Telescopic underwater coral planting robot and coral planting method

Abstract

The invention provides a telescopic underwater coral planting robot. The problems that in the prior art, a coral planting robot is poor in environmental adaptability, large in advancing resistance and the like can be solved. The underwater coral planting robot comprises a shell, a visual camera, a drilling mechanical arm, a grabbing mechanical arm, a telescopic operation table, a propeller, a cabin door, a seedling storage cabin and a control cabin, the head of the housing is provided with a visual camera and the tail is provided with a propeller. Cabin doors capable of being opened and closed are arranged on the two sides of the lower surface of the shell correspondingly, and a drilling mechanical arm and a grabbing mechanical arm which can stretch out of and retract into the shell are installed in the two cabin doors correspondingly; a telescopic operation table is arranged in the middle of the lower surface of the shell and used for receiving the coral seedlings conveyed by the seedling storage cabin and conveying the coral seedlings to a set grabbing position, and the coral seedlings can be grabbed by a grabbing mechanical arm conveniently; the seedling storage cabin and the control cabin are arranged in the shell; the seedling storage cabin is used for storing coral seedlings and can convey the coral seedlings to the telescopic operation table.

Description

Technical Field

[0001] The invention relates to a planting robot, in particular to a contraction-type manifold underwater coral planting robot and a planting method, belonging to the technical field of seabed coral planting. Background Art

[0002] With the continuous progress of marine science, robotics and ecological restoration technologies, as well as the increasing global awareness of marine ecological protection, efficient, precise and environmentally friendly coral planting technology has received increasing attention. As an important part of the marine ecosystem, the restoration and protection of coral reefs plays an irreplaceable role in maintaining biodiversity and promoting marine ecological balance. At present, submarine coral planting operations face many challenges, including low efficiency of artificial planting, strong corrosiveness of seawater, and high seawater resistance.

[0003] Although there are some designs and research on underwater coral planting equipment, most of them have defects such as insufficient operational flexibility and limited ability to adapt to water flow conditions. In particular, there is a lack of an underwater coral planting robot that can maximize the resistance of seawater, reduce the impact of seawater corrosion, and is easy to deploy.

[0004] Therefore, developing an underwater coral planting robot that can overcome the limitations of existing technology, achieve operating equipment protection, intelligently adapt to seabed currents, efficiently and accurately plant and promote coral growth is of great significance for promoting the advancement of marine ecological restoration technology and accelerating the recovery of coral reef ecosystems. Summary of the invention

[0005] In view of this, the present invention provides a telescopic underwater coral planting robot, which can solve the problems of poor environmental adaptability and large travel resistance of the coral planting robot in the prior art.

[0006] The technical solution of the present invention is: a telescopic underwater coral planting robot, comprising: a housing, a visual camera, a drilling mechanical arm, a grabbing mechanical arm, a telescopic operating table, a thruster, a hatch, a seedling storage cabin and a control cabin;

[0007] The shell adopts a streamlined structure, a visual camera is installed at the head, and a propeller is provided at the tail;

[0008] The lower surface of the shell is provided with openable and closable hatches on both sides, and a drilling mechanical arm and a grabbing mechanical arm that can be extended and retracted into the shell are respectively installed in the two hatches; the drilling mechanical arm is used to drill a planting hole at a target position, and the grabbing mechanical arm is used to grab coral seedlings from the telescopic operating table and plant them in the planting hole;

[0009] A telescopic operating platform is provided in the middle of the lower surface of the shell, and the telescopic operating platform can be telescoped relative to the shell; the telescopic operating platform is used to receive the coral seedlings transported from the seedling storage cabin, and transfer the coral seedlings to the set grabbing position for easy grabbing by the grabbing robot arm;

[0010] When sailing, the drilling mechanical arm, the grabbing mechanical arm and the telescopic operating platform are retracted into the shell, and the hatch is closed; when working, the hatch is opened, and the drilling mechanical arm, the grabbing mechanical arm and the telescopic operating platform are extended;

[0011] The seedling storage cabin and the control cabin are both arranged inside the shell; the seedling storage cabin is used to store coral seedlings and can transfer the coral seedlings to the telescopic operating table;

[0012] A power supply and a controller are arranged in the control cabin. The power supply is used for supplying power, and the controller is used for controlling the entire robot.

[0013] As a preferred embodiment of the present invention: the drilling robot arm comprises: a drill bit, a drilling motor, a first connecting rod of the drilling robot arm, a first rotating joint of the drilling robot arm, a second connecting rod of the drilling robot arm, a second rotating joint of the drilling robot arm, a third connecting rod of the drilling robot arm, a connecting head of the drilling robot arm and a third rotating joint of the drilling robot arm;

[0014] A drill bit is arranged at one end of the first connecting rod of the drilling robot arm, and the other end is connected to the second connecting rod of the drilling robot arm through the first rotating joint of the drilling robot arm; the first rotating joint of the drilling robot arm is used to realize the folding or unfolding of the first connecting rod of the drilling robot arm relative to the second connecting rod of the drilling robot arm; a drilling motor for driving the drill bit is arranged on the first connecting rod of the drilling robot arm, and the drill bit is used to drill a planting hole before the coral planting operation;

[0015] The other end of the second connecting rod of the drilling robot arm is connected to one end of the third connecting rod of the drilling robot arm through the second rotating joint of the drilling robot arm, and the rotation direction of the second rotating joint of the drilling robot arm is along the length direction of the second connecting rod of the drilling robot arm; the other end of the third connecting rod of the drilling robot arm is connected to the drilling robot arm connecting head through the third rotating joint of the drilling robot arm, and the drilling robot arm connecting head is installed on the inner wall surface of the outer shell at the location of one of the hatches.

[0016] As a preferred embodiment of the present invention: the grabbing mechanical arm comprises: a gripper, a grabbing motor, a first connecting rod of the grabbing mechanical arm, a first joint of the grabbing mechanical arm, a second connecting rod of the grabbing mechanical arm, a second joint of the grabbing mechanical arm, a third connecting rod of the grabbing mechanical arm, a connecting head of the grabbing mechanical arm and a third joint of the grabbing mechanical arm;

[0017] A gripper is provided at one end of the first connecting rod of the grabbing robot arm, and the other end is connected to the second connecting rod of the grabbing robot arm through the first joint of the grabbing robot arm; the first joint of the grabbing robot arm is used to realize the folding or unfolding of the first connecting rod of the grabbing robot arm relative to the second connecting rod of the grabbing robot arm; a gripper motor for driving the gripper is provided on the first connecting rod of the grabbing robot arm;

[0018] The other end of the second connecting rod of the grabbing robot arm is connected to one end of the third connecting rod of the grabbing robot arm through the second joint of the grabbing robot arm, and the rotation direction of the second joint of the grabbing robot arm is along the length direction of the second connecting rod of the grabbing robot arm;

[0019] The other end of the third connecting rod of the grabbing mechanical arm is connected to the grabbing mechanical arm connecting head through the third joint of the grabbing mechanical arm, and the grabbing mechanical arm connecting head is installed on the inner wall surface of the shell at the position of one end of the other cabin door.

