CN211391644U

CN211391644U - Underwater robot

Info

Publication number: CN211391644U
Application number: CN201922100206.2U
Authority: CN
Inventors: 黄丽雯; 李治文; 乔欣; 史颖刚; 刘利
Original assignee: Northwest A&F University
Current assignee: Northwest A&F University
Priority date: 2019-11-28
Filing date: 2019-11-28
Publication date: 2020-09-01
Anticipated expiration: 2029-11-28

Abstract

The utility model discloses an underwater robot, including the installation frame, install buoyancy piece mechanism on the installation frame, install in the installation frame and be used for placing power or electrical components's withstand voltage cabin installation frame bottom and install the latent advancing mechanism that floats of vertical setting, the vector advancing mechanism that the structure is the same is installed to installation frame bilateral symmetry. The utility model discloses dismantle convenient, compact structure and can carry out the multi freedom motion.

Description

Underwater robot

Technical Field

The utility model relates to an underwater robot equips technical field, especially an underwater robot.

Background

In recent years, with the continuous development of the scientific and technical level, the underwater robot industry rises rapidly, the underwater robot is used for detecting various environmental parameters of a fishpond by carrying corresponding sensors, and salvaging underwater target crops is completed by carrying corresponding mechanical arms, so that the underwater robot plays an increasingly important role in various underwater operations.

At the present stage, although there are underwater robots applied to aquaculture in China, such underwater robots are mostly totally enclosed underwater robots, the weight is large, and the machines are inconvenient to maintain internal equipment.

SUMMERY OF THE UTILITY MODEL

The utility model aims to solve the technical problem that the underwater robot is not enough for the prior art, and provides an underwater robot which is convenient to disassemble and compact in structure and can move with multiple degrees of freedom.

In order to realize the above purpose, the technical scheme of the utility model is as follows:

the utility model provides an underwater robot, includes the installation frame, install buoyancy piece mechanism on the installation frame, install the withstand voltage storehouse that is used for placing power or electrical components in the installation frame, installation frame mid-mounting has the stealthily of vertical setting to float advancing mechanism, and the vector advancing mechanism that the structure is the same is installed to installation frame bilateral symmetry.

Preferably, vector advancing mechanism includes through actuating mechanism, screw mechanism and cross link, actuating mechanism fixed mounting is on the installation frame, and actuating mechanism passes through the universal joint shaft coupling and connects and be connected with screw mechanism, the cross link is including the cover at the outer annular support portion of universal joint shaft coupling and install first connecting portion and the second connecting portion at annular support portion both ends respectively, and first connecting portion are articulated with actuating mechanism, and second connecting portion are articulated with screw mechanism, and the articulated direction in both sides is perpendicular, installs two swing mechanisms that the structure is the same on the actuating mechanism, and two swing mechanism's direction of motion is perpendicular, and one of them swing mechanism drive screw mechanism uses the articulated department of first connecting portion as the axle swing, and another swing mechanism drive screw mechanism uses the articulated department of second connecting portion as the axle swing.

Preferably, the swing mechanism comprises a steering engine, a crank and a connecting rod, the steering engine is mounted on the driving mechanism, the crank is mounted on an output shaft of the steering engine, the crank is hinged to the connecting rod, the connecting rod connected with the output shaft of the steering engine in the same hinge direction with the second connecting portion is hinged to the propeller mechanism, and the other connecting rod is hinged to the cross connecting frame.

Preferably, the driving mechanism comprises a motor cabin and a brushless motor arranged in the motor cabin, a shaft hole is formed in the side wall of the motor cabin, a sealing groove is formed in the shaft hole of the motor cabin, a sealing ring is arranged in the sealing groove, and an output shaft of the brushless motor penetrates through the shaft hole and the sealing ring and then is connected with the universal joint coupler.

Preferably, withstand voltage storehouse includes withstand voltage casing and supporting component, withstand voltage casing demountable installation is on the installation frame, but the supporting component pull is installed in withstand voltage casing, and the supporting component includes backup pad, roof, bottom plate and interface substrate, the backup pad has two and articulated each other, two one side that the backup pad was kept away from each other articulates respectively has roof and bottom plate that is used for installing electrical components, and one side of keeping away from the backup pad between roof and the bottom plate articulates there is the interface substrate.

