CN109515655B - Multi-functional six crawler-type underwater robot - Google Patents

Abstract

The invention discloses a multifunctional six-crawler-type underwater robot, which comprises a main floating body longitudinally used from head to tail, main driving crawler belts arranged at the inner sides of the bottoms of left and right side plates, and two rocker arms which are respectively arranged from head to tail, are arranged symmetrically and can rotate freely in 360 degrees, wherein when the main driving crawler belts rotate, the crawler belts on the rocker arms are driven to rotate, so that the rocker arms have climbing and obstacle crossing capabilities; the head of the robot is provided with a left mechanical arm and a right mechanical arm, the left mechanical arm can realize a grabbing function, and the right mechanical arm is a hydraulic self-carrying hand garage type mechanical arm and can complete functions of drilling, cutting and the like, so that the underwater operation efficiency is greatly improved; meanwhile, an environment intelligent monitoring system is carried; the invention has the multiple purposes of monitoring, overhauling, salvaging, rescuing, exploring and the like, fully utilizes the structural advantages of crawler type and leg type motions, improves the working efficiency of operations such as underwater overhauling, salvaging and the like through the effective carrier of the underwater robot, and provides all-round service for underwater engineering.

Description

Multi-functional six crawler-type underwater robot

Technical Field

The invention relates to a novel multifunctional six-crawler-type underwater robot, and belongs to the technical field of ship engineering.

Background

After the last 90 s, the development of China at sea is in the climax, and the building is as follows: offshore platforms, seabed observation stations, oil and natural gas exploration and deep exploitation platforms, floating oil storage depots, oil refineries, floating power stations, floating airports, floating seawater desalination devices and other marine structures. For the safe production of various marine structures, it is imperative to establish and perfect marine structures and pipeline inspection, maintenance and repair systems.

In recent years, underwater robots have come into wide use with the development and utilization of marine resources. However, the conventional underwater operation robot is unstable during underwater operation, is easily shaken and deviated due to the influence of water flow, has the defects even if the crawler-type underwater robot is attached to the surface for working, and is easily subjected to accidents when facing uneven terrains. In addition, the effective load and the arrangement space of the underwater robot are limited, too many tools cannot be carried, but complex accidents are easily met during underwater maintenance, the underwater robot which cannot carry various tools has low working efficiency, tools need to be recycled and changed, and the problem of low efficiency-cost ratio is solved. Meanwhile, the domestic detection technology is relatively lagged behind, the detection intelligence-automation degree is low, the detection precision is relatively low, the detection result is difficult to digitize, and the confidence of the safety evaluation is limited to a certain extent in the aspect of the evaluation technology.

According to the invention, the six-crawler multi-posture vehicle is combined with the underwater robot, and a novel multifunctional six-crawler underwater robot is formed by carrying the mechanical arm, the high-precision monitoring sensor and the data information real-time return system, so that the real-time working condition is fed back, the stability, the rapidity and the flexibility are greatly improved, and the effective completion of underwater maintenance work is ensured.

The invention designs an underwater robot capable of carrying out attitude compensation in the transverse direction and the longitudinal direction, realizes different functions by carrying different functional devices, and provides corresponding measures for solving typical problems in underwater maintenance operation. The most important of the underwater operation type robot is the stability of the underwater posture and the complete operation tool, which have many detailed requirements on the structure and the functional equipment of the underwater robot. The underwater operation type robot is easy to shake and shift due to the interference of water flow during operation, cannot normally sail in narrow space, is limited in effective load and arrangement space of a single underwater robot, cannot carry various operation tools, and cannot complete operations such as grabbing, drilling, cutting and the like. The present invention addresses these particular needs.

Disclosure of Invention

In order to achieve the purpose, the invention provides the following technical scheme:

a multifunctional six-crawler underwater robot comprises a six-crawler underwater robot main body, a positioning and navigation system, an intelligent monitoring system, an intelligent maintenance system and a crawler waterway and land dual-purpose intelligent control and push system which are arranged on the six-crawler underwater robot main body, and is characterized in that,

the positioning and navigation system is responsible for measuring the water depth information of the position of the underwater robot and can measure the direction angle, the inclination angle and the acceleration of the underwater robot so as to ensure the course angle and the self balance of the underwater robot;

the intelligent monitoring system comprises an intelligent monitoring sensor group for monitoring the water environment at the position of the underwater robot so as to monitor the working condition of the underwater robot in real time and prevent leakage pollution accidents during operation;

the intelligent maintenance system comprises a left mechanical arm component and a right mechanical arm component, wherein the left mechanical arm component is a steering engine type mechanical arm and can realize grabbing operation; the right mechanical arm assembly is a hydraulic mechanical arm, and a tool magazine is arranged on the right mechanical arm assembly, so that the functions of drilling and cutting operations can be realized, and automatic tool changing can be realized;

the crawler-type waterway-land dual-purpose intelligent control system comprises a plurality of symmetrically arranged underwater propeller assemblies, a main driving crawler assembly and a rocker arm assembly, wherein the underwater propeller assemblies can realize six-degree-of-freedom movement of the robot, can generate thrust compensation in the transverse direction, the longitudinal direction and the oblique direction, and can keep stable operation when encountering wave flow underwater;

the robot is characterized in that a rocker arm crawler is arranged on the rocker arm assembly, the rocker arm crawler on the rocker arm assembly is driven to rotate when the main drive crawler rotates, and the rocker arm assembly can rotate in a certain degree, so that the robot can move in multiple postures, and the climbing and obstacle crossing capabilities are improved.

Further, as preferred, six track underwater robot main parts include sealed cabin, curb plate, backing plate, flotation tank, main body, wherein, sealed cabin longitudinal arrangement, the backing plate symmetrical arrangement in the midplane department of sealed cabin, backing plate and sealed cabin are connected fixedly with being connected the bridge, and the connection of curb plate symmetry is in on the backing plate, the curb plate of the left and right sides is connected bridge interconnect with twice, and two flotation tank bilateral symmetry's difference is fixed in between two connection bridges, and main body is along longitudinal arrangement, and main body vertically runs through twice connection bridge, and fixes at the connection bridge intermediate position.

Further, preferably, the positioning and navigation system comprises a water depth sensor and a six-axis gyroscope, wherein the water depth sensor is arranged at the upper part of the right buoyancy tank, the six-axis gyroscope is arranged in the middle of the sealed cabin, and the water depth sensor and the six-axis gyroscope are both connected with the controller;

the intelligent monitoring system comprises a water temperature sensor, a PH water quality sensor, a water turbidity sensor and a camera, wherein the water temperature sensor, the PH water quality sensor and the water turbidity sensor are all installed on a shell of the sealed cabin, the camera is arranged in an ellipsoidal cover in the sealed cabin, and the water temperature sensor, the PH water quality sensor, the water turbidity sensor and the camera are connected through a controller.

