CN110959374B

CN110959374B - Solar power generation diving bionic observation crab-like crab-removing robot

Info

Publication number: CN110959374B
Application number: CN201911352334.4A
Authority: CN
Inventors: 成欢; 许虹; 项志略; 殷加龙
Original assignee: Nanjing Institute of Industry Technology
Current assignee: Nanjing Institute of Industry Technology
Priority date: 2019-12-25
Filing date: 2019-12-25
Publication date: 2022-04-19
Anticipated expiration: 2039-12-25
Also published as: CN110959374A

Abstract

The invention discloses a solar power generation submersible bionic observation weed removal crab-simulating robot which comprises a main body part, crab claws, crab legs and a simulated waterproof shell, wherein the crab legs and the crab claws are respectively arranged on two sides of the main body part, the crab claws comprise third claw arms fixed on two sides of the front part of the main body part, second claw arms hinged to the end parts of the third claw arms and first claw arms hinged to the end parts of the second claw arms, crab claw weed removal scissors are arranged at the tail ends of the first claw arms, a shearing and stretching mechanism and a resetting mechanism are arranged in the crab claws, the shearing and stretching mechanism is used for driving the crab claws to weed and shear and simultaneously stretch the crab claws towards the inner side direction, and the resetting mechanism is used for enabling the crab claws to restore to the initial position. The crab clamp disclosed by the invention ensures minimum disturbance to the crabs, avoids influence on the growth and reproduction of the crabs, can timely eliminate aquatic weeds which grow too fast through the crab clamp weed removing scissors, and ensures that the breeding environment is suitable for the growth and reproduction of the crabs.

Description

Solar power generation diving bionic observation crab-like crab-removing robot

Technical Field

The invention relates to a solar power generation diving bionic observation crab-killing robot.

Background

As one of the bionic robots, the crab-like robot realizes a motion mode similar to that of a crab by simulating the shape of the crab. The crab simulating robot can be mixed into a crab culture area by attaching the simulating shell on the surface, so that the action and the activity of the crabs can be observed, the growth state of the crabs can be known closely, and the action of the crabs can not be interfered. The utility model with patent numbers CN201920240063.2 and CN201721069872.9 both provide robots capable of simulating the moving mode of crabs. On the other hand, a certain amount of waterweeds are required to be cultivated in water for providing a stereoscopic benign environment, the waterweeds can purify water quality and are also important nutrient sources of the river crabs, but the waterweeds grow excessively, so that excessive dissolved oxygen is consumed, and the water quality is also deteriorated due to excessive growth, so that the waterweeds can be cleaned regularly by the crab-simulating robot. In order to avoid the abnormal behavior from disturbing other crabs, the overgrown aquatic weeds need to be cut off in a way which is not easy to cause abnormal vision.

Disclosure of Invention

The invention aims to provide a solar power generation diving bionic observation crab-removing and simulating robot, which aims to solve the problem that the conventional weeding device in the prior art can disturb crabs when used and influence the growth process of the crabs to a certain extent.

The solar power generation diving bionic observation weed removal crab-simulating robot comprises a main body part, crab claws, crab legs and a mimicry waterproof shell, wherein the crab legs and the crab claws are arranged on two sides of the main body part respectively, the crab claws comprise third claw arms fixed on two sides of the front part of the main body part, second claw arms hinged to the end parts of the third claw arms and first claw arms hinged to the end parts of the second claw arms, crab claw weed removal scissors are arranged at the tail ends of the first claw arms, a shearing extension mechanism and a reset mechanism are arranged in the crab claws, the shearing extension mechanism is used for driving the crab claws to weed and cut open and simultaneously extending the crab claws towards the inner side direction, the reset mechanism is used for restoring the initial position of the crab claws, and the crab claw weed removal scissors comprise a shearing motor, a fixed claw plate fixed at the tail ends of the first claw arms and a movable claw plate hinged at the tail ends of the first claw arms, the fixed nipper and the movable nipper are provided with mutually meshed cutting edges, one end of the movable nipper extends into a first nipper arm through a hinge shaft connected with the movable nipper, a driving gear is installed on an output shaft of the shearing motor, a first connecting rod is hinged to one side of the driving gear, and one end of the movable nipper extends into the first nipper arm and is hinged to the first connecting rod.

