Using method of bionic octopus underwater sensor clamp robot

Abstract

The invention relates to the technical field of robots, and discloses a using method of a bionic octopus underwater sensor clamp robot, the bionic octopus underwater sensor clamp robot comprises a shell and a water flow turbine generator, the upper surface of the shell is fixedly connected with a control box body, and the outer walls of the left side and the right side of the shell are fixedly connected with bionic tentacles; a suction cup assembly is arranged in the bionic tentacle on the left side and connected with a mucus simulation assembly, a silicone oil supply assembly is arranged in the shell and connected with a storage battery, and an underwater monitoring assembly is arranged on the outer wall of the shell. The shell is put into the to-be-detected area, then a user observes the to-be-detected area through the underwater monitoring assembly, and therefore it can be guaranteed that the robot conducts detection and sampling work in a complex environment, continuous energy supply is provided for the robot, and the situation that the robot cannot work for a long distance and a long time due to the fact that the robot is limited by functions is avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and particularly to a method for using a bionic octopus underwater sensor fixture robot. Background Art

[0002] In today's world, with the increasing progress of the level of scientific and technological development, the research field of bionic machinery has developed towards environments such as aerospace, surface, underwater, and underground. Future bionic machinery will replace humans in environments where humans cannot work. Bionic machinery is designed and manufactured by imitating the morphological characteristics and structural advantages of organisms to create machinery with more comprehensive, more concentrated, and higher efficiency functions than organisms. Bionic machinery is not only flexible in movement but also has higher working efficiency and adaptability under complex working conditions.

[0003] Before the present invention, the existing underwater operation fixture technology mainly focused on structural optimization and function adaptation. Although the underwater lifting fixture disclosed in Patent Publication No. CN 118597962A improved the lifting stability through the cooperation of the guiding component and the slideway, it relied on a preset slideway system, was restricted in deployment in unstructured underwater scenarios, and had a complex driving structure of the guide rod cylinder and a high maintenance cost. The underwater camera mounting fixture proposed in Patent Publication No. CN213541776U adopted a groove structure and a threaded rod fixing scheme, which simplified the sealing and anti-loosening design, but the size adaptability strictly relied on fixed specifications and was difficult to meet the rapid switching requirements of multiple types of devices, with insufficient flexibility. The ROV anchor chain monitoring sensor fixture designed in Patent Publication No. CN104897183A supported the adaptation of multiple specifications of anchor chains and unmanned operation, but its precision locking mechanism was prone to performance degradation in a dynamic water flow and biofouling environment, and long-term stability faced challenges. Although the above patents have made progress in specific scenarios, they still face bottlenecks such as weak multifunctional integration, poor dynamic adaptability, and insufficient long-term reliability in complex underwater working conditions. Moreover, they are restricted in deployment in unstructured underwater scenarios, have a high maintenance cost, and require external power supply, resulting in a narrow applicable environment for the device and being able to only work on short-term close-range targets. Summary of the Invention

[0004] Aiming at the deficiencies of the prior art, the present invention provides a method for using a bionic octopus underwater sensor fixture robot, which solves the problem that the applicable environment of the device is narrow due to the limited deployment of the existing device in unstructured underwater scenarios and the need for external power supply, and can only work on short-term close-range targets.

[0005] To achieve the above object, the present invention is realized by the following technical solutions: A method of using a bionic octopus underwater sensor fixture robot, including a housing and a water flow turbine generator. The upper surface of the housing is fixedly connected with a control box body. The outer walls on the left and right sides of the housing are both fixedly connected with bionic tentacles. A suction cup assembly is arranged inside the bionic tentacle on the left side. The suction cup assembly is connected with a mucus simulation assembly. A silicone oil supply assembly is arranged inside the housing. The silicone oil supply assembly is connected with a storage battery. An underwater monitoring assembly is arranged on the outer wall of the housing. A controller and a signal receiving module are arranged inside the control box body. The storage battery, the bionic tentacles and the controller are electrically connected. An installation frame is arranged on the lower surface of the housing. A fixing screw is threadedly connected inside the housing. The outer wall of the fixing screw is threadedly connected inside the installation frame. The upper surface of the water flow turbine generator is fixedly connected to the lower surface of the installation frame.

[0006] Preferably, the suction cup assembly includes a negative pressure chamber. The outer wall of the negative pressure chamber is fixedly connected inside the bionic tentacle. The bottom end of the negative pressure chamber is open. A fixing ring is fixedly connected to the inner wall of the negative pressure chamber. A water blocking plate is slidably connected to the inner wall of the fixing ring. A sealing ring is arranged on the outer wall of the water blocking plate. A telescopic rod is fixedly connected to the upper surface of the water blocking plate. A spring is arranged on the outer wall of the telescopic rod. A vacuum pump is fixedly connected inside the bionic tentacle. The vacuum pump is electrically connected to the controller. An air extraction pipe is fixedly connected inside the vacuum pump.

[0007] Preferably, the outer wall of the sealing ring is arranged on the inner wall of the fixing ring. The top end of the telescopic rod is fixedly connected to the inner top wall of the negative pressure chamber. The outer wall of the air extraction pipe is arranged inside the negative pressure chamber.

