The invention belongs to the technical field of
ocean exploration equipment, and particularly relates to a variable-structure multi-joint gliding type
underwater robot and a working method thereof.The variable-structure multi-joint gliding type
underwater robot comprises a sealed
electric control cabin, a double-wing cabin, a two-degree-of-freedom joint and a sealed
buoyancy adjusting cabin; the sealed
electric control cabin, the double-wing cabin, the two-degree-of-freedom joint and the sealed
buoyancy adjusting cabin are distributed in a linear mode, the sealed
electric control cabin is located at the front end of the variable-structure multi-joint gliding type
underwater robot, and a detection sensor, a
control circuit board and a
battery system are integrated in the sealed electric control cabin. The double-wing cabin is located at the rear end of the sealed electric control cabin, the double-wing cabin drives a sliding table to move through an underwater lead screw motor, and the sliding table and a connecting rod form a slider-
crank mechanism; through fusion of the wing folding and unfolding mechanism and the multi-joint design, the performance
bottleneck of a traditional
underwater robot is broken through, and the maneuverability and the task adaptability of the
underwater robot are remarkably improved.