CN113771566A

CN113771566A - Amphibious bionic robot

Info

Publication number: CN113771566A
Application number: CN202111183762.6A
Authority: CN
Inventors: 金贺荣; 侯硕; 卫锐; 宜亚丽; 赵丁选; 赵红凯; 李依帆
Original assignee: Yanshan University; Beijing Xinghang Electromechanical Equipment Co Ltd
Current assignee: Yanshan University; Beijing Xinghang Electromechanical Equipment Co Ltd
Priority date: 2021-10-11
Filing date: 2021-10-11
Publication date: 2021-12-10
Anticipated expiration: 2041-10-11
Also published as: CN113771566B

Abstract

The invention provides an amphibious bionic robot which comprises a fish shell, a baffle, a traveling walking device, a sample acquisition device, an image photographing device and a floating and diving device, wherein an upper fish shell and a lower fish shell are fixedly connected with two ends of a walking shell respectively, a fish head baffle and a fish tail baffle are positioned at the front end and the rear end of the walking shell respectively, the sample acquisition device is fixedly connected with the upper wall of an open slot of the lower fish shell, and the image photographing device and the floating and diving device are positioned in the upper fish shell respectively. The walking device can realize underwater advancing, retreating, turning movement and walking on rugged road surfaces, the image photographing device can stably photograph useful information in two environments of underwater and land surfaces, the floating diving device can realize vertical up-and-down movement of the bionic robot fish, and the sample collecting device can realize a captured sample and a hard sample for drilling. The invention can travel under water and on the road surface, simultaneously carries two manipulators, can collect resources and has wide application prospect.

Description

Amphibious bionic robot

Technical Field

The invention relates to the field of bionic robots, in particular to an amphibious bionic robot.

Background

In recent years, the problem of energy shortage is more and more prominent, and people need to fully utilize resources such as land, ocean and the like to maintain self development, and compared with the traditional robot, the amphibious robot can adapt to more working environments, so that the moving range can be enlarged, and more resources can be collected.

Aiming at the published patents, such as an amphibious robot with application number 202011274282.6, the amphibious robot solves the amphibious walking problem of the robot, adopts a leg mechanism, is driven by a motor and a compound crank rocker slider mechanism, but easily generates sliding friction, so that the efficiency is reduced; an amphibious bionic robot with application number 201810678294.1 realizes that the robot both can move in a flexible way in aquatic, also can walk on complicated land simultaneously, carries on multiple sensing tester simultaneously, can carry out information acquisition under water, but the function is single.

Disclosure of Invention

Aiming at the problems in the prior art, the invention provides an amphibious bionic robot, which prevents the occurrence of a snap-back situation in the movement process by adopting a pectoral fin of a cam mechanism, promotes the stable movement of a machine body, reduces sliding friction and improves the working efficiency; the image photographing device with the combination of the outer frame, the middle frame and the inner frame not only realizes the three-degree-of-freedom movement of the holder, but also can stably shoot useful information in water and land environments, so that the moving range of the image photographing device is wider.

The invention provides an amphibious bionic robot which comprises an upper fish shell, a lower fish shell, a fish head baffle, a fish tail baffle, a traveling walking device, a sample acquisition device, an image photographing device and a floating and submerging device, wherein the upper fish shell and the lower fish shell are respectively and fixedly connected with the upper end and the lower end of a traveling shell in the traveling walking device, the fish head baffle and the fish tail baffle are respectively positioned at the front end and the rear end of the traveling shell in the traveling walking device, the sample acquisition device is fixedly connected with the upper wall of an open slot of the lower fish shell, and the image photographing device and the floating and submerging device are respectively positioned inside the upper fish shell. The walking device comprises a walking shell, a cam, a swing rod, a flexible fluctuation fin, a stepping motor, a motor support, a tail fin connecting piece, a tail fin, a double-shaft steering engine and a steering engine support, wherein an output shaft of the stepping motor is connected with a rotation center of the cam, a groove of the cam is fixedly connected with a first end of the swing rod, and a second end of the swing rod is connected with the flexible fluctuation fin; the shell of the double-shaft steering engine is fixedly connected with the center of the outer side of the fishtail baffle through a steering engine support, the output shaft of the double-shaft steering engine is fixedly connected with the first end of the tail fin connecting piece through the steering engine support, and the second end of the tail fin connecting piece is fixedly connected with the tail fin. The sample collection device comprises a grabbing mechanical arm, a drilling mechanical arm, a lifting platform, a parallel platform, a motor and a collecting box, wherein the first end of the lifting platform is fixedly connected with the grabbing mechanical arm respectively and fixedly connected with a first mounting end and a second mounting end of the upper wall of a lower fish shell open slot, the second end of the lifting platform is connected with a base of the parallel platform, a shell of the motor is fixedly connected with a main platform of the parallel platform, an output shaft of the motor penetrates through a shaft hole of the main platform and the drilling mechanical arm to be connected, and the collecting box is located in a groove in the bottom of the lower fish shell. The image photographing device comprises an outer rotating device, an outer frame device, a middle frame device, an inner frame device, a camera, a waterproof shell, an inner frame motor, an outer frame motor and a first coupler, wherein the lower end of the outer frame device is fixedly connected with a first mounting end at the upper end of an outer rotating frame in the outer rotating device; the floating and submerging device comprises a first round platform, a second round platform, a gravity center adjusting device and a water sucking and draining adjusting device, the first round platform is connected with the inner side of the fish head baffle, the second round platform is connected with the inner side of the fish tail baffle, and the gravity center adjusting device and the water sucking and draining adjusting device are respectively positioned between the first round platform and the second round platform.

