CN116495142B

CN116495142B - Multi-navigation state composite driving underwater robot

Info

Publication number: CN116495142B
Application number: CN202211110355.7A
Authority: CN
Inventors: 刘海涛; 祁正鸿; 翁宸宇; 张桂雄; 张科
Original assignee: Guangdong Ocean University
Current assignee: Guangdong Ocean University
Priority date: 2022-09-13
Filing date: 2022-09-13
Publication date: 2024-01-30
Anticipated expiration: 2042-09-13
Also published as: CN116495142A

Abstract

The invention discloses a multi-aerostate composite driving underwater robot, which comprises a main body assembly, a main body assembly and a control system, wherein the main body assembly comprises a middle storage tank cabin, a left equipment control cabin and a right equipment control cabin; a hollow air cylinder assembly comprising four air cylinders and four fairings; the rodless cylinder assembly comprises four rodless cylinders which are respectively embedded in square tube grooves in the four air cylinders; a rotary wing assembly comprising two rotary deflector wings; the two rotary guide wings are respectively arranged on the left equipment control cabin and the right equipment control cabin; the air storage tank assembly comprises two air storage tanks which are arranged in the storage tank cabin assembly; the storage tank cabin assembly is arranged on the middle storage tank cabin; a propeller assembly comprising a propeller and a battery compartment; the propeller is arranged at the lower end of the battery compartment and is connected with a battery in the battery compartment; the battery compartment is arranged on the storage tank compartment assembly, and a tail vane assembly is arranged on the battery compartment.

Description

Multi-navigation state composite driving underwater robot

Technical Field

The invention belongs to the technical field of multi-attitude underwater robots, and particularly relates to a multi-attitude composite driving underwater robot.

Background

The underwater autonomous robot is an unmanned or remote-controlled robot capable of autonomous navigation under water, and is mainly divided into a full-drive autonomous underwater robot and an under-drive autonomous underwater robot in a driving mode, wherein the main difference between the full-drive autonomous underwater robot and the under-drive autonomous underwater robot is the difference of the number of propeller-type propellers erected for providing thrust. However, for the fully-driven autonomous underwater robot, under the support of an onshore power supply system, the cruising ability of the fully-driven autonomous underwater robot is greatly influenced, and the fully-driven underwater robot only depends on a propeller, once one or more propellers fail, the autonomous control of the fully-driven autonomous underwater robot is greatly influenced, even the autonomous control of the fully-driven autonomous underwater robot is lost, and secondly, for the under-driven autonomous underwater robot, the currently-designed under-driven autonomous underwater robot only can realize simple control, the complete machine of the fully-driven autonomous underwater robot cannot be greatly floated by the aid of the only propellers, and meanwhile, the underwater robot also needs a large closed space to place energy storage equipment due to the fact that the power required by the propellers in working is large, and meanwhile, the battery selection is challenging. Secondly, most of under-actuated underwater gliding robots on the market at present are in a simple single torpedo shape, and most of unmanned underwater vehicles with wings which are propelled by means of the balance relation between self gravity and buoyancy do not adopt propellers and the like as main propulsion devices, so that the unmanned underwater vehicles move slowly.

In the current research field, most of multi-navigation-state underwater robots are bionic intelligent robots and amphibious underwater robots in a crawler belt and other driving modes, wherein the bionic intelligent robots and the amphibious underwater robots inevitably need larger driving supply, secondly, the bionic intelligent robots and the amphibious underwater robots can only combine the structural characteristics of the amphibious underwater robots to realize good motion modes, and cannot meet the requirements of more navigation states and underwater application scenes. For the design of the underwater gliding robot, the gliding and sinking of the underwater gliding robot mainly depend on the balance relation between the gravity and the buoyancy of the underwater vehicle to push the underwater vehicle with the balance wings to advance. The gravity-buoyancy-variable engine is arranged in the underwater glider, the volume of the discharged water is regulated by virtue of a flexible bag arranged at one end, the floating and the submerging are realized, a pitching moment is formed by utilizing a mass sliding block capable of moving back and forth in a wing or a fuselage, and part of the underwater glider can even receive solar energy on the water surface or utilize seawater temperature differences of different depths to generate energy in the sliding process. The steering mode of the underwater gliding robot mainly comprises two modes, namely a transverse rolling moment is formed by transverse movement of a mass sliding block or rotation of an asymmetric battery pack, and the steering mode is realized by a steering rudder, so that the underwater gliding robot can advance and steer only by floating and submerging in the motion, and obviously has no backward function, so that the motion route of the underwater gliding robot is zigzag (also called as zigzag) under the ideal condition of no strong current intervention.

The existing underwater gliding robots generally can only move forward by frequently floating up and down, so that the advancing speed is limited. In addition, the single structural design makes it through simple come-up and go-down motion unable to realize the motion of many postures, and then can't adapt to more underwater application scenes. In addition, the cruising ability is a great technical problem of the underwater robot, the power is needed to be provided by the propeller of the underwater robot to obtain the change in depth, the power reserve of the underwater robot is extremely lost, if the underwater robot only depends on the self energy storage and does not need to be provided with a cable, the cruising ability of the underwater robot is obviously not as durable as expected, and the advantages of the underactuated underwater robot and the underwater glider are combined, so that the problem of energy storage is solved, and the underwater robot with multiple cruises, multiple functions and excellent cruising ability can be designed.

Disclosure of Invention

The invention aims to solve or improve the problems of the prior art by providing a multi-aerostate compound drive underwater robot.

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

a multi-attitude composite drive underwater robot, comprising:

The main machine body assembly comprises a middle storage tank cabin, a left equipment control cabin and a right equipment control cabin which are positioned at two sides of the middle storage tank cabin;

a hollow air cylinder assembly comprising four air cylinders and four fairings; two air cylinders are arranged at two ends of the left equipment control cabin, and the other two air cylinders are arranged at two ends of the right equipment control cabin; the four air guide covers are respectively arranged at the front ends of the air cylinders of the four air cylinders;

the rodless cylinder assembly comprises four rodless cylinders which are respectively embedded in square tube grooves in the four air cylinders, and each rodless cylinder is provided with a rodless cylinder sliding block with adjustable weight;

a rotary wing assembly comprising two rotary deflector wings; the two rotary guide wings are respectively arranged on the left equipment control cabin and the right equipment control cabin;

the air storage tank assembly comprises two air storage tanks which are arranged in the storage tank cabin assembly; the storage tank cabin assembly is arranged on the middle storage tank cabin;

a propeller assembly comprising a propeller and a battery compartment; the propeller is arranged at the lower end of the battery compartment and is connected with a battery in the battery compartment; the battery compartment is arranged on the storage tank compartment assembly, and a tail vane assembly is arranged on the battery compartment.

The multi-navigation state composite driving underwater robot provided by the invention has the following beneficial effects:

1. The invention combines the advantages of a full-driven autonomous underwater robot, an under-driven autonomous underwater robot and an under-driven underwater gliding robot to design a novel multi-navigation composite driving underwater robot, adopts a single propeller as one of the power supply sources, and designs a tail vane component which can be used as a direction control application source and a power supply source; in addition, the pair of rotatable wings are further arranged, the wings carry the guide plates and the solar panels, and the defect that the current underwater autonomous robot is weak in endurance is overcome, and meanwhile, the autonomous robot can realize autonomous movement in multiple sailing states.

2. The robot designed by the invention carries the gas storage tank for storing high-pressure gas, and utilizes the principle that the under-actuated underwater gliding robot glides under water, so that the gliding action of the underwater gliding robot can be completely realized.

3. The underwater autonomous robot can realize control of more postures, has excellent cruising ability, can realize movement of five degrees of freedom underwater, can realize movement of multiple degrees of freedom without too many propellers and larger electric storage equipment, and can adapt to more underwater application scenes. In general, the designed multi-aerostate composite driving underwater robot has a unique structure and a wide development prospect.

4. The invention carries the solar panel and has a structure-retractable wing design, and the design of the tail rudder is matched, so that the robot has excellent performance in submarine latency, sea surface floating, underwater gliding, obstacle avoidance and the like, and can navigate under the water surface floating under the condition that the high-pressure gas of the gas storage tank is about to be exhausted due to the high endurance capacity.

5. The invention designs the safety air bag by taking the advantage of carrying high-pressure gas, and can immediately inflate the safety air bag to prevent the safety air bag from sinking into the sea floor when the machine body collides and various damages which cannot be repaired occur. Furthermore, under the condition that the self power reserve can not drive the single propeller, the tail rudder of the bionic fish tail can be controlled by the tail rudder steering engine to continuously swing, so that advancing power is provided, in addition, the bionic fish tail has a contractible function, and the bionic fish tail can contract in time when contacting the seabed and harder obstacles, so that the aim of protecting the integrity of the tail rudder is fulfilled.

