Underwater robot for installing a penetrometer

Abstract

The application discloses an underwater robot for installing a touch probe, comprising a robot body, a touch probe assembly and a counter-thrust assembly; the counter-thrust assembly is arranged on the top of the robot body and comprises a mounting shell and an adjusting unit; the adjusting unit is used to form a high-speed water flow, and a main jet port is formed in a vertical direction outside the mounting shell to extend partially from the mounting shell; the high-speed water flow is sprayed from the main jet port; the mounting shell is provided with an actuator, and a cover is hingedly connected relative to the main jet port; a shunt cavity is formed in the cover, and a first branch jet port is formed on the outer side of the cover and communicates with the shunt cavity; the main jet port and the first branch jet port are arranged at a preset angle; the actuator drives the cover to rotate around the hinge point to adjust the water quantity entering the first branch jet port, so that the size and direction of the horizontal thrust are changed in real time; the resultant force formed by the vertical thrust is dynamically adjusted according to the direction of the interference force, the reaction force is effectively offset, and the robot body can be kept in a hovering state and a horizontal posture at a predetermined touch probe station.

Description

Technical Field

[0001] This application relates to the field of underwater robot technology, and in particular to an underwater robot for installing a probe. Background Technology

[0002] Currently, in the field of marine monitoring and engineering, the traditional method of embedding monitoring probes into the seabed mainly relies on manual operation by divers. This manual method is not only severely limited in operating depth, but also greatly constrained by limited weather and sea state windows, resulting in low operational efficiency and high costs. More importantly, operators are directly exposed to high-risk underwater environments such as high pressure, low temperature, low visibility, and potential threats from marine life, posing extremely significant risks to their personal safety.

[0003] To overcome the limitations of manual operation, operational remotely operated vehicles (ROVs) or autonomous underwater vehicles (AUVs) are increasingly being used for such tasks. They typically use onboard robotic arms to grasp the probe and attempt to press it into the seabed using their own weight or simple downward pressure, thus achieving preliminary mechanization and remote operation.

[0004] However, this basic mechanized approach reveals a fundamental technical challenge in dynamic stability during practical application. When the robot implants the probe, the interaction between the probe and the seabed generates a continuous and enormous upward reaction force. This reaction force continuously pushes the entire underwater robot platform upward and may induce attitude tilting. Most existing underwater robots rely on propellers installed at fixed angles to provide vertical thrust to maintain depth. However, in the process of implanting a probe under heavy load and continuous variable load, the direction and torque of the fixed thrust cannot be changed, making it difficult to compensate for platform drift and attitude disturbance caused by complex reaction forces in real time. This makes it difficult for the underwater robot to maintain a hovering state and horizontal attitude at the predetermined implantation probe position, causing the implantation probe positioning reference to drift and making it difficult to guarantee the verticality of the probe. Summary of the Invention

[0005] This application aims to solve at least one of the technical problems existing in the prior art. To this end, this application proposes an underwater robot for installing a probe, wherein the underwater robot for installing the probe is used to solve the technical problem that the direction of the thrust of traditional underwater robots cannot be changed, which leads to the platform being unable to operate stably when it floats to the surface.

[0006] An underwater robot for installing a probe according to a first aspect embodiment of this application includes: The robot itself; A probe assembly, disposed at the bottom of the robot body, is used to install a probe on the seabed; and, A thrust-reverse assembly, disposed on the top of the robot body, includes a mounting housing and an adjustment unit. The adjustment unit is used to generate a high-speed water flow. It is disposed within the mounting housing and extends partially outward in a vertical direction from within the mounting housing to form a main jet nozzle. The high-speed water flow is ejected from the main jet nozzle. The side of the mounting housing is provided with at least one water inlet communicating with the main jet nozzle, and a cover is hinged to the main jet nozzle. A flow-dividing cavity is formed within the cover, and at least one first branch jet nozzle communicating with the flow-dividing cavity is formed on the outer side. The main jet nozzle and the first branch jet nozzle are set at a preset angle. The mounting housing is equipped with an actuator, which drives the cover to rotate around its hinge point.

[0007] The underwater robot for installing a probe according to the embodiments of this application has at least the following beneficial effects: In this embodiment, when the underwater robot used to install the probe performs the probe-planting operation on the seabed using the probe-planting assembly located on its bottom, the vertical upward reaction force generated during the downward implantation of the probe will push the robot body to float. At this time, the thrust reverser assembly located on the top of the robot body will start working. Specifically, seawater enters the interior of the mounting housing through the inlet, and then a high-speed water flow is formed by the regulating unit located inside the mounting housing. The high-speed water flow is ejected vertically upward from the main jet outlet extending from the top of the mounting housing, providing the main vertical downward thrust to counteract the buoyancy force. At the same time, when the robot body drifts horizontally or tilts due to uneven distribution of reaction force, the actuator installed on the mounting housing drives the hinged cover to rotate around the hinge point, changing the connection between the diversion cavity inside the cover and the high-speed water flow flowing through the main jet outlet. The mechanism adjusts the proportion of water entering the branching chamber from the main jet outlet. This high-speed water flow is ejected obliquely at a preset angle relative to the direction of the main jet outlet through at least one first branch jet outlet on the cover, thereby generating a horizontal thrust. Furthermore, through the continuous action of the actuator, the amount of water entering the first branch jet outlet can be infinitely adjusted, thereby changing the magnitude and direction of the horizontal thrust in real time. Ultimately, the vertical thrust generated by the main jet outlet and the adjustable horizontal thrust generated by the first branch jet outlet form a resultant force. The direction of the resultant force can be dynamically adjusted according to the actual direction of the disturbance force, thereby effectively counteracting the three-dimensional drift and attitude disturbance of the platform caused by the reaction force of the penetrometer. This allows the underwater robot used to install the penetrometer to maintain a hovering state and horizontal attitude at the predetermined penetrometer station, ensuring the positioning accuracy and verticality of the penetrometer operation.

[0008] According to some embodiments of this application, the adjustment unit includes: The connecting pipe is hollow and is fixedly installed inside the mounting housing. The drive unit is installed inside the housing relative to the bottom of the connecting pipe to drive the water entering from the inlet to form a high-speed water flow; A flow divider is movably disposed at the top of the connecting pipe, communicating with the connecting pipe, wherein the main jet outlet is fixedly disposed at the top of the flow divider; and At least two first telescopic rods are symmetrically arranged at the same end of the connecting pipe. One end of the first telescopic rod is hinged to the connecting pipe, and the other end is hinged to the diversion section, so as to drive the diversion section to have a degree of freedom of turning from the vertical direction to any horizontal direction.

[0009] According to some embodiments of this application, the diversion section is used to divert the high-speed water flow driven by the self-driven section towards the main jet outlet; the diversion section includes: A diversion frame is fixed to the top of the connecting pipe, and a second branch jet nozzle is provided on the side facing the mounting housing; A boom arm, rotatably mounted on the top of the diverter frame, has a diverter plate positioned opposite the second branch nozzle, the diverter plate having a rotational stroke that moves towards or away from the second branch nozzle; and... The second telescopic rod is positioned relative to the second branch jet nozzle, with one end hinged to the bottom of the diverter frame and the other end hinged to the non-pivotable rotation point of the boom frame.

[0010] According to some embodiments of this application, the underwater robot for installing the probe further includes an attitude adjustment system, the attitude adjustment system comprising: The fin assembly is movably mounted on the bottom of the robot body near the head. A horizontal tail fin assembly is movably mounted at the tail of the robot body; The linkage mechanism includes a first drive assembly, and a first connecting rod and a second connecting rod drivenly connected to the first drive assembly. The first connecting rod is drivenly connected to the fin assembly, and the second connecting rod is drivenly connected to the horizontal tail assembly. The first drive assembly is used to drive the fin assembly and the horizontal tail assembly to deflect in the same direction. The gravity regulating cylinder is driven to connect with the first connecting rod and is used to discharge or suck in water when the robot body floats or dives.

