A water robot

Abstract

The utility model discloses an overwater robot, including motorized main body, power propulsion device, operation function mechanism, the motorized main body can float on water, be equipped with the weight load of triangular distribution on the same plane on the motorized main body, through the connecting place or the force point between operation function mechanism and motorized main body close to the barycentric position of weight load of triangular distribution of motorized main body, can make overwater robot in the execution of the drag operation, the snatch operation or the fish luring operation etc. working condition process, avoided the problem of inclination or overturning produced by the stress imbalance, with good balance and stability, ensure the operation process smoothly, reliable, more important, operation function mechanism is at least one or multiple combinations among drag device, snatch device, fish luring device, so that motorized main body can select and extend operation function mechanism according to different application scene, so still have the characteristics of function expansibility, flexibility.

Description

[Technical Field]

[0001] This utility model relates to the field of waterborne equipment technology, and in particular to a waterborne robot. [Background Technology]

[0002] In the field of aquatic equipment technology, aquatic robots are widely used to perform various tasks, such as rescue, salvage, and aquaculture assistance. However, existing aquatic robots often suffer from limited functionality during operation.

[0003] Specifically, existing aquatic robots employ fixed connections for their operational mechanisms, meaning their functions are predetermined during manufacturing. They can only perform a single, pre-defined task and cannot be flexibly adjusted or expanded according to task requirements. This makes it difficult for aquatic robots to adapt to changing aquatic operating scenarios, such as different water areas, different seasons, or different tasks. They cannot quickly configure or change their operational mechanisms, resulting in low utilization rates and an inability to meet diverse user needs.

[0004] Furthermore, because the aquatic robot does not employ a modular design, the entire device needs to be disassembled during modifications or functional changes, resulting in high modification costs and potential resource waste. At the same time, the non-modular design also limits rapid technological iteration, making it difficult to introduce new functions and technologies in a timely manner.

[0005] Furthermore, existing aquatic robots suffer from inadequately designed connection points between their operational mechanisms and the main body. These mechanisms generate significant reaction forces during operation, and if the connection points or points of force application are off-center from the main body's center of gravity, the robot may become unbalanced and tilt during operation, potentially even capsizing. For example, when a robot is towing, if the force applied is outside the center of gravity, it will lose balance and tilt to one side, affecting efficiency and stability. Similarly, during grasping operations, the reaction force after the grasping device grabs an object can cause the robot to lose balance. Additionally, improper placement of the fish-attracting device can negatively impact the robot's balance when used for fish-luring operations. These problems severely affect the stability and safety of aquatic robot operations, limiting their application in various and complex scenarios.

[0006] In summary, existing water robots have significant shortcomings in terms of stability, flexibility, scalability, and ease of maintenance, making it difficult to meet the complex and ever-changing needs of current water operations.

[0007] Therefore, this utility model was developed to address the aforementioned problems. [Utility Model Content]

[0008] The purpose of this invention is to overcome the shortcomings of the prior art and provide a water robot. By placing the connection point or force point between the working functional mechanism and the motorized body close to the center of gravity of the triangularly distributed weight load of the motorized body, the water robot can avoid tilting or overturning problems due to force imbalance during towing, grasping, or fish-attracting operations. It maintains good balance and stability, ensuring smooth and reliable operation. More importantly, the working functional mechanism is at least one or more combinations of towing device, grasping device, and fish-attracting device, allowing the motorized body to be equipped with and expand the working functional mechanism according to different application scenarios. Therefore, it also has the characteristics of functional scalability and flexibility.

[0009] To address the aforementioned problems, this utility model provides a water robot, comprising:

[0010] The motorized body 1 is capable of floating on water and is equipped with weight loads distributed in a triangular pattern on the same plane.

[0011] A power propulsion device 2 is provided on the motor body 1 to drive the motor body 1 to move accordingly;

[0012] The working function mechanism is detachably connected to the motor body 1, and the connection point or force point between the working function mechanism and the motor body 1 is close to the center of gravity of the weight load of the motor body 1 which is distributed in a triangle, or the connection point or force point between the working function mechanism and the motor body 1 coincides with the orthographic projection of the center of gravity of the weight load of the motor body 1 which is distributed in a triangle. The working function mechanism includes at least one or more combinations of towing device 3, grabbing device 4, and fish attracting device 5.

[0013] As described above, the water robot has a universal connection component 11 on its working function mechanism that is detachably connected to the motor body 1. The other two working function mechanisms can be selectively connected to the motor body 1 detachably via the universal connection component 11.

[0014] As described above, in a water robot, the motorized body 1 is provided with a universal connection component 11 for detachable connection with the operating functional mechanisms, and the other two operating functional mechanisms are optionally detachably connected to the motorized body 1 via the universal connection component 11.

[0015] As described above, in a water robot, the fish-attracting device 5 is detachably connected to the motorized body 1, and the fish-attracting device 5 is provided with a universal connection component 11. The towing device 3 and the grasping device 4 can be detachably connected to the fish-attracting device 5 through the universal connection component 11.

[0016] As described above, in a water robot, the fish-attracting device 5 or the motorized body 1 is equipped with a fish-finding device 6. The fish-attracting device 5 can be configured to activate the fish-attracting mode when the fish-finding device 6 detects a school of fish and the motorized body 1 approaches the school of fish.

[0017] As described above, the water robot is further provided with a viewing device 7 on the motorized body 1. The viewing device 7 is configured to view aquatic plants and animals and their ecological environment during the movement of the motorized body 1.

[0018] As described above, in a water robot, the towing device 3 includes a towing connection seat 31 connected to the motor body 1 via a universal connection component 11. The towing connection seat 31 is provided with a transport towing rod 32. The rear end of the transport towing rod 32 is movably provided with a transport hook 33. The transport hook 33 can engage with the towing slot of the standard buoyancy box being towed.

[0019] As described above, in a water robot, the front end of the transport towing rod 32 is connected to the towing connection seat 31, and the rear end of the transport towing rod 32 is provided with a towing drive assembly 34 for controlling the corresponding movement of the transport hook 33 relative to the transport towing rod 32 so as to engage or disengage with the towing slot.

[0020] As described above, in a water robot, the grasping device 4 includes a grasping connecting seat 41 connected to a fish-attracting device 5 via a universal connecting component 11. The grasping connecting seat 41 is provided with a grasping main arm 42. A main arm adjustment component 43 is provided between the grasping main arm 42 and the grasping connecting seat 41 for driving the grasping main arm 42 to adjust its movement relative to the grasping connecting seat 41. A grasping component 44 is provided at the front end of the grasping main arm 42.

[0021] As described above, in a water robot, the main arm adjustment assembly 43 includes a rotation adjustment assembly for driving the gripping main arm 42 to rotate relative to the gripping connecting seat 41 and a tilt adjustment assembly for driving the gripping main arm 42 to tilt up and down relative to the gripping connecting seat 41.

[0022] As described above, in a water robot, the rotation adjustment assembly includes an adjustment rotating member 431 whose lower end is rotatably connected to a gripping connecting seat 41, and the upper end of the adjustment rotating member 431 is hinged to a gripping main arm 42. A rotation drive member 432 for driving the adjustment rotating member 431 to rotate is provided between the lower end of the adjustment rotating member 431 and the gripping connecting seat 41. The tilt adjustment assembly includes a tilt drive member 433 provided on the adjustment rotating member 431. The driving end of the tilt drive member 433 is hinged to the gripping main arm 42. The tilt drive member 433 is configured to drive the gripping main arm 42 to tilt up and down around the rotation axis between the upper end of the adjustment rotating member 431 and the gripping main arm 42.