Drawings

FIG. 1-1 is a schematic diagram of a main body assembly of the present invention;

FIGS. 1-2 are schematic diagrams of a main body assembly of the present invention;

FIGS. 1-3 are schematic views of parts of a main body assembly;

FIG. 2-1 is a schematic diagram of a hollow cylinder assembly according to the present invention;

FIG. 2-2 is a schematic diagram of a hollow cylinder assembly according to the present invention;

FIGS. 2-3 are schematic diagrams of the hollow cylinder assembly of the present invention;

FIGS. 2-4 are schematic views showing the structure of the hollow cylinder assembly of the present invention;

FIGS. 2-5 are schematic diagrams showing the hollow cylinder assembly of the present invention;

FIGS. 2-6 are schematic cross-sectional views of the hollow cartridge assembly structure-cartridge of the present invention;

FIGS. 2-7 are front side elevational views of the hollow cylinder assembly of the present invention;

FIG. 3-1 is a schematic diagram of the whole structure of the tail vane assembly of the present invention;

FIG. 3-2 is a schematic diagram of the whole structure of the tail vane assembly of the present invention;

fig. 3-3 are schematic diagrams of the steering engine connecting rod structure of the tail vane assembly of the invention;

fig. 3-4 are schematic diagrams of a steering engine connecting rod structure of the tail vane assembly;

3-5 are schematic views of single parts of a steering engine base of the tail vane assembly of the present invention;

3-6 are schematic diagrams of a single part of the lower tail vane of the tail vane assembly of the present invention;

FIGS. 3-7 are schematic diagrams of single parts of the tail vane on the tail vane assembly of the present invention;

fig. 3-8 are schematic diagrams of the upper and lower tail rudders of the tail rudder assembly of the present invention;

FIG. 4-1 is a diagonal side view of a magnetically coupled rodless cylinder of the present invention;

FIG. 4-2 is a schematic view of the cylinder assembly-hollow cylinder assembly of the present invention;

FIGS. 4-3 are schematic cross-sectional views of mating sides of the cylinder assembly inflator assembly of the present invention;

FIG. 5-1 is an overall deployed front side view of the rotatable wing assembly of the present invention;

FIG. 5-2 is a top plan view of the integrally extended rear side of the rotary wing assembly of the present invention;

5-3 are front elevational top views, respectively, of the integrated fully closed rotary wing assembly of the present invention;

FIGS. 5-4 are a front, top plan view, fully closed, of the integrated rotary wing assembly of the present invention;

FIGS. 5-5 are schematic views of the stationary base of the rotating structure assembly of the present invention;

FIGS. 5-6 are schematic diagrams of a cylinder assembly of a rotary wing assembly of the present invention;

FIGS. 5-7 are schematic diagrams of a second cylinder assembly of the rotary wing assembly of the present invention;

FIGS. 5-8 are schematic illustrations of cylinder assembly-stationary base mating in a rotary wing assembly of the present invention;

FIGS. 5-9 are schematic diagrams of a rotating structure assembly-a lower four-bar linkage structure-a support frame in a rotating wing assembly according to the present invention;

5-10 are schematic diagrams of the cooperation of a rotating structure assembly, a lower four-link structure, a support frame and a No. 2 lower link in the rotating wing assembly of the invention;

FIGS. 5-11 are schematic views of the overall structure of a lower four-bar linkage, a rotating structural assembly in a rotating wing assembly according to the present invention;

FIGS. 5-12 are fully expanded schematic views of the lower four-bar-stationary base mating of the rotating structure assembly of the rotary wing assembly of the present invention;

FIGS. 5-13 are schematic illustrations of the lower four-bar linkage-stationary base mating contraction of a rotating structural assembly of the rotating wing assembly of the present invention;

FIGS. 5-14 are schematic views of a rotary structure assembly-wing main structure-wafer latch in a rotary wing assembly of the present invention;

FIGS. 5-15 are schematic views of a rotating structure assembly-an upper four-bar linkage structure-a support frame in a rotating wing assembly of the present invention;

FIGS. 5-16 are schematic views of the overall structure of the rotary structure assembly-upper four-bar linkage assembly of the rotary wing assembly of the present invention;

FIGS. 5-17 are schematic diagrams showing the overall structure of a rotating structure assembly, an upper four-bar linkage, in a rotating wing assembly according to the present invention;

FIGS. 5-18 are fully expanded views of the upper four-bar linkage-stationary base mating of the rotating structural assembly of the present invention;

FIGS. 5-19 are fully expanded views of the upper four-bar linkage-stationary base mating of the rotating structural assembly of the present invention;

FIGS. 5-20 are enlarged schematic views of a rotating assembly-upper four-bar linkage structure portion of the rotating wing assembly of the present invention;

FIGS. 5-21 are schematic illustrations of a fully deployed configuration of a rotating structural assembly of the rotary wing assembly of the present invention;

FIGS. 5-22 are schematic diagrams showing the overall contraction of upper and lower four-bar linkages of a rotating structure assembly of a rotary wing assembly according to the present invention;

FIGS. 5-23 are schematic diagrams showing the overall contraction of upper and lower four-bar linkages of a rotating structure assembly of a rotary wing assembly according to the present invention;

5-24 are three schematic views showing the overall contraction of upper and lower four-bar linkage structures of a rotating structure assembly in a rotating wing assembly according to the present invention;

FIGS. 5-25 are schematic diagrams showing the overall contraction of the upper and lower four-bar linkage of the rotating structure assembly of the present invention;

FIGS. 5-26 are schematic illustrations of a top plan view of the rotary structure assembly of the present invention with the upper and lower four-bar linkages fully closed in their entirety;

FIGS. 5-27 are schematic top plan views of the rotary structure assembly of the present invention with the upper and lower four-bar linkages fully closed;

FIGS. 5-28 are schematic diagrams of a wing main structure E3 of the rotary wing assembly of the present invention;

FIGS. 5-29 are schematic diagrams II of a wing main structure E3 of the rotary wing assembly of the present invention;

FIGS. 5-30 are schematic diagrams III of a wing main structure E3 of the rotary wing assembly of the present invention;

FIGS. 5-31 are enlarged schematic views of a portion of the main wing structure E3 of the rotary wing assembly of the present invention;

FIGS. 5-32 are enlarged schematic views of a portion of the main wing structure E3 of the rotary wing assembly of the present invention;

FIGS. 5-33 are schematic diagrams of wing main structure-rotating structure assembly-cylinder assembly configurations in a rotating wing assembly according to the present invention;

FIGS. 5-34 are schematic diagrams of wing main structure-rotating structure assembly-cylinder assembly configurations in a rotating wing assembly according to the present invention;

5-35 are three schematic diagrams of wing main structure-rotating structure assembly-cylinder assembly cooperation in the rotating wing assembly of the present invention;

FIGS. 5-36 are enlarged schematic views of the main parts of the wing main structure-rotating structure assembly-cylinder assembly of the rotating wing assembly of the present invention;

FIGS. 5-37 are schematic illustrations of the structure of a solar panel E6 in a rotary wing assembly of the present invention;

FIGS. 5-38 are schematic diagrams of wing primary structure-rotating structure assembly-cylinder assembly-solar panel mating in a rotating wing assembly of the present invention;

FIGS. 5-39 are schematic diagrams showing the overall internal development of the deflector assembly in the rotary wing assembly of the present invention;

FIGS. 5-40 are second schematic internal expanded views of the overall structure of the deflector assembly of the rotary wing assembly of the present invention;

FIGS. 5-41 are enlarged partial schematic views of a deflector assembly in a rotary wing assembly according to the present invention;

FIGS. 5-42 are schematic views of the overall structure of a baffle assembly in a rotary wing assembly according to the present invention;

FIGS. 5-43 are schematic diagrams of the overall structure of a deflector assembly in a rotary wing assembly according to the present invention;

FIGS. 5-44 are schematic diagrams of steering engine control systems for baffle assemblies in the rotary wing assemblies of the present invention;

FIGS. 5-45 are schematic illustrations of the structure of baffle assembly components of the rotary wing assembly of the present invention;

FIGS. 5-46 are schematic illustrations of a single component structure of a deflector assembly of the rotary wing assembly of the present invention;

FIGS. 5-47 are schematic diagrams II of single parts of a deflector assembly in a rotary wing assembly according to the present invention;

FIGS. 5-48 are schematic diagrams III illustrating the construction of individual parts of a deflector assembly in a rotary wing assembly in accordance with the present invention;

FIGS. 5-49 are schematic views of a single component of a deflector assembly of the rotary wing assembly of the present invention;

FIGS. 5-50 are enlarged partial schematic views of the wing main structure-rotary structure assembly-cylinder assembly-deflector assembly-solar panel assembly of the rotary wing assembly of the present invention;

FIG. 6-1 is a schematic view of a gas reservoir according to the present invention;

FIG. 7-1 is a schematic illustration of a tank module-front tank module of the present invention;

FIG. 7-2 is a schematic diagram of a tank compartment assembly-a front tank compartment second of the present invention;

FIG. 7-3 is an enlarged partial schematic view of the tank compartment assembly-front tank compartment of the present invention;

FIGS. 7-4 are schematic diagrams of a tank compartment assembly-rear tank compartment of the present invention;

FIGS. 7-5 are schematic diagrams of a second tank compartment assembly-rear tank compartment of the present invention;

FIGS. 7-6 are schematic views of a tank module-hemispherical camera hatch of the present invention;

FIGS. 7-7 are schematic diagrams of a single link bend stiffener structure according to one embodiment of the present invention;

FIGS. 7-8 are schematic diagrams of a single link bend stiffener structure according to a second embodiment of the present invention;

FIG. 8-1 is a schematic illustration of a propeller assembly-tail vane assembly configuration of the present invention;

fig. 8-2 is a second schematic view of the cooperation of the propeller assembly and the tail vane assembly of the present invention;

fig. 8-3 are schematic diagrams of a propeller assembly-tail vane assembly cooperation of the present invention;

fig. 8-4 are schematic diagrams of the cooperation of the propeller assembly and the tail vane assembly of the present invention;

FIG. 9-1 is a schematic illustration of a main body assembly-tank module assembly configuration of the present invention;

FIG. 9-2 is a schematic diagram of a main body assembly-tank module assembly configuration second of the present invention;

fig. 9-3 is a schematic diagram of a main body assembly-tank module assembly configuration of the present invention;

fig. 9-4 are schematic diagrams of the matching of a main body assembly, a storage tank assembly, a hollow air cylinder assembly and a leveling slipway air cylinder assembly;

fig. 9-5 are a second schematic diagram of the matching of the main body assembly, the storage tank assembly, the hollow air cylinder assembly and the leveling slipway air cylinder assembly;

fig. 9-6 are schematic diagrams of the matching of a main body assembly, a storage tank assembly, a hollow air cylinder assembly, a leveling slipway air cylinder assembly and a tail vane assembly;

fig. 9-7 are a second schematic diagram of the matching of a main body assembly, a storage tank assembly, a hollow air cylinder assembly, a leveling slipway air cylinder assembly and a tail vane assembly;

fig. 9-8 are a schematic diagram III of the matching of a main body assembly, a storage tank assembly, a hollow air cylinder assembly, a leveling slipway air cylinder assembly and a tail vane assembly;