[0011] According to some embodiments of this application, the gravity regulating cylinder is sleeved on the first connecting rod, and a piston ring is slidably and sealed inside. The piston ring is fixed on the first connecting rod and separates the gravity regulating cylinder into an air pressure chamber and a water pressure chamber. The air pressure chamber is connected to the inside of the robot body, and the water pressure chamber is provided with a water pipe connected to the outside of the robot body.

[0012] According to some embodiments of this application, the first driving component includes: A first servo motor, fixedly mounted within the robot body, is driven by a first eccentric block to rotate about a vertically extending axis. The first eccentric block is hinged to a first eccentric rod. The first drive shaft extends vertically and is arranged vertically above the first servo motor. The bottom and top of the first drive shaft are respectively fixed with a second eccentric block and a third eccentric block. The first eccentric rod is hinged to the second eccentric block, and the first connecting rod and the second connecting rod are respectively hinged to the third eccentric block.

[0013] According to some embodiments of this application, the fin assembly includes: A fixed mounting bracket is fixedly installed on the front bottom of the robot body; A fin-wing rod extends along the width direction of the robot body and is rotatably mounted on the fixed mounting bracket, having a rotational stroke about its vertically extending axis; a fourth eccentric block is coaxially fixed to the fin-wing rod, and the fourth eccentric block is hinged to the first connecting rod; and... Multiple fin blades are symmetrically distributed and fixedly installed at both ends of the fin rod.

[0014] According to some embodiments of this application, the horizontal tail fin assembly includes: A horizontal fixed wing plate is fixedly installed at the tail of the robot body; A first tail wing rod is rotatably mounted to the transverse fixed wing plate, having a rotational stroke about an axis extending in the width direction of the robot body; a fifth eccentric block is coaxially fixed to the first tail wing rod, the fifth eccentric block being hinged to the second connecting rod; and... Multiple horizontal tail fins are symmetrically distributed and fixedly installed at both ends of the first tail fin rod.

[0015] According to some embodiments of this application, the attitude adjustment system further includes a vertical tail fin assembly and a corresponding second drive assembly; The vertical tail fin assembly includes: A vertical fixed wing plate is fixedly installed at the tail of the robot body and is set perpendicular to the horizontal fixed wing plate; The second tail wing rod is rotatably mounted on the vertical fixed wing plate, so as to have a rotational stroke about the vertically extending axis; A vertical tail fin is fixedly connected to the second tail fin rod so that it has a rotational stroke about the vertical extension axis along with the second tail fin rod; The second driving component includes: The second servo motor is fixedly installed inside the robot body and is driven by a sixth eccentric block to drive the sixth eccentric block to rotate around an axis extending in the vertical direction. The sixth eccentric block is hinged to a second eccentric rod. A second drive shaft extends vertically and is arranged vertically above and below the second servo motor. A seventh eccentric block and an eighth eccentric block are fixed to the bottom and top of the second drive shaft, respectively. The second eccentric rod is hinged to the seventh eccentric block. The third connecting rod is hinged at both ends to the eighth eccentric block and the vertical tail fin, respectively.

[0016] According to some embodiments of this application, the attitude adjustment system further includes a stabilizing wing assembly, the stabilizing wing assembly comprising: A stabilizing wing shell is mounted on the robot body; Two horizontal stabilizers and two vertical stabilizers are rotatably mounted on the stabilizer housing in a pairwise configuration; and, A stabilizer drive unit is disposed within the stabilizer housing and drives the two horizontal stabilizers and the two vertical stabilizers to rotate.

[0017] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0018] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which: Figure 1 This is a schematic diagram of the overall structure of an underwater robot for mounting a probe according to an embodiment of this application; Figure 2 This is a schematic diagram of the structure of a penetrometer assembly for an underwater robot used to install penetrometers, according to an embodiment of this application. Figure 3 This is a schematic diagram of the external structure of the thrust reverser assembly of an underwater robot for mounting a probe, according to an embodiment of this application. Figure 4 This is a schematic diagram of the internal structure of the thrust reverser assembly of an underwater robot for mounting a probe, according to an embodiment of this application; Figure 5 This is an exploded schematic diagram of the adjustment unit of an underwater robot for mounting a probe according to an embodiment of this application; Figure 6 This is a schematic diagram of the internal structure of an underwater robot body for mounting a probe, according to an embodiment of this application. Figure 7 This is a schematic diagram of the linkage mechanism of an underwater robot for mounting a probe according to an embodiment of this application; Figure 8 yes Figure 7 A magnified view of a portion at point A; Figure 9 yes Figure 7 A magnified view of the area at point B; Figure 10 This is a schematic diagram of the vertical tail fin assembly of an underwater robot for mounting a probe, according to an embodiment of this application. Figure 11 This is a three-dimensional structural schematic diagram of a stabilizing wing assembly for an underwater robot used to mount a probe, according to an embodiment of this application; Figure 12 This is a schematic diagram of the internal structure of an underwater robot stabilizing wing assembly for mounting a probe, according to another embodiment of this application.

[0019] Figure label: 100. Robot body; 110. Vector thruster; 200. Penetrator assembly; 210. Penetrator crossbar; 220. Penetrator vertical frame; 230. Stepper motor; 240. Screw; 250. Slider; 260. Penetrator column; 300. Back thrust assembly; 310. Mounting housing; 311. Inlet; 312. Cover; 3121. Diverter chamber; 3122. First branch jet nozzle; 313. Actuator; 320. Adjustment unit; 321. Main jet nozzle; 322. Connecting pipe; 32 3. Drive unit; 3231. Drive rod; 3232. Turbofan; 324. Flow splitter; 3241. Flow splitter frame; 3242. Second branch jet nozzle; 3243. Articulated boom; 3244. Flow splitter plate; 3245. Second telescopic rod; 325. First telescopic rod; 400. Attitude adjustment system; 410. Fin assembly; 411. Fixed mounting bracket; 412. Fin rod; 413. Fourth eccentric block; 414. Fin blade; 420. Horizontal tail assembly; 421. Horizontal fixed wing plate; 422. First tail rod; 423. Fifth eccentric block; 424. Horizontal tail fin; 430. Linkage mechanism; 431. First drive assembly; 4311. First servo; 4312. First eccentric block; 4313. First eccentric rod; 4314. First drive shaft; 4315. Second eccentric block; 4316. Third eccentric block; 432. First connecting rod; 433. Second connecting rod; 440. Gravity regulating cylinder; 441. Piston ring; 442. Air pressure chamber; 443. Water pressure chamber; 444. Water pipe; 450. Vertical tail fin assembly; 45 1. Vertical fixed wing plate; 452. Second tail wing rod; 453. Vertical tail wing plate; 460. Second drive assembly; 461. Second servo; 462. Sixth eccentric block; 463. Second eccentric rod; 464. Second drive shaft; 465. Seventh eccentric block; 466. Eighth eccentric block; 467. Third connecting rod; 468. First connecting rod; 469. Second connecting rod; 470. Stabilizer assembly; 471. Stabilizer shell; 472. Horizontal stabilizer; 473. Vertical stabilizer; 474. Stabilizer drive component. Detailed Implementation

[0020] The embodiments of this application are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0021] In the description of this application, it should be understood that if directional descriptions are involved, such as up, down, front, back, left, right, etc., indicating the directional or positional relationship based on the directional or positional relationship shown in the accompanying drawings, it is only for the convenience of describing this application and simplifying the description, and does 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, and therefore should not be construed as a limitation of this application.

