwater thrusters 205... 05 is fixed by the fixing frame 206. The brushless motor 207 and propeller 208 are vertically stored with the body and do not participate in the operation. There is no protruding structure, so it does not affect the land passability. At the same time, the support frame 3 at the bottom of the body provides the installation benchmark for the entire air pressure stabilization mechanism. The sealing cylinder 310 and cylinder 301 maintain the initial air pressure balance state. The circular plate 311, support rod 314 and connecting rope 312 are in the relaxed reset state. The transmission rod 303, push plate 302 and spring 304 are fully retracted. The sliding plate 306 is located at the initial position of the guide rail 309. The connecting plate 307 remains horizontal. The damping stabilization plate 308 is horizontally stored against the bottom. The bottom of the whole machine is flat, which effectively avoids walking jamming and scratching, and realizes stable land inspection operation. Underwater switching and submersible operation principle: After the robot enters the water, the deep-water servo motor 204 drives the gear set transmission, which drives the conversion swing arm 2 to complete a precise 90° rotation, causing the ring support 1 to switch attitudes. This drives the main wheel frame 202 and the underwater thruster 205 from a horizontal storage state to a vertical underwater working attitude and mechanically locks them. After the attitude switch is completed, the deep-water motor 201 drives the main wheel frame 202 and the built-in curved pressure booster blades 203 to rotate at high speed, stirring the water flow downward to generate downforce, overcoming the buoyancy of the body, and realizing the robot's autonomous diving and underwater suspension. Through the independent speed control of the four wheels, the robot can complete underwater pitch, roll, omnidirectional turning and other attitude adjustments. At the same time, the underwater thruster 205 is activated, and the brushless motor 207 drives the propeller 208 to rotate at high speed to generate auxiliary thrust, making up for the shortcomings of the wheel and propeller fine adjustment, realizing precise underwater forward, backward, turning and turning on the spot, improving underwater maneuverability and operational flexibility. The deep-water sealed chamber 101 maintains high-pressure sealing protection throughout the entire process, and with the help of the internal pressure balancing and drying system, it ensures stable operation underwater 24 hours a day; As the switching swing arm 2 drives the underwater thruster 205 to rotate vertically, the underwater thruster 205 rotates and generates displacement, pulling the connecting rope 312 connected to the side. The connecting rope 312 pulls the circular plate 311 inside the sealing cylinder 310 to slide inward through the support rod 314, compressing the sealed air inside the sealing cylinder 310. The pressurized gas is transported to the cylinder 301 through the air guide pipe 313, increasing the air pressure inside the cylinder 301. This pushes the transmission rod 303, which is movably embedded in the inner wall, to move forward in a straight line. The transmission rod 303 moves forward and compresses the outer spring 304, while simultaneously driving the push plate 302 to move synchronously. The hinge joint 305 fixed at the end of the push plate 302 moves forward accordingly, pulling the hinged slide plate 306 to slide along the inner wall of the guide rail 309. The sliding plate 306 changes the lever arm angle, driving the rotatable connecting plate 307 located at the bottom of the support frame 3 to rotate. This ultimately causes the damping flow stabilizer plate 308, which is fixed to the side of the connecting plate 307, to flip from a horizontal storage state to a vertical working state. After being vertically unfolded, the damping flow stabilizer plate 308 uses a triangular pointed structure to break up water flow and reduce navigation resistance. At the same time, it relies on the damping of the plate surface to counteract lateral water flow disturbances, compensate for the deviation of the left and right propeller angles and uneven power, automatically correct the fuselage attitude, effectively solve the problems of underwater drift, tilting and rollover, and greatly improve underwater hovering and cruising stability.

[0039] When the robot emerges from the water and returns to land, the deep-water servo motor 204 drives the conversion swing arm 2 to rotate 90° in the opposite direction. The ring bracket 1, the main wheel frame 202, and the underwater thruster 205 all return to a horizontal position. The tension of the connecting rope 312 is released. At this time, the spring 304 and the elastic plate 315 release their elasticity synchronously, pushing the transmission rod 303 and the circular plate 311 to return to their horizontal positions. The air pressure inside the sealing cylinder 310 and the cylinder 301 is rebalanced. The slide plate 306 slides back along the guide rail 309. The connecting plate 307 rotates in the opposite direction, driving the damping flow stabilizer plate 308 to re-adhere horizontally to the bottom of the robot body for storage, completing a complete fully automatic water-land switching and attitude stabilization linkage cycle.

