Underwater robot

Abstract

The underwater robot comprises a machine frame, a sinking and floating mechanism, a propelling mechanism, a camera shooting and lighting mechanism and a main controller, the sinking and floating mechanism is arranged on the machine frame, the sinking and floating mechanism can feed water and drain water so as to achieve ascending and descending of the underwater robot, and the propelling mechanism is arranged on the machine frame. The propelling mechanism can enable the underwater robot to advance and steer in water, the camera shooting and lighting mechanism can enable the underwater robot to achieve direction and angle adjustment so as to achieve detection of conditions in the water, and the sinking and floating mechanism, the propelling mechanism and the camera shooting and lighting mechanism are all electrically connected with the main controller. Compared with the prior art, the underwater robot disclosed by the utility model can realize all-directional detection work in water only by adjusting the angle and the direction of the camera shooting and lighting mechanism, so that the underwater robot is simple in structure and convenient to operate, the adjusting precision of the underwater robot is effectively improved, and the underwater robot is suitable for popularization and application. Therefore, the detection work of the underwater robot can be smoothly carried out.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to an underwater robot. Background Art

[0002] Underwater robots, also known as unmanned remote-controlled submersibles, are extreme operation robots that work underwater. Due to the harsh and dangerous underwater environment and the limited diving depth of humans, underwater robots have become an important tool for developing the ocean.

[0003] When an existing underwater robot is performing underwater detection work, when it needs to shoot at different angles and directions, the posture of the entire robot needs to be adjusted. This is not only complicated to operate, but also has low adjustment accuracy, which results in the underwater robot's detection work not being able to proceed smoothly.

[0004] Therefore, how to provide an underwater robot that is not only easy to operate but also can effectively improve the adjustment accuracy when adjusting the shooting angle, thereby ensuring the smooth detection work of the underwater robot is a technical problem that technical personnel in this field urgently need to solve. Utility Model Content

[0005] In view of this, the purpose of the utility model is to provide an underwater robot, which is not only simple to operate but also can effectively improve the adjustment accuracy when adjusting the shooting angle, thereby ensuring the smooth detection work of the underwater robot.

[0006] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0007] An underwater robot, comprising:

[0008] frame;

[0009] A sinking and floating mechanism is arranged on the frame, and the sinking and floating mechanism can take in water and drain water to achieve the ascent and descent of the underwater robot;

[0010] A propulsion mechanism, disposed on the frame, capable of enabling the underwater robot to travel and turn in water;

[0011] A camera and lighting mechanism, which enables the underwater robot to adjust its direction and angle to detect the underwater situation;

[0012] A main controller, the sinking and floating mechanism, the propulsion mechanism and the imaging and lighting mechanism are all electrically connected to the main controller.

[0013] Optionally, the camera lighting mechanism includes a camera and a rotating support assembly, the camera is arranged on the rotating support assembly, and the rotating support assembly can adjust the angle and direction of the camera.

[0014] Optionally, the rotation support assembly includes a support portion, a first driving member and a second driving member;

[0015] The camera is arranged on the supporting part;

[0016] The first driving member is connected to the supporting portion, and the first driving member can drive the supporting portion to rotate;

[0017] The second driving member comprises a driving motor and a worm gear assembly, and two ends of the worm gear assembly are respectively connected to the driving motor and the camera.

[0018] Optionally, the rotation support assembly further includes a first shell and a second shell, the first driving member is disposed in the first shell, and the imaging lighting mechanism and the second driving member are respectively disposed in the second shell;

[0019] The support portion is disposed between the first shell and the second shell;

[0020] The second shell is a transparent shell.

[0021] Optionally, the rotating support assembly further includes a top cover and an illuminating lamp;

[0022] The top cover is arranged on the second shell, and the illuminating lamp is arranged on the top cover.

[0023] Optionally, a moving mechanism is further included, wherein the moving mechanism is arranged at the bottom of the frame, and the moving mechanism can contact the bottom of the water, so that the underwater robot can move on the bottom of the water.

[0024] Optionally, the moving mechanism includes a third driving member and a driving wheel, the third driving member is connected to the driving wheel, and the third driving member can drive the driving wheel to rotate.

[0025] Optionally, the moving mechanism further includes a crawler track;

[0026] There are at least two driving wheels, which are engaged with the crawler belt and can drive the crawler belt to rotate.

