Water-air cross-medium bionic robot

Abstract

The invention belongs to the field of underwater bionic robots, and relates to a water-air cross-medium bionic robot which comprises a shell, a reciprocating swing mechanism, a wing module, a pelvic fin module and a control system, the shell comprises a front-end shell and a rear-end tail, the front-end shell is connected with the rear-end tail through the reciprocating swing mechanism, and the front-end shell is connected with the rear-end tail through the reciprocating swing mechanism. The wing module is installed at the top of the upper portion of the front-end shell, the pelvic fin module is installed on the rear side of the lower portion of the front-end shell, and the control system is installed in the front-end shell and connected with the reciprocating swing mechanism through a signal line to control the reciprocating swing mechanism to rotate so as to drive the tail of the rear end to swing to conduct cruise propelling and control the pelvic fin module to rotate to dive upwards and float downwards. The wing modules are controlled to be opened and closed to achieve water breaking gliding. The robot is compact in structure, small in size and light in weight, can achieve various motion postures in air and water, can meet application scenes in various environments, and particularly has high adaptability in the aspects of water-air cross-medium information collection and sending, information exploration and the like.

Description

Technical Field

[0001] The invention belongs to the field of underwater bionic robots and relates to a water-to-air medium-spanning bionic robot. Background Art

[0002] As a new growth point of mechanical science, bionic robotics has received widespread attention in the past decade. At the same time, cross-media vehicles need to be able to navigate in both underwater and air. Because they can navigate quickly underwater and maintain their stealth, and can move quickly in the air, they have attracted a lot of research attention at home and abroad.

[0003] The body of a flying fish is very suitable for diving underwater, taking off underwater or on the surface of the water, and then spreading its pectoral fins to glide in the air. These motion characteristics have attracted a large number of researchers to conduct bionic research and constantly try to build various forms of prototypes. Summary of the invention

[0004] In order to solve the above technical problems existing in the prior art, the present invention proposes a water-air cross-medium bionic robot that imitates the swimming characteristics and gliding characteristics of biological flying fish, which can swim at high speed in water and glide through water. The specific technical scheme is as follows: A water-air cross-medium bionic robot comprises: a shell, a reciprocating swing mechanism, a wing module, a ventral fin module and a control system, wherein the shell comprises a front shell and a rear tail, the front shell is connected to the rear tail through the reciprocating swing mechanism, the wing module is mounted on the top above the front shell, and the ventral fin module is mounted on the rear side below the front shell, the control system is mounted inside the front shell and controls the rotation of the reciprocating swing mechanism through a signal line connection, thereby driving the rear tail to swing for cruising propulsion, controls the rotation of the ventral fin module for diving and floating, and controls the opening and closing of the wing module for water-breaking gliding.

[0005] Furthermore, the front end shell comprises: an upper shell and a lower shell, the upper shell and the lower shell are connected by bolts, and an upper fixing frame and a lower fixing frame are respectively provided on the rear end surfaces of the upper shell and the lower shell; the reciprocating swing mechanism comprises: a brushless motor, a coupling, a swing shaft, a bearing fixing frame, a bearing and a slide groove connecting piece, the brushless motor is fixedly installed in the front end shell by bolts, the output shaft of the brushless motor is connected to one end of the swing shaft through a coupling from the rear end surface of the front end shell, and the other end of the swing shaft is movably connected to the slide groove connecting piece, and the upper and lower ends of the slide groove connecting piece are respectively connected to the upper fixing frame and the lower fixing frame for synchronous rotation; the upper and lower ends of the bearing fixing frame are respectively fixedly connected to the upper fixing frame and the lower fixing frame by bolts, and a circular hole groove is provided in the middle of the bearing fixing frame, and the bearing is fixedly installed in the circular hole groove and connected to one end of the swing shaft; the rear end tail comprises: a tail transparent shell, a tail connecting piece and a fishtail, the tail transparent shell is surrounded by the outside of the tail connecting piece, the front end of the tail connecting piece is fixedly connected to the slide groove connecting piece, and the rear end is plug-matched with the fishtail.

[0006] Furthermore, the tail connecting piece includes: a connecting ring and two long handles symmetrically arranged on the connecting ring, the inner circle of the connecting ring is provided with two symmetrical pins, the front end of each long handle is provided with two circular through holes, and the inner curved surface of the long handle and the outer edge of the circular through hole are provided with a hexagonal groove; the front end of the fishtail is provided with a slot corresponding to the pin, and the pin is fixed with glue after docking with the slot.

[0007] Furthermore, the upper fixing frame and the lower fixing frame are provided with a bearing hole and a first retaining ring groove, an externally threaded bearing is connected in the bearing hole, and then the first retaining ring is pressed into the first retaining ring groove for fixing; the slide groove connecting piece comprises: a connecting sleeve, a connecting ear is respectively provided on the upper and lower sides of the connecting sleeve, a cylinder A with a hole is provided on the connecting ear, and the cylinder A with a hole is fixed by a nut after being connected to the externally threaded bearing; an arc structure is provided in the middle of the connecting sleeve, which is bridged between the upper and lower ends of the connecting sleeve, and a strip-shaped arc groove hole is opened in the middle of the arc structure, and the other end of the swing shaft is movably connected in the arc groove hole; a group of corresponding circular countersunk holes B are respectively provided on the left and right sides of the connecting sleeve, and after the circular through hole of the tail connecting piece is aligned with the circular countersunk hole B, they are connected and installed by bolts and nuts; the swing shaft is driven to rotate by the output of the brushless motor, so that the slide groove connecting piece rotates synchronously on the upper fixing frame and the lower fixing frame, thereby driving the fish tail to swing through the tail connecting piece.

[0008] Furthermore, the swing shaft includes: a shaft, a K needle roller bearing and a retaining spring. One end of the shaft is connected to the coupling, and the other end of the shaft is provided with a positioning ring and a circular groove. The K needle roller bearing is positioned on the positioning ring and contacts with the circular arc groove of the slide connector. The retaining spring is installed in the circular groove to fix the K needle roller bearing.

[0009] Furthermore, the wing module includes: a wing bottom shell, which is fixedly installed on the top of the upper shell by bolts, and a wire rail module and a symmetrically arranged connecting rod module are installed on the wing bottom shell, and the wire rail module drives the connecting rod module to open and close; a wing protection shell is fixedly installed on the top of the wing bottom shell by bolts, and gaps are left on the sides of the two for the extension and contraction of the connecting rod module.

