Tail structure of a bionic crocodile amphibious robot

Abstract

The present invention discloses a tail structure of a bionic crocodile amphibious robot, comprising a tail body, a support frame and a rope drive device; a plurality of groups of support frames are arranged one by one on the tail body; each group of support frames comprises two support members, and the two support members are respectively installed on both sides of the tail body; the tail body is installed with a rope drive device, one rope drive device drives all the support frames to swing, and the other rope drive device drives the support frames of the front half of the tail body to swing, and the two rope drive devices are used to drive the tail body to swing in opposite directions. After adopting the tail structure of the bionic crocodile amphibious robot, the two rope drive devices cooperate with each other to drive the tail body to form an S-shaped bending swing, and thus reciprocate, alternately relax and tighten, to achieve the simulation of the swing of a real crocodile, with the advantages of simple and compact structure and few drive controllers. The structure can also be applied to other amphibian bionic robots and has broad application prospects.

Description

Technical Field

[0001] The invention relates to the field of bionic mechanisms, in particular to a tail structure of a bionic crocodile amphibious robot. Background Art

[0002] Bionic mechanical devices are mechanical devices or electromechanical devices that imitate the structure and motion characteristics of organisms, thereby designing mechanical devices similar to biological prototypes. With the development of human society, there are more and more development and exploration activities in complex environmental areas such as oceans, tidal flats, swamps, and islands. There is an urgent need for amphibious bionic robots to complete rescue, exploration, sampling and other tasks.

[0003] As a typical amphibian, crocodiles are good bionic objects. When walking on land or in mudflats, their tails swing up and down and can touch the ground to provide support for the body. When swimming underwater, their tails swing horizontally in an S-shaped wave to provide thrust for the body to swim forward and turn. Therefore, the bionics of the crocodile's tail is a key device to realize the functions of crocodile-like robots walking and swimming, and it is also a difficult point in the design of bionic devices.

[0004] In the existing literature on crocodile-like robots, a crocodile tail structure has been disclosed, which is driven by multiple motors in series. This driving method requires the number of motors to be selected according to the number of sections of the crocodile tail skeleton. The crocodile tail skeleton has a large number of sections, so a large number of motors are required, which makes the control difficult, and the excessive number of motors increases the overall weight of the bionic robot. There are also some other amphibious bionic robot tail swing devices that use wheel, propeller, multi-link and other driving methods. Although these driving methods can achieve bionic movements to a certain extent, their structures are bulky and cannot truly fully imitate biological objects in terms of appearance and movement mechanism.

[0005] Therefore, designing a tail structure of an amphibious crocodile-like robot with a simple structure, a completely bionic appearance and a movement mechanism can better serve the design of the crocodile-like robot, and also provide design ideas for the tail structures of other amphibious bionic robots. Summary of the invention

[0006] The purpose of the present invention is to provide a tail structure of a bionic crocodile amphibious robot to solve the problems that the driving method of the existing crocodile robot tail structure is difficult to control, the structure is bulky and it cannot truly imitate the biological object in appearance and movement mechanism.

[0007] In order to solve the above technical problems, the present invention provides a tail structure of a bionic crocodile amphibious robot, including a tail body, a support frame and a rope drive device; a plurality of groups of the support frames are arranged one by one on the tail body; each group of the support frames includes two support members, and the two support members are respectively installed on both sides of the tail body; the tail body is installed with the rope drive device, one rope drive device drives the entire support frame to swing, and the other rope drive device drives the support frame of the front half of the tail body to swing, and the two rope drive devices are used to drive the tail body to swing in opposite directions.

[0008] In one of the embodiments, the tail body includes a braking segment and a driven segment, each group of the support frames is installed on the braking segment, and the spacing between each group of the support frames gradually increases in the direction from the braking segment to the driven segment.

[0009] In one of the embodiments, the outer contour size of each group of the support frames gradually decreases in the direction from the middle of the retaining segment to the two ends of the retaining segment.

[0010] In one embodiment, the support frame at the end of the braking section is provided with two inner ropes, the two inner ropes are respectively placed on the two support members of the group of support frames, the two inner ropes respectively pass through all the support members on both sides of the braking section and are then wound together on one rope drive device, and the winding directions of the two inner ropes are opposite;

[0011] A group of support frames located in the middle of the braking section is provided with two outer ropes, and the two outer ropes are respectively placed on the two support members of the group of support frames. The two outer ropes pass through the support members of the front half respectively and are then wound together on another rope drive device, and the winding directions of the two outer ropes are opposite.

