Subsea sampling robot

Abstract

A subsea sampling robot, comprising a jellyfish-inspired swimming device (1), a central power compartment (2), and an anchoring drilling device (3), wherein the jellyfish-inspired swimming device (1) is connected to the central power compartment (2), and the central power compartment (2) is used for driving the jellyfish-inspired swimming device (1) to generate lift, the anchoring drilling device (3) is arranged at the bottom of the central power compartment (2), and the anchoring drilling device (3) comprises an anchoring support (301), an anchoring assembly angle adjustment mechanism, a sampling ultrasonic drill (310), and at least three anchoring assemblies. The subsea sampling robot can adapt to a subsea rock bed environment having complex terrain, and provide better stability.

Description

A type of seabed sampling robot Technical Field

[0001] This invention relates to the field of marine exploration equipment technology, and in particular to a seabed sampling robot. Background Technology

[0002] Common seabed sampling robots use propeller propulsion and robotic arms for exploration. During their descent, the complex deep-sea currents often lead to problems such as insufficient stability and poor endurance. Once they reach the seabed, the complex rock formations, large size, and low efficiency of the robots prevent them from adapting well to the environment, significantly limiting deep-sea mineral exploration.

[0003] Summary of the Invention

[0004] To address the above technical problems, this invention provides a seabed sampling robot that can adapt well to complex seabed rock environments and offers better stability during operation.

[0005] To achieve the above objectives, the present invention provides the following solution:

[0006] This invention provides a seabed sampling robot, comprising a jellyfish-inspired swimming device, a central power compartment, and an anchoring drilling device. The jellyfish-inspired swimming device is connected to the central power compartment, which drives the jellyfish-inspired swimming device to generate lift. The anchoring drilling device is located at the bottom of the central power compartment and includes an anchoring bracket, an anchoring component angle adjustment mechanism, a sampling ultrasonic drill, and at least three anchoring components. Multiple anchoring components are evenly distributed circumferentially around the anchoring bracket. Each anchoring component includes an anchoring ultrasonic drill and a support structure. One end of the support structure is fixed to the outer surface of the anchoring bracket, and the other end of the support structure is hinged to the side of the anchoring ultrasonic drill. The anchoring component angle adjustment mechanism includes a first linear telescopic drive component, a slider connector, and a vertical track, an angle adjustment slider, an angle adjustment link, and two track supports corresponding to each anchoring component. The upper and lower ends of the vertical track are respectively fixed to two track supports on the outer facade of the anchoring bracket. The angle adjustment slider is engaged with the vertical track through a linear pair. The angle adjustment slider is connected to one end of the angle adjustment link through a hinge, and the other end of the angle adjustment link is connected to the upper part of the anchoring ultrasonic drill through a hinge. The first linear telescopic drive component is fixed on the outer facade of the anchoring bracket. The first linear telescopic drive component is used to drive the slider connector to move in the vertical direction. The slider connector is also fixedly connected to each of the angle adjustment sliders. The sampling ultrasonic drill is located inside the anchoring bracket and on the vertical central axis of the anchoring bracket. A second linear telescopic drive component and a third linear telescopic drive component are vertically fixed on the inner facade of the anchoring bracket. The two sides of the sampling ultrasonic drill are respectively connected to the second linear telescopic drive component and the third linear telescopic drive component.

[0007] Preferably, the jellyfish-like swimming device includes a base, a first tentacle-driven slider, a second tentacle-driven slider, a central connecting plate, and several sets of tentacle mechanisms evenly distributed around the head of the base. Each tentacle mechanism includes flexible tentacles, tentacle supports, a first tentacle driving link, and a second tentacle driving link. The base includes a hemispherical head and two pillars symmetrically fixed below the hemispherical head. The first tentacle-driven slider and the second tentacle-driven slider are respectively fitted onto the upper and lower parts of the two pillars of the base and can move linearly along the pillars. The flexible... The end of the tentacle is fixed to the hemispherical head of the base, and the tentacle support is connected to the flexible tentacle via a hinge; the first tentacle driving slider is connected to one end of the first tentacle driving link via a hinge, the second tentacle driving slider is connected to one end of the second tentacle driving link via a hinge, the other end of the first tentacle driving link is connected to the other end of the second tentacle driving link and the tentacle support via a pin; the central connecting plate is fixed to the ends of the two columns of the base, and the top of the anchor bracket is fixedly connected to the central connecting plate.

