CN221418448U

CN221418448U - Lower limb structure of biped seaweed pruning robot

Info

Publication number: CN221418448U
Application number: CN202323560449.7U
Authority: CN
Inventors: 王晨; 王玲; 岳涵
Original assignee: University of Science and Technology Liaoning USTL
Current assignee: University of Science and Technology Liaoning USTL
Priority date: 2023-12-26
Filing date: 2023-12-26
Publication date: 2024-07-26
Anticipated expiration: 2033-12-26

Abstract

The utility model relates to the technical field of seaweed pruning robots, in particular to a lower limb structure of a bipedal seaweed pruning robot, which comprises a lower limb shell, wherein the lower limb shell comprises a thigh shell framework, a thigh inner side protective shell, a calf shell framework, a reversing valve waterproof shell, a thigh oil cylinder shell, a calf oil cylinder shell and a foot body, a binaural ring base is arranged on one end surface of a swinging oil cylinder, a leg hydraulic reversing valve group is arranged on the bottom end surface of a knee oil cylinder, the adaptability and the maneuverability of the bipedal seaweed pruning robot in complex underwater terrains and dense seaweed areas are improved by enhancing complex environmental adaptability and simulating a biological walking mode, the interference to the surrounding environment is reduced by reducing environmental interference, a kicking mechanism is reduced compared with propeller propulsion, the bipedal seaweed pruning robot is more suitable for precise operation, the stability and the efficiency of underwater walking are improved by optimizing underwater stability and buoyancy control of the specially designed lower limb structure and the special design, and the relevant corrosion resistance problem is relieved.

Description

Lower limb structure of biped seaweed pruning robot

Technical Field

The utility model relates to the technical field of seaweed pruning robots, in particular to a lower limb structure of a bipedal seaweed pruning robot.

Background

The utility model provides a through retrieving the current chinese patent literature with publication number CN207124968U, discloses a wired robot for shearing aquatic plant under water, including main part, saw cut mechanism, camera, water pump, water pipe, two air pumps and two air pipes, saw cut the front end of mechanism installation at the main part upper surface, the camera is installed at the front end face of main part, is equipped with the float and sink chamber in the main part, and float and sink chamber passes through the water pipe and is connected with the water pump, and the rear end face of main part is equipped with two propulsion gas pockets side by side, and two propulsion gas pockets pass through two air pipes and are connected with two air pumps, and its device has mainly relied on manual completion through the pruning of solving current aquatic plant under water, and not only efficiency is lower, still takes place the problem of personnel drowned accident easily.

Propulsion systems for conventional underwater robots, most of which use propellers or jet propellers to achieve underwater movement. These systems are designed to provide efficient linear propulsion, four-or multi-legged robots in the field of land robots using mechanical structures similar to animal walking, but mainly for solid ground and not underwater environments, in complex underwater environments such as seaweed dense areas or complex terrains, where the propellers are susceptible to blockage or damage, where the currents generated by the propellers may interfere with the surrounding environment, especially in delicate operations such as seaweed trimming, where the propeller system may lift the bottom sediment when operating near the bottom, affecting visibility, these robots are typically designed for land environments where efficiency and stability are limited, where four-legged or multi-legged robots face challenges in terms of underwater buoyancy control and center of gravity balance, such robots may lack design optimization for specific conditions such as hydrodynamic resistance, brine corrosion.

Disclosure of utility model

The technical problem to be solved by the utility model is to overcome the defects of the prior art, provide a lower limb structure of a bipedal seaweed pruning robot, aim at solving the problems that seaweed dense areas or complex terrains are easy to block or damage, water currents generated by the propellers can cause interference to surrounding environments, particularly in precision operations such as seaweed pruning, the propeller system can lift bottom sediments when operating near the bottom to influence visibility, the robots are usually designed for land environments, the efficiency and stability of the robots in underwater environments are limited, the four-foot or multi-foot robots face challenges in the aspects of underwater buoyancy control and gravity center balance, and the robots can lack technical problems of design optimization for underwater specific conditions such as hydrodynamic resistance and brine corrosion.

