Connecting structure of underwater robot and manipulator

Abstract

The utility model relates to the technical field of underwater robots, in particular to a connecting structure of an underwater robot and a manipulator, which comprises a robot body, a manipulator body and a connecting piece mounted on the outer wall of the manipulator body, and the connecting piece comprises a support body, a connecting seat connected to the support body and a cover plate mounted on the connecting seat. A sliding rod which is positioned between the connecting seat and the cover plate and movably penetrates through the connecting seat at the same time is arranged between the connecting seat and the cover plate. Traditional signal cable connection can be removed, according to cooperation of the auxiliary assembly and the sliding table electric cylinder, after the sliding table electric cylinder drives the guide rod to retract, the connecting base can be stably separated from the robot body under the action of gravity in cooperation with pushing force of the pushing plate, a worker can independently pull the barrel shell to drive objects to be dragged upwards, and the working efficiency is improved. The stainless steel barrel shell can bear large pulling force, and the problem that the service life of the underwater robot is shortened or the underwater robot is damaged due to the fact that the robot body is directly pulled is solved.

Description

TECHNICAL FIELD

[0001] The utility model relates to underwater robot technical field, concretely relates to a connection structure of underwater robot and manipulator. BACKGROUND

[0002] With the development of technology, underwater robot becomes the important tool of underwater environment exploration, it can realize accurate control and full freedom motion in water, and realizes underwater environment search salvage work with underwater manipulator. And in the task execution of underwater environment search salvage unmanned aerial vehicle (underwater robot) used in criminal investigation, after the mechanical gripper is used to grab the article, many complex and tricky conditions are often faced, such as:

[0003] 1, because the robot body and manipulator body of the existing underwater robot adopt signal cable connector to connect, cannot complete the separation state, so if the salvaged article is heavy or large in size or is affected by the comprehensive action of underwater robot's own structure and hydrodynamic characteristics and other factors, the article or underwater robot body is frequently entangled and blocked by waterweeds or sundries in the upward pulling process, at this time, in order to successfully pull the article and underwater robot out of the water surface, it is often necessary to exert a large pulling force, and this excessive pulling force will pose a great challenge to the connecting part of the underwater robot, which can cause the shell to be damaged or separated due to high-strength pulling force, and once the shell is separated in water, the internal precision electronic components of the underwater robot will be irreversibly damaged, so that the underwater robot is stranded in water due to failure, causing direct loss of equipment.

[0004] 2, because the existing underwater robot adopts plastic shell, the material characteristics determine its vulnerability when facing large pulling force and water sundry scratching, even in the case that the underwater robot and the article can be successfully dragged on shore under a certain pulling force, the violent friction between the water sundry and the shell under the action of strong pulling force will inevitably cause scratches or damage of different degrees on the shell, and these scratches and damage are not only appearance defects, but also hidden dangers in the subsequent use process (for example, the shell structure strength may be reduced, and the waterproof performance may be reduced), which can shorten the service life of the underwater robot, increase the frequency of equipment maintenance and replacement, and adversely affect the underwater search and salvage task in criminal investigation from the aspects of economic cost and work efficiency. INVENTION CONTENTS

[0005] The utility model provides a connection structure of underwater robot and manipulator to solve the problems in the above background technology.

[0006] To solve the above technical problems, the technical scheme adopted by the utility model is:

[0007] The utility model provides a kind of underwater robot and the connecting structure of manipulator, including robot body, manipulator body and the connecting piece installed to the outer wall of the manipulator body, the connecting piece includes bracket body, connecting seat connected on bracket body and cover plate installed on the connecting seat, sliding rod is located between the connecting seat and cover plate and simultaneously active and penetrates in connecting seat, first tension spring is sleeved on the sliding rod, and multiple stepped through holes are formed between the connecting seat and cover plate, the sliding rod is active and arranged in multiple stepped through holes, and one end of the first tension spring is abutted on the step surface of multiple stepped through holes, the other end of the first tension spring is abutted on the limiting ring of sliding rod outer wall, and the bottom of the robot body is provided with connecting cavity, the connecting seat is arranged in connecting cavity, and the inner top wall of the connecting cavity is provided with auxiliary assembly for pushing connecting seat, opposite inner walls of the connecting cavity are provided with positioning slot and shrinkage hole coaxially arranged with multiple stepped through holes, guide rod is movably arranged in the shrinkage hole, one end of the guide rod is connected with slide cylinder located in the shell of robot body, the inner cavity of the robot body is provided with main control board for controlling slide cylinder, wireless transmission module is integrated on the main control board, the manipulator body includes barrel shell, the inner cavity of the barrel shell is provided with wireless receiving module in wireless communication connection with wireless transmission module, and the outer wall of the barrel shell is provided with lug plate.