Preferably, the support assembly is provided with a main control module, and a leakage early warning module and an overload protection module which are connected with the main control module.

Preferably, the interface substrate is provided with a plurality of connector interfaces.

Preferably, the side wall of the pressure-resistant housing is provided with a movable channel matched with the support component, and the size of the movable channel is matched with that of the interface substrate.

Preferably, the front and back sides of the mounting frame are provided with baffles made of transparent acrylic materials.

Preferably, the mounting frame is made of a polylactic acid material.

Compared with the prior art, the beneficial effects of the utility model are that:

(1) through setting up the installation frame, can enough provide the mounting base for each mechanism, can make whole robot be open frame construction again, make things convenient for inner structure's dismantlement and installation to the installation frame adopts polylactic acid material to make, can reduce the robot and bear a burden.

(2) By arranging the two vector propulsion mechanisms, the propeller mechanism can rotate by taking the hinged part of the first connecting part as a shaft or swing by taking the hinged part of the second connecting part as a shaft by utilizing the swing mechanism, so that the propeller mechanism can swing in the vertical and horizontal directions, the pitch and yaw are realized, and when the two vector propulsion mechanisms work simultaneously, the robot can be driven to realize vector motion in space, so that the robot can move more flexibly in water, and the load of the robot is reduced;

(3) by arranging the pressure-resistant cabin, an installation base can be provided for the electrical element, a drawer-type structure capable of being pulled is arranged between the support component and the pressure-resistant shell, the electrical element is installed on the support component, the electrical element is conveniently separated from the pressure-resistant shell, the disassembly and maintenance are convenient, and the assembly difficulty is low; when the support assembly is pushed into the pressure-resistant shell, the hinged part of the two support plates is contacted with the inner bottom surface of the pressure-resistant shell, and when the support assembly is continuously pushed, the hinged part is stressed to enable the two support plates to rotate and to be away from each other by taking the hinged part as a shaft, so that the top plate and the bottom plate are driven to be away from each other and tightly attached to the inner top surface and the inner bottom surface of the pressure-resistant shell, and therefore heat emitted by electrical components on the top plate and the bottom plate is transferred to the pressure-resistant shell, and the heat;

(4) through set up host system, leak early warning module and overload protection module on supporting component, can utilize to leak the early warning module and detect whether leaking in the withstand voltage under-deck, if the emergence leaks, then send control signal to host system, host system sends signal to overload protection module, cuts off power output circuit, and the electrical components of protection withstand voltage under-deck is not destroyed.

Drawings

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

fig. 2 is a side view of the present invention;

fig. 3 is a schematic structural view of the mounting frame of the present invention;

FIG. 4 is a schematic structural diagram of the vector propulsion mechanism of the present invention;

fig. 5 is a schematic structural view of the driving mechanism of the present invention;

fig. 6 is a cross-sectional view of the driving mechanism of the present invention;

fig. 7 is a schematic structural view of the propeller mechanism of the present invention;

FIG. 8 is a schematic structural view of the cross connecting frame of the present invention;

FIG. 9 is a schematic structural view of the pressure-resistant cabin of the present invention;

fig. 10 is a schematic structural view of the support assembly of the present invention;

fig. 11 is a schematic structural view of the pressure-resistant casing of the present invention.

The labels in the figure are: 1-mounting frame, 2-buoyancy block mechanism, 3-pressure cabin, 31-pressure shell, 32-support assembly, 321-support plate, 322-top plate, 323-bottom plate, 324-interface base plate, 4-submerge and surfacing propulsion mechanism, 5-drive mechanism, 51-motor cabin, 52-brushless motor, 6-propeller mechanism, 61-frame, 62-dome, 63-propeller blade, 7-cross connecting frame, 71-annular support part, 72-first connecting part, 73-second connecting part, 8-swing mechanism, 81-steering engine, 82-crank, 83-connecting rod, 9-shaft hole, 10-sealing ring, 11-main control module, 12-leakage early warning module, 13-overload protection module, 14-connector interface, 15-movable channel, 16-baffle, 17-hinged plate, 18-rudder machine groove, 19-buoyancy block fixing plate, 20-submerging and surfacing fixing plate, 21-propulsion device fixing plate and 22-pressure cabin fixing plate.

