CN107187566A - Underwater multi-robot annular formation locus adjusting means - Google Patents

Abstract

The invention relates to a device for regulating the spatial position of a circular formation of multiple underwater robots. The purpose of the invention is to provide a position adjustment device which has strong resistance to water flow disturbance and limits the up and down fluctuation of the robot. The invention includes a radius adjustment mechanism and a height adjustment base, the height adjustment base further includes a base body, a first telescopic assembly and a height fine adjustment support, the radius adjustment mechanism further includes a connecting rod, a rotating shaft, a plurality of second telescopic assemblies and Multiple rotating struts. The bottom of the main body of the base is provided with a height fine-tuning support, the top of the main body of the base is provided with a first telescopic assembly, the top of the first telescopic assembly is inserted into the bottom of the connecting rod, the top of the connecting rod is connected to the bottom of the rotating shaft, and the top of the rotating shaft An angle dial is provided, one end of a plurality of rotating struts is hinged between the connecting rod and the rotating shaft, and the other end of each rotating strut extends outward. The top end of the connecting rod is provided with an angle pointer, the rotating support rod is provided with a second telescopic assembly, and the underwater robot is fixed at the end of the second telescopic assembly.

Description

Spatial position adjustment device for circular formation of multiple underwater robots

technical field

The invention relates to the technical field of underwater robots, in particular to a space position adjustment device for a circular formation of multiple underwater robots.

Background technique

In recent years, underwater robots, including bionic robot fish, have received more and more attention because of their great application prospects in developing marine resources, investigating underwater environments, inspecting pipeline leaks, and laying underwater cables. Among the many researches on underwater robot technology, multi-underwater robot cooperation technology is helpful to improve the feasibility and operability of underwater operations, and can effectively improve the sensing performance of the system without increasing the system cost. , mobility and other advantages, the research on this technology is more and more attractive. Underwater robots, especially bionic robot fish, have attracted scientists' competing research because of their superior motion performance compared to traditional underwater vehicles.

Among the many researches on underwater robots, the research on underwater robot formation is of great significance to improve the practicability of underwater robots. Research on underwater robot formation mainly involves research on formation algorithm, underwater robot kinematics control and fish behavior research. In addition to theoretical research, experimental verification is also an important research link. Since the underwater robot will be disturbed by the water when it moves in the water, which will affect its motion performance, how to effectively avoid the disturbance of the water and realize the control and adjustment of the formation formation in the formation research is the key issue.

Contents of the invention

The technical problem to be solved by the present invention is to provide a multi-underwater robot circular formation spatial position adjustment device that has strong resistance to water flow disturbance, can realize underwater formation with a fixed radius, and limits the up and down fluctuations of robots in the water.

The multi-underwater robot annular formation space position adjustment device of the present invention includes a radius adjustment mechanism and a height adjustment base, and the height adjustment base further includes a base body, a first telescopic assembly and a plurality of height fine-tuning supports, and the base body The edge position of the bottom end is provided with multiple height fine-tuning supports, the top of the main body of the base is provided with a straight cylindrical first telescopic assembly along the vertical direction, and the radius adjustment mechanism includes a connecting rod, an angle dial, a rotating shaft, and multiple second telescopic components. component and a plurality of rotating rods, the bottom end of the connecting rod is inserted into the top end of the straight cylindrical first telescopic component in the height adjustment base, the top end of the connecting rod is connected with the bottom end of the rotating shaft, and the top end of the rotating shaft is provided with an angle scale A plurality of rotating struts are arranged horizontally between the disk, the connecting rod and the rotating shaft, one end of the rotating strut extends to the side away from the connecting rod and the rotating shaft, and the other end of the rotating strut is hinged between the connecting rod and the rotating shaft An angle pointer is set on the top of the connecting rod, and the angle pointer points to the angle dial. A second telescopic assembly is arranged on the rotating rod along the extension direction of the rotating rod. The underwater robot is fixed on the side away from the connecting rod and the rotating shaft. The end position of the second telescopic assembly.

The multi-underwater robot annular formation space position adjustment device of the present invention, wherein the main body of the base is a "ten"-shaped structure arranged along the horizontal direction, and the number of height fine-tuning supports is four, and the four height fine-tuning supports are respectively arranged on At the four edge positions of the base main body, the tops of the height fine-tuning supports are respectively connected with the bottom ends of the four edge positions of the base main body.

