An underwater robot with a probe sonar

Abstract

The application belongs to the field of underwater robots, and particularly relates to an underwater robot with a detection sonar. The underwater robot comprises a robot body, a driving motor, a detection sonar and a protection mechanism. The driving motor is connected to the lower part of the robot body, and the detection sonar is connected to the output end of the driving motor. The protection mechanism surrounds the outer periphery of the detection sonar and rotates coaxially with the detection sonar. The protection mechanism comprises a surrounding part and a first matching part. At least part of the structure of the surrounding part is assembled with the first matching part. The top end of the first matching part is connected with the output end of the output motor. The protection mechanism of the application can protect the easy-bumping area of the detection sonar. The surrounding part and the first matching part are assembled, and the protection mechanism has universality and stability.

Description

Technical Field

[0001] This application belongs to the field of underwater robots, specifically relating to an underwater robot equipped with a detection sonar. Background Technology

[0002] In numerous fields such as marine development, underwater engineering, and environmental monitoring, underwater robots play an irreplaceable and vital role as core equipment for underwater exploration, resource discovery, environmental monitoring, and underwater operations. The sonar onboard these robots acts as crucial "eyes," enabling them to accurately complete these complex tasks. This sonar is a core component for underwater robots to achieve key functions such as underwater target identification, terrain mapping, and obstacle avoidance, directly determining the accuracy, efficiency, and safety of their operations.

[0003] Among the sonar systems currently used on underwater robots, multi-beam sonar is one of the most common and widely used types. Thanks to its unique technological advantages, multi-beam sonar can clearly and accurately display complex underwater terrain information on the terminal screen, enabling operators to have a real-time and comprehensive understanding of the underwater environment. This provides reliable data support for the underwater robot's operational decisions, and therefore it has been widely used in various underwater operational scenarios.

[0004] To ensure the proper functioning of multibeam sonar, existing technologies typically include a rubber pad at the tip of the sonar. The main purpose of this rubber pad is to protect the sonar tip, as its structure is relatively weak and prone to collisions or friction with underwater objects during underwater operations. The rubber pad's cushioning and protective function effectively prevents damage to this vulnerable area, thus ensuring the normal performance of the multibeam sonar.

[0005] However, in practical applications, multibeam sonar is typically mounted on the bottom of underwater robots. While this mounting location facilitates underwater terrain detection to some extent, it also exposes the sonar to a significant risk of collision. Furthermore, due to the inherent technical limitations of multibeam sonar, its detection range is restricted, creating blind spots. During underwater robot operations, structures within these blind spots, excluding the sonar tip, are highly susceptible to collisions with underwater rocks, reefs, shipwrecks, and other objects. Such collisions can easily damage the sonar's outer casing, allowing seawater to seep in and cause short circuits, component damage, and other malfunctions. This not only disrupts the underwater robot's operational schedule but also incurs high repair costs, and in severe cases, may render the entire multibeam sonar unusable, resulting in substantial financial losses for the user. Utility Model Content

[0006] The purpose of this application is to provide an underwater robot that protects and safeguards sonar.

[0007] The embodiments of this application can be implemented through the following technical solutions:

[0008] An underwater robot equipped with a detection sonar includes a robot body, a drive motor, a detection sonar, and a protective mechanism;

[0009] The drive motor is connected to the bottom of the robot body, and the detection sonar is connected to the output end of the drive motor;

[0010] The protective mechanism surrounds and is connected to the outer periphery of the detection sonar, and rotates coaxially with the detection sonar. The protective mechanism includes an enclosing part and a first mating part. At least a portion of the structure of the enclosing part is assembled and connected to the first mating part, and the top end of the first mating part is connected to the output end of the drive motor.

[0011] Furthermore, the surrounding portion includes a bottom edge and a side edge connected to the bottom edge facing the drive motor. The side edge includes an insertion structure that is inserted into the first mating portion and detachably connected to the first mating portion.

[0012] Furthermore, the first mating part includes a receiving structure and a locking structure. The receiving structure is a box-like structure with an open bottom. The receiving structure has a groove on the side facing away from the detection sonar, and the groove extends in the direction away from the robot body.

[0013] The side end of the insertion structure is connected to a second mating part, which can accommodate and protrude from the groove. Its top end abuts against the bottom of the groove, and its bottom end abuts against the top end of the locking structure.