[0008] Preferably, a first sealing door is arranged on the outer wall of the housing. A second sealing door is arranged on the upper surface of the control box body.

[0009] Preferably, a pressure sensor is arranged on the outer wall of the bionic tentacle on the right side. The pressure sensor is electrically connected to the controller.

[0010] Preferably, the mucus simulation assembly includes a contact bottom ring. The contact bottom ring is fixedly connected to the outer wall of the negative pressure chamber. An annular cavity is opened inside the contact bottom ring. A liquid outlet hole is opened at the bottom of the contact bottom ring. A main oil delivery pipe is arranged inside the bionic tentacle. A secondary oil delivery pipe is arranged inside the bionic tentacle. The secondary oil delivery pipe is fixedly connected inside the main oil delivery pipe. The main oil delivery pipe is connected with the silicone oil supply assembly.

[0011] Preferably, a drive motor is fixedly connected inside the housing. The output end of the drive motor is connected to a rotating block. One mounting block is fixedly connected to the outer wall of the housing, and another mounting block is fixedly connected to the inner wall of the bionic tentacle. The outer wall of the first mounting block is disposed on the outer wall of the second mounting block. A first limiting block is rotatably connected to the inner wall of the first mounting block, and the outer wall of the first limiting block is rotatably connected to the inner wall of the second mounting block. A second limiting block is rotatably connected to the inner wall of the second mounting block, and the outer wall of the second limiting block is rotatably connected to the outer wall of the first mounting block. The outer wall of the first limiting block is disposed on the outer wall of the second limiting block. The outer wall of the rotating block is fixedly connected to the outer wall of the first limiting block, and the outer wall of the rotating block is fixedly connected to the outer wall of the second limiting block.

[0012] Preferably, the silicone oil supply assembly includes a silicone oil storage tank. The lower surface of the silicone oil storage tank is fixedly connected to the inner bottom wall of the housing. The lower surface of the storage battery is fixedly connected to the upper surface of the silicone oil storage tank. A booster pump is fixedly connected to the outer wall of the silicone oil storage tank. The booster pump is electrically connected to the controller, and the inner wall of the booster pump is fixedly connected to the outer wall of the main oil pipeline.

[0013] Preferably, the underwater monitoring assembly includes an adjustable bracket. The inner wall of the adjustable bracket is rotatably connected to the outer wall of the housing, and a waterproof camera is fixedly connected to the outer wall of the adjustable bracket.

[0014] Preferably, a method for using a bionic octopus underwater sensor clamping robot includes the following steps:

[0015] S1. Place the housing in the area to be detected, then send a signal to the controller to control the bionic tentacle on the left side of the housing to adsorb on the shore, and then control the bionic tentacle on the right side of the housing to adsorb the pressure sensor and place the pressure sensor in the water.

[0016] S2. When the bionic tentacle adsorbs, first make the suction cup assembly on the bionic tentacle fit on the contact surface, then fill the gap between the suction cup assembly and the contact surface with silicone oil through the mucus simulation component to seal the suction cup assembly. Then, start the vacuum pump to work through the controller. The vacuum pump will extract the air in the negative pressure chamber through the suction pipe. At this time, a negative pressure is formed in the negative pressure chamber, so that the suction cup assembly adsorbs on the contact surface.

[0017] S3. When the mucus simulation component and the silicone oil supply component are in use, start the booster pump to work through the controller. The booster pump extracts the silicone oil in the silicone oil storage tank, then transports the silicone oil to each sub-oil pipeline through the main oil pipeline. The silicone oil in the sub-oil pipeline will enter the annular cavity and then flow out through the liquid outlet holes to fill the gap between the contact bottom ring and the contact surface, imitating the mucus of the octopus, improving the adsorption force and protecting the adsorbed object.

[0018] S4. The water flow turbine generator is installed at the bottom of the housing through the cooperation of the mounting bracket and the fixing screws. The water flow turbine generator converts water energy into mechanical energy and then into electrical energy, which is finally stored in the storage battery to provide power for the sucker assembly for endurance.

[0019] S5. The pressure setting value of the pressure sensor on the bionic tentacle is a constant. During the rising and falling of the water level, the pressure will change, and the bionic tentacle will automatically detect and curl or release. At the same time, the user can observe the real-time situation of the bionic tentacle, the pressure sensor and the corresponding water level environment through the waterproof camera.

[0020] S6. When the bionic tentacle is entangled by underwater organisms, the measurement parameters of the pressure sensor on the bionic tentacle are abnormal. Then, the drive motor is started through the controller to drive the rotating block to rotate clockwise by 90 degrees. After that, the first limiting block disengages from the second mounting block, and the second limiting block disengages from the first mounting block. Furthermore, the first mounting block and the second mounting block are no longer connected by the first limiting block and the second limiting block. Then, the bionic tentacle detaches from the surface of the housing and gets rid of the underwater organisms.

[0021] Working principle: The housing is placed in the area to be measured. Then, the user observes the area to be measured through the underwater monitoring component. Subsequently, the user sends a signal to the signal receiving module and adjusts the posture of the robot through the controller. At this time, the left bionic tentacle of the robot's bionic tentacle is fixed on one side through the sucker assembly, and at the same time, the other bionic tentacle is controlled to perform underwater sampling. By installing a water flow turbine generator on the robot, the water flow turbine generator is used to charge the storage battery, and the storage battery is used to provide power for the operation of the robot. Thus, it can ensure that the robot performs detection and sampling work in a complex environment, provide continuous power supply for the robot, extend the working time of the robot, and prevent the robot from being limited by functions and unable to work over long distances and for long periods.