[0040] All standard parts used in this application can be purchased from the market, and irregular parts can be customized according to the description and drawings. The specific connection methods of each part adopt conventional methods such as bolts, rivets, and welding that are mature in the prior art. The machinery, parts and equipment adopt conventional models in the prior art, and the circuit connection adopts conventional connection methods in the prior art. The contents not described in detail in this specification are existing technologies known to those skilled in the art.

[0041] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0042] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An amphibious intelligent inspection robot, characterized in that, The robot includes a deep-water sealed chamber (101), a ring-shaped support (1), an attitude conversion mechanism, a dual-mode power mechanism for water and land, an underwater auxiliary propulsion mechanism, and an adaptive flow stabilization mechanism; The deep-water sealed chamber (101) is fixedly installed on the inner wall of the annular bracket (1); The attitude conversion mechanism, the dual-mode power mechanism, the underwater auxiliary propulsion mechanism, and the adaptive current stabilization mechanism are respectively installed on one side of the ring bracket (1) to realize the robot's land walking, underwater submersion and attitude adaptive stabilization operation.

2. The amphibious intelligent inspection robot according to claim 1, characterized in that: The attitude conversion mechanism includes a conversion swing arm (2) and a deep-water servo motor (204). The deep-water servo motor (204) is fixedly mounted on the outer surface of the ring bracket (1). The conversion swing arm (2) is hinged to the outer surface of the ring bracket (1). The deep-water servo motor (204) is connected to the conversion swing arm (2) through a gear transmission structure. The deep-water servo motor (204) drives the conversion swing arm (2) to complete a 90° rotation, thereby enabling the ring bracket (1) to achieve dual attitude switching: vertical storage on land and horizontal deployment underwater.

3. The amphibious intelligent inspection robot according to claim 2, characterized in that: The dual-mode power mechanism includes a deep-sea motor (201), a main wheel frame (202), and a curved pressurized blade (203). The deep-sea motor (201) is fixedly mounted on one side of the conversion swing arm (2). The output shaft of the deep-sea motor (201) is rigidly connected to the main wheel frame (202). The curved pressurized blade (203) is integrally formed on the inner side of the main wheel frame (202).

4. The amphibious intelligent inspection robot according to claim 3, characterized in that: The underwater auxiliary propulsion mechanism includes an underwater thruster (205), a fixed frame (206), a brushless motor (207), and a propeller (208). The fixed frame (206) is fixed to the inner wall of the underwater thruster (205). The brushless motor (207) is installed on one side of the fixed frame (206). The propeller (208) is installed at the output end of the brushless motor (207). The underwater thruster (205) is fixedly installed on the inner wall of the annular bracket (1).

5. The amphibious intelligent inspection robot according to claim 4, characterized in that: The adaptive flow stabilization mechanism includes a support frame (3), a sealing cylinder (310), and a cylinder (301). The sealing cylinder (310) and the cylinder (301) are both fixedly installed at the bottom of the support frame (3). The inner wall of the sealing cylinder (310) is movably embedded in the outer surface of two circular plates (311). The two circular plates (311) are fixedly installed on one end of two support rods (314) on opposite sides.

6. The amphibious intelligent inspection robot according to claim 5, characterized in that: Two support rods (314) are connected to connecting ropes (312) at their ends, and the other end of the connecting ropes (312) is fixedly connected to the side wall of the underwater thruster (205).

7. The amphibious intelligent inspection robot according to claim 6, characterized in that: A gas guide pipe (313) is provided between the sealing cylinder (310) and the cylinder (301). A transmission rod (303) is movably embedded in the inner wall of the cylinder (301). A spring (304) is sleeved on the outer side of the transmission rod (303). A push plate (302) is fixedly provided at the end of the transmission rod (303).

8. The amphibious intelligent inspection robot according to claim 7, characterized in that: One end of the push plate (302) is fixed with a hinge joint (305), and two elastic plates (315) are fixedly provided on the inner wall of the sealing cylinder (310). One side of the two elastic plates (315) is fixedly provided on the opposite side of the two circular plates (311).

9. The amphibious intelligent inspection robot according to claim 8, characterized in that: The adaptive flow stabilizing mechanism includes an adaptive flip flow stabilizing component, which includes a slide plate (306), a guide rail (309), a connecting plate (307), and a damping flow stabilizing plate (308). The guide rail (309) is fixedly disposed on one side of the damping flow stabilizing plate (308), and the slide plate (306) is slidably embedded in the inner wall of the guide rail (309). The slide plate (306) is hinged to the hinge joint (305).

10. An amphibious intelligent inspection robot according to claim 9, characterized in that: The connecting plate (307) is rotatably mounted at the bottom of the support frame (3), and a damping flow stabilizing plate (308) is fixedly mounted on one side of the connecting plate (307).

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