[0014] Furthermore, the locking structure includes an abutment portion, a displacement portion, and a fixing portion. The fixing portion is connected to the side of the accommodating structure opposite to the detection sonar. The displacement portion and the abutment portion are connected to the accommodating structure through the fixing portion. Both can reciprocate along their axial direction, and the top end of the abutment portion can abut against the bottom end of the second mating portion.

[0015] Furthermore, the second mating part has a rod-shaped structure.

[0016] Preferably, the bottom end of the second mating part has an arc-shaped structure.

[0017] Furthermore, the detection sonar includes a sonar body and a mounting part, the mounting part being connected to the output end of the drive motor, and the sonar body being connected to the output end of the drive motor through the mounting part.

[0018] Preferably, it further includes at least two support mechanisms, which are rotatably connected to the bottom end of the robot body.

[0019] Furthermore, the support mechanism includes a grooved support block, an arc-shaped plate, and a support leg. The grooved support block is connected to the bottom end of the robot body, and a pair of rotating holes are provided on the grooved support block. The support leg has an open triangular structure, and the arc-shaped plate is connected to the open end of the support leg and is rotatably connected to the rotating holes.

[0020] The underwater robot equipped with a detection sonar provided in the embodiments of this application has at least the following beneficial effects:

[0021] This application, through its protective structure, can fully cover the vulnerable areas of the sonar except for the detection tip. It uses its own structural strength to resist direct collisions with underwater rocks, reefs or other obstacles, while avoiding wear and tear on the sonar shell caused by water flow. This ensures that the sonar maintains a stable working state in complex underwater environments and ensures the continuous reliability of the underwater robot's detection function.

[0022] At least a portion of the enclosure in this application is assembled and connected to the first mating part, and the top end of the first mating part is connected to the output end of the drive motor. On the one hand, this assembly method can adapt to different sizes and specifications of sonars by adjusting the depth of the enclosure inserted into the first mating part, thus improving the versatility of the protective mechanism. On the other hand, the protective mechanism always fits tightly against the outer periphery of the sonar, ensuring comprehensive protection of the sonar body, reducing frictional wear between the components of the protective mechanism, extending the service life of the protective mechanism, and thus indirectly ensuring that the sonar is not damaged by external factors during long-term underwater operations, maintaining stable detection accuracy and working efficiency. Attached Figure Description

[0023] Figure 1 The overall structure of an underwater robot with a detection sonar as described in this application. Figure 1 ;

[0024] Figure 2 The overall structure of an underwater robot with a detection sonar as described in this application. Figure 2 ;

[0025] Figure 3 for Figure 2 A magnified view of a portion of region A in the middle;

[0026] Figure 4 This is a structural diagram of the partial locking structure.

[0027] Figure 5 The overall structure of an underwater robot with a sonar system, omitting some structural components. Figure 3;

[0028] Figure 6 The overall structure of an underwater robot with a detection sonar as described in this application. Figure 4 .

[0029] Reference numerals: 1. Robot body; 2. Drive motor; 3. Detection sonar; 31. Sonar body; 32. Mounting part; 4. Protective mechanism; 41. Enclosing part; 411. Bottom edge; 412. Side edge; 4121. Insertion structure; 41211. Second mating part; 42. First mating part; 421. Receiving structure; 422. Locking structure; 4221. Abutting part; 4222. Displacement part; 4223. Fixing part; 4224. Handle part; 5. Support mechanism; 51. Grooved support block; 52. Arc plate; 53. Support leg. Detailed Implementation

[0030] The present application will now be further described based on preferred embodiments and with reference to the accompanying drawings.

[0031] The vocabulary used in this specification is for illustrative purposes and is not intended to limit the scope of this application. Unless otherwise expressly specified and limited, the terms "set," "connected," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection, a direct connection, or an indirect connection via an intermediate medium; or they can refer to the internal communication between two components. Those skilled in the art will understand the specific meaning of these terms in this application.

[0032] Furthermore, in the description of the embodiments of this application, various components on the drawings have been enlarged or reduced for ease of understanding, but this is not intended to limit the scope of protection of this application.