FIGS. 9-9 are schematic diagrams showing the overall structure of the multi-attitude composite drive underwater robot of the present invention-the rotatable deflector wing assembly fully deployed;

FIGS. 9-10 are schematic diagrams showing the whole structure of the multi-attitude composite driving underwater robot-the rotatable guide wing assembly of the present invention fully extended;

9-11 are schematic diagrams of the whole structure of the multi-aerostate composite driving underwater robot-the rotatable guide wing assembly of the invention fully unfolded;

FIGS. 9-12 are schematic diagrams showing the overall structure of the multi-attitude composite drive underwater robot of the present invention, namely a fully closed rotatable guide wing assembly;

FIGS. 9-13 are schematic diagrams showing the overall structure of the multi-attitude composite drive underwater robot of the present invention, namely a fully closed rotatable guide wing assembly;

FIGS. 9-14 are schematic diagrams of the entire structure of the multi-attitude composite drive underwater robot of the present invention, namely a rotatable guide wing assembly;

9-15 are fully closed schematic diagrams of the entire structure of the multi-attitude composite drive underwater robot-the rotatable guide wing assembly of the present invention;

wherein, A1, reinforcing structure, A2, middle storage tank cabin, A3, front end inflator concentrate water-passing pipe interface, A4, equipment control cabin cover position, A5, rear end inflator concentrate water-passing pipe interface, A6, two sides bolt holes of equipment control cabin, A7, double-layer sealing ring groove of equipment control cabin, A8, concentrate air vent interface, A9, thick wall hollow pipe, A10, concentrate water-passing hole interface, A11, equipment control cabin cover, A11-1, equipment control cabin cover air vent, A12, base bracket, A12-1, base bracket fixed orifices;

B1, front cabin water pipe, B2, middle cabin cylinder water pipe, B3, rear Duan Qitong water pipe, B4, centralized ventilation pipeline, B5, front cabin water pipe, B6, middle cabin water pipe, B7, rear cabin water pipe, B8, centralized ventilation pipeline, B9, upper end single-link bending structure fixing base, B10, lower end single-link bending structure fixing base, B11, front end outer bolt hole of the air cylinder, B12, front end inner bolt hole of the air cylinder, B13, rear end rodless air cylinder fixing hole, B14, rear end rodless air cylinder ventilation pipe hole, B15, air cylinder inner square pipe groove, B16, double-layer sealing ring groove, B17, air cylinder rear end fixing bolt hole, B18, front cabin, B19, middle cabin, B20, rear cabin, B21, air cabin rear baffle, B22, air cabin front baffle, B23, air guide cover, B24 and air guide cover bolt hole;

the steering engine comprises a C1, a waterproof steering engine, a C2, a first steering engine connecting rod, a C3, a second steering engine connecting rod, a C4, a tail rudder connecting rod, a C5, a tail rudder base, a C6, a tail rudder supporting connecting rod, a C7, a tail rudder supporting frame, a C8, an upper tail rudder, a C9, a lower tail rudder, a C10/C11 and a connecting rod bolt hole;

c5-1, a base bolt hole, C5-2, a tail vane connecting rod fixing hole, C5-3, an upper tail vane fixing hole, C5-4, a lower tail vane fixing hole, C5-5 and an adjusting hole;

C8-1, a main body of an upper tail rudder, C8-2 and a bolt hole of the upper tail rudder;

c9-1, lower tail rudder bolt holes, C9-2, lower tail rudder baffles, C9-3, lower tail rudder limit stops, C9-4 and lower tail rudder main bodies;

d1, a rodless cylinder, D2, a rodless cylinder sliding block, D3, a rodless cylinder front end vent hole, D4, a rodless cylinder rear end vent hole, D5, a rodless cylinder front end threaded rod, D6, a rodless cylinder rear end threaded rod, D7, an air cylinder inner cabin cover, D8, an air cylinder inner cabin cover vent hole, D9, an air cylinder inner cabin cover fixing hole;

e1, a cylinder assembly, E2, a fixed base, E3, a wing main structure, E4, a guide plate assembly, E5, a lower four-link structure, E6, a solar panel, E7 and an upper four-link structure;

e1-1, a cylinder main body, E1-2, a vent hole at the lower end of a cylinder, E1-3, a vent hole at the upper end of a cylinder, E1-4, a cylinder push rod, E1-5, a cylinder double-fork bracket, E1-6, a cylinder fixing bracket, E1-7, a cylinder rotating shaft lock, E1-8, a cylinder double-fork bracket fixing hole, E1-9, a cylinder fulcrum rotating shaft mounting hole, E1-10, a cylinder rotating shaft lock fixing bolt hole, E1-11, a cylinder fixing bracket fixing bolt hole, E1-12, a cylinder triangular bracket fixing bolt hole, E1-13 and a cylinder triangular bracket;

e2-1, a rotating shaft is fixed at the front end of the base, E2-2, a rotating shaft is fixed at the rear end of the base, E2-3, a fixed groove, E2-4 and a base bolt hole;

E3-1, a wafer bolt sliding groove, E3-2, a main structure fixing hole, E3-3, a guide plate middle rotating shaft fixing position, E3-4, a main structure guide plate steering engine fixing hole, E3-5, an additional solar plate, E3-6, a steering engine cover, E3-7, a main structure steering engine cover wedge block, E3-8, a main structure solar plate mounting concave area, E3-9, a wafer bolt, E3-9-1 and a wafer bolt fixing hole;

e4-1, a baffle upper long plate, E4-2, a baffle upper short plate, E4-3, a baffle lower long plate, E4-4, a baffle lower short plate, E4-5, a baffle rotating shaft, E4-6, a baffle inner rotating bracket, E4-7, a baffle connecting shaft, E4-8, a baffle steering engine, E4-8-1, a baffle steering engine threaded hole, E4-9, an O-shaped steering engine connecting rod, E4-10, a baffle steering engine cover, E4-10-1, a baffle steering engine cover fixing hole, E4-10-2 and a baffle steering engine cover wedge-shaped groove;

e5-1, no. 1 lower connecting rod, E5-1-1, no. 1 lower connecting rod fixed rotation hole, E5-2, no. 2 lower connecting rod, E5-3, no. 3 lower connecting rod, E5-4, no. 4 lower connecting rod, E5-5, no. 5 lower connecting rod, E5-5-1, no. 5 lower connecting rod fixed rotation hole, E5-6, lower connecting rod support frame, E5-6-1, lower connecting rod front end support base, E5-6-2, lower connecting rod rear end support base, E5-7, lower connecting rod support frame bolt hole, E5-8, no. 3-4-5 lower connecting rod rotation hole, E5-9, no. 1-4 lower connecting rod rotation axis, E5-10, no. 1-2 lower connecting rod rotation axis;

E7-1, no. 1 upper connecting rod, E7-1-1, no. 1 upper connecting rod fixed rotation hole, E7-1-2, no. 1 upper connecting rod threaded hole, E7-2, no. 2 upper connecting rod, E7-3, no. 3 upper connecting rod, E7-4, no. 4 upper connecting rod, E7-5, no. 5 upper connecting rod, E7-5-1, no. 5 upper connecting rod fixed rotation hole, E7-6, upper connecting rod support frame, E7-6-1, upper connecting rod front end support base, E7-6-2, upper connecting rod rear end support base, E7-7, upper connecting rod support frame bolt hole, E7-8, no. 3-4-5 upper connecting rod rotation hole, E7-9, no. 1-4 upper connecting rod rotation shaft, E7-10, no. 2-3 upper connecting rod rotation shaft, E7-11, threaded fixing pin;

f1, a gas storage tank, F2 and a gas storage tank vent hole;

g1, a front-section storage tank cabin, G2, a rear-section storage tank cabin, G3, a hemispherical camera cabin cover, G4 and a single-connecting-rod bending and reinforcing structure;

g1-1, a double-layer sealing ring groove at the rear part of a front-stage storage tank cabin, G1-2, a single-connecting-rod bending structure fixing base at the upper part of the front-stage storage tank cabin, G1-3, a single-connecting-rod bending structure fixing base at the lower part of the front-stage storage tank cabin, G1-4, a bolt hole at the rear part of the front-stage storage tank cabin, G1-5, an air bag mounting groove, G1-5-1, an air bag inlet and outlet, G1-5-2, an air bag vent hole, G1-5-3 and an air bag sealing hole; g1-6, a bolt hole at the front part of the front-section storage tank cabin, G1-7, and a double-layer sealing ring groove at the front part of the front-section storage tank cabin;

G2-1, a rear double-layer sealing ring groove of a rear storage tank compartment, G2-2, a single-link bending structure fixing base at the upper part of the rear storage tank compartment, G2-3, a single-link bending structure fixing base at the lower part of the rear storage tank compartment, G2-4, a rear bolt hole of the rear storage tank compartment, G2-5, a front bolt hole of the rear storage tank compartment, G2-6 and a front double-layer sealing ring groove of the rear storage tank compartment;

g3-1, a hemispherical camera hatch cover bolt hole, G3-2, a hemispherical camera hatch cover double-layer sealing ring groove;

g4-1, a single connecting rod bending reinforcing structure fixing hole;

h1, a propeller, H2, a battery compartment, H2-1, a double-layer sealing ring groove of the battery compartment, H2-2, a through line hole, H2-3, a through line hole at the front end of the battery compartment, H2-4, a bolt hole at the front end of the battery compartment, H3 and a battery compartment cover.

Detailed Description

The following description of the embodiments of the present invention is provided to facilitate understanding of the present invention by those skilled in the art, but it should be understood that the present invention is not limited to the scope of the embodiments, and all the inventions which make use of the inventive concept are protected by the spirit and scope of the present invention as defined and defined in the appended claims to those skilled in the art.

