CN113119137A

CN113119137A - Amphibious multi-foot flexible tail bionic robot

Info

Publication number: CN113119137A
Application number: CN202110397815.8A
Authority: CN
Inventors: 尹小林; 梁旭
Original assignee: Changsha Zichen Technology Development Co Ltd
Current assignee: Changsha Zichen Technology Development Co Ltd
Priority date: 2021-04-13
Filing date: 2021-04-13
Publication date: 2021-07-16

Abstract

An amphibious multi-foot flexible tail bionic robot comprises a main body, bionic legs and a bionic tail, and has amphibious movement and the functions of replacing personnel to hide, reconnaissance and fight, wherein the bionic legs and the bionic tail are respectively and mechanically connected with and electrically connected with the main body, the bionic legs are in one pair or multiple pairs, and the bionic tail comprises an elastic main rib, a tail power module fixed on the elastic main rib, a force transmission device, middle section devices arranged on the elastic main rib at intervals, and a tail section device fixed at the tail end of the elastic main rib; the amphibious robot has an amphibious design with land, water and underwater motion functions and a fighting function, has more excellent environmental adaptability and wider application field compared with other types of amphibious robots, and can replace personnel to perform all-weather and high-reliability search and rescue, latency, information collection, monitoring, reconnaissance and confrontation.

Description

Amphibious multi-foot flexible tail bionic robot

Technical Field

The invention relates to a bionic robot, in particular to an amphibious multi-foot flexible tail bionic robot.

Background

With the continuous development of the ocean science research in the various ocean forcing countries and the increasing importance on the ocean military safety, the environmental monitoring, scientific research, military application and other related technologies of land, island and peripheral ocean areas become one of the key points of the research in recent years. The characteristics of the amphibious robot that is all-weather and suitable for severe environment become a hot topic of research.

In the prior art, amphibious robots have many forms, but the amphibious forms which can be submerged underwater are few due to the fact that amphibious movement is carried out on land and on the water surface.

The CN110001320A discloses an amphibious robot with a combination of wheels and single-section support legs, and the CN102050162B discloses a wheel-paddle-leg type amphibious robot, which have the disadvantages that firstly, in sandy and rugged environment, the walking efficiency is low, and secondly, the moving speed in water is slow.

CN104773042B discloses an amphibious robot with a deformable structure, which adopts a movement executing mechanism combining joint legs and wheels, and has the defects that firstly, a motor on feet is close to the ground, the motor is easy to damage in an island and reef environment where a riprap is erected, secondly, the wheel-type feet crawl with low efficiency in the rugged and steep environment, and thirdly, the amphibious robot is not flexible enough to move in water.

CN110154657A discloses an amphibious robot suitable for special terrain, which uses a foot-type motion actuator to place a buoy providing buoyancy on the foot, and uses a fan to provide motion power of the robot on the water surface, and has the defect that the buoy is easy to be damaged in a land environment with sharp stones.

All the above forms have no function of diving under water.

CN110843439A discloses an amphibious double-ball robot, which uses two balls to realize amphibious movement, can be submerged under water, and has good stability in water.

CN208867805U discloses an amphibious robot with combined motion of two directional propellers, which can move in the environment of swamp, sand, etc., and can submerge under water, and has the disadvantages of low speed and greatly limited motion in rugged land environment.

CN110626132A discloses an amphibious robot, which adopts PVDF material as walking brackets, and arranges films between the walking brackets, and utilizes the electrical property of PVDF to deform the walking brackets, thereby forming a foot-like motion. The defects that the walking and swimming speed of the robot is very low due to the small deformation of the PVDF material, the walking is difficult in the rugged land environment, and the large and heavy robot cannot be adapted to the mode.

All the above amphibious robots have no attack defense function against enemy units and dangerous organisms and a battle countermeasure function against land, water surface or underwater environment, and have great limitation in the application of civil and military fields.

At present, there are many researches on the bionic tail, but in the prior art, the swing direction of the bionic tail is greatly limited.

CN1256259C discloses a flexible propulsion mechanism of bionic robot fish, which adopts two motors to respectively tighten and loosen steel wire ropes on two sides of a fish tail fin to control the flexible swing of the fish tail, and the steel wire ropes pass through a limiting hole. The steel wire rope limiting mechanism has the advantages that firstly, the friction between the steel wire rope and the limiting hole is large, the force transmission efficiency is reduced, secondly, the structure can only swing in two directions, and the movement mode is simple.

CN2811163Y discloses a mechanical transmission device of a fish tail-like propulsion system, which adopts a motor to drive a worm gear and worm pair to drive an eccentric wheel, a sliding frame, a pull rod and an L-shaped swing rod to swing, and simultaneously fixes a half gear to force a transmission gear set to drive the swing rod to rotate, wherein the tail end of the swing rod is provided with a spring piece and a tail fin to form rapid flexible swing. The defect is that the swing in two directions is only needed, and the radian of the bend cannot be adjusted in real time.

CN100431919C discloses an electromagnetic drive multi-joint bionic fishtail propelling device and a bionic snake-shaped mobile robot disclosed in CN109877817A, wherein a plurality of sections of modules provided with electromagnetic devices are elastically connected, and bending motion is generated through electromagnetic attraction. The electromagnetic device has the defects that the power consumption of the electromagnetic device is large, the bending radian of the structure is small, and the bending radian cannot be adjusted in real time.

CN107161307B discloses a torsional spring cluster bionic fish tail oar suitable for ships and light boats, adopts a plurality of torsional springs to connect into a cluster transmission power, makes the tail carry out the flexibility swing. The two-way valve has the defects that the force is smaller towards the tail end, the whole movement is passive and is greatly influenced by the flow velocity of external fluid, and the movement is only in two directions.

CN112296990A discloses a bionic sea snake robot based on rope traction, which adopts a mode that multiple sections are matched with flexible rods and each section is provided with a driving unit, and realizes the motion of bending to imitate a snake by using a pull wire between the driving units. The robot has the advantages that firstly, the rope is fixedly connected with each section, the risk that one rope cannot be bent due to the fact that the rope is tensioned and the rope opposite to the rope is loosened asynchronously is avoided, secondly, each section is provided with the driving device, the weight is increased, the power consumption is increased, and the short plate limiting the length of the robot is particularly obvious under the suspension working condition.

