CN112357026A

CN112357026A - Carry on underwater robot of multiple function module and ecosystem thereof

Info

Publication number: CN112357026A
Application number: CN202011247586.3A
Authority: CN
Inventors: 倪融智; 伍智城
Original assignee: Individual
Current assignee: Individual
Priority date: 2020-11-10
Filing date: 2020-11-10
Publication date: 2021-02-12

Abstract

The invention discloses an underwater robot carrying multiple functional modules and an ecological system thereof. This carry on underwater robot of multiple function module and ecosystem is through stabilizing the vane, after underwater robot put into the aquatic, the motor drives 4 and stabilizes the vane rotatoryly, make underwater robot can to going up and down under water, when going up and down to fixed position, the vane that gos forward is rotatory, make the rotation that gos forward and drive underwater robot can the horizontal direction remove, the rotation rate that every piece of stable vane can be adjusted through the data chip body to the difference of the module that simultaneously carries on according to underwater robot, make underwater robot keep balance.

Description

Carry on underwater robot of multiple function module and ecosystem thereof

Technical Field

The invention relates to the technical field of underwater robots, in particular to an underwater robot carrying multiple functional modules and an ecological system thereof.

Background

The underwater robot is one of important tools for ocean development due to severe underwater environment and limited diving depth of people, and mainly comprises a cable remote control underwater robot and a cable-free remote control underwater robot, wherein the cable remote control underwater robot is divided into an underwater self-propelled type, a towed type and a crawling type on a seabed structure, and the underwater self-propelled type is widely applied.

Traditional underwater robot, its module function of carrying on is comparatively simple, and the cooperation between the module is single, can not install different modules to a plurality of underwater robot to there is more blank in the aspect of forming the robot ecology, leads to it to be difficult to accomplish complicated work tasks such as salvage exploration, construction rescue in the underwater environment, consequently, we provide an underwater robot and ecosystem who carries on multiple functional module.

Disclosure of Invention

Aiming at the defects of the prior art, the invention provides an underwater robot carrying various functional modules and an ecosystem thereof, and solves the problems that the underwater robot cannot be provided with various modules, cannot survey underwater terrain and cannot salvage underwater objects in the background technology.

In order to achieve the purpose, the invention is realized by the following technical scheme: an underwater robot carrying various functional modules and an ecosystem thereof comprise a shell, a mechanical arm device and a flexible mechanical arm, wherein a connecting rod is installed at the top of the underwater robot shell, a stable rotary vane is installed at one end of the connecting rod, forward rotary vanes are respectively installed on two sides of the underwater robot shell, an infrared inductor is installed at the bottom of the underwater robot shell, a rotary shell is installed at the front end of the inner side of the underwater robot shell, a camera body is installed inside the rotary shell, a lighting lamp is installed at the bottom, close to the camera body, of the inside of the rotary shell, a rack is installed on the outer wall of one side of the rotary shell, a control shell is installed in the middle of the inner wall of the underwater robot shell, a data chip body is installed at the top of the inside of the control shell, a servo motor is installed in the middle of the inside of the control shell, and the belt is installed to servo motor's output to servo motor's bottom is installed electric telescopic handle, rotary gear is all installed respectively to the both sides of control shell, and the installation of control shell rotary seal circle, the control shell is connected with the fixed block through rotary seal circle, and the outer wall of fixed block installs solid fixed ring, the mechanical arm device is connected with the fixed block through solid fixed ring, flexible mechanical arm is connected with the fixed block through solid fixed ring.

Preferably, the underwater robot shell forms a rotating structure with the rotating shell through a rack and a rotating gear, and the rotating shell is symmetrically distributed on two sides of a vertical center line of the underwater robot shell.

Preferably, the underwater robot shell forms a detachable structure with the mechanical arm device through a fixing block and a fixing ring, and the fixing block and the underwater robot shell form a sealing structure through a rotary sealing ring.

Preferably, the stabilizing rotary vanes are distributed in 2 groups at equal intervals along two sides of a horizontal center line of the underwater robot shell, and the 2 groups of stabilizing rotary vanes are positioned on the same cross section.

Preferably, the longitudinal section of the rack is arc-shaped, the radian of the rack is 120 degrees, and the central line of the rack and the central line of the rotating shell are located on the same longitudinal section.