[0008] Preferably, the flexible tentacle is a double-layer flexible structure, comprising an upper flexible structure and a lower flexible structure. The lower part of the lower flexible structure is connected to the inner wall of the upper flexible structure. The tentacle support includes multiple U-shaped members and one Y-shaped member, with the U-shaped members and the Y-shaped member arranged side by side at intervals. The multiple U-shaped members connect the upper part of the lower flexible structure to the inner wall of the upper flexible structure. The top end of the Y-shaped member is hinged to the upper flexible structure, and the end of the Y-shaped member is connected to the common end of the first tentacle driving link and the second tentacle driving link via a pin.

[0009] Preferably, the central power compartment includes a first flexible sheath, a first central compartment cover, a first electric push rod, a central compartment body, a second central compartment cover, a second electric push rod, a second flexible sheath, and an intermediate partition. The central compartment body is fixed to the middle of the two columns of the base, and the intermediate partition is horizontally fixed to the central compartment body. The first central compartment cover and the second central compartment cover are respectively connected to the upper and lower openings of the central compartment body. The first electric push rod is fixed to the upper side of the intermediate partition, and the free end of the first electric push rod passes through the first central compartment cover and connects to the first tentacle. A drive slider; a second electric push rod is fixed to the lower side of the intermediate partition, and the free end of the second electric push rod passes through the second central cabin cover and connects to the second tentacle drive slider; a first flexible sleeve is fitted onto the portion of the first electric push rod located outside the central cabin, and the two ends of the first flexible sleeve are respectively fixedly connected to the first tentacle drive slider and the first central cabin cover; a second flexible sleeve is fitted onto the portion of the second electric push rod located outside the central cabin, and the two ends of the second flexible sleeve are respectively fixedly connected to the second tentacle drive slider and the second central cabin cover.

[0010] Preferably, both the first flexible sheath and the second flexible sheath are corrugated cylinders made of fiber composite materials.

[0011] Preferably, the anchoring drilling device includes three anchoring components.

[0012] Preferably, the support structure is a triangular support structure, and the vertical track is a cylindrical track.

[0013] Preferably, the angle between the central axis of the anchoring ultrasonic drill and the vertical central axis of the anchoring bracket is 0° to 60°.

[0014] Preferably, the first linear telescopic drive component is a first linear motor, the second linear telescopic drive component is a second linear motor, and the third linear telescopic drive component is a third linear motor.

[0015] Preferably, the first linear motor, the second linear motor, and the third linear motor are all U-groove linear motors.

[0016] The present invention achieves the following technical effects compared to the prior art:

[0017] The seabed sampling robot of this invention includes a jellyfish-inspired swimming device, a central power unit, and an anchoring drilling device. The jellyfish-inspired swimming device resembles a jellyfish in shape. The central power unit drives the jellyfish-inspired swimming device to generate lift, enabling the seabed sampling robot to swim. The anchoring drilling device is in a retracted state during swimming. When the seabed sampling robot reaches the seabed, the first linear telescopic drive component on the outer side of the anchoring drilling device adjusts multiple anchoring ultrasonic drills to a multi-angle support state. The anchoring ultrasonic drills penetrate the seabed, anchoring the entire robot to the seabed. The drilling ultrasonic drills extend downwards to approach the seabed to conduct sampling. The rock core is broken off and retained in the hollow drill rod, which is then brought back to the surface by the seabed sampling robot. In this invention, the angle of the anchoring ultrasonic drill is adjustable, allowing the anchoring drilling device to simultaneously have two working modes: a retracted state during underwater swimming and an open state during rock bed anchoring. The appropriate anchoring angle can be adjusted according to the anchorable range of the rock bed anchoring location, which can better adapt to the complex seabed rock bed environment and provide better stability in the working state, thus solving the problem of poor adaptability to rock beds. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 is a schematic diagram of the jellyfish-like swimming device provided by the present invention;

