CN217730744U - Underwater robot of bionic dolphin - Google Patents

Abstract

The utility model discloses a bionical dolphin's underwater robot relates to underwater robot technical field, which comprises a housin, head mechanism, focus adjustment mechanism, afterbody mechanism and two pectoral fin mechanisms, head mechanism and afterbody mechanism are installed respectively in the both ends of casing, two pectoral fin mechanism symmetries are installed in the both sides of casing, and head mechanism department and pectoral fin mechanism department all install steering wheel subassembly, steering wheel subassembly is used for controlling head mechanism and pectoral fin mechanism motion, afterbody mechanism can compare in the casing swing, focus adjustment mechanism installs in the inside of casing, focus adjustment mechanism is used for changing the focus of casing and realizes ups and downs motion. The underwater robot of the bionic dolphin can reduce the propelling noise and simultaneously improve the motion flexibility and the propelling efficiency.

Description

Underwater robot of bionic dolphin

Technical Field

The utility model relates to an underwater robot technical field specifically is an underwater robot who relates to a bionical dolphin.

Background

Underwater robots play an important role in many fields, such as: the existing underwater robot generally adopts propeller propulsion, the propulsion mode is slightly inferior to bionic propulsion in efficiency, noise and mobility, and the bionic propulsion is a future development direction of the underwater robot by virtue of the superior motion performance of the bionic propulsion. In addition, in a complex water area environment, underwater sundries are easily involved in the screw propeller, so that the propulsion is disabled.

Aiming at the problems, the project group adopts bionic propulsion to realize power supply, the bionic underwater robot realizes the propulsion of the body by generating an anti-Karman vortex street by means of wake flow, the mechanism can perform better bass operation, the efficiency of the bionic propulsion according to the existing research is improved by about 30 percent compared with a propeller, and larger operation radius and operation time can be provided.

Most of the existing bionic dolphins only rely on the propulsion of tail fins to move, and have slight defects in flexibility.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a bionic dolphin's underwater robot to solve the problem that above-mentioned prior art exists, can still improve the motion flexibility when reducing the propulsion noise, improve and impel efficiency.

In order to achieve the above purpose, the utility model provides a following scheme:

the utility model provides a bionic dolphin's underwater robot, including casing, head mechanism, focus adjustment mechanism, afterbody mechanism and two pectoral fin mechanisms, the head mechanism with afterbody mechanism install respectively in the both ends of casing, two pectoral fin mechanism symmetry install in the both sides of casing, just head mechanism department with pectoral fin mechanism department all installs steering wheel assembly, steering wheel assembly is used for control the head mechanism with pectoral fin mechanism motion, afterbody mechanism can compare in the casing swing, focus adjustment mechanism install in the inside of casing, focus adjustment mechanism is used for changing the focus of casing realizes ups and downs motion.

Preferably, the steering engine assembly at the head mechanism comprises two head steering engines which are connected in series, the two head steering engines can be detachably mounted on a support inside the shell, the moving directions of the two head steering engines are perpendicular to the extending direction of the shell, and the two head steering engines are perpendicular to the extending direction of the shell.

Preferably, the steering engine component at the pectoral fin mechanism comprises a flapping wing steering engine and a swinging wing steering engine, the swinging wing steering engine is mounted in the housing, the flapping wing steering engine is mounted on one side of the swinging wing steering engine and located outside the housing, the flapping wing steering engine is connected with the pectoral fin mechanism, the swinging wing steering engine is used for driving the flapping wing steering engine and the pectoral fin mechanism to rotate around a first axis, the first axis is perpendicular to the length direction of the housing, the flapping wing steering engine is used for driving the pectoral fin mechanism to rotate around a second axis, and the second axis is parallel to the length direction of the housing.

Preferably, focus adjustment mechanism is close to the interior bottom surface setting of casing, just focus adjustment mechanism includes accommodate motor, counter weight lead screw and balancing weight, accommodate motor install in the casing, just accommodate motor's output shaft with the one end of counter weight lead screw is connected, the other end of counter weight lead screw rotate install in the casing, the length direction of counter weight lead screw with the length direction of casing is unanimous, the balancing weight cover is located the periphery of counter weight lead screw, just the balancing weight rotates through a spacing restriction, accommodate motor drives when the counter weight lead screw rotates, can make the balancing weight is followed the length direction reciprocating motion of counter weight lead screw.