Preferably, the arm device includes fixed axle, driven gear, driving gear, micro motor, first arm, second arm, micro motor and first manipulator, and the fixed axle is connected with the fixed block through solid fixed ring, driven gear is installed to the one end of fixed axle, and the outer wall of fixed axle installs first arm, micro motor is installed to one side of first arm, and micro motor's output installs the driving gear, second arm is installed to the one end of first arm, and the internally mounted of second arm has micro motor to first manipulator is installed to micro motor's output.

Preferably, the first mechanical arm and the second mechanical arm form a rotating structure through a driven gear and a driving gear, and the first mechanical arm and the second mechanical arm are perpendicular to each other.

Preferably, flexible arm includes air pump, control cable, bottom plate, fixed cable, first fixed plate, trachea, second fixed plate, front bezel, pneumatic valve, air pocket and second manipulator, and the air pump passes through solid fixed ring and is connected with the fixed block, the control cable is installed in the outside of air pump, and the bottom of air pump installs the bottom plate, the fixed cable is installed to one side of bottom plate, and the outer wall of the upper end of fixed cable and control cable all installs first fixed plate respectively to the second fixed plate is all installed respectively to the outer wall of the lower extreme of fixed cable and control cable, the front bezel is all installed respectively to the bottom of fixed cable and control cable, the trachea is installed to the one end of air pump, and tracheal one end installs the pneumatic valve, the air pocket is installed to the one end of pneumatic valve, and the second manipulator is installed to the one end.

Preferably, the control cable and the fixed cable are respectively distributed annularly along the central line of the bottom plate, the control cable and the fixed cable form an included angle of 45 degrees, and the control cable and the fixed cable are respectively made of flexible materials.

The invention provides an underwater robot carrying multiple functional modules and an ecosystem thereof, and the underwater robot has the following beneficial effects:

1. the underwater robot carrying the multiple functional modules and the ecological system thereof have the advantages that the motors drive the 4 stable rotary blades to rotate after the underwater robot is placed in water, so that the underwater robot can lift underwater, when the underwater robot is lifted to a fixed position, the forward rotary blades rotate, so that the forward rotation drives the underwater robot to move in the horizontal direction, and meanwhile, the rotation speed of each stable rotary blade can be adjusted through the data chip body according to different modules carried by the underwater robot, so that the underwater robot keeps balance;

2. according to the underwater robot carrying the multiple functional modules and the ecological system thereof, when the angles of the camera body, the illuminating lamp and the detector need to be adjusted, the electric telescopic rod is started to push the servo motor to move, so that the belt at the output end of the servo motor is tightened, the servo motor is started to drive the rotary gear to rotate through the belt, the rotary gear drives the rack to move, the rack drives the rotary shell to rotate, the angles of the camera body, the illuminating lamp and the detector in the rotary shell are adjusted, and the detection range of the camera body is increased;

3. according to the underwater robot carrying the multiple functional modules and the ecosystem thereof, the flexible mechanical arm is arranged at the bottom of the underwater robot, the air pump in the flexible mechanical arm is controlled through the data chip body, the air pump drives the control cables on two sides to ascend or descend, the flexible mechanical arm can be bent into various angles, the flexible mechanical arm is analyzed and transmitted to the flexible mechanical arm through the data chip body according to the shape of an object shot by the camera body, air valves at different positions in the flexible mechanical arm are opened, the air pump is started, the air pump inflates air bags at different positions through an air pipe and the air valve, the rotating angles of each clamping rod of the second mechanical arm are different, and the application range of the flexible mechanical arm is enlarged;

4. when an underwater object needs to be clamped, firstly, the angle of a first mechanical arm is adjusted, a micro motor is started, the output end of the micro motor drives a driving gear to rotate, a transmission shaft of the driving gear is fixedly connected with the first mechanical arm, the driving gear rotates around a driven gear, the transmission shaft of the driving gear drives the first mechanical arm to rotate, a second mechanical arm is driven to rotate according to the movement, after the adjustment is completed, the micro motor is started, the output end of the micro motor drives the first mechanical arm to rotate to a proper angle, the first mechanical arm is started to clamp the underwater object, the angle of the mechanical arm device can be adjusted according to the terrain, and the mechanical arm device is prevented from being clamped;

5. this carry on underwater robot of multiple functional module and ecosystem passes through infrared inductor, when underwater robot is moving under water, can respond to peripheral object through infrared inductor, when underwater robot is nearer apart from the barrier, advances the vane reversal through data chip body control and drives the body of underwater robot and move back, and the whole arc that is of underwater robot simultaneously can reduce the resistance, improves underwater robot's continuation of the journey.