[0010] Furthermore, the linear rail module includes: a guide rail, an MGN7C standard slider, a motor support platform, a DC motor and two wire wheels, the guide rail is fixed to the wing bottom shell by bolts, a nylon wire fixing hole is provided on the wing bottom shell and on the diagonal sides of the guide rail, the MGN7C standard slider is slidably installed on the guide rail, the motor support platform is installed on the MGN7C standard slider by bolts, the DC motor is fixedly installed on the motor support platform, the two wire wheels are installed on the two output shafts of the DC motor, and one end of the nylon wire in the two wire wheels is connected to the nylon wire fixing holes on the corresponding sides by self-tapping screws, when the DC motor drives the wire wheel to rotate, since the nylon wire winding methods of the wire wheels on both sides are opposite, the nylon wire at one end contracts and the nylon wire at the other end loosens when the wire wheel rotates, and the expansion and contraction of the nylon wire at both ends when the DC motor rotates forward and reversely drives the MGN7C standard slider and the motor support platform to reciprocate on the guide rail.

[0011] Furthermore, connecting rod module mounting frames are provided on both sides of the motor support platform; the connecting rod module includes: a main rod, a secondary rod, a connecting slider, a driving rod and a connecting rod bearing; the front ends of the main rod and the secondary rod are rotatably mounted on the wing bottom shell through the connecting rod bearing; a driving rod mounting frame is provided in the middle part of the main rod; main rod connecting holes and motor support platform connecting holes are respectively provided at both ends of the driving rod, and a connecting slider connecting hole is provided in the middle; the connecting slider includes: a perforated cylinder B, and a connecting column is convexly provided on the side wall of the perforated cylinder B; the main rod connecting hole of the driving rod cooperates with the driving rod mounting frame of the main rod, and is connected and installed through mother-and-child rivets, the connecting slider connecting hole cooperates and is installed, and the motor support platform connecting hole cooperates and is installed with the connecting rod module mounting frame, and is connected and installed through mother-and-child rivets; the perforated cylinder B of the connecting slider is installed with the slender cylindrical rod of the secondary rod in a gap-matched manner, and when the center of the motor support platform connecting hole of the driving rod makes a linear reciprocating motion with the linear rail module, the driving rod drives the main rod and the secondary rod to swing around the bearing at an angle to realize the expansion and closure of the wing module.

[0012] Furthermore, the ventral fin module includes: a stepper motor, a ventral fin shaft, a bevel gear A, a bevel gear B, a shaft sealing ring and a ventral fin; the bevel gear B is fixed to the ventral fin shaft by a pin, the bevel gear A is installed in cooperation with the stepper motor output shaft and meshes with the bevel gear B, the shaft sealing ring and the ventral fin are symmetrically installed at both ends of the ventral fin shaft, the stepper motor and the shaft sealing ring are embedded in the bottom of the lower shell body, and the bevel gear A is driven by the stepper motor to rotate, thereby driving the ventral fin to rotate at positive and negative angles.

[0013] Furthermore, two groups of retaining ring grooves and ventral fin mounting half holes are symmetrically arranged on the ventral fin shaft, and a second retaining ring is installed in the retaining ring groove to position the shaft sealing ring, and one end of the shaft sealing ring is tightly against the lower shell body while the other end is supported by the second retaining ring; a deep groove is provided on the inner side of the ventral fin, and a through hole is provided on the ventral fin surface where the deep groove is located, and the shape of the deep groove matches the cross-sectional shape of the two ends of the ventral fin shaft, and the through hole cooperates with the ventral fin mounting half hole, and the ventral fin is fixed to the two ends of the ventral fin shaft by bolts and nuts; a mounting groove is provided on the bevel gear A, and the cross-sectional shape of the mounting groove is consistent with the cross-sectional shape of the output shaft of the stepper motor; a pin hole is provided on the bevel gear B, which is used to fix it on the ventral fin shaft by a pin.

[0014] Advantages of the present invention: The present invention combines the advantages of underwater bionic robots, adopts a reciprocating swing mechanism, imitates the swimming posture of underwater biological fish, and has good concealment when swimming underwater. At the same time, a connecting rod mechanism is used to design a wing mechanism that can be opened and merged. The wings are merged when swimming in the water, and the wings are opened when jumping into the water, and glide in the air. This design can reduce the resistance caused by the additional wing mechanism when the robot swims underwater, and further improve the underwater swimming speed.

