Underwater inspection robot

Abstract

The utility model relates to the technical field of robots, in particular to an underwater inspection robot which comprises a shell which is used for installing and fixing all parts and is of a hollow structure. The crawling module is used for moving and comprises a motor, a connecting rod mechanism and a plurality of foot mechanisms, the connecting rod mechanism is arranged in the shell and partially protrudes out of the shell, the motor is connected with the connecting rod mechanism, and the foot mechanisms are arranged outside the shell and connected with the connecting rod mechanism; the adsorption module is used for providing adsorption force and is arranged on the foot mechanism; the power supply module is used for providing a power supply, is arranged in the shell and is in communication connection with the crawling module and the adsorption module; and the control module is used for collecting information and controlling the overall movement, is arranged in the shell and is in communication connection with the crawling module, the adsorption module and the power supply module. The utility model aims to overcome the defects in the prior art, and provides the underwater inspection robot which is compact in structure and can flexibly move underwater to complete operation.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, and more specifically, to an underwater inspection robot. Background Art

[0002] With the transformation of the global energy structure and the progress of renewable energy technologies, offshore power generation equipment, especially offshore wind power equipment, has become an important part of the energy strategy. These equipment are usually located in waters far from land. Therefore, daily inspection and maintenance are not only crucial for ensuring the normal operation of the equipment, but also of great significance for guaranteeing the stability and security of energy supply. Underwater equipment is long-term exposed to environments with high salinity, wave impact and seawater scouring. Problems such as corrosion, wear and biological attachment may lead to a decrease in structural strength, which has a significant impact on its safety and stability and increases the risk of failure. Due to manual inspection and maintenance, manual inspection and maintenance highly rely on the personal experience and feeling of divers, which may lead to subjective judgment errors, inspection blind spots and missed inspections, thus reducing the accuracy and efficiency of detection. In addition, the speed of manual operation is slow, and it is difficult to achieve large-scale or continuous detection.

[0003] Underwater inspection robots can not only perform underwater tasks that are difficult or impossible for humans to complete, but also improve the operation efficiency and quality while ensuring safety. The robots can perform tasks for a long time, improve operation efficiency, conduct precise underwater measurement, monitoring and data analysis, and provide technical support. However, robots with larger volumes may be difficult to move flexibly in narrow or complex environments, affecting their operation ability in restricted spaces. At the same time, more energy is required to drive them, which not only limits their working time underwater, but also may require more frequent energy replenishment. Summary of the Utility Model

[0004] The purpose of the utility model is to overcome the deficiency that the large volume of existing underwater inspection robots restricts underwater work, and provide an underwater inspection robot with a compact crawling mechanism that can move flexibly underwater.

[0005] To solve the above technical problems, the technical solution adopted by the utility model is:

[0006] Provide an underwater inspection robot, including

[0007] A housing for installing and fixing various components, with a hollow structure inside;

[0008] A crawling module for moving, which includes a motor, a linkage mechanism and several foot mechanisms. The linkage mechanism is installed inside the housing and partially protrudes from the housing. The motor is connected to the linkage mechanism, and the foot mechanisms are installed outside the housing and connected to the linkage mechanism;

[0009] An adsorption module, which is used to provide adsorption force and is installed on the foot mechanism;

[0010] A power supply module, which is used to provide power supply, is installed inside the housing, and is communicatively connected to both the crawling module and the adsorption module;

[0011] A control module, which is used to collect information and control the overall movement, is installed inside the housing, and is communicatively connected to the crawling module, the adsorption module, and the power supply module.

[0012] The power supply module and the control module of the present utility model are both communicatively connected to the crawling module and the adsorption module. By controlling the operation of the motor, the crawling module and the adsorption module are controlled. The motor drives the foot mechanism through a link mechanism to achieve movement. The adsorption module is installed on the foot mechanism. The structure of the present utility model is compact and has a small volume, and it can operate in a narrow environment.