[0020] As a preferred embodiment of the present invention: the telescopic operating table comprises: a telescopic operating table body, a telescopic operating table motor, a telescopic operating table gear, a telescopic operating table rack, a telescopic operating table guide rail and a telescopic operating table;

[0021] The telescopic operating table body is a hollow structure with an opening at the top, and the lower end thereof is a telescopic operating placement table. The coral seedlings placed in the seedling storage cabin can be output from the top opening to the telescopic operating placement table; the front wall of the telescopic operating table body has an opening to facilitate the grabbing mechanical arm to grab the coral seedlings from the telescopic operating placement table;

[0022] The left and right sides of the telescopic operating table body are provided with telescopic operating table guide rails that slide and cooperate with the guide grooves on the inner wall surface of the shell; the telescopic operating table motor is arranged inside the shell, and the telescopic operating table gear is arranged on the output shaft of the telescopic operating table motor, and the vertically arranged telescopic operating table rack is meshed with the telescopic operating table gear; the telescopic operating table body is connected to the telescopic operating table rack.

[0023] As a preferred embodiment of the present invention: the seedling storage cabin comprises: a seedling storage cabin body, a storage cabin push rod, a seedling delivery port and a seedling delivery channel partition wall;

[0024] A plurality of seedling transport channel partition walls are arranged inside the seedling storage cabin, and the seedling transport channel partition walls are used to divide the seedling transport routes, and a storage cabin push rod is arranged at the end of each seedling transport route, and the coral seedlings are transported from the seedling storage cabin to the telescopic operating table by pushing the storage cabin push rod;

[0025] The seedling storage cabin is provided with a seedling delivery port communicated with the telescopic operating table, so as to realize the transportation of the coral seedlings from the seedling storage cabin to the telescopic operating table.

[0026] As a preferred embodiment of the present invention, the seedling storage cabin is provided with a seedling conveying channel partition wall to divide the internal space into three layers in the height direction, each layer is a horizontal seedling conveying route; the rear ends of the three horizontal seedling conveying routes are connected through a vertical seedling conveying route;

[0027] A transverse storage compartment push rod is respectively arranged at the front end of the uppermost and lowermost transverse seedling conveying routes; a vertical storage compartment push rod is respectively arranged at the upper and lower ends of the vertical seedling conveying route; a transverse storage compartment push rod is arranged at the rear end of the transverse seedling conveying route of the middle layer, and the front end of the transverse seedling conveying route of the middle layer is a seedling conveying port, which is connected to the telescopic operating table;

[0028] Therefore, five storage cabin push rods are arranged inside the cabin body of the seedling storage cabin, namely storage cabin push rod one, storage cabin push rod two, storage cabin push rod three, storage cabin push rod four and storage cabin push rod five; the storage cabin push rod one is responsible for the lateral pushing of the coral seedlings in the uppermost lateral seedling conveying route, the storage cabin push rod two is responsible for the lateral pushing of the coral seedlings in the lowermost lateral seedling conveying route, the storage cabin push rod three is responsible for the vertical downward pushing of the upper coral seedlings, the storage cabin push rod five is responsible for the vertical upward pushing of the lower coral seedlings, and the storage cabin push rod four is responsible for pushing the coral seedlings into the telescopic operating table through the seedling conveying port.

[0029] As a preferred embodiment of the present invention: the storage compartment push rod comprises: a push rod housing, a push rod motor, a push rod gear set, a push rod bolt and a moving push rod installed on the push rod housing;

[0030] The power output end of the push rod motor is connected to the push rod gear set to drive the push rod gear set to rotate; the push rod gear set includes more than two axes arranged in parallel and meshing gears in sequence; the push rod bolt is coaxially connected to the last gear in the transmission line of the push rod gear set;

[0031] The movable push rod cooperates with the push rod bolt thread through the internal thread, and can convert the rotation of the push rod bolt into the linear motion of the movable push rod. Therefore, the push rod motor drives the push rod bolt to rotate through the push rod gear set, thereby realizing the linear motion of the movable push rod.

[0032] As a preferred embodiment of the present invention, the propeller comprises: propellers distributed in a rectangular shape; four propellers are installed on a propeller disk, and the propeller disk is connected to the rear of the housing through a propeller connecting port.

[0033] As a preferred embodiment of the present invention, the two doors have the same structure and both include: a mechanical arm door, a door control motor and a door connecting rod;

[0034] The shell has an opening that is consistent with the shape of the manipulator door, and the opening is opened and closed by the manipulator door; the door control motor is connected to the manipulator door through a door connecting rod, and after the door control motor is started, it drives the manipulator door to rotate around the axis of the door connecting rod to achieve opening and closing.

[0035] In addition, the present invention provides an underwater coral planting method, using the above-mentioned telescopic underwater coral planting robot:

[0036] During navigation: under the control of the controller, the drilling robot arm, the grabbing robot arm and the telescopic operating table are all retracted into the shell, and the hatch is closed; the propeller is started to push the robot to navigate underwater, and the visual camera observes the environment to find the coral planting location;

[0037] When the target planting position is reached, under the control of the controller, the hatch is opened, and the drilling mechanical arm and the grabbing mechanical arm extend out of the housing; the drilling mechanical arm is controlled to drill the planting hole at the target planting position; the seedling storage cabin transfers the coral seedlings to the telescopic operating table;

[0038] The telescopic operating platform transfers the coral seedlings to the set grabbing position, and then the grabbing mechanical arm grabs the coral seedlings from the grabbing position of the telescopic operating platform and plants them in the planting holes drilled by the drilling mechanical arm; thus, the planting of the coral seedlings is completed;

[0039] When the robot needs to return, under the control of the controller, the drilling robot arm, the grabbing robot arm and the telescopic operating table are retracted into the shell, and the hatch is closed; the thruster is started to push the planting robot to sail back underwater.