Further, preferably, the left mechanical arm assembly comprises a large arm, a first steering engine, a second steering engine, a large arm base, a transmission rod, a first positioning bean, a left steering engine rocker arm, a first horizontal flange bearing and a mechanical grabbing clamp assembly, wherein, the large arm base is connected and arranged on the left base plate through a horizontal flange bearing I, the steering engine I is fixed on the left base plate, the output end of the steering engine I is connected with one end of a left steering engine rocker arm, the other end of the left steering engine rocker arm is connected with one end of a transmission rod, the other end of the transmission rod is connected with the large arm base through a positioning bean I, one end of the large arm is hinged and arranged on the large arm base, the rotation of the large arm relative to the large arm base is driven by a second steering engine which is fixed on the large arm base, the other end of the large arm is provided with the mechanical grabbing clamp assembly, when the first steering engine and the second steering engine rotate, the large arm and the mechanical grabbing clamp assembly are driven to rotate in space;

the mechanical grabbing clamp assembly comprises a third steering engine, an internal thread copper column, a piston cylinder, a piston, a screw rod, a coupler, a speed reduction motor and mechanical clamps, wherein the third steering engine is fixed at the other end of the large arm, the output end of the third steering engine is connected to the screw rod through the speed reduction motor and the coupler, the screw rod thread is screwed into the internal thread copper column, the internal thread copper column is fixedly connected with the piston and is arranged in the piston cylinder, the piston is fixedly connected with double-sided teeth, the mechanical clamps are matched with the double-sided teeth, the piston cylinder is connected to a speed reduction motor shell of the speed reduction motor in a sealing mode, the speed reduction motor drives the screw rod to rotate, the internal thread copper column is screwed out/screwed into the piston, the piston pushes the left.

Further, as a preferred option, the right mechanical arm component is arranged on the right base plate and comprises a hydraulic cylinder I, a hydraulic cylinder II, a small arm, a large arm, a steering engine IV, a positioning bean II, a transmission shaft, a transmission column and a cutter actuating mechanism, wherein the bottom of the mechanical arm base is arranged on the right base plate through a horizontal flange bearing II, the steering engine IV connected with the right steering engine rocker arm is fixed on the right base plate, the right steering engine rocker arm is connected with one end of the transmission shaft, the other end of the transmission shaft is connected with the positioning bean II, the positioning bean II is connected with the mechanical arm base, one end of the large arm is hinged with the mechanical arm base, the small arm is hinged with the other end of the large arm, the hydraulic cylinder I is hinged between the mechanical arm base and the large arm, the hydraulic cylinder II is hinged between the large arm and the small arm, the end of the small arm is connected, and then the whole right mechanical arm component is pushed to rotate left and right, and the hydraulic cylinder I and the hydraulic cylinder II drive the large arm and the small arm to move.

Further, preferably, the cutter executing mechanism comprises a fifth steering engine, a motor disc, a motor, a cutter library, a motor output end clutch and a cutter tail end clutch, wherein the fifth steering engine is arranged at the tail part of the small arm and is connected with a rocker arm of the steering engine, the rocker arm of the steering engine is connected with a transmission column, the other end of the transmission column is connected with the motor disc, the motor disc is arranged in a groove of a shaft of the small arm, the motor is fixed on the motor disc, the clutch is connected with an output shaft of the motor, the cutter library is arranged at the head part of the small arm, a sixth steering engine for driving the cutter library to rotate is arranged in the cutter library, the rocker arm of the steering engine is rotated through the fifth steering engine to push the motor disc to move forwards, the clutch at the output end of the motor is meshed with the clutch; the motor disc is controlled to retreat through the fifth steering engine on the small arm, the sixth steering engine in the tool magazine rotates, so that the tool disc rotates, the fifth steering engine on the small arm pushes the motor disc forwards, and the clutch at the output end of the motor is meshed with the clutch at the tail part of the tool again to complete automatic tool changing;

the tool magazine comprises a steering engine, a tool disc, a clutch, tools and a steering engine frame, wherein a steering engine six is arranged on the steering engine frame, the steering engine frame is arranged at the head of the small arm, the steering engine is connected with the tool disc, the tools are arranged on the tool disc, and the tail of each tool is connected with the clutch.

Further, preferably, the underwater propeller assembly comprises a first underwater propeller, a second underwater propeller and a third underwater propeller which are obliquely and bilaterally symmetrically arranged on two side plates, wherein the first underwater propeller and the second underwater propeller are identical in structure and arrangement mode, and the third underwater propeller is horizontally and inwards obliquely arranged;

the included angle between the first underwater propeller and the second underwater propeller and the base plane is-DEG, and the included angle between the first underwater propeller and the second underwater propeller and the middle transverse section is-DEG, and the included angle between the first underwater propeller and the middle longitudinal section is-DEG; the third underwater propeller and the middle longitudinal section form an included angle of-degree, wherein the base plane is a horizontal plane contacted by the tracks of the six-track underwater robot, the middle longitudinal section is a longitudinal plane perpendicular to the base plane and the middle part of the six-track underwater robot of the middle transverse section, and the middle transverse section is a transverse plane perpendicular to the base plane and the middle longitudinal section and the middle part of the six-track underwater robot of the middle longitudinal section;

the first underwater propeller, the second underwater propeller and the third underwater propeller respectively comprise a propeller shell, a motor, a transmission shaft and a propeller, wherein one end of the transmission shaft is connected with the motor, the other end of the transmission shaft extends out of the propeller shell through a bearing, and the propeller is fixedly connected to the end part of the transmission shaft extending out of the propeller shell.

Preferably, the main driving track assembly comprises a track, a shock absorption wheel assembly, a speed reduction motor, a driving wheel, a driven wheel assembly and a gear, wherein the shock absorption wheel assembly, the driving wheel and the driven wheel assembly are independently suspended and are all arranged on the six-track underwater robot main body;

independent suspension's damping wheel subassembly bilateral symmetry arranges, including damping spring, wheel arm and wheel, wherein, the wheel arm is for buckling the structure, and the articulated setting in six track underwater robot main parts of department of buckling of wheel arm, the one end of wheel arm adopts damping spring connects in six track underwater robot main parts are last, the other end of wheel arm is provided with the wheel.

Further, as preferred, the rocking arm component includes rocking arm drive steering wheel, drive wheel, from driving wheel, track, left side rocking arm board, flange shaft joint, degree bevel gear, hollow transmission shaft, gear and transmission shaft, wherein, rocking arm drive steering wheel is fixed in on the right backing plate, rocking arm drive steering wheel rotation department and degree bevel gear fixed connection, flange shaft joint is connected with left side rocking arm board afterbody, hollow transmission shaft passes the rocking arm board and fixes drive wheel and follow driving wheel, the track cover is on drive wheel and follow driving wheel, degree bevel gear is fixed in on the transmission shaft, the transmission shaft passes hollow transmission shaft and left side rocking arm board afterbody flange shaft joint fixed connection, rocking arm drive steering wheel passes through degree bevel gear on the transmission shaft and drives the rotation of degree bevel gear, the transmission shaft drives the rocking arm and accomplishes the rotation, rocking arm drive steering wheel front and back symmetric arrangement.

