Water robot

Abstract

The invention discloses a water robot which comprises a maneuvering body, a power propelling device and an operation function mechanism. The maneuvering main body can float on the water, the maneuvering main body is provided with weight loads which are arranged on the same plane and are distributed in a triangular mode, and the connecting position or the acting point between the operation function mechanism and the maneuvering main body is close to the gravity center position of the weight loads which are distributed in the triangular mode of the maneuvering main body. The problem of inclination or overturning caused by unbalanced stress can be avoided when the water robot executes working conditions such as dragging operation, grabbing operation or fish luring operation, good balance and stability are kept, and it is guaranteed that the operation process is smooth and reliable; more importantly, the operation function mechanism is at least one or a combination of multiple of a dragging device, a grabbing device and a fish luring device, so that the maneuvering main body can select, match and expand the operation function mechanism according to different application scenes, and therefore, the robot further has the characteristics of function expandability and flexibility.

Description

[Technical field]

[0001] The invention relates to the technical field of water equipment, in particular to a water robot. [Background technology]

[0002] In the field of water equipment technology, water robots are widely used to perform various tasks, such as rescue, salvage, aquaculture assistance, etc. However, existing water robots often have the problem of single function when performing operations.

[0003] Specifically, the operating function mechanism of existing water robots adopts a fixed connection method, and its function is determined at the time of manufacturing. It can only perform a single task and cannot be flexibly adjusted and expanded according to task requirements. This makes it difficult for water robots to adapt to changing water operation scenarios. For example, when operating in different waters, different seasons, or performing different tasks, it is impossible to quickly configure or replace the operating function mechanism, which leads to low utilization of water robots and difficulty in meeting the diverse needs of users.

[0004] In addition, since the water robot does not adopt a modular design, the entire device needs to be disassembled during the modification and function change process, resulting in high modification costs and easy waste of resources. At the same time, the non-modular design also limits the rapid iteration of technology, making it difficult to introduce new functions and technologies in a timely manner.

[0005] In addition, the existing water robots are not designed reasonably because the connection position between the working function mechanism and the motorized body. The working function mechanism will generate a large reaction force when performing the operation. If the connection point or the force point of these working function mechanisms deviates from the center of gravity of the motorized body, it will easily cause the water robot to tilt due to imbalance caused by external forces during the operation, and there is even a risk of capsizing. For example, when the water robot is towing, if the force point of towing acts on a position other than the center of gravity, the water robot will lose balance and tilt to one side, affecting the efficiency and stability of the operation; for example, during the water grabbing operation, after the grabbing device grabs the object, the reaction force will also cause the robot to lose balance; and when the water robot is used for fish luring operations, the unreasonable arrangement of the fish luring device may also have an adverse effect on the balance of the water robot. These problems seriously affect the stability and safety of the water robot operation, and limit its application scope in different operation scenarios and complex operation scenarios.

[0006] In summary, existing water robots have obvious deficiencies in stability, flexibility, scalability, and ease of maintenance, and are unable to meet the complex and changing needs of current water operations.

[0007] Therefore, the present invention is studied and proposed in view of the above problems. [Summary of the invention]

[0008] The object of the present invention is to overcome the deficiencies of the prior art and provide an aquatic robot. By arranging the connection points or force application points between the operation function mechanism and the mobile main body close to the center of gravity of the triangularly distributed weight load on the mobile main body, when the aquatic robot performs operations such as towing operations, grasping operations or fish attracting operations, the problem of tilting or capsizing caused by unbalanced forces can be avoided, and good balance and stability can be maintained, ensuring the smooth and reliable operation process. More importantly, the operation function mechanism is at least one or a combination of a towing device, a grasping device, and a fish attracting device, enabling the mobile main body to select and expand the operation function mechanism according to different application scenarios, so it also has the characteristics of functional expandability and flexibility.

[0009] To solve the above problems, the present invention provides an aquatic robot, comprising:

[0010] A mobile main body 1, which can float on water, and weight loads are arranged on the mobile main body 1 in a triangular distribution on the same plane;

[0011] A power propulsion device 2, which is arranged on the mobile main body 1 to drive the mobile main body 1 to move forward accordingly;

[0012] An operation function mechanism, which is detachably connected to the mobile main body 1, and the connection points or force application points between the operation function mechanism and the mobile main body 1 are close to the center of gravity of the triangularly distributed weight load on the mobile main body 1, or the connection points or force application points between the operation function mechanism and the mobile main body 1 coincide with the orthographic projection of the center of gravity of the triangularly distributed weight load on the mobile main body 1. The operation function mechanism includes at least one or a combination of a towing device 3, a grasping device 4, and a fish attracting device 5.

[0013] For the above-mentioned aquatic robot, a universal connection component 11 is provided on the operation function mechanism detachably connected to the mobile main body 1, and the other two operation function mechanisms can be selectively detachably connected to the mobile main body 1 through the universal connection component 11.

[0014] For the above-mentioned aquatic robot, a universal connection component 11 for detachably connecting with the operation function mechanism is provided on the mobile main body 1, and the other two operation function mechanisms can be selectively detachably connected to the mobile main body 1 through the universal connection component 11.

[0015] For the above-mentioned aquatic robot, the fish attracting device 5 is detachably connected to the mobile main body 1, a universal connection component 11 is provided on the fish attracting device 5, and the towing device 3 and the grasping device 4 can be selectively detachably connected to the fish attracting device 5 through the universal connection component 11.

[0016] In the aquatic robot as described above, the fish luring device 5 or the motorized body 1 is provided with a fish finding device 6, and the fish luring device 5 can be configured to start the fish luring condition when the fish finding device 6 finds a school of fish and the motorized body 1 is close to the position of the school of fish.

[0017] In the aquatic robot as described above, the mobile body 1 is also provided with a probing device 7, and the probing device 7 is configured to be used for probing aquatic plants and animals and their ecological environment when the mobile body 1 is moving.

[0018] As described above, in an aquatic robot, the towing device 3 comprises a towing connection seat 31 connected to the motorized body 1 via a universal connection assembly 11, a carrying towing rod 32 is provided on the towing connection seat 31, a carrying towing rod 32 has a rear end movably provided with a carrying hook 33, and the carrying hook 33 can be engaged with the towing slot of the towed standard buoyancy box.

[0019] As described above, in an aquatic robot, the front end of the carrying and towing rod 32 is connected to the towing connecting seat 31, and the rear end of the carrying and towing rod 32 is provided with a towing driving component 34 for controlling the corresponding movement of the carrying and towing member 33 relative to the carrying and towing rod 32 so as to be engaged with or separated from the towing slot.

[0020] As described above, in an aquatic robot, the grasping device 4 comprises a grasping connection seat 41 connected to a fish attracting device 5 via a universal connection assembly 11, a grasping main arm 42 is provided on the grasping connection seat 41, a main arm adjustment assembly 43 for driving the grasping main arm 42 to adjust its relative movement to the grasping connection seat 41 is provided between the grasping main arm 42 and the grasping connection seat 41, and a grasping assembly 44 is provided at the front end of the grasping main arm 42.

[0021] In the aquatic robot as described above, the main arm adjustment component 43 includes a rotation adjustment component for driving the grabbing main arm 42 to rotate relative to the grabbing connecting seat 41 and a tilt adjustment component for driving the grabbing main arm 42 to tilt up and down relative to the grabbing connecting seat 41.