[0013] Further, the link mechanism includes a first transmission rod, a second transmission rod, a third transmission rod, a first bevel gear transmission pair, and a second bevel gear transmission pair. The first transmission rod and the third transmission rod are arranged in parallel. The first transmission rod is connected to the motor. One end of the second transmission rod is connected to the first transmission rod through the first bevel gear transmission pair, and the other end is connected to the third transmission rod through the second bevel gear transmission pair.

[0014] Further, the first bevel gear transmission pair includes a first bevel gear and a second bevel gear. The second bevel gear transmission pair includes a third bevel gear and a fourth bevel gear. The first bevel gear is installed on the first transmission rod. The second bevel gear is installed at one end of the second transmission rod and meshes with the first bevel gear. The third bevel gear is installed at the other end of the second transmission rod. The fourth bevel gear is installed on the third transmission rod and meshes with the third bevel gear.

[0015] Further, the foot mechanism includes a transmission assembly, a connection assembly, and a grounding member. The connection assembly includes a first connecting member, a second connecting member, a third connecting member, a fourth connecting member, a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, and a fifth connecting rod. The first connecting rod is fixedly connected to the housing. One end of the first connecting member is hinged to the first connecting rod, and the other end is hinged to the second connecting rod. One end of the second connecting member is hinged to the second connecting rod, and the other end is hinged to the third connecting rod. One end of the third connecting member is hinged to the third connecting rod, and the other end is hinged to the fourth connecting rod. The side of the fourth connecting member is fixedly connected to the grounding member, and one end of the fourth connecting member is hinged to the fourth connecting rod, and the other end is hinged to the fifth connecting rod.

[0016] Further, the transmission assembly includes a first transmission member, a second transmission member and a third transmission member, one end of the first connecting member is hinged to the connecting rod mechanism, and the other end is hinged to the third connecting rod, one end of the second transmission member is hinged to the connecting rod mechanism, and the other end is rotatably connected to one end of the third transmission member, the other end of the third transmission member is hinged to the fifth connecting rod and its middle part is hinged to the second connecting rod.

[0017] Furthermore, the adsorption module is fixedly mounted on the grounding member.

[0018] Furthermore, it also includes a recovery module, which is used for recovery after the task is completed, is fixedly installed on the shell, and is communicatively connected with the power module and the control module.

[0019] Furthermore, the recovery module includes a propeller and a hollow propeller channel. The propeller channel is fixedly mounted on the outer shell, and both ends of the propeller channel are connected to the outside world. The propeller is installed inside the propeller channel and is communicatively connected to the power module and the control module.

[0020] Furthermore, the shell includes an outer shell and a mounting plate, the mounting plate is fixedly installed inside the outer shell, the outer shell is a cylindrical structure, a cover plate is provided at one end, and a perspective component is provided at the other end.

[0021] Furthermore, the control module includes a control chip and a camera. The camera is fixedly mounted on the end of the mounting plate close to the perspective component and is communicatively connected with the control chip.

[0022] Compared with the prior art, the beneficial effects of the utility model are:

[0023] 1. The power module and control module of the utility model are both connected to the crawling module and the adsorption module for communication. The control module controls the operation of the motor, and the motor drives the foot mechanism to achieve movement through a connecting rod mechanism. The adsorption module is installed on the foot mechanism to ensure the stability of underwater movement and has a compact structure and a small size.

[0024] 2. The utility model is provided with a recovery module, and the thruster can realize the rapid buoyancy of the underwater inspection robot, and cooperate with the GPS sensor to realize rapid recovery, thereby improving the efficiency of the entire operation process.

[0025] 3. The control module of the utility model includes a camera, an ultrasonic sensor and a GPS sensor. The camera can obtain images of the inspection target; the ultrasonic sensor can detect the surrounding environment; and the GPS sensor can transmit location data to the land control center for easy monitoring and recovery. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1Schematic diagram of the structure of an underwater inspection robot of the present utility model;

[0027] Figure 2 is Figure 1 an enlarged view of portion A in;

[0028] Figure 3 Schematic diagram of the structure of the first perspective of an underwater inspection robot of the present utility model with the outer shell removed;

[0029] Figure 4 is Figure 3 an enlarged view of portion B in;

[0030] Figure 5 Schematic diagram of the structure of the second perspective of an underwater inspection robot of the present utility model with the outer shell removed.