9-1 to 9-15, the multi-attitude composite driving underwater robot of the scheme comprises a control system component, a main body component, a hollow air cylinder component, a rodless air cylinder component, a tail rudder component, a rotary wing component, an air storage tank component, a storage tank component and a propeller component;

a control system assembly for effecting control of various electrical components of a robot, comprising:

and (3) a power control system: two control modes (two control modes of wired communication and wireless communication) are provided for the power system. The raspberry pie is used as a lower computer, the STM32 is used for controlling the propeller and the steering engine to move, and the PC end on the shore is used as an upper computer for issuing movement control instructions. Under the condition of wireless communication, the upper computer and the lower computer are kept in the same local area network, and can realize intermittent communication in the process that the aircraft floats to the water surface, and the functions of position detection, movement instruction issuing and the like are realized. The upper computer and the lower computer both adopt an ROS system with an open source under the Ubuntu system, and the control design can be further designed and improved in the later stage by utilizing the open source characteristic of the ROS system.

And the inflation and deflation control system comprises: the STM32 is used for controlling the opening and closing of the electromagnetic valve to control the inflation or deflation of the pontoon and provide compressed air for the sliding table cylinder. Each cabin on the inflator is connected with two electromagnetic valves, one of which controls the inflation and the other controls the water outlet. The sliding table cylinder is connected with an electromagnetic valve to control the left-right movement of the sliding table cylinder, so that a sliding block on the rodless cylinder is driven to slide back and forth relative to the whole machine;

Specifically, each air cylinder of the hollow air cylinder assembly is provided with three cabins, four air cylinders are provided, and total of 12 cabins are provided, each air cylinder is required to be connected with two electromagnetic valves, and one air cylinder is used for controlling ventilation and the other air cylinder is used for controlling water outlet. The rodless cylinder assembly has 8 ventilation holes, each cylinder is connected with an electromagnetic valve to control the sliding of the sliding block at the upper end of the sliding table cylinder, so that the gravity center of the whole machine is adjusted, and in addition, the movement of the cylinder in the cylinder assembly in the rotary wing assembly is controlled by 1 electromagnetic valve. Meanwhile, for safety, a pressure or flow detection sensor is properly added in the air path, and an electromagnetic valve is also needed to control the ventilation of the air bag.

Embodiment 2 referring to fig. 1-1, 1-2 and 1-3, the main body assembly of the present embodiment is used for providing support and bearing functions for an underwater robot, and specifically includes:

the device comprises a reinforcing structure A1, a middle storage tank cabin A2, a front-end air cylinder centralized water-passing pipe interface A3, left and right device control cabin cover positions A4, a rear-end air cylinder centralized water-passing pipe interface A5, device control cabin two-side bolt holes A6, a device control cabin double-layer sealing ring groove A7, a centralized air vent interface A8, a thick-wall hollow pipe A9, a centralized water-passing hole interface A10, a device control cabin cover A11 and a base bracket A12;

thick-wall hollow pipes A9 are respectively connected between the left equipment control cabin and the middle storage tank cabin A2 and between the right equipment control cabin and the middle storage tank cabin A2; the thick-wall hollow pipe A9 enables the equipment control cabins on two sides to be communicated with the cabin body in the middle, so that a circuit and an air circuit can be conveniently connected with each other.

A centralized vent hole interface A8 is designed right above the middle section storage tank cabin A2, and a centralized water through hole interface A10 is designed right below the middle section storage tank cabin A2 and is used for discharging redundant air and redundant water of all hollow air cylinders, and meanwhile, the centralized water through holes have the function of water inflow. The periphery of the thick-wall hollow pipe A9 is provided with a plurality of reinforcing structures A1, in addition, the upper parts of equipment control cabins on two sides are cut off, left and right equipment control cabin cover positions A4 are reserved, on one hand, a fixing base E2 and a fixing support A12 of a rotatable diversion wing assembly are conveniently installed, secondly, the plane is designed, the rotatable diversion wing assembly is conveniently sealed through an equipment control cabin cover A11, the connection mode of the cabin cover is a bolt connection, the upper end of the cabin cover is connected with a base support A12 through a bolt, two groups of equipment control cabin cover vent holes A11-1 and 3 are arranged in each equipment control cabin, and ventilation pipelines of each air cabin are connected into the equipment control cabin to perform centralized control.

The base bracket fixing hole A12-1 is connected with the base bolt hole E2-4. In the embodiment, the whole main body component is of an integral structure except for the equipment hatch cover a11 and the base bracket a12, and in practical application, because the mechanism is relatively complex, the whole main body component is required to be integrally manufactured in a 3D printing mode and the like.

In embodiment 3, referring to fig. 2-1 to 2-7, the hollow air cylinder assembly of the embodiment comprises four air cylinders with inner circles and outer circles and four air guide sleeves, wherein one air cylinder is respectively arranged at the front side and the rear side of the left equipment control cabin, and the other two air cylinders are arranged at the two ends of the right equipment control cabin and are connected through bolts.

To enable the sectional multi-function control of the gas, each gas cylinder is divided into three chambers, a front chamber B18, a middle chamber B19, a rear chamber B20, as a whole. The upper end and the lower end of the front cabin B18 are provided with a front cabin ventilation pipe B1 and a front cabin water pipe B5, the upper end and the lower end of the middle cabin are provided with a middle cabin ventilation pipe B2 and a middle cabin water pipe B6, the upper end and the lower end of the rear cabin B20 are provided with a rear front cabin ventilation pipe B3 and a front cabin water pipe B7, the front cabin ventilation pipe B1, the middle cabin ventilation pipe B2 and the rear cabin ventilation pipe B3 are upwards connected into a centralized ventilation pipeline B4, and the centralized ventilation pipeline B4 sequentially extends the gas pipelines of the three cabins to the upper end of an equipment control cabin cover A11 through three pipelines and is connected into a left equipment control cabin and a right equipment control cabin through an equipment control cabin cover ventilation hole A11-1 for centralized control. The air cylinders at the front end and the rear end of the left equipment control cabin and the right equipment control cabin extend the water pipelines of the three cabins to the lower end of the equipment control cabin in sequence through the three pipelines of the centralized water pipeline B8 respectively, and the pipelines are led into the side equipment control cabins through the centralized water pipeline interface A5 of the rear-end air cylinders and the centralized water pipeline interface A3 of the front-end air cylinders respectively. The centralized water through holes and the centralized vent holes of the middle-section storage tank cabin are connected to the centralized water through hole interface A10 and the centralized vent hole interface A8 of the middle-section storage tank cabin A2 after passing through control system components. The rear end rodless cylinder fixing hole B13 and the rear end rodless cylinder vent hole B14 are reserved on the air cabin rear baffle B21, the rear end rodless cylinder fixing hole B13 is connected with a rodless cylinder rear end threaded rod D6 through a nut, and the purpose of the rear end rodless cylinder vent pipe hole B14 is to penetrate an air pipe of the rodless cylinder rear end vent hole D4 out of the square pipe groove B15 in the air cylinder and guide the air pipe into the side equipment cabin for control. The front end of the air cylinder assembly is provided with an air cabin back baffle B21, and an air cylinder front end internal threaded hole B12 for connecting an air cylinder inner cabin cover D7 is arranged on the air cabin back baffle B21. The guide cover bolt holes B24 of the four guide covers B23 are respectively butted with the outer bolt holes B11 at the front ends of the air cylinders of the four air cylinders and are fixed through bolts.

3-1 to 3-8, the tail rudder assembly of the embodiment comprises a waterproof steering engine C1, a first steering engine connecting rod C2, a second steering engine connecting rod C3, a tail rudder connecting rod C4, a tail rudder base C5, a tail rudder supporting connecting rod C6, a tail rudder supporting frame C7, an upper tail rudder C8 and a lower tail rudder C9;

specifically, waterproof steering wheel C1 is fixed in the battery compartment H2 below of propeller subassembly, and waterproof steering wheel C1 rotation axis rotatable 360 degrees. The rotating shaft of the waterproof steering engine C1 is provided with a first steering engine connecting rod C2, the first steering engine connecting rod C2 is connected with a second steering engine connecting rod C3 through a bolt connecting hole C12, the second steering engine connecting rod C3 is connected with a tail vane connecting rod C4 through a bolt connecting hole C10, and the tail vane connecting rod C4 is fixed in a tail vane connecting rod fixing hole C5-2 of a tail vane base C5. The tail vane base C5 is fixed with one end of the tail vane support connecting rod C6 provided with a bolt hole through a base bolt hole C5-1 and can rotate around the base bolt hole C5-1.

One end of the tail rudder support connecting rod C6 is fixed behind the battery compartment H2, two ends of the tail rudder support connecting rod C6 are reinforced through the triangular tail rudder support frame C7, and the triangular tail rudder support frame C7 and the tail rudder support connecting rod C6 are fixed at the same horizontal position of the battery compartment.

In practical application, the waterproof steering engine C1 drives the first steering engine connecting rod C2, the second steering engine connecting rod C3 and the tail rudder connecting rod C4 to swing through circular motion, and the tail rudder connecting rod C4 and the tail rudder base C5 are fixed together, so that the tail rudder base C5 is driven to do circular motion around the base bolt hole C5-1, and the left-right swing of the tail rudder is realized. The whole design of the tail rudder refers to the structure of the fish tail and is formed by connecting an upper tail rudder C8 and a lower tail rudder C9. The two thin plates of the lower tail rudder C9 can clamp the upper tail rudder in the middle, and the lower tail rudder bolt hole C9-1 is used as a rotation shaft to slide upwards along the upper tail rudder.

The upper tail rudder C8 comprises an upper tail rudder main body C8-1; the upper tail rudder body C8-1 is clamped by two thin plates of the lower tail rudder C9; an upper tail rudder bolt hole is reserved on the upper tail rudder main body C8-1, and a lower tail rudder bolt hole C9-1 is reserved on the lower tail rudder main body C9-4 of the lower tail rudder C9; the upper tail rudder bolt hole C8-2 and the lower tail rudder bolt hole C9-1 are respectively matched with an upper tail rudder fixing hole C5-3 and a tail rudder fixing hole on the tail rudder base C5; the tail vane base C5 is also provided with an adjusting hole C5-5.