Preferably, the first tong arm is hinged to the second tong arm through a first rotating shaft, the shearing and stretching mechanism comprises a ratchet wheel arranged on the first rotating shaft, a swing rod with one end rotatably connected to the first rotating shaft, a second connecting rod hinged to the end of the swing rod, a driven gear meshed with the driving gear, a toggle pawl with the root end hinged to the swing rod, and a non-return pawl rotatably connected to the first tong arm, the end of the second connecting rod is hinged to the driven gear, torsion springs are arranged on the toggle pawl and the non-return pawl and abut against the ratchet wheel under the action of the torsion springs, and the first rotating shaft is fixedly connected with the second tong arm.

Preferably, the second tong arm is hinged to the third tong arm through a second rotating shaft, two ends of a tong arm connecting rod are respectively hinged to the third tong arm and the first tong arm, and two ends of the tong arm connecting rod are located on two sides of a connecting line from the first rotating shaft to the second rotating shaft.

Preferably, the driving gear and the driven gear have the same shape and size, and when the first connecting rod is located at the pole position closest to the center of the crab-simulating robot, the second connecting rod is located at the pole position farthest from the center of the crab-simulating robot.

Preferably, the reset mechanism comprises a reset motor installed on the second tong arm, a reset gear is installed at the output end of the reset motor, an arc-shaped rack and a rocker are rotatably connected to the first rotating shaft, the arc-shaped rack and the rocker are symmetrically arranged on two sides of the first rotating shaft and fixedly connected with each other, the arc-shaped rack is meshed with the reset gear, a fixed connecting column is fixed at the extending end of the rocker, and the fixed connecting column is fixedly connected with the first tong arm.

Preferably, the ratchet with be equipped with release mechanism between the pivot one, the ratchet rotates to be connected in the pivot one, release mechanism is including establishing the slip keyway of a pivot side, sliding connection in the metal feather key of slip keyway, metal feather key side part exposes the slip keyway, the mounting hole at ratchet center be equipped with the metal feather key exposes part matched with key-type connection groove, the metal feather key with be connected with the pressure spring between the slip keyway one end, the first unblock post that is equipped with pressure spring one end and is equipped with coaxial coupling of pivot, be equipped with the electro-magnet in the unblock post, attract when the electro-magnet circular telegram the metal feather key, the metal feather key shifts out the key spread groove.

Preferably, main part upper portion is equipped with a plurality of advancing device, advancing device arranges main part is all around, advancing device includes screw, flexible bracing piece, rack, propulsion gear, bracing piece driving motor and supports the base, it is fixed in the main part to support the base, it is C-shaped structure to support the base, bracing piece driving motor install in support one side in the base, flexible bracing piece sliding connection in support the opposite side in the base, flexible bracing piece side is fixed with the rack, the bracing piece driving motor output is installed propulsion gear, propulsion gear with rack toothing, flexible bracing piece one end is stretched out the driving motor of screw is installed to main part, the screw install in driving motor's output shaft.

Preferably, a solar panel is mounted on the top of the mimicry waterproof casing in a covering manner, and the solar panel is connected with a power supply mounted in the main body part.

Preferably, the main body part is also internally provided with crab leg driving devices, a camera device and a controller, the crab leg driving devices are respectively arranged on two sides of the main body part in pairs and are in transmission connection with each crab leg on the corresponding side, the camera device is arranged on the front part of the main body part in pairs, and the controller is respectively and electrically connected to a power supply, the crab leg driving devices, the camera device, the propelling device and each motor and unlocking mechanism in the crab pincers.

Preferably, the camera device comprises a micro electric cylinder and a camera, and the camera is installed at the telescopic end of the micro electric cylinder.

The invention has the following advantages: the crab-shaped water-proof shell simulating the crab shape ensures minimum disturbance to the crab through the simulated water-proof shell, avoids influencing the growth and the reproduction of the crab, and can timely eliminate aquatic weeds growing too fast through the crab pincers grass-removing scissors, thereby ensuring that the culture environment is suitable for the growth and the reproduction of the crab.