[0015] In addition, in terms of mechanical design, the water-to-air cross-medium bionic robot of the present invention has a simple and compact structure, a small overall size, and a light weight, thus realizing the lightweight and miniaturization of the robot; in terms of freedom of movement, it can realize water-to-air cross-medium amphibious operations, that is, it can realize both multi-freedom underwater movement and posture control in the air, and has a large application space in multi-media interactive movement and information acquisition and transmission. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 The overall structure diagram of the water-air cross-medium bionic robot of the present invention; Figure 2 Schematic diagram of the shell structure of the robot of the present invention; Figure 3 It is a multi-view structural schematic diagram of the upper shell of the robot of the present invention; Figure 4 It is a multi-view structural schematic diagram of the lower shell of the robot of the present invention; Figure 5This is a structural diagram of the tail connector of the robot of the present invention; Figure 6 The fishtail structure diagram of the robot of the present invention; Figure 7 It is a structural diagram of the reciprocating swing mechanism of the robot of the present invention; Figure 8 It is a diagram of the swing axis device of the robot of the present invention; Fig. 9 It is the shaft parts diagram of the robot of the present invention; Fig.10 It is a multi-view structural schematic diagram of the bearing fixing frame structure of the robot of the present invention; Fig.11 This is a structural diagram of a slideway connector of the robot of the present invention; Fig.12 This is an assembly diagram of the wing module of the robot of the present invention; Fig.13 This is a schematic structural diagram of the wing bottom shell of the robot of the present invention; Fig.14 A schematic diagram of the multi-view structure of the wing protection shell of the robot of the present invention; Fig.15 The figure is a part diagram of the bearing cover of the robot of the present invention; Fig.16 This is a diagram of the linear rail module installation of the robot of the present invention; Fig.17 It is a schematic diagram of the structure of the motor support platform of the robot of the present invention; Fig.18 It is an assembly diagram of the connecting rod module of the robot of the present invention; Figure 19a~Figure 19d Schematic diagrams of the main rod, auxiliary rod, connecting slider and driving rod of the robot of the present invention respectively; Fig. 20 This is an assembly diagram of the ventral fin module of the robot of the present invention; Figure 21a~Figure 21d It is a schematic diagram of the structure of the ventral fin shaft, bevel gear A, bevel gear B, and ventral fin in the ventral fin module of the robot of the present invention; Description of the markings in the figure: 1 is the shell; 11 is the front shell; 12 is the rear tail; 111 is the upper shell; 112 is the lower shell; 113 is the battery protection shell; 114 is the ventral fin protection shell; 121 is the tail transparent shell; 122 is the tail connector; 123 is the fishtail; 11101 is the cylinder A; 11102 is the cylinder B; 11103 is the cylinder C; 11104 is the bearing hole A; 11105 is the retaining ring groove A; 11106 is the square groove; 11107 is the cylindrical hole D; 11108 is the cylindrical hole E; 11109 is the cylindrical hole D; 11110 109 is positioning hole A; 11110 is through hole A; 11111 is through hole B; 11112 is upper step groove; 11201 is bearing hole B; 11202 is retaining ring groove B; 11203 is countersunk hole; 11204 is cylindrical hole F; 11205 is cylindrical hole G; 11206 is cylindrical hole H; 11207 is lower step groove; 11209 is positioning hole B; 1221 is long handle; 1222 is round through hole; 1223 is hexagon socket groove; 1224 is latch; 1231 is slot; 2 is a reciprocating swing mechanism; 21 is a brushless motor; 22 is a coupling; 23 is a swing shaft; 24 is a bearing fixing frame; 25 is Bearings ; 26 is a slide connector; 231 is a shaft; 232 is a K needle bearing; 233 is a retaining ring; 2311 is a positioning ring; 2312 is a circular groove; 241 is a left fixing bracket; 242 is a right fixing bracket; 2413 is a left docking hole; 2423 is a right docking hole; 2412 is a circular countersunk hole A; 2422 is a hexagonal countersunk hole; 2411 is a left semi-cylindrical groove; 2421 is a right semi-cylindrical groove; 261 is a cylindrical hole A; 262 is a circular countersunk hole B; 263 is an arc notch; 3 is the wing module; 31 is the wing bottom shell; 311 is the countersunk hole A; 312 is the bearing mounting hole A; 313 is the bearing cover mounting hole; 314 is the wing protective shell mounting hole; 315 is the nylon wire fixing hole; 316 is the limit column; 317 is the guide rail mounting hole; 32 is the wing protective shell; 321 is the countersunk hole B; 33 is the bearing cover; 331 is the bearing mounting hole B; 332 is the docking through hole; 34 is the linear rail module; 341 is the guide rail; 342 is the MGN7C standard slider; 343 is the motor support platform; 344 is the DC motor; 345 is the wire wheel; 3431 is the motor support frame; 3432 is the motor mounting frame; 3433 is the mounting hole; 3434 is the connecting rod module mounting frame; 35 is the connecting rod module; 351 is the main rod; 352 is the auxiliary rod; 353 is the connecting slider; 354 ​​is the driving rod; 355 is the connecting rod Bearings ; 3511 is the lower cylinder A; 3512 is the upper cylinder A; 3513 is the drive rod mounting frame; 3521 is the lower cylinder B; 3522 is the upper cylinder B; 3541 is the main rod connection hole; 3542 is the connection hole for the connecting slider; 3543 is the motor support platform connection hole; 3531 is the holed cylinder B; 3532 is the connecting column; 4 is the ventral fin module; 41 is the stepper motor; 42 is the ventral fin shaft; 43 is the bevel gear A; 44 is the bevel gear B; 45 is the shaft sealing ring; 46 is the ventral fin; 421 is the retaining ring groove; 422 is the ventral fin mounting half hole; 461 is the deep groove; 462 is the through hole; 431 is the mounting groove; 441 is the pin hole; 5. Control system. DETAILED DESCRIPTION

[0017] In order to make the purpose, technical scheme and technical effect of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments.

[0018] like Figure 1 As shown, a water-air cross-medium bionic robot according to an embodiment of the present invention comprises a shell 1, a reciprocating swing mechanism 2, a wing module 3, a ventral fin module 4 and a control system 5, wherein the reciprocating swing mechanism 2 is installed in the shell 1, the wing module 3 is installed on the top of the shell 1, and the ventral fin module 4 is installed on both sides outside the shell 1, and the driving of the reciprocating swing mechanism 2, the wing module 3 and the ventral fin module 4 is controlled by sending instructions from the control system 5. Specifically, the motor control of the reciprocating swing mechanism 2, the wing module 3 and the ventral fin module 4 is controlled by sending instructions from the host computer, and the control system 5 receives and controls. The control system 5 integrates a charging protection module, a posture control module, an information interaction module and a motor drive module.

[0019] like Figure 2~Figure 6 As shown, the housing 1 includes a front housing 11 and a rear tail 12. The front housing 11 includes an upper housing 111, a lower housing 112, a battery protection shell 113 and a ventral fin protection shell 114, all of which are processed by 3D printing technology, wherein the printing material of the upper housing 111 and the lower housing 112 is nylon and connected by bolts; the battery protection shell 113 and the ventral fin protection shell 114 are installed below the lower housing 112.

[0020] The rear end tail 12 comprises: a tail transparent shell 121, a tail connector 122 and a fishtail 123. The tail connector 122 is used to connect the reciprocating swing mechanism 2 and the fishtail 123. The tail transparent shell 121 plays a role of protection and support. The tail connector 122 comprises a connecting ring and two long handles 1221 symmetrically arranged on the connecting ring. The inner ring of the connecting ring is provided with two symmetrical pins 1224. Each long handle 1221 has two round through holes 1222. An inner hexagonal groove 1223 is provided on the inner curved surface of the long handle 1221 and on the outer edge of the round through hole 1222. The front end of the fishtail 123 is provided with a slot 1231 corresponding to the pin 1224.

[0021] Continue to refer Figure 3 and Figure 4The upper and lower fixing frames are respectively provided on the rear end surfaces of the upper shell 111 and the lower shell 112. In the upper shell 111 and the lower shell 112, the maximum aperture of the through hole A11110 for installing the aviation plug is 7.1mm, and the maximum aperture of the through hole B11111 for installing the waterproof switch is 8.1mm. The cylinder A11101, cylinder B11102, cylinder C11103, cylinder hole D11107, cylinder hole E11108, cylinder hole F11204, cylinder hole G11205 and cylinder hole H11206 are inlaid with nuts of different sizes by hot insertion. The cylinder A11101, cylinder B11102 and cylinder C11103 need to reserve a 4mm aperture for the nuts of M3. The cylindrical holes D11107, E11108, F11204, G11205 and H11206 for inlaying M2 nuts require a hole diameter of 2.7 mm.