In order to solve the technical problems, the utility model provides the following technical scheme:

the utility model relates to a lower limb structure of a biped seaweed pruning robot, which comprises a lower limb shell, wherein the lower limb shell comprises a thigh shell skeleton, a thigh inner side protective shell, a shank shell skeleton, a reversing valve waterproof shell, a thigh oil cylinder shell, a shank oil cylinder shell and a foot body, an oil pipe is arranged on one side of the thigh shell skeleton, a knee oil cylinder is arranged on the inner side of the thigh oil cylinder shell, a thigh oil cylinder piston rod is arranged on the inner side of the thigh oil cylinder shell, a fixing seat is arranged at the top end of the thigh oil cylinder piston rod, a swinging oil cylinder is arranged on one end surface of the fixing seat, a binaural ring base is arranged on one end surface of the swinging oil cylinder, a leg hydraulic reversing valve group is arranged on the bottom end surface of the knee oil cylinder, a knee joint thigh connecting rod is arranged on one end of the leg hydraulic reversing valve group, a knee joint shank connecting rod is arranged on the top end of the knee joint shank connecting rod, a shank oil cylinder piston rod is arranged on the inner side of the end of the shank oil cylinder shell, a foot pad body is arranged on the inner side, a foot pad bottom end membrane is arranged on the foot pad body, a carbon pad body is arranged on the bottom end surface of the foot pad body, and a rubber pad is arranged on the bottom end surface of the foot pad body.

As a further description of the above technical solution:

The thigh shell skeleton, the thigh inner side protective housing and the shank shell skeleton are all composed of carbon fiber composite layers, the reversing valve waterproof shell is made of stainless steel, and a waterproof shell top cover is arranged on one side of the reversing valve waterproof shell and is fixedly connected through a fixing bolt.

As a further description of the above technical solution:

The thigh cylinder shell, the shank cylinder shell and the foot body are all formed by aluminum profiles, and the thigh inner side protective shell and the oil pipe are fixedly connected through fixing bolts and comprise an upper outlet and a lower outlet.

As a further description of the above technical solution:

The thigh oil cylinder shell is fixedly connected with the knee joint oil cylinder through a pin shaft, the thigh oil cylinder shell is fixedly connected with the thigh oil cylinder piston rod through a connecting rod pin shaft, the thigh oil cylinder piston rod is fixedly connected with the fixing seat through a revolute pair, and a pin shaft is arranged on the inner side of the revolute pair.

As a further description of the above technical solution:

The fixing seat is fixedly connected with the swing oil cylinder and the double-lug-ring base through two groups of base bearings and oil cylinder fixing pin shafts, the swing oil cylinder and the double-lug-ring base are all formed by aluminum profiles, and the leg hydraulic reversing valve group and the knee joint thigh connecting rod are fixedly connected through connecting rod bolts.

As a further description of the above technical solution:

The knee joint shank connecting rod and the shank oil cylinder piston rod are movably connected, the knee joint shank connecting rod and the shank oil cylinder piston rod are arranged in two groups, the shank oil cylinder piston rod and the foot body are fixedly connected through a revolute pair, and a pin shaft and an end fish eye bearing are fixedly connected on the inner side of the revolute pair.

The utility model has the following beneficial effects:

In the utility model, the adaptability and maneuverability of complex underwater topography and dense seaweed areas are improved by enhancing the adaptability of complex environments and simulating the biological walking mode, the interference to the surrounding environment is reduced by a water kicking mechanism compared with propeller propulsion by reducing the environmental interference, the water kicking mechanism is more suitable for precise operation, the stability and efficiency of underwater walking are improved by optimizing the stability and efficiency of underwater, and the stability and efficiency of underwater walking are improved by controlling the special designed lower limb structure and buoyancy, and the hydrodynamic resistance and related corrosion resistance problems are reduced.