The invention also realizes the coordinated movement of the stretching process between the crab claw weed-removing shears and each tong arm through the shearing stretching mechanism, realizes the effect that the crab claws are relatively fixed when the crab claw weed-removing shears are closed for cutting, and the positions of the crab claw weed-removing shears move inwards synchronously when the crab claw weed-removing shears are opened, thereby not only ensuring the stability of the crab claw weed-removing shears during shearing, but also ensuring that the positions of the crab claw weed-removing shears can move inwards when the crab claw weed-removing shears are opened after each shearing to cut a part of aquatic weeds, and the invention has reliable use and good cooperativity. The device also realizes the effect of convenient reset through the cooperative work of the reset mechanism and the unlocking mechanism.

Drawings

FIG. 1 is a schematic structural diagram of the present invention.

Fig. 2 is a schematic structural view of the inside of the crab pincers of the present invention.

Fig. 3 is a schematic structural diagram of the shearing and stretching mechanism of the present invention.

Fig. 4 is a schematic structural view of the return mechanism of the present invention.

FIG. 5 is a schematic structural view of the ratchet unlocking mechanism of the present invention.

FIG. 6 is a schematic diagram of the structure of the mimetic waterproof housing according to the present invention.

The labels in the figures are: 1. a mimicry waterproof shell, 2, a main body part, 3, crab pincers, 301, a fixed nipper, 302, a first nipper arm, 303, a second nipper arm, 304, a third nipper arm, 305, a blade, 306, a movable nipper plate, 307, a first connecting rod, 308, a second connecting rod, 309, a driving gear, 310, a swing rod, 311, a toggle pawl, 312, a ratchet, 313, a rocker, 314, an arc-shaped rack, 315, a reset motor, 316, a reset gear, 317, a nipper arm connecting rod, 318, a shearing motor, 319, an unlocking column, 320, a non-return pawl, 321, a fixed connecting column, 322, a metal sliding key, 323, a sliding key slot, 324, an electromagnet, 325, a driven gear, 4, crab legs, 5, a camera shooting device, 6, a crab leg driving device, 7, a propelling device, 71, a propeller, 72, a telescopic supporting rod, 73, a rack, 74, a propelling gear, 75, a supporting rod driving motor, 76 and a supporting base, 8. controller, 9, power, 10, solar cell panel.

Detailed Description

The following detailed description of the embodiments of the present invention will be given in order to provide those skilled in the art with a more complete, accurate and thorough understanding of the inventive concept and technical solutions of the present invention.

As shown in fig. 1-6, the invention provides a solar power generation diving bionic observation weed-removing crab-simulating robot, which comprises a main body part 2, crab claws 3, crab legs 4 and a simulated waterproof shell 1, wherein the crab legs 4 and the crab claws 3 are respectively arranged at two sides of the main body part 2, the crab claws 3 comprise third claw arms 304 fixed at two sides of the front part of the main body part 2, second claw arms 303 hinged at the end parts of the third claw arms 304 and first claw arms 302 hinged at the end parts of the second claw arms 303, the tail ends of the first claw arms 302 are provided with crab claws 3 weed-removing scissors, the crab claws 3 are internally provided with a shearing and stretching mechanism and a resetting mechanism, the shearing and stretching mechanism is used for driving the crab claws 3 to open and stretch the crab claws 3 towards the inner side direction, the resetting mechanism is used for enabling the crab claws 3 to restore the initial position, the crab claws 3 weed-removing scissors comprise a shearing motor 318, The fixed nipper 301 fixed at the end of the first nipper arm 302 and the movable nipper 306 hinged at the end of the first nipper arm 302 are provided with cutting edges 305 engaged with each other, one end of the movable nipper 306 extends into the first nipper arm 302 through a hinge shaft connected with the movable nipper 301, an output shaft of the shearing motor 318 is provided with a driving gear 309, one side of the driving gear 309 is hinged with a first connecting rod 307, and one end of the movable nipper 306 extends into the first nipper arm 302 and is hinged to the first connecting rod 307.

