CN117208175A - Underwater robot - Google Patents

Abstract

The invention relates to the technical field of robots, in particular to an underwater robot, which comprises a shell and a safety device; the triggering device is arranged on the shell and can be triggered under preset pressure; the gas reactor is arranged in the shell, and the triggering device is connected with the gas reactor; the sealing bin is fixedly arranged on the side wall of the shell, and a water outlet is formed in the side wall of the sealing bin; two ends of the first connecting pipe are respectively connected with the sealed bin and the gas reactor, and gas generated by the reaction of the gas reactor enters the sealed bin through the first connecting pipe; the air bag is fixedly arranged at the upper part of the shell; the transmission device is arranged on the first connecting pipe, and after the water in the sealed bin is discharged, the first connecting pipe drives the transmission device to pump the gas generated by the gas reactor into the air bag. The invention can enable the robot to quickly float out of the water after the problem occurs, and simultaneously avoid the situation that the safety device cannot normally operate due to the use of electronic elements.

Description

an underwater robot

Technical field

The invention relates to the field of robot technology, and in particular to an underwater robot.

Background technique

In order to extend the service life of the ship and ensure its economical and safe operation, the ship must be docked regularly for maintenance. The hull surface cleaning on the market is mainly divided into two categories: in-dock cleaning and underwater cleaning. The common work process of cleaning in the dock is that after part of the anti-corrosion paint on the hull of a 10,000-ton ship is corroded by sea water, it is pulled into the dock. Workers stand on a high-altitude vehicle of tens of meters with special equipment and use copper slag to remove the rust. The hull was rust-removed. The site was very dusty, the noise was harsh, and the working environment was harsh. Manual underwater cleaning requires divers to go into the water to clean, which is very inefficient, laborious, extremely costly, and carries high risks, and the rust residue will pollute the seawater. At present, the use of underwater robots for ship bottom flaw detection, routine inspection and cleaning has become people's first choice. Most of the existing underwater robots have complex structures, single functions, and poor operability.

Chinese patent CN209870691 U discloses an underwater robot, which includes a robot body. The robot body includes a moving device, a cleaning device and a power device. The moving device includes crawler tracks surrounding the crawler drive wheels. The movement of the underwater robot is mainly driven by the movement of the robot. The movement is completed by the rotation of the crawlers on the left and right sides. The main shell material of the crawlers on both sides is aluminum alloy. This material is relatively lightweight. The interior of the crawler tracks contains magnets for adsorption. The rotation of the crawlers drives the robot to move. A power device, a cleaning device and a supply and discharge device are installed above the crawler track through a mounting shaft. The power device includes a first power device that drives the crawler track to rotate and a second power device that drives the cleaning device. The cleaning device includes an emergency return device and a cleaning device. The emergency return device is a shellfish scraper connected to the end of the robot body through an offset crank slider mechanism. The cleaning device includes a set of brush cleaners 5 arranged at the bottom of the robot body. The discharge port of the brush cleaner is connected with A garbage collection device is provided in the middle of the robot body. The garbage collection device is used to collect and store filtered debris and is removable and replaceable.

The above solution can efficiently clean the ship, but when an accident occurs to the robot, the automatic power-off and pop-up of the airbag through the sensor program depends on the circuit program, that is, the robot's sensor program, that is, the corresponding electrical components, must ensure that there is no malfunction. If the corresponding program and circuit malfunctions in the dock, there is still hope for the robot to be recovered. If it is used for detection in the ocean and the robot also malfunctions in the deep sea, the robot will inevitably sink to the bottom of the sea and cannot be retrieved, and the cost will be relatively high. high.

Contents of the invention

In response to the above problems, an underwater robot is provided. When a problem occurs with the robot, the robot will lose control and start to sink. Since there will be ballast water inside the sealed chamber during the dive, in order to allow the robot to float up quickly and return The water in the sealed compartment needs to be drained. When the robot starts to sink, the pressure at the trigger device gradually rises. When the pressure of the seawater reaches the preset pressure, the trigger device is triggered. The trigger device activates the gas reactor, and the gas reactor generates Gas enters the sealed chamber through the first connecting pipe, and the ballast water in the sealed chamber is squeezed out by the gas. In this way, the overall weight of the sealed chamber is reduced. Then the transmission device pumps the gas into the air bag, and the air bag pops up to drive the robot to surface. The surface of the water allows the robot to quickly surface after a problem occurs, while avoiding the situation where the safety device cannot operate properly due to the use of electronic components.

