CN219134469U - Underwater robot with emergency floating function - Google Patents

Abstract

An underwater robot with an emergency floating function comprises a robot body, a connecting piece, a cable and a locking mechanism; the robot body is internally provided with a control unit; the connecting piece is detachably arranged on the robot body; the cable is fixedly connected to the connecting piece; the locking mechanism is arranged on the robot body, and the control unit is electrically connected with the locking mechanism so as to lock or unlock the connecting piece by the locking mechanism; when the robot is used, the locking mechanism locks the connecting piece, so that the cable is fixed with the robot body, and a user can conveniently recover the robot body in water through the cable; when the cable and sundries in water are wound, the control unit drives the locking mechanism to loosen the connecting piece, so that the robot body is free from the constraint of the cable, and then an instruction is sent to the control unit to enable the robot body to float upwards automatically for recovery; therefore, the underwater robot not only has a cable, but also can float upwards in emergency, and effectively solves the problem that the robot body is lost or forcedly recovered when in use.

Description

Underwater robot with emergency floating function

Technical Field

The utility model belongs to the technical field of underwater robots, and particularly relates to an underwater robot with an emergency floating function.

Background

The underwater robot is also called an underwater unmanned aerial vehicle and is mainly used for underwater exploration shooting; existing underwater robots are mainly divided into two main categories: one is a cableless underwater robot, and the other is an underwater robot with a cable.

The cable-free underwater robot has a large moving range and good flexibility, but can directly sink to be unable to recover when various emergencies occur and cause huge loss to users;

although the underwater robot with the cable can forcedly bring the underwater robot out of the water surface to recover by pulling the cable, in the actual use process, the cable is easy to wind on sundries such as plants, stones and the like in the water, and the underwater robot can be damaged due to collision with the sundries when the cable is forcedly pulled, so that the underwater robot cannot be damaged; therefore, it is necessary to design an underwater robot with an emergency floating function.

Disclosure of Invention

(one) solving the technical problems

The utility model provides an underwater robot with an emergency floating function, which can be quickly separated from a cable and floats upwards when an emergency situation occurs, and solves the problems in the background technology.

(II) technical scheme

In order to achieve the above purpose, the present utility model provides the following technical solutions:

an underwater robot with an emergency floating function comprises a robot body, a connecting piece, a cable and a locking mechanism; a control unit is arranged in the robot body; the connecting piece is detachably arranged on the robot body; the cable is fixedly connected to the connecting piece; the locking mechanism is arranged on the robot body, and the control unit is electrically connected with the locking mechanism so as to drive the locking mechanism to lock or unlock the connecting piece.

Preferably, a driving cavity is arranged in the robot body, and a bayonet for connecting with the outside is arranged on the cavity wall of the driving cavity; the connecting piece is provided with a clamping block which is in sliding fit with the bayonet, and the clamping block can penetrate through the bayonet to the driving cavity; the locking mechanism is arranged in the driving cavity and can lock or unlock the clamping block.

Preferably, the locking mechanism comprises an electromagnet and a lock rod, the driving cavity is provided with a fixed plate beside the bayonet, and the clamping block is provided with a lock hole; the lock rod is slidably arranged on the fixed plate, and a magnetic block is arranged at the first end of the lock rod; the electromagnet is arranged beside the fixed plate and corresponds to the magnetic block design, and the electromagnet is also electrically connected with the control unit; when the electromagnet is powered off, the magnetic block is adsorbed with the electromagnet to drive the first end of the lock rod to be clamped into the lock hole; when the electromagnet is electrified, the magnetic block is repelled with the electromagnet, so that the first end of the lock rod is driven to be separated from the lock hole.

Preferably, the locking mechanism further comprises an elastic piece, and a stop block is arranged at the second end of the lock rod; the elastic piece is sleeved on the lock rod, one end of the elastic piece is connected with the stop block, and the other end of the elastic piece is connected with the fixed plate; when the electromagnet is electrified to repel the magnetic block, the elastic piece stretches to store energy.

Preferably, the elastic member is a spring.

Preferably, the device also comprises an air bag and a micro inflator; the air bag is arranged on the robot body, the miniature inflator pump is arranged in the driving cavity and connected with the air bag through a hose, and the miniature inflator pump is further electrically connected with the control unit.