Further, as preferred, intelligence maintenance system still includes gear motor, the lead screw, the double-screw bolt, the pneumatic cylinder, the hydraulic stem, equipment rack, pipeline and motor drive, wherein, gear motor is connected with motor drive, gear motor fixes the right side at equipment rack, motor drive is connected with the controller, the lead screw passes through the shaft coupling and is connected with the gear motor output, double-screw bolt one end is connected with the lead screw, the double-screw bolt other end is connected with the hydraulic stem, the pneumatic cylinder is fixed in equipment rack's left side, gear motor drives the lead screw and rotates, it makes the hydraulic stem promote forward to be unscrewed through the double-screw bolt, liquid is extrudeed in the pneumatic cylinder, carry the arm along the pipeline, thereby drive robotic arm.

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

(1) the six-crawler underwater robot takes the underwater robot with six crawler belts as a carrier, gets rid of the limitation of the traditional operation type robot taking two crawler belts as the carrier, and makes full use of the good stability, good navigability and high working efficiency of the six-crawler underwater robot. The crawler leg composite system of the underwater robot provides adaptability of the robot to various working conditions, and the underwater robot has a wide application range.

(2) When the hydraulic type mechanical arm with the garage works, the underwater robot can autonomously transform tools according to different requirements, and the working efficiency is improved. When the robot works, the water temperature, the PH value and the water turbidity sensor carried by the robot can forecast the surrounding water condition, so that operators can conveniently judge whether the environment is normal, and the loss is effectively avoided.

(3) The invention works on the basis of the small underwater robot technology without people, thereby reducing the labor intensity and the use cost. An STM 32-based embedded controller is installed in a sealed shell, a hydraulic self-contained hand garage type mechanical arm and a six-crawler type caterpillar leg composite system are independently designed on the basis of the controller, depth fixing and transverse and longitudinal attitude compensation of an underwater robot and automatic control of the hydraulic self-contained hand garage type mechanical arm and the six-crawler type caterpillar leg composite system can be realized through programming, and the aim of intelligent underwater maintenance is fulfilled.

(4) The hydraulic mechanical arm system with the hand garage can automatically switch the tools according to the requirements of grabbing, drilling, cutting and the like of underwater operation, different operation requirements are completed, and the hydraulic design enables the mechanical arm to output larger force.

(5) The six-crawler wheel-leg composite structure has the superior obstacle crossing capability of the crawler and the climbing capability of the leg structure, is combined, has good performances in the aspects of ground adaptability and obstacle crossing performance, and can make an underwater robot stably and smoothly climb against the rugged and bumpy attachment surface. The six-crawler type high-performance vehicle is creatively combined with the high-performance underwater robot with stable performance, the six-crawler type underwater robot has the advantages of good ground adaptability, capability of passing through various rugged roads in a complex field environment, wide moving range, reliable performance, long service life, multiple degrees of freedom of the legged robot, flexibility in movement, capability of controlling the gravity center position of the robot by adjusting the length of the legs, difficulty in overturning, higher stability and the like, various advanced sensors, mechanical arms, hydraulic mechanical arms with hand libraries and the like are carried, the underwater robot can be organically combined with underwater maintenance, and the underwater maintenance work can be efficiently and stably carried out.

(6) The length of the medium-sized underwater robot main body corresponding to the underwater maintenance robot is 0.55-1.5 m, the length-width ratio obtained by the length Froude number is 1.2-2, the length-height ratio is 2-3, the designed navigational speed is 1-5 sections, the length of the sealed cabin is 0.65-1.6 m, the diameter is 0.12-0.5 m, various underwater operation functions are realized, the structural layout design accords with the characteristics of underwater maintenance, the underwater maintenance efficiency is effectively improved, and the underwater maintenance is promoted to be transformed to intellectualization and automation.

Drawings

FIG. 1 is an overall top view of the present invention;

FIG. 2 is a schematic top view of a portion of the main body of the underwater robot of the present invention;

FIG. 3 is a schematic side view of a main body portion of the underwater robot of the present invention;

FIG. 4 is a schematic bottom view of a main body portion of the underwater robot of the present invention;

FIG. 5 is a block diagram of the capsule of the present invention;

FIG. 6 is a cross-sectional view of the underwater propulsion unit of the present invention;

FIG. 7 is a left side view of the right robot of the present invention;

FIG. 8 is a right side view of the right hand arm of the present invention;

FIG. 9 is a block diagram of the hydraulic actuator of the present invention;

FIG. 10 is a top view of the left robot of the present invention;

FIG. 11 is a left side view of the left robot of the present invention;

FIG. 12 is a cross-sectional view of the main drive track of the present invention;

fig. 13 is an overall oblique two-sided view of the present invention.

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. 1-13, the present invention provides a technical solution: a multifunctional six-crawler underwater robot comprises a six-crawler underwater robot main body 1, a positioning and navigation system 2, an intelligent monitoring system 3, an intelligent maintenance system 4 and a crawler waterway and land dual-purpose intelligent operating and pushing system 5 which are arranged on the six-crawler underwater robot main body 1,

the positioning and navigation system 2 is responsible for measuring the water depth information of the position of the underwater robot and can measure the direction angle, the inclination angle and the acceleration of the underwater robot so as to ensure the course angle and the self balance of the underwater robot;

the intelligent monitoring system 3 comprises an intelligent monitoring sensor group for monitoring the water environment at the position of the underwater robot, so that the working condition of the underwater robot can be monitored in real time, and leakage pollution accidents during operation can be prevented;

the intelligent maintenance system 4 comprises a left mechanical arm assembly 4-51 and a right mechanical arm assembly, wherein the left mechanical arm assembly 4-51 is a steering engine type mechanical arm and can realize grabbing operation; the right mechanical arm assembly is a hydraulic mechanical arm, and a tool magazine is arranged on the right mechanical arm assembly, so that the functions of drilling and cutting operations can be realized, and automatic tool changing can be realized;

the crawler-type waterway-land dual-purpose intelligent control and push system 5 comprises a plurality of symmetrically arranged underwater propeller assemblies, a main driving crawler assembly and a rocker arm assembly, wherein the underwater propeller assemblies can realize six-degree-of-freedom movement of the robot, can generate thrust compensation in the transverse direction, the longitudinal direction and the oblique direction, and can keep stable operation when encountering wave flow underwater;

be provided with the rocking arm track on the rocking arm subassembly, just the rocking arm track on the driving rocker subassembly rotates when the main drive track rotates, the rocking arm subassembly can be 360 degrees rotations to realize that this robot carries out multi-attitude motion, improve the climbing, hinder the ability more.