Preferably, in the walking device, the motor supports are symmetrically distributed at two ends of the walking shell and fixedly connected with two ends of the walking shell, and the shell of the stepping motor is fixedly connected with the motor supports.

Preferably, the outer rotating device comprises an outer rotating frame, an outer rotating shaft, a worm wheel, a worm and gear box, a driving motor and a magnetic ring encoder, wherein the upper end of the outer rotating shaft is fixedly connected with the lower end of the outer rotating frame, the lower end of the outer rotating shaft is sequentially connected with the magnetic ring encoder and the worm wheel, the worm wheel is meshed with the worm, the worm is connected with an output shaft of the driving motor through a first coupler, and a mounting hole of the worm and gear box is connected with the middle mounting end of the outer rotating shaft.

Preferably, the gravity center adjusting device comprises a direct current motor, a motor support, a synchronous belt, a first synchronous pulley, a second synchronous pulley, a synchronous pulley shaft, a balancing weight, an optical axis slider, an optical axis seat and a second coupler, wherein a shell of the direct current motor is fixedly connected with a first end of the motor support, a second end of the motor support is fixedly connected with a first mounting end on the inner side of the first circular table, an output shaft of the direct current motor is sequentially connected with the center of the first synchronous pulley through the second coupler and the synchronous pulley shaft, an outer ring of the first synchronous pulley is connected with an outer ring of the second synchronous pulley through the synchronous belt, the center of the second synchronous pulley is fixedly connected with a first mounting end on the inner side of the second circular table through the synchronous pulley shaft, and a first end of the balancing weight is connected with the middle part of the synchronous belt, the second end of balancing weight with the first end fixed connection of optical axis slider, the second end of optical axis slider with the middle part of optical axis is connected, the both ends of optical axis pass through the optical axis seat respectively with first round platform with the inboard second installation end fixed connection of second round platform.

Preferably, the water suction and drainage adjusting device comprises a water pump, a water tank, a normally closed electromagnetic valve, an aluminum profile and a pipeline, wherein two ends of the aluminum profile are respectively fixedly connected with a first round platform and a third mounting end on the inner side of a second round platform, the water pump is fixedly connected with a shell of the normally closed electromagnetic valve, the water tank is fixedly connected with a first mounting end, a second mounting end and a third mounting end at the middle part of the aluminum profile, a water outlet of the water pump is connected with a first end of the normally closed electromagnetic valve through the pipeline, a second end of the normally closed electromagnetic valve is connected with a water inlet of the water tank through the pipeline, the water inlet of the water pump is used as a water inlet of the device, and a water outlet of the water tank is used as a water outlet of the device.

Preferably, the worm wheel, the worm, the driving motor and the magnetic ring encoder are all arranged in a worm wheel and worm box, the outer frame device, the middle frame device, the inner frame device and the camera are all arranged in waterproof cases, and the waterproof cases are symmetrically distributed on two sides of the outer rotating frame.

Preferably, the axes of the drilling manipulator, the lifting platform, the parallel platform and the motor are on the same straight line; the axis of the first round platform and the axis of the fish head baffle are on the same straight line, and the axis of the second round platform and the axis of the fish tail baffle are on the same straight line.

