Marine survey manipulator

Abstract

The invention discloses a marine survey manipulator, which relates to the technical field of manipulators, and comprises two fixed track mechanisms, a plurality of connecting pieces are arranged between the two fixed track mechanisms, a supporting moving wheel mechanism is arranged on the fixed track mechanisms, and a moving rotating frame mechanism is arranged on the supporting moving wheel mechanism. A deflection rod mechanism is arranged on the movable rotating frame mechanism, a deflection plate is arranged on the deflection rod mechanism, a plurality of first linear motors are arranged on the deflection plate, the tail ends of the first linear motors are fixedly connected with a closed cylinder mechanism, a suction mechanism is arranged on the closed cylinder mechanism, and a plurality of rotary spraying mechanisms are arranged in the closed cylinder mechanism; according to the marine exploration grabbing device, moving displacement along the fixed rail mechanism can be achieved by arranging the supporting moving wheel mechanism, surrounding displacement can be achieved by moving the rotating frame mechanism, deflection displacement of the closed cylinder mechanism can be achieved through the deflection rod mechanism, and the marine exploration grabbing efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of manipulators, in particular to a marine survey manipulator. Background Art

[0002] A robot arm is an automatic operating device that can imitate certain movements and functions of human hands and arms to grasp, move objects or operate tools according to a fixed procedure. It is widely used in industrial automation, hazardous environment operations and other fields.

[0003] Existing marine survey manipulators are mainly hydraulically driven and achieve precise operations through master-slave control. However, in existing technologies, salvaging at the bottom of the water causes disturbances, making the water turbid and affecting vision, which in turn affects the efficiency of clamping and grasping. Therefore, there is a lot of room for improvement in existing technologies. Summary of the Invention

[0004] The present invention provides a marine survey manipulator, which solves the problems raised in the above background technology.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] A marine survey manipulator comprises two fixed track mechanisms, a plurality of connecting pieces are provided between the two fixed track mechanisms, the fixed track mechanisms are provided with a supporting and moving wheel mechanism, the supporting and moving wheel mechanism is provided with a moving rotating frame mechanism, the moving rotating frame mechanism is provided with a deflection rod mechanism, the deflection rod mechanism is provided with a deflection plate, the deflection plate is provided with a plurality of first linear motors, the ends of the first linear motors are fixedly connected to a closed cylinder mechanism, the closed cylinder mechanism is provided with a suction mechanism, a plurality of rotating injection mechanisms are provided in the closed cylinder mechanism, and a clamping manipulator mechanism is provided in the closed cylinder mechanism; the connecting pieces are used to realize the connection between the two fixed track mechanisms, the supporting and moving wheel mechanism is used to realize movement along the fixed track mechanism, the moving rotating frame mechanism is used to realize rotation and displacement along the supporting and moving wheel mechanism, the suction mechanism is used to realize liquid supply to the rotating injection mechanism, the rotating injection mechanism is used to discharge turbidity in an orderly manner from the closed cylinder mechanism, and the clamping manipulator mechanism is used to clamp and fix the sample.

[0007] As a preferred technical solution of the present invention, the fixed track mechanism includes a side arc plate, the side arc plate is fixedly connected to two arc baffles, the arc baffle is fixedly connected to a support frame, and the support frame is provided with a plurality of connection positioning holes.

[0008] As a preferred technical solution of the present invention, the supporting moving wheel mechanism includes a fixing ring, two symmetrically arranged threaded sleeves are rotatably connected inside the fixing ring, the threaded sleeves are threadedly connected to the feed threaded rod, the threaded sleeves are threadedly connected to the locking bolt, the end of the locking bolt is in contact with the feed threaded rod, the feed threaded rod is fixedly connected to the supporting clamping wheel frame, the supporting clamping wheel frame is provided with a supporting moving wheel, the supporting moving wheel is provided with a driving motor, and the supporting clamping wheel frame is provided with a contact ball.

[0009] As a preferred technical solution of the present invention, the mobile rotating frame mechanism includes a mobile frame arranged on a fixed ring, the mobile frame and the fixed ring are slidably connected, a mobile motor is provided on the mobile frame, the output shaft of the mobile motor is fixedly connected to the gear shaft, the gear shaft and the mobile frame are rotatably connected, the gear shaft is coaxially fixedly connected to the first gear, the first gear engages with the second gear, and the second gear is fixed to the outside of the mobile frame.

