Remote-controlled underwater fish-pricking and object-picking equipment

Abstract

The invention relates to the technical field of underwater remote control equipment, in particular to remotely-controllable underwater fish-pricking and picking equipment which comprises a shell assembly, a driving mechanism body is arranged on one side of the shell assembly, and a fish-pricking and observing mechanism is arranged on the other side of the driving mechanism body. A clamping mechanism is arranged at the bottom of the fish pricking and observing mechanism, and a lateral driving and buckling mechanism is arranged on one side of the shell assembly. According to the fishing device, a fish pricking mechanism and an observation mechanism are integrated, power can be provided for the fish pricking needle through cooperation of all percussion components and the like, the fish pricking awl is launched with certain force, and fish pricking and catching operation is achieved. Meanwhile, the barb body on the fish-piercing needle can prevent the fish in the fish from escaping, and the fishing line can be conveniently recycled through the combination of the fishing line recycling rod, the driven ratchet wheel, the driving ratchet wheel and the fifth motor, so that the fish can be pulled close to the equipment after the fish is stabbed.

Description

Technical Field

[0001] This application relates to the field of underwater remote control equipment technology, and in particular to a remotely controllable underwater hook-and-retrieve device. Background Technology

[0002] With societal development, the number of fishing enthusiasts has increased by hundreds of millions year by year. However, years of accumulated damage to fish populations have led to a gradual decline in the numbers of various fish species. Most fishing enthusiasts only catch small fish and find it difficult to catch large ones because the small fish are often caught before they grow up. This vicious cycle has a certain impact on the balance of the ecological environment. The visual hooking function of this product can effectively preserve small fish and only catch large fish, thus protecting the growth process of small fish and providing a visual entertainment activity. Another function of this product is the visual underwater item retrieval, which is a boon for people who have lost items underwater and protects their personal property. Because the product has the fun of a mobile game, the land-based remote-controlled mechanical fish can swim freely underwater, visually conveying the pleasure of finding prey and lost items, and providing a diverse range of outdoor entertainment options.

[0003] Patent publication number CN108945341A discloses an underwater rescue and salvage bionic fish, including a swimming device, a detection device, a salvage device, a reducer, and a large plate rotating shaft. The detection device is fixedly installed above the swimming device, the reducer is fixedly installed below the swimming device, the large plate rotating shaft is inserted into the hollow shaft of the reducer, and the salvage device is fixedly installed with the large plate rotating shaft. This invention enables the mechanical fish to swim in the water and adjust its swimming direction and angle through the swimming device, detects the underwater environment through the detection device, and salvages objects of different sizes to the shore through the salvage device, increasing the overall maneuverability and expanding the applicable range of objects that can be salvaged.

[0004] Regarding the aforementioned technologies, the inventors have discovered the following drawbacks: While the device mimics the swimming motion of fish, it lacks features to reduce water resistance. With multiple motors, increased resistance translates to higher power consumption and shorter runtime. Furthermore, the motors and propellers are directly exposed in the water, making them susceptible to damage from impurities such as algae, which can easily entangle the propeller and cause the drive mechanism to malfunction. Additionally, the device is only suitable for retrieving fixed, defenseless objects or fish; it lacks the ability to capture or grip agile, normal fish, thus limiting its effectiveness. Summary of the Invention

[0005] In view of the shortcomings of the prior art and in order to solve the problems mentioned in the background art, this application provides a remotely controlled underwater hooking and retrieving device.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a remotely controlled underwater hooking and retrieving device, comprising a shell assembly, a drive mechanism body is provided on one side of the shell assembly, a hooking and observation mechanism is provided on the other side of the drive mechanism body, a clamping mechanism is provided at the bottom of the hooking and observation mechanism, and a lateral drive and latching mechanism is provided on one side of the shell assembly.

[0007] The outer casing assembly includes a bionic top cover, a limiting groove body, a bionic fish fin, a fishing line connection hole, an upper semi-circular hole, a bionic bottom cover, a lower semi-circular hole, and a counterweight. The bionic top cover is disposed on the top of the drive mechanism body. A limiting groove body is formed on the side of the bionic top cover near the drive mechanism body. A bionic fish fin is fixedly connected to the top of the bionic top cover. A fishing line connection hole is formed on one side of the bionic fish fin. An upper semi-circular hole is formed on one side of the bionic top cover. A bionic bottom cover is fixedly connected to the bottom of the bionic top cover. A fishing line connection hole is formed on one side of the bionic bottom cover. The device features a lower semi-circular hole, and a counterweight is fixedly installed at the bottom of the bionic lower cover. The bionic upper cover serves as the upper part of the device's outer shell, protecting the internal components. The limiting groove provides limiting space for the installation and movement of the internal components. The bionic fish fin simulates the shape of a fish and can be connected to a fishing line through a fishing line connection hole for traction or control of the device. The upper and lower semi-circular holes may be used for component installation or cooperation with other components. The bionic lower cover and upper cover together form the outer shell, protecting the internal components. The counterweight adjusts the device's center of gravity in water, enabling it to maintain a stable posture in the water.

[0008] The drive mechanism body includes a bionic fish tail, a first gear, a first rack, a second rack, a limiting post, a first spring, a limiting sleeve, a first motor mounting plate, a first servo motor, a first sealing ring, and a first propeller. The bionic fish tail is movably mounted on the top of the limiting groove body. After penetrating the limiting groove body, the bionic fish tail is fixedly connected to the first gear. One side of the first gear meshes with the first rack, and the other side of the first gear meshes with the second rack. A limiting post is fixedly connected to one side of both the first and second racks. A first spring is fixedly connected to the side of the limiting post away from the second rack. A limiting sleeve is movably sleeved on one side of the limiting post, and a first motor mounting plate is fixedly connected to one side of the limiting sleeve. A first servo motor is fixedly mounted on one side of the motor mounting plate. A first propeller is fixedly mounted on the output end of the first servo motor. The first propeller is movably mounted on one side of the first sealing ring. The bionic fish tail simulates the movement of a fish tail and is an important component for the movement of the equipment. The first gear, the first rack, and the second rack transmit power to other components or achieve specific motion conversions through gear and rack meshing. The limiting post and the first spring provide limiting and buffering for the moving components. The limiting sleeve assists the movement of the limiting post. The first motor mounting plate provides a mounting base for the first servo motor. The first servo motor provides power to the equipment and drives the first propeller to rotate. The first sealing ring ensures sealing performance and prevents water from entering the motor and other key components. The first propeller propels the equipment forward in the water.