Preferably, the device further comprises a pushing mechanism, wherein the pushing mechanism is installed in the driving cavity and is electrically connected with the control unit, the air bag is arranged in the driving cavity and is installed on the pushing mechanism, and the pushing mechanism can drive the air bag to penetrate through the bayonet to the outside.

Preferably, the pushing mechanism comprises a bracket, a carrier plate and an air cylinder, wherein the bracket is arranged beside the bayonet, the air cylinder is arranged on the bracket and is electrically connected with the control unit, and a telescopic shaft of the air cylinder corresponds to the bayonet; the support plate is arranged on a telescopic shaft of the air cylinder; the air bag is folded and arranged on the carrier plate; and starting the air cylinder can drive the carrier plate and the air cylinder to penetrate through the bayonet to the outside.

Preferably, the device further comprises a waterproof cover, wherein the waterproof cover is installed in the driving cavity and encloses the locking mechanism and the pushing mechanism.

(III) beneficial effects

According to the underwater robot with the emergency floating function, the connecting piece is designed to be used for connecting the cable and the robot body, so that the robot body can be recovered when the underwater operation encounters a fault, and the robot body is prevented from being lost; the locking mechanism is used for locking or loosening the connecting piece, so that when an emergency situation, such as winding of cables around sundries in water, is met, the robot body can independently run and float upwards without being bound by the cables, and the problem that the robot body is damaged due to forced recovery is effectively solved.

Drawings

The accompanying drawings, which are included to provide a further understanding of the utility model and are incorporated in and constitute a part of this specification, illustrate and together with the embodiments of the utility model and do not constitute a limitation to the utility model, and in which:

FIG. 1 shows a schematic diagram of the overall structure of the present utility model;

FIG. 2 shows an enlarged view at A in FIG. 1;

FIG. 3 shows a second overall schematic of the present utility model;

FIG. 4 shows a cross-sectional view A-A of FIG. 3;

FIG. 5 shows an enlarged view at B in FIG. 4;

FIG. 6 shows an exploded schematic view of the overall structure of the present utility model;

FIG. 7 shows a partial schematic diagram of the present utility model;

FIG. 8 shows an enlarged view at C in FIG. 7;

FIG. 9 shows a partial schematic diagram II of the present utility model;

fig. 10 shows an enlarged view at D in fig. 9;

FIG. 11 shows a schematic structural view of the connector and locking mechanism of the present utility model;

FIG. 12 shows a schematic view of the configuration of the airbag, ejector mechanism and micro inflator of the present utility model.

In the figure: the robot comprises a robot body 1, a driving cavity 10, a bayonet 11, a fixing plate 12, a connecting piece 2, a clamping block 21, a locking hole 210, a cable 3, a locking mechanism 4, an electromagnet 41, an iron core 410, a locking rod 42, a magnetic block 420, a stop block 421, an elastic piece 43, an air bag 5, a miniature inflator pump 6, a push-out mechanism 7, a bracket 71, a carrier 72, an air cylinder 73, a waterproof cover 8 and a through hole 80.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

Referring to fig. 1 to 5, an underwater robot with an emergency floating function includes a robot body 1, a connector 2, a cable 3 and a locking mechanism 4; the robot body 1 is internally provided with a control unit; the connecting piece 2 is detachably arranged on the robot body 1; the cable 3 is fixedly connected to the connecting piece 2; the locking mechanism 4 is installed on the robot body 1, and the control unit is electrically connected with the locking mechanism 4 to drive the locking mechanism 4 to lock or unlock the connecting piece 2.

Specifically, in general, the locking mechanism 4 locks the connector 2 to fix the cable 3 with the robot body 1, and at this time, if the robot body 1 entering water fails to operate due to a power failure or a circuit failure, a user can directly recover the robot body 1 in water through the cable 3;

when the robot body 1 does not have a fault, but other emergency situations occur when the cable 3 is wound with sundries in water, the cable 3 is forcibly pulled to be recovered, so that the robot body 1 can be damaged due to collision; therefore, the user should drive the locking mechanism 4 to release the connecting piece 2 by the remote control unit before the electricity consumption of the robot body 1 is completed, so that the robot body 1 is released from the constraint of the cable 3; then, an instruction is sent to the control unit to enable the robot body 1 to automatically float out of the water surface for recovery.