[0008] Preferably, the auxiliary assembly includes a plurality of spring grooves opened in the inner top wall of the connecting cavity, a second tension spring arranged in each of the spring grooves, and a push plate connected to one end of each of the second tension springs.

[0009] Preferably, the inner wall of the connecting cavity is provided with a sliding groove, and a sliding block connected to the end surface of the push plate is slidably arranged in the sliding groove.

[0010] Preferably, the inner cavity of the barrel shell is provided with an electric motor, a driving assembly connected to the output end of the electric motor, a circuit board electrically connected to the electric motor and used for controlling the driving of the electric motor, a detachable power supply arranged at one end of the inner cavity of the barrel shell and used for supplying power to the circuit board, and a clamping jaw located outside the barrel shell and hingedly connected to the driving assembly, and the wireless receiving module is integrated on the circuit board.

[0011] Preferably, one end of the barrel shell is threadedly connected with a rear cover body used for plugging the detachable power supply, and the outer surface of the rear cover body is provided with anti-slip texture.

[0012] Preferably, the top of the connecting seat is provided with a cover plate cavity, and the cover plate is arranged in the cover plate cavity and detachably connected with the connecting seat.

[0013] Preferably, one end of the multi-step through hole is a first step section, a middle end position of the multi-step through hole is a second step section, the first step section, the second step section and the inner diameter of the shrinkage hole are equal, and the first tension spring is arranged in the second step section.

[0014] Preferably, the driving assembly comprises a lead screw connected to the output end of the motor, a guide sleeve threadedly connected to the outer wall of the lead screw, a transmission rod connected to one end of the guide sleeve, and an articulated seat mounted on one end of the transmission rod, the articulated seat movably connected with a connecting rod, and the clamping jaw movably connected with the articulated seat through the connecting rod.

[0015] Preferably, one end of the transmission rod movably penetrates the axis of the sealing seat body, and the sealing seat body is provided with a support, and one end of the clamping jaw is movably connected to the support.

[0016] Preferably, a guide groove is formed in the inner wall of the barrel shell in the circumferential direction, and the outer wall of the guide sleeve is slidably arranged in the guide groove.

[0017] By adopting the above technical scheme, the utility model has the beneficial effects of:

[0018] In the utility model, through the design of the wireless transmitting module and the wireless receiving module, the robot body and the mechanical hand body can be connected without signal cables, and the motor in the mechanical hand body is powered by the detachable power supply, which has certain rationality and reliability.

[0019] In the utility model, through the design of the auxiliary assembly and the sliding table electric cylinder, when the sliding table electric cylinder drives the guide rod to retract, the sliding rod can be reset under the action of the first tension spring, and the movement of the push plate is simultaneously pushed by the second tension spring, so that the connecting seat can be more stably separated from the robot body under the action of gravity and the thrust of the push plate, which is beneficial to the staff to pull the barrel shell with the articles upward by pulling the barrel shell alone, ensures that the barrel shell, the support body and the connecting seat made of stainless steel can withstand a large pulling force, and have certain scratch resistance at the same time, effectively avoid damage, and prevent the traditional operation robot body from being damaged or scratched or damaged due to high-strength pulling force or friction with water-borne debris, thereby reducing the service life or causing hidden problems. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 It is a whole structure schematic view of the utility model;

[0021] Figure 2 It is a bottom separation structure schematic view of the utility model;

[0022] Figure 3The utility model discloses a connecting seat and cover plate structure schematic diagram;

[0023] Figure 4 The utility model discloses a cover plate cavity internal structure schematic diagram;

[0024] Figure 5 The utility model discloses a cover plate bottom structure schematic diagram;