[0022] As described above, the aquatic robot, the rotation adjustment component includes an adjusting rotating member 431 whose lower end is rotatably connected to a grabbing connecting seat 41, the upper end of the adjusting rotating member 431 is hinged to a grabbing main arm 42, and a rotating driving member 432 for driving the adjusting rotating member 431 to rotate accordingly is provided between the lower end of the adjusting rotating member 431 and the grabbing connecting seat 41; the tilt adjustment component includes a tilt driving member 433 provided on the adjusting rotating member 431, the driving end of the tilt driving member 433 is hinged to the grabbing main arm 42, and the tilt driving member 433 is configured to drive the grabbing main arm 42 to tilt up and down around the rotating axis between the upper end of the adjusting rotating member 431 and the grabbing main arm 42.

[0023] As described above, there is a water robot. The grasping assembly 44 includes two grasping members 441 provided at the front end of the grasping main arm 42 and capable of closing towards each other or opening away from each other. The connecting end of each grasping member 441 is hinged to the corresponding side of the grasping main arm 42. A closing and opening drive assembly 442 for driving the two grasping members 441 to close towards each other or open away from each other is provided between the connecting end of the grasping member 441 and the grasping main arm 42.

[0024] As described above, there is a water robot. The closing and opening drive assembly 442 includes a closing and opening drive motor 4421 provided on the grasping main arm 42. The output end of the closing and opening drive motor 4421 is connected with a closing and opening drive lead screw 4422. A closing and opening sliding seat 4423 that can be driven by the closing and opening drive lead screw 4422 to move axially along the grasping main arm 42 is connected to the closing and opening drive lead screw 4422. A closing and opening linkage 4424 is provided between the closing and opening sliding seat 4423 and the connecting end of each grasping member 441. One end of the closing and opening linkage 4424 is hinged to the closing and opening sliding seat 4423, and the other end of the closing and opening linkage 4424 is hinged to the end of the connecting end of the grasping member 441.

[0025] As described above, there is a water robot. A counterweight assembly 45 for balancing the grasping action of the grasping assembly 44 and balancing the mobile body 1 is provided at the rear end of the grasping main arm 42. The counterweight assembly 45 includes a counterweight block 451 slidably provided on the rear end of the grasping main arm 42. A counterweight adjustment assembly 452 for driving the counterweight block 451 to move axially along the grasping main arm 42 is provided on the grasping main arm 42.

[0026] As described above, there is a water robot. The counterweight adjustment assembly 452 includes a counterweight drive motor 4521 provided on the grasping main arm 42. The output end of the counterweight drive motor 4521 is connected with an adjustment drive lead screw 4522. The adjustment drive lead screw 4522 is in driving cooperation with an adjustment lead screw nut 4511 of the counterweight block 451.

[0027] As described above, there is a water robot. A counterweight guiding assembly 46 is provided between the counterweight block 451 and the grasping main arm 42. The counterweight guiding assembly 46 includes a counterweight guiding hole 461 provided on the grasping main arm 42 and a counterweight guiding rod 462 provided on the counterweight block 451 and passing through the counterweight guiding hole 461.

[0028] As described above, there is an aquatic robot. The mobile main body 1 is integrally U-shaped. A connecting cross beam 12 is provided between the U-shaped straight segments of the mobile main body 1. The fish attracting device 5 is a bait feeding assembly. The front end of the bait feeding assembly is detachably connected to the inner side of the U-shaped transition segment of the mobile main body 1. Two power propulsion devices 2 are respectively detachably connected to the ends of the two U-shaped straight segments of the mobile main body 1. The rear part of the bait feeding assembly is lapped on the connecting cross beam 12 and placed between the two U-shaped straight segments of the mobile main body 1. A feeding locking assembly 50 for locking the bait feeding assembly is provided between the bait feeding assembly and the mobile main body 1 or between the bait feeding assembly and the connecting cross beam 12.

[0029] As described above, there is an aquatic robot. The feeding locking assembly 50 is provided between the bait feeding assembly and the connecting cross beam 12. The feeding locking assembly 50 includes a locking clamping groove 501 provided on the bait feeding assembly and used for clamping with the connecting cross beam 12. A locking hole and a locking pin 502 which can be locked and matched with each other are provided between the side part of the locking clamping groove 501 and the connecting cross beam 12.

[0030] As described above, there is an aquatic robot. The bait feeding assembly includes a feeding housing 51 detachably connected to the mobile main body 1. The feeding housing 51 has a storage cavity 52. A feeding outlet 53 communicating with the storage cavity 52 is provided at the end of the feeding housing 51. A feeding extrusion assembly 54 for extruding and feeding the bait in the storage cavity 52 from the feeding outlet 53 is provided on the feeding housing 51. A feeding port 55 communicating with the storage cavity 52 is provided on the side part of the feeding housing 51. A port cover 551 is connected to the feeding port 55.

[0031] As described above, there is an aquatic robot. The feeding outlet 53 is arranged at the rear end of the feeding housing 51. An installation opening 56 is provided at the front end of the feeding housing 51. An installation seat body 57 is connected to the installation opening 56. The feeding extrusion assembly 54 includes a feeding driving motor 541 provided on the installation seat body 57 and a feeding driving shaft 542 provided in the feeding housing 51 and capable of being driven to stretch and move by the feeding driving motor 541. A feeding extrusion member 543 for pushing the bait is connected to one end of the feeding driving shaft 542 located in the storage cavity 52.

[0032] As described above, there is an aquatic robot. The mobile main body 1 is integrally U-shaped. The power propulsion device 2 includes a propulsion housing 21 connected to the ends of the two U-shaped straight segments of the mobile main body 1. A circumferential water inlet pore 22 is provided on the circumferential side of each propulsion housing 21. A propulsion drainage port 23 is provided at the rear end of the propulsion housing 21. A propulsion impeller 24 is provided in the propulsion housing 21 between the circumferential water inlet pore 22 and the propulsion drainage port 23. The propulsion housing 21 is also provided with a propulsion driving motor 25 for driving the propulsion impeller 24 to rotate correspondingly.

[0033] As described above, for a water robot, the front end of the propulsion housing 21 is connected to the end of the U-shaped straight section of the mobile main body 1 through a propulsion connection seat 26. A power supply battery pack 27 is connected to the front side of the propulsion connection seat 26. The propulsion drive motor 25 is installed on the rear side of the propulsion connection seat 26 and can be electrically connected to the power supply battery pack 27.

[0034] As described above, for a water robot, the propulsion housing 21 includes an integrally connected and formed installation cylinder section 211, a connection cylinder section 212, and an extension cylinder section 213. The front end of the installation cylinder section 211 is connected to the end of the U-shaped straight section of the mobile main body 1. The circumferential water inlet pores 22 are provided on the circumferential side of the connection cylinder section 212. The propulsion drain port 23 is formed by the rear port of the extension cylinder section 213, and the inner diameter gradually decreases from the connection cylinder section 212 to the extension cylinder section 213.

[0035] As described above, for a water robot, the mobile main body 1 is integrally U-shaped. The power propulsion device 2 is connected to the end of the U-shaped straight section of the mobile main body 1. Power supply battery packs 27 are provided as weight loads on the U-shaped transition connection section and the two U-shaped straight sections of the mobile main body 1 and are distributed in a triangle on the same plane. This triangle is an equilateral triangle or an isosceles triangle.

[0036] As described above, for a water robot, a storage cavity 13 for accommodating the power supply battery pack 27 is provided on the U-shaped transition connection section of the mobile main body 1. The power supply battery pack 27 in the storage cavity 13 is used to supply power to the operation function mechanism, and the power supply battery pack 27 placed in the U-shaped straight section of the mobile main body 1 is used to supply power to the power propulsion device 2.