Preferably, afterbody mechanism includes driving motor, gear train, link assembly, rack, fan gear, tail handle pendulum rod and tail fin, driving motor's output shaft with the gear train is connected, the gear train with link assembly's one end is connected, link assembly's the other end with the rack is connected, the rack with fan gear engagement, fan gear rotate install in the casing, fan gear with the one end of tail handle pendulum rod is connected, the other end of tail handle pendulum rod with the tail fin is connected, driving motor can drive the gear train rotates, and makes the gear train drives link assembly rotates, link assembly can drive the rack goes up and down, and makes the rack drives fan gear rotates, fan gear drives the tail handle pendulum rod with the tail fin swing.

Preferably, the connecting rod assembly comprises a connecting rod, a cam disc, a connecting plate, a sliding rod and an amplitude modulation steering engine, one end of the connecting rod is connected with the gear set, the other end of the connecting rod is connected with the connecting plate, one end of the connecting plate is connected with one end of the sliding rod, the other end of the sliding rod is connected with a transverse sliding groove in the rack in a sliding mode, the transverse sliding groove is perpendicular to the rack, the amplitude modulation steering engine is installed on the connecting plate, an output shaft of the amplitude modulation steering engine is connected with a cam in the middle of the cam disc, a circle of groove is formed in the periphery of the cam, one end, close to the connecting plate, of the connecting rod is embedded into the groove, the connecting rod can be driven to rotate with the cam disc when rotating, the connecting plate drives the sliding rod to slide in the transverse sliding groove in a reciprocating mode, the sliding rod drives the rack to lift, and the amplitude modulation steering engine can drive the cam disc to rotate compared with the connecting rod.

Preferably, the gear set includes a driving gear and a driven gear, the driving gear is coaxially connected with an output shaft of the driving motor, the periphery of the driven gear is engaged with the periphery of the driving gear, and the driven gear is connected with the connecting rod assembly.

Preferably, the tail mechanism further comprises a supporting screw rod and two right-angle plates, the two right-angle plates are installed in the shell, two ends of the supporting screw rod are respectively connected with the right-angle plates, and the sector gear is sleeved on the periphery of the supporting screw rod through a bearing.

Preferably, the tail handle swing rod is connected with the tail fin through a tail fin steering engine, and the tail fin steering engine is used for driving the tail fin to swing.

Preferably, a processing module is installed in the housing and used for being in wireless connection with external control equipment; still be equipped with camera and ultrasonic sensor in the head mechanism, just the camera with ultrasonic sensor is used for the monitoring the barrier in head mechanism the place ahead, the inside six gyro sensors that still are equipped with of casing, six gyro sensors are used for the monitoring the gesture of casing.

The utility model discloses for prior art gain following technological effect:

the utility model provides a bionic dolphin's underwater robot, head mechanism and afterbody mechanism are installed respectively in the both ends of casing, two pectoral fin mechanism symmetries are installed in the both sides of casing, and head mechanism department and pectoral fin mechanism department all install steering wheel subassembly, steering wheel subassembly is used for controlling head mechanism and pectoral fin mechanism motion, and then realize turning to through the steering wheel subassembly of head mechanism, the steering wheel subassembly of pectoral fin mechanism plays and maintains stably and the supplementary effect of turning to, afterbody mechanism can compare in the casing swing, and be used for providing the drive power that wholly gos forward, utilize bionical propulsion to compare in current screw propulsion can the noise reduction, improve propulsion efficiency, make the global motion more nimble, focus adjustment mechanism installs in the inside of casing, focus adjustment mechanism is used for changing bionic dolphin's underwater robot's focus and realizes ups and downs the motion, can turn to and pectoral fin mechanism assists to turn to in order to shorten the turning radius through the head when realizing turning to turn to, can carry out the gesture through pectoral fin mechanism and return to right when turning to one's side.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

FIG. 1 is a schematic view of the internal structure of an underwater robot with a bionic dolphin;

FIG. 2 is a cross-sectional view of the underwater robot with bionic dolphin;

FIG. 3 is a schematic view of the structure of the middle head mechanism of the present invention;

FIG. 4 is a top view of FIG. 3;