In order to solve the existing technical problems, the present invention provides an underwater robot, including a shell and a safety device; the safety device includes a trigger device, a gas reactor, a sealed compartment, a first connecting pipe, a transmission device and an air bag; the trigger device is arranged on the shell On the top, the trigger device can be triggered at a preset pressure; the gas reactor is arranged in the shell, and the trigger device is connected to the gas reactor. After the trigger device is triggered, the gas reactor can be started; the sealing chamber is fixedly installed on the side wall of the shell On the top, a drainage outlet is provided on the side wall of the sealed compartment; both ends of the first connecting pipe are connected to the sealed compartment and the gas reactor respectively, and the gas generated by the reaction of the gas reactor enters the sealed compartment through the first connecting pipe; the air bag is fixedly installed In the upper part of the shell, the transmission device is arranged on the first connecting pipe. After the water in the sealed chamber is discharged, the first connecting pipe drives the transmission device to pump the gas generated by the gas reactor into the air bag.

Preferably, the trigger device includes a trigger block, a button and a safety device; the trigger block is slidably arranged on the side wall of the housing along the length direction of the housing, and the trigger block penetrates the side wall of the housing; the button is arranged inside the housing, and the button is located on the trigger block On one side of the end, the button is connected to the gas reactor and can trigger the gas reactor, and the trigger block can trigger the button; the safety device is set on the trigger block, and the safety device activates the trigger block when the external pressure does not reach the preset pressure. limit.

Preferably, the safety device includes a safety rod, a first connecting rod, a clamping frame, a first clamping groove, a second clamping groove and an elastic component; the safety rod is arranged on one side of the trigger block, and the safety rod is along the length direction of the housing The elastic component is arranged on the side wall of the shell; the elastic component is arranged on the end of the safety rod in the shell; the first connecting rod is arranged below the safety rod, and one end of the first connecting rod is hinged with the end of the safety rod; the snap connection The frame is arranged vertically below the first connecting rod. The upper part of the clamping frame is hinged with the end of the first connecting rod away from the safety lever. The clamping frame can slide in the vertical direction driven by the first connecting rod; the first clamping frame is The connecting groove runs through the clamping frame along the length direction of the housing; the second clamping slot is opened at the lower part of the trigger block, and the clamping frame engages with the second clamping slot.

Preferably, the elastic component includes a second link, a slider and a spring; the second link is hinged on the end of the trigger block located inside the housing; the slider is hinged on the end of the second link away from the trigger block, and the slider moves along the housing. The spring is arranged slidingly in the width direction of the housing; the spring is arranged on the slider away from the second link along the width direction of the housing.

Preferably, the transmission device includes an air supply device, a turbine pump, a disc, meshing teeth and a first gear; the turbine pump is arranged on the first connecting pipe, and when the gas in the first connecting pipe flows, it can drive the turbine pump to rotate; the disc is arranged on On one side of the turbine pump, the turbine pump can drive the disc to rotate; there are multiple meshing teeth, and the meshing teeth are equidistantly arranged on the side wall of the disc around the straight line of the disc, and the disc is not provided with an arc of the meshing tooth portion. It is longer than the arc length of the part where the disk is provided with meshing teeth; both sides of the gas supply device are connected to the gas reactor and the air bag respectively; the first gear is arranged on the gas supply device, and the first gear can control the opening and closing of the gas supply device. A gear meshes with the meshing teeth.

Preferably, the transmission device also includes a second gear and a third gear; the second gear is fixedly arranged on the driving end of the turbine pump; the third gear is arranged at the end of the disc along the axis of the disc, and the third gear is connected to the second gear. The gears mesh with each other, and the diameter of the second gear is smaller than the diameter of the third gear.

Preferably, the gas supply device includes a second connecting pipe and a switch valve; both ends of the second connecting pipe are connected to the air bag and the gas reactor respectively; the switching valve is arranged on the second connecting pipe, and the switch knob on the switching valve is connected to the first Gear fixed connection.

Preferably, the safety device further includes a one-way valve; the one-way valve is arranged on the side wall of the sealed compartment, and the one-way valve allows water in the sealed compartment to flow out of the sealed compartment.