[0022] In the description of this application, if words such as several, greater than, less than, exceeding, above, below, or within appear, "several" means one or more, "more than" means two or more, "greater than," "less than," "exceeding," etc. are understood to exclude the number itself, and "above," "below," "within," etc. are understood to include the number itself.

[0023] In the description of this application, the use of terms such as "first" and "second" is for the purpose of distinguishing technical features only, and should not be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated or the order of the technical features indicated.

[0024] In the description of this application, unless otherwise expressly defined, terms such as "setup," "installation," and "connection" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this application in conjunction with the specific content of the technical solution.

[0025] Reference Figures 1 to 3 An underwater robot for installing a probe according to an embodiment of this application includes a robot body 100, a probe-planting assembly 200, and a thrust reverser assembly 300. The probe-planting assembly 200 is disposed at the bottom of the robot body 100 for installing the probe on the seabed. The thrust reverser assembly 300 is disposed at the top of the robot body 100 and includes a mounting housing 310 and an adjustment unit 320. The adjustment unit 320 is used to generate a high-speed water flow and is disposed within the mounting housing 310, and partially extends vertically outward from within the mounting housing 310 to form a main jet 321. The main jet 321 is ejected from the main jet outlet; the side of the mounting housing 310 is provided with at least one inlet 311 communicating with the main jet outlet 321, and a cover 312 is hinged to the main jet outlet 321. A diversion cavity 3121 is formed inside the cover 312, and at least one first branch jet outlet 3122 communicating with the diversion cavity 3121 is formed on the outside. The main jet outlet 321 and the first branch jet outlet 3122 are set at a preset angle. An actuator 313 is provided on the mounting housing 310, and the actuator 313 drives the cover 312 to rotate around its hinge point.

[0026] The underwater robot for installing a probe according to the embodiments of this application has at least the following beneficial effects: In this embodiment, when the underwater robot used to install the probe performs the probe-planting operation on the seabed using the probe-planting assembly 200 located on its bottom, the vertical upward reaction force generated during the downward implantation of the probe will push the robot body 100 to float. At this time, the thrust reverser assembly 300 located on the top of the robot body 100 will start working. Specifically, seawater enters the interior of the mounting housing 310 through the inlet 311, and then a high-speed water flow is formed by the adjustment unit 320 located inside the mounting housing 310. The high-speed water flow is ejected vertically upward from the main jet outlet 321 extending from the top of the mounting housing 310, providing the main vertical downward thrust to counteract the buoyancy. At the same time, when the robot body 100 drifts horizontally or tilts due to uneven distribution of reaction force, the actuator 313 installed on the mounting housing 310 drives the hinged cover 312 to rotate around the hinge point, changing the flow distribution between the diversion cavity 3121 inside the cover 312 and the high-speed water flowing through the main jet outlet 321. The connection relationship of the flow is adjusted to regulate the proportion of water entering the diversion chamber 3121 from the main jet 321. The high-speed water flow of this diversion is ejected obliquely at a preset angle relative to the direction of the main jet 321 through at least one first branch jet 3122 provided on the cover 312, thereby generating a horizontal thrust. Furthermore, through the continuous action of the actuator 313, the amount of water entering the first branch jet 3122 can be infinitely adjusted, thereby changing the magnitude and direction of the horizontal thrust in real time. Finally, the vertical thrust generated by the main jet 321 and the adjustable horizontal thrust generated by the first branch jet 3122 form a resultant force. The direction of the resultant force can be dynamically adjusted according to the actual direction of the disturbance force, thereby effectively counteracting the three-dimensional drift and attitude disturbance of the platform caused by the reaction force of the penetrometer. The underwater robot used to install the penetrometer can maintain a hovering state and horizontal attitude at the predetermined penetrometer station, ensuring the positioning accuracy and verticality of the penetrometer operation.

[0027] Reference Figure 2It should be noted that, in some embodiments, in order for the underwater robot to install the probe to plant the probe on the seabed, the probe planting assembly 200 specifically includes a probe planting crossbeam 210 and a probe planting vertical frame 220. The probe planting vertical frame 220 is rotatably mounted on the probe planting crossbeam 210. A waterproof sleeve is provided on the probe planting vertical frame 220, and a stepper motor 230 is provided inside the waterproof sleeve. The waterproof sleeve is used to protect the stepper motor 230. The output shaft of the stepper motor 230 is connected to a screw 240, and a slider 250 is threadedly connected to the screw 240. The bottom of the slider 250 is detachably connected to the probe post 260 by a snap-fit. When the stepper motor 230 starts, it drives the screw 240 to rotate. The rotation of the screw 240 causes the slider 250 and the probe post 260 to move downward, so that the probe post 260 inserts into the seabed. When the slider 250 slides down to the bottom of the screw 240, the slider 250 disengages from the screw 240. At this time, the slider 250 and the probe post 260 separate from the robot body 100 as a whole from the screw 240.

[0028] Reference Figures 3 to 5 In some embodiments, the regulating unit 320 includes a connecting pipe 322, a driving part 323, a diverting part 324, and at least two first telescopic rods 325. The connecting pipe 322 is hollow and fixedly installed inside the mounting housing 310. The driving part 323 is installed inside the housing relative to the bottom of the connecting pipe 322 to drive the water entering from the inlet 311 to form a high-speed water flow. The diverting part 324 is movably disposed at the top of the connecting pipe 322 and connects to the connecting pipe 322, wherein the main jet outlet 321 is fixedly disposed at the top of the diverting part 324. At least two first telescopic rods 325 are symmetrically disposed at the same end of the connecting pipe 322, one end of the first telescopic rod 325 is hinged to the connecting pipe 322, and the other end is hinged to the diverting part 324 to drive the diverting part 324 to have a degree of freedom of turning from the vertical direction to any horizontal direction.

[0029] It should be noted that, in this embodiment, when the thrust reverser 300 starts operating, in order to enable the seawater entering from the inlet 311 of the mounting housing 310 to form a high-speed water flow through the regulating unit 320 and be ejected from the main jet outlet 321, specifically, the regulating unit 320 includes a hollow connecting pipe 322, which is fixedly installed inside the mounting housing 310 as the mounting base of the regulating unit 320. The drive unit 323 is located at the bottom of the connecting pipe 322 and is used to drive the water entering from the inlet 311 to form a high-speed water flow to move towards the main jet outlet 321. At the same time, the diverting unit 324 is located at the top of the connecting pipe 322 and connects to the main jet outlet 321, thereby accelerating the seawater to form a high-speed water flow and then transporting it vertically to the main jet outlet 321 for ejection, providing a vertical downward thrust for the robot body.

[0030] It should be understood that in this embodiment, the drive unit 323 is used to accelerate the formation of a high-speed water flow from seawater. The specific implementation of the drive unit 323 is not specifically limited. However, in this embodiment, the preferred implementation is that the drive unit 323 specifically includes a drive motor, a drive rod 3231, and a turbofan 3232. The drive motor is located inside the robot body 100. The output shaft of the drive motor drives the turbofan 3232, located at the bottom of the mounting housing 310, to rotate at high speed through the drive rod 3231. The turbofan 3232 acts as a main pump, forcefully drawing external seawater into the mounting housing 310 from the inlet 311. The seawater, under pressure, first enters the bottom of the connecting pipe 322 inside the mounting housing 310, and is then transported through the connecting pipe 322 to the diversion section 324 movably set at the top of the connecting pipe 322; and finally extends from its top to the main jet port 321 of the mounting housing 310 and is ejected vertically upward at high speed, thereby generating the main vertical downward thrust to counteract the upward floating of the robot body 100. At the same time, in order to avoid the high-speed water flow from impacting the connecting pipe 322 too violently and damaging it, the connecting pipe 322 can be flexibly set, that is, allowing the connecting pipe 322 to have a certain degree of relative movement and deflection.