[0023] As described above, in a water robot, the grasping assembly 44 includes two grasping parts 441 located at the front end of the grasping main arm 42 and capable of closing towards each other or opening away from each other. The connecting end of each grasping part 441 is hinged to the corresponding side of the grasping main arm 42. A closing drive assembly 442 for driving the two grasping parts 441 to close towards each other or open away from each other is provided between the connecting end of the grasping part 441 and the grasping main arm 42.

[0024] As described above, in a water robot, the opening and closing drive assembly 442 includes an opening and closing drive motor 4421 mounted on the grasping main arm 42. The output end of the opening and closing drive motor 4421 is connected to an opening and closing drive screw 4422. An opening and closing sliding seat 4423 is connected to the opening and closing drive screw 4422 and can be driven to move along the axial direction of the grasping main arm 42. An opening and closing linkage member 4424 is provided between the opening and closing sliding seat 4423 and the connecting end of each grasping component 441. One end of the opening and closing linkage member 4424 is hinged to the opening and closing sliding seat 4423, and the other end of the opening and closing linkage member 4424 is hinged to the end of the connecting end of the grasping component 441.

[0025] As described above, in a water robot, the rear end of the grasping main arm 42 is provided with a counterweight assembly 45 for balancing the grasping action of the grasping component 44 and the balancing motor body 1. The counterweight assembly 45 includes a counterweight block 451 slidably disposed on the rear end of the grasping main arm 42. The grasping main arm 42 is provided with a counterweight adjustment assembly 452 for driving the counterweight block 451 to move along the axial direction of the grasping main arm 42.

[0026] As described above, in a water robot, the counterweight adjustment assembly 452 includes a counterweight drive motor 4521 mounted on the gripping main arm 42. The output end of the counterweight drive motor 4521 is connected to an adjustment drive screw 4522, which is in transmission engagement with the adjustment nut 4511 of the counterweight block 451.

[0027] As described above, in a water robot, a counterweight guide assembly 46 is provided between the counterweight block 451 and the grasping main arm 42. The counterweight guide assembly 46 includes a counterweight guide hole 461 provided on the grasping main arm 42 and a counterweight guide rod 462 provided on the counterweight block 451 and passing through the counterweight guide hole 461.

[0028] As described above, in a water robot, the main body 1 has an overall U-shaped structure, and a connecting beam 12 is provided between the straight U-shaped segments of the main body 1; the fish-attracting device 5 is a bait delivery component, the front end of which is detachably connected to the inner side of the U-shaped transition section of the main body 1, and the two power propulsion devices 2 are detachably connected to the ends of the two straight U-shaped segments of the main body 1 respectively. The rear part of the bait delivery component is attached to the connecting beam 12 and placed between the two straight U-shaped segments of the main body 1. A delivery locking component 50 for locking the bait delivery component is provided between the bait delivery component and the main body 1 or between the bait delivery component and the connecting beam 12.

[0029] As described above, in a water robot, the bait delivery locking component 50 is disposed between the bait delivery component and the connecting beam 12; the bait delivery locking component 50 includes a locking engagement groove 501 disposed on the bait delivery component and used to engage with the connecting beam 12, and the side of the locking engagement groove 501 and the connecting beam 12 are provided with locking holes and locking pins 502 that can lock each other.

[0030] As described above, in a water robot, the bait delivery assembly includes a delivery housing 51 detachably connected to the motorized body 1. The delivery housing 51 has a storage cavity 52. ​​The end of the delivery housing 51 is provided with a delivery outlet 53 communicating with the storage cavity 52. ​​The delivery housing 51 is provided with a delivery extrusion assembly 54 for extruding the bait from the storage cavity 52 from the delivery outlet 53. The side of the delivery housing 51 is provided with a feeding port 55 communicating with the storage cavity 52. ​​The feeding port 55 is connected to a port cover 551.

[0031] As described above, in a water robot, the feeding outlet 53 is located at the rear end of the feeding housing 51, and the front end of the feeding housing 51 is provided with an installation opening 56. The installation opening 56 is connected to a mounting base 57. The feeding and extrusion assembly 54 includes a feeding drive motor 541 located on the mounting base 57 and a feeding drive shaft 542 located inside the feeding housing 51 and capable of being driven to extend and retract by the feeding drive motor 541. The feeding drive shaft 542 is located at one end of the storage cavity 52 and is connected to a feeding and extrusion component 543 for pushing the bait.

[0032] As described above, the water robot has a U-shaped main body 1. The propulsion device 2 includes a propulsion housing 21 connected to the ends of the two U-shaped straight sections of the main body 1. Each propulsion housing 21 has a peripheral water inlet 22 on its periphery. The rear end of the propulsion housing 21 has a propulsion outlet 23. A propulsion impeller 24 is provided inside the propulsion housing 21 and located between the peripheral water inlet 22 and the propulsion outlet 23. The propulsion housing 21 also has a propulsion drive motor 25 for driving the propulsion impeller 24 to rotate accordingly.

[0033] As described above, in a water robot, the front end of the propulsion housing 21 is connected to the end of the U-shaped straight section of the motor body 1 via a propulsion connecting seat 26. A power supply battery pack 27 is connected to the front side of the propulsion connecting seat 26, and the propulsion drive motor 25 is installed on the rear side of the propulsion connecting seat 26 and can be electrically connected to the power supply battery pack 27.

[0034] As described above, in a water robot, the propulsion shell 21 includes an integrally formed mounting section 211, a connecting section 212, and an extension section 213. The front end of the mounting section 211 is connected to the end of the U-shaped straight section of the motor body 1. The peripheral water inlet 22 is provided on the periphery of the connecting section 212. The propulsion drain 23 is formed from the rear port of the extension section 213, and the inner diameter gradually decreases from the connecting section 212 to the extension section 213.

[0035] As described above, in a water robot, the main body 1 has an overall U-shaped structure, and the power propulsion device 2 is connected to the end of the U-shaped straight section of the main body 1. The U-shaped transition connecting section and the two U-shaped straight sections of the main body 1 are respectively provided with power supply battery packs 27 that serve as weight loads and are distributed in a triangle on the same plane. The triangle is an equilateral triangle or an isosceles triangle.

[0036] As described above, in a water robot, the U-shaped transition section of the motor body 1 is provided with a storage cavity 13 for accommodating a power supply battery pack 27. The power supply battery pack 27 in the storage cavity 13 is used to supply power to the working function mechanism, and the power supply battery pack 27 placed in the U-shaped straight section of the motor body 1 is used to supply power to the power propulsion device 2.

[0037] Compared with existing technologies, the water robot of this invention has the following advantages:

[0038] 1. This utility model, by aligning the connection point or force application point between the working mechanism and the motorized body with the center of gravity of the triangularly distributed weight load of the motorized body, or by projecting the connection point or force application point between the working mechanism and the motorized body onto the center of gravity of the triangularly distributed weight load of the motorized body, enables the water robot to avoid tilting or overturning due to force imbalance during towing, grabbing, or fish-luring operations. It maintains good balance and stability, ensuring smooth and reliable operation.

