An underwater operating octopus robot device

Abstract

This invention provides a six-legged octopus robot device for underwater operations, relating to the field of underwater robot technology. The device comprises a main body, main tentacles, secondary tentacles, and a 360° rotating gimbal. The main tentacles integrate highly elastic TPU flexible tentacles and a miniature camera, while the secondary tentacles have built-in friction wheels for current-resistant anchoring. All components are detachably connected via standardized interfaces, making it suitable for efficient inspection and modular maintenance in complex underwater terrain. It solves the problems of traditional rigid robotic arms, such as difficulty in fitting into confined spaces, poor current-resistant stability, and high maintenance costs.

Description

Technical Field

[0001] This utility model relates to the field of underwater robot technology, and in particular to a six-legged octopus robot device for underwater operations. Background Technology

[0002] With the deepening of global marine resource development and the rapid development of underwater infrastructure construction, underwater inspection technology is playing an increasingly important role in marine engineering, oil and gas exploration, and other fields. In offshore oil and gas extraction, regular inspection of subsea pipelines and oil platforms is crucial for ensuring safe production. In the civilian sector, health monitoring of cross-sea bridge foundations and submarine cables directly relates to the safety of transportation and energy transmission. However, traditional inspection equipment often uses rigid robotic arms, which are difficult to conform to surfaces in confined spaces, steep slopes, and other complex terrains, resulting in low inspection accuracy; poor current stability, making them susceptible to water flow influences; and high maintenance costs, requiring complete repairs after component damage. Therefore, there is an urgent need for a new type of device that can adapt to complex underwater environments, achieve efficient inspection, and is easy to maintain. This device provides accurate monitoring throughout the entire lifecycle of infrastructure such as subsea pipelines and bridge foundations, supports the safe operation of major projects such as offshore oil and gas extraction and cross-sea engineering, and, with its low ecological disturbance characteristics, aligns with the trend of green ocean development, building a technological barrier for high-end marine equipment and seizing the market opportunity for intelligent underwater inspection equipment. Utility Model Content

[0003] The purpose of this invention is to provide a six-legged octopus robot device for underwater operations, which combines biomimetic structure and modular design to achieve efficient underwater inspection and convenient maintenance.

[0004] To achieve the above objectives, the present invention adopts the following technical solution: a six-legged octopus robot device for underwater operation, comprising: a main body, a main tentacle provided on one side of the main body, a secondary tentacle provided on one side of the main tentacle, and a gimbal provided on one side of the main body;

[0005] The main tentacle includes a dual-joint flexible detection structure. The main tentacle comprises a TPU tentacle and a miniature camera. A main tentacle mounting component one is located on one side of the main tentacle. A first bolt is located on one side of the main tentacle mounting component one. A servo motor is fixedly connected to one side of the main tentacle mounting component one. A take-up reel is fixedly connected to one side of the servo motor. A servo motor mounting bracket is fixedly connected to one side of the servo motor. A second bolt is located on one side of the servo motor mounting bracket. A third bolt is located on the other side of the main tentacle mounting component one. A universal mounting component is fixedly connected to one side of the main tentacle mounting component one. A fourth bolt is located on one side of the universal mounting component. A first screw is located on one side of the universal mounting component. A servo disk is fixedly connected to one side of the servo motor. A fifth bolt is located on one side of the servo disk. A second main tentacle mounting component is fixedly connected to one side of the servo disk. An internal bearing is located on one side of the main tentacle mounting component two. A bearing pressure plate is located on one side of the internal bearing. A second screw is located on one side of the bearing pressure plate. A universal tentacle connector is located on the other side of the main tentacle mounting component two.

[0006] The secondary tentacle includes a single-joint anti-flow anchoring structure. The secondary tentacle includes a secondary tentacle mounting component one, a secondary tentacle friction wheel is provided on one side of the secondary tentacle mounting component one, a secondary tentacle mounting component two is fixedly connected to one side of the secondary tentacle mounting component one, a third screw is provided on one side of the secondary tentacle mounting component two, a sixth bolt is provided on one side of the secondary tentacle mounting component two, and a seventh bolt is provided on one side of the secondary tentacle mounting component two.