[0031] It should be noted that in this embodiment, due to the undercurrents in the seawater, the robot body 100 experiences more severe horizontal forces. Therefore, in order to compensate for possible horizontal drift or rolling attitude disturbances of the robot body 100 in real time, the adjustment unit 320 also includes at least two first telescopic rods 325, which are symmetrically arranged at the same end of the connecting pipe 322. One end of the first telescopic rod 325 is hinged to the connecting pipe 322, and the other end is hinged to the diversion section 324. With this arrangement, the extension and retraction of the two first telescopic rods 325 directly drives the entire diversion section 324 and the main jet outlet 321 to have a degree of freedom of turning from the vertical direction to any horizontal direction with the top of the connecting pipe 322 as the active fulcrum. This causes the originally vertically upward main jet direction to also generate a corresponding horizontal component, thereby generating a controllable lateral thrust to counteract the horizontal interference force while providing vertical thrust, and further realizing the dynamic position and attitude stability of the underwater robot during the implantation of the probe.

[0032] Reference Figures 3 to 5In some embodiments, the diversion section 324 is used to divert the high-speed water flow driven by the self-driving section 323 toward the main jet outlet 321; the diversion section 324 includes a diversion frame 3241, a crank arm 3243, and a second telescopic rod 3245; the diversion frame 3241 is fixed to the top of the connecting pipe 322, and a second branch jet outlet 3242 is provided through the side facing the mounting housing 310; the crank arm 3243 is rotatably mounted on the top of the diversion frame 3241, and a diversion plate 3244 is provided opposite to the second branch jet outlet 3242, the diversion plate 3244 having a rotational stroke that approaches or moves away from the second branch jet outlet 3242; the second telescopic rod 3245 is provided opposite to the second branch jet outlet 3242, one end is hinged to the bottom of the diversion frame 3241, and the other end is hinged to the non-pivotible rotation part of the crank arm 3243.

[0033] It should be noted that, in this embodiment, in order to further enhance the counteraction of horizontal external forces and thus ensure the stability of the robot body 100 during the implantation of the probe, the diversion section 324 specifically includes a diversion frame 3241, a curved arm 3243, and a second telescopic rod 3245. When the drive motor drives the turbine fan 3232 to rotate via the drive rod 3231, pumping seawater from the inlet 311 into the mounting housing 310, and then transporting it to the inside of the diversion frame 3241 via the connecting pipe 322, the final distribution of the water flow is determined by the position of the diversion plate 3244, wherein the diversion plate 3244 is rotatably mounted on the diversion section. The boom 3243 is mounted on frame 3241, while the second telescopic rod 3245 is positioned opposite the second branch jet 3242. One end is hinged to the bottom of the diversion frame 3241, and the other end is hinged to the non-pivotible rotation point of the boom 3243. With this configuration, in the initial state or when maximum vertical thrust is required, the second telescopic rod 3245 is in a retracted state. At this time, the diversion plate 3244 completely blocks the second branch jet 3242 opened in the diversion frame 3241, forcing all high-speed water flowing into the diversion section 324 to flow upwards instead of laterally, and ultimately ejected vertically upwards from the main jet 321 at the top. This generates a full downward thrust to counteract the upward buoyancy of the implanting probe. When the robot body 100 encounters strong horizontal disturbances during operation, horizontal attitude compensation or position adjustment is required. In this case, the second telescopic rod 3245 extends, causing the boom 3243 to rotate on the diversion frame 3241. This pulls the diversion plate 3244, which is mounted on the boom 3243, to rotate around the connection point and gradually move away from the position that completely blocks the second branch nozzle 3242. As the boom 3243 rotates, the water flowing into the diversion frame 3241 is divided into two paths: one part of the water still flows upward from the main... The water jet from nozzle 321 maintains the main vertical thrust; another portion of the water jet is ejected horizontally or diagonally downward through the second branch nozzle 3242. Furthermore, by continuously adjusting the extension of the second telescopic rod 3245, the ratio of water entering the main nozzle 321 and the second branch nozzle 3242 can be steplessly adjusted. This achieves the generation of a controllable horizontal thrust component while maintaining the necessary vertical thrust, which is used to further counteract the horizontal interference force on the robot body 100 or to perform active lateral displacement. This realizes the dynamic and decoupled adjustment of the thrust value and direction in the vertical and horizontal dimensions.

[0034] Reference Figure 6 and Figure 7In some embodiments, the underwater robot for mounting the probe also includes an attitude adjustment system 400, which includes a fin assembly 410, a horizontal tail assembly 420, a linkage mechanism 430, and a gravity adjustment cylinder 440. The fin assembly 410 is movably disposed at the bottom of the robot body 100 near the head. The horizontal tail assembly 420 is movably disposed at the tail of the robot body 100. The linkage mechanism 430 includes a first drive assembly 431, and a first connecting rod 432 and a second connecting rod 433 drivenly connected to the first drive assembly 431. The first connecting rod 432 is drivenly connected to the fin assembly 410, and the second connecting rod 433 is drivenly connected to the horizontal tail assembly 420. The first drive assembly 431 is used to drive the fin assembly 410 and the horizontal tail assembly 420 to deflect in the same direction. The gravity adjustment cylinder 440 is drivenly connected to the first connecting rod 432 and is used to expel or inhale water when the robot body 100 rises or dives.

[0035] It should be noted that, in this embodiment, when it is necessary to adjust the underwater navigation attitude of the robot body 100, such as performing surfacing, diving, or maintaining a certain pitch angle, specifically, the underwater robot used to install the probe also includes an attitude adjustment system 400. The attitude adjustment system 400 includes a fin assembly 410, a horizontal tail assembly 420, a linkage mechanism 430, and a gravity adjustment cylinder 440. The first drive assembly 431 is activated as a power source. The first drive assembly 431 drives the first connecting rod 432 and the second connecting rod 433 to move simultaneously through mechanical output. Since the first connecting rod... The first drive assembly 432 is connected to the fin assembly 410 located at the bottom front of the robot body 100, and the second connecting rod 433 is connected to the horizontal tail assembly 420 located at the tail. Therefore, a single action of the first drive assembly 431 can simultaneously drive the front fin and the rear horizontal tail to deflect in the same direction through the first connecting rod 432 and the first connecting rod 432, such as simultaneously upward or simultaneously downward, so that the hydrodynamic force (lift or downforce) generated by the fin and the horizontal tail is in the same direction, thereby quickly and efficiently generating a coordinated pitch moment on the pitch axis of the robot body 100, and achieving smooth attitude adjustment. Furthermore, in order to make the robot body 100 move smoothly and efficiently when changing depth and attitude, the attitude adjustment system 400 further includes a gravity adjustment cylinder 440. Specifically, the gravity adjustment cylinder 440 is driven to connect with the first connecting rod 432. When the first drive assembly 431 drives the fin and horizontal tail to deflect downward, the first connecting rod 432 will simultaneously drive the gravity adjustment cylinder 440 to draw in a certain amount of external liquid, thereby increasing the weight of the robot body 100 so that its gravity is slightly greater than its buoyancy, actively assisting in diving, and matching the downward torque generated by the control surface, accelerating the diving process and reducing the deflection angle, thereby reducing energy consumption. Conversely, when the first drive assembly 431 drives the fin and horizontal tail to deflect upward, the first connecting rod 432 synchronously drives the gravity regulating cylinder 440 to discharge internal liquid, thereby reducing the weight of the robot body 100, making the gravity slightly less than the buoyancy, actively assisting in buoyancy, and working in conjunction with the lift torque generated by the control surface. This mechanical synchronous integrated execution of attitude control and gravity / buoyancy regulation solves the problem of response lag and energy waste caused by the separation of the two in traditional systems, making the robot's movements more coherent, dynamic response faster, overall movement more stable and energy-efficient when changing depth and attitude.