The waterproof steering engine C1 of tail vane connecting rod of this embodiment passes through an adjustable tail vane of stock connection, and adjustable tail vane passes through tail vane support frame to be fixed, can rotate around the support frame rotation axis, and the effect of the adjustable tail vane of design is when contacting seabed or robot bottom and contacting hard thing, in order to avoid the tail vane too big, leads to damaging, and the tail vane lower extreme can upwards shrink.

In embodiment 5, referring to fig. 4-1 to 4-3, the rodless cylinder assembly of this embodiment includes four magnetically coupled rodless cylinders respectively embedded in square tube grooves B15 inside each air cylinder, a rodless cylinder slider D2 with adjustable weight is mounted on each rodless cylinder D1, a rodless cylinder front end vent hole D3 and a rodless cylinder front end threaded rod D5 are provided at the front end of the rodless cylinder, and a rodless cylinder rear end vent hole D4 and a rodless cylinder front end threaded rod D6 are provided at the rear end of the rodless cylinder.

The threaded rod D5 at the front end of the rodless cylinder passes through the fixing hole D9 of the air cabin cover of the air cabin front baffle B22 to be fixed, and the air cabin cover D7 is provided with an air hole of the air cabin cover; the rear end threaded rod D6 of the rodless cylinder is fixed through the rear end rodless cylinder fixing hole. The rodless cylinder slide block D2 can slide left and right on the cylinder under the pushing of compressed gas, when the vent hole D3 at the front end of the rodless cylinder is ventilated, the slide block moves to the side close to the side equipment control cabin under the condition that the vent hole D4 at the rear end of the rodless cylinder is not ventilated, and when the vent hole D4 at the front end of the rodless cylinder is ventilated, the slide block moves to the side close to the guide cover.

In embodiment 6, the rotary wing assembly of the present embodiment includes left and right rotatable guide wings, each of which includes a rotary structure assembly, a guide plate assembly E5, a cylinder assembly E1, and a solar panel E6.

The rotating structure component comprises a fixed base E2, a wing main structure E3, an upper four-link structure E7 and a lower four-link structure E5;

the cylinder assembly mainly comprises a cylinder and a cylinder supporting and fixing frame;

the deflector assembly E5 comprises two short plates, two long plates, a solid fixed rotating shaft, three solid connecting shafts, two deflector steering gears, two O-shaped steering gear connecting rods, a front end steering gear cover and a rear end steering gear cover.

5-1 to 5-4 are schematic diagrams of the whole structure of the rotatable wing assembly, and the rotatable wing assembly is flat at two ends and relatively bulged in the middle, so that the rotatable wing has better water resistance reduction performance no matter when being fully unfolded, contracted or fully closed. The various components of the rotatable wing assembly will be described in detail below. The rotary wing assembly fixing base E2 is connected with a base support fixing hole A12-1 of a base support A12 connected with the upper end of the bottom cabin cover through a base bolt hole E2-4, the whole cylinder assembly E1 is fixed through a fixing groove E2-3, two rotating shafts E2-1 and E2-2 are arranged on the rotary wing assembly fixing base, and the upper four-link structure wing main structure is fixed through the two rotating shafts.

Referring to 5-5, a fixed base E2 of the rotating structure assembly is a fixed base E2, base bolt holes E2-4 of the fixed base E2 are correspondingly connected with base bracket fixing holes a12-1, two fixed rotating shafts are arranged at the front end and the rear end of the fixed base, one fixed rotating shaft E2-2 is used for connecting and fixing a lower connecting rod fixing rotating hole E5-1-1 and an upper connecting rod fixing rotating hole E7-1-1 of No. 1, the other fixed rotating shaft E2-1 is used for connecting and fixing a lower connecting rod fixing rotating hole E5-5-1 of No. 5 and an upper connecting rod fixing rotating hole E7-5-1 of No. 5, and the upper connecting rod and the lower connecting rod of No. 5 are mutually rotated around the two rotating shafts, but the specific fixing and restraining modes of one end of four rods and the two shafts are not represented in the figure, the figure does not show that the design does not accord with practical application, the figure is not emphasis that the basic motion connection mode of the whole structure is represented, and the figure does not represent the final representing the final result.

The fixing grooves E2-3 are two sections of square grooves which are parallel to each other, so that the cylinder triangular bracket E1-13 is connected with the fixing base E2 through the cylinder triangular bracket fixing bolt holes E1-12, the single bolt holes are not formed in the fixing base E2, the cylinder triangular bracket E1-13 is fixed through the fixing grooves E2-3, the accurate position of the cylinder assembly relative to the fixing base E2 can be flexibly adjusted, and the position of the cylinder assembly on the fixing base can finally influence the effective supporting difficulty of the whole cylinder assembly on the upper four-link structure E5, so that the best supporting position is required to be found through multiple adjustments when the cylinder assembly is installed.

Referring to fig. 5-6 to 5-8, the cylinder assembly E1 is mainly composed of one cylinder body E1-1 and its fixing structure. The cylinder main body E1-1 is respectively provided with an air hole E1-3 at the upper end and the lower end of the cylinder and an air hole E1-2 at the lower end, the cylinder push rod E1-4 which can shrink and extend up and down is arranged in the cylinder main body, one end of the cylinder push rod E1-4 which is shown outside is fixed with the cylinder double-fork bracket E1-5 through the cylinder double-difference bracket fixing hole E1-8, the cylinder double-fork bracket E1-5 is provided with two cylinder fulcrum rotating shaft mounting holes E1-9, the cylinder main body E1-1 is clamped through two semicircular cylinder fixing brackets E1-6, the two cylinder fixing brackets E1-6 are distributed in a mirror image mode, one end of the cylinder fixing bracket E1-6 is provided with a cylinder, the two cylinder fixing brackets E1-6 are integrated together to form a pair of coaxial cylinders, the cylinder is arranged in a semicircular groove at the bottom of the V-shaped cylinder triangular bracket E1-13, the cylinder rotating shaft lock E1-7 is buckled at the bottom of the V-shaped cylinder triangular bracket E1-13 through a cylinder rotating shaft lock 7, and the cylinder rotating shaft lock bracket E1-13 can be fixed with the cylinder fixing holes E1-6 at the bottom of the cylinder triangular bracket E1-13 in a certain position, and the space can be satisfied. The cylinder tripod fixing bolt holes E1-12 will be fixed in the fixing grooves E2-3. Part of the cylinder assembly will pass through the fixing base E2 fixing slot mid-void area to provide support for the upper four-bar linkage E7.

Referring to fig. 5-9-5-14, a detailed structural illustration of the lower four-bar linkage E5 of the rotating structural assembly is shown.

The lower four-bar linkage E5 mainly comprises five connecting bars and a supporting frame.

The lower connecting rod supporting frame E5-6 consists of a cross rod and three vertical forks, wherein a lower connecting rod front end supporting base E5-6-1 and a lower connecting rod rear end supporting base E5-6-2 which are high in height are arranged on the cross rod and used for connecting and fixing the No. 2 lower connecting rod E5-2, and secondly, a certain distance is kept between the lower connecting rod supporting frame E5-6 and an upper four-bar connecting rod structure E7 in space, so that interference and collision are avoided. The lower connecting rod support frame bolt holes E5-7 are formed in the cross rod and the three vertical forks of the lower connecting rod support frame E5-6 and are distributed in parallel in space, the purpose is to be used for connecting the disc bolts E3-9, the thinner end of each disc bolt E3-9 is inlaid in each lower connecting rod support frame bolt hole E5-7 and is fixed through each disc bolt fixing hole E3-9-1, and then the lower connecting rod support frame E5-6 is connected with the wing main structure E3. The length of the No. 1 lower connecting rod E5-1, the No. 2 lower connecting rod E5-2, the No. 3 lower connecting rod E5-3 and the No. 4 lower connecting rod E5-4 enclose a parallelogram area in the crossing area, and the length of the No. 3 lower connecting rod E5-3 is equal to the distance between two axes of the No. 1-2 lower connecting rod rotating shafts E5-10 and the No. 1-4 lower connecting rod rotating shafts. The purpose of the lower connecting rod E5-5 is to match with other four connecting rods, and the overall movement track of the lower four-connecting-rod structure E5 is influenced by the length of the lower connecting rod E5-5 of the 5 th and the length of each side of the parallelogram surrounded by the other four connecting rods. It should be noted that, in order to keep the whole lower link capable of completely contracting, the sum of the axial center distances of the rotating shafts E5-9 of the lower link No. 1-4 and the rotating shafts E5-10 of the lower link No. 1-2 and the axial center distances of the fixing holes at the two ends of the lower link No. 4E 5-4 is equal to the axial center distance of the two fixing holes of the lower link No. 1E 5-1. The lower connecting rod rotating shaft E5-10 of the No. 1-2 and the lower connecting rod rear end supporting base E5-6-2 are fixed in a bolt mode, the lower connecting rod rotating shaft E5-9 of the No. 1-4 is arranged in the middle of the lower connecting rod E5-1 in a protruding mode, and a supporting is provided for one end rotating hole of the lower connecting rod E5-4 of the No. 4. A bulge is arranged in the middle of the lower connecting rod E5-5, so that the situation that the lower connecting rod E5-5 and the lower connecting rod rotating shaft E5-9 of the No. 1-4 collide in space in the process of completely closing the lower four-bar structure E5 is avoided. The No. 1 lower connecting rod fixed rotating hole E5-1-1 penetrates through the base rear end fixed rotating shaft E2-2, the lower connecting rod fixed rotating hole E5-5-1 penetrates through the base front end fixed rotating shaft E2-1, and the whole lower four-connecting-rod assembly E5 is structurally contracted and expanded around the two fixed rotating shafts. Eventually, the motion of the entire rotatable assembly will remain spatially synchronized with the motion of the lower link support E5-6 and the lower link E5-2 No. 2, and the lower link support E5-6 and the upper link support E7-6 remain parallel to each other.

It should be noted that the whole lower link structure E5 is not fixedly connected with the wing main structure E3 in the whole structure, but the movement of the whole upper four link structure E7 is driven according to the sliding of the wafer latch in the prescribed position in the wafer latch sliding groove E3-1, that is, the follow-up movement.

