CN109018265B

CN109018265B - High-pressure-resistant protection device for underwater robot

Info

Publication number: CN109018265B
Application number: CN201810950854.4A
Authority: CN
Inventors: 谢忠连
Original assignee: Dongguan Qiqu Robot Technology Co Ltd
Current assignee: Gulfstream Ecological Environment Management Guangdong Co ltd; Gulfstream Smart Environment Shenzhen Co ltd
Priority date: 2018-08-21
Filing date: 2018-08-21
Publication date: 2021-03-26
Anticipated expiration: 2038-08-21
Also published as: CN109018265A

Abstract

The invention discloses a high-pressure-resistant protection device for an underwater robot, which comprises a first support plate and an adjusting plate, wherein second support plates are arranged on the left side and the right side of the first support plate, a hydrophobic plate is fixed on the outer wall of each second support plate, a support is welded on the inner wall of the first support plate, a connecting rod is fixed on the inner wall of each support, a support plate is arranged on the inner side of the adjusting plate, and the adjusting plate is located in the middle of the connecting rod. The high-pressure-resistant protection device for the underwater robot is connected with the second support plate in a sliding fit mode through the first support plate, so that the second support plate has good moving capacity on the basis of the first support plate, the second support plate can be horizontally pulled and pulled, the length of the whole device is adjusted to adapt to robots of different sizes and different sizes, when the first support plate and the second support plate are overlapped, the whole protection layer of the device is correspondingly increased, and the resistance capacity to the unit area of water pressure is correspondingly improved.

Description

High-pressure-resistant protection device for underwater robot

Technical Field

The invention relates to the technical field of protection devices for underwater robots, in particular to a high-pressure-resistant protection device for an underwater robot.

Background

The underwater robot can replace manpower to work underwater for a long time in a high-risk environment, a polluted environment and a zero-visibility water area, the underwater robot is generally provided with a sonar system, a camera, a lighting lamp, a mechanical arm and other devices, a real-time video and a sonar image can be provided, the mechanical arm can grab a crane, the underwater robot is widely applied in the fields of oil development, maritime law enforcement evidence obtaining, scientific research, military and the like, the continuous progress of the modern technological level, intelligent robots such as the underwater robot and the like are gradually pushed to a historical stage, and plays an increasingly important role in modern science and technology, the working environment of the underwater robot is greatly influenced by the water pressure, the water pressure acting force born by the underwater robot in the deep sea is more than the imagination of a common person, and in order to avoid the influence of water pressure damage on the underwater robot, a high-pressure resistant protection structure needs to be arranged outside the robot.

Modern high pressure resistant protection device or structure to underwater robot mostly are directly related to or supporting device or structure with underwater robot, it is relatively poor to the general suitability of robot, simultaneously to the dive environment of robot, dive degree of depth all there is relatively poor mating reaction, if the device structure is too big, can increase the underwater load of robot, if the device structure is less, then probably again be difficult to resist the superstrong pressure under water, underwater robot also can receive the hindrance effect that comes from the water conservancy in the course of moving, combine the combined action of water pressure, the work executive component of robot can consequently and receive direct damage.

Disclosure of Invention

The invention aims to provide a high-pressure resistant protection device for an underwater robot, which aims to solve the problems that the modern high-pressure resistant protection device or structure for the underwater robot proposed in the background technology is mostly a device or structure directly associated or matched with the underwater robot, the general applicability to the robot is poor, the diving environment and the diving depth of the robot have poor matching effect, if the device structure is overlarge, the underwater load of the robot is increased, if the device structure is small, the underwater super-strong pressure can not be resisted, the underwater robot also can be subjected to the blocking effect from the water power in the moving process, and the working execution element of the robot can be directly damaged by combining the combined effect of the water pressure.

In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides a high pressure resistant protector for underwater robot, includes first extension board and regulating plate, the left and right sides of first extension board all is provided with the second extension board, and the outer wall of second extension board is fixed with the hydrophobic board, the inner wall welding of first extension board has the support, and the inner wall of support is fixed with the connecting rod, the backup pad is installed to the inboard of regulating plate, and the regulating plate is located the centre of connecting rod.