Drawings

The accompanying drawings are included to provide a further understanding of the utility model and are incorporated in and constitute a part of this specification, illustrate the utility model and together with the embodiments of the utility model, serve to explain the utility model. In the drawings:

FIG. 1 is a schematic view of the overall structure of the present utility model;

FIG. 2 is an exploded schematic view of the overall structure of the present utility model;

FIG. 3 is a schematic cross-sectional view of the overall structure of the present utility model;

FIG. 4 is a schematic overall elevational view of the present utility model;

FIG. 5 is a schematic diagram of the overall right-view mechanism of the present utility model;

In the figure: 1. thigh shell skeleton; 2. a thigh inner protective shell; 3. a lower leg shell skeleton; 4. waterproof shell of reversing valve; 6. thigh cylinder housing; 7. a lower leg cylinder housing; 8. a foot body; 9. an oil pipe; 10. a knee joint cylinder; 11. a thigh cylinder piston rod; 12. a fixing seat; 13. swinging the oil cylinder; 14. a binaural ring base; 15. leg hydraulic reversing valve group; 16. knee joint thigh link; 17. knee joint shank link; 1701. a knee joint oil cylinder piston rod; 18. a shank cylinder piston rod; 19. a fin; 20. a carbon drill sheet; 21. an anti-slip rubber sheet; 22. and a revolute pair.

Detailed Description

The preferred embodiments of the present utility model will be described below with reference to the accompanying drawings, it being understood that the preferred embodiments described herein are for illustration and explanation of the present utility model only, and are not intended to limit the present utility model.

Wherein like reference numerals refer to like elements throughout.

Example 1

Referring to fig. 1-5, one embodiment provided by the present utility model is: the utility model provides a biped seaweed pruning robot's lower limb structure, including the lower limb casing, the lower limb casing includes thigh shell skeleton 1, thigh inboard protective housing 2, shank shell skeleton 3, switching-over valve waterproof housing 4, thigh hydro-cylinder shell 6, shank hydro-cylinder shell 7 and sufficient 8, thigh shell skeleton 1 one side is provided with oil pipe 9, thigh hydro-cylinder shell 6 inboard is provided with knee joint hydro-cylinder 10, thigh hydro-cylinder shell 6 inboard is provided with thigh hydro-cylinder piston rod 11, thigh hydro-cylinder piston rod 11 top is provided with fixing base 12, fixing base 12 one end surface is provided with swing hydro-cylinder 13, swing hydro-cylinder 13 one end surface is provided with binaural ring base 14, knee joint hydro-cylinder 10 bottom surface is provided with shank hydraulic switching-over valves 15, shank hydraulic switching-over valves 15 one end surface is provided with knee joint thigh connecting rod 16, knee joint thigh connecting rod 16 one end is provided with knee joint shank connecting rod 17, knee joint shank connecting rod 17 top is provided with knee joint hydro-cylinder piston rod 1701, shank hydro-cylinder shell 7 tip inboard is provided with shank hydro-cylinder 18, sufficient 8 inboard is provided with foot web 19, foot web 19 bottom membrane 20 is provided with carbon-dimensional body 8 bottom end face-mount piece 21 and bottom face-up device 8 are provided with rubber piece 8, bottom face-mount piece 21 is provided with and foot support piece 8 bottom face-piece.

The thigh shell skeleton 1, the thigh inner side protective housing 2 and the shank shell skeleton 3 are all composed of carbon fiber composite layers, the reversing valve waterproof shell 4 is composed of stainless steel materials, a waterproof shell top cover is arranged on one side of the reversing valve waterproof shell 4, and the reversing valve waterproof shell top cover is fixedly connected through a fixing bolt.

The thigh cylinder shell 6, the shank cylinder shell 7 and the foot body 8 are all formed by aluminum profiles, the thigh inner side protective shell 2 and the oil pipe 9 are fixedly connected through fixing bolts, and the oil pipe 9 comprises an upper outlet and a lower outlet.

The thigh cylinder shell 6 and the knee joint cylinder 10 are fixedly connected through a pin shaft, the thigh cylinder shell 6 and the thigh cylinder piston rod 11 are fixedly connected through a connecting rod pin shaft, the thigh cylinder piston rod 11 and the fixed seat 12 are fixedly connected through a revolute pair 22, and a pin shaft is arranged on the inner side of the revolute pair 22.

The fixed seat 12 is fixedly connected with the swing oil cylinder 13 and the double-lug-ring base 14 through two groups of base bearings and oil cylinder fixing pin shafts, the swing oil cylinder 13 and the double-lug-ring base 14 are all formed by aluminum profiles, and the leg hydraulic reversing valve group 15 and the knee joint thigh connecting rod 16 are fixedly connected through connecting rod bolts.

