Underwater all-terrain walking mechanism and underwater robot

Abstract

The utility model belongs to the technical field of underwater all-terrain walking, and particularly relates to an underwater all-terrain walking mechanism and an underwater robot, the walking mechanism comprises a main frame, at least one pair of propelling assemblies arranged on the two sides of the main frame, and balance adjusting assemblies arranged in the propelling assemblies; the propelling assembly comprises a driving side fixing module, a driven side fixing module, a spiral body and a driving source, the driving side fixing module and the driven side fixing module are both fixedly connected with the main frame, and threads are arranged on the outer surface of the spiral body; the balance adjusting assembly is configured to adjust the underwater gravity center position of the underwater all-terrain walking mechanism; the problem that an underwater robot is prone to slipping can be solved, the obstacle crossing capacity is high, and even if the underwater robot sinks into soft soil and sludge, soil can be pushed through the spiral body to enable the whole robot to pass through; and the walking mechanism can flexibly adjust the advancing posture through the balance adjusting assembly.

Description

Technical Field

[0001] The utility model belongs to the technical field of underwater all-terrain walking, and particularly relates to an underwater all-terrain walking mechanism and an underwater robot. Background Art

[0002] An underwater robot (Remotely Operated Vehicle, ROV) is a device used to perform underwater operation tasks. According to its uses, it can be divided into light operation level ROV, heavy operation level ROV, trenching / landfilling ROV, which are used to perform underwater construction, demolition and other tasks, such as the burial of submarine cables or pipelines, the installation and disassembly of underwater structures, the surface measurement of the deep-sea seabed, etc.

[0003] When an underwater robot is moving and operating on the seabed, since the seabed is mainly composed of soft soil, sand and silt, which is softer than the land, the underwater robot is prone to slipping when moving. To solve the above problems, at present, the underwater robot mainly adopts a crawler type or a sliding shoe type traveling / walking structure; among them, the crawler type still has a slipping phenomenon, and the sliding shoe type device needs to be lifted by a mother ship to cross obstacles when encountering raised stones or steep slopes, and the construction environment is restricted. This process greatly consumes human and material resources and delays the construction period; therefore, a walking mechanism with good passing ability under the seabed is needed to enable the underwater robot to have better obstacle avoidance ability and not be prone to slipping. Summary of the Utility Model

[0004] In order to overcome the deficiencies of the prior art, the utility model provides an underwater all-terrain walking mechanism and an underwater robot to solve the problems of the existing underwater robot, such as slipping phenomenon, poor obstacle crossing ability, and great consumption of human and material resources during the obstacle crossing process.

[0005] One solution of the utility model provides an underwater all-terrain walking mechanism, which includes a main frame, at least a pair of propulsion components arranged on both sides of the main frame, and a balance adjustment component arranged inside the propulsion components;

[0006] The propulsion component includes an active side fixing module, a driven side fixing module, a spiral main body and a driving source. Both the active side fixing module and the driven side fixing module are fixedly connected to the main frame. The driving source is arranged on the active side fixing module. The spiral main body is rotatably arranged between the driving source and the driven side fixing module, and is used to drive the spiral main body to rotate when the driving source operates. Threads are arranged on the outer surface of the spiral main body to enable the underwater all-terrain walking mechanism to move forward;

[0007] Wherein, the balance adjustment component is configured to adjust the center of gravity position of the underwater all-terrain walking mechanism underwater, so that the underwater all-terrain walking mechanism travels in a preset posture.

[0008] In one aspect of the present utility model, a first flange and a second flange are respectively arranged at both ends of the spiral main body, and a flange inner hole is provided on the first flange; the first flange is connected to the driven-side fixing module, and the second flange is connected to the driving-side fixing module.

