Underwater robot assembly and underwater robot

Abstract

The underwater robot assembly comprises an end cover frame piece, a single-hole plate piece, a double-hole plate piece, a connecting rod piece, a bent plate piece, a long bent plate piece and a connecting plate, and after the components are combined and assembled through bolts, a transversely-unfolded structure, a vertically-unfolded structure or a transversely-vertically-unfolded structure can be formed. The overall structure can be adjusted according to the actual underwater working environment, propellers can be installed on the single-hole plate, the double-hole plate, the bent plate, the long bent plate and the connecting plate, the installation positions of the propellers are very flexible, the design and installation of the optimal propelling mode can be conducted according to the actual underwater working environment, and the overall structure can be adjusted according to the actual underwater working environment. Besides the propeller, mounting positions are reserved for other special equipment in the whole structure.

Description

Technical Field

[0001] This utility model belongs to the field of underwater robot structure improvement technology, and in particular, it relates to an underwater robot component and an underwater robot. Background Technology

[0002] Underwater robots, also known as remotely operated vehicles (ROVs), are robots that operate underwater. Given the harsh and dangerous underwater environment and the limited diving depth of humans, underwater robots have become crucial tools for ocean exploration. An underwater robot typically consists of a frame, observation equipment, and thrusters. The observation equipment is housed within a pressure hull, which in turn is mounted within the frame. Multiple thrusters are positioned at various locations on the frame. Some specialized robots also include robotic arms, cutters, and other dedicated equipment. The frame is generally constructed from welded tubing with fixed length, width, and height dimensions, making it suitable only for installation on specific pressure hull models. Furthermore, the thruster mounting positions are also fixed. Due to the diverse underwater operating environments, there is an urgent need for an underwater robot that can be freely assembled, modified, and has adjustable thruster mounting positions, while also allowing for the provision of mounting spaces for other specialized equipment. Utility Model Content

[0003] The purpose of this invention is to overcome the shortcomings of the existing technology and provide an underwater robot component.

[0004] The technical solution adopted by this utility model to solve the technical problem is:

[0005] An underwater robot assembly includes an end cap frame, a single-hole plate, a double-hole plate, a bent plate, and a connecting rod.

[0006] The end cap frame is used to fasten to both ends of the equipment compartment;

[0007] One side of the end cap frame at one end of the equipment compartment is connected to one side of a single-hole plate or a double-hole plate. The other side of the single-hole plate or the double-hole plate is connected to one side of another single-hole plate or another double-hole plate provided on the side of the other end of the equipment compartment via a connecting rod. The other side of the other single-hole plate or the other double-hole plate is connected to the side of another end cap frame installed at the other end of the equipment compartment.

[0008] The bent plate is installed between two single-hole plates or two double-hole plates on both sides of the same end of the equipment compartment.

[0009] A thruster can be installed at any one, any two, or all three locations of the single-hole plate, double-hole plate, or connecting plate.

[0010] Further, the upper end and / or the lower end of one single-hole plate member and another single-hole plate member on the same side of the equipment cabin, the upper end and / or the lower end of one single-hole plate member and another double-hole plate member, or the upper end and / or the lower end of one double-hole plate member and another double-hole plate member are respectively connected with a single-hole plate member for extension structure;

[0011] The single-hole plate member for extension structure is kept approximately vertical to the connected single-hole plate member or double-hole plate member, or the single-hole plate member for extension structure is kept approximately in the same direction as the connected single-hole plate member or double-hole plate member.

[0012] Further, the single-hole plate member for extension structure is kept approximately in the same direction as the connected single-hole plate member or double-hole plate member;

[0013] A bending plate member for mounting is arranged between the single-hole plate members for extension structure on the two sides of any one of the two end portions of the equipment cabin;

[0014] The single-hole plate member or double-hole plate member on the two sides of any one of the two end portions of the equipment cabin is provided with a long bending plate member which is spaced apart from the side end cover frame member; and a thruster can be arranged on the long bending plate member.

[0015] Further, a connecting rod member is connected between the two single-hole plate members for extension structure on the upper side and / or the lower side of each end portion of the equipment cabin.

