An underwater bionic detection and mining robot

Abstract

The present invention relates to an underwater bionic integrated detection and collection robot, which is divided into two parts: a fry and a mother cabin. The fry part includes a fish body assembly, a fin assembly, a crab leg assembly, and a fry auxiliary assembly. The fish body assembly is the main body of the robot and plays a supporting role. The fin assembly includes a pectoral fin mechanism and a caudal fin mechanism. The pectoral fins swing up and down to control the robot's buoyancy. At the same time, the pectoral fins unfold to form crab claws, and the caudal fin swings left and right to control the robot's movement. The crab leg assembly unfolds and cooperates with the crab claws to realize the function of collecting underwater samples. The fry auxiliary assembly includes a camera, a searchlight, and a sonar device located at the front end of the fish body, and an infrared sensor at the rear end of the fish body. The mother cabin part includes a cabin assembly, a hatch assembly, and a mother cabin auxiliary assembly. The upper layer of the cabin assembly is a fry recovery cabin, and the lower layer is a sample recovery cabin. The hatch assembly is arranged above the cabin, and the two are connected to each other in an upward and downward manner through the mother cabin auxiliary assembly. The present invention can realize the robot's underwater charging and underwater detection and collection operations.

Description

Technical Field

[0001] The present invention belongs to the field of underwater bionic robots, and in particular relates to an underwater bionic detection and collection integrated robot. Background Art

[0002] New marine equipment is a key driver of our exploration, understanding, and strengthening of the ocean, and underwater robots (AUVs) are a key development area within marine technology. AUVs are robots capable of remote operation, underwater exploration, and sampling. They offer excellent maneuverability and operability, and can transmit underwater images and data in real time.

[0003] Traditional spiral robots are propeller-driven and can perform underwater operations with cameras and robotic arms. While the technology is highly mature and scalable, they also suffer from drawbacks such as high noise, low propulsion efficiency, and poor concealment. For example, Publication No. CN220483533U (Underwater Exploration Robot)

[0004] Bionic fish-like robots have a streamlined shape and, equipped with cameras and underwater sonar, can perform underwater exploration. They offer low noise, good stealth, and high drive efficiency, but they also suffer from short battery life and inability to collect underwater samples. For example, Publication No. CN117048810A (Hybrid Drive Bionic Robotic Fish)

[0005] In this context, it is particularly important to increase the functions and extend the operation time of underwater robots on the basis of their streamlined appearance in order to broaden their operating width and breadth. Summary of the Invention

[0006] In response to the above technical problems, the present invention proposes an underwater bionic detection and collection robot that can be used with a recovery and charging mother cabin device and has both fish and crab forms.

[0007] The above-mentioned purpose of the present invention is achieved through the following technical solutions:

[0008] An underwater bionic detection and collection integrated robot comprises a fry part and a mother cabin part; the fry part comprises a fish body component, a fin component, a crab leg component and a fry auxiliary component; the mother cabin part comprises a cabin body component, a hatch component and a mother cabin auxiliary component;

[0009] The fish body assembly includes a fish body, a chamber disposed near the front end of the upper portion of the fish body, the chamber being composed of a sample storage chamber at the front end and an air chamber at the rear end, the sample storage chamber being provided at the front end with a chamber cover that can be flipped forward around its lower end to open; a camera, a searchlight, and a sonar device are disposed at the front end of the fish body, and a camera and an infrared sensor are disposed at the rear end of the fish body;

[0010] The fin assembly includes a pectoral fin mechanism and a caudal fin mechanism. The pectoral fin mechanism is composed of two groups of pectoral fin assemblies. The two groups of pectoral fin assemblies are respectively connected to the front two sides of the fish body through the front rotating platform. The two groups of pectoral fin assemblies adopt a three-section extendable folding arm structure, wherein the end piece of one group of pectoral fin assemblies is a mechanical drill bit, and the end piece of the other group of pectoral fin assemblies is a mechanical claw. When the two groups of pectoral fin assemblies are in a folded state, the fish part is in the shape of a fish; when the pectoral fin mechanism is in an unfolded state, the fish part is in the shape of a crab. The caudal fin mechanism is connected to the tail of the fish body.

[0011] The crab leg assemblies are arranged on both sides of the middle part of the fish body, and each group of crab leg assemblies is connected to the fish body through respective rear rotating parts. The crab leg assemblies adopt a two-stage extendable folding arm structure. When the fish form is detected, the crab leg assemblies are folded and embedded in the receiving grooves provided on the side walls of the fish body, so that the fish body as a whole maintains a streamlined shape. When the crab form is sampled, the crab leg assemblies are unfolded and transformed into crab legs.

[0012] The fry auxiliary assembly includes an auxiliary driving device for the fry part during the approach and return stages and a mechanism for adjusting the volume of the sample temporary storage chamber and the air chamber;

[0013] The cabin assembly is divided into two layers, the upper layer is a slug recovery cabin, which includes a plurality of isolated slug recovery and storage areas; the lower layer is a storage recovery cabin for collecting and storing samples; and an unloading passage is provided in front of each slug recovery and storage area, which vertically passes through the slug recovery cabin and the storage recovery cabin.

[0014] The hatch cover assembly is arranged above the cabin body, and the two are connected in an upward and downward manner through the mother cabin auxiliary assembly.