[0007] The main body includes a lower part and an upper part. A fourth screw is provided on one side of the lower part, and an eighth bolt is provided on one side of the upper part. A gimbal base is installed on one side of the gimbal. A fifth screw is provided on one side of the gimbal base. A servo motor mounting housing one is provided on the other side of the gimbal base. A servo motor mounting housing two is fixedly connected to one side of the servo motor mounting housing one. A ninth bolt is provided on one side of the servo motor mounting housing one. A camera mounting plate is installed on the other side of the servo motor mounting housing one. A tenth bolt is provided on one side of the camera mounting plate. An eleventh bolt is provided on the other side of the camera mounting plate. A binocular camera is installed on one side of the camera mounting plate. A gimbal sensor interface is provided inside the gimbal.

[0008] The main body houses necessary components, and the upper part connects to a 360-degree rotating gimbal. Universal tentacle mounting hardware is installed around the perimeter for connecting the tentacles. The main tentacle has a double-jointed structure; servos within the joints control the flexible tentacle made of TPU material via a drive structure. A miniature camera is integrated at the tentacle tip, allowing for deep inspection in confined areas. The secondary tentacle has a single-jointed structure with built-in friction wheels for anti-current anchoring and stable robot posture. The gimbal is equipped with binocular cameras and other devices for omnidirectional inspection. All components are detachably connected via standardized interfaces for easy maintenance and replacement.

[0009] In a preferred embodiment, a first optical hole is provided on one side of the main tentacle mounting component one. The TPU tentacle and the miniature camera are connected to the main tentacle mounting component one via a first bolt and the first optical hole. A second optical hole is provided on one side of the servo mounting bracket. The servo mounting bracket is connected to the main tentacle mounting component one via a second bolt and the second optical hole. A third optical hole is provided on the other side of the main tentacle mounting component one. The universal mounting component is connected to the main tentacle mounting component one via a third bolt and the third optical hole. A fourth optical hole is provided on one side of the universal mounting component. The servo is connected to the universal mounting component via a fourth bolt, the fourth optical hole, and a first screw. A fifth optical hole is provided on one side of the main tentacle mounting component two. The servo is connected to the main tentacle mounting component two via a fifth bolt and the fifth optical hole. The main tentacle mounting component two is connected to the servo via a fourth bolt and a first screw. The servo and the servo disc are connected to the universal tentacle connector with an internal bearing via a fifth bolt. The bearing pressure plate secures the universal tentacle connector and the main tentacle mounting component two with a second screw.

[0010] In a preferred embodiment, both the secondary and primary tentacles are equipped with TPU tentacles, universal mounting components, servos, servo discs, and universal tentacle connectors. The first secondary tentacle mounting component is connected to the TPU tentacles via a first bolt and a first optical hole. The secondary tentacle friction wheel is fastened to the second secondary tentacle mounting component via a third screw. A sixth optical hole is provided on one side of the second secondary tentacle mounting component, and the second secondary tentacle mounting component is connected to the first secondary tentacle mounting component via a sixth bolt and a sixth optical hole. A seventh optical hole is provided on one side of the second secondary tentacle mounting component, and the first secondary tentacle mounting component, the second secondary tentacle mounting component, and the secondary tentacle friction wheel are connected via a seventh bolt and a seventh optical hole.

[0011] In a preferred embodiment, the universal tentacle connector is fastened to the lower part of the main body by a fourth screw. An eighth optical hole is provided on one side of the upper part of the main body, and the upper part and the lower part of the main body are connected by an eighth bolt and an eighth optical hole. A ninth optical hole is provided on one side of the servo mounting housing one, and the servo mounting housing one, the servo mounting housing two, and the servo are connected by a ninth bolt and a ninth optical hole. A tenth optical hole is provided on one side of the camera mounting plate, and the camera mounting plate is connected to the servo by a tenth bolt and a tenth optical hole.

[0012] In a preferred embodiment, the gimbal base is fastened to the servo motor and servo disc by the fifth screw, the servo motor mounting housing one and servo motor mounting housing two and the servo motor are connected by the ninth bolt and the ninth optical hole, the other side of the camera mounting plate is provided with an eleventh optical hole, and the camera mounting plate is connected to the binocular camera by the eleventh bolt and the eleventh optical hole, and the gimbal is connected to the gimbal sensor interface.