[0033] This application provides an underwater robot equipped with a detection sonar (hereinafter referred to as: underwater robot). Figure 1 , Figure 2 , Figure 5 and Figure 6 The following diagrams show the overall structure of the underwater robot from different angles, as well as a diagram showing the structure with some parts omitted. Figure 1 , Figure 2 , Figure 5 and Figure 6As shown, the underwater robot includes a robot body 1, a drive motor 2, a detection sonar 3, and a protective mechanism 4. The drive motor 2 is connected to the bottom of the robot body 1, the detection sonar 3 is connected to the output end of the drive motor 2, and the protective mechanism 4 surrounds and connects to the outer periphery of the detection sonar 3. The robot body 1, as the core of the entire underwater robot's load-bearing and control system, integrates key components such as a power supply module, control module, and communication module, providing basic support for the underwater robot's underwater movement and data processing command response. The drive motor 2, as the power output component, can drive the load to achieve rotation at a specific angle or stable position fixation, thus providing power support for the attitude adjustment and detection angle adjustment of the detection sonar 3. The detection sonar 3, as the core detection component for the underwater robot to achieve underwater target recognition, terrain mapping, and obstacle avoidance, is driven by the drive motor 2. The detection sonar 3 can adjust its detection direction according to the movement of the output end of the drive motor 2, thereby expanding the underwater detection range and improving the comprehensiveness and accuracy of the detection data. The protective mechanism 4 is adapted to the shape of the detection sonar 3 and can fully cover the easily bumped areas of the detection sonar 3 except for the detection end. It resists the direct collision of the detection sonar 3 with underwater rocks, reefs or other obstacles through its own structural strength, while avoiding the wear of the detection sonar 3 shell caused by water flow impact. This ensures that the detection sonar 3 maintains a stable working state in complex underwater environments and ensures the continuous reliability of the underwater robot's detection function.

[0034] Furthermore, the detection sonar 3 includes a sonar body 31, which is connected to the output end of the drive motor 2. The sonar body 31 is the connection point with the output end of the drive motor 2, and it can adopt a high-precision coaxial design to avoid eccentric shaking when the drive motor 2 drives the sonar body 31 to move.

[0035] Furthermore, the protective mechanism 4 surrounds and connects to the outer periphery of the detection sonar 3 and rotates coaxially with the detection sonar 3. It includes an enclosing part 41 and a first mating part 42. At least a portion of the structure of the enclosing part 41 is assembled and connected to the first mating part 42, and the top end of the first mating part 42 is connected to the output end of the drive motor 2. On the one hand, this assembly method can adapt to detection sonars 3 of different sizes and specifications by adjusting the depth of the enclosing part 41 inserted into the first mating part 42, thereby improving the versatility of the protective mechanism 4. On the other hand, the protective mechanism 4 always fits tightly against the outer periphery of the detection sonar 3, ensuring comprehensive protection of the sonar body 31, reducing frictional wear between the components of the protective mechanism 4, extending the service life of the protective mechanism 4, and thus indirectly ensuring that the detection sonar 3 is not damaged by external factors during long-term underwater operations, maintaining stable detection accuracy and working efficiency.

[0036] Furthermore, the enclosure 41 includes a bottom edge 411 and a side edge 412 connected to the bottom edge facing the drive motor 2. The side edge 412 includes an insertion structure 4121, which is inserted into and detachably connected to the first mating part 42. The bottom edge 411 can completely shield the bottom area of ​​the detection sonar 3, effectively resisting direct impact from protruding obstacles at the bottom during underwater operations and preventing damage to the bottom shell of the detection sonar 3 due to impact. The side edge 412 extends upward along the edge of the bottom edge 411, wrapping around the side circumference of the detection sonar 3 and forming a "U-shaped" protective space with the bottom edge 411, completely covering the vulnerable non-detection areas of the detection sonar 3, and significantly reducing the scouring and wear of the sonar body 31 surface caused by impurities carried by the water flow. In addition, the insertion structure 4121 included in the side 412, when inserted into the first mating part 42 and forming a detachable connection with the first mating part 42, can further improve the structural stability of the two after assembly, and prevent the enclosure part 41 and the first mating part 42 from loosening when the underwater robot moves at high speed or encounters strong water flow impact, ensuring that the protective space always remains intact; at the same time, this plug-in detachable connection can also adapt to the first mating part 42 with different thickness specifications. By simply adjusting the insertion depth of the insertion structure 4121, it can meet the assembly scenarios with different protection strength requirements, further improving the adaptability and practicality of the protective mechanism 4, and indirectly ensuring the continuous and stable operation of the detection sonar 3 in diverse underwater operating environments.