The first tong arm 302 and the second tong arm 303 are hinged through a first rotating shaft, the shearing and stretching mechanism comprises a ratchet wheel 312 installed on the first rotating shaft, a swing rod 310 with one end rotatably connected to the first rotating shaft, a second connecting rod 308 hinged to the end of the swing rod 310, a driven gear 325 meshed with the driving gear 309, a toggle pawl 311 with the root end hinged to the upper surface of the swing rod 310, and a non-return pawl 320 rotatably connected to the first tong arm 302, the end of the second connecting rod 308 is hinged to the driven gear 325, torsion springs are arranged on the toggle pawl 311 and the non-return pawl 320 and abut against the ratchet wheel 312 under the action of the torsion springs, and the first rotating shaft is fixedly connected with the second tong arm 303.

The second clamp arm 303 and the third clamp arm 304 are hinged through a second rotating shaft, two ends of a clamp arm connecting rod 317 are hinged to the third clamp arm 304 and the first clamp arm 302 respectively, and two ends of the clamp arm connecting rod 317 are located on two sides of a connecting line from the first rotating shaft to the second rotating shaft.

The driving gear 309 and the driven gear 325 have the same shape and size, and when the first connecting rod 307 is located at the pole position closest to the center of the crab-like robot, the second connecting rod 308 is located at the pole position farthest from the center of the crab-like robot.

The resetting mechanism comprises a resetting motor 315 installed on the second clamp arm 303, a resetting gear 316 is installed at the output end of the resetting motor 315, an arc-shaped rack 314 and a rocker 313 are rotatably connected to the first rotating shaft, the arc-shaped rack 314 and the rocker 313 are symmetrically arranged on two sides of the first rotating shaft and fixedly connected with each other, the arc-shaped rack 314 is meshed with the resetting gear 316, a fixed connecting column 321 is fixed at the extending end of the rocker 313, and the fixed connecting column 321 is fixedly connected with the first clamp arm 302. The arc-shaped rack 314 has a toothless stop portion at both ends thereof for limiting the rotatable range of the first clamp arm 302 in cooperation with the reset gear 316.

Ratchet 312 with be equipped with release mechanism between the pivot one, ratchet 312 rotates to be connected the pivot is one, release mechanism is including establishing the slip keyway 323 of a pivot side, sliding connection in the metal feather key 322 of slip keyway 323, the part exposes in metal feather key 322 side the slip keyway 323, the mounting hole at ratchet 312 center be equipped with metal feather key 322 exposes part matched with key-type connection groove, metal feather key 322 with be connected with the pressure spring between slip keyway 323 one end, the pivot one is equipped with pressure spring one end and is equipped with coaxial coupling's unblock post 319, be equipped with electro-magnet 324 in the unblock post 319, attract when electro-magnet 324 circular telegram metal feather key 322, metal feather key 322 shifts out the key connection groove.

The upper part of the main body part 2 is provided with a plurality of propelling devices 7, the propelling devices 7 are arranged around the main body part 2, the propulsion device 7 comprises a propeller 71, a telescopic support rod 72, a rack 73, a propulsion gear 74, a support rod driving motor 75 and a support base 76, the support base 76 is fixed in the main body part 2, the support base 76 is a C-shaped structure, the supporting rod driving motor 75 is installed at one side in the supporting base 76, the telescopic supporting rod 72 is slidably connected to the other side in the supporting base 76, the rack 73 is fixed on the side of the telescopic support rod 72, the propelling gear 74 is installed on the output end of the support rod driving motor 75, the propelling gear 74 is engaged with the rack 73, one end of the telescopic supporting rod 72 extends out of the main body part 2 and is provided with a driving motor of a propeller 71, and the propeller 71 is arranged on an output shaft of the driving motor.