[0012] In one of the embodiments, one of the rope drive devices is an inner rope drive device, which includes an inner rope drive motor and an inner rope winding pulley. The inner rope drive motor is used to drive the inner rope winding pulley to rotate, and the two inner ropes are wound around the inner rope winding pulley.

[0013] In one of the embodiments, the inner rope drive device further includes two inner rope winding steering wheels. After the two inner ropes pass through the support member, they are firstly wound around the two inner rope winding steering wheels respectively and then wound around the inner rope winding pulley.

[0014] In one of the embodiments, one of the rope drive devices is an external rope drive device, which includes an external rope drive motor and an external rope winding pulley. The external rope drive motor is used to drive the external rope winding pulley to rotate, and the two external ropes are wound around the external rope winding pulley.

[0015] In one of the embodiments, the external rope drive device further includes two external rope winding steering wheels. After the two external ropes pass through the support member, they are firstly wound around the two external rope winding steering wheels respectively and then wound around the external rope winding pulley.

[0016] In one of the embodiments, both the inner rope drive device and the outer rope drive device are provided with reinforcement plates.

[0017] In one of the embodiments, the tail body is equipped with a wheel drive device, and the wheel drive device is used to drive the tail body to swing up and down.

[0018] In one embodiment, the wheel drive device includes a wheel drive motor, an eccentric wheel, a connecting rod and a support plate, the wheel drive motor is used to drive the eccentric wheel to rotate, the connecting rod is respectively connected to the eccentric wheel and the support plate, and the support plate is connected to the tail body.

[0019] In one of the embodiments, the exterior of the tail body is wrapped with a rubber skin, and the gap between the tail body and the supporting frame is filled with PP cotton.

[0020] The beneficial effects of the present invention are as follows:

[0021] The tail structure of the bionic crocodile amphibious robot is designed to simulate the swing of the crocodile's tail in water and on land, and has the advantages of simple and compact structure, less drive controller, light weight, and easy control. The tail structure of the bionic crocodile amphibious robot is equipped with multiple groups of support frames and multiple rope drive devices, one of which drives all the support frames through the inner rope, thereby driving the entire tail body to swing; the other rope drive device drives the front half of the support frame through the outer rope, thereby driving the front half of the tail body to swing; the two rope drive devices working simultaneously drive in opposite directions, forming an S-shaped curved swing, and in this reciprocating motion, the inner rope and the outer rope are alternately relaxed and tightened, realizing the simulation of the lateral swing of the real crocodile, and providing thrust for the underwater swimming, floating, sinking and turning of the crocodile robot.

[0022] The tail structure of the bionic crocodile amphibious robot is equipped with a wheel drive device, which is connected to the tail body. The wheel drive device drives the eccentric wheel through the wheel drive motor, thereby driving the tail body to swing up and down, realizing the simulation of the longitudinal swing of a real crocodile, and providing power for the tail of the crocodile robot to touch the ground and rise when walking and running in environments such as land and swamps.

[0023] After the tail structure of the bionic crocodile amphibious robot is assembled with the crocodile-like robot, it is wrapped with a rubber skin on the outside and filled with PP cotton on the inside to achieve its waterproof function.

[0024] The tail structure of the bionic crocodile amphibious robot can also be applied to other amphibian bionic robots and has broad application prospects. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solution of the present invention, the drawings required for use in the implementation mode will be briefly introduced below. Obviously, the drawings described below are only some implementation modes of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0026] Figure 1 The preferred embodiment of the present invention provides an overall schematic diagram Figure 1 ;

[0027] Figure 2 The preferred embodiment of the present invention provides an overall schematic diagram Figure 2 ;

[0028] Figure 3 is an enlarged view of a rope drive device and a wheel drive device provided in a preferred embodiment of the present invention;

[0029] Figure 4 It is a schematic diagram of the tail body provided by a preferred embodiment of the present invention;

[0030] Figure 5 The support member provided in the preferred embodiment of the present invention is schematically shown in FIG. Figure 1 ;

[0031] Figure 6 The support member provided in the preferred embodiment of the present invention is schematically shown in FIG. Figure 2 ;

[0032] Figure 7 is a schematic diagram of a right cover plate and a countersunk hole thereof provided in a preferred embodiment of the present invention;

[0033] Figure 8 is a schematic diagram of a cover plate mounting hole provided in a preferred embodiment of the present invention;