[0022] The vacuum pump is started through the controller. The vacuum pump pumps out the air in the negative pressure chamber. At this time, negative pressure is formed in the negative pressure chamber. At the same time, the water baffle will move upward to compress the telescopic rod and the spring, so that the negative pressure chamber is adsorbed on different types of contact surfaces. Thus, it can ensure the internal sealing of the robot, enable the robot to be fixed on contact surfaces of different materials, prevent the robot from shaking during work, and maintain the stability of the robot during sampling.

[0023] The drive motor is started through the controller to drive the rotating block to rotate. At this time, the first limiting block and the second limiting block rotate driven by the rotating block. Then, the first limiting block disengages from the second mounting block, and the second limiting block disengages from the first mounting block. Furthermore, the first mounting block and the second mounting block can be separated. Then, the bionic tentacle detaches from the surface of the housing and gets rid of the underwater organisms. Thus, it can assist the robot to quickly disengage, prevent the robot from being damaged, and preserve the remaining samples.

[0024] By starting the booster pump to extract silicone oil into the main oil pipeline and transporting it through the main oil pipeline to the secondary oil pipeline, the silicone oil then enters the annular cavity and seeps out through the liquid outlet holes. The silicone oil fills the gap between the negative pressure chamber and the contact surface, forming a seal inside the negative pressure chamber, improving the stability of vacuum adsorption. The lubricating property of the silicone oil reduces the frictional resistance of the contact surface, avoiding mechanical damage to the surface of the target object. The controller can dynamically adjust the output of silicone oil according to the feedback of the pressure sensor, optimizing the adsorption effect and reducing silicone oil consumption. When the adsorption ends and the oil supply stops, the residual silicone oil can naturally separate with the water flow, without affecting subsequent operations, thereby further enhancing the adsorption reliability, saving the amount and cost of silicone oil, avoiding friction damage to the bionic tentacles, and improving the applicability of the robot in complex underwater environments.

[0025] After the bionic tentacle-assisted robot moves to the position to be measured, the right bionic tentacle starts to collect and sample. Then the right bionic tentacle winds and grabs the target object. At this time, the parameters of the pressure sensor change due to the depth of the robot and the shape and hardness of the surface of the target object. Furthermore, after the controller collects the pressure change data, it regulates the clamping force of the right bionic tentacle. At the same time, it controls the shooting angle of the waterproof camera to follow the bionic tentacle through the adjustable bracket, thereby achieving adaptive grasping, avoiding the loss and damage of the target object due to improper regulation of the clamping force, and facilitating the user to observe the bionic tentacle in real time and make timely adjustments.

[0026] The present invention provides a method for using a bionic octopus underwater sensor fixture robot. It has the following beneficial effects:

[0027] 1. In the present invention, by placing the housing in the area to be measured, then the user observes the area to be measured through the underwater monitoring component. Subsequently, the user sends a signal to the signal receiving module and regulates the posture of the robot through the controller, thereby achieving the effect of ensuring that the robot conducts detection and sampling work in a complex environment, providing continuous power supply for the robot, extending the working time of the robot, and avoiding the robot being restricted by its functions and unable to work over long distances and for long periods.

[0028] 2. In the present invention, the controller starts the vacuum pump, and the vacuum pump extracts the air in the negative pressure chamber. At this time, a negative pressure is formed in the negative pressure chamber, thereby achieving the effect of ensuring the internal seal of the robot and enabling the robot to be fixed on contact surfaces of different materials, avoiding the robot from shaking during operation, and maintaining the stability of the robot during sampling.

[0029] 3. By the controller starting the drive motor to drive the rotating block to rotate, at this time, the first limiting block and the second limiting block rotate under the drive of the rotating block. Subsequently, the first limiting block disengages from the second mounting block, and the second limiting block disengages from the first mounting block, thereby achieving the effect of assisting the robot to quickly disengage, avoiding damage to the robot, and preserving the remaining samples.

[0030] 4. The present invention pumps silicone oil to the main oil pipeline by starting a booster pump, and conveys it to the auxiliary oil pipeline through the main oil pipeline. The silicone oil then enters the annular cavity and seeps out through the liquid outlet holes. The silicone oil fills the gap between the negative pressure chamber and the contact surface, forming a seal inside the negative pressure chamber, improving the stability of vacuum adsorption, thereby further enhancing the adsorption reliability, saving the amount and cost of silicone oil, avoiding friction damage to the bionic tentacles, and improving the applicability of the robot in complex underwater environments.