The crab leg driving device 6, the camera device 5 and the controller 8 are further arranged in the main body part 2, the crab leg driving device 6 is arranged on two sides of the main body part 2 in pairs and is in transmission connection with each crab leg 4 on the corresponding side, the camera device 5 is arranged on the front part of the main body part 2 in pairs, and the controller 8 is respectively and electrically connected to the power supply 9, the crab leg driving device 6, the camera device 5, the propulsion device 7 and each motor and unlocking mechanism in the crab pincers 3. The camera device 5 comprises a micro electric cylinder and a camera, and the camera is installed at the telescopic end of the micro electric cylinder. The top of the mimicry waterproof shell 1 is covered and installed with a solar panel 10, and the solar panel 10 is connected with a power supply 9 installed in the main body part 2.

In order to collect the cut aquatic weeds, the lower part of the main body part 2 can be provided with a collecting device, the cut aquatic weeds are sucked into the collecting box by the suction force generated by the water pump in the collecting box, the aquatic weeds are prevented from entering the water pump by the filter screen, the crab-simulating robot leaves the water and lands after a certain amount of aquatic weeds are collected, and workers can take the aquatic weeds out for treatment.

The weeding process of the invention is as follows: the crab-simulating robot moves to a float grass place, the weeding shears of the crab pincers 3 face inwards under the initial state of the crab pincers 3, the first pincers arm 302 and the second pincers arm 303 form a certain angle, the controller 8 starts the shearing motor 318, and the driving gear 309 rotates to drive the movable pincers plate 306 to rotate through the first connecting rod 307 so as to cut float grass. Meanwhile, the driven gear 325 synchronously moves along with the crab pincers 3, the swing rod 310 is driven to periodically swing through the second connecting rod 308, the swing rod 310 drives the toggle pawl 311 to rotate the ratchet wheel 312, the ratchet wheel 312 is fixedly connected with the first rotating shaft through the metal sliding key 322 to drive the second tong arm 303 to rotate relative to the first tong arm 302, the first tong arm 302 is opened outwards, the first tong arm 302 further drives the third tong arm 304 to reversely rotate relative to the second tong arm 303 through the tong arm connecting rod 317, the second tong arm 303 rotates inwards relative to the third tong arm 304, the effect that the first tong arm 302 moves inwards is achieved, the first tong arm 302 can synchronously move when the crab pincers 3 weed and open and close, and the cooperation of the first tong arm 302 and the second tong arm can be achieved without independent control of the controller 8.

Because the driven gear 325 and the driving gear 309 are the same, the driving gear 309 rotates for a circle to enable the crab pincer 3 weeding shears to complete one opening and closing, in the process of closing and shearing the crab pincer 3 weeding shears, the swing rod 310 swings outwards from the position closest to the inner side relative to the pole of the crab-simulating robot, the poking pawl 311 is in the resetting process, the non-return pawl 320 clamps the ratchet wheel 312 to prevent reversion, the crab pincer 3 is kept fixed through the action of the ratchet wheel 312, and the crab pincer 3 weeding shears are prevented from moving outwards due to resistance. When the crab pincer 3 weeding shears are opened, the swing rod 310 swings inwards from the outermost side relative to the extreme position of the crab-simulating robot, the pawl 311 is shifted to enable the ratchet wheel 312 to rotate, and accordingly the tong arms rotate relatively, the crab pincer 3 is fixed relatively when the crab pincer 3 weeding shears are closed for cutting, and when the crab pincer 3 weeding shears are opened, the position of the crab pincer 3 weeding shears synchronously moves inwards, and the synergy is good.

After the aquatic weeds in the front shearing range of the crab-simulating robot are cut, the controller 8 enables the electromagnet 324 to be electrified, so that the metal sliding key 322 is sucked up, the connection relation between the metal sliding key 322 and the ratchet 312 is released, the ratchet 312 can rotate relative to the rotating shaft, then the reset motor 315 is started, the reset gear 316 rotates to drive the arc-shaped rack 314 to rotate around the rotating shaft, the rocker 313 and the fixed connecting column 321 further drive the first clamp arm 302 to rotate to the initial position relative to the second clamp arm 303, the third clamp arm 304 also rotates to the initial position under the action of the clamp arm connecting rod 317 to realize the reset of each clamp arm, after the reset, the electromagnet 324 and the reset motor 315 are powered off, and the metal sliding key 322 and the fixed ratchet 312 are again under the action of a pressure spring.

