Omnidirectional underwater vehicle

An omnidirectional underwater vehicle, comprising:

• an open-frame mechanism, comprising a frame (1), wherein top thrusters (2) are arranged at four corners of a top end of the frame (1) respectively;
• mechanical arms (3), disposed at a front end of the frame (1);
• a rotary holder, disposed in the frame (1), comprising a motor fixing plate (4), an upper bearing fixing plate (5) and a lower bearing fixing plate (6) sequentially and fixedly connected in that order from top to bottom;
• wherein a cylindrical roller bearing (7) is fixed between the upper bearing fixing plate (5) and the lower bearing fixing plate (6), an inner edge of the cylindrical roller bearing (7) is sequentially disposed with two bearing clip inner plates (8) from top to bottom, the two bearing clip inner plates (8) are fixedly connected, and outer edges of the two bearing clip inner plates (8) are in interference fit with the inner edge of the cylindrical roller bearing (7);
• a servo motor (9) is fixed on the motor fixing plate (4), and the bearing clip inner plate (8) at the top is fixedly connected to an output shaft of the servo motor (9);
• a bottom end of the bearing clip inner plate (8) at the bottom is fixedly connected to a steering gear fixing plate (10), a top end of the steering gear fixing plate (10) is provided with a plurality of waterproof steering gears (11), the plurality of waterproof steering gears (11) are provided with underwater thrusters (12), and the underwater thrusters (12) are uniformly distributed at a bottom end of the steering gear fixing plate (10);
• wherein the motor fixing plate (4) and the upper bearing fixing plate (5), the upper bearing fixing plate (5) and the lower bearing fixing plate (6) are respectively fixed by a plurality of hexagonal bolts (15), and the two bearing clip inner plates (8) are fixed by a plurality of copper posts (16).