In this embodiment, as shown in fig. 2, the six-track underwater robot main body 1 includes a sealed cabin 1-1, side plates 1-3, a base plate 1-2, buoyancy tanks 1-5, and main floats 1-8, wherein the sealed cabin 1-1 is arranged longitudinally, the base plate 1-2 is symmetrically arranged at the mid-plane of the sealed cabin 1-1, the base plate 1-2 and the sealed cabin 1-1 are connected and fixed by connecting bridges 1-7, the base plate 1-2 and the symmetrically arranged side plates 1-3 are fixedly connected and located at 0.25 times higher than the side plates 1-3, the side plates 1-3 on the left and right sides are connected with each other by two connecting bridges 1-7, the two buoyancy tanks 1-5 are fixed between the two connecting bridges 1-7 in a left-right symmetric manner, and the main floats 1-8 are arranged longitudinally, and the main floating bodies 1-8 longitudinally penetrate through the two connecting bridges 1-7 and are fixed in the middle of the connecting bridges 1-7.

As shown in fig. 1 and 5, the positioning and navigation system 2 includes a water depth sensor 2-1 and a six-axis gyroscope 2-3, wherein the water depth sensor 2-1 is disposed at the upper portion of the right buoyancy tank 1-5, the six-axis gyroscope 2-3 is disposed at the middle portion of the inside of the sealed cabin 1-1, and the water depth sensor 2-1 and the six-axis gyroscope 2-3 are both connected to the controller 2-2.

As shown in fig. 1, 2 and 3, the intelligent monitoring system 3 comprises a water temperature sensor 3-1, a PH water quality sensor 3-3, a water turbidity sensor 3-4 and a camera, wherein the water temperature sensor 3-1, the PH water quality sensor 3-3 and the water turbidity sensor 3-4 are all mounted on a shell of the sealed cabin 1-1, the camera is arranged in an ellipsoidal cover in the sealed cabin 1-1, and the water temperature sensor 3-1, the PH water quality sensor 3-3, the water turbidity sensor 3-4 and the camera are all connected by a controller 2-2, so that the working condition is monitored in real time through measurement of the sensors, and accidents such as leakage pollution and the like are prevented from occurring during operation.

As a preferred embodiment, as shown in fig. 10 and 11, the left mechanical arm assembly 4-51 includes a large arm 4-32, a first steering gear 4-37, a second steering gear 4-46, a large arm base 4-34, a transmission rod 4-35, a first positioning bean 4-38, a left steering gear rocker arm 4-36, a first horizontal flange bearing 4-39 and a mechanical gripper assembly, wherein the large arm base 4-34 is connected to a left pad 1-2 through the first horizontal flange bearing 4-39, the first steering gear 4-37 is fixed to the left pad 1-2, an output end of the first steering gear 4-37 is connected to one end of the left steering gear rocker arm 4-36, the other end of the left steering gear rocker arm 4-36 is connected to one end of the transmission rod 4-35, the other end of the transmission rod 4-35 is connected to the large arm base 4-34 through the first positioning bean 4-38, one end of the large arm 4-32 is transversely fixedly hinged on the large arm base 4-34 through a shaft 4-40, the large arm 4-34 is driven by a second steering engine 4-46 relative to the large arm base 4-34, the second steering engine 4-46 is fixed on the large arm base 4-34, the other end of the large arm 4-32 is provided with the mechanical grabbing clamp assembly, and the large arm 4-32 and the mechanical grabbing clamp assembly are driven to rotate in space through rotation of the first steering engine 4-37 and the second steering engine 4-46.

As a better embodiment, the mechanical grabbing clamp assembly comprises a steering engine III 4-31, an internal thread copper column 4-44, a piston cylinder 4-29, a piston 4-42, a screw rod 4-43, a coupler 4-45, a speed reducing motor 4-30 and a mechanical clamp 4-40, wherein the rotating part of the steering engine 4-31 is fixedly connected with the speed reducing motor shell 4-30, the speed reducing motor 4-30 is axially fixed in the speed reducing motor shell 4-30, the steering engine III 4-31 is fixed at the other end of a large arm 4-32, the output end of the steering engine III 4-31 is connected to the screw rod 4-43 through the speed reducing motor 4-30 and the coupler 4-45, the screw rod 4-48 is screwed into the internal thread copper column 4-44, the internal thread copper column 4-44 is fixedly connected with the piston 4-42 and is arranged in the piston cylinder 4-29, the piston 4-42 is fixedly connected with the double-sided teeth 4-41, the mechanical pliers 4-40 are matched with the double-sided teeth 4-41, the piston cylinder 4-29 is hermetically connected to a speed reduction motor shell 4-30 of the speed reduction motor 4-30, the speed reduction motor 4-30 drives the screw rod 4-43 to rotate, so that the internal thread copper cylinder 4-44 is screwed out or screwed in to push the piston 4-42, and the piston 4-42 pushes the joint of the left pliers and the right pliers of the mechanical pliers 4-40, so that the mechanical pliers 4-40 are opened or closed.

As shown in fig. 7 and 8, the right manipulator arm assembly 4-50 is arranged on the right side base plate 1-2 and comprises a first hydraulic cylinder 4-19, a second hydraulic cylinder 4-7, a small arm 4-21, a large arm 4-10, a fourth steering engine 4-16, a second positioning bean 4-17, a transmission shaft 4-14, a transmission column 4-23 and a cutter executing mechanism, wherein the bottom of a manipulator base 4-13 is arranged on the right side base plate 1-2 through a horizontal flange bearing II 4-18, the fourth steering engine 4-16 connected with the right steering engine rocker arm 4-15 is fixed on the right side base plate 1-2, the right steering engine rocker arm 4-15 is connected with one end of the transmission shaft 4-14, the other end of the transmission shaft 4-14 is connected with the second positioning bean 4-17, the second positioning bean 4-17 is connected with the manipulator base 4-13, one end of the large arm 4-10 is hinged with the mechanical arm base 4-13, the small arm 4-21 is hinged with the other end of the large arm 4-10, a hydraulic cylinder I4-19 is hinged between the mechanical arm base 4-13 and the large arm 4-10, a hydraulic cylinder II 4-7 is hinged between the large arm 4-10 and the small arm 4-21, the end part of the small arm 4-21 is connected with the cutter executing mechanism, the steering engine IV 4-16 rotates, the right steering engine rocker arm 4-15 pushes the transmission shaft 4-14 to move, the whole right mechanical arm component is further pushed to rotate left and right, and the hydraulic cylinder I4-19 and the hydraulic cylinder II 4-7 drive the large arm 4-10 and the small arm 4-21 to move.

