Multi-degree-of-freedom underwater operation bionic robot

Abstract

The invention discloses a multi-degree-of-freedom underwater operation bionic robot, and belongs to the technical field of robots. The head module is arranged at the front end of the trunk module and comprises a shell and a visual perception module arranged in the shell; each forelimb module comprises a forelimb connecting base and a three-degree-of-freedom driving chain composed of a shoulder swing driving unit, an elbow stretching driving unit and a wrist rotation driving unit; each posterior limb module comprises a posterior limb connecting base and a two-degree-of-freedom driving chain composed of a hip swing driving unit and a leg bending driving unit; wherein the front limb module and the rear limb module respectively comprise a shell, and a front limb modular connecting rod assembly and a rear limb modular connecting rod assembly are arranged in the shells respectively. According to the underwater operation bionic robot, through the highly-integrated integrated multi-degree-of-freedom driving system, the advantage of bionic low interference is kept, and meanwhile the self-adaptive movement and accurate operation capacity in the complex underwater environment is achieved.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to a multi-degree-of-freedom underwater biomimetic robot. Background Technology

[0002] Currently, underwater operation equipment is mainly divided into two categories: traditional industrial underwater robots and biomimetic underwater robots, both of which have certain technical limitations. Traditional industrial underwater robots, such as remotely operated vehicles (ROVs), typically employ a rigid hull structure with an external robotic arm as the working mechanism. While these devices offer strong load-bearing capacity and stable operational performance, their bulky structure, poor concealment, and tendency to disturb water bodies and aquatic life during movement make them unsuitable for underwater observation or ecological research scenarios requiring low-interference operation. Furthermore, rigid structures exhibit poor maneuverability in complex and narrow waterways, propeller-driven systems are prone to entanglement or blockage by aquatic plants and debris, and their overall energy consumption is high with limited endurance, making it difficult to meet the demands of long-duration, low-power underwater operations.

[0003] Biomimetic underwater robots, such as biomimetic fish and shrimp, improve underwater stealth and maneuverability to some extent by mimicking the shape and movement of living organisms. However, existing biomimetic robots mostly focus on simulating swimming postures, and their joint degrees of freedom are generally limited (usually 2-3), resulting in insufficient mobility and difficulty in achieving complex underwater posture adjustments and precise operations. Furthermore, these robots often lack integrated operational mechanisms, resulting in weak operational capabilities; their buoyancy adjustment devices are often external or protruding, disrupting the overall biomimetic shape, increasing water resistance, and further limiting their maneuverability and efficiency. Therefore, existing biomimetic underwater robots cannot yet adequately meet the multiple requirements of low interference, high maneuverability, and complex underwater operations. Summary of the Invention

[0004] To address the shortcomings of the existing technology, the present invention aims to provide a multi-degree-of-freedom underwater biomimetic robot that, through a highly integrated multi-degree-of-freedom drive system, achieves adaptive movement and precise operation capabilities in complex underwater environments while maintaining the advantages of low interference in biomimetic design.

[0005] The technical solution adopted by this invention to solve its technical problem is as follows: A multi-degree-of-freedom underwater biomimetic robot is provided, comprising: The torso module contains a power module and a control unit. The head module, located at the front end of the torso module, includes a housing and a visual perception module located within the housing. A pair of forelimb modules are symmetrically arranged on both sides of the front part of the trunk module. The forelimb module includes a forelimb connecting base and a three-degree-of-freedom drive chain consisting of a shoulder swing drive unit, an elbow extension drive unit and a wrist rotation drive unit. A pair of hind limb modules are symmetrically arranged on both sides of the rear part of the trunk module. The hind limb module includes a hind limb connecting base and a two-degree-of-freedom drive chain composed of a hip swing drive unit and a leg flexion drive unit. Both the forelimb module and the hindlimb module include a housing, and the housing is respectively provided with a forelimb modular linkage assembly and a hindlimb modular linkage assembly, which are used to transmit the output motion of the corresponding drive chain to the limb end.