[0020] Figure 2 is a schematic diagram of the structure of the jellyfish-like swimming device in the jellyfish-like swimming device provided by the present invention;

[0021] Figure 3 is a schematic diagram of the central power compartment in the jellyfish-like swimming device provided by the present invention.

[0022] Figure 4 is a schematic diagram of the transmission structure between the jellyfish-like swimming device and the central power compartment in the jellyfish-like swimming device provided by the present invention.

[0023] Figure 5 is a schematic diagram of the anchoring drilling device in the jellyfish-like swimming device provided by the present invention before deformation.

[0024] Figure 6 is a schematic diagram of the deformed structure of the anchoring drilling device in the jellyfish-like swimming device provided by the present invention.

[0025] Figure 7 is a partial cross-sectional view of the anchoring drilling device in the jellyfish-like swimming device provided by the present invention.

[0026] Explanation of reference numerals in the attached drawings: 1. Jellyfish-like swimming device; 101. Substrate; 102. Flexible tentacle; 103. Tentacle support; 104. First tentacle driving link; 105. Second tentacle driving link; 106. First tentacle driving slider; 107. Second tentacle driving slider; 108. Central connecting plate;

[0027] 2. Central power compartment; 201. First flexible sheath; 202. First central compartment cover; 203. First electric actuator; 204. Central compartment body; 205. Second central compartment cover; 206. Second electric actuator; 207. Second flexible sheath; 208. Intermediate partition;

[0028] 3. Anchoring drilling device; 301. Anchoring bracket; 302. Track support; 303. Vertical track; 304. First linear motor; 305. Slider connector; 306. Angle adjusting slider; 307. Angle adjusting connecting rod; 308. Anchoring ultrasonic drill; 309. Second linear motor; 310. Sampling ultrasonic drill; 311. Third linear motor; 312. Support structure. Detailed Implementation

[0029] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0030] The purpose of this invention is to provide a seabed sampling robot that can adapt well to the complex seabed rock environment and provide better stability during operation.

[0031] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0032] As shown in Figures 1-7, this embodiment provides a seabed sampling robot, including a jellyfish-like swimming device 1, a central power cabin 2, and an anchoring drilling device 3. The jellyfish-like swimming device 1 is connected to the central power cabin 2, and the central power cabin 2 is used to drive the jellyfish-like swimming device 1 to generate lift.

[0033] Anchoring drilling device 3 is located at the bottom of central power compartment 2. Anchoring drilling device 3 includes anchoring bracket 301, anchoring component angle adjustment mechanism, sampling ultrasonic drill 310 and at least three anchoring components. Multiple anchoring components are evenly distributed around anchoring bracket 301 in the circumferential direction. Anchoring components include anchoring ultrasonic drill 308 and support structure 312. One end of support structure 312 is fixed to the outer surface of anchoring bracket 301, and the other end of support structure 312 is hinged to the side of anchoring ultrasonic drill 308.

[0034] The anchoring component angle adjustment mechanism includes a first linear telescopic drive component, a slider connector 305, and a vertical track 303, an angle adjustment slider 306, an angle adjustment connecting rod 307, and two track supports 302 corresponding to each anchoring component. The upper and lower ends of the vertical track 303 are respectively fixed to the two track supports 302 on the outer surface of the anchoring bracket 301. The angle adjustment slider 306 is connected to the vertical track 303 through a linear pair. The angle adjustment slider 306 is connected to one end of the angle adjustment connecting rod 307 through a hinge. The other end of the angle adjustment connecting rod 307 is connected to the upper part of the anchoring ultrasonic drill 308 through a hinge. The first linear telescopic drive component is fixed on the outer surface of the anchoring bracket 301. The first linear telescopic drive component is used to drive the slider connector 305 to move in the vertical direction. The slider connector 305 is also fixedly connected to each angle adjustment slider 306.

