harpoon gun

Abstract

The application discloses a kind of shooting fish machines, including cabin, remote controller, monitoring mechanism and power supply, cabin includes upper cabin and lower cabin;Power rotating mechanism includes power component and rotating component;Power component is in upper cabin or lower cabin, rotating component at least includes rotating shaft, rotating shaft is connected with upper cabin and lower cabin rotation;Lower cabin bottom has counterweight mechanism, upper cabin has buoyancy mechanism, upper cabin has shooting fish mechanism and sealed control store, control circuit board is in sealed control store;Control circuit board has power supply control module, control module and remote control receiving module;Control module is communicated with remote controller by remote control receiving module;Power supply supplies power to control module and power supply control module, control module supplies power to power rotating mechanism, shooting fish mechanism, counterweight mechanism, buoyancy mechanism by power supply control module.The application can be suspended, front and back, steering, pitch, change shooting fish gun launch angle, and remote control is carried out to the motor of cabin, improves shooting fish success rate.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of fishing gear, and particularly relates to a fish shooting machine. BACKGROUND

[0002] The fish shooting machine is commonly used in the process of outdoor fishing and competitive fishing. At present, when a fish bites a fishing line, it drives a float to react and send a signal, and a fisherman finds the signal and raises the fishing rod to catch the fish. For beginners or inexperienced fishermen, the bait is often eaten or the float has reacted, and the fishing fails due to inaccurate raising of the fishing rod. Even experienced fishermen cannot raise the fishing rod in time, resulting in fish unhooking. In bad weather, the fish catching rate of fishermen is greatly reduced, and the interest of fishermen is reduced.

[0003] With the progress of technology, fishing equipment has been further improved, and a fish shooting machine appears. The traditional fish rod improved fish shooting machine has the problem of elastic band force leakage, and the shooting accuracy of the fish shooting machine on the market depends on experience and skilled actions. The structural strength is low, and the demand of fishermen for fish shooting cannot be fully met. SUMMARY

[0004] In view of the above problems in the prior art, the present application provides a fish shooting machine.

[0005] The technical scheme adopted by the present application is as follows:

[0006] A fish shooting machine comprises a cabin, a remote controller, a monitoring mechanism and a power supply. The cabin comprises an upper cabin and a lower cabin, and the upper cabin and the lower cabin are connected by a power rotating mechanism and rotate relative to each other under the action of the power rotating mechanism. The power rotating mechanism comprises a power assembly and a rotating assembly. The power assembly is installed on the upper cabin or the lower cabin. The rotating assembly comprises at least a rotating shaft, and the rotating shaft rotatably connects the upper cabin and the lower cabin and has a power supply through hole. A counterweight mechanism is installed at the bottom of the lower cabin, and a buoyancy mechanism is installed at the upper part of the upper cabin. A fish shooting mechanism and a sealed control bin are arranged in the upper cabin, and a control circuit board is arranged in the sealed control bin.

[0007] The control circuit board is provided with at least a power supply control module, a control module and a remote control receiving module. The control module communicates with the remote controller through the remote control receiving module. The power supply supplies power to the control module and the power supply control module. The control module supplies power to the power rotating mechanism, the fish shooting mechanism, the counterweight mechanism and / or the buoyancy mechanism through the power supply control module.

[0008] The remote controller remotely sends instructions to the control module, and the control module processes and sends execution instructions to the corresponding mechanism to realize the functions of forward and backward movement, rotation in place and shooting of the fish shooting machine.

[0009] As a preferred scheme of the present application, the monitoring mechanism comprises a display screen, a camera and a video line, one end of the video line is inserted into the lower cabin through a video line perforation I on the side wall of the lower cabin and enters the upper cabin through a video line perforation hole II on the rotating shaft, and then the camera is powered through an electric slip ring; the other end of the video line is connected with the display screen, the image information collected by the camera can be directly displayed on the display screen, and the remote controller is operated according to the image information. The video line can transmit the video signal and simultaneously power the camera, and the camera adopts a wide-angle camera, which can collect a larger range, and the camera can be installed at the launching port of the fish shooting mechanism or at the cabin body corresponding to the launching port of the fish shooting mechanism and exposed to the upper cabin to collect the surrounding video information. The electric slip ring is used to avoid the problem of winding of the video line caused by the rotation of the upper cabin, so that the signal transmission and power supply can be realized without winding.

[0010] As a preferred scheme of the present application, the lower cabin bottom outer wall is provided with a placing platform, and a weight block is arranged in the inner part corresponding to the placing platform. The weight block makes the whole cabin body form a tumbler structure, so as to ensure that the cabin body always has the placing platform as the bottom surface in the water.

[0011] As a preferred scheme of the present application, the power assembly comprises a propulsion motor, a rudder and a fan blade; the propulsion motor is installed in the lower cabin and connected with the rudder, the output shaft of the propulsion motor is connected with the fan blade, and the fan blade is arranged outside the drain hole of the side wall of the lower cabin; the propulsion motor drives the fan blade to drain water to realize forward movement and backward movement, and the rudder drives the whole body to realize steering.

[0012] The rotating assembly comprises a rotating shaft, a rotating driven wheel, a rotating driving wheel and a rotating motor. The rotating shaft is installed in the middle part of the upper cabin bottom plate and connected with the rotating driven wheel after penetrating through the lower cabin top plate, the rotating driven wheel is engaged with the rotating driving wheel, the rotating driving wheel is connected with the output shaft of the rotating motor, and the rotating motor is vertically installed in the lower cabin.

[0013] The rotating motor drives the rotating driving wheel to rotate, the rotating driving wheel drives the rotating driven wheel to rotate, and the rotating driven wheel drives the rotating shaft to rotate together. Since the rotating shaft is fixed on the upper cabin bottom plate, the whole upper cabin rotates together with the rotating shaft to realize in-situ rotation and adjust the launching angle.

[0014] When the propulsion motor and the rudder are used as the power source for forward and backward movement and steering, the power supply can adopt an external power supply or an internal power supply.

[0015] When the external power supply is used, the first power supply line of the external power supply passes through the power supply perforation of the lower cabin side wall into the lower cabin, the first power supply line is connected with the upper power supply line through the electric slip ring I, the upper power supply line is connected with the electric motor slip ring II after passing through the power supply through hole of the rotating shaft, the electric motor slip ring II is connected with the second power supply line, the second power supply line passes into the sealed control warehouse of the upper cabin and is connected with the control circuit board; the power supply control module on the control circuit board divides the upper electronic power supply line and the third power supply line, the upper electronic power supply line passes out of the sealed control warehouse to supply power to each motor in the upper cabin, the third power supply line passes out of the sealed control warehouse and is connected with the lower power supply line through the electric slip ring III, the lower power supply line is connected with the fourth power supply line through the electric slip ring IV after passing through the power supply through hole downward, the fourth power supply line passes into the sealed power supply warehouse of the lower cabin and is connected with the lower cabin power supply board, the lower power supply line divided by the lower cabin power supply board passes out of the sealed power supply warehouse to supply power to each motor in the lower cabin.

[0016] When the internal power supply is used, the power supply is installed on the control circuit board and supplies power to the control module and the power supply control module, the upper electronic power supply line and the fifth power supply line are divided by the power supply control module, the upper electronic power supply line passes out of the sealed control warehouse to supply power to each motor in the upper cabin, the fifth power supply line is connected with the lower power supply line through the electric slip ring V, the lower power supply line is connected with the sixth power supply line through the electric slip ring VI after passing through the power supply through hole downward, the sixth power supply line passes into the sealed power supply warehouse of the lower cabin and is connected with the lower cabin power supply board, the lower power supply line divided by the lower cabin power supply board passes out of the sealed power supply warehouse to supply power to each motor in the lower cabin.