[0039] 2. The mobile main body of this utility model can be quickly equipped with and expanded with corresponding operational functions according to actual operational needs, realizing flexible switching or superposition of different functions of the water robot, improving the adaptability of the water robot to perform different tasks on water, and having functional scalability and flexibility.

[0040] 3. This utility model, through the design of universal connecting components, makes the motorized body a universal platform that can be adapted to various operational mechanisms. This not only reduces the purchase cost of the water robot but also reduces its idle rate, improves its overall utilization rate, and enables the water robot to play its role in different operational scenarios. At the same time, the universal connecting components also provide great convenience for the functional expansion of the water robot, allowing the motorized body and various operational mechanisms to be modularly designed, reducing manufacturing costs and enhancing the product's selling points and competitiveness.

[0041] 4. This utility model can adjust the lever arm at the rear end of the gripping main arm through the counterweight component, forming a balancing torque opposite to the gripping torque direction, so that the gripping main arm can remain stable during operation, avoiding the problem of the motor body becoming unbalanced due to the reaction force during the gripping operation, and improving the stability of the gripping operation.

[0042] 5. The main body of this utility model has a U-shaped structure. This shape can reduce the resistance of movement and improve maneuverability and flexibility. Moreover, by selecting the appropriate functions, the U-shaped structure can be converted for use in scenarios such as water rescue and surfing.

[0043] 6. This utility model utilizes the weight of each power supply battery pack as the weight load of the motorized main body, and the power supply battery packs on the motorized main body are arranged in an isosceles triangle or equilateral triangle, so that the motorized main body can maintain a stable balance on the water; at the same time, each power supply battery pack independently supplies power to the corresponding functional modules, giving them a longer range.

[0044] 7. The installation of a viewing device on the motorized main body further enriches the function of this utility model, namely, the viewing device can be used to photograph aquatic plants and animals and their ecological environment to achieve the purpose of popular science.

[0045] 8. When towing operations are performed, the transport attachment at the rear end of the transport towing rod can be controlled and automatically separated from the standard buoyancy box, which is convenient, efficient and intelligent. [Attached Image Description]

[0046] The specific embodiments of this utility model will be further described in detail below with reference to the accompanying drawings, wherein:

[0047] Figure 1 This is one of the perspective views of Embodiment 1 of this utility model.

[0048] Figure 2 This is a second perspective view of Embodiment 1 of this utility model.

[0049] Figure 3 This is one of the exploded views of Embodiment 1 of this utility model.

[0050] Figure 4 This is the second exploded view of Embodiment 1 of this utility model.

[0051] Figure 5 This is the third exploded view of Embodiment 1 of this utility model.

[0052] Figure 6 This is the fourth exploded view of Embodiment 1 of this utility model.

[0053] Figure 7 for Figure 6 An enlarged diagram of A in the diagram.

[0054] Figure 8 This is an exploded view of the power propulsion device in Embodiment 1 of this utility model.

[0055] Figure 9 This is a perspective view of Embodiment 1 of the present invention when a supported component is being supported.

[0056] Figure 10 This is an exploded view of the supported component in Embodiment 1 of this utility model.

[0057] Figure 11 This is one of the perspective views of Embodiment 2 of this utility model.

[0058] Figure 12 This is a second perspective view of Embodiment 2 of this utility model.

[0059] Figure 13 This is a side view of Embodiment 2 of the present invention.

[0060] Figure 14 This is one of the exploded views of Embodiment 2 of this utility model.

[0061] Figure 15 This is the second exploded view of Embodiment 2 of this utility model.

[0062] Figure 16 This is the third exploded view of Embodiment 2 of this utility model.

[0063] Figure 17 This is the fourth exploded view of Embodiment 2 of this utility model.

[0064] Figure 18 This is a perspective view of Embodiment 3 of the present invention.

Detailed Implementation Methods

[0065] The embodiments of this utility model will now be described in detail with reference to the accompanying drawings.

[0066] like Figure 1-18As shown, this utility model discloses a water robot, which includes a motorized main body 1, a power propulsion device 2, and an operational function mechanism. The mobile body 1 can float on water. It is equipped with weight loads distributed in a triangular pattern on the same plane to maintain a stable balance. These weight loads are corresponding battery packs 27, each independently supplying power to the working mechanism and the propulsion device 2, thus extending its range. The propulsion device 2 is mounted on the mobile body 1 to drive it forward. The working mechanism is detachably connected to the mobile body 1, with the connection point or point of force between the working mechanism and the mobile body 1 close to the center of gravity of the triangularly distributed weight load, or the connection point or point of force between the working mechanism and the mobile body 1 coincides with the orthographic projection of the center of gravity of the triangularly distributed weight load. This structure prevents the working mechanism of the water robot from tilting or overturning due to force imbalance during operations such as towing, grabbing, or attracting fish, maintaining good balance and stability, and ensuring smooth and reliable operation.

[0067] In this invention, the operational functional mechanism includes at least one or more combinations of a towing device 3, a grabbing device 4, and a fish-attracting device 5. The towing device 3, grabbing device 4, or fish-attracting device 5 is detachably connected to the motorized body 1, and the operational functional mechanism detachably connected to the motorized body 1 is provided with a universal connecting component 11. The other two operational functional mechanisms can be selectively detachably connected to the motorized body 1 via the universal connecting component 11. Alternatively, the towing device 3, grabbing device 4, or fish-attracting device 5 is detachably connected to the motorized body 1, and the motorized body 1 is provided with a universal connecting component 11 for detachable connection to the operational functional mechanism. The other two operational functional mechanisms can be selectively detachably connected to the motorized body 1 via the universal connecting component 11.

[0068] Preferably, such as Figure 1-6 As shown in Figures 11-17, the fish-attracting device 5 is detachably connected to the motorized body 1, and while the fish-attracting device 5 is mechanically connected to the motorized body 1, it is also electrically connected simultaneously. The fish-attracting device 5 is provided with a universal connection component 11, through which the towing device 3 and the gripping device 4 can be selectively and detachably connected to the fish-attracting device 5. The universal connection component 11 also has electrical connection terminals, so that when the towing device 3 or the gripping device 4 is mechanically connected to the fish-attracting device 5 through the universal connection component 11, it is also electrically connected simultaneously through the corresponding electrical connection terminals.

[0069] The universal connection component 11 can be a universal snap-fit ​​groove, a universal snap-fit ​​protrusion, or a universal snap-fit ​​port, etc. The mobile body of this utility model can quickly replace or expand corresponding operational functional mechanisms according to actual operational needs through the universal connection component, realizing flexible switching or expansion between different functions of the water robot. This effectively improves the adaptability of the water robot to perform different tasks on water, enabling flexible switching or superposition of different functions, and possessing functional scalability and flexibility.

[0070] Therefore, by designing universal connection components, the main body becomes a universal platform that can be adapted to various operational mechanisms. This not only reduces the purchase cost of the water robot but also reduces its idle rate and improves its overall utilization rate, enabling the water robot to play its role in different operational scenarios. At the same time, the universal connection components also greatly facilitate the functional expansion of the water robot, allowing the main body and various operational mechanisms to be modularly designed, reducing manufacturing costs and enhancing product selling points and competitiveness.