[0016] Further, a bending plate member for reinforcement is connected between the two single-hole plate members for extension structure on the upper side and the lower side of each side of the two end portions of the equipment cabin; and a thruster can be arranged on the bending plate member for reinforcement.

[0017] Further, a connecting plate is arranged between one single-hole plate member and another single-hole plate member on the same side of the equipment cabin, between one single-hole plate member and another double-hole plate member, or between one double-hole plate member and another double-hole plate member.

[0018] Another object of the present application is to provide a four-thruster underwater robot, which comprises an equipment cabin, an end cover frame member is mounted on each end of the equipment cabin, one side of each single-hole plate member is connected to the two sides of one end cover frame member, the other side of each single-hole plate member is connected to one side of a double-hole plate member through a connecting rod member, the other side of the double-hole plate member is connected to the same side bending portion of the other end cover frame member mounted on the equipment cabin; a connecting plate is mounted between the single-hole plate member and the double-hole plate member on each side of the equipment cabin; a bending plate member is mounted between the two single-hole plate members and the two double-hole plate members; and a thruster is mounted on each of the two double-hole plate members and the two connecting plates on the two sides of the equipment cabin.

[0019] The utility model discloses a six propeller's underwater robot, including equipment cabin, equipment cabin both ends respectively install one end cover frame spare, one end cover frame spare's both sides are connected one side of one double hole board spare respectively, and every double hole board spare other side is connected one side of another double hole board spare through connecting rod spare, and the other side of this another double hole board spare is connected with the same side bending part of another end cover frame spare that equipment cabin installs,

[0020] Bending plate spare is installed between two double hole board spares on the both sides of every one of the two end portions of equipment cabin respectively,

[0021] The lower end of every double hole board spare of four double hole board spares on the both sides of equipment cabin is installed with single hole board spare for extension structure in the roughly same direction respectively,

[0022] Bending plate spare for installation is arranged between single hole board spare for extension structure on the both sides of any one of the two end portions of equipment cabin,

[0023] Single hole board spare on the both sides of any one of the two end portions of equipment cabin is provided with long bending plate spare that is mutually spaced apart with the side end cover frame spare, and propeller can be arranged on long bending plate spare.

[0024] Four double hole board spares on the both sides of equipment cabin, bending plate spare for installation and long bending plate spare are all installed with propeller respectively.

[0025] The utility model discloses a six propeller's underwater robot, including equipment cabin, equipment cabin both ends respectively install one end cover frame spare, one end cover frame spare's both sides are connected one side of one double hole board spare respectively, and every double hole board spare other side is connected one side of another double hole board spare through connecting rod spare, and the other side of this another double hole board spare is connected with the same side bending part of another end cover frame spare that equipment cabin installs,

[0026] Connecting plate is installed between two single hole board spares on every side of equipment cabin, and bending plate spare is installed between two single hole board spares on the both sides of every one of the two end portions of equipment cabin respectively,

[0027] The upper end and the lower end of every single hole board spare of four single hole board spares on the both sides of equipment cabin are installed with single hole board spare for extension structure extending to the both sides of equipment cabin in the roughly perpendicular respectively,

[0028] Connecting rod spare is connected between two single hole board spares for extension structure on the both sides of every end portion of equipment cabin,

[0029] Bending plate spare for strengthening is connected between two single hole board spares for extension structure on every side on the upper side and the lower side of the both sides of every end portion of equipment cabin,

[0030] The four bending plate members for reinforcement on the two sides of the equipment cabin are respectively provided with thrusters, and the two connecting plates on the two sides of the equipment cabin are respectively provided with thrusters.

[0031] Another object of the utility model is to provide an underwater robot with eight thrusters, which comprises an equipment cabin, one end cap frame member is installed at each end of the equipment cabin, one side of each double-hole plate member is connected to the two sides of one end cap frame member, one side of each double-hole plate member is connected to the other double-hole plate member through a connecting rod member, and the other side of the other double-hole plate member is connected to the same side of the other end cap frame member installed on the equipment cabin.

