Bionic underwater exploration robot

Abstract

The application belongs to the field of detection robots, and discloses a bionic underwater detection robot, which comprises a robot body and a suction cup supporting mechanism. The outer shell surface of the robot body is provided with a first receiving groove. The suction cup supporting mechanism comprises a movable supporting leg, a suction cup and a negative pressure generator, wherein the movable supporting leg is movably connected to the robot body; the suction cup is installed at the end of the movable supporting leg; and the negative pressure generator is fixedly installed inside the robot body, is communicated with the suction cup through a flexible pipeline, and is used for generating and maintaining a negative pressure environment required for adsorption. In the unfolded state, the movable supporting leg can drive the suction cup to be adjusted to different directions, so that the suction cup can accurately contact the target surface; and the negative pressure generated by the negative pressure generator is transmitted to the inside of the suction cup through the pipeline to form stable adsorption. In the storage state, the movable supporting leg is folded inward, and the suction cup is embedded into the first receiving groove together with the movable supporting leg, so that the whole robot maintains a streamlined structure, and is convenient for moving or storing.

Description

Technical Field

[0001] This invention belongs to the field of exploration robot technology, and more specifically, relates to a biomimetic underwater exploration robot. Background Technology

[0002] Traditional underwater robots typically rely on the continuous operation of thrusters to provide the necessary thrust to counteract the impact of water currents and buoyancy, thereby maintaining a stable position at the target depth. However, this reliance on thruster operation for extended periods presents significant energy consumption problems. Due to the complexity of the underwater environment and the unpredictability of water currents, thrusters need to frequently adjust their output power, which not only increases energy consumption but also reduces overall operational efficiency. Furthermore, prolonged high-load operation accelerates thruster wear, shortens their lifespan, and consequently increases maintenance costs and downtime. Summary of the Invention

[0003] The purpose of this application is to provide a biomimetic underwater exploration robot to solve the technical problem of high energy consumption in existing underwater robots that need to remain stable at a target position for a long time.

[0004] To achieve the above objectives, the technical solution adopted in this application is as follows:

[0005] A biomimetic underwater exploration robot is provided, comprising:

[0006] The robot body includes a controller and a first storage slot disposed on the robot body;

[0007] The suction cup support mechanism includes a movable leg, a suction cup, and a negative pressure generator. The movable leg is movably connected to the robot body, and the suction cup is located at the end of the movable leg. The movable leg is used to drive the suction cup to point in different working directions. The negative pressure generator is mounted on the robot body and connected to the suction cup. The negative pressure generator is used to generate negative pressure and transmit the negative pressure to the suction cup so that the suction cup can adhere to the surface of the external environment. The suction cup support mechanism has an extended state and a retracted state. When the suction cup support mechanism is in the retracted state, both the movable leg and the suction cup are located in the first storage slot.

[0008] As a further improvement to the above technical solution:

[0009] Optionally, the movable support leg includes a first support leg, a second support leg, and a hinge seat. The first support leg is a first telescopic drive member. The fixed end of the first telescopic drive member is connected to the first storage slot, and the movable end of the first telescopic drive member is connected to the hinge seat. The first telescopic drive member is used to drive the hinge seat to move along the telescopic direction of the first telescopic drive member.

[0010] The second leg includes a proximal segment, a distal segment, a first rotary drive, and a second rotary drive. One end of the proximal segment is hinged to the hinge seat, and the other end of the proximal segment is hinged to the distal segment. The suction cup is mounted on the distal segment. The first rotary drive is driven to the proximal segment to drive the proximal segment to rotate relative to the hinge seat. The second rotary drive is driven to the distal segment to drive the distal segment to rotate relative to the proximal segment.

[0011] The first telescopic drive, the first rotary drive, and the second rotary drive are all signal-connected to the controller.

[0012] Optionally, there are at least two first storage slots, each of which is arranged on both sides of the robot body in the forward direction, and each first storage slot is provided with a suction cup support mechanism.

[0013] Optionally, the biomimetic underwater exploration robot includes a robotic arm mounted on the robot body, the robotic arm being signal-connected to the controller.

[0014] Optionally, the biomimetic underwater exploration robot includes multiple walking mechanisms mounted on the robot body and connected to the controller via signals. Each walking mechanism includes a second telescopic drive and a mechanical foot. The fixed end of the second telescopic drive is connected to the robot body, and the movable end of the second telescopic drive is connected to the mechanical foot.