[0037] Compared with the prior art, the water robot of the present invention has the following advantages:

[0038] 1. By making the connection point or the force application point between the operation function mechanism and the mobile main body close to the center of gravity position of the weight load distributed in a triangle on the mobile main body, or making the connection point or the force application point between the operation function mechanism and the mobile main body coincide with the orthographic projection of the center of gravity position of the weight load distributed in a triangle on the mobile main body, the water robot can avoid problems of tilting or capsizing due to unbalanced forces during operations such as towing, grasping, or fish attracting, maintaining good balance and stability, and ensuring the smooth and reliable operation process.

[0039] 2. The mobile main body of the present invention can quickly select and expand the corresponding operation function mechanism according to actual operation requirements, realizing flexible switching or superposition between different functions of the water robot, improving the adaptability of the water robot to perform different tasks on water, and having function expandability and flexibility.

[0040] 3. The present invention uses the design of a universal connection component to make the motorized main body a universal platform that can adapt to a variety of operating functional mechanisms. This not only reduces the purchase cost of the water robot, but also reduces the idle rate of the water robot, improves the comprehensive utilization rate of the water robot, and enables the water robot to play its role in different operating scenarios. At the same time, the universal connection component also provides great convenience for the functional expansion of the water robot, so that the motorized main body and various operating functional mechanisms can be modularly designed, reducing manufacturing costs and enhancing product selling points and competitiveness.

[0041] 4. The present invention can adjust the force arm at the rear end of the grabbing main arm through the counterweight assembly to form a balancing torque in the opposite direction to the grabbing torque, so that the grabbing main arm can remain stable during operation, avoiding the problem of imbalance of the motorized main body due to the reaction force during the grabbing operation, and improving the stability of the grabbing operation.

[0042] 5. The overall structure of the mobile body of the present invention is U-shaped. By utilizing this structure, the travel resistance can be reduced and the maneuverability and flexibility can be improved. Moreover, by utilizing this U-shaped structure, its functions can be converted to use in scenes such as water rescue and surfing by selecting them.

[0043] 6. The present invention utilizes the weight of each power supply battery pack as the weight load of the mobile body, and the power supply battery packs on the mobile body are distributed in an isosceles triangle or an equilateral triangle, so that the mobile body can maintain a stable balance state on the water; at the same time, each power supply battery pack independently supplies power to the corresponding functional module, so that it has a longer endurance.

[0044] 7. The viewing device is arranged on the mobile body, which further enriches the function of the present invention, that is, the viewing device can be used to shoot aquatic animals and plants and their ecological environment to achieve the purpose of popularizing science.

[0045] 8. When the present invention is towing, the carrying hook provided at the rear end of the carrying towing rod can be controlled and automatically separated from the standard buoyancy box, which is convenient, efficient and intelligent to use.

Brief Description of the Drawings

[0046] The specific embodiments of the present invention are further described in detail below with reference to the accompanying drawings, wherein:

[0047] Figure 1 This is one of the three-dimensional diagrams of Example 1 of the present invention.

[0048] Figure 2 This is the second stereogram of embodiment 1 of the present invention.

[0049] Figure 3 This is one of the explosion diagrams of Example 1 of the present invention.

[0050] Figure 4 The second exploded view of Embodiment 1 of the present invention.

[0051] Figure 5 The third exploded view of Embodiment 1 of the present invention.

[0052] Figure 6 The fourth exploded view of Embodiment 1 of the present invention.

[0053] Figure 7 It is Figure 6 The enlarged schematic view of A in

[0054] Figure 8 The exploded view of the power propulsion device in Embodiment 1 of the present invention.

[0055] Figure 9 The three-dimensional view of Embodiment 1 of the present invention when there is a carried part.

[0056] Figure 10 The exploded view of the carried part in Embodiment 1 of the present invention.

[0057] Figure 11 The first three-dimensional view of Embodiment 2 of the present invention.

[0058] Figure 12 The second three-dimensional view of Embodiment 2 of the present invention.

[0059] Figure 13 The side view of Embodiment 2 of the present invention.

[0060] Figure 14 The first exploded view of Embodiment 2 of the present invention.

[0061] Figure 15 The second exploded view of Embodiment 2 of the present invention.

[0062] Figure 16 The third exploded view of Embodiment 2 of the present invention.

[0063] Figure 17 The fourth exploded view of Embodiment 2 of the present invention.

[0064] Figure 18 The three-dimensional view of Embodiment 3 of the present invention.

Detailed implementation manners

[0065] The following will describe in detail the implementation manners of the present invention with reference to the accompanying drawings.

[0066] Such as Figure 1-18As shown in the figure, an aquatic robot of the present invention includes a mobile main body 1, a power propulsion device 2, and an operation function mechanism. The mobile main body 1 can float on water, and weight loads are arranged on the mobile main body 1 in a triangular distribution on the same plane, so that the mobile main body can maintain a stable balance state on water; the weight loads are corresponding power supply battery packs 27, that is, each power supply battery pack 27 independently supplies power to the operation function mechanism and the power propulsion device 2, enabling it to have a longer endurance; the power propulsion device 2 is arranged on the mobile main body 1 to drive the mobile main body 1 to move forward accordingly; the operation function mechanism is detachably connected to the mobile main body 1, and the connection point or the force application point between the operation function mechanism and the mobile main body 1 is close to the center of gravity position of the weight loads distributed in a triangle on the mobile main body 1, or the connection point or the force application point between the operation function mechanism and the mobile main body 1 coincides with the orthographic projection of the center of gravity of the weight loads distributed in a triangle on the mobile main body 1. Adopting this structure, during the operations such as dragging, grasping, or fish attracting performed by the operation function mechanism of the aquatic robot, the problems of tilting or overturning caused by unbalanced forces can be avoided, and good balance and stability can be maintained, ensuring the smooth and reliable operation process.

[0067] In the present invention, the operation function mechanism includes at least one or a combination of a dragging device 3, a grasping device 4, and a fish attracting device 5. The dragging device 3 or the grasping device 4 or the fish attracting device 5 is detachably connected to the mobile main body 1, and a universal connection component 11 is provided on the operation function mechanism detachably connected to the mobile main body 1, and the other two operation function mechanisms can be selectively detachably connected to the mobile main body 1 through the universal connection component 11. Alternatively, the dragging device 3 or the grasping device 4 or the fish attracting device 5 is detachably connected to the mobile main body 1, and a universal connection component 11 for detachably connecting to the operation function mechanism is provided on the mobile main body 1, and the other two operation function mechanisms can be selectively detachably connected to the mobile main body 1 through the universal connection component 11.

[0068] Preferably, as Figure 1-6 shown in Figures 11 - 17, the fish attracting device 5 is detachably connected to the mobile main body 1, and while the fish attracting device 5 is mechanically connected to the mobile main body 1, electrical connection is also synchronously achieved; a universal connection component 11 is provided on the fish attracting device 5, and the dragging device 3 and the grasping device 4 can be selectively detachably connected to the fish attracting device 5 through the universal connection component 11. The universal connection component 11 also has electrical connection terminals. When the dragging device 3 or the grasping device 4 is mechanically connected to the fish attracting device 5 through the universal connection component 11, electrical connection is also synchronously achieved through the corresponding electrical connection terminals.

[0069] The general connection component 11 can be a general clamping groove, a general clamping bump, a general connection port, etc. The mobile main body of the present invention can quickly replace or expand the corresponding operation function mechanism according to the actual operation requirements through the general connection component, realizing the flexible switching or expansion between different functions of the underwater robot, effectively improving the adaptability of the underwater robot to perform different tasks on the water, realizing the flexible switching or superposition between different functions of the underwater robot, and having functional scalability and flexibility.

