Amphibious crab-imitating robot capable of moving in multiple modes and used for offshore underwater operation

Abstract

The invention relates to the technical field of crab-imitating robots, in particular to an amphibious crab-imitating robot capable of moving in multiple modes and used for offshore underwater operation. The device comprises a main body, the main body is formed by closing an upper shell and a lower shell, a connecting frame is arranged between the upper shell and the lower shell, a plurality of fixing bolts are arranged on the upper side and the lower side of the connecting frame respectively, and upper fixing columns matched with the fixing bolts are arranged on the inner wall, corresponding to the positions of the fixing bolts on the upper side, of the upper shell respectively. And lower fixing columns matched with the fixing bolts are respectively arranged on the inner wall of the lower shell corresponding to the positions of the fixing bolts on the lower side. The underwater robot is compact and reasonable in structural design, integrates multiple motion modes of feet, paddles and wheels, can well adapt to a near-shore complex environment, can flexibly and efficiently move on land, in water and under the sea, is high in working efficiency, meets the underwater operation requirements, and solves the problems existing in the prior art.

Description

Technical Field

[0001] The present invention relates to the technical field of crab-like robots, and in particular to an amphibious crab-like robot capable of multi-mode mobility for nearshore underwater operations. Background Art

[0002] Propeller-propelled underwater unmanned vehicles can perform a variety of tasks for a long time and over a large range in deep sea areas. However, the extremely shallow water depth and complex "wave-current" environment near the shore are not suitable for underwater unmanned vehicle operations. Facing the needs of seabed and narrow space exploration and operation near the side wall, legged robots have become an excellent choice for operations in complex underwater environments with their excellent terrain adaptability and posture maintenance capabilities. However, traditional legged robots still have shortcomings in terms of mobility flexibility, amphibious versatility, and overall movement efficiency, which directly leads to the inability to quickly complete tasks such as close-up exploration and inspection, seabed sample collection, and underwater demolition, resulting in low work efficiency. In addition, due to differences in the environment, especially the requirements for watertightness of the equipment carried, legged robots used on land cannot be directly applied to underwater environments, so the structure, layout, and assembly methods of the robots need to be redesigned. Summary of the invention

[0003] In order to make up for the deficiencies of the prior art, the present invention provides an amphibious crab-like robot with multi-mode mobility for nearshore underwater operations. The robot has a compact and reasonable structural design, integrates multiple motion modes of feet, paddles and wheels, can adapt well to the complex nearshore environment, can achieve flexible and efficient movement on land, in water and on the seabed, has high working efficiency, meets the needs of underwater operations, and solves the problems existing in the prior art.

[0004] The technical solution adopted by the present invention to solve the above technical problems is:

[0005] A multi-mode mobile amphibious crab-like robot for near-shore underwater operations comprises a main body, wherein the main body is formed by closing an upper shell and a lower shell, a connecting frame is provided between the upper shell and the lower shell, a plurality of fixing bolts are provided on the upper and lower sides of the connecting frame respectively, upper fixing columns cooperating therewith are provided on the inner wall of the upper shell corresponding to the positions of the fixing bolts on the upper side respectively, lower fixing columns cooperating therewith are provided on the inner wall of the lower shell corresponding to the positions of the fixing bolts on the lower side respectively, a connecting plate is provided in the middle of the connecting frame, sealed cabins are provided in the connecting frames on the left and right sides of the connecting plate respectively, the two sealed cabins are fixedly connected to the connecting frame and the connecting plate respectively by clamps provided on the front and rear sides thereof, a battery is provided on the inner wall of the lower shell below the sealed cabin, a sonar assembly is provided on the top of the main body, a visual assembly and a lighting assembly are provided on the front side of the main body respectively, a mechanical arm assembly is provided on the main body corresponding to the positions of the visual assembly and the lighting assembly respectively, and a plurality of moving assemblies are symmetrically provided on the left and right sides of the main body respectively.

