CN113306353A

CN113306353A - Variable and modular amphibious bionic mobile platform

Info

Publication number: CN113306353A
Application number: CN202110797433.4A
Authority: CN
Inventors: 周俊杰; 张建
Original assignee: Beijing Institute of Technology BIT
Current assignee: Beijing Institute of Technology BIT
Priority date: 2021-07-14
Filing date: 2021-07-14
Publication date: 2021-08-27
Anticipated expiration: 2041-07-14
Also published as: CN113306353B

Abstract

The invention discloses a variable and modular amphibious bionic mobile platform which comprises a plurality of driving devices connected in series, wherein adjacent driving devices are connected through a steering assembly, each driving device comprises a base and two motion assemblies, the two motion assemblies are symmetrically connected to two sides of the base through symmetrically arranged driving assemblies, and each driving assembly comprises a driving steering engine symmetrically arranged on the base and a connecting assembly connected with the driving steering engine to drive the motion assemblies to move. The amphibious vehicle can well realize amphibious motion modes of land walking and water touring, can realize functions of steering, submerging, floating, crossing over obstacles, multi-section combined variants and the like, and is flexible to move, simple in structure, convenient to control and stable in operation.

Description

Variable and modular amphibious bionic mobile platform

Technical Field

The invention relates to the technical field of bionic mobile platforms, in particular to a variable and modular amphibious bionic mobile platform.

Background

In recent years, a shoal belt connected with sea and land is more and more concerned by fields of scientific investigation, environmental monitoring, military detection, submarine resource exploration and development and the like, so that the technical development of an amphibious platform suitable for shoal operation is promoted. Because shallow kelp plants are flourishing, coral reefs are numerous, various benthic and plankton are propagated in a large quantity, the types and the quantity of the benthic and plankton are greatly superior to those of other sea areas, and a working robot propelled by a traditional propeller mechanism is extremely easy to be interfered and breaks down. In addition, the existing amphibious mobile platform is high in noise and not easy to conceal, and the concealed detection and detection of a shallow sea area are difficult to complete. Meanwhile, most of the existing amphibious mobile platforms adopt two different propulsion modes and leg or snake structures on land and in water, for example, the existing amphibious mobile platforms adopt foot type, wave type, wheel type, crawler type and other propulsion modes on land, and mainly adopt hydrofoil method, wave method, jet method and other propulsion methods under water. As described in patent CN110001320A and patent CN102785542B, although this form of amphibious bionic mobile platform can complete amphibious movement and operation, it has a complex structure and high control difficulty, and is greatly different from a real amphibian movement mechanism, especially two sets of driving mechanisms make the whole robot have a complex structure, which brings many difficulties to the control and use of the mobile platform.

Disclosure of Invention

The invention aims to provide a transformable and modularized amphibious bionic mobile platform, which can well solve the problems, can well realize amphibious motion modes of land walking and water touring, can realize functions of steering, submerging, floating, climbing over obstacles, multi-section combined transformation and the like, and is flexible in movement, simple in structure, convenient to control and stable in operation.

The technical scheme is that the variable and modular amphibious bionic mobile platform comprises a plurality of driving devices which are connected in series, wherein the adjacent driving devices are connected through a steering assembly, each driving device comprises a base and two motion assemblies, the two motion assemblies are symmetrically connected to two sides of the base through symmetrically arranged driving assemblies, and each driving assembly comprises a driving steering engine which is symmetrically arranged on the base and a connecting assembly which is connected with the driving steering engine and drives the motion assemblies to move.

Furthermore, the steering assembly comprises a steering engine arranged at the front end of the base and a steering shaft arranged at the rear end of the base, a rotating plate is fixedly connected to the output end of the steering engine, a rotating frame is sleeved on the steering shaft, and in two adjacent driving devices, the rotating plate of the driving device at the rear is fixedly connected with the rotating frame of the driving device at the front.

Further, the motion assembly is a wave-shaped floating fin plate.

Furthermore, the driving assemblies are provided with three groups, each group of driving assemblies comprises two driving steering engines which are symmetrically arranged on two sides of the base, and each driving steering engine is in driving connection with the moving assembly through a connecting assembly.