The knee joint shank connecting rod 17 and the shank oil cylinder piston rod 18 are movably connected, two groups of the knee joint shank connecting rod 17 and the shank oil cylinder piston rod 18 are arranged, the shank oil cylinder piston rod 18 and the foot body 8 are fixedly connected through a revolute pair 22, and a pin shaft and an end fish eye bearing are fixedly connected on the inner side of the revolute pair 22.

Specifically, the lower limb structure of the bipedal seaweed pruning robot is used for controlling the movement of the hip joint of the robot through a swinging oil cylinder 13 and a fixed seat 12, the fixed seat 12 is arranged at the hip joint part of the robot and fixes the swinging oil cylinder 13 at a proper position, the binaural ring base 14 is arranged at the hip joint part through two bearings of the binaural ring base 14 and the binaural ring base to provide a rotating supporting point, the bearings ensure the smooth movement of the hip joint, the thigh shell framework 1 and the thigh inner protective shell 2 form a main structure of the thigh part, the thigh inner protective shell 2 is arranged at the inner side of the thigh shell framework 1 to provide additional protection and support, the reversing valve waterproof shell 4 is used for protecting the hydraulic reversing valve from the influence of underwater environment through the reversing valve waterproof shell top cover, the reversing valve is arranged in a 6-way hydraulic way, the top cover is arranged on the reversing valve waterproof shell 4, the tightness of all joints is ensured, the revolute pair 22 is arranged at the ankle of a robot through the revolute pair 22 and the foot body 8 so as to realize flexible rotation of the foot, the foot body 8 is assembled to the revolute pair 22 so as to provide the support required by the robot when walking, the whole reversing valve waterproof shell 4 is arranged as two revolute pairs 22, is divided into a hip joint revolute pair and an ankle joint revolute pair, is arranged at the bottom of the foot body 8 through the anti-skid rubber sheet 22, The combination and the installation mode of the parts ensure the high-efficiency movement and stability of the robot together, and particularly when seaweed pruning operation is carried out in a complex underwater environment, each component direct connection part of the bipedal seaweed pruning robot comprises a revolute pair pin shaft, two binaural ring base bearings, a binaural ring base oil cylinder fixing pin shaft, three fish eye bearings, a revolute pair bearing, a waterproof shell top cover fixing bolt, a connecting rod pin shaft, an oil cylinder pin shaft, a knee joint pin shaft, a shank ankle joint pin shaft, an ankle joint pin shaft, a shank oil cylinder pin shaft and a shank oil cylinder pin shaft. Lower limb structural layout: the robot leg is provided with a spiral swinging oil cylinder and 5 double-acting piston cylinders, wherein the swinging oil cylinders 13 are arranged on an aluminum section frame and are connected to a hip joint through a clamp to realize movement of the hip joint pitch shaft, and a main structural framework of the thigh assembly is formed by welding steel pipes and steel plates. The knee joint has a four bar linkage and piston cylinder with motion angle amplifying function, which are the same size as the control ankle joint and are used to provide pitch and roll motion of the hip joint. These piston cylinders have an extension length of 420mm and a stroke of 100mm. The design of the thigh shell adopts a bionic L-shaped structure, so that the shielding of a four-bar pin shaft is reduced to the maximum extent, the flexion and extension range of the knee joint is improved, and the height of the robot for completely squatting is reduced. The terminal C point of four connecting rods is installed on the rotation axis of parallelly connected piston pneumatic cylinder to simplify the structure, lighten weight, and reduce trouble and maintenance frequency, in order to practice thrift the space, trim focus, the thigh skeleton outside is steel sheet box-type space, internally mounted two sets of 6 way steering engine controlled manual hydraulic reversing valves, and three pneumatic cylinders of the thigh assembly adopt concentrated opposite layout, avoid hydraulic oil pipe to expose and reduce impaired risk. The shell framework is welded by a weight-reducing steel pipe, and a bearing is arranged at the pin shaft to ensure strength and reduce inertia, and the lower leg assembly is formed by a machine body shell and an ankle joint which are connected in parallel and double-acting piston hydraulic cylinder and is connected to the foot assembly. The parallel hydraulic cylinders simulate the muscle structure of the lower leg according to the design of human bionics, and control dorsiflexion and plantarflexion of the ankle joint. The diameter of the hydraulic cylinder is 40mm, the stroke is 100mm, and the fully extended length is 480mm. The other end of the hydraulic cylinder is provided with a self-lubricating NSK rod end fish eye bearing, allowing a certain degree of rotational freedom while maintaining a fixed contact point. Each hydraulic cylinder has three revolute pairs 22, and the ankle joint adopts a dislocation axis design to realize a larger dorsiflexion angle in a limited space. The foot design is light and handy, adopts flat structure, keeps necessary parallelly connected piston hydraulic cylinder and ankle joint roll bearing frame. The foot body 8 structure uses thick powder aluminum to print and adapt to the shape of the universal flipper 19, the sole is provided with the anti-skid rubber sheet 21 carved with lines through screws so as to improve the movement efficiency, the whole body can be enhanced in underwater