Preferably, the first support plate and the second support plate are matched in size, a protection ring net is fixed on the inner side of the second support plate, supporting frames uniformly penetrate through the protection ring net, the protection ring net is of an alternately intertwined oval net-shaped structure, a fixing plate is fixed on the surface of the hydrophobic plate, and unit sub-plates are welded on the outer side wall of the hydrophobic plate.

Preferably, the unit divides the board to evenly set up along the horizontal direction of hydrophobic board, and the unit divides length to equal between the board, the unit divides the positive and negative surface of board to equally divide and do not installs two hydrophobic fan wheels, and divides the horizontal central line symmetry of board about the unit between two hydrophobic fan wheels on the same face, the surface mounting of hydrophobic board has the anchor strut, and is parallel to each other between the anchor strut.

Preferably, a side frame is installed between the hydrophobic plates, an elastic net is arranged on the front side face of the side frame, an impeller is installed on the rear side face of the side frame, and a motor is installed inside the rear side of the side frame.

Preferably, the left end and the right end of the side frames are matched with the drain boards respectively in size, the side frames are symmetrical with each other about the horizontal center line of the protective ring net, and the impellers are uniformly arranged on the rear side faces of the side frames.

Preferably, the gasbag is all installed to the upper and lower both sides of regulating plate, and about the horizontal centerline symmetry of regulating plate between the gasbag, the junction outer wall of connecting rod and regulating plate is evenly inlayed and is had the embedded pearl, the internally mounted of backup pad has the wiper blade, and the upper and lower both sides of wiper blade all are fixed with the connector, closely laminate between the lateral surface of wiper blade and the medial surface of backup pad, and the horizontal direction evenly distributed of backup pad along the regulating plate.

Preferably, the trailing flank of protection ring net is provided with the welt, and the surface nested of welt installs and inlays the pole, the below of inlaying the pole is installed and is surveyed the clamp plate, and surveys the clamp plate and be provided with 3 along the horizontal direction equidistance of inlaying the pole, survey the clamp plate and inlay between the pole size identical, and on the welt parallel arrangement altogether have two sets of poles of inlaying.

Preferably, the back surface of the pressure measuring plate is provided with a rack rod, the left end and the right end of the rack rod are provided with screw joints, the screw joints are in threaded connection with the lining plate, fixing nuts are installed on the outer sides of the screw joints, 3 sleeve blocks are arranged along the horizontal direction of the rack rod at equal intervals, and the sleeve blocks are perpendicular to the rack rod.

Preferably, the top of cover piece is fixed with the telescopic link, and the telescopic link constitutes rotating-structure through cover piece and hack lever, the top of telescopic link is provided with movable button head, and the outer wall of activity button head is fixed with the gear shaping, the size is identical between activity button head and the telescopic link, and the gear shaping is "ten" word symmetry setting about the vertical central line of activity button head.

Compared with the prior art, the invention has the following beneficial effects:

1. the protection ring net is an alternately intertwined elliptical net structure and is made of rigid materials, so that the protection ring net has good structural strength and structural elasticity, and has good structural strength by matching with the supporting function of the supporting frame, the supporting frame uniformly struts the protection ring net, and the protection ring net has a certain isolation and buffering function on water pressure.

2. The invention effectively relieves the influence of water flow fluctuation acting force on the device running along with the robot under water through the uniform arrangement of the unit sub-plates, the front and back surfaces of the unit sub-plate are provided with the same number of drainage fan wheels, the drainage fan wheels are in matched connection with the unit sub-plate through shaft sleeves, the drainage fan wheels have better rotating and moving capabilities on the unit sub-plate, when the robot acts, the drainage fan wheels can freely rotate along with the influence of water power, the periphery of the drainage fan wheel is provided with an arc-shaped fan plate structure, the drainage fan wheel can obtain the action effect of water force when the fan plate is contacted with water, and spontaneous rotation thereupon weakens the influence of water conservancy to whole device, and a plurality of settings of strengthening rod help to install the device around the outside of different underwater robot, also conveniently ties up the whole robot simultaneously, lifts and draws or drag the aversion.