[0015] Optionally, the biomimetic underwater exploration robot includes a grab mechanism mounted on the robot body, and the robot body is also provided with a second storage slot. The grab mechanism has an deployed state and a retracted state. When the grab mechanism is in the retracted state, the grab mechanism is at least partially located in the second storage slot.

[0016] The grab mechanism includes a third telescopic drive and a pair of grab assemblies. The fixed end of the third telescopic drive is connected to the second storage slot, and the movable end of the third telescopic drive is connected to the grab assembly. The third telescopic drive is used to drive the grab assembly to extend or retract.

[0017] Optionally, the grab assembly includes a grab base, a swing arm, a third rotary drive, a fourth rotary drive, and a grab. The movable end of the third telescopic drive is connected to the grab base. One end of the swing arm is hinged to the grab base, and the other end of the swing arm is hinged to the grab. The third rotary drive is driven to the swing arm to drive the swing arm to rotate relative to the grab base. The fourth rotary drive is driven to the grab to drive the grab to rotate relative to the swing arm.

[0018] Optionally, the robot body includes a shell, a lateral thruster, and a vertical thruster, with the first storage slot disposed on the shell, and both the lateral thruster and the vertical thruster mounted on the shell.

[0019] Optionally, the biomimetic underwater exploration robot also includes a tail rudder mechanism mounted on the robot body. The tail rudder mechanism includes a driver and a tail rudder. The driver is mounted inside the housing. One end of the tail rudder extends into the housing and is driven by the driver, while the other end extends out of the housing.

[0020] Optionally, the biomimetic underwater exploration robot also includes a detection instrument mounted on the robot body, the detection instrument including one or more of a camera, a bio-optical detector, a turbidimeter, a pressure sensor, and a sonar.

[0021] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0022] This application provides a biomimetic underwater exploration robot, comprising a robot body and a suction cup support mechanism. The robot body integrates a controller, and its outer shell has a first storage groove. The suction cup support mechanism includes movable legs, a suction cup, and a negative pressure generator. The movable legs are movably connected to the robot body, enabling multi-degree-of-freedom movement. The suction cup is fixedly mounted at the end of the movable legs, and its suction surface is made of a flexible material to adapt to different surface contours. The negative pressure generator is fixedly mounted inside the robot body and communicates with the suction cup via a flexible pipeline. It generates and maintains the negative pressure environment required for suction; the negative pressure generator can specifically employ a negative pressure pump or similar device. In the deployed state, the movable legs can move the suction cup to different positions, allowing the suction cup to accurately contact the target surface. The negative pressure generated by the negative pressure generator is transmitted to the inside of the suction cup through the pipeline, forming a stable suction. In the retracted state, the movable legs fold inward, and the suction cup is embedded in the first storage groove along with the movable legs, maintaining the robot's streamlined structure for easy movement or storage. The robot achieves stable dwelling and flexible movement through a retractable suction cup support mechanism, effectively solving the energy consumption problem caused by the continuous operation of traditional underwater robots that rely on thrusters. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1This is a schematic diagram of the three-dimensional structure of the biomimetic underwater exploration robot of this application in a retracted state with the suction cup support mechanism in place. Figure 1 ;

[0025] Figure 2 This is a side view of the biomimetic underwater exploration robot of this application in the case of the suction cup support mechanism being in a retracted state.

[0026] Figure 3 This is a schematic diagram of the three-dimensional structure of the biomimetic underwater exploration robot of this application in a retracted state with the suction cup support mechanism in place. Figure 2 ;

[0027] Figure 4 This is a front view schematic diagram of the biomimetic underwater exploration robot of this application with the suction cup support mechanism in an unfolded state;

[0028] Figure 5 This is a partially enlarged structural diagram of the movable support leg of the biomimetic underwater exploration robot of this application;

[0029] Figure 6 This is a partially enlarged schematic diagram of the grab mechanism of the biomimetic underwater exploration robot of this application;

[0030] Figure 7 This is a partially enlarged schematic diagram of the walking mechanism of the biomimetic underwater exploration robot of this application.