[0022] Before the upper shell 111 and the lower shell 112 are connected and installed, the wire connection between the control system 5 and the aviation plug, the waterproof switch, the brushless motor 21, the DC motor 344, the stepper motor 41 and the battery is tested to be OK, and then the threaded hole of the brushless motor 21 is aligned with the positioning hole A11109 and the brushless motor 21 is initially fixed in the upper shell 111 by bolts. After the upper shell 111 and the lower shell 112 are fixed by bolts, the bolts are tightened in the positioning hole A11109 and the positioning hole B11209 in sequence to completely tighten the brushless motor 21, and then the battery protection shell 113 is fixed to the lower shell 112. Finally, the gaps between the contact surfaces of the upper shell 111 and the lower shell 112, and the lower shell 112 and the battery protection shell 113 are filled with waterproof sealant.

[0023] Among them, the bearing hole A11104 and the bearing hole B11201 are used to install the external threaded bearing, the size of the installed external threaded bearing is 6mm, and the minimum size of the bearing hole A11104 and the bearing hole B11201 is 5.7mm. After the external threaded bearing is pressed into the bearing hole A11104 and the bearing hole B11201 by extrusion, the retaining ring is pressed into the retaining ring groove A11105 and the retaining ring groove B11202.

[0024] Continue to refer Figure 5 and Figure 6 , apply glue to the inner wall of the slot 1231 of the fish tail 123, then align it with the pin 1224 of the tail connector 122, press the pin 1224 into the slot 1231 until the pin 1224 is completely pressed into the slot 1231, keep the pin 1224 pressed tightly against the slot 1231 for 5 to 10 minutes, and then leave the fish tail 123 and the tail connector 122 still for one day, waiting for subsequent installation.

[0025] The control system 5 is installed in the square groove 11106 and fixed by special electronic component glue to prevent the control system 5 from shaking when the robot swims and affecting communication.

[0026] like Figures 7 to 11 As shown, the reciprocating swing mechanism 2 includes: a brushless motor 21, a coupling 22, a swing shaft 23, a bearing fixing frame 24, a bearing 25 and a slideway connector 26. The output shaft of the brushless motor 21 is connected to one end of the swing shaft 23 through the coupling 22, and the other end of the swing shaft 23 cooperates with the slideway connector 26. The slideway connector 26 is installed with the upper fixing frame of the upper shell 111 and the lower fixing frame of the lower shell 112 through an external threaded bearing. The swing shaft 23 is driven to rotate by the brushless motor 21, and the swing shaft 23 is made to swing left and right by cooperating with the slideway connector 26. Among them, the swing shaft 23 includes: a shaft 231, a K needle roller bearing 232 and a retaining ring 233. A positioning ring 2311 and a circular groove 2312 are provided on the shaft 231. The positioning ring 2311 is used to position and install the K needle roller bearing 232. The retaining ring 233 is installed at the position of the circular groove 2312 to further fix the K needle roller bearing 232.

[0027] The bearing fixing frame 24 includes a left fixing frame 241 and a right fixing frame 242. The left fixing frame 241 and the right fixing frame 242 each have four circular docking holes, which are used to fix the left fixing frame 241 and the right fixing frame 242 on the upper shell 111 and the lower shell 112 through bolts and nuts in the cylindrical hole D11107 and the cylindrical hole H11206. The left fixing frame 241 has a left semi-cylindrical groove 2411, and the right fixing frame 242 has a right semi-cylindrical groove 2421. The left fixing frame 241 and the right fixing frame 242 are connected and installed by bolts and nuts. The left semi-cylindrical groove 2411 and the right semi-cylindrical groove 2421 form a circular hole groove for fixing and installing the bearing 25.

[0028] The installation process of the reciprocating swing mechanism 2 is as follows: Press the K needle bearing 232 into the position of the positioning ring 2311 of the swing shaft 23, install the retaining ring 233 at the position of the circular groove 2312, and complete the installation of the swing shaft 23.

[0029] The shaft 231 of the swing shaft 23 is inserted into the bearing 25 , and after the shaft 231 and the coupling 22 are simply fixed, the position of the K needle bearing 232 is matched with the arc groove 263 of the slide groove connector 26 to contact each other.

[0030] After simply fixing the two perforated cylinders A261 of the slide connector 26 to the external threaded bearings installed on the upper shell 111 and the lower shell 112 through M6 nuts, manually rotate the swing shaft 23 to see whether the slide connector 26 swings left and right normally and whether there is any interference.

[0031] After confirming that the above steps are correct, press the left semi-cylindrical groove 2411 and the right semi-cylindrical groove 2421 of the left fixing frame 241 and the right fixing frame 242 of the bearing fixing frame 24 into the bearing 25, adjust the position of the bearing 25 and the bearing fixing frame 24, make the center line of the bearing 25 and the center line of the shaft 231 as consistent as possible, and after aligning the positions, match the circular left docking hole 2413 and the right docking hole 2423 on the bearing fixing frame 24 with the embedded nuts in the cylindrical hole D11107 and the cylindrical hole H11206, and simply fix them with bolts. The bearing fixing frame 24 supports and fixes the bearing 25, and the bearing 25 supports and locks the swing shaft 23, preventing the swing shaft 23 from being separated from the coupling 22 at high frequency speed.

[0032] Manually rotate the swing shaft 23 again to observe whether the slideway connector 26 swings normally left and right and whether there is interference. After confirmation, the left fixing frame 241 and the right fixing frame 242 are installed and fixed by bolts and nuts in cooperation with the circular countersunk holes A2412 and the hexagonal countersunk holes 2422, and finally the remaining nuts are tightened to complete the installation of the reciprocating swing mechanism 2.

[0033] After the reciprocating swing mechanism 2 is installed, the installed fishtail 123 and the tail connector 122 are connected to the slideway connector 26. After the round through hole 1222 of the tail connector 122 is aligned with the round countersunk hole B262 of the slideway connector 26, they are connected and installed by bolts and nuts. Finally, the tail transparent shell 121 is sleeved between the slideway connector 26 and the fishtail 123, and waterproof sealant is applied on the contact surface and contact edge.

[0034] like Figures 12 to 18 as well as Figure 19a~Figure 19d As shown, the wing module 3 includes a wing bottom shell 31, a wing protective shell 32, a bearing cover 33, a linear rail module 34 and a connecting rod module 35. The wing bottom shell 31 and the upper shell 111 are fixedly installed by bolts, and the connecting rod module 35 is driven by the linear rail module 34 to open and merge. The wing protective shell 32 is fixedly installed with the wing bottom shell 31 by bolts.