The purpose of arranging the lower four-bar structure E5 is to provide a higher strength support for the wing main structure E3, because the wing main structure E3 is longer, if a set of upper four-bar structure E7 is used alone, the supporting force required by the whole wing main structure E3 in expansion and contraction can not be born, therefore, the design of the invention needs to be shown to design two sets of four-bar structures and distribute the four-bar structures up and down in space, in addition, the lengths of the bars of the two four-bar structures are not completely the same, and the purpose is to form dislocation in the moving process of the two sets of four-bar structures, namely, the situation of the two sets of four-bar structures is presented in front and back in space level, so that the supporting area is increased, and the supporting range is improved. It should be further noted that the structural design of the lower link supporting frame is also for the purpose of increasing the supporting area.

Referring to fig. 5-15-5-20, a detailed structural illustration of the four-bar linkage E5 on the rotating structural assembly is shown. The upper four-link structure E7 mainly consists of five links and a supporting frame.

The upper connecting rod supporting frame E7-6 consists of a cross rod and three vertical forks, and an upper connecting rod front end supporting base E7-6-1 and a lower connecting rod rear end supporting base E7-6-2 are arranged on the cross rod and used for connecting and fixing the No. 2 upper connecting rod E7-2. Secondly, it should be noted that the heights of the upper link support E7-6 of the upper four-link structure E7 and the lower link support E5-6 of the lower four-link structure E5, which are finally shown in space, should be kept identical, and for this purpose, a plurality of grooves are formed in the cross bar of the lower link support E5-6 to place the upper link support E7-6. The upper connecting rod supporting frame bolt holes E7-7 are arranged on a cross rod and three vertical forks of the upper connecting rod supporting frame E7-6 and are distributed in parallel in space, so that the upper connecting rod supporting frame E7-6 is used for connecting a wing main structure E3 and is fixed with the main structure fixing holes E3-2 through bolts. The length of the No. 1 upper connecting rod E7-1, the No. 2 upper connecting rod E7-2, the No. 3 upper connecting rod E7-3 and the No. 4 upper connecting rod E7-4 are equal to the axle center distance between the No. 1 lower connecting rod rotating shaft E5-9 and the No. 1 upper connecting rod fixed rotating hole in the crossed area, and meanwhile, the No. 1-4 lower connecting rod rotating shaft E5-9 is arranged in the center position of the whole No. 1 upper connecting rod, so that the lengths of all sides of the parallelograms of the formed crossed area are equal. The purpose of the upper connecting rod E7-5 is to match with other four connecting rods, and the overall movement track of the upper four-connecting-rod structure E7 is influenced by the length of the upper connecting rod E7-5 of the 5 th and the length of each side of the parallelogram surrounded by the other four connecting rods. The rotating shaft E7-10 of the No. 2-3 upper connecting rod is arranged on the No. 2 upper connecting rod E7-2 in a protruding mode, and supports are provided for one end rotating hole of the No. 3 upper connecting rod E7-3. The rotating shaft E7-9 of the No. 1-4 upper connecting rod is arranged on the No. 1 upper connecting rod E7-1 in a protruding mode, and supports are provided for one end rotating hole of the No. 4 upper connecting rod E7-4. A bulge is arranged in the middle of the No. 5 upper connecting rod E7-5, so that the situation that the No. 5 upper connecting rod E7-5 collides with the No. 1-4 upper connecting rod rotating shaft E7-9 in space in the process of completely closing the upper four-bar structure E7 is avoided. The upper end of the No. 1 upper connecting rod, one end of the No. 2 upper connecting rod E7-2 and the upper connecting rod bracket E7-6-2 are coaxially connected and fixed through pins. The upper connecting rod fixed rotating hole E7-1-1 penetrates through the base rear end fixed rotating shaft E2-2, the upper connecting rod fixed rotating hole E7-5-1 penetrates through the base front end fixed rotating shaft E2-1, and the whole upper four-connecting-rod structure E7 is structurally contracted and expanded around the two fixed rotating shafts. Eventually, the motion of the entire rotatable assembly will remain spatially synchronized with the motion of the upper link support E7-6 and the upper link E7-2 No. 2. It should be noted that the whole upper link structure E7 and the wing main structure E3 are fixedly connected in the whole structure. The purpose of the upper four-bar linkage E7 is to provide a main supporting moment for the main wing structure E3, and since the main wing structure E3 is long, if one set of upper four-bar linkage E7 is used alone, the supporting force required by the whole main wing structure E3 in expansion and contraction cannot be borne, therefore, it is required to indicate that the design of the present invention is to design two sets of four-bar linkage structures and distribute the two sets of four-bar linkage structures up and down in space.

The rear end of a No. 1-4 upper connecting rod rotating shaft E7-9 of a No. 1 upper connecting rod E7-1 is provided with a No. 1 upper connecting rod threaded hole for installing a threaded fixing pin E7-11, one end of a cylinder fulcrum rotating shaft installing hole E1-9 penetrates through the No. 1-4 upper connecting rod rotating shaft E7-9, and the other end penetrates through a cylinder of the threaded fixing pin E7-11, so that the No. 1 upper connecting rod E7-1 and the No. 4 upper connecting rod E7-4 are fixed together with a cylinder assembly E1 and move in a linkage mode.

Referring to fig. 5-21-5-27, three positions of the fully extended, retracted, and fully closed configuration of the rotating structure assembly in the rotating wing assembly are illustrated. It should be noted that the whole structure is not limited to the three states shown, and the structural changes of the links in the whole movement process are not repeated.

The cylinder assembly E1 generates moment through a cylinder push rod, the No. 1 upper connecting rod E7-1 in the upper four-connecting rod structure E7 is connected with the cylinder double-fork support E1-5, and then the moment provided by the cylinder assembly is output to the No. 1 upper connecting rod E7-1 to drive the No. 1 upper connecting rod E7-1 to rotate around the fixed rotating shaft E2-2 at the rear end of the base, so that the whole upper four-connecting rod structure E7 is driven to move, and the space movement of the upper connecting rod support E7-6 projected to the tail end is in expansion change of 0-90 degrees. The upper connecting rod supporting frame E7-6 and the wing main structure E3 are integrated, the telescopic change of 0-90 degrees is presented in the same direction, and in the telescopic process, the disc bolt moves in a planned disc bolt sliding groove, so that the lower connecting rod supporting frame E5-6 is driven to stretch, and the lower connecting rod supporting frame E5-6 stretches to drive the whole lower four-connecting-rod structure E5 to stretch. It should be further noted that the main purpose of the lower four-bar linkage E5 is to provide the wing main structure E3 with a supporting force in a direction perpendicular to the surface of the entire wing main structure, so as to prevent the wing from breaking due to too small supporting force during rotation. Further, the upper link supporting frame E7 and the fixed base E2 will have a positional relationship of 90 degrees when fully extended, i.e. perpendicular to each other, and the upper link supporting frame E7 and the fixed base E2 will have a positional relationship of 0 degrees when fully closed, i.e. parallel to each other. Meanwhile, the upper connecting rod supporting frame E7-6 and the lower connecting rod supporting frame E5-6 always keep a parallel relation in the whole telescopic process.

Referring to fig. 5-28-5-38, the wing main structure mainly comprises a wafer bolt sliding groove E3-1, a main structure fixing hole E3-2, a guide plate middle rotating shaft fixing position E3-3, a main structure guide plate steering engine fixing position E3-4, an additional solar plate, a steering engine cover threaded hole E3-6, a main structure steering engine cover wedge-shaped block E3-7, a main structure solar plate mounting concave area E3-8 and a wafer bolt E3-9.

The main structure fixing holes E3-2 are connected with the upper connecting rod supporting frame bolt holes E7-7 in a one-to-one correspondence mode, the wing main structure is made of materials with high rigidity and light weight, and it is required to indicate that the additional solar panel E3-5 in the whole wing main structure is an independent solar panel and is required to be manufactured and fixed on the wing main structure E3, in addition, the wafer bolts E3-9 are independent parts, and other contained contents of the main structure are integral. Six wafer bolt sliding grooves E3-1 are symmetrically distributed in pairs, the shape design of the wafer bolt sliding grooves E3-1 considers the movement track of bolt holes of each lower connecting rod supporting frame on the lower connecting rod supporting frame E5-7, and meanwhile, a deeper groove is formed in a concave area E3-8 of the installation of the main structure solar panel for the wafer bolt E3-9, the deeper groove is divided into an un-penetrated area and a completely penetrated area, and the width design of the completely penetrated area meets the diameter of a cylinder at the thinner end of the bolt sliding groove E3-1 and simultaneously meets the condition that the bolt sliding groove E3-2 cannot fall from the penetrated area. It should be noted that the width of the disk pin sliding groove E3-1 in all directions should be greater than or equal to the diameter of the disk at the disk end of the disk pin E3-9. In addition, it should be noted that the installation of the bolts of the main structure fixing holes E3-2 should not affect the flatness of the main structure solar panel installation concave area E3-8, which is the installation area of the solar panel E6. Further, other structural design purposes at the aft end of the wing main structure E3 are to install the baffle assembly E4.

The main structure guide plate steering engine fixing position E3-4 is four oval through holes and is used for corresponding to guide plate steering engine bolt holes E4-8-1 on the guide plate steering engine E4-8, the main structure steering engine cover wedge-shaped block E3-7 is used for butting the guide plate steering engine cover wedge-shaped groove E4-10, and in addition, the steering engine cover threaded holes are used for butting guide plate steering engine cover fixing holes E4-10-1 on the guide plate steering engine cover E4-10. The two fixed positions E3-3 of the middle rotating shaft of the guide plate are used for fixing the guide plate connecting shaft E4-7 at the forefront end of the diamond guide plate.

Referring to fig. 5-39-5-50, the deflector assembly of the rotary wing assembly comprises a deflector upper long plate E4-1, a deflector upper short plate E4-2, a deflector lower long plate E4-3, a deflector lower short plate E4-4, a deflector rotating shaft E4-5, a deflector inner rotating bracket E4-6, a deflector connecting shaft E4-7, a deflector steering engine E4-8, a deflector steering engine threaded hole E4-8-1, an O-shaped steering engine connecting rod E4-9, a deflector steering engine cover E4-10, a deflector steering engine cover fixing hole E4-10-1, and a deflector steering engine cover wedge groove E4-10-2.

