A pneumatic amphibious soft bionic robot

Abstract

A pneumatic amphibious soft bionic robot comprises a soft bionic actuator and a trunk structure 1. The soft bionic actuators are arranged at both the front and rear ends of the trunk structure 1. The soft bionic actuator at the front end of the trunk structure 1 constitutes a head and neck structure 4, and the soft bionic actuator at the rear end of the trunk structure 1 constitutes a tail structure 3. Flipper structures 2 are also arranged on both sides of the trunk structure 1. The present invention has reasonable structural design, low development cost, high driving efficiency, and rich movement forms, and can be efficiently maneuvered in various complex amphibious environments.

Description

Technical Field

[0001] The invention relates to the field of soft bionic robots, and in particular to a pneumatic amphibious soft bionic robot. Background Art

[0002] In recent years, the application field of robots has been continuously expanded, from the traditional manufacturing field to the military, medical, surveying and other fields with relatively complex and changeable working environments. Traditional rigid robots assembled from a large number of rigid parts have defects and deficiencies such as complex structure, low safety factor, poor adaptability to unstructured environments, high noise and easy wear of parts, which have been difficult to meet actual requirements. With the rapid development of bionic robot technology, material technology, rapid prototyping technology and intelligent control, soft bionic robots based on natural organisms with advantages such as high human-machine interaction safety, strong adaptability to unstructured environments, high driving efficiency and low maintenance cost have become a research hotspot in the field of robots. Soft bionic robots are mainly composed of soft elastic materials or ductile materials. They can be continuously deformed in a limited space, can obtain a large amount of energy in large bending or high curvature distortion, have a high degree of freedom, and can not only realize a variety of movement forms such as crawling, jumping, swimming and grasping by imitating the structural characteristics and movement mechanism of natural organisms, but also can arbitrarily change their own shape and size according to actual needs, and can meet the operation needs in complex environments.

[0003] As a research object involving multidisciplinary intersection, soft bionic robots can not only imitate organisms in terms of function, but also be closer to organisms in terms of materials and structures. Therefore, the research on soft bionic robots can help reveal scientific problems of natural organisms in terms of materials, mechanics, morphology, kinematics, etc., and the bionics of biological materials and structures can make soft bionic robots move flexibly and make self-decisions like organisms, which helps to derive new bionic robot algorithms, making soft bionic robots more intelligent and used to complete tasks that traditional rigid robots cannot achieve, and have great application prospects. In particular, pneumatic soft bionic robots are also widely studied and applied because of their simple driving method, high controllability, and ability to fully absorb the driving mechanism of natural organisms.

[0004] However, there are few reports on how to use soft bionic robots to solve problems that are difficult to overcome with traditional rigid robots. Summary of the invention

[0005] Purpose of the invention:

[0006] The present invention provides a pneumatic amphibious soft bionic robot, which mainly solves the technical problems of traditional rigid robots, such as complex structure, poor adaptability to unstructured environments, poor interactive safety, low driving efficiency, single movement form, clumsy posture change, and high production and maintenance costs.

[0007] Technical solution:

[0008] A pneumatic amphibious soft bionic robot, comprising a soft bionic actuator and a trunk structure 1, wherein the soft bionic actuators are arranged at both the front and rear ends of the trunk structure 1, the soft bionic actuator at the front end of the trunk structure 1 constitutes a head and neck structure 4, and the soft bionic actuator at the rear end of the trunk structure 1 constitutes a tail structure 3; `

[0009] Flipper structures 2 are also provided on both sides of the trunk structure 1;

[0010] The soft bionic actuator constituting the head and neck structure 4 and the tail structure 3 comprises a pneumatic network device and a non-retractable column structure 333; the bottom end surface of the pneumatic network device is connected to the side surface of the non-retractable column 333;

[0011] The pneumatic network device is composed of a plurality of capsule cavity structures 111, which are arranged in sequence along the length direction of the non-retractable column structure 333, and the interiors of adjacent capsule cavity structures are interconnected;

[0012] The interior of the trunk structure 1 is a cavity for passing liquid or gas, so that the robot can dive and float in water;

[0013] The flipper structure 2 is connected to both sides of the trunk structure 1, and includes a wing fin 2-1 and a main limb 2-2; the wing fin is a flipper structure imitating a sea lion, a variable stiffness sheet 210 is embedded inside the wing fin, a pneumatic network device 211 is provided in the wing fin, and the rear end of the wing fin is connected to the main limb 2-2;

[0014] The main limb 2-2 includes a rotary drive 220 and a plurality of main limb pneumatic network devices; the rotary drive includes a driving body 225, a driving spiral 226 and a flipper spring structure 212; the driving body is a cylindrical soft structure, and a plurality of cross-sectional through holes 225-1 arranged at equal angles and parallel to the axis are provided around the axis of the driving body, and an inner concave B connected to the cross-sectional through hole 225-1 is provided at one end of the driving body (the end where the inner concave B is located is connected to the trunk structure 1 when in use, and the inner concave B is connected to the ventilation duct in the trunk body 1-1, from Figure 5 It can be clearly seen that the fin-shaped spring structure 212 is embedded in the driving body, and the front end of the fin-shaped spring structure 212 is embedded in the wing fin 2-1, and the driving spiral is spirally wound on the driving body at a certain spiral angle.

[0015] Positions where the flipper structures 2 are installed on both sides of the trunk body 1 - 1 are provided with placement grooves 110 for installing the flipper structures.

[0016] The trunk structure 1 includes a trunk body 1-1 and a trunk sealing cover 1-2. The trunk body 1-1 is an internal cavity and the upper end (i.e. Figure 3 The trunk sealing cover 1-2 is sealed at the opening of the trunk body 1-1.

[0017] The rotary drive also includes a drive end cover 227 and a drive end cover 228, which are respectively sealed at both ends of the drive body; wherein the drive end cover 227 is placed on the side where the rotary drive is connected to the wing fin 2-1, and the drive end cover 228 is placed on the side where the rotary drive is connected to the trunk structure 1.

[0018] The variable stiffness sheet 210 needs to be wound with a heating wire at a position where the variable stiffness is specified, and the heating wire is connected to an external heating source. When the heating temperature reaches above 60° C., the variable stiffness can be achieved.

[0019] The driving spiral is wound around the driving body at a certain spiral angle δ, and the spiral angle δ is greater than 30° and less than 180°.

[0020] The pneumatic network device of the main limb 2-2 is composed of a plurality of fan-shaped capsule structures 2-2-1 (such as Figure 7 That is, it can be seen that the cross-section of the fan-shaped capsule cavity structure 2-2-1 is fan-shaped, among which only one 2-2-1 is marked, and the 2-2-1 in 221, 222, 223 and 224 are the same. In order to avoid confusion, they are not marked one by one). The multiple fan-shaped capsule cavity structures 2-2-1 are connected, and one end face of the main limb pneumatic network device is provided with a hole M (such as Figure 5 As shown, this hole M is connected to the ventilation duct in the trunk body 1-1), and the main limb pneumatic network device is four (such as Figure 7 As shown), the four main limb pneumatic network devices are arranged on the outer side wall of the driving body 225, and the angles θ between the four main limb pneumatic network devices are the same. The four main limb pneumatic network devices are respectively the first pneumatic network device 221, the second pneumatic network device 222, the third pneumatic network device 223 and the fourth pneumatic network device 224.