[0070] Therefore, through the design of the general connection component, the mobile main body becomes a general platform that can adapt to a variety of operation function mechanisms. This not only reduces the purchase cost of the underwater robot, but also reduces the idle rate of the underwater robot, improves the comprehensive utilization rate of the underwater robot, enables the underwater robot to play its role in different operation scenarios. At the same time, the general connection component also provides great convenience for the function expansion of the underwater robot, enabling the modular design of the mobile main body and each operation function mechanism, reducing the manufacturing cost, and enhancing the product selling points and competitiveness.

[0071] As Figure 1 、 11 As shown in 18, the mobile main body 1 of the present invention is integrally in a U-shaped structure. Using this shaping structure, the traveling resistance can be reduced, and the water diversion and guiding effect can be achieved; at the same time, it can travel more flexibly in narrow waterways, near docks or complex waters, and has good mobility and flexibility; moreover, using this U-shaped structure, through the selection of its functions, it can be converted into scenarios such as water rescue and surfing. The mobile main body 1 has two U-shaped straight segments and a U-shaped transition connection segment connecting the two U-shaped straight segments. The mobile main body 1 is a hollow structure and has a certain buoyancy on the water itself. The power propulsion device 2 is connected to the end of the U-shaped straight segment of the mobile main body 1. The U-shaped transition connection segment and the two U-shaped straight segments respectively accommodate a power supply battery pack 27 as a weight load and distributed in a triangle on the same plane. This triangle is an equilateral triangle or an isosceles triangle; a storage cavity 13 for accommodating the power supply battery pack 27 is provided on the U-shaped transition connection segment. The power supply battery pack 27 in the storage cavity 13 is used to supply power to the operation function mechanism, and the power supply battery pack 27 placed in the U-shaped straight segment of the mobile main body 1 is used to supply power to the power propulsion device 2. Since each power supply battery pack independently supplies power to the corresponding function module, it has a longer endurance.

[0072] The fish-attracting device 5 or the motorized main body 1 of the present invention is provided with a fish-finding device 6, which is mainly a sonar fish-finding device, such as a Hikvision micro-imaging sonar fish-finding device; preferably, the fish-finding device 6 is arranged on the fish-attracting device 5; when the motorized main body 1 is equipped with the fish-attracting device 5 and is traveling on the water, fish-finding and fish-attracting work can be performed, and the fish-attracting device 5 is configured to start the fish-attracting working condition when the fish-attracting device 6 finds a school of fish and the motorized main body 1 is close to the position of the school of fish; if the motorized main body 1 continues to travel at a low speed, the fish-attracting signal can be intermittently released by controlling the fish-attracting device 5, so that the school of fish keeps following and the purpose of slipping the fish is achieved.

[0073] like Figure 1 , 3 As shown, in order to make the aquatic robot intelligent, the U transition connection section of the mobile body 1 is also provided with a viewing device 7, which is configured to view aquatic plants and animals and their ecological environment during the movement of the mobile body 1, that is, the viewing device 7 can be used to shoot aquatic plants and animals and their ecological environment to achieve the purpose of popular science. Specifically, the viewing device 7 includes an above-water pan-tilt and an underwater pan-tilt. The above-water pan-tilt is located on the upper part of the U transition connection section and is equipped with a camera; the underwater pan-tilt is located on the bottom side of the U transition connection section and is correspondingly equipped with a camera, a sonar device and a lighting device, and the Sidus underwater pan-tilt of Shanghai Jinyu Scientific Instrument Co., Ltd. can be selected.

[0074] Furthermore, the mobile body 1 is also equipped with a Beidou satellite positioning and communication system, a temperature sensor, a radar device and an automatic cruise module, so that the aquatic robot can realize automatic obstacle avoidance and cruise functions. The Beidou satellite positioning and communication system can use the Guoyi Hengda GYM2003B module, and the temperature sensor can use the self-contained temperature sensor model Mono T Recorder of Hangzhou Qianhai Technology Co., Ltd.

[0075] Therefore, when the water robot is searching for fish, an automatic cruise map mode can be set. The visiting device 7 and the temperature sensor can send the information such as the fish position, fish quality, temperature, water depth, fish image, etc. obtained by the automatic cruise searching for fish to the cloud server for storage and data processing. The cloud server will then draw and generate a heat map of the fish distribution accordingly. The heat map of the fish distribution can provide real-time, real and effective big data support for blind box fishing, thereby achieving smart fishing.

[0076] Specifically, Figure 1-5As shown in FIGS. 9 and 10, the towing device 3 includes a towing connection seat 31 connected to the motorized main body 1 through a universal connection component 11. A carrying towing rod 32 is provided on the towing connection seat 31. A carrying hitch 33 is movably provided at the rear end of the carrying towing rod 32. The carrying hitch 33 can be engaged and matched with a towing slot 110 of a towed standard buoyancy box body 100. A trigger switch 311 for automatic unloading is provided on the towing connection seat 31. The front end of the carrying towing rod 32 is connected to the towing connection seat 31, and a towing drive assembly 34 for controlling the corresponding movement of the carrying hitch 33 relative to the carrying towing rod 32 to be engaged and matched with or separated from the towing slot is provided at the rear end of the carrying towing rod 32. The towing drive assembly 34 can be a stepper motor. The trigger switch 311 is configured to be actuated when the underwater robot travels to a predetermined position so that the carrying hitch 33 is disengaged from the towing slot 110 to complete the automatic unloading action. When the operation function mechanism selected for the underwater robot is the towing device 3, it can tow a standard buoyancy box body 100 loaded with fish catches or other materials on the water to travel, so as to achieve the transportation and handling function.

[0077] Specifically, as Figure 9 、 10 shown, a water diversion head 120 is connected to the front part of the standard buoyancy box body 100. The towing slot 110 is a T-shaped slot provided on the water diversion head 120. Correspondingly, the carrying hitch 33 is designed in a T-shaped structure. When the carrying hitch 33 in the T-shaped structure is horizontally engaged in the T-shaped slot, the underwater robot can tow the standard buoyancy box body.

[0078] For automatic connection, magnetic sensors are provided on the opposite surfaces of the carrying hitch 33 and the towing slot 110. Correspondingly, a magnet is provided in the towing slot 110. After the carrying hitch 33 is inserted into the towing slot 110, the magnetic sensor of the carrying hitch 33 approaches the magnet of the towing slot 110, triggering the magnetic sensor to send out a signal, so that the towing drive assembly 34 drives the carrying hitch 33 in the T-shaped structure to rotate 90° to be vertical and can be inserted into the towing slot 110. Then the towing drive assembly 34 drives the carrying hitch 33 in the T-shaped structure to rotate 90° to be horizontal to complete the engagement and matching. Immediately, the motorized main body 1 can tow the standard buoyancy box body to travel.

[0079] When the standard buoyancy box body is towed to a predetermined position, the trigger switch 311 is correspondingly actuated, so that the towing drive assembly 34 drives the carrying hitch 33 in the T-shaped structure to rotate 90° to be vertical and disconnect from the T-shaped slot, finally making the standard buoyancy box body stay at the corresponding unloading position, thus completing the automatic unloading function.

[0080] As Figure 9 、 10As shown in the figure, a diversion groove 130 is provided at the bottom of the standard buoyancy box body 100 along its traveling direction. When the water robot drags the standard buoyancy box body 100 through the towing device 3, the propulsion drain port is directly facing the diversion groove 130. During the traveling process, it can effectively guide the water flow to flow along a specific path, reduce the traveling resistance, lower the energy consumption, make the standard buoyancy box body travel more smoothly in the water, and make the direction more stable.

[0081] For intelligent control, the towing drive assembly 34 can be controlled to rotate correspondingly through terminals such as a wireless remote control and a mobile phone. Specifically, the trigger switch 311 is configured to be exposed with a wireless communication antenna function to facilitate signal transmission and reception. The wireless remote control is provided with a signal button for making the carrier hooking member 33 act, so that it rotates or resets correspondingly, thereby ensuring that the carrier hooking member 33 is always correct and effective under corresponding working conditions. Further, a one-key return button is also provided on the wireless remote control, so that the water robot can return according to needs.