Preferably, the safety device also includes a warning light; the warning light is fixedly mounted on the upper part of the housing.

Preferably, the safety device further includes a locator; the locator is fixedly arranged inside the housing.

Compared with the prior art, the beneficial effects of the present invention are:

By arranging a trigger device, a gas reactor, a sealed chamber, a first connecting pipe, a transmission device and an air bag, the invention will prevent the robot from losing control and starting to sink when there is a problem with the robot. There is ballast water. In order for the robot to float quickly, the water in the sealed compartment needs to be drained. When the robot starts to sink, the pressure at the trigger device gradually rises. When the seawater pressure reaches the preset pressure, the trigger device is triggered. , the trigger device activates the gas reactor, the gas reactor generates gas, and the gas enters the sealed compartment through the first connecting pipe. The ballast water in the sealed compartment is squeezed out by the gas, so that the overall weight of the sealed compartment is reduced, and then the transmission device The gas is pumped into the air bag, and the air bag pops up to drive the robot to the surface, allowing the robot to quickly surface after a problem occurs, while avoiding the situation where the safety device cannot operate normally due to the use of electronic components.

Description of the drawings

Figure 1 is a three-dimensional schematic diagram of an underwater robot when its airbag is not ejected.

Figure 2 is a three-dimensional schematic diagram of an underwater robot after its air bag is ejected.

Figure 3 is a schematic three-dimensional view of an underwater robot with the outer shell and part of the sealing shell removed.

Figure 4 is a schematic three-dimensional view of an underwater robot with the one-way valve, outer shell and sealing shell removed.

Figure 5 is a partial enlarged schematic diagram of position A in Figure 4 of an underwater robot.

Figure 6 is a partially enlarged schematic view of B in Figure 4 of an underwater robot.

Figure 7 is a schematic two-dimensional view of an underwater robot with the one-way valve, outer shell and sealing shell removed.

Figure 8 is a partial enlarged schematic diagram of C in Figure 7 of an underwater robot.

Figure 9 is a schematic three-dimensional view of an underwater robot with the clamping frame, one-way valve, outer shell and sealing shell removed.

Figure 10 is a partial enlarged schematic diagram of D in Figure 9 of an underwater robot.

The numbers in the picture are:

1-Shell; 2-Safety device; 21-Trigger device; 211-Trigger block; 212-Button; 213-Safety device; 2131-Bumper lever; 2132-First connecting rod; 2133-Clamping frame; 2134-First Snap slot; 2135-second snap slot; 2136-second connecting rod; 2137-slider; 2138-spring; 22-gas reactor; 23-sealing compartment; 231-one-way valve; 24-first connection Pipe; 25-transmission device; 251-air supply device; 2511-second connecting pipe; 2512-switch valve; 252-turbine pump; 2521-second gear; 2522-third gear; 253-disc; 2531-meshing teeth; 254-first gear; 26-air bag; 27-warning light.

Detailed ways

In order to further understand the characteristics, technical means, and specific purposes and functions of the present invention, the present invention will be described in further detail below in conjunction with the accompanying drawings and specific implementation modes.

Referring to Figures 1, 2 and 7: an underwater robot includes a shell 1 and a safety device 2; the safety device 2 includes a trigger device 21, a gas reactor 22, a sealed chamber 23, a first connecting pipe 24, and a transmission device 25 and air bag 26; the trigger device 21 is provided on the housing 1, and the trigger device 21 can be triggered under a preset pressure; the gas reactor 22 is provided in the housing 1, the trigger device 21 is connected to the gas reactor 22, and the trigger device 21 is triggered Afterwards, the gas reactor 22 can be started; the sealing chamber 23 is fixedly arranged on the side wall of the housing 1, and a drainage outlet is provided on the side wall of the sealing chamber 23; both ends of the first connecting pipe 24 react with the sealing chamber 23 and the gas respectively. The gas reactor 22 is connected, and the gas generated by the reaction of the gas reactor 22 enters the sealed compartment 23 through the first connecting pipe 24; the air bag 26 is fixedly arranged on the upper part of the housing 1; the transmission device 25 is arranged on the first connecting pipe 24, and the sealed compartment 23 After the water is discharged, the first connecting pipe 24 drives the transmission device 25 to pump the gas generated by the gas reactor 22 into the air bag 26 .