[0032] A bending plate member is installed between the two double-hole plate members on the two sides of each end of the equipment cabin.

[0033] The upper end and the lower end of each double-hole plate member of the four double-hole plate members on the two sides of the equipment cabin are respectively and substantially perpendicularly provided with a single-hole plate member for extension structure extending to the two sides of the equipment cabin.

[0034] A connecting rod member is connected between the two single-hole plate members for extension structure above each end of the equipment cabin.

[0035] A bending plate member for reinforcement is connected between the two single-hole plate members for extension structure above and below each side of each end of the equipment cabin.

[0036] The four bending plate members for reinforcement on the two sides of the equipment cabin are respectively provided with thrusters, and the four double-hole plate members on the two sides of the equipment cabin are respectively provided with thrusters.

[0037] The utility model discloses the technical effects achieved are as follows:

[0038] In the utility model, the end cap frame member, the single-hole plate member, the double-hole plate member, the connecting rod member, the bending plate member, the long bending plate member and the connecting plate are combined and assembled by bolts, can form the structure that expands horizontally, expands vertically or expands horizontally and vertically, that is, the overall structure can be adjusted according to the actual underwater working environment, and the single-hole plate member, the double-hole plate member, the bending plate member, the long bending plate member and the connecting plate can be provided with thrusters, that is, the installation position of the thruster is very flexible, the optimal thruster design and installation can be carried out according to the actual underwater working environment, and the overall structure is provided with installation positions for other special equipment in addition to the thruster. BRIEF DESCRIPTION OF DRAWINGS

[0039] Figure 1 It is a structure schematic view after the combination and assembly of the utility model.

[0040] Figure 2 It is Figure 1 side projection view.

[0041] Figure 3 is a left view of Figure 2 .

[0042] Figure 4 is a schematic view of four thrusters of embodiment 1.

[0043] Figure 5 is a schematic view of six thrusters of embodiment 2.

[0044] Figure 6 is a schematic view of six thrusters of embodiment 3.

[0045] Figure 7 is a rear view of Figure 6 .

[0046] Figure 8 is a schematic view of eight thrusters of embodiment 4. DETAILED DESCRIPTION

[0047] The utility model will be further described in detail through specific embodiments below, the following embodiments are only descriptive, not restrictive, and cannot limit the protection scope of the utility model.

[0048] An underwater robot assembly, as shown in the figure, comprises an end cover frame 11, a single-hole plate 1, a double-hole plate 9, a bent plate 3 and a connecting rod 7, the end cover frame is used for buckling on the end cover 20 at both ends of the equipment cabin 18.

[0049] Either side of the end cover frame at the side end of the equipment cabin is connected with one side of a single-hole plate or a double-hole plate, the other side of the single-hole plate or the double-hole plate is connected with one side of another single-hole plate or another double-hole plate arranged on the side surface of the other side end of the equipment cabin through a connecting rod, the other side of the other single-hole plate or the other double-hole plate is connected with the side edge of another end cover frame installed at the other end of the equipment cabin. The bent plate is installed between the two single-hole plates or the two double-hole plates at the same end of the equipment cabin. Any one, any two or all three of the single-hole plate, the double-hole plate or the connecting plate can be provided with a thruster 19.

[0050] As Figure 1 , 2As shown in Figure 3, the end cap frame 11 includes an annular portion with multiple side holes 4 evenly distributed thereon. A bent portion 10 extends integrally from both sides of the annular portion, and each bent portion has multiple side holes 8 arranged from top to bottom. The single-hole plate 1 is roughly octagonal, with a hole 2 in the center and multiple side holes 4 on the plate next to the hole. The double-hole plate 9 differs from the single-hole plate in that it has two smaller holes, with a core plate 12 between the two holes. The upper and lower ends of the core plate protrude in an arc shape, and multiple central holes 6 are evenly distributed radially on this part. Through holes 5 are provided on both sides of the core plate. The bent plate 3 has multiple central holes 6 radially arranged in the center, and through holes 5 and multiple spaced side holes 8 are formed on the bent portions 10 at both ends. Multiple through holes 5 and side holes 4 are sequentially arranged on the bent plate next to the central holes. The connecting rod 7 is a long strip profile with a groove 15 inside. A T-shaped slider 16 is slidably installed in the groove, and a threaded hole is provided on the surface of the slider at the opening of the groove.