[0015] Moreover, the fish body is a streamlined shape imitating that of a sea bream, and a triangular column-type chamber is adopted on the upper part of the fish body. An elliptical groove and two circular grooves are formed at the front end of the fish body, a sonar device is installed at the center of the elliptical groove, a front camera is installed on the periphery, and searchlights are installed in the two circular grooves; an elliptical groove is formed at the rear end of the fish body, and a rear camera and an infrared sensor are installed in the elliptical groove; three layers of circular grooves are formed at the dorsal fin at the rear end of the fish body, which are used to install the auxiliary drive turbine of the sub-fish that constitutes the auxiliary drive device; there are buffer blocks on both sides of the bottom of the fish body, a limiting groove is vertically formed in the middle of the buffer block, and a circular wireless charging slot is set in the center of the bottom, and a battery and a drive motor are installed inside the fish body, and the drive motor is drive-connected to the auxiliary drive turbine.

[0016] Moreover, one group of pectoral fin assemblies consists of a mechanical drill bit, a front rotating part, a large pectoral fin segment, a small pectoral fin segment and a front rotating platform, and the other group of pectoral fin assemblies consists of a mechanical claw, a front rotating part, a large pectoral fin segment, a small pectoral fin segment and a front rotating platform; the mechanical drill bit and the mechanical claw are respectively connected to one end of the corresponding small pectoral fin segment through their respective front rotating parts, the other section of the small pectoral fin segment is embedded with one end of the corresponding large pectoral fin segment in a groove manner and is rotatably connected through a pin, and the other end of the large pectoral fin segment is connected to the fish body through the front rotating platform; a driving mechanism is provided at the connection between the small pectoral fin segment and the mechanical drill bit or mechanical claw, the connection between the small pectoral fin segment and the large pectoral fin segment, and the connection between the large pectoral fin segment and the front rotating platform; the tail fin mechanism consists of a tail fin and a rear rotating platform; the front end of the tail fin is relatively rotatably connected to the rear rotating platform through a pin, the rear rotating platform is connected to the tail of the fish body, and a circular hole is made at the connection of the tail fin and is embedded in the rotating platform to achieve 240° longitudinal swing.

[0017] Moreover, three pairs of crab leg assemblies are symmetrically arranged on both sides of the fish body, and each group of crab leg assemblies includes crab legs, which are composed of a large crab leg section, a small crab leg section and a rear rotating part; the large crab leg sections of the front pair and the rear pair of crab leg assemblies are in an "L"-shaped structure, and the large crab leg sections of the middle pair of crab leg assemblies are in an inverted "T"-shaped structure; the upper end of the large crab leg section and the outer end of the small crab leg section are relatively rotatable connected by components such as a pin shaft, and the interior of the large crab leg section is hollowed out to accommodate the small crab leg section when folded, and the inner end of the small crab leg section is relatively rotatable connected to the rear rotating part through a pin shaft, and the rear rotating part is connected to the fish body, and a driving mechanism is provided at the connection between the large crab leg section and the small crab leg section and at the connection between the small crab leg section and the rear rotating part; the rotation angle of the rear rotating part is 50°, so that the robot can move forward, backward, left and right; an inverted L-shaped accommodating groove is provided on the outer wall of the fish body corresponding to the position for installing the crab leg assembly, which is used to realize the embedding of the crab leg assembly when it is in a folded state.

[0018] Moreover, the mechanism for adjusting the volume of the sample storage chamber and the air chamber includes a baffle, an electric telescopic rod and a connecting rod; the front end of the electric telescopic rod is fixedly connected to the baffle, and the rear end is connected to the fish body, forming a closed air chamber behind the baffle on the upper part of the fish body, and forming a sample storage chamber between the front of the baffle and the rear of the chamber cover; the electric telescopic rod is moved horizontally back and forth to drive the baffle to move and adjust the air pressure in the air chamber, thereby realizing the control of the buoyancy of the fish part.

[0019] Moreover, the cabin assembly includes a cabin, the front end of the cabin is provided with an elliptical groove and two circular grooves on both sides, a camera is installed in the elliptical groove, and a searchlight is installed in the two circular grooves; a recessed platform is provided at the rear end of the cabin, and a mother cabin auxiliary drive turbine is connected to the recessed platform through a connecting rod; the upper layer of the cabin is divided into four fish part recovery and accommodation areas by vertical partitions, and the cross-section of the partitions is a cable drum; each area is provided with a half-moon partition on both sides of the unloading channel, and each area is provided with left and right positioning grooves in the middle, and the two positioning grooves match the two buffer blocks at the bottom of the fish body; A limiting push plate groove is provided in the middle, and a limiting push plate movable along the front and rear directions is embedded in the limiting push plate groove, which is used to push the fish body forward into the appropriate position for limiting; a locking limiting plate that can be extended inward is provided on the side of the positioning groove, and the locking limiting plate is plug-in matched with the limiting groove in the middle of the buffer block on the fish body to realize the limited fixation of the sub-fish part in the cabin; a wireless charging port is provided in front of the limiting push plate groove for matching with the wireless charging slot at the bottom of the sub-fish part; a drainage groove is provided behind the limiting push plate groove which runs horizontally through the sub-fish recovery cabin to realize the connection between the upper and lower layers of the cabin.