CN111113390A discloses a bionic snake-shaped robot and a method, wherein rigid joints are adopted and connected through universal joints, and each joint is controlled by a separate stay wire to realize bending motion through controlling the stay wire. CN110154009B discloses a bionic snake-like robot which adopts the same bending form. The universal joint type wire drawing machine has the advantages that firstly, the risk that the wire drawing motion cannot be bent exists when the wire drawing motion is out of synchronization, secondly, the universal joint is used for connection, bending in any direction cannot be achieved, and azimuth motion forming an included angle with the motion direction of the universal joint is not smooth, thirdly, a direct perforation mode is adopted, and friction is large.

In conclusion, in the prior art, the amphibious robot which can adapt to the rugged land environment of riprap forest and can rapidly move on the water surface and under the water and the bionic tail which has low energy consumption, adjustable amplitude and can swing in any direction are not reported, and the amphibious robot which has the functions of replacing personnel for reconnaissance, hiding and whistle and carrying out physical and energy attack on enemy units and dangerous organisms is not related to relevant data.

Disclosure of Invention

The invention aims to solve the technical problem of overcoming the defects in the prior art, and provides an amphibious multi-foot flexible tail bionic robot which can flexibly move on land, on water and under water, can detect environmental data in real time and monitor the peripheral safety, has the tail flicking function in any direction and the physical and energy attacking functions, and can replace personnel to hide, reconnaissance and fight.

The technical scheme adopted by the invention for solving the technical problems is as follows: an amphibious multi-foot flexible tail bionic robot comprises a main body, bionic legs, a bionic tail and a weapon device, and has amphibious motion and the functions of latency, reconnaissance and fighting of replacement personnel, the bionic legs and the bionic tail are respectively and mechanically connected with the main body and electrically connected with the main body, the bionic legs and the bionic tail are connected with the main body and controlled by the main body, the bionic legs are in a plurality of pairs, the bionic legs are in one or more pairs and have the functions of keeping balance, flexibly adjusting motion direction and cruising, each bionic leg comprises one or more leg sections, each bionic leg comprises a plurality of leg sections and at least one of fins arranged on the leg sections, foot webs arranged at the tail ends of the leg sections and flexible membrane fins arranged between the leg sections and/or between the bionic legs on the same side, and the leg sections on the same bionic leg are connected through a rotary joint; the bionic tail comprises an elastic main rib, a tail power module fixed on the elastic main rib, a force transmission device, middle section devices arranged on the elastic main rib at intervals, and a tail section device fixed at the tail end of the elastic main rib, and has the functions of tail flicking in any direction and real-time adjustment of bending radian, the elastic main rib has high elasticity and is arranged along the axial direction of the head and the tail of the bionic tail, the tail power module is arranged at the head end of the bionic tail and is fixed with the elastic main rib for providing tension and displacement for the force transmission device, the force transmission device has flexibility, one end of the force transmission device is fixed on the tail power module, the other end of the force transmission device passes through one or more middle section devices arranged on the elastic main rib at intervals and then is fixed on an elastic mechanism of the tail section device, the middle section device is provided with a roller for reducing the friction force of the force transmission device, and the elastic mechanism of the tail section, the force transmission device is used for reducing the requirement on the synchronism of the execution of the action of the tail power module, a link is formed from the beginning of the tail power module to the end of the tail power module through the middle section device, the number of the links is more than or equal to 3, and the links are uniformly distributed on the circumference of the central axis of the elastic main rib. The weapon device comprises a physical attack device and an energy attack device, wherein the physical attack device comprises at least one of a sharp thorn, a sharp drill, a sawtooth, a cutting edge and a clamp, and the energy attack device comprises at least one of an electric shock weapon, an infrasonic weapon, a microwave weapon, an ultrasonic weapon, a laser weapon, a firearm and a bomb.

Furthermore, the main part is equipped with bionic head, bionic head is equipped with one or more of horizontal joint, every single move joint and roll joint, possesses the function with attack, detection and control linkage. The bionic head has the functions of data acquisition, physics and energy attack, and entertainment, and is suitable for various civil fields. The bionic head is provided with a plurality of rotary joints, so that the detection range of the detection module and the attack range of the weapon device are expanded.

Furthermore, the bionic head is provided with a bionic mouth, a bionic ear, a bionic nose and a bionic eyebrow, and has the functions of imitation, data acquisition and attack, the bionic mouth is provided with a bionic tongue, teeth, a motor driving component and a loudspeaker, and the motor driving component controls the opening and closing of the bionic mouth and the movement of the bionic tongue; the bionic ear is provided with a pickup device and has the functions of sound collection and direction identification; the bionic eyebrow is provided with lamp beads with changeable colors, and has the functions of decoration and warning. The bionic head simulates the design of facial features of a living body, has the functions of listening, speaking and watching, and has entertainment and practicability.

Further, the bionic head is provided with an active cutting mechanism, the active cutting mechanism comprises a machine base, a rotating piece and a power assembly, arc-shaped cutting edges are arranged on the periphery circumference of the rotating piece, a boss is arranged between two adjacent arc-shaped cutting edges, the boss is provided with boss cutting edges which are mutually perpendicular to the arc-shaped cutting edges, the machine base is provided with arc-shaped incisions corresponding to the arc-shaped cutting edges of the rotating piece and boss incisions corresponding to the boss cutting edges, and spines and/or blades are arranged at positions, close to a rotating shaft of the rotating piece, of the inner side of the machine base. The arc-shaped cutting edge of the rotating sheet is used for hooking nearby flexible barriers and driving the flexible barriers to the arc-shaped cut positions of the base, the flexible barriers are cut off by utilizing shearing force generated by the arc-shaped cutting edge of the rotating sheet and the arc-shaped cut of the base, the shearing force generated by the boss cutting edge and the boss cut is used for cutting off flexible substances rolled from the side face of the rotating sheet, and the spine and/or the blade on the inner side of the base is used for mincing a wound on the rotating shaft of the rotating sheet. The active cutting mechanism can be used for cutting aquatic weeds, kelp, fishing nets and anti-submerging nets.