FIG. 5 is a schematic structural view of the middle pectoral fin mechanism of the present invention;

FIG. 6 is a top view of FIG. 5;

fig. 7 is a schematic structural view of the middle tail mechanism of the present invention;

FIG. 8 is a front view of FIG. 7;

FIG. 9 is a top view of FIG. 7;

FIG. 10 is a schematic structural view of the center of gravity dispensing mechanism of the present invention;

in the figure: 100-bionic dolphin underwater robot, 1-head mechanism, 11-head steering engine, 2-shell, 3-pectoral fin mechanism, 31-swing wing steering engine, 32-flap wing steering engine, 4-tail mechanism, 41-driving motor, 42-driving gear, 43-driven gear, 44-connecting rod assembly, 441-connecting rod, 442-amplitude modulation steering engine, 443-connecting plate, 444-sliding rod, 445-cam disc, 45-rack, 46-sector gear, 461-right-angle plate, 462-supporting lead screw, 47-tail handle swing rod, 48-tail fin steering engine, 49-tail fin, 5-gravity center adjusting mechanism, 51-adjusting motor, 52-balance weight lead screw and 53-balance weight.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

The utility model aims at providing a bionic dolphin's underwater robot to solve current underwater robot and impel the technical problem that inefficiency, noise are big, motion flexibility is poor.

In order to make the above objects, features and advantages of the present invention more comprehensible, the present invention is described in detail with reference to the accompanying drawings and the detailed description.

As shown in fig. 1-10, the present embodiment provides an underwater robot 100 for a bionic dolphin, the overall appearance is similar to that of a dolphin, including a housing 2, a head mechanism 1, a gravity center adjusting mechanism 5, a tail mechanism 4 and two pectoral fin mechanisms 3, the head mechanism 1 and the tail mechanism 4 are respectively installed at two ends of the housing 2, the two pectoral fin mechanisms 3 are symmetrically installed at two sides of the housing 2, and steering engine components are installed at the head mechanism 1 and the pectoral fin mechanisms 3, the steering engine components are used for controlling the head mechanism 1 and the pectoral fin mechanisms 3 to move, and further realize steering through the steering engine components of the head mechanism 1, the steering engine components of the pectoral fin mechanisms 3 play roles of maintaining stability and assisting steering, the tail mechanism 4 can swing compared with the housing 2 and provide driving force for overall advancing, noise can be reduced through bionic propulsion compared with existing propellers, propulsion efficiency is improved, overall motion is more flexible, the gravity center adjusting mechanism 5 is installed inside the housing 2, the gravity center adjusting mechanism 5 is used for changing the gravity center of the underwater robot 100 for realizing sinking and floating motion, and steering the head can be turned around through the steering mechanism 3, and the turning radius can be shortened through the fin mechanisms when turning over gesture.

Specifically, as shown in fig. 3-4, the steering gear assembly of the head mechanism 1 includes two head steering gears 11 connected in series, and the two head steering gears 11 can be detachably mounted on the support inside the housing 2, the moving directions of the two head steering gears 11 are perpendicular to the extending direction of the housing 2, and further, the head mechanism 1 is rotated up and down and left and right by the rotation of the two head steering gears, so as to adjust the advancing direction of the underwater robot 100 simulating the dolphin, and the steering gear assembly can be applied to the sinking and floating and steering working conditions.

As shown in fig. 5-6, the steering gear component of the pectoral fin mechanism 3 includes a flap wing steering gear 32 and a flap wing steering gear 31, the flap wing steering gear 31 is installed in the housing 2, and is preferably installed on a support in the housing 2 through a thread, the flap wing steering gear 32 is installed on one side of the flap wing steering gear 31 and is located outside the housing 2, the flap wing steering gear 32 is a waterproof steering gear, an output disc of the flap wing steering gear 32 and an output disc of the flap wing steering gear 31 are connected through a rod, an O-ring is sleeved between the rod and a flange to achieve water proofing, the flange is connected to the housing 2 through a thread, the flap wing steering gear 32 is connected to the flap fin mechanism 3, the flap wing steering gear 31 is used for driving the flap wing steering gear 32 and the flap fin mechanism 3 to rotate around a first axis, the first axis is perpendicular to the length direction of the housing 2, the flap wing steering gear 32 is used for driving the flap fin mechanism 3 to rotate around a second axis, the second axis is parallel to the length direction of the housing 2, the flap wing steering mechanism 3 is coupled in a phase difference mode to achieve an auxiliary steering function, and the flap wing mechanism is not only capable of converting the flap wing flapping mechanism into a bionic dolphin motion in a front-to-side-turning motion principle, and back motion function of a dolphin robot, and a bionic dolphin robot can also perform a bionic motion function, and a bionic dolphin robot.