[0009] The lateral drive and latching mechanism includes a left-side drive mechanism and a right-side drive mechanism, which are symmetrically arranged around the bionic top cover. Each mechanism includes a first positioning plate, a third latching block body, a bionic side plate, a latching slot body, a second positioning plate, a sliding groove, a longitudinal groove body, and a first latching block body. The first positioning plate is fixedly installed on one side of the bionic top cover. A third latching block body is movably installed on one side of the first positioning plate. A bionic side plate is movably installed on one side of the first positioning plate. Latching slot bodies are symmetrically formed on both sides of the bionic side plate. A second positioning plate is movably installed on one side of the bionic side plate. The second positioning plate has a groove on one side and a longitudinal groove body through the top of the second positioning plate. A first locking block body is movably installed inside the groove. The first positioning plate is used to position and install other components of the lateral drive mechanism. The third locking block body may participate in the connection or movement between components. The bionic side plate serves as a structural component on the side of the equipment, enhancing the structural strength of the equipment and protecting internal components. The slot body can be used for the engagement or cooperation of other components. The second positioning plate assists in component positioning. The groove provides space for the movement of the first locking block body. The longitudinal groove body provides guidance for the longitudinal movement of other components. The first locking block body can move within the groove to achieve specific connection or limiting functions.

[0010] The device includes a hooksetter and observation mechanism, comprising an inner shell, a firing chamber shell, a bionic fish head shell, an infrared spotlight, an underwater camera, an air cylinder, an air supply pipe, an air supply firing tube, a sealing hole, and a fishing line guide. The inner shell is fixedly installed inside the bionic upper and lower covers. A positioning groove is formed on the side of the inner shell away from the bionic fish tail, and the firing chamber shell is installed inside the positioning groove. The bionic fish head shell is fixedly installed on one side of the firing chamber shell. An infrared spotlight is fixedly installed on one side of the bionic fish head shell, and an underwater camera is fixedly installed at the bottom of the infrared spotlight. Holes are symmetrically formed on one side of the bionic fish head shell, centered on the infrared spotlight. An air supply firing tube is located on one side of the bionic fish head shell, and the position of the air supply firing tube corresponds to the position of the hole at the bottom of the infrared spotlight. The bottom of the air supply firing tube is connected to an air supply pipe. The device includes an air supply tube, the bottom of which is connected to a gas cylinder. An electrically controlled valve is installed at the connection between the air supply tube and the gas cylinder. A sealing hole is located on the side of the air supply firing tube near the air supply tube, and a fishing line guide seat is movably connected inside the sealing hole. The inner liner and outer shell provide a waterproof environment to protect important internal components. The firing chamber shell provides space for the hooking device. A bionic fish head shell forms the appearance of the device's head and protects its internal components. An infrared spotlight provides underwater illumination or targets, aiding in observation and operation. An underwater camera enables underwater observation to better understand the surrounding environment. The gas cylinder stores high-pressure gas, providing power for hooking and other actions. The air supply tube delivers high-pressure gas. The air supply firing tube delivers the high-pressure gas to the required location to complete the hooking action. The sealing hole ensures a tight seal when the fishing line passes through. The fishing line guide seat guides the fishing line, ensuring its smooth movement.

[0011] The clamping mechanism includes a limiting block, a lifting column, a trapping light, a linear inner groove, a third rack, a second gear, a third gear, a coupling rod, a second worm gear, a second worm, a seventh motor body, a waterproof motor housing, and a seventh motor mounting plate. The limiting block is fixedly installed inside the bionic fish head housing. The bottom of the limiting block is movably sleeved with the lifting column. The bottom of the lifting column is fixedly installed with the trapping light. The top of the lifting column has a linear inner groove. Third racks are fixedly installed on both the left and right sides of the lifting column. One side of the third rack meshes with a second gear. A third gear meshes with the other side of the rack, and a coupling rod is fixedly connected to one side of the third gear. A second worm gear is fixedly connected to one side of the coupling rod, and a second worm is meshed with one side of the second worm gear. The second worm is fixedly installed at the bottom of the output end of the seventh motor body. A waterproof motor housing is fixedly installed on the top of the seventh motor body, and a seventh motor mounting plate is fixedly installed on the bottom of the waterproof motor housing. The lifting column is composed of a rectangular straight plate at the top and a lifting block at the bottom. The rectangular straight plate is movably connected to the limiting block, and the connection between the lifting block and the rectangular straight plate is rounded. Limiting blocks restrict the movement of components such as the lifting column; the lifting column, through its movement, lifts or adjusts the position of other components; the attractant light attracts fish or other targets; the linear inner groove provides guidance or installation space for the movement of other components; the third rack and pinion engage with the gear to achieve transmission; the second and third gears transmit power between different components; the coupling connects different transmission components; the second worm gear and the second worm achieve deceleration and change of transmission direction; the seventh motor body provides power to drive the movement of related components; the waterproof housing of the motor protects the motor from water corrosion; the seventh motor mounting plate provides installation support for the seventh motor.

[0012] Optionally, the drive mechanism body further includes a waterproof cover, a second motor mounting plate, a second servo motor, a lead screw, an internally threaded tube, a limit slider, a bearing seat, a connecting rod, a drive plate, a first rotating shaft, a second rotating shaft, and a steering plate. The waterproof cover is fixedly installed on the top of the bionic fish tail. The second motor mounting plate is fixedly installed inside the waterproof cover. The second servo motor is fixedly installed on one side of the second motor mounting plate. The lead screw is fixedly installed at the output end of the second servo motor. An internally threaded tube is threaded onto one side of the lead screw. Limit sliders are symmetrically arranged on the left and right sides of the internally threaded tube. A bearing seat is fixedly installed on one side of the internally threaded tube. A connecting rod is movably hinged to one side of the bearing seat. The drive plate is movably hinged to the other side of the connecting rod. The first rotating shaft is fixedly installed at the bottom of the drive plate. The second rotating shaft is fixedly installed at the bottom of the first rotating shaft. A steering plate is fixedly installed on one side of the second rotating shaft. A waterproof cover provides waterproof protection for internal components; a second motor mounting plate mounts a second servo motor; the second servo motor provides power for the rotation of the lead screw; the lead screw achieves linear motion through its cooperation with an internally threaded tube; the internally threaded tube achieves linear motion under the drive of the lead screw; a limit slider limits the movement of moving parts; bearing seats support and position shaft components; connecting rods connect different components and transmit motion; a drive plate transmits motion to the rotating shaft; the first and second rotating shafts are rotatably connected; a steering plate changes the direction of movement of the equipment.