[0020] Moreover, the hatch cover assembly consists of a hatch cover, a signal transmitter, a positioning device, and a decoupler; the signal transmitter is installed at the front end of the hatch cover; a circular groove is provided at the center of the top of the hatch cover, and the decoupler is installed in the circular groove; the positioner is installed on the top of the hatch cover and is located directly behind the decoupler; two front and rear outrigger arms are provided on both sides of the hatch cover.

[0021] Furthermore, the mother cabin auxiliary assembly includes a buoyancy mechanism and an opening and closing connection mechanism for connecting the cabin body and the cabin cover;

[0022] The buoyancy mechanism is connected to the hatch cover and includes two buoyancy airbags and four connecting rods; the two buoyancy airbags are respectively arranged on the left and right sides of the hatch cover, and one end of the four connecting rods is respectively connected to the outer ends of the four outrigger arms of the hatch cover so as to be relatively rotatable, and a driving mechanism is provided at the connection position, and the outer ends of the two connecting rods on the left and the outer ends of the two connecting rods on the right are respectively fixedly connected to the two buoyancy airbags;

[0023] The two sliding blocks are connected to each other with a screw thread on the top and a screw thread on the bottom, and the two sliding blocks are connected with each other with a screw thread on the bottom.

[0024] Furthermore, a winch is installed in the cable drum, and a signal transmission cable and a power transmission cable are wound around the winch.

[0025] The present invention has the following advantages and positive effects:

[0026] 1. The mother cabin part of the present invention is equipped with a signal transfer device, a fry recovery cabin and a storage recovery cabin: the signal transfer device can shorten the distance of signal transmission underwater and reduce signal loss; the power supply and wireless charging device of the fry recovery cabin can charge and replenish the fry, extending the fry's underwater operation time; the storage recovery cabin can centrally recover samples taken in multiple batches, thereby improving recovery efficiency.

[0027] 2. The fin assembly and crab leg assembly of the neutron fish part of the present invention can be stretched and matched through auxiliary components, which can realize the free switching of the underwater robot between fish and crab forms, thereby realizing integrated underwater exploration operations. The bionic appearance has good concealment and strong environmental adaptability.

[0028] 3. In the present invention, one mother cabin can be equipped with up to four slugs for underwater operations. Cameras, searchlights, sonars and sensors are used as carriers between the slugs and between the slugs and the mother cabin, and signal transmitters can be used to achieve information sharing and mutual coordination in cluster operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a three-dimensional diagram of the fish part of the fry of the present invention;

[0030] Figure 2 It is a three-dimensional diagram of the crab form of the fish fry of the present invention;

[0031] Figure 3This is a schematic diagram of a temporary storage chamber for fish roe samples of the present invention;

[0032] Figure 4 This is a schematic diagram of the interior of the air chamber of the fry of the present invention;

[0033] Figure 5 This is a schematic diagram of the wireless charging port of the sub-fish of the present invention;

[0034] Figure 6 This is a schematic diagram of the auxiliary driving assembly of the fish fry of the present invention;

[0035] Figure 7 This is a three-dimensional diagram of the mother cabin portion of the present invention in a floating posture;

[0036] Figure 8 This is a three-dimensional diagram of the mother cabin portion of the present invention in a recovery posture;

[0037] Figure 9 Schematic diagram of the opening and closing drive mechanism of the mother cabin portion connecting the cabin body and the hatch cover of the present invention;

[0038] Figure 10 Schematic diagram of the hatch cover of the mother cabin of the present invention;

[0039] Figure 11 It is a schematic diagram of the cable winch of the mother cabin portion of the present invention;

[0040] Figure 12 It is a structural schematic diagram of the fish fry of the present invention after the fish fry part returns to the cabin. DETAILED DESCRIPTION

[0041] The structure of the present invention will be further described below with reference to the accompanying drawings and through examples. It should be noted that the present examples are descriptive rather than restrictive.

[0042] An underwater bionic detection and collection robot, see Figures 1-12 , is divided into the fry part and the mother cabin part, wherein the fry part mainly includes the fish body assembly, the fin assembly, the crab leg assembly and the auxiliary assembly, and the mother cabin part mainly includes the cabin body assembly, the hatch assembly and the auxiliary assembly.

[0043] 1. Fish body components

[0044] The fish body component is the main body of the underwater robot fish part, such as Figure 1 、 Figure 2 、 Figure 5 、 Figure 6As shown, the fish body assembly 1 consists of the fish body 1.1, sonar 1.2, front camera 1.3, searchlight 1.4, buffer block 1.5, wireless charging port 1.6, rear camera 1.7, and infrared sensor 1.8. The fish body 1.1 is used to support the other components and to centrally install them together to form a mating connection. The sonar 1.2, front camera 1.3, and searchlight 1.4 are installed at the front end of the fish body, with the sonar surrounded by the camera and the searchlight located to the left and right of the camera. Together, they enable perception and observation of the underwater environment. Buffer blocks 1.5 are located on both sides of the bottom of the fish body to prevent collisions during landing of the fry on the seabed and recovery from the mother cabin. The wireless charging port 1.6 is located in the center of the bottom of the fish body. Underwater wireless charging increases the fry's endurance, thereby expanding its operating range and width. The rear camera 1.7 and infrared sensor 1.8 are installed at the rear end of the fish body, with the infrared sensor located above the rear camera to enable wide-area detection.