[0040] Beneficial effects:

[0041] (1) The present invention overcomes the defects of the coral planting robot in the prior art, such as poor environmental adaptability, large travel resistance and complex installation structure. The drilling robot arm, the grabbing robot arm and the telescopic operating table are all telescopically designed and can be retracted into the shell during navigation. The shell adopts a streamlined design, thereby realizing the robot's low-resistance underwater navigation and adapting to the ocean current. At the same time, the retractable design greatly reduces the seawater corrosion problem of the robot arm and other operating equipment, reduces the replacement cost, and greatly improves the environmental adaptability of the coral planting robot.

[0042] (2) In the present invention, both the drilling robot arm and the grasping robot arm have three rotating joints, which are used for their own folding and unfolding, their own rotation, and extension and retraction relative to the shell; their own folding and unfolding can reduce the space occupied by the retracted robot arm inside the shell, and their own rotation can increase the operating range of the drilling robot arm, thereby improving the environmental adaptability of the retractable manifold underwater coral planting robot.

[0043] (3) In the present invention, the interior of the seedling storage cabin is used to divide the seedling conveying route through the seedling conveying channel partition wall, and a storage cabin push rod is set at the end of each seedling conveying route. The storage cabin push rod is pushed to complete the transportation of coral seedlings from the seedling storage cabin to the telescopic operating table. The control method is simple and can improve the planting efficiency.

[0044] (4) The coral planting robot of the present invention is used to plant underwater corals, which can realize automatic planting, efficient storage and planting of coral seedlings, greatly improving the cost-effectiveness of coral planting. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 This is a schematic diagram of the overall structure of the submarine coral planting robot of the present invention;

[0046] Figure 2 It is a structural schematic diagram of the drilling robot arm in the present invention;

[0047] Figure 3 It is a structural schematic diagram of the grabbing mechanical arm in the present invention;

[0048] Figure 4 It is a structural schematic diagram of a bracket of a telescopic operating table in the present invention;

[0049] Figure 5 It is a structural schematic diagram of the propeller in the present invention;

[0050] Figure 6 It is a structural schematic diagram of the hatch in the present invention;

[0051] Figure 7 This is a schematic diagram of the structure of the seedling storage cabin in the present invention;

[0052] Figure 8 This is a cross-sectional view of the main structure of the seedling storage cabin of the present invention;

[0053] Fig. 9 It is a schematic diagram of the parts of the storage compartment push rod device of the present invention;

[0054] Fig.10 It is a schematic diagram of the installation of the storage compartment push rod device in the present invention;

[0055] Fig.11 It is a structural schematic diagram of the control cabin in the present invention.

[0056] Among them: 1- visual camera;

[0057] 2-drilling mechanical arm; 201-drill bit; 202-drilling motor; 203-first connecting rod of drilling mechanical arm; 204-first rotating joint of drilling mechanical arm; 205-second connecting rod of drilling mechanical arm; 206-second rotating joint of drilling mechanical arm; 207-third connecting rod of drilling mechanical arm; 208-connecting head of drilling mechanical arm; 209-third rotating joint of drilling mechanical arm;

[0058] 3-grabbing robot arm; 301-grabbing motor; 302-gripping claw; 303-grabbing robot arm first connecting rod; 304-grabbing robot arm first joint; 305-grabbing robot arm second connecting rod; 306-grabbing robot arm second joint; 307-grabbing robot arm third connecting rod; 308-grabbing robot arm connector; 309-grabbing robot arm third joint;

[0059] 4- telescopic operating table; 400- telescopic operating table body; 401- telescopic operating table motor; 402- telescopic operating table gear; 403- telescopic operating table rack; 404- telescopic operating table guide rail; 405- telescopic operating table;

[0060] 5-housing; 6-thruster; 601-propeller; 602-thruster connection port; 603-thruster disk;

[0061] 7-cabin door; 701-mechanical arm cabin door; 702-cabin door control motor; 703-cabin door connecting rod; 704-cabin door transmission gear set;

[0062] 8-seedling storage compartment; 801-storage compartment push rod; 8001-storage compartment push rod one; 8002-storage compartment push rod two; 8003-storage compartment push rod three; 8004-storage compartment push rod four; 8005-storage compartment push rod five; 802-seedling delivery port; 803-seedling delivery channel dividing wall; 8011-push rod motor; 8012-push rod housing; 8013-push rod gear set; 8014-push rod limit pin; 8015-push rod bolt; 8016-movable push rod; 8017-notch;

[0063] 9-Control cabin; 901-Power supply; 902-Controller; 10-Coral seedlings. DETAILED DESCRIPTION

[0064] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

[0065] Embodiment 1:

[0066] The present embodiment provides a telescopic streamlined underwater coral planting robot, which can navigate underwater with low resistance, realize automatic planting, efficient storage and planting of coral seedlings, and greatly improve the cost-effectiveness of coral planting; and the telescopic design greatly reduces the seawater corrosion problem of operating equipment such as the robotic arm, reduces the replacement cost, and can also improve the environmental adaptability of the coral planting robot.

[0067] like Figure 1 As shown, the underwater coral planting robot includes: a shell 5, a visual camera 1, a drilling robotic arm 2, a grabbing robotic arm 3, a telescopic operating platform 4, a thruster 6, a hatch 7, a seedling storage cabin 8 and a control cabin 9.

[0068] The housing 5 is streamlined to adapt to the ocean current and reduce the resistance in the water when the robot is running underwater; as an example, the housing 5 is ellipsoidal in shape. The visual camera 1 is fixed to the head of the housing 5 to obtain the maximum visual observation range, which is used for visual identification and monitoring of the coral planting point and the planting process.

[0069] Openable and closable hatches 7 are respectively provided on both sides of the lower surface of the shell 5, and a drilling robot arm 2 and a grabbing robot arm 3 are respectively installed at the two hatches 7; the drilling robot arm 2 is used to drill planting holes at the target position, and the grabbing robot arm 3 is used to grab the coral seedlings 10 from the telescopic operating table 4 and plant them in the planting holes drilled by the drilling robot arm 2; a telescopic operating table 4 is provided in the middle of the lower surface of the shell 5 (between the two hatches 7), and the telescopic operating table 4 can be extended and retracted relative to the shell 5. The telescopic operating table 4 is used to receive the coral seedlings 10 transmitted from the seedling storage cabin 8, and transmit the coral seedlings 10 to the set grabbing position for easy grabbing by the grabbing robot arm 3.

[0070] When sailing, the drilling robot arm 2, the grabbing robot arm 3 and the telescopic operating platform 4 can be retracted into the outer shell 5, and the hatch 7 is closed. At this time, the outer shell 5 maintains its streamlined shape; when work is required, the hatch 7 is opened, the drilling robot arm 2 and the grabbing robot arm 3 can be extended from the outer shell 5, and the telescopic operating platform 4 can be extended outward relative to the outer shell 5.