[0025] Figure 6 The utility model discloses a mechanical hand body section structure schematic diagram;

[0026] Figure 7 The utility model discloses a connecting seat and push plate sticking structure schematic diagram;

[0027] Figure 8 The utility model discloses a connecting seat and push plate separation structure schematic diagram;

[0028] Figure 9 For Figure 6 The utility model discloses a middle A place enlarged structure schematic diagram;

[0029] Figure 10 The utility model discloses a sliding rod lock state schematic diagram;

[0030] Figure 11 The utility model discloses a sliding rod unlock state schematic diagram;

[0031] Figure 12 The utility model discloses a circuit schematic diagram.

[0032] In the drawing: 1, robot body;2, mechanical hand body;3, support body;4, connecting seat;5, cover plate;6, sliding rod;7, first tension spring;8, multistage ladder type through -hole;9, connecting cavity;10, positioning groove;11, contraction hole;12, guide rod;13, sliding table electric cylinder;14, main control board;15, wireless transmitting module;16, barrel shell;17, wireless receiving module;18, ear plate;19, spring groove;20, second tension spring;21, push plate;22, sliding groove;23, motor;24, circuit board;25, detachable power supply;26, clamping jaw;27, rear cover body;28, cover plate cavity;29, first ladder section;30, second ladder section;31, screw;32, guide sleeve;33, transmission rod;34, hinged seat;35, connecting rod;36, sealing seat body;37, support;38, guide groove. DETAILED DESCRIPTION

[0033] In order to more clearly understand the above -mentioned purpose, feature and advantage of the utility model, the utility model is further explained below with the help of drawings and examples. It is to be explained that the embodiment of the application and the feature in the example can be combined mutually in the case of not conflicting.

[0034] In the following description, a lot of specific details are set forth in order to provide a thorough understanding of the present application, however, the present application can be practiced in different ways from those described herein, and it is therefore intended that the present application not be limited to the specific embodiments disclosed below.

[0035] As Figures 1-12 The utility model provides a kind of connecting structure of underwater robot and manipulator, including robot body 1, manipulator body 2 and the connecting piece installed to the outer wall of manipulator body 2, connecting piece includes support body 3, connecting seat 4 connected on support body 3 and cover plate 5 installed on connecting seat 4, connecting seat 4 and cover plate 5 between being located between and simultaneously moving through the sliding rod 6 of connecting seat 4, first tension spring 7 is sleeved on sliding rod 6, and multiple ladder type through-hole 8 is formed between connecting seat 4 and cover plate 5, sliding rod 6 is movably arranged in multiple ladder type through-hole 8, and one end of first tension spring 7 is abutted on the step surface of multiple ladder type through-hole 8, the other end of first tension spring 7 is abutted on the limiting ring of sliding rod 6 outer wall, and the bottom of robot body 1 is provided with connecting cavity 9, connecting seat 4 is located in connecting cavity 9, and the inner top wall of connecting cavity 9 is equipped with the auxiliary assembly for pushing connecting seat 4, the opposite inner wall of connecting cavity 9 is provided with the positioning slot 10 and the shrinkage hole 11 coaxially arranged with multiple ladder type through-hole 8, guide rod 12 is movably arranged in shrinkage hole 11, one end of guide rod 12 is connected with sliding table electric cylinder 13 located in the shell of robot body 1, the inner chamber of robot body 1 is equipped with main control board 14 for controlling sliding table electric cylinder 13, wireless transmission module 15 is integrated on main control board 14, manipulator body 2 includes barrel shell 16, the whole of barrel shell 16 and support body 3 and connecting seat 4 are made of stainless steel material, guarantee the strength between each component, prevent the problem of scratch or damage, improve service life, the inner chamber of barrel shell 16 is equipped with wireless receiving module 17 for wirelessly communicating with wireless transmission module 15, and the outer wall of barrel shell 16 is equipped with lug plate 18.