[0037] It should be noted that, for example Figure 1 As shown, no protective mechanism 4 is provided on the outer side of the probe head of the sonar 3, which ensures that the probe head of the sonar 3 can directly contact the underwater environment and avoids the protective mechanism 4 from blocking or interfering with the transmission and reception of sonar signals, thereby ensuring that the detection sensitivity and detection range of the sonar 3 are not affected.

[0038] Furthermore, such as Figure 2 and Figure 3As shown, the first mating part 42 includes a receiving structure 421 and a locking structure 422. The receiving structure 421 is a box-like structure with an open bottom. A groove is provided on the side of the receiving structure 421 facing away from the sonar body 31. The groove extends in the direction facing away from the robot body 1. The second mating part 41211 can be received and protrude from the groove. The top end abuts against the bottom of the groove, and the bottom end abuts against the top end of the locking structure 422. The accommodating structure 421 provides a stable mating space for the insertion structure 4121, preventing the insertion mechanism 4121 from shifting due to radial force after assembly. It also provides lateral protection for the insertion structure 4121 through the closed side wall of the housing, reducing the direct contact between water impurities and the mating gap between the insertion structure 4121 and the accommodating structure 421, thus reducing the risk of assembly failure due to impurities getting stuck. The groove in the accommodating structure 421 not only provides a precise accommodating and positioning space for the second mating part 41211, ensuring that the second mating part 41211 can be quickly aligned during assembly, but also restricts the rotation of the second mating part 41211 in the circumferential direction, preventing it from twisting or shifting due to the underwater robot's attitude adjustment. In addition, the side end of the insertion structure 4121 is connected to a second mating part 41211. After the second mating part 41211 is accommodated and protrudes from the groove, its top end abuts against the bottom of the groove and against the top end of the locking structure 422. This double abutting design can, on the one hand, form a bidirectional limiting effect on the second mating part 41211 in the axial direction, preventing the second mating part 41211 from axially moving under the impact or vibration of water flow, thereby ensuring that the limiting effect of the second mating part 41211 on the surrounding part 41 and the first mating part 42 is always stable; on the other hand, the locking structure 422, through its interaction with the second mating part 41211, provides a double abutting effect on the second mating part 41211. The bottom end of part 41211 abuts against the insertion structure 4121 inside the accommodating structure 421, which can indirectly form a reverse support for the insertion structure 4121, further enhancing the mating stability of the insertion structure 4121 and the accommodating structure 421, and avoiding the problem of increased mating gap under long-term stress. At the same time, this layered abutting structure can also disperse the external impact force to the three components of the accommodating structure 421, the second mating part 41211 and the locking structure 422, reducing the stress load on a single component, extending the overall service life of the first mating part 42, and ultimately building a more reliable protective support system for the detection sonar 3.

[0039] Furthermore, such as Figure 3 , Figure 4 and Figure 5As shown, the locking structure 422 includes an abutment portion 4221, a displacement portion 4222, and a fixing portion 4223. The fixing portion 4223 is connected to the side of the accommodating structure 421 facing away from the sonar 3. The displacement portion 4222 and the abutment portion 4221 are connected to the accommodating structure 421 through the fixing portion 4223. Both can reciprocate along their axial direction, and the top end of the abutment portion 4221 can abut against the bottom end of the second mating portion 41211. This connection method ensures that the locking structure 422 and the accommodating structure 421 form an integrated support, avoiding installation deviations caused by the independent setting of the locking structure 422. At the same time, the fixing portion 4223 can also serve as the installation reference for the displacement portion 4222 and the abutment portion 4221, ensuring the accuracy of their displacement direction. The design of the displacement part 4222 and the abutment part 4221 being connected to the accommodating structure 421 via the fixing part 4223 and being able to move back and forth along its axial direction can, on the one hand, adapt to the second mating part 41211 of different sizes and specifications. When there is a difference in the axial length of the second mating part 41211, the displacement of the displacement part 4222 and the abutment part 4221 can be adjusted to ensure that the top end of the abutment part 4221 can always be tightly abutted against the bottom end of the second mating part 41211, avoiding abutment failure due to dimensional deviation and improving the versatility of the locking structure 422. On the other hand, during the long-term operation of the underwater robot, if the axial position of the second mating part 41211 changes slightly due to wear or deformation, the displacement part 4222 and the abutment part 4221 can compensate for the change through autonomous displacement, maintain the stability of the abutment state, and thus continuously ensure the limiting effect of the second mating part 41211 on the surrounding part 41 and the first mating part 42. Furthermore, when the top end of the abutting part 4221 abuts against the bottom end of the second mating part 41211, a certain pre-tightening force can be applied to the abutting part 4221 by adjusting the displacement part 4222. This pre-tightening force not only enhances the tightness of the abutment and prevents gaps from appearing under the impact of water flow, but also further strengthens the abutting effect between the second mating part 41211 and the bottom of the groove of the accommodating structure 421, forming a "two-way pre-tightening limit". This makes the assembly structure of the entire protective mechanism 4 more stable, effectively resists external interference of the underwater complex environment on the detection sonar 3, and ensures that the detection performance of the detection sonar 3 is stable and reliable.