Drawings

FIG. 1 is a schematic front view of the present invention;

FIG. 2 is a schematic side sectional view of the present invention;

FIG. 3 is a schematic view of a front cross-sectional structure of the flexible manipulator of the present invention;

FIG. 4 is a schematic view of a flexible robotic arm of the present invention in a top-down view;

FIG. 5 is a schematic front sectional view of the arm device of the present invention;

FIG. 6 is a schematic structural diagram of an anti-shake calculation flowchart according to the present invention.

In the figure: 1. an underwater robot housing; 2. a connecting rod; 3. stabilizing the spire; 4. forward rotary blades; 5. an infrared sensor; 6. rotating the housing; 7. a camera body; 8. an illuminating lamp; 9. a rack; 10. a control housing; 11. a data chip body; 12. a servo motor; 13. a belt; 14. a rotating gear; 15. an electric telescopic rod; 16. rotating the sealing ring; 17. a fixed block; 18. a fixing ring; 19. a robotic arm device; 1901. a fixed shaft; 1902. a driven gear; 1903. a driving gear; 1904. a micro motor; 1905. a first robot arm; 1906. a second mechanical arm; 1907. a micro motor; 1908. a first manipulator; 20. a flexible mechanical arm; 2001. an air pump; 2002. a control cable; 2003. a base plate; 2004. a fixed cable; 2005. a first fixing plate; 2006. an air tube; 2007. a second fixing plate; 2008. a front plate; 2009. an air valve; 2010. an air bag; 2011. and a second manipulator.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.

In the description of the present invention, "a plurality" means two or more unless otherwise specified; the terms "upper", "lower", "left", "right", "inner", "outer", "front", "rear", "head", "tail", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience in describing and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, should not be construed as limiting the invention. Furthermore, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "connected" and "connected" are to be interpreted broadly, e.g., as being fixed or detachable or integrally connected; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Referring to fig. 1 to 6, the present invention provides a technical solution: an underwater robot for carrying various functional modules and an ecosystem thereof comprise an underwater robot shell 1, a connecting rod 2, a stable rotary vane 3, a forward rotary vane 4, an infrared sensor 5, a rotary shell 6, a camera body 7, an illuminating lamp 8, a rack 9, a control shell 10, a data chip body 11, a servo motor 12, a belt 13, a rotary gear 14, an electric telescopic rod 15, a rotary sealing ring 16, a fixed block 17, a fixed ring 18, a mechanical arm device 19, a fixed shaft 1901, a driven gear 1902, a driving gear 1903, a micro motor 1904, a first mechanical arm 1905, a second mechanical arm 1906, a micro motor 1907, a first mechanical arm 1908, a flexible mechanical arm 20, an air pump 2001, a control cable 2002, a bottom plate 2003, a fixed cable 2004, a first fixed plate 2005, an air pipe 2006, a second fixed plate 2007, a front plate 2008, an air valve 2009, an air bag 2010 and a second mechanical arm 2011, wherein the connecting rod 2 is arranged at the top of the underwater robot shell, and one end of the connecting rod 2 is provided with a stable rotary vane 3, two sides of the underwater robot shell 1 are respectively provided with a forward rotary vane 4, the bottom of the underwater robot shell 1 is provided with an infrared inductor 5, the front end of the inner side of the underwater robot shell 1 is provided with a rotary shell 6, the inside of the rotary shell 6 is provided with a camera body 7, the bottom of the inside of the rotary shell 6, which is close to the camera body 7, is provided with an illuminating lamp 8, the outer wall of one side of the rotary shell 6 is provided with a rack 9, the middle of the inner wall of the underwater robot shell 1 is provided with a control shell 10, the top of the inside of the control shell 10 is provided with a data chip body 11, the middle of the inside of the control shell 10 is provided with a servo motor 12, the output end of the servo motor 12 is provided with a belt 13, the bottom of the servo motor 12 is provided with an electric telescopic rod 15, and the control shell 10 is provided with a rotary sealing ring 16, the control shell 10 is connected with a fixed block 17 through the rotary sealing ring 16, the outer wall of the fixed block 17 is provided with a fixed ring 18, a mechanical arm device 19 is connected with the fixed block 17 through the fixed ring 18, and a flexible mechanical arm 20 is connected with the fixed block 17 through the fixed ring 18.