When a problem occurs with the robot, the robot will lose control and start to sink. Since there will be ballast water inside the sealed chamber 23 during the descent, in order for the robot to float quickly, the water in the sealed chamber 23 needs to be drained. When the robot begins to sink, the pressure at the trigger device 21 gradually rises. A preset pressure is set in the trigger device 21. The trigger device 21 will be triggered only when the external pressure reaches the preset pressure. The trigger device 21 is a mechanical structure. It is worth noting that the preset pressure value needs to be less than the maximum design pressure value of the robot. Otherwise, during the sinking process of the robot, the pressure of the external seawater will crush the robot. Only the preset pressure is less than the maximum design pressure resistance value of the robot. , to ensure that the robot will not be damaged by seawater pressure before floating up. When the pressure of seawater reaches the preset pressure, the trigger device 21 is triggered, and the trigger device 21 activates the gas reactor 22. The gas reactor 22 generates gas, and the gas enters the sealing chamber 23 through the first connecting pipe 24. The sealing chamber 23 The ballast water in the tank is squeezed out by the gas, so that the overall weight in the sealed chamber 23 is reduced. Then the transmission device 25 pumps the gas into the air bag 26. The air bag 26 pops up and drives the robot to surface. The moment the gas reactor 22 generates gas The pressure is the highest, and there is ballast water in the sealed chamber 23. If the water in the sealed chamber 23 is to be discharged, a large enough pressure is needed. In this way, the gas generated by the gas reactor 22 needs to enter through the first connecting pipe 24 first. In the sealed chamber 23, after the water in the sealed chamber 23 is discharged, the transmission device 25 will discharge the gas generated in the gas reactor 22 into the air bag 26. In this way, the sealed chamber 23 can also provide buoyancy for the robot. In the air bag 26 Under the dual functions of the robot and the sealed compartment 23, the robot can quickly surface after a problem occurs, and at the same time, it avoids the failure of the safety device 2 to operate normally due to the use of electronic components.

Referring to Figures 2, 3 and 10: the triggering device 21 includes a triggering block 211, a button 212 and a safety device 213; the triggering block 211 is slidably disposed on the side wall of the housing 1 along the length direction of the housing 1, and the triggering block 211 penetrates the housing. 1; the button 212 is arranged inside the shell 1, and the button 212 is located on one side of the end of the trigger block 211. The button 212 is connected to the gas reactor 22 and can trigger the gas reactor 22. The trigger block 211 can trigger the button 212 Trigger; the safety device 213 is set on the trigger block 211, and the safety device 213 limits the trigger block 211 when the external pressure does not reach the preset pressure.

When the robot dives, the water flow in the ocean will impact the side wall of the robot shell 1. If the safety device 213 is not provided, the trigger block 211 will slide under the impact of the water flow, which may easily cause the trigger block 211 to slide. 211 accidentally triggers the button 212, and after the safety device 213 is set, only when the robot fails, as the robot sinks, the external pressure gradually exceeds the preset pressure, at this time the safety device 213 is unlocked, and the trigger block 211 It can slide freely, and under the pressure of external seawater, the trigger block 211 can press and trigger the button 212.

Referring to Figures 7, 8 and 10: the safety device 213 includes a safety lever 2131, a first connecting rod 2132, a snap-in frame 2133, a first snap-in groove 2134, a second snap-in slot 2135 and an elastic component; the safety lever 2131 is provided On one side of the trigger block 211, the safety rod 2131 is slidably disposed on the side wall of the shell 1 along the length direction of the shell 1; an elastic component is disposed on the end of the safety rod 2131 inside the shell 1; the first connecting rod 2132 is disposed on Below the bumper 2131, one end of the first connecting rod 2132 is hingedly connected to the end of the bumper 2131; the clamping frame 2133 is arranged vertically below the first connecting rod 2132, and the upper part of the clamping frame 2133 is connected to the first connecting rod 2132 The end away from the safety lever 2131 is hinged, and the clamping frame 2133 can slide in the vertical direction driven by the first connecting rod 2132; the first clamping groove 2134 runs through the clamping frame 2133 along the length direction of the housing 1; Two snap-in slots 2135 are provided at the lower part of the trigger block 211, and the snap-in frame 2133 snap-fits with the second snap-in slot 2135.