[0036] Among them, the robot body 1 is a device that can be purchased on the market, and specifically can refer to the GLADIUS Mini S model of the Xinhailong brand underwater robot. It is worth noting that the main body and the inside of the robot body 1 are not changed too much when using the existing device. Among them, the improvement of the existing device is that the bottom is provided with a connecting cavity 9, and a sliding table electric cylinder 13 is installed in the inner cavity of the robot body 1, and a wireless transmission module 15 is integrated on the main control board 14. In this way, the connection cavity 9 is opened and the sliding table electric cylinder 13 is added, which can be designed and molded according to the shell of the robot body 1 by the person skilled in the art, so as to obtain the robot body 1 shell with the connecting cavity 9 and the sliding table electric cylinder 13 can be installed. It can be implemented by the person skilled in the art according to professional knowledge, and the purpose of the present scheme is to protect a physical architecture. Although the control program part is not described in detail, the technology is well known and applied by the person skilled in the art according to professional knowledge.

[0037] Further, the two ends of the sliding rod 6 and one end of the guide rod 12 are respectively provided with chamfers, and the design of the chamfers facilitates the end of the sliding rod 6 to enter the positioning groove 10 to complete the locked state, and also facilitates the guide rod 12 to enter the multi-step through hole 8; and in actual use, when the outer wall of the guide rod 12 moves in the contraction hole 11, sealing treatment needs to be performed to ensure that the guide rod 12 can move smoothly while ensuring the sealing between the guide rod 12 and the contraction hole 11, preventing water from entering the inner cavity of the robot body 1 to damage the sliding table electric cylinder 13, and the sealing treatment includes but is not limited to the design of a sealing ring.

[0038] In combination with Figure 8 As further shown, the auxiliary assembly includes a plurality of spring grooves 19 opened in the top wall of the connecting cavity 9, a second tension spring 20 respectively arranged in the plurality of spring grooves 19, and a push plate 21 connected to one end of the plurality of second tension springs 20. The inner wall of the connecting cavity 9 is provided with a sliding groove 22, and a sliding block connected with the end face of the push plate 21 is slidingly arranged in the sliding groove 22.

[0039] Specifically, the spring grooves 19 and the second tension springs 20 need to be provided with at least two, and both need to be corresponding, which can ensure the stability of the push plate 21 when sliding, and the spring grooves 19 and the second tension springs 20 provided by the present scheme are respectively provided with four, and the four second tension springs 20 are respectively located at the four corners of the push plate 21. In this way, the four second tension springs 20 can push the push plate 21 to slide stably in the sliding groove 22 under the action of the spring force, so as to ensure that the push plate 21 smoothly pushes out the connecting seat 4, avoiding the problem that the connecting seat 4 is stuck when it is separated, and having certain reliability.

[0040] In combination with Figure 6As shown, further, the inner cavity of the barrel shell 16 is provided with a motor 23, a drive assembly connected to the output end of the motor 23, a circuit board 24 electrically connected to the motor 23 and used for controlling the driving of the motor 23, a detachable power supply 25 arranged at one end of the inner cavity of the barrel shell 16 and used for supplying power to the circuit board 24, and a clamping jaw 26 located outside the barrel shell 16 and hinged to the drive assembly, and the wireless receiving module 17 is integrated on the circuit board 24.

[0041] Specifically, the installation of the motor 23 and the circuit board 24 can adopt existing known technologies, and detailed descriptions are not compared herein. The design of placing the detachable power supply 25 at one end of the barrel shell 16 is similar to the structure of an outdoor flashlight, which is a known disclosed technology and is well known to those skilled in the art. Meanwhile, the design of integrating the wireless receiving module 17 on the circuit board 24 is also based on existing disclosed technologies to cooperate with the physical structure proposed in the present solution to achieve application, and the specific principle is well known to those skilled in the art.

[0042] In combination Figure 6 and Figure 9 As shown, further, the drive assembly includes a lead screw 31 connected to the output end of the motor 23, a guide sleeve 32 threadedly connected to the outer wall of the lead screw 31, a transmission rod 33 connected to one end of the guide sleeve 32, and a hinged seat 34 mounted at one end of the transmission rod 33. The hinged seat 34 movably connects a connecting rod 35, and the clamping jaw 26 is movably connected to the hinged seat 34 through the connecting rod 35. One end of the barrel shell 16 is provided with a sealing seat body 36, and one end of the transmission rod 33 movably penetrates the axis of the sealing seat body 36. The sealing seat body 36 is provided with a support 37, and one end of the clamping jaw 26 is movably connected to the support 37.