[0010] As a preferred technical solution of the present invention, the deflection rod mechanism includes a first displacement seat fixed on a movable frame, the first displacement seat is rotatably connected to the deflection rod, the movable frame is fixedly connected to a second displacement seat, the second displacement seat is rotatably connected to a second linear motor, the second linear motor is rotatably connected to a third displacement seat, the third displacement seat and the deflection rod are fixedly connected, and the deflection rod and the deflection plate are fixedly connected.

[0011] As an optimal technical solution of the present invention, the closed cylinder mechanism includes a feed plate fixedly connected to the first linear motor, the feed plate is rotatably connected to the rotating tube, a filter head is provided at the end of the rotating tube, the rotating tube is connected to the water pump, the water pump is connected to the closed cylinder, the closed cylinder is made of transparent material, and the water inlet end of the water pump is connected to the closed cylinder.

[0012] As a preferred technical solution of the present invention, the suction mechanism includes a snap ring groove provided on the closed cylinder, an elastic member fixedly connected to the snap ring groove on the closed cylinder, the end of the elastic member fixedly connected to the snap ring, the end of the snap ring away from the closed cylinder is closed, a water inlet pipe is provided on the closed cylinder, a one-way water inlet valve is provided on the water inlet pipe, a filter is provided on the end of the water inlet pipe away from the closed cylinder, a water outlet pipe is provided in the closed cylinder, and a one-way water outlet valve is provided on the water outlet pipe.

[0013] As a preferred technical solution of the present invention, the rotating jet mechanism includes a mounting pipe arranged on the inner wall of the closed cylinder, and a plurality of jet heads are provided on the mounting pipe. The closer the jet head is to the water pump, the larger the angle between the jet head and the closed cylinder. The mounting pipe is connected to the water outlet pipe.

[0014] As a preferred technical solution of the present invention, the clamping robot mechanism includes a plurality of clamping rod grooves provided on the closing cylinder, a clamping rod is provided on the clamping rod groove, the clamping rod and the closing cylinder are slidingly connected, the end of the clamping rod is fixedly connected to the clamping plate, the closing cylinder is fixedly connected to the fixed pipe, the fixed pipe is connected to the water inlet end of the water pump, the fixed pipe is rotatably connected to the rotating plate, the rotating plate is provided with a slide groove, the clamping rod passes through the slide groove, the side of the rotating plate is fixedly connected to the third gear, the closing cylinder is provided with a position shifting motor, the output shaft of the position shifting motor is fixedly connected to the fourth gear, and the fourth gear and the third gear are meshed.

[0015] As a preferred technical solution of the present invention, a camera is provided in the closed cylinder.

[0016] The present invention has the following benefits:

[0017] By setting up a supporting moving wheel mechanism, movement and displacement along the fixed track mechanism can be achieved, by moving the rotating frame mechanism, circular displacement can be achieved, by the deflection rod mechanism, the closed cylinder mechanism can be deflected and displaced, by the deflection rod mechanism, the deflection plate can be driven to deflect and displace, thereby achieving the deflection and displacement of the closed cylinder mechanism, the first linear motor can drive the closed cylinder mechanism to feed, by the closed cylinder mechanism and the suction mechanism, closed survey and grasping can be achieved, by cooperating with the suction mechanism, the vortex flow of water in the closed cylinder mechanism can be achieved, and the closed cylinder mechanism can be finally in a clean state, and the sample can be clamped and grasped by the clamping manipulator mechanism, thereby improving the efficiency of marine survey and grasping. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the specific embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0019] Figure 1 This is a structural diagram of a marine survey manipulator from the first perspective.

[0020] Figure 2 This is a structural diagram of a marine survey manipulator from the second perspective.

[0021] Figure 3 This is a schematic diagram of the structure of an ocean survey manipulator from the third perspective.

[0022] Figure 4 This is a structural diagram of the local structure of an ocean survey manipulator from the first perspective.

[0023] Figure 5This is a structural schematic diagram of the local structure of an ocean survey manipulator from the second perspective.

[0024] Figure 6 This is a cross-sectional view of a suction mechanism in a marine survey manipulator.