The appearance of the guide plate assembly presents a regular rhombus, the front end is a guide plate upper short plate E4-2 and a guide plate lower short plate E4-4, the guide plate upper long plate E4-1 and the guide plate lower long plate E4-3 are connected through a guide plate connecting shaft E4-7, in addition, the rear end two long plates, the front end two short plates and one end of a guide plate inner rotating bracket E4-6 are connected through two guide plate connecting shafts E4-7. Four guide plate internal rotating brackets E4-6 are arranged in total, are combined together in pairs, and the included angle between the spatial combination is kept between 20-60 degrees. One end of each of the two guide plate inner rotating brackets E4-6 is clamped between the guide plate upper short plate E4-2 and the guide plate upper long plate E4-1, and one end of each of the other two guide plate inner rotating brackets E4-6 is clamped between the guide plate lower short plate E4-4 and the guide plate lower long plate E4-3. Meanwhile, the other ends of the four guide plate inner rotating brackets E4-6 are coaxially connected through guide plate rotating shafts E4-5, the guide plate rotating shafts E4-5 are fixed in guide plate middle rotating shaft fixing positions E3-3, two guide plate steering engines E4-8 are distributed at two ends of the guide plates, one end of an O-shaped steering engine connecting rod E4-9 is connected with the guide plate steering engines, the other end of the O-shaped steering engine connecting rod is connected with a guide plate connecting shaft E4-7 at the front end of the guide plate, and the purpose of the steering engine connecting rod adopting the O-shaped rather than the single connecting rod is to avoid the condition that the guide plate connecting rod is easy to break due to the use of the single connecting rod. And the guide plate steering engine cover E-10 is used for protecting the steering engine. It should be noted that, except for the different placement orientations of the lower baffle plate E4-4 and the upper baffle plate E4-2, the external structures are identical, and in use, the upper baffle plate E4-1 and the lower baffle plate E4-3 are also identical in structure and are connected end to end. In the up-and-down swinging process of the guide plate, the appearance of the guide plate is in a changed quadrangular shape, and the structure of the front end of the integral structure, which is divergent, is presented, so that a better shunting effect is achieved.

Example 7 referring to fig. 6-1, the air tank assembly of the present embodiment: the gas tank assembly consists of two gas tanks, is arranged in the three-section tank cabin and is closed by taking the hemispherical camera cabin cover G3 as a cabin cover.

Embodiment 8 referring to fig. 7-1 to 7-8, the tank compartment assembly includes a front tank compartment G1, a rear tank compartment G2, a hemispherical camera hatch G3, a single link bend stiffener structure G4.

The front end of the front-section storage tank cabin G1 is connected with a hemispherical camera cabin cover G3, namely, the front bolt hole G1-6 of the front-section storage tank cabin is connected with the hemispherical camera cabin cover bolt hole joint G3-1, and the rear end of the front-section storage tank cabin G1 is connected with the front end of the middle-section storage tank cabin A2. The front end of the rear storage tank cabin G2 is connected with the front end of the battery cabin H2, namely a front bolt hole G2-5 of the rear storage tank cabin is connected with a battery cabin bolt hole H2-4, and the rear end of the rear storage tank cabin G2 is connected with the rear end of the middle storage tank cabin A2.

It should be noted that all the cabins are connected by bolts, the radius of the cabin body is large, and the rest of the space can be used for arranging the circuit and the air path. The two airbag mounting grooves G1-5 are arranged in total, the compressed airbag is placed through the airbag inlet and outlet G1-5-1, and the airbag is communicated with high-pressure gas provided by the gas storage tank F1 through the airbag vent hole G1-5-2. In addition, the airbag gateway G1-5-1 is sealed by an elastic net structure, and the net structure is fixed by airbag sealing holes G1-5-3. The purpose of setting up the air bag is, when taking place the critical situation, like in the cabin intake or rupture etc. can fill the high-pressure gas of gas holder F1 to the air bag immediately put, and the air bag will break through the net seal structure that has elasticity to be bad, provides sufficient buoyancy for whole organism immediately, and the protection complete machine can not sink into the water.

The hemispherical camera hatch cover G3 is not only a hatch cover of the whole storage tank cabin, but also an area for placing cameras, in use, after the two air storage tanks F1 are sequentially placed into the storage tank cabin, the hemispherical camera hatch cover G3 is used as a seal, and according to the sizes of different air storage tanks F1, other objects can be used for filling the gap part of the whole cabin body. Further, the single connecting rod bending reinforcement structures G4 are paired in pairs and are fixed through the single connecting rod bending reinforcement structure fixing holes, the single connecting rod bending reinforcement structures G4 are in cross connection, and the single connecting rod bending reinforcement structures G4 are respectively connected with the core inflator assemblies and the bolt holes on the single connecting rod bending structure fixing bases of the front section storage tank cabin and the rear section storage tank cabin through the bolt holes at the two ends of the single connecting rod bending reinforcement structures G4, so that the whole structure can be reinforced.

Embodiment 9, referring to fig. 8-1-8-4, the propeller assembly includes a propeller H1 and a battery compartment H2.

The battery compartment H2 is semi-cylindrical, the front end is provided with a battery compartment bolt hole H2-4 which is connected with a front bolt hole G2-5 of the rear storage tank compartment, and a battery compartment through hole H2-3 is reserved, so that the energy storage battery is interconnected with the front end control system element and each circuit through the battery compartment through hole H2-3. When the batteries of the three equipment cabins are dead or the batteries are placed in no space, the batteries in the battery cabin H2 can be used for providing power for all control equipment at the front end, and meanwhile, the power generated by the solar panel can be stored in the batteries in the battery cabin. The rear end is provided with a battery compartment cover H3 for sealing the empty battery compartment, a propeller H1 is arranged in the middle of the bottom of the battery compartment H2, and a power supply circuit of the propeller H1 and the waterproof steering engine C1 is led into the battery compartment through a wire through hole H2-2. The lower part of the rear end of the battery compartment is used for fixing a tail rudder support C7 and a tail rudder supporting connecting rod C6 in the tail rudder assembly, one corner of the battery compartment is designed to be concave, and a concave area is used for placing and fixing a waterproof steering engine C1.

Although specific embodiments of the invention have been described in detail with reference to the accompanying drawings, it should not be construed as limiting the scope of protection of the present patent. Various modifications and variations which may be made by those skilled in the art without the creative effort are within the scope of the patent described in the claims.

Claims

1. A multi-attitude composite drive underwater robot, comprising:

The air storage tank assembly comprises two air storage tanks which are arranged in the storage tank cabin assembly; the storage tank cabin assembly is arranged on the middle section storage tank cabin;

a propeller assembly comprising a propeller and a battery compartment; the propeller is arranged at the lower end of the battery compartment and is connected with a battery in the battery compartment; the battery compartment is arranged on the storage tank compartment assembly, and a tail rudder assembly is arranged on the battery compartment;

thick-wall hollow pipes are connected between the left equipment control cabin and the middle storage tank cabin and between the right equipment control cabin and the middle storage tank cabin;

a centralized vent hole interface is arranged right above the middle section storage tank cabin, and a centralized water hole interface is arranged right below the middle section storage tank cabin; the tops of the left equipment control cabin and the right equipment control cabin are cut off, and an equipment control cabin cover position is reserved; the equipment control cabin cover is arranged on the equipment control cabin cover position; a base bracket is arranged on the equipment control cabin cover; the base support is connected with a fixed base of the rotary diversion wing assembly;

the inflator is internally provided with a front cabin, a middle cabin and a rear cabin; the upper end and the lower end of the front cabin are provided with a front cabin air pipe and a front cabin water pipe, the upper end and the lower end of the middle cabin are provided with a middle cabin air pipe and a middle cabin water pipe, and the upper end and the lower end of the rear cabin are provided with a rear front cabin air pipe and a front cabin water pipe; the front cabin ventilation pipe, the middle cabin ventilation pipe and the rear cabin ventilation pipe are upwards connected with a centralized ventilation pipeline, and the centralized ventilation pipeline sequentially extends the gas pipelines of the front cabin, the middle cabin and the rear cabin to the upper end of the equipment control cabin cover through three pipelines and is connected into the left equipment control cabin and the right equipment control cabin through equipment control cabin cover ventilation holes;

The air cylinders at the front end and the rear end of the left equipment control cabin and the right equipment control cabin extend the water pipelines of the front cabin, the middle cabin and the rear cabin to the lower end of the equipment control cabin in sequence through three pipelines of the centralized water pipeline at the lower part respectively, and the air cylinders at the front end and the rear end of the left equipment control cabin and the right equipment control cabin extend the air pipelines of the front cabin, the middle cabin and the rear cabin to the upper end of the equipment control cabin in sequence through three pipelines of the centralized water pipeline at the upper end respectively; the pipelines are led into the left equipment control cabin and the right equipment control cabin through the rear-end air cylinder centralized water pipe connector and the front-end air cylinder centralized water pipe connector respectively, and the air pipelines extending out of the cabins are connected into the equipment control cabin through the equipment cabin cover vent holes;

after penetrating into two sides, the pipeline is connected with corresponding control system elements, and after the corresponding pipelines are gathered together, the pipeline is connected to a centralized water hole interface and a centralized vent hole interface of the middle section storage tank cabin;

the rotary wing assembly comprises two rotary guide wings, and each rotary wing comprises a rotary structure assembly, a guide plate assembly, a cylinder assembly and a solar panel;

the rotating structure assembly comprises a fixed base, a wing main structure, an upper four-link structure and a lower four-link structure; the base bolt holes of the fixed base are matched and connected with the base bracket fixing holes; the fixed base is provided with a base rear end fixed rotating shaft and a base front end fixed rotating shaft; the fixed rotating shaft at the rear end of the base is connected with the lower connecting rod fixed rotating hole No. 1 and the upper connecting rod fixed rotating hole No. 1; the fixed rotating shaft at the front end of the base is connected with the lower connecting rod fixed rotating hole No. 5 and the upper connecting rod fixed rotating hole No. 5;