[0031] The following are the labeling elements in the figure:

[0032] 1. Robot body; 11. First storage slot; 12. Second storage slot; 13. Shell; 14. Lateral thruster; 15. Vertical thruster; 2. Suction cup support mechanism; 21. Movable leg; 211. First leg; 2111. First telescopic drive; 2112. First rotary drive; 212. Second leg; 2121. Proximal segment; 2122. Distal segment; 213. Hinge seat; 2131. Second rotary drive; 22. Suction cup; 23. Negative pressure generator; 3. Manipulator; 4. Walking mechanism; 41. Second telescopic drive; 42. Mechanical foot; 5. Grab mechanism; 51. Third telescopic drive; 52. Grab assembly; 521. Grab base; 522. Swing arm; 523. Third rotary drive; 524. Fourth rotary drive; 525. Grab; 6. Tail rudder mechanism; 61. Tail rudder; 7. Detector. Detailed Implementation

[0033] To make the technical problems, technical solutions, and beneficial effects to be solved by this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of this application.

[0034] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to that other component.

[0035] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0036] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0037] Unless otherwise defined, all technical terms used herein have the same meaning as commonly understood by those skilled in the art. The technical terms used herein are for the purpose of describing particular embodiments only and are not intended to limit the scope of the invention.

[0038] like Figures 1 to 4 As shown, this application provides a biomimetic underwater exploration robot, including a robot body 1 and a suction cup support mechanism 2. The robot body 1 integrates a controller (not shown), and a first storage groove 11 is provided on the outer shell surface of the robot body. The suction cup support mechanism 22 includes movable legs 21, a suction cup 22, and a negative pressure generator 23. The movable legs 21 are movably connected to the robot body 1, enabling multi-degree-of-freedom movement. The suction cup 22 is fixedly installed at the end of the movable legs 21, and its suction surface is made of a flexible material to adapt to different surface contours. The negative pressure generator 23 is fixedly installed inside the robot body 1 and communicates with the suction cup 22 through a flexible pipeline. It is used to generate and maintain the negative pressure environment required for suction. The negative pressure generator 23 can specifically be a negative pressure pump or other similar device.

[0039] In the deployed state, the movable legs 21 can adjust the suction cups 22 to different positions, allowing the suction cups 22 to accurately contact the target surface. The negative pressure generated by the negative pressure generator 23 is transmitted to the inside of the suction cups 22 through pipelines, forming a stable adsorption. In the retracted state, the movable legs 21 fold inward, and the suction cups 22 are embedded into the first storage slot 11 along with the movable legs 21, so that the robot maintains a streamlined structure, which is convenient for movement or storage. The retractable suction cup support mechanism 22 enables the robot to stay stably and move flexibly, effectively solving the energy consumption problem caused by the continuous operation of traditional underwater robots relying on thrusters.

[0040] like Figure 5 As shown, in a specific embodiment of this application, the movable support leg 21 adopts a multi-degree-of-freedom foldable structure, specifically including a first support leg 211, a second support leg 212, and a hinge seat 213. The first support leg 211 uses a first telescopic drive member 2111 to achieve linear motion. Its fixed end is connected to the inner wall of the first storage groove 11, and its movable end is connected through the hinge seat 213. The telescopic motion drives the hinge seat 213 to move axially. The second support leg 212 adopts a segmented design, including a proximal segment 2121 and a distal segment 2122. The two segments and the proximal segment 2121 and the hinge seat 213 are connected by a rotating shaft. The first rotary drive member 2112 is integrated inside the hinge seat 213 to drive the proximal segment 2121 to swing relative to the hinge seat 213. The second rotary drive member 2131 is installed at the end of the proximal segment 2121 to drive the distal segment 2122 to swing relative to the proximal segment 2121. The suction cup 22 is installed at the end of the distal segment 2122, and its position and attitude can be precisely adjusted through the coordinated control of three driving components. The first telescopic driving component 2111, the first rotary driving component 2112, and the second rotary driving component 2131 are all electrically connected to the controller via waterproof cables, receiving control commands and feeding back real-time position information to form a closed-loop control system. This structure enables the suction cup 22 to achieve a wide range of position adjustments and precise attitude control in three-dimensional space, meeting the adsorption needs of different working environments.

[0041] like Figures 1 to 4 As shown in one specific embodiment of this application, there are at least two first storage slots 11, each arranged on both sides of the robot body 1 in the forward direction. Each first storage slot 11 is equipped with a suction cup support mechanism 2. Each suction cup support mechanism 2 can work individually or collaboratively. This distributed layout design allows the robot to flexibly select the number and position of support points in different operating scenarios. When the robot needs to perform precise adsorption in a narrow space, it can select to deploy a single suction cup support mechanism 2; when it needs to maintain stability on complex terrain, multiple suction cup support mechanisms 2 can be deployed simultaneously to form a multi-point support system, improving the overall stability of the robot.