[0034] Fig. 9 It is a schematic diagram of the connection between the tail body and the trunk connecting plate provided in a preferred embodiment of the present invention;

[0035] Fig.10 It is a schematic diagram of the overall structure of an unactivated rope drive device provided in a preferred embodiment of the present invention;

[0036] Fig.11 It is a schematic diagram of the overall structure of the starting rope drive device provided in a preferred embodiment of the present invention;

[0037] Fig.12It is a schematic diagram of the overall structure of the tail body swinging downward provided by the preferred embodiment of the present invention;

[0038] Fig.13 It is a schematic diagram of the overall structure of the tail body swinging upward provided by the preferred embodiment of the present invention.

[0039] The reference numerals are as follows:

[0040] 1. Tail body, 10. Mounting hole 2; 11. Braking section; 12. Driven section; 13. Front end connecting frame; 130. Articulated lug; 131. Connecting hinge; 14. Left cover plate; 15. Right cover plate; 16. Countersunk hole; 17. Cover plate mounting hole;

[0041] 2. Support frame; 2-1. First support frame; 2-2. Second support frame; 2-3. Third support frame; 2-4. Fourth support frame; 2-5. Fifth support frame; 2-6. Sixth support frame; 2-7. Seventh support frame; 2-8. Eighth support frame; 2-9. Ninth support frame; 2-10. Tenth support frame; 2-11. Eleventh support frame; 2-12. Twelfth support frame; 2-13. Thirteenth support frame; 2-14. Fourteenth support frame; 2-15. Fifteenth support frame; 20. Support member; 200. Mounting hole 1; 201. Inner rope hole; 202. Outer rope hole; 203. Inner rope; 204. Outer rope;

[0042] 3. Inner rope drive device; 30. Inner rope drive motor; 31. Inner rope winding pulley; 32. Inner rope winding steering wheel; 320. Inner rope winding steering wheel shaft; 33. Inner rope drive motor mounting plate; 34. Inner rope winding steering wheel bracket; 340. Inner rope winding steering wheel bracket hole; 35. First reinforcing plate;

[0043] 4. External rope drive device; 40. External rope drive motor; 41. External rope winding pulley; 42. External rope winding steering wheel; 420. External rope winding steering wheel shaft; 43. External rope drive motor mounting plate; 44. External rope winding steering wheel bracket; 440. External rope winding steering wheel bracket hole; 45. Second reinforcement plate;

[0044] 5. wheel drive device; 50. wheel drive motor; 51. eccentric wheel; 52. connecting rod; 53. support plate;

[0045] 6. Trunk connecting plate. DETAILED DESCRIPTION

[0046] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0047] The present invention provides a tail structure of a bionic crocodile amphibious robot, which can be implemented as follows: Figures 1 to 6 , Figure 10 to Figure 11 As shown, it includes a tail body 1, a support frame 2, an internal rope drive device 3 and an external rope drive device 4; multiple groups of support frames 2 are arranged one by one on the tail body 1; each group of support frames 2 includes two support members 20, and the two support members 20 are respectively installed on both sides of the tail body 1; the tail body 1 is installed with an internal rope drive device 3 and an external rope drive device 4, the internal rope drive device 3 drives the entire support frame 2 to swing, and the external rope drive device 4 drives the front half of the support frame 2 to swing, and the internal rope drive device 3 and the external rope drive device 4 are used to drive the tail body 1 to swing in opposite directions.

[0048] After adopting the above-mentioned setting method, the tail body 1 and the supporting frame 2 are designed according to the external dimensions of the real crocodile's tail, so that the tail structure has a high degree of bionics in appearance; the inner rope drive device 3 drives the entire supporting frame 2, driving the tail body 1 to swing to one side as a whole; the outer rope drive device 4 drives the front half of the supporting frame 2, driving the front half of the tail body 1 to swing to the other side; the inner rope drive device 3 and the outer rope drive device 4 run simultaneously but in opposite directions, forming an S-shaped swing of the tail body 1; such reciprocating motion realizes the simulation of the lateral swing of a real crocodile, providing thrust for the underwater swimming, floating, sinking and turning of the crocodile-like robot, so that the tail structure has a high degree of bionics in movement mechanism, and has the advantages of simple and compact structure, less drive controllers, light weight, and easy control; the structure can also be applied to other amphibian bionic robots and has broad application prospects.