[0013] In a preferred embodiment, the number of main tentacles is set to three, and each main tentacle is distributed at 120° intervals. The miniature camera is set to have a diameter of 5.5mm and can penetrate into an area with a diameter of ≥5cm.

[0014] In a preferred embodiment, the number of secondary tentacles is set to three, and each secondary tentacle is distributed at 120° intervals.

[0015] Compared with the prior art, the advantages and positive effects of this utility model are as follows:

[0016] 1. The main and auxiliary tentacles work together. The tentacles adopt a logarithmic spiral biomimetic structure, which combines strength and flexibility. The radius of curvature of the tentacles decreases linearly from the base to the end, which can adapt to complex terrains such as underwater pipes, narrow gaps, and steep slopes, solving the problems of difficult fitting and poor anti-flow stability of traditional rigid robotic arms.

[0017] 2. The main contact tip integrates a miniature camera, which can penetrate into narrow areas and, combined with the gimbal's omnidirectional adjustment, achieves precise identification of minute defects.

[0018] 3. The secondary contact winds the drive line around the friction damping system to achieve the function of anti-flow anchoring. The device can generate a certain resistance to the impact of water flow and maintain stability in a static state.

[0019] 4. Utilize universal interfaces to enable quick disassembly and replacement of components such as tentacles, adapting to different types of work and scenarios, improving maintenance efficiency and reducing costs.

[0020] 5. The main body is equipped with a gimbal and camera, which can rotate and observe 360 ​​degrees without blind spots, forming a collaborative system with the flexible robotic arm: the full-dimensional perspective improves the detection coverage of complex scenes and eliminates the problems of blind spots and missed detections.

[0021] 6. The gimbal is equipped with various types of sensor interfaces, allowing for the mounting of other small devices, such as ultrasonic thickness gauges (achieving ±0.1mm accuracy in detecting pipe corrosion), eddy current flaw detectors (identifying 0.5mm-level cracks), and miniature LiDAR (millimeters-level 3D modeling). This design breaks through the limitations of traditional equipment's fixed functions: through plug-and-play combinations, it enables rapid switching between scenarios such as marine engineering inspection and ecological monitoring, greatly reducing the repetitive purchase costs of single-function equipment and the complexity of multi-device collaborative operation and maintenance. It provides a low-cost, high-efficiency, flexible inspection solution for fields such as marine engineering and ecological protection. Attached Figure Description

[0022] Figure 1 This utility model provides an overall assembly drawing of a six-legged octopus robot device for underwater operations.

[0023] Figure 2This is a schematic diagram of the main structure of a six-legged octopus robot device for underwater operations provided by this utility model.

[0024] Figure 3 A perspective view of the main tentacle of a six-legged octopus robot device for underwater operations provided by this utility model.

[0025] Figure 4 A perspective view of the main tentacle servo reel of a six-legged octopus robot device for underwater operations provided by this utility model.

[0026] Figure 5 A perspective view of the secondary tentacles of a six-legged octopus robot device for underwater operations provided by this utility model.

[0027] Figure 6 A three-dimensional view of the gimbal of a six-legged octopus robot device for underwater operations provided by this utility model.

[0028] Legend:

[0029] 1. Main body; 2. Main tentacle; 3. Secondary tentacle; 4. Gimbal; 5. Gimbal base; 6. TPU tentacle; 7. Miniature camera; 8. First bolt; 9. First aperture; 10. Main tentacle mounting component one; 11. Servo motor; 12. Reel; 13. Servo motor mounting bracket; 14. Second bolt; 15. Second aperture; 16. Third bolt; 17. Third aperture; 18. Universal mounting component; 19. Fourth bolt; 20. Fourth aperture; 21. First screw; 22. Servo disc; 23. Fifth bolt; 24. Fifth aperture; 25. Main tentacle mounting component two; 26. Bearing; 27. Bearing pressure plate; 28. Second screw; 29. ​​Universal tentacle connector. 30. Secondary tentacle mounting part one; 31. Secondary tentacle friction wheel; 32. Third screw; 33. Secondary tentacle mounting part two; 34. Sixth bolt; 35. Sixth optical hole; 36. Seventh bolt; 37. Seventh optical hole; 38. Fourth screw; 39. Lower part of the main body; 40. Upper part of the main body; 41. Eighth bolt; 42. Eighth optical hole; 43. Fifth screw; 44. Servo mounting housing one; 45. Servo mounting housing two; 46. Ninth bolt; 47. Ninth optical hole; 48. Camera mounting plate; 49. Tenth bolt; 50. Tenth optical hole; 51. Eleventh bolt; 52. Eleventh optical hole; 53. Binocular camera; 54. Gimbal sensor interface. Detailed Implementation