[0071] like Figure 1 , 11 As shown in Figure 18, the overall structure of the motorized body 1 of this utility model is U-shaped. This design reduces resistance and helps to guide water flow; it also allows for more flexible movement in narrow waterways, near docks, or in complex waters, exhibiting excellent maneuverability and flexibility. Furthermore, by selecting appropriate functions, the U-shaped structure can be adapted for use in scenarios such as water rescue and surfing. The motorized body 1 has two U-shaped straight sections and a U-shaped transition connecting section between the two U-shaped straight sections. The motorized body 1 is a hollow structure, inherently possessing a certain degree of buoyancy on water. The power propulsion device 2 is connected to the end of the U-shaped straight section of the motor body 1. The U-shaped transition connecting section and the two U-shaped straight sections respectively accommodate power supply battery packs 27 distributed in a triangle on the same plane as weight loads. The triangle is an equilateral triangle or an isosceles triangle. The U-shaped transition connecting section is provided with a storage cavity 13 for accommodating the power supply battery packs 27. The power supply battery packs 27 in the storage cavity 13 are used to supply power to the working functional mechanism. The power supply battery packs 27 placed in the U-shaped straight section of the motor body 1 are used to supply power to the power propulsion device 2. Since each power supply battery pack supplies power to the corresponding functional module independently, it has a longer range.

[0072] The fish-attracting device 5 or the motorized body 1 of this utility model is equipped with a fish-finding device 6, which is mainly a sonar fish-finding device, such as a Hikvision micro-imaging sonar fish finder. Preferably, the fish-finding device 6 is set on the fish-attracting device 5. When the motorized body 1 is equipped with the fish-attracting device 5 and is moving on the water, it can perform fish-finding and fish-attracting operations. The fish-attracting device 5 is configured to activate the fish-attracting mode when the fish-finding device 6 detects a school of fish and the motorized body 1 approaches the school of fish. If the motorized body 1 continues to move at a low speed, the fish-attracting device 5 can be controlled to intermittently release fish-attracting signals, so that the school of fish will follow and the purpose of reeling in the fish can be achieved.

[0073] like Figure 1 , 3 As shown, to enhance the intelligence of the aquatic robot, the U-shaped transition section of the motorized body 1 is also equipped with a viewing device 7. This viewing device 7 is configured to observe aquatic plants and animals and their ecological environment during the movement of the motorized body 1. Specifically, it can be used to photograph these organisms for educational purposes. The viewing device 7 includes an above-water gimbal and an underwater gimbal. The above-water gimbal is located on the upper part of the U-shaped transition section and is equipped with a camera; the underwater gimbal is located on the bottom side of the U-shaped transition section and is equipped with a camera, sonar, and lighting. The Sidus underwater gimbal from Shanghai Jinyu Scientific Instruments Co., Ltd. can be used.

[0074] Furthermore, the main body 1 is also equipped with a Beidou satellite positioning and communication system, a temperature sensor, a radar device, and an automatic cruise module, enabling the water robot to achieve automatic obstacle avoidance and cruise functions. The Beidou satellite positioning and communication system can be the Guoyi Hengda GYM2003B module, and the temperature sensor can be the Mono T Recorder self-capacitive temperature sensor from Hangzhou Qianhai Technology Co., Ltd.

[0075] Therefore, when the water robot is searching for fish, it can be set to an automatic cruise map mode. The observation device 7 and temperature sensor send information such as the location of fish, fish type, temperature, water depth, and images of fish obtained by the automatic cruise to the cloud server for storage and data processing. The cloud server then generates a fish distribution heat map, which can provide real-time, accurate and effective big data support for blind box fishing, achieving smart fishing.

[0076] Specifically, such as Figure 1-5As shown in Figures 9 and 10, the towing device 3 includes a towing connector 31 connected to the motor body 1 via a universal connecting assembly 11. The towing connector 31 is provided with a transport towing rod 32. The rear end of the transport towing rod 32 is movably provided with a transport hook 33. The transport hook 33 can engage with the towing slot 110 of the standard buoyancy box 100 to be towed. The towing connector 31 is provided with an automatic unloading trigger switch 311. The front end of the transport towing rod 32 is connected to the towing connector 31, and the rear end of the transport towing rod 32 is provided with a towing drive assembly 34 for controlling the corresponding movement of the transport hook 33 relative to the transport towing rod 32 so that it can engage or disengage with the towing slot. The towing drive assembly 34 can be a stepper motor. The trigger switch 311 is configured to be activated when the water robot travels to a predetermined position, so that the transport attachment 33 is disengaged from the towing slot 110 to complete the automatic unloading action. When the water robot is equipped with the towing device 3 as the working function mechanism, it can tow a standard buoyancy box 100 loaded with fish or other materials on the water to realize the transportation and handling function.

[0077] Specifically, such as Figure 9 , 10 As shown, the front of the standard buoyancy tank 100 is connected to a water distribution head 120, and the towing slot 110 is a T-shaped slot on the water distribution head 120. Correspondingly, the transport attachment 33 is designed with a T-shaped structure. When the T-shaped transport attachment 33 is horizontally attached to the T-shaped slot, the water robot can tow the standard buoyancy tank.

[0078] For automatic engagement, a magnetic sensor is provided on the opposite surface of the transport attachment 33 and the towing slot 110. Correspondingly, a magnet is provided in the towing slot 110. When the transport attachment 33 is inserted into the towing slot 110, the magnetic sensor of the transport attachment 33 approaches the magnet of the towing slot 110, triggering the magnetic sensor to send a signal, causing the towing drive assembly 34 to drive the T-shaped transport attachment 33 to rotate 90° to a vertical position so that it can be inserted into the towing slot 110. Then, the towing drive assembly 34 drives the T-shaped transport attachment 33 to rotate 90° to a horizontal position to complete the engagement. Then, the motor body 1 can tow the standard buoyancy box and move forward.

[0079] When the standard buoyancy tank is towed to the predetermined position, the trigger switch 311 is activated accordingly, causing the towing drive assembly 34 to drive the T-shaped transport attachment 33 to rotate 90° to a vertical position and disengage from the T-slot, ultimately causing the standard buoyancy tank to stop at the corresponding unloading position, thus completing the automatic unloading function.

[0080] like Figure 9 , 10As shown, the bottom of the standard buoyancy tank 100 is provided with a flow guide groove 130 along its direction of travel. When the water robot tows the standard buoyancy tank 100 by the towing device 3, the push-out outlet is directly aligned with the flow guide groove 130. During the journey, the water flow can be effectively guided along a specific path, reducing travel resistance, reducing energy consumption, and making the standard buoyancy tank move more smoothly and stably in the water.

[0081] For intelligent control, the towed drive assembly 34 can be controlled via a wireless remote control, mobile phone, or other terminals to perform corresponding rotational actions. Specifically, the trigger switch 311 is configured with an exposed wireless communication antenna to facilitate signal transmission and reception. The wireless remote control is equipped with a signal button to activate the transport attachment 33, causing it to rotate or reset accordingly, thereby ensuring that the transport attachment 33 remains correct and effective under the corresponding operating conditions. Furthermore, the wireless remote control is also equipped with a one-key return button, allowing the water robot to return to its original position as needed.