[0009] In one aspect of the present utility model, the driven-side fixing module includes a first bullet head, a first fixing sleeve, a rotary joint, and a first bearing seat; the first bullet head is arranged at one end of the first fixing sleeve, the rotary joint and the first bearing seat are fixedly arranged at the other end of the first fixing sleeve, and the fixed end of the first bearing seat is fixedly connected to the main frame; the rotary joint passes through the first bearing seat, and the rotary joint communicates with the flange inner hole.

[0010] In one aspect of the present utility model, the propulsion assembly further includes a sealing and limiting module, and the sealing and limiting module is arranged at the connection between the driven-side fixing module and the flange inner hole;

[0011] Wherein, the sealing and limiting module includes a circlip, a skeleton oil seal, a limiting bush, and a limiting bearing arranged in sequence; the circlip and the skeleton oil seal seal the connection between the rotary joint and the flange inner hole; the driven-side fixing module is coaxially arranged with the flange inner hole through the limiting bush and the limiting bearing;

[0012] And / or, the propulsion assembly further includes a thrust ball bearing, and the thrust ball bearing is positioned between the end face of the first bearing seat and the first flange.

[0013] In one aspect of the present utility model, the driving-side fixing module includes a second bullet head, a second fixing sleeve, and a second bearing seat; the second bullet head is fixedly arranged at one end of the second fixing sleeve, the second bearing seat is fixedly arranged at the other end of the second fixing sleeve, the second bearing seat is used for fixedly connecting with the main frame, and the second bearing seat is fixedly connected with the second flange; the driving source is fixedly arranged inside the second fixing sleeve, the output shaft of the driving source passes through the second bearing seat, and the output shaft is in transmission connection with a rotary shaft sleeve arranged at the end of the spiral main body, so that when the driving source operates, the spiral main body is driven through the rotary shaft sleeve;

[0014] The spiral main body is provided with an internal thread and a mounting boss on the vertical plate on one side of the second flange for mounting the rotary shaft sleeve.

[0015] In one of the schemes of the utility model, the driving source is configured as a hydraulic motor, and the second fixed sleeve is provided with a hydraulic connector for connecting to a hydraulic system, and the hydraulic connector is connected to the driving source via a hydraulic pipeline for supplying energy to the hydraulic motor.

[0016] In one of the schemes of the utility model, the balance adjustment component includes a plurality of partition chambers arranged inside the spiral body, a water pipeline and a gas pipeline separately connected to the partition chambers, a water injection joint 33 and a gas injection joint arranged on the first fixed sleeve, and the water injection joint 33 and the gas injection joint are respectively connected to the water pipeline and the gas pipeline through the rotating joint, and are used to inject water and / or gas into one or more of the partition chambers.

[0017] In one of the schemes of the present utility model, the balance adjustment assembly also includes a hose connector and a pipe bracket, the hose connector is connected between the water injection connector 33 and the input end of the rotary joint, or the hose connector is connected between the gas injection connector and the input end of the rotary joint; the pipe bracket is arranged inside the partition cavity, and the water supply pipeline and the gas supply pipeline are fixedly arranged inside the partition cavity through the pipe bracket.

[0018] In one solution of the utility model, the internal structures of the propulsion assemblies arranged on both sides of the main frame are the same, wherein the thread direction of the propulsion assembly on one side is opposite to the thread direction of the propulsion assembly on the other side;

[0019] And / or, the propulsion assembly further includes a maintenance cover, the maintenance cover is arranged on the maintenance port of the spiral body, and at least one sealing structure is arranged at the connection between the maintenance cover and the maintenance port.

[0020] In one of the schemes of the present invention, an underwater robot includes an underwater all-terrain walking mechanism as described in any one of the above-mentioned schemes.

[0021] The underwater all-terrain walking mechanism and underwater robot provided by the utility model have the following beneficial effects:

[0022] 1. The utility model uses at least one pair of propulsion components arranged on both sides of the main frame. The spiral body in the propulsion component is rotatably arranged between the driving source and the driven side fixed module, and is used to drive the spiral body to rotate when the driving source is running. The surface of the spiral body is provided with threads, which can solve the problem that the underwater robot is easy to slip. It has strong obstacle crossing ability and can climb over obstacles by itself. Even if it is stuck in soft soil and silt, it can push the soil with the help of strong spiral thrust to make the whole machine pass.