[0013] Optionally, the left-side drive mechanism and the right-side drive mechanism further include a block fixing plate, a second block body, a roller fixing groove, a roller body, a second spring, an eccentric wheel, a first rotating rod, a first worm gear, a first worm, a second rotating rod, and a knob. The block fixing plate is fixedly connected to one side of the first block body. A second block body is fixedly connected to one side of the block fixing plate. A roller fixing groove is provided on the side of the second block body near the first block body. A roller body is movably installed inside the roller fixing groove. A second spring is fixedly connected to one side of the second block body. An eccentric wheel is movably connected to one side of the roller body. A first rotating rod is fixedly connected to one side of the eccentric wheel. A first rotating rod is fixedly installed on one side of the first rotating rod. A first worm gear is meshed with one side of the first worm gear. A second rotating rod is fixedly connected to one side of the first worm gear. A knob is fixedly connected to one side of the second rotating rod. The knob is movably installed inside the longitudinal groove body. The locking plate fixes and supports the second locking block body; the second locking block body may participate in the connection or movement of the equipment; the roller fixing groove installs the roller; the roller body can roll, reducing friction or assisting movement; the second spring provides elastic restoring force; the eccentric wheel produces different motion effects through eccentric movement; the first rotating rod transmits motion; the first worm gear and the first worm realize transmission and speed adjustment; the second rotating rod connects other components; the knob can be manually operated to adjust the movement or position of the components.

[0014] Optionally, the left and right drive mechanisms further include a turntable mounting ring, a turntable body, a third motor mounting plate, a third motor body, a second propeller, a tubular metal filter, a disc-shaped metal filter, a fourth motor body, a ring motor mounting plate, a wiring socket, and a remote control module. The turntable mounting ring is fixedly mounted on one side of the bionic side plate. The turntable body is movably fitted inside the turntable mounting ring, and a waterproof sealing ring is provided between the turntable mounting ring and the turntable body. The third motor mounting plate is fixedly mounted on one side of the turntable mounting ring, and the third motor body is fixedly mounted on one side of the third motor mounting plate. The second propeller is fixedly mounted on the output end of the third motor body. The tubular metal filter is fixedly mounted on one side of the turntable body, and the disc-shaped metal filter is fixedly mounted on one side of the tubular metal filter. The output end of the turntable body is fixedly connected to the fourth motor body. The fourth motor body is fixedly mounted inside the ring motor mounting plate. A wiring socket is provided on one side of the ring motor mounting plate. The wiring socket is electrically connected to the remote control module, and the remote control module is located inside the inner shell. The turntable mounting ring mounts and supports the turntable body; the turntable body is rotatable and may have a certain function, such as filtering or regulating water flow; the third motor mounting plate provides a mounting base for the third motor; the third motor body provides power to the second propeller; the second propeller propels the equipment to move laterally; tubular and disc-shaped metal filters filter impurities in the water and protect internal components; the fourth motor body provides power to other components; the ring motor mounting plate mounts the fourth motor; the wiring socket connects to an external power source or signal source; the remote control module receives remote control signals to realize remote control of the equipment.

[0015] Optionally, the hooking and observation mechanism includes a fishing line retrieval rod, a driven ratchet, a driving ratchet, a fifth motor, a fourth motor mounting plate, and a bearing side plate. The fishing line retrieval rod is movably mounted on one side of the bearing side plate. A driven ratchet is fixedly mounted on one side of the fishing line retrieval rod. A driving ratchet is engaged with one side of the driven ratchet. The driving ratchet is fixedly mounted on one side of the output end of the fifth motor. A fourth motor mounting plate is fixedly mounted on one side of the fifth motor. The fourth motor mounting plate is fixedly mounted on one side of the bearing side plate. The fishing line retrieval rod is used to retrieve the fishing line; the driven ratchet and the driving ratchet achieve unidirectional transmission through a ratchet mechanism to prevent the fishing line from loosening; the fifth motor provides power for fishing line retrieval; the fourth motor mounting plate mounts the fourth motor; and the bearing side plate provides support and mounting positions for related components.

[0016] Optionally, the hook-fishing and observation mechanism further includes a sixth motor body, a sixth motor mounting plate, a second sealing ring, a third rotating shaft, a first guide groove, a spiral groove, a second guide groove, a first straight rail side plate, a firing chamber, a second straight rail side plate, a first slider reset groove, a second slider reset groove, a first traction block, a first slider body, an L-shaped block, a retaining shaft, a trapezoidal top block, a third spring, a circular slider, a dovetail slider, a second traction block, a dovetail retaining groove, a second slider body, a limiting plate, a hook-fishing needle, a firing groove, a fishing line connecting block, a hook-fishing cone, a barb groove, a barb body, and a firing spring. The sixth motor body is fixedly installed inside the firing chamber housing, and a sixth motor mounting plate is fixedly installed on one side of the sixth motor body. A third rotating shaft is fixedly installed at the output end of the plate. A second sealing ring is provided at the connection between the third rotating shaft and the sixth motor mounting plate. A first guide groove is formed on the side of the third rotating shaft away from the sixth motor body, and a spiral groove is formed on one side of the third rotating shaft. A second guide groove is formed on the end of the third rotating shaft near the sixth motor body. A first straight rail side plate is provided on the top of the third rotating shaft. A firing magazine is fixedly installed on one side of the first straight rail side plate, and a second straight rail side plate is fixedly installed on one side of the firing magazine. A first slider reset groove and a second slider reset groove are both formed on the side of the first straight rail side plate near the firing magazine, and the first slider reset groove and the second slider reset groove together form a U-shaped limiting groove. A first traction block is movably connected to the bottom of the hair clip. First slider bodies are symmetrically arranged on the left and right sides of the first traction block. A retaining shaft is fixedly connected inside the first traction block. An L-shaped block is movably mounted on one side of the retaining shaft. A trapezoidal top block is movably connected to the bottom of the L-shaped block. A third spring is fixedly connected to one side of the trapezoidal top block. A circular slider is movably mounted to the bottom of the first traction block. A dovetail slider is fixedly connected to one side of the first traction block. A second traction block is movably connected to one side of the first traction block. A dovetail groove is formed on the side of the second traction block closest to the first traction block. The dovetail slider is movably connected inside the dovetail groove. Second slider bodies are fixedly connected to the left and right sides of the second traction block. A firing spring is fixedly connected to one side of the second traction block, and the other side of the firing spring is fixedly connected to one side of the sixth motor mounting plate. A limit plate is fixedly connected to the side of the firing magazine near the first worm. A fishing needle is movably installed inside the firing magazine. A firing groove is opened on the side of the fishing needle near the limit plate. A fishing line connecting block is fixedly connected to the side of the fishing needle near the limit plate. The fishing line connecting block is fixedly connected to the fishing line on one side of the fishing line guide seat. A fishing cone is provided on the side of the fishing needle away from the first worm. A barb groove is opened on one side of the fishing needle. A barb body is movably installed inside the barb groove. The width of the firing groove is equal to the width of the L-shaped block, and the L-shaped block can be movably connected inside the firing groove.The sixth motor body provides power for the movement of related components; the sixth motor mounting plate mounts the sixth motor; the second sealing ring ensures the seal at the motor mounting location; the third rotating shaft serves as the central axis for the movement of other components; the first guide groove, spiral groove, and second guide groove guide the movement of components such as the circular slider, causing them to produce different movement trajectories; the first and second straight rail side plates provide guidance and limits for components such as the slider and traction block; the firing magazine houses the firing component; the first and second slider reset grooves provide space for the slider to reset; the first traction block cooperates with other components to participate in the firing action; the first slider body moves within the slider reset groove, ensuring the stability of the movement; L-shaped The block may cooperate with the firing groove to achieve a certain triggering or locking function; the retaining shaft connects and supports the components; the trapezoidal top block cooperates with the spring to provide elastic support or cushioning; the third spring provides elastic restoring force; the circular slider moves in the guide groove, driving the movement of related components; the dovetail slider and dovetail retaining groove realize the connection and relative movement of components; the second slider body assists the movement of the second traction block; the limiting plate limits the movement of components such as the hook-fishing needle; the hook-fishing needle is used for hook-fishing operation; the firing groove provides movement space for the L-shaped block; the fishing line connecting block connects the fishing line; the hook-fishing cone realizes the hook-fishing function; the barb groove accommodates the barb body; the barb body makes it difficult for the target to fall off after being hooked; the firing spring provides elastic force for the firing action.

