Underwater robot and mounting module thereof

Abstract

The utility model provides an underwater robot and an installation module thereof, and the installation module comprises a connecting piece which is used for connecting a to-be-installed object; the connecting piece is provided with a first limiting part, and the first limiting part is used for being matched with a robot body of the underwater robot so as to limit the mounting position between the mounting module and the robot body; the locking assemblies are movably connected with the connecting pieces, and the mounting module is connected with the robot body through the first limiting parts and the locking assemblies; the locking assembly and the robot body are in one of the locking state and the unlocking state under the condition of no external force, and the locking assembly and the robot body are in the other one of the locking state and the unlocking state under the action of external force. And therefore, the convenience of mounting operation and dismounting operation of the to-be-mounted object is improved.

Description

Technical Field

[0001] The present application relates to the technical field of underwater vehicles, and specifically relates to an underwater robot and its installation module. Background Art

[0002] An underwater robot is a working robot underwater. The underwater environment is harsh and dangerous, and the diving depth of humans is limited. Therefore, underwater robots have become an important tool for developing the ocean. In order to facilitate the underwater operation of the underwater robot, functional devices such as cameras, lighting lamps, and speed measuring instruments are usually equipped on the underwater robot.

[0003] In the prior art, these functional devices are generally installed on the underwater robot by means of bolt connection. Therefore, when it is necessary to disassemble these functional devices from the underwater robot, the bolts need to be disassembled from the underwater robot first. This method of disassembly is inconvenient and the operation is relatively complex. Summary of the Utility Model

[0004] The present application mainly provides an underwater robot and its installation module, which can improve the convenience of the installation operation and disassembly operation of the object to be installed.

[0005] To solve the above technical problems, a technical solution adopted by the present application is: to provide an installation module for an underwater robot, the installation module includes: a connecting member for connecting an object to be installed; the connecting member is provided with a first limiting portion, and the first limiting portion is used for being cooperatively arranged with the robot body of the underwater robot to limit the installation position between the installation module and the robot body; at least one locking component is movably connected to the connecting member, and the installation module is connected to the robot body through the first limiting portion and the locking component; the locking component is in one of a locked state and an unlocked state with the robot body without external force, and the locking component is in the other of the locked state and the unlocked state with the robot body under external force.

[0006] In a specific embodiment, the first limiting portion includes at least one hook, and the hook is used for being hooked with the robot body, and a hooking gap is formed between the hook and the connecting member.

[0007] In a specific embodiment, the hook includes a first inclined guiding surface disposed on one side close to the hooking gap, so that the robot body moves into the hooking gap along the first inclined guiding surface.

[0008] In a specific embodiment, the connecting member is further provided with a disassembly and assembly portion for removing other installation devices on the robot body.

[0009] In a specific embodiment, the connecting member includes an installation main body, a first connecting main body, and a second connecting main body. The installation main body is used to connect the object to be installed. The first connecting main body is provided with the first limiting portion. The number of the locking assemblies is one and is movably connected to the second connecting main body. The first connecting main body and the second connecting main body are respectively connected to the installation main body on different sides of the installation main body.

[0010] In a specific embodiment, one of the connecting member and the locking assembly is provided with a limiting groove, and the other of the connecting member and the locking assembly is provided with a limiting protrusion. The limiting protrusion and the limiting groove are cooperatively arranged so that when the locking assembly moves relative to the connecting member, the limiting protrusion moves within the extending length of the limiting groove.

[0011] In a specific embodiment, the locking assembly includes a locking mechanism and an elastic mechanism. The locking mechanism is movably connected to the connecting member and is provided with a first locking portion so that when the connecting member is loaded on the robot body of the underwater robot, the first locking portion and the robot body are in a locked state or an unlocked state. The elastic mechanism is respectively abutted against the connecting member and the locking mechanism.