[0082] Furthermore, a one-key return button is also provided on the mobile main body 1 correspondingly. When the water robot does not have an optional operation function mechanism, it can be applied to rescue and surfing working conditions. When the user lies prone on the mobile main body 1 and presses the one-key return button, the mobile main body 1 will automatically return to the set Beidou positioning location.

[0083] As Figure 11-17 shown, the grasping device 4 includes a grasping connection seat 41 connected to the fish attracting device 5 through a universal connection component 11. A grasping main arm 42 is provided on the grasping connection seat 41. A main arm adjusting component 43 for driving the grasping main arm 42 to move and adjust relative to the grasping connection seat 41 is provided between the grasping main arm 42 and the grasping connection seat 41. A grasping component 44 is provided at the front end of the grasping main arm 42. The main arm adjusting component 43 includes a rotation adjusting component for driving the grasping main arm 42 to rotate relative to the grasping connection seat 41 and an inclination adjusting component for driving the grasping main arm 42 to tilt up and down relative to the grasping connection seat 41. During the grasping process, the main arm adjusting component can drive the grasping main arm to rotate and tilt relative to the grasping connection seat, so that the grasping component rotates to an angle suitable for grasping the target object, with the function of multi-angle operation, improving the operation flexibility and operation range.

[0084] As Figure 14-17As shown in the figure, in order to adjust precisely and efficiently, the rotation adjustment assembly includes an adjustment rotating member 431 whose lower end is rotatably connected to the grasping connection seat 41. The upper end of the adjustment rotating member 431 is hinged to the grasping main arm 42. A rotation driving member 432 for driving the adjustment rotating member 431 to rotate correspondingly is provided between the lower end of the adjustment rotating member 431 and the grasping connection seat 41. The inclination adjustment assembly includes an inclination driving member 433 provided on the adjustment rotating member 431. The driving end of the inclination driving member 433 is hinged to the grasping main arm 42. The inclination driving member 433 is configured to drive the grasping main arm 42 to tilt up and down around the rotation axis between the upper end of the adjustment rotating member 431 and the grasping main arm 42. The rotation driving member 432 can be a driving motor or the like, and the inclination driving member 433 can be a telescopic electric cylinder.

[0085] As Figure 15 shown in the figure, the grasping assembly 44 includes two grasping members 441 provided at the front end of the grasping main arm 42 and capable of closing towards each other or opening away from each other. The connecting end of each grasping member 441 is hinged to the corresponding side of the grasping main arm 42. A closing and opening driving assembly 442 for driving the two grasping members 441 to close towards each other or open away from each other is provided between the connecting end of the grasping member 441 and the grasping main arm 42. Through the closing and opening actions of the grasping members by the closing and opening driving assembly, precise driving and control are realized. Combining with the adjustment function of the grasping main arm, precise approaching, positioning and grasping of the target object can be achieved, reducing the grasping deviation and improving the grasping efficiency.

[0086] Specifically, as Figure 15 shown in the figure, the closing and opening driving assembly 442 includes a closing and opening driving motor 4421 provided on the grasping main arm 42. The output end of the closing and opening driving motor 4421 is connected with a closing and opening driving lead screw 4422. A closing and opening sliding seat 4423 that can be driven by it to move axially along the grasping main arm 42 is connected to the closing and opening driving lead screw 4422. A closing and opening linkage 4424 is provided between the closing and opening sliding seat 4423 and the connecting end of each grasping member 441. One end of the closing and opening linkage 4424 is hinged to the closing and opening sliding seat 4423, and the other end of the closing and opening linkage 4424 is hinged to the end of the connecting end of the grasping member 441. During the grasping process, the closing and opening driving motor 4421 drives the closing and opening driving lead screw 4422 to rotate correspondingly to drive the closing and opening sliding seat 4423 to slide along the front end direction of the grasping main arm 42. The closing and opening sliding seat 4423 drives the two grasping members 441 to close towards each other and grasp through the closing and opening linkage 4424. During the opening process, the closing and opening driving motor 4421 drives the closing and opening driving lead screw 4422 to rotate correspondingly to drive the closing and opening sliding seat 4423 to slide along the rear end direction of the grasping main arm 42. The closing and opening sliding seat 4423 drives the two grasping members 441 to open away from each other through the closing and opening linkage 4424.

[0087] As Figure 15As shown, to make the structure more compact and the layout reasonable, the opening and closing drive motor 4421 and the opening and closing drive lead screw 4422 are integrated inside the inner side of the grasping main arm. The opening and closing sliding seat 4423 is slidably disposed inside the grasping main arm 42, that is, the grasping main arm provides stable sliding support for the opening and closing sliding seat, ensuring that the opening and closing sliding seat moves smoothly along the set track, reducing the jitter or deviation when the grasping component opens and closes, and improving the grasping stability. A side strip-shaped hole 421 for the opening and closing linkage member 4424 to pass through is provided on the side of the grasping main arm 42. That is, the side strip-shaped hole provides a guiding path for the opening and closing linkage member, ensuring its stable sliding on the side of the grasping main arm, avoiding the deviation of the opening and closing linkage member during the movement process, ensuring the smooth opening and closing of the grasping component. At the same time, the two end walls of the side strip-shaped hole can also limit the movement range of the opening and closing linkage member, ensuring its stable and reliable operation.

[0088] As Figure 11-14 As shown in FIGS. 15 and 16, a counterweight assembly 45 for balancing the grasping action of the grasping assembly 44 and the mobile main body 1 is provided at the rear end of the grasping main arm 42. The counterweight assembly 45 includes a counterweight block 451 slidably provided on the rear end of the grasping main arm 42. A counterweight adjustment assembly 452 for driving the counterweight block 451 to move axially along the grasping main arm 42 is provided on the grasping main arm 42. Through the counterweight assembly, the present invention can adjust the force arm at the rear end of the grasping main arm, form a balancing moment opposite to the direction of the grasping moment, enable the grasping main arm to maintain stability during operation, avoid the problem of the imbalance of the mobile main body caused by the reaction force during the grasping operation, and improve the stability of the grasping operation.

[0089] In addition, an IMU inertial measurement unit module is provided on the mobile main body 1 and close to its center of gravity position, enabling the water robot to sense its own motion state and position. Thus, while realizing precise motion control and navigation, it also provides decision-making support data for the central control unit MCU when the grasping main arm causes a tilting trend during the grasping process. Thereby triggering the counterweight assembly 45 to work to achieve grasping balance. The IMU inertial measurement unit module can adopt VectorNav IMU VN-100 inertial measurement unit, ASC IMU 7-LN inertial measurement unit, LINS300 inertial measurement unit, LKF-MG201H MEMS inertial measurement unit, etc.

[0090] Specifically, as Figure 16As shown in the figure, in order to achieve dynamic balance adjustment, the counterweight assembly 45 includes a counterweight block 451 movably arranged at the rear end of the grasping main arm 42, and a counterweight adjustment assembly 452 for driving the counterweight block 451 to adjust in the front-back direction of the grasping main arm 42 is arranged on the grasping main arm 42. This counterweight adjustment assembly can drive the counterweight block to move axially along the grasping main arm in real time according to the weight of the grasped object, dynamically balancing the weight of the object grasped at the other end of the grasping main arm, so that the grasping main arm and the mobile body remain stable during the grasping operation. For example, when grasping a heavy object, the counterweight block moves backward, increasing the force arm at the rear end, thereby balancing the grasping moment at the front end and preventing the front end of the grasping main arm from sinking.