[0031] 5. After the bionic tentacles assist the robot to move to the position to be measured, the right bionic tentacle starts to collect and sample. Then, the right bionic tentacle winds and grabs the target object. At this time, the parameters of the pressure sensor change due to the depth of the robot and the surface shape and hardness of the target object, thereby achieving adaptive grasping, avoiding loss and damage of the target object due to improper clamping force regulation, and facilitating the user to observe the bionic tentacles in real time and adjust them in a timely manner. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 is a schematic diagram of the main structure of the present invention;

[0033] Figure 2 is Figure 1 an enlarged schematic diagram of part A in

[0034] Figure 3 is a schematic diagram of the structure of the waterproof camera in the present invention;

[0035] Figure 4 is a partial structure schematic diagram of the control box in the present invention;

[0036] Figure 5 is a cross-sectional view of the internal structure of the negative pressure chamber in the present invention;

[0037] Figure 6 is a partial structure schematic diagram of the fixing ring in the present invention;

[0038] Figure 7 is a partial structure schematic diagram of the housing in the present invention;

[0039] Figure 8 is a cross-sectional view of the internal structure of the bionic tentacle in the present invention;

[0040] Figure 9 is a partial structure schematic diagram of the rotating block in the present invention.

[0041] Among them, 1. housing; 2. control box; 3. bionic tentacle; 4. suction cup assembly; 401. negative pressure chamber; 402. fixing ring; 403. water baffle; 404. sealing ring; 405. telescopic rod; 406. spring; 407. vacuum pump; 408. suction pipe; 5. mucus simulation assembly; 501. contact bottom ring; 502. annular cavity; 503. liquid outlet hole; 504. main oil delivery pipe; 505. auxiliary oil delivery pipe; 6. storage battery; 7. silicone oil supply assembly; 701. silicone oil storage tank; 702. booster pump; 8. water flow turbine generator; 9. underwater monitoring assembly; 10. controller; 11. signal receiving module; 12. first sealing door; 13. second sealing door; 14. pressure sensor; 15. mounting bracket; 16. fixing screw; 17. adjustable bracket; 18. waterproof camera; 19. drive motor; 20. rotating block; 21. mounting block one; 22. mounting block two; 23. limiting block one; 24. limiting block two. Detailed implementation manner

[0042] The technical solutions of the present invention will be clearly and completely described below with reference to the drawings of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0043] Please refer to the attached Figure 1 - attached Figure 4 , an embodiment of the present invention provides a usage method of a bionic octopus underwater sensor fixture robot, including a housing 1 and a water flow turbine generator 8. A control box 2 is fixedly connected to the upper surface of the housing 1. Bionic tentacles 3 are fixedly connected to the outer walls on the left and right sides of the housing 1. A suction cup assembly 4 is arranged inside the left bionic tentacle 3. The suction cup assembly 4 is connected to a mucus simulation assembly 5. A silicone oil supply assembly 7 is arranged inside the housing 1. The silicone oil supply assembly 7 is connected to a storage battery 6. An underwater monitoring assembly 9 is arranged on the outer wall of the housing 1. A controller 10 and a signal receiving module 11 are arranged inside the control box 2. The storage battery 6, the bionic tentacle 3 and the controller 10 are electrically connected. A mounting bracket 15 is arranged on the lower surface of the housing 1. A fixing screw 16 is threadedly connected inside the housing 1. The outer wall of the fixing screw 16 is threadedly connected inside the mounting bracket 15. The upper surface of the water flow turbine generator 8 is fixedly connected to the lower surface of the mounting bracket 15;

[0044] Specifically, by placing the housing 1 in the area to be measured, the user then observes the area to be measured through the underwater monitoring component 9. Subsequently, the user sends a signal to the signal receiving module 11 and adjusts the attitude of the robot through the controller 10. At this time, the left bionic tentacle 3 of the robot bionic tentacle 3 is fixed on one side through the suction cup assembly 4, and at the same time, the other bionic tentacle 3 is controlled to perform underwater sampling. The control box 2 is used to provide a closed and water-free working environment for the controller 10 and the signal receiving module 11. The water flow turbine generator 8 is added to the robot through the mounting bracket 15 and the fixing screw 16. The water flow turbine generator 8 makes full use of the underwater eddy current to continuously charge the battery 6, and the battery 6 is used to provide power for the operation of each part of the robot. The bionic tentacle 3 is a prior art and will not be described in detail, so as to facilitate the robot to perform detection and sampling work in various environments, provide continuous power supply for the robot, extend the working time of the robot, and avoid the robot being limited by functions and unable to work over long distances and for long periods of time.

[0045] Refer to the appendix Figure 2 , appendix Figure 5 and appendix Figure 6 , the suction cup assembly 4 includes a negative pressure chamber 401. The outer wall of the negative pressure chamber 401 is fixedly connected to the inside of the bionic tentacle 3. The bottom end of the negative pressure chamber 401 is open. A fixing ring 402 is fixedly connected to the inner wall of the negative pressure chamber 401. A water baffle 403 is slidably connected to the inner wall of the fixing ring 402. A sealing ring 404 is arranged on the outer wall of the water baffle 403. A telescopic rod 405 is fixedly connected to the upper surface of the water baffle 403. A spring 406 is arranged on the outer wall of the telescopic rod 405. A vacuum pump 407 is fixedly connected to the inside of the bionic tentacle 3. The vacuum pump 407 is electrically connected to the controller 10. An air extraction pipe 408 is fixedly connected to the inside of the vacuum pump 407;

[0046] Specifically, by starting the vacuum pump 407 to work through the controller 10, the vacuum pump 407 will extract the air in the negative pressure chamber 401 through the air extraction pipe 408. At this time, a negative pressure is formed in the negative pressure chamber 401. At the same time, the water baffle 403 will move upward to compress the telescopic rod 405 and the spring 406, so that the negative pressure chamber 401 is adsorbed on different types of contact surfaces. The water baffle 403 is used to prevent water and impurities from entering the inside of the negative pressure chamber 401 and damaging the seal and causing connection damage, while the sealing ring 404 is used to fill the gap between the negative pressure chamber 401 and the water baffle 403, so as to ensure the internal seal of the robot while enabling the robot to be fixed on different contact surfaces, avoiding the robot from shaking under the influence of water flow during work, and ensuring the stability of the robot during sampling.