Furthermore, the bionic head is provided with a head control module and has the functions of processing data, controlling and communicating.

Furthermore, the multifunctional robot is also provided with a bionic arm, wherein the bionic arm has one or more freedom degrees of motion, is provided with a clamping mechanism and a weapon device, and has a clamping function and a physical attack and/or energy attack function.

Furthermore, the fin frame is provided with lateral fins, the lateral fins are provided with fin frames with three-dimensional movable joints, and fin surfaces made of flexible materials are arranged on the fin frames and/or among the fin frames.

Furthermore, the elastic main rib of the bionic tail is at least one of an elastic metal rod, an elastic non-metal composite material rod, a rubber spring, elastic resin and a metal spring; the force transmission device is at least one of a belt, a chain, a rope, a steel wire and a steel cable; the tail power module is at least one of a motor speed reduction assembly, an electric push rod, an electro-hydraulic push rod, a hydraulic power system and a pneumatic system; the middle section device is provided with a roller to limit the freedom degree of the force transmission device so as to prevent the force transmission device from falling off. Preferably, the main elastic rib is an elastic non-metal composite rod, the force transmission device is a toothed belt, the middle section device is provided with a belt wheel, a gear, a steel wire winding wheel and a steel wire, one end of the steel wire is fixed and wound on the steel wire winding wheel, the other end of the steel wire is fixed on the adjacent middle section device, and the last section device is provided with a coil spring roller. The tail power module comprises a tail power control assembly, a motor speed reduction assembly and a winding wheel device, the tail power control assembly accurately controls the rotation angle and the speed of the motor, the motor speed reduction assembly drives the winding wheel device to rotate to tighten a belt, the belt drives a belt wheel, a gear and a steel wire winding wheel to rotate so as to shorten the length of a steel wire, and therefore adjacent middle section devices are close to each other to enable the elastic main ribs to be bent. 4 links are set. The mode can reduce the requirements in the tail power module, thereby reducing the energy and hardware requirements of the whole machine.

Furthermore, the tail section device is provided with one or more tail fins, and one or more of cutting edges, sawteeth and spikes are arranged on the tail fins. After the bionic tail is bent, the tail fin generates acting force with fluid to adjust the motion direction of the bionic robot. The tail fin has the functions of scratching and puncturing.

Further, the main part is streamlined outward appearance, is equipped with the skeleton cabin body, always controls module, energy module, buoyancy guiding mechanism, advancing mechanism, supplementary steering mechanism and data module, the skeleton cabin body is used for supporting and bears, energy module, buoyancy guiding mechanism, advancing mechanism, supplementary steering mechanism and data module are connected with always controlling the module electricity respectively, possess overall control, provide the energy, hover in the water of hiding, high-speed motion, supplementary turn to and gather the function that data substitute personnel reconnoitre, whistle in real time.

The buoyancy adjusting device can enable the robot to be in a zero-gravity body at different depths, so that the robot can keep hovering, and the function is suitable for long-time latency and reconnaissance.

The data acquisition sensor and the underwater communication system have the functions of whistle release, reconnaissance and real-time warning during underwater latency.

The auxiliary steering mechanism enables the movement direction of the robot to be changed by spraying water to different directions of the side face of the main body to generate reaction force, and compared with the mode that other underwater vehicles are suitable for a propeller to change the movement direction, the auxiliary steering mechanism has the advantages of being small in power consumption, small in size and light in weight.

Furthermore, the skeleton cabin body of main part is one or more, possesses the water proofness, the inside buoyancy material that uses of skeleton cabin body fills. The skeleton cabin body positioned on the back of the main body is provided with a sawtooth-shaped dorsal fin structure which has the functions of keeping balance and carrying out physical attack.

Further, the main control module of the main body comprises an electric control module and a data processing control module, wherein the electric control module controls the on-off of a power supply and has a shunting function; the data processing control module acquires and processes data information, forms a motion strategy through logic operation and executes the motion strategy.

Further, the energy module of the main body is one or more of a storage battery, a fuel cell, a nuclear battery, a closed cycle diesel engine and a Stirling engine, and provides a power supply for the bionic robot. The energy module can be separated from the main body and replaced only by the storage battery.

Further, the data module of the main body comprises a data acquisition sensor, a positioning navigation device and a communication device. The data acquisition sensor comprises a sonar sensor, an ultrasonic sensor, an image acquisition sensor, a water temperature sensor, a water pressure sensor and a salinity sensor, can acquire surrounding environment data in real time, and realizes the functions of amphibious detection, monitoring and reconnaissance of a substitute person; the positioning navigation device comprises a satellite positioning navigation system, a Doppler frequency spectrograph, an inertial navigation system, an underwater acoustic positioning system and a sonar chart navigation system, and has an amphibious real-time positioning navigation function; the communication device comprises an underwater sound communication system, a laser communication system, a 2G/3G/4G/5G communication system, a zigbee communication system, a data transmission radio system, a Bluetooth and wifi communication system, and has an amphibious real-time communication function.

Furthermore, the auxiliary steering mechanism of main part includes automatic water valve, water pump, water pipe and shower nozzle, automatic water valve includes rotating electrical machines and the valve body that leads to more, realizes through the control motor that the valve body export is gone out water, the shower nozzle is one or more, locates the main part outside and directional not equidirectional.

Furthermore, the buoyancy adjusting mechanism of the main body is a piston type buoyancy adjusting mechanism and/or an air bag type buoyancy adjusting mechanism, the piston type buoyancy adjusting mechanism comprises a piston cylinder, a piston and a motor screw assembly or a hydraulic assembly, and the displacement volume is adjusted by controlling the piston to move so as to realize buoyancy adjustment; the air bag type buoyancy adjusting mechanism comprises an air bag, an air valve, an air compressor and an air storage tank, and the buoyancy adjustment is realized by adjusting the displacement volume by controlling the air quantity in the air bag.

Furthermore, the propulsion mechanism of the main body is a plurality of propeller propellers and/or water jet propellers which are symmetrically distributed around the main body, and the propulsion direction of the propulsion mechanism is consistent with and/or vertical to the head-tail direction of the main body.