[0071] The rear part of the shell 5 is provided with a propeller 6 to provide the power for the underwater coral planting robot to realize functions such as forward movement and steering.

[0072] The seedling storage cabin 8 and the control cabin 9 are both arranged inside the housing 5; the seedling storage cabin 8 is used to store the coral seedlings 10 and can transfer the coral seedlings 10 to the telescopic operating table 4; Fig.11 As shown, a power supply 901 and a controller 902 are provided in the control cabin 9, wherein the power supply 901 is used to power the robot, and the controller 902 is used to control the robot as a whole.

[0073] The working principle of the underwater coral planting robot is:

[0074] During navigation: under the control of the controller 902, the drilling robot arm 2, the grabbing robot arm 3 and the telescopic operating table 4 are all retracted into the shell 5, and the hatch 7 is closed; the thruster 6 is started to push the robot to navigate underwater, and the visual camera 1 observes the environment to find the coral planting location.

[0075] When the target planting position is reached, under the control of the controller 902, the hatch 7 opens, the drilling robot arm 2 and the grabbing robot arm 3 extend out of the outer shell 5 (at this time, the underwater coral planting robot is hovering at the current position); the drilling robot arm 2 is controlled to drill planting holes at the target planting position; the seedling storage cabin 8 transfers the coral seedlings 10 to the telescopic operating platform 4; the telescopic operating platform 4 transfers the coral seedlings 10 to the set grabbing position, and the grabbing robot arm 3 grabs the coral seedlings 10 from the grabbing position of the telescopic operating platform 4 and plants them in the planting holes drilled by the drilling robot arm 2; thereby completing the planting of the coral seedlings 10.

[0076] The above method is used to plant a number of coral seedlings 10.

[0077] When the robot needs to return, under the control of the controller 902, the drilling robot arm 2, the grabbing robot arm 3 and the telescopic operating platform 4 are retracted into the shell 5, and the hatch 7 is closed; the thruster 6 is started to push the planting robot to sail back underwater.

[0078] Embodiment 2:

[0079] Based on the above-mentioned embodiment 1, this embodiment provides a preferred structural form of the drilling robot arm 2 and the grasping robot arm 3.

[0080] The operating end of the drilling robot arm 2 is a drill bit 201 driven by a drilling motor 202 ; the drilling robot arm 2 has three rotation joints, which are used for its own folding and unfolding, its own rotation, and extension and retraction relative to the housing 5 .

[0081] like Figure 2 As shown, the drilling robot arm 2 includes: a drill bit 201, a drilling motor 202, a first connecting rod 203 of the drilling robot arm, a first rotating joint 204 of the drilling robot arm, a second connecting rod 205 of the drilling robot arm, a second rotating joint 206 of the drilling robot arm, a third connecting rod 207 of the drilling robot arm, a drilling robot arm connecting head 208 and a third rotating joint 209 of the drilling robot arm.

[0082] A drill bit 201 is provided at one end of the first connecting rod 203 of the drilling robot arm, and the other end is connected to the second connecting rod 205 of the drilling robot arm through the first rotating joint 204 of the drilling robot arm; the first rotating joint 204 of the drilling robot arm is used to realize the folding or unfolding of the first connecting rod 203 of the drilling robot arm relative to the second connecting rod 205 of the drilling robot arm; a drilling motor 202 for driving the drill bit 201 is provided on the first connecting rod 203 of the drilling robot arm, and the drill bit 201 is used to drill planting holes and place coral seedlings 10 before coral planting operations.

[0083] As an example, the first rotating joint 204 of the drilling robot arm is powered by the first motor of the drilling robot arm; if the first connecting rod 203 of the drilling robot arm is hinged to the second connecting rod 205 of the drilling robot arm, the first motor of the drilling robot arm provides power for the rotation of the first connecting rod 203 of the drilling robot arm around the hinge.

[0084] As an example, the folding surface of the first link 203 of the drilling robot arm (i.e., the side opposite to the second link 205 of the drilling robot arm after folding) has serrations; the corresponding folding surface of the second link 205 of the drilling robot arm has matching serrations. When the first link 203 of the drilling robot arm and the second link 205 of the drilling robot arm are folded, the serrations on their folding surfaces engage with each other, thereby not only reducing weight but also reducing its folded size, making it easier for the drilling robot arm 2 to be stored inside the outer shell 5.

[0085] The other end of the second link 205 of the drilling robot arm is connected to one end of the third link 207 of the drilling robot arm through the second rotating joint 206 of the drilling robot arm, and the rotation direction of the second rotating joint 206 of the drilling robot arm is along the length direction of the second link 205 of the drilling robot arm; it is used to increase the operating range of the drilling robot arm 2 and improve the environmental adaptability of the contraction manifold underwater coral planting robot.

[0086] As an example, the second rotary joint 206 of the drilling robot arm is powered by the second motor of the drilling robot arm.

[0087] The other end of the third connecting rod 207 of the drilling mechanical arm is connected to the drilling mechanical arm connector 208 through the third rotating joint 209 of the drilling mechanical arm. The drilling mechanical arm connector 208 is installed on the inner wall surface of the shell 5 at the position of one end of the hatch 7, thereby realizing the fixed connection of the drilling mechanical arm 2 to the shell 5. When the hatch 7 is opened, the third connecting rod 207 of the drilling mechanical arm rotates around the third rotating joint 209 of the drilling mechanical arm and extends out from the shell 5.

[0088] As an example, the third rotating joint 209 of the drilling robot arm is powered by the third motor of the drilling robot arm; if the third connecting rod 207 of the drilling robot arm is hinged to the drilling robot arm connecting head 208, the third motor of the drilling robot arm provides power for the rotation of the third connecting rod 207 of the drilling robot arm around the hinge.

[0089] When sailing, the first link 203 of the drilling robot arm and the second link 205 of the drilling robot arm are folded and stacked together; the third link 207 of the drilling robot arm rotates around the third rotating joint 209 of the drilling robot arm, retracting the drilling robot arm 2 into the shell 5, closing the hatch 7, thereby protecting the drilling robot arm 2 and reducing seawater corrosion.

[0090] The operating end of the grabbing robot arm 3 is a gripper 302 driven by a grabbing motor 301 ; the grabbing robot arm 3 also has three rotating joints, which are used for its own folding and unfolding, its own rotation, and extension and retraction relative to the housing 5 .