[0030] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present utility model without creative effort are within the scope of protection of the present utility model.

[0031] Example 1

[0032] like Figure 1-6 As shown, this utility model provides a technical solution: a six-legged octopus robot device for underwater operation, including: a main body 1, a main tentacle 2 on one side of the main body 1, a secondary tentacle 3 on one side of the main tentacle 2, and a gimbal 4 on one side of the main body 1.

[0033] The main tentacle 2 includes a dual-joint flexible detection structure, comprising a TPU tentacle 6 and a miniature camera 7. A main tentacle mounting component 10 is located on one side of the main tentacle 2, with a first bolt 8 on one side. A servo motor 11 is fixedly connected to one side of the main tentacle mounting component 10, a take-up reel 12 is fixedly connected to one side of the servo motor 11, and a servo motor mounting bracket 13 is fixedly connected to one side of the servo motor 11. A second bolt 14 is located on one side of the servo motor mounting bracket 13. A third bolt 16 is located on the other side of the main tentacle mounting component 10. One side of the main tentacle mounting component 10 is fixed... A universal mounting component 18 is connected. A fourth bolt 19 is located on one side of the universal mounting component 18, and a first screw 21 is located on another side. A servo disk 22 is fixedly connected to one side of the servo motor 11. A fifth bolt 23 is located on one side of the servo disk 22. A second main contact mounting component 25 is fixedly connected to one side of the servo disk 22. An internal bearing 26 is located on one side of the second main contact mounting component 25. A bearing pressure plate 27 is located on one side of the internal bearing 26. A second screw 28 is located on one side of the bearing pressure plate 27. A universal contact connector 29 is located on the other side of the second main contact mounting component 25. One side of the tentacle mounting component 10 has a first light hole 9. The TPU tentacle 6 and the miniature camera 7 are connected to the main tentacle mounting component 10 via a first bolt 8 and the first light hole 9. One side of the servo mounting bracket 13 has a second light hole 15. The servo mounting bracket 13 is connected to the main tentacle mounting component 10 via a second bolt 14 and the second light hole 15. The other side of the main tentacle mounting component 10 has a third light hole 17. The universal mounting component 18 is connected to the main tentacle mounting component 10 via a third bolt 16 and the third light hole 17. One side of the universal mounting component 18 has a fourth light hole 20. 11 is connected to the universal mounting part 18 by the fourth bolt 19 and the fourth light hole 20 and the first screw 21. The main contact mounting part 25 has a fifth light hole 24 on one side. The servo motor 11 is connected to the main contact mounting part 25 by the fifth bolt 23 and the fifth light hole 24. The main contact mounting part 25 is connected to the servo motor 11 by the fourth bolt 19 and the first screw 21. The servo motor 11 and the servo disk 22 are connected to the universal contact connector 29 with the built-in bearing 26 by the fifth bolt 23. The bearing pressure plate 27 fastens the universal contact connector 29 and the main contact mounting part 25 with the second screw 28.