3. The invention provides direct reaction thrust for the water pressure at the periphery of the device through the arrangement of the side frames, the motors drive the impellers to work, each impeller is respectively driven by one motor, when the motors are started, the impellers rotate at high speed to directly disturb the water at the outer side of the side frames to provide certain reverse thrust for the water, and simultaneously, the whole device is subjected to the thrust action from the water by combining the disturbance acting force on the water flow after the rotation of the impellers, the side frames and the drainage plate are in matched connection, the side frames can be angularly overturned on the basis of the drainage plate, the placement angles of the side frames on the whole device are changed to disturb the water flow in different spatial dimensions, so that the thrust actions of the water flow in different directions are obtained, the angles of the side frames can be manually adjusted, and the optimal angle can be automatically adjusted under the action of the hydraulic action and the rotating speed of the impellers, to accommodate underwater pressure.

4. The invention achieves the effect of balancing the integral gravity of the device through the arrangement of the air bag, can correspondingly resist the water pressure effect under the deep water environment after the air bag is filled with a certain amount of air, can better fit the underwater robot, protects the underwater robot, avoids the separation caused by external force between the device and the robot, achieves the aim of flexible steering by utilizing the embedded beads and the connecting rods through the uniformly arranged supporting plates on the adjusting plate, is matched and connected with the water scraping plate which is matched and clamped through the connecting heads, can extract the water scraping plate for a certain distance on the basis of the supporting plates, has better water extracting capacity when the water scraping plate is contacted with water, has different intercepting capacities on the water by the water scraping plates after the water scraping plates are extracted for different lengths, and can achieve the aim of balancing the water flow around the device, avoid the influence of the underwater vortex and the undercurrent on the severe damage of the device and the robot.

5. The invention enables the device to be integrally provided with a position capable of balancing water flow disturbance or weakening water pressure by arranging the lining plate, the lining plate is in nested fit with the embedded rod, the embedded rod can complete rotation action on the basis of the lining plate, the embedded rod is in fit connection with the pressure measuring plate, the pressure measuring plate is provided with the pressure detecting element, the pressure measuring element is used for monitoring the water pressure of the environment where the device is positioned in real time, so that personnel can conveniently take data, the angles of the pressure measuring plates on the embedded rod are separately adjusted, no influence exists among the pressure measuring plates, the pressure information can be taken by different placing angles, meanwhile, under the self flat plate structure, the purpose of weakening the water flow is achieved, the water is subjected to parallel differentiation in different directions, the relatively concentrated hydraulic action around the pressure measuring device is dispersed, the water pressure is relieved, the pressure measuring plates are supported and fixed by the telescopic rods, and the sleeve block ensures that the telescopic rods have better angle deflection capability on the frame rod, with providing better supporting role to the pressure measurement board, be connected for the cooperation between activity button head and the telescopic link, have better mobility on the telescopic link, the gear shaping is used for the back of contact survey clamp plate to guarantee to survey the clamp plate and can obtain the outrigger from the telescopic link.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic view of the backside structure of the present invention;

FIG. 3 is a schematic view of an adjusting plate according to the present invention;

FIG. 4 is a schematic view of the liner plate of the present invention;

fig. 5 is a schematic view of a frame bar structure of the present invention.