As shown in fig. 10, the center of gravity adjusting mechanism 5 is disposed near the inner bottom surface of the housing 2, and the center of gravity adjusting mechanism 5 includes an adjusting motor 51, a balance weight screw 52 and a counterweight 53, the adjusting motor 51 is installed in the housing 2, and an output shaft of the adjusting motor 51 is connected with one end of the balance weight screw 52, the other end of the balance weight screw 52 is rotatably installed in the housing 2, a bearing is sleeved on the periphery of the balance weight screw 52, the bearing is installed inside the housing 2 through a bearing seat, the length direction of the balance weight screw 52 is consistent with the length direction of the housing 2, the counterweight 53 is sleeved on the periphery of the balance weight screw 52, preferably, the counterweight is matched with the balance weight screw 52 through a flange, the counterweight 53 is limited to rotate through a limiting frame, when the adjusting motor 51 drives the balance weight screw 52 to rotate (forward and backward), the counterweight 53 can move back and forth along the length direction of the balance weight screw 52, and further change the position of the bionic center of the underwater robot 100 of the dolphin by changing the position of the counterweight 53 in the housing 2, and then the motion of the bionic mechanism 1, thereby realizing the sinking and floating motion of the underwater robot 100 of the dolphin.

As shown in fig. 7-9, the tail mechanism 4 includes a driving motor 41, a gear set, a link assembly 44, a rack 45, a sector gear 46, a tail handle swing rod 47 and a tail fin 49, the driving motor 41 is mounted on an internal bracket of the housing 2 through a motor bracket, an output shaft of the driving motor 41 is connected with the gear set, the gear set is connected with one end of the link assembly 44, the other end of the link assembly 44 is connected with the rack 45, the rack 45 is meshed with the sector gear 46, the sector gear 46 is rotatably mounted in the housing 2, the sector gear 46 is connected with one end of the tail handle swing rod 47, the other end of the tail handle swing rod 47 is connected with the tail fin 49, the driving motor 41 can drive the gear set to rotate, the gear set drives the link assembly 44 to rotate, the driving rack 45 of the link assembly 44 to lift, and the rack 45 drives the sector gear 46 to rotate forward or backward within a certain range, the rotation of the sector gear 46 drives the tail handle swing rod 47 and the tail fin 49 to swing up and down, and the tail fin 49 is connected through a tail fin 48, and the tail fin 49 drives the tail fin 49 to swing steering engine 100 of the bionic tail fin dolphin.

The connecting rod assembly 44 comprises a connecting rod 441, a cam disc 445, a connecting plate 443, a sliding rod 444 and an amplitude modulation steering engine 442, one end of the connecting rod 441 is connected with the gear set and can rotate under the driving of the gear set, the other end of the connecting rod 441 is connected with the connecting plate 443, one end of the connecting plate 443 is connected with one end of the sliding rod 444, the other end of the sliding rod 444 is connected with a transverse sliding groove in the rack 45 in a sliding mode, the transverse sliding groove is perpendicular to the rack 45, the amplitude modulation steering engine 442 is installed on the connecting plate 443, an output shaft of the amplitude modulation steering engine 442 is connected with a cam in the middle of the cam disc 445, a circle of grooves are formed in the periphery of the cam, due to the shape design of the cam, the grooves are not circular grooves, one end, close to the connecting plate 443, of the connecting rod 441 is embedded into the grooves, the connecting plate 443 can be driven to rotate by the connecting plate 443, the connecting plate 443 drives the sliding rod 443 to rotate, lifting of the rack 45 is achieved through the matching of the sliding rod 444 and the transverse sliding groove, meanwhile, the cam disc 445 can be driven to rotate around the connecting rod 441 when the connecting rod 441 rotates, the amplitude modulation steering engine 442 can drive the cam disc 445 to rotate on the connecting rod 445, namely the cam disc 445, the rotation of the cam disc 445, and the fin adjustment of the tail radius of the cam disc is achieved through the adjustment of the connecting rod 441, and the fin adjustment of the tail radius adjustment of the fin adjustment of the rotation of the cam disc 441.