[0091] As Figure 16 As shown in the figure, in order to accurately adjust the counterweight position and improve the transmission stability, the counterweight adjustment assembly 452 includes a counterweight driving motor 4521 arranged on the grasping main arm 42. The motor shaft of the counterweight driving motor 4521 is connected with an adjustment driving lead screw 4522. The adjustment driving lead screw 4522 is in transmission cooperation with the adjustment nut 4511 of the counterweight block 451. The counterweight driving motor 4521 and the adjustment driving lead screw 4522 are integrated inside the grasping main arm 42, making the structure compact. The counterweight driving motor 4521 can be a stepping motor. This counterweight driving motor can precisely control the rotation of the adjustment driving lead screw, and then precisely adjust the movement of the counterweight block along the axis of the grasping main arm through the transmission of the adjustment nut. This precise adjustment ability ensures that the grasping assembly maintains the best balance state in different grasping tasks and can meet the requirements of underwater grasping activities.

[0092] As Figure 16 As shown in the figure, in order to improve the sliding stability of the counterweight block, a counterweight guiding assembly 46 is arranged between the counterweight block 451 and the grasping main arm 42. The counterweight guiding assembly 46 includes a counterweight guiding hole 461 arranged on the grasping main arm 42 and a counterweight guiding rod 462 arranged on the counterweight block 451 and passing through the counterweight guiding hole 461.

[0093] As Figure 1-7 As shown in FIGS. 11 and 18, a connecting cross beam 12 is arranged between the U-shaped straight sections of the mobile body 1; the fish attracting device 5 is a bait feeding assembly. The front end of the bait feeding assembly is detachably connected to the inner side of the U-shaped transition section of the mobile body 1. The two power propulsion devices 2 are respectively detachably connected to the ends of the two U-shaped straight sections of the mobile body 1. The rear part of the bait feeding assembly is lapped on the connecting cross beam 12 and placed between the two U-shaped straight sections of the mobile body 1. A feeding locking assembly 50 for locking the bait feeding assembly is arranged between the bait feeding assembly and the mobile body 1 or between the bait feeding assembly and the connecting cross beam 12. With this structure, the disassembly and installation of the bait feeding assembly can be facilitated, and the bait can be dispersed by the water flow generated by the power propulsion devices 2 during feeding, thus achieving the fish attracting effect.

[0094] AsFigure 3 , 11 As shown in 11 , for convenient installation and positioning, a beam positioning recess 121 for positioning and placing the bait feeding assembly is provided on the connecting beam 12. This beam positioning recess provides positioning for the bait feeding assembly, ensuring that it can be quickly and accurately placed at the predetermined position during installation without additional positioning tools or complex alignment operations, improving the installation efficiency and convenience.

[0095] As Figure 6 , 7 As shown in 7 , for reliable locking, the feeding locking assembly 50 is provided between the bait feeding assembly and the connecting beam 12; the feeding locking assembly 50 includes a locking clamping groove 501 provided on the bait feeding assembly and used for clamping on the connecting beam 12, and a locking hole and a locking pin 502 that can be locked and cooperated with each other are provided between the side of the locking clamping groove 501 and the connecting beam 12. Through the cooperation of the locking clamping groove and the connecting beam, as well as the locking cooperation of the locking hole and the locking pin, the bait feeding assembly can be firmly locked on the connecting beam, preventing the bait feeding assembly from loosening or falling off due to external forces during operation.

[0096] Furthermore, as Figure 7 shown in Figure 7 , the locking pin 502 is elastically provided on the side of the locking clamping groove 501, an unlocking pull ring is connected to the outer end of the locking pin 502, and the locking hole is provided on the connecting beam 12. During unlocking, operating the unlocking pull ring drives the locking pin 502 to slide backward, so that the locking end of the locking pin 502 is separated from the locking hole, and the unlocking is convenient.

[0097] As Figure 6 , 18 shown in 18 , to reduce the resistance during travel, the bait feeding assembly on the mobile main body 1 is preferably of a horizontal structure. The bait feeding assembly includes a feeding housing 51 detachably provided on the mobile main body 1, the feeding housing 51 has a storage cavity 52, a feeding outlet 53 communicating with the storage cavity 52 is provided at the end of the feeding housing 51, a feeding extrusion assembly 54 for extruding and feeding the bait in the storage cavity 52 from the feeding outlet 53 is provided on the feeding housing 51, a feeding port 55 communicating with the storage cavity 52 is provided on the side of the feeding housing 51, and a port cover 551 is connected to the feeding port 55. The feeding outlet 53 is located at the end of the feeding housing 51. This design makes the bait feeding direction clear and easy to control. Combining with the mobility of the mobile main body 1, the bait can be accurately fed to the designated position. The feeding extrusion assembly 54 can extrude and feed the bait in the storage cavity 52 from the feeding outlet 53. This extrusion feeding method can ensure that the bait is fed out at a certain speed and flow rate, avoiding the situation of caking or uneven feeding of the bait during feeding, and the feeding is uniform.

[0098] Specifically, as Figure 6 shown, the feeding outlet 53 is arranged at the rear end of the feeding housing 51. The front end of the feeding housing 51 is provided with an installation opening 56, and the installation opening 56 is connected with an installation seat body 57. The feeding and extrusion assembly 54 includes a feeding driving motor 541 arranged on the installation seat body 57 and a feeding driving shaft 542 arranged in the feeding housing 51 and capable of being driven to stretch and move by the feeding driving motor 541. One end of the feeding driving shaft 542 located in the storage cavity 52 is connected with a feeding extrusion member 543 for pushing the bait. The front section of the feeding housing 51 is cylindrical, and the tail section gradually becomes smaller and is designed to bend downward, which helps to more accurately put the bait into the target area, avoid the bait from drifting to unnecessary places, improve the utilization rate of the bait, ensure that the cultured organisms can fully feed. At the same time, this shape is convenient for cleaning, reduces the possibility of bait residue and dirt accumulation, reduces the cleaning difficulty, is beneficial to maintaining the hygiene and cleanliness of the feeding housing, and prevents bacteria from breeding and the bait from deteriorating. The feeding port 55 is arranged on the lower side of the feeding housing 51, and the upper side of the feeding housing 51 is provided with a universal connection assembly 11, which is convenient for disassembly and assembly. During the feeding process, the feeding driving motor drives the feeding driving shaft to stretch and move correspondingly, so that the feeding extrusion member extrudes the bait in the storage cavity 52 towards the feeding outlet and spills the bait outwards.

[0099] As Figure 1-3 , 8, 11 shown, the power propulsion device 2 includes a propulsion housing 21 connected to the ends of the two U-shaped straight sections of the motorized main body 1. Each side of the propulsion housing 21 is provided with a circumferential water inlet pore 22, and the rear end of the propulsion housing 21 is provided with a propulsion drainage port 23. A propulsion impeller 24 is arranged in the propulsion housing 21 between the circumferential water inlet pore 22 and the propulsion drainage port 23. The propulsion housing 21 is also provided with a propulsion driving motor 25 for driving the propulsion impeller 24 to rotate correspondingly; the front end of the propulsion housing 21 is connected to the end of the U-shaped straight section of the motorized main body 1 through a propulsion connecting seat 26. The front side of the propulsion connecting seat 26 is connected with a power supply battery pack 27. The propulsion driving motor 25 is installed on the rear side of the propulsion connecting seat 26 and can be electrically connected to the power supply battery pack 27; the propulsion housing 21 includes an integrally connected and formed installation cylinder section 211, a connecting cylinder section 212 and an extension cylinder section 213. The front end of the installation cylinder section 211 is connected to the end of the U-shaped straight section of the motorized main body 1. The circumferential water inlet pore 22 is arranged on the circumference of the connecting cylinder section 212. The propulsion drainage port 23 is formed by the rear port of the extension cylinder section 213, and the inner diameter gradually decreases from the connecting cylinder section 212 to the extension cylinder section 213. When traveling, water is sucked in from the circumferential water inlet pore, and then accelerated by the propulsion impeller and discharged from the propulsion drainage port. This design can generate a large thrust, enabling the motorized main body to effectively travel in the water environment and improving its mobility and propulsion efficiency.