In the working process, the crab leg driving device 6 drives each crab leg 4 to cooperatively move to realize the crawling of the crab-like robot on the water bottom or the ground, and the crab-like robot moves to the aquatic weeds in the moving mode. According to the invention, the survival condition and the surrounding environment of the crabs are observed through the telescopic camera. When the crab-simulating robot is in water, if the crab-simulating robot needs to move to a certain position quickly, the propulsion device 7 at the corresponding position can be extended out through the controller 8, and the propeller 71 is started to directly drive the crab-simulating robot to move quickly. Finally, when the crab simulating robot leaves the water, the solar cell panel 10 on the top of the crab simulating robot can absorb solar energy to supplement the energy of the power supply 9, so that the crab simulating robot can move for a longer time.

The invention is described above with reference to the accompanying drawings, it is obvious that the specific implementation of the invention is not limited by the above-mentioned manner, and it is within the scope of the invention to adopt various insubstantial modifications of the inventive concept and solution of the invention, or to apply the inventive concept and solution directly to other applications without modification.

Claims

1. The utility model provides a solar energy power generation dive bionic observation crab-like robot that weeds which characterized in that: the crab claw type weed cutting machine comprises a main body part (2), crab claws (3), crab legs (4) and a mimicry waterproof shell (1), wherein the crab legs (4) and the crab claws (3) are arranged on two sides of the main body part (2) respectively, the crab claws (3) comprise third claw arms (304) fixed on two sides of the front part of the main body part (2), second claw arms (303) hinged to the end parts of the third claw arms (304) and first claw arms (302) hinged to the end parts of the second claw arms (303), crab claws (3) weed removing scissors are arranged at the tail ends of the first claw arms (302), a shearing stretching mechanism and a resetting mechanism are arranged inside the crab claws (3), the shearing stretching mechanism is used for driving the crab claws (3) to weed, cut and stretch the crab claws (3) towards the inner side direction at the same time, the resetting mechanism is used for enabling the crab claws (3) to restore to the initial position, and the weeding of the crab claws (3) comprises a shearing motor (318), The fixed nipper (301) is fixed at the tail end of the first nipper arm (302), the movable nipper (306) is hinged at the tail end of the first nipper arm (302), the fixed nipper (301) and the movable nipper (306) are provided with cutting edges (305) which are meshed with each other, one end of the movable nipper (306) extends into the first nipper arm (302) through a hinge shaft connected with the movable nipper, a driving gear (309) is installed on an output shaft of the shearing motor (318), a first connecting rod (307) is hinged to one side of the driving gear (309), and one end of the movable nipper (306) extends into the first nipper arm (302) and is hinged to the first connecting rod (307);

the first tong arm (302) is hinged to the second tong arm (303) through a first rotating shaft, the shearing and stretching mechanism comprises a ratchet wheel (312) mounted on the first rotating shaft, a swing rod (310) with one end rotatably connected to the first rotating shaft, a second connecting rod (308) hinged to the end of the swing rod (310), a driven gear (325) meshed with the driving gear (309), a toggle pawl (311) with the root end hinged to the swing rod (310) and a non-return pawl (320) rotatably connected to the first tong arm (302), the end of the second connecting rod (308) is hinged to the driven gear (325), torsion springs are arranged on the toggle pawl (311) and the non-return pawl (320) and abut against the ratchet wheel (312) under the action of the torsion springs, and the first rotating shaft is fixedly connected with the second tong arm (303).

2. The solar power generation diving bionic observation crab-killing robot as claimed in claim 1, which is characterized in that: the second clamp arm (303) is hinged to the third clamp arm (304) through a second rotating shaft, two ends of a clamp arm connecting rod (317) are respectively hinged to the third clamp arm (304) and the first clamp arm (302), and two ends of the clamp arm connecting rod (317) are located on two sides of a connecting line from the first rotating shaft to the second rotating shaft.