[0031] The illustration marks are explained as follows:

[0032] 110, outer shell; 111, cover plate; 112, perspective component; 112a, glass cover; 112b, glass cover ring; 112c, circular cover; 120, mounting plate; 121, camera fixing plate; 200, adsorption module; 310, motor; 320, link mechanism; 321, first transmission rod; 322, second transmission rod; 323, third transmission rod; 324, first bevel gear transmission pair; 324a, first bevel gear; 324b, second bevel gear; 325, second bevel gear transmission pair; 325a, third bevel gear; 325b, fourth bevel gear; 330, foot mechanism; 331, transmission component; 331a, first transmission member; 331b, second transmission member; 331c, third transmission member; 332, connection component; 332a, first connecting rod; 332b, second connecting rod; 332c, third connecting rod; 332d, fourth connecting rod; 332e, fifth connecting rod; 332f, first connecting piece; 332g, second connecting piece; 332h, third connecting piece; 332i, fourth connecting piece; 333, grounding piece; 400, power supply module; 510, control chip; 520, camera; 610, thruster; 620, thruster channel. Specific embodiments

[0033] The present utility model will be further described below in conjunction with specific embodiments. Among them, the drawings are only for illustrative purposes, showing only schematic diagrams, not physical diagrams, and should not be construed as limitations on this patent; in order to better illustrate the embodiments of the present utility model, some components in the drawings will be omitted, enlarged or reduced, and do not represent the dimensions of the actual product; for those skilled in the art, it is understandable that some well-known structures and their descriptions in the drawings may be omitted.

[0034] In the drawings of the embodiments of the present utility model, the same or similar reference numerals correspond to the same or similar components; in the description of the present utility model, it should be understood that if there are terms such as "upper", "lower", "left", "right", etc. indicating the orientation or positional relationship, they are based on the orientation or positional relationship shown in the drawings. This is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, the terms describing the positional relationship in the drawings are only for illustrative purposes and cannot be construed as a limitation of this patent. For those of ordinary skill in the art, the specific meanings of the above terms can be understood according to specific circumstances.

[0035] Embodiment 1

[0036] As Figures 1 to 5 shown in the first embodiment of an underwater inspection robot of the present utility model, the present utility model includes a housing for installing and fixing various components, which has a hollow structure inside. The housing includes an outer shell 110 and a mounting plate 120, and the mounting plate 120 is fixedly installed inside the outer shell 110; a crawling module for moving, which includes a motor 310, a link mechanism 320, and a plurality of foot mechanisms 330. The link mechanism 320 is installed inside the housing and partially protrudes from the housing. The motor 310 is installed inside the housing and is connected to the link mechanism 320. The foot mechanism 330 is connected to the end of the link mechanism 320 that protrudes from the housing; an adsorption module 200 for providing adsorption force, which is installed on the foot mechanism 330; a power supply module 400 for providing power, which is installed inside the housing and is communicatively connected to both the crawling module and the adsorption module 200; a control module for collecting information and controlling the overall movement, which is installed inside the housing and is communicatively connected to the crawling module, the adsorption module 200, and the power supply module 400. The power supply module 400 and the control module of the present utility model are both communicatively connected to the crawling module and the adsorption module 200. The control module controls the operation of the motor 310, and the motor 310 drives the foot mechanism 330 through the link mechanism 320 to realize the movement of the underwater inspection robot. The adsorption module 200 is installed on the foot mechanism 330 to ensure the stability of underwater movement. The structure of the present utility model is compact and has a small volume. It can operate in a narrow environment, can reach areas that are difficult for humans to reach for inspection. Automated inspection reduces labor costs and lowers safety risks.