[0017] Optionally, the clamping mechanism further includes a first clamping arm assembly and a second clamping arm assembly. The first and second clamping arm assemblies are symmetrically arranged around the limiting block. Each assembly includes a clamping arm body, a roller, a positioning rod, and an anti-slip gripper. The roller is movably connected to one side of the limiting block and movably mounted on one side of the clamping arm body. Positioning rods are symmetrically arranged on the left and right sides of the clamping arm body, and an anti-slip gripper is fixedly connected to the bottom of the clamping arm body. The first and second clamping arm assemblies are used to clamp objects; the clamping arm body serves as the main body of the clamping arm; the roller may reduce friction with other components and facilitate movement; the positioning rod assists in positioning and installation; and the anti-slip gripper increases friction with the clamped object, improving clamping stability.

[0018] Optionally, the circular slider is movably connected inside the first guide groove, the spiral groove, and the second guide groove; the first slider body is movably connected inside the second slider reset groove; the second slider body is movably connected inside the first slider reset groove; and the width of the longitudinal groove at the connection between the first and second slider reset grooves is equal to the width of the first and second slider bodies, respectively; the height of the longitudinal groove at the connection between the first and second slider reset grooves is the same as the depth of the second guide groove. The circular slider achieves different motion trajectories by moving within different guide grooves to complete complex operations; the first and second slider bodies move within their respective reset grooves, ensuring the accuracy and stability of the component movement; and the matching of width and height ensures a tight fit between the moving components.

[0019] Optionally, a circular slider is movably connected inside the first guide groove, the spiral groove, and the second guide groove. The first slider body is movably connected inside the second slider reset groove, and the second slider body is movably connected inside the first slider reset groove. The width of the longitudinal groove at the connection between the first and second slider reset grooves is equal to the width of the first and second slider bodies. The height of the longitudinal groove at the connection between the first and second slider reset grooves is the same as the depth of the second guide groove. The first guide groove, the spiral groove, and the second guide groove are connected. The initial depth of the second guide groove is the same as the depth of the spiral groove, and the depth of the second guide groove gradually decreases until it is flush with the side wall of the third rotating shaft. The initial width of the first guide groove is greater than the width of the spiral groove, and the width of the first guide groove gradually shortens until it is the same as the width of the spiral groove. The first guide groove, the spiral groove, and the second guide groove can guide the circular slider from inside the first guide groove into the spiral groove, and finally out of the spiral groove through the second guide groove.

[0020] Optionally, a fishing needle is movably installed inside the air supply firing tube. The fishing line guide includes three fishing line traction rollers. The starting end of the fishing line on one side of the fishing line guide is fixedly connected to one side of the fishing line retrieval rod, and the fishing line is wound around one side of the fishing line retrieval rod, passing sequentially through the fishing line guide, the fishing line inlet and outlet hole on the side of the firing chamber shell near the fishing line guide, and the end of the fishing line connecting block. A semi-open cavity is opened at the bottom of the bionic fish head shell, and the width of the cavity is greater than the width of the clamping arm body. Two horizontal circular holes are opened on one side of the bionic fish head shell. The horizontal circular holes penetrate the bionic fish head shell and correspond to the position of the fishing needle. The horizontal circular holes are symmetrically arranged with the infrared spotlight as the center. The gas supply firing tube guides the gas and provides a power transmission channel for firing the fishing needle; the fishing line guide seat guides the fishing line through the fishing line traction roller to ensure smooth movement of the fishing line; the fishing line retrieval rod is used for fishing line retrieval; the semi-open cavity of the bionic fish head shell provides installation and movement space for other components; the transverse circular hole provides space and guidance for the movement of the fishing needle to ensure the accuracy of the hooking action.

[0021] Optionally, the remote control module includes a power module, an integrated circuit board, and a signal receiving and transmitting device. The second propeller, the third motor body, and the third motor mounting plate are all housed inside the waterproof outer shell formed by the tubular and disc-shaped metal filters. The turntable mounting ring is fixedly installed between the upper and lower semi-circular holes, and a sealing ring is provided at the connection between the turntable mounting ring and the bionic lower cover and the lower semi-circular hole. The power module provides power to the device, the integrated circuit board performs signal processing and control, and the signal receiving and transmitting device enables remote control. The tubular and disc-shaped metal filters protect the internal components while filtering impurities. The turntable mounting ring serves as the mounting base for the turntable, and the sealing ring ensures the sealing performance of the connection, preventing water from entering the interior and ensuring the normal operation of the device.