[0045] 2. Fin assembly

[0046] The fin assembly is an important motion control component of the underwater robot sub-fish. Figure 1 、 Figure 2 、 Figure 5 、 Figure 6 As shown, the fin assembly 2 consists of a pectoral fin mechanism 2.2 and a caudal fin mechanism 2.1. The pectoral fin mechanism comprises two sets of pectoral fin assemblies, one of which consists of a mechanical drill 2.2.1, a front rotating member 2.2.3, a large pectoral fin segment 2.2.4, a small pectoral fin segment 2.2.5, and a front rotating platform 2.2.6. The other set of pectoral fin assemblies consists of a mechanical claw 2.2.2, a front rotating member 2.2.3, a large pectoral fin segment 2.2.4, a small pectoral fin segment 2.2.5, and a front rotating platform 2.2.6. The caudal fin mechanism consists of a caudal fin 2.1.1 and a rear rotating platform 2.1.2. The mechanical drill bit 2.2.1 and mechanical claw 2.2.2 are each connected to one end of the corresponding small pectoral fin segment 2.2.5 via their respective front rotating members 2.2.3. The other end of the small pectoral fin segment is grooved and pivotally connected to one end of the corresponding large pectoral fin segment 2.2.4 via a pin. The other end of the large pectoral fin segment is connected to the fish body via a front rotating platform 2.2.6. Drive mechanisms are installed at the connection between the small pectoral fin segment and the mechanical drill bit or mechanical claw, the connection between the small pectoral fin segment and the large pectoral fin segment, and the connection between the large pectoral fin segment and the front rotating platform. These drive mechanisms utilize gear transmission mechanisms driven by a motor.

[0047] When the juvenile is in fish form, the pectoral fin mechanism is folded. By adjusting the angle between the pectoral fin and the fish body, the angle of water impact is changed, achieving control of the direction of underwater movement. When the juvenile is in crab form, the pectoral fin mechanism unfolds and reconstructs into crab claws, achieving underwater sampling function. The front end of the tail fin 2.1.1 is connected to the rear rotating platform via a pin for relative rotation and is connected to the drive mechanism. The drive mechanism can use a gear transmission mechanism driven by an electric motor. The rear rotating platform 2.1.2 is connected to the tail of the fish body. The tail fin connection is made with a circular hole and embedded in the rotating platform, which can achieve 240° longitudinal swing.

[0048] 3. Crab foot component

[0049] The crab foot component is an important motion control component of the underwater robot sub-fish. Figure 1 、 Figure 2 As shown, three pairs of crab leg assemblies are symmetrically arranged on both sides of the fish body. Each crab leg assembly 3 includes a crab leg 3.1, which is composed of a large crab leg section 3.1.1, a small crab leg section 3.1.2, and a rear rotating member 3.1.3. The large crab leg sections of the front and rear crab leg assemblies are L-shaped, while the large crab leg sections of the middle crab leg assembly are in an inverted T-shaped structure. The upper end of the large crab leg section and the outer end of the small crab leg section are relatively rotatably connected through components such as pins, and the interior of the large crab leg section 3.1.1 is hollowed out to accommodate the small crab leg section 3.1.2 when folded. The inner end of the small crab leg section is relatively rotatably connected to the rear rotating part through a pin, and the rear rotating part 3.1.3 is connected to the fish body. A driving mechanism is provided at the connection between the large crab leg section and the small crab leg section, and at the connection between the small crab leg section and the rear rotating part. The driving mechanism can adopt a gear transmission mechanism driven by a motor. The rotation angle of the rear rotating part can reach 50°, so that the robot can move forward, backward, left and right.

[0050] An inverted L-shaped accommodating groove is provided on the outer wall of the fish body corresponding to the position where the crab leg assembly is installed, which is used to embed the crab leg assembly when it is in a folded state, and to provide avoidance space for the crab leg assembly to swing back and forth in the unfolded state.

[0051] 4. Fish auxiliary components

[0052] The auxiliary components of the sub-fish are components that assist other components of the sub-fish in controlling, adjusting, driving, fixing, connecting and working, such as Figure 1 、 Figure 3 、 Figure 4 、 Figure 6As shown, the auxiliary component 4 mainly includes a chamber cover 4.1, a baffle 4.2, an electric telescopic rod 4.3, an auxiliary turbine housing 4.4 and an auxiliary turbine fan 4.5. The chamber cover 4.1 is located in front of the slug, and the lower part of the chamber cover is hinged to the fish body. When the chamber cover is opened, it is laid flat forward. The left and right partitions on both sides of the chamber cover limit the sample. The curved chute can serve as an unloading plate for the sample, ensuring the streamlined shape of the slug when closed. It forms a sample temporary storage chamber with the baffle 4.2. The chamber is connected to the underwater environment, and the water pressure remains consistent for temporary storage of samples. The front end of the electric telescopic rod 4.3 is fixedly connected to the baffle, and the rear end is connected to the fish body, forming a closed air chamber on the upper part of the fish body. The front and rear horizontal movement of the electric telescopic rod drives the baffle to move and adjust the air pressure in the air chamber, thereby controlling the buoyancy of the slug. The auxiliary turbine casing 4.4 is fixed to the rear of the sub-fish by screws and is coaxially connected to the auxiliary turbine turbofan 4.5, serving as an auxiliary drive device for the sub-fish during the approach and return phases.

