An underwater lightweight butterfly-shaped bionic operation robot and a working method thereof

Abstract

The present application belongs to the field of robot technology, and relates to an underwater lightweight butterfly-shaped bionic operation robot and a working method thereof. The underwater lightweight butterfly-shaped bionic operation robot comprises a butterfly-shaped full-attitude motion body, a simulated elephant trunk mechanical arm installed below the butterfly-shaped full-attitude motion body, and a self-adaptive negative pressure adsorption system arranged at the bottom end of the simulated elephant trunk mechanical arm. An operation orientation conversion assembly is arranged between the butterfly-shaped full-attitude motion body and the simulated elephant trunk mechanical arm, so as to realize rotation between the self-adaptive negative pressure adsorption system and the simulated elephant trunk mechanical arm relative to the butterfly-shaped full-attitude motion body. A shore station console is arranged on the shore or a mother ship, and the shore station console is electrically connected with the butterfly-shaped full-attitude motion body. The overall water resistance is smaller, and the motion performance is stronger. Six groups of propeller structures realize omnidirectional and full-attitude flexible motion of the robot body. Two-side double-wing nozzle pipelines make vertical and horizontal motions nearly zero-coupled, and the motion is more flexible. The simulated elephant trunk mechanical arm makes the self-adaptive negative pressure adsorption system have more degrees of freedom, and the application range and adsorption force are stronger.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of robots, and particularly relates to an underwater lightweight butterfly-shaped bionic operation robot and a working method thereof. BACKGROUND

[0002] In order to realize the operation on the surface of a complex structure with curvature such as a bridge pier or a submarine pipeline, or to grasp the object on the surface of the complex structure with curvature, the robot must be firmly attached to the surface of the complex structure and be able to adaptively adsorb according to the curvature change of the surface of the complex structure, and still be able to resist external disturbance while carrying a load, which requires the robot to have high adsorption force and strong omnidirectional motion and pose transformation capability, that is, to be stable and flexible, and to be able to realize wall climbing, turning and spinning motion.

[0003] Unlike ground mobile robots, underwater operation robots are affected by adhesion, operation conditions and their own inherent characteristics, and there are still many problems in actual application: magnetic adsorption can only be attached to the surface of a magnetically conductive structure, and is not suitable for non-magnetic cement pile foundations of ocean platforms and wall surfaces of bridges and dams. The conventional negative pressure adsorption robot can only be applied to flat structural wall surfaces, and the existing technology is difficult to apply to non-structural wall surface scenarios with protrusions, cracks or curvature. In addition, to improve operation flexibility, traditional rigid operation arms are not suitable for underwater operation, and rigid arms cannot be flexibly operated in narrow and unstructured spaces.

[0004] The invention patent with the application publication number CN114986533A discloses a flexible mechanical arm simulating an elephant's trunk and its application, and the utility model patent with the authorization publication number CN217697737U discloses a bionic elephant's trunk robot based on a telescopic flexible arm. The invention patent with the application publication number CN116161188A discloses a ship bottom attached biological cleaning robot and a control method thereof, the robot can swim and dive to the vicinity of any position on the bottom of the ship body, and uses a high-pressure water flow sprayed by a triangular booster nozzle to clean the attached organisms on the bottom of the ship body, an eight-degree-of-freedom elephant's trunk type mechanical arm is arranged between the output end of the high-pressure water pipe and the high-pressure nozzle, however, the robot is not connected and fixed with the ship body during operation, the robot is prone to position deviation under the action of water flow, the stability is poor, and the eight-degree-of-freedom elephant's trunk type mechanical arm cannot realize omnidirectional flexible operation, and the operation flexibility is poor. SUMMARY

[0005] An object of the present application is to provide an underwater lightweight butterfly-shaped bionic operation robot with smaller overall water resistance, omnidirectional and full-pose flexible motion, stronger adsorption capacity and wide application range.

[0006] The technical scheme adopted by the present application to solve its technical problems is: an underwater lightweight butterfly-shaped bionic operation robot, comprising:

[0007] The butterfly-shaped all-attitude motion body is the carrier for robot motion and is used to install and control the elephant trunk-like robotic arm, the adaptive negative pressure adsorption system, and the work orientation transformation component.

[0008] An elephant trunk-shaped robotic arm is mounted below the butterfly-shaped all-attitude motion body and is used to adjust the robot's spatial position and attitude control.

[0009] An adaptive negative pressure adsorption system is installed at the bottom of the elephant trunk-like robotic arm to work in conjunction with the arm to adaptively adsorb and grasp complex unstructured objects.

[0010] The working orientation transformation component is set between the butterfly-shaped all-attitude motion body and the elephant trunk-like robotic arm. It adopts the form of a watertight turntable to realize the rotation between the adaptive negative pressure adsorption system and the elephant trunk-like robotic arm relative to the butterfly-shaped all-attitude motion body.

[0011] The shore station control console is located on the shore or on the mother ship and is electrically connected to the butterfly-shaped all-attitude motion body.

[0012] Furthermore, the butterfly-shaped all-attitude motion body includes a sealed shell, horizontal thrusters, vertical thrusters, a load mounting plate, and a control, communication, and energy module. The horizontal thrusters are horizontally positioned below the sealed shell. Several vertically penetrating flow channels are evenly distributed on the sealed shell, and each flow channel houses a set of vertical thrusters. The control, communication, and energy module is located inside the sealed shell and is electrically connected to the shore station control console. The control, communication, and energy module provides energy to the robot and communicates with the shore station control console. The control and communication system is connected to the control and communication system. The load mounting plate is installed at the bottom of the sealed housing and is connected to the working orientation conversion component. The top of the sealed housing is equipped with a top-view camera obstacle avoidance module, the bottom of the sealed housing is equipped with a bottom-view camera obstacle avoidance module, the front of the sealed housing is equipped with a front-view camera obstacle avoidance module, and the rear of the sealed housing is equipped with a rear-view camera obstacle avoidance module. The horizontal thruster, vertical thruster, front-view camera obstacle avoidance module, rear-view camera obstacle avoidance module, bottom-view camera obstacle avoidance module, and top-view camera obstacle avoidance module are electrically connected to the control and communication system and the energy module, respectively.

[0013] Preferably, there are two sets of horizontal thrusters symmetrically arranged below the sealed housing, and four sets of vertical thrusters evenly distributed on the sealed housing, with two sets of vertical thrusters located above the two sets of horizontal thrusters respectively. The sealed housing outside the horizontal thrusters is provided with vertically arranged double-wing nozzle pipes, which are connected to the corresponding flow channels.