[0022] In summary, this application includes the following beneficial technical effects:

[0023] 1. This invention integrates a hooking and observation mechanism. Through the cooperation of components such as an air cylinder, air supply pipe, and air-fired tube, it can provide power to the hooking needle, launching the hooking cone with a certain force to achieve the hooking and catching operation of fish. At the same time, the barb on the hooking needle can prevent the hooked fish from escaping, greatly improving the success rate of catching fish; and the combination of the fishing line retrieval rod, driven ratchet, driving ratchet, and fifth motor can easily retrieve the fishing line, ensuring that the fish can be pulled closer to the device after being hooked, thus ensuring the integrity of the capture process.

[0024] 2. This invention is equipped with a remote control module, including a power module, an integrated circuit board, and a signal receiving and transmitting device, realizing the remote control function of the device. The drive mechanism includes multiple drive methods, such as the combination of a bionic fish tail and a first propeller. It can use the bionic fish tail to simulate the swinging of a fish's tail to generate propulsion force, and the rotation of the first propeller can propel the device forward. This allows the device to have a suitable propulsion method under different speed and maneuverability requirements. The lateral drive and the second propeller in the latching mechanism provide lateral propulsion power for the device, enabling the device to achieve flexible multi-directional movement, such as lateral translation, turning, and rotation in place. This makes the device more flexible in underwater movement, better able to adapt to complex underwater environments and perform various operational tasks, such as navigating narrow underwater spaces and tracking targets.

[0025] 3. The various mechanisms of this invention are relatively independent, such as the drive mechanism, the hook-and-eye mechanism, the observation mechanism, the clamping mechanism, the lateral drive, and the locking mechanism. This modular design makes the equipment easier to maintain and upgrade in the later stages. When a mechanism malfunctions or requires an upgrade, the corresponding module can be repaired or replaced individually without large-scale disassembly and reassembly of the entire device, reducing maintenance and time costs. For different underwater mission requirements, some modules can be modified or expanded, such as replacing motors with motors of different power, adding new sensors or actuators, to improve the performance of the equipment or expand its functions, providing a good foundation for subsequent improvements and optimizations. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the overall structure of the device in the embodiments of this application;

[0027] Figure 2 This is an exploded view of the device in an embodiment of this application;

[0028] Figure 3 This is a schematic diagram of the tail drive mechanism structure of the device in the embodiments of this application;

[0029] Figure 4 This is a schematic diagram of the main structure of the drive mechanism in the embodiments of this application;

[0030] Figure 5 This is an exploded view of the drive mechanism in an embodiment of this application;

[0031] Figure 6 This is a partial structural diagram of the drive mechanism in an embodiment of this application;

[0032] Figure 7 This is a schematic diagram of the main structure of the lateral drive and latching mechanism in the embodiments of this application;

[0033] Figure 8This is a schematic diagram of the lateral drive mechanism structure in an embodiment of this application;

[0034] Figure 9 This is a partial structural diagram of the lateral drive mechanism in an embodiment of this application;

[0035] Figure 10 This is a schematic diagram of the power supply mounting position of the lateral drive mechanism in an embodiment of this application;

[0036] Figure 11 This is a schematic diagram of the main structure of the stickleback and observation mechanism in the embodiments of this application;

[0037] Figure 12 This is a schematic diagram of a partial structure of the stickleback and observation mechanism in an embodiment of this application;

[0038] Figure 13 This is a schematic diagram of the main structure of the spring-fired assembly in an embodiment of this application;

[0039] Figure 14 This is a schematic diagram of the third rotating shaft and guide groove structure in the embodiments of this application;

[0040] Figure 15 This is an exploded view of the firing assembly in an embodiment of this application;

[0041] Figure 16 This is a schematic diagram of the main structure of the orifice-shaped groove in an embodiment of this application;

[0042] Figure 17 This is a schematic diagram of the main structure of the traction block in an embodiment of this application;

[0043] Figure 18 This is a schematic diagram of the main structure of the fish-pinning mechanism in the embodiments of this application;

[0044] Figure 19 This is a schematic diagram of the main structure of the clamping mechanism in the embodiments of this application;

[0045] Figure 20 This is a partial structural diagram of the clamping mechanism in an embodiment of this application;

[0046] Figure 21 This is a schematic diagram of the transmission structure of the clamping mechanism in the embodiments of this application.

[0047] Reference numerals: 1. Housing assembly;

[0048] 101. Bionic top cover; 102. Limiting groove body; 103. Bionic fish fin; 104. Fishing line connection hole; 106. Bionic bottom cover; 108. Counterweight;

[0049] 2. Drive mechanism body;

[0050] 201. Bionic fish tail; 202. First gear; 203. First rack; 204. Second rack; 205. Limiting post; 206. First spring; 207. Limiting sleeve; 209. First servo motor; 211. First propeller; 215. Lead screw; 216. Internally threaded tube; 219. Connecting rod; 220. Drive plate;

[0051] 3. Lateral drive mechanism;

[0052] 303. Bionic side panel; 304. Slot body; 314. Eccentric wheel; 316. First worm gear; 317. First worm; 319. Knob; 321. Turntable body; 324. Second propeller; 325. Tubular metal filter; 326. Disc-shaped metal filter; 327. Fourth motor body; 329. Wiring socket; 330. Remote control module;

[0053] 4. Fish-sticking mechanism;

[0054] 401. Inner liner outer shell; 402. Firing chamber outer shell; 403. Bionic fish head outer shell; 404. Infrared spotlight; 405. Underwater camera; 406. Gas cylinder; 407. Air supply pipe; 408. Air supply firing pipe; 409. Sealing hole; 410. Fishing line guide seat; 411. Fishing line retrieval rod; 412. Driven ratchet; 413. Driven ratchet; 414. Fifth motor; 417. Sixth motor body; 420. Third rotating shaft; 421. First guide groove; 422. Spiral groove; 423. Second guide groove; 425. Firing box; 429. First traction block; 437. Second traction block; 441. Fishing needle; 444. Fishing cone; 447. Firing spring;

[0055] 5. Clamping mechanism; 501. Limiting block; 502. Lifting column; 503. Trapping light; 505. Third rack; 506. Second gear; 511. Seventh motor body; 514. Clamping arm body; 515. Roller; 517. Anti-slip gripper; 6. Upper needle rod. Detailed Implementation

[0056] The following is in conjunction with the appendix Figure 1-21 This application will be described in further detail.

[0057] This application discloses a remotely controlled underwater hookfishing and object-collecting device.

[0058] Please see Figures 1 to 3 A remotely controlled underwater fish-hooking and object-retrieval device includes a housing assembly 1, a drive mechanism body 2 on one side of the housing assembly 1, a fish-hooking mechanism 4 on the other side of the drive mechanism body 2, a clamping mechanism 5 at the bottom of the fish-hooking mechanism 4, a lateral drive mechanism 3 on one side of the housing assembly 1, and an upper needle rod 6 on one side of the housing assembly 1.