[0040] In some specific embodiments of this application, the displacement part 4222 is a rod-shaped structure with external threads, and the fixing part 4223 is a ring-shaped structure with internal threads. Axial displacement is achieved by helical rotation. This threaded fit can significantly improve the accuracy of displacement adjustment. By rotating the displacement part 4222, the operator can make the abutment part 4221 achieve millimeter-level or even micrometer-level displacement adjustment along the axial direction, thereby precisely controlling the abutment force between the abutment part 4221 and the bottom end of the second mating part 41211. This can avoid loosening due to insufficient abutment force, and also prevent deformation damage to the second mating part 41211 or the abutment part 4221 caused by excessive abutment force, further ensuring the stability and safety of the mating structure. Secondly, the threaded structure itself has good self-locking characteristics. When the displacement part 4222 rotates to the target position, the friction between the external thread and the internal thread can prevent the displacement part 4222 from rotating autonomously without external force. Even when the underwater robot encounters strong vibration or water flow impact, the displacement part 4222 can maintain its current stable position, avoid axial movement of the abutment part 4221, and ensure that the abutment and limiting effect on the second mating part 41211 is continuous and reliable.

[0041] In some preferred embodiments of this application, the locking structure 422 further includes a handle portion 4224, which is connected to the end of the displacement portion 4222 away from the abutment portion 4221 to facilitate rotation by the operator.

[0042] In some specific embodiments of this application, the second mating part 41211 is a rod-shaped structure.

[0043] In some preferred embodiments of this application, the bottom end of the second mating part 41211 is an arc-shaped structure. This arc-shaped structure can reduce the frictional resistance between the two when the abutting part 4221 is adjusted along the axial displacement, thus avoiding jamming. It can also disperse the concentrated abutting force applied by the abutting part 4221 to the arc-shaped surface, preventing the bottom end of the second mating part 41211 from wearing or deforming due to excessive local force, thereby further extending the service life of the second mating part 41211. At the same time, it can also accommodate the slight dimensional deviation that may exist at the top end of the abutting part 4221, ensuring that the two always maintain a stable abutting state and guaranteeing the limiting effect on the protective mechanism 4.

[0044] Furthermore, the detection sonar 3 also includes a mounting part 32, which is connected to the output end of the drive motor 2. The sonar body 31 is connected to the output end of the drive motor 2 through the mounting part 32. The mounting part 32 can reduce the assembly difficulty of direct connection between the two by adapting itself to the connection mechanism between the output end of the drive motor 2 and the sonar body 31, ensuring coaxiality to avoid eccentric shaking when the sonar body 31 is running. It can also provide a certain axial and radial support for the sonar body 31 to prevent the connection of the sonar body 31 from loosening due to external forces during underwater operations, thus ensuring the overall structural stability of the detection sonar 3.

[0045] In some preferred embodiments of this application, such as Figure 1 , Figure 2 and Figure 6 As shown, the underwater robot also includes at least two support mechanisms 5. The support mechanisms 5 are rotatably connected to the bottom of the robot body 1. They can switch between an extended state and a retracted state. In the extended state, the support mechanisms 5 form a stable support structure, preventing the underwater robot from tipping over due to uneven bottom when operating or docking in shallow water areas. They also provide a safe operating height for the sonar 3 to reduce the risk of collision with bottom obstacles. In the retracted state, the support mechanisms 5 can be rotated and folded to reduce the space occupied by the support mechanisms 5, avoiding excessive impact on the water flow resistance when the underwater robot moves, and ensuring the flexible movement performance of the underwater robot in complex waters.