[0012] In a specific embodiment, the locking mechanism is further provided with two first engaging portions, and the elastic mechanism is provided with a second engaging portion so that when the first locking portion and the robot body are respectively in a locked state and an unlocked state, the two first engaging portions are respectively in an engaged setting with the second engaging portion.

[0013] To solve the above technical problems, another technical solution adopted by the present application is: to provide an underwater robot, the underwater robot includes a robot body and the installation module described above. The robot body is provided with a second limiting portion, and the second limiting portion is in a cooperative setting with the first limiting portion. The locking assembly is in one of a locked state and an unlocked state with the robot body without external force, and the locking assembly is in the other of a locked state and an unlocked state with the robot body under external force.

[0014] In a specific embodiment, the first limiting portion includes a plurality of hooks, and the second limiting portion includes a plurality of grooves. Each hook is in a hooked setting with each groove.

[0015] The beneficial effects of the present application are as follows: Different from the prior art, the installation module provided by the present application includes: a connecting member for connecting the object to be installed; the connecting member is provided with a first limiting portion, and the first limiting portion is used for being cooperatively arranged with the robot body of the underwater robot to define the installation position between the installation module and the robot body; at least one locking component, which is movably connected to the connecting member, and the installation module is connected to the robot body through the first limiting portion and the locking component; the locking component is in one of a locked state and an unlocked state with respect to the robot body without external force, and the locking component is in the other of the locked state and the unlocked state with respect to the robot body under the action of external force. Compared with the prior art, both the installation operation and the disassembly operation of the object to be installed are more convenient, improving the convenience of the installation operation and the disassembly operation of the object to be installed. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0017] Figure 1 is a schematic three-dimensional assembly structure diagram of an embodiment of the underwater robot provided by the present application;

[0018] Figure 2 is Figure 1 a schematic three-dimensional exploded structure diagram of the underwater robot in;

[0019] Figure 3 is Figure 1 a schematic cross-sectional view of the underwater robot in the direction of F1-F1 upward;

[0020] Figure 4 is Figure 3 a schematic cross-sectional view of the installation module in;

[0021] Figure 5 is Figure 3 a magnified schematic view of part M in;

[0022] Figure 6 is Figure 5 a magnified schematic view of the robot body in;

[0023] Figure 7 is Figure 4 a schematic three-dimensional structure diagram of the locking mechanism in;

[0024] Figure 8 is Figure 2Enlarged schematic view of part N;

[0025] Figure 9 is Figure 4 Cross-sectional schematic view of the connecting member in the middle;

[0026] Figure 10 Cross-sectional schematic view of the locking mechanism in 9;

[0027] Figure 11 is Figure 4 In the elastic mechanism and Figure 7 Schematic view of the first state of the first engaging portion in the middle;

[0028] Figure 12 is Figure 4 In the elastic mechanism and Figure 7 Schematic view of the second state of the first engaging portion in the middle;

[0029] Figure 13 is Figure 4 In the elastic mechanism and Figure 7 Schematic view of the third state of the first engaging portion in the middle;

[0030] Figure 14 is Figure 2 Stereoscopic structure schematic view of the connecting member in the middle. Specific implementation manner

[0031] The present application will be further described in detail below in conjunction with the accompanying drawings and the implementation manner. It should be specifically pointed out that the following implementation manner is only used to illustrate the present application, but does not limit the scope of the present application. Similarly, the following implementation manner is only a part of the implementation manners of the present application rather than all the implementation manners. All other implementation manners obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of the present application.

[0032] The terms "first", "second", and "third" in this application are only used for descriptive purposes and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first", "second", and "third" may explicitly or implicitly include at least one of such features. In the description of this application, the meaning of "a plurality" is at least two, such as two, three, etc., unless otherwise specifically and explicitly defined. All directional indications (such as up, down, left, right, front, back...) in the embodiments of this application are only used to explain the relative positional relationship and movement conditions between components in a specific posture (as shown in the drawings). If this specific posture changes, then the directional indications will change accordingly. In addition, the terms "comprise" and "have" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that comprises a series of steps or units is not limited to the listed steps or units, but optionally further includes steps or units not listed, or optionally further includes other steps or units inherent to these processes, methods, products, or devices.