[0100] The inner diameter gradually decreases from the connecting cylinder section 212 to the extending cylinder section 213. This tapered design can play a role in fluid guiding and acceleration. When the fluid flows from the installation cylinder section to the connecting cylinder section, due to the gradually decreasing cross-sectional area, the flow velocity of the fluid will increase, the pressure will decrease, and the reaction force received will increase.

[0101] In the present invention, the power propulsion device 2 can also be an electric thruster or the like. The structure of the electric thruster can refer to the technical solutions of the thrusters in Chinese Patent Application Nos. CN202120572860.8 and CN202120570961.1, which will not be elaborated here.

[0102] As Figure 3 shown, on the U-shaped transition connection section and the two U-shaped straight sections of the mobile body 1, there are respectively provided power supply battery packs 27 as weight loads and distributed in a triangle on the same plane. The triangle is an equilateral triangle or an isosceles triangle. A storage cavity 13 for accommodating the power supply battery pack 27 is provided on the U-shaped transition connection section of the mobile body 1. The upper port of the storage cavity 13 is connected with a cavity cover 131. The power supply battery pack 27 in the storage cavity 13 is used to supply power to the operation function mechanism, and the power supply battery pack 27 placed in the U-shaped straight section of the mobile body 1 is used to supply power to the power propulsion device 2. In the present invention, the power supply battery pack is divided into two parts to supply power to the operation function mechanism and the power propulsion device respectively, which can more accurately meet the power consumption requirements of different components. At the same time, the power supply battery pack is close to the corresponding power-consuming components, which can shorten the length of the power transmission line and reduce the power loss caused by too long a line.

[0103] When arranged in an isosceles triangle, the vertex of the isosceles triangle is located on the U-shaped transition connection section of the mobile body 1, and the two waist sides are located on the two U-shaped straight sections of the mobile body 1. The front end of the propulsion housing 21 is connected to the end of the U-shaped straight section of the mobile body 1 through a propulsion connection seat 26. A power supply battery pack 27 is connected to the front side of the propulsion connection seat 26. The propulsion drive motor 25 is installed on the rear side of the propulsion connection seat 26 and is electrically connected to the power supply battery pack 27. By designing the power supply battery pack in a triangular distribution, the center of gravity of the entire mobile body is close to or coincides with the orthographic projection of the force application point of the mobile body, enhancing the stability on water, reducing the shaking and tilting caused by wind and waves or external forces, significantly improving the anti-overturning ability of the mobile body, and ensuring stability, safety and reliability in a complex environment.

[0104] As Figure 1-3, as shown in FIGS. 11-13, in order to improve the anti-collision ability, reduce the damage to the mobile body, and ensure the safety of the mobile body, an anti-collision crossbar assembly 14 is provided on the front side of the mobile body 1. In addition, a handle operating member 15 is provided on at least one side of the mobile body 1. The handle operating member provides a convenient grasping position for the operator, facilitating the handling and movement of the water robot and improving the mobility of the water robot.

[0105] In summary, a water robot according to the present invention is safe and reliable during the operation process, has good balance and stability, and enables the mobile body to be selected and equipped with an operation function mechanism according to different application scenarios, so it also has the characteristics of functional expandability and flexibility.

Claims

1. An aquatic robot, characterized in that include: A motorized body (1), the motorized body (1) being capable of floating on water, and the motorized body (1) being provided with weight loads distributed in a triangular shape and on the same plane; A power propulsion device (2), wherein the power propulsion device (2) is arranged on the motorized body (1) and is used to drive the motorized body (1) to move accordingly; An operating functional mechanism, wherein the operating functional mechanism is detachably connected to a motorized body (1), and a connection point or a force point between the operating functional mechanism and the motorized body (1) is close to the center of gravity of a weight load distributed in a triangular shape on the motorized body (1), or a connection point or a force point between the operating functional mechanism and the motorized body (1) coincides with a positive projection of the center of gravity of the weight load distributed in a triangular shape on the motorized body (1), and the operating functional mechanism comprises at least one or more combinations of a traction device (3), a grasping device (4), and a fish attracting device (5).

2. The aquatic robot according to claim 1, wherein A universal connection component (11) is provided on the operating function mechanism detachably connected to the motorized main body (1), and the other two operating function mechanisms can be selectively detachably connected relative to the motorized main body (1) via the universal connection component (11).

3. The aquatic robot according to claim 1, wherein The motorized main body (1) is provided with a universal connection assembly (11) for detachably connecting with the operating function mechanism, and the other two operating function mechanisms can be selectively detachably connected relative to the motorized main body (1) via the universal connection assembly (11).

4. The water robot according to claim 2, wherein The fish attracting device (5) is detachably connected to the motorized body (1), a universal connecting component (11) is provided on the fish attracting device (5), and the pulling device (3) and the grabbing device (4) can be selectively detachably connected to the fish attracting device (5) via the universal connecting component (11).

5. The water robot according to claim 4, characterized in that The fish attracting device (5) or the motorized body (1) is provided with a fish finding device (6), and the fish attracting device (5) can be configured to start the fish attracting operation when the fish finding device (6) finds a school of fish and the motorized body (1) is close to the position of the school of fish.

6. The aquatic robot according to claim 1, wherein The mobile body (1) is also provided with a viewing device (7), and the viewing device (7) is configured to view aquatic plants and animals and their ecological environment when the mobile body (1) is moving.

7. The aquatic robot according to claim 4, characterized in that The towing device (3) comprises a towing connection seat (31) connected to the motorized body (1) via a universal connection assembly (11); a carrying towing rod (32) is provided on the towing connection seat (31); a carrying hook (33) is movably provided at the rear end of the carrying towing rod (32); and the carrying hook (33) can be engaged with a towing slot of a towed standard buoyancy box.

8. The underwater robot according to claim 7, wherein The front end of the carrying and dragging rod (32) is connected to the dragging connecting seat (31), and the rear end of the carrying and dragging rod (32) is provided with a towing driving assembly (34) for controlling the corresponding movement of the carrying hook (33) relative to the carrying and dragging rod (32) so as to be engaged with or separated from the towing slot.

9. The aquatic robot according to claim 4, wherein The grasping device (4) includes a grasping connection seat (41) connected to the fish attracting device (5) through a general connection component (11). A grasping main arm (42) is provided on the grasping connection seat (41). A main arm adjusting component (43) is provided between the grasping main arm (42) and the grasping connection seat (41) for driving the grasping main arm (42) to move and adjust correspondingly relative to the grasping connection seat (41). A grasping component (44) is provided at the front end of the grasping main arm (42).

10. The water robot according to claim 9, characterized in that The main arm adjusting component (43) includes a rotation adjusting component for driving the grasping main arm (42) to rotate relative to the grasping connection seat (41) and an inclination adjusting component for driving the grasping main arm (42) to incline up and down relative to the grasping connection seat (41).