Detailed Description

The technical solution in the embodiment of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiment of the present invention:

as shown in fig. 1 to 11, the present embodiment provides an underwater machine including an installation frame 1, a buoyancy block mechanism 2, a pressure-resistant cabin 3, a submerging and surfacing propelling mechanism 4, a driving mechanism 5, a propeller mechanism 6, a cross-shaped connecting frame 7, a swinging mechanism 8, a shaft hole 9, a sealing ring 10, a main control module 11, a leakage early warning module 12, an overload protection module 13, a connector interface 14, a movable passage 15, and a baffle 16.

As shown in fig. 2, a buoyancy block fixing plate 19 is installed at the top of the installation frame 1, the buoyancy block mechanism 2 is fixedly installed on the buoyancy block fixing plate 19, and the buoyancy block mechanism 2 can adopt conventional prior art such as a floating plate and a floating airbag for driving the whole robot to float on the water surface, which is conventional prior art and is not described herein.

The front side and the rear side of the mounting frame 1 are both provided with the baffle plates 16, the cross sections of the baffle plates 16 are arc-shaped, so that the resistance generated by contact with water during the motion of the robot can be better weakened, and the robot is more flexible; the baffle 16 is made of transparent acrylic material so that the robot can carry various visual sensors later.

The middle part of the installation frame 1 is horizontally provided with a submerged and floating fixing plate 20, the submerged and floating propulsion mechanism 4 is fixedly arranged on the submerged and floating fixing plate 20, the submerged and floating propulsion mechanism 4 comprises a submerged and floating motor vertically arranged in the middle of the submerged and floating fixing plate 20, an output shaft of the submerged and floating motor penetrates through the submerged and floating fixing plate 20 and then is provided with a submerged and floating propeller, and a shell of the submerged and floating propeller is fixedly connected with the bottom surface of the submerged and floating fixing plate 20. The submerged-floating propeller is driven to rotate by the rotation of the submerged-floating motor, and downward propelling force is generated in water, so that the robot is driven to vertically move upwards in the water.

The left side and the right side of the installation frame 1 are symmetrically and vertically provided with propulsion device fixing plates 21, vector propulsion mechanisms are arranged on the propulsion device fixing plates 21 and comprise driving mechanisms 5, propeller mechanisms 6 and cross connecting frames 7. The driving mechanism 5 comprises a motor cabin 51 and a brushless motor 52 installed in the motor cabin 51, the motor cabin 51 is horizontally installed on the propulsion device fixing plate 21 through bolts, the motor cabin 51 comprises a left end cover and a right end cover, a silica gel gasket is installed at the contact position of the left end cover and the right end cover, the left end cover and the right end cover are connected through the bolts, during installation, pretightening force is applied to the bolts, the silica gel gasket is pressed to deform, the deformed silica gel gasket is filled in a connecting gap between the left end cover and the right end cover, a sealing effect is achieved, water is prevented from entering the motor cabin 51 from the gap between the left end cover and the right end cover when the propulsion device is used, and damage is caused to the brushless motor 52 in the motor cabin 51.

As shown in fig. 5, the brushless motor 52 is horizontally installed in the motor compartment 51, and the brushless motor 52 is a 42BL80S09-230 type brushless motor 52 with a rated power of 90W; the lateral wall of the motor cabin 51 is provided with a shaft hole 9, the shaft hole 9 of the motor cabin 51 is provided with a plurality of sealing grooves, sealing rings 10 are arranged in the sealing grooves, an output shaft of the brushless motor 52 penetrates through the shaft hole 9 and the sealing rings 10 and then is connected with a universal joint coupler, the universal joint coupler adopts a cross-axle type universal joint coupler, and the cross-axle type universal joint coupler is conventional in the field and is not described herein. During assembly, the inner ring of the sealing ring 10 is sleeved on the output shaft of the brushless motor 52, and the outer ring of the sealing ring 10 is embedded into the sealing groove at the shaft hole 9 of the motor cabin 51, so that the position of the output shaft is sealed, and the sealing reliability is ensured.