The cutter executing mechanism comprises a fifth steering engine 4-5, a motor disc 4-24, a motor 4-25, a cutter library 4-1-15, a motor output end clutch 4-28 and a cutter tail clutch 4-27, wherein the fifth steering engine 4-5 is arranged at the tail of a small arm 4-21, the fifth steering engine 4-5 is connected with a steering engine rocker arm 4-22, the steering engine rocker arm 4-22 is connected with a transmission column 4-23, the other end of the transmission column 4-23 is connected with the motor disc 4-24, the motor disc 4-24 is arranged in a groove of a small arm shaft 4-4, the motor 4-25 is fixed on the motor disc 4-24, the clutch 4-28 is connected with an output shaft of the motor, the cutter library 4-1-15 is arranged at the head of the small arm 4-21, and a rudder for driving the cutter library 4-1-15 to rotate is arranged in the cutter library 4-1-15 A sixth motor 4-2, wherein a fifth steering engine 4-5 rotates a rocker arm 4-22 of the steering engine to push a motor disc 4-24 to move forward, a clutch 4-28 at the output end of the motor is meshed with a clutch 4-27 at the tail part of a cutter 4-1 in a cutter library 4-1-15, and a motor 4-25 rotates to drive the cutter 4-1 to rotate; the motor disc 4-24 is controlled to retreat through the five steering engine 4-5 on the small arm 4-21, the six steering engine 4-2 in the tool magazine 4-1-15 rotates, the tool disc 4-1-15 rotates, the five steering engine 4-5 on the small arm 4-21 pushes the motor disc 4-24 forwards, the clutch 4-28 at the output end of the motor and the clutch 4-27 at the tail part of the tool are meshed again, and automatic tool changing is completed.

As shown in fig. 7 and 8, the tool magazine 4-1-15 comprises a steering engine 4-2, a tool disk 4-1-15, a clutch 4-27, a tool 4-1 and a rudder frame 4-3, the steering engine 4-2 is arranged on the rudder frame 4-3, the steering engine 4-3 is arranged on the head of the small arm 4-21, the steering engine 4-2 is connected with the tool disk 4-1-15, the tool 4-1 is arranged on the tool magazine 4-1-15, and the tail of the tool 4-1 is connected with the clutch 4-27.

As shown in FIG. 9, the hydraulic driver 4-55 is a bilateral symmetry structure, the bilateral deceleration motors and hydraulic cylinders are symmetrically arranged, and comprises deceleration motors 4-53, couplings 4-52, screw rods 4-51, screw bolts 4-50, hydraulic cylinders 4-48, hydraulic rods 4-49, equipment racks 4-54, pipelines 4-47 and motor drivers 5-38, the deceleration motors 4-53 are connected with the motor drivers 5-38, the deceleration motors 4-53 are fixed on the right side of the equipment racks 4-54, the motor drivers 5-38 are connected with the controller 2-2, one ends of the screw rods 4-51 are connected with the couplings 4-52, the couplings 4-52 are connected with the output ends of the deceleration motors 4-53, one ends of the screw bolts 4-50 are connected with the screw rods 4-51, the other end of the stud 4-50 is connected with a hydraulic rod 4-49, and the hydraulic cylinder 4-49 is fixed on the left side of the equipment frame 4-54. The motor drivers 5-38 drive the speed reducing motors 4-53, the speed reducing motors 4-53 drive the screw rods 4-51 to rotate, the screw bolts 4-50 are screwed out, the hydraulic rods 4-49 are pushed forwards, and liquid in the hydraulic cylinders 4-48 is extruded and conveyed to the mechanical arm along the pipelines 4-47, so that the mechanical arm is driven.

As shown in fig. 6 and 13, the underwater thrusters 5-18, 5-20 and 5-22 are arranged in bilateral symmetry and comprise thruster housings 5-42, motors 5-43, couplers 5-41, transmission shafts 5-40, bearings 5-45 and propellers 5-44, the underwater thrusters 5-18, 5-20 and 5-22 are obliquely and symmetrically arranged at the front ends and the rear ends of two side plates 1-3, and the 4 submerged underwater thrusters 5-18 and 5-18 are obliquely and symmetrically arranged in a surrounding manner, and have an included angle of 45-90 degrees with a base plane 7-1, an included angle of 0-60 degrees with a middle transverse section 7-2 and an included angle of 0-30 degrees with a middle longitudinal section 7-3; the two underwater propellers 5-22, 5-22 are horizontally and inwards obliquely arranged, and an included angle between the underwater propellers and a middle longitudinal section 7-3 is 0-60 degrees, wherein the base plane 7-1 is a horizontal plane contacted by the tracks of the six-track underwater robot, the middle longitudinal section 7-3 is a longitudinal plane perpendicular to the base plane and the middle part of the six-track underwater robot of the middle transverse section, and the middle transverse section 7-2 is a transverse plane perpendicular to the base plane and the middle longitudinal section and the middle part of the six-track underwater robot of the middle longitudinal section.

One end of the transmission shaft 5-40 is connected with the motor 5-43 through the coupling 5-41, the other end extends out of the propeller shell through the bearing 5-45, the bearing 5-45 is fixed on the end face of the shaft extending out of the propeller shell 5-42, and the propeller 5-44 is fixedly connected at the end part of the transmission shaft 5-40 extending out of the propeller shell and fixed by a self-locking nut.

As shown in fig. 4 and 12, the main driving track 5-11 comprises a track 5-11, independently suspended shock-absorbing wheels 5-28, 5-32, 5-34, a speed-reducing motor 5-7, a driving wheel 5-24, driven wheels 5-13, 5-19, 5-21, a hollow transmission shaft 5-20, bearings 5-36, 5-1-15, studs 5-25, 5-35, a gear 5-2 and a wheel frame 5-27, wherein the speed-reducing motor 5-7 is connected with a motor driver 5-38, the wheel frame 5-27 is connected with one ends of the studs 5-25, 5-35, the other ends of the studs 5-25, 5-35 are connected with the frames 1-15, 1-2, and the bearings 5-4 are embedded in the head part and the tail part of the wheel frame 5-27, the hollow transmission shaft 5-50 penetrates through the bearings 5-36 and 5-26 to fix the driving wheel 5-24 and the driven wheel 5-19 respectively, the gear 5-2 is fixed on the hollow transmission shaft 5-50, the independently suspended damping wheels 5-28, 5-32 and 5-34 are arranged at the front, middle and rear three positions of the wheel frame, and the crawler 5-11 is sleeved on the driving wheel 5-24, the driven wheel 5-21 and the damping wheels 5-28, 5-32 and 5-34. The motor driver 5-38 drives the reducing motor 5-7, the reducing motor 5-7 drives the gear 5-2 to rotate, the driving wheel 5-24 drives the driven wheel 5-19, 5-21 through the caterpillar bands 5-11, 5-9, 5-12, so that the robot moves, the main driving caterpillar bands are arranged in a left-right symmetrical mode, and the driving caterpillar bands on the other sides are arranged in a similar mode.