[0014] Furthermore, the elephant trunk-like robotic arm includes a base, a large arm drive servo motor assembly, a small arm drive servo motor assembly, a large arm pull rope, a small arm pull rope, a large arm frame, a small arm frame, large arm elastic elements, and small arm elastic elements. Multiple large arm frames are arranged vertically, and their outer peripheries are connected by several evenly distributed large arm elastic elements. The uppermost large arm frame is fixedly connected to the bottom surface of the base. Multiple small arm frames are arranged vertically below the large arm frames, and their outer peripheries are connected by several evenly distributed small arm elastic elements. The tops of the small arm elastic elements are fixedly connected to the outer periphery of the lowermost large arm frame. The same number of large arm drive servo motor assemblies and small arm drive servo motor assemblies are fixedly installed on the outer periphery of the base. Both the large arm drive servo motor assemblies and small arm drive servo motor assemblies are electrically connected to the control communication and energy module. The groups are evenly distributed at intervals. Each boom drive servo group has a boom winding drive assembly mounted on top, which is connected to the output shaft of the boom drive servo group. Each forearm drive servo group has a forearm winding drive assembly mounted on top, which is also connected to the output shaft of the forearm drive servo group. Several guide pulleys are evenly distributed on the top surface of the base. The number of guide pulleys is the same as that of the boom winding drive assemblies and the forearm winding drive assemblies, and their positions correspond. One end of the boom winding drive assembly is connected and fixed to the boom pull rope. The other end of the boom pull rope passes around the guide pulley and passes through the boom frame from top to bottom, and is then connected and fixed to the bottom of the boom frame. The forearm winding drive assembly is connected and fixed to one end of the forearm pull rope. The other end of the forearm pull rope passes around the guide pulley and passes through the boom frame and forearm frame from top to bottom, and is then connected and fixed to the bottom of the forearm frame.

[0015] Furthermore, the adaptive negative pressure adsorption system includes a fixed base, a connecting flange, a connecting support plate, a vertical extension arm, a first circular flexible adsorption disk, a second flexible adsorption plate, a first adsorption channel, a second adsorption fitting, a second adsorption pipeline, an adsorption pump, a first adsorption thruster, and a thruster fixing bracket. The fixed base is fixedly installed at the bottom of the elephant trunk-like robotic arm. The bottom of the fixed base is connected to the connecting support plate via the connecting flange. The connecting support plate is fixedly connected to the upper end of the vertical extension arm. The lower end of the vertical extension arm is connected and fixedly fixed to the top of the second flexible adsorption plate. The top of the second flexible adsorption plate... It is also connected to a second adsorption tube, which is connected to an adsorption pump through a second adsorption pipeline. The adsorption pump is installed on a load mounting plate inside the butterfly-shaped all-attitude motion body. The bottom of the load mounting plate is provided with a drain port for the adsorption pump. A first circular flexible adsorption plate is set in front of the second flexible adsorption plate. The top of the first circular flexible adsorption plate is connected and fixed to the first adsorption thruster through a first adsorption flow channel. The first adsorption thruster is fixedly connected to the top of the second flexible adsorption plate through a thruster fixing bracket. The adsorption pump and the first adsorption thruster are electrically connected to the control communication and energy module, respectively.

[0016] Preferably, the adaptive negative pressure adsorption system further includes a work assistance sensor, which is fixedly connected to the lower side of the elephant trunk-like robotic arm. The work assistance sensor is electrically connected to the control communication and energy module, and the second adsorption pipeline passes through the inside of the elephant trunk-like robotic arm and is connected to the adsorption pump.

[0017] Furthermore, the operational orientation conversion component includes a fixed flange, a conversion drive motor, a rotating base, a support base, a horizontal support arm, a reinforcing component, a vertical support arm, a cascaded fixed base, a caster wheel, a robotic arm motor protective shell, and a rotating shaft. Multiple horizontal support arms are provided, with one end connected to the top of the vertical support arm. The bottom end of the vertical support arm is connected to the caster wheel via the cascaded fixed base. A reinforcing component is also connected between the horizontal and vertical support arms. The other end of the horizontal support arm is fixedly connected to the side wall of the conversion drive motor via a support base. The support bases are evenly distributed on the side wall of the conversion drive motor. The conversion drive motor is electrically connected to the control communication and energy module. The top of the conversion drive motor is fixedly connected to the load mounting plate via a fixed flange. The output shaft at the bottom of the conversion drive motor is connected and fixedly mounted to the rotating shaft. A rotating base is fixedly mounted on the rotating shaft. The lower end face of the rotating base is fixedly connected to the top of the robotic arm motor protective shell. The base, the large arm drive servo assembly, and the small arm drive servo assembly are disposed inside the robotic arm motor protective shell. The base is fixedly mounted on the bottom surface of the protective shell.

[0018] Furthermore, the shore station control console includes a display, an operating component, and a housing. The display and the operating component are located on the upper part of the housing. The housing contains a host and an energy module. The energy module provides energy to the shore station control console. The host is electrically connected to the display, the operating component, and the control communication and energy module.

[0019] Another object of the present invention is to provide a method for operating a lightweight underwater butterfly-shaped biomimetic robot, comprising the following steps:

[0020] 1) Steps for changing the robot's initial static state:

[0021] The butterfly-shaped all-attitude motion body is placed horizontally. The large arm drive servo group and the small arm drive servo group of the elephant trunk-like robotic arm move, respectively driving the large arm winding drive component and the small arm winding drive component to rotate. This, in turn, causes the large arm pull rope and the small arm pull rope to wind around the large arm winding drive component and the small arm winding drive component, respectively. This pulls the large arm frame and the small arm frame upward with the support of the large arm elastic element and the small arm elastic element, further driving the adaptive negative pressure adsorption system to move upward. By controlling the movement of the large arm drive servo group and the small arm drive servo group respectively, the elephant trunk-like robotic arm and the adaptive negative pressure adsorption system rise and coil into the working position transformation component under the butterfly-shaped all-attitude motion body. The universal wheels of the working position transformation component contact the wall surface to provide support.

[0022] 2) Robot's omnidirectional motion steps upon entering water:

[0023] The robot changes to its initial stationary state according to step 1). At this time, the elephant trunk-like robotic arm and the adaptive negative pressure adsorption system rise and coil around the working orientation transformation component under the butterfly-shaped all-attitude motion body. The omnidirectional wheels of the working orientation transformation component contact the wall. By controlling the horizontal and vertical thrusters of the butterfly-shaped all-attitude motion body respectively, and in conjunction with the front-view camera obstacle avoidance module, the rear-view camera obstacle avoidance module, the downward-view camera obstacle avoidance module, and the top-view camera obstacle avoidance module, the robot can achieve omnidirectional operations such as forward, backward, heave, pitch, roll, and yaw.

[0024] 3) Robot's water entry, grasping, and handling procedures:

[0025] Following step 2), the robot moves omnidirectionally to the work area, hovers in a butterfly-shaped motion body, and extends its trunk-like robotic arm vertically. The large arm and small arm of the trunk-like robotic arm drive the servo motor group to move, thereby driving the adaptive negative pressure adsorption system to move to the object to be grasped. The shore station control console controls the adaptive negative pressure adsorption system to adsorb the object to be grasped, and completes the precise grasping and adsorption with the help of the downward-looking camera obstacle avoidance module and the operation auxiliary sensors.

[0026] 4) Robotic negative pressure adsorption operation steps:

[0027] Based on the negative pressure adsorption principle of Bernoulli's equation, the adsorption pump of the adaptive negative pressure adsorption system is activated as needed. The second flexible adsorption plate reliably and adaptively adsorbs onto the wall of the structure. The first adsorption thruster is activated, and the first circular flexible adsorption disk reliably and adaptively adsorbs onto the wall of the structure. Combined with the elephant trunk-like robotic arm, it achieves precise and flexible adsorption. It can adsorb not only magnetic or non-magnetic, smooth, rough, protruding, cracked, flat or curved objects, but also enable the robot to adsorb onto the surface of the structure for parking operations.