The one end that motor cabin 51 was kept away from to the universal joint shaft coupling is connected with screw mechanism 6, as shown in fig. 7, screw mechanism 6 includes frame 61, kuppe 62 and screw blade 63, frame 61 is hollow columnar structure, and installs the propeller shaft through cylindrical roller bearing in it, and the bearing cap is all installed at frame 61 both ends, and the propeller shaft runs through both sides bearing cap, and its one end is connected with the universal joint shaft coupling, and the other end is connected with screw blade 63, screw blade 63 external diameter is 120mm, and the pitch is 120mm, and the rotational speed is 80r/min, and screw blade 63 overcoat has kuppe 62, and kuppe 62 fixed mounting is on frame 61. The brushless motor 52 drives the universal joint coupler to rotate, the universal joint coupler transmits power to the propeller shaft, and then drives the propeller blades 63 to rotate, so that propulsion force is generated in water to drive the robot to move.

As shown in fig. 8, the cross-shaped connecting frame 7 includes an annular supporting portion 71 sleeved outside the universal joint coupler, and first connecting portions 72 and second connecting portions 73 respectively installed at two ends of the annular supporting portion 71, where there are two first connecting portions 72 and two second connecting portions 73, two first connecting portions 72 are symmetrically installed at one end of the annular supporting portion 71, two second connecting portions 73 are symmetrically installed at the other end of the annular supporting portion 71, and a connection line between two first connecting portions 72 is perpendicular to a connection line between two second connecting portions 73. The two first connecting portions 72 are hinged to the motor compartment 51 through hinges, the two second connecting portions 73 are hinged to the frame 61 through hinges, and the hinge plates 17 matched with the first connecting portions 72 and the second connecting portions 73 are mounted on the motor compartment 51 and the frame 61.

The two side walls of the motor cabin 51 are provided with two steering gear grooves 18, the two steering gear grooves 18 are internally provided with swing mechanisms 8, each swing mechanism 8 comprises a steering gear 81, a crank 82 and a connecting rod 83, the steering gears 81 adopt waterproof steering gears 81, the two steering gears 81 are respectively installed in the two steering gear grooves 18, the output shafts of the two steering gears 81 are perpendicular to each other, the cranks 82 are installed on the output shafts of the steering gears 81, and one ends, away from the output shafts, of the cranks 82 are hinged with the connecting rods 83.

As shown in fig. 4, when the two first connecting portions 72 are horizontally hinged to the motor compartment 51 and the two second connecting portions 73 are vertically hinged to the frame 61. The connecting rod 83 connected with the steering engine 81 with the output shaft in the vertical direction is hinged to the left side or the right side of the rack 61, the crank 82 can be driven to swing in the horizontal direction in a reciprocating mode by taking the output shaft of the steering engine 81 as a circle center through the reciprocating rotation of the steering engine 81, the connecting rod 83 is driven to swing left and right in the horizontal direction, the propeller mechanism 6 is further pulled to swing left or right by taking the hinged position of the second connecting portion 73 as a shaft, the adjustment of output force in the horizontal direction is achieved, the two vector propulsion mechanisms work simultaneously, and the robot can move left or right.

Meanwhile, a connecting rod 83 connected with a steering engine 81 with an output shaft in the horizontal direction is hinged to the top or the bottom of the annular supporting part 71, the crank 82 can be driven to swing back and forth in the vertical direction by taking the output shaft of the steering engine 81 as a circle center through the reciprocating rotation of the steering engine 81, so that the connecting rod 83 is driven to move, the cross connecting frame 7 is further pulled to swing up and down by taking the hinged part of the first connecting part 72 as a shaft, so that the propeller mechanism 6 is driven to swing up and down through the cross connecting frame 7, the adjustment of the output force in the vertical direction is realized, the two vector propulsion mechanisms move in the same direction at the same time, and. Through the simultaneous equidirectional motion of two vector advancing mechanism, can drive screw mechanism 6 and realize the adjustment of each angle to the vector direction of motion of adjustment robot in the space improves the flexibility and the application scope of robot, can reduce cost moreover.