The underwater robot shell 1 and the rotating shell 6 form a rotating structure through the rack 9 and the rotating gear 14, the rotating shell 6 is symmetrically distributed on two sides of the vertical center line of the underwater robot shell 1, the rotating shell 6 can be rotated through the rack 9 and the rotating gear 14, and meanwhile, the rotating shell 6 can be self-locked through the meshing of the rack 9 and the rotating gear 14 after rotation is completed, so that the rotating shell 6 is prevented from rotating automatically.

The underwater robot shell 1 and the mechanical arm device 19 form a detachable structure through the fixing block 17 and the fixing ring 18, the fixing block 17 and the underwater robot shell 1 form a sealing structure through the rotary sealing ring 16, mechanical arms of different types can be fixed with the underwater robot shell 1 through the fixing block 17 and the fixing ring 18, and meanwhile, water outside the mechanical arms in the rotating process can not enter the control shell 10 through the rotary sealing ring 16.

Stabilize spire 3 and have 2 groups along the equidistant distribution in horizontal central line both sides of

underwater robot shell

1, and 2 groups stabilize spire 3 and be located same cross section, stabilize spire 3 through the multiunit and can stabilize underwater robot, simultaneously according to the difference of underwater robot counter weight, adjust the rotation rate of singly stabilizing spire 3 through data chip body 11, make underwater robot keep balance.

The longitudinal section of the rack 9 is arc-shaped, the radian of the rack 9 is 120 degrees, the central line of the rack 9 and the central line of the rotary shell 6 are positioned on the same longitudinal section, the rotating range of the rotary shell 6 is equal to the radian of the rack 9, and meanwhile, the rotary shell 6 can be locked through the rack 9 and the rotary gear 14, so that the rotary shell 6 is prevented from sliding off.

The robot device 19 includes a fixed shaft 1901, a driven gear 1902, a driving gear 1903, a micro motor 1904, a first robot 1905, a second robot 1906, a micro motor 1907 and a first robot 1908, the fixed shaft 1901 is connected to a fixed block 17 through a fixed ring 18, the driven gear 1902 is mounted at one end of the fixed shaft 1901, the first robot 1905 is mounted on an outer wall of the fixed shaft 1901, the micro motor 1904 is mounted at one side of the first robot 1905, the driving gear 1903 is mounted at an output end of the micro motor 1904, the second robot 1906 is mounted at one end of the first robot 1905, the micro motor 1904 is mounted inside the second robot 1906, the first robot 1908 is mounted at an output end of the micro motor 1904, the robot device 19 is mounted on the bottom of the underwater robot, the micro motor 1907 and the first robot 1908 in the robot device 19 are controlled by a data chip body 11, the application range of the mechanical arm device 19 is improved.

The first robot 1905 and the second robot 1906 form a rotating structure through the driven gear 1902 and the driving gear 1903, the first robot 1905 and the second robot 1906 are perpendicular to each other, the first robot 1905 controls the second robot 1906 through the micro motor 1904, the driving gear 1903 and the driven gear 1902, and the second robot 1906 can be suitable for underwater complex occasions.