[0025] In the figure: 1. fixed track mechanism; 101. side arc plate; 102. arc baffle; 103. support frame; 104. positioning hole; 2. connecting piece; 3. support moving wheel mechanism; 301. fixing ring; 302. threaded sleeve; 303. feed threaded rod; 304. locking bolt; 305. support card wheel frame; 306. support moving wheel; 307. contact ball; 4. mobile rotating frame mechanism; 401. mobile frame; 402. mobile motor; 403. gear shaft; 404. first gear; 405. second gear; 5. deflection rod mechanism; 501. first displacement seat; 502. deflection rod; 503. second displacement seat; 504. second linear motor; 505. third displacement seat; 6. deflection plate; 7. first displacement seat A linear motor; 8. Closing cylinder mechanism; 801. Feed plate; 802. Rotating tube; 803. Filter head; 804. Water pump; 805. Closing cylinder; 9. Suction mechanism; 901. Snap ring groove; 902. Elastic member; 903. Snap ring; 904. Water inlet pipe; 905. One-way water inlet valve; 906. Water outlet pipe; 907. One-way water outlet valve; 10. Rotating spray mechanism; 1001. Mounting tube; 1002. Spray head; 11. Clamping manipulator mechanism; 1101. Clamping rod groove; 1102. Clamping rod; 1103. Clamping plate; 1104. Fixed tube; 1105. Rotating plate; 1106. Slide; 1107. Third gear; 1108. Positioning motor; 1109. Fourth gear. DETAILED DESCRIPTION

[0026] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0027] Example 1, please refer to Figures 1-6, a marine survey manipulator comprises two fixed track mechanisms 1, several connecting members 2 are provided between the two fixed track mechanisms 1, the fixed track mechanism 1 is provided with a supporting and moving wheel mechanism 3, the supporting and moving wheel mechanism 3 is provided with a moving rotating frame mechanism 4, the moving rotating frame mechanism 4 is provided with a deflection rod mechanism 5, the deflection rod mechanism 5 is provided with a deflection plate 6, the deflection plate 6 is provided with several first linear motors 7, the end of the first linear motor 7 is fixedly connected to a closed cylinder mechanism 8, the closed cylinder mechanism 8 is provided with a suction mechanism 9, several rotating injection mechanisms 10 are provided in the closed cylinder mechanism 8, and a clamping manipulator mechanism 11 is provided in the closed cylinder mechanism 8; the connecting member 2 is used to realize the connection between the two fixed track mechanisms 1, the supporting and moving wheel mechanism 3 is used to realize movement along the fixed track mechanism 1, the moving rotating frame mechanism 4 is used to realize rotation and displacement along the supporting and moving wheel mechanism 3, the suction mechanism 9 is used to realize liquid supply to the rotating injection mechanism 10, the rotating injection mechanism 10 is used to discharge turbidity in an orderly manner from the closed cylinder mechanism 8, and the clamping manipulator mechanism 11 is used to clamp and fix the sample.

[0028] The fixed track mechanism 1 includes a side arc plate 101 , the side arc plate 101 is fixedly connected to two arc-shaped baffles 102 , the arc-shaped baffles 102 are fixedly connected to a support frame 103 , and a plurality of connection positioning holes 104 are provided on the support frame 103 .

[0029] The supporting moving wheel mechanism 3 includes a fixing ring 301, and two symmetrically arranged threaded sleeves 302 are rotatably connected inside the fixing ring 301. The threaded sleeve 302 is threadedly connected to the feed threaded rod 303. The threaded sleeve 302 is threadedly connected to the locking bolt 304. The end of the locking bolt 304 is in contact with the feed threaded rod 303. The feed threaded rod 303 is fixedly connected to the supporting card wheel frame 305. The supporting card wheel frame 305 is provided with a supporting moving wheel 306, and the supporting moving wheel 306 is provided with a driving motor. The supporting card wheel frame 305 is provided with a contact ball 307.

[0030] Specifically, loosen the locking bolt 304 to rotate the threaded sleeve 302, control the length of the feed threaded rod 303 extending out of the threaded sleeve 302, so that the supporting moving wheel 306 rests on the side arc plate 101, and then tighten the locking bolt 304 to fix the relative positions of the threaded sleeve 302 and the feed threaded rod 303. At this time, turn on the drive motor to drive the supporting moving wheel 306 to rotate, and then drive the fixing ring 301 to move along the side arc plate 101.