[0051] A connecting plate 14 is provided between one side of a single-hole plate and one side of another single-hole plate, between one side of a single-hole plate and one side of another double-hole plate, or between one side of a double-hole plate and one side of another double-hole plate on the same side of the equipment compartment. Two long grooves 13 spaced vertically are provided on both sides of the connecting plate 14, and multiple radially evenly distributed central holes 6 are provided in the middle.

[0052] like Figures 5-8 As shown, on the same side of the equipment compartment, the upper and / or lower ends of one single-hole plate and another single-hole plate, the upper and / or lower ends of one single-hole plate and another double-hole plate, or the upper and / or lower ends of one double-hole plate and another double-hole plate are respectively connected to single-hole plates 1 for extension structures. The single-hole plates for extension structures are approximately perpendicular to the connected single-hole plates or double-hole plates. Figure 5 , 8 Alternatively, the single-hole plate used for the extension structure is generally aligned with the connected single-hole or double-hole plate. Figure 6 , 7 ).

[0053] like Figure 6 , 7 As shown, the single-hole plate used for the extension structure is generally aligned with the connected single-hole or double-hole plate. A bent plate 3 for installation is provided between the single-hole plates used for the extension structure on both sides of either end of the equipment compartment. Figure 6 (Lower right corner). On either of the two ends of the equipment compartment, single-hole or double-hole plates are provided with long, bent plates 21 spaced apart from the end cap frame on that side. The bent portion 10 is relatively long and has multiple through holes 5. A thruster 19 can be installed on the long bent plate.

[0054] likeFigure 5 , 8 As shown, connecting rods 7 (the longer structure in the transverse direction in the figure) are connected between two single-hole plates for extension structures located at the top and / or bottom on each side of each end of the equipment compartment. Bent plates 3 (the leftmost structure in the figure) are connected between two single-hole plates for extension structures located at the top and bottom on each side of each end of the equipment compartment. Thrusters 19 can be mounted on the bent plates used for reinforcement.

[0055] Example 1

[0056] This embodiment describes a four-propeller underwater robot, with the specific structure as follows: Figures 1-4 As shown, the equipment includes an equipment compartment 18, and an end cover frame 11 is installed on the end cover 20 at each end of the equipment compartment. Figure 2 The left side of the end cap frame is connected to the left side of a single-hole plate 1 by bolts 17 on both sides. The right side of each single-hole plate is fixed to the left side of a T-shaped slider in the inner groove of two connecting rods by bolts. The right side of the T-shaped slider in the inner groove of the two connecting rods is connected to the left side of a double-hole plate. The right side of the double-hole plate is connected to the same side bend 10 of the end cap frame installed on the right side of the equipment compartment by bolts. Since the T-shaped slider can slide in the groove, the single-hole plate and the double-hole plate can be used in equipment compartments of different lengths.

[0057] The two connecting rods mentioned above are close to the equipment compartment. In order to increase the stability of the connection between the single-hole plate and the double-hole plate, a connecting plate 14 is also installed on the outside of the two. The specific installation structure is as follows: the long slots 13 on both sides are aligned with the side holes 4 on the single-hole plate and the double-hole plate on both sides, and then the bolts 17 are tightened to fix the connecting plate.

[0058] Bending plates 3 are installed between the two single-hole plates on the left side of the equipment compartment and between the two double-hole plates on the right side of the equipment compartment. The specific installation structure is as follows: the side holes 8 of the bending part on both sides of the bending plate are aligned with the side holes 4 of the two single-hole plates (two double-hole plates), and the bolts are tightened to fix it.

[0059] like Figure 4 As shown, two thrusters 19 for forward and backward propulsion are installed on the core plate 12 of the two double-hole plates on both sides of the equipment compartment, and two thrusters 19 for up and down propulsion are installed on both connecting plates.