[0006] Furthermore, the forelimb modular linkage assembly includes: A forelimb drive interface component, one end of which is detachably connected to the output shaft of the wrist rotation drive unit; At least one modular link segment for the forelimb; Forelimb articulation joint; The forelimb drive interface component is connected to the forelimb modular link segment and adjacent forelimb modular link segments via a forelimb hinge pair, and the connection is detachable.

[0007] Furthermore, the hind limb modular linkage assembly includes: A hind limb drive interface component, one end of which is detachably connected to the output shaft of the leg flexion drive unit; At least one hind limb modular linkage segment; Hind limb articulation joint; The hind limb drive interface component is connected to the hind limb modular link segment and adjacent hind limb modular link segments via hind limb hinge pairs, and the connection is detachable.

[0008] Furthermore, the detachable connection can be a slot structure, a key connection structure, or a flange bolt connection structure.

[0009] Furthermore, the front end of the head module's housing is provided with a mounting part, the visual perception module is embedded in the mounting part, and the outside is covered with a transparent cover.

[0010] Furthermore, the head module and the torso module are connected by a torso connecting base, the surface of which is provided with a sealing groove, and an annular waterproof seal is provided in the sealing groove.

[0011] Furthermore, the visual perception module includes an underwater camera and a depth sensor.

[0012] Furthermore, the torso module is a long, sealed cabin with limb connection bases symmetrically arranged on both sides. The forelimb connection base and the hindlimb connection base are fixedly connected to the torso module through the limb connection bases, and a cabin sealing flange is provided at the connection point.

[0013] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. The multi-degree-of-freedom underwater biomimetic robot of the present invention combines a forelimb module with three degrees of freedom of motion with a hindlimb module with two degrees of freedom of motion. The robot can achieve efficient and flexible underwater propulsion and precise steering through the coordinated biomimetic paddling of its four limbs, and can also directly utilize the advantages of the multi-degree-of-freedom forelimbs to perform fine tasks such as grasping and sampling. This design eliminates the redundant structure of traditional underwater robots that require an additional independent robotic arm, and achieves a high degree of integration between the motion platform and the operation execution mechanism, making the overall structure more compact and lightweight. 2. The multi-degree-of-freedom underwater bionic robot of the present invention adopts a modular design for the linkage components in the front and hind limb modules. It consists of detachable drive connectors, standard linkage segments and hinge pairs. This design allows for quick replacement of standard linkage segments of different lengths according to different task requirements, which improves the robot's scene adaptability. At the same time, the modular structure also facilitates disassembly, maintenance or replacement of specific parts, reducing the maintenance cost and time for long-term use. 3. The head module and the torso module, as well as the limb base and the torso module, are all sealed with waterproof seals. This multi-seal design effectively prevents the infiltration of high-pressure water, ensuring that the internal power supply, control unit and drive unit can operate stably underwater for a long time, and improving the reliability and service life of the robot in complex underwater environments. 4. The multi-degree-of-freedom underwater biomimetic robot of this invention features an embedded visual perception module in the head module, which is installed in the mounting part at the front of the shell and covered with a transparent cover. This reduces the additional water flow resistance and eddies caused by the sensor protrusion, which not only improves motion stability and energy efficiency, but also reduces the disturbance to the surrounding aquatic environment and the disturbance to organisms when the robot is working underwater. It is particularly suitable for applications such as ecological observation and low-interference inspection. Attached Figure Description

[0014] Other features, objects, and advantages of this application will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings: Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is a schematic diagram of the header module structure; Figure 3 This is a schematic diagram of the torso module structure; Figure 4This is a schematic diagram of the forelimb module structure; Figure 5 Schematic diagram of the modular linkage assembly for the forelimb; Figure 6 This is a schematic diagram of the hind limb module structure; Figure 7 This is a schematic diagram of the modular linkage assembly for the hind limbs.