[0028] 5) Robot wall-climbing operation steps:

[0029] When the robot enters the water and moves in all directions, it can also control itself to change to a vertical posture. The omnidirectional wheels of the working orientation transformation component contact the wall of the underwater structure, and the vertical thrusters move to press the robot against the wall, making the robot stick to the wall. The horizontal thrusters move, and together with the front-view camera obstacle avoidance module, rear-view camera obstacle avoidance module, downward-view camera obstacle avoidance module, and top-view camera obstacle avoidance module, the robot can crawl on the wall. Control the two sets of horizontal thrusters to move in opposite directions to realize the robot's spin motion on the wall.

[0030] The present invention has the following beneficial effects:

[0031] The underwater lightweight butterfly-shaped biomimetic robot of this invention adopts a butterfly-shaped mechanism layout, resulting in lower overall water resistance and stronger motion performance. Six sets of thrusters enable the robot body to move flexibly in all directions and postures. The layout of the dual-wing nozzles on both sides ensures near-zero coupling between vertical and horizontal movements, making the movement more flexible and maneuverable. The biomimetic elephant trunk-shaped rear-driven continuous robotic arm configuration gives the underwater actuator adaptive negative pressure adsorption system more degrees of freedom, a simpler structure, and a stronger load capacity. The flexible adaptive negative pressure adsorption system based on Bernoulli's equation eliminates the structural requirements of existing magnetic adsorption and vacuum adsorption methods on the adhesion surface, resulting in a wider range of applications and stronger adsorption force.

[0032] This invention's butterfly-shaped omnidirectional motion body breaks through the limitations of omnidirectional motion in lightweight ROVs, overcoming the shortcomings of existing ROV systems where omnidirectional motion platforms rely on a large number of thrusters, or a small number of thrusters resulting in weak robot motion performance and limited modalities. It achieves flexible, all-around maneuverability in water, making it suitable for harsher, more confined, and other unstructured working environments. The lightweight, flexible, continuous elephant trunk-like robotic arm, besides its precise and efficient underwater grasping of objects, can also be applied to other continuous, precise, and confined space grasping scenarios on land. The high-performance adaptive negative pressure adsorption system can be applied to other fields requiring non-magnetic, unstructured, and complex objects for non-destructive grasping. This flexible negative pressure adsorption can also be applied to grasping scenarios using air as a medium.

[0033] This invention relates to a lightweight, butterfly-shaped biomimetic underwater robot, which possesses comprehensive underwater operational capabilities, enabling underwater detection, inspection, and operations across all domains and attitudes. These operations include: locating aquaculture areas, distributing feed, inspecting underwater structures along designated routes, collecting seabed debris, and powering and activating seabed detection instruments. The robot exhibits significant technological potential and broad market application prospects, allowing for large-scale deployment and providing technical support and equipment assurance for human activities in various marine industries. Attached Figure Description

[0034] Figure 1 This is a schematic diagram of the overall three-dimensional structure of the lightweight underwater butterfly-shaped bionic robot of the present invention.

[0035] Figure 2 This is a front view of the underwater lightweight butterfly-shaped biomimetic robot of the present invention after the shore station control console has been removed.

[0036] Figure 3 yes Figure 2 Sectional view along line AA.

[0037] Figure 4 yes Figure 3 Enlarged view of the local structure at point B in the middle.

[0038] Figure 5This is a left view of the underwater lightweight butterfly-shaped biomimetic robot of the present invention after the shore station control console has been removed.

[0039] Figure 6 yes Figure 5 Sectional view along the CC direction.

[0040] Figure 7 yes Figure 6 Enlarged view of the local structure at point D.

[0041] Figure 8 This is a rear view of the underwater lightweight butterfly-shaped biomimetic robot of the present invention after the shore station control console has been removed.

[0042] Figure 9 This is a top view of the underwater lightweight butterfly-shaped biomimetic robot of the present invention after the shore station control console has been removed.

[0043] Figure 10 This is a bottom view of the underwater lightweight butterfly-shaped bionic robot of the present invention after the shore station control console has been removed.

[0044] Figure 11 This is a schematic diagram of the overall three-dimensional structure of the elephant trunk-shaped robotic arm of the present invention.

[0045] Figure 12 This is the front view of the elephant trunk-shaped robotic arm of the present invention.

[0046] Figure 13 This is a top view of the elephant trunk-shaped robotic arm of the present invention.

[0047] Figure 14 This is a diagram illustrating the bending operation effect of the underwater lightweight butterfly-shaped biomimetic robot of the present invention, which mimics the shape of an elephant trunk.

[0048] Figure 15 yes Figure 14 Enlarged view of the local structure at point E in the middle.

[0049] Figure 16 This is a three-dimensional structural diagram of the shore station control console of the present invention.

[0050] Figure 17 This is a schematic diagram of the initial static state of the underwater lightweight butterfly-shaped biomimetic robot of the present invention.

[0051] Figure 18 yes Figure 17 Enlarged view of the local structure at point F.

[0052] Figure 19 This is a diagram illustrating the effect of the underwater lightweight butterfly-shaped bionic robot of this invention adaptively adsorbing onto the surface of a feed container.

[0053] Figure 20This is a diagram illustrating the effect of the underwater lightweight butterfly-shaped biomimetic robot of this invention adaptively adsorbing onto the surface of a damaged structure.

[0054] Figure 21 This is a schematic diagram illustrating the wall-climbing operation effect of the lightweight underwater butterfly-shaped bionic robot of this invention.

[0055] In the diagram: 1. Butterfly-shaped all-attitude motion body; 2. Elephant trunk-like robotic arm; 3. Adaptive negative pressure adsorption system; 4. Operational orientation transformation component; 5. Shore station control console; 1-1. Sealed housing; 1-2. Horizontal thruster; 1-3. Vertical thruster; 1-4. Forward-looking camera obstacle avoidance module; 1-5. Rear-looking camera obstacle avoidance module; 1-6. Downward-looking camera obstacle avoidance module; 1-7. Flow channel; 1-8. Load mounting plate; 1-9. Dual-wing nozzle piping, 1-10, Control, communication and energy module, 1-11, Top-view camera obstacle avoidance module, 2-1, Base, 2-2, Boom drive servo motor assembly, 2-3, Forearm drive servo motor assembly, 2-4, Boom pull rope, 2-5, Forearm pull rope, 2-6, Boom frame, 2-7, Forearm frame, 2-8, Boom elastic element, 2-9, Forearm elastic element, 2-10, Guide pulley, 2-11, Boom winding drive. 2-12. Motion assembly, forearm winding drive assembly, 3-1. Fixed base, 3-2. Connecting flange, 3-3. Connecting support plate, 3-4. Vertical extension arm, 3-5. First circular flexible adsorption plate, 3-6. Second flexible adsorption plate, 3-7. First adsorption channel, 3-8. Second adsorption pipe, 3-9. Second adsorption pipeline, 3-10. Adsorption pump, 3-11. Work auxiliary sensor, 3-12. First adsorption thruster, 3-13. Thruster fixing bracket, 4-1. Fixed flange, 4-2. Shift drive motor, 4-3. Rotating base, 4-4. Support base, 4-5. Horizontal support arm, 4-6. Reinforcing assembly, 4-7. Vertical support arm, 4-8. Cascade fixing base, 4-9. Universal wheel, 4-10. Robotic arm motor protective shell, 4-11. Rotating shaft, 5-1. Display, 5-2. Control assembly, 5-3. Housing. Detailed Implementation

[0056] The following are specific embodiments of the present invention, which further describe the technical solution of the present invention. However, the scope of protection of the present invention is not limited to these embodiments. All changes or equivalent substitutions that do not depart from the concept of the present invention are included within the scope of protection of the present invention.