[0049] like Figure 1 , Figures 4 to 6 As shown, the tail body 1 has an appearance that simulates a real crocodile tail and is made of spring steel with high flexibility and high resilience. Fifteen groups of support frames 2 are installed on the tail body 1, including a first support frame 2-1, a second support frame 2-2, a third support frame 2-3, a fourth support frame 2-4, a fifth support frame 2-5, a sixth support frame 2-6, a seventh support frame 2-7, an eighth support frame 2-8, a ninth support frame 2-9, a tenth support frame 2-10, an eleventh support frame 2-11, and a tenth support frame 2-12. The second support frame 2-12, the thirteenth support frame 2-13, the fourteenth support frame 2-14 and the fifteenth support frame 2-15, each group of support frames 2 includes two symmetrical support members 20, and each two symmetrical support members 20 are bolted to the tail body 1, and each support member 20 is provided with two mounting holes 10, and the tail body 1 is provided with two rows of mounting holes 2 10, and the mounting bolts are used to pass through the mounting holes 1 200 of the two symmetrical support members 20 and the mounting holes 2 10 of the tail body 1 and are connected and fixed with nuts.

[0050] After adopting the above-mentioned setting method, the appearance and material of the tail body 1 are consistent with the shape and characteristics of the real crocodile's tail, and the shapes of different groups of support skeletons 2 are consistent with the cross-sectional shapes of the corresponding positions of the real crocodile's tail, thereby achieving the full bionics of the overall outline of the tail structure of the bionic crocodile amphibious robot; at the same time, the two symmetrical support members 20 are fixedly connected to the tail body 1 by bolts and nuts, and the connection method of the bolts and nuts is detachable, which is convenient for users to further optimize the solution.

[0051] like Figure 1 to Figure 2 , Figure 4 As shown, the tail body 1 includes a braking segment 11 and a driven segment 12 that are interconnected, and all the support frames 2 are installed on the braking segment 11. From the head end of the braking segment 11 to the end of the braking segment 11, the first support frame 2-1 to the fifteenth support frame 2-15 are arranged in sequence, and the first support frame 2-1, the twelfth support frame 2-12 to the fifteenth support frame 2-15 all adopt a solid design, and the second support frame 2-2 to the eleventh support frame 2-11 adopt a hollow lightweight design.

[0052] After adopting the above-mentioned setting method, the first support frame 2-1 is solid in design and placed at the front end of the braking section 11, the second support frame 2-2 to the eleventh support frame 2-11 are hollow in design and placed in the middle section of the braking section 11, and the twelfth support frame 2-12 to the fifteenth support frame 2-15 are solid in design and placed at the end section of the braking section 11. This can reduce the overall mass of the tail structure to the greatest extent while enhancing its stability. The solid design of the first support frame 2-1 is also used to connect and fix with the internal rope drive device 3.

[0053] like Figure 1 to Figure 2 As shown, the cross-sectional area of ​​the tail body 1 gradually narrows from the braking segment 11 to the driven segment 12, and the spacing between each group of support frames 2 gradually increases from the first support frame 2-1 to the fifteenth support frame 2-15. The inner rope drive device 3 and the outer rope drive device 4 drive the support frame 2 to drive the braking segment 11 to swing, and the driven segment 12 moves with the braking segment 11.

[0054] After adopting the above-mentioned setting method, the setting is highly similar to the characteristics of the real crocodile's tail, that is, the front half of the skeleton is compact and the back half of the skeleton is soft, thereby achieving a high simulation of the crocodile's tail structure; at the same time, the driven segment 12 is not provided with a supporting skeleton 2, and the setting driven by the braking segment 11 can reduce the use of the supporting skeleton 2 and reduce the overall mass of the tail structure.

[0055] like Figure 1 to Figure 2 As shown, the outer contour dimensions of the support skeleton 2 gradually decrease from the eighth support skeleton 2-8 toward the first support skeleton 2-1 and from the eighth support skeleton 2-8 toward the fifteenth support skeleton 2-15.

[0056] After adopting the above setting method, the setting is highly similar to the characteristics of a real crocodile's tail, which has a higher bulge in the middle and lower bulges at both ends, thereby achieving a high simulation of the crocodile's tail structure.