Further, the amphibious multi-foot flexible tail bionic robot is made of metal materials and/or non-metal materials, the metal materials comprise aluminum alloy, stainless steel, titanium alloy, copper alloy, Monel alloy and Hastelloy, the non-metal materials comprise plastics, wood, rubber, resin, fibers, ceramics, limestone, high-performance composite materials and high-molecular polymer materials, and an anticorrosive coating is coated on the surface of the non-metal materials.

The invention has the following beneficial effects:

1. the amphibious robot has the amphibious design with the land, water surface and underwater motion functions and the fighting function, has more excellent environmental adaptability and wider application field compared with other types of amphibious robots, and is not possessed by other types of amphibious robots particularly in the aspects of all-weather and high-reliability search and rescue, latency, information collection, monitoring, reconnaissance and confrontation of substitute personnel;

2. the weapon device is arranged to carry out remote deterrence, interference, driving and killing on units by enemies, can be used for pursuing, and can drive away and kill organisms which may harm the robot on land and in water;

3. the bionic legs are arranged, so that the bionic leg can adapt to rugged riprap, island and reef environments and pothole mountain environments, can adapt to freely walk in an environment without roads, adopts a multi-foot form, and has climbing and crossing functions;

4. the bionic leg is provided with the flipper with the sharp spines, the landing area of the bionic leg can be increased in soft sandy land or swamp ground energy, the bionic leg cannot sink into the soft sandy land or swamp ground energy to cause difficulty in walking, the sharp spines on the flipper provide powerful ground grabbing capacity in a riprap environment or other rugged environments, and meanwhile, the sharp spines on the flipper also have physical attack capacity;

5. the leg section of the bionic leg is provided with one or more of a fin, a flexible membrane fin and a foot web, and the motion direction control in water is realized by matching with multi-foot motion. The design fully utilizes the advantages of multiple feet, does not need to design an underwater motion direction control mechanism independently, saves the cost and can realize the cruising function of the bionic robot in water;

6. the fin, the flexible membrane fin and the flipper of the bionic leg joint have the functions of keeping balance and finely adjusting the position when hidden, and compared with a propeller for adjusting the position, the bionic leg joint generates less noise and enhances the concealment;

7. the bionic tail is arranged, so that the bionic tail can be bent in any direction quickly, the bending radian can be adjusted in real time, and compared with other bionic tails, the bionic tail has better flexibility, the characteristic of bending in any direction quickly can be applied to physical attack, and the quick retreating and ejection functions can be realized in water;

8. the bionic tail adopts the elastic main rib as a bending deformation body, and the multilink stay wire structures which are uniformly distributed on the circumference of the axis of the elastic main rib are used for bending and transmitting power, so that the bionic tail has the characteristics of light weight and simple structure, thereby reducing the cost and being suitable for various working conditions needing high-altitude work;

9. the tail section device of the bionic tail is provided with an elastic mechanism which provides a free pulling gap for the pull line structure to start moving instantly, so that the risk of incapability of bending caused by asynchronous movement execution of two opposite pull line links is eliminated.

Drawings

FIG. 1 is a schematic view of the overall structure of embodiment 1 of the present invention;

FIG. 2 is a schematic structural diagram of the main body of embodiment 1 shown in FIG. 1;

FIG. 3 is a front view of the structure of the biomimetic head of embodiment 1 shown in FIG. 1;

FIG. 4 is a structural side view of the biomimetic head of embodiment 1 shown in FIG. 1;

FIG. 5 is a schematic diagram of the bionic tail structure of embodiment 1 shown in FIG. 1;

FIG. 6 is a schematic structural view of an intermediate joint device of the biomimetic tail shown in FIG. 5;

FIG. 7 is a schematic structural diagram of an end device of the biomimetic tail shown in FIG. 5;

FIG. 8 is a schematic view of the force transfer device of the biomimetic tail of FIG. 5 mounted thereon;

FIG. 9 is a schematic diagram of the biomimetic tail of FIG. 5;

FIG. 10 is a schematic view of the bionic tail belt shown in FIG. 5 being pulled at a bending radian of 20 mm;

FIG. 11 is a schematic view of the bionic tail belt shown in FIG. 5 pulling a bending radian of 30 mm;

FIG. 12 is a schematic diagram of a bionic tail structure in embodiment 2 of the present invention;

FIG. 13 is a schematic diagram of a bionic tail structure in embodiment 3 of the present invention;

FIG. 14 is a schematic diagram of a bionic tail structure in embodiment 4 of the present invention;

FIG. 15 is a schematic diagram of a bionic tail structure in embodiment 5 of the present invention;

fig. 16 is a schematic view of a bionic head structure according to embodiment 6 of the present invention;

fig. 17 is a schematic view of a bionic head structure according to embodiment 7 of the present invention;

fig. 18 is a schematic view of a bionic head structure according to embodiment 8 of the present invention;

fig. 19 is a schematic view of a bionic head structure according to embodiment 9 of the present invention;

fig. 20 is a schematic view of a bionic head structure according to embodiment 10 of the present invention;

FIG. 21 is a schematic view of the active cutting mechanism of the embodiment shown in FIG. 20;

FIG. 22 is a schematic view of a rotating plate of the active cutting mechanism of the embodiment shown in FIG. 20;

FIG. 23 is a block diagram of the active cutting mechanism of the embodiment shown in FIG. 20;

FIG. 24 is a schematic view of the overall structure of embodiment 11 of the present invention;

FIG. 25 is a schematic view of the overall structure of embodiment 12 of the present invention;

FIG. 26 is a schematic view of the overall structure of embodiment 13 of the present invention;

fig. 27 is a schematic view of the entire structure of embodiment 14 of the present invention.

Detailed Description

The invention is described in further detail below with reference to the figures and the embodiments.

Example 1:

referring to fig. 1, the present embodiment includes a main body 1, a bionic leg 2, a bionic tail 3, a bionic head 4, and an electric shock weapon device 5, the bionic leg 2, the bionic tail 3, and the bionic head 4 are fixed to the main body 1 in a mechanical manner, and cables are all provided inside the bionic leg 2, the bionic tail 3, and the bionic head 4 and electrically connected to the main body 1. The embodiment is provided with 4 bionic legs 2 which are symmetrically distributed about a main body 1, each bionic leg 2 is provided with 4 degrees of freedom, a fin 22 is arranged on the last leg section 21, the tail end of the leg section 21 is provided with a fin 23 which is used for grabbing, cruising and attacking and is provided with sharp spines, and an electric shock weapon device 5 is arranged on a bionic tail 3.