[0023] 2. The balance adjustment component is configured to adjust the center of gravity position of the underwater all-terrain walking mechanism underwater, so that the underwater all-terrain walking mechanism travels in a preset posture, enabling the underwater all-terrain walking mechanism to have better environmental adaptability. At the same time, by adjusting the center of gravity distribution at the front end or the rear end, it can better adapt to running on a sloping sea surface with a slope, increasing the fitting area. Brief Description of the Drawings

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on the structures shown in these drawings.

[0025] Figure 1 Shows the overall structural schematic diagram of the present invention;

[0026] Figure 2 Shows the internal unfolded structural schematic diagram of the present invention;

[0027] Figure 3 Shows Figure 2 The enlarged structural schematic diagram of the upper left part in

[0028] Figure 4 Shows Figure 2 The enlarged structural schematic diagram of the lower right part in

[0029] Figure 5 Shows the sectional structural schematic diagram of the present invention;

[0030] Figure 6 Shows the three-dimensional sectional view schematic diagram of the present invention.

[0031] The annotation descriptions of the attached drawings are as follows:

[0032] 1 - Main frame;

[0033] 2 - Propulsion component; 201 - Active side fixed module; 2011 - Second bullet head; 2012 - Second fixed sleeve; 2013 - Second bearing seat; 2014 - Hydraulic joint; 202 - Driven side fixed module; 2021 - First bullet head; 2022 - First fixed sleeve; 2023 - Rotary joint; 2024 - First bearing seat; 203 - Screw main body; 2031 - First flange; 2032 - Second flange; 2033 - Partition cavity; 204 - Driving source; 205 - Sealing and limiting module; 2051 - Circlip; 2052 - Skeleton oil seal; 2053 - Limiting bushing; 2054 - Limiting bearing; 206 - Thrust ball bearing; 207 - Rotary bushing; 208 - Maintenance cover plate;

[0034] 3 - Balance adjustment component; 31 - Water delivery pipeline; 32 - Gas delivery pipeline; 33 - Water injection joint 33; 34 - Gas injection joint; 35 - Pipeline support; 36 - Hose joint. Specific embodiments

[0035] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0036] Please refer to Figures 1 - 6 , one embodiment of the present invention provides an underwater all - terrain walking mechanism, including a main frame 1, at least a pair of propulsion components arranged on both sides of the main frame 1, and a balance adjustment component 3 arranged inside the propulsion components;

[0037] The propulsion component includes an active - side fixed module 201, a driven - side fixed module 202, a spiral main body 203, and a drive source 204. Both the active - side fixed module 201 and the driven - side fixed module 202 are fixedly connected to the main frame 1. The drive source 204 is arranged on the active - side fixed module 201. The spiral main body 203 is rotatably arranged between the drive source 204 and the driven - side fixed module 202, and is used to drive the spiral main body 203 to rotate when the drive source 204 operates. The outer surface of the spiral main body 203 is provided with threads to enable the underwater all - terrain walking mechanism to move forward;

[0038] Among them, the balance adjustment component 3 is configured to adjust the center - of - gravity position of the underwater all - terrain walking mechanism underwater, so that the underwater all - terrain walking mechanism travels in a preset posture.

[0039] In this embodiment, the following technical effects can be achieved:

[0040] 1. In the present invention, through at least a pair of propulsion components arranged on both sides of the main frame 1, the spiral main body 203 in the propulsion component is rotatably arranged between the drive source 204 and the driven - side fixed module 202, and is used to drive the spiral main body 203 to rotate when the drive source 204 operates. The outer surface of the spiral main body 203 is provided with threads, which can solve the problem that underwater robots are prone to slipping, have strong obstacle - crossing ability, can climb over obstacles by themselves, and even when stuck in soft soil or silt, can push the soil with the powerful spiral thrust to enable the whole machine to pass.