[0034] The secondary tentacle 3 includes a single-joint anti-current anchoring structure. The secondary tentacle 3 includes a secondary tentacle mounting component 30, with a secondary tentacle friction wheel 31 on one side. A secondary tentacle mounting component 33 is fixedly connected to one side of the secondary tentacle mounting component 30. A third screw 32 is located on one side of the secondary tentacle mounting component 33, a sixth bolt 34 is located on one side of the secondary tentacle mounting component 33, and a seventh bolt 36 is located on one side of the secondary tentacle mounting component 33. Both the secondary tentacle 3 and the main tentacle 2 are equipped with TPU tentacles 6, universal mounting components 18, servo motors 11 and servo discs 22, and universal tentacle connectors 2. 9. The first auxiliary tentacle mounting component 30 is connected to the TPU tentacle 6 through the first bolt 8 and the first optical hole 9. The auxiliary tentacle friction wheel 31 is fastened to the second auxiliary tentacle mounting component 33 through the third screw 32. The second auxiliary tentacle mounting component 33 has a sixth optical hole 35 on one side and is connected to the first auxiliary tentacle mounting component 30 through the sixth bolt 34 and the sixth optical hole 35. The second auxiliary tentacle mounting component 33 has a seventh optical hole 37 on one side. The first auxiliary tentacle mounting component 30, the second auxiliary tentacle mounting component 33, and the auxiliary tentacle friction wheel 31 are connected through the seventh bolt 36 and the seventh optical hole 37.

[0035] The main body 1 includes a lower part 39 and an upper part 40. A fourth screw 38 is provided on one side of the lower part 39, and an eighth bolt 41 is provided on one side of the upper part 40. A universal tentacle connector 29 is fastened to the lower part 39 via the fourth screw 38. An eighth optical hole 42 is provided on one side of the upper part 40, and the upper part 40 and the lower part 39 are connected via the eighth bolt 41 and the eighth optical hole 42. A ninth optical hole 47 is provided on one side of the servo mounting housing 1 44. The servo mounting housing 1 44, the servo mounting housing 2 45, and the servo 11 are connected via the ninth bolt 46 and the ninth optical hole 47. A tenth optical hole 50 is provided on one side of the camera mounting plate 48, and the camera mounting plate 48 is connected to the servo 11 via the tenth bolt 49 and the tenth optical hole 50. A gimbal base 5 is mounted on one side of the gimbal 4. A fifth screw 43 is provided on one side of the gimbal base 5. A servo mounting housing 11 is provided on one side. A servo mounting housing 2 45 is fixedly connected to one side of the servo mounting housing 11. A ninth bolt 46 is provided on one side of the servo mounting housing 11. A camera mounting plate 48 is installed on the other side of the servo mounting housing 11. A tenth bolt 49 is provided on one side of the camera mounting plate 48. An eleventh bolt 51 is provided on the other side of the camera mounting plate 48. A binocular camera 53 is installed on one side of the camera mounting plate 48. A gimbal sensor interface 54 is provided inside the gimbal 4. The gimbal base 5 is fastened to the servo 11 and the servo disk by the fifth screw 43. The servo mounting housing 11, the servo mounting housing 2 45 and the servo 11 are connected by the ninth bolt 46 and the ninth optical hole 47. An eleventh optical hole 52 is opened on the other side of the camera mounting plate 48, and the camera mounting plate 48 is connected to the binocular camera 53 by the eleventh bolt 51 and the eleventh optical hole 52. The gimbal 4 is connected to the gimbal sensor interface 54.

[0036] There are three main tentacles 2, and each main tentacle 2 is distributed at 120° intervals. The miniature camera 7 is set to have a diameter of 5.5mm and can penetrate into areas with a diameter of ≥5cm.

[0037] The number of secondary tentacles 3 is set to three, and each secondary tentacle 3 is distributed at 120° intervals.

[0038] Working principle:

[0039] like Figure 1-6 As shown, during subsea pipeline inspection, the octopus robot swims to a designated planar position through the coordinated movement of its main tentacle 2 and auxiliary tentacles 3. In a flat area, it drives the servo motor 11 to achieve a six-legged biomimetic crawling mode. During pipeline detection, the main tentacle 2 is stretched via DYNEEMS drive lines to achieve logarithmic spiral bending, while the auxiliary tentacle friction wheel 31 of the auxiliary tentacle 3 assists in fixation. A 360° rotation is achieved by controlling the gimbal 4 to enable all-around observation, working in conjunction with the main tentacle to accurately detect pipeline defects and cracks.