[0082] Furthermore, the main body 1 is also equipped with a one-key return button. When the water robot does not have optional operating functions, it can be used for rescue and surfing. When the user lies on the main body 1 and presses the one-key return button, the main body 1 will automatically return to the set Beidou positioning location.

[0083] like Figure 11-17 As shown, the grasping device 4 includes a grasping connecting seat 41 connected to the fish-attracting device 5 via a universal connecting assembly 11. A grasping main arm 42 is mounted on the grasping connecting seat 41. A main arm adjustment assembly 43 is provided between the grasping main arm 42 and the grasping connecting seat 41 to drive the grasping main arm 42 to adjust its movement relative to the grasping connecting seat 41. A grasping assembly 44 is provided at the front end of the grasping main arm 42. The main arm adjustment assembly 43 includes a rotation adjustment assembly for driving the grasping main arm 42 to rotate relative to the grasping connecting seat 41 and a tilt adjustment assembly for driving the grasping main arm 42 to tilt up and down relative to the grasping connecting seat 41. During the grasping process, the main arm adjustment assembly can drive the grasping main arm to rotate and tilt relative to the grasping connecting seat, allowing the grasping assembly to rotate to an angle suitable for grasping the target object, enabling multi-angle operation and improving operational flexibility and range.

[0084] like Figure 14-17As shown, for precise and efficient adjustment, the rotation adjustment assembly includes an adjustment rotating member 431 whose lower end is rotatably connected to the gripping connecting seat 41. The upper end of the adjustment rotating member 431 is hinged to the gripping main arm 42. A rotation drive member 432 for driving the adjustment rotating member 431 to rotate is provided between the lower end of the adjustment rotating member 431 and the gripping connecting seat 41. The tilt adjustment assembly includes a tilt drive member 433 disposed on the adjustment rotating member 431. The driving end of the tilt drive member 433 is hinged to the gripping main arm 42. The tilt drive member 433 is configured to drive the gripping main arm 42 to tilt up and down around the rotation axis between the upper end of the adjustment rotating member 431 and the gripping main arm 42. The rotation drive member 432 can be a drive motor, etc., and the tilt drive member 433 can be a telescopic electric cylinder.

[0085] like Figure 15 As shown, the gripping assembly 44 includes two gripping components 441 located at the front end of the gripping main arm 42 and capable of closing towards each other or opening away from each other. The connecting end of each gripping component 441 is hinged to a corresponding side of the gripping main arm 42. A closing / opening drive assembly 442 is provided between the connecting end of the gripping component 441 and the gripping main arm 42 to drive the two gripping components 441 to close towards each other or open away from each other. The opening and closing action of the gripping components is precisely driven and controlled by the closing / opening drive assembly. Combined with the adjustment function of the gripping main arm, precise approach, positioning, and gripping of the target object can be achieved, reducing gripping deviation and improving gripping efficiency.

[0086] Specifically, such as Figure 15 As shown, the opening and closing drive assembly 442 includes an opening and closing drive motor 4421 mounted on the gripping main arm 42. The output end of the opening and closing drive motor 4421 is connected to an opening and closing drive screw 4422. An opening and closing sliding seat 4423 is connected to the opening and closing drive screw 4422 and can be driven to move along the axial direction of the gripping main arm 42. An opening and closing linkage member 4424 is provided between the opening and closing sliding seat 4423 and the connecting end of each gripping component 441. One end of the opening and closing linkage member 4424 is hinged to the opening and closing sliding seat 4423, and the other end of the opening and closing linkage member 4424 is hinged to the end of the connecting end of the gripping component 441. During the gripping process, the opening and closing drive motor 4421 drives the opening and closing drive screw 4422 to rotate accordingly, thereby driving the opening and closing sliding seat 4423 to slide along the front end of the gripping main arm 42. The opening and closing sliding seat 4423 drives the two gripping components 441 to close and grip each other through the opening and closing linkage 4424. During the opening process, the opening and closing drive motor 4421 drives the opening and closing drive screw 4422 to rotate accordingly, thereby driving the opening and closing sliding seat 4423 to slide along the rear end of the gripping main arm 42. The opening and closing sliding seat 4423 drives the two gripping components 441 to open in opposite directions through the opening and closing linkage 4424.

[0087] like Figure 15As shown, to make the structure more compact and the layout more reasonable, the opening and closing drive motor 4421 and the opening and closing drive screw 4422 are integrated into the inner side of the gripping main arm. The opening and closing sliding seat 4423 is slidably placed inside the gripping main arm 42. That is, the gripping main arm provides stable sliding support for the opening and closing sliding seat, ensuring that the opening and closing sliding seat moves smoothly along the set track, reducing the shaking or deviation of the gripping components during opening and closing, and improving gripping stability. The side of the gripping main arm 42 is provided with a side strip hole 421 for the opening and closing linkage component 4424 to pass through. That is, the side strip hole provides a guide path for the opening and closing linkage component, ensuring that it slides stably on the side of the gripping main arm, avoiding deviation of the opening and closing linkage component during movement, ensuring smooth opening and closing of the gripping components. At the same time, the two end walls of the side strip hole can also limit the movement range of the opening and closing linkage component, ensuring its stable and reliable operation.

[0088] like Figure 11-14 As shown in Figure 16, the rear end of the gripping main arm 42 is provided with a counterweight assembly 45 for balancing the gripping action of the gripping component 44 and the balancing motor body 1. The counterweight assembly 45 includes a counterweight block 451 slidably disposed on the rear end of the gripping main arm 42, and a counterweight adjustment assembly 452 is provided on the gripping main arm 42 for driving the counterweight block 451 to move along the axial direction of the gripping main arm 42. This utility model can adjust the lever arm at the rear end of the gripping main arm through the counterweight assembly to form a balancing torque opposite to the gripping torque direction, so that the gripping main arm can remain stable during operation, avoiding the problem of the motor body becoming unbalanced due to the reaction force during the gripping operation, and improving the stability of the gripping operation.

[0089] Additionally, an IMU (Inertial Measurement Unit) module is installed on the main body 1, near its center of gravity. This allows the water robot to perceive its own motion state and position, enabling precise motion control and navigation. It also provides decision support data to the central control unit (MCU) when the water robot tends to tilt during the grasping process of the main arm. This triggers the counterweight assembly 45 to operate, achieving grasping balance. The IMU module can be a VectorNav IMU VN-100, ASC IMU 7-LN, LINS300, or LKF-MG201H MEMS, etc.

[0090] Specifically, such as Figure 16As shown, to achieve dynamic balance adjustment, the counterweight assembly 45 includes a counterweight block 451 movably mounted on the rear end of the gripping main arm 42. The gripping main arm 42 is equipped with a counterweight adjustment assembly 452 for driving the counterweight block 451 to adjust along the front-rear direction of the gripping main arm 42. This counterweight adjustment assembly can drive the counterweight block to move along the corresponding axis of the gripping main arm in real time according to the weight of the object being gripped, dynamically balancing the weight of the object gripped at the other end of the gripping main arm, so that the gripping main arm and the motorized body remain stable during gripping operations. For example, when gripping a heavy object, the counterweight block moves backward, increasing the lever arm at the rear end, thereby balancing the gripping torque at the front end and preventing the front end of the gripping main arm from sinking.