The multi-underwater robot annular formation space position adjustment device of the present invention, wherein the first telescopic assembly further includes a first height adjustment sleeve, a second height adjustment sleeve, a third height adjustment sleeve and a fourth height adjustment sleeve, The inside of the first height adjustment sleeve is provided with a second height adjustment sleeve, the inside of the second height adjustment sleeve is provided with a third height adjustment sleeve, and the inside of the third height adjustment sleeve is provided with a fourth height adjustment sleeve A plurality of first positioning through-holes are provided on the outer wall of each height-adjusting sleeve, and screws are inserted between the first positioning through-holes of two adjacent height-adjusting sleeves.

The multi-underwater robot annular formation space position adjustment device of the present invention, wherein the middle position of the top of the base main body is provided with a connecting shaft of a cylindrical structure along the vertical direction, and the upper position of the outer wall of the connecting shaft is connected to the four edges of the base main body Fixed beams are added between the positions, the bottom of the first height adjustment sleeve is sleeved inside the connecting shaft, and a plurality of first positioning through holes are opened on the outer wall of the connecting shaft. Screws are inserted between the first positioning through holes of the height adjusting sleeve.

In the device for adjusting the space position of the annular formation of multiple underwater robots of the present invention, the connecting rod is connected to the rotating shaft through a coupling.

The multi-underwater robot circular formation space position adjustment device of the present invention, wherein a first bearing group is sleeved between the connecting rod and the coupling, and the first bearing group further includes a first bearing, a second bearing and a third bearing, The second bearing is located below the first bearing, the second bearing is larger than the first bearing, the third bearing is located below the second bearing, the third bearing is larger than the second bearing, between the first bearing and the second bearing, the second bearing and the third bearing A retaining ring is arranged between the bearings; a second bearing group is set between the rotating shaft and the angle dial, and the second bearing group includes a fourth bearing, a fifth bearing and a sixth bearing, and the fifth bearing is located in the fourth bearing. Below, the fifth bearing is larger than the fourth bearing, the sixth bearing is located below the fifth bearing, the sixth bearing is larger than the fifth bearing, there are stoppers between the fourth bearing and the fifth bearing, and between the fifth bearing and the sixth bearing. lock up.

The multi-underwater robot annular formation space position adjustment device of the present invention, wherein the end of the rotating support rod close to the connecting rod and the rotating shaft side is connected with one end of two hinged rods, the two hinged rods are distributed up and down, and the two hinged rods The other ends of the bearings are respectively sleeved on the first bearing group and the second bearing group, and the angle pointer is installed on the top of the hinge rod located above.

The multi-underwater robot annular formation space position adjustment device of the present invention, wherein the second telescopic component is a radius-adjustable telescopic rod, the radius-adjustable telescopic rod is a tubular structure, the radius-adjustable telescopic rod is sleeved on the outside of the rotating support rod, and the radius-adjustable telescopic rod A plurality of second positioning through holes are opened on the top, and a plurality of third positioning through holes are opened on the rotating support rod, and screws are inserted between the second positioning through holes and the third positioning through holes.

The multi-underwater robot annular formation space position adjustment device of the present invention, wherein the end of the radius-adjusting telescopic rod away from the connecting rod and the rotating shaft is provided with a connecting pillar, and a ceramic plane bearing is arranged on the outer side of the connecting pillar, and the underwater robot is bonded on connecting struts.

In the device for adjusting the space position of the multi-underwater robot ring formation in the present invention, the number of the rotating struts is three, and the three rotating struts are located on the same horizontal plane.

The difference between the multi-underwater robot annular formation space position adjustment device of the present invention and the prior art is that the present invention is provided with a radius adjustment mechanism and a height adjustment base, the radius adjustment mechanism is arranged on the top of the height adjustment base, and the height adjustment base There are a plurality of height adjustment sleeves, each height adjustment sleeve can be telescopically adjusted, and the adjusted height position is locked by screws, so that the height of the underwater robot can be effectively adjusted; the radius adjustment mechanism A radius adjustment telescopic rod is provided, which can be telescopically adjusted in the horizontal direction, and the adjusted radius position is locked by a screw, so that the movement radius of the underwater robot can be effectively adjusted. The underwater robot can adjust the motion height and radius according to the needs, complete the circular formation setting, and the motion trajectory is stable, which effectively solves the impact of water flow disturbance on the underwater robot motion. The fixed-radius formation of the underwater robot is realized, and at the same time, the radius adjustment mechanism also limits the up-and-down fluctuation during the movement of the underwater robot, which further enhances the stability of the underwater robot's movement. The invention is suitable for multi-underwater robot formation control research and underwater robot motion control experimental research.