[0017] As a preferred scheme of the application, the power assembly can also adopt a mode comprising an even number of ROV propellers, preferably 2, 4 and 6, the ROV propellers are symmetrically and uniformly installed in the upper cabin with the rotating shaft as the center, and the drain port is arranged at the corresponding position of the ROV propeller on the upper cabin side wall; and the water outlet of the ROV propeller is a horn port, a protective net is additionally arranged at the horn port; the forward and backward movement and the in-situ rotation of the whole are realized by remotely controlling the jet direction of the ROV propeller.

[0018] When 2 ROV propellers are used, the two ROV propellers are located in the same plane and are symmetric about the rotating shaft, when 4 ROV propellers are used, the four ROV propellers are distributed in the circumscribed circle with the rotating shaft as the center; similarly, when 6 ROV propellers are used, the six ROV propellers are distributed in the circumscribed circle with the rotating shaft as the symmetric center.

[0019] The rotating assembly comprises a rotating shaft and a rotating slot. The rotating shaft is installed in the middle of the upper cabin floor and inserted into the rotating slot of the lower cabin roof, and rotates relative to the lower cabin roof. Specifically, the lower cabin roof is provided with a rotating slot, the bottom of the rotating slot is provided with a limiting ball slot, and the rotating ball head at the lower part of the rotating shaft is located in the limiting ball slot and rotates in the limiting ball slot, thereby rotatingly connecting the upper cabin and the lower cabin together. In order to facilitate the video line to pass through, the wall of the limiting ball slot is provided with a video line hole III and / or a power input hole and a power output hole. Of course, the lower cabin roof can also be provided with a rotating hole, and the rotating shaft is installed in the rotating hole through a bearing. In order to facilitate the line to pass through, a line hole is arranged on the rotating shaft.

[0020] When the ROV propeller is used as the power for advancing, retreating, turning and rotating, the power supply can use an external power supply or an internal power supply.

[0021] When the external power supply is used, the first power supply line of the external power supply passes through the power supply hole of the lower cabin side wall into the lower cabin. The first power supply line is connected with the upper power supply line through the electric slip ring I. The upper power supply line is connected with the electric slip ring II after passing through the power supply through hole. The electric slip ring II is connected with the second power supply line. The second power supply line passes into the sealed control warehouse of the upper cabin and is connected with the control circuit board.

[0022] The power supply control module divides the upper power supply line and the third power supply line. The upper power supply line passes out of the sealed control warehouse to supply power to the upper cabin. The third power supply line passes out of the sealed control warehouse and is connected with the lower power supply line through the electric slip ring III. The lower power supply line is connected with the electric slip ring IV after passing through the power supply through hole downward. The electric slip ring IV is connected with the fourth power supply line. The fourth power supply line passes into the sealed power supply warehouse of the lower cabin and is connected with the lower cabin power supply board. The lower power supply line of the lower cabin power supply board passes out of the sealed power supply warehouse to supply power to each motor in the lower cabin.

[0023] When the internal power supply is used, the power supply is installed on the control circuit board and supplies power to the control module and the power supply control module. The power supply control module divides the upper power supply line and the fifth power supply line. The upper power supply line passes out of the sealed control warehouse to supply power to each motor in the upper cabin. The fifth power supply line is connected with the lower power supply line through the electric slip ring V. The lower power supply line is connected with the electric slip ring VI after passing through the power supply through hole downward. The electric slip ring VI is connected with the sixth power supply line. The sixth power supply line supplies power to each motor in the lower cabin. Since the number of motors in the lower cabin is also large, in order to keep the wire harness neat, a sealed power supply warehouse can be arranged in the lower cabin. The sealed power supply warehouse is provided with a lower cabin power supply board. The sixth power supply line passes into the sealed power supply warehouse of the lower cabin and is connected with the lower cabin power supply board. The lower power supply line of the lower cabin power supply board passes out of the sealed power supply warehouse to supply power to each motor in the lower cabin.

[0024] As a preferred scheme of the present application, the buoyancy mechanism comprises a float, a float line, a float motor and a float winding wheel; the float is located outside the upper cabin, one end of the float line is connected with the float through a letter ring, and the other end of the float line is wound on the float winding wheel after passing through a float line perforation on the top of the upper cabin, and the float winding wheel is installed on the output shaft of the float motor and rotates with the float motor.

[0025] In order to prevent the float line from being miswound, the buoyancy mechanism is provided with an elastic locking mechanism, which comprises a locking motor, a locking rod, a locking spring, a locking line, a locking wheel and locking teeth I; the locking teeth I are arranged outside the float winding wheel and are engaged with locking teeth II on the locking rod; one end of the locking rod is hinged to the inner wall of the upper cabin, the free end of the locking rod is connected with the locking line, the locking line is wound on the locking wheel, and the locking wheel is installed on the output shaft of the locking motor and rotates with the locking motor.

[0026] In order to enable the locking rod to reset, the locking spring can be installed in a torsional spring manner at the hinged end of the locking rod; after the locking line is released, the locking rod can reset and engage with the locking wheel after shutdown under the action force of the torsional spring.

[0027] Of course, the locking spring can also adopt a common spring structure, the locking spring is sleeved on the locking line and in contact with the free end of the locking rod, the other end of the locking spring is fixedly connected with a limiting baffle, the limiting baffle corresponds to the locking wheel and is provided with a locking line perforation, and the limiting baffle is connected with the shell of the locking motor.

[0028] The locking motor drives the locking wheel to rotate to tighten or release the locking line; when tightened, the locking line pulls the locking rod to rotate around the hinge to make the locking teeth I and the locking teeth II disengage and lock, on the contrary, after the locking line is released, the locking rod resets and engages with the locking wheel after shutdown under the restoring force of the locking spring.

[0029] As a preferred scheme of the present application, the counterweight mechanism comprises a counterweight, a counterweight line, a counterweight motor and a counterweight winding wheel; the counterweight is located outside the lower cabin, one end of the counterweight line is connected with the counterweight through a letter ring, and the other end of the counterweight line is wound on the counterweight winding wheel after passing through a counterweight line perforation on the bottom of the lower cabin, and the counterweight winding wheel is installed on the output shaft of the counterweight motor and rotates with the counterweight motor.

[0030] In order to prevent the counterweight wire from being mislaid, the counterweight mechanism is provided with an elastic locking mechanism, which comprises a locking motor, a locking rod, a locking spring, a locking wire, a locking wheel and locking teeth I; the locking teeth I are arranged outside the counterweight winding wheel and are engaged with locking teeth II on the locking rod; one end of the locking rod is hinged to the inner wall of the lower cabin, and the free end of the locking rod is connected with the locking wire, which is wound around the locking wheel; the locking wheel is installed on the output shaft of the locking motor and rotates with the locking motor.

[0031] In order to reset the locking rod, the locking spring can be installed in the hinged end of the locking rod in the form of a torsional spring; after the locking wire is released, the locking rod can be reset and engaged with the locking wheel after the machine stops under the action of the torsional spring.

[0032] Of course, the locking spring can also adopt a common spring structure, the locking spring is sleeved on the locking wire and in contact with the free end of the locking rod, the other end of the locking spring is fixedly connected with a limiting baffle, the limiting baffle corresponds to the locking wheel and is provided with a locking wire perforation, and the limiting baffle is connected with the shell of the locking motor.

[0033] As a preferred scheme of the present application, the shooting mechanism comprises a shooting assembly, a force storage assembly, a release assembly and a fishing line assembly; the shooting assembly comprises a shooting cavity pipe and a shooting gun, the gun head of the shooting gun is detachably installed and can be replaced according to the type and size of the fish, the shooting cavity pipe is installed in the upper cabin, and a shooting port is arranged at the corresponding position of the shooting end of the shooting cavity pipe on the side wall of the upper cabin; the shooting gun is installed in the shooting cavity pipe, and the tail end of the shooting gun is connected with the fishing line of the fishing line assembly; the force storage assembly is connected with the shooting gun and provides shooting power for the shooting gun; the release assembly is connected with the shooting gun and limits the shooting gun in the shooting cavity pipe.