[0036] Reference Figure 7 In some embodiments, the gravity regulating cylinder 440 is sleeved on the first connecting rod 432, and a piston ring 441 is slidably disposed inside. The piston ring 441 is fixed on the first connecting rod 432 and separates the gravity regulating cylinder 440 into an air pressure chamber 442 and a water pressure chamber 443. The air pressure chamber 442 is connected to the inside of the robot body 100, and the water pressure chamber 443 is provided with a water pipe 444 connected to the outside of the robot body 100.

[0037] It should be noted that, in this embodiment, in order to achieve the rapid response speed and execution speed of the robot body 100 in its diving or floating motion, specifically, the gravity adjustment cylinder 440 is fixed inside the robot body 100. The gravity adjustment cylinder 440 is a sealed cylindrical cavity. The first connecting rod 432 serves as a key transmission component for driving and adjustment. Specifically, the gravity adjustment cylinder 440 is sleeved on the first connecting rod 432. Inside the gravity adjustment cylinder 440, the piston ring 441 is sealed relative to the inside of the gravity adjustment cylinder 440 and can slide relative to it, and is fixed to the first connecting rod 432. On 32, the piston ring 441 can slide synchronously relative to the inner wall of the gravity regulating cylinder 440 as the first connecting rod 432 moves axially. At the same time, the piston ring 441 strictly divides the inner cavity of the gravity regulating cylinder 440 into a pneumatic chamber 442 and a hydraulic chamber 443. Due to the sealing of the piston ring 441, the pneumatic chamber 442 and the hydraulic chamber 443 are not interconnected. The pneumatic chamber 442 is connected to the inside of the robot body 100. The hydraulic chamber 443 is provided with a water pipe 444. The other end of the water pipe 444 extends and passes through the outer shell of the robot body 100, communicating with the external seawater. When the first drive assembly 431 drives the first connecting rod 432 to move axially, that is, the drive fin and horizontal tail fin move downward or upward at the same time, which corresponds to the diving and surfacing actions of the robot body 100. When the robot body 100 dives, the piston ring 441, which is fixedly connected to the first connecting rod 432, slides synchronously in the gravity regulating cylinder 440 with the driving action of the first connecting rod 432, thereby compressing the volume of the air pressure chamber 442. At the same time, the volume of the water pressure chamber 443 increases. Under the action of negative pressure, seawater from the outside enters the water pressure chamber 443 through the water pipe 444. In this way, the weight of the robot body 100 increases, thereby assisting the diving. When the robot body 100 rises, the piston ring 441, which is fixedly connected to the first connecting rod 432, slides synchronously within the gravity adjustment cylinder 440 as the first connecting rod 432 drives it, thereby compressing the volume of the water pressure chamber 443. Simultaneously, the volume of the air pressure chamber 442 increases. Under positive pressure, seawater in the water pressure chamber 443 is discharged from the robot body 100 through the water pipe 444, thus reducing the weight of the robot body 100 and assisting in its ascent. This process is directly achieved through the first connecting rod 432, which is mechanically linked to the first drive assembly 431. This ensures that the gravity adjustment and pitch attitude adjustment of the robot body 100 are completely synchronized in time and highly coordinated physically, achieving real-time and automatic compensation for dynamic weight distribution. This greatly improves the stability and energy efficiency of the robot body 100 during depth-deep maneuvers.

[0038] It should be noted that in this embodiment, the piston ring 441 inside the gravity adjustment cylinder 440 is directly driven by the first connecting rod 432, thereby simultaneously completing the intake or discharge of ballast water when driving the robot body 100 to dive or rise. This instantly adjusts the net weight of the robot body 100 to match the new navigation attitude. This mechanical rigid coupling ensures that the control surface effect that generates pitch moment and the ballast adjustment effect that changes the balance of gravity and buoyancy are completely coincident in the time domain and highly coordinated in function. The direct advantages are: First, it can provide a dual superposition of torque and force drive at the initial stage of maneuvering, significantly shortening the response time of depth and attitude changes, and making the maneuvering process more rapid and decisive; Second, since the gravity adjustment and attitude change are synchronized, the robot body 100 has no... After reaching the target attitude, another system is needed to painstakingly compensate for the buoyancy center shift and static stability changes caused by the attitude angle change, thereby significantly reducing energy consumption during the entire maneuver and improving endurance. Third, mechanical synchronization avoids the inherent delays and potential asynchrony risks caused by electronic signal transmission, processor calculation and multi-actuator coordination, greatly enhancing the system's motion stability and robustness under complex disturbances such as strong currents and turbulence, effectively suppressing the "nodding" or "swelling" phenomena that are prone to occur in traditional methods. It achieves synergistic optimization in three key dimensions: improving maneuverability, reducing energy consumption and enhancing stability. At the same time, the mechanical structure is simple and easy to implement, and the production cost is greatly reduced compared to traditional underwater robots, improving economic efficiency.

[0039] It should be noted that in some embodiments, the piston ring 441 inside the gravity regulating cylinder 440 can be designed in multiple forms, that is, multiple piston rings 441 divide the inner cavity of the gravity regulating cylinder 440 into multiple air pressure chambers 442 and multiple water pressure chambers 443, so as to improve the water absorption rate or drainage rate of the water pressure chamber 443, so as to achieve the purpose of quickly changing the weight of the robot body 100.

[0040] Reference Figure 7 and Figure 8 In some embodiments, the first drive assembly 431 includes a first servo motor 4311 and a first drive shaft 4314; the first servo motor 4311 is fixedly disposed within the robot body 100 and is driven by a first eccentric block 4312 to drive the first eccentric block 4312 to rotate around an axis extending in a vertical direction, and the first eccentric block 4312 is hinged to a first eccentric rod 4313; the first drive shaft 4314 is arranged in a vertical direction and is arranged vertically above the first servo motor 4311, and a second eccentric block 4315 and a third eccentric block 4316 are fixedly disposed at the bottom and top of the first drive shaft 4314, respectively; wherein the first eccentric rod 4313 is hinged to the second eccentric block 4315, and the first connecting rod 432 and the second connecting rod 433 are respectively hinged to the third eccentric block 4316.

[0041] It should be noted that, in this embodiment, in order to synchronously drive the fin assembly 410 and the horizontal tail assembly 420 to deflect in the same direction, so as to realize the diving or floating posture of the robot body 100, specifically, the first drive assembly 431 includes a first servo motor 4311 and a first drive shaft 4314. When the first servo motor 4311, which is fixed inside the robot body 100, is started as the core power source, the output shaft of the first servo motor 4311 drives the first eccentric block 4312 connected to it to rotate, so as to drive the first eccentric block 4312 to rotate around the vertically extending axis. Since the first eccentric block 4312 has an eccentricity relative to the output shaft of the first servo motor 4311, its rotational motion is converted into the circular motion of one end of the first eccentric rod 4313. At the same time, the first drive shaft 4314 and the first servo motor 4311 are arranged vertically, thereby... The other end of the first eccentric rod 4313 is hinged to the second eccentric block 4315 fixed at the bottom of the first drive shaft 4314. Therefore, the circular motion of the first eccentric rod 4313 transmits torque to the second eccentric block 4315, which can drive the entire first drive shaft 4314 to swing around its axis, thereby driving the third eccentric block 4316 to swing. One end of the first connecting rod 432 and the second connecting rod 433 are respectively hinged to the third eccentric block 4316, thereby synchronously converting the swing motion of the third eccentric block 4316 into the linear motion of the two connecting rods. Finally, the first connecting rod 432 and the second connecting rod 433 respectively transmit this synchronous driving force to the front fin assembly 410 and the tail horizontal tail assembly 420, realizing precise, mechanically forced deflection in the same direction, ensuring the synchronization and consistency of attitude control.