[0035] The sampling ultrasonic drill 310 is located inside the anchor bracket 301 and on the vertical central axis of the anchor bracket 301. A second linear telescopic drive component and a third linear telescopic drive component are vertically fixed on the inner surface of the anchor bracket 301. The two sides of the sampling ultrasonic drill 310 are connected to the second linear telescopic drive component and the third linear telescopic drive component, respectively.

[0036] The jellyfish-like swimming device 1 includes a base 101, a first tentacle-driven slider 106, a second tentacle-driven slider 107, a central connecting plate 108, and several sets of tentacle mechanisms evenly distributed around the head of the base 101. Each tentacle mechanism includes a flexible tentacle 102, a tentacle support 103, a first tentacle driving link 104, and a second tentacle driving link 105. The base 101 includes a hemispherical head and two symmetrically fixed pillars below the hemispherical head. The first tentacle-driven slider 106 and the second tentacle-driven slider 107 are respectively fitted onto the upper and lower parts of the two pillars of the base 101 and can move linearly along the pillars. The end of the tentacle 102 is fixed to the hemispherical head of the base 101, and the tentacle support 103 is connected to the flexible tentacle 102 by a hinge; the first tentacle driving slider 106 is connected to one end of the first tentacle driving link 104 by a hinge, the second tentacle driving slider 107 is connected to one end of the second tentacle driving link 105 by a hinge, and the other end of the first tentacle driving link 104, the other end of the second tentacle driving link 105, and the tentacle support 103 are connected by a pin; the middle connecting plate 108 is fixed to the ends of the two columns of the base 101, and the top of the anchor bracket 301 is fixedly connected to the middle connecting plate 108.

[0037] Specifically, the intermediate connecting plate is fixed to the top of the anchor bracket 301 by bolts, connecting the jellyfish-like swimming device 1 and the anchor drilling device 3.

[0038] In this specific embodiment, the jellyfish-like swimming device 1 includes eight sets of tentacle mechanisms. The flexible tentacles 102 are made of flexible material and can produce a certain degree of deformation.

[0039] The flexible tentacle 102 has a double-layer flexible structure, including an upper flexible structure and a lower flexible structure. The lower part of the lower flexible structure is connected to the inner wall of the upper flexible structure. One end of the upper flexible structure of the flexible tentacle 102 is fixed to the edge of the hemispherical head of the base 101 by bolts. The flexible tentacle 102 can swing relative to the base 101.

[0040] The tentacle support 103 includes multiple U-shaped members and one Y-shaped member, which are arranged side by side at intervals. The multiple U-shaped members connect the upper part of the lower flexible structure to the inner wall of the upper flexible structure. Specifically, the two ends of the U-shaped members are hinged to the upper and lower flexible structures, respectively. The top end of the Y-shaped member is hinged to the upper flexible structure, the middle part of the Y-shaped member is hinged to the lower flexible structure, and the end of the Y-shaped member is connected to the common end of the first tentacle driving link 104 and the second tentacle driving link 105 via a pin.

[0041] In this specific embodiment, the tentacle support 103 includes two U-shaped parts and one Y-shaped part, with the Y-shaped part located between the two U-shaped parts.