The gear train includes driving gear 42 and driven gear 43, and driving gear 42 and the output shaft coaxial coupling of driving motor 41, driven gear 43's periphery and the peripheral meshing of driving gear 42, and driven gear 43 is connected with link assembly 44.

The tail mechanism 4 further comprises a supporting lead screw 462 and two right-angle plates 461, the two right-angle plates 461 are oppositely arranged in the shell 2, two ends of the supporting lead screw 462 are connected with the right-angle plates 461 respectively, supporting of the supporting lead screw 462 is achieved, the length direction of the supporting lead screw 462 is perpendicular to the length direction of the shell 2, the fan-shaped gear 46 is sleeved on the periphery of the supporting lead screw 462 through a bearing, and then the fan-shaped gear 46 is supported and limited through the supporting lead screw 462, and rotation of the fan-shaped gear 46 cannot be influenced.

A processing module is arranged in the shell 2 and is used for being in wireless connection with external control equipment, preferably in Bluetooth connection, so that human-computer interaction is conveniently realized; still be equipped with camera and ultrasonic sensor in head mechanism 1, and camera and ultrasonic sensor are used for monitoring the barrier in 1 the place ahead of head mechanism, so that avoid the barrier in advance, wherein, head mechanism 1 still sets up the clear glass cover in the position that corresponds the camera the place ahead, and the clear glass cover is installed through glass cement, set up the light ring around the camera, improve the image definition, 2 inside six gyro sensors that still are equipped with of casing, six gyro sensors are used for monitoring the gesture of bionical dolphin's underwater robot 100, can carry out the gesture through the motion of adjusting focus and pectoral fin mechanism 3 department when taking place the skew and turning on one's side the right side etc..

The processing module in the underwater robot 100 for the bionic dolphin provided by the embodiment is preferably an STM32F407VET6 microcontroller, overall motion is controlled by an instruction sent by an upper computer, meanwhile, in order to realize the stability of remote instruction transmission, an ATKLORE upper computer is adopted, and in order to enable a mobile phone to send the instruction, an SPP Bluetooth serial port APP is adopted; STM32F407 is programmed using KEIL 5.

Casing 2 can be divided into upper and lower two parts, compresses tightly through the screw thread to through the cooperation of the U type groove and the U type circle of outer lane, link to each other through the silica gel soft shell between each mechanism, the soft shell is connected with casing 2 with glass cement.

The principle and the implementation mode of the present invention are explained by applying specific examples in the present specification, and the above descriptions of the examples are only used to help understanding the method and the core idea of the present invention; meanwhile, for those skilled in the art, the idea of the present invention may be changed in the specific embodiments and the application range. In summary, the content of the present description should not be construed as a limitation of the present invention.

Claims (10)

1. An underwater robot of bionic dolphin, characterized in that: including casing, head mechanism, focus adjustment mechanism, afterbody mechanism and two pectoral fin mechanisms, the head mechanism with afterbody mechanism install respectively in the both ends of casing, two pectoral fin mechanism symmetry install in the both sides of casing, just head mechanism department with pectoral fin mechanism department all installs steering wheel assembly, steering wheel assembly is used for control head mechanism with pectoral fin mechanism motion, afterbody mechanism can compare in the casing swing, focus adjustment mechanism install in the inside of casing, focus adjustment mechanism is used for changing the focus of casing realizes the ups and downs motion.

2. The underwater robot of a biomimetic dolphin according to claim 1, characterized in that: the steering wheel assembly at the head mechanism comprises two head steering wheels which are connected in series, the two head steering wheels can be detachably mounted on the support inside the shell, the moving directions of the two head steering wheels are perpendicular, and the moving directions of the two head steering wheels are perpendicular to the extending direction of the shell.