[0047] Refer to the appendix Figure 5 and appendix Figure 6, the outer wall of the sealing ring 404 is arranged on the inner wall of the fixed ring 402, the top end of the telescopic rod 405 is fixedly connected to the inner top wall of the negative pressure chamber 401, and the outer wall of the air extraction pipe 408 is arranged inside the negative pressure chamber 401;

[0048] Specifically, the fixed ring 402 provides an installation fulcrum for the sealing ring 404, the negative pressure chamber 401 provides an installation fulcrum for the telescopic rod 405, and the negative pressure chamber 401 provides an installation fulcrum for the air extraction pipe 408.

[0049] Refer to the appendix Figure 1 , a first sealing door 12 is arranged on the outer wall of the housing 1, and a second sealing door 13 is arranged on the upper surface of the control box 2;

[0050] Specifically, a first maintenance opening is arranged on one side of the housing 1, a first sealing door 12 is arranged outside the first maintenance opening, a first handle is fixedly connected to the first sealing door 12. By providing the first maintenance opening, it is convenient to supplement silicone oil to the silicone oil storage tank 701 in the housing 1. The first sealing door 12 is used to seal the housing 1, and the first handle is convenient for opening the first sealing door 12. A second maintenance opening is opened at the top of the control box 2, a second sealing door 13 is arranged outside the second maintenance opening, a second handle is installed on the second sealing door 13. The second maintenance opening is used to repair the signal receiving module 11 and the controller 10 in the control box 2, the second sealing door 13 is used to seal the control box 2, and the second handle is used to open the second sealing door 13.

[0051] Refer to the appendix Figure 2 and the appendix Figure 4 , a pressure sensor 14 is arranged on the outer wall of the right bionic tentacle 3, and the pressure sensor 14 is electrically connected to the controller 10;

[0052] Specifically, the pressure sensor 14 continuously detects the pressure of the environment where the robot is located and outputs a signal to the controller 10. Then, the controller 10 adjusts the clamping force of the bionic tentacle 3 according to the change of the pressure value. At the same time, the shape and hardness of the target object can be judged through the pressure change to achieve adaptive grasping and avoid grasping failure caused by pressure difference.

[0053] Refer to the appendix Figure 4 - appendix Figure 6 , the mucus simulation component 5 includes a contact bottom ring 501, the contact bottom ring 501 is fixedly connected to the outer wall of the negative pressure chamber 401, an annular cavity 502 is opened inside the contact bottom ring 501, a liquid outlet hole 503 is opened at the bottom of the contact bottom ring 501, a main oil delivery pipe 504 is arranged inside the bionic tentacle 3, a secondary oil delivery pipe 505 is arranged inside the bionic tentacle 3, the secondary oil delivery pipe 505 is fixedly connected inside the main oil delivery pipe 504, and the main oil delivery pipe 504 is connected to the silicone oil supply component 7;

[0054] Specifically, silicone oil is transported from the silicone oil supply component 7 to each secondary oil pipeline 505 through the main oil pipeline 504. The silicone oil in the secondary oil pipeline 505 will enter the annular cavity 502 and then flow out through the liquid outlet hole 503 to fill the gap between the contact bottom ring 501 and the contact surface.

[0055] See the appendix Figure 5 As shown in the figure, a driving motor 19 is fixedly connected inside the housing 1. The output end of the driving motor 19 is connected to a rotating block 20. An installation block 21 is fixedly connected to the outer wall of the housing 1. An installation block 22 is fixedly connected to the inner wall of the bionic tentacle 3. The outer wall of the installation block 21 is arranged on the outer wall of the installation block 22. A limiting block 23 is rotatably connected to the inner wall of the installation block 21. The outer wall of the limiting block 23 is rotatably connected to the inner wall of the installation block 22. A limiting block 24 is rotatably connected to the inner wall of the installation block 22. The outer wall of the limiting block 24 is rotatably connected to the outer wall of the installation block 21. The outer wall of the limiting block 23 is arranged on the outer wall of the limiting block 24. The outer wall of the rotating block 20 is fixedly connected to the outer wall of the limiting block 23. The outer wall of the rotating block 20 is fixedly connected to the outer wall of the limiting block 24.