The space position adjustment device for the multi-underwater robot ring formation of the present invention will be further described below in conjunction with the accompanying drawings.

Description of drawings

Fig. 1 is the three-dimensional view of multi-underwater robot annular formation space position adjustment device of the present invention;

Fig. 2 is the front view of the multi-underwater robot annular formation space position adjustment device of the present invention;

Fig. 3 is the plan view of multi-underwater robot annular formation space position adjustment device of the present invention;

Fig. 4 is the exploded view of the height adjustment base in the multi-underwater robot annular formation space position adjustment device of the present invention;

Fig. 5 is the explosion diagram of the radius adjustment mechanism in the multi-underwater robot ring formation space position adjustment device of the present invention;

Fig. 6 is the front view of the height adjustment base in the retracted state in the multi-underwater robot annular formation space position adjustment device of the present invention;

Fig. 7 is the front view of the height adjustment base in the stretched state in the multi-underwater robot annular formation space position adjustment device of the present invention;

Fig. 8 is a top view of the radius adjustment mechanism in the retracted state in the multi-underwater robot annular formation space position adjustment device of the present invention;

Fig. 9 is a top view of the radius adjustment mechanism in the stretched state in the multi-underwater robot annular formation space position adjustment device of the present invention;

detailed description

As shown in Fig. 1, Fig. 2 and Fig. 3, it is the multi-underwater robot annular formation space position adjustment device of the present invention, including the first underwater robot 1, the second underwater robot 4, the third underwater robot 5, radius adjustment Mechanism 2 and height adjustment base 3, the radius adjustment mechanism 2 is located above the height adjustment base 3, the bottom end of the radius adjustment mechanism 2 is connected with the top of the height adjustment base 3, the first underwater robot 1, the second underwater robot 4 and the third underwater robot 5 are connected with the radius adjusting mechanism 2 respectively.

As shown in Figure 4, it is an exploded view of the height adjustment base in the multi-underwater robot annular formation space position adjustment device of the present invention, the height adjustment base 3 includes a base body 8, a plurality of height fine-tuning supports 6 and a plurality of The height adjustment sleeve, the base body 8 is a "ten" shaped structure arranged in the horizontal direction, the four edge positions of the base body 8 are respectively provided with height fine-tuning supports 6, and the tops of each height fine-tuning supports 6 are respectively connected to the base The bottom ends of the four edge positions of the seat main body 8 are connected. The middle position of the top end of the base body 8 is provided with a connecting shaft 7 of cylindrical structure along the vertical direction, and fixed beams 13 are respectively added between the upper position of the outer wall of the connecting shaft 7 and the four edge positions of the base body 8 . A first height adjustment sleeve 9 is provided inside the connecting shaft 7, the bottom of the first height adjustment sleeve 9 is sleeved inside the connecting shaft 7, and a second height adjustment sleeve 10 is sleeved inside the first height adjustment sleeve 9, The third height adjustment sleeve 11 is sleeved inside the second height adjustment sleeve 10, and the fourth height adjustment sleeve 12 is sleeved inside the third height adjustment sleeve 11, on the outer wall of the connecting shaft 7 and each height adjustment sleeve. A plurality of first positioning through holes 14 are opened along the vertical direction, and first screws 15 are inserted between the first positioning through holes 14 of the connecting shaft 7 and the first positioning through holes 14 of the first height adjustment sleeve 9 A second screw 16 is inserted between the first positioning through hole 14 of the first height adjusting sleeve 9 and the first positioning through hole 14 of the second height adjusting sleeve 10, and the first positioning hole 14 of the second height adjusting sleeve 10 A third screw 17 is inserted between the positioning through hole 14 and the first positioning through hole 14 of the third height adjustment sleeve 11, and the first positioning through hole 14 of the third height adjustment sleeve 11 is connected to the fourth height adjustment sleeve. The fourth screw 18 is inserted between the first positioning through hole 14 of 12 .