Preferably, the cam, the swing rod, the flexible wave fin and the stepping motor are symmetrically distributed on two sides of the walking shell; the optical axis is upper and lower symmetric distribution and is in the both sides of hold-in range, the water pump the water tank with the normal close formula solenoid valve is located the coplanar.

Compared with the prior art, the invention has the following advantages:

1. the swimming walking device adopts the design of combining the pectoral fin and the tail fin, wherein the pectoral fin adopts the cam mechanism, and the swimming walking device can prevent the occurrence of the situation of quick return and promote the stable movement of the body in consideration of simple structure and composition.

2. The image photographing device adopts the design of the outer frame device, the middle frame device and the inner frame device, can realize three-degree-of-freedom movement of the image photographing device, has a compact structure, can stably photograph useful information in two environments, namely underwater environment and land environment, and can help a robot to walk in the two environments.

3. The floating and diving device adopts the design of the gravity center adjusting device and the water sucking and draining adjusting device, and can realize the vertical up-and-down motion or the inclined up-and-down motion of the bionic robot, so that the robot can move more flexibly and move more conveniently.

4. The grabbing manipulator in the sample acquisition device adopts a double-bucket structure, and can acquire special underwater sand resources compared with a common manipulator.

Drawings

FIG. 1 is an isometric view of an amphibious biomimetic robot of the present invention;

FIG. 2 is a front view of the amphibious bionic robot of the invention;

FIG. 3 is a schematic diagram of the internal structure of the amphibious bionic robot;

FIG. 4 is a structural schematic diagram of a swimming walking device in a pectoral fin of the amphibious bionic robot;

FIG. 5 is a schematic diagram of a swimming walking device in an amphibious bionic robot in a partially enlarged manner on a pectoral fin;

FIG. 6 is a schematic structural diagram of a swimming walking device in a tail fin of the amphibious bionic robot;

FIG. 7 is a schematic structural diagram of an acquisition device in the amphibious bionic robot of the invention;

FIG. 8 is a schematic structural diagram of a drilling mechanism in the amphibious bionic robot;

FIG. 9 is a schematic structural diagram of an image photographing device in the amphibious bionic robot;

FIG. 10 is a partially enlarged schematic view of an image photographing device in the amphibious bionic robot according to the invention;

FIG. 11 is a schematic structural diagram of a floating and submerging device in the amphibious bionic robot;

FIG. 12 is a schematic structural diagram of a gravity center adjusting device in the amphibious bionic robot.

The main reference numbers:

an upper fish shell 1, a lower fish shell 2, a fish head baffle 3, a fish tail baffle 4, a floating walking device 5, a walking outer shell 51, a cam 52, a swing rod 53, a flexible fluctuation fin 54, a stepping motor 55, a motor bracket 56, a tail fin connecting piece 57, a tail fin 58, a double-shaft steering engine 59, a steering engine bracket 510, a sample collecting device 6, a grabbing manipulator 61, a drilling manipulator 62, a lifting platform 63, a parallel platform 64, a motor 65, a collecting box 66, an image photographing device 7, an outer rotating device 71, an outer rotating frame 711, an outer rotating shaft 712, a worm wheel 713, a worm 714, a worm and gear box 715, a driving motor 716, a magnetic ring encoder 717, an outer frame device 72, a middle frame device 73, an inner frame device 74, a camera 75, a waterproof shell 76, an inner frame motor 77, an outer frame motor 78, a first coupler 79, a floating and diving device 8, a first circular table 81, a second 82 and a gravity center adjusting device 83, direct current motor 831, motor support 832, hold-in range 833, first synchronous pulley 834, second synchronous pulley 835, hold-in range shaft 836, balancing weight 837, optical axis 838, optical axis slider 839, optical axis seat 8310, second coupling 8311, inhale drainage adjusting device 84, water pump 841, water tank 842, normally closed solenoid valve 843, aluminium alloy 844, pipeline 85.

Detailed Description

The technical contents, structural features, attained objects and effects of the present invention are explained in detail below with reference to the accompanying drawings.