Referring to fig. 2, the main body comprises a skeleton cabin 11, a master control module 12, an energy module 13, a buoyancy adjusting mechanism 14, a propelling mechanism 15, an auxiliary steering mechanism 16 and a data module 17. The framework cabin body 11 adopts titanium alloy metal as a framework, and an outer shell surface with the thickness not less than 10mm is made of epoxy resin, fiber cloth and a steel wire mesh; the general control module 12 comprises a data processing and control module 121 and an electric control module 122; the energy module 13 is a lithium battery pack and can be drawn out from the side surface of the main body for replacement; the buoyancy adjusting mechanism 14 is in a screw type piston structure, and the piston is controlled by a motor to slide so as to change the displacement volume and change the buoyancy; the propulsion mechanism 15 adopts a paddle type propeller, is symmetrically arranged on two sides of the lower part of the tail end of the main body and provides power for the bionic robot to move at high speed in water; the auxiliary steering mechanism 16 adopts a water pump and an electric control valve body, and the spray heads 161 are distributed in the upper, lower, left and right 4 directions at the front end of the main body and are used for assisting the bionic robot to adjust the direction in water; the data module 17 comprises a camera 171, a ranging sonar 172, a 4G/5G/Zigbee communication module 173, a sonar communication system 174, a satellite positioning navigation system 175 and a water pressure sensor 176. 4 directions about the upper and lower of main part, every direction all has a camera 171 and a range finding sonar 172 to guarantee that bionic robot can real-time supervision environment all around when the motion. The 4G/5G/Zigbee communication module 173 is arranged on the upper part of the front end of the main body and is used for performing real-time interaction and high-speed data transmission with the outside when the bionic robot is exposed out of the water surface or is in a land environment, so that the functions of real-time remote control, image transmission and the like are realized. Sonar communication system 174 is located at the upper portion of the main body tail end for communicating with the communication conversion facilities of the surface of water when under water, thereby indirectly communicating with ground equipment. The satellite positioning navigation system 175 is embedded with an inertial navigation system, which is arranged at the upper part of the tail end, and the Doppler velocimeter 177 is arranged at the abdomen and combined with the inertial navigation system embedded in the satellite positioning navigation system 175, and is used for autonomous positioning and navigation of the bionic robot. The water pressure sensor 176 is disposed on the abdomen of the main body, and is used for measuring water pressure data in real time and judging whether the bionic robot is currently located in water.

Referring to fig. 3-4, the bionic head in the present embodiment includes a pitch joint 4111, a horizontal joint 4112, a camera 4121, a range sonar 4122, a head control module 413, an overhead tip 414, a bionic eyebrow 415, an infrasonic weapon 412, and a plurality of laser weapons 523. A plurality of lamp beads 4151 with changeable colors are arranged inside the bionic eyebrow 415. Every single move joint 4111, horizontal joint 4112, camera 4121, range finding sonar 4122, infrasonic weapon 412, lamp pearl 4151 and laser weapon 523 are all electrically connected with head control module 413. The pitching joint 4111 and the horizontal joint 4112 are independent joints driven by a motor, and can move simultaneously to form a compound action to simulate the movement of a biological head. The camera 4121 and the ranging sonar 4122 collect data in real time and upload the data to the main body 1 through the head control module 413. The overhead cusp 414 is used to perform physical attacks such as punctures, impacts, etc. The laser weapon 523 is used to attack the hostile organism's eye to make it blinded and blinded, and may be used to attack the hostile device's visual system to make it ineffective.

Referring to fig. 5, the bionic tail 3 in this embodiment includes a tail power module 311, a middle section device 312, a force transmission device 313, an elastic main rib 314, a tail section device 315, a housing 316, and a tail fin 3151, where the tail power module 311 includes a tail power control assembly 3111, a motor speed reduction assembly 3112, and a reel device 3113, the elastic main rib 314 is made of a high-elasticity glass fiber rod, the housing 316 is made of a silicon rubber material, and the tail fin 3151 has 4 orthogonal fin structures. The bionic tail of the embodiment is provided with 4 links. The bionic tail is also provided with an electric shock weapon device which comprises a discharge electrode 5111 and a receiving electrode 5112.

Referring to fig. 6, the middle joint device 312 of the bionic tail 3 is provided with 4 sets of mechanisms corresponding to 4 links, and each set of mechanism comprises a limiting wheel 3121, a belt wheel 3122, a wire winding wheel 3123, a gear set 3124, a guard ring 3125 and a support 3126. Force transfer device 313 includes an open belt 3131 and a steel cable 3132. The two limiting wheels 3121 are respectively located at the front end and the rear end of the belt wheel 3122, and the design positions of the two limiting wheels 3121 must meet the requirement that the included angle of the circle centers of the belt wheel 3122 and the open belt 3131 is greater than 90 degrees. One end of the wire 3132 is fixed to the wire reel 3123 and wound, and the other end thereof is fixed to the bracket 3126 of the adjacent intermediate device 312. The belt pulley 3122 drives the gear set 3124 to rotate, and the gear set 3124 drives the wire winding wheel 3123 to rotate. The gear set 3124 has a speed reducer function.

Referring to fig. 7-8, the distal assembly 315 of the biomimetic tail 3 includes a distal reel 3151 and a coil spring 3152. An end reel 3151 holds and winds an end of the open belt 3131, and a coil spring 3152 provides a resilient force to the end reel 3151 to keep the open belt in tension at all times.