[0057] like Figure 1 to Figure 2 , Figures 5 and 6 , Figure 10 to Figure 11 As shown, each support member 20 is provided with an inner rope winding hole 201, and the first support frame 2-1 to the sixth support frame 2-6 are also provided with an outer rope winding hole 202. The straight line connected by the inner rope winding hole 201 and the outer rope winding hole 202 of the first support frame 2-1 to the sixth support frame 2-6 is perpendicular to the plane where the tail body 1 is located, and the distance from the inner rope winding hole 201 to the tail body 1 is smaller than the distance from the outer rope winding hole 202 to the tail body 1; the distance between the inner rope winding hole 201 and the outer rope winding hole 202 of the first support frame 2-1 to the sixth support frame 2-6 gradually decreases.

[0058] Two inner ropes 203 are provided on the fifteenth supporting skeleton 2-15, and the two inner ropes 203 are respectively fixed on two symmetrical supporting members 20 of the fifteenth supporting skeleton 2-15. The two inner ropes 203 respectively pass through the inner rope holes 201 of the supporting members 20 on both sides of the fifteenth supporting skeleton 2-15, the fourteenth supporting skeleton 2-14, the thirteenth supporting skeleton 2-13, the twelfth supporting skeleton 2-13, the eleventh supporting skeleton 2-11, the tenth supporting skeleton 2-10, the ninth supporting skeleton 2-9, the eighth supporting skeleton 2-8, the seventh supporting skeleton 2-7, the sixth supporting skeleton 2-6, the fifth supporting skeleton 2-5, the fourth supporting skeleton 2-4, the third supporting skeleton 2-3, the second supporting skeleton 2-2 and the first supporting skeleton 2-1, and then are wound around the inner rope driving device 3 for multiple turns. The winding directions of the two inner ropes 203 are opposite. One inner rope 203 is wound around the inner rope driving device 3 clockwise, and the other inner rope 203 is wound around the inner rope driving device 3 counterclockwise.

[0059] Two outer ropes 204 are provided on the sixth support frame 2-6. The two outer ropes 204 are respectively fixed on two symmetrical support members 20 of the sixth support frame 2-6. The two outer ropes 204 pass through the outer rope holes 202 of the support members 20 on both sides of the sixth support frame 2-6, the fifth support frame 2-5, the fourth support frame 2-4, the third support frame 2-3, the second support frame 2-2 and the first support frame 2-1, and then are wound around the outer rope drive device 4 for multiple turns. The winding directions of the two outer ropes 204 are opposite. If one outer rope 204 is wound around the outer rope drive device 4 clockwise, the other outer rope 204 is wound around the outer rope drive device 4 counterclockwise.

[0060] The outer rope 204 and the inner rope 203 located on the same side have the same winding direction.

[0061] After adopting the above-mentioned setting method, since the two inner ropes 203 are wound on the same inner rope drive device 3 in opposite winding directions, when the inner rope drive device 3 is rope-driven, one inner rope 203 is tightened and the other inner rope 203 is relaxed, driving the tail body 1 to swing to one side as a whole; since the two outer ropes 204 are wound on the same outer rope drive device 4 in opposite winding directions, and the outer rope drive device 4 and the inner rope drive device 3 respectively control the support frame 2 to swing in opposite directions, when the outer rope drive device 4 is rope-driven, the outer rope 204 on the same side as the tightened inner rope 203 is relaxed, and the outer rope 204 on the same side as the relaxed inner rope 203 is tightened, driving the front half of the tail body 1 to swing to the other side, realizing the overall S-shaped swing of the tail.

[0062] like Figures 1 to 3 As shown, the tail body 1 is provided with a front end connecting frame 13, the inner rope drive device 3 is installed between the first support frame 2-1 and the front end connecting frame 13, and the inner rope drive device 3 includes an inner rope drive motor 30, an inner rope winding pulley 31 and two inner rope winding steering wheels 32; an inner rope drive motor mounting plate 33 is provided between the first support frame 2-1 and the front end connecting frame 13, the inner rope drive motor 30 is installed on the inner rope drive motor mounting plate 33 by bolts and nuts, the inner rope winding pulley 31 is connected and fixed to the inner rope drive motor 30 by a flange, and the front end connecting frame 13 is provided with two inner rope winding steering wheel brackets 34, and the two inner rope winding steering wheels 32 are respectively installed on the two inner rope winding steering wheel brackets 34, and the inner rope winding steering wheels The bracket 34 is provided with an inner rope winding steering wheel bracket hole 340, and the inner rope winding steering wheel 32 is provided with an inner rope winding steering wheel shaft 320, and the inner rope winding steering wheel shaft 320 is inserted into the inner rope winding steering wheel bracket hole 340, the inner rope winding pulley 31 and the two inner rope winding steering wheels 32 are located in the same plane, have the same height and are arranged in a triangle, the two inner rope winding steering wheels 32 are respectively located on the same straight line with the two inner ropes 203, and the distance from the inner rope winding steering wheel 32 to the front end connecting frame 13 is smaller than the distance from the inner rope winding pulley 31 to the front end connecting frame 13, and the two inner ropes 203 are respectively wound around the two inner rope winding steering wheels 32 and then wound around the same inner rope winding pulley 31 for multiple turns in clockwise and counterclockwise winding directions respectively.