[0027] Optionally, the moving mechanism further includes a supporting wheel assembly;

[0028] The support wheel assembly comprises a support wheel, a mounting plate and a sliding block;

[0029] The support wheel is rotatably connected to the mounting plate, the slider is arranged on the mounting plate, the slider is slidably connected to the frame, and the outer peripheral surface of the support wheel can press the inner peripheral surface of the crawler track.

[0030] Optionally, the moving mechanism further includes an elastic member;

[0031] The frame is provided with a slide groove, and the slider is slidably connected to the slide groove;

[0032] One end of the elastic member is arranged at the top end of the slide groove, and the other end is connected to the top end of the slide block.

[0033] Optionally, the propulsion mechanism includes a propulsion body and a fourth driving member, wherein the fourth driving member is connected to the propulsion body, and the fourth driving member can drive the propulsion body to rotate, so as to realize the movement and turning of the underwater robot.

[0034] Optionally, the fourth driving member includes a driving part, a mounting part and a paddle, the mounting part and the paddle are both arranged on the propulsion body, the paddle is arranged on the mounting part, the driving part is connected to the mounting part, and the driving part drives the mounting part to rotate.

[0035] Optionally, protective nets are respectively provided at both ends of the mounting portion.

[0036] Optionally, the rack includes a first rack and a second rack, and the first rack and the second rack are connected via a connecting mechanism.

[0037] Optionally, the connecting mechanism includes a first connecting half ring and a second connecting half ring, the first connecting half ring and the second connecting half ring are respectively connected to the frame, and the first connecting half ring and the second connecting half ring are combined to form a clamping ring.

[0038] Optionally, it further includes a box body, wherein the box body is arranged in the clamping ring, the main controller is arranged in the box body, and the camera lighting mechanism is arranged on the box body.

[0039] It can be seen from the above technical scheme that when the underwater robot performs detection work, it is first necessary to put the underwater robot into the water, and then turn on the main controller. The main controller controls the water intake of the sinking and floating mechanism so that the underwater machine sinks into the water due to gravity. Then the main controller controls the propulsion mechanism and the camera and lighting mechanism to turn on. The underwater robot can move and turn in any direction in the water. During its movement and turning, the camera and lighting mechanism can shoot in different directions and angles to achieve all-round detection. When the shooting is completed, the main controller controls the camera and lighting mechanism to close, and at the same time controls the water in the sinking and floating mechanism to be drained. The underwater robot floats to the water surface and starts the next cycle.

[0040] Compared with the prior art, the underwater robot disclosed in the embodiment of the utility model can realize all-round detection work in the water only by adjusting the angle and direction of the camera lighting mechanism. Therefore, it is not only simple in structure and easy to operate, but also effectively improves the adjustment accuracy of the underwater robot, thereby ensuring the smooth progress of the underwater robot's detection work. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art are briefly introduced below. Obviously, the drawings described below are only embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0042] Figure 1 This is a schematic diagram of the overall structure of the underwater robot disclosed in the embodiment of the utility model;

[0043] Figure 2 This is a schematic diagram of the structure of the underwater robot (excluding the sinking and floating mechanism) disclosed in the embodiment of the utility model;

[0044] Figure 3 A schematic diagram of the internal structure of the underwater robot disclosed in the embodiment of the utility model;

[0045] Figure 4 A schematic diagram of the internal structure of the underwater robot disclosed in the embodiment of the utility model;

[0046] Figure 5 for Figure 1 Schematic diagram of the internal enlarged structure at A in FIG.

[0047] Figure 6 for Figure 1 Schematic diagram of the internal enlarged structure at B in the figure.

[0048] The names of the components are as follows:

[0049] 100-frame, 101-first frame, 102-second frame, 200-sinking and floating mechanism, 300-camera lighting mechanism, 301-camera, 302-supporting part, 303-first driving member, 304-second driving member, 3041-second driving member, 3042-worm, 3043-worm wheel, 3044-rotating shaft, 305-first shell, 306-second shell, 307-top cover, 308-illumination lamp, 400-moving mechanism, 401-third driving member, 402-driving wheel, 403-supporting wheel, 404-mounting plate, 405-crawler, 500-propulsion mechanism, 501-propulsion body, 502-mounting part, 503-blade, 504-protective net, 600-connecting structure, 601-first connecting semi-ring, 602-second connecting semi-ring, 700-box. DETAILED DESCRIPTION

[0050] In view of this, the core of the utility model is to provide an underwater robot, which is not only simple to operate but also can effectively improve the adjustment accuracy when adjusting the shooting angle, thereby ensuring the smooth detection work of the underwater robot.