[0060] Both the bent and single-hole plates have openings for installing other equipment.

[0061] Example 2

[0062] This embodiment describes an underwater robot with six thrusters, the specific structure of which is as follows: Figure 6 , 7As shown, it comprises a device cabin 18, and one end cover frame 11 is installed at each end of the device cabin, Figure 6 Each of the two sides of the left end cover frame is connected with one left side of a double-hole plate 9, and the right side of each double-hole plate is connected with the left side of another double-hole plate through two connecting rod members, and the right side of the another double-hole plate is connected with the same side of the bent part 10 of the end cover frame installed at the right end of the device cabin.

[0063] A bent plate 3 is installed between the two double-hole plates on each side of each of the two ends of the device cabin, and the lower end of each of the four double-hole plates on the two sides of the device cabin is installed with a single-hole plate 1 for extension structure extending downward of the device cabin. Figure 6 A bent plate 3 for installation is arranged between the single-hole plates for extension structure on the two sides of any one of the two ends of the device cabin. Figure 6 The single-hole plates on the two sides of any one of the two ends of the device cabin are provided with long bent plates 21 spaced from the same side of the end cover frame.

[0064] The core plates 12 of the left two of the four double-hole plates on the two sides of the device cabin are installed with thrusters pushing forward and backward, and the core plates 12 of the right two of the four double-hole plates are installed with thrusters pushing upward and downward. The bent plates for installation are installed with thrusters pushing on the two sides of the device cabin. The long bent plates are installed with thrusters pushing on the two sides of the device cabin.

[0065] The downward two single-hole plates for extension structure and the bent plates below the device cabin are left with spaces, and other devices can be installed.

[0066] Embodiment 3

[0067] The underwater robot in this embodiment has six thrusters, and the specific structure is as shown in Figure 5 As shown, it comprises a device cabin 18, and one end cover frame 11 is installed at each end of the device cabin, Figure 5 Each of the two sides of the front end cover frame is connected with one front side of a single-hole plate 1, and the rear side of each single-hole plate is connected with the front side of another single-hole plate through two connecting rod members 7, Figure 5 in the longitudinal direction), and the rear side of the another single-hole plate is connected with the same side of the bent part 10 of the end cover frame installed at the rear end of the device cabin.

[0068] A connecting plate 14 is installed between the two single-hole plates on each side of the device cabin, and a bent plate 3 is installed between the two single-hole plates on each of the two ends of the device cabin. The upper end and the lower end of each of the four single-hole plates on the two sides of the device cabin are installed with a single-hole plate 1 for extension structure extending to the two sides of the device cabin through a bent plate 20 and a bolt 17. Figure 5(Top left, top right, bottom left, and bottom right corners). Connecting rods 7 connect the two single-hole plates on the upper sides of each end of the equipment compartment, which are used for extending the structure. Figure 5 (The longer connecting rods in the middle horizontal direction) are also fixed to the single-hole plate by T-shaped sliders and bolts in the groove.

[0069] Each side of each end of the equipment compartment is connected between two single-hole plates for extension structure located above and below, with bent plates 3 for reinforcement. Figure 8 (Left side) The reinforced bent plate makes the two single-hole plates connected to it more stable, facilitating the installation of equipment such as thrusters.

[0070] Each of the four reinforcing bent plates 3 on both sides of the equipment compartment is equipped with a thruster 19. Since the four reinforcing bent plates are at an angle to the axial direction of the equipment compartment, the four thrusters are also at an angle to the axial direction of the equipment compartment. Each of the two connecting plates 14 on both sides of the equipment compartment is equipped with a thruster for vertical movement.

[0071] Both the single-hole plate used for the extension structure and the bent plate connected to it for reinforcement have openings for installing other equipment.

[0072] Example 4

[0073] This embodiment describes an underwater robot with eight thrusters, the specific structure of which is as follows: Figure 8 As shown, it includes an equipment compartment 18, with an end cap frame 11 installed at each end of the equipment compartment. Figure 8 The left side of the end cap frame is connected to the left side of a double-hole plate 9 on both sides. The right side of each double-hole plate is connected to the left side of another double-hole plate through two connecting rods. The right side of the other double-hole plate is connected to the same side of the bent part 10 of another end cap frame installed at the right end of the equipment compartment.