[0037] The connecting rod mechanism 320 of the present utility model includes a first transmission rod 321, a second transmission rod 322, a third transmission rod 323, a first bevel gear transmission pair 324 and a second bevel gear transmission pair 325. The first transmission rod 321 is arranged parallel to the third transmission rod 323. The first transmission rod 321 is connected to the motor 310. One end of the second transmission rod 322 is connected to the first transmission rod 321 through the first bevel gear transmission pair 324, and the other end is connected to the third transmission rod 323 through the second bevel gear transmission pair 325. For the connecting rod mechanism 320, when the control module controls the motor 310 to start, the motor 310 drives the first transmission rod 321 to rotate. Both ends of the first transmission rod 321 protrude from the housing 110 and are connected to the foot mechanism 330, driving the foot mechanism 330 installed at the end of the first transmission rod 321 to move. The rotation of the first transmission rod 321 is transmitted to the second transmission rod 322 through the first bevel gear transmission pair 324, driving the second transmission rod 322 to rotate. The rotation of the second transmission rod 322 is transmitted to the third transmission rod 323 through the second bevel gear transmission pair 325. Both ends of the third transmission rod protrude from the housing 110 and are connected to the foot mechanism 330, driving the foot mechanism 330 to move. By transmitting through the first bevel gear transmission pair 324 and the second bevel gear transmission pair 325, the output direction of the motor 310 can be changed, so that the foot mechanism 330 can receive power in the required direction. The setting of the connecting rod mechanism 320 makes the change of the transmission direction relatively free, and the direction of force transmission can also be changed by changing the angles of the first transmission rod 321 or the second transmission rod 322; at the same time, the increase and decrease of the transmission speed are relatively free, and the transmission speed can be changed by adjusting the rotation speed of the motor 310 through the control module; the design of the first bevel gear 324a pair and the second bevel gear 324b pair of the connecting rod mechanism 320 is suitable for small spaces. The combination of the first transmission rod 321, the second transmission rod 322, the third transmission rod 323 and the first bevel gear transmission pair 324 and the second bevel gear transmission pair 325 can achieve transmission in a compact space. The meshing rate of the bevel gears is large and the power transmission is stable. The number of the foot mechanisms 330 of the present utility model is at least four. In this embodiment, the number of the foot mechanisms 330 is selected to be four, which are respectively installed at both ends of the first transmission rod 321 and both ends of the third transmission rod.

[0038] The first bevel gear transmission pair 324 of the present utility model includes a first bevel gear 324a and a second bevel gear 324b. The second bevel gear transmission pair 325 includes a third bevel gear 325a and a fourth bevel gear 325b. The first bevel gear 324a is mounted on the first transmission rod 321. The second bevel gear 324b is mounted on one end of the second transmission rod 322 and meshes with the first bevel gear 324a. The third bevel gear 325a is mounted on the other end of the second transmission rod 322. The fourth bevel gear 325b is mounted on the third transmission rod 323 and meshes with the third bevel gear 325a. Power transmission can be achieved within a relatively small space through bevel gear transmission, which is particularly important for the compact design of the foot mechanism 330. The bevel gear has high transmission efficiency and can transmit high torque, providing sufficient power for the foot mechanism 330 to walk or climb. In addition, the maintenance of the bevel gear transmission system is relatively simple, which is crucial for maintaining the long-term operation and performance of the crawling module.