In the figure: 1. the device comprises a first support plate, a second support plate, a third support plate, a fourth support plate, a fifth support plate, a sixth support plate, a seventh support.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1-5, the present invention provides a technical solution: a high pressure resistant protection device for an underwater robot comprises a first support plate 1 and an adjusting plate 17, wherein the left side and the right side of the first support plate 1 are respectively provided with a second support plate 2, the outer wall of the second support plate 2 is fixedly provided with a hydrophobic plate 5, the first support plate 1 is matched with the second support plate 2 in size, the inner side of the second support plate 2 is fixedly provided with a protection circle net 3, a support frame 4 uniformly penetrates through the protection circle net 3, the protection circle net 3 is of an alternately intertwined elliptical net structure, the surface of the hydrophobic plate 5 is fixedly provided with a fixed plate 6, the outer side wall of the hydrophobic plate 5 is welded with a unit branch plate 7, the second support plate 2 has better activity on the basis of the first support plate 1 through sliding fit connection between the first support plate 1 and the second support plate 2, the second support plate 2 can be horizontally pulled, the length of the whole device is adjusted, and the device is suitable for robots with different sizes and different sizes, when the first support plate 1 and the second support plate 2 are mutually overlapped, the whole protective layer of the device is correspondingly increased, the resistance to the unit area of water pressure is correspondingly improved, the protective ring net 3 is an alternately intertwined elliptical net structure and is made of rigid materials in an arrangement mode, the protective ring net has good structural strength and structural elasticity, the supporting function of the supporting frame 4 is matched, the protective ring net 3 has good structural strength, the supporting frame 4 uniformly supports the protective ring net 3, the protective ring net 3 has a certain isolation and buffering function on the water pressure, the unit sub-plates 7 are uniformly arranged along the horizontal direction of the hydrophobic plates 5, the lengths of the unit sub-plates 7 are equal, the front surface and the back surface of each unit sub-plate 7 are respectively provided with two hydrophobic fan wheels 8, the two hydrophobic fan wheels 8 on the same surface are symmetrical about the horizontal central line of the unit sub-plates 7, the surface of the hydrophobic plates 5 is provided with the reinforcing rods 9, the reinforcing rods 9 are parallel to each other, the influence of water flow fluctuation acting force on the device caused by running of the underwater robot is effectively relieved through uniform arrangement of the unit sub-plates 7, the equal number of the drainage fan wheels 8 are arranged on the front side and the back side of each unit sub-plate 7, the drainage fan wheels 8 are in shaft sleeve fit connection with the unit sub-plates 7, the drainage fan wheels 8 have good rotary moving capacity on the unit sub-plates 7, the drainage fan wheels 8 can freely rotate along with the influence of water force when the robot acts, circular arc-shaped fan plate structures are arranged around the drainage fan wheels 8, the drainage fan wheels 8 can obtain the action effect of the water force and can rotate along with the water force when the fan wheels are in contact with the water, the influence of the water force on the whole device is weakened, the reinforcing rods 9 are arranged in multiple ways, the device can be installed around the outer sides of different underwater robots, and the whole robot can be conveniently bound, Lifting or dragging and shifting, side frames 10 are installed between the drain plates 5, an elastic net 11 is arranged on the front side face of each side frame 10, impellers 12 are installed on the rear side face of each side frame 10, a motor 13 is installed inside the rear side of each side frame 10, direct reaction thrust is provided for water pressure on the periphery of the device through the arrangement of the side frames 10, the impellers 12 are driven by the motors 13 to work, each impeller 12 is driven by one motor 13, when the motors 13 are started, the impellers 12 rotate at high speed, water on the outer side of each side frame 10 is directly disturbed, certain reaction thrust is provided for the water, disturbance acting force on water flow after the impellers 12 rotate is combined, the whole device is subjected to thrust action from the water, the left end portion and the right end portion of each side frame 10 are matched with the drain plates 5 in size, and the side frames 10 are symmetrical with respect to the horizontal center line of the protective ring net 3, the impellers 12 are uniformly arranged on the rear side face of the side frame 10, the side frame 10 is in matched connection with the drain plate 5, the side frame 10 can be turned over at an angle on the basis of the drain plate 5, the placement angle of the side frame 10 on the whole device is changed, water flows in different space dimensions are disturbed, water flow thrust effects in different directions are obtained, the angle of the side frame 10 can be manually adjusted, the optimum angle can be automatically adjusted under the action of