[0053] 5. Cabin components

[0054] The cabin assembly is the main body of the underwater robot's cabin. Figure 7 、 Figure 8 、 Figure 9 As shown, the cabin assembly 5 consists of a cabin 5.1, a camera 5.2, a searchlight 5.3, a wireless charging port 5.4, a slider slot 5.5, and a cable drum 5.6. Cabin 5.1 serves as the main body of the mother cabin, used for centralized installation, coordination, and recovery of other components. The cabin is divided into two layers, the upper layer being the fry recovery chamber, divided into four areas by a vertical partition and a horizontal partition, each of which serves as a partial recovery area for a fry. The intersection of the partitions is a cable drum 5.6. A slider slot 5.5 is located inside and outside each area, near the cabin shell. A discharge channel is located in front of the area, running vertically through the spawn recovery chamber and the storage recovery chamber. Half-moon-shaped baffles are located on either side of the discharge channel. Two symmetrical positioning slots are located in the middle, with a limited push plate slot located in the center. A wireless charging port 5.4 is located in front of the limited push plate slot. Immediately behind the positioning slot is a drainage channel that runs horizontally through the spawn recovery chamber. The drainage channel is lower than the other slots and is connected to the slider slot, positioning slot, and limited push plate slot through a hole to ensure smooth drainage. The lower layer is the storage recovery chamber, used for sample collection and storage. After the spawn is located and recovered in the spawn recovery chamber, the chamber lid opens, and the telescopic movement of the telescopic rod drives the baffle to move horizontally outward. The samples in the temporary chamber are ejected outward by the baffle. After a brief sliding movement along the curve of the chamber lid, they fall through the discharge channel into the storage recovery chamber for centralized collection and recovery. A set of vertically movable hatches are located on the left and right sides of the storage recovery chamber.

[0055] An oval recess is located in the center of the front of the hull for mounting camera 5.2. Two circular recesses are symmetrically located on either side of the recess for mounting a pair of searchlights. The hull remains afloat during launch and recovery operations. The cameras and searchlights work together to help operators understand the mother hull's surroundings and physically locate it in poor visibility, such as in fog or darkness.

[0056] 6. Hatch cover assembly

[0057] The hatch assembly is an important signal transmission and processing component of the underwater robot mother cabin, such as Figure 7 、 Figure 10 As shown, the hatch cover assembly 6 consists of a hatch cover 6.1, a signal transmitter 6.2, a positioning device 6.3, and a decoupling device 6.4. A pair of slider grooves corresponding to the position of the fry recovery chamber are provided on the left and right sides of the bottom of the hatch cover 6.1, and a set of cross support frames on the left and right sides are connected by sliders to realize opening and closing with the fry recovery chamber. A signal transmitter 6.2 is provided at the front end of the hatch cover. The operator's remote command is first transmitted to the hatch cover of the mother cabin. The hatch cover receives and processes the signal and then transmits it to the fry part working underwater. The "broken line" transmission path can shorten the propagation distance of the signal underwater and reduce the interference received by the signal in the underwater environment. A circular groove is provided at the center of the top of the hatch cover, and a decoupling device 6.4 is installed in the circular groove. The operator hooks the rope to the decoupling device and drops the mother cabin part to the designated water surface position by dropping the rope to the water surface. After the mother cabin completes the surface work, the operator recovers the mother cabin through the rope, thereby completing the release and recovery of the mother cabin. A positioning device 6.3 is installed directly behind the unhooker, which can display the surrounding water surface environment and position positioning information of the mother cabin in real time on the operator's console interface.

[0058] 7. Mother cabin auxiliary components

[0059] The mother cabin auxiliary components are components that assist other components of the mother cabin in controlling, adjusting, driving, fixing, connecting and working, such as Figure 7 、 Figure 8 、 Figure 9 、 Figure 11As shown, the auxiliary component 7 mainly includes a buoyancy airbag 7.1, a connecting rod 7.2, a drive turbine 7.3, a slider 7.4, a cross support frame 7.5, a connecting pin 7.6, a limit push plate 7.7, a recovery hatch 7.8, and a winch 7.9. The front and rear parts of the buoyancy airbag 7.1 are each connected to a connecting rod 7.2. The two buoyancy airbags are arranged on the left and right sides of the hatch cover. The presence of the buoyancy airbags keeps the draft of the mother cabin consistent in the water, and the up and down swinging of the connecting rod can achieve the entry and exit of the mother cabin into the water. The connecting rod swings downward to a horizontal position. After entering the water, the slider 7.4 is driven by the screw rod (the screw rod is connected to the slider by a thread, and the screw rod is connected to the screw rod drive motor) to move horizontally in the slider groove in the hatch cover and the cabin body, driving the cross support frame 7.5 to move up and down. The connecting pin 7.6 keeps the relative position of the cross support frame consistent, achieving the separation of the hatch cover and the cabin body, thereby completing the release or recovery of the fry. When the slider moves in the opposite direction, the cross-bracing also begins to move in the opposite direction, closing the hatch and hull. The connecting rod swings upward to a vertical position, and the mother hull is out of the water. The drive turbine 7.3 is installed behind the storage and recovery compartment of the hull. Whether the mother hull is out of the water or in the water, the drive turbine is kept below the water surface, giving the mother hull full underwater mobility.