An amphibious bionic robot is shown in fig. 1 and fig. 2 and 3, and comprises an upper fish shell 1, a lower fish shell 2, a fish head baffle 3, a fish tail baffle 4, a walking device 5, a sample collecting device 6, an image photographing device 7 and a floating and submerging device 8, wherein the walking device 5 can realize underwater advancing, retreating, turning movement and rugged road walking, and controls the balance of the bionic robot and provides power; the image photographing device 7 can realize three-degree-of-freedom motion, can stably photograph useful information and collect images in two environments, namely underwater and land; the floating and submerging device 8 adjusts the gravity center of the bionic robot and controls the sinking and surfacing of the bionic robot, comprises a gravity center adjusting part and a water sucking and draining adjusting part, and can realize the vertical up-and-down motion of the bionic robot fish; the sample acquiring device 6 is used for collecting resources, wherein the grasping robot 61 may achieve direct contact with the sample to be grasped, and the drilling robot 62 may achieve drilling of a hard sample. The amphibious bionic robot can flexibly move in water, can walk on complex land, carries two manipulators, namely the grabbing manipulator 61 and the drilling manipulator 62, can collect resources, and has wide application prospect.

The upper fish shell 1 and the lower fish shell 2 are both composed of skin and glass fiber reinforced plastic, the upper fish shell 1 is fixedly connected with the upper end of a walking shell 51 in a walking device 5 through bolts, the lower fish shell 2 is fixedly connected with the lower end of the walking shell 51 in the walking device 5 through bolts, a fish head baffle plate 3 and a fish tail baffle plate 4 are respectively positioned at the front end and the rear end of the walking shell 51 in the walking device 5 and are respectively connected with the front end and the rear end of the walking shell 51 in the walking device 5, the upper fish shell 1 and the lower fish shell 2 through bolts, a sample collecting device 6 is fixedly connected with the upper wall of an open slot of the lower fish shell 2, an image photographing device 7 and an upper floating and diving device 8 are respectively positioned in the upper fish shell 1, a worm gear box 715 in the image photographing device 7 is installed on an aluminum profile 844 of the upper floating and diving device 8, an outer rotating shaft 712 passes through a shaft hole on the upper fish shell 1, waterproof glue is smeared at the gap of the bionic robot, so as to play a role of water resistance.

The walking device 5, as shown in fig. 4 in combination with fig. 5 and 6, includes a walking housing 51, a cam 52, a swing link 53, a flexible wave fin 54, a stepping motor 55, a motor support 56, a tail fin connector 57, a tail fin 58, a dual-axis steering engine 59 and a steering engine support 510, specifically, the stepping motor 55 has an encoder, the cam 52, the swing link 53, the flexible wave fin 54 and the stepping motor 55 are symmetrically distributed on both sides of the

walking housing

51, 7 driving chambers are respectively arranged on both sides of the walking housing 51, the flexible wave fin 54 is formed by bending a sector plane, and the phase difference between the flexible wave fins 54 connected to two adjacent swing links 53 is 120 degrees at most.

The motor brackets 56 are symmetrically distributed at two ends of the walking shell 51 and are fixedly connected with the driving chambers at two ends of the walking shell 51 through bolts, the shell of the stepping motor 55 is fixedly connected with the motor brackets 56, the output shaft of the stepping motor 55 is connected with the rotating center of the cam 52, the groove of the cam 52 is fixedly connected with the first end of the swing rod 53, and the second end of the swing rod 53 is connected with the flexible fluctuation fin 54; the shell of the double-shaft steering engine 59 is fixedly connected with the center of the outer side of the fishtail baffle 4 through a steering engine support 510, the output shaft of the double-shaft steering engine 59 is fixedly connected with the first end of the tail fin connecting piece 57 through the steering engine support 510, the tail fins 58 are of a symmetrical structure and are mounted in the middle of the two side walls of the second end of the tail fin connecting piece 57 through bolts.

The sample collection device 6, as shown in fig. 7 and 8, includes a grasping robot 61, a drilling robot 62, a lifting platform 63, a parallel platform 64, a motor 65, and a collection box 66, and specifically, the axes of the drilling robot 61, the lifting platform 63, the parallel platform 64, and the motor 65 are on the same straight line. The first end of elevating platform 63 with snatch manipulator 61 respectively with first installation end and the second installation end fixed connection of fish shell 2 open slot upper wall down, the second end of elevating platform 63 passes through the bolt and is connected with the base of parallelly connected platform 64, the shell of motor 65 passes through the bolt and parallelly connected platform 64's main platform fixed connection, the output shaft of motor 65 passes the shaft hole of main platform and drills manipulator 62 and connects, motor 65 drive drills the manipulator 62 rotatory, collecting box 66 is located the recess of fish shell 2 bottom down.