Furthermore, coupling assembling includes first connecting rod, second connecting rod and pendulum leg, first connecting rod one end and drive steering wheel output fixed connection, the first connecting rod other end is connected through the round pin axle rotation with second connecting rod one end, the second connecting rod other end is connected through the round pin axle rotation with pendulum leg one end, the pendulum leg other end and motion subassembly fixed connection, the pendulum leg middle part is connected through slide bearing and base rotation.

Furthermore, the swing legs are fixedly connected with the upper part of the moving assembly in a clamping manner through the clamping jaws.

Furthermore, the first connecting rod is fixedly connected with the driving steering engine through a screw.

Furthermore, buoyancy adjusting air cavities are symmetrically arranged on two sides of the base.

Furthermore, a controller is arranged in the middle of the base and is in control connection with the driving steering engine and the buoyancy regulating air cavity and used for controlling the rotation angle and speed of the driving steering engine and the air volume of the buoyancy regulating air cavity.

Furthermore, a top cover is arranged on the base, and the controller, the driving steering engine and the buoyancy adjusting air cavity are all covered in the top cover.

The invention has the beneficial effects that:

1) the invention adopts a modular design, the driving devices can be combined in a plurality of series connection, the hinge joints among the driving devices are controllable, the installation and the maintenance are convenient, the invention has higher maneuverability and bearing capacity, and simultaneously has stronger anti-risk capacity, when one driving device is damaged, the other driving device can normally work, the moving capacity of the whole moving platform is less influenced, and the steering assembly among the driving devices ensures that the moving platform has stronger variant capacity and the capacity of crossing obstacles, such as integral up-down pitching and left-right swinging, so as to obtain higher maneuverability and obstacle crossing capacity in water and on land;

2) the requirement of good movement on both land and water is met, the existing technology of driving by two different driving devices in water and on land is simplified, the same driving device is adopted on both water and land, the operation requirement under the complex environment of a shallow sea area is met, the driving structure is simplified, and the adaptability is strong;

3) the wavy floating fin plate is made of flexible materials, such as rubber and the like which can generate certain deformation, can be turned up and down on water and can swing on land, amphibious movement of touring in water, land walking and steering is realized, and meanwhile, the wavy floating fin plate has the functions of steering, submerging, floating and the like under the coordination of the buoyancy adjusting air cavity, and is simple in structure, convenient to control and stable in operation; meanwhile, a plurality of driving devices can be connected end to realize a multi-section combination variant.

Drawings

FIG. 1 is a schematic view of a first three-dimensional structure of the present invention (the floating fin is perpendicular to the base; when walking on land);

FIG. 2 is a schematic diagram of a second three-dimensional structure of the present invention (the floating fin is parallel to the base; during the tour in water);

FIG. 3 is a schematic view of a third embodiment of the present invention (without a top cover; when crossing an obstacle);

FIG. 4 is a schematic perspective view of the driving device of the present invention (the floating fin is perpendicular to the base);

FIG. 5 is a schematic perspective view of the driving device of the present invention (without the top cover, the flying fin is parallel to the base);

FIG. 6 is a top view of the driving device of the present invention (without the top cover, with the fly fin parallel to the base);

FIG. 7 is a side view of the drive assembly of the present invention (without the top cover, with the fly fin parallel to the base);

FIG. 8 is a schematic view of a connecting assembly according to the present invention;

in the figure: 1. a drive device; 11. a base; 12. driving a steering engine; 13. a flying fin plate; 14. a connecting assembly; 141. a first link; 142. a second link; 143. swinging legs; 144. a sliding bearing; 145. a clamping jaw; 146. a screw; 15. a buoyancy regulating air cavity; 16. a controller; 17. a top cover; 2. a steering assembly; 21. a steering engine; 22. a steering shaft; 23. a rotating plate; 24. a rotating frame.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", etc. indicate orientations or positional relationships based on those shown in the drawings or orientations or positional relationships that the products of the present invention conventionally use, which are merely for convenience of description and simplification of description, but do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.