[0021] There are multiple pneumatic network devices in the soft bionic actuator constituting the head and neck structure 4 and the tail structure 3, and the multiple pneumatic network devices are arranged on the non-retractable column structure 333 ( Figure 1310 is also the same component as the non-retractable column structure 333, except that the non-retractable column structures of the head and neck structure 4 and the tail structure 3 are uniformly described as the non-retractable column structure 333. For the convenience of description, since the structures of the head and neck structure 4 and the tail structure 3 are basically the same, only the number and size of the cystic cavity structures are different, they are uniformly combined. Fig.16 to illustrate) different sides; the angle β between adjacent pneumatic network devices is the same; the pneumatic network device constituting the head and neck structure 4 and the tail structure 3 of the soft bionic actuator is a variable diameter fan-shaped capsule structure (such as Figure 1 , 8 , 16 and 17, take Fig.17 In general, the up and down direction in the figure is the radial direction of the fan-shaped capsule structure. The so-called variable diameter structure is the one that starts from the end connected to the trunk structure 1 and extends outward. Fig.17 The left side in the figure has a gradually decreasing diameter), and this structural form can make the robot body present a spindle structure, thereby improving the robot's hydrodynamic performance and making it have superior maneuverability underwater; the bottom end length L of the pneumatic network device is equal to the cross-sectional side length of the non-retractable column structure; an end face of the pneumatic network device is provided with an air vent A2, and the air vent A2 is connected to the inside of the bladder structure 111 of the pneumatic network device; a compression spring structure 444 is provided in the non-retractable column structure 333; the thickness of the bladder bulging wall A of the pneumatic network device is less than the thickness of the other walls; the compression spring structure is embedded in the non-retractable column.

[0022] The flipper structure 2 is bonded in the placement groove 110; a fixing area 7 is provided at the position where the main limb 2-2 is connected to the placement groove 110, and there are four fixing areas 7, which correspond to the first pneumatic network device 221, the second pneumatic network device 222, the third pneumatic network device 223 and the fourth pneumatic network device 224 respectively, and a gap C is formed between two adjacent fixing areas 7, and the four fixing areas 7 are provided with channels 7-1 respectively connected to the first pneumatic network device 221, the second pneumatic network device 222, the third pneumatic network device 223 and the fourth pneumatic network device 224, so that the first pneumatic network device 221, the second pneumatic network device 222, the third pneumatic network device 223 and the fourth pneumatic network device 224 are connected to the pipeline in the internal cavity of the trunk body 1-1 through the channel 7-1;

[0023] A fixing ring 8 for accommodating the fixing area 7 is provided at the notch edge of the placement groove 110. The fixing ring 8 is connected to the notch edge of the placement groove 110 via a spacer block 9 so that a gap D is formed between the fixing ring 8 and the notch edge. When in use, the gap D corresponds to between the two spacer blocks 9.

[0024] The outer part of the fixing ring 8 is covered with a lower pressing sleeve 10 which can move along the axial direction of the fixing ring 8. The outer part of the fixing ring 8 is provided with an external thread. The upper part of the fixing ring 8 is covered with a nut 12 which can match with the external thread. The lower pressing sleeve 10 is moved downward by rotating the nut.

[0025] The gap C is fan-shaped. When in use, a fan-shaped tightening block 11 is inserted into the fan-shaped gap C. The outer wall surface of the fan-shaped tightening block 11 is a slope B that gradually tilts outward from top to bottom. The bottom surface of the lower pressure sleeve 10 is a slope that is adapted to the slope of the slope B.

[0026] The tail structure has three pneumatic network devices, namely, a left pneumatic network device 312, a top pneumatic network device 313, and a right pneumatic network device 314. The non-retractable column structure 333 in the tail structure is the tail non-retractable column 310. The left pneumatic network device 312 and the right pneumatic network device 314 are arranged on the left and right sides of the length direction of the tail non-retractable column 310; the top pneumatic network device 313 is located at the top of the length direction of the tail non-retractable column 310.

[0027] A compression spring structure is embedded inside the non-retractable column structure;

[0028] The head and neck structure is arranged at the front end of the trunk structure. There are three pneumatic network devices in the head and neck structure, namely, a right head and neck pneumatic network device 414, a left head and neck pneumatic network device 412 and a top head and neck pneumatic network device 413 (the left and right sides mentioned here are in the same direction as the head and neck structure, combined with Figure 2 ,because Figure 2 It faces the head and neck structure, so Figure 2 In the middle, Figure 2 The left side in the figure is the right side when it is in the same direction as the head and neck structure, and the right side is the left side when it is in the same direction as the head and neck structure), the non-retractable column structure 333 in the head and neck structure is a head and neck non-retractable column 410, the right head and neck pneumatic network device 414 and the left head and neck pneumatic network device 412 are respectively located on the left and right sides of the length direction of the head and neck non-retractable column 410, and the top head and neck pneumatic network device 413 is located at the top of the head and neck non-retractable column 410 in the length direction;

[0029] A compression spring structure is embedded in the non-retractable column structure.

[0030] The external features of the tail structure and the head and neck structure of the pneumatic amphibious soft bionic robot are in the form of variable diameter. The variable diameter form, for the tail structure, is the starting point of the tail structure (i.e. Fig. 9 The left end of the robot is the end point (i.e. Fig. 9The pneumatic network devices that make up the tail gradually reduce their diameters, that is, the pneumatic network devices gradually reduce their external diameters. Fig. 9 The outer dimensions of the capsule cavity (at the far right end shown) Fig. 9 The distance in the vertical direction is called the diameter. Fig. 9 The left end of the cyst cavity is 1 / 2 to 2 / 3 of the outer dimension of the cyst cavity (that is, the dimension in the vertical direction, also called the diameter); for the head and neck structure, the starting point of the head and neck structure is the connection between the head and neck structure and the trunk ( Figure 8 to the front end of the robot head and neck structure ( Figure 8 The leftmost end of the figure is the end point, and the various pneumatic network devices that make up the head and neck gradually change in diameter, that is, the pneumatic network devices gradually reduce the external size ratio (i.e. Figure 8 The vertical dimension in the robot head and neck structure is also called the diameter. Figure 8 The outer dimensions of the cavity at the left end (in the figure) are 1 / 2 to 2 / 3 of the outer dimensions of the cavity at the starting point.

[0031] Advantages and effects:

[0032] The present invention proposes a pneumatic amphibious soft bionic robot, which imitates the structural characteristics and movement forms of sea lion flippers, inchworms, trunk swinging type and trunk waving type fish tails. It has the remarkable characteristics of low development cost, simple structure, strong adaptability to unstructured environments, etc., and can improve the maneuverability of the soft bionic robot, enrich the movement forms of the soft bionic robot, and broaden the application field.

[0033] The invention comprises: a trunk structure, a flipper structure, a tail structure and a head and neck structure.

[0034] The trunk structure has a similar cross-sectional shape to the tail structure and the head and neck structure, and includes a trunk body and a trunk sealing cover, and is provided with a plurality of channels communicating with the flipper, tail, and head and neck pneumatic network devices. The trunk body is provided with placement grooves for connecting the flipper structures on both sides, and the interior of the trunk body is a cavity. The trunk sealing cover is provided with channels for integrating the ventilation pipes, and a liquid channel is provided at the center.

[0035] The flipper structure is connected to the placement grooves on both sides of the trunk structure. The flipper structure includes wing fins and main limbs. The middle area of ​​the rear end of the wing fin is connected to the main limb.

[0036] The tail structure is connected to the rear end of the trunk structure, and includes a non-retractable column structure, a compression spring structure, and three pneumatic network devices.

[0037] The head and neck structure is connected to the front end of the trunk structure, and includes a non-retractable column structure, a compression spring structure, and three pneumatic network devices.