In summary, the connecting piece 2 is designed to be used for connecting the cable 3 and the robot body 1, so that the robot body 1 can be recovered when the robot body 1 runs into faults in underwater operation, and the robot body 1 is prevented from being lost; the locking mechanism 4 is designed to lock or unlock the connecting piece 2, so that when an emergency situation, such as winding of the cable 3 around sundries in water, the robot body 1 can independently run and float up without being bound by the cable 3, and the problem that the robot body 1 is damaged due to forced recovery is effectively solved.

Referring to fig. 1-5, a driving cavity 10 is arranged in a robot body 1, and a bayonet 11 communicated with the outside is arranged on the cavity wall of the driving cavity 10; the connecting piece 2 is provided with a clamping block 21 which is in sliding fit with the bayonet 11, and the clamping block 21 can penetrate through the bayonet 11 into the driving cavity 10; the locking mechanism 4 is installed in the driving chamber 10 and can lock or unlock the latch 21.

Specifically, when the cable 3 is installed on the robot body 1, the clamping block 21 is aligned with the bayonet 11 and slides into the driving cavity 10, and then the locking mechanism 4 is driven by the control unit to lock the clamping block 21; when the constraint of the cable 3 to the robot body 1 needs to be released, the locking mechanism 4 is driven by the control unit to release the clamping block 21, and then the cable 3 is pulled or the direct remote control unit is driven by the robot body 1 to move, so that the clamping block 21 is separated from the bayonet 11.

Wherein, locking mechanism 4 installs the setting in driving chamber 10 for robot body 1 outward appearance is succinct more, and can protect locking mechanism 4 inside, avoids living beings under water striking locking mechanism 4, improves its life and operating stability.

Referring to fig. 4-11, the locking mechanism 4 in the embodiment of the present utility model includes an electromagnet 41 and a lock rod 42, the driving cavity 10 is provided with a fixing plate 12 beside the bayonet 11, and the clamping block 21 is provided with a locking hole 210; the lock lever 42 is slidably mounted on the fixed plate 12, and a magnetic block 420 is disposed on a first end of the lock lever 42; the electromagnet 41 is arranged beside the fixed plate 12 and is designed corresponding to the magnetic block 420, and the electromagnet 41 is also electrically connected with the control unit; when the electromagnet 41 is powered off, the magnetic block 420 is attracted to the electromagnet 41 to drive the first end of the lock rod 42 to be clamped into the lock hole 210; when the electromagnet 41 is energized, the magnetic block 420 repels the electromagnet 41 to drive the first end of the lock lever 42 out of the lock hole 210.

Specifically, the electromagnet 41 belongs to the prior art, the existing electromagnet 41 is generally provided with an iron core 410, the iron core 410 generates magnetism when being electrified, the iron core 410 loses magnetism when being powered off, but the iron core 410 is made of an iron material, so that the iron core can be mutually adsorbed with the magnetic block 420 when being powered off; the user can make the iron core 410 of the electromagnet 41 repel or attract the magnet on the lock lever 42 by powering on and off the electromagnet 41 through the control unit, so that the first end of the lock lever 42 is clamped into or separated from the lock hole 210 to lock or unlock the clamping block 21.

It should be noted that the locking mechanism 4 is various in kind, and a screw motor or an electric cylinder can be adopted in addition to the above-mentioned design; for example, the telescopic shaft of the screw motor or the electric cylinder corresponds to the lock hole 210, and the user can lock or unlock the clamping block 21 by controlling the telescopic shaft of the screw motor or the electric cylinder to be locked or unlocked in the lock hole 210, and the utility model is not limited to this because of many similar structures.

However, compared with other structural designs, the design of the electromagnet 41 and the lock rod 42 in the embodiment of the utility model only electrifies the electromagnet 41 when the constraint of the cable 3 needs to be released, so that the power is saved, and the burden of a battery can be effectively reduced; however, the lead screw motor or the electric cylinder lamp structure generally needs to be kept energized all the time, which results in an excessive burden of the built-in battery of the robot body 1.

On the other hand, when the power is off, the lock rod 42 is magnetically attracted with the electromagnet 41 through the magnetic block 420, and at the moment, if proper force is used, the lock rod 42 can be forced to be pulled out of the lock hole 210, so that later maintenance or independent replacement of the damaged electromagnet 41 or the lock rod 42 is facilitated; if the motor is designed into a screw motor or an electric cylinder, the motor needs to be replaced integrally, so that the maintenance cost is too high.