Furthermore, the terms "first," "second," and the like are used merely to distinguish one description from another, and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

The first embodiment is as follows: as shown in fig. 1-8, the invention provides a changeable and modular amphibious bionic mobile platform, which comprises a plurality of driving devices 1 connected in series, wherein adjacent driving devices 1 are connected through a steering assembly 2, each driving device 1 comprises a base 11 and two motion assemblies, the two motion assemblies are symmetrically connected to two sides of the base 11 through symmetrically arranged driving assemblies, and each driving assembly comprises a driving steering engine 12 symmetrically arranged on the base 11 and a connecting assembly 14 connected with the driving steering engine 12 and driving the motion assemblies to move.

The steering assembly 2 comprises a steering engine 21 arranged at the front end of the base 11 and a steering shaft 22 arranged at the rear end of the base 11, a rotating plate 23 is fixedly connected to the output end of the steering engine 21, a rotating frame 24 is sleeved on the steering shaft 22, and in two adjacent driving devices 1, the rotating plate 23 of the driving device 1 at the rear is fixedly connected with the rotating frame 24 of the driving device 1 in the front.

If a mode of connecting three driving devices 1 in series is adopted, a steering engine 21 at the front end of the middle driving device 1 is connected with a steering shaft 22 at the rear end of the first driving device 1, and the steering shaft 22 at the rear end of the middle driving device 1 is connected with the steering engine 21 at the front end of the third driving device 1. The output end of the steering engine 21 can rotate up and down to further drive the steering plate to rotate up and down, the steering plate is fixedly connected with the bogie, the bogie can also rotate up and down under the driving of the steering engine 21, the bogie is sleeved on the steering shaft 22, the bogie which rotates up and down applies upward or downward force to the previous driving device 1 to enable the previous driving device 1 to pitch up and down integrally, the previous driving device 1 can be lifted or descended, and the function of crossing over obstacles is achieved. The bogie is sleeved with the steering shaft 22, and the bogie can rotate on the steering shaft 22, so that the bogie can move left and right on the steering shaft 22, namely, the adjacent two driving devices 1 also have relative rotation capacity, and the whole mobile platform has greater flexibility in steering.

The moving component is a wave-shaped floating fin plate 13. I.e. the fly fins 13 are also corrugated strips. The floating fin plate 13 is made of rubber or plastic materials capable of generating certain deformation, namely the floating fin plate 13 is made of flexible materials, but has certain rigidity, the existing rubber thin plate has the characteristic, the material is the prior art, and only the wavy deformation can be generated under the action of force. When the driving assembly drives the connecting assembly 14, the connecting assembly 14 drives the floating fin 13 to swing the floating fin 13 in a wave shape, and meanwhile, the upper part of the floating fin 13 is flush and the lower part of the floating fin 13 is in a wave shape with undulation.

The driving assemblies have three groups, and certainly, the driving assemblies can also be two groups, four groups and the like. Preferably be three groups, every group drive assembly all includes two drive steering wheel 12 of symmetry setting in 11 both sides of base, every drive steering wheel 12 all is connected through coupling assembling 14 drive with the motion subassembly between. The three groups of driving assemblies are respectively connected to the front part, the middle part and the rear part of the floating fin plate 13, and the floating fin plate 13 is deformed differently through different swinging of the three groups of driving assemblies. If the first group of driving components drives the floating fin plate 13 at the joint to be at the lowest position, the second group of driving components drives the floating fin plate 13 at the joint to be at the plane position, the third group of driving components drives the floating fin plate 13 at the joint to be at the highest position, and then the latter group of driving components repeats the motion track of the former group of driving components, so that the whole floating fin plate 13 generates wave-shaped motion deformation.