[0051] The following will combine the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of them. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model. Please refer to Figures 1 to 6 .

[0052] Please refer to Figures 1 to 3 The underwater robot disclosed in the embodiment of the utility model includes a frame 100, a sinking and floating mechanism 200, a propulsion mechanism 500, a camera and lighting mechanism 300 and a main controller, wherein the sinking and floating mechanism 200 is arranged on the frame 100, and the sinking and floating mechanism 200 can take in and out water to achieve the rise and fall of the underwater robot, the propulsion mechanism 500 is arranged on the frame 100, and the propulsion mechanism 500 can make the underwater robot move and turn in the water, and the camera and lighting mechanism 300 can make the underwater robot adjust the direction and angle to realize the detection of the situation in the water, and the sinking and floating mechanism 200, the propulsion mechanism 500 and the camera and lighting mechanism 300 are all electrically connected to the main controller.

[0053] When the underwater robot performs detection work, it is first necessary to put the underwater robot into the water, and then turn on the main controller. The main controller controls the sinking and floating mechanism 200 to let water in, so that the underwater machine sinks into the water due to gravity, and then the main controller controls the propulsion mechanism 500 and the camera and lighting mechanism 300 to turn on. The underwater robot can move and turn in any direction in the water. During its movement and turning, the camera and lighting mechanism 300 can shoot in different directions and angles to achieve all-round detection. When the shooting is completed, the main controller controls the camera and lighting mechanism 300 to close, and at the same time controls the water in the sinking and floating mechanism 200 to be emptied, and the underwater robot floats to the water surface to start the next cycle.

[0054] Compared with the prior art, the underwater robot disclosed in the embodiment of the utility model can realize all-round detection work in the water only by adjusting the angle and direction of the camera lighting mechanism 300. Therefore, it is not only simple in structure and easy to operate, but also effectively improves the adjustment accuracy of the underwater robot, thereby ensuring the smooth progress of the detection work of the underwater robot.

[0055] It should be noted that the main controller is also connected to the ground control console signal. The staff can transmit the signal to the main controller by operating the ground control console, and the main controller then transmits the signal to the sinking and floating mechanism 200, the propulsion mechanism 500, and the camera lighting mechanism 300, etc.

[0056] The embodiment of the utility model does not limit the specific structure of the imaging lighting mechanism 300. As long as the structure meets the use requirements of the utility model, it is within the protection scope of the utility model.

[0057] Please refer to Figure 4 and Figure 5 As one embodiment, the video lighting mechanism 300 disclosed in the embodiment of the utility model includes a camera 301 and a rotating support assembly, wherein the camera 301 is arranged on the rotating support assembly, and the rotating support assembly can adjust the angle and direction of the camera 301.

[0058] The embodiments of the present invention do not limit the specific structure of the rotating support assembly. As long as the structure meets the use requirements of the present invention, it is within the protection scope of the present invention.

[0059] As one embodiment, the rotation support assembly disclosed in the embodiment of the present utility model includes a support portion 302 , a first driving member 303 and a second driving member 304 .

[0060] The camera 301 is disposed on the support portion 302 .

[0061] The first driving member 303 is connected to the supporting portion 302 , and the first driving member 303 can drive the supporting portion 302 to rotate.

[0062] The second driving member 304 includes a driving motor and a worm gear assembly, and two ends of the worm gear assembly are connected to the driving motor and the camera 301 respectively.

[0063] Specifically, the worm gear assembly includes a worm wheel 3043 and a worm 3042 .

[0064] In order to facilitate the connection between the worm gear assembly and the camera 301, the rotating support assembly disclosed in the embodiment of the utility model also includes a rotating shaft 3044, wherein the drive motor is connected to the worm 3042, the worm 3042 and the worm wheel 3043 are meshed, the rotating shaft 3044 and the worm wheel 3043 are coaxially arranged, and the rotating shaft 3044 is fixedly connected to the camera 301.

[0065] The first driving member 303 is also preferably a driving motor.

[0066] The first driving member 303 is started, and the output shaft of the first driving member 303 drives the support part 302 to rotate, thereby driving the camera 301 to rotate circumferentially, so as to achieve angle adjustment of the camera 301 in the horizontal direction.

[0067] The second driving member 304 is started, and the second driving member 304 drives the worm 3042 to rotate, the worm 3042 drives the worm wheel 3043 to rotate, the worm wheel 3043 drives the rotating shaft 3044, and the rotating shaft 3044 drives the camera 301 to adjust the angle and direction in the vertical direction.