[0074] At each of the two ends of the equipment compartment, a bent plate 3 is installed between two double-hole plates on both sides. At the upper and lower ends of each of the four single-hole plates on both sides of the equipment compartment, a single-hole plate 1 extending towards both sides of the equipment compartment is installed approximately vertically via a bent plate 20 and bolts 17. Figure 8 (Top left, top right, bottom left, and bottom right corners). Connecting rods 7 connect the two single-hole plates on the upper sides of each end of the equipment compartment, which are used for extending the structure. Figure 5 (The longer connecting rods in the middle horizontal direction) are also fixed to the single-hole plate by T-shaped sliders and bolts in the groove.

[0075] Each side of each end of the equipment cabin is connected between two single-hole plate members for extending structure in upper and lower positions with a bending plate member for reinforcement (3 Figure 8 The bending plate member for reinforcement makes the two single-hole plate members connected therewith more stable, facilitating installation of a propeller and other equipment.

[0076] Four propellers (19) are respectively arranged on the four bending plate members for reinforcement on the two sides of the equipment cabin, and the four propellers have a certain angle with the axial direction of the equipment cabin due to the angle between the four bending plate members for reinforcement and the axial direction of the equipment cabin.

[0077] The single-hole plate member for extending structure and the bending plate member for reinforcement connected therewith are left with space for installation of other equipment.

[0078] In the utility model, the single-hole plate member, the double-hole plate member, the bending plate member, the long bending plate member and the connecting plate can all be provided with a propeller, i.e. the installation position of the propeller is very flexible, the optimal propelling mode can be designed and installed according to the actual underwater working environment, and installation positions are left for other special equipment in the overall structure.

Claims

1. An underwater robotic assembly, characterized by: The end cover frame, single-hole plate, double-hole plate, bent plate and connecting rod are included. The end cover frame is used to be buckled at both ends of the equipment cabin. The end cover frame of the equipment cabin is connected with one side of the single-hole plate or one side of the double-hole plate on either side of the end of the equipment cabin, and the other side of the single-hole plate or the double-hole plate is connected with one side of the other single-hole plate or the other double-hole plate arranged on the side surface of the other end of the equipment cabin, and the other side of the other single-hole plate or the other double-hole plate is connected with the side edge of the other end cover frame arranged on the other end of the equipment cabin. The bent plate is arranged between the two single-hole plates or the two double-hole plates on the same end of the equipment cabin. The single-hole plate, the double-hole plate or the connecting plate can be provided with the thruster.

2. An underwater robotic assembly according to claim 1, wherein: The upper end and / or the lower end of the single-hole plate and the other single-hole plate, the upper end and / or the lower end of the single-hole plate and the double-hole plate, or the upper end and / or the lower end of the double-hole plate and the other double-hole plate on the same side of the equipment cabin are respectively connected with the single-hole plate for extension structure. The single-hole plate for extension structure is substantially perpendicular to the connected single-hole plate or double-hole plate, or the single-hole plate for extension structure is substantially in the same direction as the connected single-hole plate or double-hole plate.

3. An underwater robotic assembly according to claim 2, wherein: The single-hole plate for extension structure is substantially in the same direction as the connected single-hole plate or double-hole plate. The bent plate for installation is arranged between the single-hole plates for extension structure on either side of any one of the two ends of the equipment cabin. The single-hole plate or the double-hole plate on either side of any one of the two ends of the equipment cabin is provided with the long bent plate spaced from the side end cover frame, and the long bent plate can be provided with the thruster.

4. An underwater robotic assembly according to claim 1 or 2, wherein: The connecting rod is connected between the two single-hole plates for extension structure on the upper side and / or the lower side of each end of the equipment cabin.

5. An underwater robotic assembly according to claim 4, wherein: The bent plate for reinforcement is connected between the two single-hole plates for extension structure on the upper side and the lower side of each side of each end of the equipment cabin, and the bent plate for reinforcement can be provided with the thruster.