[0031] The mobile turret mechanism 4 includes a mobile frame 401 provided on a fixed ring 301, the mobile frame 401 and the fixed ring 301 being slidably connected, a mobile motor 402 being provided on the mobile frame 401, an output shaft of the mobile motor 402 being fixedly connected to a gear shaft 403, the gear shaft 403 being rotatably connected to the mobile frame 401, the gear shaft 403 being coaxially fixedly connected to a first gear 404, the first gear 404 being engaged with a second gear 405, and the second gear 405 being fixed to the outer side of the mobile frame 401. The deflection rod mechanism 5 includes a first displacement seat 501 fixed on the mobile frame 401, the first displacement seat 501 being rotatably connected to the deflection rod 502, the mobile frame 401 being fixedly connected to a second displacement seat 503, the second displacement seat 503 being rotatably connected to a second linear motor 504, the second linear motor 504 being rotatably connected to a third displacement seat 505, the third displacement seat 505 being fixedly connected to the deflection rod 502, and the deflection rod 502 being fixedly connected to the deflection plate 6.

[0032] Specifically, turning on the moving motor 402 can drive the gear shaft 403 to rotate, and the rotation of the gear shaft 403 will drive the first gear 404 to rotate. Since the first gear 404 and the second gear 405 are engaged, the moving frame 401 can be driven to move along the fixing ring 301.

[0033] In addition, turning on the second linear motor 504 can drive the deflection rod 502 to rotate and shift around the first displacement seat 501 , thereby driving the deflection plate 6 to deflect and shift.

[0034] The closed cylinder mechanism 8 includes a feed plate 801 fixedly connected to the first linear motor 7, the feed plate 801 is rotatably connected to the rotating tube 802, the end of the rotating tube 802 is provided with a filter head 803, the rotating tube 802 is connected to the water pump 804, the water pump 804 is connected to the closed cylinder 805, the closed cylinder 805 is made of transparent material, and the water inlet end of the water pump 804 is connected to the closed cylinder 805. The suction mechanism 9 includes a snap ring groove 901 provided on the closed cylinder 805. An elastic member 902 is fixedly connected to the closed cylinder 805 in the snap ring groove 901. The end of the elastic member 902 is fixedly connected to the snap ring 903. The end of the snap ring 903 away from the closed cylinder 805 is closed. The closed cylinder 805 is provided with a water inlet pipe 904, which is provided with a one-way water inlet valve 905. The end of the water inlet pipe 904 away from the closed cylinder 805 is provided with a filter screen. The closed cylinder 805 is provided with a water outlet pipe 906, which is provided with a one-way water outlet valve 907. The rotary spraying mechanism 10 includes a mounting pipe 1001 provided on the inner wall of the closed cylinder 805. The mounting pipe 1001 is provided with a plurality of spray heads 1002. The closer the spray head 1002 is to the water pump 804, the larger the angle between the spray head 1002 and the closed cylinder 805. The mounting pipe 1001 is connected to the water outlet pipe 906.

[0035] Specifically, turning on the first linear motor 7 can drive the feed plate 801 to feed, thereby driving the rotating tube 802 and the closing cylinder 805 to feed, and driving the retaining ring 903 to feed, so that the retaining ring 903 is at the specified position. At this time, the first linear motor 7 is made to reciprocate, which can drive the retaining ring 903 and the closing cylinder 805 to move relative to each other, and clean water can be sucked in through the water inlet pipe 904, and then discharged through the water outlet pipe 906, so that the water flow enters the installation pipe 1001, and finally the water flow is ejected from the injection head 1002. Since the closer the injection head 1002 is to the water pump 804, the larger the angle between the injection head 1002 and the closing cylinder 805 is, the water flow in the closing cylinder 805 can be rotated. At this time, turning on the water pump 804 can extract the turbid water flow in the closing cylinder.

[0036] The clamping robot mechanism 11 includes a plurality of clamping rod grooves 1101 provided on the closing cylinder 805, and a clamping rod 1102 is provided on the clamping rod groove 1101. The clamping rod 1102 and the closing cylinder 805 are slidingly connected. The end of the clamping rod 1102 is fixedly connected to the clamping plate 1103. The closing cylinder 805 is fixedly connected to the fixed pipe 1104. The fixed pipe 1104 is connected to the water inlet end of the water pump 804. The fixed pipe 1104 is rotatably connected to the rotating plate 1105. The rotating plate 1105 is provided with a slide groove 1106. The clamping rod 1102 passes through the slide groove 1106. The side of the rotating plate 1105 is fixedly connected to the third gear 1107. The closing cylinder 805 is provided with a position shifting motor 1108. The output shaft of the position shifting motor 1108 is fixedly connected to the fourth gear 1109. The fourth gear 1109 is engaged with the third gear 1107.