[0034] As a preferred scheme of the present application, the force storage assembly comprises a force storage spring, which is installed in the shooting cavity pipe and sleeved on the fishing line of the fishing line assembly; one end of the force storage spring is in contact with the tail end of the shooting gun, and the other end of the force storage spring is fixedly connected with the inner wall of the shooting cavity pipe.

[0035] The spring force is used to provide shooting power for the shooting gun, in order to ensure that the shooting gun can be linearly shot, a guide block can be arranged on the guide groove in the inner wall of the shooting cavity pipe and the outer wall of the shooting gun, and the guide block linearly slides in the guide groove.

[0036] When it is necessary to recharge, the shooting gun is manually installed in the shooting cavity pipe, and the release rod of the release assembly is inserted into the locking groove.

[0037] As a preferred scheme of the present application, the power storage assembly can also adopt a rubber band power storage mode, comprising a power storage rubber band, a power storage stop lever, a power storage pull line and a power storage pull ring; the ends of the power storage rubber band are respectively fixed on both sides of the launching hole on the outer wall of the fish shooting chamber tube; the power storage part of the power storage rubber band is sleeved on the power storage stop lever, the power storage stop lever is installed on the fish shooting gun and moves in the launching hole on the outer wall of the fish shooting chamber tube; one end of the power storage pull line is connected with the power storage part of the power storage rubber band, the other end of the power storage pull line is connected with the power storage pull ring after passing through the power storage perforation of the upper cabin, and the power storage pull ring is located outside the upper cabin and is provided with a transparent observation window at the power storage perforation on the outer wall of the upper cabin.

[0038] When the power storage spring needs to be recharged after being released, the power storage rubber band is hung on the power storage stop lever by pulling the power storage pull line through the power storage pull ring to realize the power storage of the fish shooting gun, the power storage is observed through the transparent observation window, and the release rod of the release assembly is inserted into the locking groove.

[0039] As a preferred scheme of the present application, the power storage assembly can also adopt a rubber band and spring composite power storage structure, comprising a power storage spring, a power storage rubber band, a power storage stop lever, a power storage pull line and a power storage pull ring; the power storage spring is installed in the fish shooting chamber tube and is sleeved on the fishing line of the fishing line assembly; one end of the power storage spring is in contact with the tail end of the fish shooting gun, and the other end of the power storage spring is fixed on the inner wall of the fish shooting chamber tube;

[0040] The ends of the power storage rubber band are respectively fixed on both sides of the launching hole on the outer wall of the fish shooting chamber tube; the power storage part of the power storage rubber band is sleeved on the power storage stop lever, the power storage stop lever is installed on the fish shooting gun and moves in the launching hole on the outer wall of the fish shooting chamber tube;

[0041] One end of the power storage pull line is connected with the power storage part of the power storage rubber band, the other end of the power storage pull line is connected with the power storage pull ring after passing through the power storage perforation of the upper cabin, and the power storage pull ring is located outside the upper cabin and is provided with a transparent observation window at the power storage perforation on the outer wall of the upper cabin.

[0042] When the power storage spring needs to be recharged after being released, the power storage rubber band is hung on the power storage stop lever by pulling the power storage pull line through the power storage pull ring to realize the power storage of the fish shooting gun, the power storage rubber band is also compressed to provide another power storage in the process of power storage, the two modes are superimposed to provide greater launching power, and the power storage is observed through the transparent observation window, and the release rod of the release assembly is inserted into the locking groove.

[0043] As a preferred scheme of the present application, the release assembly comprises a release motor, a release connecting piece, a release support rod and a release rod, the release motor is installed on the outer wall of the fish shooting chamber tube, the output shaft of the release motor is connected with one end of the release rod through the release connecting piece, the release rod is hinged on the release support rod and rotates around the hinge and is provided with a torsional spring at the hinge, and the release end of the release rod is inserted into the locking groove on the outer wall of the fish shooting gun after passing through the fish shooting chamber tube.

[0044] As a preferred scheme of the present application, the release connecting piece is a connecting plate, and the release motor is a reciprocating motor, the output end of the reciprocating motor being connected with the release rod through the connecting plate.

[0045] As a preferred scheme of the present application, the release connecting piece can also be a release wire and a release wire wheel; one end of the release wire is connected with the release rod, the other end of the release wire is wound around the release wire wheel, the release wire wheel is installed on the output shaft of the release motor, and the release and locking are realized by the tightening and loosening of the release wire by the release wire wheel.

[0046] As a preferred scheme of the present application, the fishing line assembly comprises a fishing line, a fishing line winding wheel, a fishing line rotating shaft, and a fishing line support, the fishing line support being installed at the tail end of the fish shooting chamber pipe, the fishing line rotating shaft being hinged to the fishing line support and rotating around the hinged part of the fishing line support; the fishing line winding wheel being installed on the fishing line rotating shaft and rotating together with the fishing line rotating shaft; the fishing line being wound around the fishing line winding wheel and the other end of the fishing line being connected with the tail end of the fish shooting gun; and the fishing line rotating shaft being connected with the fishing line take-up device.

[0047] As a preferred scheme of the present application, the fishing line take-up device is a take-up handle, the fishing line rotating shaft being connected with the take-up handle after passing through the upper cabin, and the take-up handle being manually rotated to realize the winding and unwinding of the fishing line.

[0048] As a preferred scheme of the present application, the fishing line take-up device is a take-up motor, the output shaft of the take-up motor being connected with the fishing line rotating shaft through a shaft coupling, the take-up motor being installed on the fishing line support, and the automatic winding and unwinding of the fishing line being realized through a remote controller.

[0049] As a preferred scheme of the present application, the fish shooting mechanism further comprises a pitch adjusting assembly, the pitch adjusting assembly comprising a pitch motor, a pitch driving wheel, and a pitch driven wheel, the pitch motor being installed on the inner wall of the upper cabin, the output shaft of the pitch motor being connected with the pitch driving wheel, the pitch driving wheel being in transmission connection with the pitch driven wheel, and the pitch driven wheel being installed on the fish shooting chamber pipe and driving the fish shooting chamber pipe to rotate around the hinged part with the inner wall of the upper cabin. The pitch motor drives the pitch driving wheel to rotate, the pitch driving wheel and the pitch driven wheel are in meshing transmission, the fish shooting chamber pipe is driven to rotate around the hinged part of the fish shooting chamber pipe with the inner wall of the upper cabin, the adjustment of the pitch angle is realized, and the shooting range of the fish shooting gun is changed.

[0050] The fish shooting mechanism in the present application can be one or an even number, preferably 2 or 4. When there is one fish shooting mechanism, it is installed at the center of the upper cabin. When there are two fish shooting mechanisms, they are located in the same plane and are symmetrical about the rotating shaft. When there are four fish shooting mechanisms, they are divided into two layers, the fish shooting mechanisms in the same layer are located in the same plane and are symmetrical about the rotating shaft, and the shooting ports are opposite.

[0051] When multiple fish shooting mechanisms are adopted, one release motor can be arranged for each fish shooting mechanism, in order to save cost, the release motors of the fish shooting mechanisms can share one, and only the power of the release motor needs to be transmitted to each release rod through a connector, for example, when a reciprocating motor is adopted, the release rods are connected together through a connecting rod, and one power can realize release or not, when the release motor winds the release wire and the release wire wheel, the release wires can be gathered together through a connecting piece, and then the release wire wound on the release wire wheel of the release motor realizes the release and locking of the fish shooting assembly.