hydraulic power and the rotating speed of the impellers 12 to adapt to underwater pressure, the support 14 is welded on the inner wall of the first support plate 1, the connecting rod 15 is fixed on the inner wall of the support 14, the support plate 19 is installed on the inner side of the adjusting plate 17, the adjusting plate 17 is located in the middle of the connecting rod 15, the air bags 16 are installed on the upper side and the lower side of the adjusting plate 17, and the air bags 16 are symmetrical with respect to the horizontal center line, the outer wall of the joint of the connecting rod 15 and the adjusting plate 17 is uniformly embedded with embedded beads 18, the supporting plate 19 is internally provided with a wiper plate 20, the upper side and the lower side of the wiper plate 20 are respectively fixed with a connector 21, the outer side surface of the wiper plate 20 is tightly attached to the inner side surface of the supporting plate 19, the supporting plate 19 is uniformly distributed along the horizontal direction of the adjusting plate 17, the effect of balancing the whole gravity of the device is achieved through the arrangement of the air bag 16, after the air bag 16 is filled with a certain amount of air, the water pressure effect under the deep water environment can be correspondingly resisted, the underwater robot can be well attached, the underwater robot is protected, the separation caused by external force between the device and the robot is avoided, the supporting plate 19 uniformly arranged on the adjusting plate 17 utilizes the embedded beads 18 and the connecting rod 15 to achieve the purpose of flexible steering, the supporting plate 19 is in matched connection with the wiper plate 20, and is in embedded fit through, the scraper 20 can be drawn out for a distance on the basis of the supporting plate 19, the scraper 20 is a plate with an arc groove-shaped structure, the scraper has better water-fetching capability when the scraper is contacted with water, after the scraper 20 is drawn out for different lengths, the interception capability of each scraper 20 to water is different, the purpose of balancing the water flow around the device can be achieved, the severe damage influence of underwater vortex undercurrent on the device and a robot is avoided, the back side surface of the protection ring net 3 is provided with a lining plate 22, the surface of the lining plate 22 is nested with an embedded rod 23, a pressure measuring plate 24 is arranged below the embedded rod 23, the pressure measuring plates 24 are equidistantly arranged 3 along the horizontal direction of the embedded rod 23, the size between the pressure measuring plates 24 and the embedded rod 23 is identical, two groups of embedded rods 23 are parallelly arranged on the lining plate 22, and the device is provided with a position capable of balancing the water flow disturbance or weakening the water pressure through the arrangement of the lining plate 22, the lining plate 22 and the embedded rod 23 are in nested fit, on the basis of the lining plate 22, the embedded rod 23 can complete rotation, the embedded rod 23 is in fit connection with the pressure measuring plate 24, the pressure detecting element is arranged on the pressure measuring plate 24, the water pressure of the environment where the pressure measuring element is located is monitored in real time by utilizing the water pressure of the pressure measuring element, so that personnel can conveniently take data, the angles of the pressure measuring plate 24 on the embedded rod 23 are separately adjusted, no influence exists between the pressure measuring plate and the embedded rod, pressure information can be taken by different placing angles, meanwhile, the purpose of weakening water flow is achieved under the self flat plate structure, parallel differentiation in different directions is carried out on water, the relatively concentrated hydraulic action around the device is dispersed, the water pressure is relieved, the back surface of the pressure measuring plate 24 is provided with the frame rod 25, the left end and the right end of the frame rod 25 are both provided with the screwed joints 26, the screwed joints 26 are connected with the lining, 3 sleeve blocks 27 are arranged at equal intervals along the horizontal direction of the hack lever 25, the sleeve blocks 27 are perpendicular to the hack lever 25, a telescopic rod 28 is fixed above the sleeve blocks 27, the telescopic rod 28 and the hack lever 25 form a rotating structure through the sleeve blocks 27, a movable round head 29 is arranged above the telescopic rod 28, a gear shaping 30 is fixed on the outer wall of the movable round head 29, the movable round head 29 is matched with the telescopic rod 28 in size, the gear shaping 30 is symmetrically arranged in a cross shape relative to the vertical central line of the movable round head 29, each pressure measuring plate 24 is supported and fixed by the telescopic rod 28, the sleeve blocks 27 ensure that the telescopic rod 28 has good angle deflection capacity on the hack lever 25 so as to provide good supporting function for the pressure measuring plate 24, the movable round head 29 is connected with the telescopic rod 28 in a matching manner, the telescopic rod 28 has good movable capacity, the gear shaping 30 is used for contacting the back of the pressure measuring plate 24, and ensures that the pressure measuring plate 24 can be stably supported by the telescopic rod 28.