adaptability, the invention provides a more natural moving mode by simulating the skeletal muscle structure of the lower limbs of the human, so that the robot can move more flexibly and stably in complex underwater environments such as seaweed dense areas, the high-efficiency maneuverability is realized, the bipedal structure is matched with bionic design, the robot is allowed to quickly adjust the gesture and the direction, and the robot is particularly suitable for environments requiring accurate operation such as seaweed pruning; The interference to the environment is reduced, the traditional propeller propulsion system possibly disturbs the underwater ecology, and the flipper 19 adopted by the invention is milder in water kicking mode, so that the interference to the surrounding environment is reduced, and the system is particularly suitable for ecologically sensitive areas; the invention can accurately control the movement of each joint by combining a four-bar mechanism and a hydraulic system, thereby improving the accuracy and efficiency of trimming operation; the maintenance cost is reduced, the traditional propeller is easy to be blocked or damaged by submarine sundries, and the design of the invention reduces the risk, so that the maintenance requirement and the cost are reduced; the weight and buoyancy are optimized, and through reasonable weight distribution at the thigh part and light weight design of the thin-wall pipe frame, better buoyancy control and gravity center balance are realized, and the underwater stability and efficiency are improved; The invention meets the requirements of ecological protection and sustainable development better due to the characteristics of environmental friendliness and sustainability, bionic design and environmental interference reduction. The lower limb structure of the biped seaweed pruning robot adopts an innovative bionic patella four-bar design in a biped walking structure through the bionic patella four-bar design. This design utilizes a double acting hydraulically driven joint to convert linear displacement into rotational output of the joint. The linear hydraulic cylinder has the characteristics of strong output force, simple structure and lower cost, and becomes a core part of the design. However, the travel of the piston is limited and it is not possible to connect all joints by means of a conventional lever. Motion amplification function: to overcome this limitation, the project team introduced a four bar linkage to achieve the articulation magnification function. The introduction of this mechanism enables a piston cylinder with a stroke of only 11cm to achieve a wide range of motion of 70 to +180° on the knee joint pitch. Bionic advantage: the design simulates the knee joint structure of living things in nature, so that the robot can walk more stably and efficiently. The bionic patella four-bar design not only improves the flexibility and adaptability of the robot during walking, but also enhances the operation capability of the robot in a complex underwater environment. Through the reasonable distribution of weight, the thighs bear the main weight to reduce the gravity center, and simulate the fat distribution of a human body: when designing an intelligent bionic seaweed Lin Xiujian robot, a project team adopts a unique method to position the center of gravity of the robot and imitate the distribution of human body fat. This design not only provides additional stability, but also maintains the neutral buoyancy of the robot in the water. This design makes the swimming of the robot in the water smoother and more natural. Lowering the center of gravity: in order to lower the overall center of gravity and improve the stability during operation, the heaviest parts of the robot, two groups of 6-way hydraulic reversing valves are skillfully arranged on the outer sides of thighs. This weight distribution not only lowers the centre of gravity of the robot and thus reduces the risk of tipping, but also improves the stability when working in water. Increase stability: by carefully considering the position of the center of gravity, the design significantly enhances the stability of the robot when performing various actions, and effectively avoids the destabilization condition in water. The design thought not only embodies the deep understanding of the bionic principle, but also demonstrates the great potential of engineering innovation in improving the performance of the underwater robot. The light-weight and performance improvement is realized through the floating-increasing design of the thin-wall pipe frame, and the light-weight framework design is realized: in the leg skeleton design of the kelp pruning robot, an innovative lightweight method is adopted by project teams. By using the generative AI modeling design and steel pipe welding techniques, the weight of the skeleton is significantly reduced. The method not only improves the maneuverability of the robot, but also reduces the overall energy consumption, so that the operation of the robot under water is more efficient. Increasing buoyancy: in order to further improve the performance of the robot, the inside of the skeleton is filled with PVC materials to increase buoyancy. The design not only maintains enough structural strength, but also further improves the stability and underwater maneuverability of the robot by increasing buoyancy. Significant weight loss: this thin-walled tube rack design provides a 74% weight reduction of the individual parts as compared to the sheet design used in the second iteration of the project. The significant weight reduction not only improves the operating efficiency of the robot, but also provides greater flexibility and durability for long-term operation of the robot under water.