Pressure-resistant cabin fixing plates 22 are horizontally installed in the installation frame 1 on two sides of the submerged floating fixing plate 20, pressure-resistant cabins 3 are installed on the top surfaces of the two pressure-resistant cabin fixing plates 22 through bolts, one pressure-resistant cabin 3 is used for installing a mobile power supply, and the other pressure-resistant cabin 3 is used for installing electrical components. The pressure-resistant cabin 3 comprises a pressure-resistant shell 31 and a supporting component 32, the pressure-resistant shell 31 is of a hollow cuboid structure, one end of the pressure-resistant shell is provided with a movable channel 15, a flange is arranged at the port of the movable channel 15, the pressure-resistant shell 31 is made of a polypropylene material, the wall thickness of the pressure-resistant shell is 15mm, the pressure-resistant shell has water absorption and high corrosion resistance, and the safety of the whole pressure-resistant cabin 3 can be guaranteed.

The supporting component 32 can be installed in the pressure shell 31 through the movable passage 15 in a drawing way, and the supporting component 32 is made of polypropylene materials, so that the supporting component has better processability and assembly performance and lower cost; as shown in fig. 10, the supporting component 32 includes two supporting plates 321, a top plate 322, a bottom plate 323 and an interface substrate 324, the two supporting plates 321 are hinged to each other, an angle between the two supporting plates 321 is an acute angle, one side of the two supporting plates 321 away from each other is hinged to the top plate 322 and the bottom plate 323 for installing a mobile power supply or an electrical component, the top plate 322 is located above the bottom plate 323, one side of the top plate 322 and the bottom plate 323 away from the supporting plates 321 is hinged to the interface substrate 324, the size of the interface substrate 324 is matched with that of the moving passage 15, and a plurality of connector interfaces 14 are formed on the interface substrate 324, and the electrical component in the pressure-resistant cabin 3 for installing the electrical component is connected to the mobile power supply in another pressure-resistant.

When the supporting component 32 is disposed in the pressure-resistant housing 31, the interface substrate 324 is flush with the movable passage 15, a silica gel gasket is mounted at a contact position of the interface substrate 324 and the flange, the interface substrate 324 and the flange are connected through a bolt, during installation, a pretightening force is applied to the bolt to press the silica gel gasket to deform, the deformed silica gel gasket is filled in a connection gap between the interface substrate 324 and the flange, a sealing effect is achieved, water is prevented from entering the pressure-resistant cabin 3 from the gap between the interface substrate 324 and the flange, and damage is caused to a mobile power supply or an electrical component in the pressure-resistant cabin 3. The pressure shell 31 and the supporting component 32 are of a drawer-type structure capable of being pulled out, and the electrical components are mounted on the supporting component 32, so that the electrical components are conveniently separated from the pressure shell 31, the disassembly and maintenance are convenient, and the assembly difficulty is low.

When the supporting component 32 is pushed into the pressure-resistant casing 31, the hinged position of the two supporting plates 321 contacts with the inner bottom surface of the pressure-resistant casing 31, and when the supporting component continues to be pushed, the hinged position is stressed to enable the two supporting plates 321 to rotate around the hinged position as a shaft to move away from each other, so that the top plate 322 and the bottom plate 323 are driven to move away from each other and closely attached to the inner top surface and the inner bottom surface of the pressure-resistant casing 31, and therefore heat emitted by electrical components on the top plate 322 and the bottom plate 323 is transferred to the pressure-resistant casing 31, and the heat dissipation effect of the.

The main control module 11, the leakage early warning module 12 and the overload protection module 13 are connected with the main control module 11, and the main control module 11, the leakage early warning module 12 and the overload protection module 13 are respectively connected with the mobile power supply; the main control module 11 adopts a single chip microcomputer, the leakage early warning module 12 adopts a temperature and humidity sensor, and the overload protection module 13 adopts an overload protector. When water leaks from the pressure-resistant cabin 3, the temperature and humidity sensor detects humidity change after the water enters the pressure-resistant cabin 3, then the temperature and humidity sensor sends a signal to the single chip microcomputer, the single chip microcomputer receives the signal and then sends a control signal to the overload protector, the overload protector cuts off a power supply output circuit, electrical elements in the pressure-resistant cabin 3 are protected from being damaged, and the safety performance of the whole device is further improved. And when the power load is too large or the short circuit fault occurs in the circuit in the voltage-resistant cabin 3, the overload protector can cut off the power output circuit, and the electrical elements in the voltage-resistant cabin 3 are protected.