[0042] like Figures 1 to 4 As shown in one specific embodiment of this application, the biomimetic underwater exploration robot also integrates a manipulator 3, which is fixedly mounted to the working platform of the robot body 1 via bolts or quick-connect interfaces. The manipulator 3 adopts a multi-joint serial structure, including at least three rotary joints and an end effector. Each joint is equipped with a high-precision servo motor and a position sensor. The manipulator 3 establishes a bidirectional communication connection with a controller (not shown) via a waterproof cable. The controller (not shown) can receive the pose feedback data of the manipulator 3 in real time and send motion control commands. The end effector of the manipulator 3 can be replaced with a gripper, sampler, or working tool according to task requirements to realize the functions of grasping, sampling, or manipulating underwater objects. The manipulator 3 works in conjunction with the suction cup support mechanism 22 to perform precise manipulation tasks after the robot is stably attached to the working surface, thereby expanding the underwater robot's operational capabilities.

[0043] like Figure 7 As shown, in a specific embodiment of this application, the biomimetic underwater exploration robot is further provided with a walking mechanism 4, which consists of several groups of walking units symmetrically arranged around the robot body 1. Each group of walking mechanisms 4 includes a second telescopic drive 41 and a mechanical foot 42, wherein the fixed end of the second telescopic drive 41 is rigidly connected to the shell structure of the robot body 1, and the movable end is connected to the mechanical foot 42 through a universal joint. The mechanical foot 42 adopts a two-segment structure design, including a proximal segment and a distal segment. The two segments are connected by a hinge shaft and are equipped with a swing drive mechanism, so that the distal segment can swing and adjust relative to the proximal segment within a certain angle range. The second telescopic drive 41 adopts a waterproof electric push rod or hydraulic cylinder structure, and its stroke range is set according to the requirements of the robot's operating environment. All walking mechanisms 4 are electrically connected to a controller (not shown) through waterproof cables. The controller (not shown) coordinates the action sequence and telescopic amplitude of each walking mechanism 4 according to environmental perception data to realize the robot's stable movement and attitude adjustment function in complex underwater environments. The walking mechanism 4 can be used in conjunction with the suction cup support mechanism 22 to provide auxiliary propulsion when movement is required and to enhance positioning stability when stationary.

[0044] like Figure 6 As shown, in one specific embodiment of this application, the biomimetic underwater exploration robot is further configured with a grabbing mechanism 5. A second storage slot 12 is specially provided on the robot body 1, and its structural dimensions match those of the grabbing mechanism 5. The grabbing mechanism 5 has two working states: in the deployed state, the grabbing mechanism 5 is fully extended to perform operations; in the retracted state, the main body of the grabbing mechanism 5 is retracted into the second storage slot 12, maintaining the robot's overall streamlined structure.

[0045] The grab mechanism 5 includes a third telescopic drive component 51 and symmetrically arranged grab assemblies 52. The base of the third telescopic drive component 51 is fixedly installed at the bottom of the second receiving slot 12, and the end of its telescopic rod is connected to the grab assembly 52 via a connector. The third telescopic drive component 51 adopts a hydraulic cylinder or waterproof electric push rod structure, which can precisely control the extension distance and clamping force of the grab assembly 52.

[0046] When the third telescopic drive member 51 extends, the grab assembly 52 can unfold to a predetermined position, and the grab claw can be opened and closed by hydraulic or electric means to effectively grab obstacles or work targets in the water. This enables the robot to clean the work area in complex underwater environments, creating favorable conditions for subsequent exploration or construction tasks. All drive units of the grab mechanism 5 are electrically connected to the controller 11 to realize remote control and automated operation.

[0047] like Figure 6 As shown, in a specific embodiment of this application, the grab assembly 52 includes a grab base 521, a swing arm 522, a third rotary drive 523, a fourth rotary drive 524, and a grab 525. The grab base 521 is rigidly connected to the movable end of the third telescopic drive 51, achieving overall displacement with the movement of the telescopic drive. One end of the swing arm 522 is connected to the grab base 521 via a first hinge shaft to form a revolute joint, and the other end is connected to the grab 525 via a second hinge shaft. The output end of the third rotary drive 523 directly drives the first hinge shaft to rotate, causing the swing arm 522 to swing on the grab base 521. The fourth rotary drive 524 is integrated at the end of the swing arm 522, driving the second hinge shaft to rotate, realizing the independent rotation of the grab 525 relative to the swing arm 522. Through the coordinated control of the two rotational degrees of freedom, it can adapt to the grabbing needs of underwater objects of different shapes and sizes. Both the third rotary drive 523 and the fourth rotary drive 524 are connected to the controller signal to form a closed-loop control system.