[0039] The foot mechanism 330 of the present utility model includes a transmission assembly 331, a connection assembly 332, and a grounding member 333. The connection assembly 332 includes a first connecting member 332f, a second connecting member 332g, a third connecting member 332h, a fourth connecting member 332i, a first connecting rod 332a, a second connecting rod 332b, a third connecting rod 332c, a fourth connecting rod 332d, and a fifth connecting rod 332e. The first connecting rod 332a is fixedly connected to the housing. One end of the first connecting member 332f is hinged to the first connecting rod 332a, and the other end is hinged to the second connecting rod 332b. One end of the second connecting member 332g is hinged to the second connecting rod 332b, and the other end is hinged to the third connecting rod 332c. One end of the third connecting member 332h is hinged to the third connecting rod 332c, and the other end is hinged to the fourth connecting rod 332d. The side of the fourth connecting member 332i is fixedly connected to the grounding member 333, and one end thereof is hinged to the fourth connecting rod 332d, and the other end is hinged to the fifth connecting rod 332e. The adsorption module 200 is installed on the upper end of the grounding member 333, and the adsorption module 200 is communicatively connected to the power module 400 and the control module. The control module activates the adsorption module 200 so that the underwater inspection robot can stably adhere to the metal surface. Under the influence of external impact or ocean current, it can also maintain stable adsorption. This stability is particularly important for performing fine operations or data collection, avoiding detachment from the device surface, and being able to adapt to various complex underwater environments. The present utility model includes a first transmission member 331a, a second transmission member 331b, and a third transmission member 331c. One end of the first connecting member 332f is hinged to the link mechanism 320, and the other end is hinged to the third connecting rod 332c. One end of the second transmission member 331b is hinged to the link mechanism 320, and the other end is rotatably connected to one end of the third transmission member 331c. The other end of the third transmission member 331c is hinged to the fifth connecting rod 332e, and the middle part thereof is hinged to the second connecting rod 332b. Taking the foot mechanism 330 installed at the end of the first transmission rod 321 as an example, when the motor 310 is started to drive the first transmission rod 321 to rotate, the first transmission rod 321 drives the first transmission member 331a to swing around the first transmission rod 321, drives the second transmission member 331b to rotate around the first transmission rod 321, and the second transmission member 331b drives the third transmission member 331c to swing. The foot mechanism 330 is driven through the transmission mechanism to realize the lifting, forward movement, and lowering of the foot mechanism 330. When a single foot mechanism 330 is lowered, the control module controls the adsorption module 200 to start, and when it is lifted, the control module controls the adsorption module 200 to close. The adsorption module 200 of the present utility model includes an electromagnet assembly. The electromagnet assembly is installed on the grounding member 333, and it is communicatively connected to both the power module 400 and the control module.

[0040] The utility model further includes a recovery module, which is used for rapid recovery after the task is completed. It is fixedly installed on the housing 110 and is communicatively connected to the power module 400 and the control module. The recovery module of the utility model includes a thruster 610 and a hollow thruster channel 620. The thruster channel 620 is fixedly installed on the housing 110, and both ends of the thruster channel 620 communicate with the outside. The thruster 610 is fixedly installed inside the thruster channel 620 and is communicatively connected to the power module 400 and the control module. After the task is completed, the control module controls the adsorption module 200 to cut off the power supply, and the adsorption module 200 loses magnetism. Then the thruster 610 is activated, and the thruster 610 provides upward power to realize the rapid floating of the underwater inspection robot, solving the problems of large inspection depth and long recovery distance, improving the efficiency of the entire operation process, reducing the dependence on divers or other recovery equipment, and reducing the consumption of human resources. In addition, during the design, the energy use can be optimized for the recovery process to ensure that there is enough energy to return after the task is completed.

[0041] As an embodiment of the utility model, the grounding part 333 of the underwater inspection robot is placed on the ground, and two diagonal foot mechanisms 330 extend forward, and the other two foot mechanisms 330 stand upright. The control module controls the motor 310 to start, and two diagonal foot mechanisms 330 among the four foot mechanisms 330 will move synchronously. The cooperation of the transmission rod and the connecting rod enables the foot mechanism 330 to perform the movements of lifting and stepping forward. During the process of the foot mechanism 330 lifting off the ground, the control module controls the adsorption module 200 to cut off the power supply and lose magnetism, and then steps forward; during the process of the foot mechanism 330 landing, the control module controls the adsorption module 200 to be powered on and restore magnetism, and the foot mechanism 330 lands and is fixed on the ground or the surface of the equipment by magnetic force. After the underwater inspection robot completes the inspection task, the control module controls the adsorption module 200 to cut off the power supply, and the adsorption module 200 loses magnetism. Then the thruster 610 is activated, and the thruster 610 provides upward power to realize the rapid floating of the underwater inspection robot and achieve rapid recovery.