[0038] Preferably, the wing fin is designed to imitate the flipper of a sea lion, with a variable stiffness sheet embedded inside, a pneumatic network device provided in the middle area, a compression spring structure embedded in the rear area, and a vent hole provided on the thin side of the rear end. The variable stiffness sheet material is a 60°C low melting point alloy material (such as Bi-Cd-Pb-Sn quaternary eutectic alloy, Bi-Sn alloy, etc.). The main limb includes a rotary drive and four pneumatic network devices. The rotary drive includes a drive body, a drive spiral, a drive end cover 1, a drive end cover 2, a drive housing, and a compression spring structure. The drive body is cylindrical, and is provided with four polygonal cross-section through holes arranged at equal angles around it, and is provided with an inner concave at one end close to the trunk. The compression spring structure is embedded in the drive body, and the drive spiral is wound around the outside of the drive body at a certain spiral angle. The drive end cover 1 and the drive end cover 2 are respectively sealed at both ends of the drive body. Among them, the drive end cover 1 is placed on the side where the rotary drive is connected to the wing fin, the drive end cover 2 is placed on the side where the rotary drive is connected to the trunk, and the drive housing is placed on the outside of the drive body, the drive spiral, the drive end cover 1, and the drive end cover 2.

[0039] Preferably, the wing fin length (that is Figure 2 The length in the left and right direction) is the torso length (that is, perpendicular to Figure 2 1 to 1.5 times the distance in the direction of the rear end, the maximum width of the rear end face (i.e. Figure 7 The distance in the left and right direction shown) is the torso length (perpendicular to Figure 2 0.4 to 0.6 times the distance in the direction of the rear end, the maximum thickness of the rear end face (such as Figure 7 The vertical direction shown) is 0.3 to 0.5 times the height of the torso.

[0040] Preferably, the main limb length (such as Figure 2 The left and right directions in the figure are 0.25 to 0.5 times the length of the wing fin. The thickness of the drive end cover D1 and the drive end cover D2 are respectively greater than the sum of the thickness of the drive housing and the outer wall of the polygonal cross-section through hole (K). The positions of the four polygonal cross-section through holes arranged at equal angles are staggered with the integrated positions of the four pneumatic network devices (such as Figure 7 The angle of the drive spiral winding ranges from 30° to 120°, and the wire diameter is 1 / 8 to 1 / 10 of the outer diameter of the flipper compression spring.

[0041] Preferably, the cross-sectional dimension of the connection between the tail structure and the trunk is the same as the cross-sectional dimension of the trunk (from Fig. 9 From the perspective of the above, the distances in the up and down directions are the same), the length of the tail structure (i.e. Fig. 9The left-right distance in the middle) is 1.5 to 2 times the length of the trunk. Preferably, the cross-sectional dimension of the head and neck structure at the connection position with the trunk is the same as the cross-sectional dimension of the trunk. The length of the head and neck structure ( Figure 8 The left and right distance) is 0.5 to 1 times the length of the torso.

[0042] Preferably, the pneumatic network device is composed of a plurality of interconnected sac cavity structures arranged equidistantly, the thickness of the sac cavity expansion wall A is smaller than the thickness of the remaining walls, and the width N of the cavity facing the sac cavity expansion wall is 1 to 1.5 times the thickness P of the expansion wall.

[0043] Preferably, the compression spring structure embedded in the rear area of ​​the wing fin structure has a length of 0.25 to 0.4 times the length of the wing fin, and the other end of the compression spring structure is embedded in the main limb rotation drive body.

[0044] Preferably, the compression spring structure embedded in the tail non-retractable column structure has a length of 9 / 10 of the length of the tail non-retractable column.

[0045] Preferably, the compression spring structure embedded in the head and neck non-retractable column structure has a length of 9 / 10 of the length of the head and neck non-retractable column.

[0046] In summary, the pneumatic amphibious soft bionic robot provided by the present invention is based on silicone material and is made by 3D printing technology, shape deposition technology, lost wax casting technology and soft lithography. The present invention draws on the structural characteristics and movement forms of sea lion flippers, inchworms, trunk swinging type and trunk wave type fish tails for design. It has the outstanding advantages of reasonable structural design, strong adaptability to unstructured environments, high interactive safety, high driving efficiency, rich movement forms, smooth posture change, low production and maintenance costs, etc., and can be efficiently maneuvered in various complex amphibious environments. The external features of the tail structure and the head and neck structure of the present application are in the form of variable diameter, which can make the robot body present a spindle structure, thereby improving the hydrodynamic performance of the robot and making it superior in underwater maneuverability. In addition, the present invention adopts a pneumatic drive mode, and has strong maneuverability in an underwater environment. According to the internal and external differential pressure compensation method, the pressure relationship between the internal structure and the external environment is adjusted to realize ocean exploration operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 is a schematic structural diagram of a pneumatic amphibious soft bionic robot provided by an embodiment of the present invention;

[0048] Figure 2 A front view of a pneumatic amphibious soft bionic robot provided by an embodiment of the present invention;

[0049] Figure 3A cross-sectional view of a trunk structure provided by an embodiment of the present invention;

[0050] Figure 4 A longitudinal cross-sectional view of a flipper structure provided by an embodiment of the present invention;

[0051] Figure 5 A partial enlarged longitudinal cross-sectional view of a flipper structure provided by an embodiment of the present invention;

[0052] Figure 6 A schematic diagram of a top view of a variable stiffness sheet provided in an embodiment of the present invention (equivalent to Figure 4 Top view of the variable stiffness sheet);

[0053] Figure 7 A cross-sectional view of a flipper structure provided by an embodiment of the present invention;

[0054] Figure 8 A cross-sectional view of the tail structure provided by an embodiment of the present invention;

[0055] Fig. 9 A cross-sectional view of a neck structure provided by an embodiment of the present invention;

[0056] Fig.10 A top view of the fixing area and the fixing ring;

[0057] Fig.11 A top view of the fixing area and the fixing ring in a state of being used in conjunction with each other;

[0058] Fig.12 It is a vertical cross-sectional view of the fixing area and the fixing ring in the state of being used together;

[0059] Fig.13 is a schematic diagram of the structure of the inner groove;

[0060] Fig.14 Schematic diagram of the angle of the driving spiral structure;

[0061] Fig.15 It is a schematic diagram of the arrangement of the driving spiral structure;

[0062] Fig.16 The schematic diagram of the general structure of the pneumatic network device of the tail structure and the head and neck structure; (This is a general schematic diagram. The head and neck structure and the tail structure are not exactly the same. The head and neck structure is shorter than the tail structure. Fig.16 shown as short in left-right direction and with fewer cystic cavities in the head and neck structures, all else being equal).

[0063] Fig.17 A cross-sectional view of the pneumatic network device of the tail structure and the head and neck structure (i.e., cut along the length direction of the non-retractable column structure);

[0064] Fig.18 This is a vertical cross-sectional view of the fixed area and the fixed ring in the state of being used together (before the fan-shaped tightening block is inserted);

[0065] Fig.19 Schematic diagram of the structure of a variable stiffness sheet wrapped with a heating wire.