The image photographing device 7, as shown in fig. 9, includes the image photographing device 7, an outer rotating device 71, an outer frame device 72, a middle frame device 73, an inner frame device 74, a camera 75, a waterproof case 76, an inner frame motor 77, an outer frame motor 78, and a first coupling 79. The lower end of the outer frame device 72 is fixedly connected with a first mounting end at the upper end of the outer rotating frame 711 in the outer rotating device 71, the waterproof shell 76 is fixedly connected with a second mounting end at the upper end of the outer rotating frame 711 in the outer rotating device 71, the outer shell of the outer frame motor 78 is connected with the upper end of the outer frame device 72, the output shaft of the outer frame motor 78 is connected with a first end of the inner frame device 73, a second end of the inner frame device 73 is connected with the outer shell of the inner frame motor 77, the output shaft of the inner frame motor 77 penetrates through a second end of the inner frame device 73 through a first coupler 79 to be connected with a first end of the inner frame device 74, and the camera 75 is located inside the inner frame device 74.

The outer rotating device 71, as shown in fig. 10, includes an outer rotating frame 711, an outer rotating shaft 712, a worm wheel 713, a worm 714, a worm and gear box 715, a driving motor 716 and a magnetic ring encoder 717, the upper end of the outer rotating shaft 712 is fixedly connected with the lower end of the outer rotating frame 711, the lower end of the outer rotating shaft 712 is sequentially connected with the magnetic ring encoder 717 and the worm wheel 713, the worm wheel 713 is meshed with the worm 714, the worm 714 is connected with an output shaft of the driving motor 716 through a first coupling 79, and a mounting hole of the worm and gear box 715 is connected with a middle mounting end of the outer rotating shaft 712.

Specifically, the outer frame device 72, the middle frame device 73, the inner frame device 74 and the camera 75 are all inside the waterproof case 76, and the waterproof case 76 is symmetrically distributed on both sides of the outer rotating frame 711; the worm gear 713, the worm 714, the drive motor 716, and the magnetic ring encoder 717 are all inside the worm gear box 715.

The floating and submerging device 8 comprises a first round platform 81, a second round platform 82, a gravity center adjusting device 83 and a water sucking and draining adjusting device 84, the first round platform 81 is connected with the inner side of the fish head baffle 3, the second round platform 82 is connected with the inner side of the fish tail baffle 4, the gravity center adjusting device 83 and the water sucking and draining adjusting device 84 are respectively positioned between the first round platform 81 and the second round platform 82, meanwhile, the axis of the first round platform 81 and the axis of the fish head baffle 3 are on the same straight line, and the axis of the second round platform 82 and the axis of the fish tail baffle 4 are on the same straight line.

As shown in fig. 12, the gravity center adjusting device 83 includes a dc motor 831, a motor support 832, a synchronous belt 833, a first synchronous pulley 834, a second synchronous pulley 835, a synchronous pulley shaft 836, a balancing weight 837, an optical axis 838, an optical axis slider 839, an optical axis seat 8310, and a second coupling 8311, and further, in order to ensure the stability of the gravity center adjusting device 83 in operation, the optical axis 838 is symmetrically distributed on two sides of the synchronous belt 833 up and down.

The housing of the direct current motor 831 is fixedly connected with the first end of the motor support 832, the second end of the motor support 832 is fixedly connected with the first mounting end on the inner side of the first circular truncated cone 81, the output shaft of the direct current motor 831 is fixedly connected with the center of the first synchronous pulley 834 through the second coupling 8311 and the synchronous pulley shaft 836 in sequence, the outer ring of the first synchronous pulley 834 is connected with the outer ring of the second synchronous pulley 835 through the synchronous belt 833, the center of the second synchronous pulley 835 is fixedly connected with the first mounting end on the inner side of the second circular truncated cone 82 through the synchronous pulley shaft 836, the first end of the balancing weight 837 is connected with the middle of the synchronous belt 833, the second end of the balancing weight 837 is fixedly connected with the first end of the optical axis slider 839 through a bolt, the second end of the optical axis slider 839 is connected with the middle of the optical axis 838, the optical axis slider 839 can freely slide on the optical axis 838, and the two ends of the optical axis 838 are fixedly connected with the second mounting circular truncated cones on the inner sides of the first circular truncated cone 81 and the second circular truncated cone 82 through the optical axis seat 8310.