[0042] The central power compartment 2 includes a first flexible sheath 201, a first central compartment cover 202, a first electric actuator 203, a central compartment body 204, a second central compartment cover 205, a second electric actuator 206, a second flexible sheath 207, and an intermediate partition 208. The central compartment body 204 is fixed to the middle of the two columns of the base 101. The intermediate partition 208 is horizontally fixed inside the central compartment body 204. The first central compartment cover 202 and the second central compartment cover 205 are respectively connected to the upper and lower openings of the central compartment body 204. The first electric actuator 203 is fixed to the upper side of the intermediate partition 208. The free end of the first electric actuator 203 passes through the first central compartment cover 202 and connects to the first contact. A hand-operated slider 106; a second electric push rod 206 is fixed to the lower side of the intermediate partition 208, and the free end of the second electric push rod 206 passes through the second central cabin cover 205 and connects to the second tentacle-driven slider 107; a first flexible sleeve 201 is fitted onto the portion of the first electric push rod 203 located outside the central cabin 204, and both ends of the first flexible sleeve 201 are fixedly connected to the first tentacle-driven slider 106 and the first central cabin cover 202, respectively; a second flexible sleeve 207 is fitted onto the portion of the second electric push rod 206 located outside the central cabin 204, and both ends of the second flexible sleeve 207 are fixedly connected to the second tentacle-driven slider 107 and the second central cabin cover 205, respectively. All connecting components of the central power compartment 2 are waterproofed.

[0043] In this embodiment, both the first flexible sheath 201 and the second flexible sheath 207 are corrugated cylinders made of fiber composite materials.

[0044] The jellyfish-inspired swimming device 1 in this embodiment has a simple structure. The first tentacle drives the slider 106, and the second tentacle drives the slider 107, which in turn drives multiple flexible tentacles 102 to oscillate in a small, regular pattern, mimicking the movement of a jellyfish and propelling the robot's overall motion. This design can resist the disturbances of ocean turbulence to a certain extent, maintaining stable navigation. The drainage action of the flexible tentacles 102 is gentle and quiet. The double-layer structure of the flexible tentacles 102 and the design of the tentacle support 103 enhance the rigidity of each individual flexible tentacle 102, improving its drainage efficiency. This biomimetic structure has the advantages of stable operation, low power consumption, and high efficiency. Its performance in terms of operational stability is superior to other biomimetic structures, solving the problem of poor diving stability in existing biomimetic robots.

[0045] In this specific embodiment, the anchoring drilling device 3 includes three anchoring components. The support structure 312 is a triangular support structure, and the vertical track 303 is a cylindrical track.

[0046] Specifically, the angle between the central axis of the anchoring ultrasonic drill 308 and the vertical central axis of the anchoring bracket 301 is 0° to 60°, which allows the anchoring ultrasonic drill 308 to have an angle adjustment range of 0° to 60°.

[0047] In this embodiment, both the anchoring ultrasonic drill 308 and the sampling ultrasonic drill 310 are designed based on the high-frequency, low-power principle of piezoelectric ultrasonic vibration, and have the advantages of small size, low power consumption and low drilling pressure.

[0048] Specifically, the first linear telescopic drive component is a first linear motor 304, and the mover of the first linear motor 304 is connected to the slider connector 305. The second linear telescopic drive component is a second linear motor 309, and the third linear telescopic drive component is a third linear motor 311. The sampling ultrasonic drill 310 is fixedly connected to the movers of the second linear motor 309 and the third linear motor 311 on both sides by bolts.

[0049] In this specific embodiment, the first linear motor 304, the second linear motor 309, and the third linear motor 311 are all U-groove linear motors.

[0050] Due to the complexity of underwater and seabed rock environments, seabed sampling robots need to have greater adaptability and flexibility. To better complete exploration and sampling tasks, they include the following movement patterns:

[0051] Underwater movement: During descent or ascent, the first linear motor 304 drives the slider connector 305 to move upward, causing the angle adjustment slider 306 to move, thereby causing the angle adjustment link 307 to swing, making the three anchoring ultrasonic drills 308 swing to a vertical position and maintain it. The first electric push rod 203 drives the first tentacle drive slider 106 to slide vertically, thereby causing the first tentacle drive link 104 to swing. The second electric push rod 206 drives the second tentacle drive slider 107 to slide vertically, thereby causing the second tentacle drive link 105 to swing, which in turn causes the flexible tentacle 102 to swing, providing lift for the whole.