[0033] Reference herein to "embodiments" means that a particular feature, structure, or characteristic described in connection with the embodiments can be included in at least one embodiment of the application. The phrase appears in various places in the specification and does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive of other embodiments. Those skilled in the art will understand explicitly and implicitly that the embodiments described herein can be combined with other embodiments.

[0034] Please refer jointly to Figure 1 and Figure 2 , Figure 1 is a schematic three-dimensional assembly structure diagram of an underwater robot 10 provided by this application, Figure 2 and Figure 1 is a schematic three-dimensional exploded structure diagram of the underwater robot 10 in . The underwater robot 10 in this embodiment includes an installation module 20 and a robot body 30.

[0035] Among them, the installation module 20 includes a connecting member 21 and at least one locking component 22. The connecting member 21 is used to connect an object to be installed (not shown in the figure). In practical applications, the object to be installed can be a functional device such as a camera, a lighting lamp, a speedometer, etc., and can be specifically selected according to actual needs, and no limitation is made thereto.

[0036] Optionally, the connecting member 21 includes an installation main body 211, a first connecting main body 212 and a second connecting main body 213. The installation main body 211 is used to connect the object to be installed, and the first connecting main body 212 and the second connecting main body 213 are respectively connected to the installation main body 211 on different sides of the installation main body 211. For example, in this embodiment, the first connecting main body 212 and the second connecting main body 213 are respectively connected to the installation main body 211 on opposite sides of the installation main body 211.

[0037] Please refer to Figure 3 , Figure 4 , Figure 5 and 6, Figure 3 is Figure 1 a schematic cross-sectional view of the underwater robot 10 in FIG. F1-F1 looking upward, Figure 4 is Figure 3 a schematic cross-sectional view of the installation module 20 in FIG. Figure 5 is Figure 3 an enlarged schematic view of part M in FIG. Figure 6 is Figure 5 an enlarged schematic view of the robot body 30 in FIG. The connecting member 21 is provided with a first limiting portion 21a. In this embodiment, that is, the first connecting main body 212 is provided with the first limiting portion 21a. The first limiting portion 21a is used to be cooperatively arranged with the robot body 30 of the underwater robot 10 to limit the installation position between the installation module 20 and the robot body 30.

[0038] Specifically, as Figure 2 and Figure 6 shown, the robot body 30 is provided with a second limiting portion 30a, and the second limiting portion 30a is cooperatively arranged with the first limiting portion 21a.

[0039] Among them, the first limiting portion 21a includes at least one hook, and the hook is used to be hooked with the robot body 30. In this embodiment, the first limiting portion 21a includes a plurality of hooks, and the second limiting portion 30a includes a plurality of grooves. Each hook is hooked with each groove, so as to realize the limiting between the installation module 20 and the robot body 30.

[0040] It can be understood that in other embodiments, the first limiting portion 21a can also be limited to the robot body 30 in other ways, such as the way of snap-limiting. Therefore, the specific limiting way of the first limiting portion 21a is not limited.

[0041] Further, a hooking gap 201 is formed between the hook of the first limiting portion 21a and the connecting member 21, and the robot body 30 is located in the hooking gap 201. In this embodiment, that is, the side 30b of the robot body 30 close to the groove is located in the hooking gap 201, so as to realize the hooking setting between the hook and the groove.

[0042] Optionally, a clamping groove 202 is provided on the side of the hook of the first limiting portion 21a close to the engaging gap 201, so that when the robot body 30 is located within the engaging gap 201, it is also engaged with the clamping groove 202. In this embodiment, that is, the side 30b of the robot body 30 close to the groove is engaged with the clamping groove 202, so that the connecting member 21 and the robot body 30 are simultaneously engaged and clamped, improving the structural firmness of the connecting member 21 and the robot body 30.