[0063] When the inner rope drive motor 30 drives the inner rope pulley 31 to rotate clockwise, the inner rope 203 wound clockwise around the inner rope pulley 31 is tightened, and the inner rope 203 wound counterclockwise around the inner rope pulley 31 is loosened. The loose and tight cooperation makes the first support frame 2-1 to the fifteenth support frame 2-15 controlled by the inner rope 203 swing toward the tightened inner rope 203.

[0064] Similarly, when the inner rope drive motor 30 drives the inner rope pulley 31 to rotate counterclockwise, the inner rope 203 wound counterclockwise around the inner rope pulley 31 is tightened, and the inner rope 203 wound clockwise around the inner rope pulley 31 is loosened. The coordination of loose and tight makes the first support frame 2-1 to the fifteenth support frame 2-15 controlled by the inner rope 203 swing toward the side of the tightened inner rope 203.

[0065] After adopting the above-mentioned setting mode, the swing of the front half of the tail body 1 is completed in a rope-driven manner, effectively reducing the mass of the tail body 1. At the same time, the setting of the two inner rope winding steering wheels 32 can distinguish the two inner ropes 203 to prevent the two inner ropes 203 from being knotted during the winding process; it can also change the winding angle of the two inner ropes 203, so that the two inner ropes 203 are orderly merged into the same inner rope winding pulley 31 from both sides, and the two inner ropes 203 are controlled by one inner rope winding pulley 31, thereby reducing the number of driving motors.

[0066] like Figures 1 to 3 As shown, the external rope drive device 4 is connected to the front-end connection frame 13, and the external rope drive device 4 includes an external rope drive motor 40, an external rope winding pulley 41 and two external rope winding steering wheels 42; the front-end connection frame 13 is provided with an external rope drive motor mounting plate 43 and an external rope winding steering wheel bracket 44, the external rope drive motor 40 is mounted on the external rope drive motor mounting plate 43 by bolts and nuts, the external rope winding pulley 41 is connected and fixed to the external rope drive motor 40 by a flange, the two external rope winding steering wheels 42 are respectively mounted on the two external rope winding steering wheel brackets 44, the external rope winding steering wheel bracket 44 is provided with an external rope winding steering wheel bracket hole 440, and the external rope winding steering wheel bracket 44 is provided with an external rope winding steering wheel bracket hole 440. 42 is provided with an outer rope winding steering wheel shaft 420, and the outer rope winding steering wheel shaft 420 is inserted into the outer rope winding steering wheel bracket hole 440, the outer rope winding pulley 41 and the two outer rope winding steering wheels 42 are located in the same plane, with equal height and triangular arrangement, the two outer rope winding steering wheels 42 are respectively located on the same straight line with the two outer ropes 204, and the distance from the outer rope winding steering wheel 42 to the front end connecting frame 13 is smaller than the distance from the outer rope winding pulley 41 to the end connecting frame 13, and the two outer ropes 204 are respectively wound around the two outer rope winding steering wheels 42 and then wound around the same outer rope winding pulley 41 for multiple turns in clockwise and counterclockwise winding directions.

[0067] When the outer rope drive motor 40 drives the outer rope pulley 41 to rotate clockwise, the outer rope 204 wound clockwise around the outer rope pulley 41 is tightened, and the outer rope 204 wound counterclockwise around the outer rope pulley 41 is loosened. The loose and tight cooperation makes the first support frame 2-1 to the sixth support frame 2-6 controlled by the outer rope 204 swing toward the tightened outer rope 204.

[0068] Similarly, when the outer rope drive motor 40 drives the outer rope pulley 41 to rotate counterclockwise, the outer rope 204 wound counterclockwise around the outer rope pulley 41 is tightened, and the outer rope 204 wound clockwise around the outer rope pulley 41 is loosened. The coordination of looseness and tightening makes the first support frame 2-1 to the sixth support frame 2-6 controlled by the outer rope 204 swing toward the side of the tightened outer rope 204.