In the present invention, as shown in fig. 12, the independently suspended damper wheels 5-28, 5-32, 5-34 are arranged in bilateral symmetry and include damper springs 5-29, fixing rods 5-33, 5-37, wheel arms 5-30 and wheels 5-31, the fixing rod 5-33 transversely penetrates the wheels 5-31, the wheels 5-31 are fixed on the lower portion of the wheel arms 5-30, the fixing rod 5-37 transversely penetrates one end of the damper springs 5-29, one end of the damper springs 5-29 is fixed, and the other end of the damper springs 5-29 is connected to the wheel frame 5-27, so that the robot can run smoothly.

In the invention, as shown in fig. 4, the rocker arm system comprises 5-17 parts of a rocker arm driving steering engine, 5-24 parts of a driving wheel, 5-19 parts of a driven wheel, 5-9, 5-12 parts of a crawler belt, 5-6 parts of a left rocker arm plate, 5-7 parts of a right rocker arm plate, 5-5 parts of a flange coupling, 5-4 parts of a bearing, 5-16, 5-14 parts of 45-degree bevel gears, 5-50 parts of a hollow transmission shaft, 5-2 parts of a gear, 5-10 parts of a shaft and 5-1 parts of a transmission shaft. The swing arm driving steering engine 5-17 is fixed below the front part of the right base plate 1-2, the swing arm driving steering engine 5-17 rotates to be fixedly connected with a 45-degree umbrella 5-14, the flange coupler 5-5 is connected with the tail part of the left swing arm plate 5-6, the bearing 5-4 is embedded in the head part and the tail part of the swing arm plate, the hollow transmission shaft 5-50 penetrates through the tail bearing 5-4 to fix the driving wheel 5-24, the hollow transmission shaft 5-50 penetrates through the tail bearing 5-4 to fix the driven wheel, the crawler belt 5-11, 4-54 is sleeved on the driving wheel 5-24, 5-21 and the driven wheel 5-19, the 45-degree umbrella teeth 5-16 are fixed on the transmission shaft 5-1, and the transmission shaft 5-1 penetrates through the hollow transmission shaft 5-50 to be fixedly connected with the flange coupler 5-5 at the tail part of the left swing arm plate 5-. The rocker arm drives the steering engine 5-17 to rotate, the 45-degree bevel gear 5-14 on the rocker arm drives the 45-degree bevel gear 5-16 on the transmission shaft to rotate, the transmission shaft 5-1 drives the rocker arm to complete rotation, the rocker arm drives the steering engine 5-17 to be symmetrically arranged front and back, and the principles of the other three rocker arms are the same.

As shown in fig. 5, the sealed cabin 1-1 comprises a fusiform acrylic pipe, a flange ring, an ellipsoidal sealed cover 1-9, a sealing ring 1-13 and a sealed cover 1-12, wherein the flange ring is fixed at the head and the tail of the fusiform acrylic pipe, the ellipsoidal sealed cover 1-9 is hermetically connected with the head, the sealed cover 1-12 is hermetically plugged at the tail, the sealing ring 1-13 is arranged at the joint of the pipe orifice pipe wall and the sealed cover, the flange ring 1-11 and the sealed cover 1-12 are screwed by screws, and the sealed cover 1-12 and the pipe orifice extrude the sealing ring 1-13 to realize sealing.

As a better embodiment, the length of the novel multifunctional six-crawler-type underwater robot main body is 0.55-1.5 m, the length-width ratio obtained by the length Froude number is 1.2-2, the length-height ratio is 2-3, the designed navigational speed is 1-5 sections, the length of the sealed cabin is 1.1-1.2 times of the length of the main body and is in a shuttle shape, the middle section uniformly accounts for 0.2-0.5 times of the length of the sealed cabin, the diameter of the maximum cross section is 0.12-0.6 m, and the ratio of the long axis to the short axis of the non-uniform section is 2-4. The big arm length of intelligence maintenance system is 0.3 ~ 0.6 times that the robot is long, and little arm length is 0.4 ~ 0.8 times that the robot is long. The main driving crawler belt is equal to the main body in length, and the diameter of the driving wheel is 0.05-0.3 m; the front rocker arm length of the rocker arm component is 0.4-0.6 times of the main body, and the rear rocker arm length of the rocker arm component is 0.25-0.5 times of the main body. Therefore, the underwater operation platform has various underwater operation functions, the structural layout design conforms to the characteristics of underwater maintenance, the efficiency of the underwater maintenance is effectively improved, and the underwater maintenance is promoted to be converted to intellectualization and automation.

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 (5)

1. A multifunctional six-crawler-type underwater robot comprises a six-crawler-type underwater robot main body (1), and a positioning and navigation system (2), an intelligent monitoring system (3), an intelligent maintenance system (4) and a crawler-type waterway and land dual-purpose intelligent control and push system (5) which are arranged on the six-crawler-type underwater robot main body (1),

the positioning and navigation system (2) is responsible for measuring the water depth information of the position of the underwater robot and can measure the direction angle, the inclination angle and the acceleration of the underwater robot so as to ensure the course angle and the self balance of the underwater robot;

the intelligent monitoring system (3) comprises an intelligent monitoring sensor group for monitoring the water environment at the position of the underwater robot so as to monitor the working condition of the underwater robot in real time and prevent leakage and pollution accidents during operation;

the intelligent maintenance system (4) comprises a left manipulator arm assembly (4-51) and a right manipulator arm assembly, wherein the left manipulator arm assembly (4-51) is a steering engine type manipulator arm and can realize grabbing operation; the right mechanical arm assembly is a hydraulic mechanical arm, and a tool magazine is arranged on the right mechanical arm assembly, so that the functions of drilling and cutting operations can be realized, and automatic tool changing can be realized;

the crawler-type waterway-land dual-purpose intelligent control and push system (5) comprises a plurality of symmetrically arranged underwater propeller assemblies, a main driving crawler assembly and a rocker arm assembly, wherein the underwater propeller assemblies can realize six-degree-of-freedom movement of the robot, can generate thrust compensation in the transverse direction, the longitudinal direction and the oblique direction, and can keep stable operation when encountering wave flow underwater;

the rocker arm assembly is provided with a rocker arm crawler belt, the main driving crawler belt drives the rocker arm crawler belt on the rocker arm assembly to rotate when rotating, and the rocker arm assembly can rotate 360 degrees so as to realize multi-posture motion of the robot and improve climbing and obstacle crossing capabilities;