[0052] In order to better attract fish, the outer wall of the cabin body can be painted with a camouflage layer, which can avoid startling fish and attract fish, and bait can be hung outside the cabin body to further attract fish.

[0053] The remote controller of the present application is provided with an operation key, the transmitted operation key can be in the form of a trigger to increase the hand feeling and interest, of course, it can also be in the form of a conventional button, and in order to operate more safely, the remote controller is provided with a reset button.

[0054] The present application adopts a buoyancy mechanism and a counterweight mechanism to realize the balanced suspension state of the cabin body in water, and realizes the forward and backward movement and rotation of the cabin body through a power assembly, so that the fish can be better found, the video information photographed by the wide-angle camera arranged at the launching port can be directly observed on the display screen to observe the situation around the cabin body, the forward and backward movement and rotation are accurately adjusted to realize the fish in a better launching field of view, the pitch adjusting assembly can change the launching angle of the fish gun, the remote control controls the motors of the cabin body, and the fish shooting success rate is improved. BRIEF DESCRIPTION OF DRAWINGS

[0055] Figure 1 It is a structural schematic view of the embodiment 1.

[0056] Figure 2 It is a sectional view of the embodiment 1.

[0057] Figure 3 It is a structural schematic view of a fishing line assembly of the present application.

[0058] Figure 4 It is a structural schematic view of another fishing line assembly of the present application.

[0059] Figure 5 It is a structural schematic view of a release assembly of the present application.

[0060] Figure 6 It is a structural schematic view of another release assembly of the present application.

[0061] Figure 7 It is a structural schematic view of a torsional spring type elastic locking mechanism of the present application.

[0062] Figure 8 This is a schematic diagram of the spring-type elastic locking mechanism of the present invention.

[0063] Figure 9 This is a schematic diagram of the assembly of the spring-type energy storage component of the present invention.

[0064] Figure 10 This is a schematic diagram of the assembly of the rubber band-type energy storage component of the present invention.

[0065] Figure 11 This is a schematic diagram of the assembly of the spring and rubber band composite energy storage component of the present invention.

[0066] Figure 12 This is a schematic diagram of the structure of Example 2.

[0067] Figure 13 This is a cross-sectional view of Example 2.

[0068] Figure 14 This is a schematic diagram of the ROV thruster in Example 2.

[0069] Figure 15 The diagram below shows the distribution of the ROV propellers and the fish-shooting mechanism in Example 2; where a is a diagram showing the distribution of 1 fish-shooting mechanism and 2 ROV propellers; b is a diagram showing the distribution of 2 fish-shooting mechanisms and 2 ROV propellers; c is a diagram showing the distribution of 1 fish-shooting mechanism and 4 ROV propellers; and d is a diagram showing the distribution of 2 fish-shooting mechanisms and 4 ROV propellers. Detailed Implementation

[0070] Example 1:

[0071] A type of fish-shooting machine, such as Figure 1 and 2 As shown, it includes a cabin, a remote controller 10, a monitoring mechanism and a power supply. The cabin includes an upper cabin 1 and a lower cabin 2. The upper cabin 1 and the lower cabin 2 are connected by a power rotation mechanism 3, and the upper cabin 1 rotates relative to the lower cabin 2 under the action of the power rotation mechanism 3.

[0072] The lower compartment 2 has a video cable through hole I on its side wall. The bottom of the lower compartment 2 is equipped with a counterweight mechanism 6 and a placement platform 7. Inside the placement platform 7, there is a weight block 8. The weight block 8 makes the entire compartment form a self-sustaining structure, ensuring that the compartment always has the placement platform as its bottom surface in the water.

[0073] like Figure 2As shown, the power rotating mechanism 3 comprises a power assembly and a rotating assembly; the power assembly comprises a propelling motor 3102, a rudder 3103 and a fan blade 3104; the propelling motor 3102 is installed in the lower cabin 2 and connected with the rudder 3103, the output shaft of the propelling motor 3102 is connected with the fan blade, and the fan blade extends out of the drainage hole arranged in the side wall of the lower cabin 2; the propelling motor drives the fan blade to drain water to realize forward movement and backward movement, and the rudder drives the whole to realize steering.

[0074] The rotating assembly comprises a rotating shaft 3201, a rotating driven wheel 3202, a rotating driving wheel 3203 and a rotating motor 3204, the rotating shaft 3201 is provided with a video threading hole II and a power supply through hole; the rotating shaft 3201 is installed in the middle of the upper cabin bottom plate and passes through the lower cabin top plate downwardly and is connected with the rotating driven wheel 3202, the rotating driven wheel 3202 is engaged with the rotating driving wheel 3203, the rotating driving wheel 3203 is connected with the output shaft of the rotating motor 3204, and the rotating motor 3204 is installed vertically in the lower cabin 2.

[0075] The rotating motor drives the rotating driving wheel to rotate, the rotating driving wheel drives the rotating driven wheel to rotate, and the rotating driven wheel drives the rotating shaft to rotate together; since the rotating shaft is fixed on the upper cabin bottom plate, the whole upper cabin rotates together with the rotating shaft to realize in-situ rotation and adjust the launching angle.

[0076] The monitoring mechanism comprises a display screen 81, a camera 82 and a video line 83; one end of the video line 83 passes into the lower cabin from the video line through hole I and enters the upper cabin through the video threading hole II, and then supplies power to the camera 82 through an electric slip ring; the other end of the video line 83 is connected with the display screen 81; the video line can transmit video signals and supply power to the camera at the same time; the camera adopts a wide-angle camera and can collect a larger range; the camera can be installed at the cabin body corresponding to the launching port of the fish launching mechanism and exposed outside the upper cabin to collect the video information around the periphery. The electric slip ring is used to avoid the problem of video line winding caused by the rotation of the upper cabin; it can normally transmit signals and supply power without winding the line.

[0077] The upper cabin 1 is provided with a buoyancy mechanism 4 at the upper part; the upper cabin 1 is provided with a fish launching mechanism 5 and a sealed control bin; the sealed control bin is provided with a control circuit board; the control circuit board is provided with at least a power supply control module, a control module and a remote control receiving module; the control module communicates with a remote controller through the remote control receiving module; the remote controller is provided with operation keys; the launching operation keys can be set in the form of a trigger to increase the hand feeling and interest; of course, they can also be set in the form of a conventional button; in order to operate more safely, the remote controller is provided with a reset button; in order to avoid accidental launching and improve safety performance, the remote controller is provided with a launching start password; only after the correct launching start password is input, the launching operation can be performed.

[0078] The power supply supplies power to the control module and the power supply control module, and the control module supplies power to the power rotating mechanism 3, the shooting mechanism 5, the counterweight mechanism 6 and the buoyancy mechanism 4 through the power supply control module.

[0079] As shown in Figure 2 , the buoyancy mechanism 4 includes a float 401, a float line 402, a float motor 403 and a float winding wheel 404; the float 401 is located outside the upper cabin 1, one end of the float line 402 is connected with the float 401 through a figure-eight ring, the other end of the float line 402 is wound on the float winding wheel 404 after passing through the float line perforation on the top of the upper cabin 1, and the float winding wheel 404 is installed on the output shaft of the float motor 403 and rotates with the float motor 403.

[0080] In order to prevent the float line from being miswound, the buoyancy mechanism is provided with an elastic locking mechanism, as shown in Figure 7 or 8, the elastic locking mechanism includes a locking motor 901, a locking rod 902, a locking spring 903, a locking line 904, a locking wheel 905 and locking teeth I 906; the locking teeth I 906 are arranged outside the float winding wheel 404, the locking teeth I 906 are engaged with locking teeth II 9021 on the locking rod 902; one end of the locking rod 902 is hinged to the inner wall of the upper cabin, the free end of the locking rod 902 is connected with the locking line 904, the locking line 904 is wound on the locking wheel 905, and the locking wheel 905 is installed on the output shaft of the locking motor 901 and rotates with the locking motor 901.