[0048] like Figures 1 to 4As shown, in one specific embodiment of this application, the robot body 1 includes a shell 13, lateral thrusters 14, and vertical thrusters 15. The shell 13 adopts a biomimetic design, with its shape mimicking the streamlined contour of a fish to effectively reduce fluid resistance during underwater movement. A storage slot is integrated into the outer surface of the shell 13. The lateral thrusters 14 provide vertical thrust and attitude adjustment torque, and there are four of them, symmetrically arranged on the left and right sides of the shell 13. Each lateral thruster 14 can independently control its thrust and direction. There are two vertical thrusters 15, which provide horizontal thrust and attitude adjustment torque. By controlling each lateral thruster 14 and vertical thruster 15, the robot can achieve precise motion control of six degrees of freedom in three-dimensional space, including translational motion along the X-axis (forward / backward), Y-axis (left / right), and Z-axis (up / down), and rotational motion around the X-axis (roll), Y-axis (pitch), and Z-axis (yaw).

[0049] like Figures 1 to 4 As shown in one specific embodiment of this application, the biomimetic underwater exploration robot is further equipped with a tail rudder mechanism 6, which enhances the robot's maneuverability and stability in water. The tail rudder mechanism 6 includes a actuator (not shown) and a tail rudder 61. The actuator (not shown) is fixedly installed within the sealed chamber of the robot body 1 and employs a waterproof motor or hydraulic drive. One end of the tail rudder 61 extends through a shaft into the chamber and connects to the output end of the actuator (not shown), while the other end extends out of the outer shell of the robot body 1 and is exposed to the water. The actuator (not shown) is connected to the tail rudder 61 and can precisely control the deflection angle of the tail rudder 61. A waterproof sealing ring and an angle sensor are provided at the shaft of the tail rudder 61 to ensure sealing during underwater operations and provide real-time feedback on the tail rudder position. The tail rudder mechanism 6 is connected to a controller (not shown) via a control line, receiving control commands and adjusting the deflection angle of the tail rudder 61 in real time according to the robot's motion state, thereby assisting the robot in achieving precise heading control and attitude adjustment.

[0050] like Figures 1 to 4As shown in a specific embodiment of this application, the biomimetic underwater exploration robot also includes a multi-functional detector 7 integrated on the robot body 1. The multi-functional detector 7 includes various sensing devices such as a high-resolution camera, a bio-optical detector, a turbidimeter, a pressure sensor, and a sonar. The camera uses a wide-angle lens and a low-light CMOS sensor to achieve panoramic shooting and detail capture of the underwater environment; in addition, it can be equipped with an illumination lamp to increase the brightness within the visual range. The bio-optical detector is equipped with a multi-band light source and a spectral analysis module for real-time monitoring of the content of plankton and organic matter in the water; the turbidimeter, based on the principle of scattered light measurement, can accurately determine the turbidity of the water; the pressure sensor uses a high-precision silicon piezoresistive sensing element to measure water depth and water pressure changes; the sonar system includes forward-looking sonar and side-scan sonar, enabling underwater topographic mapping and target detection. Each detection instrument is connected to the control system of the robot body 1 through a standard interface. The collected data, after preprocessing, is transmitted to the surface control station via underwater acoustic communication or optical fiber, enabling the robot to simultaneously acquire multi-dimensional information about the underwater environment, including visual, physical, chemical, and biological data.