[0052] Seabed rock anchoring drilling: When the submersible descends to near the seabed rock, the first linear motor 304 drives the slider connector 305 to move downward, causing the three anchoring ultrasonic drills 308 to swing simultaneously until they swing to a predetermined angle. Then, the three anchoring ultrasonic drills 308 penetrate the rock bed, and the anchoring is completed. The second linear motor 309 and the third linear motor 311 move downward simultaneously, causing the sampling ultrasonic drill 310 to extend and approach the rock bed for drilling and sampling.

[0053] As can be seen, the jellyfish-like swimming device 1 in this embodiment resembles a jellyfish in shape. The central power cabin 2 is fixed in the middle of the jellyfish-like swimming device 1, and the anchoring drilling device 3 is fixed below the jellyfish-like swimming device 1. Inside the central power cabin 2, the first electric push rod 203 and the second electric push rod 206 drive the flexible tentacles 102 on the outside of the jellyfish-like swimming device 1 to swing, thereby realizing the swimming of the seabed sampling robot. The anchoring drilling device 3 is in a retracted state when swimming. When the seabed sampling robot reaches the seabed, the first linear motor 304 on the outside of the anchoring device adjusts multiple anchoring ultrasonic drills 308 to a triangular support state. The anchoring ultrasonic drills 308 penetrate the seabed, anchoring the entire device to the seabed. The drilling ultrasonic drills extend from below to approach the seabed to carry out sampling work. The rock core is broken off and kept in the hollow drill rod, and then brought back to the surface by the seabed sampling robot. The seabed sampling robot in this embodiment has a stable and flexible biomimetic morphological structure and an efficient and highly adaptable drilling and sampling mechanism, which can flexibly adapt to complex seabed topography.

[0054] This specification uses specific examples to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of the present invention. Furthermore, those skilled in the art will recognize that, based on the ideas of the present invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A seabed sampling robot, characterized in that, The system includes a jellyfish-inspired swimming device, a central power compartment, and an anchoring drilling device. The jellyfish-inspired swimming device is connected to the central power compartment, which drives the device to generate lift. The anchoring drilling device is located at the bottom of the central power compartment and includes an anchoring bracket, an anchoring component angle adjustment mechanism, a sampling ultrasonic drill, and at least three anchoring components. Multiple anchoring components are evenly distributed circumferentially around the anchoring bracket. Each anchoring component includes an anchoring ultrasonic drill and a support structure. One end of the support structure is fixed to the outer surface of the anchoring bracket, and the other end is hinged to the side of the anchoring ultrasonic drill. The anchoring component angle adjustment mechanism includes a first linear telescopic drive component, a slider connector, and a vertical track, an angle adjustment slider, an angle adjustment link, and two track supports corresponding to each anchoring component. The vertical track... The two ends are respectively fixed to the two track supports on the outer facade of the anchoring bracket. The angle adjusting slider is engaged with the vertical track through a linear pair. The angle adjusting slider is connected to one end of the angle adjusting rod through a hinge. The other end of the angle adjusting rod is connected to the upper part of the anchoring ultrasonic drill through a hinge. The first linear telescopic drive component is fixed on the outer facade of the anchoring bracket. The first linear telescopic drive component is used to drive the slider connector to move in the vertical direction. The slider connector is also fixedly connected to each of the angle adjusting sliders. The sampling ultrasonic drill is located inside the anchoring bracket and on the vertical central axis of the anchoring bracket. The second linear telescopic drive component and the third linear telescopic drive component are vertically fixed on the inner facade of the anchoring bracket. The two sides of the sampling ultrasonic drill are respectively connected to the second linear telescopic drive component and the third linear telescopic drive component.