The flexible mechanical arm 20 comprises an air pump 2001, a control cable 2002, a bottom plate 2003, a fixed cable 2004, a first fixed plate 2005, an air pipe 2006, a second fixed plate 2007, a front plate 2008, an air valve 2009, an air bag 2010 and a second mechanical arm 2011, wherein the air pump 2001 is connected with a fixed block 17 through a fixed ring 18, the control cable 2002 is installed on the outer side of the air pump 2001, the bottom plate 2003 is installed at the bottom of the air pump 2001, the fixed cable 2004 is installed on one side of the bottom plate 2003, the first fixed plate 2005 is installed on the outer walls of the upper ends of the fixed cable 2004 and the control cable 2002 respectively, the second fixed plate 2007 is installed on the outer walls of the lower ends of the fixed cable 2004 and the control cable 2002 respectively, the front plate 2008 is installed on the bottoms of the fixed cable 2004 and the control cable 2002 respectively, the air pipe 2006 is installed at one end of the air pump 2001, the air valve 2009 is installed at one, the flexible mechanical arm 20 is arranged at the bottom of the underwater robot, the air pump 2001 in the flexible mechanical arm 20 is controlled through the data chip body 11, the air pump 2001 drives the control cables 2002 on the two sides, the control cables 2002 rise or fall, the flexible mechanical arm 20 can be bent into various angles, the control cables are analyzed and transmitted to the flexible mechanical arm 20 through the data chip body 11 according to the shape of an object shot by the camera body 7, air valves 2009 at different positions in the flexible mechanical arm 20 are opened, the air pump 2001 is started, the air pump 2001 inflates air bags 2010 at different positions through the air pipe 2006 and the air valve 2009, the rotating angle of each clamping rod of the second mechanical arm 2011 is different, and the use range of the flexible mechanical arm 20 is enlarged.

The control cables 2002 and the fixed cables 2004 are respectively distributed in an annular shape along the center line of the bottom plate 2003, the control cables 2002 and the fixed cables 2004 form an included angle of 45 degrees, the control cables 2002 and the fixed cables 2004 are respectively made of flexible materials, and the control cables 2002 and the fixed cables 2004 can be kept fixed after being bent, so that the control cables 2002 and the fixed cables 2004 are prevented from rebounding.

To sum up, when different types of mechanical arms are installed on a plurality of groups of underwater robots, firstly, the fixed shaft 1901 in the mechanical arm device 19 is inserted into the fixed block 17, the data line in the mechanical arm device 19 is connected with the data line in the fixed block 17, so that data transmission between the underwater robots and the mechanical arm device 19 is realized, meanwhile, the fixed ring 18 is rotated, the fixed ring 18 is moved downwards to fix the mechanical arm device 19, the flexible mechanical arm 20 is installed on other underwater robots, the air pump 2001 in the flexible mechanical arm 20 is connected with the fixed block 17, the data line at the tail part of the air pump 2001 is inserted into the fixed block 17, the fixed ring 18 is rotated downwards to move the fixed ring 18 downwards to fix the flexible mechanical arm 20, and after the plurality of groups of underwater robots are installed, the underwater robots are put into water to operate, the data chip body 11 controls the rotating speed of the stable rotary vanes 3, the rotating speed of each stable rotary vane 3 can be adjusted according to different data chip bodies 11 of the weight of the underwater robot, so that the underwater robot keeps balance, when the underwater robot reaches a fixed position, the stable rotary vanes 3 are in idle speed, so that the underwater robot keeps still, the forward rotary vanes 4 are started, the underwater robot moves horizontally, meanwhile, the rotary shell 6 is adjusted according to the position to be surveyed, the electric telescopic rod 15 is started through the data chip bodies 11, the electric telescopic rod 15 pushes the servo motor 12 to move, the belt 13 at the output end of the servo motor 12 is tightened, the servo motor 12 drives the rotary gear 14 to rotate through the belt 13, the rotary gear 14 drives the rack 9 to move, the rack 9 drives the rotary shell 6 to rotate, and the angles of the camera body 7, the illuminating lamp 8 and the detector in the rotary shell 6 are adjusted, the detection range of the camera body 7 is increased;