The connecting assembly 14 comprises a first connecting rod 141, a second connecting rod 142 and a swing leg 143, one end of the first connecting rod 141 is fixedly connected with the output end of the driving steering engine 12, the other end of the first connecting rod 141 is rotatably connected with one end of the second connecting rod 142 through a pin shaft, the other end of the second connecting rod 142 is rotatably connected with one end of the swing leg 143 through a pin shaft, the other end of the swing leg 143 is fixedly connected with the moving assembly, and the middle of the swing leg 143 is rotatably connected with the base 11 through a sliding bearing 144. That is, the output end of the steering engine 12 is driven to rotate or swing to drive the first connecting rod 141 to swing, and further to drive the second connecting rod 142 to move, the second connecting rod 142 pulls one end of the swing leg 143 to make the swing leg 143 rotate on the sliding bearing 144, so that the other end of the swing leg 143 drives the floating fin plate 13 to move, the plurality of driving assemblies generate different rotations or swings to make the floating fin plate 13 generate different angles and deformations, and different movement modes are realized. I.e. the connecting assembly 14 is a four bar linkage.

The swing leg 143 is fixedly connected with the upper part of the moving assembly through a clamping jaw 145. Namely, the swing leg 143 is fixedly connected with the clamping jaw 145, the clamping jaw 145 fixedly clamps the upper end of the floating fin plate 13, and the swing leg 143 can drive the floating fin plate 13 to rotate together. The sliding bearing 144 is a self-lubricating sliding bearing 144, so that the swing leg 143 can stably rotate on the base 11, and the resistance is small. The first connecting rod 141 is fixedly connected with the driving steering engine 12 through a screw 146. The screw 146 is connected firmly, dismantles simple to operate simultaneously, convenient equipment and maintenance.

The mobile platform adopts a modularized design, and adopts an innovative wave-shaped floating fin plate 13 as a propelling mechanism, and the floating fin plate 13 can generate various motion postures under the driving of mutually independent driving components of a plurality of connecting components 14 to drive the mobile platform to move. In water, the floating fins 13 on the two sides are unfolded to be parallel to the base 11, and the wave motion of the floating fins 13 simulates the motion of a ray in the water; on land, the floating fins 13 on both sides rotate 90 degrees to be in a vertical posture with the base 11, and the fluctuation of the floating fins 13 is converted into the contact of the mobile platform and the ground, which is similar to the winding motion of a snake on the ground. The steering of the mobile platform generates steering torque by means of the speed difference of the movement of the floating fins 13 on the two sides, and the steering torque is similar to the differential movement of a tracked vehicle; the floating and diving of the mobile platform in water are realized by generating special wave motion by the floating fins 13 on two sides. When the mobile platform turns, the steering shaft 22 between two adjacent driving devices 1 is rotatably connected with the bogie, and when the mobile platform turns, the included angle between two adjacent driving devices 1 changes along with different movements of the floating fin plate 13, so that compared with two driving devices 1 which are rigidly connected, the mobile platform is more convenient to turn and more flexible to operate.

Each modular driving device 1 in the mobile platform is an amphibious small platform, and the three groups of independently controlled driving devices 1 ensure that the mobile platform has an amphibious moving function completely, is self-controlled and is similar to a ray to move in water. The plurality of modularized driving devices 1 can be quickly spliced into a multi-section moving platform according to requirements, and the whole moving platform has larger maneuvering capability and bearing capability through centralized coordination control of each driving device 1, so that a shape similar to a bionic snake is formed; and still be viable in the event of a partial failure or intermediate disconnection of the mobile platform. The hinged joints among the driving devices 1 are controllable, so that the mobile platform has stronger deformation capability and the capability of climbing over obstacles, such as integral up-down pitching and left-right swinging, thereby obtaining greater maneuvering flexibility and obstacle crossing capability in water and on land.

In the second embodiment, as shown in fig. 3, 5 and 6, on the basis of the first embodiment, buoyancy adjusting air chambers 15 are symmetrically arranged on two sides of the base 11. Namely, the buoyancy of the whole driving device 1 is changed by adjusting the amount of the gas in the gas cavity 15 through the buoyancy, so that the driving device 1 can sink and float in water. The buoyancy regulating air cavity 15 can be internally provided with an air generator, and meanwhile, air can be discharged in time, namely, the amount of air in the buoyancy regulating air cavity 15 can be changed in time, so that the buoyancy of the whole driving device 1 can be changed.