2. The seabed sampling robot according to claim 1, characterized in that, The jellyfish-like swimming device includes a base, a first tentacle-driven slider, a second tentacle-driven slider, a central connecting plate, and several sets of tentacle mechanisms evenly distributed around the head of the base. Each tentacle mechanism includes flexible tentacles, tentacle supports, a first tentacle driving link, and a second tentacle driving link. The base includes a hemispherical head and two symmetrically fixed pillars below the hemispherical head. The first and second tentacle-driven sliders are respectively mounted on the upper and lower parts of the two pillars of the base and can move linearly along the pillars. The flexible tentacles... The end of the tentacle is fixed to the hemispherical head of the base, and the tentacle support is connected to the flexible tentacle via a hinge; the first tentacle driving slider is connected to one end of the first tentacle driving link via a hinge, the second tentacle driving slider is connected to one end of the second tentacle driving link via a hinge, the other end of the first tentacle driving link is connected to the other end of the second tentacle driving link and the tentacle support via a pin; the middle connecting plate is fixed to the ends of the two columns of the base, and the top of the anchor bracket is fixedly connected to the middle connecting plate.

3. The seabed sampling robot according to claim 2, characterized in that, The flexible tentacle is a double-layer flexible structure, comprising an upper flexible structure and a lower flexible structure. The lower part of the lower flexible structure is connected to the inner wall of the upper flexible structure. The tentacle support includes multiple U-shaped members and one Y-shaped member, which are arranged side by side at intervals. The multiple U-shaped members connect the upper part of the lower flexible structure to the inner wall of the upper flexible structure. The top end of the Y-shaped member is hinged to the upper flexible structure, and the end of the Y-shaped member is connected to the common end of the first tentacle driving link and the second tentacle driving link via a pin.

4. The seabed sampling robot according to claim 2, characterized in that, The central power compartment includes a first flexible sheath, a first central compartment cover, a first electric actuator, a central compartment body, a second central compartment cover, a second electric actuator, a second flexible sheath, and an intermediate partition. The central compartment body is fixed to the middle of the two columns of the base. The intermediate partition is horizontally fixed to the central compartment body. The first and second central compartment covers are respectively connected to the upper and lower openings of the central compartment body. The first electric actuator is fixed to the upper side of the intermediate partition, and its free end passes through the first central compartment cover and is connected to the first tentacle drive. A slider; the second electric push rod is fixed to the lower side of the intermediate partition, and the free end of the second electric push rod passes through the second central cabin cover and is connected to the second tentacle-driven slider; the first flexible sleeve is fitted onto the portion of the first electric push rod located outside the central cabin, and the two ends of the first flexible sleeve are fixedly connected to the first tentacle-driven slider and the first central cabin cover, respectively; the second flexible sleeve is fitted onto the portion of the second electric push rod located outside the central cabin, and the two ends of the second flexible sleeve are fixedly connected to the second tentacle-driven slider and the second central cabin cover, respectively.

5. The seabed sampling robot according to claim 4, characterized in that, Both the first flexible sheath and the second flexible sheath are corrugated cylinders made of fiber composite materials.

6. The seabed sampling robot according to claim 1, characterized in that, The anchoring drilling device includes three anchoring components.

7. The seabed sampling robot according to claim 1, characterized in that, The support structure is a triangular support structure, and the vertical track is a cylindrical track.

8. The seabed sampling robot according to claim 1, characterized in that, The angle between the central axis of the anchoring ultrasonic drill and the vertical central axis of the anchoring bracket is 0° to 60°.

9. The seabed sampling robot according to claim 1, characterized in that, The first linear telescopic drive component is a first linear motor, the second linear telescopic drive component is a second linear motor, and the third linear telescopic drive component is a third linear motor.

10. The seabed sampling robot according to claim 9, characterized in that, The first linear motor, the second linear motor, and the third linear motor are all U-groove linear motors.

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