[0066] Figure numerals: 1, trunk structure; 2, flipper structure; 3, tail structure; 4, neck structure; 1-1, trunk body; 1-2, trunk sealing cover; 110, placement groove; 120, liquid hole; 2-1, wing fin; 2-2, main limb; 210, variable stiffness sheet; 211, wing fin pneumatic network device; 212, flipper compression spring structure; 213, wing fin vent; 220, rotation drive; 221, main limb pneumatic network device; 222, main limb pneumatic network device; 223, main limb pneumatic network device; 224 main limb pneumatic pneumatic network device; 225, driving body; 226, driving spiral; 227, driving end cover 1; 228, driving end cover 2; 229, driving shell; 310, tail non-retractable column; 311, tail compression spring structure; 312, tail pneumatic network device; 313, tail pneumatic network device; 314, tail pneumatic network device; 410, head and neck non-retractable column; 411, head and neck compression spring structure; 412, head and neck pneumatic network device; 413, head and neck pneumatic network device; 414, head and neck pneumatic network device. DETAILED DESCRIPTION

[0067] A pneumatic amphibious soft bionic robot includes a soft bionic actuator and a trunk structure 1. The front and rear ends of the trunk structure 1 are both provided with soft bionic actuators. The soft bionic actuator at the front end of the trunk structure 1 is a neck structure 4, and the soft bionic actuator at the rear end of the trunk structure 1 is a tail structure 3. The head and neck structure 4 and the tail structure 3 can be Fig.16 The exterior shown is a reduced diameter structure.

[0068] Flipper structures 2 are also provided on both sides of the trunk structure 1;

[0069] The soft bionic actuator includes a pneumatic network device and a non-retractable column structure 333; the bottom end surface of the pneumatic network device is connected to the side surface of the non-retractable column;

[0070] The pneumatic network device is composed of a plurality of capsule cavity structures 111, which are arranged in sequence along the length direction of the non-retractable column structure 333, and the interiors of adjacent capsule cavity structures are interconnected;

[0071] The trunk structure is similar in size and shape to the tail structure and the head and neck structure at the connection point. The interior of the trunk structure 1 is a cavity for passing liquid or gas, so that the robot can dive and float in the water. The trunk sealing cover 1-2 is provided with channels for integrating the ventilation pipes, and a liquid and ventilation channel 120 is provided in the center area.

[0072] The flipper structure 2 is connected to the placement grooves 110 on both sides of the trunk structure 1, and the flipper structure 2 includes a wing fin 2-1 and a main limb 2-2; the wing fin is designed to imitate the flipper structure of a sea lion, a variable stiffness sheet 210 is embedded inside the wing fin, a pneumatic network device 211 is arranged in the middle area of ​​the wing fin, and the rear end of the wing fin (mainly the middle area) is connected to the main limb 2-2;

[0073] The main limb 2-2 includes a rotary drive and a plurality of (4) main limb pneumatic network devices 221, 222, 223, 224; the rotary drive includes a drive body 225, a drive spiral 226, a drive end cover 1 227, a drive end cover 228 and a fin limb compression spring structure 212; the drive body is a cylindrical screwable structure (made of silicone), and a plurality of 4 equal angles are arranged around the axis of the drive body (equal angles are like Figure 7 As shown, the center of each cross-sectional through hole is at the same distance from the axis of the driving body 225, a connecting line is formed between the center of each cross-sectional through hole and the axis of the driving body 225, and the angles between adjacent connecting lines are equal) and a polygonal cross-sectional through hole 225-1 is arranged parallel to the axis of the driving body 225 (the center line or axis of the cross-sectional through hole and), and an inner concave B connected to the polygonal cross-sectional through hole 225-1 is provided at one end of the driving body close to the trunk, the flipper compression spring structure 212 is embedded in the driving body 225, and the front end of the flipper compression spring structure 212 is embedded in the wing fin 2-1 (its position is as shown in FIG. Figure 4 As shown, the front end of the flipper compression spring structure 212 is located at the rear of the pneumatic network device 211. Figure 4 The right side of the figure, and the flipper compression spring structure 212 is above the variable stiffness sheet 210), the driving spiral is spirally wound in the spiral groove outside the driving body at a certain spiral angle. (The inner concave B of the main limb 2-2 of the flipper and the trunk body 1-1 have interconnected ventilation holes M1. After ventilation, the four polygonal cross-section through holes 225-1 of the main limb 2-2 are expanded, and the outer driving spiral guides the driving body 225 to produce twisting, thereby causing the wing fin of the flipper to deflect. See Figure 5 and Figure 7 ,in Figure 5 It is a cross-sectional diagram, such as Figure 7 As shown, the deflection is a clockwise or counterclockwise rotation in the figure)

[0074] The positions where the flipper structures 2 are installed on both sides of the trunk body 1-1 are provided with placement grooves 110 for installing the flipper structures. (The flipper structures 2 are bonded to both sides of the trunk body 1-1. The role of the placement grooves 110 is to increase the area of ​​the bonding surface, that is, the flipper structures 2 can be bonded to the bottom surface and the side wall of the groove)

[0075] The trunk structure 1 includes a trunk body 1-1 and a trunk sealing cover 1-2. The trunk body 1-1 is a structure with an internal cavity and an upper opening. The trunk sealing cover 1-2 is sealed at the opening of the trunk body 1-1. (The upper end of the trunk body 1-1 is an opening, and the opening is sealed and connected with the trunk sealing cover 1-2, generally by adhesive sealing. The trunk sealing cover 1-2 is provided with a plurality of channels communicating with the pneumatic network devices of the fins, the tail, and the head and neck.)

[0076] The driving end cover 1 227 and the driving end cover 228 are respectively sealed at both ends of the driving body (the driving end cover 228 is directly covered on the inner recess B, and the function of the inner recess B is to allow the gas to pass into the inner recess B so that the gas can be simultaneously passed into the four polygonal cross-section through holes 225-1 without being divided into four pipelines for ventilation respectively); wherein, the driving end cover 1 227 is placed on the side where the rotary drive is connected to the wing fin, and the driving end cover 228 is placed on the side where the rotary drive is connected to the trunk structure.

[0077] A certain helical angle δ is greater than 30° and less than 180°. (The helical angle δ is Fig.15 The angle δ between the drive spiral 226 and the axis AA is shown as

[0078] The pneumatic network device 211 is composed of a plurality of pneumatic sub-sac cavities (211-1) (gaps are left between the plurality of pneumatic sub-sac cavities (211-1), and the pneumatic sub-sac cavities (211-1) are structures that expand and deform by inflation and deflation), and the internal cavities of the plurality of pneumatic sub-sac cavities (211-1) are connected, and its structural principle is similar to that of the pneumatic network device of the main limb, the head and neck structure 4, and the pneumatic network device of the tail structure 3.

[0079] The main limb pneumatic network device is composed of multiple fan-shaped cavity structures 2-2-1, and the multiple fan-shaped cavity structures 2-2-1 are connected to each other. One end face of the main limb pneumatic network device is provided with a hole M connected to the inside of the fan-shaped cavity structure 2-2-1. There are four main limb pneumatic network devices, and the four main limb pneumatic network devices are arranged on the outer wall of the driving body 225. The angles θ between the four main limb pneumatic network devices are the same. The four main limb pneumatic network devices are respectively the first pneumatic network device 221, the second pneumatic network device 222, the third pneumatic network device 223 and the fourth pneumatic network device 224.

[0080] The thin side of the rear end of the wing fin 2-1 is provided with a vent hole (213) connected to the inside of the pneumatic network device (such as Figure 7 As shown, thinness is Figure 7 The vertical direction is short as described in the previous section).

[0081] The driving housing (229) is arranged outside the driving body, the driving spiral, the first driving end cover and the second driving end cover.