As shown in Figure 5, it is an exploded view of the radius adjustment mechanism in the multi-underwater robot ring formation space position adjustment device of the present invention, the radius adjustment mechanism 2 includes a connecting rod 19, an angle dial 29, a rotating shaft 30, and three rotating struts 21 and three telescopic rods 22, the connecting rod 19 and the rotating shaft 30 are all arranged in the vertical direction, the bottom end of the connecting rod 19 is plugged in with the top end of the fourth height adjustment sleeve 12 in the height adjustment base 3, and the connecting rod 19 The top end is connected with the bottom end of the rotating shaft 30 through a coupling 31, and the top end of the rotating shaft 30 is fixed with a disc-shaped angle dial 29 along the horizontal direction. A first bearing group 33 is sleeved between the connecting rod 19 and the coupling 31, and the first bearing group 33 includes a first bearing, a second bearing and a third bearing, the second bearing is located below the first bearing, and the second bearing is located below the first bearing. The bearing is larger than the first bearing, the third bearing is located below the second bearing, the third bearing is larger than the second bearing, retaining rings are respectively arranged between the first bearing and the second bearing, and between the second bearing and the third bearing. A retaining ring is provided between the coupling 31 and the rotating shaft 30 . A second bearing group 32 is sleeved between the rotating shaft 30 and the angle dial 29, and the second bearing group 32 includes a fourth bearing, a fifth bearing and a sixth bearing, the fifth bearing is located below the fourth bearing, and the fifth bearing is located below the fourth bearing. The bearing is larger than the fourth bearing, the sixth bearing is located below the fifth bearing, the sixth bearing is larger than the fifth bearing, and retaining rings are respectively arranged between the fourth bearing and the fifth bearing, and between the fifth bearing and the sixth bearing. Between the connecting rod 19 and the rotating shaft 30, three rotating struts 21 are sleeved. The rotating struts 21 are arranged in the horizontal direction. The other end of 21 is respectively connected with one end of two articulated rods 34, and the two articulated rods 34 are distributed up and down, and the other ends of the two articulated rods 34 are respectively sleeved on the first bearing group 33 and the second bearing group 32, located at the top The top of the hinged rod 34 is equipped with an angle pointer 28, and the angle pointer 28 points to the angle dial 29. A plurality of third positioning through-holes 26 are arranged side by side along the horizontal direction at the end position of the rotating strut 21 on the side away from the connecting rod 19 and the rotating shaft 30, and the outer side of the rotating strut 21 is sleeved with a tubular radius adjusting telescopic rod 22, A plurality of second positioning through holes 23 are provided side by side along the horizontal direction on the radius adjustment telescopic rod 22, and a fifth screw 27 is inserted between the second positioning through hole 23 and the third positioning through hole 26. The position between the rotating strut 21 and the radius adjusting telescopic rod 22 is locked. A connecting strut 25 is arranged at the end position of the radius adjusting telescopic rod 22 away from the connecting rod 19 and the rotating shaft 30, and the outer side of the connecting strut 25 is provided with a first bearing 24, and the first bearing 24 adopted is a ceramic planar bearing. The first underwater robot 1 , the second underwater robot 4 and the third underwater robot 5 are respectively bonded to the connecting pillars 25 of the three rotating struts 21 . Three rotating struts 21 are located on the same horizontal plane.

As shown in Figure 2, it is the front view of the space position adjustment device of multi-underwater robot ring formation of the present invention, the first underwater robot 1, the second underwater robot 4 and the third underwater robot 5 are located on the same horizontal plane, passing the height The adjustment base 3 can adjust the height of each underwater robot. The height of the height adjustment base 3 is adjusted and locked by changing the insertion position of the screw between the connecting shaft 7 and the height adjustment sleeve and the insertion position of the screw between each height adjustment sleeve. The height of the height adjustment base 3 can also be finely adjusted by adjusting each height fine adjustment support 6 . As shown in Fig. 6 and Fig. 7, the height adjustment range of the height adjustment base 3 is 1675mm-5370mm.

As shown in Figure 3, it is a top view of the multi-underwater robot annular formation space position adjustment device of the present invention, the first underwater robot 1, the second underwater robot 4 and the third underwater robot 5 swim along the same circle, before moving The included angle between every two adjacent underwater robots is the same, and the included angle between two adjacent underwater robots will change with the different motion states of the corresponding two underwater robots during the movement process. The scale indicated by the angle pointer 28 on the articulated rod 34 can understand the variation of the included angle between two adjacent underwater robots. The radius of motion of each underwater robot can be adjusted by the radius adjusting mechanism 2 . By changing the insertion position of the fifth screw 27 between different rotating struts 21 and the corresponding radius adjusting telescopic rod 22 in the radius adjusting mechanism 2, the movement radius of each underwater robot can be adjusted and locked. As shown in Fig. 8 and Fig. 9, the radius adjustment range of the radius adjustment mechanism 2 is 625mm-5125mm.