[0006] Optionally, the sonar assembly includes a sonar support rod fixedly connected to the center of the connecting plate, the upper end of the sonar support rod vertically passes through the upper shell and the sonar electric pan-tilt platform, and the sonar is provided on the sonar electric pan-tilt platform.

[0007] Optionally, the visual component includes a visual support rod fixedly connected to the right side of the connecting frame, a visual electric pan-tilt head is provided on the visual support rod, a network camera is provided on the visual electric pan-tilt head, and a first through hole is provided on the upper shell corresponding to the position of the network camera.

[0008] Optionally, the lighting assembly includes a lighting support rod fixedly connected to the left side of the connecting frame, a lighting electric pan-tilt head is provided on the lighting support rod, an underwater light is provided on the lighting electric pan-tilt head, and a second through hole is provided on the upper shell corresponding to the position of the underwater light.

[0009] Optionally, the robotic arm assembly includes a robotic arm sealing shell arranged at the bottom of the connecting frame, an electric push rod is arranged in the robotic arm sealing shell, the outer end of the electric push rod is movably passed through the lower shell and connected to the robotic arm bracket, a robotic arm is arranged on the outside of the lower shell, the robotic arm is movably hinged with the robotic arm bracket through a robotic arm bracket arranged on the inner side thereof, and a robotic arm swing servo is arranged on the robotic arm bracket for driving the robotic arm bracket to flip.

[0010] The cam is provided with a toothed groove on the inner wall of the front end of the claw on the opposite side, and an inner connecting rod is symmetrically provided on the upper and lower sides of the middle part of the claw, and the inner end of the inner connecting rod is movably hinged on the manipulator base, and the outer end of the inner connecting rod is movably hinged with the claw, and an outer connecting rod is provided on the upper side of the rear end of the claw, and the inner end of the outer connecting rod is movably connected to the middle part of the manipulator base, and the outer end of the outer connecting rod is movably hinged with the claw, and a driving connecting rod is provided on the lower side of the rear end of the claw, and a gear is provided on the inner end of the driving connecting rod, and the outer end of the gear is movably hinged with the claw, and the gears of the two clamping members are meshed with each other, and a manipulator clamping servo is provided on the gear of one of the clamping members, and the output shaft of the manipulator clamping servo movably passes through the gear and is connected to the manipulator base.

[0011] Optionally, the moving assembly includes a basal segment, a femur and a tibia connected in sequence, the basal segment includes a basal segment connecting frame arranged on a connecting frame, the outer end of the basal segment connecting frame horizontally extends out of the main body and is connected to a vertically arranged basal segment motor, a basal segment rotating frame is covered on the basal segment motor, the output shaft of the basal segment motor moves downward through the basal segment connecting frame and is connected to the basal segment rotating frame, and a basal segment pin that is engaged with the basal segment rotating frame is provided at the upper end of the basal segment motor; the femur includes a femur connecting frame fixedly connected to the basal segment rotating frame, and a femur rotating frame is connected to the femur connecting frame through a femur motor arranged at its inner end The tibia comprises a tibial motor fixedly connected to the outer end of the tibial rotating frame, an inner end of the tibial rotating frame is movably connected to the tibial rotating frame, the output shaft of the tibial motor movably passes through the tibial rotating frame and is connected to the tibial rotating frame, a tibial pin which is connected to the tibial rotating frame is provided on the tibial motor, a support leg is provided at the outer end of the tibial rotating frame, the support leg is connected to the tibial rotating frame through a force sensor, and a propeller is provided in the tibial rotating frame.

[0012] Optionally, a wheeled movable assembly is provided in the supporting leg, and the wheeled movable assembly includes a wheel groove opened at the end of the supporting leg, a telescopic wheel hydraulic cylinder is provided in the wheel groove, a telescopic wheel support frame is provided at the end of the piston rod of the telescopic wheel hydraulic cylinder, a telescopic wheel drive motor is provided in the telescopic wheel support frame, and the output shaft of the telescopic wheel drive motor passes outward from the telescopic wheel support frame and is connected to the telescopic wheel.