[0059] Please see Figures 2 to 6 The outer shell assembly 1 includes a bionic upper cover 101, a limiting groove body 102, a bionic fish fin 103, a fishing line connection hole 104, and a counterweight 108; the bionic fish fin 103 is provided with a fishing line connection hole 104, and the counterweight 108 is fixed at the bottom of the bionic lower cover 106.

[0060] The drive mechanism body 2 includes a bionic fish tail 201, a first gear 202, a first rack 203, a second rack 204, a limiting post 205, a first spring 206, a limiting sleeve 207, a first servo motor 209, and a first propeller 211. The bionic fish tail 201 is driven by the first gear 202 meshing with the first rack 203 and the second rack 204. The first rack 203 and the second rack 204 are connected to the limiting sleeve 207 through the limiting post 205 and the first spring 206. The first servo motor 209 drives the first propeller 211 and realizes the swing of the bionic fish tail 201 through the lead screw 215, the internal threaded tube 216, the connecting rod 219, and the drive plate 220.

[0061] Further explanation is needed regarding the following: The design of the bionic upper cover 101 and bionic lower cover 106 not only simulates the shape of a real fish, but also enhances the streamlined structure of the device through the bionic fish fin 103, reducing resistance during underwater movement. The fishing line connection hole 104 on the bionic fish fin 103 is used to connect the fishing line, facilitating the operation and retrieval of the device. In addition, a counterweight 108 is fixed to the bottom of the bionic lower cover 106 to adjust the buoyancy and stability of the device, ensuring that the device can maintain balance and move flexibly underwater. The position and weight of the counterweight 108 have been precisely calculated to adapt to the operational needs under different water depths and current conditions. The drive mechanism body 2 is the core power part of the device, mainly composed of the bionic fish tail 201, the first gear 202, and the first rack 203. The bionic fish tail 201 is composed of a second rack 204, a limiting post 205, a first spring 206, a limiting sleeve 207, a first servo motor 209, and a first propeller 211. The bionic fish tail 201 achieves the swinging motion of the fish tail through the meshing transmission of the first gear 202 with the first rack 203 and the second rack 204, simulating the swimming mode of real fish. The first servo motor 209 drives the first propeller 211, and through the linkage of the lead screw 215, the internal threaded tube 216, the connecting rod 219, and the drive plate 220, the swinging effect of the bionic fish tail 201 is further enhanced, improving the propulsion efficiency of the equipment. The cooperation between the limiting post 205 and the first spring 206 with the limiting sleeve 207 ensures the stability and accuracy of the rack movement and avoids jamming or deviation during the movement.

[0062] Please see Figures 7 to 13The lateral drive mechanism 3 includes a left drive mechanism 31 and a right drive mechanism 32 arranged symmetrically. Both the left drive mechanism 31 and the right drive mechanism 32 include a bionic side plate 303, a slot body 304, an eccentric wheel 314, a first worm gear 316, a first worm 317, and a knob 319. The knob 319 drives the first worm gear 316 and the eccentric wheel 314 through the first worm 317 to adjust the unfolding and retraction of the bionic side plate 303.

[0063] The lateral drive mechanism 3 also includes a turntable body 321, a tubular metal filter 325, a disc-shaped metal filter 326, a second propeller 324, and a remote control module 330; the turntable body 321 is driven by a fourth motor body 327, and the second propeller 324 is installed in a waterproof housing formed by the tubular metal filter 325 and the disc-shaped metal filter 326.

[0064] The remote control module 330 is integrated inside the inner shell 401 and is electrically connected to the wiring socket 329 to control the second propeller 324 and the fourth motor body 327.

[0065] Further explanation is needed: the lateral drive mechanism 3 is a key component for the device to achieve steering and lateral movement. It includes a symmetrically arranged left drive mechanism 31 and a right drive mechanism 32. Both the left drive mechanism 31 and the right drive mechanism 32 include a bionic side plate 303, a slot body 304, an eccentric wheel 314, a first worm gear 316, a first worm 317, and a knob 319. The knob 319 drives the first worm gear 316 and the eccentric wheel 314 through the first worm 317, thereby adjusting the unfolding and retraction of the bionic side plate 303, realizing the device's steering and lateral movement. Lateral movement and steering are also included. In addition, the lateral drive mechanism 3 also includes a turntable body 321, a tubular metal filter 325, a disc-shaped metal filter 326, a second propeller 324, and a remote control module 330. The turntable body 321 is driven by the fourth motor body 327, which drives the second propeller 324 to rotate and provides additional propulsion. The remote control module 330 is integrated inside the inner shell 401 and is electrically connected to the wiring socket 329 to control the second propeller 324 and the fourth motor body 327, so as to realize remote control of the equipment.

[0066] Please see Figures 13 to 18The fish-launching mechanism 4 includes an inner shell 401, a firing chamber shell 402, a bionic fish head shell 403, an infrared spotlight 404, and an underwater camera 405. The inner shell 401 is fixedly installed inside the bionic upper cover 101 and the bionic lower cover 106. The firing chamber shell 402 is installed in the positioning groove of the inner shell 401. The bionic fish head shell 403 is fixed to one side of the firing chamber shell 402. The infrared spotlight 404 and the underwater camera 405 are respectively installed at the top and bottom of the bionic fish head shell 403. The gas cylinder 406 is connected to the gas supply firing pipe 408 through the gas supply pipe 407. The fishing line guide seat 410 is movably connected in the sealing hole 409.

[0067] The fishing hooking mechanism 4 also includes a fishing line retrieval rod 411, a driven ratchet 412, a driving ratchet 413, and a fifth motor 414; the fifth motor 414 drives the driven ratchet 412 through the driving ratchet 413 to control the retrieval and release of the fishing line retrieval rod 411.

[0068] The fish-hooking mechanism 4 also includes a sixth motor body 417, a firing magazine 425, a fish-hooking needle 441, a fish-hooking cone 444, and a firing spring 447; the sixth motor body 417 drives the first traction block 429 and the second traction block 437 through the spiral groove 422 of the third rotating shaft 420, and the firing spring 447 pushes the fish-hooking needle 441 and the fish-hooking cone 444 to complete the fish-hooking action.

[0069] The first guide groove 421, spiral groove 422 and second guide groove 423 of the third rotating shaft 420 cooperate with the circular slider 435 to control the firing and resetting of the fish-piercing needle 441.