[0043] Optionally, the hook of the first limiting portion 21a includes a first inclined guiding surface 21b provided on the side close to the engaging gap 201, so that the robot body 30 is moved into the engaging gap 201 along the first inclined guiding surface 21b.

[0044] Specifically, during the actual installation process, when the hook of the first limiting portion 21a is gradually moved into the groove of the second limiting portion 30a, the side 30b of the robot body 30 close to the groove is gradually moved into the engaging gap 201 along the first inclined guiding surface 21b. Through the setting of the first inclined guiding surface 21b, it provides a guiding function for the engaging process of the first limiting portion 21a and the second limiting portion 30a, improving the convenience of the engaging process between the two.

[0045] Furthermore, a second inclined guiding surface 30c is provided on the side of the robot body 30 close to the clamping groove, so that the hook is moved into the groove along the second inclined guiding surface 30c.

[0046] Specifically, during the actual installation process, in order to achieve the above-mentioned engagement setting between the first limiting portion 21a and the second limiting portion 30a, first, the hook of the first limiting portion 21a needs to be moved into the groove of the second limiting portion 30a. Therefore, through the setting of the second inclined guiding surface 30c, during the process of the hook of the first limiting portion 21a being moved into the groove of the second limiting portion 30a, it can provide a guiding function for the installation process of the hook being moved into the groove, improving the convenience of the moving-in process.

[0047] Please refer to Figure 7 and Figure 8 , Figure 7 is Figure 4 a three-dimensional structural schematic diagram of the locking mechanism 221 in Figure 8 is Figure 2An enlarged schematic view of the middle N part, the locking component 22 is movably connected to the connecting member 21. In this embodiment, the number of the locking components 22 is one and is movably connected to the second connecting body 213. The installation module 20 is connected to the robot body 30 through the first limiting portion 21a and the locking component 22; the locking component 22 is in one of the locked state and the unlocked state with the robot body 30 without external force, and the locking component 22 is in the other of the locked state and the unlocked state with the robot body 30 under external force. Through this setting method, when the locking component 22 is in the locked state with the robot body 30 without external force, then under external force, the connecting member can be detached from the robot body, so that the object to be installed can be detached from the robot body. When the locking component 22 is in the unlocked state with the robot body 30 without external force, then under external force, the connecting member can be installed on the robot body of the underwater robot, so that the object to be installed can be installed on the robot body of the underwater robot. Compared with the prior art, both the installation operation and the disassembly operation of the object to be installed are more convenient, improving the convenience of the installation operation and the disassembly operation of the object to be installed.

[0048] Wherein, the locking component 22 is provided with a first locking portion 22a, and the robot body 30 is provided with a second locking portion 30d, so that when the locking component 22 moves relative to the connecting member 21, the first locking portion 22a and the second locking portion 30d are in the locked state or the unlocked state.

[0049] Further, a locking gap 203 is formed between the robot body 30 and the second locking portion 30d, and the robot body 30 is further provided with a notch 204 communicating with the locking gap 203, so that the first locking portion 22a can be moved into the locking gap 203 through the notch 204 or moved from the locking gap 203 into the notch 204.

[0050] For ease of understanding, in this embodiment, taking the locking component 22 being rotatably connected to the connecting member 21 as an example, in practical applications, the first locking portion 22a can be first placed into the notch 204. Then, under the action of an external force, the locking component 22 rotates relative to the connecting member 21, driving the first locking portion 22a to rotate until the first locking portion 22a is transferred from the notch 204 into the locking gap 203. At this time, the first locking portion 22a is located between the robot body 30 and the second locking portion 30d. In this case, the first locking portion 22a is blocked by the second locking portion 30d, such that the first locking portion 22a and the second locking portion 30d are in a locked state, thereby installing the mounting module 20 on the robot body 30, that is, installing the object to be installed on the robot body 30. Similarly, under the action of an external force, when the first locking portion 22a is transferred from the locking gap 203 into the notch 204, since the first locking portion 22a is no longer blocked by the second locking portion 30d, the first locking portion 22a can be taken out from the notch 204. In this case, the first locking portion 22a and the second locking portion 30d are in an unlocked state. At this time, the mounting module 20 can be detached from the robot body 30, that is, the object to be installed can be detached from the robot body 30.