[0069] After adopting the above-mentioned setting mode, the entire tail body 1 is swung as a whole by rope drive, effectively reducing the mass of the tail body 1. At the same time, the setting of the two outer rope winding steering wheels 42 can distinguish the two outer ropes 204 to prevent the two outer ropes 204 from being knotted during the winding process; it can also change the winding angle of the two outer ropes 204, so that the two outer ropes 204 are orderly merged into the same outer rope winding pulley 41 from both sides, and the two outer ropes 204 are controlled by one outer rope winding pulley 41, thereby reducing the number of driving motors.

[0070] like Figures 1 to 3 , Figure 10 to Figure 11 As shown, at the same time, the inner rope pulley 31 and the outer rope pulley 41 rotate in opposite directions. When the inner rope pulley 31 rotates clockwise, the outer rope pulley 41 rotates counterclockwise. Under the common drive of the inner rope pulley 31 and the outer rope pulley 41, the inner rope 203 and the outer rope 204 on the same side are loosened and tightened; when the inner rope pulley 31 rotates counterclockwise, the outer rope pulley 41 rotates clockwise. Under the common drive of the inner rope pulley 31 and the outer rope pulley 41, the inner rope 203 and the outer rope 204 on the same side are tightened and loosened; this reciprocates to form an S-shaped swing.

[0071] After adopting the above-mentioned setting method, the inner rope 203 and the outer rope 204 on the same side can be loosened and tightened by the rope driving force in opposite directions, so that S-shaped swing can be easily achieved with fewer driving devices, the mass of the entire tail body 1 can be reduced, and the crocodile can be bionic to a greater extent.

[0072] like Figures 1 to 3 , Fig. 9 , Figures 12 to 13 As shown, the tail body 1 is also provided with a wheel drive device 5, which is connected to the external rope drive device 4, and the front end connecting frame 13 is used to connect with the trunk connecting plate 6, and the wheel drive device 5 is installed on the trunk connecting plate 6; the front end connecting frame 13 is provided with a hinged lug 130 and a connecting hinge 131, the hinged lug 130 is connected to the center of the front end connecting frame 13, and the connecting hinge 131 is movably connected to the hinged lug 130 and installed on the trunk connecting plate 6; the wheel drive device 5 is used to drive the tail body 1 to swing up and down along the rotation range of the connecting hinge 131.

[0073] After adopting the above setting method, a power device is provided for the up and down swinging of the tail body, which fully simulates the up and down swinging state of the crocodile's tail.

[0074] like Figures 1 to 3 , Fig. 9 , Figures 12 to 13 As shown, the wheel drive device 5 includes a wheel drive motor 50, an eccentric wheel 51, a connecting rod 52 and a support plate 53. The wheel drive motor 50 is installed on the trunk support plate 6, and the wheel drive motor 50 is connected to the wheel axle of the eccentric wheel 51. The connecting rod 52 is respectively connected to the eccentric wheel 51 and the support plate 53, and the support plate 53 is fixedly connected to the external rope drive device 4. The wheel drive motor 50 drives the eccentric wheel 51 to rotate, and the eccentric wheel 51 drives the connecting rod 52 and the support plate 53 to swing up and down, thereby driving the entire tail body 1 to swing up and down along the rotation range of the connecting hinge 131.

[0075] After adopting the above-mentioned setting method, the wheel drive device 5 is connected to the tail body 1, and the eccentric wheel 51 is driven by the wheel drive motor 50, thereby driving the tail body 1 to swing up and down, realizing the simulation of the longitudinal swing of a real crocodile, and providing power for the tail of the crocodile-like robot to touch the ground and rise when walking, running, etc. in environments such as land and swamps.

[0076] like Figures 1 to 3 As shown, a first reinforcing plate 35 and a second reinforcing plate 45 are respectively provided between the first supporting skeleton 2-1 and the front connecting skeleton 13, and between the front connecting skeleton 13 and the supporting plate 53. The first reinforcing plate 35 is placed above the inner rope drive device 3, and the second reinforcing plate is placed above the outer rope drive device 4.

[0077] After adopting the above arrangement, the first reinforcing plate 35 and the second reinforcing plate 45 are helpful to strengthen the strength and rigidity of the overall tail structure and ensure its stability.