[0060] The limit push plate 7.7 is installed in the limit slot. When the fry's return stage is over, the fry's buffer block falls into the positioning slot, and the rear limit push plate begins to move forward, pushing the fry forward and getting stuck in the horizontal direction of the positioning slot. At this time, the front limit push plate pops out from the inside of the positioning slot, passes through the buffer block and locks with the other end, thereby realizing the spatial positioning of the fry. The recovery hatch 7.8 is installed on the left and right sides of the storage and recovery cabin. It is a vertical movement method. When the hatch is closed, the sample can be kept in an underwater environment. When the hatch is open, it can help the operator to recover the mother cabin and conveniently remove the sample from the storage and recovery cabin. The winch 7.9 is located in the cable drum. When the hatch is separated and closed from the cabin body, the signal transmission cable and the energy transmission cable can be wound around the winch, saving internal space while maintaining a closed environment, thereby improving the safety and stability of the underwater robot.

[0061] The working principle of this underwater bionic detection and collection robot:

[0062] This underwater bionic detection and collection robot consists of two parts: the spawning fish and the mother cabin. Its work content is mainly divided into the following stages:

[0063] 1. Mother cabin release phase:

[0064] After inspecting all components and debugging the underwater bionic inspection and collection robot to ensure correct function, the operator placed the four fry into the mother chamber and locked it with a limit push plate. Using a rope connected to the mother chamber's hatch release, the rope was lowered to the surface to lower the mother chamber to the designated surface position. If the mother chamber was some distance from the designated surface position, the mother chamber's drive turbine was activated to drive the mother chamber to the designated surface position.

[0065] 2. Fish fry release stage:

[0066] After the mother cabin reaches the designated position, the four connecting rods swing downward to a horizontal position, and the mother cabin body is put into the water. After entering the water, the slider moves horizontally in the slider groove in the hatch cover and the cabin body, driving the cross support frame to move up and down. The connecting pin keeps the relative position of the telescopic rod consistent, realizing the separation of the hatch cover and the cabin body. The limit push plate is unlocked, and after the hatch cover and the cabin body are separated, the fry can float in the water due to the presence of the fry air chamber. The fry starts the auxiliary drive turbine, detaches from the mother cabin, and completes the fry release. Then the slider and the cross support frame move in the opposite direction, and the hatch cover and the cabin body of the mother cabin are closed.

[0067] 3. The stage of fry approaching:

[0068] After the fry leaves the mother cabin, the fry has lower requirements for concealment and noise during the approach phase, but higher requirements for maneuverability. In order to quickly reach the area to be operated for exploration and sampling, the auxiliary drive turbine keeps working to drive the fry to move quickly. At the same time, the fry adjusts the angle between its pectoral fin and the water flow to change the water flow impact angle to control the fry's forward direction.

[0069] 4. Fishing stage:

[0070] Once the fry arrives at the designated area, due to the high requirements for concealment and noise during this phase, the auxiliary drive turbines cease operation. The fry is driven by the coordinated movement of its pectoral and caudal fins. The fry maintains its fish form, exploring and mapping the underwater life and environment, transmitting this information to the mother cabin, which then relays it back to the operator's console. Once the fry locates a sample to be collected, the fry's components disassemble and reassemble into a crab-like form. The movement of the air chamber's telescopic rods drives a baffle backward, which is adjusted to control displacement, allowing the fry to dive. Once at the bottom, the fry uses its crab legs to maneuver underwater, using its claws to collect the sample and store it in a temporary chamber within the fry. The four fry can operate in different areas or work together in the same area. If the fry encounter obstacles underwater, such as rocks or entangled weeds, the remaining fry can use their claws to assist the distressed fry in escaping, improving overall maneuverability. After the operation is completed, the fry returns to its fish shape, and the telescopic rod of the air chamber moves in the opposite direction to drive the baffle to move forward, thereby controlling the amount of water entering and enabling the fry to float.

[0071] 5. Fish return stage:

[0072] After the operation is completed, the auxiliary drive turbine restarts, and the fry's fin assembly controls its direction, as the requirements for the return stage are the same as those for the approach stage. The mother ship sends positioning information to the fry, and the fry returns to the mother ship.

[0073] 6. Fish recovery stage:

[0074] The fry first moves to the rear of the mother compartment. The slider drives the cross-support frame, separating the hatch from the compartment. The fry moves forward a short distance, arriving directly above the fry recovery compartment. The slider then moves in the opposite direction, causing the cross-support frame to also move in the opposite direction, closing the hatch and compartment. The limit push plate pushes the fry into the appropriate position and locks it. The connecting rod swings upward to a vertical position, and the mother compartment is finally out of the water.