[0035] Specifically, the wing bottom shell 31 is provided with three countersunk holes A311, four bearing mounting holes A312, two bearing cover mounting holes 313, four wing protection shell mounting holes 314, two nylon line fixing holes 315, limiting columns 316 and four guide rail mounting holes 317. The wing protection shell 32 includes four countersunk holes B321. The wing bottom shell 31 cooperates with the nuts in the cylinder A11101, cylinder B11102 and cylinder C11103 of the upper shell 111 through the countersunk holes A311, and the wing bottom shell 31 is connected and installed with the upper shell 111 by bolt fixing. The bearing mounting hole A312 is used to install with the connecting rod bearing 355 in the connecting rod module 35, and the bearing cover mounting hole 313 is connected and installed with the bearing cover 33 by bolt connection to further fix the connecting rod module 35. The wing protection shell installation hole 314 is embedded with a nut, which cooperates with the four countersunk holes B321 of the wing protection shell 32, and the wing bottom shell 31 is fixedly installed with the wing protection shell 32 by bolts. The nylon wire fixing hole 315 is used to install the nylon wire in the linear rail module 34, and the limiting column 316 has a limiting effect on the thread of the linear rail module 34.

[0036] The bearing cover 33 is provided with four bearing mounting holes B331 and two docking through holes 332 . The docking through holes 332 cooperate with the embedded nuts in the bearing cover mounting holes 313 and are fixedly installed by bolts.

[0037] The linear rail module 34 includes a guide rail 341, an MGN7C standard slider 342, a motor support platform 343, a DC motor 344 and two wire wheels 345. The guide rail 341 is matched with the guide rail mounting hole 317 by bolts to fix it on the wing bottom shell 31. The motor support platform 343 includes a motor support frame 3431, a motor mounting frame 3432, a mounting hole 3433 and a connecting rod module mounting frame 3434. The mounting hole 3433 of the motor support platform 343 is matched with the threaded hole on the MGN7C standard slider 342, and the motor support platform 343 is fixedly connected with the MGN7C standard slider 342 by bolts. The motor support frame 3431 and the motor mounting frame 3432 play a role in supporting and installing the DC motor 344. The wire wheel 345 is installed on the two output shafts of the DC motor 344, and one end of the nylon wire in the wire wheel 345 is installed on the nylon wire fixing hole 315. The DC motor 344 drives the wire wheel 345 to rotate. Since the nylon wire winding methods of the wire wheels 345 on both sides are opposite, the nylon wire at one end contracts and the nylon wire at the other end loosens when the wire wheel 345 rotates. The different nylon wires at both ends when the DC motor 344 rotates forward and reversely drive the MGN7C standard slider 342 and the motor support platform 343 to reciprocate on the guide rail 341. At the same time, the connecting rod module mounting frame 3434 is connected to the connecting rod module 35, and the reciprocating motion of the motor support platform 343 drives the connecting rod module 35 to open and close.

[0038] The connecting rod module 35 includes: a main rod 351, a secondary rod 352, a connecting slider 353, a driving rod 354 and a connecting rod bearing 355. The front end of the main rod 351 is provided with a lower cylinder A3511 and an upper cylinder A3512, and the middle part is provided with a driving rod mounting frame 3513. The front end of the secondary rod 352 is provided with a lower cylinder B3521 and an upper cylinder B3522. The two ends of the driving rod 354 are respectively provided with a main rod connecting hole 3541 and a motor support platform connecting hole 3543, and the middle part is provided with a connecting slider connecting hole 3542.

[0039] The connecting slider 353 includes: a perforated cylinder B3531, and a connecting column 3532 is convexly provided on the side wall of the perforated cylinder B3531. The lower cylinder A3511 of the main rod 351 is installed in cooperation with the inner hole of the connecting rod bearing 355 in the bearing mounting hole A312, and the outer ring of the connecting rod bearing 355 is installed in interference fit with the bearing mounting hole A312; the upper cylinder A3512 is installed in cooperation with the inner hole of the connecting rod bearing 355 in the bearing mounting hole B331, and the outer ring of the side bearing is installed in interference fit with the bearing mounting hole B331. The installation of the upper cylinder B3522 and the lower cylinder B3521 of the auxiliary rod 352 is the same as the structure of the main rod 351, and will not be repeated here. At the same time, through the cooperation of the bearing cover 33 and the wing bottom shell 31, the main rod 351 and the auxiliary rod 352 are installed on the symmetrical sides of the wing bottom shell 31. The main rod connection hole 3541 of the driving rod 354 cooperates with the driving rod mounting frame 3513 of the main rod 351, and is connected and installed by rivets. The connecting slider connection hole 3542 cooperates with the connecting column 3532 for installation, and the motor support platform connection hole 3543 cooperates with the connecting rod module mounting frame for installation by rivets. The perforated cylinder B3531 of the connecting slider 353 is installed with the slender cylindrical rod of the auxiliary rod 352 in a gap-matched manner. When the center of the motor support platform connection hole 3543 of the driving rod 354 makes a linear reciprocating motion with the linear rail module 34, the driving rod 354 drives the main rod 351 and the auxiliary rod 352 to swing at a certain angle around the center of the bearing, and the overall function of opening and closing is realized.

[0040] The installation process of the wing module 3 is as follows: Align the countersunk hole A311 of the wing bottom shell 31 with the nuts in the cylinder A11101, cylinder B11102 and cylinder C11103 of the upper shell 111, fix the wing bottom shell 31 to the upper shell 111 with bolts, and pass the reserved wires through the wire holes.

[0041] Align the mounting hole of the guide rail 341 with the guide rail mounting hole 317, fix the guide rail 341 to the wing bottom shell 31 with bolts, and install the MGN7C standard slider 342 to the guide rail 341. Next, align the mounting hole 3433 of the motor support platform 343 with the threaded hole on the MGN7C standard slider 342, and fix the motor support platform 343 to the MGN7C standard slider with bolts. Next, drip fixing glue on the curved surface of the motor support frame 3431, press the corresponding surface of the DC motor 344 onto the motor support frame 3431, and fix the front end of the DC motor 344 to the motor support frame 3431 with bolts and nuts. Next, install the wire wheel 345 on the two output shafts of the DC motor 344, and wind nylon wires in different directions, and install one end of the nylon wire to the nylon wire fixing hole 315 with a self-tapping screw. The self-tapping screw needs to be fully coated with sticky glue before installation. Next, the reserved wire is connected to the DC motor 344 to test whether it is correct. After confirmation, the installation of the linear rail module 34 is completed.