Inhale drainage adjusting device, it includes water pump 841, water tank 842, normal close formula solenoid valve 843, aluminium alloy 844 and pipeline 85, the both ends of aluminium alloy 844 respectively with the inboard third installation end fixed connection of first round platform 81 and second round platform 82, water pump 841, water tank 842 and normal close formula solenoid valve 843's shell respectively with the first installation end at aluminium alloy 844 middle part, second installation end and third installation end fixed connection, and water pump 841, water tank 842 and normal close formula solenoid valve 843 are located the coplanar, the first end of pipeline 85 and normal close formula solenoid valve 843 is passed through to the delivery port of water pump 841 is connected, the second end of normal close formula solenoid valve 843 is passed through the pipeline 85 and is connected with the water inlet of water tank 842, the water inlet of water pump 841 is as the water inlet of device, the delivery port of water tank 842 is as the delivery port of device.

The amphibious bionic robot is further described with reference to the following embodiments:

the amphibious bionic robot is divided into two working processes of land and underwater, and the main working processes are realized as follows:

1. land working process:

the step motors 55 on two sides of the robot walking device 5 are started to move, the step motors 55 drive the flexible wave fins 54 to perform rhythmic vibration actions through the swing rods 53, and the flexible wave fins 54 on one side of the walking shell 51 have two wave troughs, so that the robot always keeps 4 points in contact with the ground, and the flexible wave fins 54 are driven to move through the actions of the swing rods 53.

When resources on land are to be collected, the robot finds the resources and positions the resources through the image photographing device 7, three-degree-of-freedom movement of the image photographing device 7 is achieved through the outer frame device 72, the middle frame device 73 and the inner frame device 74, the outer rotating shaft 712 and the outer rotating frame 711 of the outer rotating device 71 are rotated under the combined action of the worm wheel 713 and the worm 714 in the worm and gear box 715 through driving of the driving motor 716, the rotating angle of the outer rotating shaft 712 can be fed back by the magnetic ring encoder 717 on the outer rotating shaft 712 and matched with the driving motor 717, so that the preset value of the rotating angle of the outer rotating shaft 712 is reached, and the cameras 75 on the left side and the right side of the outer rotating frame 711 are driven to rotate; when only one camera 75 in the left side and the right side needs to be adjusted, the inner frame motor 77 and the outer frame motor 78 are respectively started, the outer frame motor 78 in the middle frame device 73 drives the middle frame device 73 to move, and the inner frame device 74 is driven by the inner frame motor 77 to rotate, so that the single camera 75 can move left, right, up and down, and useful information in a land environment can be stably shot.

After the resource position is located, then, the grabbing manipulator 61 in the sample collection device 6 is started to grab the resource and put into the collection box 66 at the bottom of the lower fish shell 2, when the resource to be collected is hard and not easy to grab, the drilling manipulator 62 in the sample collection device 6 is started to crush the resource, the resource is collected through the grabbing manipulator 61 after being crushed, the lifting platform 63 can realize the up-and-down movement of the drilling manipulator 61, the parallel platform 64 can realize the multi-angle rotation of the drilling manipulator 61, thereby ensuring the all-dimensional grabbing of the grabbing manipulator 61 and rapidly collecting the resource.

2. The underwater working process comprises the following steps:

when the robot needs to launch, the gravity center adjusting device 83 in the floating and submerging device 8 is started, the normally closed electromagnetic valve 843 in the water sucking and discharging device 84 is opened, the water pump 841 starts to move clockwise, water outside the robot is introduced into the water tank 842 from the water inlet on the fish shell 2 through the pipeline 85, and therefore the total weight of the robot is increased, and the robot can move vertically downwards.

When the robot needs to move underwater, the flexible wave fins 54 of the pectoral fin part are formed by bending fan-shaped planes, the phase difference between the flexible wave fins 54 connected with two adjacent swing rods 53 is 120 degrees at most, the end surfaces of the flexible wave fins 54 are controlled by the swing rods 53, the edge lines of the inner end surface and the outer end surface perform sinusoidal motion, the fluctuation amplitude of the sine line of the inner end surface is smaller than that of the sine line of the outer end surface, so that the swing rods 53 drive the flexible wave fins to generate waveforms under the action of a stepping motor 55 of the walking device 5, the motion of the flexible wave fins is similar to that of the true fish pectoral fin, a double-shaft steering engine 59 positioned on the tail fin directly drives the tail fin to move, the pectoral fin part and the tail fin part jointly provide power for the robot, and the robot can realize underwater forward, backward, turning and other motions under the walking device 5.