[0091] Based on this, Figure 3 As shown, the grabbing robot arm 3 adopts the same structural form as the above-mentioned drilling robot arm 2, including: a clamp 302, a grabbing motor 301, a first connecting rod 303 of the grabbing robot arm, a first joint 304 of the grabbing robot arm, a second connecting rod 305 of the grabbing robot arm, a second joint 306 of the grabbing robot arm, a third connecting rod 307 of the grabbing robot arm, a grabbing robot arm connecting head 308 and a third joint 309 of the grabbing robot arm.

[0092] A gripper 302 is provided at one end of the first link 303 of the grabbing robot arm, and the other end is connected to the second link 305 of the grabbing robot arm through the first joint 304 of the grabbing robot arm; the first joint 304 of the grabbing robot arm is used to realize the folding or unfolding of the first link 303 of the grabbing robot arm relative to the second link 305 of the grabbing robot arm; a gripper motor 301 for driving the gripper 302 is provided on the first link 303 of the grabbing robot arm, and the gripper 302 is used for tasks such as gripping and planting coral seedlings 10 and clearing obstacles.

[0093] The other end of the second link 305 of the grabbing robot arm is connected to one end of the third link 307 of the grabbing robot arm through the second joint 306 of the grabbing robot arm, and the rotation direction of the second joint 306 of the grabbing robot arm is along the length direction of the second link 305 of the grabbing robot arm; it is used to increase the operating range of the grabbing robot arm 3 and improve the environmental adaptability of the contraction manifold underwater coral planting robot.

[0094] The other end of the grabbing mechanical arm third link 307 is connected to the grabbing mechanical arm connector 308 through the grabbing mechanical arm third joint 309, and the grabbing mechanical arm connector 308 is installed on the inner wall surface of the shell 5 at the position of one end of the other hatch 7, thereby realizing the fixed connection of the grabbing mechanical arm 3 to the shell 5. When the hatch 7 is opened, the grabbing mechanical arm third link 307 rotates around the grabbing mechanical arm third joint 309 and extends out from the shell 5.

[0095] When sailing, the first link 303 of the grabbing robot arm and the second link 305 of the grabbing robot arm are folded and stacked together; the third link 307 of the grabbing robot arm rotates around the third joint 309 of the grabbing robot arm, retracting the grabbing robot arm 3 into the shell 5, closing the hatch 7, thereby protecting the grabbing robot arm 3 and reducing seawater corrosion.

[0096] The motors in the above structure are all controlled by the controller 902 .

[0097] Embodiment 3:

[0098] Based on the above-mentioned embodiment 1 or embodiment 2, this embodiment provides a preferred structural form of the telescopic operating table 4.

[0099] like Figure 4 As shown, the telescopic operating platform 4 includes: a telescopic operating platform body 400, a telescopic operating platform motor 401, a telescopic operating platform gear 402, a telescopic operating platform rack 403, a telescopic operating platform guide rail 404 and a telescopic operating placement table 405.

[0100] The telescopic operating table body 400 is a hollow structure with an opening at the top, and its lower end is a telescopic operating placement table 405. The coral seedlings 10 placed in the seedling storage cabin 8 can be output from the top opening to the telescopic operating placement table 405; the front wall of the telescopic operating table body 400 has an opening, which is convenient for the grabbing robot arm 3 to grab the coral seedlings 10 from the telescopic operating placement table 405.

[0101] The telescopic operating table body 400 is provided with telescopic operating table guide rails 404 on the left and right sides; the inner wall surface of the housing 5 is provided with guide grooves that are slidably matched with the telescopic operating table guide rails 404; the telescopic operating table motor 401 is arranged inside the housing 5, and the telescopic operating table gear 402 is arranged on the output shaft of the telescopic operating table motor 401, and the vertically arranged telescopic operating table rack 403 is meshed with the telescopic operating table gear 402, thereby converting the rotation of the telescopic operating table motor 401 into the linear motion of the telescopic operating table rack 403, and then obtaining the degree of freedom of up and down displacement through the displacement of the telescopic operating table rack 403. The telescopic operating table body 400 is connected to the telescopic operating table rack 403, so that when the telescopic operating table motor 401 is started, the telescopic operating table gear 402 rotates, driving the telescopic operating table rack 403 to move up and down, and then driving the telescopic operating table body 400 to extend or retract from the opening at the corresponding position on the housing 5.

[0102] As an example, the outer surface of the telescopic operating platform 405 at the bottom of the telescopic operating platform body 400 is consistent with the outer surface of the shell 5 at the corresponding position. When the telescopic operating platform 4 is retracted into the shell 5, the shell 5 maintains its streamlined shape.

[0103] The motors in the above structure are all controlled by a controller (902).

[0104] Embodiment 4:

[0105] Based on the above-mentioned embodiments 1 to 3, this embodiment provides a preferred structural form of the seedling storage cabin 8.

[0106] like Figure 7 and Figure 8 As shown, the seedling storage cabin 8 includes: a seedling storage cabin body 800, a storage cabin push rod 801, a seedling delivery port 802 and a seedling delivery channel partition wall 803.

[0107] A plurality of seedling delivery channel partition walls 803 are provided inside the seedling storage cabin body 800. The seedling delivery channel partition walls 803 are used to divide the seedling delivery route, and a storage cabin push rod 801 is provided at the end of each seedling delivery route. The coral seedlings 10 are transported from the seedling storage cabin 8 to the telescopic operating table 4 by pushing the storage cabin push rod 801. The seedling storage cabin 8 is provided with a seedling delivery port 802. Before the telescopic operating table 4 is extended, the upper end opening of the telescopic operating table 4 is aligned with the seedling delivery port 802, so that the coral seedlings 10 are transported from the seedling storage cabin 8 to the telescopic operating table 4.

[0108] As an example, the seedling storage cabin body 800 is provided with a seedling conveying channel partition wall 803 to divide its internal space into three layers in the height direction, and each layer is a horizontal seedling conveying route (the horizontal direction here is as follows Figure 8 The rear ends of the three horizontal seedling conveying routes are connected through the vertical seedling conveying route; a horizontal storage compartment push rod 801 is respectively arranged at the front ends of the topmost and bottommost horizontal seedling conveying routes; a vertical storage compartment push rod 801 is respectively arranged at the upper and lower ends of the vertical seedling conveying route; a horizontal storage compartment push rod 801 is arranged at the rear end of the horizontal seedling conveying route of the middle layer, and the front end of the horizontal seedling conveying route of the middle layer is a seedling conveying port 802, which is connected to the upper end opening of the telescopic operating table 4. Therefore, five storage cabin push rods 801 are arranged inside the seedling storage cabin body 800, namely storage cabin push rod 1 8001, storage cabin push rod 2 8002, storage cabin push rod 3 8003, storage cabin push rod 4 8004 and storage cabin push rod 5 8005; among them, storage cabin push rod 1 8001 is responsible for the lateral pushing of the coral seedlings 10 in the uppermost lateral seedling conveying route, storage cabin push rod 2 8002 is responsible for the lateral pushing of the coral seedlings 10 in the lowermost lateral seedling conveying route, storage cabin push rod 3 8003 is responsible for the vertical downward pushing of the upper coral seedlings 10, storage cabin push rod 5 8005 is responsible for the vertical upward pushing of the lower coral seedlings 10, and storage cabin push rod 4 8004 is responsible for pushing the coral seedlings 10 through the seedling conveying port 802 into the telescopic operating table 4.