[0056] Specifically, when the bionic tentacle 3 is entangled and pulled by underwater organisms, the driving motor 19 is started through the controller 10 to drive the rotating block 20 to rotate. Since the limiting block 23 is fixedly connected to the rotating block 20 and the limiting block 24 is fixedly connected to the rotating block 20, at this time, the limiting block 23 and the limiting block 24 rotate inside the installation block 21 and the installation block 22 under the drive of the rotating block 20. The controller 10 controls the driving motor 19 to rotate clockwise by 90 degrees. At this time, the limiting block 23 disengages from the installation block 22, and the limiting block 24 disengages from the installation block 21. Furthermore, the installation block 21 and the installation block 22 are no longer connected by the limiting block 23 and the limiting block 24. Immediately, the bionic tentacle 3 disengages from the surface of the housing 1 and gets rid of the underwater organisms, so as to achieve the effect of assisting the robot to quickly disengage, avoiding damage to the robot, stopping losses in time, and preserving the remaining samples.

[0057] See the appendix Figure 4 - appendix Figure 6 As shown in the figure, the silicone oil supply component 7 includes a silicone oil storage tank 701. The lower surface of the silicone oil storage tank 701 is fixedly connected to the inner bottom wall of the housing 1. The lower surface of the storage battery 6 is fixedly connected to the upper surface of the silicone oil storage tank 701. A booster pump 702 is fixedly connected to the outer wall of the silicone oil storage tank 701. The booster pump 702 is electrically connected to the controller 10. The inner wall of the booster pump 702 is fixedly connected to the outer wall of the main oil pipeline 504.

[0058] Specifically, the controller 10 starts the booster pump 702. Subsequently, the booster pump 702 extracts silicone oil from the silicone oil storage tank 701 and transports it through the main oil pipeline 504 to the sub-oil pipelines 505 inside each bionic tentacle 3. The silicone oil then enters the annular cavity 502 of the contact bottom ring 501 and seeps out through the evenly distributed liquid outlet holes 503. The silicone oil fills the gap between the contact surface of the negative pressure chamber 401 and the target object, simulating the mucus secretion mechanism of the octopus tentacle, forming an effective seal inside the negative pressure chamber 401, improving the stability of vacuum adsorption. At the same time, the lubricating property of the silicone oil reduces the frictional resistance of the contact surface, ensuring a smooth adsorption process and avoiding mechanical damage to the surface of the target object. In addition, the chemical inertness of the silicone oil makes it applicable to objects of different materials, including metals, plastics, or biological tissues, ensuring compatibility. The controller 10 can dynamically adjust the silicone oil output according to the feedback of the pressure sensor 14, optimize the adsorption effect, and reduce silicone oil consumption. When the adsorption ends, the oil supply stops, and the residual silicone oil can naturally separate with the water flow without affecting subsequent operations, thereby further improving the adsorption reliability, saving silicone oil usage and costs, avoiding friction damage to the bionic tentacles 3, and improving the applicability of the robot in complex underwater environments.

[0059] See Appendix Figure 1 and Appendix Figure 3 , the underwater monitoring component 9 includes an adjustable bracket 17, the inner wall of the adjustable bracket 17 is rotatably connected to the outer wall of the housing 1, and a waterproof camera 18 is fixedly connected to the outer wall of the adjustable bracket 17;

[0060] Specifically, after the left bionic tentacle 3 assists the robot in moving and adjusting its posture to the position to be measured, the right bionic tentacle 3 starts to collect and sample. Then, the right bionic tentacle 3 winds and grabs the target object. During this process, the parameters of the pressure sensor 14 installed on the surface of the bionic tentacle 3 change due to the depth of the robot and the shape and hardness of the surface of the target object. Furthermore, after the controller 10 collects the pressure change data, it regulates the clamping force of the right bionic tentacle 3. At the same time, the adjustable bracket 17 changes the shooting angle of the waterproof camera 18 to follow the bionic tentacle 3, thereby achieving adaptive grasping, avoiding losing or damaging the target object due to improper regulation of the clamping force, facilitating the user to observe the bionic tentacle 3 in real time and adjust it in a timely manner, and ensuring the smooth operation of the robot.

[0061] See Appendix Figure 1 - Appendix Figure 7 , a method for using a bionic octopus underwater sensor clamping robot, comprising the following steps:

[0062] S1. Place the housing 1 in the area to be detected, then send a signal to the controller 10 to control the left bionic tentacle 3 of the housing 1 to adsorb on the shore, and then control the right bionic tentacle 3 of the housing 1 to adsorb the pressure sensor 14 and put the pressure sensor 14 into the water;

[0063] When the bionic tentacle 3 adsorbs, first make the suction cup assembly 4 on the bionic tentacle 3 fit on the contact surface, then fill the gap between the suction cup assembly 4 and the contact surface with silicone oil through the mucus simulation assembly 5 to seal the suction cup assembly 4, and then start the vacuum pump 407 to work through the controller 10. The vacuum pump 407 will extract the air in the negative pressure chamber 401 through the suction pipe 408. At this time, a negative pressure is formed in the negative pressure chamber 401, so that the suction cup assembly 4 adsorbs on the contact surface;

[0064]

[0063] When the mucus simulation assembly 5 and the silicone oil supply assembly 7 are in use, start the booster pump 702 to work through the controller 10. The booster pump 702 extracts the silicone oil in the silicone oil storage tank 701, and then transports the silicone oil to each sub - oil pipe 505 through the main oil pipe 504. The silicone oil in the sub - oil pipe 505 will enter the annular cavity 502 and then flow out through the liquid outlet hole 503 to fill the gap between the contact bottom ring 501 and the contact surface, imitating octopus mucus, improving the adsorption force and protecting the adsorbed object;