[0051] Please refer to Figure 4 , Figure 9 and Figure 10 , Figure 9 is Figure 4 a cross-sectional view of the connecting member 21 in Figure 10 a cross-sectional view of the locking mechanism 221 in 4. The locking component 22 includes a locking mechanism 221 and an elastic mechanism 222. The locking mechanism 221 is movably connected to the connecting member 21 and is provided with a first locking portion 22a, such that when the connecting member 21 is loaded on the robot body 30 of the underwater robot, the first locking portion 22a and the robot body 30 are in a locked state or an unlocked state.

[0052] Among them, the connecting member 21 is formed with a mounting hole 205, and the locking mechanism 221 is formed with an engaging gap 206. The locking mechanism 221 passes through the mounting hole 205 and the connecting member 21 is arranged in cooperation with the engaging gap 206, such that the locking mechanism 221 and the connecting member 21 are rotatably connected.

[0053] Specifically, the locking mechanism 221 includes a locking body 2211 and a force-bearing body 2212. One of the locking body 2211 and the force-bearing body 2212 passes through the mounting hole 205 and is connected to the other one of the locking body 2211 and the force-bearing body 2212, and a clamping gap 206 is formed between the locking body 2211 and the force-bearing body 2212. In this embodiment, taking the locking body 2211 passing through the mounting hole 205 and being connected to the force-bearing body 2212 as an example, through this setting method, the connecting member 21 and the clamping gap 206 are arranged in cooperation, so that the locking mechanism 221 and the connecting member 21 remain in a connected state, and when the force-bearing body 2212 is subjected to an external force and rotates relative to the connecting member 21, the locking body 2211 is driven to rotate relative to the connecting member 21.

[0054] It can be understood that the above-described manner and structural form of the rotational connection between the locking mechanism 221 and the connecting member 21 are only for the convenience of description and are an example of the movable connection between the locking mechanism 221 and the connecting member 21. In other embodiments, the locking mechanism 221 can also be rotationally connected to the connecting member 21 through other structural forms, or the locking mechanism 221 and the connecting member 21 can also be movable connections in other ways, such as a sliding connection, which is not limited herein.

[0055] Further referring to Figure 4 , the elastic mechanism 222 abuts against the connecting member 21 and the locking mechanism 221 respectively, so as to increase the structural firmness between the first locking portion 22a and the robot body 30 of the underwater robot when the first locking portion 22a is in a locked state or an unlocked state with respect to the robot body 30 of the underwater robot. For example, when the first locking portion 22a is in a locked state with respect to the robot body 30, since the elastic mechanism 222 abuts against the connecting member 21 and the locking mechanism 221 respectively, therefore, the locking mechanism 221 will be subjected to the elastic abutting action of the elastic mechanism 222. If the locking mechanism 221 is not subjected to an external force, then the locking mechanism 221 remains in a locked state under the elastic abutting action, avoiding the situation that the locking mechanism 221 moves relative to the connecting member 21 when not subjected to an external force, resulting in locking failure.

[0056] Optionally, in this embodiment, the elastic mechanism 222 includes an elastic member 2221 and an abutting member 2222. Two ends of the elastic member 2221 abut against the connecting member 21 and the abutting member 2222 respectively, and the abutting member 2222 abuts against the locking mechanism 221.