[0057] like Figure 1 As shown, an underwater lightweight butterfly-shaped biomimetic robot includes: a butterfly-shaped all-attitude motion body 1, an elephant trunk-like robotic arm 2, an adaptive negative pressure adsorption system 3, a work orientation transformation component 4, and a shore-based control console 5.

[0058] The butterfly-shaped omnidirectional motion body 1 serves as the carrier for the robot's movement, housing and controlling the elephant trunk-like robotic arm 2, the adaptive negative pressure adsorption system 3, and the operational orientation transformation component 4. It can carry the lightweight, flexible, continuous elephant trunk-like robotic arm 2 and the high-performance adaptive negative pressure adsorption system 3 to perform underwater reconnaissance, detection, and operational tasks, while also enabling omnidirectional changes in its position and attitude. Employing a six-pronged thruster structure for omnidirectional motion and orientation transformation, and a dual-wing nozzle layout, it enhances the body's stability and movement flexibility, while also enabling wall climbing, turning, or spinning movements.

[0059] The elephant trunk-like robotic arm 2 is installed below the butterfly-shaped all-attitude motion body 1 and is used to adjust the robot's spatial position and attitude control. It imitates the bending principle of an elephant trunk and sets multiple sets of drive servo motors and winding drive components at the rear end of the butterfly-shaped all-attitude motion body 1 to control the length of the pull ropes connected to different positions of the robotic arm. In conjunction with the elastic elements between the robotic arm skeleton, it realizes the spatial position and attitude control of the adaptive negative pressure adsorption system 3, thereby realizing continuous and flexible operation function.

[0060] The adaptive negative pressure adsorption system 3 is located at the bottom of the elephant trunk-like robotic arm 2 and is used to work with the elephant trunk-like robotic arm 2 to achieve adaptive adsorption and grasping of complex unstructured objects. Based on the negative pressure adsorption principle of Bernoulli's equation, multiple sets of discrete circumferentially distributed adsorption disks are set around the adsorption disk to achieve highly reliable adaptive adsorption of complex unstructured objects. Together with the lightweight and flexible continuous elephant trunk-like robotic arm 2, it can achieve precise and flexible grasping.

[0061] The work orientation transformation component 4 is set between the butterfly-shaped all-attitude motion body 1 and the elephant trunk-like robotic arm 2. It adopts the form of a watertight turntable to realize the rotation between the adaptive negative pressure adsorption system 3 and the elephant trunk-like robotic arm 2 relative to the butterfly-shaped all-attitude motion body 1, thereby improving the efficiency and flexibility of on-site operations.

[0062] The shore station control console 5 is set on the shore or on the mother ship. The shore station control console 5 is electrically connected to the butterfly-shaped all-attitude motion body 1. It is powered and interacts with the robot through a coaxial cable. At the same time, it can also transmit and display the robot's status parameters and surrounding environmental parameters in real time, so that the operator can analyze them and make operational decisions.

[0063] like Figure 2 , 3As shown in Figures 8, 9, and 10, the butterfly-shaped all-attitude motion body 1 includes a sealed housing 1-1, a horizontal thruster 1-2, a vertical thruster 1-3, a load mounting plate 1-8, and a control, communication, and energy module 1-10. The horizontal thruster 1-2 is horizontally positioned below the sealed housing 1-1. Several vertically penetrating flow channels 1-7 are evenly distributed on the sealed housing 1-1, and each flow channel 1-7 contains a set of vertical thrusters 1-3. The control, communication, and energy module 1-10 is located inside the sealed housing 1-1 and is electrically connected to the shore station control console 5. The control, communication, and energy module 1-10 is used to provide energy to the robot and communicate with the shore station control console 5. The control connection includes a load mounting plate 1-8 installed at the bottom of the sealed housing 1-1, which is connected to the working orientation conversion component 4. The top of the sealed housing 1-1 is equipped with a top-view camera obstacle avoidance module 1-11, the bottom of the sealed housing 1-1 is equipped with a bottom-view camera obstacle avoidance module 1-6, the front side of the sealed housing 1-1 is equipped with a front-view camera obstacle avoidance module 1-4, and the rear side of the sealed housing 1-1 is equipped with a rear-view camera obstacle avoidance module 1-5. The horizontal thruster 1-2, the vertical thruster 1-3, the front-view camera obstacle avoidance module 1-4, the rear-view camera obstacle avoidance module 1-5, the bottom-view camera obstacle avoidance module 1-6, and the top-view camera obstacle avoidance module 1-11 are electrically connected to the control communication and energy module 1-10, respectively. The front-view camera obstacle avoidance module 1-4, the rear-view camera obstacle avoidance module 1-5, the downward-view camera obstacle avoidance module 1-6, and the top-view camera obstacle avoidance module 1-11 all include lighting components and visual camera components.

[0064] Two sets of horizontal thrusters 1-2 are symmetrically arranged below the sealed housing 1-1. Four sets of vertical thrusters 1-3 are evenly distributed on the sealed housing 1-1, with two sets of vertical thrusters 1-3 located above the two sets of horizontal thrusters 1-2. Vertically arranged dual-wing nozzle pipes 1-9 are provided on the sealed housing 1-1 outside the horizontal thrusters 1-2. The dual-wing nozzle pipes 1-9 are connected to the corresponding flow channels 1-7. This layout of the dual-wing nozzle pipes 1-9 ensures near-zero coupling between the vertical and horizontal movements of the butterfly-shaped all-attitude motion body 1, resulting in more flexible movement and stronger maneuverability. By rationally controlling and separately driving the six sets of thrusters, the robot can achieve omnidirectional operations such as forward, backward, heave, pitch, roll, and yaw.