[0042] It should be noted that in some embodiments, the output shaft of the first servo motor 4311 can also be connected directly to the first drive shaft 4314 in a coaxial manner. The first servo motor 4311 is preferably a forward and reverse servo motor. Controlling the forward or reverse rotation of the first servo motor 4311 drives the first drive shaft 4314 to rotate, which in turn drives the third eccentric block 4316 to rotate forward or reverse, thereby transmitting the driving force to the front fin assembly 410 and the tail horizontal tail assembly 420 to achieve deflection in the same direction.

[0043] Reference Figure 7 and Figure 9 In some embodiments, the fin assembly 410 includes a fixed mounting frame 411, a fin rod 412, and a plurality of fin blades 414; the fixed mounting frame 411 is fixedly mounted on the front bottom of the robot body 100; the fin rod 412 extends along the width direction of the robot body 100 and is rotatably mounted on the fixed mounting frame 411 to have a rotational stroke about a vertically extending axis; a fourth eccentric block 413 is coaxially fixed on the fin rod 412, and the fourth eccentric block 413 is hinged to the first connecting rod 432; the plurality of fin blades 414 are symmetrically distributed and fixedly mounted on both ends of the fin rod 412.

[0044] It should be noted that, in this embodiment, the fin assembly 410 is designed to provide downward pressure or upward buoyancy to the robot body 100. Specifically, the fin assembly 410 includes a fixed mounting frame 411, a fin rod 412, and multiple fin blades 414. The fixed mounting frame 411 is firmly installed on the front bottom of the robot body 100 as a basic structure. The fin rod 412 is rotatably mounted on the fixed mounting frame 411 to have a rotational stroke about its vertical extension axis. Multiple fin blades 414 that generate hydrodynamic force are respectively installed on the extended portions at both ends of the fin rod 412. The multiple fin blades 414 are symmetrically distributed at both ends of the fin rod 412. A fourth eccentric block 413 is coaxially fixed on the rod body of the fin rod 412. The fourth eccentric block 413 has a... A hinge point offset from the rotation center of the fin rod 412 is provided. The end of the first connecting rod 432 is hinged to the hinge point of the fourth eccentric block 413. When the first drive component 431 in the linkage mechanism 430 works, the first connecting rod 432 is driven and generates a push-pull force. Since the first connecting rod 432 and the fourth eccentric block 413 are hinged, the applied force acts on the hinge point offset from the rotation center, thereby forming an effective rotational torque on the fin rod 412. This torque drives the fin rod 412 to rotate, and the rotation of the fin rod 412 directly drives the multiple fin blades 414 installed at both ends to deflect synchronously, changing their angle of attack relative to the incoming fluid, thereby generating the required lift or downforce at the front. This configuration enables the robot body 100 to dive or float. In this embodiment, at least two fin blades 414 are provided, symmetrically arranged at both ends of the fin rod 412.

[0045] Reference Figure 7 In some embodiments, the horizontal tail fin assembly 420 includes a horizontal fixed wing plate 421, a first tail fin rod 422, and a plurality of horizontal tail fin plates 424; the horizontal fixed wing plate 421 is fixedly installed at the tail of the robot body 100; the first tail fin rod 422 is rotatably installed on the horizontal fixed wing plate 421 to have a rotational stroke that extends about the axis of the robot body 100 in the width direction; a fifth eccentric block 423 is coaxially fixed to the first tail fin rod 422, and the fifth eccentric block 423 is hinged to the second connecting rod 433; the plurality of horizontal tail fin plates 424 are symmetrically distributed and fixedly installed at both ends of the first tail fin rod 422.

[0046] It should be noted that, in this embodiment, the horizontal tail fin assembly 420 is designed to provide downward pressure or upward buoyancy to the robot body 100. Specifically, the horizontal tail fin assembly 420 includes a horizontal fixed wing plate 421, a first tail fin rod 422, and multiple horizontal tail fin plates 424. The horizontal fixed wing plate 421 is fixedly installed at the tail of the robot body 100 as a bearing base and mounting base. The first tail fin rod 422 is rotatably mounted on the horizontal fixed wing plate 421, having a rotational stroke that extends about the axis of the robot body 100 in the width direction. The first tail fin rod 422 is fixedly connected to multiple horizontal tail fin plates 424 that generate the main tail hydrodynamic force. The multiple horizontal tail fin plates 424 are symmetrically distributed and fixedly installed at both ends of the first tail fin rod 422. To achieve mechanical drive, a fifth eccentric block 423 is coaxially fixedly arranged on the first tail fin rod 422. The fifth eccentric block 423 is provided with... A hinge point offset from the rotation axis of the first tail fin rod 422; when the first drive component 431 in the linkage mechanism 430 works, the second connecting rod 433 is driven synchronously. Since the hinge point is offset from the rotation axis of the first tail fin rod 422, the force applied by the second connecting rod 433 forms a rotational torque on the fifth eccentric block 423. This torque directly drives the first tail fin rod 422, together with the horizontal tail fin plate 424, to rotate around the mounting axis on the horizontal fixed fin plate 421, that is, to rotate around the axis extending in the width direction of the robot body 100, thereby changing the angle of the multiple horizontal tail fin plates 424 relative to the water flow, generating lift or downforce in the same direction as the fin assembly 410 at the tail. The linear or oscillating motion of the second connecting rod 433 is converted into the rotational motion of the first tail fin rod 422, ensuring that the fin assembly 410 and the horizontal tail fin assembly 420 move in strict synchronization and coordination. In this embodiment, at least two horizontal tail fin plates 424 are provided, symmetrically arranged at both ends of the fin rod 412.

[0047] Reference Figure 1 and Figure 10In some embodiments, the attitude adjustment system 400 further includes a vertical tail fin assembly 450 and a corresponding second drive assembly 460; the vertical tail fin assembly 450 includes a vertical fixed wing plate 451, a second tail fin rod 452, and a vertical tail fin plate 453; the vertical fixed wing plate 451 is fixedly mounted on the tail of the robot body 100 and is vertically arranged relative to the horizontal fixed wing plate 421; the second tail fin rod 452 is rotatably mounted on the vertical fixed wing plate 451 to have a rotational stroke about a vertically extending axis; the vertical tail fin plate 453 is fixedly connected to the second tail fin rod 452 to have a rotational stroke about a vertically extending axis along with the second tail fin rod 452; the second drive assembly 460 includes The robot comprises a second servo motor 461, a second drive shaft 464, and a third connecting rod 467. The second servo motor 461 is fixedly installed inside the robot body 100 and is driven by a sixth eccentric block 462, which rotates around a vertically extending axis. The sixth eccentric block 462 is hinged to a second eccentric rod 463. The second drive shaft 464 extends vertically and is arranged vertically above the second servo motor 461. A seventh eccentric block 465 and an eighth eccentric block 466 are fixed at the bottom and top of the second drive shaft 464, respectively. The second eccentric rod 463 is hinged to the seventh eccentric block 465. The third connecting rod 467 is hinged at both ends to the eighth eccentric block 466 and the vertical tail fin 453, respectively.