[0041] 2. The balance adjustment assembly 3 is configured to adjust the center-of-gravity position of the underwater all-terrain walking mechanism underwater, so that the underwater all-terrain walking mechanism travels in a preset posture, enabling the underwater all-terrain walking mechanism to have better environmental adaptability. At the same time, by adjusting the center-of-gravity distribution at the front or rear end, it can better adapt to running on a sloping sea surface with a gradient, increasing the contact area.

[0042] In one embodiment of the present utility model, first flanges 2031 and second flanges 2032 are respectively arranged at both ends of the spiral main body 203. The first flange 2031 is provided with a flange inner hole; the first flange 2031 is connected to the driven-side fixing module 202, and the second flange 2032 is connected to the driving-side fixing module 201.

[0043] In this embodiment, the presence of the first flanges 2031 and the second flanges 2032 makes the connection between the spiral main body 203 and the driven-side fixing module 202 and the driving-side fixing module 201 more convenient, and at the same time, it can provide a larger contact area and stronger connection rigidity.

[0044] Please refer to Figure 2 and Figure 4 , in one embodiment of the present utility model, the driven-side fixing module 202 includes a first bullet head 2021, a first fixing sleeve 2022, a rotary joint 2023, and a first bearing seat 2024; the first bullet head 2021 is arranged at one end of the first fixing sleeve 2022, and the rotary joint 2023 and the first bearing seat 2024 are fixedly arranged at the other end of the first fixing sleeve 2022; the rotary joint 2023 passes through the first bearing seat 2024, and the rotary joint 2023 communicates with the flange inner hole.

[0045] In this embodiment, the bullet head, the rotary joint 2023, and the first bearing seat 2024 are fixedly connected through the first fixing sleeve 2022 to form a stable structural unit. This structural unit is used to rotatably fix the spiral main body 203 on the driven-side fixing module 202; and the design that the rotary joint 2023 communicates with the flange inner hole helps to achieve a better dynamic sealing effect, preventing water or other media from leaking at the rotary joint 2023, and at the same time, water or gas can be conveyed to the spiral main body 203 during rotation through the rotary joint 2023.

[0046] Please refer to Figure 4 and Figure 5 , in one embodiment of the present utility model, the propulsion assembly further includes a sealing and limiting module 205, and the sealing and limiting module 205 is arranged at the connection between the driven-side fixing module 202 and the flange inner hole;

[0047] Among them, the sealing and limiting module 205 includes a circlip 2051, a skeleton oil seal 2052, a limiting bushing 2053, and a limiting bearing 2054 arranged in sequence; the circlip 2051 and the skeleton oil seal 2052 seal the connection between the rotary joint 2023 and the inner hole of the flange; the driven-side fixing module 202 is coaxially arranged with the inner hole of the flange through the limiting bushing 2053 and the limiting bearing 2054;

[0048] And / or, the propulsion assembly further includes a thrust ball bearing 206, and the thrust ball bearing 206 is positioned between the end face of the first bearing seat 2024 and the first flange 2031.

[0049] In this embodiment, the circlip 2051 and the skeleton oil seal 2052 in the sealing and limiting module 205 can effectively seal the connection between the rotary joint 2023 and the inner hole of the flange, preventing the infiltration of water or other media during underwater operations; the use of the limiting bushing 2053 and the limiting bearing 2054 ensures the coaxial arrangement of the driven-side fixing module 202 and the inner hole of the flange, thereby improving the positioning accuracy and rotational accuracy of the entire propulsion assembly; and, the setting of the thrust ball bearing 206 can provide axial positioning, ensuring the correct position of the screw propeller in the axial direction and preventing damage or performance degradation caused by axial displacement.