when the camera body 7 transmits the shot image to the data chip body 11, and the object needs to be gripped according to the analysis of the data chip body 11, the data chip body 11 transmits a signal to the mechanical arm device 19, firstly, the angle of the first manipulator 1908 is adjusted, the micro motor 1904 is started, the output end of the micro motor 1904 drives the driving gear 1903 to rotate, the transmission shaft of the driving gear 1903 is fixedly connected with the first arm 1905, the driving gear 1903 rotates around the driven gear 1902, the transmission shaft of the driving gear 1903 drives the first arm 1905 to rotate, the second arm 1906 is driven to rotate according to the movement, after the adjustment is completed, the micro motor 1907 is started, the output end of the micro motor 1907 drives the first manipulator 1908 to rotate to a proper angle, the first manipulator 1908 is started to grip the underwater object, and the angle of the mechanical arm device 19 can be adjusted according to the terrain, the clamping of the mechanical arm device 19 is prevented, when an underwater robot cannot complete clamping, the data chip body 11 transmits signals through a signal transmitter to call a plurality of groups of underwater robots, the robot arm device 19 and the flexible mechanical arm 20 are matched for clamping an object, the data chip body 11 controls the air pump 2001 in the flexible mechanical arm 20 to enable the air pump 2001 to drive the control cables 2002 on the two sides to enable the control cables 2002 to ascend or descend, the flexible mechanical arm 20 can be bent into various angles, the data chip body 11 analyzes and transmits the control cables to the flexible mechanical arm 20 according to the shape of the object shot by the camera body 7, air valves 2009 at different positions in the flexible mechanical arm 20 are opened, the air pump 2001 is started, the air pump 2001 inflates air bags 2010 at different positions through an air pipe 2006 and the air valve 2009, the rotation angles of clamping rods of the second mechanical arm 2011 are different, the application range of the flexible mechanical arm 20 is improved;

meanwhile, the underwater robot senses an obstacle nearby the sensor 5 through the infrared sensor, the distance between the underwater robot and the obstacle is transmitted to the data chip body 11, the data chip body 11 adjusts the rotating speed of the stable rotary vane 3 and the rotating speed of the advancing rotary vane 4 according to signals of the infrared sensor 5, the underwater robot is prevented from colliding with the obstacle, and a rotary sealing ring 16 is mounted on the outer wall of the fixing block 17 and can prevent water from entering the control shell 10;

iv, by utilizing an image fusion technology, animals are bionic, based on a rattlesnake (the snake is provided with a visible light eye and an infrared eye of a cheek pit at the same time), when the images are processed, the infrared images and the visible light images are collected at the same time, the two types of light are divided into high frequency and low frequency through DOG model image enhancement and Guidedfilter filtering, then biological vision fusion is carried out, the synthesized new images are obviously improved in contrast, color brightness, resolution and detail outline, conditions can be provided for sea dark area exploration and night navigation of a robot, and v, various underwater organisms can be accurately identified by utilizing a convolutional neural network and a novel image identification method based on WGAN: selecting a Softmax loss function to solve mutual exclusion between targets, designing an experimental sample of the convolutional neural network, carrying out experimental analysis to obtain a convolutional neural network model, and adopting a WGAN-based image identification technology: the method comprises the steps of adding a class label to data sent into a WGAN generator, then training the generator and a discriminator to enable the generator to finally output a specified class sample, and enabling the capability of the discriminator to be optimal.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.

Claims

1. The utility model provides a carry on underwater robot and ecosystem of multiple functional module, includes underwater robot shell (1), arm device (19) and flexible arm (20), its characterized in that: the underwater robot comprises an underwater robot shell (1), a connecting rod (2) is installed at the top of the underwater robot shell (1), a stable rotary vane (3) is installed at one end of the connecting rod (2), forward rotary vanes (4) are installed on two sides of the underwater robot shell (1) respectively, an infrared sensor (5) is installed at the bottom of the underwater robot shell (1), a rotary shell (6) is installed at the front end of the inner side of the underwater robot shell (1), a camera body (7) is installed inside the rotary shell (6), an illuminating lamp (8) is installed at the bottom, close to the camera body (7), of the inner portion of the rotary shell (6), a rack (9) is installed on the outer wall of one side of the rotary shell (6), a control shell (10) is installed in the middle of the inner wall of the underwater robot shell (1), and a data chip body (11) is installed at the top of the inner portion of the control shell, servo motor (12) are installed to the centre of the inside of control shell (10), and belt (13) are installed to the output of servo motor (12) to electric telescopic handle (15) are installed to the bottom of servo motor (12), rotary gear (14) are all installed respectively to the both sides of control shell (10), and the installation of control shell (10) rotatory sealing washer (16), control shell (10) are connected with fixed block (17) through rotatory sealing washer (16), and the outer wall of fixed block (17) installs solid fixed ring (18), arm device (19) are connected with fixed block (17) through solid fixed ring (18), flexible arm (20) are connected with fixed block (17) through solid fixed ring (18).