[0013] Optionally, a sealing mechanism is provided on the base motor, femur motor, tibia motor and telescopic wheel drive motor, and the sealing mechanism is sleeved on a sealing sleeve on the outside of the base motor, femur motor, tibia motor or telescopic wheel drive motor, an outer end cover is provided at one end of the sealing sleeve, a threading screw is provided on the outer end cover, and an inner end cover is provided at the other end of the sealing sleeve, and the output end of the base motor, femur motor, tibia motor or telescopic wheel drive motor is movably passed through the inner end cover and connected to the connecting flange.

[0014] Optionally, a plurality of hanging parts extending upward from the upper shell are respectively provided on the connecting frame, and the hanging parts include hanging rods connected to the connecting frame, and the upper ends of the hanging rods pass through the upper shell and are connected to the hanging rings.

[0015] The present invention adopts the above technical solution, which has the advantages of compact and reasonable structural design, can well adapt to the complex nearshore environment, can realize flexible and efficient movement on land, in water and on the seabed, has high work efficiency, and meets the needs of underwater operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0017] Figure 2 A schematic diagram of the three-dimensional structure in an exploded state with the moving components removed;

[0018] Figure 3 is a schematic diagram of the three-dimensional structure of the lower shell;

[0019] Figure 4 is a schematic diagram of the three-dimensional structure of the upper shell;

[0020] Figure 5 It is a three-dimensional structural schematic diagram of a robotic arm assembly;

[0021] Figure 6 is a schematic diagram of the three-dimensional structure of the mobile component;

[0022] Figure 7 It is a schematic diagram of the three-dimensional structure of the wheeled mobile component;

[0023] Figure 8 is a schematic diagram of the three-dimensional structure of the sealing mechanism;

[0024] Fig. 9 It is a schematic diagram of the three-dimensional structure of one group of moving components of the present invention when it is in a horizontal state;

[0025] Fig.10 It is a schematic diagram of the three-dimensional structure of each group of mobile components of the invention when they are in a supporting state;

[0026] In the figure, 1, upper shell; 2, lower shell; 3, connecting frame; 4, fixing bolt; 5, upper fixing column; 6, lower fixing column; 7, connecting plate; 8, sealed cabin; 9, clamp; 10, battery; 11, sonar support rod; 12, sonar electric pan / tilt; 13, sonar; 14, visual support rod; 15, visual electric pan / tilt; 16, network camera; 17, first through hole; 18, lighting support rod; 19, lighting electric pan / tilt; 20, underwater light; 21, second through hole; 22, mechanical arm sealed shell; 23, electric push rod; 24, mechanical arm bracket; 25, mechanical arm bracket; 26, mechanical arm swing servo; 27, mechanical arm base; 28, mechanical arm base; 29, claw; 30, sawtooth groove; 31, internal connection rod; 32, outer connecting rod; 33, driving connecting rod; 34, gear; 35, manipulator gripping servo; 36, base joint connecting frame; 37, base joint motor; 38, base joint rotating frame; 39, base joint bayonet; 40, thigh joint connecting frame; 41, thigh joint rotating frame; 42, thigh joint motor; 43, thigh joint bayonet; 44, tibia joint motor; 45, tibia joint rotating frame; 46, tibia joint bayonet; 47, supporting leg; 48, force sensor; 49, propeller; 50, wheel groove; 51, telescopic wheel hydraulic cylinder; 52, telescopic wheel supporting frame; 53, telescopic wheel driving motor; 54, telescopic wheel; 55, sealing sleeve; 56, outer end cover; 57, threading screw; 58, inner end cover; 59, connecting flange; 60, lifting rod; 61, lifting ring. DETAILED DESCRIPTION

[0027] In order to clearly illustrate the technical features of the present solution, the present invention is described in detail below through specific implementation methods and in conjunction with the accompanying drawings. In the following description, many specific details are described to facilitate a full understanding of the present application. However, the present application can also be implemented in other ways different from those described herein. Therefore, the protection scope of the present application is not limited by the specific embodiments disclosed below.