[0068] Preferably, the support portion 302 disclosed in the embodiment of the present utility model is a cylindrical structure.

[0069] In order to protect the first driving member 303, the second driving member 304 and the camera 301, the rotating support assembly disclosed in the embodiment of the utility model also includes a first shell 305 and a second shell 306, wherein the first driving member 303 is arranged in the first shell 305, the camera lighting mechanism 300 and the second driving member 304 are respectively arranged in the second shell 306, and the support part 302 is arranged between the first shell 305 and the second shell 306.

[0070] It should be noted that the second shell 306 needs to be set as a transparent shell, and the camera 301 can detect the situation in the water through the transparent shell.

[0071] Since the underwater environment is dark, in order to improve the shooting quality of the camera 301 , the rotating support assembly disclosed in the embodiment of the utility model also includes a top cover 307 and an illuminating lamp 308 , wherein the top cover 307 is arranged on the second shell 306 , and the illuminating lamp 308 is arranged on the top cover 307 .

[0072] Please refer to Figure 3In order to further improve the detection effect of the underwater robot, the underwater robot disclosed in the embodiment of the utility model also includes a moving mechanism 400, wherein the moving mechanism 400 is arranged at the bottom of the frame 100, and the moving mechanism 400 can contact the bottom of the water, so that the underwater robot can move on the bottom of the water.

[0073] The third driving member 401 is started, and the third driving member 401 drives the driving wheel 402, and the driving wheel 402 can drive the frame 100 to achieve underwater travel.

[0074] As a further embodiment, the mobile mechanism 400 disclosed in the embodiment of the utility model further includes a crawler 405, wherein there are at least two driving wheels 402, the driving wheels 402 are meshed with the crawler 405, and the driving wheels 402 can drive the crawler 405 to rotate. Such a configuration can prevent underwater plants such as waterweed and seaweed from entanglement with the driving wheels 402, causing them to be unable to move normally.

[0075] Since the track 405 runs through the front and rear ends of the frame 100 and has a certain length and width, the track 405 needs to be supported to ensure its normal movement. In order to support the track 405, the mobile mechanism 400 disclosed in the embodiment of the utility model also includes a support wheel assembly.

[0076] Specifically, the support wheel assembly includes a support wheel 403 , a mounting plate 404 and a slider 405 .

[0077] The support wheel 403 is rotatably connected to the mounting plate 404 , the slider 405 is disposed on the mounting plate 404 , the slider 405 is slidably connected to the frame 100 , and the outer circumference of the support wheel 403 can press the inner circumference of the track 405 .

[0078] As a further embodiment, the moving mechanism 400 disclosed in the embodiment of the present utility model further includes an elastic member 406 .

[0079] A slide groove is provided on the frame 100, and the slider 405 is slidably connected to the slide groove.

[0080] One end of the elastic member 406 is disposed at the top of the slide slot, and the other end is connected to the top of the slider 405 .

[0081] In order to achieve effective support for the crawler track 405, the supporting wheel 403 disclosed in the embodiment of the utility model can be provided in plurality.

[0082] The third driving member 401 is started, driving the driving wheel 402 to rotate, the crawler track 405 is meshed and connected with the driving wheel 402, and the supporting wheel 403 is pressed against the inner circumference of the crawler track 405, so that the crawler track 405 can be tensioned and pressed against the outer circumference of the driving wheel 402. When the underwater robot encounters an uneven bottom surface while walking on the bottom of the water, under the action of the elastic member 406, the slider 405 can drive the supporting wheel 403 to move up and down through the mounting plate 404, so that it can further adapt to the uneven bottom surface of the water, thereby protecting the underwater robot from damage.

[0083] The embodiment of the utility model does not limit the specific structure of the propulsion mechanism 500. As long as the structure meets the use requirements of the utility model, it is within the protection scope of the utility model.

[0084] Please refer to Figure 6 As one embodiment, the propulsion mechanism 500 disclosed in the embodiment of the utility model includes a propulsion body 501 and a fourth driving member, wherein the fourth driving member is connected to the propulsion body 501, and the fourth driving member can drive the propulsion body 501 to rotate to realize the movement and turning of the underwater robot.

[0085] The fourth driving member is started, and the fourth driving member drives the propulsion body 501 to rotate, thereby driving the underwater robot to move and turn.

[0086] The embodiment of the utility model does not limit the specific structure of the fourth driving member. As long as the structure meets the use requirements of the utility model, it is within the protection scope of the utility model.