[0070] Further explanation is needed regarding the following: The fish-hooking mechanism 4 is the core functional part of the equipment, mainly composed of an inner shell 401, a firing chamber shell 402, a bionic fish head shell 403, an infrared spotlight 404, an underwater camera 405, an air cylinder 406, an air supply pipe 407, an air supply firing pipe 408, a sealing hole 409, a fishing line guide seat 410, a fishing line retrieval rod 411, a driven ratchet 412, a driving ratchet 413, a fifth motor 414, a sixth motor body 417, a firing magazine 425, a fish-hooking needle 441, a fish-hooking cone 444, and a firing spring 447. The inner shell 401 is fixedly installed on the bionic upper cover 101 and the bionic lower cover 101. Inside the cover 106, the fish-hooking mechanism 4 is protected. The infrared spotlight 404 and the underwater camera 405 are used for illumination and underwater environment imaging, respectively, to help the operator better observe the target. The gas cylinder 406 is connected to the air supply firing tube 408 through the air supply pipe 407 to provide the power required for hooking the fish. The fifth motor 414 drives the driven ratchet 412 through the active ratchet 413 to control the retrieval and release of the fishing line retrieval rod 411. The sixth motor body 417 drives the first traction block 429 and the second traction block 437 through the spiral groove 422 of the third rotating shaft 420. The firing spring 447 pushes the hooking needle 441 and the hooking cone 444 to complete the hooking action.

[0071] Please see Figures 19 to 21 The clamping mechanism 5 includes a limiting block 501, a lifting column 502, a trapping light 503, and a clamping arm assembly; the lifting column 502 is driven by the third rack 505 meshing with the second gear 506 and is driven by the seventh motor body 511; the clamping arm assembly includes a clamping arm body 514, a roller 515, and an anti-slip gripper 517, used for underwater object retrieval.

[0072] Further explanation is needed: The clamping mechanism 5 is a key part of the equipment for underwater object retrieval. It mainly consists of a limit block 501, a lifting column 502, a trapping light 503, and a clamping arm assembly. The lifting column 502 is driven by the meshing of the third rack 505 and the second gear 506, and is driven by the seventh motor body 511 to realize the lifting and lowering of the clamping arm. The clamping arm assembly includes the clamping arm body 514, the roller 515, and the anti-slip gripper 517, which are used for underwater object retrieval. The trapping light 503 is used to attract target objects and improve the success rate of object retrieval. The clamping arm body 514, through the cooperation of the roller 515 and the anti-slip gripper 517, ensures the stability and flexibility of the clamping, and can adapt to objects of different shapes and sizes. The design of the clamping mechanism 5 fully considers the complexity of the underwater environment, ensuring that the equipment can efficiently complete the object retrieval task under various conditions.

[0073] The working principle of the above embodiments is as follows:

[0074] First, the outer shell component 1 provides structural support and biomimetic design.

[0075] The outer shell assembly 1 is the main structure of the device, consisting of a biomimetic upper cover 101 and a biomimetic lower cover 106. The internal components are tightly connected by a limiting groove body 102 to ensure the device's waterproof performance. The design of the biomimetic fish shell simulates the shape of a real fish. The biomimetic fins 103 not only enhance the streamlined structure of the device and reduce underwater movement resistance, but also connect to the fishing line through the fishing line connection hole 104, facilitating the operation and retrieval of the device. A counterweight block 108 is fixed at the bottom of the biomimetic lower cover 106 to adjust the buoyancy and stability of the device, ensuring that the device can maintain balance and move flexibly underwater. The design of the outer shell assembly 1 provides stable support for other functional modules of the device, while the biomimetic shape reduces the alertness of underwater creatures and increases the success rate of hooking fish and retrieving objects.

[0076] Secondly, the drive mechanism body 2 enables the underwater movement of the equipment.

[0077] The drive mechanism body 2 is the core power part of the equipment, mainly composed of a bionic fish tail 201, a first gear 202, a first rack 203, a second rack 204, a limiting post 205, a first spring 206, a limiting sleeve 207, a first servo motor 209, and a first propeller 211. The first servo motor 209 drives the first propeller 211, providing the main propulsion force. At the same time, the bionic fish tail 201 realizes the swinging of the fish tail through the meshing transmission of the first gear 202 with the first rack 203 and the second rack 204, simulating the swimming mode of real fish. The cooperation of the limiting post 205 and the first spring 206 with the limiting sleeve 207 ensures the stability and accuracy of the rack movement. Through the linkage of the lead screw 215, the internal threaded tube 216, the connecting rod 219, and the drive plate 220, the swinging effect of the bionic fish tail 201 is further enhanced, enabling the equipment to move forward, turn, and adjust its posture flexibly underwater.

[0078] Next, the lateral drive mechanism 3 realizes the steering and lateral movement of the equipment.

[0079] The lateral drive mechanism 3 is a key component for the device to achieve steering and lateral movement. It includes a symmetrically arranged left drive mechanism 31 and a right drive mechanism 32. Both the left drive mechanism 31 and the right drive mechanism 32 include a bionic side plate 303, a slot body 304, an eccentric wheel 314, a first worm gear 316, a first worm 317, and a knob 319. The knob 319 drives the first worm gear 316 and the eccentric wheel 314 through the first worm 317, thereby adjusting the unfolding and retraction of the bionic side plate 303 to achieve lateral movement and steering of the device. In addition, the lateral drive mechanism 3 also includes a turntable body 321, a tubular metal filter 325, a disc-shaped metal filter 326, a second propeller 324, and a remote control module 330. The turntable body 321 is driven by the fourth motor body 327, which drives the second propeller 324 to rotate, providing additional propulsion. The remote control module 330 is integrated inside the inner shell 401 and is electrically connected to the wiring socket 329 to control the second propeller 324 and the fourth motor body 327, thereby realizing remote control of the equipment.

[0080] Next, the hook-fishing mechanism 4 completes the hook-fishing action and line retrieval.

[0081] The hooking mechanism 4 is the core functional part of the equipment, mainly composed of an inner shell 401, a firing chamber shell 402, a bionic fish head shell 403, an infrared spotlight 404, an underwater camera 405, an air cylinder 406, an air supply pipe 407, an air supply firing pipe 408, a sealing hole 409, a fishing line guide seat 410, a fishing line retrieval rod 411, a driven ratchet 412, a driving ratchet 413, a fifth motor 414, a sixth motor body 417, a firing magazine 425, a hooking needle 441, a hooking cone 444, and a firing spring 447. The infrared spotlight 404 and the underwater camera 405 are also included. 05 are used for lighting and photographing the underwater environment to help the operator observe the target. The gas cylinder 406 is connected to the air supply firing tube 408 through the air supply pipe 407 to provide the power required for hooking the fish. The sixth motor body 417 drives the first traction block 429 and the second traction block 437 through the spiral groove 422 of the third rotating shaft 420. The firing spring 447 pushes the hooking needle 441 and the hooking cone 444 to complete the hooking action. The fifth motor 414 drives the driven ratchet 412 through the active ratchet 413 to control the opening and closing of the fishing line retrieval rod 411 to ensure that the fishing line and target can be quickly retrieved after hooking the fish.