In order to prevent the trigger block 211 from accidentally sliding due to the impact of the flowing water, a safety device 213 is provided on one side of the trigger block 211. When the pressure does not reach the preset pressure, the elastic component provides support for the safety lever 2131, so that the safety lever 2131 It will not be completely retracted into the housing 1, and the clamping frame 2133 provided below the first connecting rod 2132 will not completely move down, because the pressure of the external seawater will act on the bumper 2131 and the trigger block 211 at the same time. Under the action of the component, the bumper 2131 will not slide easily, that is, the impact of external water flow will not have a great impact on the bumper 2131. Only as the diving depth increases, the seawater pressure overcomes the elastic force of the elastic component and pushes the bumper 2131 When pressed down, the safety lever 2131 pushes the clamping frame 2133 to slide through the first connecting rod 2132. As the clamping frame 2133 slides in the vertical direction, the clamping frame 2133 and the trigger block 211 are disengaged, so that the trigger block 211 will The pressure of external seawater hits the button 212, so that the gas reactor 22 is activated.

Referring to Figure 8: the elastic component includes a second link 2136, a slider 2137 and a spring 2138; the second link 2136 is hinged on one end of the trigger block 211 located inside the housing 1; the slider 2137 is hinged on the second link 2136 away from the trigger On one end of the block 211, the slider 2137 is slidably disposed along the width direction of the housing 1; a spring 2138 is disposed on the slider 2137 away from the second link 2136 along the width direction of the housing 1.

When the bumper 2131 is impacted by external seawater pressure or water flow fluctuations, the bumper 2131 drives the slider 2137 to slide through the second connecting rod 2136, so that the spring 2138 provided on the slider 2137 is compressed, so that the compressed spring 2138 The elastic force acts on the safety lever 2131, and only when the safety lever 2131 is completely pressed into the housing 1, the clamping frame 2133 will be disengaged from the trigger block 211.

Referring to Figure 4: the transmission device 25 includes an air supply device 251, a turbine pump 252, a disk 253, a meshing tooth 2531 and a first gear 254; the turbine pump 252 is arranged on the first connecting pipe 24, and the gas flows in the first connecting pipe 24 can drive the turbine pump 252 to rotate; the disc 253 is arranged on one side of the turbine pump 252, and the turbine pump 252 can drive the disc 253 to rotate; there are multiple meshing teeth 2531, and the meshing teeth 2531 are arranged equidistantly around the straight line of the disc 253 On the side wall of the disk 253, and the arc length of the part of the disk 253 without the meshing teeth 2531 is greater than the arc length of the part of the disk 253 with the meshing teeth 2531; both sides of the gas supply device 251 are respectively connected with the gas reactor 22 Connected to the air bag 26; the first gear 254 is arranged on the air supply device 251, the first gear 254 can control the opening and closing of the air supply device 251, and the first gear 254 meshes with the meshing teeth 2531.

When the gas reactor 22 is activated, the gas reactor 22 generates gas, and the gas enters the first connecting pipe 24, so that the turbine pump 252 provided on the first connecting pipe 24 will be driven to rotate, and the disc 253 can be rotated by the turbine. The pump 252 drives, so after the turbine pump 252 rotates, the disc 253 rotates. When the disc 253 rotates, the part of the disc 253 that is not provided with meshing teeth 2531 will not drive the first gear when passing the first gear 254 254 rotates, and when the part provided with the meshing teeth 2531 on the disk 253 passes the first gear 254, the first gear 254 will be driven to rotate, and the air supply device 251 is opened under the drive of the first gear 254. 251 will be lifted up and supplied to the air bag 26, and the air bag 26 will be inflated and expanded with the shell 1 floating up.

Referring to Figure 5: the transmission device 25 also includes a second gear 2521 and a third gear 2522; the second gear 2521 is fixedly provided on the driving end of the turbine pump 252; the third gear 2522 is provided on the disk 253 along the axis of the disk 253 At the end, the third gear 2522 meshes with the second gear 2521, and the diameter of the second gear 2521 is smaller than the diameter of the third gear 2522.

When gas flows through the first connecting pipe 24, the turbine pump 252 provided on the first connecting pipe 24 will rotate, so the second gear 2521 provided on the driving end of the turbine pump 252 will also rotate. The second gear 2521 and the third gear 2522 mesh with each other, so that the third gear 2522 can be rotated by the second gear 2521, and the disc 253 fixedly connected to the third gear 2522 will also rotate.