[0087] As one of the embodiments, the fourth driving member disclosed in the embodiment of the utility model includes a driving part, a mounting part 502 and a blade 503, wherein the mounting part 502 and the blade 503 are both arranged on the propulsion body 501, the blade 503 is arranged on the mounting part 502, the driving part is connected to the mounting part 502, and the driving part drives the mounting part 502 to rotate.

[0088] In order to ensure the traveling speed and steering flexibility of the underwater robot, the underwater robot disclosed in the embodiment of the utility model is preferably provided with a plurality of propulsion mechanisms 500 .

[0089] Preferably, in the embodiment of the utility model, one can be provided at each of the four corners of the frame 100 .

[0090] As a further embodiment, protective nets 504 are also provided at both ends of the mounting portion 502 disclosed in the embodiment of the utility model to prevent water plants and other debris from entangled in the propulsion mechanism 500 and affecting the normal movement of the underwater robot.

[0091] When the fourth driving member is started, it drives the mounting portion 502 to rotate, the mounting portion 502 drives the paddles 503 to rotate, and the paddles 503 drives the propulsion body 500 to rotate, thereby realizing the movement and turning of the entire underwater robot.

[0092] The embodiment of the present utility model does not limit the specific structure of the rack 100. As long as the structure meets the use requirements of the present utility model, it is within the protection scope of the present utility model.

[0093] The rack 100 disclosed in the embodiment of the present utility model can be an integral structure, or can be composed of a plurality of sub-racks 100. Any structure that meets the use requirements of the present utility model is within the protection scope of the present utility model.

[0094] As one embodiment, the rack 100 disclosed in the embodiment of the utility model includes a first rack 101 and a second rack 102 , wherein the first rack 101 and the second rack 102 are connected via a connection mechanism 600 .

[0095] The structures of the first frame 101 and the second frame 102 disclosed in the embodiment of the utility model can be the same or different. In order to facilitate processing and manufacturing, the underwater robot disclosed in the embodiment of the utility model preferably adopts the first frame 101 and the second frame 102 with the same structure.

[0096] As one embodiment, the first frame 101 and the second frame 102 disclosed in the embodiment of the utility model both include a vertical plate and a horizontal plate, wherein the vertical plate and the horizontal plate are vertically arranged. For example, the sinking and floating mechanism 200 can be arranged on the horizontal plate, and the propulsion mechanism 500 can be arranged on the vertical plate. Of course, other arrangements can also be adopted, and those skilled in the art can make arrangements according to actual needs.

[0097] The embodiment of the utility model does not limit the specific structure of the connecting mechanism 600. The connecting mechanism 600 can be a connecting rod, a connecting ring, or other connecting structures. As long as the structure meets the use requirements of the utility model, it is within the protection scope of the utility model.

[0098] Please refer to Figure 2 and Figure 3 As one embodiment, the connection mechanism 600 disclosed in the embodiment of the utility model includes a first connection half ring 601 and a second connection half ring 602, the first connection half ring 601 and the second connection half ring 602 are respectively connected to the frame 100, and the first connection half ring 601 and the second connection half ring 602 are combined to form a clamping ring.

[0099] Since the underwater robot performs operations in water, the main controller must be in a sealed environment. In order to achieve sealing of the main controller, the underwater robot disclosed in the embodiment of the utility model also includes a box 700, wherein the box 700 is arranged in a clamping ring, the main controller is arranged in the box 700, and the camera lighting mechanism 300 is arranged on the box 700.

[0100] The structure of the clamping ring and the structure of the box body 700 need to be configured in a similar manner. For example, when the clamping ring is a circular ring structure, the box body 700 can be configured as a cylindrical structure accordingly; when the clamping ring is a rectangular structure, the box body 700 can be configured as a rectangular structure accordingly.

[0101] That is to say, the structure of the clamping ring needs to be compatible with the structure of the box 700, so that the box 700 can be tightly clamped in the clamping ring, thereby preventing the box 700 from falling off when the underwater robot is moving or turning.

[0102] The embodiment of the utility model does not limit the specific structure of the sinking and floating mechanism 200. As long as the structure meets the use requirements of the utility model, it is within the protection scope of the utility model.

[0103] As one embodiment, the sinking and floating mechanism 200 disclosed in the embodiment of the utility model is a buoy, and one is provided on the transverse plate of each frame 100.