[0037] Specifically, the position shifting motor 1108 is turned on, and the rotation of the output shaft of the position shifting motor 1108 will drive the fourth gear 1109 to rotate. The rotation of the fourth gear 1109 will drive the rotating plate 1105 to rotate, and then drive the slide groove 1106 to rotate and shift, thereby controlling the clamping rod 1102 to move along the clamping rod groove 1101, thereby realizing the inward movement of the clamping rod 1102 and the clamping plate 1103, so as to achieve clamping and grabbing of the sample.

[0038] Example 2, continue to refer to Figures 1-6 In the embodiment of the present invention, a camera is provided in the sealing cylinder 805.

[0039] Specifically, the specific situation inside the closed cylinder 805 can be observed through the camera, which is convenient for subsequent clamping and grabbing of the sample.

[0040] During the implementation of the present invention, the fixed track mechanism 1 is first installed and placed in the specified position. At this time, the connection between the two fixed track mechanisms 1 is realized through the connecting member 2. At this time, opening the supporting moving wheel mechanism 3 can realize the rotation and displacement along the fixed track mechanism 1, opening the movable rotating frame mechanism 4 can rotate and displace the closed cylinder mechanism 8 to the specified position, opening the deflection rod mechanism 5 can drive the deflection plate 6 to deflect and displace, and then drive the first linear motor 7 to deflect and displace, thereby driving the closed cylinder mechanism 8 to deflect and displace, and then turning on the first linear motor 7 can drive the closed cylinder mechanism 8 and the suction mechanism 9 to feed, so that the sample to be clamped is placed in the closed cylinder mechanism 8, and then turning on the first linear motor 7 to control the relative position of the closed cylinder mechanism 8 and the suction mechanism 9, so that the water flow is ejected through the rotating injection mechanism 10, realizing the formation of a vortex in the closed cylinder mechanism 8, and finally realizing the discharge of turbid water flow from the closed cylinder mechanism 8, so that the sample can be carefully observed, and turning on the clamping manipulator mechanism 11 can clamp and grasp the sample.

[0041] The present invention can realize movement and displacement along the fixed track mechanism 1 by setting a supporting moving wheel mechanism 3, can realize circumferential displacement by moving the rotating frame mechanism 4, can realize deflection and displacement of the closed cylinder mechanism 8 by the deflection rod mechanism 5, can drive the deflection plate 6 to deflect and displace by the deflection rod mechanism 5, and thus realize deflection and displacement of the closed cylinder mechanism 8, can drive the closed cylinder mechanism 8 to feed by the first linear motor 7, can realize closed survey and grasping by the closed cylinder mechanism 8 and the suction mechanism 9, can realize vortex flow of water in the closed cylinder mechanism 8 in cooperation with the suction mechanism 9, and realize that the closed cylinder mechanism 8 is finally in a clean state, can clamp and grasp the sample by the clamping manipulator mechanism 11, thereby improving the efficiency of marine survey and grasping.

[0042] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art will be able to modify the technical solutions described in the aforementioned embodiments or substitute equivalents for some of the technical features. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. A marine survey manipulator, comprising two fixed track mechanisms, characterized in that: A plurality of connecting parts are provided between the two fixed track mechanisms, the fixed track mechanism is provided with a supporting and moving wheel mechanism, the supporting and moving wheel mechanism is provided with a moving rotating frame mechanism, the moving rotating frame mechanism is provided with a deflection rod mechanism, the deflection rod mechanism is provided with a deflection plate, the deflection plate is provided with a plurality of first linear motors, the end of the first linear motor is fixedly connected to the closed cylinder mechanism, the closed cylinder mechanism is provided with a suction mechanism, the closed cylinder mechanism is provided with a plurality of rotating injection mechanisms, and the closed cylinder mechanism is provided with a clamping manipulator mechanism; the connecting parts are used to realize the connection between the two fixed track mechanisms, the supporting and moving wheel mechanism is used to realize movement along the fixed track mechanism, the moving rotating frame mechanism is used to realize rotation and displacement along the supporting and moving wheel mechanism, the suction mechanism is used to realize liquid supply to the rotating injection mechanism, the rotating injection mechanism is used to discharge turbidity in an orderly manner from the closed cylinder mechanism, and the clamping manipulator mechanism is used to clamp and fix the sample.