When the bionic tail bends, the tail power control assembly 3111 sends a command to control the motor speed reduction assembly 3112 to rotate, so as to drive the reel device 3113 to tighten the open belt 3131, the open belt 3131 moves the driving pulley 3122 towards the reel device 3113, and simultaneously drives the tail end reel 3151 to rotate, the rotation of the tail end reel 3151 continuously releases the open belt 3131, the pulley 3122 drives the gear set 3124 and the wire reel 3123 to rotate, the wire reel 3123 starts to roll the wire rope 3132, the tension of the wire rope 3132 enables the two adjacent middle joint devices 312 to approach each other, and the main elastic rib 314 starts to bend. While the tail power control assembly 3111 sends commands to control the motor reduction assembly 3112 of one link to rotate the tightening opening belt 3131, the link on the opposite side performs the opposite action. When the bionic tail is straightened, the execution process is opposite to the above process.

When the electric shock weapon device 51 arranged on the bionic tail 3 works in water, the discharge electrode 5111 is connected with the positive electrode of a discharge power supply, the receiving electrode 5112 is connected with the negative electrode of the discharge power supply, and a loop is formed by taking water as a conductor, so that discharge attack is generated on the peripheral organisms. The discharging power supply is a power frequency alternating current power supply which is boosted and subjected to frequency conversion from a direct current power supply.

The bionic tail provides a demonstration process of the relation between the stroke of the open belt and the bending angle of the elastic main rib.

Referring to fig. 9, let the bending angle of the main elastic rib be θ (radian), the distance between two adjacent intermediate link devices be a, the distance between the open belt and the main elastic rib be S1, the bending radius after bending be r, and the open belt travel be a. Then the system of equations can be simultaneous:

since A, S1 and a are known quantities in the design, r and θ can be obtained by an iterative method.

In the bionic tail, A is 365mm, S1 is 46.5mm, and a is 20 mm. At this time, r is 949.868mm and θ is 22.017 °. That is, when the open strap 3131 is pulled 20mm, the single link bends 22.017 °. The radius of the reel 3113 is 15mm, and the reel 3113 is rotated through an angle 76.394 ° when the opening belt is pulled 20 mm. The rotation speed of the motor speed reducing component in the tail power module driving the reel device 3113 is 102.72 °/s, and only 0.74s is needed to drive the opening belt to pull 20 mm. It can also be concluded that when the open strap is pulled 30mm, the single segment bend angle is 31.66 ° for 1.12 s. Namely, the bending with a large radian in a very short time is realized, and the flexibility of the invention is fully embodied.

Referring to fig. 10, the bionic tail is provided with 4 bending nodes, when the opening belt is pulled for 20mm, each node is bent for about 22 degrees, and the bending radian of the elastic main rib is shown in the figure.

Referring to fig. 11, the bionic tail is provided with 4 bending nodes, and when the opening belt is pulled for 30mm, each node is bent by about 31.66 degrees, and the bending radian of the elastic main rib is shown in the figure.

Example 2:

referring to fig. 12, the bionic tail in this embodiment includes a tail power module 311, a middle section device 312, a force transmission device 313, an elastic main rib 314, a tail section device 315 and a shell 316. The middle joint device 312 is provided with a limiting wheel, and the force transmission device 323 adopts a steel cable. The tail fin 3151 is provided with a sharp point which can scratch, puncture and cut enemy units in the tail flicking process. The elastic mechanism 3152 is a tension spring elastic mechanism. The force transfer device 313 passes through 5 intermediate joint devices 312. The bionic tail in the embodiment is provided with 3 links.

When the bionic tail of the embodiment is bent, the tail power module 311 controls the reel device 3113 to tighten the force transmission device 313, and the force transmission device 313 provides pulling force to enable the elastic main rib 314 to start bending. When the bionic tail of the embodiment is straightened, the execution process is opposite to the above process.

Example 3:

referring to fig. 13, in this embodiment, the tail power module 311 of the bionic tail is an electric push rod, the force transmission device 313 is a steel cable, the main elastic rib 314 is a coil spring with equal pitch and equal outer diameter, and the final section device 315 is provided with a fishtail fin with a sharp spine and an embedded tension spring elastic mechanism. The force transfer device 313 passes through 2 intermediate joint devices 312. The bionic tail in this embodiment is provided with 4 links.

Example 4:

referring to fig. 14, in this embodiment, the tail power module 311 of the bionic tail is an electro-hydraulic push rod, the force transmission device 313 is a steel cable, the main elastic rib 314 is a variable-pitch conical coil spring, the large end of the main elastic rib is arranged at the tail, and the tail device 315 is provided with a hammer attack device and an embedded tension spring elastic mechanism. The force transfer device 313 passes through 3 intermediate joint devices 312. The bionic tail in this embodiment is provided with 4 links.

Example 5:

referring to fig. 15, in this embodiment, the tail power module 311 of the bionic tail is a hydraulic cylinder, the hydraulic pipe 3114 is connected to the hydraulic station, the middle section device 312 includes a rod middle section device 3121 and a spring middle section device 3122, the force transfer device 313 is a steel cable, the main elastic rib 314 includes a coil spring 3141 with equal outer diameters and equal pitch, a glass fiber rod 3142 with high elasticity and a rubber spring 3143, the coil spring 3141 with equal outer diameters and equal pitch is disposed at the tail portion of the bionic tail, the glass fiber rod 3142 with high elasticity is disposed at the root portion of the bionic tail, and the rubber spring 3143 is disposed at the middle portion. The stub device 315 is provided with an embedded tension spring mechanism. The force transfer device 313 passes through 2 rod intermediate

joint devices

3121 and 2 spring intermediate joint devices 3122. The bionic tail in the embodiment is provided with 4 links, and the effect of adjusting the bending radian can be achieved under the same wire pulling force by adjusting the elastic coefficient of each section of elastic main rib.

Example 6:

referring to fig. 16, the top rotary drill bit assembly 414 of the biomimetic head in this embodiment includes a rotary motor assembly 4141 and a double helix drill bit 4142. The rotary motor component 4141 drives the double-helix drill bit 4142 to rotate, and attack functions such as drilling and breaking, drilling and the like are achieved. The bionic mouth 416 comprises a bionic tongue 4161 and a bionic mandible 4162, a motor is arranged in the bionic mandible 4162 and can drive the mandible to open and close, and meanwhile, the bionic tongue 4161 is linked with the motor in the bionic mandible 4162 and has the function of vividly simulating the biological speaking posture.