The mounting frame 1, the buoyancy block fixing plate 19, the propulsion device fixing plate 21 and the pressure-resistant cabin 3 fixing plate are all made of polylactic acid materials, so that the weight is light, and the total weight of the robot can be reduced.

The utility model discloses a theory of operation: firstly, the robot is placed in water, then the brushless motors 52 in the two vector propulsion mechanisms are started, the output shafts of the brushless motors 52 rotate to drive the universal joint couplers to rotate, power is transmitted to the propeller shafts, the propeller shafts drive the propeller blades 63 to rotate, so that water flow is pushed to move backwards, the water flow moving at high speed generates forward reverse thrust on the propulsion devices, and the mechanisms connected with the propulsion devices are pushed to move forwards.

When ascending or descending is required: the steering engine 81 with the horizontal output shaft in the two vector propulsion mechanisms is started, and the crank 82 can be driven to do reciprocating swing in the vertical direction by taking the output shaft of the steering engine 81 as the center of circle through the reciprocating rotation of the steering engine 81, so that the connecting rod 83 is driven to move. When two first connecting portions 72 are horizontally hinged with the motor cabin 51, when two second connecting portions 73 are vertically hinged with the frame 61, one end, far away from the crank 82, of the connecting rod 83 is hinged to the upper side or the lower side of the annular supporting portion 71, the connecting rod 83 is further pulled to enable the cross connecting frame 7 to swing up and down by taking the hinged portion of the first connecting portions 72 as an axis when moving, so that the propeller mechanism 6 is driven to swing up and down through the cross connecting frame 7, adjustment of output force in the vertical direction is achieved, upward or downward movement of the mechanism connected with the propelling device is achieved, when the propeller mechanism 6 faces downward, reaction force of water faces upward, and therefore the mechanism connected with the propelling device is driven to move upward, when the propeller mechanism 6 faces upward, reaction force of water faces downward, and therefore the mechanism connected with the propelling device is driven to.

When a left or right turn is required: the steering engine 81 with the vertical output shaft in the two vector propulsion mechanisms is started simultaneously, and the crank 82 can be driven to do reciprocating swing in the horizontal direction by taking the output shaft of the steering engine 81 as the center of circle through the reciprocating rotation of the steering engine 81, so that the connecting rod 83 is driven to move. When two first connecting portions 72 and motor compartment 51 level are articulated, when two second connecting portion 73 and frame 61 are vertical articulated, connecting rod 83 articulates the left side or the right side at frame 61, drag screw mechanism 6 and use second connecting portion 73 articulated department as the axle horizontal hunting, realize the adjustment of output power in the horizontal direction, when screw mechanism 6 faces left, the reaction force of water faces right, thereby drive the mechanism that advancing device connects and move right, when screw mechanism 6 faces right, the reaction force of water faces left, thereby drive the mechanism that advancing device connects and move left.

The utility model discloses withstand voltage 3 inside installation in cabin: firstly, a power supply or an electrical element is installed on the top plate 322 and the bottom plate 323, the hinged position of the two supporting plates 321 is arranged in the direction away from the interface substrate 324, then the whole supporting assembly 32 is pushed into the pressure-resistant shell 31, when the distance of one end is pushed, the hinged position of the supporting plate 321 is firstly contacted with the inner bottom surface of the pressure-resistant shell 31 and is continuously pushed, the hinged position is stressed to move towards the interface substrate 324, at the moment, the two supporting plates 321 rotate and are away from each other by taking the hinged position as a shaft, so that the top plate 322 and the bottom plate 323 are driven to rotate and are away from each other by taking the hinged position of the interface substrate 324 as a shaft and are tightly attached to the inner top surface and the inner bottom surface of the pressure-resistant shell 31, at the moment, the interface substrate 324 is tightly contacted.