[0043] Specifically, when the motor 23 drives the lead screw 31 to rotate, the threaded connection between the lead screw 31 and the guide sleeve 32 can drive the guide sleeve 32 to move, so that the guide sleeve 32 can push the transmission rod 33 to move outward after moving, so as to drive the transmission rod 33 to push the hinged seat 34 to move, and then the hinged seat 34 can push the clamping jaw 26 to open through the movably connected connecting rod 35, so as to facilitate clamping the articles. Conversely, when the guide sleeve 32 drives the transmission rod 33 to move inward, the transmission rod 33 can pull the hinged seat 34 to shrink, so as to drive the hinged seat 34 to drive the clamping jaw 26 to close through the connecting rod 35, to complete the clamping work of the articles.

[0044] Further, a guide groove 38 is formed in the circumferential direction of the inner wall of the barrel shell 16, and the outer wall of the guide sleeve 32 is slidably arranged in the guide groove 38. The design function is to ensure that the guide sleeve 32 moves in the axial direction of the barrel shell 16 under the action of the lead screw 31, which is beneficial to the movement of the guide sleeve 32 to drive the transmission rod 33 to move, so as to realize the opening and closing of the clamping jaw 26 through the hinged seat 34 and the connecting rod 35, and complete the clamping of the articles by the clamping jaw 26.

[0045] Among them, the clamping jaw 26, the connecting rod 35 and the support 37 are provided with three respectively, so that the three clamping jaws 26 can ensure the clamping reliability of the article and prevent the article from falling off.

[0046] As shown in Figure 3 and Figure 6 Further, the rear cover body 27 is threadedly connected to one end of the barrel shell 16 for plugging the detachable power supply 25, and the outer surface of the rear cover body 27 is provided with anti-skid texture, wherein when the rear cover body 27 is threadedly connected to one end of the barrel shell 16, the staff can waterproof according to the actual situation, including but not limited to using waterproof tape.

[0047] As shown in Figure 3 and Figure 4 Further, the top of the connecting seat 4 is provided with a cover plate cavity 28, and the cover plate 5 is arranged in the cover plate cavity 28 and detachably connected with the connecting seat 4, and the cover plate 5 is detachably connected with the connecting seat 4 by screws, so that the disassembly of the cover plate 5 exposes the inner cavity of the cover plate cavity 28, facilitating the assembly or replacement of the sliding rod 6 or the first tension spring 7, and ensuring the locking stability of the sliding rod 6 to the connecting seat 4.

[0048] As shown in Figure 4 and Figure 5 Further, one end of the multi-step through hole 8 is a first stepped section 29, and the middle position of the multi-step through hole 8 is a second stepped section 30, the inner diameters of the first stepped section 29, the second stepped section 30 and the contraction hole 11 are equal, and the first tension spring 7 is arranged in the second stepped section 30.

[0049] Specifically, the outer wall of the sliding rod 6 is connected with a limiting ring, one end of the first tension spring 7 abuts against the limiting ring, so that the first tension spring 7 can push the sliding rod 6 to reset in the multi-step through hole 8, and the length of the first stepped section 29 is equal to the depth of the positioning groove 10, so that when the guide rod 12 enters the first stepped section 29, the sliding rod 6 is pushed to move, and after the sliding rod 6 moves, one end thereof is adapted to enter the positioning groove 10, thereby ensuring the stability of the sliding rod 6.

[0050] Working principle and use process of the utility model:

[0051] When in use, first, the robot body 1 is connected with the remote controller outside through the signal cable, and the staff can control the work of the sliding table cylinder 13 through the remote controller, so that when the connecting seat 4 is placed in the connecting cavity 9, the sliding table cylinder 13 can push the guide rod 12 into the first stepped section 29, and after entering, the sliding rod 6 can be moved in the multi-stepped through hole 8, prompting one end of the sliding rod 6 to enter the positioning groove 10, and at this time, one end of the sliding rod 6 is located in the positioning groove 10, one end of the guide rod 12 is located in the first stepped section 29 and abuts against the other end of the sliding rod 6, ensuring that the connecting seat 4 can be stably installed in the connecting cavity 9, completing the connection of the mechanical hand body 2 with the robot body 1 through the connecting seat 4, and simultaneously connecting the back pull rope on the ear plate 18 on the robot body 1 and the ear plate 18 on the outer wall of the barrel shell 16.