The drive device 1 as a whole employs an electric drive scheme but is not limited to electric drive. The specific driving device 1 mainly consists of a driving assembly and a buoyancy regulating air chamber 15. The driving assembly is composed of driving steering engines 12 and connecting assemblies 14 which are arranged in a row, each connecting assembly 14 is connected with one position of the floating fin plate 13, the driving steering engines 12 rotate to drive the swing legs 143 to drive the floating fin plates 13 to swing up and down or swing left and right to provide driving force, the driving steering engines 12 are different in initial phase, and the driving device 1 can be turned by adjusting the rotating speed of the left and right driving steering engines 12. When the driving device 1 needs land-water conversion, all the driving steering engines 12 drive to change the initial angle of the swing legs 143 of the connecting components 14, so that the floating fin plates 13 are forced to be in a vertical position to be in contact with the land, and when the driving components drive the floating fin plates 13 to move, the meandering motion similar to a snake on the road is formed.

The middle of the base 11 is provided with a controller 16, a waterproof cover is arranged outside the controller 16, and the controller 16 is in control connection with the driving steering engine 12 and the buoyancy regulating air cavity 15 and is used for controlling the rotation angle and speed of the driving steering engine 12 and the air volume of the buoyancy regulating air cavity 15. The base 11 is provided with a top cover 17, and the controller 16, the driving steering engine 12 and the buoyancy regulating air cavity 15 are all covered in the top cover 17. Namely, the controller 16 can control the rotation angle and the rotation speed of each driving steering engine 12, and can control the air volume in the buoyancy adjusting air cavity 15, so as to change the buoyancy of the whole driving device 1.

Every drive arrangement 1 is equipped with an independent power, for controller 16 and drive steering wheel 12, turn to steering wheel 21 etc. and provide the energy, make every drive arrangement 1 homoenergetic be an independent moving platform in the criminal field, also interconnect control is carried out between the controller 16 of a plurality of drive arrangement 1 simultaneously, or sets up a total controller 16, makes a plurality of drive arrangement 1 connect after one, can mutually support and contact.

The overall design of the mobile platform of the invention uses the motion mode of snakes and rajas as a reference, and a pair of wave-shaped floating fin plates 13 made of flexible materials are designed on two sides of the body of each driving device 1. When the floating fin plates 13 on the two sides are unfolded to be parallel to the base 11 in water, the motion of the fish in the water is simulated through the fluctuation motion of the floating fin plates 13, the wave-shaped floating fin plates 13 can swing up and down just like fins of the fish, power can be provided for the moving platform, and the floating and diving of the moving platform in the water are realized by means of the special wave-shaped motion generated by the floating fin plates 13 on the two sides. On land, the floating fins 13 on both sides can be integrally turned downwards by 90 degrees to be in a vertical posture with the base 11, a snake-like winding and crawling mode on the ground is formed, and the moving platform can obtain power for advancing and steering by transversely swinging the floating fins 13. Steering of the mobile platform in water and on land relies on the differential speed of movement of the fin 13 on both sides to produce a steering torque, similar to the differential speed of a tracked vehicle. When the obstacle is crossed, the steering engine 21 between the driving modules of the mobile platform is turned, the driving device 1 at the front end is in a rising state, the mobile platform continues to drive to move forwards, and the mobile platform smoothly climbs the obstacle

Other components such as an inspection component, a detection component and the like can be arranged on the mobile platform, so that amphibious operation can be carried out on a shoal belt connected between sea and land. The invention adopts a modular design, the driving devices 1 can be combined in series, the hinged joints among the driving devices 1 are controllable, the installation and the maintenance are convenient, the driving device has higher maneuverability and bearing capacity, and simultaneously, the anti-risk capacity is stronger, when one driving device 1 is damaged, the other driving devices 1 can normally work, the moving capacity of the whole moving platform is less influenced, and the steering components 2 among the driving devices 1 ensure that the moving platform has stronger variant capacity and the capacity of crossing obstacles, such as integral up-down pitching and left-right swinging, so as to obtain higher maneuverability and obstacle crossing capacity in water and on the land; the requirement of good movement on both land and water is met, the technology of driving by two different driving devices 1 in water and on land in the prior art is simplified, the same driving device 1 is adopted on both water and land, the operation requirement under the complex environment of a shallow sea area is met, the driving structure is simplified, and the adaptability is strong; the wavy floating fin plate 13 is made of flexible materials, such as rubber and the like which can generate certain deformation, the floating fin plate 13 can be turned up and down on water and can swing on land, amphibious movement of water tour, land walking and steering is realized, and meanwhile, the floating fin plate has the functions of steering, submerging, floating and the like under the coordination of the buoyancy adjusting air cavity 15, and is simple in structure, convenient to control and stable in operation; meanwhile, a plurality of driving devices 1 can be connected end to realize multi-section combination variants.