During the use of the present invention, firstly, the first underwater robot 1 , the second underwater robot 4 and the third underwater robot 5 are respectively bonded to the connecting pillars 25 in the radius adjusting mechanism 2 . Secondly, the height of the height adjustment base 3 and the radius of the radius adjustment mechanism 2 are adjusted as required. Then, start the first underwater robot 1, the second underwater robot 4 and the third underwater robot 5 to move in water respectively, and the first underwater robot 1, the second underwater robot 4 and the third underwater robot 5 move in the water During the movement, the rotating strut 21 and the radius adjusting telescopic rod 22 connected thereto will be driven to rotate, thereby realizing the fixed-radius circular formation of each underwater robot, and limiting the up and down fluctuation of each underwater robot during the movement.

The multi-underwater robot annular formation space position adjustment device of the present invention is provided with a radius adjustment mechanism 2 and a height adjustment base 3, the radius adjustment mechanism 2 is arranged on the top of the height adjustment base 3, and the height adjustment base 3 is provided with a plurality of height adjustment bases. The adjustment sleeves can be telescopically adjusted between the height adjustment sleeves, and the adjusted height position can be locked by screws, so that the height of the underwater robot can be effectively adjusted; the radius adjustment mechanism 2 is provided with a radius adjustment Telescopic Rod 22, Radius Adjustment The telescopic rod 22 can be telescopically adjusted in the horizontal direction, and the adjusted radius position can be locked by screws, so that the movement radius of the underwater robot can be effectively adjusted. The underwater robot can adjust the motion height and radius according to the needs, complete the circular formation setting, and the motion trajectory is stable, which effectively solves the impact of water flow disturbance on the underwater robot motion. The fixed-radius formation of the underwater robots is realized, and at the same time, the radius adjustment mechanism 2 also limits the up and down fluctuations during the motion of the underwater robots, further enhancing the stability of the underwater robots. The invention is suitable for multi-underwater robot formation control research and underwater robot motion control experimental research. Compared with the prior art, the present invention has strong anti-disturbance of water flow, can realize formation with fixed radius underwater, and limits the up and down fluctuation of robots in water. Compared with the prior art, the invention has obvious advantages.

The above-mentioned embodiments are only descriptions of preferred implementations of the present invention, and are not intended to limit the scope of the present invention. Variations and improvements should fall within the scope of protection defined by the claims of the present invention.

Claims (10)