[0042] The four connecting rod bearings 355 are squeezed into the four bearing mounting holes A312, and the lower cylinder A3511 and the lower cylinder B3521 are respectively pressed into the connecting rod bearings 355 on the corresponding sides, so as to install a pair of main rods 351 and auxiliary rods 352 on the symmetrical sides of the wing bottom shell 31. Next, four more connecting rod bearings 355 are configured to be squeezed into the four bearing mounting holes B331, and the docking through holes 332 are aligned with the bearing cover mounting holes 313. At the same time, the positions of the main rod 351 and the auxiliary rod 352 are adjusted so that the upper cylinder A3512 and the upper cylinder B3522 are aligned with the four connecting rod bearings 355 in the bearing cover 33, and the bearing cover 33 is fixed to the wing bottom shell 31 by bolts. Next, the connecting column 3532 is inserted into the connecting slider connecting hole 3542 and the perforated cylinder 3531 is inserted on the auxiliary rod 352. Next, align the main rod connection hole 3541 and the motor support platform connection hole 3543 with the drive rod mounting frame 3513 and the connecting rod module mounting frame 3434, and connect and install them through the parent-child rivets. Next, start the DC motor 344 and observe whether the opening and closing of the connecting rod module 35 is correct and smooth. After confirmation, the installation and connection of the connecting rod module 35 are completed.

[0043] Finally, the wing protection shell 32 is installed on the wing bottom shell 31 to complete the installation of the wing module 3.

[0044] The bearing cover mounting hole 313, the wing protection shell mounting hole 314 and the four guide rail mounting holes 317 are all inlaid with nuts by hot insertion. The bearing cover mounting hole 313 is inlaid with M2 nuts, and the maximum size of the opening is 2.7mm. The wing protection shell mounting hole 314 and the four guide rail mounting holes 317 are inlaid with M3 nuts, and the maximum size of the opening is 4mm.

[0045] The connecting rod bearing 355 and the holed cylinder 3531 are filled with grease, and all parts of the linear rail module 34 need to be rust-proofed.

[0046] like Fig. 20 As shown, the ventral fin module 4 includes: a stepper motor 41, a ventral fin shaft 42, a bevel gear A43, a bevel gear B44, a shaft sealing ring 45 and a ventral fin 46.

[0047] Specifically, the bevel gear A43 is installed in cooperation with the output shaft of the stepper motor 41, the bevel gear B44 is fixed on the ventral fin shaft 42 by a pin, the shaft sealing ring 45 and the ventral fin 46 are symmetrically installed at both ends of the ventral fin shaft 42, the stepper motor 41 and the shaft sealing ring 45 are embedded in the bottom of the lower shell 112, and the bevel gear A43 is driven to rotate by the stepper motor 41, and the bevel gear A43 and the bevel gear B44 are installed in meshing with each other, thereby driving the ventral fin 46 to rotate at an angle, thereby realizing the floating and diving functions of the entire robot system.

[0048] like Figure 21a~Figure 21d As shown, two groups of retaining ring grooves 421 and retaining ring installation half holes 422 are symmetrically arranged on the ventral fin shaft 42. The retaining ring of M2 is installed in the retaining ring groove 421 to position the shaft sealing ring 45. One end of the shaft sealing ring 45 is tightly attached to the lower shell 112 and the other end is supported by the retaining ring of M2. The retaining ring installation half hole 422 is used to install the ventral fin 46. The ventral fin 46 is provided with a deep groove 461 on one side and a through hole 462 on the surface. The shape of the deep groove 461 matches the cross-sectional shape of the two ends of the ventral fin shaft 42. The through hole 462 cooperates with the retaining ring installation half hole 422, and the ventral fin 46 is fixed to the two ends of the ventral fin shaft 42 by bolts and nuts. The bevel gear A43 is provided with a mounting groove 431. The cross-sectional shape of the mounting groove 431 is consistent with the cross-sectional shape of the output shaft of the stepper motor 41. The bevel gear B44 is provided with a pin hole 441 for the installation of a pin.

[0049] The installation process of the ventral fin module 4 is as follows: First install the bevel gear B44 onto the ventral fin shaft 42, but do not fix it yet. Next, install the retaining ring to the position of the retaining ring groove 421 of the ventral fin shaft 42, and press the shaft into the shaft with the sealing ring 45 to the position of the retaining ring. Next, align the deep groove 461 of the ventral fin 46 with the two ends of the ventral fin shaft 42, and align the position of the through hole 462 and the ventral fin installation half hole 422. Use bolts and nuts to fix the ventral fin 46 to the ventral fin shaft 42. Next, install the bevel gear A43 onto the stepper motor 41, and align the ventral fin shaft 42 and the stepper motor 41 with the installed ventral fin 46 on the position on the lower shell 112 to press them in. Next, adjust the position of the bevel gear A43 and the bevel gear B44 so that they are correctly meshed, and install them into the pin hole 441 through the pin to support the ventral fin shaft 42. Start the stepper motor 41 and observe whether the ventral fin 46 rotates smoothly. After confirming that it is correct, install the ventral fin protection shell 114 onto the lower shell 112.

[0050] The contact surface and gap between the ventral fin protection shell 114 and the lower shell 112 need to be filled with waterproof sealant. The position of the shaft sealing ring 45 needs to be filled with waterproof grease with high viscosity.

[0051] The ventral fin shaft 42 is machined using 7075 aluminum alloy to prevent rust. The bevel gear A43 and the bevel gear B44 are machined using 3D printing using stainless steel.

[0052] After the shell 1, the reciprocating swing mechanism 2, the ventral fin module 4 and the control system 5 are installed, a certain amount of waterproof sealant needs to be applied at the junction of the upper shell 111 and the lower shell 112. The outer edges of the rear end surfaces of the upper shell 111 and the lower shell are respectively provided with an upper step groove 11112 and a lower step groove 11207. After assembly, the upper step groove 11112 and the lower step groove 11207 form a step portion. Later, a waterproof portion is manually constructed from the step portion of the upper shell 111 and the lower shell 112 to the slide connector 26. The waterproof portion uses a transparent elastic film, one end of which is bonded to the step portion by elastic glue, and the other end is bonded to the slide connector 26. During the installation of the wing module 3, the wing bottom shell 31 is first installed on the upper shell 111, and then the wing protective shell 32 is installed on the wing bottom shell 31 after the linear rail module 34 and the connecting rod module 35 are installed. Finally, the part of the connecting rod module 35 exposed outside the shell, the edge positions of the wing bottom shell 31 and the wing protective shell 32 are sealed with a transparent film. Be careful not to completely seal the auxiliary rod 352 and the connecting slider 353. The slender rod position of the auxiliary rod 352 should leave room for the connecting slider 353 to move.