When the pressure-resistant cabin 3 is filled with water: the temperature and humidity sensor detects humidity change and then sends a signal to the single chip microcomputer, the single chip microcomputer receives the signal and then sends a control signal to the overload protector, the overload protector cuts off a power supply output circuit, and all electrical components are powered off.

Claims

1. An underwater robot, characterized in that: the device comprises an installation frame (1), wherein a buoyancy block mechanism (2) is installed on the installation frame (1), a pressure-resistant bin (3) for placing a power supply or an electrical element is installed in the installation frame (1), a vertically-arranged submerging and surfacing propulsion mechanism (4) is installed in the middle of the installation frame (1), and vector propulsion mechanisms with the same structure are symmetrically installed on two sides of the installation frame (1).

2. An underwater robot as recited in claim 1, wherein: the vector propulsion mechanism comprises a driving mechanism (5), a propeller mechanism (6) and a cross connecting frame (7), wherein the driving mechanism (5) is fixedly installed on an installation frame (1), the driving mechanism (5) is connected with the propeller mechanism (6) through a universal joint coupler, the cross connecting frame (7) comprises an annular supporting portion (71) sleeved outside the universal joint coupler, and a first connecting portion (72) and a second connecting portion (73) which are respectively installed at two ends of the annular supporting portion (71), the first connecting portion (72) is hinged with the driving mechanism (5), the second connecting portion (73) is hinged with the propeller mechanism (6), the hinging directions of two sides are vertical, two swinging mechanisms (8) with the same structure are installed on the driving mechanism (5), the moving directions of the two swinging mechanisms (8) are vertical, one swinging mechanism (8) drives the propeller mechanism (6) to swing by taking the hinging position of the first connecting portion (72) as a shaft, the other swing mechanism (8) drives the propeller mechanism (6) to swing by taking the hinged part of the second connecting part (73) as a shaft.

3. An underwater robot as recited in claim 2, wherein: the swing mechanism (8) comprises a steering engine (81), a crank (82) and a connecting rod (83), the steering engine (81) is installed on the driving mechanism (5), the crank (82) is installed on an output shaft of the steering engine (81), the crank (82) is hinged to the connecting rod (83), the connecting rod (83) connected with the output shaft of the steering engine (81) in the same hinging direction as the second connecting portion (73) is hinged to the propeller mechanism (6), and the other connecting rod (83) is hinged to the cross connecting frame (7).

4. An underwater robot as claimed in claim 2 or 3, wherein: actuating mechanism (5) include motor cabin (51) and install brushless motor (52) in motor cabin (51), and motor cabin (51) lateral wall is opened there is shaft hole (9), and motor cabin (51) shaft hole (9) department is opened there is the seal groove, installs sealing washer (10) in the seal groove, and brushless motor (52) output shaft passes shaft hole (9) and sealing washer (10) back and is connected with the universal joint coupling.

5. An underwater robot as claimed in claim 1 or 2, wherein: withstand voltage storehouse (3) are including withstand voltage casing (31) and supporting component (32), withstand voltage casing (31) demountable installation is on installation frame (1), but supporting component (32) pull is installed in withstand voltage casing (31), and supporting component (32) are including backup pad (321), roof (322), bottom plate (323) and interface base plate (324), backup pad (321) have two and articulated each other, two one side that backup pad (321) kept away from each other articulates respectively has roof (322) and bottom plate (323) that are used for installing electrical components, and one side of keeping away from backup pad (321) between roof (322) and bottom plate (323) articulates has interface base plate (324).

6. An underwater robot as recited in claim 5, wherein: the supporting component (32) is provided with a main control module (11), and a leakage early warning module (12) and an overload protection module (13) which are connected with the main control module (11).

7. An underwater robot as recited in claim 5, wherein: the interface substrate (324) is provided with a plurality of connector interfaces (14).

8. An underwater robot as recited in claim 7, wherein: the side wall of the pressure shell (31) is provided with a movable channel (15) matched with the supporting component (32), and the size of the movable channel (15) is matched with that of the interface substrate (324).

9. An underwater robot as recited in claim 1, wherein: baffle (16) are all installed to both sides around installation frame (1), baffle (16) are made by transparent ya keli material.

10. An underwater robot as recited in claim 1, wherein: the mounting frame (1) is made of polylactic acid material.