1. A multi-underwater robot annular formation space position adjustment device is characterized in that: it includes a radius adjustment mechanism (2) and a height adjustment base (3), and the height adjustment base (3) includes a base body (8) , the first telescopic assembly and a plurality of height fine-tuning supports (6), the edge position of the base main body (8) bottom is provided with a plurality of height fine-tuning supports (6), and the top of the base main body (8) is arranged along the vertical direction There is a straight cylindrical first telescopic assembly, and the radius adjustment mechanism (2) includes a connecting rod (19), an angle dial (29), a rotating shaft (30), a plurality of second telescopic assemblies and a plurality of rotating struts (21) , the bottom end of the connecting rod (19) is plugged in with the top end of the straight cylindrical first telescopic assembly in the height adjustment base (3), the top end of the connecting rod (19) is connected with the bottom end of the rotating shaft (30), and the rotating shaft ( 30) is provided with an angle dial (29) at the top, and between the connecting rod (19) and the rotating shaft (30) is provided with a plurality of rotating struts (21) along the horizontal direction, and one end of the rotating struts (21) faces away from the One side of connecting rod (19) and rotating shaft (30) extends, and the other end of rotating strut (21) is hinged at the position between connecting rod (19) and rotating shaft (30), and connecting rod (19) top is provided with The angle pointer (28), the angle pointer (28) points to the angle dial (29), and the second telescopic assembly is arranged on the rotating pole (21) along the extension direction of the rotating pole (21), and the underwater robot is fixed on the The end position of the second telescopic assembly on one side of the rod (19) and the rotation axis (30). 2. The multi-underwater robot annular formation space position adjustment device according to claim 1, characterized in that: the base body (8) is a "ten" shaped structure arranged along the horizontal direction, and the height fine-tuning support (6 ) is four, and the four height fine-tuning supports (6) are respectively arranged on the four edge positions of the base body (8), and the tops of each height fine-tuning support (6) are connected with the base body (8) respectively. Bottom connections at four edge positions. 3. The multi-underwater robot annular formation space position adjustment device according to claim 1, characterized in that: the first telescopic assembly further comprises a first height adjustment sleeve (9), a second height adjustment sleeve (10 ), the third height adjustment sleeve (11) and the fourth height adjustment sleeve (12), the inside of the first height adjustment sleeve (9) is provided with a second height adjustment sleeve (10), the second height adjustment sleeve The third height adjustment sleeve (11) is sleeved inside the cylinder (10), and the fourth height adjustment sleeve (12) is sleeved inside the third height adjustment sleeve (11). A plurality of first positioning through holes (14) are opened, and screws are inserted between the first positioning through holes (14) of two adjacent height adjustment sleeves. 4. The multi-underwater robot annular formation space position adjustment device according to claim 3, characterized in that: the middle position of the top of the base body (8) is provided with a connecting shaft (7) of cylindrical structure along the vertical direction ), the upper position of the outer wall of the connecting shaft (7) and the four edge positions of the base body (8) are respectively provided with fixed beams (13), and the bottom of the first height adjustment sleeve (9) is sleeved on the connection Inside the shaft (7), a plurality of first positioning through holes (14) are provided on the outer wall of the connecting shaft (7), and the first positioning through holes (14) of the connecting shaft (7) are connected with the first height adjustment sleeve (9 ) are inserted with screws between the first positioning through holes (14). 5 . The device for adjusting the spatial position of the ring formation of multiple underwater robots according to claim 1 , characterized in that: the connecting rod ( 19 ) is connected to the rotating shaft ( 30 ) through a coupling ( 31 ). 6. The multi-underwater robot annular formation space position adjustment device according to claim 5, characterized in that: a first bearing group (33) is sleeved between the connecting rod (19) and the coupling (31) , the first bearing group (33) includes a first bearing, a second bearing and a third bearing, the second bearing is located below the first bearing, the second bearing is larger than the first bearing, the third bearing is located below the second bearing, and the third The bearing is larger than the second bearing, and retaining rings are respectively arranged between the first bearing and the second bearing, and between the second bearing and the third bearing; the second bearing is sleeved between the rotating shaft (30) and the angle dial (29). The bearing group (32), the second bearing group (32) includes the fourth bearing, the fifth bearing and the sixth bearing, the fifth bearing is located below the fourth bearing, the fifth bearing is larger than the fourth bearing, and the sixth bearing is located at the fifth Below the bearing, the sixth bearing is larger than the fifth bearing, and retaining rings are respectively arranged between the fourth bearing and the fifth bearing, and between the fifth bearing and the sixth bearing. 7. The multi-underwater robot annular formation space position adjustment device according to claim 6, characterized in that: the end of the rotating strut (21) near the connecting rod (19) and the rotating shaft (30) side is in contact with the One ends of the two hinged rods (34) are connected, the two hinged rods (34) are distributed up and down, and the other ends of the two hinged rods (34) are respectively sleeved on the first bearing group (33) and the second bearing group (32) On, the angle pointer (28) is installed on the top of the articulated rod (34) that is positioned at the top. 8. The multi-underwater robot annular formation space position adjustment device according to claim 1, characterized in that: the second telescopic assembly has a radius-adjusting telescopic rod (22), and the radius-adjusting telescopic rod (22) is a tubular structure, The radius adjustment telescopic rod (22) is sleeved on the outside of the rotating pole (21), and the radius adjusting telescopic rod (22) is provided with a plurality of second positioning through holes (23), and the rotating pole (21) is provided with a plurality of A screw is inserted between the third positioning through hole (26), the second positioning through hole (22) and the third positioning through hole (26). 9. The multi-underwater robot annular formation space position adjustment device according to claim 8, characterized in that: the radius adjustment telescopic rod (22) is far away from the end of the connecting rod (19) and the rotation shaft (30) side A connecting pillar (25) is arranged, and a ceramic planar bearing is arranged on the outer side of the connecting pillar (25), and the underwater robot is bonded on the connecting pillar (25). 10. The multi-underwater robot annular formation space position adjustment device according to claim 1, characterized in that: the number of said rotating struts (21) is three, and the three rotating struts (21) are located on the same horizontal plane.