The working principle is as follows: the protection device is directly arranged on the outer side of a robot, the structure of the protection device can be adjusted, a first support plate 1 and a second support plate 2 are connected in a sliding fit mode, the second support plate 2 can be pulled and moved on the basis of the first support plate 1, the length of the whole device is adjusted, the devices are spliced and accumulated mutually and are uniformly wrapped around the underwater robot, the device has a front surface and a back surface, both the front surface and the back surface can be used as outer protection surfaces of the robot, for convenient distinguishing, one surface with a lining plate 22 is used as an A surface, the other surface without the lining plate 22 is used as a B surface, when the A surface is an outer protection surface, an air bag 16 is inflated, the B surface and the outer side surface of the robot are attached mutually, meanwhile, a reinforcing rod 9 can correspondingly bind and fix the robot, then the device is arranged on the outer side of the robot, after a motor 13 is started, an impeller 12 rotates at a high speed, disturbing peripheral water flow, generating a reaction thrust to water, weakening water pressure, simultaneously serving as a precession paddle by the impeller 12, providing a certain thrust for the operation of the device in water, enabling the device to automatically advance with a robot, adjusting the angle of the side frame 10 on the device under the matching action of the side frame 10 and the hydrophobic plate 5, simultaneously generating a certain thrust action on the side frame 10 when the impeller 12 rotates, enabling the side frame 10 to automatically adjust to an optimal angle to adapt to underwater pressure, acquiring different action directions under the rotating action of the impeller 12, adjusting the placing angle of each pressure measuring plate 24 on the lining plate 22 by utilizing the nesting matching action of the lining plate 22 and the embedded rod 23 and the matching connection between the pressure measuring plate 24 and the embedded rod 23, and installing pressure measuring elements in each pressure measuring plate 24, the water pressure monitoring device is used for monitoring water pressure, each pressure measuring plate 24 is supported through the telescopic rod 28, on one hand, the pressure measuring plates 24 can collect water pressure information around the device under the action of a pressure measuring element, on the other hand, the purpose of weakening water flow is achieved under the self flat plate structure, parallel differentiation in different directions is generated on water, a relatively concentrated hydraulic action around the device is broken up, and the water pressure is relieved, when the B surface serves as an outer protective surface, the reinforcing rod 9 provides a position for the device to be tied with a cable rope, the robot is convenient to pull integrally, the air bag 16 filled with air can resist a certain water pressure action, the water scraping plates 20 can be pulled out by a section of length under the matching action with the adjusting plates 17, under the connecting action of the connecting rod 15 and the embedded beads 18, the angle of the supporting plate 19 on the adjusting plates 17 can be adjusted, and when the water scraping plates 20 with different lengths and different inclination angles are in, correspondingly, the water flow can be intercepted in different degrees to weaken the damage influence of underwater undercurrent on the whole device and the robot, after the motor 13 is started, the impeller 12 rotates at high speed, the impeller 12 plays a role of drainage at the moment to disperse the water flow between the device and the underwater robot and avoid the direct influence of water pressure on the robot through a connecting gap between the device and the robot, the protection ring net 3 directly contacts with a water body, the water pressure is buffered by utilizing the self-alternate intertwined elliptical net structure and the auxiliary cooperation effect of the support frame 4, the hydraulic force can be met and weakened no matter which surface A and B surface are used as the outer protective surface of the device, the drainage fan wheels 8 are arranged on the front surface and the back surface of the unit plate 7, the drainage fan wheels 8 are in shaft sleeve fit connection with the unit plate 7, and the influence is caused by the water force when the robot acts, the drainage fan wheel 8 can rotate freely, so that the action pressure of water power on the device and the robot is relieved, and the using process of the whole protection device is completed.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides a high pressure resistant protector for underwater robot, includes first extension board (1) and regulating plate (17), its characterized in that: the left and right sides of the first support plate (1) are provided with second support plates (2), the outer wall of each second support plate (2) is fixed with a hydrophobic plate (5), the inner wall of each first support plate (1) is welded with a support (14), the inner wall of each support (14) is fixed with a connecting rod (15), the inner side of each adjusting plate (17) is provided with a support plate (19), each adjusting plate (17) is located in the middle of the corresponding connecting rod (15), the upper side and the lower side of each adjusting plate (17) are provided with air bags (16), the air bags (16) are symmetrical with respect to the horizontal center line of each adjusting plate (17), the outer wall of the joint of each connecting rod (15) and each adjusting plate (17) is uniformly embedded with embedded beads (18), the scraping plates (20) are mounted inside the support plates (19), connectors (21) are fixed on the upper side and the lower side of each scraping plate (20), the outer side faces of the scraping plates (20) are tightly attached to the, and the supporting plates (19) are uniformly distributed along the horizontal direction of the adjusting plate (17).