[0040] like Figure 1-6 As shown, when conducting coral reef ecosystem detection, the octopus robot swims to the vicinity of the coral reef through the coordinated movement of its main tentacle 2 and auxiliary tentacle 3. Then, on flat ground, it activates the crawling mode by driving the servo motor 11. During the coral reef ecosystem detection work, it controls the gimbal 4 to achieve 360° rotation to observe the bleached area of ​​the coral reef. Through the stretching control of the DYNEEMS drive line of the main tentacle 2, the tentacle is extended into the interior of the coral reef, which can realize the ecological detection and analysis of organisms such as coral polyps.

[0041] The above description is merely a preferred embodiment of the present utility model and is not intended to limit the present utility model in any other way. Any person skilled in the art may make changes or modifications to the above-disclosed technical content to create equivalent embodiments for application in other fields. However, any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of the present utility model without departing from the technical solution of the present utility model shall still fall within the protection scope of the technical solution of the present utility model.

Claims

1. A six-legged octopus robot device for underwater operations, characterized in that, include: The main body (1) has a main tentacle (2) on one side, a secondary tentacle (3) on one side, and a gimbal (4) on one side. The main tentacle (2) includes a double-jointed flexible detection structure. The main tentacle (2) includes a TPU tentacle (6) and a miniature camera (7). A main tentacle mounting part (10) is provided on one side of the main tentacle (2). A first bolt (8) is provided on one side of the main tentacle mounting part (10). A servo motor (11) is fixedly connected to one side of the main tentacle mounting part (10). A take-up reel (12) is fixedly connected to one side of the servo motor (11). A servo motor mounting bracket (13) is fixedly connected to one side of the servo motor (11). A second bolt (14) is provided on one side of the servo motor mounting bracket (13). A third bolt (16) is provided on the other side of the main tentacle mounting part (10). A universal mounting component (18) is fixedly connected. A fourth bolt (19) is provided on one side of the universal mounting component (18). A first screw (21) is provided on one side of the universal mounting component (18). A rudder disk (22) is fixedly connected to one side of the servo motor (11). A fifth bolt (23) is provided on one side of the rudder disk (22). A second main tentacles mounting component (25) is fixedly connected to one side of the rudder disk (22). An internal bearing (26) is provided on one side of the second main tentacles mounting component (25). A bearing pressure plate (27) is provided on one side of the internal bearing (26). A second screw (28) is provided on one side of the bearing pressure plate (27). A universal tentacles connector (29) is provided on the other side of the second main tentacles mounting component (25). The secondary tentacle (3) includes a single-joint anti-flow anchoring structure. The secondary tentacle (3) includes a secondary tentacle mounting part one (30). A secondary tentacle friction wheel (31) is provided on one side of the secondary tentacle mounting part one (30). A secondary tentacle mounting part two (33) is fixedly connected to one side of the secondary tentacle mounting part one (30). A third screw (32) is provided on one side of the secondary tentacle mounting part two (33). A sixth bolt (34) is provided on one side of the secondary tentacle mounting part two (33). A seventh bolt (36) is provided on one side of the secondary tentacle mounting part two (33). The main body (1) includes a lower part (39) and an upper part (40). A fourth screw (38) is provided on one side of the lower part (39), and an eighth bolt (41) is provided on one side of the upper part (40). A gimbal base (5) is installed on one side of the gimbal (4). A fifth screw (43) is provided on one side of the gimbal base (5). A servo motor mounting housing (44) is provided on the other side of the gimbal base (5). A servo motor mounting housing (44) is fixedly connected to one side of the servo motor mounting housing (44). Servo mounting housing 2 (45), a ninth bolt (46) is provided on one side of the servo mounting housing 1 (44), a camera mounting plate (48) is installed on the other side of the servo mounting housing 1 (44), a tenth bolt (49) is provided on one side of the camera mounting plate (48), an eleventh bolt (51) is provided on the other side of the camera mounting plate (48), a binocular camera (53) is installed on one side of the camera mounting plate (48), and a gimbal sensor interface (54) is provided inside the gimbal (4).