[0081] In order to enable the locking rod to reset, the locking spring 903 can be installed in a torsional spring manner at the hinged end of the locking rod 902, as shown in Figure 7 ; after the locking line is released, the locking rod can reset and engage with the locking wheel after shutdown under the action of the torsional spring.

[0082] Of course, the locking spring 903 can also adopt a common spring structure, as shown in Figure 8 , the locking spring is sleeved on the locking line 904 and in contact with the free end of the locking rod 902, the other end of the locking spring 903 is fixedly connected with a limiting baffle 907, the limiting baffle 907 corresponds to the locking wheel 905 and is provided with a locking line perforation, and the limiting baffle 907 is connected with the housing of the locking motor 901.

[0083] The locking motor drives the locking wheel to rotate to tighten or release the locking line; when tightened, the locking line pulls the locking rod to rotate around the hinge to make the locking teeth I 906 disengage from the locking teeth II 9021 for locking, on the contrary, after the locking line is released, the locking rod resets and engages with the locking wheel after shutdown under the restoring force of the locking spring.

[0084] As shown in Figure 2As shown, the counterweight mechanism 6 includes a counterweight block 601, a counterweight line 602, a counterweight motor 603, and a counterweight winding wheel 604. The counterweight block is a strip-shaped counterweight block. The counterweight block 601 is located outside the lower cabin 2. One end of the counterweight line 602 is connected to the counterweight block 601 through an 8-shaped ring. The other end of the counterweight line 602 passes through a counterweight line hole in the bottom of the lower cabin 2 and is wound on the counterweight winding wheel 604. The counterweight winding wheel 604 is installed on the output shaft of the counterweight motor 603 and rotates with the counterweight motor 603.

[0085] Also to prevent the counterweight line from being mislaid, the counterweight mechanism 6 is provided with an elastic locking mechanism, as shown in Figure 7 As shown in Figs. 8 and 9, the elastic locking mechanism includes a locking motor 901, a locking lever 902, a locking spring 903, a locking line 904, a locking wheel 905, and locking engaging teeth I 906. The locking engaging teeth I 906 are arranged outside the counterweight winding wheel 604 and are engaged with locking engaging teeth II 9021 on the locking lever 902. One end of the locking lever 902 is hinged to the inner wall of the lower cabin. The free end of the locking lever 902 is connected to the locking line 904. The locking line 904 is wound on the locking wheel 905. The locking wheel 905 is installed on the output shaft of the locking motor 901 and rotates with the locking motor 901.

[0086] To enable the locking lever to reset, the locking spring 903 can be installed in a torsional spring manner at the hinged end of the locking lever 902, as shown in Figure 7 After the locking line is released, the locking lever can reset and engage with the locking wheel after shutdown under the action of the torsional spring.

[0087] Of course, the locking spring 903 can also adopt a common spring structure, as shown in Figure 8 As shown, the locking spring is sleeved on the locking line 904 and contacts the free end of the locking lever 902. The other end of the locking spring 903 is fixedly connected to a limiting baffle 907. The limiting baffle 907 corresponds to the locking wheel 905 and is provided with a locking line hole. The limiting baffle 907 is connected to the housing of the locking motor 901.

[0088] As shown in Figure 2As shown, the fish shooting mechanism 5 includes a fish shooting assembly 51, a force storage assembly 52, a release assembly 53 and a fishing line assembly 54; the fish shooting assembly 51 includes a fish shooting cavity tube 5100 and a fish shooting gun 5101, the gun head of the fish shooting gun 5101 is detachably mounted, and can be replaced according to the type and size of the fish, the fish shooting cavity tube 5100 is mounted in the upper cabin, and the upper cabin side wall is provided with a shooting port corresponding to the shooting end of the fish shooting cavity tube 5100, the fish shooting gun 5101 is mounted in the fish shooting cavity tube 5100, and the tail end of the fish shooting gun 5101 is connected with the fishing line of the fishing line assembly 54; the force storage assembly 52 is connected with the fish shooting gun and provides shooting power for the fish shooting gun, and the release assembly 53 is connected with the fish shooting gun and limits the fish shooting gun in the fish shooting cavity tube 5100.

[0089] As shown, the force storage assembly 52 can adopt a spring force storage mode, including a force storage spring 5201, the force storage spring 5201 is mounted in the fish shooting cavity tube 5100 and is sleeved on the fishing line of the fishing line assembly; one end of the force storage spring 5201 is in contact with the tail end of the fish shooting gun 5101, and the other end of the force storage spring 5201 is fixed on the inner wall of the fish shooting cavity tube 5100. The spring force storage provides shooting power for the fish shooting gun, in order to ensure that the fish shooting gun can be shot in a straight line, a guide block can be arranged on the guide groove in the inner wall of the fish shooting cavity tube and the outer wall of the fish shooting gun, and the guide block slides in the guide groove in a straight line. Figure 9 When it is necessary to store force again, the fish shooting gun is manually mounted in the fish shooting cavity tube, and the release rod of the release assembly is inserted into the locking groove.

[0090] Of course, the force storage assembly 52 can also adopt a rubber band force storage mode, as shown, including a force storage rubber band 5202, a force storage stop rod 5203, a force storage pull line 5204 and a force storage pull ring 5205; the ends of the force storage rubber band 5202 are respectively fixed on both sides of the shooting hole on the outer wall of the fish shooting cavity tube 5100; the force storage part of the force storage rubber band 5202 is sleeved on the force storage stop rod 5203, the force storage stop rod 5203 is mounted on the fish shooting gun 5101 and moves in the shooting hole on the outer wall of the fish shooting cavity tube 5100; one end of the force storage pull line 5204 is connected with the force storage part of the force storage rubber band 5202, the other end of the force storage pull line 5204 passes through the force storage hole of the upper cabin and is connected with the force storage pull ring 5205, and the force storage pull ring 5205 is located outside the upper cabin and is provided with a transparent observation window at the force storage hole on the outer wall of the upper cabin.

[0091] Figure 10 When the force storage spring is released and it is necessary to store force again, the force storage rubber band is hung on the force storage stop rod by pulling the force storage pull line through the force storage pull ring to realize the force storage of the fish shooting gun, and the release rod of the release assembly is inserted into the locking groove during force storage.

[0092] When the force storage spring is released and it is necessary to store force again, the force storage rubber band is hung on the force storage stop rod by pulling the force storage pull line through the force storage pull ring to realize the force storage of the fish shooting gun, and the release rod of the release assembly is inserted into the locking groove during force storage.

[0093] ​Similarly, the power storage assembly 52 can also adopt a composite power storage structure of elastic band and spring, as shown in Figure 11 Fig. 6, which comprises a power storage spring 5201, a power storage elastic band 5202, a power storage stop lever 5203, a power storage pull wire 5204 and a power storage pull ring 5205; the power storage spring 5201 is installed in the fish shooting cavity tube 5100 and is sleeved on the fishing line of the fishing line assembly; one end of the power storage spring 5201 is in contact with the tail end of the fish shooting gun 5101, and the other end of the power storage spring 5201 is fixed on the inner wall of the fish shooting cavity tube 5100;

[0094] The ends of the power storage elastic band 5202 are fixed on both sides of the shooting hole on the outer wall of the fish shooting cavity tube 5100; the power storage part of the power storage elastic band 5202 is sleeved on the power storage stop lever 5203, and the power storage stop lever 5203 is installed on the fish shooting gun 5101 and moves in the shooting hole on the outer wall of the fish shooting cavity tube 5100;

[0095] One end of the power storage pull wire 5204 is connected with the power storage part of the power storage elastic band 5202, and the other end of the power storage pull wire 5204 is connected with the power storage pull ring 5205 after passing through the power storage hole of the upper cabin, and the power storage pull ring 5205 is located outside the upper cabin and is provided with a transparent observation window at the power storage hole on the outer wall of the upper cabin.