[0028] In addition, in the description of the present application, it should be understood that the terms "center", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial", "radial", "circumferential" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first" and "second" are used only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present application, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0029] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, they can be fixedly connected, detachably connected, or integrated. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to the specific circumstances. In the description of this specification, the descriptions with reference to the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" and the like mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0030] like Figure 1-10As shown, in this embodiment, a multi-mode mobile amphibious crab-like robot for nearshore underwater operations includes a main body, wherein the main body is formed by closing an upper shell 1 and a lower shell 2, a connecting frame 3 is provided between the upper shell 1 and the lower shell 2, a plurality of fixing bolts 4 are provided on the upper and lower sides of the connecting frame 3, upper fixing columns 5 are provided on the inner wall of the upper shell 1 corresponding to the positions of the fixing bolts 4 on the upper side, and lower fixing columns 6 are provided on the inner wall of the lower shell 2 corresponding to the positions of the fixing bolts 4 on the lower side, a connecting plate 7 is provided in the middle of the connecting frame 3, sealed cabins 8 are provided in the connecting frame 3 on the left and right sides of the connecting plate 7, the two sealed cabins 8 are fixedly connected to the connecting frame 3 and the connecting plate 7 by clamps 9 provided on the front and rear sides thereof, a battery 10 is provided on the inner wall of the lower shell 2 below the sealed cabin 8, a sonar component is provided on the top of the main body, a visual component and a lighting component are provided on the front side of the main body, a mechanical arm component is provided on the main body corresponding to the positions of the visual component and the lighting component, and a plurality of moving components are symmetrically provided on the left and right sides of the main body.

[0031] Optionally, the sonar assembly includes a sonar support rod 11 fixedly connected to the center of the connecting plate 7, the upper end of the sonar support rod 11 vertically passes through the upper shell 1 and the sonar electric pan-tilt platform 12, and a sonar 13 is provided on the sonar electric pan-tilt platform 12. The sonar 13 uses a Micron DST Sonar side scan sonar, and the sonar 13 is arranged on the main body, has a larger observation angle, and can obtain corresponding data more accurately.

[0032] Optionally, the visual component includes a visual support rod 14 fixedly connected to the right side of the connecting frame 3, a visual electric pan-tilt head 15 is provided on the visual support rod 14, a network camera 16 is provided on the visual electric pan-tilt head 15, and a first through hole 17 is provided on the upper shell 1 corresponding to the position of the network camera 16. The network camera 16 uses a DeepSea HDMSC-4070-IP high-definition network camera, and the network camera 16 is installed on the visual electric pan-tilt head 15. The shooting angle can be adjusted as the visual electric pan-tilt head 15 rotates, so as to obtain a video with the best angle.

[0033] Optionally, the lighting assembly includes a lighting support rod 18 fixedly connected to the left side of the connecting frame 3, a lighting electric pan-tilt 19 is provided on the lighting support rod 18, an underwater light 20 is provided on the lighting electric pan-tilt 19, and a second through hole 21 is provided on the upper shell 1 corresponding to the position of the underwater light 20. The underwater light 20 uses a deepsea LSL-2000 underwater light, and the underwater light 20 is installed on the lighting electric pan-tilt 19. As the lighting electric pan-tilt 19 rotates, the illumination angle of the underwater light 20 is adjusted, thereby helping the network camera 16 to obtain a clearer pattern.