[0057] Please refer to Figure 7 , Figure 11 , Figure 12 and Figure 13 , Figure 11 is Figure 4 the elastic mechanism 23 in Figure 7Schematic diagram of the first state of the first engaging portion 22b in Figure 12 is Figure 4 in the elastic mechanism 222 and Figure 7 Schematic diagram of the second state of the first engaging portion 22b in Figure 13 is Figure 4 in the elastic mechanism 222 and Figure 7 Schematic diagram of the third state of the first engaging portion 22b in . The locking mechanism 221 is further provided with two first engaging portions 22b, and the elastic mechanism 222 is provided with a second engaging portion 23a. In this embodiment, the abutting member 232 of the elastic mechanism 222 is provided with the second engaging portion 23a, so that when the first locking portion 22a and the robot body 30 are in the locked state and the unlocked state respectively, the two first engaging portions 22b are respectively engaged with the second engaging portion 23a, further increasing the structural firmness of the first locking portion 22a and the robot body 30, and at the same time playing a positioning role for the first locking portion 22a in the locked state and the unlocked state.

[0058] Optionally, one of the first engaging portion 22b and the second engaging portion 23a is an engaging groove, and the other of the first engaging portion 22b and the second engaging portion 23a is an engaging protrusion. In this embodiment, the first engaging portion 22b is taken as an engaging groove and the second engaging portion 23a is taken as an engaging protrusion as an example.

[0059] Optionally, in this embodiment, the number of the first engaging portions 22b is two, which are the first engaging portion 221a and the first engaging portion 221b respectively. The two first engaging portions 221b respectively correspond to the locked state and the unlocked state, that is, when the second engaging portion 23a is engaged with one of the first engaging portions 22b, the first locking portion 22a is in the locked state, and when the second engaging portion 23a is engaged with the other first engaging portion 22b, the first locking portion 22a is in the unlocked state.

[0060] For example, the first locking portion 22a is in the unlocked state in the state shown in Figure 11 . When the locking mechanism 221 is rotated in the direction A under an external force, as shown in Figure 12 , the second engaging portion 23a moves out of the first engaging portion 221a along the locking mechanism 221 and disengages from the engaged state, and the elastic mechanism 222 is compressed along the direction B under the abutting action of the locking mechanism 221 until, as shown in Figure 13 , the second engaging portion 23a moves into the first engaging portion 221b and is engaged with the first engaging portion 221b. At this time, the first locking portion 22a is in the locked state.

[0061] Among them, one of the locking mechanism 221 and the elastic mechanism 222 having the engaging groove includes a third inclined guiding surface 22c. In this embodiment, that is, the locking mechanism 221 includes the third inclined guiding surface 22c, so that when the locking mechanism 221 moves relative to the connecting member 21, the engaging protrusion moves into the engaging groove along the third inclined guiding surface 22c, playing a guiding role for the engaging protrusion to move into the engaging groove.

[0062] Optionally, the engaging protrusion is provided with a fourth inclined guiding surface 23b that cooperates with the third inclined guiding surface 22c, so that when the locking mechanism 221 moves relative to the connecting member 21, the engaging protrusion moves out of the engaging groove under the combined action of the third inclined guiding surface 22c and the fourth inclined guiding surface 23b, reducing the resistance during the process of the engaging protrusion moving out of the engaging groove.

[0063] Further refer to Figure 2 , the connecting member 21 is further provided with a disassembly and assembly portion 21c for disassembling other installation devices on the robot body 30, so that the installation module 20 in this embodiment can not only, as described above, realize the installation and disassembly operations of the object to be installed, but also has the installation and disassembly functions for other installation devices. For example, in practical applications, if the disassembly and assembly portion 21a is set as a nut groove, then the nut can be installed and disassembled through the disassembly and assembly portion 21a. Another example is that if the disassembly and assembly portion 21a is set as a plum blossom wrench, then the screw can be installed and disassembled through the disassembly and assembly portion 21a.