Referring to Figure 6: the gas supply device 251 includes a second connecting pipe 2511 and a switching valve 2512; both ends of the second connecting pipe 2511 are connected to the air bag 26 and the gas reactor 22 respectively; the switching valve 2512 is provided on the second connecting pipe 2511, The switch knob on the switch valve 2512 is fixedly connected to the first gear 254 .

When the disk 253 rotates, the part of the disk 253 that is not provided with the meshing teeth 2531 will not drive the first gear 254 to rotate when passing the first gear 254. However, when the part of the disk 253 that is provided with the meshing teeth 2531 passes the first When the gear 254 is turned on, the first gear 254 will be driven to rotate, and the first gear 254 drives the switch knob on the switch valve 2512 to rotate, so that the gas generated by the gas reactor 22 will enter the air bag 26 through the second connecting pipe 2511. The air bag 26 is inflated.

Referring to Figure 1: the safety device 2 also includes a one-way valve 231; the one-way valve 231 is provided on the side wall of the sealed compartment 23, and the one-way valve 231 allows the water in the sealed compartment 23 to flow out to the sealed compartment 23.

Since many of the robot's power systems will fail after a robot malfunctions, the sealed bin 23 needs to pump in external water when storing ballast water. Therefore, a switch needs to be set on the sealed bin 23. When the robot fails, it cannot Ensure that the switch can be opened smoothly. If the switch is in a closed state, the gas pressure generated by the gas reactor 22 will not be able to squeeze out the water in the sealed chamber 23. After the one-way valve 231 is installed, this situation can be avoided. The water in the sealed chamber 23 can be stably squeezed out, and external seawater will not enter the sealed chamber 23 through the one-way valve 231.

Referring to Figure 1: the safety device 2 also includes a warning light 27; the warning light 27 is fixedly arranged on the upper part of the housing 1.

When the robot fails during night operations, after the water in the sealed compartment 23 is discharged and the air bag 26 is ejected, the underwater robot will rise, and the warning light 27 provided on the shell 1 can provide guidance for the staff searching for the robot. , easy to find at night.

Referring to Figures 1 to 10: the safety device 2 also includes a locator; the locator is fixedly arranged inside the housing 1.

Due to the existence of ocean currents at sea, when a robot malfunctions and surfaces, the robot will be driven away from the incident site by the ocean currents. After setting up a locator, the staff can find the specific location of the robot through the positioning of the locator.

The above embodiments only express one or several implementation modes of the present invention. The descriptions are relatively specific and detailed, but should not be construed as limiting the scope of the present invention. It should be noted that, for those of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the present invention should be determined by the appended claims.

Claims (10)