[0034] Optionally, the robotic arm assembly includes a robotic arm sealing shell 22 arranged at the bottom of the connecting frame 3, an electric push rod 23 is arranged in the robotic arm sealing shell 22, the outer end of the electric push rod 23 is movably passed through the lower shell 2 and is connected to the robotic arm bracket 24, a robotic arm is provided on the outside of the lower shell 2, the robotic arm is movably hinged with the robotic arm bracket 24 through a robotic arm bracket 25 arranged on the inner side thereof, and a robotic arm swing servo 26 is provided on the robotic arm bracket 24 for driving the robotic arm bracket 25 to flip.

[0035] Optionally, the manipulator includes a manipulator base 27 connected to the manipulator bracket 25, a manipulator base 28 is provided at the outer end of the manipulator base 27, and clamping members are provided on the left and right sides of the manipulator base 28, respectively, and the clamping members include a claw 29 arranged in parallel with the manipulator base 28, a sawtooth groove 30 is provided on the inner wall of the front end of the claw 29 on the opposite side, and inner connecting rods 31 are symmetrically provided on the upper and lower sides of the middle of the claw 29, the inner end of the inner connecting rod 31 is movably hinged on the manipulator base 28, and the outer end thereof is movably hinged with the claw 29, and behind the claw 29 An outer connecting rod 32 is provided on the upper side of the end, the inner end of the outer connecting rod 32 is movably connected to the middle part of the manipulator base 28, and the outer end thereof is movably hinged with the claw 29, and a driving connecting rod 33 is provided on the lower side of the rear end of the claw 29, and a gear 34 is hinged to the manipulator base 28 at the inner end of the driving connecting rod 33, and the outer end thereof is movably hinged with the claw 29, the gears 34 of the two clamping parts are meshed with each other, and a manipulator gripping servo 35 is provided on the gear 34 of one of the clamping parts, and the output shaft of the manipulator gripping servo 35 movably passes through the gear 34 and is connected to the manipulator base 28.

[0036] Optionally, the moving component includes a basal segment, a femur and a tibia connected in sequence, the basal segment includes a basal segment connecting frame 36 arranged on the connecting frame 3, the outer end of the basal segment connecting frame 36 horizontally extends out of the main body and is connected to the vertically arranged basal segment motor 37, a basal segment rotating frame 38 is covered on the basal segment motor 37, the output shaft of the basal segment motor 37 moves downward through the basal segment connecting frame 36 and is connected to the basal segment rotating frame 38, and a basal segment pin 39 is provided at the upper end of the basal segment motor 37 for engaging with the basal segment rotating frame 38; the femur includes a femur connecting frame 40 fixedly connected to the basal segment rotating frame 38, a femur rotating frame 41 is movably connected to the femur connecting frame 40 through a femur motor 42 arranged at its inner end, and the femur The output shaft of the motor 42 movably passes through the femur rotating frame 41 and is connected to the femur connecting frame 40, and the femur motor 42 is clamped with the femur connecting frame 40 through a femur pin 43; the tibia includes a tibia motor 44 fixedly connected to the outer end of the femur rotating frame 41, and the inner end of a tibia rotating frame 45 is movably clamped on the femur rotating frame 41, and the output shaft of the tibia motor 44 movably passes through the tibia rotating frame 45 and is connected to the femur rotating frame 41, and a tibia pin 46 clamped with the tibia rotating frame 45 is provided on the tibia motor 44, and a support leg 47 is provided at the outer end of the tibia rotating frame 45, and the support leg 47 is connected to the tibia rotating frame 45 through a force sensor 48, and a propeller 49 is provided in the tibia rotating frame 45.