[0096] When the power storage spring needs to be recharged after being released, the power storage elastic band is hung on the power storage stop lever by pulling the power storage pull wire through the power storage pull ring to realize the power storage of the fish shooting gun, and the power storage elastic band is also compressed to provide another power storage in the process of power storage, and the two ways are superimposed to provide greater shooting power, and the release lever of the release assembly is inserted into the locking groove during power storage through the transparent observation window; the power storage spring 5201 can adopt a multi-layer sleeved spring structure.

[0097] The release assembly 53, as shown in Figure 3 , 5 Fig. 7, comprises a release motor 5301, a release connecting piece, a release support rod 5302 and a release lever 5303, the release motor 5301 is installed on the outer wall of the fish shooting cavity tube 5100, and the output shaft of the release motor 5301 is connected with one end of the release lever 5303 through the release connecting piece, the release lever 5303 is hinged on the release support rod 5302 and rotates around the hinge and is provided with a torsional spring, and the release end of the release lever 5303 is inserted into the locking groove on the outer wall of the fish shooting gun 5101 after passing through the locking hole of the fish shooting cavity tube 5100.

[0098] Of course, the release connecting piece can be a connecting plate, as shown in Figure 6 The release motor is a reciprocating motor, and the output end of the reciprocating motor is connected with the release lever 5303 through the connecting plate.

[0099] As shown in Figure 3 and 5As shown, the release connector can also be a release wire 5304 and a release wire wheel 5305; one end of the release wire 5304 is connected with the release lever 5303, and the other end of the release wire 5304 is wound on the release wire wheel 5305, which is installed on the output shaft of the release motor 5301, and the release and locking are realized by the tightening and loosening of the release wire by the release wire wheel.

[0100] As shown, the fish line assembly 54, like Figure 3 and 4 includes a fish line 5401, a fish line winding wheel 5402, a fish line rotating shaft 5403, and a fish line support 5404, the fish line support 5404 is installed at the tail end of the fish shooting chamber tube 5100, the fish line rotating shaft 5403 is hinged at the fish line support 5404 and rotates around the hinge of the fish line support 5404; the fish line winding wheel 5402 is installed on the fish line rotating shaft 5403 and rotates with the fish line rotating shaft; the fish line 5401 is wound on the fish line winding wheel 5402, and the other end of the fish line 5401 is connected with the tail end of the fish shooting gun 5101; and the fish line rotating shaft is connected with the fish line winding device.

[0101] The fish line winding device can be a winding handle, and the fish line rotating shaft passes through the upper cabin and is connected with the winding handle, as shown in Figure 3 the fish line is reeled in and out by manually rotating the winding handle.

[0102] Similarly, the fish line winding device can also be a winding motor 5405, as shown in Figure 4 the output shaft of the winding motor is connected with the fish line rotating shaft through a shaft coupling, the winding motor is installed on the fish line support, and the automatic reeling and releasing of the fish line is realized by a remote controller.

[0103] In order to better adjust the launch angle, the fish shooting mechanism further includes a pitch adjustment assembly, the pitch adjustment assembly includes a pitch motor, a pitch driving wheel, and a pitch driven wheel, the pitch motor is installed on the inner wall of the upper cabin, the output shaft of the pitch motor is connected with the pitch driving wheel, the pitch driving wheel is in transmission connection with the pitch driven wheel, and the pitch driven wheel is installed on the fish shooting chamber tube 5100 and drives the fish shooting chamber tube 5100 to rotate around the hinge with the inner wall of the upper cabin. The pitch motor drives the pitch driving wheel to rotate, the pitch driving wheel is in meshing transmission with the pitch driven wheel to make the fish shooting chamber tube rotate around the hinge of the fish shooting chamber tube with the inner wall of the upper cabin, so as to adjust the pitch angle and change the launch range of the fish shooting gun.

[0104] In the embodiment, the power supply can adopt an external power supply or an internal power supply. When the external power supply is adopted, the first power supply line of the external power supply passes through the power supply perforation of the lower cabin side wall into the lower cabin. The first power supply line is connected with the upper power supply line through the electric slip ring I. The upper power supply line is connected with the electric motor slip ring II after passing through the power supply through hole of the rotating shaft 3201. The electric motor slip ring II is connected with the second power supply line. The second power supply line passes into the sealed control bin of the upper cabin and is connected with the control circuit board. The power supply control module on the control circuit board divides the upper electronic power supply line and the third power supply line. The upper electronic power supply line passes out of the sealed control bin to supply power to each motor in the upper cabin. The third power supply line passes out of the sealed control bin and is connected with the lower power supply line through the electric slip ring III. The lower power supply line is connected with the electric slip ring IV after passing through the power supply through hole downward. The electric slip ring IV is connected with the fourth power supply line. The fourth power supply line passes into the sealed power supply bin of the lower cabin and is connected with the lower cabin power supply board. The lower power supply line of the lower cabin power supply board passes out of the sealed power supply bin to supply power to each motor in the lower cabin.

[0105] When the internal power supply is adopted, the power supply is installed on the control circuit board and supplies power to the control module and the power supply control module. The power supply control module divides the upper electronic power supply line and the fifth power supply line. The upper electronic power supply line passes out of the sealed control bin to supply power to each motor in the upper cabin. The fifth power supply line is connected with the lower power supply line through the electric slip ring V. The lower power supply line is connected with the electric slip ring VI after passing through the power supply through hole downward. The electric slip ring VI is connected with the sixth power supply line. The sixth power supply line passes into the sealed power supply bin of the lower cabin and is connected with the lower cabin power supply board. The lower power supply line of the lower cabin power supply board passes out of the sealed power supply bin to supply power to each motor in the lower cabin.

[0106] The fish shooting mechanism can be 1, an even number, preferably 2 or 4. When there is one fish shooting mechanism, it is installed at the center of the upper cabin. When there are two fish shooting mechanisms, they are located in the same plane and are symmetrical about the rotating shaft. When there are four fish shooting mechanisms, they are divided into two groups and are arranged in two layers. The fish shooting mechanisms in the same layer are located in the same plane, are symmetrical about the rotating shaft, and have opposite shooting ports.

[0107] When there is one fish shooting mechanism, an offset auxiliary part is arranged on the upper cabin opposite to the fish shooting mechanism to offset the recoil force. The offset auxiliary part can be a groove structure or an offset bracket with an arc-shaped groove. The offset bracket can be detachably installed on the outer wall of the upper cabin.

[0108] When multiple fish shooting mechanisms are used, a release motor can be provided for each fish shooting mechanism. In order to save costs, the release motors of the fish shooting mechanisms can share one release motor, and only the power of the release motor needs to be transmitted to each release rod through a connecting piece. For example, when a reciprocating motor is used, the release rods are connected together using a connecting rod, and one power can achieve release or not. When the release motor winds the release wire and the release wire wheel, the release wires can be collected together through a connecting piece, and then a total release wire is wound on the release wire wheel of the release motor to achieve the release and locking of the fish shooting assembly.

[0109] In order to better attract fish, the outer wall of the cabin body can be painted with a camouflage layer, which can avoid startling fish and attract fish. At the same time, bait can be hung outside the cabin body to further attract fish.

[0110] Embodiment 2:

[0111] A fish shooting machine, as shown in Figures 12-15 The difference between the embodiment 1 and the embodiment 2 is that the power assembly adopts a mode including an even number of ROV thrusters 3101, and the preferred number is 2, 4 and 6. The ROV thrusters 3101 are symmetrically and uniformly installed in the upper cabin with the rotating shaft 3201 as the center, and a drainage port is arranged at the corresponding position of the ROV thruster 3101 on the side wall of the upper cabin. The water outlet of the ROV thruster is a horn mouth, and a protective net is arranged at the horn mouth. The forward and backward movement and the in-situ rotation of the whole machine are realized by remotely controlling the jet direction of the ROV thruster.