[0048] It should be noted that in this embodiment, the movement of the robot body 100 includes not only diving and surfacing, but also, when performing horizontal translational movement on the seabed, it is necessary to maintain the stability and reliability of the robot body 100's attitude in real time. Therefore, the attitude adjustment system 400 also includes a vertical tail fin assembly 450 and a corresponding second drive assembly 460. Specifically, the vertical tail fin assembly 450 includes a vertical fixed wing plate 451, a second tail fin rod 452, and a vertical tail fin plate 453. The vertical fixed wing plate 451 is fixed to the tail of the robot body 100 as a mounting base, and the surface of the vertical fixed wing plate 451 is perpendicular to the aforementioned horizontal fixed wing plate 421. The second tail fin rod 452 is rotatably mounted on the vertical fixed wing plate 451 to have a rotational stroke about a vertically extending axis. The vertical tail fin plate 453 for providing yaw control torque is fixedly connected to the second tail fin rod 452 to achieve yaw control independent of pitch control. The second driving component serves as a power source to drive the vertical tail fin assembly 450. Specifically, the second driving component 460 includes a second servo motor 461, a second drive shaft 464, and a third connecting rod 467. The second servo motor 461 is fixedly installed inside the robot body 100. When started, it drives the sixth eccentric block 462 connected to it to rotate clockwise or counterclockwise around the vertically extending axis. A second eccentric rod 463 is hinged on the sixth eccentric block 462. The other end of the second eccentric rod 463 is hinged to a seventh eccentric block 465 fixed at the bottom of the second drive shaft 464. An eighth eccentric block 466 fixed at the top of the second drive shaft 464 rotates synchronously. A third connecting rod 467 is hinged on the eighth eccentric block 466. The other end of the third connecting rod 467 is hinged to the vertical tail fin plate 453. With this configuration, the clockwise or counterclockwise motion of the eighth eccentric block 466 is converted into driving the vertical tail fin plate 453 to swing around the axis of the second tail fin rod 452 through the third connecting rod 467. When the underwater robot's heading needs to be adjusted, the second servo motor 461, through the aforementioned mechanical transmission chain, ultimately drives the vertical tail fin 453 to deflect at a certain angle, thereby utilizing the water flow to generate a corresponding yaw torque, achieving steering control of the robot body 100 in the horizontal plane. The first drive assembly 431 and the second drive assembly 460 are independent of each other, thus achieving decoupling and independent control of the two degrees of freedom of pitch and heading.

[0049] It should be noted that in some embodiments, the output end of the second servo motor 461 may also be directly connected to the second drive shaft 464, and the second servo motor 461 is a forward and reverse servo motor.

[0050] Reference Figure 1 and Figure 11In some embodiments, the attitude adjustment system 400 further includes a stabilizing wing assembly 470, which includes a stabilizing wing housing 471, two horizontal stabilizing wings 472 and two vertical stabilizing wings 473, and a stabilizing wing drive 474. The stabilizing wing housing 471 is mounted on the robot body 100. The two horizontal stabilizing wings 472 and the two vertical stabilizing wings 473 are rotatably mounted on the stabilizing wing housing 471 in pairs. The stabilizing wing drive 474 is disposed inside the stabilizing wing housing 471 and drives the two horizontal stabilizing wings 472 and the two vertical stabilizing wings 473 to rotate.

[0051] It should be noted that in some embodiments, to further improve the stability of the robot body 100's attitude during underwater movement, the attitude adjustment system 400 also includes a stabilizing wing assembly 470. It is understood that the robot body 100 also has a main motor and a propeller driven and connected to the main motor. The main motor drives the propeller to rotate, thereby providing basic propulsion power for the robot body 100's underwater movement. Specifically, the stabilizing wing assembly 470 includes a stabilizing wing housing 471, two horizontal stabilizing wings 472, two vertical stabilizing wings 473, and a stabilizing wing drive component 474. The stabilizing wing drive component 474 includes four auxiliary motors installed within the stabilizing wing housing 471. The four auxiliary motors are respectively driven and connected to the corresponding two horizontal stabilizing wings 472 and two vertical stabilizing wings 473, respectively driving the rotation of the two horizontal stabilizing wings 472 and two vertical stabilizing wings 473. In this embodiment, the main motor serves as the central drive source, and the output shaft of the main motor is connected via a coupling or... The robot body 100 is directly coaxially connected to an active output shaft, and a propeller is fixedly connected to the active output shaft to drive the robot body 100 to move on the seabed. At the same time, four independent auxiliary motors serve as actuators, which are directly or indirectly connected to the corresponding two horizontal stabilizers 472 and two vertical stabilizers 473 through gears, linkages or other transmission mechanisms. The four auxiliary motors provide precise independent drive. Each auxiliary motor can independently drive the connected horizontal stabilizer 472 or vertical stabilizer 473 to perform precise angular deflection. For example, two auxiliary motors can differentially drive the two horizontal stabilizers 472 to generate roll stabilizing torque, while the other two auxiliary motors synchronously drive the two vertical stabilizers 473 to generate yaw stabilizing torque. In this way, the four auxiliary motors enable independent, rapid and precise fine-tuning of each stabilizer, thus taking into account the overall functional coordination of the system and the flexibility and response speed of the control of each degree of freedom. It can effectively cope with attitude disturbances of multi-axis coupling in complex hydrodynamic environments.

[0052] Reference Figure 12It should be noted that in some other embodiments, in order to adapt to and cope with the usage scenarios of frequent directional cruise and turning, specifically, the second drive shaft 464 used to drive the vertical tail wing 453 has a first connecting rod 468 and a second connecting rod 469 coaxially fixed at the top of the second drive shaft 464. These are directly or through transmission components such as universal joints, bevel gear pairs or linkage mechanisms, and are connected to the drive of the two vertical stabilizers 473 mounted on the stabilizer shell 471. With this configuration, when the robot body 100 needs to change its heading, the second servo motor 461 is activated, driving the second drive shaft 464 to swing and rotate, thereby generating a dominant yaw control torque. For example, when the second servo motor 461 drives the vertical tail wing 453 to yaw to the right to initiate a right turn, the two vertical stabilizers 473 also yaw synchronously to the right through the drive of the second drive shaft 464, thereby generating additional auxiliary yaw torque on both sides of the robot body, enhancing the response speed and efficiency of turning. This design mechanically couples the heading control and the vertical stabilizer 473 used to enhance stability through the same drive component, namely the second drive shaft 464 and the second servo motor 461. This achieves integrated control functions and power reuse, simplifies the system structure, and ensures the inherent consistency of the actions of the main control surface and the auxiliary stabilization surface during heading maneuvers, improving the coordination and stability of the turning process. This implementation method greatly simplifies the system structurally, reduces the number of auxiliary motors, and lowers manufacturing costs, system complexity, and potential failure points. Secondly, this mechanical rigid linkage ensures that there is no electronic signal delay or asynchrony between the main control surface and the auxiliary stabilization surface when performing heading changes, achieving true instantaneous, in-phase response. This allows for the generation of superimposed yaw control torque at the initial stage of the turn, significantly improving the robot's heading change rate (turning agility) and maneuvering efficiency. Simultaneously, during the turn, the synchronous deflection of the two vertical stabilizers 473 not only provides auxiliary turning torque but also generates additional heading stabilization damping due to their symmetrical layout, effectively suppressing sideslip or yaw oscillations that may be caused by the turn, enhancing the smoothness and stability of the maneuver. In summary, this linkage design achieves multiple benefits—enhanced functionality, faster response, and improved stability—through a simple and reliable mechanical approach, making it more suitable for and capable of handling usage scenarios involving directional cruise control and frequent steering.