Referring to fig. 4-11, further, considering that the magnetic attraction between the iron core 410 of the electromagnet 41 and the magnetic block 420 on the lock rod 42 is weak, the magnetic block 420 may be separated from the electromagnet 41 during the underwater operation of the robot body 1, so that the first end of the lock rod 42 is separated from the lock hole 210, and the problem that the clamping block 21 is separated from the bayonet 11 exists; to avoid this problem, in the present utility model, the locking mechanism 4 further includes an elastic member 43, and a stopper 421 is provided on the second end of the lock lever 42; the elastic member 43 is sleeved on the lock rod 42, one end of the elastic member 43 is connected with the stop block 421, and the other end of the elastic member 43 is connected with the fixing plate 12.

Specifically, when the electromagnet 41 is powered off, the elastic member 43 is in an initial state and provides a supporting force for the lock lever 42, so that the lock lever 42 can be more stably placed in the lock hole 210; when the electromagnet 41 is electrified to repel the magnetic block 420, the locking rod 42 is driven to be away from the locking hole 210, in the process, the elastic piece 43 stretches to store energy, after the electromagnet 41 is powered off again, the elastic piece 43 releases energy to recover, and the locking rod 42 is rapidly driven to be clamped with the locking hole 210.

When the connecting piece 2 is installed, during the process of extending the clamping block 21 into the driving cavity 10, when the clamping block 21 is located between the electromagnet 41 and the magnetic block 420, the electromagnet 41 can not normally repel the magnetic block 420, at this time, under the reset action of the elastic piece 43, the first end of the lock rod 42 can abut against the clamping block 21 until the lock hole 210 aligns with the lock rod 42, and the lock rod 42 can rapidly penetrate through the lock hole 210; in this process, an abnormal sound is generated to prompt the user that the connector 2 has been installed.

In summary, the design of the elastic member 43 can prevent the lock rod 42 from being separated from the lock hole 210 when the robot body 1 works, so as to improve the stability of the lock rod 42; on the one hand, the locking rod 42 has the quick resetting trend, and can play a role in prompting installation, and on the other hand, the connecting piece 2 is installed.

Further, the elastic member 43 may be of various kinds, for example, a rubber sleeve, a spring, or the like, and a spring having a lower cost is preferably used in the present utility model.

Referring to fig. 2-5, considering that the cable 3 is wound on sundries in water, the robot body 1 has a problem of insufficient electric quantity, at this time, even if the limit of the locking mechanism 4 to the connecting piece 2 is released, the robot body 1 may consume the residual electric quantity in the floating process, so that the robot body cannot smoothly float on the water surface and sink; to solve the problem, the utility model also comprises an air bag 5 and a micro inflator 6; the air bag 5 is arranged on the robot body 1, the micro air pump 6 is arranged in the driving cavity 10 and is connected with the air bag 5 through a hose (not shown in the figure), and the micro air pump 6 is also electrically connected with the control unit.

Specifically, when the user finds that the electric quantity of the battery built in the robot body 1 is insufficient, the micro air pump 6 can be started through the control unit, and the micro air pump 6 supplies air to the air bag 5, so that the air bag 5 expands and has the capability of floating up, and the robot body 1 is driven to float out of the water.

Because the air bag 5 is a disposable material, in the actual use process, the user generally needs to encounter a more urgent situation, for example, when the robot body 1 fails or the electric quantity of the robot body 1 is insufficient when the cable 3 is wound.

In summary, the design of the air bag 5 and the micro air pump 6 makes the robot body 1 float smoothly under some special conditions, so as to further reduce the possibility of losing the robot body 1.

Referring to fig. 5 and 10, further, considering that the air bag 5 is easy to be corroded if installed outside the robot body 1, the present utility model further includes a pushing mechanism 7, wherein the pushing mechanism 7 is installed in the driving cavity 10 and electrically connected with the control unit, the air bag 5 is disposed in the driving cavity 10 and installed on the pushing mechanism 7, and the pushing mechanism 7 can drive the air bag 5 to penetrate through the bayonet 11 to the outside.

Specifically, under general conditions, the air bag 5 is arranged in the driving cavity 10, so that erosion can be avoided, and the service life of the air bag 5 is ensured; when an emergency is met, the pushing mechanism 7 is started by the control unit to push out the driving cavity 10 through the air bag 5, and then the micro inflator pump 6 is started by the control unit to pump air to the air bag 5, so that the air bag 5 expands outside the robot body 1.