[0082] There are multiple pneumatic network devices in the head and neck structure 4 and the tail structure 3, and the multiple pneumatic network devices are arranged on different sides of the non-retractable column structure 333; the angles β between adjacent pneumatic network devices are the same; the sac cavity structure 111 of the pneumatic network device is a fan-shaped sac cavity structure; the bottom end length L of the pneumatic network device is equal to the side length of the cross section of the non-retractable column structure; an end face of the pneumatic network device is provided with a vent A2, and the vent A2 is connected to the inside of the sac cavity structure 111 of the pneumatic network device; a compression spring structure 444 is provided in the non-retractable column structure 333; the thickness of the sac cavity expansion wall A of the pneumatic network device is less than the thickness of the other wall surfaces; the compression spring structure is embedded in the non-retractable column, the wire diameter of the compression spring structure is 1 / 15 of the diameter of the non-retractable column, the outer diameter of the compression spring structure is 4 / 5 of the single side length of the cross section of the non-retractable column, and the length of the compression spring structure is 9 / 10 of the length of the non-retractable column.

[0083] The length of the wing fin 2-1 (such as Figure 2 The left and right directions shown) are the torso length (perpendicular to Figure 2 The maximum width of the rear end face is 0.35 times to 0.5 times the length of the trunk, and the maximum thickness of the rear end face is 0.3 times to 0.5 times the height of the trunk. Figure 2 Left-right direction as shown) is 0.25 to 0.4 times the length of the wing fin;

[0084] The thickness of the driving end cover 1 and the driving end cover 2 of the main limb structure is respectively greater than the sum of the thickness of the driving housing and the outer wall of the polygonal cross-section through hole; the positions of the four polygonal cross-section through holes arranged at equal angles are staggered with the integrated positions of the four pneumatic network devices; the winding angle of the driving spiral is greater than 30° and less than 180°, and the wire diameter is 1 / 8 to 1 / 10 of the outer diameter of the fin limb compression spring;

[0085] The maximum cross-sectional dimension of the tail structure is similar to the cross-sectional dimension and shape of the trunk, and the length of the tail structure (e.g. Fig. 9 The distance in the left-right direction shown) is 1 to 1.5 times the length of the torso;

[0086] The maximum cross-sectional dimension of the head and neck structure is similar to the cross-sectional dimension and shape of the trunk, and the length of the head and neck structure (e.g. Figure 8 The distance in the left-right direction shown) is 0.5 to 1 times the length of the torso.

[0087] All of the above-mentioned pneumatic network devices are composed of a number of interconnected cavity structures arranged equidistantly, the thickness of the cavity expansion wall A is less than the thickness of the remaining walls, and the width N of the cavity facing the cavity expansion wall is 1 to 1.5 times the thickness P of the expansion wall;

[0088] The compression spring structure embedded in the rear area of ​​the wing fin structure has an embedded length of 0.25 to 0.4 times the length of the wing fin, and the other end of the compression spring structure is embedded in the main limb rotation drive body, and the outer diameter of the compression spring is smaller than the outer diameter of the neck compression spring 411;

[0089] The compression spring structure is embedded in the tail non-retractable column structure, the length of the compression spring is 9 / 10 of the length of the tail non-retractable column, and the outer diameter of the compression spring is larger than the outer diameter of the neck compression spring.

[0090] The flipper structure 2 is bonded in the placement groove 110; a fixing area 7 is provided at the position where the main limb 2-2 is connected to the placement groove 110 (a part of the fixing area 7 extends into the placement groove 110, while the other part is exposed from the placement groove 110, there are four fixing areas 7, which correspond to the first pneumatic network device 221, the second pneumatic network device 222, the third pneumatic network device 223 and the fourth pneumatic network device 224 one by one, and a gap C is formed between two adjacent fixing areas 7, and the four fixing areas 7 are provided with channels 7-1 respectively connected to the first pneumatic network device 221, the second pneumatic network device 222, the third pneumatic network device 223 and the fourth pneumatic network device 224, so that the first pneumatic network device 221, the second pneumatic network device 222, the third pneumatic network device 223 and the fourth pneumatic network device 224 are all connected to the gas pipeline in the internal cavity of the trunk body 1-1 through the channel 7-1;

[0091] A fixing ring 8 for accommodating the fixing area 7 is disposed at the opening edge of the placement groove 110. The fixing ring 8 and the opening edge of the placement groove 110 are connected via a spacer block 9 so that a gap D is formed between the fixing ring 8 and the bottom of the placement groove 110. When in use, the gap D corresponds to between the two spacer blocks 9.

[0092] A square groove 1-1-1 is provided on the side wall of the trunk body 1-1, the bottom of the square groove 1-1-1 is flat, the placement groove 110 is provided in the square groove 1-1-1, and the opening of the placement groove 110 is located on the plane of the bottom of the square groove 1-1-1. The square groove 1-1-1 with a flat bottom makes bonding and installation more convenient than the curved surface.

[0093] The outer sleeve of the fixing ring 8 has a sleeve that can be rotated along the axial direction of the fixing ring 8 (i.e. Fig.12The lower pressing sleeve 10 is movable in the up and down directions (as shown in the figure) (the lower pressing sleeve 10 has a keyway inside, and the keyway is sleeved on the vertical key 10-1 in the middle of the outer wall of the fixing ring 8, so that the lower pressing sleeve 10 can only move up and down), the upper part of the outer surface of the fixing ring 8 is provided with an external thread, and the upper part of the fixing ring 8 is sleeved with a nut 12 that can cooperate with the external thread, and the lower pressing sleeve 10 is moved downward by rotating the nut;

[0094] The gap C is fan-shaped. When in use, a fan-shaped pressing block 11 is inserted into the fan-shaped gap C (that is, the fan-shaped pressing block 11 and the fixing area 7 are gradually pressed together by gradually inserting the fan-shaped pressing block 11 into the gap C). The outer wall surface of the fan-shaped pressing block 11 is a slope B that gradually tilts outward from top to bottom, and the bottom surface of the lower pressing sleeve 10 is a slope that is adapted to the slope of the slope B (the downward movement of the lower pressing sleeve 10 forces the fan-shaped pressing block 11 to move inward (that is, to move inward). Fig.12 The left side of Fig.11 The fan-shaped top tightening block 11 is gradually inserted into the fan-shaped gap C, so that the fan-shaped top tightening block 11 is in tight contact with the two adjacent fixing areas 7. The fan-shaped top tightening block 11 (that is, from Fig.11 The fan-shaped tightening block 11 is fan-shaped as a whole) and the fixing area 7 are made of elastic materials, such as rubber, to make them elastically connected. Of course, other hard materials can also be used, but rubber is better, or only the fan-shaped tightening block 11 is made of rubber, and the fixing area 7 is made of hard materials, etc.).

[0095] The tail structure has three pneumatic network devices, namely, a left pneumatic network device 312, a top pneumatic network device 313 and a right pneumatic network device 314. The non-retractable column structure 333 in the tail structure is the tail non-retractable column 310. The left pneumatic network device 312 and the right pneumatic network device 314 are arranged on the left and right sides (symmetrically) in the length direction of the tail non-retractable column 310. The top pneumatic network device 313 is located at the top of the tail non-retractable column 310 in the length direction.

[0096] A compression spring structure is embedded in the non-retractable column structure.