11. The underwater robot according to claim 10, characterized in that The rotation adjusting component includes an adjusting rotating member (431) whose lower end is rotatably connected to the grasping connection seat (41). The upper end of the adjusting rotating member (431) is hinged to the grasping main arm (42). A rotation driving member (432) for driving the adjusting rotating member (431) to rotate correspondingly is provided between the lower end of the adjusting rotating member (431) and the grasping connection seat (41). The inclination adjusting component includes an inclination driving member (433) provided on the adjusting rotating member (431). The driving end of the inclination driving member (433) is hinged to the grasping main arm (42). The inclination driving member (433) is configured to drive the grasping main arm (42) to incline up and down around the rotation axis between the upper end of the adjusting rotating member (431) and the grasping main arm (42).

12. The underwater robot according to claim 9, characterized in that The grasping component (44) includes two grasping parts (441) provided at the front end of the grasping main arm (42) and capable of closing towards each other or opening away from each other. The connecting end of each grasping part (441) is hinged to the corresponding side of the grasping main arm (42). A closing and opening driving component (442) for driving the two grasping parts (441) to close towards each other or open away from each other is provided between the connecting end of the grasping part (441) and the grasping main arm (42).

13. The underwater robot according to claim 12, wherein The closing and opening driving component (442) includes a closing and opening driving motor (4421) provided on the grasping main arm (42). The output end of the closing and opening driving motor (4421) is connected with a closing and opening driving lead screw (4422). A closing and opening sliding seat (4423) that can be driven by the closing and opening driving lead screw (4422) to move axially along the grasping main arm (42) is connected to the closing and opening driving lead screw (4422). A closing and opening linkage member (4424) is provided between the closing and opening sliding seat (4423) and the connecting end of each grasping part (441). One end of the closing and opening linkage member (4424) is hinged to the closing and opening sliding seat (4423), and the other end of the closing and opening linkage member (4424) is hinged to the end of the connecting end of the grasping part (441).

14. The aquatic robot according to claim 9, wherein A counterweight assembly (45) for balancing the grasping action of the grasping main arm (42) and the maneuvering body (1) is provided at the rear end of the grasping main arm (42). The counterweight assembly (45) includes a counterweight block (451) slidably provided on the rear end of the grasping main arm (42), and a counterweight adjustment assembly (452) for driving the counterweight block (451) to move axially along the grasping main arm (42) is provided on the grasping main arm (42).

15. The underwater robot according to claim 14, wherein The counterweight adjustment assembly (452) includes a counterweight driving motor (4521) provided on the grasping main arm (42). The output end of the counterweight driving motor (4521) is connected to an adjustment driving screw rod (4522), and the adjustment driving screw rod (4522) is in driving cooperation with an adjustment screw nut (4511) of the counterweight block (451).

16. The water robot according to claim 14, characterized in that A counterweight guiding assembly (46) is provided between the counterweight block (451) and the grasping main arm (42). The counterweight guiding assembly (46) includes a counterweight guiding hole (461) provided on the grasping main arm (42) and a counterweight guiding rod (462) provided on the counterweight block (451) and passing through the counterweight guiding hole (461).

17. The surface robot according to claim 1, characterized in that The maneuvering body (1) is integrally in a U-shaped structure, and a connecting cross beam (12) is provided between the U-shaped straight sections of the maneuvering body (1); the fish attracting device (5) is a bait feeding assembly. The front end of the bait feeding assembly is detachably connected to the inner side of the U-shaped transition section of the maneuvering body (1). The two power propulsion devices (2) are respectively detachably connected to the ends of the two U-shaped straight sections of the maneuvering body (1). The rear part of the bait feeding assembly is lapped on the connecting cross beam (12) and placed between the two U-shaped straight sections of the maneuvering body (1). A feeding locking assembly (50) for locking the bait feeding assembly is provided between the bait feeding assembly and the maneuvering body (1) or between the bait feeding assembly and the connecting cross beam (12).

18. The aquatic robot according to claim 17, wherein The feeding locking assembly (50) is provided between the bait feeding assembly and the connecting cross beam (12); the feeding locking assembly (50) includes a locking clamping groove (501) provided on the bait feeding assembly and used for clamping with the connecting cross beam (12), and a locking hole and a locking pin (502) which can be locked and matched with each other are provided between the side part of the locking clamping groove (501) and the connecting cross beam (12).

19. The water robot according to claim 1, characterized in that The fish attracting device (5) is a bait feeding assembly. The bait feeding assembly includes a feeding housing (51) detachably connected to the maneuvering body (1). The feeding housing (51) has a material storage cavity (52). A feeding outlet (53) communicating with the material storage cavity (52) is provided at the end of the feeding housing (51). A feeding extrusion assembly (54) for extruding and feeding the bait in the material storage cavity (52) from the feeding outlet (53) is provided on the feeding housing (51). A feeding port (55) communicating with the material storage cavity (52) is provided on the side part of the feeding housing (51), and the feeding port (55) is connected with a port cover body (551).

20. The water robot according to claim 19, wherein The feeding outlet (53) is arranged at the rear end of the feeding housing (51). An installation opening (56) is provided at the front end of the feeding housing (51), and an installation seat body (57) is connected to the installation opening (56). The feeding and extrusion assembly (54) includes a feeding drive motor (541) provided on the installation seat body (57) and a feeding drive shaft (542) provided in the feeding housing (51) and capable of being driven by the feeding drive motor (541) to perform telescopic movement. One end of the feeding drive shaft (542) located in the storage cavity (52) is connected to a feeding extrusion member (543) for pushing the bait.

21. The aquatic robot according to any one of claims 1-20, characterized in that The mobile main body (1) is integrally in a U-shaped structure; the power propulsion device (2) includes a propulsion housing (21) connected to the ends of the two U-shaped straight sections of the mobile main body (1). A circumferential water inlet pore (22) is provided on the circumferential side of each propulsion housing (21), and a propulsion drainage port (23) is provided at the rear end of the propulsion housing (21). A propulsion impeller (24) is provided in the propulsion housing (21) between the circumferential water inlet pore (22) and the propulsion drainage port (23), and the propulsion housing (21) is also provided with a propulsion drive motor (25) for driving the propulsion impeller (24) to rotate correspondingly.

22. The underwater robot according to claim 21, wherein The front end of the propulsion housing (21) is connected to the end of the U-shaped straight section of the mobile main body (1) through a propulsion connection seat (26). A power supply battery pack (27) is connected to the front side of the propulsion connection seat (26), and the propulsion drive motor (25) is installed on the rear side of the propulsion connection seat (26) and can be electrically connected to the power supply battery pack (27).

23. The water robot according to claim 21, characterized in that The propulsion housing (21) includes an integrally formed installation cylinder section (211), a connection cylinder section (212), and an extension cylinder section (213). The front end of the installation cylinder section (211) is connected to the end of the U-shaped straight section of the mobile main body (1). The circumferential water inlet pore (22) is provided on the circumferential side of the connection cylinder section (212). The propulsion drainage port (23) is formed by the rear port of the extension cylinder section (213), and the inner diameter gradually decreases from the connection cylinder section (212) to the extension cylinder section (213).

24. The surface vehicle robot according to claim 1, wherein The mobile main body (1) is integrally in a U-shaped structure. The power propulsion device (2) is connected to the ends of the U-shaped straight sections of the mobile main body (1). Power supply battery packs (27) serving as weight loads and distributed in a triangle on the same plane are respectively provided on the U-shaped transition connection section and the two U-shaped straight sections of the mobile main body (1), and the triangle is an equilateral triangle or an isosceles triangle.

25. The water robot according to claim 24, characterized in that A storage cavity (13) for accommodating the power supply battery pack (27) is provided on the U-shaped transition connection section of the mobile main body (1). The power supply battery pack (27) in the storage cavity (13) is used to supply power to the operation function mechanism, and the power supply battery pack (27) placed in the U-shaped straight section of the mobile main body (1) is used to supply power to the power propulsion device (2).

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