[0065] The elephant trunk-like robotic arm 2 includes a base 2-1, a main arm drive servo motor assembly 2-2, a forearm drive servo motor assembly 2-3, a main arm pull rope 2-4, a forearm pull rope 2-5, a main arm frame 2-6, a forearm frame 2-7, a main arm elastic element 2-8, and a forearm elastic element 2-9. Multiple main arm frames 2-6 are arranged vertically, and their outer peripheries are connected by several evenly distributed main arm elastic elements 2-8. The uppermost main arm frame 2-6 is fixedly connected to the bottom surface of the base 2-1. The forearm frame 2-7 is located directly below the main arm frame 2-6. Multiple forearm frames 2-7 are arranged vertically. The outer periphery of the forearm frames 2-7 is connected by several evenly distributed forearm elastic elements 2-9. The top of the forearm elastic elements 2-9 is fixedly connected to the outer periphery of the lowest upper arm frame 2-6. The outer periphery of the base 2-1 is fixedly equipped with the same number of upper arm drive servo motor assemblies 2-2 and forearm drive servo motor assemblies 2-3. Both upper arm drive servo motor assemblies 2-2 and forearm drive servo motor assemblies 2-3 are electrically connected to the control communication and energy module 1-10. The upper arm drive servo motor assemblies 2-2 and forearm drive servo motor assemblies 2-3 are arranged sequentially. The upper arm drive servo assembly 2-2 is evenly distributed, with an upper arm winding drive assembly 2-11 mounted on top of each upper arm drive servo assembly 2-2. The upper arm winding drive assembly 2-11 is connected to the output shaft of the upper arm drive servo assembly 2-2. The lower arm drive servo assembly 2-3 is mounted on top of each lower arm drive servo assembly 2-3. The lower arm winding drive assembly 2-12 is connected to the output shaft of the lower arm drive servo assembly 2-3. Several guide pulleys 2-10 are evenly distributed on the top surface of the base 2-1. The guide pulleys 2-10 are connected to the upper arm winding drive assembly 2-11 and the lower arm winding drive assembly 2-1. The number of 2 components is the same and their positions correspond. The boom winding drive assembly 2-11 is connected and fixed to one end of the boom pull rope 2-4. The other end of the boom pull rope 2-4 passes around the guide pulley 2-10 and passes through the boom frame 2-6 from top to bottom, and is then connected and fixed to the bottom boom frame 2-6. The forearm winding drive assembly 2-12 is connected and fixed to one end of the forearm pull rope 2-5. The other end of the forearm pull rope 2-5 passes around the guide pulley 2-10 and passes through the boom frame 2-6 and forearm frame 2-7 from top to bottom, and is then connected and fixed to the bottom forearm frame 2-7.

[0066] like Figure 7 , 11 As shown in Figure 13, in one embodiment of the present invention, the boom drive servo motor assembly 2-2, the forearm drive servo motor assembly 2-3, the boom pull rope 2-4, the forearm pull rope 2-5, the boom elastic element 2-8, and the forearm elastic element 2-9 are each provided in three sets, and correspondingly, the guide pulley 2-10 is provided in six sets. The boom drive servo motor assembly 2-2 and the forearm drive servo motor assembly 2-3 are arranged alternately, the boom pull rope 2-4 and the forearm pull rope 2-5 are arranged alternately, and the boom elastic element 2-8 and the forearm elastic element 2-9 are arranged alternately.

[0067] The action of the upper arm drive servo motor group 2-2 drives the upper arm winding drive assembly 2-11 to rotate, which in turn causes the upper arm pull rope 2-4 to wrap around the upper arm winding drive assembly 2-11, pulling the upper arm frame 2-6 upward under the support of the upper arm elastic element 2-8. The action of the lower arm drive servo motor group 2-3 drives the lower arm winding drive assembly 2-12 to rotate, which in turn causes the lower arm pull rope 2-5 to wrap around the lower arm winding drive assembly 2-12, pulling the lower arm frame 2-7 upward under the support of the lower arm elastic element 2-9, thereby driving the adaptive negative pressure adsorption system 3 to move upward. By individually controlling one or both groups of upper arm drive servo motor group 2-2 and lower arm drive servo motor group 2-3, the bending and coiling of the elephant trunk-like robotic arm 2 can be achieved.

[0068] The elephant trunk-like robotic arm 2 is equipped with six sets of rear-mounted servo motors, enabling the robotic arm to continuously and freely change underwater. The rear-mounted servo motors greatly reduce the size of the robotic arm, solving the problems of high weight, large size and small load of traditional robotic arms.

[0069] like Figure 6 , 15 As shown, the adaptive negative pressure adsorption system 3 includes a fixed base 3-1, a connecting flange 3-2, a connecting support plate 3-3, a vertical extension arm 3-4, a first circular flexible adsorption disk 3-5, a second flexible adsorption plate 3-6, a first adsorption channel 3-7, a second adsorption pipe 3-8, a second adsorption pipeline 3-9, an adsorption pump 3-10, a first adsorption thruster 3-12, and a thruster fixing bracket 3-13. The fixed base 3-1 is fixedly installed at the bottom of the elephant trunk-like robotic arm 2. The bottom of the fixed base 3-1 is connected to the connecting support plate 3-3 through the connecting flange 3-2. The connecting support plate 3-3 is fixedly connected to the upper end of the vertical extension arm 3-4. The lower end of the vertical extension arm 3-4 is connected and fixedly connected to the top of the second flexible adsorption plate 3-6. The top of the second flexible adsorption plate 3-6 is also connected to the second adsorption pipe 3-8. The auxiliary pipe 3-8 is connected to the adsorption pump 3-10 through the second adsorption pipe 3-9. The adsorption pump 3-10 is installed on the load mounting plate 1-8 inside the butterfly-shaped full-attitude motion body 1. The bottom of the load mounting plate 1-8 is provided with the drain port of the adsorption pump 3-10. The second adsorption pipe 3-9 passes through the inside of the elephant trunk-like robotic arm 2 and is connected to the adsorption pump 3-10. The first circular flexible adsorption plate 3-5 is set in front of the second flexible adsorption plate 3-6. The top of the first circular flexible adsorption plate 3-5 is connected and fixed to the first adsorption thruster 3-12 through the first adsorption flow channel 3-7. The first adsorption thruster 3-12 is fixedly connected to the top of the second flexible adsorption plate 3-6 through the thruster fixing bracket 3-13. The adsorption pump 3-10 and the first adsorption thruster 3-12 are electrically connected to the control communication and energy module 1-10, respectively.

[0070] Both the first circular flexible adsorption disk 3-5 and the second flexible adsorption plate 3-6 include multiple sets of discretely circumferentially distributed adsorption disks. When the first adsorption pusher 3-12 and the adsorption pump 3-10 are activated, the adsorption disks on the first circular flexible adsorption disk 3-5 and the second flexible adsorption plate 3-6 can automatically adjust according to the curvature of the structure wall, so as to realize the adaptive negative pressure adsorption of various types of structure walls by the first circular flexible adsorption disk 3-5 and the second flexible adsorption plate 3-6.

[0071] The adaptive negative pressure adsorption system 3 also includes a work assistance sensor 3-11, which is electrically connected to the control communication and energy module 1-10. The work assistance sensor 3-11 is a camera obstacle avoidance module including a lighting component and a vision camera component. It is fixedly connected to the lower side of the elephant trunk-like robotic arm 2, facing the first circular flexible adsorption disk 3-5 and the second flexible adsorption plate 3-6, and is used to monitor and provide real-time feedback on the adsorption position and status of either the first circular flexible adsorption disk 3-5 or the second flexible adsorption plate 3-6. Based on the Bernoulli negative pressure effect, the adaptive negative pressure adsorption system 3 features a unique flexible adsorption disk structure, enabling high-performance and high-reliability adsorption of rough, protruding, cracked, and curved objects or walls, with stronger load-bearing capacity and applicability.