[0051] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A biomimetic underwater exploration robot, characterized in that, include: The robot body (1) includes a controller and a first storage slot (11) disposed on the robot body (1). The suction cup support mechanism (2) includes a movable leg (21), a suction cup (22), and a negative pressure generator (23). The movable leg (21) is movably connected to the robot body (1). The suction cup (22) is located at the end of the movable leg (21). The movable leg (21) is used to drive the suction cup (22) to point in different working directions. The negative pressure generator (23) is installed on the robot body (1) and connected to the suction cup (22). The negative pressure generator (23) is used to generate negative pressure and transmit the negative pressure to the suction cup (22) so that the suction cup (22) can be adsorbed onto the surface of the external environment. The suction cup support mechanism (2) has an unfolded state and a retracted state. When the suction cup support mechanism (2) is in the retracted state, the movable leg (21) and the suction cup (22) are both located in the first storage slot (11). The movable support leg (21) includes a first support leg (211), a second support leg (212), and a hinge seat (213). The first support leg (211) is a first telescopic drive member (2111). The fixed end of the first telescopic drive member (2111) is connected to the first storage slot (11), and the movable end of the first telescopic drive member (2111) is connected to the hinge seat (213). The first telescopic drive member (2111) is used to drive the hinge seat (213) to move along the telescopic direction of the first telescopic drive member (2111). The second leg (212) includes a proximal segment (2121), a distal segment (2122), a first rotary drive (2112), and a second rotary drive (2131). One end of the proximal segment (2121) is hinged to the hinge seat (213), and the other end of the proximal segment (2121) is hinged to the distal segment (2122). The suction cup (22) is mounted on the distal segment (2122). The first rotary drive (2112) is driven to the proximal segment (2121) to drive the proximal segment (2121) to rotate relative to the hinge seat (213). The second rotary drive (2131) is driven to the distal segment (2122) to drive the distal segment (2122) to rotate relative to the proximal segment. The first telescopic drive (2111), the first rotary drive (2112), and the second rotary drive (2131) are all signal-connected to the controller; The grabbing mechanism (5) is installed on the robot body (1). The robot body (1) is also provided with a second storage slot (12). The grabbing mechanism (5) has an unfolded state and a retracted state. When the grabbing mechanism (5) is in the retracted state, the grabbing mechanism (5) is at least partially located in the second storage slot (12). The grab mechanism (5) includes a third telescopic drive (51) and a pair of grab assemblies (52). The fixed end of the third telescopic drive (51) is connected to the second storage slot (12), and the movable end of the third telescopic drive (51) is connected to the grab assembly (52). The third telescopic drive (51) is used to drive the grab assembly (52) to extend or retract.

2. The biomimetic underwater exploration robot as described in claim 1, characterized in that, The number of the first storage slots (11) is at least two, and each of the first storage slots (11) is arranged on both sides of the forward direction of the robot body (1). Each of the first storage slots (11) is provided with a suction cup support mechanism (2).

3. The biomimetic underwater exploration robot as described in claim 1, characterized in that, It includes a robotic arm (3) mounted on the robot body (1), and the robotic arm (3) is signal-connected to the controller.

4. The biomimetic underwater exploration robot as described in claim 1, characterized in that, The system includes multiple walking mechanisms (4) mounted on the robot body (1) and connected to the controller via signals. Each walking mechanism (4) includes a second telescopic drive member (41) and a mechanical foot (42). The fixed end of the second telescopic drive member (41) is connected to the robot body (1), and the movable end of the second telescopic drive member (41) is connected to the mechanical foot (42).

5. The biomimetic underwater exploration robot as described in claim 1, characterized in that, The grab assembly (52) includes a grab base (521), a swing arm (522), a third rotary drive (523), a fourth rotary drive (524), and a grab (525). The movable end of the third telescopic drive (51) is connected to the grab base (521). One end of the swing arm (522) is hinged to the grab base (521), and the other end of the swing arm (522) is hinged to the grab (525). The third rotary drive (523) is driven to the swing arm (522) to drive the swing arm (522) to rotate relative to the grab base (521). The fourth rotary drive (524) is driven to the grab (525) to drive the grab (525) to rotate relative to the swing arm (522).

6. The biomimetic underwater exploration robot as described in any one of claims 1 to 5, characterized in that, The robot body (1) includes a shell (13), a lateral thruster (14) and a vertical thruster (15). The first storage slot (11) is provided on the shell (13), and the lateral thruster (14) and the vertical thruster (15) are both installed on the shell (13).

7. The biomimetic underwater exploration robot as described in claim 6, characterized in that, It also includes a tail rudder mechanism (6) installed on the robot body (1). The tail rudder mechanism (6) includes a driver and a tail rudder (61). The driver is installed in the housing (13). One end of the tail rudder (61) extends into the housing (13) and is driven by the driver. The other end extends out of the housing (13).

8. The biomimetic underwater exploration robot as described in any one of claims 1 to 5, characterized in that, It also includes a detector (7) installed on the robot body (1), the detector (7) including one or more of a camera, a bio-optical detector (7), a turbidimeter, a pressure sensor and a sonar.

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