[0015] In the diagram: 1-Head module, 11-Shell; 12-Tortoise connection base, 13-Waterproof seal, 14-Visual perception module; 2-Torso module, 21-Limb connection base, 22-Carrier sealing flange; 3-Forelimb module, 31-Forelimb connecting base, 32-Shoulder swing servo, 33-Forelimb servo connector one, 34-Elbow extension servo, 35-Forelimb servo connector two, 36-Wrist rotation servo, 37-Forelimb shell, 381-Forelimb drive interface, 382-Forelimb modular linkage section, 383-Forelimb hinge pair; 4-Rear limb module, 41-Rear limb connecting base, 42-Hip swing servo, 43-Rear limb servo connector, 44-Leg flexion servo, 45-Rear limb shell, 461-Rear limb drive interface, 462-Rear limb modular linkage section, 463-Rear limb hinge pair. Detailed Implementation

[0016] The present application will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, only the parts relevant to the invention are shown in the accompanying drawings.

[0017] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0018] like Figure 1 As shown, this embodiment provides a multi-degree-of-freedom underwater biomimetic robot. The robot has an overall biomimetic shape, and its core structure includes a head module 1, a torso module 2, a pair of forelimb modules 3, and a pair of hindlimb modules 4. The head module 1 is located at the front end of the torso module 2, the pair of forelimb modules 3 are symmetrically located on both sides of the front of the torso module 2, and the pair of hindlimb modules 4 are symmetrically located on both sides of the rear of the torso module 2. The modules are assembled through standardized connecting bases and sealing structures to form a complete and sealed underwater operation system. In this embodiment, the robot has a turtle-like design.

[0019] Regarding header module 1: like Figure 2As shown, the head module 1 is located at the front end of the torso module 2, and includes a shell 11 and a visual sensing module 14 disposed within the shell 11. The front end of the shell 11 has a mounting portion; in this embodiment, the eye portion of the biomimetic turtle is the mounting portion, and the visual sensing module 14 is embedded within this mounting portion. A transparent cover is placed over the visual sensing module 14 for waterproofing and protection. This structure reduces the additional water flow resistance and eddies caused by exposed sensors, improving not only motion stability and energy efficiency but also reducing disturbance to the surrounding aquatic environment and organisms during underwater operations, making it particularly suitable for applications such as ecological observation and low-interference inspection.

[0020] The head module 1 and the torso module 2 are mechanically connected via a torso connecting base 12. The mating surface of the torso connecting base 12 is provided with a sealing groove, and an annular waterproof seal 13 is provided within the sealing groove to ensure a static seal at the connection point of the two modules. In this embodiment, the waterproof seal 13 is a fluororubber annular waterproof ring.

[0021] The visual perception module 14 includes a 1080P waterproof underwater camera and an MS5837-30BA depth sensor, used to acquire underwater image information and depth information.

[0022] Regarding trunk module 2: like Figure 3 As shown, the torso module 2 is a long, sealed compartment that houses the power module and control unit. Symmetrically arranged on both sides of the torso module 2 are limb connection bases 21, specifically one on each side of the front and one on each side of the rear, for a total of four. The surface of each limb connection base 21 has perforated weight-reduction / heat dissipation holes, which reduce overall weight and aid in heat dissipation for internal components. In this embodiment, the torso module 2 is divided into three independent chambers by a partition plate, respectively housing the control unit, the wireless communication module, and the power module. The control unit uses an STM32F407 chip, the wireless communication module is an NRF24L01, and the power module uses a 12V / 10Ah lithium battery pack.

[0023] Regarding forelimb module 3: like Figure 4 As shown, each forelimb module 3 includes a forelimb connecting base 31 and a three-degree-of-freedom drive chain. The forelimb connecting base 31 is fixedly connected to the corresponding limb connecting base 21 at the front of the torso module 2 by fasteners such as bolts. At the connection point, a cabin sealing flange 22 is provided. This flange is made of stainless steel and, together with a waterproof ring, achieves a seal between the cabin and external components. The forelimb connecting base 31 is made of stainless steel, and a sealed cavity is provided inside the base to accommodate servo motor cables.