Referring to fig. 5-12, in the present utility model, the push-out mechanism 7 includes a bracket 71, a carrier 72 and an air cylinder 73, the bracket 71 is mounted beside the bayonet 11, the air cylinder 73 is mounted on the bracket 71 and electrically connected with the control unit, and the telescopic shaft of the air cylinder 73 corresponds to the bayonet 11; the carrier plate 72 is mounted on a telescopic shaft of the air cylinder 73; the air bag 5 is folded and overlapped on the carrier plate 72; the actuating cylinder 73 drives the carrier plate 72 and the balloon 5 through the bayonet 11 to the outside.

Specifically, in general, the air bag 5 and the push-out mechanism 7 are both arranged in the driving cavity 10, and the clamping block 21 of the connecting piece 2 seals the bayonet 11, so that water can be prevented from overflowing into the driving cavity 10 to contact with the air bag 5;

in the use process, if and only if the locking mechanism 4 releases the clamping block 21, the air cylinder 73 can be started by controlling, and at the moment, the air cylinder 73 drives the carrier plate 72 to move along the direction of the bayonet 11, so that the air bag 5 can be pushed out of the outside, and then the micro inflator 6 can be started by the control unit.

In sum, as the pushing mechanism 7 and the locking mechanism 4 are arranged at the same position, the structure is compact, the occupation of the driving cavity 10 can be reduced, and the installation space is saved for other built-in parts of the robot body 1; and the air bag 5 and the clamping block 21 share the same bayonet 11, and openings and waterproof plugs are not required to be arranged at other parts of the robot body 1, so that the cost can be effectively saved and the sealing performance of the driving cavity 10 can be improved.

It should be noted that, considering that when the robot body 1 is under water, if the clamping block 21 is separated from the bayonet 11, the water body flows in from the bayonet 11, if the locking mechanism 4 adopts the electromagnet 41, the water body may play a role in blocking magnetism, so that the electromagnet 41 cannot normally repel the magnetic block 420 even if being electrified, and at this time, the lock rod 42 may return to the original position or be placed in the middle of the bayonet 11 to block the carrier plate 72, so that the air bag 5 cannot be smoothly pushed out of the environment; therefore, the starting time of the air cylinder 73 is critical, the air cylinder 73 should be started after the lock rod 42 is separated from the lock hole 210 and before the clamping block 21 is separated from the bayonet 11, at this time, the driving cavity 10 is still in a closed state, the water cannot enter the driving cavity 10, and the air cylinder 73 can drive the carrier plate 72 to abut and push the clamping block 21 to be separated from the bayonet 11, so that the air bag 5 is smoothly pushed out of the outside; in the process, the air cylinder 73 can also play a role of driving the connecting piece 2 to be separated from the robot body 1, so that the robot is very convenient.

It should be noted that, since the air bag 5 is a disposable material, the air bag 5 is generally adhered to the carrier plate 72 by glue and connected to the micro inflator 6 by a hose, so that after the air bag 5 is used, a user can detach the air bag 5 and re-adhere a new unexpanded air bag 5.

In particular, regarding a control unit, which belongs to the prior art, in the field of underwater robots, the control unit serves as a control center for controlling the operation of the parts such as a turbine, a camera, etc. of the robot body 1 itself; the technology of controlling the locking mechanism 4, the pushing mechanism 7 and the micro inflator 6 to operate by the control unit is quite common, and the specific circuit structure is not further described in the utility model.

Referring to fig. 4-7, considering that when the clamping block 21 of the connecting piece 2 is separated from the bayonet 11, water flows into the driving cavity 10 from the bayonet 11, in order to prevent the water from being contaminated by other internal parts of the robot body 1 and other internal parts of the driving cavity 10, the utility model further comprises a waterproof cover 8, wherein the waterproof cover 8 is installed in the driving cavity 10 and encloses the locking mechanism 4 and the pushing mechanism 7; when water flows into the driving cavity 10 from the bayonet 11, the water is blocked by the waterproof cover 8.

It should be noted that, since the micro inflator 6 is mounted outside the waterproof cover 8, enough air is provided in the driving chamber 10 for the micro inflator 6 to pump into the air bag 5; in order to enable the micro inflator pump 6 to smoothly inflate the air bag 5, a through hole 80 for a hose to pass through is also arranged on the waterproof cover 8, and waterproof glue is required to be smeared at the joint of the through hole 80 and the hose for waterproof treatment; in addition, in order to prevent water from overflowing into the waterproof cover 8 during normal use of the robot body 1, the clamping block 21 or the bayonet 11 may be subjected to waterproof treatment, for example, a waterproof gasket (not shown) is installed at the clamping block 21 or the bayonet 11.