[0097] There are multiple pneumatic network devices, and the multiple pneumatic network devices are arranged on different sides of the non-retractable column structure 333; the angles β between adjacent pneumatic network devices are the same; the sac cavity structure of the pneumatic network device is a fan-shaped sac cavity structure; the bottom end length L of the pneumatic network device is equal to the side length of the cross section of the non-retractable column structure; one end face of the pneumatic network device is provided with a liquid hole A2, and the liquid hole A2 is connected to the interior of the pneumatic network device; a compression spring structure 444 is provided in the non-retractable column structure 333; the thickness of the sac cavity expansion wall A of the pneumatic network device is less than the thickness of the other wall surfaces; the compression spring structure is embedded in the non-retractable column, the wire diameter of the compression spring structure is 1 / 15 of its outer diameter, the outer diameter of the compression spring structure is 4 / 5 of the side length of the cross section of the non-retractable column, and the length of the compression spring structure is 9 / 10 of the length of the non-retractable column.

[0098] The head and neck structure is arranged at the front end of the trunk structure, and there are three pneumatic network devices in the head and neck structure, namely, a right head and neck pneumatic network device 414, a left head and neck pneumatic network device 412 and a top head and neck pneumatic network device 413. The non-retractable column structure 333 in the head and neck structure is a head and neck non-retractable column 410, and the right head and neck pneumatic network device 414 and the left head and neck pneumatic network device 412 are respectively located on the left and right sides of the length direction of the head and neck non-retractable column 410, and the top head and neck pneumatic network device 413 is located at the top of the head and neck non-retractable column 410 in the length direction.

[0099] A compression spring structure is embedded in the non-retractable column structure.

[0100] In order to make the technical problems solved by the present invention, the technical solutions adopted and the technical effects achieved clearer, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It is understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for the convenience of description, only the parts related to the present invention are shown in the accompanying drawings, rather than all the contents.

[0101] Figure 1 is a schematic structural diagram of a pneumatic amphibious soft bionic robot provided by an embodiment of the present invention; Figure 2 The front view of the pneumatic amphibious soft bionic robot provided by the embodiment of the present invention includes: a trunk structure 1, a flipper structure 2, a tail structure 3, a head and neck structure 4, a wing fin structure 2-1, and a main limb structure 2-2. Figure 3 The cross-sectional view of the trunk provided by the embodiment of the present invention includes: a trunk body 1 - 1 , a trunk sealing cover 1 - 2 , a flipper placement groove 110 , and a liquid through hole 120 . Figure 4 A longitudinal cross-sectional view of a flipper structure provided by an embodiment of the present invention; Figure 5 A partial enlarged longitudinal cross-sectional view of a flipper structure provided by an embodiment of the present invention; Figure 6A schematic diagram of a top view of the structure of a variable stiffness sheet provided by an embodiment of the present invention; Figure 7 A cross-sectional view of a flipper structure provided by an embodiment of the present invention. It includes: a variable stiffness sheet 210; a wing fin pneumatic network device 211; a flipper compression spring structure 212; a wing fin vent 213; a rotary drive 220; a main limb pneumatic network device 221; a main limb pneumatic network device 222; a main limb pneumatic network device 223; a main limb pneumatic network device; a main limb pneumatic network device 224; a driving body 225; a driving spiral 226; a driving end cover 1 227; a driving end cover 228; a driving housing 229; Figure 8 The cross-sectional view of the tail structure provided by the embodiment of the present invention includes: a tail non-retractable column 310; a tail compression spring structure 311; a tail pneumatic network device 312; a tail pneumatic network device 313; a tail pneumatic network device 314; Fig. 9 The cross-sectional view of the head and neck structure provided for an embodiment of the present invention includes a head and neck non-retractable column 410; a head and neck compression spring structure 411; a head and neck pneumatic network device 412; a head and neck pneumatic network device 413; a head and neck pneumatic network device; and a head and neck pneumatic network device 414.

[0102] The torso structure described in this embodiment is similar in size and shape to the connection between the tail structure and the head and neck structure, wherein the torso main body and the torso sealing cover are sealed and connected, the torso main body is provided with a number of channels communicating with the fins, tail, head and neck pneumatic network devices, the torso main body is provided with placement grooves for connecting the fin structures on both sides, the interior of the torso main body is a cavity, the torso sealing cover is provided with channels for integrating various ventilation pipes of the robot, and a liquid hole is provided at the very center.

[0103] The flipper structure of this embodiment is connected to the placement grooves on both sides of the trunk structure, and the flipper structure includes a wing fin structure and a main limb structure connected to the middle area of ​​the rear end of the wing fin structure. A variable stiffness sheet is embedded in the wing fin structure, a pneumatic network device is provided in the middle area, a compression spring structure is embedded in the rear area, and a vent hole connected to the inside of the middle pneumatic network device is provided on the thin side of the rear end.

[0104] The tail structure of this embodiment is connected to the rear end of the trunk structure, and the tail structure is composed of a non-retractable column structure, a compression spring structure, and three pneumatic network devices. The non-retractable column structure is embedded with a compression spring structure, and three continuous adjacent surfaces on the outside are connected to each pneumatic network device.

[0105] The head and neck structure of this embodiment is connected to the front end of the trunk structure, and the head and neck structure is composed of a non-retractable column structure, a compression spring structure, and three pneumatic network devices. The non-retractable column structure is embedded with a compression spring structure, and three continuous adjacent surfaces on the outside are connected to each pneumatic network device.

[0106] The external features of the tail structure and the head and neck structure of this embodiment are in the form of variable diameters, in order to improve the hydrodynamic performance of the pneumatic amphibious soft bionic robot and enhance its underwater maneuverability.

[0107] In the embodiment of the present invention, the liquid volume in the internal cavity of the trunk body 1-1 can be flexibly adjusted by passing liquid into or out of the liquid hole 120 of the trunk sealing cover structure 1-2. In addition, the ventilation pipes of the flipper structure 2, the tail structure 3, and the head and neck structure 4 can be integrated through the various channels of the trunk structure 1.

[0108] In the embodiment of the present invention, heating the variable stiffness sheet 210 of the flipper wing fin 2-1 can produce a material phase change and change the stiffness of the wing fin. The specific implementation structure is to wind the heating wire 210-1 on the variable stiffness sheet 210, and wind it at the position where the stiffness needs to be changed (such as Fig.19 ), the heating wire is connected to an external heating source, that is, if the stiffness needs to be changed at any time in the middle, the heating wire is wound in the middle, if the stiffness needs to be changed at both ends, the heating wire is wound at both ends, if both ends and the middle need to change stiffness, the heating wire is wound at both ends and the middle of the variable stiffness sheet 210, and then the two ends (the two ends can be heated together or one of the two ends) or the middle can be selectively heated to achieve the change of stiffness at both ends (the two ends can be heated together or one of the two ends) or the middle; inputting air pressure into the vent hole 213 at the rear end of the wing fin structure can cause the pneumatic network device 211 in the middle area of ​​the wing fin to expand and bend, so that the wing fin can adjust its own posture and can cooperate with the variable stiffness sheet to change stiffness. The process of the pneumatic network device 211 to expand and bend is that the multiple pneumatic sub-sacs (211-1) are filled with gas, and the side walls A of the multiple pneumatic sub-sacs (211-1) expand outward, so that the multiple pneumatic sub-sacs (211-1) are in contact and squeezed with each other to achieve the effect of expansion and bending.