[0052] When the robot body 1 and the mechanical hand body 2 enter the underwater area where the objects need to be grabbed, the staff can control the main control board 14 through the signal cable by using the remote controller, so that the main control board 14 can send instructions through the wireless transmission module 15 after working, and the wireless receiving module 17 can control the electric motor 23 to work after receiving the signal, so that the electric motor 23 drives the clamping jaw 26 to complete the clamping work through the driving assembly, and when the clamping jaw 26 grabs the objects with heavy weight or large volume, the staff can control the main control board 14 by using the remote controller, so that the main control board 14 controls the sliding table cylinder 13 to work in contraction, and then the sliding table cylinder 13 drives the guide rod 12 to separate from the first stepped section 29, during which the sliding rod 6 can be reset due to the action force of the first tension spring 7, so that one end of the sliding rod 6 separates from the positioning groove 10, ensuring that the connecting seat 4 is in the unlocked state, and at this time, the push plate 21 in contact with the connecting seat 4 can move stably in the sliding groove 22 under the action force of the second tension spring 20, so that the push plate 21 can push the connecting seat 4 to separate from the connecting cavity 9, and at the same time, the connecting seat 4 is driven to separate from the connecting cavity 9 by the gravity of the mechanical hand body 2, ensuring that the connecting seat 4 can separate from the robot body 1, which is beneficial for the staff to pull the mechanical hand body 2 according to the back pull rope on the ear plate 18, prompting the barrel shell 16 to pull the objects upward alone, ensuring that the barrel shell 16, the support body 3 and the connecting seat 4 made of stainless steel can withstand a large pulling force and have a certain scratch resistance at the same time, effectively avoiding the problem of damage, preventing the traditional operation robot body 1 from being damaged due to high-strength pulling force or causing scratches or damage due to friction with water-borne debris, resulting in reduced service life or hidden problems of damage.

[0053] In the present application, the term "a plurality of" means two or more, unless otherwise expressly specified. The term "and / or" as used herein encompasses all possibilities of combinations of one or more relevant items. The terms "mounting", "connected", "connecting", "fixed", and the like, should be interpreted broadly, for example, "connected" can be fixed connection, or detachable connection, or integrally connected; "connected" can be directly connected, or indirectly connected through intermediate media. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0054] It should be noted that when an element is referred to as being "mounted", "attached", "fixed" or "disposed" on another element, it can be directly on the other element or there can be an intervening element. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or there can be an intervening element. The terms "vertical", "horizontal", "upper", "lower", "left", "right", and similar expressions used herein are for illustrative purposes only and are not intended to be limiting.

[0055] In the description of the present application, the description of the terms "one embodiment", "some embodiments", "a specific embodiment", and the like, means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present application, the illustrative description of the above terms does not necessarily mean the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0056] Although embodiments of the present application have been shown and described, those skilled in the art can understand that various changes, modifications, replacements and variations of the embodiments can be made without departing from the principles and spirit of the present application, and the scope of the present application is defined by the claims and their equivalents.