It should also be noted that while embodiments of the present application have been shown and described, it will be appreciated by those of ordinary skill in the art that a variety of changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present application.

Claims (9)

1. An underwater robot with an emergency floating function comprises a robot body (1), wherein a control unit is arranged in the robot body (1); characterized by further comprising:

the connecting piece (2), the said connecting piece (2) is installed on said robot body (1) removably;

the cable (3) is fixedly connected to the connecting piece (2);

the locking mechanism (4), the locking mechanism (4) is installed on the robot body (1), the control unit with locking mechanism (4) electric connection is in order to order about locking mechanism (4) locking or unclamping connecting piece (2).

2. The underwater robot with the emergency floating function according to claim 1, wherein a driving cavity (10) is arranged in the robot body (1), and a bayonet (11) communicated with the outside is arranged on the cavity wall of the driving cavity (10); a clamping block (21) which is in sliding fit with the bayonet (11) is arranged on the connecting piece (2), and the clamping block (21) can penetrate through the bayonet (11) into the driving cavity (10); the locking mechanism (4) is arranged in the driving cavity (10) and can lock or unlock the clamping block (21).

3. The underwater robot with the emergency floating function according to claim 2, wherein the locking mechanism (4) comprises an electromagnet (41) and a lock rod (42), the driving cavity (10) is provided with a fixed plate (12) beside the bayonet (11), and the clamping block (21) is provided with a lock hole (210); the lock rod (42) is slidably arranged on the fixed plate (12), and a magnetic block (420) is arranged at the first end of the lock rod (42); the electromagnet (41) is arranged beside the fixed plate (12) and is designed corresponding to the magnetic block (420), and the electromagnet (41) is also electrically connected with the control unit; when the electromagnet (41) is powered off, the magnetic block (420) is adsorbed to the electromagnet (41) so as to drive the first end of the lock rod (42) to be clamped into the lock hole (210); when the electromagnet (41) is electrified, the magnetic block (420) is repelled with the electromagnet (41) so as to drive the first end of the lock rod (42) to be separated from the lock hole (210).

4. An underwater robot with emergency floating function according to claim 3, characterized in that the locking mechanism (4) further comprises an elastic member (43), and a stopper (421) is provided on the second end of the lock lever (42); the elastic piece (43) is sleeved on the lock rod (42), one end of the elastic piece (43) is connected with the stop block (421), and the other end of the elastic piece (43) is connected with the fixed plate (12); when the electromagnet (41) is electrified to repel the magnetic block (420), the elastic piece (43) is stretched to store energy.

5. The underwater robot with the emergency floating function according to claim 4, wherein the elastic member (43) is a spring.

6. An underwater robot with an emergency floating function according to claim 2, further comprising an air bag (5) and a micro-inflator (6); the air bag (5) is arranged on the robot body (1), the miniature inflator pump (6) is arranged in the driving cavity (10) and is connected with the air bag (5) through a hose, and the miniature inflator pump (6) is electrically connected with the control unit.

7. The underwater robot with the emergency floating function according to claim 6, further comprising a pushing mechanism (7), wherein the pushing mechanism (7) is installed in the driving cavity (10) and is electrically connected with the control unit, the air bag (5) is arranged in the driving cavity (10) and is installed on the pushing mechanism (7), and the pushing mechanism (7) can drive the air bag (5) to penetrate through the bayonet (11) to the outside.

8. The underwater robot with the emergency floating function according to claim 7, wherein the pushing mechanism (7) comprises a bracket (71), a carrier plate (72) and a cylinder (73), the bracket (71) is installed beside the bayonet (11), the cylinder (73) is installed on the bracket (71) and is electrically connected with the control unit, and a telescopic shaft of the cylinder (73) corresponds to the bayonet (11); the carrier plate (72) is arranged on a telescopic shaft of the air cylinder (73); the air bag (5) is folded and placed on the carrier plate (72); activating the cylinder (73) drives the carrier plate (72) and the air bag (5) to penetrate through the bayonet (11) to the outside.

9. The underwater robot with the emergency floating function according to claim 7, further comprising a waterproof cover (8), wherein the waterproof cover (8) is installed in the driving cavity (10) and encloses the locking mechanism (4) and the pushing mechanism (7).

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