[0037] Optionally, a wheeled moving assembly is provided in the support leg 47, and the wheeled moving assembly includes a wheel groove 50 opened at the end of the support leg 47, a telescopic wheel hydraulic cylinder 51 is provided in the wheel groove 50, a telescopic wheel support frame 52 is provided at the piston rod end of the telescopic wheel hydraulic cylinder 51, a telescopic wheel drive motor 53 is provided in the telescopic wheel support frame 52, and the output shaft of the telescopic wheel drive motor 53 passes out of the telescopic wheel support frame 52 and is connected to the telescopic wheel 54. When the device moves on land, the telescopic wheel support frame 52 can be pushed outward by the telescopic wheel hydraulic cylinder 51, so that the telescopic wheel 54 extends out from the wheel groove 50 and contacts the ground, and the telescopic wheel drive motor 53 is started to control the rotation of the telescopic wheel 54, so that it can move more quickly on land.

[0038] Optionally, a sealing mechanism is provided on the base motor 37, the thigh motor 42, the tibia motor 44 and the telescopic wheel drive motor 53, and the sealing mechanism is sleeved on the sealing sleeve 55 outside the base motor 37, the thigh motor 42, the tibia motor 44 or the telescopic wheel drive motor 53, an outer end cover 56 is provided at one end of the sealing sleeve 55, a threading screw 57 is provided on the outer end cover 56, and an inner end cover 58 is provided at the other end of the sealing sleeve 55, and the output end of the base motor 37, the thigh motor 42, the tibia motor 44 or the telescopic wheel drive motor 53 is movably passed through the inner end cover 58 and connected to the connecting flange 59. The sealing mechanism is provided on the base motor 37, the thigh motor 42, the tibia motor 44 and the telescopic wheel drive motor 53, which can reduce the damage to them by seawater and improve their service life.

[0039] Optionally, a plurality of lifting parts extending upward from the upper shell 1 are respectively provided on the connecting frame 3, and the lifting parts include a lifting rod 60 connected to the connecting frame 3, and the upper end of the lifting rod 60 passes through the upper shell 1 and is connected to a lifting ring 61. The lifting ring 61 is used for a crane to deploy and recover the device.

[0040] The device includes three motion modes, namely, foot motion mode, paddle motion mode and wheel motion mode. Among them, the foot motion mode is adopted when facing complex terrain and seabed operations, because the foot motion has little disturbance to the seabed sediments, which is convenient for the robot's optical perception and operation. Through the mutual cooperation between each group of mobile components, the base, femur and tibia are driven in sequence, and the entire mobile component is fixed to the connecting frame 3 through the base connecting frame 36. The base motor 37 controls the horizontal rotation angle of the base rotating frame 38, thereby adjusting the rotation direction of the femur; the femur motor 42 controls the up and down rotation angle of the femur rotating frame 41, thereby controlling the lifting and lowering of the femur; and the tibia motor 44 further controls the flipping angle of the tibia rotating frame 45, so that it rotates on the femur rotating frame 41. The force sensor is FC3D80, which is used to obtain whether the support leg 47 is in contact with the ground. It should be noted that when in the foot motion mode, the telescopic wheel 54 is always retracted in the support leg 47.

[0041] When moving in water, a paddle-type movement mode is adopted, and the angles of the coxa, femur and tibia can be adjusted by adjusting the moving components to ensure that the propellers 49 in each group of moving components are adjusted to a suitable angle, thereby enabling flexible three-dimensional movement in seawater. When moving on flat land, wheeled movement is adopted to improve movement efficiency.

[0042] When it is necessary to grab the target object, the electric push rod 23 is started, and then the manipulator is controlled to extend outward, the manipulator swings the steering gear 26 to control the angle of the clamping part to flip up and down, and the manipulator gripping steering gear 35 controls the gear 34 connected to it to rotate, while the gear 34 on the other side rotates in the opposite direction synchronously. As the driving connecting rod 33 of the two clamping parts continues to approach, the driving connecting rod 33 drives the claw 29 to move, so that the claw 29 rotates along the position where the inner connecting rod 31 and the claw 29 are hinged, and then the claws 29 on both sides are continuously closed, so as to achieve the function of clamping the target object. It has a compact and reasonable structural design, integrates multiple motion modes of foot-paddle-wheel, can well adapt to the complex environment near the shore, can realize flexible and efficient movement on land, in water and on the seabed, has high work efficiency, and meets the needs of underwater operations, solving the problems existing in the prior art.