The operation process of the lower limb structure mechanical leg of the biped seaweed pruning robot comprises the following steps: in the operation process, an operator pushes the forward control rod, the control system sends an instruction to execute a preset action group according to task requirements, and the pwm steering engine receives signals to control the reversing valve and the hydraulic cylinder to drive the joint to move. The four-bar linkage converts the linear motion of the hydraulic cylinder into the rotary motion of the joint, so that the leg swings up and down to be matched with the flipper 19 to kick water, and the flipper can flexibly move on complex seabed topography. The foot design ensures stability and reliability over different terrains, allowing the robot to perform seaweed pruning operations stably and quickly.

The lower limb structure assembling process of the biped seaweed pruning robot comprises the following steps: firstly, fixing a main body frame of a robot on a workbench, inserting a swing oil cylinder 13 fixing seat 12 into the workbench along an aluminum profile slideway of the robot frame, and fixing the swing oil cylinder by bolts. The back of the antiskid rubber sheet 21 is uniformly coated with special glue for shoes, the special glue is adhered to the bottom of the foot body 8, after the special glue is dried, the holes of the revolute pair 22 are aligned to the grooves on the back of the foot, and the ankle foot pin shaft penetrates into the grooves and is fixed by the clamping ring. And then the fish eye bearings at the rod ends of the calf cylinders are respectively screwed on the threads at the top ends of the piston rods 18 of the calf cylinders, and are screwed by using a wind cannon. Then the fisheye bearing at the rod end of the calf cylinder is aligned with the middle of the left and right bearing seats at the middle part of the foot body 8, the fixing pin shaft of the calf cylinder foot is inserted, the fixing pin is fixed by a snap ring, the shaft hole at the lower end of the calf shell framework 3 is aligned with the two bearing holes at the upper end of the revolute pair 22, the ankle revolute pair 22 is clamped between the calf shell frameworks 3, the ankle pin shaft is inserted, the fixing pin is fixed by a snap ring, the shaft hole at the lower end of the thigh shell framework 1 is aligned with the shaft hole at the upper end of the calf shell framework 3, the shaft hole is clamped in the middle, the bearing hole at the tail end of the calf cylinder shell 7 is aligned with the overlapped shaft hole, and finally the knee pin shaft is inserted, and the fixing pin is fixed by a snap ring. The default cylinder is assembled, the bearing hole at the lower end of the knee joint shank connecting rod 17 is aligned with the bearing hole at the rear part of the shank shell skeleton 3, and then a shank connecting rod pin shaft is inserted and fixed by a clamping ring. And then the connecting rod pin shaft of the knee joint oil cylinder 10 is inserted into the bearing hole at the lower end of the knee joint thigh connecting rod 16, the upper end bearing hole of the knee joint shank connecting rod 17 and the top end bearing hole of the piston rod of the knee joint oil cylinder 10, at the moment, the lower end bearing hole is clamped outside the rod end bearing hole, and the upper end bearing hole is clamped outside the bearing hole at the lower end of the knee joint thigh connecting rod 16. Then the upper end bearing holes of the knee joint thigh connecting rod 16, the bearing holes of the two thigh cylinder shells 6 are aligned, and the bearing holes on the lower end of the thigh shell framework 1 are aligned, the thigh cylinder pin shaft is inserted, and the knee joint thigh connecting rod 16 is fixed by the snap ring, and at the moment, the upper end bearing holes of the knee joint thigh connecting rod 16 are positioned between the bearing holes