2. The high pressure resistant protection device for the underwater robot as claimed in claim 1, wherein: the size between first extension board (1) and the second extension board (2) is identical, and the inboard of second extension board (2) is fixed with protection circle net (3), the inside of protection circle net (3) evenly runs through there is strut (4), and protection circle net (3) is the oval network structure of alternative intertwine, the fixed surface of hydrophobic plate (5) has fixed plate (6), and the welding of the lateral wall of hydrophobic plate (5) has unit to divide board (7).

3. The high pressure resistant protection device for the underwater robot as claimed in claim 2, wherein: the unit divides board (7) to evenly set up along the horizontal direction of hydrophobic board (5), and the unit divides length to equal between board (7), two hydrophobic fan wheels (8) are do not installed to the positive and negative surface that the unit divides board (7), and about the horizontal center line symmetry of unit minute board (7) between two hydrophobic fan wheels (8) on the same face, the surface mounting of hydrophobic board (5) has anchor strut (9), and is parallel to each other between anchor strut (9).

4. The high pressure resistant protection device for the underwater robot as claimed in claim 2, wherein: install side frame (10) between hydrophobic board (5), and the leading flank of side frame (10) is provided with elasticity net (11), impeller (12) are installed to the trailing flank of side frame (10), and the rear side internally mounted of side frame (10) has motor (13).

5. The high pressure resistant protection device for the underwater robot as claimed in claim 4, wherein: the left end portion and the right end portion of the side frames (10) are matched with the hydrophobic plate (5) in size, the side frames (10) are symmetrical with each other about a horizontal center line of the protective ring net (3), and the impellers (12) are uniformly arranged on the rear side face of the side frames (10).

6. The high pressure resistant protection device for the underwater robot as claimed in claim 2, wherein: the trailing flank of protection ring net (3) is provided with welt (22), and the surface nested of welt (22) installs embedded rod (23), the below of embedded rod (23) is installed and is surveyed clamp plate (24), and surveys clamp plate (24) and be provided with 3 along the horizontal direction equidistance of embedded rod (23), it is identical with embedded rod (23) between size to survey clamp plate (24), and goes up in welt (22) and be provided with two sets of embedded rod (23) in parallel.

7. The high pressure resistant protection device for the underwater robot as claimed in claim 6, wherein: survey the back mounted of clamp plate (24) and have hack lever (25), and both ends all are provided with screwed joint (26) about hack lever (25), be threaded connection between screwed joint (26) and welt (22), and fixation nut (31) are installed in the outside of screwed joint (26), follow the horizontal direction of hack lever (25) equidistance altogether is provided with 3 pockets (27), and mutually perpendicular between pocket (27) and hack lever (25).

8. The high pressure resistant protection device for the underwater robot as claimed in claim 7, wherein: the top of cover block (27) is fixed with telescopic link (28), and telescopic link (28) constitute rotating-structure through cover block (27) and hack lever (25), the top of telescopic link (28) is provided with activity button head (29), and the outer wall of activity button head (29) is fixed with gear shaping (30), the size is identical between activity button head (29) and telescopic link (28), and gear shaping (30) are "ten" word symmetry setting about the vertical central line of activity button head (29).