[0082] Finally, clamping mechanism 5 completes the underwater object retrieval task.

[0083] The clamping mechanism 5 is a key part of the equipment for underwater object retrieval. It mainly consists of a limit block 501, a lifting column 502, a trapping light 503, and a clamping arm assembly. The lifting column 502 is driven by the meshing of the third rack 505 and the second gear 506, and is driven by the seventh motor body 511 to realize the lifting and lowering of the clamping arm. The clamping arm assembly includes a clamping arm body 514, a roller 515, and an anti-slip gripper 517 for underwater object retrieval. The trapping light 503 is used to attract target objects and improve the success rate of object retrieval. The clamping arm body 514, through the cooperation of the roller 515 and the anti-slip gripper 517, ensures the stability and flexibility of the clamping, and can adapt to objects of different shapes and sizes. The design of the clamping mechanism 5 fully considers the complexity of the underwater environment, ensuring that the equipment can efficiently complete the object retrieval task under various conditions.

[0084] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A remotely controlled underwater hookfishing and retrieving device, comprising a housing assembly (1), characterized in that: A drive mechanism body (2) is provided on one side of the outer shell assembly (1), a fish-spinning mechanism (4) is provided on the other side of the drive mechanism body (2), a clamping mechanism (5) is provided at the bottom of the fish-spinning mechanism (4), a lateral drive mechanism (3) is provided on one side of the outer shell assembly (1), and an upper needle rod (6) is provided on one side of the outer shell assembly (1). The fish-hooking mechanism (4) includes an inner shell (401), a firing chamber shell (402), a bionic fish head shell (403), an infrared spotlight (404), an underwater camera (405), a gas cylinder (406), and a sealing hole (409). The inner shell (401) is fixedly installed inside the bionic upper cover (101) and the bionic lower cover (106). The firing chamber shell (402) is installed in the positioning groove of the inner shell (401). The bionic fish head shell (403) is fixed to one side of the firing chamber shell (402). The infrared spotlight (404) and the underwater camera (405) are respectively installed on the top and bottom of the bionic fish head shell (403). The gas cylinder (406) is connected to the gas supply firing tube (408) through the gas supply pipe (407), and the fishing line guide seat (410) is movably connected inside the sealing hole (409).

2. The remotely controlled underwater hook-and-retrieve device according to claim 1, characterized in that: The drive mechanism body (2) includes a bionic fish tail (201), a first gear (202), a first rack (203), a second rack (204), a limiting post (205), a first spring (206), a limiting sleeve (207), a first servo motor (209), and a first propeller (211). The bionic fish tail (201) is driven by the first gear (202) meshing with the first rack (203) and the second rack (204). The first rack (203) and the second rack (204) are connected to the limiting sleeve (207) through the limiting post (205) and the first spring (206). The first servo motor (209) drives the first propeller (211) and realizes the swing of the bionic fish tail (201) through the lead screw (215), the internal threaded tube (216), the connecting rod (219), and the drive plate (220).

3. The remotely controlled underwater hook-and-retrieve device according to claim 1, characterized in that: The lateral drive mechanism (3) includes a symmetrically arranged left drive mechanism (31) and right drive mechanism (32); both the left drive mechanism (31) and the right drive mechanism (32) include a bionic side plate (303), a slot body (304), an eccentric wheel (314), a first worm gear (316), a first worm (317), and a knob (319); the knob (319) drives the first worm gear (316) and the eccentric wheel (314) through the first worm (317) to adjust the unfolding and retraction of the bionic side plate (303).

4. The remotely controlled underwater hook-and-retrieve device according to claim 3, characterized in that: The lateral drive mechanism (3) further includes a turntable body (321), a tubular metal filter (325), a disc-shaped metal filter (326), a second propeller (324), and a remote control module (330); the turntable body (321) is driven by a fourth motor body (327), and the second propeller (324) is installed inside a waterproof shell formed by the tubular metal filter (325) and the disc-shaped metal filter (326).

5. The remotely controlled underwater hook-and-retrieve device according to claim 1, characterized in that: The fishing hooking mechanism (4) also includes a fishing line retrieval rod (411), a driven ratchet (412), a driving ratchet (413), and a fifth motor (414); the fifth motor (414) drives the driven ratchet (412) through the driving ratchet (413) to control the retrieval and release of the fishing line retrieval rod (411).

6. The remotely controlled underwater hook-and-retrieve device according to claim 1, characterized in that: The fish-hooking mechanism (4) also includes a sixth motor body (417), a firing magazine (425), a fish-hooking needle (441), a fish-hooking cone (444), and a firing spring (447); the sixth motor body (417) drives the first traction block (429) and the second traction block (437) through the spiral groove (422) of the third rotating shaft (420), and the firing spring (447) pushes the fish-hooking needle (441) and the fish-hooking cone (444) to complete the fish-hooking action.

7. The remotely controlled underwater hook-and-retrieve device according to claim 1, characterized in that: The clamping mechanism (5) includes a limiting block (501), a lifting column (502), a trapping light (503), and a clamping arm assembly; the lifting column (502) is driven by a third rack (505) meshing with a second gear (506) and is driven by a seventh motor body (511); the clamping arm assembly includes a clamping arm body (514), a roller (515), and an anti-slip gripper (517), used for underwater object retrieval.

8. A remotely controlled underwater hook-and-retrieve device according to claim 6, characterized in that: The first guide groove (421), spiral groove (422) and second guide groove (423) of the third rotating shaft (420) cooperate with the circular slider (435) to control the firing and resetting of the fish-piercing needle (441).

9. A remotely controlled underwater hook-and-retrieve device according to claim 1, characterized in that: The outer shell assembly (1) includes a bionic top cover (101), a limiting groove body (102), a bionic fish fin (103), a fishing line connection hole (104), and a counterweight (108); the bionic fish fin (103) is provided with a fishing line connection hole (104), and the bottom of the bionic bottom cover (106) is fixed with a counterweight (108).

10. A remotely controlled underwater hook-and-retrieve device according to claim 4, characterized in that: The remote control module (330) is integrated inside the inner shell (401) and electrically connected to the wiring socket (329) for controlling the second propeller (324) and the fourth motor body (327).

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