6. An underwater robotic assembly according to claim 1 or 2 or 5, wherein: The connecting plate is arranged between the other side of the single-hole plate and the other side of the double-hole plate or between the other side of the double-hole plate and the other side of the double-hole plate on the same side of the equipment cabin.

7. An underwater robot comprising the assembly of claim 6. The equipment cabin is provided with the end cover frame arranged on both ends of the equipment cabin, and the two sides of the end cover frame are respectively connected with one side of the single-hole plate. The other side of each single-hole plate is connected with one side of the double-hole plate through the connecting rod, and the other side of the double-hole plate is connected with the same side of the bent part of the other end cover frame arranged on the equipment cabin. The connecting plate is arranged between the single-hole plate and the double-hole plate on each side of the equipment cabin. The bent plate is arranged between the two single-hole plates and the two double-hole plates. The thruster is arranged on the two double-hole plates and the two connecting plates on both sides of the equipment cabin.

8. An underwater robot comprising the assembly of claim 3. The device cabin is provided with two end cover frame members, one end cover frame member is connected with one side of one double-hole plate member, the other side of the double-hole plate member is connected with one side of another double-hole plate member through a connecting rod, and the other side of the double-hole plate member is connected with the same side of the other end cover frame member of the device cabin. The two double-hole plate members on each side of each end of the device cabin are respectively provided with a bending plate member. The lower end of each double-hole plate member of the four double-hole plate members on the two sides of the device cabin is respectively provided with a single-hole plate member extending downward of the device cabin. The single-hole plate members on the two sides of any one end of the device cabin are provided with a bending plate member for installation. The single-hole plate members on the two sides of any one end of the device cabin are provided with a long bending plate member spaced from the side end cover frame member. The four double-hole plate members on the two sides of the device cabin, the bending plate member for installation and the long bending plate member are respectively provided with a thruster.

9. An underwater robot comprising the assembly of claim 6. The device cabin is provided with two end cover frame members, one end cover frame member is connected with one side of one single-hole plate member, the other side of the single-hole plate member is connected with one side of another single-hole plate member through a connecting rod, and the other side of the single-hole plate member is connected with the same side of the other end cover frame member of the device cabin. The two single-hole plate members on each side of the device cabin are provided with a connecting plate, and the two single-hole plate members on each side of each end of the device cabin are respectively provided with a bending plate member. The upper end and the lower end of each single-hole plate member of the four single-hole plate members on the two sides of the device cabin are respectively provided with a single-hole plate member extending to the two sides of the device cabin. The two single-hole plate members for extension on the upper side of each end of the device cabin are connected through a connecting rod. The two single-hole plate members for extension on each side of each end of the device cabin are connected through a bending plate member for reinforcement. The four single-hole plate members for reinforcement on the two sides of the device cabin are respectively provided with a thruster, and the two connecting plates on the two sides of the device cabin are respectively provided with a thruster.

10. An underwater robot comprising the assembly of claim 5. The device cabin is provided with two end cover frame members, one end cover frame member is connected with one side of one double-hole plate member, the other side of the double-hole plate member is connected with one side of another double-hole plate member through a connecting rod, and the other side of the double-hole plate member is connected with the same side of the other end cover frame member of the device cabin. The two double-hole plate members on each side of each end of the device cabin are respectively provided with a bending plate member. The upper end and the lower end of each double-hole plate member of the four double-hole plate members on the two sides of the device cabin are respectively provided with a single-hole plate member extending to the two sides of the device cabin. The two single-hole plate members for extension on the upper side of each end of the device cabin are connected through a connecting rod. The two single-hole plate members for extension on each side of each end of the device cabin are connected through a bending plate member for reinforcement. Four propellers are arranged on the four reinforced bending plate members on the two sides of the equipment cabin respectively, and the four double-hole plate members on the two sides of the equipment cabin are respectively provided with propellers. Four propellers are arranged on the four reinforced bending plate members on the two sides of the equipment cabin respectively, and the four double-hole plate members on the two sides of the equipment cabin are respectively provided with propellers.

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