2. The marine survey manipulator according to claim 1, characterized in that: The fixed track mechanism includes a side arc plate, the side arc plate is fixedly connected to two arc-shaped baffles, the arc-shaped baffles are fixedly connected to a support frame, and a plurality of connection positioning holes are provided on the support frame.

3. The marine survey manipulator according to claim 2, characterized in that: The supporting moving wheel mechanism includes a fixing ring, two symmetrically arranged threaded sleeves are rotatably connected inside the fixing ring, the threaded sleeves are threadedly connected to the feed threaded rod, the threaded sleeves are threadedly connected to the locking bolt, the end of the locking bolt is in contact with the feed threaded rod, the feed threaded rod is fixedly connected to the supporting card wheel frame, the supporting card wheel frame is provided with a supporting moving wheel, the supporting moving wheel is provided with a driving motor, and the supporting card wheel frame is provided with a contact ball.

4. The marine survey manipulator according to claim 3, characterized in that: The mobile rotating frame mechanism includes a mobile frame arranged on a fixed ring, the mobile frame and the fixed ring are slidably connected, a mobile motor is provided on the mobile frame, the output shaft of the mobile motor is fixedly connected to the gear shaft, the gear shaft and the mobile frame are rotatably connected, the gear shaft is coaxially fixedly connected to the first gear, the first gear meshes with the second gear, and the second gear is fixed to the outside of the mobile frame.

5. The marine survey manipulator according to claim 4, characterized in that: The deflection rod mechanism includes a first displacement seat fixed on a movable frame, the first displacement seat is rotatably connected to the deflection rod, the movable frame is fixedly connected to a second displacement seat, the second displacement seat is rotatably connected to a second linear motor, the second linear motor is rotatably connected to a third displacement seat, the third displacement seat is fixedly connected to the deflection rod, and the deflection rod is fixedly connected to the deflection plate.

6. The marine survey manipulator according to claim 5, characterized in that: The closed cylinder mechanism includes a feed plate fixedly connected to the first linear motor, the feed plate is rotatably connected to a rotating tube, a filter head is provided at the end of the rotating tube, the rotating tube is connected to a water pump, the water pump is connected to the closed cylinder, the closed cylinder is made of transparent material, and the water inlet end of the water pump is connected to the closed cylinder.

7. The marine survey manipulator according to claim 6, characterized in that: The suction mechanism includes a snap ring groove provided on the closing cylinder, an elastic member fixedly connected to the snap ring groove on the closing cylinder, the end of the elastic member fixedly connected to the snap ring, the end of the snap ring away from the closing cylinder is closed, a water inlet pipe is provided on the closing cylinder, a one-way water inlet valve is provided on the water inlet pipe, a filter is provided on the end of the water inlet pipe away from the closing cylinder, a water outlet pipe is provided in the closing cylinder, and a one-way water outlet valve is provided on the water outlet pipe.

8. The marine survey manipulator according to claim 7, characterized in that: The rotary jet mechanism includes a mounting pipe arranged on the inner wall of the closed cylinder. A plurality of jet heads are arranged on the mounting pipe. The closer the jet head is to the water pump, the larger the angle between the jet head and the closed cylinder. The mounting pipe is connected to the water outlet pipe.

9. The marine survey manipulator according to claim 7, characterized in that: The clamping robot mechanism includes a plurality of clamping card rod grooves provided on the closing cylinder, a clamping card rod is provided on the clamping card rod groove, the clamping card rod and the closing cylinder are slidingly connected, the end of the clamping card rod is fixedly connected to the clamping card plate, the closing cylinder is fixedly connected to the fixed pipe, the fixed pipe is connected to the water inlet end of the water pump, the fixed pipe is rotatably connected to the rotating plate, the rotating plate is provided with a slide groove, the clamping card rod passes through the slide groove, the side of the rotating plate is fixedly connected to the third gear, the closing cylinder is provided with a position shifting motor, the output shaft of the position shifting motor is fixedly connected to the fourth gear, and the fourth gear and the third gear are meshed.

10. The marine survey manipulator according to claim 6, characterized in that: A camera is provided in the closed cylinder.

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