[0042] Embodiment 2

[0043] Figure 1 and Figure 5The second embodiment of an underwater inspection robot of the present utility model is shown. This embodiment is similar to Embodiment 1, except that the outer shell 110 of the present utility model is a cylindrical structure. One end is provided with a cover plate 111, and the other end is provided with a perspective component 112. The cylindrical outer shell 110 is relatively easy to manufacture and maintain. Due to its symmetry and simple geometric shape, the manufacturing process can be simplified and the cost can be reduced. Moreover, the cylindrical outer shell 110 provides a relatively regular internal space, which is convenient for the layout and installation of internal components, helps to improve the space utilization rate. The cylindrical pressure-resistant outer shell 110 is a key structure of the underwater inspection robot, providing a good working environment for the control module, crawling module, etc., and avoiding the corrosion of seawater and the damage of underwater pressure.

[0044] The perspective component 112 of the present utility model includes a glass cover 112a, a glass cover ring 112b, and a ring cover 112c. One side of the glass cover ring 112b is connected to the outer shell 110, and the other side is connected to the glass cover 112a. The ring cover 112c is sleeved outside the glass cover ring 112b. The control module of the present utility model includes a camera 520 and a control chip 510. A camera fixing plate 121 is installed on the mounting plate 120. The camera fixing plate 121 is screwed to the mounting plate 120. The camera 520 is installed on the camera fixing plate 121 and is communicatively connected to the control chip 510. The camera fixing plate 121 is installed at the end of the mounting plate 120 close to the glass cover 112a and is fixedly connected to the mounting plate 120. The camera 520 can capture images of the underwater environment in real time through the perspective component 112. Through the images, underwater targets such as pipeline leakage points, cracks, attachments, or other situations can be identified and located; the camera 520 can assist the robot in navigating in waters with low visibility, avoiding obstacles and planning inspection paths through image recognition technology.

[0045] Embodiment 3

[0046] As Figure 5 The third embodiment of an underwater inspection robot of the present utility model is shown. This embodiment is similar to Embodiment 1, except that the control module further includes an ultrasonic sensor and a GPS sensor. The ultrasonic sensor and the GPS sensor are both installed on the mounting plate 120 and are both communicatively connected to the control chip 510 and the power module 400. The ultrasonic sensor measures the distance by emitting ultrasonic waves and receiving their echoes, and can be used for mapping underwater structures, detecting leaks, evaluating structural integrity, etc.; the GPS sensor can provide accurate positioning information in cooperation with the camera 520, and combined with the camera 520, it can provide more comprehensive navigation information, and real-time monitoring of the positioning of the underwater inspection robot also makes the recovery process more convenient.

[0047] After the task is completed, the control module controls the adsorption module 200 to cut off the power supply. The adsorption module 200 loses magnetism, and the thruster 610 is turned on. The thruster 610 provides upward power to achieve the rapid floating of the underwater inspection robot, and cooperate with the GPS sensor to achieve rapid recovery, solving the problems of large inspection depth and long recovery distance.

[0048] In the specific content of the above specific implementation manner, the technical features can be combined arbitrarily without contradiction. For the sake of concise description, not all possible combinations of the above technical features are described. However, as long as the combination of these technical features does not exist contradiction, it should be considered as the scope recorded in this specification.

[0049] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, rather than limiting the implementation manner of the present invention. For those of ordinary skill in the art, other different forms of changes or modifications can be made on the basis of the above description. It is not necessary and impossible to list all the implementation manners here. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. An underwater inspection robot, characterized in that, including a housing for installing and fixing various components, with a hollow structure inside; a crawling module for movement, which includes a motor (310), a linkage mechanism (320) and a plurality of foot mechanisms (330), the linkage mechanism (320) is installed inside the housing and partially protrudes from the housing, the motor (310) is connected to the linkage mechanism (320), and the foot mechanism (330) is installed outside the housing and connected to the linkage mechanism (320); an adsorption module (200) for providing adsorption force, installed on the foot mechanism (330); a power supply module (400) for providing power, installed inside the housing, and communicatively connected to the crawling module and the adsorption module (200); a control module for collecting information and controlling the overall movement, installed inside the housing, and communicatively connected to the crawling module, the adsorption module (200), and the power supply module (400).