[0072] like Figure 4 As shown, the working orientation conversion assembly 4 includes a fixed flange 4-1, a conversion drive motor 4-2, a rotating base 4-3, a support base 4-4, a horizontal support arm 4-5, a reinforcing assembly 4-6, a vertical support arm 4-7, a cascaded fixing base 4-8, a caster wheel 4-9, a robotic arm motor protective shell 4-10, and a rotating shaft 4-11. Multiple horizontal support arms 4-5 are provided. One end of each horizontal support arm 4-5 is connected to the top of the vertical support arm 4-7. The bottom end of the vertical support arm 4-7 is connected to the caster wheel 4-9 via the cascaded fixing base 4-8. A reinforcing assembly 4-6 connects the horizontal support arm 4-5 and the vertical support arm 4-7. The other end of each horizontal support arm 4-5 is fixedly connected to the side wall of the conversion drive motor 4-2 via the support base 4-4. On the upper part, the support base 4-4 is evenly distributed on the side wall of the conversion drive motor 4-2. The conversion drive motor 4-2 is electrically connected to the control communication and energy module 1-10. The top of the conversion drive motor 4-2 is fixedly connected to the load mounting plate 1-8 through the fixing flange 4-1. The output shaft at the bottom of the conversion drive motor 4-2 is connected and fixedly connected to the rotating shaft 4-11. A rotating base 4-3 is fixedly installed on the rotating shaft 4-11. The lower end face of the rotating base 4-3 is fixedly connected to the top of the robotic arm motor protective shell 4-10. The base 2-1, the upper arm drive servo motor group 2-2 and the lower arm drive servo motor group 2-3 are set inside the robotic arm motor protective shell 4-10. The base 2-1 is fixedly installed on the bottom surface of the protective shell 4-10.

[0073] The change in the action of the drive motor 4-2 drives the rotating shaft 4-11 and the rotating base 4-3 to rotate, which in turn drives the robotic arm motor protective shell 4-10 and its internal base 2-1, the upper arm drive servo motor group 2-2 and the lower arm drive servo motor group 2-3 to rotate, thereby driving the elephant trunk-like robotic arm 2 and the adaptive negative pressure adsorption system 3 to rotate relative to the butterfly-shaped full-posture motion body 1.

[0074] like Figure 16 As shown, the shore station control console 5 includes a display 5-1, an operating component 5-2, and a housing 5-3. The display 5-1 and the operating component 5-2 are located on the upper part of the housing 5-3. The housing 5-3 contains a host and an energy module, which are not shown in the attached drawings. The energy module provides power to the shore station control console 5. The host is electrically connected to the display 5-1, the operating component 5-2, and the control communication and energy module 1-10.

[0075] The host computer is used to receive and process real-time data fed back by the robot's various components through the control communication and energy modules 1-10, and display it on the display 5-1 for the operator to analyze and make decisions. Then, it transmits the control signals of the manipulation component 5-2 to the robot's various components to control the robot to perform various movements.

[0076] The working method of the lightweight underwater butterfly-shaped biomimetic robot includes the following steps:

[0077] 1) Steps for changing the robot's initial static state:

[0078] The butterfly-shaped all-attitude motion body 1 is placed horizontally. The large arm drive servo group 2-2 and the small arm drive servo group 2-3 of the elephant trunk-like robotic arm 2 move, respectively driving the large arm winding drive component 2-11 and the small arm winding drive component 2-12 to rotate. This, in turn, causes the large arm pull rope 2-4 and the small arm pull rope 2-5 to wrap around the large arm winding drive component 2-11 and the small arm winding drive component 2-12, respectively. This pulls the large arm frame 2-6 and the small arm frame 2-7 upwards under the support of the large arm elastic element 2-8 and the small arm elastic element 2-9, further driving the adaptive negative pressure adsorption system 3 to move upwards. By controlling one or two sets of large arm drive servo groups 2-2 and small arm drive servo groups 2-3 to move, the elephant trunk-like robotic arm 2 and the adaptive negative pressure adsorption system 3 rise and coil into the working orientation transformation component 4 below the butterfly-shaped all-attitude motion body 1. The universal wheels 4-9 of the working orientation transformation component 4 contact the wall surface to provide support.

[0079] 2) Robot's omnidirectional motion steps upon entering water:

[0080] Following step 1), the robot transitions to its initial stationary state. At this point, the elephant trunk-like robotic arm 2 and the adaptive negative pressure adsorption system 3 rise and coil within the work orientation transformation component 4 located beneath the butterfly-shaped all-attitude motion body 1.Figure 17 , 18 As shown, the omnidirectional wheels 4-9 of the working orientation transformation component 4 are in contact with the wall. By controlling the horizontal thrusters 1-2 and vertical thrusters 1-3 of the butterfly-shaped all-attitude motion body 1 respectively, and in conjunction with the forward-looking camera obstacle avoidance module 1-4, the rear-looking camera obstacle avoidance module 1-5, the downward-looking camera obstacle avoidance module 1-6, and the top-looking camera obstacle avoidance module 1-11, the robot can achieve omnidirectional operations such as forward, backward, heave, pitch, roll, and yaw.

[0081] 3) Robot's water entry, grasping, and handling procedures:

[0082] Following step 2), the robot moves omnidirectionally to the work area, and the butterfly-shaped all-attitude motion body 1 controls the hovering operation, such as... Figure 5 As shown, the elephant trunk-like robotic arm 2 extends vertically, and the large arm drive servo motor group 2-2 and the small arm drive servo motor group 2-3 of the elephant trunk-like robotic arm 2 move, as shown. Figure 14 As shown, the elephant trunk-like robotic arm 2 bends, thereby driving the adaptive negative pressure adsorption system 3 to move to the object to be grasped. The shore station control console 5 controls the adaptive negative pressure adsorption system 3 to adsorb the object to be grasped, and completes the precise grasping and adsorption with the help of the downward-looking camera obstacle avoidance module 1-6 and the operation auxiliary sensor 3-11.

[0083] 4) Robotic negative pressure adsorption operation steps:

[0084] Based on the negative pressure adsorption principle of Bernoulli's equation, the adsorption pump 3-10 of the adaptive negative pressure adsorption system 3 is activated as needed, and the second flexible adsorption plate 3-6 reliably and adaptively adsorbs onto the wall surface of the structure; the first adsorption pusher 3-12 is activated, and the first circular flexible adsorption disk 3-5 reliably and adaptively adsorbs onto the wall surface of the structure. Combined with the elephant trunk-like robotic arm 2, precise and flexible adsorption is achieved, not only adsorbing magnetic or non-magnetic, smooth, rough, protruding, cracked, flat, or curved objects, but also enabling the robot to adhere to the surface of the structure for stationary operations.

[0085] like Figure 19 , 20 As shown, the second flexible adsorption plate 3-6 can be used to adsorb onto the surface of feed containers and the surface of curved, broken objects. The first circular flexible adsorption disk 3-5 can be used for seabed debris collection operations, adsorbing onto the surface of the debris for non-destructive gripping.

[0086] 5) Robot wall-climbing operation steps:

[0087] When the robot enters the water and moves in all directions, it can also control itself to change to a vertical posture, such as... Figure 21As shown, the omnidirectional wheels 4-9 of the working orientation transformation component 4 contact the wall of the underwater structure. The vertical thrusters 1-3 move to press the robot against the wall, making the robot stick to the wall. The horizontal thrusters 1-2 move, and together with the front-view camera obstacle avoidance module 1-4, the rear-view camera obstacle avoidance module 1-5, the downward-view camera obstacle avoidance module 1-6, and the top-view camera obstacle avoidance module 1-11, the robot can crawl on the wall. The two sets of horizontal thrusters 1-2 are controlled to move in opposite directions to make the robot spin on the wall.