[0075] 7. Fish charging stage / mother cabin recovery stage:

[0076] After the mother chamber is completely unloaded, the spawn recovery chamber surfaces, and the remaining water is discharged into the exterior and storage recovery chamber through the drain trough, drainage holes on both sides, and the unloading channel. The spawn chamber lid is opened and laid forward to form an unloading plate. The partitions on both sides limit the sample position. The telescopic rod drives the baffle forward, and the sample in the temporary chamber is pushed out and falls into the storage recovery chamber through the unloading channel in front of the spawn recovery chamber. After the spawn wireless charging port is aligned with the wireless charging port of the spawn recovery chamber, wireless charging of the spawn begins. After the battery is fully charged, the spawn release phase begins.

[0077] Once the operation is complete and all four fry have been successfully retrieved and entered the fry recovery chamber, the connecting rod swings upward to a vertical position, and the mother chamber is out of the water. The turbine drives the mother chamber back to the surface, and the operator lifts the rope connected to the mother chamber hatch release device, raising the mother chamber and recovering it.

[0078] Although the embodiments and drawings of the present invention are disclosed for illustrative purposes, those skilled in the art will understand that various replacements, changes and modifications are possible without departing from the spirit of the present invention and the appended claims. Therefore, the scope of the present invention is not limited to the contents disclosed in the embodiments and drawings.

Claims

1. An underwater bionic detection and collection robot, characterized by: It includes a fry part and a mother cabin part; the fry part includes a fish body component, a fin component, a crab leg component, and a fry auxiliary component; the mother cabin part includes a cabin body component, a hatch component, and a mother cabin auxiliary component; The fish body assembly includes a fish body, a chamber is provided at the upper part of the fish body near the front end, the chamber is composed of a sample storage chamber at the front end and an air chamber at the rear end, and the front end of the sample storage chamber is provided with a chamber cover that can be flipped forward around its lower end to open; a camera, a searchlight and a sonar device are provided at the front end of the fish body, and a camera and an infrared sensor are provided at the rear end of the fish body; The fin assembly includes a pectoral fin mechanism and a caudal fin mechanism. The pectoral fin mechanism is composed of two groups of pectoral fin assemblies, which are respectively connected to the two sides of the front of the fish body through a front rotating platform. The two groups of pectoral fin assemblies adopt a three-section extendable folding arm structure, wherein the end piece of one group of pectoral fin assemblies is a mechanical drill bit, and the end piece of the other group of pectoral fin assemblies is a mechanical claw; when the two groups of pectoral fin assemblies are in a folded state, the fish part is in the shape of a fish; when the two groups of pectoral fin assemblies are in an unfolded state, the fish part is in the shape of a crab; the caudal fin mechanism is connected to the tail of the fish body; The crab leg assemblies are arranged on both sides of the middle part of the fish body, and each group of crab leg assemblies is connected to the fish body through its own rear rotating platform. The crab leg assemblies adopt a two-stage extendable folding arm structure. When the fish form is detected, the crab leg assemblies are folded and embedded in the receiving grooves provided on the side walls of the fish body, so that the fish body as a whole maintains a streamlined shape. When the crab form is sampled, the crab leg assemblies are unfolded and transformed into crab legs. The fry auxiliary assembly includes an auxiliary driving device for the fry part during the approach and return stages and a mechanism for adjusting the volume of the sample temporary storage chamber and the air chamber; The cabin assembly is divided into two layers, the upper layer is a slug recovery cabin, which includes a plurality of isolated slug recovery and storage areas; the lower layer is a storage recovery cabin for collecting and storing samples; and an unloading passage is provided in front of each slug recovery and storage area, which vertically passes through the slug recovery cabin and the storage recovery cabin. The hatch cover assembly is arranged above the cabin body, and the two are connected in an upward and downward manner through the mother cabin auxiliary assembly.

2. The underwater bionic detection and collection robot according to claim 1, characterized in that: The fish body is a streamlined shape imitating that of a sea bream, and a triangular column-type chamber is adopted on the upper part of the fish body. An elliptical groove and two circular grooves are formed at the front end of the fish body, a sonar device is installed at the center of the elliptical groove, a front camera is installed on the periphery, and searchlights are installed in the two circular grooves; an elliptical groove is formed at the rear end of the fish body, and a rear camera and an infrared sensor are installed in the elliptical groove; three layers of circular grooves are formed at the dorsal fin at the rear end of the fish body, which are used to install the auxiliary drive turbine of the sub-fish that constitutes the auxiliary drive device; buffer blocks are formed on both sides of the bottom of the fish body, a limiting groove is vertically formed in the middle of the buffer block, and a circular wireless charging slot is set in the center of the bottom; a battery and a drive motor are installed inside the fish body, and the drive motor is drive-connected to the auxiliary drive turbine.

3. The underwater bionic detection and collection robot according to claim 1, characterized in that: The invention relates to a pectoral fin assembly comprising a mechanical drill bit, a front rotating part, a large pectoral fin segment, a small pectoral fin segment and a front rotating platform, and the other pectoral fin assembly comprising a mechanical claw, a front rotating part, a large pectoral fin segment, a small pectoral fin segment and a front rotating platform; the mechanical drill bit and the mechanical claw are respectively connected to one end of the corresponding small pectoral fin segment through their respective front rotating parts, the other section of the small pectoral fin segment is embedded in a groove with one end of the corresponding large pectoral fin segment and is rotatably connected through a pin, and the other end of the large pectoral fin segment is connected to the fish body through the front rotating platform; a driving mechanism is provided at the connection between the small pectoral fin segment and the mechanical drill bit or the mechanical claw, the connection between the small pectoral fin segment and the large pectoral fin segment, and the connection between the large pectoral fin segment and the front rotating platform; the tail fin mechanism consists of a tail fin and a rear rotating platform; the front end of the tail fin is relatively rotatably connected to the rear rotating platform through a pin, the rear rotating platform is connected to the tail of the fish body, and a circular hole is formed at the connection of the tail fin and is embedded in the rotating platform to achieve 240° longitudinal swing.