2. The underwater inspection robot according to claim 1, wherein The linkage mechanism (320) includes a first transmission rod (321), a second transmission rod (322), a third transmission rod (323), a first bevel gear transmission pair (324) and a second bevel gear transmission pair (325), the first transmission rod (321) is arranged parallel to the third transmission rod (323), the first transmission rod (321) is connected to the motor (310), one end of the second transmission rod (322) is connected to the first transmission rod (321) through the first bevel gear transmission pair (324), and the other end is connected to the third transmission rod (323) through the second bevel gear transmission pair (325).

3. The underwater inspection robot according to claim 2, wherein, The first bevel gear transmission pair (324) includes a first bevel gear (324a) and a second bevel gear (324b), the second bevel gear transmission pair (325) includes a third bevel gear (325a) and a fourth bevel gear (325b), the first bevel gear (324a) is installed on the first transmission rod (321), the second bevel gear (324b) is installed at one end of the second transmission rod (322) and meshes with the first bevel gear (324a), the third bevel gear (325a) is installed at the other end of the second transmission rod (322), and the fourth bevel gear (325b) is installed on the third transmission rod (323) and meshes with the third bevel gear (325a).

4. The underwater inspection robot according to claim 2, wherein The foot mechanism (330) includes a transmission assembly (331), a connection assembly (332), and a grounding member (333). The connection assembly (332) includes a first connecting member (332f), a second connecting member (332g), a third connecting member (332h), a fourth connecting member (332i), a first connecting rod (332a), a second connecting rod (332b), a third connecting rod (332c), a fourth connecting rod (332d), and a fifth connecting rod (332e). The first connecting rod (332a) is fixedly connected to the housing. One end of the first connecting member (332f) is hinged to the first connecting rod (332a), and the other end is hinged to the second connecting rod (332b). One end of the second connecting member (332g) is hinged to the second connecting rod (332b), and the other end is hinged to the third connecting rod (332c). One end of the third connecting member (332h) is hinged to the third connecting rod (332c), and the other end is hinged to the fourth connecting rod (332d). The side of the fourth connecting member (332i) is fixedly connected to the grounding member (333), and one end thereof is hinged to the fourth connecting rod (332d), and the other end is hinged to the fifth connecting rod (332e).

5. The underwater inspection robot according to claim 4, wherein, The transmission assembly (331) includes a first transmission member (331a), a second transmission member (331b), and a third transmission member (331c). One end of the first connecting member (332f) is hinged to the link mechanism (320), and the other end is hinged to the third connecting rod (332c). One end of the second transmission member (331b) is hinged to the link mechanism (320), and the other end is rotatably connected to one end of the third transmission member (331c). The other end of the third transmission member (331c) is hinged to the fifth connecting rod (332e), and the middle part thereof is hinged to the second connecting rod (332b).

6. The underwater inspection robot according to claim 4, characterized in that, The adsorption module (200) is fixedly installed on the grounding member (333).

7. The underwater inspection robot according to claim 1, wherein, The housing includes an outer shell (110) and a mounting plate (120). The mounting plate (120) is fixedly installed inside the outer shell (110). The outer shell (110) is a cylindrical structure, with a cover plate (111) provided at one end and a perspective component (112) provided at the other end.

8. The underwater inspection robot according to claim 7, characterized in that, The control module includes a control chip (510) and a camera (520). The camera (520) is fixedly installed at the end of the mounting plate (120) close to the perspective component (112) and is communicatively connected to the control chip (510).

9. The underwater inspection robot according to claim 7, wherein, It further includes a recovery module for recovery after the task is completed. The recovery module is fixedly installed on the housing and is communicatively connected to both the power supply module (400) and the control module.

10. The underwater inspection robot according to claim 9, wherein, The recycling module includes a thruster (610) and a hollow thruster channel (620). The thruster channel (620) is fixedly installed on the housing (110), and both ends of the thruster channel (620) communicate with the outside. The thruster (610) is installed inside the thruster channel (620) and is communicatively connected to the power module (400) and the control module.

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