[0112] When two ROV thrusters are used, the two ROV thrusters are located in the same plane and are symmetric about the rotating shaft. When four ROV thrusters are used, the four ROV thrusters are distributed in a circumscribed circle with the rotating shaft as the center. Similarly, when six ROV thrusters are used, the six ROV thrusters are distributed in a circumscribed circle with the rotating shaft as the center of symmetry.

[0113] The rotating assembly includes a rotating shaft 3201. The rotating shaft 3201 is installed in the middle of the upper cabin bottom plate and is inserted / passed through the lower cabin top plate and rotates relative to the lower cabin top plate.

[0114] Specifically, a rotating groove 3206 can be arranged on the lower cabin top plate. A limiting ball groove 3207 is arranged at the bottom of the rotating groove 3206. A rotating ball head 3205 is arranged at the lower part of the rotating shaft 3201. The rotating ball head 3205 is located in the limiting ball groove 3207 and rotates in the limiting ball groove 3207. Video threading holes III, power inlet holes and power outlet holes are arranged on the wall of the limiting ball groove 3207.

[0115] When the ROV thruster mode is used as the power for forward and backward movement, turning and rotating, the power supply can use an external power supply or an internal power supply.

[0116] When the external power supply is used, the first power supply line of the external power supply passes through the power supply perforation of the lower cabin side wall into the lower cabin, and then passes through the power supply inlet hole of the limiting ball groove 3207 and is connected with the upper power supply line through the electric slip ring I. The upper power supply line passes through the power supply through hole of the rotating shaft 3201 and is connected with the electric motor slip ring II. The electric motor slip ring II is connected with the second power supply line. The second power supply line passes into the sealed control warehouse of the upper cabin and is connected with the control circuit board. The power supply control module on the control circuit board divides the upper electronic power supply line and the third power supply line. The upper electronic power supply line passes out of the sealed control warehouse to supply power to each motor in the upper cabin. The third power supply line passes out of the sealed control warehouse and is connected with the lower power supply line through the electric slip ring III. The lower power supply line passes through the power supply through hole downward and is connected with the electric slip ring IV through the power supply outlet hole. The electric slip ring IV is connected with the fourth power supply line. The fourth power supply line passes into the sealed power supply warehouse of the lower cabin and is connected with the lower cabin power supply board. The lower power supply line of the lower cabin power supply board passes out of the sealed power supply warehouse to supply power to each motor in the lower cabin.

[0117] When the internal power supply is used, the power supply is installed on the control circuit board and supplies power to the control module and the power supply control module. The power supply control module divides the upper electronic power supply line and the fifth power supply line. The upper electronic power supply line passes out of the sealed control warehouse to supply power to each motor in the upper cabin. The fifth power supply line passes out of the sealed control warehouse and is connected with the lower power supply line through the electric slip ring V. The lower power supply line passes through the power supply through hole and the power supply outlet hole downward and is connected with the electric slip ring VI. The electric slip ring VI is connected with the sixth power supply line. The sixth power supply line passes into the sealed power supply warehouse of the lower cabin and is connected with the lower cabin power supply board. The lower power supply line of the lower cabin power supply board passes out of the sealed power supply warehouse to supply power to each motor in the lower cabin.

Claims

1. A harpoon gun characterised by: The application relates to a remote control fishing device, which comprises a cabin, a remote controller (10), a monitoring mechanism and a power supply, wherein the cabin comprises an upper cabin (1) and a lower cabin (2), the upper cabin (1) and the lower cabin (2) are connected through a power rotating mechanism (3), and the upper cabin (1) rotates relative to the lower cabin (2) under the action of the power rotating mechanism (3); the power rotating mechanism (3) comprises a power assembly and a rotating assembly; the power assembly is installed on the upper cabin or the lower cabin, and the rotating assembly at least comprises a rotating shaft (3201), the rotating shaft (3201) rotatably connects the upper cabin and the lower cabin, and a power supply through hole is arranged on the rotating shaft (3201); A counterweight mechanism (6) is installed at the bottom of the lower cabin (2), a buoyancy mechanism (4) is installed at the upper part of the upper cabin (1), a shooting mechanism (5) and a sealed control bin are arranged in the upper cabin (1), and a control circuit board is arranged in the sealed control bin; A power supply control module, a control module and a remote control receiving module are installed on the control circuit board; the control module communicates with the remote controller through the remote control receiving module; the power supply supplies power to the control module and the power supply control module, and the control module supplies power to the power rotating mechanism (3), the shooting mechanism (5), the counterweight mechanism (6) and / or the buoyancy mechanism (4) through the power supply control module; The buoyancy mechanism (4) comprises a float (401), a float line (402), a float motor (403) and a float winding wheel (404); the float (401) is located outside the upper cabin (1), one end of the float line (402) is connected with the float (401) through a figure-eight ring, the other end of the float line (402) is wound on the float winding wheel (404) after penetrating through a float line through hole at the top of the upper cabin (1), and the float winding wheel (404) is installed on the output shaft of the float motor (403) and rotates with the float motor (403); The counterweight mechanism (6) comprises a counterweight block (601), a counterweight line (602), a counterweight motor (603) and a counterweight winding wheel (604); the counterweight block (601) is located outside the lower cabin (2), one end of the counterweight line (602) is connected with the counterweight block (601), the other end of the counterweight line (602) is wound on the counterweight winding wheel (604) after penetrating through a counterweight line through hole at the bottom of the lower cabin (2), and the counterweight winding wheel (604) is installed on the output shaft of the counterweight motor (603) and rotates with the counterweight motor (603). The buoyancy mechanism (4) and the counterweight mechanism (6) are each provided with an elastic locking mechanism, the elastic locking mechanism comprising a locking motor (901), a locking rod (902), a locking spring (903), a locking wire (904), a locking wheel (905) and locking teeth I (906); the locking teeth I (906) are arranged outside the buoyancy reel (404) or outside the counterweight reel (604), the locking teeth I (906) are engaged with locking teeth II (9021) on the locking rod (902); one end of the locking rod (902) is hinged to the inner wall of the upper cabin or the inner wall of the lower cabin, the free end of the locking rod (902) is connected with the locking wire (904), the locking wire (904) is wound on the locking wheel (905), and the locking wheel (905) is installed on the output shaft of the locking motor (901) and rotates with the locking motor (901); The locking spring (903) is installed at the hinged end of the locking rod (902) or the locking spring (903) is sleeved on the locking wire (904), one end of the locking spring (903) is in contact with the free end of the locking rod (902), the other end of the locking spring (903) is fixedly connected with a limiting baffle (907), the limiting baffle (907) corresponds to the locking wheel (905) and is provided with a locking wire perforation, and the limiting baffle (907) is connected with the shell of the locking motor (901).

2. The lance according to claim 1, characterized in that: The power assembly comprises a propelling motor (3102), a rudder (3103) and a fan blade; the propelling motor (3102) is installed in the lower cabin (2) and connected with the rudder (3103), the output shaft of the propelling motor (3102) is connected with the fan blade, and the fan blade extends out of a drainage hole arranged in the side wall of the lower cabin (2); The rotating assembly comprises a rotating shaft (3201), a rotating driven wheel (3202), a rotating driving wheel (3203) and a rotating motor (3204); the rotating shaft (3201) is installed in the middle of the upper cabin bottom plate, penetrates downward through the lower cabin top plate and is connected with the rotating driven wheel (3202), the rotating driven wheel (3202) is engaged with the rotating driving wheel (3203), the rotating driving wheel (3203) is connected with the output shaft of the rotating motor (3204), and the rotating motor (3204) is installed vertically in the lower cabin (2); Or the power assembly comprises an even number of ROV propellers (3101), the ROV propellers (3101) are symmetrically and uniformly installed in the upper cabin with the rotating shaft (3201) as the center, and a drainage port is arranged at a corresponding position of the ROV propeller (3101) in the side wall of the upper cabin; The rotating assembly comprises a rotating shaft (3201); the rotating shaft (3201) is installed in the middle of the upper cabin bottom plate, is inserted into / penetrates through the lower cabin top plate and rotates relative to the lower cabin top plate.