4. The underwater bionic detection and collection robot according to claim 1, characterized in that: Three pairs of crab leg assemblies are symmetrically arranged on both sides of the fish body, and each group of crab leg assemblies includes crab legs, which are composed of a large crab leg section, a small crab leg section and a rear rotating part; the large crab leg sections of the front pair and the rear pair of crab leg assemblies are in an "L"-shaped structure, and the large crab leg sections of the middle pair of crab leg assemblies are in an inverted "T"-shaped structure; the upper end of the large crab leg section and the outer end of the small crab leg section are relatively rotatable connected by pins and other components, and the interior of the large crab leg section is hollowed out to accommodate the small crab leg section when folded, and the inner end of the small crab leg section is relatively rotatable connected to the rear rotating part through a pin, and the rear rotating part is connected to the fish body, and a driving mechanism is provided at the connection between the large crab leg section and the small crab leg section and at the connection between the small crab leg section and the rear rotating part; the rotation angle of the rear rotating part is 50°, so that the robot can move forward, backward, left and right; an inverted L-shaped accommodating groove is provided on the outer wall of the fish body corresponding to the position for installing the crab leg assembly, which is used to realize the embedding of the crab leg assembly when it is in a folded state.

5. The underwater bionic detection and mining robot according to claim 1, characterized in that: The mechanism for adjusting the volume of the sample storage chamber and the air chamber includes a baffle, an electric telescopic rod and a connecting rod; the front end of the electric telescopic rod is fixedly connected to the baffle, and the rear end is connected to the fish body, forming a closed air chamber behind the baffle on the upper part of the fish body, and forming a sample storage chamber between the front of the baffle and the rear of the chamber cover; the electric telescopic rod is moved horizontally back and forth to drive the baffle to move and adjust the air pressure in the air chamber, thereby realizing the control of the buoyancy of the fry.

6. The underwater bionic detection and mining robot according to claim 1, characterized in that: The cabin assembly includes a cabin, the front end of the cabin is provided with an elliptical groove and two circular grooves on both sides, a camera is installed in the elliptical groove, and a searchlight is installed in the two circular grooves; a recessed platform is provided at the rear end of the cabin, and a mother cabin auxiliary drive turbine is connected to the recessed platform through a connecting rod; the upper layer of the cabin is divided into four fish part recovery and accommodation areas by vertical partitions, and the cross-section of the partitions is a cable drum; each area is provided with a half-moon partition on both sides of the unloading channel, and each area is provided with left and right positioning grooves in the middle, and the two positioning grooves match the two buffer blocks at the bottom of the fish body; between the left and right positioning grooves A limiting push plate groove is provided, in which a limiting push plate movable along the front and rear directions is embedded, which is used to push the fish body forward into a suitable position for limiting; a locking limiting plate that can be extended inward is provided on the side of the positioning groove, and the locking limiting plate is plugged into the limiting groove in the middle of the buffer block on the fish body to realize the limiting fixation of the sub-fish part in the cabin; a wireless charging port is provided in front of the limiting push plate groove, which is used to cooperate with the wireless charging slot at the bottom of the sub-fish part; a drainage groove is provided behind the limiting push plate groove which runs horizontally through the sub-fish recovery cabin to realize the connection between the upper and lower layers of the cabin.

7. The underwater bionic detection and mining robot according to claim 1, characterized in that: A winch is installed in the cable drum, and a signal transmission cable and an energy transmission cable are wound around the winch.

8. The underwater bionic detection and mining robot according to claim 1, characterized in that: The hatch cover assembly consists of a hatch cover, a signal transmitter, a positioning device, and a decoupling device; the signal transmitter is installed at the front end of the hatch cover; a circular groove is provided at the center of the top of the hatch cover, and the decoupling device is installed in the circular groove; the positioning device is installed on the top of the hatch cover and is located directly behind the decoupling device; two front and rear outrigger arms are provided on each side of the hatch cover.

9. The underwater bionic detection and mining robot according to claim 1, characterized in that: The mother cabin auxiliary assembly includes a buoyancy mechanism and an opening and closing connection mechanism for connecting the cabin body and the cabin cover; The buoyancy mechanism is connected to the hatch cover and includes two buoyancy airbags and four connecting rods; the two buoyancy airbags are respectively arranged on the left and right sides of the hatch cover, and one end of the four connecting rods is respectively connected to the outer ends of the four outrigger arms of the hatch cover so as to be relatively rotatable, and a driving mechanism is provided at the connection position, and the outer ends of the two connecting rods on the left and the outer ends of the two connecting rods on the right are respectively fixedly connected to the two buoyancy airbags; The two sliding blocks are connected to each other with a screw thread on the top and a screw thread on the bottom, and the two sliding blocks are connected with each other with a screw thread on the bottom.

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