[0109] In the embodiment of the present invention, the main limb structure 2-2 is supplied with air pressure in a certain time sequence, so as to provide the main power for the wing fin structure 2-1. Figure 7 As shown, different air pressures are introduced into the first pneumatic network device 221, and the side walls A of the multiple fan-shaped cavity structures 2-2-1 in the first pneumatic network device 221 expand outwards and contact and squeeze each other, so that the main limb structure 2-2 expands and bends, which can provide downward power for the wing fin structure 2-1;

[0110] Different values ​​of air pressure are introduced into the second pneumatic network device 222, resulting in expansion and bending. The side walls A of the multiple fan-shaped cavity structures 2-2-1 of the second pneumatic network device 222 expand outward, contact and squeeze each other, thereby providing leftward power for the wing-fin structure 2-1; different values ​​of air pressure are introduced into the third pneumatic network device 223, and the side walls A of the multiple fan-shaped cavity structures 2-2-1 of the third pneumatic network device 223 expand outward, contact and squeeze each other, resulting in expansion and bending, thereby providing upward power for the wing-fin structure 2-1; similarly, different values ​​of air pressure are introduced into the fourth pneumatic network device 224, and the side walls A of the multiple fan-shaped cavity structures 2-2-1 of the fourth pneumatic network device 224 expand outward, contact and squeeze each other, resulting in expansion and bending, thereby providing rightward power for the wing-fin structure 2-1. Different air pressures are introduced into the first pneumatic network device 221 and the second pneumatic network device 222 at the same time, resulting in expansion and bending, which can provide power to the lower left direction for the wing-fin structure 2-1; different air pressures are introduced into the second pneumatic network device 222 and the third pneumatic network device 223 at the same time, resulting in expansion and bending, which can provide power to the upper left direction for the wing-fin structure 2-1; different air pressures are introduced into the third pneumatic network device 223 and the fourth pneumatic network device 224 at the same time, resulting in expansion and bending, which can provide power to the upper right direction for the wing-fin structure 2-1; different air pressures are introduced into the fourth pneumatic network device 224 and the first pneumatic network device 221 at the same time, resulting in expansion and bending, which can provide power to the lower right direction for the wing-fin structure 2-1. Different air pressures are introduced into the cross-sectional through hole 225-1 of the rotary drive 220 (through the concave B), and the rotary drive body 225 expands. Since the outer surface of the rotary drive body 225 is wound with the driving spiral 226, it can be guided to rotate in a spiral direction, thereby providing a spiral rotational power for the wing fin structure 2-1, and the rotation angle range can be set according to the winding angle of the driving spiral. The function of the flipper compression spring structure 212 is not only to improve the structural strength of the flipper, but also to improve the execution force and restoring force of the main limb drive.

[0111] In the embodiment of the present invention, the air pressure is introduced into the tail structure 3 in a certain sequence, so that the tail structure can swing left and right and fluctuate up and down. Among them, the left pneumatic network device 312 is introduced with air pressure of different values, and the side wall A of the fan-shaped cavity of the left pneumatic network device 312 expands outward, contacts and squeezes each other to produce expansion and bending, which can provide power to the right direction for the tail structure 3; the top pneumatic network device 313 is introduced with air pressure of different values, and the side wall A of the fan-shaped cavity of the top pneumatic network device 313 expands outward, contacts and squeezes each other to produce expansion and bending, which can provide power to the tail structure 3 in the downward direction; the right pneumatic network device 314 is introduced with air pressure of different values, and the side wall A of the fan-shaped cavity of the right pneumatic network device 314 expands outward, contacts and squeezes each other to produce expansion and bending, which can provide power to the left direction for the tail structure 3. The tail compression spring structure can not only improve the strength of the tail structure, the driving execution force and the restoring force, but also cooperate with the top pneumatic network device 313, the left pneumatic network device 312 and the right pneumatic network device 314 to provide power in the corresponding direction for the tail structure 3.

[0112] In the embodiment of the present invention, air pressure is introduced into the neck structure 4 in a certain sequence, so that the head and neck structure can swing left and right and fluctuate up and down. Among them, the left head and neck pneumatic network device 412 is introduced with air pressure of different values, and the side wall A of the fan-shaped cavity of the left head and neck pneumatic network device 412 expands outward, contacts and squeezes each other to produce expansion and bending, which can provide power to the head and neck structure 4 in the right direction; the top head and neck pneumatic network device 413 is introduced with air pressure of different values, and the side wall A of the fan-shaped cavity of the top head and neck pneumatic network device 413 expands outward, contacts and squeezes each other to produce expansion and bending, which can provide power to the head and neck structure 4 in the downward direction; the right head and neck pneumatic network device 414 is introduced with air pressure of different values, and the side wall A of the fan-shaped cavity of the right head and neck pneumatic network device 414 expands outward, contacts and squeezes each other to produce expansion and bending, which can provide power to the head and neck structure 4 in the left direction. The head and neck compression spring structure can not only improve the strength of the head and neck structure, the driving execution force and the restoring force, but also can cooperate with the top head and neck pneumatic network device 413, the left head and neck pneumatic network device 412 and the right head and neck pneumatic network device 414 to provide power in the corresponding direction for the head and neck structure 4.

[0113] In an underwater environment, the embodiment of the present invention introduces different numerical air pressures into the flipper structure, the tail structure, and the head and neck structure according to the maneuvering requirements and in a certain sequence, so that the pneumatic amphibious soft bionic robot can swim efficiently in various complex underwater environments. Among them, the introduction of air pressure into the flipper structure can achieve up and down water slapping, front and back water swinging, angle deflection and stiffness change, and imitate the movement form of the flipper of the sea lion. It should be noted that changing the stiffness (the specific way to change the stiffness is to wrap the heating wire on the variable stiffness sheet 210, which has been described in detail above) can improve the driving efficiency of the flipper in different underwater environments; introducing air pressure into the tail structure can achieve left and right swinging and up and down fluctuation, and imitate the movement form of the trunk swinging type and trunk fluctuation type fish tail; similarly, introducing air pressure into the pneumatic network device of the head and neck structure can also achieve left and right swinging and up and down fluctuation movement forms, and its main function is to cooperate with the flipper structure and the tail structure to turn the rudder. In addition, by introducing or discharging liquid into the trunk structure and adjusting the liquid volume, the soft bionic robot can rise and dive.

[0114] In a terrestrial environment, the embodiment of the present invention can enable the pneumatic amphibious soft bionic robot to crawl efficiently in various complex terrestrial environments by introducing different values ​​of air pressure into the fin structure, tail structure, and head and neck structure according to the mobility requirements and in a certain sequence. Among them, introducing air pressure into the tail structure and the head and neck structure can achieve "Ω"-shaped bending movement and left and right bending movement, and imitate the movement form of the inchworm; introducing air pressure into the fin structure can enable the soft bionic robot to maintain balance during the crawling process, and can support the robot body in necessary specific environments to achieve obstacle crossing.