[0053] Reference Figure 1It should be noted that in some other embodiments, the top of the robot body 100 is equipped with multiple vector thrusters 110, providing the system with powerful and flexible attitude and position auxiliary control capabilities. These thrusters serve as a supplement to the attitude adjustment system 400 and even as a replacement actuator in certain operating conditions, greatly expanding the robot body 100's underwater mobility. Specifically, by independently or collaboratively controlling the magnitude and direction of the thrust of these thrusters, multi-degree-of-freedom forces and torques can be generated that directly act on the robot body. For example, by adjusting the vertical component of the thrust vector of the vector thruster 110, direct auxiliary thrust for surfacing or diving can be provided. Working in conjunction with the gravity regulating cylinder 440 and the attitude adjustment system 400, faster depth changes can be achieved. In complex operating scenarios, such as hovering, obstacle avoidance, or docking, the vector thruster 110 can achieve position adjustment and high-stability attitude maintenance. The integration of multiple top vector thrusters 110, together with the main linkage control surface system, constitutes a redundant, multimodal hybrid control system. This system, used in underwater robots with probes, combines the linkage coordination during high maneuvers with the high agility of vector propulsion during delicate operations, comprehensively improving its environmental adaptability and mission execution capabilities.

[0054] In the description of this specification, the use of terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," and "some examples" indicates that the specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0055] Although embodiments of this application have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of this application, the scope of which is defined by the claims and their equivalents.

Claims

1. An underwater robot for installing a probe, characterized in that, include: The robot itself; A probe assembly is disposed at the bottom of the robot body to install a probe on the seabed; as well as, A thrust-reverse assembly, disposed on the top of the robot body, includes a mounting housing and an adjustment unit. The adjustment unit is used to generate a high-speed water flow. It is disposed within the mounting housing and extends partially outward in a vertical direction from within the mounting housing to form a main jet nozzle. The high-speed water flow is ejected from the main jet nozzle. The side of the mounting housing is provided with at least one water inlet communicating with the main jet nozzle, and a cover is hinged to the main jet nozzle. A flow-dividing cavity is formed within the cover, and at least one first branch jet nozzle communicating with the flow-dividing cavity is formed on the outer side. The main jet nozzle and the first branch jet nozzle are set at a preset angle. The mounting housing is equipped with an actuator, which drives the cover to rotate around its hinge point.

2. The underwater robot for installing a probe as described in claim 1, characterized in that, The adjustment unit includes: The connecting pipe is hollow and is fixedly installed inside the mounting housing. The drive unit is installed inside the housing relative to the bottom of the connecting pipe to drive the water entering from the inlet to form a high-speed water flow; A flow divider is movably disposed at the top of the connecting pipe, communicating with the connecting pipe, wherein the main jet outlet is fixedly disposed at the top of the flow divider; and At least two first telescopic rods are symmetrically arranged at the same end of the connecting pipe. One end of the first telescopic rod is hinged to the connecting pipe, and the other end is hinged to the diversion section, so as to drive the diversion section to have a degree of freedom of turning from the vertical direction to any horizontal direction.

3. The underwater robot for installing a probe as described in claim 2, characterized in that, The diversion section is used to divert the high-speed water flow driven by the self-driving unit towards the main jet outlet; the diversion section includes: A diversion frame is fixed to the top of the connecting pipe, and a second branch jet nozzle is provided on the side facing the mounting housing; A boom arm, rotatably mounted on the top of the diverter frame, has a diverter plate positioned opposite the second branch nozzle, the diverter plate having a rotational stroke that moves towards or away from the second branch nozzle; and... The second telescopic rod is positioned relative to the second branch jet nozzle, with one end hinged to the bottom of the diverter frame and the other end hinged to the non-pivotable rotation point of the boom frame.

4. The underwater robot for installing a probe as described in claim 1, characterized in that, The underwater robot for installing the probe also includes an attitude adjustment system, which includes: The fin assembly is movably mounted on the bottom of the robot body near the head. A horizontal tail fin assembly is movably mounted at the tail of the robot body; The linkage mechanism includes a first drive assembly, and a first connecting rod and a second connecting rod drivenly connected to the first drive assembly. The first connecting rod is drivenly connected to the fin assembly, and the second connecting rod is drivenly connected to the horizontal tail assembly. The first drive assembly is used to drive the fin assembly and the horizontal tail assembly to deflect in the same direction. The gravity regulating cylinder is driven to connect with the first connecting rod and is used to discharge or suck in water when the robot body floats or dives.

5. The underwater robot for installing a probe as described in claim 4, characterized in that, The gravity regulating cylinder is sleeved on the first connecting rod, and a piston ring is slidably and sealed inside. The piston ring is fixed on the first connecting rod and separates the gravity regulating cylinder into an air pressure chamber and a water pressure chamber. The air pressure chamber is connected to the inside of the robot body, and the water pressure chamber is provided with a water pipe connected to the outside of the robot body.

6. The underwater robot for installing a probe as described in claim 4, characterized in that, The first driving component includes: A first servo motor, fixedly mounted within the robot body, is driven by a first eccentric block to rotate about a vertically extending axis. The first eccentric block is hinged to a first eccentric rod. The first drive shaft extends vertically and is arranged vertically above the first servo motor. The bottom and top of the first drive shaft are respectively fixed with a second eccentric block and a third eccentric block. The first eccentric rod is hinged to the second eccentric block, and the first connecting rod and the second connecting rod are respectively hinged to the third eccentric block.

7. The underwater robot for installing a probe as described in claim 4, characterized in that, The fin assembly includes: A fixed mounting bracket is fixedly installed on the front bottom of the robot body; A fin-wing rod extends along the width direction of the robot body and is rotatably mounted on the fixed mounting bracket, having a rotational stroke about its vertically extending axis; a fourth eccentric block is coaxially fixed to the fin-wing rod, and the fourth eccentric block is hinged to the first connecting rod; and... Multiple fin blades are symmetrically distributed and fixedly installed at both ends of the fin rod.

8. The underwater robot for installing a probe as described in claim 4, characterized in that, The horizontal tail fin assembly includes: A horizontal fixed wing plate is fixedly installed at the tail of the robot body; A first tail wing rod is rotatably mounted to the transverse fixed wing plate, having a rotational stroke about an axis extending in the width direction of the robot body; a fifth eccentric block is coaxially fixed to the first tail wing rod, the fifth eccentric block being hinged to the second connecting rod; and... Multiple horizontal tail fins are symmetrically distributed and fixedly installed at both ends of the first tail fin rod.

9. The underwater robot for installing a probe as described in claim 8, characterized in that, The attitude adjustment system also includes a vertical tail fin assembly and a corresponding second drive assembly; The vertical tail fin assembly includes: A vertical fixed wing plate is fixedly installed at the tail of the robot body and is set perpendicular to the horizontal fixed wing plate; The second tail wing rod is rotatably mounted on the vertical fixed wing plate, so as to have a rotational stroke about the vertically extending axis; A vertical tail fin is fixedly connected to the second tail fin rod so that it has a rotational stroke about the vertical extension axis along with the second tail fin rod; The second driving component includes: The second servo motor is fixedly installed inside the robot body and is driven by a sixth eccentric block to drive the sixth eccentric block to rotate around an axis extending in the vertical direction. The sixth eccentric block is hinged to a second eccentric rod. A second drive shaft extends vertically and is arranged vertically above and below the second servo motor. A seventh eccentric block and an eighth eccentric block are fixed to the bottom and top of the second drive shaft, respectively. The second eccentric rod is hinged to the seventh eccentric block. The third connecting rod is hinged at both ends to the eighth eccentric block and the vertical tail fin, respectively.

10. The underwater robot for installing a probe as described in claim 4, characterized in that, The attitude adjustment system further includes a stabilizing wing assembly, which comprises: A stabilizing wing shell is mounted on the robot body; Two horizontal stabilizers and two vertical stabilizers are rotatably mounted on the stabilizer housing in a pairwise configuration; and, A stabilizer drive unit is disposed within the stabilizer housing and drives the two horizontal stabilizers and the two vertical stabilizers to rotate.

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