of the two thigh cylinder shells 6. and the screw holes of the carbon fiber protective shell on the inner side of the thigh are aligned with the screw holes of the thigh shell skeleton 1 one by one, and 9 fixing bolts of the carbon fiber protective shell on the inner side of the thigh are installed. Preparing a leg hydraulic reversing valve group 15, aligning screw holes at the bottom of a valve block of the leg hydraulic reversing valve group with screw holes in a reversing valve waterproof shell 4, and discharging a hydraulic hose from an oil pipe 9 of a protective shell; and the lower outlet of the oil pipe 9 of the protective shell penetrates out, a screw hole of the top cover of the reversing valve waterproof shell 4 is aligned with a screw hole of the reversing valve waterproof shell 4, and the reversing valve waterproof shell 4 is fixed by a top cover fixing bolt. The shaft hole of the knee joint oil cylinder 10 is aligned with the shaft hole at the back of the upper part of the thigh shell framework 1, and is inserted into the pin shaft of the knee joint oil cylinder 10 and fixed by a snap ring. Then, the two hip joint revolute pairs 22 are arranged in the left bearing hole and the right bearing hole of the hip joint revolute pair 22, then the bearings are aligned with the shaft holes in front of the upper end of the thigh shell framework 1, the pin shafts of the hip joint revolute pairs 22 are inserted, and the fixing is achieved through the clamping rings. The hip joint double-lug ring bearing is installed into a bearing hole reserved in the double-lug ring base 14, the bearing hole is aligned with an upper end shaft hole of the hip joint rotating pair 22, a pin shaft of the hip joint rotating pair 22 is inserted, the pin shaft is fixed by a clamping ring, then the two thigh cylinder rod end fisheye bearings are respectively screwed on top threads of two piston rods, the two thigh cylinder rod end fisheye bearings are screwed by a wind cannon, the bearing hole is aligned with a front end earring shaft hole of the double-lug ring base 14, the bearing hole is inserted into the hip joint double-lug ring base 14, finally screw holes of a side swinging cylinder clamping ring are aligned with screw holes at the upper end and the lower end of the hip joint spiral swinging cylinder 13, and the screw bolt is screwed and fixed.

Working principle: before the robot is launched, the feet are provided with a fin 19 and a carbon fiber sheet. The operator pushes the remote controller rocker forwards to send a forward command, the robot control board receives signals to open and execute a programmed preset action group, the control board sends commands to the hydraulic reversing valve group 15 at 73 and the legs, and the motor of the valve group controls the flow direction of hydraulic oil, so that 6 hydraulic action actuators work cooperatively to simulate the swimming action of the two legs of a human and kick the flipper 19 to move forward. The swing cylinder 13 controls the movement of the hip joint yaw axis, the thigh cylinder rod end fisheye bearing, the thigh cylinder piston rod 11, the thigh cylinder housing 6, controls the movement of the hip joint roll axis when working (one in and one out), and controls the movement of the hip joint pitch axis when working (simultaneously in and out), and the knee joint cylinder 10 controls the movement of the knee joint pitch axis (calf flexion and extension). The two calf cylinder shells 7, the two calf cylinder piston rods 18, the calf cylinder rod end fish eye bearings and the calf cylinder rod end fish eye bearings are together, and when working (one in and one out), the motions of the ankle joint roll shaft (left and right swing of the sole) are controlled, and meanwhile, the motions of the ankle joint pitch shaft (lifting and falling of the sole) are controlled during working (simultaneous in and out), so that seaweed pruning work is performed.