2. The underwater robot carrying various functional modules and the ecosystem thereof according to claim 1, wherein: the underwater robot shell (1) and the rotating shell (6) form a rotating structure through the rack (9) and the rotating gear (14), and the rotating shell (6) is symmetrically distributed on two sides of the vertical center line of the underwater robot shell (1).

3. The underwater robot carrying various functional modules and the ecosystem thereof according to claim 1, wherein: the underwater robot comprises an underwater robot shell (1), a fixing block (17), a fixing ring (18) and a mechanical arm device (19) which form a detachable structure, and the fixing block (17) and the underwater robot shell (1) form a sealing structure through a rotary sealing ring (16).

4. The underwater robot carrying various functional modules and the ecosystem thereof according to claim 1, wherein: the stabilizing rotary vanes (3) are distributed in 2 groups along two sides of a horizontal center line of the underwater robot shell (1) at equal intervals, and the 2 groups of stabilizing rotary vanes (3) are positioned on the same cross section.

5. The underwater robot carrying various functional modules and the ecosystem thereof according to claim 1, wherein: the longitudinal section of the rack (9) is arc-shaped, the radian of the rack (9) is 120 degrees, and the central line of the rack (9) and the central line of the rotary shell (6) are positioned on the same longitudinal section.

6. The underwater robot carrying various functional modules and the ecosystem thereof according to claim 1, wherein: the mechanical arm device (19) comprises a fixed shaft (1901), a driven gear (1902), a driving gear (1903), a micro motor (1904), a first mechanical arm (1905), a second mechanical arm (1906), a micro motor (1907) and a first mechanical arm (1908), and the fixed shaft (1901) is connected with the fixed block (17) through a fixed ring (18), one end of the fixed shaft (1901) is provided with a driven gear (1902), a first mechanical arm (1905) is arranged on the outer wall of the fixed shaft (1901), a micro motor (1904) is arranged on one side of the first mechanical arm (1905), a driving gear (1903) is installed at the output end of the micro motor (1904), a second mechanical arm (1906) is installed at one end of the first mechanical arm (1905), the micro motor (1904) is installed inside the second mechanical arm (1906), and a first robot (1908) is mounted to an output end of the micro motor (1904).

7. The underwater robot carrying various functional modules and the ecosystem thereof according to claim 6, wherein: the first mechanical arm (1905) and the second mechanical arm (1906) form a rotating structure through a driven gear (1902) and a driving gear (1903), and the first mechanical arm (1905) and the second mechanical arm (1906) are perpendicular to each other.

8. The underwater robot carrying various functional modules and the ecosystem thereof according to claim 1, wherein: the flexible mechanical arm (20) comprises an air pump (2001), a control cable (2002), a bottom plate (2003), a fixing cable (2004), a first fixing plate (2005), an air pipe (2006), a second fixing plate (2007), a front plate (2008), an air valve (2009), an air bag (2010) and a second mechanical arm (2011), wherein the air pump (2001) is connected with a fixing block (17) through a fixing ring (18), the control cable (2002) is installed on the outer side of the air pump (2001), the bottom plate (2003) is installed at the bottom of the air pump (2001), the fixing cable (2004) is installed on one side of the bottom plate (2003), the first fixing plate (2005) is installed on the outer walls of the upper ends of the fixing cable (2004) and the control cable (2002) respectively, the second fixing plate (2007) is installed on the outer walls of the lower ends of the fixing cable (2004) and the control cable (2002) respectively, the front plate (2008) is installed on the bottoms of the fixing cable, an air pipe (2006) is installed at one end of the air pump (2001), an air valve (2009) is installed at one end of the air pipe (2006), an air bag (2010) is installed at one end of the air valve (2009), and a second manipulator (2011) is installed at one end of the air bag (2010).

9. The underwater robot carrying various functional modules and the ecosystem thereof according to claim 8, wherein: the control cables (2002) and the fixed cables (2004) are respectively distributed in an annular shape along the center line of the bottom plate (2003), the control cables (2002) and the fixed cables (2004) form an included angle of 45 degrees, and the control cables (2002) and the fixed cables (2004) are respectively made of flexible materials.