[0053] In conjunction with the water-air medium-spanning bionic robot of this embodiment, the control method thereof includes the following steps: Step 1: Before the robot goes into the water, first check whether the wings open and close smoothly, and then apply waterproof lubricating silicone grease to the part of the pelvic fin bearing exposed outside the fish body.

[0054] Step 2: After the robot enters the water, confirm once again whether the communication effects of each command are received normally, and simply test whether the attitude control sensor is working normally, and whether the control commands of opening and merging the wings can be executed autonomously at the moment of exiting the water.

[0055] Step 3: After the work of step 1 and step 2 is completed, the robot can perform the task normally. First, start the brushless motor. At this time, the robot is in a straight-line cruising state. Secondly, the host computer sends control instructions to control the forward and reverse rotation of the ventral fin, and the robot autonomously performs the task of diving and floating. Finally, at the moment of contacting the water surface to breaking the water, the attitude control sensor in the control system sends feedback information, and the robot system executes the gliding command. At this time, the brushless motor continues to operate, the wings gradually open, and the robot begins to execute the gliding command. When the robot completely leaves the water surface and is a certain distance away from the water surface, the tooth plate is fully opened, the brushless motor stops operating, and the robot begins to glide.

[0056] Step 4: After step 3 is completed and the robot lands on the water surface, check whether the upper computer has collected the robot's transmission data and whether the robot's feedback information is consistent with the current working conditions. After the above checks are correct, turn off the robot's waterproof switch.

[0057] In summary, the present invention combines the advantages of bionic robots and cross-media vehicles, using a mechanical structure to achieve the reciprocating swing propulsion mode of a biological fish tail, and using a connecting rod structure to achieve the opening and merging of wings. The overall design is compact and has high space utilization. At the same time, the robot prototype is small in size and light in overall weight, and can achieve a variety of motion postures in air and water. In terms of application, it can meet the application scenarios in a variety of environments, especially in the areas of water-air cross-media information collection and transmission, information survey, etc. It has high adaptability.

[0058] The above is only a preferred implementation case of the present invention and does not limit the present invention in any form. Although the implementation process of the present invention is described in detail above, for those familiar with the art, they can still modify the technical solutions recorded in the above examples, or replace some of the technical features therein with equivalents. All modifications, equivalent replacements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A water-air cross-medium bionic robot, comprising: A shell (1), a reciprocating swing mechanism (2), a wing module (3), a ventral fin module (4) and a control system (5), characterized in that the shell (1) comprises a front shell (11) and a rear tail (12), the front shell (11) is connected to the rear tail (12) via the reciprocating swing mechanism (2), the wing module (3) is mounted on the top of the front shell (11), the ventral fin module (4) is mounted on the rear side below the front shell (11), the control system (5) is mounted inside the front shell (11) and controls the rotation of the reciprocating swing mechanism (2) through a signal line connection, thereby driving the rear tail to swing for cruising propulsion, controls the rotation of the ventral fin module (4) for diving and floating, and controls the opening and closing of the wing module (3) for gliding through water.

2. The water-air cross-medium bionic robot according to claim 1, characterized in that: The front end housing (11) comprises: an upper housing (111) and a lower housing (112); the upper housing (111) and the lower housing (112) are connected by bolts; an upper fixing frame and a lower fixing frame are respectively provided on the rear end surfaces of the upper housing (111) and the lower housing (112); The reciprocating swing mechanism (2) comprises: a brushless motor (21), a coupling (22), a swing shaft (23), a bearing fixing frame (24), a bearing (25) and a slideway connecting piece (26); The brushless motor (21) is fixedly installed in the front housing (11) by means of bolts. The output shaft of the brushless motor (21) is connected to one end of the swing shaft (23) through a coupling (22) from the rear end surface of the front housing (11). The other end of the swing shaft (23) is movably connected to a slide groove connecting member (26). The upper and lower ends of the slide groove connecting member (26) are respectively connected to the upper fixing frame and the lower fixing frame for synchronous rotation. The upper and lower ends of the bearing fixing frame (24) are respectively fixedly connected to the upper fixing frame and the lower fixing frame by means of bolts. A circular hole groove is provided in the middle of the bearing fixing frame (24). The bearing (25) is fixedly installed in the circular hole groove and is connected to one end of the swing shaft (23). The rear end tail (12) comprises: a tail transparent shell (121), a tail connecting piece (122) and a fishtail (123); the tail transparent shell (121) is arranged outside the tail connecting piece (122); the front end of the tail connecting piece (122) is fixedly connected to the slide groove connecting piece (26), and the rear end is plug-fitted with the fishtail (123).

3. The water-air cross-medium bionic robot according to claim 2, characterized in that: The tail connecting member (122) comprises: a connecting ring and two long handles (1221) symmetrically arranged on the connecting ring; the inner ring of the connecting ring is provided with two symmetrical latches (1224); the front end of each long handle (1221) is provided with two round through holes (1222); an inner hexagonal groove (1223) is provided on the inner curved surface of the long handle (1221) and at the outer edge of the round through hole (1222); the front end of the fishtail (123) is provided with a slot (1231) corresponding to the latch (1224); the latch (1224) and the slot (1231) are fixed by glue after being butted against each other.

4. The water-air cross-medium bionic robot according to claim 3 is characterized in that: The upper fixing frame and the lower fixing frame are both provided with a bearing hole and a first retaining ring groove, an external thread bearing is inserted into the bearing hole, and a first retaining ring is pressed into the first retaining ring groove to fix the external thread bearing; The slide groove connector (26) comprises: a connecting sleeve, wherein the upper and lower sides of the connecting sleeve are each provided with a connecting ear, and the connecting ear is provided with a perforated cylinder A (261), and the perforated cylinder A (261) is connected to the external threaded bearing and fixed by a nut; an arc structure is provided in the middle of the connecting sleeve and bridges the upper and lower ends of the connecting sleeve, and a strip-shaped arc slot (263) is provided in the middle of the arc structure, and the other end of the swing shaft (23) is movably connected in the arc slot (263); a group of corresponding circular countersunk holes B (262) are provided on the left and right sides of the connecting sleeve, and after the circular through hole (1222) of the tail connecting piece (122) is aligned with the circular countersunk hole B (262), they are connected and installed by bolts and nuts; The output of the brushless motor (21) drives the swing shaft (23) to rotate, so that the slide slot connector (26) rotates synchronously on the upper fixing frame and the lower fixing frame, thereby driving the fish tail (123) to swing via the tail connector (122).