1. An underwater robot, including a shell (1) and a safety device (2); It is characterized in that the safety device (2) includes a trigger device (21), a gas reactor (22), a sealed chamber (23), a first connecting pipe (24), a transmission device (25) and an airbag (26); The triggering device (21) is arranged on the housing (1), and the triggering device (21) can be triggered under a preset pressure; The gas reactor (22) is arranged in the casing (1), and the trigger device (21) is connected to the gas reactor (22). After the trigger device (21) is triggered, the gas reactor (22) can be started; The sealing compartment (23) is fixedly installed on the side wall of the casing (1), and a drainage outlet is provided on the side wall of the sealing compartment (23); Both ends of the first connecting pipe (24) are connected to the sealed compartment (23) and the gas reactor (22) respectively. The gas generated by the reaction in the gas reactor (22) enters the sealed compartment (23) through the first connecting pipe (24). Inside; The airbag (26) is fixedly installed on the upper part of the housing (1); The transmission device (25) is arranged on the first connecting pipe (24). After the water in the sealed chamber (23) is discharged, the first connecting pipe (24) drives the transmission device (25) to transfer the gas generated by the gas reactor (22) Pump into the air bag (26). 2. An underwater robot according to claim 1, characterized in that the triggering device (21) includes a triggering block (211), a button (212) and a safety device (213); The trigger block (211) is slidably arranged on the side wall of the housing (1) along the length direction of the housing (1), and the trigger block (211) penetrates the side wall of the housing (1); The button (212) is arranged inside the housing (1). The button (212) is located on one side of the end of the trigger block (211). The button (212) is connected to the gas reactor (22) and can turn the gas reactor (22) Trigger, the trigger block (211) can trigger the button (212); The safety device (213) is provided on the trigger block (211), and the safety device (213) limits the trigger block (211) when the external pressure does not reach the preset pressure. 3. An underwater robot according to claim 2, characterized in that the safety device (213) includes a safety lever (2131), a first connecting rod (2132), a clamping frame (2133), a first clamping Slot (2134), second snap-in slot (2135) and elastic component; The safety lever (2131) is provided on one side of the trigger block (211), and the safety lever (2131) is slidably provided on the side wall of the housing (1) along the length direction of the housing (1); The elastic component is arranged on the end of the bumper (2131) located in the housing (1); The first connecting rod (2132) is arranged below the safety lever (2131), and one end of the first connecting rod (2132) is hingedly connected to the end of the safety lever (2131); The clamping frame (2133) is arranged vertically below the first connecting rod (2132). The upper part of the clamping frame (2133) is hinged with the end of the first connecting rod (2132) away from the safety lever (2131). The clamping frame (2133) 2133) can slide in the vertical direction driven by the first connecting rod (2132); The first snap-in groove (2134) is opened on the snap-in frame (2133) along the length direction of the housing (1); The second snap-in slot (2135) is provided at the lower part of the trigger block (211), and the snap-in frame (2133) is snap-fitted with the second snap-in slot (2135). 4. An underwater robot according to claim 3, characterized in that the elastic component includes a second link (2136), a slider (2137) and a spring (2138); The second connecting rod (2136) is hinged on one end of the trigger block (211) located inside the housing (1); The slider (2137) is hinged on the end of the second connecting rod (2136) away from the trigger block (211), and the slider (2137) is slidably arranged along the width direction of the housing (1); The spring (2138) is arranged on the slider (2137) away from the second connecting rod (2136) along the width direction of the housing (1). 5. An underwater robot according to claim 1, characterized in that the transmission device (25) includes an air supply device (251), a turbine pump (252), a disk (253), meshing teeth (2531) and First gear(254); The turbine pump (252) is arranged on the first connecting pipe (24), and when the gas in the first connecting pipe (24) flows, it can drive the turbine pump (252) to rotate; The disc (253) is arranged on one side of the turbine pump (252), and the turbine pump (252) can drive the disc (253) to rotate; There are multiple meshing teeth (2531). The meshing teeth (2531) are equidistantly arranged on the side wall of the disk (253) around the straight line of the disk (253), and the disk (253) is not provided with meshing teeth (2531). ) The arc length of the portion is greater than the arc length of the portion of the disc (253) provided with the meshing teeth (2531); Both sides of the gas supply device (251) are connected to the gas reactor (22) and the air bag (26) respectively; The first gear (254) is arranged on the air supply device (251). The first gear (254) can control the opening and closing of the air supply device (251). The first gear (254) meshes with the meshing teeth (2531). 6. An underwater robot according to claim 5, characterized in that the transmission device (25) further includes a second gear (2521) and a third gear (2522); The second gear (2521) is fixedly provided on the driving end of the turbine pump (252); The third gear (2522) is arranged at the end of the disc (253) along the axis of the disc (253). The third gear (2522) meshes with the second gear (2521). The diameter of the second gear (2521) is smaller than The diameter of the third gear (2522). 7. An underwater robot according to claim 5, characterized in that the air supply device (251) includes a second connecting pipe (2511) and a switch valve (2512); Both ends of the second connecting pipe (2511) are connected to the air bag (26) and the gas reactor (22) respectively; The switch valve (2512) is arranged on the second connecting pipe (2511), and the switch knob on the switch valve (2512) is fixedly connected to the first gear (254). 8. An underwater robot according to claim 1, characterized in that the safety device (2) further includes a one-way valve (231); The one-way valve (231) is arranged on the side wall of the sealed compartment (23). The one-way valve (231) allows the water in the sealed compartment (23) to flow out to the sealed compartment (23). 9. An underwater robot according to claim 1, characterized in that the safety device (2) further includes a warning light (27); The warning light (27) is fixedly installed on the upper part of the housing (1). 10. An underwater robot according to claim 1, characterized in that the safety device (2) further includes a positioner; The positioner is fixedly arranged inside the housing (1).