The present invention is capable of other embodiments, and various changes and modifications may be made by one skilled in the art without departing from the spirit and scope of the invention.

Claims

1. A variable and modularized amphibious bionic mobile platform is characterized in that: the device comprises a plurality of driving devices (1) which are connected in series, wherein adjacent driving devices (1) are connected through a steering assembly (2), each driving device (1) comprises a base (11) and two motion assemblies, the two motion assemblies are symmetrically connected to two sides of the base (11) through symmetrically arranged driving assemblies, and each driving assembly comprises a driving steering engine (12) which is symmetrically arranged on the base (11) and a connecting assembly (14) which is connected with the driving steering engine (12) and drives the motion assemblies to move.

2. The modifiable, modular amphibious biomimetic mobile platform according to claim 1, wherein: turn to subassembly (2) including setting up steering wheel (21) that turn to at base (11) front end and steering spindle (22) of setting in base (11) rear end, the output fixedly connected with rotor plate (23) of steering wheel (21), swivel mount (24) have been cup jointed on steering spindle (22), in two adjacent drive arrangement (1), drive arrangement (1) at rear fixed connection between rotor plate (23) and the swivel mount (24) of drive arrangement (1) in the place ahead.

3. The modular biomimetic mobile platform drive apparatus (1) according to claim 1, wherein: the motion assembly is a wave-shaped floating fin plate (13).

4. The modular biomimetic mobile platform drive apparatus (1) according to claim 1, wherein: the driving assembly has three groups, and every group the driving assembly all includes two drive steering wheel (12) that the symmetry set up in base (11) both sides, every all through coupling assembling (14) drive connection between drive steering wheel (12) and the motion subassembly.

5. The modular biomimetic mobile platform drive apparatus (1) according to claim 1, wherein: coupling assembling (14) include first connecting rod (141), second connecting rod (142) and pendulum leg (143), first connecting rod (141) one end and drive steering wheel (12) output fixed connection, first connecting rod (141) other end passes through the round pin axle with second connecting rod (142) one end and rotates to be connected, the second connecting rod (142) other end passes through the round pin axle with pendulum leg (143) one end and rotates to be connected, pendulum leg (143) other end and motion subassembly fixed connection, pendulum leg (143) middle part is passed through slide bearing (144) and is rotated with base (11) and be connected.

6. The modular biomimetic mobile platform drive apparatus (1) according to claim 5, wherein: the swing leg (143) is fixedly connected with the upper part of the moving assembly in a clamping way through a clamping jaw (145).

7. The modular biomimetic mobile platform drive apparatus (1) according to claim 5, wherein: the first connecting rod (141) is fixedly connected with the driving steering engine (12) through a screw (146).

8. The modular biomimetic mobile platform drive apparatus (1) according to claim 1, wherein: and buoyancy adjusting air cavities (15) are symmetrically arranged on two sides of the base (11).

9. The modular biomimetic mobile platform drive apparatus (1) according to claim 8, wherein: the base (11) middle part is provided with controller (16), controller (16) and drive steering wheel (12) and buoyancy regulation air cavity (15) control connection for the rotation angle, the speed of control drive steering wheel (12) and the tolerance of buoyancy regulation air cavity (15).

10. The modular biomimetic mobile platform drive apparatus (1) according to claim 9, wherein: the base (11) is provided with a top cover (17), and the controller (16), the driving steering engine (12) and the buoyancy adjusting air cavity (15) are all covered in the top cover (17).