[0104] Among them, the float mainly includes a water tank with a counterweight at the bottom. A partition is provided inside the water tank to divide the water tank into a gas tank and a liquid tank. The liquid tank is provided with a drain and a water inlet. The partition moves to compress the gas, and the increase of liquid in the liquid tank makes the gravity greater than the buoyancy and sinks. The partition moves to compress the liquid, and the liquid is discharged to reduce the dead weight and float quickly.

[0105] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the term "comprises" or any other variation thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device that includes a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0106] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0107] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An underwater robot, characterized in that: include: frame; A sinking and floating mechanism is arranged on the frame, and the sinking and floating mechanism can take in water and drain water to achieve the ascent and descent of the underwater robot; A propulsion mechanism, disposed on the frame, capable of enabling the underwater robot to travel and turn in water; A camera and lighting mechanism, which enables the underwater robot to adjust its direction and angle to detect the underwater situation; A main controller, the sinking and floating mechanism, the propulsion mechanism and the camera lighting mechanism are all electrically connected to the main controller; The camera lighting mechanism comprises a camera and a rotating support assembly, the camera is arranged on the rotating support assembly, and the rotating support assembly can adjust the angle and direction of the camera; The rotation support assembly includes a support portion, a first driving member and a second driving member; The camera is arranged on the supporting part; The first driving member is connected to the supporting portion, and the first driving member can drive the supporting portion to rotate; The second driving member comprises a driving motor and a worm gear assembly, and two ends of the worm gear assembly are respectively connected to the driving motor and the camera.

2. The underwater robot according to claim 1, characterized in that: The rotating support assembly further includes a first shell and a second shell, the first driving member is arranged in the first shell, and the imaging lighting mechanism and the second driving member are respectively arranged in the second shell; The support portion is disposed between the first shell and the second shell; The second shell is a transparent shell.

3. The underwater robot according to claim 2, characterized in that: The rotating support assembly also includes a top cover and an illuminating lamp; The top cover is arranged on the second shell, and the illuminating lamp is arranged on the top cover.

4. The underwater robot according to claim 1, characterized in that: It also includes a moving mechanism, which is arranged at the bottom of the frame and can contact the bottom of the water, so that the underwater robot can travel on the bottom of the water.

5. The underwater robot according to claim 4, characterized in that: The moving mechanism comprises a third driving member and a driving wheel. The third driving member is connected to the driving wheel, and the third driving member can drive the driving wheel to rotate.

6. The underwater robot according to claim 5, characterized in that: The mobile mechanism also includes a crawler track; There are at least two driving wheels, which are engaged with the crawler belt and can drive the crawler belt to rotate.

7. The underwater robot according to claim 6, characterized in that: The mobile mechanism also includes a support wheel assembly; The support wheel assembly comprises a support wheel, a mounting plate and a sliding block; The support wheel is rotatably connected to the mounting plate, the slider is arranged on the mounting plate, the slider is slidably connected to the frame, and the outer peripheral surface of the support wheel can press the inner peripheral surface of the crawler track.

8. The underwater robot according to claim 7, characterized in that: The moving mechanism further comprises an elastic member; The frame is provided with a slide groove, and the slider is slidably connected to the slide groove; One end of the elastic member is arranged at the top end of the slide groove, and the other end is connected to the top end of the slide block.

9. The underwater robot according to claim 1, characterized in that: The propulsion mechanism comprises a propulsion body and a fourth driving member, wherein the fourth driving member is connected to the propulsion body and can drive the propulsion body to rotate, so as to realize the movement and steering of the underwater robot.

10. The underwater robot according to claim 9, characterized in that: The fourth driving member includes a driving part, a mounting part and a blade, wherein the mounting part and the blade are both arranged on the propulsion body, the blade is arranged on the mounting part, the driving part is connected to the mounting part, and the driving part drives the mounting part to rotate.

11. The underwater robot according to claim 10, characterized in that: Both ends of the installation portion are also provided with protective nets.

12. The underwater robot according to claim 1, characterized in that: The rack includes a first rack and a second rack, and the first rack and the second rack are connected via a connecting mechanism.

13. The underwater robot according to claim 12, characterized in that: The connecting mechanism comprises a first connecting half ring and a second connecting half ring, wherein the first connecting half ring and the second connecting half ring are respectively connected to the frame, and the first connecting half ring and the second connecting half ring are combined to form a clamping ring.

14. The underwater robot according to claim 13, characterized in that: It also includes a box body, which is arranged in the clamp ring, the main controller is arranged in the box body, and the camera lighting mechanism is arranged on the box body.

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