[0078] like Figure 1 , Figures 7 and 8 As shown, a left cover plate 14 and a right cover plate 15 are further provided between the first supporting frame 2-1 and the front connecting frame 13. The left cover plate 14 and the right cover plate 15 are provided with countersunk holes 16 at the four corners and at the centers of the two corners close to the front connecting frame 13. A plurality of cover plate mounting holes 17 are provided on the two opposite surfaces of the first supporting frame 2-1 and the front connecting frame 13. The left cover plate 14 and the right cover plate 15 are bolted to the cover plate mounting holes 17 through the countersunk holes 16.

[0079] After adopting the above-mentioned setting method, the internal rope drive device 3 can be prevented from being disturbed by the external environment during operation, thereby ensuring the accuracy of the operation and protecting the internal rope drive device 3; the appearance of the left cover plate 14 and the right cover plate 15 is close to the outline of the crocodile tail, achieving a high degree of simulation; the left cover plate 14 and the right cover plate 15 have a simple structure and can be manufactured using rapid prototyping technology to reduce R&D costs.

[0080] like Figure 1 As shown, the outside of the tail body 1 is wrapped with a rubber skin, and the gap between the tail body 1 and the supporting frame 2 is filled with PP cotton.

[0081] By adopting the above arrangement, it is possible to prevent liquid from entering when operating in wet areas such as the deep sea, thereby causing damage to devices such as motors.

[0082] The above are preferred embodiments of the present invention. It should be noted that, for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications are also considered to be within the scope of protection of the present invention.

Claims

1. A tail structure of a bionic crocodile amphibious robot, characterized in that: It includes a tail body, a supporting frame and a rope drive device; A plurality of groups of the support frames are arranged one by one on the tail body; Each group of the support frames includes two support members, and the two support members are respectively installed on both sides of the tail body; The tail body is equipped with the rope drive device, one rope drive device drives the entire support frame to swing, and the other rope drive device drives the support frame of the front half of the tail body to swing, and the two rope drive devices are used to drive the tail body to swing in opposite directions; The tail body includes a braking section and a driven section, each group of the support frames is installed on the braking section, and the spacing between each group of the support frames gradually increases in the direction from the braking section to the driven section; The support frame at the end of the braking section is provided with two inner ropes, which are respectively placed on the two support members of the support frame group. The two inner ropes pass through all the support members on both sides of the braking section and are then wound together on one rope driving device. The winding directions of the two inner ropes are opposite. A group of support frames in the middle of the braking section is provided with two outer ropes, the two outer ropes are respectively placed on the two support members of the group of support frames, the two outer ropes respectively pass through the support members of the front half section and are then wound together on another rope drive device, and the winding directions of the two outer ropes are opposite; One of the rope drive devices is an inner rope drive device, and the inner rope drive device comprises an inner rope drive motor and an inner rope winding pulley, and the inner rope drive motor is used to drive the inner rope winding pulley to rotate, and the two inner ropes are wound around the inner rope winding pulley; One of the rope drive devices is an external rope drive device, which includes an external rope drive motor and an external rope winding pulley. The external rope drive motor is used to drive the external rope winding pulley to rotate, and the two external ropes are wound around the external rope winding pulley.

2. The tail structure of the bionic crocodile amphibious robot according to claim 1, characterized in that: In the direction from the middle of the braking segment to the two ends of the braking segment, the outer contour size of each group of the supporting skeletons gradually decreases.

3. The tail structure of the bionic crocodile amphibious robot according to claim 1, characterized in that: The inner rope drive device also includes two inner rope winding steering wheels. After the two inner ropes pass through the support member, they are first wound around the two inner rope winding steering wheels respectively and then wound around the inner rope winding pulley.

4. The tail structure of the bionic crocodile amphibious robot according to claim 1, characterized in that: The external rope drive device also includes two external rope winding steering wheels. After the two external ropes pass through the support member, they are first wound around the two external rope winding steering wheels respectively and then wound around the external rope winding pulley.

5. The tail structure of the bionic crocodile amphibious robot according to claim 1, characterized in that: The tail body is equipped with a wheel drive device, and the wheel drive device is used to drive the tail body to swing up and down.

6. The tail structure of the bionic crocodile amphibious robot according to claim 5, characterized in that: The wheel drive device comprises a wheel drive motor, an eccentric wheel, a connecting rod and a support plate. The wheel drive motor is used to drive the eccentric wheel to rotate. The connecting rod is respectively connected to the eccentric wheel and the support plate. The support plate is connected to the tail body.

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