5. The water-air cross-medium bionic robot according to claim 4, characterized in that: The swing shaft (23) comprises: a shaft (231), a K needle roller bearing (232) and a retaining ring (233); one end of the shaft (231) is connected to the coupling (22); the other end of the shaft (231) is provided with a positioning ring (2311) and a circular groove (2312); the K needle roller bearing (232) is positioned and installed on the positioning ring (2311) and is in contact with the circular arc groove (263) of the slide groove connector (26); the retaining ring (233) is installed in the circular groove (2312) to fix the K needle roller bearing 232.

6. The water-air cross-medium bionic robot according to claim 2, characterized in that: The wing module (3) comprises: a wing bottom shell (31), the wing bottom shell (31) is fixedly mounted on the upper shell body 111 by means of bolts, a wire track module (34) and a symmetrically arranged connecting rod module (35) are mounted on the wing bottom shell (31), the wire track module (34) drives the connecting rod module (35) to perform opening and closing operations; a wing protection shell (32) is fixedly mounted on the upper side of the wing bottom shell (31) by means of bolts, and gaps are left on the sides of the two for the connecting rod module (35) to extend and retract.

7. The water-air cross-medium bionic robot according to claim 6, characterized in that: The linear rail module (34) comprises: a guide rail (341), an MGN7C standard slider (342), a motor support platform (343), a DC motor (344) and two wire wheels (345); the guide rail (341) is fixed to the wing bottom shell (31) by bolts; a nylon wire fixing hole (315) is provided on the wing bottom shell (31) and on the diagonally opposite sides of the guide rail (341); the MGN7C standard slider (342) is slidably mounted on the guide rail (341); the motor support platform (343) is mounted on the MGN7C standard slider (342) by bolts; and the DC motor (344) is fixedly mounted on the motor support platform. On the platform (343), two wire wheels (345) are installed on two output shafts of a DC motor (344), and one end of the nylon wire in the two wire wheels (345) is connected to the nylon wire fixing hole (315) on the corresponding side by a self-tapping screw. When the DC motor (344) drives the wire wheel (345) to rotate, since the winding modes of the nylon wires of the wire wheels (345) on both sides are opposite, the nylon wire at one end contracts when the wire wheel (345) rotates, and the nylon wire at the other end loosens. The expansion and contraction of the nylon wires at both ends when the DC motor (344) rotates forward and reversely drives the MGN7C standard slider (342) and the motor support platform (343) to reciprocate on the guide rail (341).

8. The water-air cross-medium bionic robot according to claim 7, characterized in that: Connecting rod module mounting frames (3434) are provided on both sides of the motor support platform (343); The connecting rod module (35) comprises: a main rod (351), a secondary rod (352), a connecting slider (353), a driving rod (354) and a connecting rod bearing (355); The front ends of the main rod (351) and the auxiliary rod (352) are rotatably mounted on the wing bottom shell (31) via a connecting rod bearing (355); a driving rod mounting frame (3513) is provided in the middle of the main rod (351); main rod connecting holes (3541) and motor support platform connecting holes (3543) are respectively provided at both ends of the driving rod (354), and a connecting slider connecting hole (3542) is provided in the middle; the connecting slider (353) comprises a perforated cylinder B (3531), and a connecting column (3532) is provided on the outer side wall of the perforated cylinder B (3531); The main rod connection hole (3541) of the driving rod (354) cooperates with the driving rod mounting frame (3513) of the main rod (351) and is connected and installed by means of rivets, the connecting slider connection hole (3542) cooperates and is installed by means of the connecting column (3532), and the motor support platform connection hole (3543) cooperates with the connecting rod module mounting frame (3434) and is connected and installed by means of rivets; The perforated cylinder B (3531) of the connecting slider (353) is installed with clearance fit with the slender cylindrical rod of the auxiliary rod (352). When the center of the motor support platform connecting hole (3543) of the driving rod (354) performs linear reciprocating motion along with the linear rail module (34), the driving rod (354) drives the main rod (351) and the auxiliary rod (352) to swing around the bearing to achieve the expansion and closure of the wing module (3).

9. The water-air cross-medium bionic robot according to claim 2, characterized in that: The ventral fin module (4) comprises: a stepping motor (41), a ventral fin shaft (42), a bevel gear A (43), a bevel gear B (44), a shaft sealing ring (45) and a ventral fin (46); The bevel gear B (44) is fixed to the ventral fin shaft (42) by a pin, the bevel gear A (43) is mounted in cooperation with the output shaft of the stepper motor (41) and meshes with the bevel gear B (44), the shaft sealing ring (45) and the ventral fin (46) are symmetrically mounted at both ends of the ventral fin shaft (42), the stepper motor (41) and the shaft sealing ring (45) are embedded in the bottom of the lower housing (112), and the bevel gear A (43) is driven to rotate by the stepper motor (41), thereby driving the ventral fin (46) to rotate at positive and negative angles.

10. The water-air cross-medium bionic robot according to claim 9, characterized in that: Two groups of retaining spring grooves (421) and a ventral fin mounting half hole (422) are symmetrically arranged on the ventral fin shaft (42), a second retaining spring is installed in the retaining spring groove (421) to position the shaft sealing ring (45), one end of the shaft sealing ring (45) is tightly attached to the lower shell (112) while the other end is supported by the second retaining spring; a deep groove (461) is arranged on the inner side surface of the ventral fin (46), and a perforation (462) is arranged on the surface of the ventral fin (46) where the deep groove (461) is located, and the shape of the deep groove (461) is The through hole (462) matches the cross-sectional shape of the two ends of the ventral fin shaft (42), and the ventral fin (46) is fixed to the two ends of the ventral fin shaft (42) by means of bolts and nuts; the bevel gear A (43) is provided with a mounting groove (431), and the cross-sectional shape of the mounting groove (431) is consistent with the cross-sectional shape of the output shaft of the stepper motor (41); the bevel gear B (44) is provided with a pin hole (441) for fixing it to the ventral fin shaft (42) by means of a pin.

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