[0109] The storage compartment push rod 801 is an electric push rod.

[0110] As an example, Fig. 9 and Fig.10 As shown, the storage compartment push rod 801 includes: a push rod housing 8012 and a push rod motor 8011, a push rod gear set 8013, a push rod bolt 8015 and a movable push rod 8016 installed on the push rod housing 8012; in order to save axial dimension, facilitate the installation of the storage compartment push rod 801 in the seedling storage compartment 8, and improve the space utilization rate of the movable push rod 8016, in this example, the power transmission reversing is realized through the push rod gear set 8013, so that the push rod motor 8011 can be installed side by side and parallel with the movable push rod 8016. Thus, in the storage compartment push rod 801, the power output end of the push rod motor 8011 is connected to the push rod gear set 8013, which is used to drive the push rod gear set 8013 to rotate; the push rod gear set 8013 includes two or more axes arranged in parallel and meshing gears in sequence; the push rod bolt 8015 is coaxially connected to the last gear in the transmission route of the push rod gear set 8013, and then the push rod bolt 8015 is driven to rotate through the push rod gear set 8013. The mobile push rod 8016 is threadedly matched with the push rod bolt 8015 through the internal thread, which can convert the rotation of the push rod bolt 8015 into the linear motion of the mobile push rod 8016, so that the push rod motor 8011 drives the push rod bolt 8015 to rotate through the push rod gear set 8013, thereby realizing the linear motion of the mobile push rod 8016.

[0111] As an example, for ease of installation, the push rod gear set 8013 includes three gears that are arranged in parallel with each other and meshed in sequence.

[0112] As an example, the push rod housing 8012 includes a push rod motor 8011, a mounting portion of a push rod gear set 8013, and a sleeve portion coaxially mounted on the outside of the mobile push rod 8016 and slidingly matched therewith; a sliding groove 8017 parallel to its axis is processed on the outer circumference of the mobile push rod 8016, and a push rod limit pin 8014 is installed at a corresponding position on the push rod housing 8012. The push rod limit pin 8014 slides with the sliding groove 8017, which can not only limit the rotation of the mobile push rod 8016, but also cooperate with the sliding groove 8017 to achieve extension and retraction limit, thereby preventing the mobile push rod 8016 from slipping during the pushing process. It should be noted that Fig. 9 In order to display the various components of the storage compartment push rod 801, the end of the movable push rod 8016 is extended out of the push rod housing 8012. During the actual movement process, one end of the movable push rod 8016 that is threadedly engaged with the push rod bolt 8015 is always located in the push rod housing 8012.

[0113] The motors in the above structure are all controlled by the controller 902 .

[0114] Embodiment 5:

[0115] Based on the above-mentioned embodiments 1 to 4, this embodiment provides a preferred structural form of the propeller 6 and the cabin door 7.

[0116] like Figure 5 As shown, the propeller 6 includes: propellers 601 distributed in a rectangular shape; four propellers 601 are installed on a propeller disc 603, and the propeller disc 603 is connected to the rear of the housing 5 through a propeller connection port 602. The four propellers 601 provide power to the underwater coral planting robot and realize functions such as forward movement and steering.

[0117] like Figure 6 As shown, the two doors 7 have the same structure, both comprising: a mechanical arm door 701, a door control motor 702 and a door connecting rod 703; the housing 5 has an opening in the same shape as the mechanical arm door 701, and the opening is opened and closed by the mechanical arm door 701. The door control motor 702 is connected to the mechanical arm door 701 through the door connecting rod 703. After the door control motor 702 is started, it drives the mechanical arm door 701 to rotate around the axis of the door connecting rod 703 to achieve opening and closing.

[0118] As an example, to facilitate installation inside the outer shell 5, transmission reversing is achieved through the door transmission gear set 704, that is, the door control motor 702 is connected to the door connecting rod 703 through the door transmission gear set 704, so that the axis of the power output end of the door control motor 702 is parallel to the axis of the door connecting rod 703.

[0119] The motors in the above structure are all controlled by the controller 902 .

[0120] Embodiment 6:

[0121] Based on the underwater coral planting robot in the above embodiment, its operation process includes the following steps:

[0122] During navigation: the controller 902 issues instructions to control the drilling robot arm 2 and the grasping robot arm 3 to fold and retract into the shell 5, the telescopic operating table motor 401 is reset to the initial position, and the telescopic operating table rack 403 is driven by the telescopic operating table gear 402 to retract the telescopic operating table 4 into the shell 5; the hatch control motor 702 is reset to the initial position, and the robot arm hatch 701 is driven to close through the hatch transmission gear set 704 and the hatch connecting rod 703; the propeller 601 runs, and the thruster 6 drives the underwater coral planting robot to navigate underwater, and the visual camera 1 observes the environment and finds the coral planting position.

[0123] During planting: when the target planting point is reached, the controller 902 issues a command to control the hatch control motor 702 to rotate, and the hatch door transmission gear set 704 and the hatch connecting rod 703 drive the mechanical arm hatch 701 to open, the drilling mechanical arm 2 and the grabbing mechanical arm 3 extend out of the housing 5 and unfold, and the drilling mechanical arm 2 drills a planting hole at the target position through the drill bit 201; the storage cabin push rod 801 pushes the coral seedlings 10 in the seedling storage cabin 8 and transports them to the telescopic operating table 4 through the seedling delivery port 802; the controller 902 controls the telescopic operating table motor 401 to operate, and drives the telescopic operating table rack 403 through the telescopic operating table gear 402, so that the telescopic operating table body 400 descends, and the coral seedlings 10 are taken out, and the grabbing mechanical arm 3 takes out the coral seedlings 10 from the telescopic operating placement table 405 through the clamp 302, and plants them in the planting hole drilled by the drilling mechanical arm 2. It can be seen that each time the coral seedlings 10 are planted, the telescopic operating table 4 is extended and retracted once to transport the coral seedlings 10 in the seedling storage cabin 8 to the grabbing position for the grabbing mechanical arm 3 to grab.