[0024] The three-degree-of-freedom drive chain consists of a shoulder swing drive unit, an elbow extension drive unit, and a wrist rotation drive unit connected in sequence. These three drive units can be servo motors, servo motors, or other rotary actuators with angle control functions. In this embodiment, the forelimb connecting base 31 is connected to a shoulder swing servo motor 32, which drives the forelimb to rotate 360° around the horizontal axis, realizing the horizontal angle adjustment of the forelimb; the shoulder swing servo motor 32 is connected to an elbow extension servo motor 34 (model MG996R) through a forelimb servo motor connector 33, which can drive the forelimb to swing 0-120° around the vertical axis, completing the extension and retraction of the forelimb; the elbow extension servo motor 34 is then connected to a wrist rotation servo motor 36 through a forelimb servo motor connector 35, which can drive the working end of the forelimb to rotate 360°, precisely adjusting the working orientation.

[0025] The forelimb shell 37 is made of lightweight aluminum alloy, encasing the internal modular forelimb linkage assembly. For example... Figure 5 As shown, the forelimb modular linkage assembly includes a forelimb drive interface 381 and at least one forelimb modular linkage segment 382. The forelimb drive interface 381 is detachably connected to the output shaft of the wrist rotation drive unit using a slot-type structure. The forelimb modular linkage segment 382 is connected to the forelimb drive interface 381. Forelimb modular linkage segments 382 can also be added to the forelimb modular linkage segment 382. The forelimb drive interface 381 and the forelimb modular linkage segment 382, ​​as well as adjacent forelimb modular linkage segments 382, ​​are connected by a forelimb hinge pair 383, and the connection is detachable. The forelimb drive interface 381 connects the forelimb module 3 and the forelimb modular connecting rod segment 382, ​​realizing efficient transmission of servo motor power; the forelimb hinge pair 383 is a wear-resistant plastic shaft that connects multiple forelimb modular connecting rod segments 382, ​​ensuring the bionic flexion and extension movement of the forelimb; the forelimb modular connecting rod segment 382 is a detachable aluminum alloy rod that can be replaced with different lengths according to operational needs, improving the scene adaptability of the forelimb.

[0026] Regarding hind limb module 4: like Figure 6 As shown, each hind limb module 4 includes a hind limb connecting base 41 and a two-degree-of-freedom drive chain. The structure of the hind limb connecting base 41 is the same as that of the forelimb connecting base 31, and it is fixed to the limb connecting base 21 of the torso module 2 of the bionic turtle by bolts, and has the same sealing performance. The hind limb module 4 consists of a hip swing drive unit and a leg flexion drive unit forming a two-degree-of-freedom drive chain.

[0027] Specifically, a hip swing servo motor 42 is installed on the hind limb connecting base 41. This servo motor drives the hind limb to rotate 360° around the horizontal axis, assisting the robot in completing the turning action. The hip swing servo motor 42 is connected to the leg flexion servo motor 44 through the hind limb servo motor connector 43. The leg flexion servo motor 44 can drive the hind limb to swing 0-100° around the vertical axis, realizing the flexion and extension of the hind limb, and working together with the forelimb to complete the underwater movement of the robot.

[0028] The hind limb shell 45 is made of the same material and has the same sealing structure as the forelimb shell 37, and internally encloses a hind limb modular linkage assembly. For example... Figure 7 As shown, the hind limb modular linkage assembly includes a hind limb drive interface 461 and at least one hind limb modular linkage segment 462. The hind limb drive interface 461 is detachably connected to the output shaft of the leg flexion drive unit to transmit power. The hind limb drive interface 461 and the hind limb modular linkage segment 462, as well as adjacent hind limb modular linkage segments 462, are connected by a hind limb hinge joint 463, and the connection is detachable. The hind limb hinge joint 463 is a wear-resistant plastic shaft that connects multiple hind limb modular linkage segments 462 to ensure the flexibility of hind limb movement. The structure of the hind limb modular linkage segment 462 is the same as that of the forelimb modular linkage segment 382, ​​which can adapt to different movement requirements.