[0043] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that the technical solutions described in the above embodiments can still be modified, or some or all of the technical features therein can be replaced by equivalents. These modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention, and they should all be included in the scope of the claims and description of the present invention. For those skilled in the art, any replacement, improvement or change made to the implementation mode of the present invention falls within the protection scope of the present invention.

[0044] The matters not described in detail in the present invention are all known technologies to those skilled in the art.

Claims

1. A multi-mode mobile amphibious crab-like robot for near-shore underwater operations, characterized in that: The utility model comprises a main body, which is formed by closing an upper shell and a lower shell. A connecting frame is provided between the upper shell and the lower shell. A plurality of fixing bolts are provided on the upper and lower sides of the connecting frame respectively. Upper fixing columns matching therewith are provided on the inner wall of the upper shell at the positions of the fixing bolts on the upper side respectively. Lower fixing columns matching therewith are provided on the inner wall of the lower shell at the positions of the fixing bolts on the lower side respectively. A connecting plate is provided in the middle of the connecting frame. Sealed cabins are provided in the connecting frames at the left and right sides of the connecting plate respectively. The two sealed cabins are fixedly connected to the connecting frame and the connecting plate respectively by clamps provided on the front and rear sides thereof. A battery is provided on the inner wall of the lower shell below the sealed cabin. A sonar assembly is provided on the top of the main body. A visual assembly and a lighting assembly are provided on the front side of the main body respectively. A mechanical arm assembly is provided on the main body corresponding to the positions of the visual assembly and the lighting assembly respectively. A plurality of moving assemblies are symmetrically provided on the left and right sides of the main body respectively.

2. The multi-mode mobile amphibious crab-like robot for nearshore underwater operations according to claim 1 is characterized in that: The sonar assembly comprises a sonar support rod fixedly connected to the center of the connecting plate, the upper end of the sonar support rod vertically passes through the upper shell and the sonar electric pan-tilt platform, and the sonar is arranged on the sonar electric pan-tilt platform.

3. The multi-mode mobile amphibious crab-like robot for nearshore underwater operations according to claim 1, characterized in that: The visual component includes a visual support rod fixedly connected to the right side of the connecting frame, a visual electric pan-tilt head is arranged on the visual support rod, a network camera is arranged on the visual electric pan-tilt head, and a first through hole is arranged on the upper shell corresponding to the position of the network camera.

4. The multi-mode mobile amphibious crab-like robot for nearshore underwater operations according to claim 1, characterized in that: The lighting assembly includes a lighting support rod fixedly connected to the left side of the connecting frame, a lighting electric pan head is provided on the lighting support rod, an underwater light is provided on the lighting electric pan head, and a second through hole is provided on the upper shell corresponding to the position of the underwater light.

5. The multi-mode mobile amphibious crab-like robot for nearshore underwater operations according to claim 1, characterized in that: The robotic arm assembly includes a robotic arm sealing shell arranged at the bottom of the connecting frame, an electric push rod is arranged in the robotic arm sealing shell, the outer end of the electric push rod movably passes through the lower shell and is connected to the robotic arm bracket, a robotic arm is arranged on the outside of the lower shell, the robotic arm is movably hinged with the robotic arm bracket through a robotic arm bracket arranged on the inner side thereof, and a robotic arm swing servo for driving the robotic arm bracket to flip is arranged on the robotic arm bracket.