[0050] Please refer to Figure 2 and Figure 3 , in one embodiment of the present utility model, the active-side fixing module 201 includes a second bullet head 2011, a second fixing sleeve 2012, and a second bearing seat 2013; the second bullet head 2011 is fixedly arranged at one end of the second fixing sleeve 2012, the second bearing seat 2013 is fixedly arranged at the other end of the second fixing sleeve 2012, the second bearing seat 2013 is used for fixedly connecting with the main frame 1, and the second bearing seat 2013 is fixedly connected with the second flange 2032; the drive source 204 is fixedly arranged inside the second fixing sleeve 2012, the output shaft of the drive source 204 passes through the second bearing seat 2013, and the output shaft is in transmission connection with a rotary sleeve 207 arranged at the end of the screw main body 203, so that when the drive source 204 operates, the screw main body 203 is driven through the rotary sleeve 207; the screw main body 203 is provided with an internal thread and a mounting boss on the vertical plate on one side of the second flange 2032 for mounting the rotary sleeve 207.

[0051] In this embodiment, the components of the active-side fixing module 201 are tightly connected and achieve temperature connection with the main frame 1. Among them, the output shaft of the hydraulic motor is lapped with the rotary sleeve 207 through a flat key to rotate the screw main body 203, that is, direct drive connection is adopted, which can reduce energy loss during the transmission process; and, by providing an internal thread and a mounting boss on the vertical plate on one side of the screw main body 203, it is convenient for the installation and maintenance of the rotary sleeve 207, improving the convenience of maintenance.

[0052] In one implementation scenario of this embodiment, the first fixed sleeve 2022 is provided with left and right connecting flanges: the right flange is fastened together with the first bearing seat 2024 and the rotary joint 2023 by bolts and connected to the main frame 1 without participating in rotation, and the left flange is lapped and fixed with the front bullet bolt.

[0053] In one embodiment of the present utility model, the drive source 204 is set as a hydraulic motor. A hydraulic joint 2014 for connecting with a hydraulic system is provided on the second fixed sleeve 2012. The hydraulic joint 2014 is connected to the drive source 204 through a hydraulic pipeline for supplying energy to the hydraulic motor.

[0054] In this embodiment, using a hydraulic motor as the drive source 204 can provide a relatively high torque. For a screw propeller that needs to work in a harsh environment or under heavy load conditions, using a hydraulic motor can push silt on the seabed through a relatively high torque to achieve movement.

[0055] Please refer to Figure 5 and Figure 6 , in one embodiment of the present utility model, the balance adjustment assembly 3 includes a plurality of partition cavities 2033 arranged inside the screw body 203, a water supply pipeline 31 and a gas supply pipeline 32 separately communicating with the partition cavities 2033, a water injection joint 33 and a gas injection joint 34 arranged on the first fixed sleeve 2022. The water injection joint 33 and the gas injection joint 34 are respectively communicated with the water supply pipeline 31 and the gas supply pipeline 32 through the rotary joint 2023 for injecting water and / or gas into one or more of the partition cavities 2033.

[0056] In this embodiment, by injecting water or gas into the partition cavities 2033, the weight and center of gravity of the device can be dynamically adjusted to adapt to different operating conditions and environments; among them, according to different amounts of injected water or gas, the attitude of the device can be finely adjusted during underwater operation to effectively utilize the power of the drive source 204; at the same time, by adjusting the water volume and gas volume in the internal cavity, the buoyancy of the device can be changed, thereby enhancing the stability in water.

[0057] In one embodiment of the present utility model, the balance adjustment assembly 3 further includes a hose joint and a pipeline support 35. The hose joint is connected between the water injection joint 33 and the input end of the rotary joint 2023, or the hose joint is connected between the gas injection joint 34 and the input end of the rotary joint 2023; the pipeline support 35 is arranged inside the partition cavity 2033, and the water supply pipeline 31 and the gas supply pipeline 32 are fixedly arranged inside the partition cavity 2033 through the pipeline support 35.