[0091] like Figure 16 As shown, to accurately adjust the counterweight position and improve transmission stability, the counterweight adjustment assembly 452 includes a counterweight drive motor 4521 mounted on the gripping main arm 42. The motor shaft of the counterweight drive motor 4521 is connected to an adjusting drive screw 4522, which engages with the adjusting nut 4511 of the counterweight block 451. The counterweight drive motor 4521 and the adjusting drive screw 4522 are integrated inside the gripping main arm 42, resulting in a compact structure. The counterweight drive motor 4521 can be a stepper motor. This counterweight drive motor can precisely control the rotation of the adjusting drive screw, thereby precisely adjusting the movement of the counterweight block along the axial direction of the gripping main arm through the adjusting nut. This precise adjustment capability ensures that the gripping assembly maintains optimal balance in different gripping tasks, meeting the needs of water-based gripping activities.

[0092] like Figure 16 As shown, in order to improve the sliding stability of the counterweight, a counterweight guide assembly 46 is provided between the counterweight 451 and the gripping main arm 42. The counterweight guide assembly 46 includes a counterweight guide hole 461 provided on the gripping main arm 42 and a counterweight guide rod 462 provided on the counterweight 451 and passing through the counterweight guide hole 461.

[0093] like Figure 1-7 As shown in Figures 11 and 18, a connecting beam 12 is provided between the U-shaped straight sections of the motorized body 1; the fish-attracting device 5 is a bait delivery assembly, the front end of which is detachably connected to the inner side of the U-shaped transition section of the motorized body 1, and the two power propulsion devices 2 are detachably connected to the ends of the two U-shaped straight sections of the motorized body 1, respectively. The rear part of the bait delivery assembly is attached to the connecting beam 12 and placed between the two U-shaped straight sections of the motorized body 1. A delivery locking assembly 50 is provided between the bait delivery assembly and the motorized body 1 or between the bait delivery assembly and the connecting beam 12 to lock the bait delivery assembly. This structure facilitates the disassembly and installation of the bait delivery assembly and allows the bait to be dispersed by the water flow generated by the power propulsion device 2 during delivery, thus achieving a fish-attracting effect.

[0094] like Figure 3 , 11 As shown, for convenient installation and positioning, the connecting crossbeam 12 is provided with a crossbeam positioning recess 121 for positioning the bait delivery component. This crossbeam positioning recess provides positioning for the bait delivery component, ensuring that it can be quickly and accurately placed in the predetermined position during installation, without the need for additional positioning tools or complex alignment operations, thus improving installation efficiency and convenience.

[0095] like Figure 6 , 7 As shown, for reliable locking, the bait dispensing locking component 50 is located between the bait dispensing component and the connecting beam 12. The dispensing locking component 50 includes a locking groove 501 on the bait dispensing component for engaging with the connecting beam 12. The side of the locking groove 501 and the connecting beam 12 are provided with locking holes and locking pins 502 that can lock into each other. Through the engagement of the locking groove with the connecting beam, and the locking engagement of the locking hole and locking pin, the bait dispensing component can be firmly locked onto the connecting beam, preventing it from loosening or falling off due to external forces during operation.

[0096] Furthermore, such as Figure 7 As shown, the locking pin 502 is elastically disposed on the side of the locking engagement groove 501, and an unlocking pull ring is connected to the outer end of the locking pin 502. The locking hole is located on the connecting crossbeam 12. During the unlocking process, operating the unlocking pull ring causes the locking pin 502 to slide backward, thereby separating the locking end of the locking pin 502 from the locking hole, making unlocking convenient.

[0097] like Figure 6 , 18 As shown, to reduce resistance during movement, the bait delivery assembly on the motorized body 1 preferably adopts a horizontal structure. The bait delivery assembly includes a delivery housing 51 detachably mounted on the motorized body 1. The delivery housing 51 has a storage cavity 52, and a delivery outlet 53 communicating with the storage cavity 52 is located at one end of the delivery housing 51. The delivery housing 51 is equipped with a delivery extrusion assembly 54 for extruding bait from the storage cavity 52 through the delivery outlet 53. A feeding port 55 communicating with the storage cavity 52 is located on the side of the delivery housing 51, and a port cover 551 is connected to the feeding port 55. The delivery outlet 53 is located at the end of the delivery housing 51. This design makes the bait delivery direction clear and easy to control. Combined with the mobility of the motorized body 1, the bait can be accurately delivered to a designated location. The extrusion component 54 can squeeze the bait from the storage chamber 52 out of the feeding outlet 53. This extrusion method can ensure that the bait is released at a certain speed and flow rate, avoiding clumping or uneven distribution of the bait during the distribution process, and ensuring uniform distribution.

[0098] Specifically, such as Figure 6 As shown, the feeding outlet 53 is located at the rear end of the feeding housing 51, and the front end of the feeding housing 51 has an installation opening 56. The installation opening 56 is connected to the mounting base 57. The feeding extrusion assembly 54 includes a feeding drive motor 541 mounted on the mounting base 57 and a feeding drive shaft 542 located inside the feeding housing 51 and capable of telescopic movement driven by the feeding drive motor 541. The feeding drive shaft 542 is located at one end of the storage chamber 52 and is connected to a feeding extrusion component 543 for pushing the bait. The feeding housing 51 has a cylindrical front section and a gradually tapering and downward-bending rear section, which helps to accurately deliver the bait to the target area, avoids the bait from drifting to unnecessary places, improves the utilization rate of the bait, and ensures that the farmed organisms can fully consume it. At the same time, this shape is easy to clean, reduces the possibility of bait residue and dirt accumulation, reduces the difficulty of cleaning, and helps to maintain the hygiene and cleanliness of the feeding housing, preventing bacterial growth and bait deterioration. The feeding port 55 is located on the lower side of the feeding housing 51, and the upper side of the feeding housing 51 is provided with a universal connecting component 11 for easy disassembly and assembly. During the feeding process, the feeding drive motor drives the feeding drive shaft to extend and retract accordingly, so that the feeding extrusion component squeezes the bait in the storage chamber 52 toward the feeding outlet and sprinkles it outward.

[0099] like Figure 1-3 As shown in Figures 8 and 11, the power propulsion device 2 includes a propulsion housing 21 connected to the ends of the two U-shaped straight sections of the motor body 1. Each propulsion housing 21 has a peripheral water inlet hole 22 on its periphery, and a propulsion drain outlet 23 at its rear end. A propulsion impeller 24 is provided inside the propulsion housing 21 and located between the peripheral water inlet hole 22 and the propulsion drain outlet 23. The propulsion housing 21 also has a propulsion drive motor 25 for driving the propulsion impeller 24 to rotate accordingly. The front end of the propulsion housing 21 is connected to the ends of the U-shaped straight sections of the motor body 1 through a propulsion connecting seat 26. A power supply battery pack 27 is connected to the front side of the propulsion connecting seat 26. The propulsion drive motor 25 is installed on the rear side of the propulsion connecting seat 26 and can be electrically connected to the power supply battery pack 27. The propulsion housing 21 includes an integrally formed mounting section 211, a connecting section 212, and an extension section 213. The front end of the mounting section 211 is connected to the end of the U-shaped straight section of the motor body 1. The peripheral water inlet 22 is provided on the periphery of the connecting section 212. The propulsion drain 23 is formed from the rear port of the extension section 213, and the inner diameter gradually decreases from the connecting section 212 to the extension section 213. During movement, water is drawn in through the peripheral water inlet 22, accelerated by the propulsion impeller, and discharged from the propulsion drain. This design can generate greater thrust, enabling the motor body to move effectively in aquatic environments, improving its maneuverability and propulsion efficiency.