[0065] Install the water flow turbine generator 8 at the bottom of the housing 1 through the cooperation of the mounting frame 15 and the fixing screw 16. The water flow turbine generator 8 converts water energy into mechanical energy and then into electrical energy, and finally stores it in the storage battery 6 to provide power for the suction cup assembly 4 for continuous operation;

[0066]

[0064] The pressure set value of the pressure sensor 14 on the bionic tentacle 3 is a constant. During the rise and fall of the water level, the pressure will change, and the bionic tentacle 3 will automatically detect and curl or release. At the same time, the user can observe the real - time situation of the bionic tentacle 3, the pressure sensor 14 and the corresponding water level environment through the waterproof camera 18;

[0067] When the bionic tentacle 3 is entangled by underwater organisms, the measurement parameters of the pressure sensor 14 on the bionic tentacle 3 are abnormal. The controller 10 can be used to start the drive motor 19 to drive the rotating block 20 to rotate clockwise by 90 degrees. Then, the limiting block one 23 disengages from the mounting block two 22, and the limiting block two 24 disengages from the mounting block one 21. Furthermore, the mounting block one 21 and the mounting block two 22 are no longer connected by the limiting block one 23 and the limiting block two 24. Immediately, the bionic tentacle 3 detaches from the surface of the housing 1 and gets rid of the underwater organisms.

[0068]

[0065] In the above structure, a bionic tentacle for underwater use is also added. The added bionic tentacle can wind and fix the sensor in a curling manner. The winding and fixing method does not limit the appearance of the sensor. The sensor can include a sensor, a pH sensor, a turbidity sensor, a flow velocity sensor, etc.

[0069] Although embodiments of the present invention have been shown and described, those of ordinary skill in the art will understand that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A bionic octopus underwater sensor fixture robot, comprising a housing and a water turbine generator, characterized in that: The upper surface of the shell (1) is fixedly connected to a control box (2); the left and right outer walls of the shell (1) are fixedly connected to bionic tentacles (3); a suction cup assembly (4) is arranged inside the left bionic tentacle (3); the suction cup assembly (4) is connected to a mucus simulation assembly (5); a silicone oil supply assembly (7) is arranged inside the shell (1); the silicone oil supply assembly (7) is connected to a battery (6); an underwater monitoring assembly (9) is arranged on the outer wall of the shell (1); A controller (10) and a signal receiving module (11) are arranged inside the box (2); the storage battery (6), the bionic tentacle (3) and the controller (10) are electrically connected; a mounting frame (15) is arranged on the lower surface of the shell (1); a fixing screw (16) is threadedly connected to the inside of the shell (1); the outer wall of the fixing screw (16) is threadedly connected to the inside of the mounting frame (15); and the upper surface of the water turbine generator (8) is fixedly connected to the lower surface of the mounting frame (15).

2. The bionic octopus underwater sensor gripper robot according to claim 1, characterized in that: The suction cup assembly (4) comprises a negative pressure chamber (401), the outer wall of the negative pressure chamber (401) is fixedly connected to the inside of the bionic tentacle (3), the bottom end of the negative pressure chamber (401) is open, the inner wall of the negative pressure chamber (401) is fixedly connected to a fixing ring (402), the inner wall of the fixing ring (402) is slidably connected to a water baffle (403), the outer wall of the water baffle (403) is provided with a sealing ring (404), the upper surface of the water baffle (403) is fixedly connected to a telescopic rod (405), the outer wall of the telescopic rod (405) is provided with a spring (406), the inside of the bionic tentacle (3) is fixedly connected to a vacuum pump (407), the vacuum pump (407) is electrically connected to a controller (10), and the inside of the vacuum pump (407) is fixedly connected to an exhaust pipe (408).

3. The bionic octopus underwater sensor gripper robot according to claim 2, characterized in that: The outer wall of the sealing ring (404) is arranged on the inner wall of the fixing ring (402), the top end of the telescopic rod (405) is fixedly connected to the inner top wall of the negative pressure chamber (401), and the outer wall of the exhaust pipe (408) is arranged inside the negative pressure chamber (401).

4. The bionic octopus underwater sensor gripper robot according to claim 1, characterized in that: The outer wall of the shell (1) is provided with a first sealing door (12), and the upper surface of the control box (2) is provided with a second sealing door (13).

5. The bionic octopus underwater sensor gripper robot according to claim 1, characterized in that: A pressure sensor (14) is provided on the outer wall of the bionic tentacle (3) on the right side, and the pressure sensor (14) is electrically connected to the controller (10).

6. The bionic octopus underwater sensor gripper robot according to claim 1, characterized in that: The mucus simulation component (5) comprises a contact bottom ring (501), the contact bottom ring (501) is fixedly connected to the outer wall of the negative pressure chamber (401), an annular cavity (502) is provided inside the contact bottom ring (501), a liquid outlet (503) is provided at the bottom of the contact bottom ring (501), a main oil pipeline (504) is provided inside the bionic tentacle (3), a secondary oil pipeline (505) is provided inside the bionic tentacle (3), the secondary oil pipeline (505) is fixedly connected to the inside of the main oil pipeline (504), and the main oil pipeline (504) is connected to the silicone oil supply component (7).