The fixing base is provided with a fixing groove, and the fixing groove is used for connecting the cylinder tripod with the fixing groove through a cylinder tripod fixing bolt hole;

the cylinder assembly includes a cylinder body; a telescopic cylinder push rod is arranged in the cylinder main body; one end of the cylinder push rod positioned outside is fixed with a cylinder double-fork bracket through a cylinder double-difference bracket fixing hole; two cylinder fulcrum rotating shaft mounting holes are formed in the cylinder double-fork support; the cylinder main body is clamped by two semicircular cylinder fixing supports, and the two cylinder fixing supports are distributed in a mirror image mode and are connected through two cylinder fixing support fixing bolt holes; one end of the cylinder fixing support is provided with a cylinder, two cylinder fixing supports form a pair of coaxial cylinders, the cylinders are arranged in semicircular grooves at the bottom of the V-shaped cylinder triangular bracket, and the cylinders are locked and reversely buckled at the lower part of the V-shaped cylinder triangular bracket through a cylinder rotating shaft with a groove in the middle;

the rotating structure assembly comprises a lower four-bar linkage structure, an upper four-bar linkage structure, a fixed base and a wing main structure;

the lower four-bar linkage structure is structurally contracted and expanded around a fixed rotating shaft at the front end of the base and a fixed rotating shaft at the rear end of the base; the lower four-bar linkage structure comprises a lower connecting rod supporting frame, a lower connecting rod No. 1, a lower connecting rod No. 2, a lower connecting rod No. 3, a lower connecting rod No. 4 and a lower connecting rod No. 5;

The lower connecting rod support frame comprises a cross rod and three vertical forks; the cross rod is provided with a lower connecting rod front end supporting base and a lower connecting rod rear end supporting base; the bolt holes of the lower connecting rod support frame are arranged on the cross rod and the three vertical forks of the lower connecting rod support frame and are distributed in parallel in space and used for connecting disc bolts; one thin end of the wafer bolt is embedded in a bolt hole of the lower connecting rod supporting frame and is fixed through a wafer bolt fixing hole, and the lower connecting rod supporting frame is connected with the wing main structure;

the length of the No. 1 lower connecting rod, the No. 2 lower connecting rod, the No. 3 lower connecting rod and the No. 4 lower connecting rod are equal to the distance between the rotating shafts of the No. 1 and 2 lower connecting rods and the two shafts of the rotating shafts of the No. 1 and 4 lower connecting rods in the crossed area;

the rotating shaft of the No. 1-2 lower connecting rod is fixed with the rear end supporting base of the lower connecting rod through a bolt, and the rotating shaft of the No. 1-4 lower connecting rod is arranged at the middle part of the No. 1 lower connecting rod in a protruding way to provide support for one end rotating hole of the No. 4 lower connecting rod; a bulge part is arranged in the middle of the No. 5 lower connecting rod, a No. 1 lower connecting rod fixed rotating hole penetrates through the fixed rotating shaft at the rear end of the base, and a lower connecting rod fixed rotating hole penetrates through the fixed rotating shaft at the front end of the base;

The upper four-bar linkage structure is structurally contracted and expanded around a fixed rotating shaft at the front end of the base and a fixed rotating shaft at the rear end of the base; the upper four-bar linkage structure comprises a No. 1 upper connecting rod, a No. 2 upper connecting rod, a No. 3 upper connecting rod, a No. 4 upper connecting rod and a No. 5 upper connecting rod;

the upper connecting rod support frame comprises a cross rod and three vertical forks; the transverse rod is provided with an upper connecting rod front end supporting base and a lower connecting rod rear end supporting base which are used for connecting and fixing the No. 2 upper connecting rod; a plurality of grooves are formed in the cross rod of the lower connecting rod supporting frame for placing the upper connecting rod supporting frame; the bolt holes of the upper connecting rod support frame are arranged on the cross rod and the three vertical forks of the upper connecting rod support frame, are distributed in parallel in space and are used for connecting the wing main structure and are fixed with the main structure fixing holes through bolts;

the upper connecting rod 1, the upper connecting rod 2, the upper connecting rod 3 and the upper connecting rod 4 enclose a parallelogram area in the crossing area, the length of the upper connecting rod 3 is equal to the axle center distance between the rotating shaft of the lower connecting rod 1-4 and the fixed rotating hole of the upper connecting rod 1, and the rotating shaft of the lower connecting rod 1-4 is arranged at the center position of the upper connecting rod 1;

the rotating shaft of the No. 2-3 upper connecting rod is arranged on the No. 2 upper connecting rod E7-2; the rotating shaft of the No. 1-4 upper connecting rod is arranged on the No. 1 upper connecting rod; a bulge part is arranged in the middle of the upper connecting rod No. 5; the upper end of the No. 1 upper connecting rod, one end of the No. 2 upper connecting rod and the upper connecting rod bracket are coaxially connected and fixed through a pin; the upper connecting rod fixed rotating hole penetrates through the fixed rotating shaft at the rear end of the base, the upper connecting rod fixed rotating hole penetrates through the fixed rotating shaft at the front end of the base,

The rear end of a 1-4 upper connecting rod rotating shaft of the 1-4 upper connecting rod is provided with a 1-4 upper connecting rod threaded hole for installing a threaded fixing pin, one end of a cylinder fulcrum rotating shaft installing hole penetrates through the 1-4 upper connecting rod rotating shaft, the other end of the cylinder fulcrum rotating shaft installing hole penetrates through a cylinder with the threaded fixing pin, and the 1-4 upper connecting rod and the 4 upper connecting rod are driven to carry out linkage movement with a cylinder assembly.

2. The multi-attitude composite drive underwater robot of claim 1, wherein: the front end of the rodless cylinder is provided with a rodless cylinder front end vent hole and a rodless cylinder front end threaded rod, and the rear end of the rodless cylinder is provided with a rodless cylinder rear end vent hole and a rodless cylinder front end threaded rod;

the threaded rod at the front end of the rodless cylinder penetrates through the fixing hole of the inflator inner cabin cover of the front baffle of the air cabin to be fixed;

the rear baffle of the air cabin is provided with a rear end rodless cylinder fixing hole and a rear end rodless cylinder vent hole; and the rear end rodless cylinder fixing hole is connected with a rear end threaded rod of the rodless cylinder through a nut.

3. The multi-attitude composite drive underwater robot of claim 1, wherein: the tail vane assembly comprises a waterproof steering engine; the waterproof steering engine is arranged below the battery compartment of the propeller assembly; the rotary shaft of the waterproof steering engine is provided with a first steering engine connecting rod, the first steering engine connecting rod is connected with a second steering engine connecting rod through a bolt connecting hole, and the second steering engine connecting rod is connected with a tail rudder connecting rod through a bolt connecting hole; the tail vane connecting rod is fixed in a tail vane connecting rod fixing hole of the tail vane base; the tail vane base is fixed with one end of the tail vane support connecting rod, which is provided with a bolt hole, through a base bolt hole, and rotates around the base bolt hole; one end of the tail vane support connecting rod is fixed on the battery compartment, two ends of the tail vane support connecting rod are reinforced through a triangular tail vane support frame, and the triangular tail vane support frame and the tail vane support connecting rod are fixed at the same horizontal position of the battery compartment;

The tail rudder base is connected with the tail rudder; the tail rudder comprises an upper tail rudder and a lower tail rudder; the lower tail rudder comprises two thin plates, and a lower tail rudder limit stop is arranged on each thin plate; the upper tail rudder comprises an upper tail rudder main body; the upper tail rudder main body is clamped by two thin plates of the lower tail rudder; an upper tail rudder bolt hole is reserved on the upper tail rudder main body, and a lower tail rudder bolt hole is reserved on the lower tail rudder main body of the lower tail rudder; the upper tail rudder bolt hole and the lower tail rudder bolt hole are respectively matched with an upper tail rudder fixing hole and a tail rudder fixing hole on the tail rudder base; and the tail vane base is also provided with an adjusting hole.

4. The multi-attitude composite drive underwater robot of claim 1, wherein: the guide plate assembly comprises a guide plate upper long plate, a guide plate upper short plate, a guide plate lower long plate, a guide plate lower short plate, a guide plate steering engine and four guide plate internal rotating brackets;

the guide plate assembly is in a straight four-diamond shape, and the front end of the guide plate assembly is provided with an upper guide plate short plate and a lower guide plate short plate; the rear end of the guide plate is provided with an upper long plate of the guide plate and a lower long plate of the guide plate;

the four guide plates are internally provided with rotary brackets which are combined together in pairs, and are combined in pairs in space, and the included angle between the two guide plates is 20-60 degrees; one end of each of the two inner rotating brackets of the guide plate is clamped between the upper short plate and the upper long plate of the guide plate, and one end of each of the other two inner rotating brackets of the guide plate is clamped between the lower short plate and the lower long plate of the guide plate; the other ends of the rotating brackets inside the four guide plates are coaxially connected through the guide plate rotating shafts;

The guide plate rotating shaft is fixed in the fixed position of the guide plate middle rotating shaft, two guide plate steering gears are distributed at two ends of the guide plate, one end of the O-shaped steering gear connecting rod is connected with the guide plate steering gears, and the other end of the O-shaped steering gear connecting rod is connected with the guide plate connecting shaft at the front end of the guide plate;

the wing main structure and the upper connecting rod support frame are fixed through bolts, the fixing position of the main structure guide plate steering engine in the wing main structure is four oval through holes and is used for corresponding to guide plate steering engine bolt holes on the guide plate steering engine, the main structure steering engine cover wedge-shaped block is used for butting the guide plate steering engine cover wedge-shaped groove, and the steering engine cover threaded holes are used for butting guide plate steering engine cover fixing holes on the guide plate steering engine cover; the middle rotating shaft of the guide plate is fixedly positioned in two to fix the rotating shaft of the guide plate.