[0064] Please also refer to Figure 11 and Figure 14 , Figure 14 is Figure 2 a three-dimensional structural schematic diagram of the connecting member 21 in

[0065] The beneficial effects of the present application are as follows: Different from the prior art, the installation module provided by the present application includes: a connecting member for connecting an object to be installed; the connecting member is provided with a first limiting portion, and the first limiting portion is used for being arranged in cooperation with the robot body of the underwater robot to limit the installation position between the installation module and the robot body; at least one locking component is movably connected to the connecting member, and the installation module is connected to the robot body through the first limiting portion and the locking component; the locking component is in one of a locked state and an unlocked state with the robot body without external force, and the locking component is in the other of the locked state and the unlocked state with the robot body under the action of external force. Compared with the prior art, both the installation operation and the disassembly operation of the object to be installed are more convenient, and the convenience of the installation operation and the disassembly operation of the object to be installed is improved.

[0066] The above are only partial embodiments of the present application, and thus do not limit the protection scope of the present application. Any equivalent device or equivalent process transformation made by using the content of the specification and drawings of the present application, or directly or indirectly applied in other related technical fields, shall be equally included in the patent protection scope of the present application.

Claims

1. An installation module for an underwater robot, characterized in that: The installation module comprises: A connecting piece, used to connect the object to be installed; the connecting piece is provided with a first limiting portion, and the first limiting portion is used to be arranged in cooperation with the robot body of the underwater robot to limit the installation position between the installation module and the robot body; At least one locking component is movably connected to the connecting piece, and the mounting module is connected to the robot body through the first limiting portion and the locking component; the locking component is in one of a locked state and an unlocked state with the robot body in the absence of external force, and the locking component is in the other of a locked state and an unlocked state with the robot body under the action of external force.

2. The installation module according to claim 1, characterized in that: The first limiting portion includes at least one hook, and the hook is used to be hooked with the robot body, and a hooking gap is formed between the hook and the connecting member.

3. The installation module according to claim 2, characterized in that: The hook includes a first inclined guide surface arranged close to one side of the hooking gap, so that the robot body moves into the hooking gap along the first inclined guide surface.

4. The installation module according to claim 1, characterized in that: The connecting piece is also provided with a disassembly and assembly portion for removing other installed equipment on the robot body.

5. The installation module according to claim 1, characterized in that: The connecting member includes an installation body, a first connecting body and a second connecting body, the installation body is used to connect the object to be installed, the first connecting body is provided with the first limiting portion, the number of the locking assembly is one and is movably connected to the second connecting body, and the first connecting body and the second connecting body are respectively connected to the installation body on different sides of the installation body.

6. The installation module according to claim 1, characterized in that: One of the connecting member and the locking assembly is provided with a limiting groove, and the other of the connecting member and the locking assembly is provided with a limiting protrusion, and the limiting protrusion is matched with the limiting groove so that when the locking assembly moves relative to the connecting member, the limiting protrusion moves within the extension length of the limiting groove.

7. The installation module according to claim 1, characterized in that: The locking assembly includes a locking mechanism and an elastic mechanism. The locking mechanism is movably connected to the connecting piece and is provided with a first locking portion, so that when the connecting piece is loaded on the robot body of the underwater robot, the first locking portion and the robot body are in a locked state or an unlocked state, and the elastic mechanism abuts against the connecting piece and the locking mechanism respectively.

8. The installation module according to claim 7, characterized in that: The locking mechanism is further provided with two first engaging parts, and the elastic mechanism is provided with a second engaging part, so that when the first locking part and the robot body are in a locked state and an unlocked state respectively, the two first engaging parts are respectively engaged with the second engaging part.

9. An underwater robot, characterized in that: The underwater robot comprises a robot body and an installation module according to any one of claims 1 to 8, the robot body is provided with a second limiting portion, the second limiting portion is matched with the first limiting portion, the locking component is in one of a locked state and an unlocked state with the robot body in the absence of external force, and the locking component is in the other of a locked state and an unlocked state with the robot body under the action of external force.

10. The underwater robot according to claim 9, characterized in that: The first limiting portion includes a plurality of hooks, and the second limiting portion includes a plurality of grooves, and each of the hooks is hooked with each of the grooves.

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