3. The underwater robot of a biomimetic dolphin according to claim 1, characterized in that: the steering engine component at the pectoral fin mechanism comprises a flapping wing steering engine and a rocking wing steering engine, the rocking wing steering engine is installed in the shell, the flapping wing steering engine is installed on one side of the rocking wing steering engine and located outside the shell, the flapping wing steering engine is connected with the pectoral fin mechanism, the rocking wing steering engine is used for driving the flapping wing steering engine and the pectoral fin mechanism to rotate around a first axis, the first axis is perpendicular to the length direction of the shell, the flapping wing steering engine is used for driving the pectoral fin mechanism to rotate around a second axis, and the second axis is parallel to the length direction of the shell.

4. The biomimetic dolphin underwater robot of claim 1, wherein: the focus adjustment mechanism is close to the interior bottom surface setting of casing, just focus adjustment mechanism includes accommodate motor, counter weight lead screw and balancing weight, accommodate motor install in the casing, just accommodate motor's output shaft with the one end of counter weight lead screw is connected, the other end of counter weight lead screw rotate install in the casing, the length direction of counter weight lead screw with the length direction of casing is unanimous, the balancing weight cover is located the periphery of counter weight lead screw, just the balancing weight rotates through a spacing restriction, accommodate motor drives when the counter weight lead screw rotates, can make the balancing weight is followed the length direction reciprocating motion of counter weight lead screw.

5. The biomimetic dolphin underwater robot of claim 1, wherein: the afterbody mechanism includes driving motor, gear train, link assembly, rack, fan gear, tail handle pendulum rod and tail fin, driving motor's output shaft with the gear train is connected, the gear train with link assembly's one end is connected, link assembly's the other end with the rack is connected, the rack with fan gear engagement, fan gear rotate install in the casing, fan gear with the one end of tail handle pendulum rod is connected, the other end of tail handle pendulum rod with the tail fin is connected, driving motor can drive the gear train rotates, and makes the gear train drives link assembly rotates, link assembly can drive the rack goes up and down, and makes the rack drives fan gear rotates, fan gear drives the tail handle pendulum rod with the tail fin swing.

6. The biomimetic dolphin underwater robot of claim 5, wherein: the connecting rod assembly comprises a connecting rod, a cam disc, a connecting plate, a sliding rod and an amplitude modulation steering engine, one end of the connecting rod is connected with the gear set, the other end of the connecting rod is connected with the connecting plate, one end of the connecting plate is connected with one end of the sliding rod, the other end of the sliding rod is connected with a transverse sliding groove in the rack in a sliding mode, the transverse sliding groove is perpendicular to the rack, the amplitude modulation steering engine is installed on the connecting plate, an output shaft of the amplitude modulation steering engine is connected with a cam in the middle of the cam disc, a circle of groove is formed in the periphery of the cam, one end of the connecting plate is close to the connecting rod and embedded into the groove, the connecting rod can drive the connecting plate to rotate and the cam disc to enable the connecting plate to drive the sliding rod to slide in the transverse sliding groove in a reciprocating mode, the sliding rod drives the rack to lift, and the amplitude modulation steering engine can drive the cam disc to rotate compared with the connecting rod.

7. The biomimetic dolphin underwater robot of claim 5, wherein: the gear train includes driving gear and driven gear, the driving gear with driving motor's output shaft coaxial coupling, driven gear's periphery with the periphery meshing of driving gear, driven gear with link assembly is connected.

8. The biomimetic dolphin underwater robot according to claim 5, wherein: the tail mechanism further comprises a supporting screw rod and two right-angle plates, the two right-angle plates are installed in the shell, two ends of the supporting screw rod are connected with the right-angle plates respectively, and the sector gear is arranged on the periphery of the supporting screw rod through a bearing sleeve.

9. The biomimetic dolphin underwater robot of claim 5, wherein: the tail handle swing rod is connected with the tail fin through a tail fin steering engine, and the tail fin steering engine is used for driving the tail fin to swing.

10. The underwater robot of a biomimetic dolphin according to claim 1, characterized in that: a processing module is arranged in the shell and is used for being in wireless connection with external control equipment; still be equipped with camera and ultrasonic sensor in the head mechanism, just the camera with ultrasonic sensor is used for the monitoring the barrier in head mechanism the place ahead, the inside six gyro sensor that still is equipped with of casing, six gyro sensor is used for the monitoring the gesture of casing.

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