7. The bionic octopus underwater sensor gripper robot according to claim 1, characterized in that: The shell (1) is fixedly connected to a transmission motor (19), the output end of the transmission motor (19) is connected to a rotating block (20), the outer wall of the shell (1) is fixedly connected to a mounting block 1 (21), the inner wall of the bionic tentacle (3) is fixedly connected to a mounting block 2 (22), the outer wall of the mounting block 1 (21) is arranged on the outer wall of the mounting block 2 (22), the inner wall of the mounting block 1 (21) is rotatably connected to a limiting block 1 (23), and the limiting block 1 (23) is fixedly connected to the outer wall of the mounting block 1 (21). ) is rotatably connected to the inner wall of the second mounting block (22); the inner wall of the second mounting block (22) is rotatably connected to the second limiting block (24); the outer wall of the second limiting block (24) is rotatably connected to the outer wall of the first mounting block (21); the outer wall of the first limiting block (23) is arranged on the outer wall of the second limiting block (24); the outer wall of the rotating block (20) is fixedly connected to the outer wall of the first limiting block (23); and the outer wall of the rotating block (20) is fixedly connected to the outer wall of the second limiting block (24).

8. The bionic octopus underwater sensor gripper robot according to claim 5, characterized in that: The silicone oil supply assembly (7) comprises a silicone oil storage box (701), the lower surface of the silicone oil storage box (701) is fixedly connected to the inner bottom wall of the housing (1), the lower surface of the storage battery (6) is fixedly connected to the upper surface of the silicone oil storage box (701), the outer wall of the silicone oil storage box (701) is fixedly connected to a booster pump (702), the booster pump (702) is electrically connected to the controller (10), and the inner wall of the booster pump (702) is fixedly connected to the outer wall of the main oil pipeline (504).

9. The bionic octopus underwater sensor gripper robot according to claim 1, characterized in that: The underwater monitoring component (9) comprises an adjustable bracket (17), the inner wall of the adjustable bracket (17) is rotatably connected to the outer wall of the housing (1), and the outer wall of the adjustable bracket (17) is fixedly connected to a waterproof camera (18).

10. A method for using a bionic octopus underwater sensor fixture robot, characterized in that: A bionic octopus underwater sensor gripper robot applied to any one of claims 1 to 9, comprising the following steps: S1, placing the housing (1) in the area to be detected, and then transmitting a signal to the controller (10) to control the left bionic tentacle (3) of the housing (1) to be adsorbed on the shore, and then controlling the right bionic tentacle (3) of the housing (1) to adsorb the pressure sensor (14) and put the pressure sensor (14) into the water; S2. When the bionic tentacle (3) is adsorbing, the suction cup assembly (4) on the bionic tentacle (3) is firstly made to fit on the contact surface, and then the silicone oil is filled into the gap between the suction cup assembly (4) and the contact surface through the mucus simulation assembly (5), so that the suction cup assembly (4) reaches a sealing state, and then the vacuum pump (407) is started through the controller (10), and the vacuum pump (407) will extract the air in the negative pressure chamber (401) through the exhaust pipe (408), and then a negative pressure is formed in the negative pressure chamber (401), so that the suction cup assembly (4) is adsorbed on the contact surface; S3, when the mucus simulation component (5) and the silicone oil supply component (7) are in use, the booster pump (702) is started by the controller (10), the booster pump (702) extracts the silicone oil in the silicone oil storage tank (701), and then delivers the silicone oil to each auxiliary oil delivery pipe (505) through the main oil delivery pipe (504), the silicone oil in the auxiliary oil delivery pipe (505) enters the annular cavity (502), and then flows out through the liquid outlet hole (503), thereby filling the gap between the contact bottom ring (501) and the contact surface; S4. The water turbine generator (8) is mounted on the bottom of the housing (1) by means of the cooperation of the mounting frame (15) and the fixing screws (16). The water turbine generator (8) converts water energy into mechanical energy and then into electrical energy, which is finally stored in the storage battery (6) to provide power for the suction cup assembly (4) to last for a long time. S5, the pressure setting value of the pressure sensor (14) on the bionic tentacle (3) is a constant. The pressure will change during the process of water level rising and falling. The bionic tentacle (3) will automatically detect and curl up or release. At the same time, the user can observe the real-time situation of the bionic tentacle (3), the pressure sensor (14) and the corresponding water level environment through the waterproof camera (18); S6. When the bionic tentacle (3) is entangled by an aquatic organism, the pressure sensor (14) on the bionic tentacle (3) measures abnormal parameters, and then the controller (10) turns on the transmission motor (19) to drive the rotating block (20) to rotate ninety degrees clockwise, and then the limit block 1 (23) is separated from the mounting block 2 (22), and the limit block 2 (24) is separated from the mounting block 1 (21), and then the mounting block 1 (21) and the mounting block 2 (22) are no longer connected through the limit block 1 (23) and the limit block 2 (24), and then the bionic tentacle (3) is separated from the surface of the shell (1) and gets rid of the aquatic organism.

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