the six-crawler underwater robot main body (1) comprises a sealed cabin (1-1), side plates (1-3), base plates (1-2), buoyancy tanks (1-5) and main floating bodies (1-8), wherein the sealed cabin (1-1) is longitudinally arranged, the base plates (1-2) are symmetrically arranged at the middle plane of the sealed cabin (1-1), the base plates (1-2) and the sealed cabin (1-1) are fixedly connected through connecting bridges (1-7), the side plates (1-3) are symmetrically connected onto the base plates (1-2), the side plates (1-3) on the left side and the right side are mutually connected through two connecting bridges (1-7), the two buoyancy tanks (1-5) are symmetrically fixed between the two connecting bridges (1-7) in a left-right mode, the main floating bodies (1-8) are longitudinally arranged, the main floating bodies (1-8) longitudinally penetrate through the two connecting bridges (1-7) and are fixed in the middle of the connecting bridges (1-7);

the positioning and navigation system (2) comprises a water depth sensor (2-1) and a six-axis gyroscope (2-3), wherein the water depth sensor (2-1) is arranged at the upper part of the right buoyancy tank (1-5), the six-axis gyroscope (2-3) is arranged in the middle of the sealed cabin (1-1), and the water depth sensor (2-1) and the six-axis gyroscope (2-3) are both connected with the controller (2-2);

the intelligent monitoring system (3) comprises a water temperature sensor (3-1), a PH water quality sensor (3-3), a water turbidity sensor (3-4) and a camera, wherein the water temperature sensor (3-1), the PH water quality sensor (3-3) and the water turbidity sensor (3-4) are all arranged on a shell of the sealed cabin (1-1), the camera is arranged in an ellipsoidal cover in the sealed cabin (1-1), and the water temperature sensor (3-1), the PH water quality sensor (3-3), the water turbidity sensor (3-4) and the camera are all connected by a controller (2-2);

the left mechanical arm assembly (4-51) comprises a large arm (4-32), a first steering engine (4-37), a second steering engine (4-46), a large arm base (4-34), a transmission rod (4-35), a first positioning bean (4-38), a left steering engine rocker arm (4-36), a first horizontal flange bearing (4-39) and a mechanical grabbing clamp assembly, wherein the large arm base (4-34) is connected and arranged on a left base plate (1-2) through the first horizontal flange bearing (4-39), the first steering engine (4-37) is fixed on the left base plate (1-2), the output end of the first steering engine (4-37) is connected with one end of the left steering engine rocker arm (4-36), the other end of the left steering engine rocker arm (4-36) is connected with one end of the transmission rod (4-35), the other end of the transmission rod (4-35) is connected with a large arm base (4-34) through a positioning bean I (4-38), one end of a large arm (4-32) is hinged to the large arm base (4-34), the large arm (4-34) is driven by a steering engine II (4-46) relative to the rotation of the large arm base (4-34), the steering engine II (4-46) is fixed on the large arm base (4-34), the other end of the large arm (4-32) is provided with the mechanical grabbing clamp assembly, and the large arm (4-32) and the mechanical grabbing clamp assembly are driven to rotate in space through the rotation of the steering engine I (4-37) and the steering engine II (4-46);

the mechanical grabbing clamp assembly comprises a steering engine III (4-31), an internal thread copper cylinder (4-44), a piston cylinder (4-29), a piston (4-42), a screw rod (4-43), a coupler (4-45), a speed reducing motor (4-30) and mechanical clamps (4-40), wherein the steering engine III (4-31) is fixed at the other end of the large arm (4-32), the output end of the steering engine III (4-31) is connected to the screw rod (4-43) through the speed reducing motor (4-30) and the coupler (4-45), the screw rod (4-48) is screwed into the internal thread copper cylinder (4-44), the internal thread copper cylinder (4-44) is fixedly connected with the piston (4-42) and is arranged in the piston cylinder (4-29), and the piston (4-42) is fixedly connected with a double-sided tooth (4-41), the mechanical pliers (4-40) are matched with the double-sided teeth (4-41), the piston cylinders (4-29) are connected to the speed reduction motor housings (4-30) of the speed reduction motors (4-30) in a sealing mode, the speed reduction motors (4-30) drive the screw rods (4-43) to rotate, the internal thread copper columns (4-44) are screwed out or screwed in to push the pistons (4-42), and the pistons (4-42) push the connection positions of the left pliers and the right pliers of the mechanical pliers (4-40) to open or close the mechanical pliers (4-40);

the right manipulator arm assembly (4-50) is arranged on the backing plate (1-2) on the right side and comprises a hydraulic cylinder I (4-19), a hydraulic cylinder II (4-7), a small arm (4-21), a large arm (4-10), a steering engine IV (4-16), a positioning bean II (4-17), a transmission shaft (4-14), a transmission column (4-23) and a cutter executing mechanism, wherein the bottom of the manipulator base (4-13) is arranged on the backing plate (1-2) on the right side through a horizontal flange bearing II (4-18), the steering engine IV (4-16) connected with the right steering engine rocker arm (4-15) is fixed on the backing plate (1-2) on the right side, the right steering engine rocker arm (4-15) is connected with one end of the transmission shaft (4-14), the other end of the transmission shaft (4-14) is connected with a second positioning bean (4-17), the second positioning bean (4-17) is connected with a mechanical arm base (4-13), one end of the large arm (4-10) is hinged with the mechanical arm base (4-13), the small arm (4-21) is hinged with the other end of the large arm (4-10), a first hydraulic cylinder (4-19) is hinged between the mechanical arm base (4-13) and the large arm (4-10), a second hydraulic cylinder (4-7) is hinged between the large arm (4-10) and the small arm (4-21), the end part of the small arm (4-21) is connected with a cutter executing mechanism, a fourth steering engine (4-16) rotates, a rocker arm (4-15) of the right steering engine pushes the transmission shaft (4-14) to move, the whole right mechanical arm assembly is further pushed to rotate left and right, and the hydraulic cylinder I (4-19) and the hydraulic cylinder II (4-7) drive the large arm (4-10) and the small arm (4-21) to move;

the cutter executing mechanism comprises a fifth steering engine (4-5), a motor disc (4-24), a motor (4-25), a cutter library (4-1-15), a motor output end clutch (4-28) and a cutter tail end clutch (4-27), wherein the fifth steering engine (4-5) is arranged at the tail part of the small arm (4-21), the fifth steering engine (4-5) is connected with a rocker arm (4-22) of the steering engine, the rocker arm (4-22) of the steering engine is connected with a transmission column (4-23), the other end of the transmission column (4-23) is connected with the motor disc (4-24), the motor disc (4-24) is arranged in a groove of the small arm shaft (4-4), the motor (4-25) is fixed on the motor disc (4-24), and the clutch (4-28) is connected with an output shaft of the motor, the cutter storehouse (4-1-15) is arranged at the head of the small arm (4-21), a steering engine six (4-2) for driving the cutter storehouse (4-1-15) to rotate is arranged in the cutter storehouse (4-1-15), a steering engine rocker arm (4-22) is rotated through a steering engine five (4-5) to push a motor disc (4-24) to move forwards, a clutch (4-28) at the output end of a motor is meshed with a clutch (4-27) at the tail part of a cutter (4-1) in the cutter storehouse (4-1-15), and the motor (4-25) rotates to drive the cutter (4-1) to rotate; the motor disc (4-24) is controlled to retreat through the fifth steering engine (4-5) on the small arm (4-21), the sixth steering engine (4-2) in the tool magazine (4-1-15) rotates, so that the tool disc (4-1-15) rotates, the fifth steering engine (4-5) on the small arm (4-21) pushes the motor disc (4-24) forwards, and the clutch (4-28) at the output end of the motor is meshed with the clutch (4-27) at the tail part of the tool again, so that automatic tool changing is completed;