[0058] In this embodiment, the pipeline support 35 is provided to effectively manage and fix the water delivery pipeline 31 and the gas delivery pipeline 32 in the separation cavity 2033, which facilitates targeted inspection of single or multiple pipelines during maintenance; meanwhile, the use of the hose joint and the pipeline support 35 helps to achieve the modular design of the equipment.

[0059] Please refer to Figure 1 and Figure 4 , in one embodiment of the present utility model, the internal structures of the propulsion components provided on both sides of the main frame 1 are the same, and the thread directions of the propulsion components on one side are opposite to those of the propulsion components on the other side;

[0060] And / or, the propulsion component further includes a maintenance cover plate 208, the maintenance cover plate 208 is arranged on the maintenance opening of the spiral main body 203, and at least one sealing structure is arranged at the connection between the maintenance cover plate 208 and the maintenance opening.

[0061] In this embodiment, the setting of the maintenance cover plate 208 provides a convenient maintenance interface, making the maintenance and inspection of the interior of the spiral main body 203 more convenient. The at least one sealing structure at the connection ensures that water or gas will not penetrate or leak during the maintenance process, maintaining the sealing performance and reliability of the equipment. Among them, the sealing structure can adopt a sealing ring, thread sealing, Y-shaped sealing ring, etc.

[0062] In one embodiment of the present utility model, an underwater robot includes an underwater all-terrain walking mechanism as described in any one of the above-mentioned multiple embodiments.

[0063] The above are only the preferred embodiments of the present utility model, and do not limit the patent scope of the present utility model accordingly. All equivalent structural transformations made under the inventive concept of the present utility model by using the content of the specification and drawings of the present utility model, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present utility model.

Claims

1. An underwater all-terrain walking mechanism, characterized in that, It includes a main frame (1), at least a pair of propulsion components (2) arranged on both sides of the main frame (1), and a balance adjustment component (3) arranged inside the propulsion component (2); The propulsion component (2) includes an active side fixing module (201), a driven side fixing module (202), a spiral body (203), and a driving source (204). Both the active side fixing module (201) and the driven side fixing module (202) are fixedly connected to the main frame (1). The driving source (204) is arranged on the active side fixing module (201). The spiral body (203) is rotatably arranged between the driving source (204) and the driven side fixing module (202), and is used to drive the spiral body (203) to rotate when the driving source (204) operates. Threads are arranged on the outer surface of the spiral body (203) to enable the underwater all-terrain walking mechanism to move forward; Among them, the balance adjustment component (3) is configured to adjust the center of gravity position of the underwater all-terrain walking mechanism underwater, so that the underwater all-terrain walking mechanism travels in a preset posture.

2. The underwater all-terrain walking mechanism according to claim 1, characterized in that, First flanges (2031) and second flanges (2032) are respectively arranged at both ends of the spiral body (203), and flange inner holes are arranged on the first flanges (2031); the first flanges (2031) are connected to the driven side fixing module (202), and the second flanges (2032) are connected to the active side fixing module (201).

3. The underwater all-terrain walking mechanism according to claim 2, wherein The driven side fixing module (202) includes a first bullet head (2021), a first fixing sleeve (2022), a rotary joint (2023), and a first bearing seat (2024); the first bullet head (2021) is arranged at one end of the first fixing sleeve (2022), the rotary joint (2023) and the first bearing seat (2024) are fixedly arranged at the other end of the first fixing sleeve (2022), and the fixed end of the first bearing seat (2024) is fixedly connected to the main frame; the rotary joint (2023) passes through the first bearing seat (2024), and the rotary joint (2023) communicates with the flange inner hole.