2. The six-legged octopus robot device for underwater operation according to claim 1, characterized in that: The main tentacle mounting component 1 (10) has a first light hole (9) on one side. The TPU tentacle (6) and the miniature camera (7) are connected to the main tentacle mounting component 1 (10) via a first bolt (8) and the first light hole (9). The servo mounting bracket (13) has a second light hole (15) on one side. The servo mounting bracket (13) is connected to the main tentacle mounting component 1 (10) via a second bolt (14) and the second light hole (15). The main tentacle mounting component 1 (10) has a third light hole (17) on the other side. The universal mounting component (18) is connected to the main tentacle mounting component 1 (10) via a third bolt (16) and the third light hole (17). The universal mounting component (18) has a fourth light hole (20) on one side. The servo motor (11) is connected to the universal mounting component (18) by the fourth bolt (19) and the fourth light hole (20) and the first screw (21). The second main tentacles mounting component (25) has a fifth light hole (24) on one side. The servo motor (11) is connected to the second main tentacles mounting component (25) by the fifth bolt (23) and the fifth light hole (24). The second main tentacles mounting component (25) is connected to the servo motor (11) by the fourth bolt (19) and the first screw (21). The servo motor (11) and the servo disk (22) are connected to the universal tentacles connector (29) of the built-in bearing (26) by the fifth bolt (23). The bearing pressure plate (27) is fastened to the universal tentacles connector (29) and the second main tentacles mounting component (25) by the second screw (28).

3. The six-legged octopus robot device for underwater operation according to claim 1, characterized in that: Both the secondary tentacle (3) and the main tentacle (2) are equipped with TPU tentacles (6), universal mounting parts (18), servo motors (11) and servo discs (22), as well as universal tentacle connectors (29). The first secondary tentacle mounting part (30) is connected to the TPU tentacle (6) by a first bolt (8) and a first aperture (9). The secondary tentacle friction wheel (31) is fastened to the second secondary tentacle mounting part (33) by a third screw (32). The second (33) has a sixth light hole (35) on one side, and the second (33) of the secondary tentacles is connected to the first (30) of the secondary tentacles by means of the sixth bolt (34) and the sixth light hole (35). The second (33) of the secondary tentacles has a seventh light hole (37) on one side. The first (30) of the secondary tentacles, the second (33) of the secondary tentacles and the secondary tentacles friction wheel (31) are connected by the seventh bolt (36) and the seventh light hole (37).

4. The six-legged octopus robot device for underwater operation according to claim 1, characterized in that: The universal tentacle connector (29) is fastened to the lower part of the main body (39) by the fourth screw (38). The upper part of the main body (40) has an eighth light hole (42) on one side, and the upper part of the main body (40) and the lower part of the main body (39) are connected by the eighth bolt (41) and the eighth light hole (42). The servo mounting housing one (44) has a ninth light hole (47) on one side. The servo mounting housing one (44), the servo mounting housing two (45), and the servo (11) are connected by the ninth bolt (46) and the ninth light hole (47). The camera mounting plate (48) has a tenth light hole (50) on one side, and the camera mounting plate (48) is connected to the servo (11) by the tenth bolt (49) and the tenth light hole (50).

5. The six-legged octopus robot device for underwater operation according to claim 1, characterized in that: The gimbal base (5) is fastened to the servo motor (11) and servo disc by the fifth screw (43). The servo motor mounting shell one (44) and the servo motor mounting shell two (45) and the servo motor (11) are connected by the ninth bolt (46) and the ninth optical hole (47). The camera mounting plate (48) has an eleventh optical hole (52) on the other side, and the camera mounting plate (48) is connected to the binocular camera (53) by the eleventh bolt (51) and the eleventh optical hole (52). The gimbal (4) is connected to the gimbal sensor interface (54).

6. The six-legged octopus robot device for underwater operation according to claim 1, characterized in that: The number of main tentacles (2) is set to three, and each main tentacle (2) is distributed at a 120° interval. The miniature camera (7) is set to have a diameter of 5.5 mm and can penetrate into an area with a diameter of ≥5 cm.

7. The six-legged octopus robot device for underwater operation according to claim 1, characterized in that: The number of the subtentacles (3) is set to three, and each subtentacle (3) is distributed at 120° intervals.

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