Claims

1. A connection structure between an underwater robot and a manipulator, characterized by: The invention comprises a robot body (1), a manipulator body (2) and a connecting member installed on the outer wall of the manipulator body (2), wherein the connecting member comprises a bracket body (3), a connecting seat (4) connected to the bracket body (3) and a cover plate (5) installed on the connecting seat (4), a sliding rod (6) located between the connecting seat (4) and the cover plate (5) and movably passing through the connecting seat (4), a first tension spring (7) is sleeved on the sliding rod (6), and a multi-step through hole (8) is formed between the connecting seat (4) and the cover plate (5), the sliding rod (6) is movably arranged in the multi-step through hole (8), and one end of the first tension spring (7) abuts against the stepping surface of the multi-step through hole (8), and the other end of the first tension spring (7) abuts against the limiting ring on the outer wall of the sliding rod (6), and a connecting cavity (9) is provided at the bottom of the robot body (1). The connecting seat (4) is arranged in the connecting cavity (9), and the inner top wall of the connecting cavity (9) is provided with an auxiliary component for pushing the connecting seat (4), the two opposite inner walls of the connecting cavity (9) are provided with a positioning groove (10) and a shrinkage hole (11) arranged coaxially with the multi-step through hole (8), a guide rod (12) is movably arranged in the shrinkage hole (11), one end of the guide rod (12) is connected to a slide cylinder (13) located in the shell of the robot body (1), the inner cavity of the robot body (1) is provided with a main control board (14) for controlling the slide cylinder (13), the main control board (14) is integrated with a wireless transmitting module (15), and the manipulator body (2) includes a cylinder shell (16), the inner cavity of the cylinder shell (16) is provided with a wireless receiving module (17) wirelessly connected to the wireless transmitting module (15), and the outer wall of the cylinder shell (16) is provided with an ear plate (18).

2. The connection structure between an underwater robot and a manipulator according to claim 1, characterized in that: The auxiliary component includes a plurality of spring slots (19) provided on the top wall of the connecting cavity (9), second tension springs (20) respectively arranged in the plurality of spring slots (19), and a push plate (21) simultaneously connected to one end of the plurality of second tension springs (20).

3. The connection structure between an underwater robot and a manipulator according to claim 2, characterized in that: A sliding groove (22) is provided on the inner wall of the connecting cavity (9), and a sliding block connected to the end surface of the push plate (21) is slidably provided in the sliding groove (22).

4. The connection structure between an underwater robot and a manipulator according to claim 1, characterized in that: The inner cavity of the cylindrical shell (16) is provided with a motor (23), a driving assembly connected to the output end of the motor (23), a circuit board (24) electrically connected to the motor (23) and used for controlling the driving of the motor (23), a detachable power supply (25) provided at one end of the inner cavity of the cylindrical shell (16) and used for supplying power to the circuit board (24), and a clamping claw (26) located outside the cylindrical shell (16) and hinged to the driving assembly, and the wireless receiving module (17) is integrated on the circuit board (24).

5. The connection structure between an underwater robot and a manipulator according to claim 4, characterized in that: One end of the cylindrical shell (16) is threadedly connected to a rear cover (27) for sealing a detachable power supply (25), and an anti-slip texture is provided on the outer surface of the rear cover (27).

6. The connection structure between an underwater robot and a manipulator according to claim 1, characterized in that: A cover plate cavity (28) is provided on the top of the connecting seat (4), and the cover plate (5) is arranged in the cover plate cavity (28) and is detachably connected to the connecting seat (4).

7. The connection structure between an underwater robot and a manipulator according to claim 6, characterized in that: One end of the multi-step through hole (8) is a first step section (29), and the middle end of the multi-step through hole (8) is a second step section (30). The inner diameters of the first step section (29), the second step section (30) and the shrinkage hole (11) are equal, and the first tension spring (7) is arranged in the second step section (30).

8. The connection structure between an underwater robot and a manipulator according to claim 4, characterized in that: The driving assembly comprises a screw rod (31) connected to the output end of the motor (23), a guide sleeve (32) threadedly connected to the outer wall of the screw rod (31), a transmission rod (33) connected to one end of the guide sleeve (32), and an articulated seat (34) mounted on one end of the transmission rod (33), a connecting rod (35) being movably connected to the articulated seat (34), and the clamping jaw (26) is movably connected to the articulated seat (34) via the connecting rod (35).

9. The connection structure between an underwater robot and a manipulator according to claim 8, characterized in that: A sealing seat (36) is provided at one end of the cylindrical shell (16), one end of the transmission rod (33) is movably inserted into the axial direction of the sealing seat (36), and a support (37) is provided on the sealing seat (36), and one end of the clamping claw (26) is movably connected to the support (37).

10. The connection structure between an underwater robot and a manipulator according to claim 8, characterized in that: The inner wall of the cylindrical shell (16) is provided with a guide groove (38) along the circumferential direction, and the outer wall of the guide sleeve (32) is slidably arranged in the guide groove (38).

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