Example 7:

referring to fig. 17, the head top rotary drill 414 of the bionic head in this embodiment is a single helical drill, and rotates along with the bionic head through the head horizontal joint 4112, so as to realize attack functions such as drilling and breaking, drilling and the like. The biomimetic mouth 416 includes teeth 4163 and a biomimetic lower jaw 4162. The bionic lower jaw 4162 is internally provided with a motor which drives the bionic lower jaw 4162 to open and close, so that the attacking functions of occlusion, tearing, cutting and the like are realized. The bionic ear 417 is provided with a plurality of arrays of sound pickup sensors 4171 therein, and has a function of collecting external sound information. The sound information collected by the pickup sensor 4171 is uploaded and logically calculated to distinguish the direction of the sound source.

Example 8:

referring to fig. 18, the embodiment is different from embodiment 1 in that three sharp knives 414 with cutting edges are arranged on the top of the bionic head in the embodiment, and physical attack functions such as puncturing, cutting, scratching and the like can be realized in the heavy impact process.

Example 9:

referring to fig. 19, the difference between this embodiment and embodiment 1 is that the bionic head in this embodiment is provided with a reciprocating saw 414 at the top of the head, so as to realize the functions of sawing and cutting.

Example 10:

referring to fig. 20-23, the top of the biomimetic head in this embodiment provides an active cutting mechanism 414 comprising a housing 4241, a rotary plate 4242, and a power assembly 4243. The rotary plate 4242 is provided with an arc-shaped cutting edge 42421 and a boss 42422 with an edge, the stand 4241 is provided with an arc-shaped notch 42411 which is matched with the arc-shaped cutting edge 42421 and a notch 42412 which is matched with the boss 42422, and the inside of the stand is provided with a spine 42413. The active cutting mechanism of the bionic head in the embodiment can be used for cutting aquatic weeds, kelp, fishing nets and anti-submerging nets, thereby realizing breakthrough.

Example 11:

referring to fig. 24, in the present embodiment, a flexible membrane fin 24 is disposed between the two bionic legs 2 on the same side of the main body. The flexible membrane fins 24 are made of silicon rubber, and inclined planes with different inclination angles are formed by the movement of the two associated bionic legs 2, so that the movement direction of the embodiment in water is adjusted.

The rest is the same as example 1.

Example 12:

referring to fig. 25, the present embodiment is provided with a left tong 6 and a right tong 7. The left and

right jaws

6, 7 are mechanically fixed to the body 1301 and have internal cables electrically connected to the body 1. The left tong 6 is provided with a tong 61 and a circular saw blade assembly 62, and the right tong 7 is provided with a tong 71 and a circular saw 72. The left tong 6 and the right tong 7 are both provided with 3 degrees of freedom. The clamp 61 and the clamp 71 realize the grabbing function, and the circular saw blade assembly 62 and the circular saw 72 realize the functions of sawing, cutting, breaking the net and the like through the motion matching of the left clamp 6 and the right clamp 7.

The rest is the same as example 1.

Example 13:

referring to fig. 26, the present embodiment is provided with the lateral fins 8, which are mechanically fixed to the main body 1, and are connected to the main body 1 with cables inside. The lateral fin 8 comprises a fin frame 81 and a fin surface 82, the fin frame 81 has 3 pairwise orthogonal degrees of freedom of motion, and the fin surface 82 is made of silicon rubber.

The rest is the same as example 1.

Example 14:

referring to fig. 27, the present embodiment is provided with 6 biomimetic legs 2 symmetrically distributed about the body 1, each biomimetic leg 2 being provided with 4 degrees of freedom. The bionic tail 3 is provided with a wide tail similar to shrimps and can be used for rapid retreat ejection.

The rest is the same as example 1.

The invention has the functions of fighting countermeasures of physical and energy attacks and amphibious motion. When walking on the land, the walking, running, jumping and climbing sports can be carried out by the quadruped like dogs and the like. When in water, there are three types of movement. The first is vertical float and sink motion; the second is to simulate the slow cruising motion of the organisms in the water; the third is high speed movement both above and below the water.

The invention can be applied to scenes such as land, rivers, lakes, seas, oceans, island reefs and the like, and substitutes personnel for reconnaissance, detection, monitoring, latency and attack work. The invention can be hidden in water for a long time and in a reconnaissance state and warn in real time, can be used for fighting against enemy units, and uses physical weapons or energy weapons to carry out deterrence, interference, separation and killing.

Various modifications and variations of the present invention may be made by those skilled in the art, and they are also within the scope of the present invention provided they are within the scope of the claims of the present invention and their equivalents.

What is not described in detail in the specification is prior art that is well known to those skilled in the art.

Claims

1. The utility model provides an amphibious polypod flexible tail bionic robot, includes main part, bionical leg, bionical tail and weapon device, its characterized in that: the bionic legs and the bionic tail are respectively and mechanically connected and electrically connected with the main body, each bionic leg comprises a plurality of leg sections and at least one of fins arranged at the tail ends of the leg sections and flexible membrane fins arranged between the leg sections and/or between the bionic legs at the same side, the leg sections on the same bionic leg are connected through a rotary joint, the bionic tail comprises an elastic main rib, a tail power module fixed on the elastic main rib, a force transmission device, middle section devices arranged on the elastic main rib at intervals and a tail section device fixed at the tail end of the elastic main rib, the elastic main rib has high elasticity and is arranged along the axial direction of the head and the tail of the bionic tail, the tail power module is positioned at the head end of the bionic tail, the force transmission device has flexibility, one end of the force transmission device is fixed on the tail power module, the other end of the force transmission device penetrates through the middle section device and then is connected with an elastic mechanism of the tail section device, the middle section device is provided with a roller for reducing the friction force of the force transfer device, the elastic mechanism comprises an elastic rolling mechanism and/or an elastic stretching mechanism, the force transfer device starts from the tail power module, a link is formed from the middle section device to the end of the tail section device, the number of the links is more than or equal to 3, the links are uniformly distributed on the circumference of the central axis of the elastic main rib, the weapon device comprises a physical attack device and an energy attack device, the physical attack device comprises at least one of a sharp thorn, a sharp drill, a sawtooth, a cutting edge and a clamp, and the energy attack device comprises at least one of an electric shock weapon, an infrasonic wave weapon, a microwave weapon, an ultrasonic weapon, a laser weapon, a firearm and a bomb.