[0046] In some specific embodiments of this application, such as Figure 6 As shown, the support mechanism 5 includes a grooved support block 51, an arc-shaped plate 52, and a support leg 53. The grooved support block 51 is connected to the bottom end of the robot body 1, and a pair of rotating holes are provided on the grooved support block 51. The support leg 53 has an open triangular structure, and the arc-shaped plate 52 is connected to the open end of the support leg 53 and rotatably connected to the rotating hole. The pair of rotating holes of the grooved support block 51 can provide a symmetrical and stable rotation fulcrum for the arc-shaped plate 52, ensuring that the support leg 53 rotates smoothly and without deviation when switching states. The open triangular structure of the support leg 53 can reduce its own weight while ensuring support strength, thereby reducing the load on the robot body 1. The arc-shaped plate 52 can disperse the stress of the support leg 53 during rotation through its own arc surface, preventing the open end of the support leg 53 from breaking due to long-term rotation. At the same time, it adapts to the rotation trajectory of the rotating hole to reduce rotational friction, ensuring the smooth switching of the support mechanism 5 between the open and retracted states.

[0047] The specific embodiments of this application have been described in detail above. For those skilled in the art, several improvements and modifications can be made to this application without departing from the principle of this application, and these improvements and modifications also fall within the protection scope of the claims of this application.

Claims

1. An underwater vehicle with a probe sonar, characterized by, This includes the robot body, drive motors, detection sonar, and protective mechanisms; The drive motor is connected to the bottom of the robot body, and the detection sonar is connected to the output end of the drive motor; The protective mechanism surrounds and is connected to the outer periphery of the detection sonar, and rotates coaxially with the detection sonar. The protective mechanism includes an enclosing part and a first mating part. At least a portion of the structure of the enclosing part is assembled and connected to the first mating part, and the top end of the first mating part is connected to the output end of the drive motor.

2. The underwater robot equipped with a detection sonar according to claim 1, characterized in that: The enclosure includes a bottom edge and a side edge connected to the bottom edge facing the drive motor. The side edge includes an insertion structure that is inserted into the first mating part and detachably connected to the first mating part.

3. An underwater robot equipped with a detection sonar according to claim 2, characterized in that: The first mating part includes a receiving structure and a locking structure. The receiving structure is a box-like structure with an open bottom. A groove is provided on the side of the receiving structure facing away from the detection sonar, and the groove extends in the direction facing away from the robot body. The side end of the insertion structure is connected to a second mating part, which can accommodate and protrude from the groove. Its top end abuts against the bottom of the groove, and its bottom end abuts against the top end of the locking structure.

4. An underwater robot equipped with a detection sonar according to claim 3, characterized in that: The locking structure includes an abutment part, a displacement part, and a fixing part. The fixing part is connected to the side of the accommodating structure opposite to the detection sonar. The displacement part and the abutment part are connected to the accommodating structure through the fixing part. Both can reciprocate along their axial direction, and the top end of the abutment part can abut against the bottom end of the second mating part.

5. An underwater robot equipped with a detection sonar according to claim 3, characterized in that: The second mating part is a rod-shaped structure.

6. An underwater robot equipped with a detection sonar according to claim 5, characterized in that: The bottom end of the second mating part has an arc-shaped structure.

7. An underwater robot equipped with a detection sonar according to claim 1, characterized in that: The detection sonar includes a sonar body and a mounting part. The mounting part is connected to the output end of the drive motor, and the sonar body is connected to the output end of the drive motor through the mounting part.

8. An underwater robot equipped with a detection sonar according to claim 1, characterized in that: It also includes at least two support mechanisms, which are rotatably connected to the bottom of the robot body.

9. An underwater robot equipped with a detection sonar according to claim 8, characterized in that: The support mechanism includes a grooved support block, an arc-shaped plate, and a support leg. The grooved support block is connected to the bottom end of the robot body. A pair of rotating holes are provided on the grooved support block. The support leg has an open triangular structure. The arc-shaped plate is connected to the open end of the support leg and is rotatably connected to the rotating holes.

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