When resources on land are to be acquired, images are collected and the positions of the resources are determined through the image photographing device 7, three-degree-of-freedom movement of the image photographing device 7 is achieved through the outer frame device 72, the middle frame device 73 and the inner frame device 74, the outer rotating frame 711 can rotate by adjusting the outer rotating shaft 712 of the outer rotating device 71 under the combined action of the worm wheel 713 and the worm 714 in the worm and gear box 715, the cameras 75 on the left side and the right side of the outer rotating frame 711 are driven to rotate, and therefore the environment around the robot is seen; when only one camera 75 in the left and right sides needs to be adjusted, the inner frame motor 77 and the outer frame motor 78 are respectively started, so that the single camera 75 can move left, right, up and down, the capturing efficiency is improved, and after the resource position is determined, the resources are collected through the grabbing mechanical arm 61 and the drilling mechanical arm 62 in the sample collection device 6.

After resources are collected and the robot needs to float out of the water, a gravity center adjusting device 83 in the floating and submerging device 8 is started, a synchronous belt 833 in the gravity center adjusting device 83 is respectively matched with a first synchronous belt pulley 834 and a second synchronous belt pulley 835, a direct current motor 831 drives the first synchronous belt pulley 834 to rotate, the synchronous belt 833, an optical axis sliding block 839 and a balancing weight 837 matched with the synchronous belt 833 are driven to move together along an optical axis 838 and the synchronous belt 833, and the synchronous belt 833 is provided with a toothed shape, so that the balancing weight 837 is meshed with the toothed shape at the upper end of the synchronous belt 833 and fixed, the gravity center of the robot is changed, and the inclined up-and-down movement of the robot in the moving process is realized.

Meanwhile, the normally closed solenoid valve 843 in the water suction and discharge device 84 is opened, the water pump 841 starts to move counterclockwise, water passing through the water tank 842 is discharged from the water outlet on the upper fish shell 1 into the external water area through the pipeline 85, the gravity of the robot is reduced, and the robot starts to float vertically. The normally closed solenoid valve 843 in the suction/discharge device 84 prevents the water pump 841 from entering the water tank 842 under the pressure when the water pump 841 is not in operation, so that the robot can float up and dive down.

The above-mentioned embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements made to the technical solution of the present invention by those skilled in the art without departing from the spirit of the present invention shall fall within the protection scope defined by the claims of the present invention.

Claims

1. An amphibious bionic robot, which comprises an upper fish shell, a lower fish shell, a fish head baffle, a fish tail baffle, a traveling walking device, a sample collecting device, an image photographing device and a floating and submerging device, wherein the upper fish shell and the lower fish shell are respectively and fixedly connected with the upper end and the lower end of a traveling shell in the traveling walking device, the fish head baffle and the fish tail baffle are respectively positioned at the front end and the rear end of the traveling shell in the traveling walking device, the sample collecting device is fixedly connected with the upper wall of an open slot of the lower fish shell, and the image photographing device and the floating and submerging device are respectively positioned inside the upper fish shell,

the walking device comprises a walking shell, a cam, a swing rod, a flexible fluctuation fin, a stepping motor, a motor support, a tail fin connecting piece, a tail fin, a double-shaft steering engine and a steering engine support, wherein an output shaft of the stepping motor is connected with a rotation center of the cam, a groove of the cam is fixedly connected with a first end of the swing rod, and a second end of the swing rod is connected with the flexible fluctuation fin; the shell of the double-shaft steering engine is fixedly connected with the center of the outer side of the fishtail baffle through a steering engine bracket, the output shaft of the double-shaft steering engine is fixedly connected with the first end of the tail fin connecting piece through the steering engine bracket, and the second end of the tail fin connecting piece is fixedly connected with the tail fin;

the sample collecting device comprises a grabbing mechanical arm, a drilling mechanical arm, a lifting platform, a parallel platform, a motor and a collecting box, wherein the first end of the lifting platform and the grabbing mechanical arm are fixedly connected with the first mounting end and the second mounting end of the upper wall of the open slot of the lower fish shell respectively, the second end of the lifting platform is connected with the base of the parallel platform, the shell of the motor is fixedly connected with the main platform of the parallel platform, the output shaft of the motor penetrates through the shaft hole of the main platform to be connected with the drilling mechanical arm, and the collecting box is positioned in the groove at the bottom of the lower fish shell;