2. An amphibious multi-foot flexible tail bionic robot according to claim 1, characterized in that: the bionic head is provided with a bionic head, a head control module and one or more of a horizontal joint, a pitching joint and a rolling joint, the bionic head is further provided with a bionic mouth, a bionic ear, a bionic nose and a bionic eyebrow, the bionic mouth is provided with a bionic tongue, teeth, a motor driving assembly and a loudspeaker device, and the motor driving assembly controls the opening and closing of the bionic mouth and the movement of the bionic tongue; the bionic ear is provided with a pickup device and has the functions of sound collection and direction identification; bionic eyebrow is equipped with the lamp pearl of convertible colour, has decoration and warning effect, bionic head still is equipped with active cutting mechanism, and active cutting mechanism includes frame, revolving fragment and power component, is equipped with the arc blade on the peripheral circumference of revolving fragment to be equipped with the boss between two adjacent arc blades, the boss is equipped with the boss blade with arc blade mutually perpendicular, the frame is equipped with the arc incision that corresponds with revolving fragment arc blade, the boss incision that corresponds with the boss blade, and the inboard position that is close to the revolving fragment pivot of frame is equipped with spine and/or blade.

3. An amphibious multi-foot flexible tail bionic robot according to claim 1, characterized in that: the bionic arm is mechanically and electrically connected with the main body, has one or more freedom degrees of motion, is provided with a clamping mechanism and a weapon device, and has a clamping function and a physical attack and/or energy attack function.

4. An amphibious multi-foot flexible tail bionic robot according to claim 1, characterized in that: the fin frame is provided with three-dimensional movable joints, and fin surfaces made of flexible materials are arranged on the fin frame and/or among the fin frames.

5. An amphibious multi-foot flexible tail bionic robot according to claim 1, characterized in that: the bionic tail is characterized in that the elastic main rib of the bionic tail is at least one of an elastic metal rod, an elastic non-metal composite material rod, a rubber spring, elastic resin and a metal spring, the force transmission device is at least one of a belt, a chain, a rope, a steel wire and a steel cable, the tail power module is at least one of a motor speed reduction assembly, an electric push rod, an electro-hydraulic push rod, a hydraulic power system and a pneumatic system, and the middle section device is provided with a roller for limiting the degree of freedom of the force transmission device to prevent the force transmission device from being separated.

6. An amphibious multi-foot flexible tail bionic robot according to claim 1, characterized in that: the tail section device is provided with one or more tail fins, and one or more of cutting edges, sawteeth and spikes are arranged on the tail fins.

7. An amphibious multi-foot flexible tail bionic robot according to claim 1, characterized in that: the main body is of a streamline appearance and is provided with a skeleton cabin body, a master control module, an energy module, a buoyancy adjusting mechanism, a propelling mechanism, an auxiliary steering mechanism and a data module, wherein the skeleton cabin body is used for supporting, bearing and filling buoyancy materials, the energy module, the buoyancy adjusting mechanism, the propelling mechanism, the auxiliary steering mechanism and the data module are respectively and electrically connected with the master control module, the master control module comprises an electric control module and a data processing control module, and the electric control module has a power supply control function and a shunting function; the data processing control module acquires and processes data information, and forms a motion strategy after logical operation; the energy module is one or more of a storage battery, a fuel cell, a nuclear battery, a closed cycle diesel engine and a Stirling engine; the auxiliary steering mechanism comprises an automatic water valve, a water pump, a water pipe and a spray head, the automatic water valve comprises a rotating motor and a multi-way valve body, water is discharged from an outlet of the valve body by controlling the motor, and one or more spray heads are arranged on the outer side of the main body and point to different directions; the data module comprises a data acquisition sensor, a positioning navigation device and a communication device, wherein the data acquisition sensor comprises a sonar sensor, an ultrasonic sensor, an image acquisition sensor, a water temperature sensor, a water pressure sensor and a salinity sensor, and can acquire surrounding environment data in real time; the positioning navigation device comprises a satellite positioning navigation system, a Doppler frequency spectrograph, an inertial navigation system, an underwater acoustic positioning system and a sonar chart navigation system, and has an amphibious real-time positioning navigation function; the communication device comprises an underwater sound communication system, a laser communication system, a 2G/3G/4G/5G communication system, a zigbee communication system, a data transmission radio system, a Bluetooth and wifi communication system, and has an amphibious real-time communication function; the propulsion mechanism is a plurality of propeller propellers and/or water jet propellers which are symmetrically distributed relative to the main body, and the propulsion direction of the propulsion mechanism is consistent with and/or vertical to the head-tail direction of the main body.

8. An amphibious multi-foot flexible tail bionic robot according to claim 7, characterized in that: the buoyancy adjusting mechanism of the main body is a piston type buoyancy adjusting mechanism, the piston type buoyancy adjusting mechanism comprises a piston cylinder, a piston and a motor screw assembly or a hydraulic assembly, and the displacement volume is adjusted by controlling the piston to move so as to realize buoyancy adjustment.

9. An amphibious multi-foot flexible tail bionic robot according to claim 7, characterized in that: the buoyancy adjustment mechanism of main part is gasbag formula buoyancy adjustment mechanism, gasbag formula buoyancy adjustment mechanism includes gasbag, pneumatic valve, air compressor and gas holder, adjusts the volume of water discharging through the tolerance control in the gasbag and realizes the buoyancy adjustment.

10. An amphibious multi-foot flexible tail bionic robot according to claim 1, characterized in that: the amphibious multi-foot flexible tail bionic robot is made of metal materials, wherein the metal materials comprise aluminum alloy, stainless steel, titanium alloy, copper alloy, Monel alloy and Hastelloy, and an anticorrosive coating is coated on the surface of the robot.

11. An amphibious multi-foot flexible tail bionic robot according to claim 1, characterized in that: the amphibious multi-foot flexible tail bionic robot is made of non-metal materials, wherein the non-metal materials comprise plastics, wood, rubber, resin, fibers, ceramics, limestone, high-performance composite materials and high-molecular polymer materials, and an anticorrosive coating is coated on the surface of the non-metal materials.