the cutter storehouse (4-1-15) comprises a steering engine (4-2), a cutter disc (4-1-15), a clutch (4-27), a cutter (4-1) and a rudder rack (4-3), wherein a steering engine six (4-2) is arranged on the rudder rack (4-3), the steering engine is erected at the head of a small arm (4-21), the steering engine (4-2) is connected with the cutter disc (4-1-15), the cutter (4-1) is arranged on the cutter disc (4-1-15), and the tail of the cutter (4-1) is connected with the clutch (4-27).

2. A multi-functional six-track underwater robot as claimed in claim 1, wherein: the underwater propeller assembly comprises two first underwater propellers (5-18), a second underwater propeller (5-20) and a third underwater propeller (5-22) which are obliquely and bilaterally symmetrically arranged on two side plates (1-3), wherein the structures and the arrangement modes of the first underwater propellers (5-18) and the second underwater propeller (5-20) are the same, and the third underwater propeller (5-22) is horizontally and inwardly obliquely arranged;

the included angle between the first underwater propeller and the second underwater propeller and the base plane is 45-90 degrees, the included angle between the first underwater propeller and the middle transverse section is 0-60 degrees, and the included angle between the first underwater propeller and the middle longitudinal section is 0-30 degrees; the included angle between the third underwater propeller (5-22) and the middle longitudinal section is 0-60 degrees, wherein the base plane is a horizontal plane contacted by the tracks of the six-track underwater robot, the middle longitudinal section is a longitudinal plane perpendicular to the base plane and the middle part of the six-track underwater robot of the middle transverse section, and the middle transverse section is a transverse plane perpendicular to the base plane and the middle longitudinal section and in the middle part of the six-track underwater robot of the middle transverse section;

the underwater propeller I (5-18), the underwater propeller II (5-20) and the underwater propeller III (5-22) respectively comprise a propeller shell (5-42), a motor (5-43), a transmission shaft (5-40) and a propeller (5-44), wherein one end of the transmission shaft (5-40) is connected with the motor (5-43), the other end of the transmission shaft extends out of the propeller shell through a bearing (5-45), and the propeller (5-44) is fixedly connected to the end part of the transmission shaft (5-40) extending out of the propeller shell.

3. A multi-functional six-track underwater robot as claimed in claim 1, wherein: the main driving track assembly (5-11) comprises tracks, independently suspended damping wheel assemblies, a speed reducing motor, driving wheels (5-24), driven wheel assemblies and gears (5-2), wherein the independently suspended damping wheel assemblies, the driving wheels (5-24) and the driven wheel assemblies are all arranged on a six-track underwater robot main body (1), the driving wheels (5-24) are in transmission connection with the speed reducing motor through the gears (5-2), the tracks are wound on the driving wheels (5-24), the driven wheel assemblies and the independently suspended damping wheel assemblies, and the gears (5-2) are driven to rotate through the speed reducing motor (5-7), so that the tracks drive the driven wheels, and the robot moves;

the independently suspended damping wheel assemblies are arranged in a bilateral symmetry mode and comprise damping springs (5-29), wheel arms (5-30) and wheels (5-31), wherein the wheel arms (5-30) are of a bending structure, the bending parts of the wheel arms (5-30) are hinged to the six-track underwater robot main body 1, one ends of the wheel arms (5-30) are connected to the six-track underwater robot main body 1 through the damping springs (5-29), and the wheels (5-31) are arranged at the other ends of the wheel arms (5-30).

4. A multi-functional six-track underwater robot as claimed in claim 1, wherein: the rocker arm component comprises a rocker arm driving steering engine (5-17), a driving wheel (5-24), a driven wheel (5-19), a crawler belt (5-9, 5-12), a left rocker arm plate (5-6), a flange coupler (5-5), 45-degree bevel gears (5-16, 5-14), a hollow transmission shaft (5-50), a gear (5-2) and a transmission shaft (5-1), wherein the rocker arm driving steering engine (5-17) is fixed on a backing plate (1-2) on the right side, the rotating part of the rocker arm driving steering engine (5-17) is fixedly connected with a 45-degree bevel gear I (5-14), the flange coupler (5-5) is connected with the tail part of the left rocker arm plate (5-6), and the hollow transmission shaft (5-50) penetrates through the rocker arm plate to fix the driving wheel (5-24) and the driven wheel, the crawler belt is sleeved on the driving wheel and the driven wheel, the 45-degree bevel gears (5-16) are fixed on the transmission shaft (5-1), the transmission shaft (5-1) penetrates through the hollow transmission shaft (5-50) and is fixedly connected with the flange coupling (5-5) at the tail part of the left rocker arm plate (5-6), the rocker arm driving steering engines (5-17) drive the 45-degree bevel gears (5-16) on the transmission shaft to rotate through the 45-degree bevel gears (5-14), the transmission shaft (5-1) drives the rocker arms to complete rotation, and the rocker arm driving steering engines (5-17) are symmetrically arranged in the front and back.

5. A multi-functional six-track underwater robot as claimed in claim 1, wherein: the intelligent maintenance system also comprises a speed reducing motor (4-53), a screw rod (4-51), a stud (4-50), a hydraulic cylinder (4-48), a hydraulic rod (4-49), an equipment frame (4-54), a pipeline (4-47) and a motor driver (5-38), wherein the speed reducing motor (4-53) is connected with the motor driver (5-38), the speed reducing motor (4-53) is fixed on the right side of the equipment frame (4-54), the motor driver (5-38) is connected with a controller (2-2), the screw rod (4-51) is connected with the output end of the speed reducing motor (4-53) through a coupler (4-52), one end of the stud (4-50) is connected with the screw rod (4-51), the other end of the stud (4-50) is connected with the hydraulic rod (4-49), the hydraulic cylinders (4-49) are fixed on the left sides of the equipment frames (4-54), the speed reducing motors (4-53) drive the screw rods (4-51) to rotate, the screw bolts (4-50) are screwed out, so that the hydraulic rods (4-49) are pushed forwards, liquid in the hydraulic cylinders (4-48) is squeezed, and the liquid is conveyed to the mechanical arms along the pipelines (4-47), and therefore the mechanical arms are driven.

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