[0124] When returning: the controller 902 sends out instructions to control the drilling robot arm 2 and the grabbing robot arm 3 to fold and retract into the shell 5, the telescopic operating table motor 401 is reset to the initial position, and the telescopic operating table rack 403 is driven by the telescopic operating table gear 402 to retract the telescopic operating table 4 into the shell 5, the hatch control motor 702 is reset to the initial position, and the robot arm hatch 701 is driven to close through the hatch transmission gear set 704 and the hatch connecting rod 703, the propeller 601 runs, and the thruster 6 pushes the underwater coral planting robot to sail underwater and return.

[0125] Although the present invention has been described in detail above by general description and specific embodiments, it is obvious to those skilled in the art that some modifications or improvements can be made to the present invention. Therefore, these modifications or improvements made without departing from the spirit of the present invention all belong to the scope of protection claimed by the present invention.

Claims

1. A telescopic underwater coral planting robot, characterized in that: include: Housing (5), visual camera (1), drilling mechanical arm (2), grabbing mechanical arm (3), telescopic operating table (4), thruster (6), hatch (7), seedling storage cabin (8) and control cabin (9); The housing (5) has a streamlined structure, a visual camera (1) is installed at the head, and a propeller (6) is provided at the tail; The lower surface of the shell (5) is provided with openable and closable hatches (7) on both sides, and a drilling mechanical arm (2) and a grabbing mechanical arm (3) are respectively installed in the two hatches (7) and can be extended and retracted into the shell (5); the drilling mechanical arm (2) is used to drill a planting hole at a target position, and the grabbing mechanical arm (3) is used to grab the coral seedlings (10) from the telescopic operating table (4) and plant them in the planting hole; A telescopic operating platform (4) is provided in the middle of the lower surface of the shell (5), and the telescopic operating platform (4) can be telescoped relative to the shell (5); the telescopic operating platform (4) is used to receive the coral seedlings (10) transported from the seedling storage cabin (8), and to transfer the coral seedlings (10) to a set grasping position, so as to facilitate grasping by the grasping mechanical arm (3); When sailing, the drilling mechanical arm (2), the grabbing mechanical arm (3) and the telescopic operating platform (4) are retracted into the housing (5), and the hatch (7) is closed; when working, the hatch (7) is opened, and the drilling mechanical arm (2), the grabbing mechanical arm (3) and the telescopic operating platform (4) are extended; The seedling storage cabin (8) and the control cabin (9) are both arranged inside the housing (5); the seedling storage cabin (8) is used to store coral seedlings (10) and is capable of transferring the coral seedlings (10) to the telescopic operating table (4); A power source (901) and a controller (902) are arranged in the control cabin (9); the power source (901) is used for supplying power, and the controller (902) is used for controlling the entire robot.

2. The telescopic underwater coral planting robot according to claim 1, characterized in that: The drilling mechanical arm (2) comprises: a drill bit (201), a drilling motor (202), a first connecting rod (203) of the drilling mechanical arm, a first rotating joint (204) of the drilling mechanical arm, a second connecting rod (205) of the drilling mechanical arm, a second rotating joint (206) of the drilling mechanical arm, a third connecting rod (207) of the drilling mechanical arm, a connecting head (208) of the drilling mechanical arm, and a third rotating joint (209) of the drilling mechanical arm; A drill bit (201) is disposed at one end of the first connecting rod (203) of the drilling mechanical arm, and the other end is connected to the second connecting rod (205) of the drilling mechanical arm via the first rotating joint (204) of the drilling mechanical arm; the first rotating joint (204) of the drilling mechanical arm is used to realize the folding or unfolding of the first connecting rod (203) of the drilling mechanical arm relative to the second connecting rod (205) of the drilling mechanical arm; a drilling motor (202) for driving the drill bit (201) is disposed on the first connecting rod (203) of the drilling mechanical arm, and the drill bit (201) is used to drill a planting hole before the coral planting operation; The other end of the second connecting rod (205) of the drilling robot arm is connected to one end of the third connecting rod (207) of the drilling robot arm via the second rotating joint (206) of the drilling robot arm, and the rotating direction of the second rotating joint (206) of the drilling robot arm is along the length direction of the second connecting rod (205) of the drilling robot arm; the other end of the third connecting rod (207) of the drilling robot arm is connected to the drilling robot arm connecting head (208) via the third rotating joint (209) of the drilling robot arm, and the drilling robot arm connecting head (208) is installed on the inner wall surface of the shell (5) at the location of one of the hatches (7).

3. The telescopic underwater coral planting robot according to claim 1, characterized in that: The grabbing mechanical arm (3) comprises: a gripper (302), a grabbing motor (301), a first connecting rod (303) of the grabbing mechanical arm, a first joint (304) of the grabbing mechanical arm, a second connecting rod (305) of the grabbing mechanical arm, a second joint (306) of the grabbing mechanical arm, a third connecting rod (307) of the grabbing mechanical arm, a connecting head (308) of the grabbing mechanical arm and a third joint (309) of the grabbing mechanical arm; One end of the first link (303) of the grabbing mechanical arm is provided with a clamping claw (302), and the other end is connected to the second link (305) of the grabbing mechanical arm via the first joint (304) of the grabbing mechanical arm; the first joint (304) of the grabbing mechanical arm is used to realize the folding or unfolding of the first link (303) of the grabbing mechanical arm relative to the second link (305) of the grabbing mechanical arm; the first link (303) of the grabbing mechanical arm is provided with a grabbing motor (301) for driving the clamping claw (302); The other end of the second connecting rod (305) of the grabbing mechanical arm is connected to one end of the third connecting rod (307) of the grabbing mechanical arm via the second joint (306) of the grabbing mechanical arm, and the rotation direction of the second joint (306) of the grabbing mechanical arm is along the length direction of the second connecting rod (305) of the grabbing mechanical arm; The other end of the third connecting rod (307) of the grabbing mechanical arm is connected to the grabbing mechanical arm connecting head (308) through the third joint (309) of the grabbing mechanical arm, and the grabbing mechanical arm connecting head (308) is installed on the inner wall surface of the shell (5) at the position of one end of the other cabin door (7).