[0088] The lightweight, butterfly-shaped biomimetic underwater robot of this invention can be widely used in the fields of safety search and rescue, pipeline inspection, shipbuilding, river and marine oil, scientific research and teaching, underwater entertainment, energy industry, archaeology and fisheries, as detailed below:

[0089] (1) Safety search and rescue field:

[0090] 1) Can be used to inspect dams and bridge piers for explosives and to check the condition of the structure; 2) Remote reconnaissance and close inspection of dangerous goods; 3) Assist in the installation / removal of underwater arrays; 4) Detection of smuggled goods on the sides and bottom of ships (public security, customs); 5) Observation of underwater targets, search and rescue in ruins and collapsed mines; 6) Search for underwater evidence (public security, customs); 7) Maritime rescue and salvage, and near-shore search.

[0091] (2) Pipeline inspection field:

[0092] 1) Can be used for inspection of water tanks, pipes and reservoirs in municipal drinking water systems; 2) Inspection of sewage / drainage pipes and sewers; 3) Inspection of oil pipelines; 4) Inspection of pipelines crossing rivers and streams.

[0093] (3) Ship, river, marine, and oil sectors:

[0094] 1) Hull inspection, underwater anchor, propeller, and hull bottom inspection; 2) Inspection of wharves and wharf pile foundations, bridges, and underwater parts of dams; 3) Channel clearance and port operations; 4) Drilling platform underwater structure inspection and offshore oil engineering.

[0095] (4) Scientific research and teaching:

[0096] 1) Observation, research and teaching of aquatic environment and underwater organisms; 2) Marine expeditions; 3) Under-ice observation.

[0097] (5) Underwater entertainment:

[0098] 1) Underwater television shooting and underwater photography; 2) Diving, boating, and yachting; 3) Supervising divers and selecting suitable locations before diving.

[0099] (6) Energy industry sector:

[0100] 1) Inspection of nuclear power plant reactors, pipelines, foreign object detection and removal; 2) Repair of hydropower station locks; 3) Repair of hydropower dams and reservoir dams (repair of sand discharge tunnels, trash racks, and spillways).

[0101] (7) Archaeology and Fisheries:

[0102] 1) Underwater archaeology and underwater shipwreck investigation; 2) Deep-sea cage aquaculture and artificial reef survey.

[0103] The underwater lightweight butterfly-shaped bionic robot of this invention has great technological potential and broad market application prospects. It can be promoted on a large scale and provide technical support and equipment guarantee for humans to enter the ocean to engage in various marine industrial activities.

[0104] This invention is not limited to the above-described embodiments. Anyone should know that any structural changes made under the guidance of this invention, and any technical solutions that are the same as or similar to this invention, fall within the protection scope of this invention.

[0105] The technologies, shapes, and structures not described in detail in this invention are all known technologies.

Claims

1. A lightweight, butterfly-shaped biomimetic underwater robot, characterized in that, include: The butterfly-shaped all-attitude motion body is the carrier for robot motion and is used to install and control the elephant trunk-like robotic arm, the adaptive negative pressure adsorption system, and the work orientation transformation component. An elephant trunk-shaped robotic arm is mounted below the butterfly-shaped all-attitude motion body and is used to adjust the robot's spatial position and attitude control. An adaptive negative pressure adsorption system is installed at the bottom of the elephant trunk-like robotic arm to work in conjunction with the arm to adaptively adsorb and grasp complex unstructured objects. The working orientation transformation component is set between the butterfly-shaped all-attitude motion body and the elephant trunk-like robotic arm. It adopts the form of a watertight turntable to realize the rotation between the adaptive negative pressure adsorption system and the elephant trunk-like robotic arm relative to the butterfly-shaped all-attitude motion body. The shore station control console is located on the shore or on the mother ship and is electrically connected to the butterfly-shaped all-attitude motion body. The butterfly-shaped all-attitude motion body includes a sealed shell, horizontal thrusters, vertical thrusters, a load mounting plate, and a control, communication, and energy module. The horizontal thrusters are horizontally positioned below the sealed shell. Several vertically penetrating channels are evenly distributed on the sealed shell, and each channel houses a set of vertical thrusters. The control, communication, and energy module is located inside the sealed shell and is electrically connected to the shore station control console. The control, communication, and energy module provides energy to the robot and communicates with the shore station control console. The load mounting plate is mounted on the bottom of the sealed shell and is connected to the work orientation transformation component. A top-view camera obstacle avoidance module is located at the top of the sealed shell, a bottom-view camera obstacle avoidance module is located at the bottom of the sealed shell, a front-view camera obstacle avoidance module is located on the front side of the sealed shell, and a rear-view camera obstacle avoidance module is located on the rear side of the sealed shell. The horizontal thrusters, vertical thrusters, front-view camera obstacle avoidance module, rear-view camera obstacle avoidance module, bottom-view camera obstacle avoidance module, and top-view camera obstacle avoidance module are electrically connected to the control, communication, and energy module, respectively. The adaptive negative pressure adsorption system includes a fixed base, a connecting flange, a connecting support plate, a vertical extension arm, a first circular flexible adsorption disk, a second flexible adsorption plate, a first adsorption channel, a second adsorption pipe, a second adsorption pipeline, an adsorption pump, a first adsorption thruster, and a thruster fixing bracket. The fixed base is fixedly installed at the bottom of the elephant trunk-like robotic arm. The bottom of the fixed base is connected to the connecting support plate via the connecting flange. The connecting support plate is fixedly connected to the upper end of the vertical extension arm, and the lower end of the vertical extension arm is fixedly connected to the top of the second flexible adsorption plate. The top of the second flexible adsorption plate is also connected to... A second adsorption tube is connected to the adsorption pump via a second adsorption pipeline. The adsorption pump is mounted on a load mounting plate inside the butterfly-shaped all-attitude motion body. The bottom of the load mounting plate is provided with a drain outlet for the adsorption pump. A first circular flexible adsorption plate is located in front of the second flexible adsorption plate. The top of the first circular flexible adsorption plate is connected and fixed to the first adsorption thruster via a first adsorption flow channel. The first adsorption thruster is fixedly connected to the top of the second flexible adsorption plate via a thruster fixing bracket. The adsorption pump and the first adsorption thruster are electrically connected to the control communication and energy modules, respectively.

2. The lightweight underwater butterfly-shaped biomimetic robot as described in claim 1, characterized in that, The horizontal thrusters are provided in two sets, symmetrically arranged below the sealed housing. The vertical thrusters are provided in four sets, evenly distributed on the sealed housing, with two sets of vertical thrusters located above the two sets of horizontal thrusters respectively. The sealed housing outside the horizontal thrusters is provided with vertically arranged double-wing nozzle pipes, which are connected to the corresponding flow channels.