Finally, it should be noted that: the foregoing description is only a preferred embodiment of the present utility model, and the present utility model is not limited thereto, but it is to be understood that modifications and equivalents of some of the technical features described in the foregoing embodiments may be made by those skilled in the art, although the present utility model has been described in detail with reference to the foregoing embodiments. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present utility model should be included in the protection scope of the present utility model.

Claims

1. The utility model provides a lower limb structure of biped seaweed pruning robot, includes the low limbs casing, its characterized in that, the low limbs casing includes thigh shell skeleton (1), thigh inboard protective housing (2), shank shell skeleton (3), switching-over valve waterproof housing (4), thigh hydro-cylinder shell (6), shank hydro-cylinder shell (7) and sufficient body (8), thigh shell skeleton (1) one side is provided with oil pipe (9), thigh hydro-cylinder shell (6) inboard is provided with knee joint hydro-cylinder (10), thigh hydro-cylinder shell (6) inboard is provided with thigh hydro-cylinder piston rod (11), thigh hydro-cylinder piston rod (11) top is provided with fixing base (12), fixing base (12) one end surface is provided with swing hydro-cylinder (13), swing hydro-cylinder (13) one end surface is provided with binaural ring base (14), knee joint hydro-cylinder (10) bottom surface is provided with shank hydro-reversing valve group (15), shank hydro-reversing valve group (15) one end surface is provided with knee joint thigh connecting rod (16), knee joint thigh hydro-cylinder (16) one end is provided with knee joint hydro-cylinder (17), leg hydro-cylinder (17) inboard leg hydro-cylinder (17) top is provided with piston rod (1706), the novel foot pedal is characterized in that the inner side of the foot pedal body (8) is provided with a foot web (19), a carbon brazing sheet (20) is arranged at the bottom mounting film of the foot web (19), an anti-slip rubber sheet (21) is arranged on the bottom surface of the foot pedal body (8), and a revolute pair (22) is arranged at the bottom end of the fixed seat (12) and the top end of the foot pedal body (8).

2. The lower limb structure of the biped seaweed pruning robot according to claim 1, wherein the thigh shell skeleton (1), the thigh inner side protective shell (2) and the calf shell skeleton (3) are all composed of carbon fiber composite layers, the reversing valve waterproof shell (4) is composed of stainless steel materials, and a waterproof shell top cover is arranged on one side of the reversing valve waterproof shell (4) and is fixedly connected through fixing bolts.

3. The lower limb structure of the bipedal seaweed pruning robot of claim 1, wherein the thigh cylinder shell (6), the shank cylinder shell (7) and the foot body (8) are all formed by aluminum profiles, the thigh inner protective shell (2) and the oil pipe (9) are fixedly connected through fixing bolts, and the oil pipe (9) comprises an upper outlet and a lower outlet.

4. The lower limb structure of the bipedal seaweed pruning robot of claim 1, wherein the thigh cylinder housing (6) and the knee joint cylinder (10) are fixedly connected through a pin shaft, the thigh cylinder housing (6) and the thigh cylinder piston rod (11) are fixedly connected through a connecting rod pin shaft, the thigh cylinder piston rod (11) and the fixing seat (12) are fixedly connected through a revolute pair (22), and a pin shaft is arranged on the inner side of the revolute pair (22).

5. The lower limb structure of the bipedal seaweed pruning robot of claim 1, wherein the fixed seat (12) is fixedly connected with the swinging oil cylinder (13) and the double-lug-ring base (14) through two groups of base bearings and oil cylinder fixing pins, the swinging oil cylinder (13) and the double-lug-ring base (14) are all formed by aluminum profiles, and the leg hydraulic reversing valve group (15) and the knee joint thigh connecting rod (16) are fixedly connected through connecting rod bolts.

6. The lower limb structure of the biped seaweed pruning robot according to claim 1, wherein the knee joint lower leg connecting rod (17) and the lower leg oil cylinder piston rod (18) are movably connected and are arranged in two groups, the lower leg oil cylinder piston rod (18) and the foot body (8) are fixedly connected through a revolute pair (22), and a pin shaft and an end fish eye bearing are fixedly connected on the inner side of the revolute pair (22).