[0100] The inner diameter of the connecting cylinder section 212 gradually decreases from the extension cylinder section 213. This tapering design can guide and accelerate the fluid. When the fluid flows from the mounting cylinder section to the connecting cylinder section, the flow velocity increases and the pressure decreases due to the gradually decreasing cross-sectional area, while the reverse thrust increases.

[0101] In this utility model, the propulsion device 2 can also be an electric propulsion device, etc. The structure of the electric propulsion device can be referred to the technical solutions of the propulsion device in Chinese patent applications CN202120572860.8 and CN202120570961.1, which will not be repeated here.

[0102] like Figure 3 As shown, the U-shaped transition connecting section and the two U-shaped straight sections of the motor body 1 are respectively provided with power supply battery packs 27 distributed in a triangular pattern on the same plane as weight loads. These triangles are equilateral or isosceles triangles. The U-shaped transition connecting section of the motor body 1 is provided with a storage cavity 13 for accommodating the power supply battery packs 27. A cavity cover 131 is connected to the upper port of the storage cavity 13. The power supply battery packs 27 inside the storage cavity 13 are used to supply power to the working functional mechanism, while the power supply battery packs 27 placed in the U-shaped straight sections of the motor body 1 are used to supply power to the propulsion device 2. This invention divides the power supply battery packs into two parts, supplying power to the working functional mechanism and the propulsion device respectively, which can more accurately meet the power needs of different components. At the same time, the proximity of the power supply battery packs to the corresponding power-consuming components can shorten the length of the power transmission line and reduce power loss caused by excessively long lines.

[0103] When an isosceles triangle arrangement is adopted, the vertex of the isosceles triangle is located on the U-shaped transition connecting section of the motor body 1, and the two sides are located on the two U-shaped straight sections of the motor body 1. The front end of the propulsion housing 21 is connected to the end of the U-shaped straight section of the motor body 1 through the propulsion connecting seat 26. The front side of the propulsion connecting seat 26 is connected to the power supply battery pack 27, and the propulsion drive motor 25 is installed on the rear side of the propulsion connecting seat 26 and electrically connected to the power supply battery pack 27. By designing the power supply battery pack in a triangular distribution, the center of gravity of the entire motor body is close to or coincides with the orthographic projection of the force points of the motor body, which enhances the stability on water, reduces swaying and tilting caused by wind, waves or external forces, significantly improves the anti-overturning ability of the motor body, and ensures stability, safety and reliability in complex environments.

[0104] like Figure 1-3As shown in Figures 11-13, to improve collision avoidance capabilities, reduce damage to the main body, and ensure its safety, a collision avoidance crossbar assembly 14 is provided on the front side of the main body 1. Additionally, a handle 15 is provided on at least one side of the main body 1. This handle provides a convenient gripping position for the operator, facilitating the handling and movement of the water robot and improving its maneuverability.

[0105] In summary, this utility model provides a water robot that operates safely and reliably, with good balance and stability. Furthermore, the main body can be equipped with and have its operational functions expanded according to different application scenarios, thus exhibiting scalability and flexibility.

Claims

1. A water robot, characterized in that... include: The motorized body (1) is able to float on water and is equipped with weight loads distributed in a triangular pattern on the same plane. A power propulsion device (2) is provided on the motor body (1) to drive the motor body (1) to move accordingly; The working function mechanism is detachably connected to the motor body (1), and the connection or force point between the working function mechanism and the motor body (1) is close to the center of gravity of the weight load of the motor body (1) which is distributed in a triangle, or the connection or force point between the working function mechanism and the motor body (1) coincides with the orthographic projection of the center of gravity of the weight load of the motor body (1) which is distributed in a triangle. The working function mechanism includes at least one or more combinations of a towing device (3), a grabbing device (4), and a fish-attracting device (5).

2. The water robot according to claim 1, characterized in that... The working function mechanism that is detachably connected to the motor body (1) is provided with a universal connection component (11), and the other two working function mechanisms can be selectively detachably connected to the motor body (1) via the universal connection component (11).

3. The water robot according to claim 1, characterized in that... The motor body (1) is provided with a universal connection assembly (11) for detachable connection with the working function mechanism, and the other two working function mechanisms can be selectively detachably connected to the motor body (1) via the universal connection assembly (11).

4. The water robot according to claim 2, characterized in that... The fish-attracting device (5) is detachably connected to the motorized body (1). The fish-attracting device (5) is provided with a universal connection component (11). The towing device (3) and the grabbing device (4) can be detachably connected to the fish-attracting device (5) via the universal connection component (11).

5. The water robot according to claim 4, characterized in that... The fish-attracting device (5) or the motorized body (1) is equipped with a fish-finding device (6). The fish-attracting device (5) can be configured to activate the fish-attracting mode when the fish-finding device (6) detects a school of fish and the motorized body (1) approaches the school of fish.

6. The water robot according to claim 1, characterized in that... The motorized body (1) is also equipped with a viewing device (7), which is configured to view aquatic plants and animals and their ecological environment during the movement of the motorized body (1).

7. The water robot according to claim 4, characterized in that... The towing device (3) includes a towing connector (31) connected to the motor body (1) via a universal connecting assembly (11). The towing connector (31) is provided with a transport towing rod (32). The rear end of the transport towing rod (32) is movably provided with a transport hook (33). The transport hook (33) can engage with the towing slot of the standard buoyancy box being towed.

8. The water robot according to claim 7, characterized in that... The front end of the transport towing rod (32) is connected to the towing connector (31), and the rear end of the transport towing rod (32) is provided with a towing drive assembly (34) for controlling the corresponding movement of the transport hook (33) relative to the transport towing rod (32) so as to engage or disengage with the towing slot.

9. A water robot according to claim 4, characterized in that... The grasping device (4) includes a grasping connector (41) connected to the fish attracting device (5) via a universal connecting assembly (11). The grasping connector (41) is provided with a grasping main arm (42). A main arm adjustment assembly (43) for driving the grasping main arm (42) to adjust its relative movement to the grasping connector (41) is provided between the grasping main arm (42) and the grasping connector (41). A grasping assembly (44) is provided at the front end of the grasping main arm (42).

10. A water robot according to claim 9, characterized in that... The main arm adjustment assembly (43) includes a rotation adjustment assembly for driving the gripping main arm (42) to rotate relative to the gripping connecting seat (41) and a tilt adjustment assembly for driving the gripping main arm (42) to tilt up and down relative to the gripping connecting seat (41).

11. A water robot according to claim 10, characterized in that... The rotation adjustment assembly includes an adjustment rotating member (431) whose lower end is rotatably connected to the gripping connecting seat (41). The upper end of the adjustment rotating member (431) is hinged to the gripping main arm (42). A rotation drive member (432) for driving the adjustment rotating member (431) to rotate is provided between the lower end of the adjustment rotating member (431) and the gripping connecting seat (41). The tilt adjustment assembly includes a tilt drive member (433) provided on the adjustment rotating member (431). The driving end of the tilt drive member (433) is hinged to the gripping main arm (42). The tilt drive member (433) is configured to drive the gripping main arm (42) to tilt up and down around the rotation axis between the upper end of the adjustment rotating member (431) and the gripping main arm (42).