6. The multi-mode mobile amphibious crab-like robot for nearshore underwater operations according to claim 5, characterized in that: The manipulator comprises a manipulator base connected to the manipulator bracket, a manipulator base is provided at the outer end of the manipulator base, and clamping members are respectively provided on the left and right sides of the manipulator base. The clamping members comprise claws arranged parallel to the manipulator base, a serrated groove is provided on the inner wall of the front end of the claw on the opposite side, and inner connecting rods are symmetrically provided on the upper and lower sides of the middle part of the claw, the inner end of the inner connecting rod is movably hinged on the manipulator base, and the outer end thereof is movably hinged with the claw, an outer connecting rod is provided on the upper side of the rear end of the claw, the inner end of the outer connecting rod is movably connected to the middle of the manipulator base, and the outer end thereof is movably hinged with the claw, a driving connecting rod is provided on the lower side of the rear end of the claw, a gear is provided at the inner end of the driving connecting rod, and the outer end thereof is movably hinged with the claw, the gears of the two clamping members are meshed with each other, and a manipulator clamping servo is provided on the gear of one of the clamping members, and the output shaft of the manipulator clamping servo movably passes through the gear and is connected to the manipulator base.

7. The multi-mode mobile amphibious crab-like robot for near-shore underwater operations according to claim 1, characterized in that: The moving assembly includes a basal segment, a femur and a tibia connected in sequence, the basal segment includes a basal segment connecting frame arranged on a connecting frame, the outer end of the basal segment connecting frame horizontally extends out of the main body and is connected to a vertically arranged basal segment motor, a basal segment rotating frame is covered on the basal segment motor, the output shaft of the basal segment motor moves downward through the basal segment connecting frame and is connected to the basal segment rotating frame, and a basal segment pin that is engaged with the basal segment rotating frame is provided at the upper end of the basal segment motor; the femur includes a femur connecting frame fixedly connected to the basal segment rotating frame, and a femur rotating frame moves with the femur connecting frame through the femur motor arranged at its inner end The tibia comprises a tibia motor fixedly connected to the outer end of the tibia rotating frame, an inner end of the tibia rotating frame is movably connected to the tibia rotating frame, the output shaft of the tibia motor movably passes through the tibia rotating frame and is connected to the tibia rotating frame, a tibia pin connected to the tibia rotating frame is provided on the tibia motor, a support leg is provided at the outer end of the tibia rotating frame, the support leg is connected to the tibia rotating frame through a force sensor, and a propeller is provided in the tibia rotating frame.

8. The multi-mode mobile amphibious crab-like robot for near-shore underwater operations according to claim 7, characterized in that: A wheeled moving assembly is provided in the supporting leg, and the wheeled moving assembly includes a wheel groove opened at the end of the supporting leg, a telescopic wheel hydraulic cylinder is provided in the wheel groove, a telescopic wheel support frame is provided at the end of the piston rod of the telescopic wheel hydraulic cylinder, a telescopic wheel driving motor is provided in the telescopic wheel support frame, and an output shaft of the telescopic wheel driving motor passes out of the telescopic wheel support frame and is connected to the telescopic wheel.

9. The multi-mode mobile amphibious crab-like robot for nearshore underwater operations according to claims 7 and 8 is characterized in that: A sealing mechanism is provided on the base section motor, thigh section motor, tibia motor and telescopic wheel driving motor. The sealing mechanism is sleeved on a sealing sleeve on the outside of the base section motor, thigh section motor, tibia motor or telescopic wheel driving motor. An outer end cover is provided at one end of the sealing sleeve, a threading screw is provided on the outer end cover, and an inner end cover is provided at the other end of the sealing sleeve. The output end of the base section motor, thigh section motor, tibia motor or telescopic wheel driving motor movably passes through the inner end cover and is connected to a connecting flange.

10. The multi-mode mobile amphibious crab-like robot for near-shore underwater operations according to claim 1, characterized in that: A plurality of hanging parts extending upwardly from the upper shell body are respectively arranged on the connection frame, and the hanging parts include hanging rods connected to the connection frame, and the upper ends of the hanging rods pass through the upper shell body and are connected to the hanging rings.

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