the image photographing device comprises an outer rotating device, an outer frame device, a middle frame device, an inner frame device, a camera, a waterproof shell, an inner frame motor, an outer frame motor and a first coupler, wherein the lower end of the outer frame device is fixedly connected with a first mounting end at the upper end of an outer rotating frame in the outer rotating device; the floating and submerging device comprises a first round platform, a second round platform, a gravity center adjusting device and a water sucking and draining adjusting device, the first round platform is connected with the inner side of the fish head baffle, the second round platform is connected with the inner side of the fish tail baffle, and the gravity center adjusting device and the water sucking and draining adjusting device are respectively positioned between the first round platform and the second round platform.

2. The amphibious bionic robot according to claim 1, wherein in the walking device, the motor brackets are symmetrically distributed at two ends of the walking shell and fixedly connected with two ends of the walking shell, and the shell of the stepping motor is fixedly connected with the motor brackets.

3. The amphibious bionic robot according to claim 1, wherein the outer rotating device comprises an outer rotating frame, an outer rotating shaft, a worm gear, a worm gear box, a driving motor and a magnetic ring encoder, the upper end of the outer rotating shaft and the lower end of the outer rotating frame are fixedly connected, the lower end of the outer rotating shaft is sequentially connected with the magnetic ring encoder and the worm gear, the worm gear is meshed with the worm, the worm is connected with an output shaft of the driving motor through a first coupler, and a mounting hole of the worm gear box is connected with a middle mounting end of the outer rotating shaft.

4. An amphibious bionic robot according to claim 1, wherein the gravity center adjusting device comprises a direct current motor, a motor bracket, a synchronous belt, a first synchronous pulley, a second synchronous pulley, a synchronous pulley shaft, a balancing weight, an optical axis slider, an optical axis seat and a second coupler, a shell of the direct current motor is fixedly connected with a first end of the motor bracket, a second end of the motor bracket is fixedly connected with a first mounting end inside the first circular truncated cone, an output shaft of the direct current motor is connected with the center of the first synchronous pulley through the second coupler and the synchronous pulley shaft in sequence, an outer ring of the first synchronous pulley is connected with an outer ring of the second synchronous pulley through the synchronous belt, and the center of the second synchronous pulley is fixedly connected with the first mounting end inside the second circular truncated cone through the synchronous pulley shaft, the first end of balancing weight with the middle part of hold-in range is connected, the second end of balancing weight with the first end fixed connection of optical axis slider, the second end of optical axis slider with the middle part of optical axis is connected, the both ends of optical axis pass through the optical axis seat respectively with first round platform with the inboard second installation end fixed connection of second round platform.

5. The amphibious bionic robot according to claim 1, wherein the water suction and discharge adjusting device comprises a water pump, a water tank, a normally closed type electromagnetic valve, an aluminum profile and a pipeline, two ends of the aluminum profile are fixedly connected with a third mounting end inside the first round platform and the second round platform respectively, shells of the water pump, the water tank and the normally closed type electromagnetic valve are fixedly connected with a first mounting end, a second mounting end and a third mounting end in the middle of the aluminum profile respectively, a water outlet of the water pump is connected with the first end of the normally closed type electromagnetic valve through the pipeline, a second end of the normally closed type electromagnetic valve is connected with a water inlet of the water tank through the pipeline, a water inlet of the water pump serves as a water inlet of the device, and a water outlet of the water tank serves as a water outlet of the device.

6. The amphibious biomimetic robot as claimed in claim 1, wherein the worm wheel, the worm, the drive motor and the magnetic ring encoder are all inside a worm and gear box, and the outer frame device, the middle frame device, the inner frame device and the camera are all inside waterproof cases symmetrically distributed on two sides of the outer rotating frame.

7. The amphibious biomimetic robot of claim 1, wherein axes of the drilling manipulator, the lift table, the parallel platform, and the motor are on a same line; the axis of the first round platform and the axis of the fish head baffle are on the same straight line, and the axis of the second round platform and the axis of the fish tail baffle are on the same straight line.

8. The amphibious biomimetic robot according to claim 1, wherein the cam, the swing link, the flexible wave fin and the stepping motor are symmetrically distributed on two sides of the walking shell; the optical axis is upper and lower symmetric distribution and is in the both sides of hold-in range, the water pump the water tank with the normal close formula solenoid valve is located the coplanar.