[0115] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that modifying the technical solutions described in the aforementioned embodiments, or replacing some or all of the technical features therein by equivalents, does not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A pneumatic amphibious soft bionic robot, comprising a soft bionic actuator, characterized in that: It also includes a trunk structure (1), wherein both front and rear ends of the trunk structure (1) are provided with soft bionic actuators, the soft bionic actuator at the front end of the trunk structure (1) constitutes a head and neck structure (4), and the soft bionic actuator at the rear end of the trunk structure (1) constitutes a tail structure (3); Flipper structures (2) are also provided on both sides of the trunk structure (1); The soft bionic actuator constituting the head and neck structure (4) and the tail structure (3) comprises a pneumatic network device and a non-retractable column structure (333); the bottom end surface of the pneumatic network device is connected to the side surface of the non-retractable column structure (333); The pneumatic network device is composed of a plurality of sac cavity structures (111), the plurality of sac cavity structures are arranged in sequence along the length direction of the non-retractable column structure (333), and the interiors of adjacent sac cavity structures are interconnected; The interior of the trunk structure (1) is a cavity for passing liquid or gas so as to enable the robot to dive and float in water; The flipper structure (2) is connected to both sides of the trunk structure (1), and comprises a wing fin (2-1) and a main limb (2-2); the wing fin is a flipper structure imitating a sea lion, a variable stiffness sheet (210) is embedded in the wing fin, the wing fin is provided with a pneumatic network device (211), and the rear end of the wing fin is connected to the main limb (2-2); The main limb (2-2) comprises a rotary drive (220) and a plurality of main limb pneumatic network devices; the rotary drive comprises a driving body (225), a driving spiral (226) and a flipper compression spring structure (212); the driving body is a cylindrical soft structure, a plurality of cross-sectional through holes (225-1) arranged at equal angles and parallel to the axis are provided around the axis of the driving body, and an inner recess (B) communicating with the cross-sectional through holes (225-1) is provided at one end of the driving body, the flipper compression spring structure (212) is embedded in the driving body, and the front end of the flipper compression spring structure (212) is embedded in the wing fin (2-1), and the driving spiral is spirally wound around the driving body at a certain spiral angle; Positions on both sides of the trunk body (1-1) where the flipper structures (2) are installed are provided with placement grooves (110) for installing the flipper structures; The trunk structure (1) comprises a trunk body (1-1) and a trunk sealing cover (1-2); the trunk body (1-1) is a structure with an internal cavity and an upper opening; the trunk sealing cover (1-2) is sealed at the opening of the trunk body (1-1).

2. The pneumatic amphibious soft bionic robot according to claim 1, characterized in that: A heating wire needs to be wound around the variable stiffness sheet (210) at a position where the variable stiffness is specified, and the heating wire is connected to an external heating source.

3. The pneumatic amphibious soft bionic robot according to claim 1, characterized in that: The driving spiral is spirally wound on the driving body at a certain spiral angle, and the spiral angle (δ) is greater than 30° and less than 180°.

4. The pneumatic amphibious soft bionic robot according to claim 1, characterized in that: The pneumatic network device of the main limb (2-2) is composed of a plurality of fan-shaped sac cavity structures (2-2-1), the plurality of fan-shaped sac cavity structures (2-2-1) are connected to each other, one end face of the main limb pneumatic network device is provided with a hole (M) connected to the inside of the fan-shaped sac cavity structure (2-2-1), there are four main limb pneumatic network devices, the four main limb pneumatic network devices are arranged on the outer side wall of the driving body (225), the angles (θ) between the four main limb pneumatic network devices are the same, and the four main limb pneumatic network devices are respectively a first pneumatic network device (221), a second pneumatic network device (222), a third pneumatic network device (223) and a fourth pneumatic network device (224).

5. The pneumatic amphibious soft bionic robot according to claim 1, characterized in that: The soft bionic actuator constituting the head and neck structure (4) and the tail structure (3) comprises a plurality of pneumatic network devices, which are arranged on different sides of the inextensible column structure (333); the angles (β) between adjacent pneumatic network devices are the same; the pneumatic network devices constituting the head and neck structure (4) and the tail structure (3) are fan-shaped capsule structures of variable diameter; the bottom end length (L) of the pneumatic network devices is equal to the side length of the cross section of the inextensible column structure; an air vent (A2) is provided on one end face of the pneumatic network device, and the air vent (A2) is connected to the inside of the capsule structure (111) of the pneumatic network device; a compression spring structure (444) is provided in the inextensible column structure (333); the thickness of the capsule expansion wall (A) of the pneumatic network device is less than the thickness of the other wall surfaces; and the compression spring structure is embedded in the inextensible column structure.

6. The pneumatic amphibious soft bionic robot according to claim 1, characterized in that: The flipper structure (2) is bonded in the placement groove (110); a fixing area (7) is provided at the position where the main limb (2-2) is connected to the placement groove (110); there are four fixing areas (7), which correspond to the first pneumatic network device (221), the second pneumatic network device (222), the third pneumatic network device (223) and the fourth pneumatic network device (224) respectively; a gap C is formed between two adjacent fixing areas (7); and channels (7-1) are provided on the four fixing areas (7) respectively connected to the first pneumatic network device (221), the second pneumatic network device (222), the third pneumatic network device (223) and the fourth pneumatic network device (224), so that the first pneumatic network device (221), the second pneumatic network device (222), the third pneumatic network device (223) and the fourth pneumatic network device (224) are connected to the pipeline in the internal cavity of the trunk body (1-1) through the channels (7-1); A fixing ring (8) for accommodating the fixing area (7) is provided at the notch edge of the placement groove (110); the fixing ring (8) and the notch edge of the placement groove (110) are connected via a spacer block (9) so that a gap D is formed between the fixing ring (8) and the notch edge; when in use, the gap D corresponds to between the two spacer blocks (9); The outer portion of the fixing ring (8) is covered with a lower pressing sleeve (10) which can move along the axial direction of the fixing ring (8); the outer portion of the fixing ring (8) is provided with an external thread; the upper portion of the fixing ring (8) is covered with a nut (12) which can cooperate with the external thread; the lower pressing sleeve (10) is moved downward by rotating the nut; The gap C is fan-shaped. When in use, a fan-shaped top tightening block (11) is inserted into the fan-shaped gap C. The outer wall surface of the fan-shaped top tightening block (11) is an inclined surface that gradually tilts outward from top to bottom, and the bottom surface of the lower pressure sleeve (10) is an inclined surface adapted to the slope of.

7. The pneumatic amphibious soft bionic robot according to claim 5, characterized in that: The tail structure comprises three pneumatic network devices, namely a left pneumatic network device (312), a top pneumatic network device (313) and a right pneumatic network device (314); the non-retractable column structure (333) in the tail structure is the tail non-retractable column structure (310); the left pneumatic network device (312) and the right pneumatic network device (314) are arranged on the left and right sides of the length direction of the tail non-retractable column structure (310); the top pneumatic network device (313) is located at the top of the length direction of the tail non-retractable column structure (310); A compression spring structure is embedded inside the non-retractable column structure; The head and neck structure is arranged at the front end of the trunk structure. There are three pneumatic network devices in the head and neck structure, namely, a right head and neck pneumatic network device (414), a left head and neck pneumatic network device (412) and a top head and neck pneumatic network device (413). The non-retractable column structure (333) in the head and neck structure is a head and neck non-retractable column (410). The right head and neck pneumatic network device (414) and the left head and neck pneumatic network device (412) are respectively located on the left and right sides of the length direction of the head and neck non-retractable column (410), and the top head and neck pneumatic network device (413) is located at the top of the length direction of the head and neck non-retractable column (410); A compression spring structure is embedded in the non-retractable column structure.

8. The pneumatic amphibious soft bionic robot according to claim 5, characterized in that: The described variable diameter form, for the tail structure, from the connection between the trunk and the tail structure as the starting point of the tail structure to the very end of the robot tail structure as the termination point, the various pneumatic network devices that constitute the tail gradually change in diameter, that is, the pneumatic network devices gradually reduce the external diameter size ratio, wherein the external size of the capsule cavity at the termination point of the robot tail structure is 1 / 2 to 2 / 3 of the external size of the capsule cavity at the starting point; for the head and neck structure, from the connection between the head and neck structure and the trunk as the starting point of the head and neck structure to the very end of the robot head and neck structure as the termination point, the various pneumatic network devices that constitute the head and neck gradually change in diameter, that is, the pneumatic network devices gradually reduce the external size ratio, wherein the external size of the capsule cavity at the termination point of the robot head and neck structure is 1 / 2 to 2 / 3 of the external size of the capsule cavity at the starting point.

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