[0029] Working principle: After the robot enters the water, the control unit receives data from the depth sensor in the visual perception module 14 to assist in depth and attitude control. By controlling the movements of the drive units in the forelimb module 3 and hindlimb module 4, the robot can perform underwater maneuvers such as forward movement, backward movement, turning, surfacing, and diving. When operation is required, the control unit identifies target information using the underwater camera in the visual perception module 14 and precisely controls the three-degree-of-freedom drive chain motion of the forelimb module 3. For example, it first controls the shoulder swing and elbow extension drive units to position the forelimb end effector near the target, then controls the wrist rotation drive unit to adjust the attitude of the end effector, ultimately completing operations such as touching, grasping, or sampling. During operation, the robot's movement and operation are coordinated and controlled by the control unit integrated in the torso module 2.

[0030] Those skilled in the art should understand that the scope of the invention involved in this application is not limited to technical solutions formed by specific combinations of the above-mentioned technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-mentioned technical features or their equivalent features without departing from the inventive concept. For example, technical solutions formed by substituting the above-mentioned features with technical features disclosed in this application (but not limited to) that have similar functions.

Claims

1. A multi-degree-of-freedom underwater biomimetic robot, characterized in that, include: The torso module (2) contains a power module and a control unit; The head module (1), which is located at the front end of the torso module (2), includes a housing (11) and a visual perception module (14) located inside the housing (11). A pair of forelimb modules (3) are symmetrically arranged on both sides of the front part of the trunk module (2). The forelimb module (3) includes a forelimb connecting base (31) and a three-degree-of-freedom drive chain composed of a shoulder swing drive unit, an elbow extension drive unit and a wrist rotation drive unit. A pair of hind limb modules (4) are symmetrically arranged on both sides of the rear of the trunk module (2). The hind limb module (4) includes a hind limb connecting base (41) and a two-degree-of-freedom drive chain composed of a hip swing drive unit and a leg flexion drive unit. The forelimb module (3) and the hindlimb module (4) both include a shell, and the shell is respectively provided with a forelimb modular linkage assembly and a hindlimb modular linkage assembly, which are used to transmit the output motion of the corresponding drive chain to the end of the limb.

2. The multi-degree-of-freedom underwater biomimetic robot according to claim 1, characterized in that, The forelimb modular linkage assembly includes: A forelimb drive interface (381) is detachably connected at one end to the output shaft of the wrist rotation drive unit; At least one forelimb modular link segment (382); Forelimb articulation joint (383); The forelimb drive interface (381) is connected to the forelimb modular link segment (382) and adjacent forelimb modular link segments (382) via a forelimb hinge pair (383), and the connection is detachable.

3. The multi-degree-of-freedom underwater biomimetic robot according to claim 1, characterized in that, The hind limb modular linkage assembly includes: The hind limb drive interface (461) has one end detachably connected to the output shaft of the leg flexion drive unit; At least one hind limb modular link segment (462); Hind limb articulation joint (463); The hind limb drive interface (461) is connected to the hind limb modular link segment (462) and the adjacent hind limb modular link segment (462) through the hind limb hinge pair (463), and the connection is a detachable connection.

4. The multi-degree-of-freedom underwater biomimetic robot according to claim 2 or 3, characterized in that, The detachable connection can be a slot structure, a key connection structure, or a flange bolt connection structure.

5. The multi-degree-of-freedom underwater biomimetic robot according to claim 1, characterized in that, The head module (1) has a mounting part at the front end of the housing (11), and the visual perception module (14) is embedded in the mounting part and covered with a transparent cover.

6. The multi-degree-of-freedom underwater biomimetic robot according to claim 1 or 5, characterized in that, The head module (1) and the torso module (2) are connected by a torso connecting base (12). The surface of the torso connecting base (12) is provided with a sealing groove, and an annular waterproof seal (13) is provided in the sealing groove.

7. The multi-degree-of-freedom underwater biomimetic robot according to claim 1, characterized in that, The visual perception module (14) includes an underwater camera and a depth sensor.

8. The multi-degree-of-freedom underwater biomimetic robot according to claim 1, characterized in that, The torso module (2) is a long, sealed cabin with limb connection bases (21) symmetrically arranged on both sides. The forelimb connection base (31) and the hindlimb connection base (41) are fixedly connected to the torso module (2) through the limb connection bases (21), and a cabin sealing flange (22) is provided at the connection point.

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