4. The underwater all-terrain walking mechanism according to claim 3, wherein The propulsion component (2) further includes a sealing and limiting module (205), and the sealing and limiting module (205) is arranged at the connection between the driven side fixing module (202) and the flange inner hole; Among them, the sealing and limiting module (205) includes a circlip (2051), a skeleton oil seal (2052), a limiting bushing (2053), and a limiting bearing (2054) arranged in sequence; the circlip (2051) and the skeleton oil seal (2052) seal the connection between the rotary joint (2023) and the flange inner hole; the driven side fixing module (202) is coaxially arranged with the flange inner hole through the limiting bushing (2053) and the limiting bearing (2054); And / or, the propulsion assembly (2) further includes a thrust ball bearing (206), and the thrust ball bearing (206) is positioned between the end face of the first bearing seat (2024) and the first flange (2031).

5. The underwater all-terrain walking mechanism according to claim 2, characterized in that, The active side fixing module (201) includes a second bullet head (2011), a second fixing sleeve (2012), and a second bearing seat (2013); the second bullet head (2011) is fixedly arranged at one end of the second fixing sleeve (2012), the second bearing seat (2013) is fixedly arranged at the other end of the second fixing sleeve (2012), the second bearing seat is used for fixedly connecting with the main frame (1), and the second bearing seat (2013) is fixedly connected with the second flange (2032); the driving source (204) is fixedly arranged inside the second fixing sleeve (2012), the output shaft of the driving source (204) passes through the second bearing seat (2013), and the output shaft is in transmission connection with a rotating shaft sleeve (207) arranged at the end of the spiral body (203), so that when the driving source (204) operates, the spiral body (203) is driven through the rotating shaft sleeve (207); The spiral body (203) is provided with an internal thread and a mounting boss on the vertical plate on one side of the second flange (2032) for mounting the rotating shaft sleeve (207).

6. The underwater all-terrain walking mechanism according to claim 5, characterized in that, The driving source (204) is set as a hydraulic motor, and a hydraulic joint (2014) for connecting with a hydraulic system is arranged on the second fixing sleeve (2012), and the hydraulic joint (2014) is connected with the driving source (204) through a hydraulic pipeline for supplying energy to the hydraulic motor.

7. The underwater all-terrain walking mechanism according to claim 3, wherein The balance adjustment assembly (3) includes a plurality of partition cavities (2033) arranged inside the spiral body (203), a water delivery pipeline (31) and a gas delivery pipeline (32) separately communicated with the partition cavities (2033), a water injection joint (33) and a gas injection joint (34) arranged on the first fixing sleeve (2022), and the water injection joint (33) and the gas injection joint (34) are respectively communicated with the water delivery pipeline (31) and the gas delivery pipeline (32) through the rotary joint (2023) for injecting water and / or gas into one or more of the partition cavities (2033).

8. The underwater all-terrain walking mechanism according to claim 7, characterized in that, The balance adjustment assembly (3) further includes a hose joint and a pipeline support (35), the hose joint is connected between the water injection joint (33) and the input end of the rotary joint (2023), or the hose joint is connected between the gas injection joint (34) and the input end of the rotary joint (2023); the pipeline support (35) is arranged inside the partition cavity (2033), and the water delivery pipeline (31) and the gas delivery pipeline (32) are fixedly arranged inside the partition cavity (2033) through the pipeline support (35).

9. The underwater all-terrain walking mechanism according to any one of claims 1-8, characterized in that, The internal structures of the propulsion components (2) arranged on both sides of the main frame (1) are the same, and the thread direction of the propulsion component (2) on one side is opposite to that of the propulsion component (2) on the other side; And / or, the propulsion component (2) further includes a maintenance cover plate (208), the maintenance cover plate (208) is arranged on the maintenance port of the spiral main body (203), and at least one sealing structure is arranged at the connection between the maintenance cover plate (208) and the maintenance port.

10. An underwater robot, characterized in that, It includes the underwater all-terrain walking mechanism according to any one of claims 1-9.

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