3. The solar power generation diving bionic observation crab-killing robot as claimed in claim 2, characterized in that: the driving gear (309) and the driven gear (325) are the same in shape and size, and when the first connecting rod (307) is located at the pole position closest to the center of the crab-like robot, the second connecting rod (308) is located at the pole position farthest from the center of the crab-like robot.

4. The solar power generation diving bionic observation crab-killing robot as claimed in claim 3, characterized in that: the resetting mechanism comprises a resetting motor (315) installed on the second tong arm (303), a resetting gear (316) is installed at the output end of the resetting motor (315), an arc-shaped rack (314) and a rocker (313) are connected to the first rotating shaft in a rotating mode, the arc-shaped rack (314) and the rocker (313) are symmetrically arranged on two sides of the first rotating shaft and fixedly connected with each other, the arc-shaped rack (314) is meshed with the resetting gear (316), a fixed connecting column (321) is fixed to the extending end of the rocker (313), and the fixed connecting column (321) is fixedly connected with the first tong arm (302).

5. The solar power generation diving bionic observation crab-killing robot as claimed in claim 4, wherein: an unlocking mechanism is arranged between the ratchet wheel (312) and the first rotating shaft, the ratchet wheel (312) is rotationally connected to the first rotating shaft, the unlocking mechanism comprises a sliding key groove (323) arranged on one side surface of the rotating shaft and a metal sliding key (322) connected with the sliding key groove (323) in a sliding way, the side part of the metal sliding key (322) is exposed out of the sliding key groove (323), a key connecting groove matched with the exposed part of the metal sliding key (322) is arranged in a mounting hole at the center of the ratchet wheel (312), a pressure spring is connected between the metal sliding key (322) and one end of the sliding key groove (323), one end of the rotating shaft I, which is provided with a pressure spring, is provided with an unlocking column (319) which is coaxially connected, an electromagnet (324) is arranged in the unlocking column (319), when the electromagnet (324) is electrified, the metal sliding key (322) is attracted, and the metal sliding key (322) moves out of the key connecting groove.

6. The solar power generation diving bionic observation crab-killing robot as claimed in claim 1, which is characterized in that: the upper part of the main body part (2) is provided with a plurality of propelling devices (7), the propelling devices (7) are arranged around the main body part (2), each propelling device (7) comprises a propeller (71), a telescopic supporting rod (72), a rack (73), a propelling gear (74), a supporting rod driving motor (75) and a supporting base (76), the supporting base (76) is fixed in the main body part (2), the supporting base (76) is of a C-shaped structure, the supporting rod driving motor (75) is installed on one side in the supporting base (76), the telescopic supporting rod (72) is connected to the other side in the supporting base (76) in a sliding manner, the rack (73) is fixed on the side surface of the telescopic supporting rod (72), the propelling gear (74) is installed at the output end of the supporting rod driving motor (75), and the propelling gear (74) is meshed with the rack (73), one end of the telescopic supporting rod (72) extends out of the main body part (2) and is provided with a driving motor of a propeller (71), and the propeller (71) is arranged on an output shaft of the driving motor.

7. The solar power generation diving bionic observation crab-killing robot as claimed in claim 1, which is characterized in that: the top of the mimicry waterproof shell (1) is covered with a solar panel (10), and the solar panel (10) is connected with a power supply (9) arranged in the main body part (2).

8. The solar power generation diving bionic observation crab-killing robot as claimed in claim 6, wherein: still be equipped with crab leg drive arrangement (6), camera device (5) and controller (8) in main part (2), crab leg drive arrangement (6) are located in pairs the transmission of main part (2) both sides and each crab leg (4) that correspond the side is connected, camera device (5) set up in pairs the front portion of main part (2), controller (8) electricity respectively connect to power (9), crab leg drive arrangement (6), camera device (5) advancing device (7) and each motor and release mechanism in crab pincers (3).

9. The solar power generation diving bionic observation crab-killing robot as claimed in claim 8, wherein: the camera device (5) comprises a micro electric cylinder and a camera, and the telescopic end of the micro electric cylinder is provided with the camera.