4. The telescopic underwater coral planting robot according to any one of claims 1 to 3, characterized in that: The telescopic operating table (4) comprises: a telescopic operating table body (400), a telescopic operating table motor (401), a telescopic operating table gear (402), a telescopic operating table rack (403), a telescopic operating table guide rail (404) and a telescopic operating placement table (405); The telescopic operation table body (400) is a hollow structure with an opening at the top, and the lower end thereof is a telescopic operation placement table (405). The coral seedlings (10) placed in the seedling storage cabin (8) can be output from the top opening to the telescopic operation placement table (405); the front wall of the telescopic operation table body (400) has an opening to facilitate the grabbing mechanical arm (3) to grab the coral seedlings (10) from the telescopic operation placement table (405); The left and right sides of the telescopic operating table body (400) are provided with telescopic operating table guide rails (404) that are slidably matched with guide grooves on the inner wall surface of the shell (5); the telescopic operating table motor (401) is arranged inside the shell (5); the telescopic operating table gear (402) is arranged on the output shaft of the telescopic operating table motor (401); the telescopic operating table rack (403) arranged vertically is meshed with the telescopic operating table gear (402); the telescopic operating table body (400) is connected to the telescopic operating table rack (403).

5. The telescopic underwater coral planting robot according to any one of claims 1 to 3, characterized in that: The seedling storage cabin (8) comprises: a seedling storage cabin body (800), a storage cabin push rod (801), a seedling delivery port (802) and a seedling delivery channel partition wall (803); A plurality of seedling transport channel partition walls (803) are arranged inside the seedling storage cabin body (800), and the seedling transport channel partition walls (803) are used to divide the seedling transport routes, and a storage cabin push rod (801) is arranged at the end of each seedling transport route, and the storage cabin push rod (801) is pushed to complete the transportation of the coral seedlings (10) from the seedling storage cabin (8) to the telescopic operating table (4); The seedling storage cabin (8) is provided with a seedling delivery port (802) which is in communication with the telescopic operating platform (4), so as to realize the transportation of the coral seedlings (10) from the seedling storage cabin (8) to the telescopic operating platform (4).

6. The telescopic underwater coral planting robot according to claim 5, characterized in that: The seedling storage cabin body (800) is provided with a seedling conveying channel partition wall (803) to divide the internal space into three layers in the height direction, each layer being a horizontal seedling conveying route; the rear ends of the three horizontal seedling conveying routes are connected via a vertical seedling conveying route; A transverse storage compartment push rod (801) is respectively arranged at the front end of the topmost and bottommost transverse seedling conveying routes; a vertical storage compartment push rod (801) is respectively arranged at the upper and lower ends of the vertical seedling conveying route; a transverse storage compartment push rod (801) is arranged at the rear end of the transverse seedling conveying route of the middle layer, and the front end of the transverse seedling conveying route of the middle layer is a seedling conveying port (802) which is connected to the telescopic operating table (4); Thus, five storage tank push rods (801) are arranged inside the seedling storage tank body 800, namely storage tank push rod 1 (8001), storage tank push rod 2 (8002), storage tank push rod 3 (8003), storage tank push rod 4 (8004) and storage tank push rod 5 (8005); the storage tank push rod 1 (8001) is responsible for lateral pushing of the coral seedlings (10) in the uppermost lateral seedling conveying route, the storage tank push rod 2 (8002) is responsible for lateral pushing of the coral seedlings (10) in the lowermost lateral seedling conveying route, the storage tank push rod 3 (8003) is responsible for vertically pushing the upper coral seedlings (10) downward, the storage tank push rod 5 (8005) is responsible for vertically pushing the lower coral seedlings (10) upward, and the storage tank push rod 4 (8004) is responsible for pushing the coral seedlings (10) into the telescopic operating table (4) through the seedling conveying port (802).

7. The telescopic underwater coral planting robot according to claim 6, characterized in that: The storage compartment push rod (801) comprises: a push rod housing (8012), a push rod motor (8011) mounted on the push rod housing (8012), a push rod gear set (8013), a push rod bolt (8015) and a moving push rod (8016); The power output end of the push rod motor (8011) is connected to the push rod gear set (8013) for driving the push rod gear set (8013) to rotate; the push rod gear set (8013) includes more than two axes arranged in parallel and meshing gears in sequence; the push rod bolt (8015) is coaxially connected to the last gear in the transmission route of the push rod gear set (8013); The movable push rod (8016) cooperates with the push rod bolt (8015) thread through the internal thread, and can convert the rotation of the push rod bolt (8015) into the linear motion of the movable push rod (8016). As a result, the push rod motor (8011) drives the push rod bolt (8015) to rotate through the push rod gear set (8013), thereby realizing the linear motion of the movable push rod (8016).

8. The telescopic underwater coral planting robot according to any one of claims 1 to 3, characterized in that: The propeller (6) comprises: propellers (601) distributed in a rectangular shape; four propellers (601) are installed on a propeller disk (603), and the propeller disk (603) is connected to the rear of the housing (5) through a propeller connection port (602).

9. The telescopic underwater coral planting robot according to any one of claims 1 to 3, characterized in that: The two doors (7) have the same structural form, and both include: a mechanical arm door (701), a door control motor (702) and a door connecting rod (703); The housing (5) has an opening in the same shape as the mechanical arm hatch (701), and the opening is opened and closed by the mechanical arm hatch (701); the hatch control motor (702) is connected to the mechanical arm hatch (701) via a hatch connecting rod (703); after the hatch control motor (702) is started, it drives the mechanical arm hatch (701) to rotate around the axis of the hatch connecting rod (703), thereby realizing opening and closing.

10. An underwater coral planting method, characterized in that: The telescopic underwater coral planting robot according to any one of claims 1 to 9 is used: During navigation: under the control of the controller (902), the drilling robot arm (2), the grabbing robot arm (3) and the telescopic operating table (4) are all retracted into the housing (5), and the hatch (7) is closed; the propeller (6) is started to propel the robot to navigate underwater, and the visual camera (1) observes the environment to find the location for coral planting; When the target planting position is reached, under the control of the controller (902), the hatch (7) is opened, and the drilling mechanical arm (2) and the grabbing mechanical arm (3) extend out of the housing (5); the drilling mechanical arm (2) is controlled to drill a planting hole at the target planting position; the seedling storage cabin (8) transfers the coral seedlings (10) to the telescopic operating table (4); The telescopic operating platform (4) is extended to transfer the coral seedlings (10) to a set grabbing position, and then the grabbing mechanical arm (3) grabs the coral seedlings (10) from the telescopic operating platform (4) and plants them in the planting holes drilled by the drilling mechanical arm (2); thereby completing the planting of the coral seedlings (10); When the robot needs to return, under the control of the controller (902), the drilling robot arm (2), the grasping robot arm (3) and the telescopic operating table (4) are retracted into the shell (5), and the hatch (7) is closed; the propeller (6) is started to push the planting robot to sail back underwater.

Images