12. A water robot according to claim 9, characterized in that... The gripping assembly (44) includes two gripping components (441) located at the front end of the gripping main arm (42) and capable of closing towards each other or opening away from each other. The connecting end of each gripping component (441) is hinged to the corresponding side of the gripping main arm (42). A closing drive assembly (442) for driving the two gripping components (441) to close towards each other or open away from each other is provided between the connecting end of the gripping component (441) and the gripping main arm (42).

13. A water robot according to claim 12, characterized in that... The opening and closing drive assembly (442) includes an opening and closing drive motor (4421) mounted on the gripping main arm (42). The output end of the opening and closing drive motor (4421) is connected to an opening and closing drive screw (4422). An opening and closing sliding seat (4423) is connected to the opening and closing drive screw (4422) and can be driven by it to move along the axial direction of the gripping main arm (42). An opening and closing linkage member (4424) is provided between the opening and closing sliding seat (4423) and the connecting end of each gripping component (441). One end of the opening and closing linkage member (4424) is hinged to the opening and closing sliding seat (4423), and the other end of the opening and closing linkage member (4424) is hinged to the end of the connecting end of the gripping component (441).

14. A water robot according to claim 9, characterized in that... The rear end of the gripping main arm (42) is provided with a counterweight assembly (45) for balancing the gripping action of the gripping component (44) and balancing the motor body (1). The counterweight assembly (45) includes a counterweight block (451) slidably disposed on the rear end of the gripping main arm (42). The gripping main arm (42) is provided with a counterweight adjustment assembly (452) for driving the counterweight block (451) to move along the axial direction of the gripping main arm (42).

15. A water robot according to claim 14, characterized in that... The counterweight adjustment assembly (452) includes a counterweight drive motor (4521) mounted on the gripping main arm (42). The output end of the counterweight drive motor (4521) is connected to an adjustment drive screw (4522), and the adjustment drive screw (4522) is in transmission cooperation with the adjustment nut (4511) of the counterweight block (451).

16. A water robot according to claim 14, characterized in that... A counterweight guide assembly (46) is provided between the counterweight block (451) and the gripping main arm (42). The counterweight guide assembly (46) includes a counterweight guide hole (461) on the gripping main arm (42) and a counterweight guide rod (462) on the counterweight block (451) and passing through the counterweight guide hole (461).

17. A water robot according to claim 1, characterized in that... The motorized main body (1) has a U-shaped structure, and a connecting beam (12) is provided between the U-shaped straight sections of the motorized main body (1). The fish-attracting device (5) is a bait delivery component. The front end of the bait delivery component is detachably connected to the inner side of the U-shaped transition section of the motorized main body (1). The two power propulsion devices (2) are detachably connected to the ends of the two U-shaped straight sections of the motorized main body (1). The rear part of the bait delivery component is attached to the connecting beam (12) and placed between the two U-shaped straight sections of the motorized main body (1). A delivery locking component (50) for locking the bait delivery component is provided between the bait delivery component and the motorized main body (1) or between the bait delivery component and the connecting beam (12).

18. A water robot according to claim 17, characterized in that... The bait delivery locking assembly (50) is located between the bait delivery assembly and the connecting beam (12); the bait delivery locking assembly (50) includes a locking engagement groove (501) located on the bait delivery assembly and used to engage with the connecting beam (12), and the side of the locking engagement groove (501) and the connecting beam (12) are provided with locking holes and locking pins (502) that can lock each other.

19. A water robot according to claim 1, characterized in that... The fish-attracting device (5) is a bait delivery assembly. The bait delivery assembly includes a delivery housing (51) detachably connected to the motorized main body (1). The delivery housing (51) has a storage cavity (52). The end of the delivery housing (51) is provided with a delivery outlet (53) communicating with the storage cavity (52). The delivery housing (51) is provided with a delivery extrusion assembly (54) for extruding the bait from the storage cavity (52) from the delivery outlet (53). The side of the delivery housing (51) is provided with a feeding port (55) communicating with the storage cavity (52). The feeding port (55) is connected to a port cover (551).

20. A water robot according to claim 19, characterized in that... The feeding outlet (53) is located at the rear end of the feeding housing (51). The front end of the feeding housing (51) is provided with an installation opening (56). The installation opening (56) is connected to an installation base (57). The feeding extrusion assembly (54) includes a feeding drive motor (541) located on the installation base (57) and a feeding drive shaft (542) located inside the feeding housing (51) and capable of being driven to extend and retract by the feeding drive motor (541). The feeding drive shaft (542) is located at one end of the storage cavity (52) and is connected to a feeding extrusion member (543) for pushing the bait.

21. A water robot according to any one of claims 1-20, characterized in that... The motor body (1) has an overall U-shaped structure; the power propulsion device (2) includes a propulsion housing (21) connected to the ends of the two U-shaped straight sections of the motor body (1), each propulsion housing (21) has a peripheral water inlet hole (22) on its periphery, the rear end of the propulsion housing (21) has a propulsion drain outlet (23), the propulsion housing (21) is provided with a propulsion impeller (24) inside the propulsion housing (21) and located between the peripheral water inlet hole (22) and the propulsion drain outlet (23), and the propulsion housing (21) is also provided with a propulsion drive motor (25) for driving the propulsion impeller (24) to rotate accordingly.

22. A water robot according to claim 21, characterized in that... The front end of the propulsion housing (21) is connected to the end of the U-shaped straight section of the motor body (1) via the propulsion connecting seat (26). A power supply battery pack (27) is connected to the front side of the propulsion connecting seat (26). The propulsion drive motor (25) is installed on the rear side of the propulsion connecting seat (26) and can be electrically connected to the power supply battery pack (27).

23. The water robot according to claim 21, characterized in that... The propulsion housing (21) includes an integrally formed mounting section (211), a connecting section (212), and an extension section (213). The front end of the mounting section (211) is connected to the end of the U-shaped straight section of the motor body (1). The peripheral water inlet (22) is provided on the periphery of the connecting section (212). The propulsion drain (23) is formed from the rear port of the extension section (213), and the inner diameter gradually decreases from the connecting section (212) to the extension section (213).

24. The water robot according to claim 1, characterized in that... The motor body (1) has an overall U-shaped structure. The power propulsion device (2) is connected to the end of the U-shaped straight section of the motor body (1). The U-shaped transition connecting section and the two U-shaped straight sections of the motor body (1) are respectively provided with power supply battery packs (27) that serve as weight loads and are distributed in a triangular pattern on the same plane. The triangle is an equilateral triangle or an isosceles triangle.

25. A water robot according to claim 24, characterized in that... The U-shaped transition section of the motor body (1) is provided with a storage cavity (13) for accommodating the power supply battery pack (27). The power supply battery pack (27) in the storage cavity (13) is used to supply power to the working function mechanism. The power supply battery pack (27) placed in the U-shaped straight section of the motor body (1) is used to supply power to the power propulsion device (2).

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