3. The lance according to claim 2, characterized in that: The power supply is an external power supply, a first power supply wire of the external power supply penetrates through a power supply perforation in the side wall of the lower cabin into the lower cabin, the first power supply wire is connected with an upper power supply wire through an electric slip ring I, the upper power supply wire is connected with an electric slip ring II after penetrating through a power supply through hole, the electric slip ring II is connected with a second power supply wire, and the second power supply wire penetrates into a sealed control bin in the upper cabin and is connected with a control circuit board. The power supply control module divides the upper supply electronic wire and the third power supply wire. The upper supply electronic wire passes through the sealed control bin to supply power to the upper cabin. The third power supply wire is connected with the lower power supply wire through the electric slip ring III after passing through the sealed control bin. The lower power supply wire is connected with the electric slip ring IV after passing through the power supply through hole downward. The electric slip ring IV is connected with the fourth power supply wire. The fourth power supply wire passes into the sealed power supply bin of the lower cabin and is connected with the lower cabin power supply plate. The lower cabin power supply plate divides the lower power supply wire to supply power to the lower cabin after passing through the sealed power supply bin. Or the power supply is an internal power supply. The power supply is installed on the control circuit board and supplies power to the control module and the power supply control module. The power supply control module divides the upper supply electronic wire and the fifth power supply wire. The upper supply electronic wire passes through the sealed control bin to supply power to the upper cabin. The fifth power supply wire is connected with the lower power supply wire through the electric slip ring V. The lower power supply wire is connected with the electric slip ring VI after passing through the power supply through hole downward. The electric slip ring VI is connected with the sixth power supply wire. The sixth power supply wire supplies power to the lower cabin.

4. The lance according to claim 3, characterized in that: The fish shooting mechanism (5) comprises a fish shooting assembly (51), a force storage assembly (52), a release assembly (53) and a fishing line assembly (54). The fish shooting assembly (51) comprises a fish shooting cavity pipe (5100) and a fish shooting gun (5101). The fish shooting cavity pipe (5100) is installed in the upper cabin, and a shooting port is arranged on the upper cabin side wall corresponding to the shooting end of the fish shooting cavity pipe (5100). The fish shooting gun (5101) is installed in the fish shooting cavity pipe (5100), and the tail end of the fish shooting gun (5101) is connected with the fishing line of the fishing line assembly (54). The force storage assembly (52) is connected with the fish shooting gun and provides shooting power for the fish shooting gun. The release assembly (53) is connected with the fish shooting gun and limits the fish shooting gun in the fish shooting cavity pipe (5100).

5. The lance according to claim 4, characterized in that: The force storage assembly (52) comprises a force storage spring (5201). The force storage spring (5201) is installed in the fish shooting cavity pipe (5100) and is sleeved on the fishing line of the fishing line assembly. One end of the force storage spring (5201) is in contact with the tail end of the fish shooting gun (5101), and the other end of the force storage spring (5201) is fixed on the inner wall of the fish shooting cavity pipe (5100). Or the force storage assembly (52) comprises a force storage rubber band (5202), a force storage stop lever (5203), a force storage pull line (5204) and a force storage pull ring (5205). The ends of the force storage rubber band (5202) are respectively fixed on both sides of the shooting hole on the outer wall of the fish shooting cavity pipe (5100). The force storage part of the force storage rubber band (5202) is sleeved on the force storage stop lever (5203). The force storage stop lever (5203) is installed on the fish shooting gun (5101) and moves in the shooting hole on the outer wall of the fish shooting cavity pipe (5100). One end of the force storage pull line (5204) is connected with the force storage part of the force storage rubber band (5202). The other end of the force storage pull line (5204) is connected with the force storage pull ring (5205) after passing through the force storage through hole of the upper cabin. The force storage pull ring (5205) is located outside the upper cabin. Or the force storage assembly (52) comprises a force storage spring (5201), a force storage rubber band (5202), a force storage stop lever (5203), a force storage pull wire (5204) and a force storage pull ring (5205); the force storage spring (5201) is installed in the fish shooting cavity tube (5100) and is sleeved on the fishing line of the fishing line assembly; one end of the force storage spring (5201) is in contact with the tail end of the fish shooting gun (5101), and the other end of the force storage spring (5201) is fixed on the inner wall of the fish shooting cavity tube (5100); The ends of the force storage rubber band (5202) are fixed on the two sides of the shooting hole on the outer wall of the fish shooting cavity tube (5100); the force storage part of the force storage rubber band (5202) is sleeved on the force storage stop lever (5203), and the force storage stop lever (5203) is installed on the fish shooting gun (5101) and moves in the shooting hole on the outer wall of the fish shooting cavity tube (5100); One end of the force storage pull wire (5204) is connected with the force storage part of the force storage rubber band (5202), and the other end of the force storage pull wire (5204) is connected with the force storage pull ring (5205) after penetrating out of the force storage hole of the upper cabin; the force storage pull ring (5205) is located outside the upper cabin.

6. The lance according to claim 5, characterized in that: The release assembly (53) comprises a release motor (5301), a release connecting piece, a release support lever (5302) and a release rod (5303); the release motor (5301) is installed on the outer wall of the fish shooting cavity tube (5100), and the output shaft of the release motor (5301) is connected with one end of the release rod (5303) through the release connecting piece; the release rod (5303) is hinged on the release support lever (5302) and rotates around the hinge; the release end of the release rod (5303) penetrates through the fish shooting cavity tube (5100) and is inserted into the locking groove on the outer wall of the fish shooting gun (5101); The release connecting piece is a connecting plate, and the release motor is a reciprocating motor; the output end of the reciprocating motor is connected with the release rod (5303) through the connecting plate; Or the release connecting piece is a release wire (5304) and a release wire wheel (5305); one end of the release wire (5304) is connected with the release rod (5303), and the other end of the release wire (5304) is wound on the release wire wheel (5305); the release wire wheel (5305) is installed on the output shaft of the release motor (5301).

7. The lance according to claim 6, characterized in that: The fishing line assembly (54) comprises a fishing line (5401), a fishing line winding wheel (5402), a fishing line rotating shaft (5403) and a fishing line support (5404); the fishing line support (5404) is installed at the tail end of the fish shooting cavity tube (5100); the fishing line rotating shaft (5403) is hinged on the fishing line support (5404) and rotates around the hinge of the fishing line support (5404); the fishing line winding wheel (5402) is installed on the fishing line rotating shaft (5403) and rotates together with the fishing line rotating shaft; the fishing line (5401) is wound on the fishing line winding wheel (5402), and the other end of the fishing line (5401) is connected with the tail end of the fish shooting gun (5101); the fishing line rotating shaft is connected with a fishing line take-up device; The fishing line take-up device is a take-up handle, and the fishing line rotating shaft is connected with the take-up handle after penetrating out of the upper cabin. Or the fish line take-up device is a take-up motor, an output shaft of the take-up motor is connected with the fish line rotating shaft through a shaft coupling, and the take-up motor is installed on the fish line support.

8. The lance according to claim 7, characterized in that: The fish shooting mechanism (5) further comprises a pitch adjusting assembly.

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