3. The lightweight underwater butterfly-shaped biomimetic robot as described in claim 1, characterized in that, The elephant trunk-like robotic arm includes a base, a main arm drive servo motor assembly, a secondary arm drive servo motor assembly, a main arm pull rope, a secondary arm pull rope, a main arm frame, a secondary arm frame, main arm elastic elements, and secondary arm elastic elements. Multiple main arm frames are arranged vertically, and their outer peripheries are connected by several evenly distributed main arm elastic elements. The uppermost main arm frame is fixedly connected to the bottom surface of the base. Multiple secondary arm frames are located directly below the main arm frames, and their outer peripheries are connected by several evenly distributed secondary arm elastic elements. The tops of the secondary arm elastic elements are fixedly connected to the outer periphery of the lowermost main arm frame. The same number of main arm drive servo motor assemblies and secondary arm drive servo motor assemblies are fixedly installed on the outer periphery of the base. Both the main arm drive servo motor assemblies and secondary arm drive servo motor assemblies are electrically connected to the control communication and power module. The main arm drive servo motor assemblies and secondary arm drive servo motor assemblies are arranged sequentially... The upper arm drive servo units are evenly spaced, with an upper arm winding drive assembly mounted on top of each upper arm drive servo unit. The upper arm winding drive assembly is connected to the output shaft of the upper arm drive servo unit. The lower arm drive servo unit is also mounted on top of each lower arm drive servo unit, and the lower arm winding drive assembly is connected to the output shaft of the lower arm drive servo unit. Several guide pulleys are evenly distributed on the top surface of the base. The number of guide pulleys is the same as that of the upper arm winding drive assembly and the lower arm winding drive assembly, and their positions correspond. The upper arm winding drive assembly is connected and fixed to one end of the upper arm pull rope. The other end of the upper arm pull rope passes around the guide pulley and passes through the upper arm frame from top to bottom, and is then connected and fixed to the lowermost upper arm frame. The lower arm winding drive assembly is connected and fixed to one end of the lower arm pull rope. The other end of the lower arm pull rope passes around the guide pulley and passes through the upper arm frame and the lower arm frame from top to bottom, and is then connected and fixed to the lowermost lower arm frame.

4. The lightweight underwater butterfly-shaped biomimetic robot as described in claim 3, characterized in that, The adaptive negative pressure adsorption system also includes an operation assistance sensor, which is fixedly connected to the lower side of the elephant trunk-like robotic arm. The operation assistance sensor is electrically connected to the control communication and energy module. The second adsorption pipeline passes through the inside of the elephant trunk-like robotic arm and is connected to the adsorption pump.

5. The lightweight underwater butterfly-shaped biomimetic robot as described in claim 4, characterized in that, The operational orientation conversion assembly includes a fixed flange, a conversion drive motor, a rotating base, a support base, a horizontal support arm, a reinforcing component, a vertical support arm, a cascaded fixed base, casters, a robotic arm motor protective shell, and a rotating shaft. Multiple horizontal support arms are provided, with one end connected to the top of the vertical support arm. The bottom end of the vertical support arm is connected to the casters via the cascaded fixed base. A reinforcing component connects the horizontal and vertical support arms. The other end of the horizontal support arm is fixedly connected to the side wall of the conversion drive motor via a support base, which is evenly distributed on the side wall of the conversion drive motor. The conversion drive motor is electrically connected to the control communication and energy module. The top of the conversion drive motor is fixedly connected to the load mounting plate via a fixed flange. The output shaft at the bottom of the conversion drive motor is connected and fixedly mounted to the rotating shaft. A rotating base is fixedly mounted on the rotating shaft, and the lower end face of the rotating base is fixedly connected to the top of the robotic arm motor protective shell. The base, the large arm drive servo assembly, and the small arm drive servo assembly are housed within the robotic arm motor protective shell, with the base fixedly mounted on the bottom surface of the robotic arm motor protective shell.

6. The lightweight underwater butterfly-shaped biomimetic robot as described in claim 1, characterized in that, The shore station control console includes a display, control components, and a housing. The display and control components are located on the upper part of the housing. The housing contains a host and an energy module. The energy module provides power to the shore station control console. The host is electrically connected to the display, control components, control communication, and energy module.

7. The working method of the underwater lightweight butterfly-shaped biomimetic robot as described in claim 5, characterized in that, Includes the following steps: 1) Steps for changing the robot's initial static state: The butterfly-shaped all-attitude motion body is placed horizontally. The large arm drive servo group and the small arm drive servo group of the elephant trunk-like robotic arm move, respectively driving the large arm winding drive component and the small arm winding drive component to rotate. This causes the large arm pull rope and the small arm pull rope to wrap around the large arm winding drive component and the small arm winding drive component, respectively. This pulls the large arm frame and the small arm frame to retract upward with the support of the large arm elastic element and the small arm elastic element. This further drives the adaptive negative pressure adsorption system to move upward. By controlling the movement of the large arm drive servo group and the small arm drive servo group respectively, the elephant trunk-like robotic arm and the adaptive negative pressure adsorption system rise and coil into the working position transformation component below the butterfly-shaped all-attitude motion body. The universal wheels of the working position transformation component contact the wall surface to provide support. 2) Robot's omnidirectional motion steps upon entering water: The robot changes to the initial static state according to step 1). At this time, the elephant trunk-like robotic arm and the adaptive negative pressure adsorption system rise and coil around the working orientation transformation component under the butterfly-shaped all-attitude motion body. The universal wheels of the working orientation transformation component contact the wall. By controlling the horizontal and vertical thrusters of the butterfly-shaped all-attitude motion body respectively, and in conjunction with the front-view camera obstacle avoidance module, the rear-view camera obstacle avoidance module, the downward-view camera obstacle avoidance module, and the top-view camera obstacle avoidance module, the robot can achieve omnidirectional operations such as forward, backward, heave, pitch, roll, and yaw. 3) Robot's water entry, grasping, and transporting steps: The robot moves omnidirectionally to the work area according to step 2), and hovers in a butterfly-shaped all-attitude motion body control. The elephant trunk-like robotic arm extends vertically, and the large arm and small arm drive servo motor groups move, thereby driving the adaptive negative pressure adsorption system to move to the object to be grasped. The shore station control console controls the adaptive negative pressure adsorption system to adsorb the object to be grasped, and completes precise grasping and adsorption with the help of the downward-looking camera obstacle avoidance module and operation auxiliary sensors. 4) Robotic negative pressure adsorption operation steps: Based on the negative pressure adsorption principle of Bernoulli's equation, the adsorption pump of the adaptive negative pressure adsorption system is activated as needed, the second flexible adsorption plate reliably and adaptively adsorbs the structure wall, the first adsorption thruster is activated, and the first circular flexible adsorption disk reliably and adaptively adsorbs the structure wall. Combined with the elephant trunk-like robotic arm, it achieves precise and flexible adsorption. It can not only adsorb objects that are magnetic or non-magnetic, smooth, rough, with protrusions, cracks, flat or curved, but also enable the robot to adsorb on the surface of the structure for parking operations. 5) Robot wall-climbing operation steps: When the robot enters the water and moves in all directions, it can also control itself to change to a vertical posture. The omnidirectional wheels of the working orientation transformation component contact the wall of the underwater structure, and the vertical thrusters move to press the robot against the wall, making the robot stick to the wall. The horizontal thrusters move, and together with the front-view camera obstacle avoidance module, rear-view camera obstacle avoidance module, downward-view camera obstacle avoidance module, and top-view camera obstacle avoidance module, the robot can crawl on the wall. Control the two sets of horizontal thrusters to move in opposite directions to realize the robot's spin motion on the wall.

Images