A multi-configuration crocodile-like robot

Abstract

The application discloses a crocodile-imitating robot, which is provided with mechanical legs capable of being changed into cells and combined into a circular shape, and an orthogonal driving mode formed by rudders between tail members, so that side rolling of the crocodile-imitating robot can be realized to imitate the rolling movement of a crocodile, the movement mode of the crocodile-imitating robot is more abundant and closer to a real crocodile, and the imitation degree on crocodile bionics is further improved. The crocodile-imitating robot can realize conversion between a foot-shaped configuration and a wheel-shaped configuration, can quickly switch the configuration according to needs, is convenient and fast, realizes the universality of multiple scenes, solves the limitation problem of single walking mode of the robot, has the advantages of the foot-shaped configuration and the wheel-shaped configuration at the same time, the movement mode of the crocodile-imitating robot is more abundant and diverse, crocodile bionics is more realistic, and the crocodile-imitating robot is helpful to hiding, disguising and blending in the crocodile living environment.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to a multi-configuration crocodile-imitating robot. BACKGROUND

[0002] Robots can intelligently perform semi-automatic or fully autonomous motion and have been widely used in medical treatment, military, environmental protection, education and people's daily life. In order to perform specific task execution or achieve better camouflage, imitation, etc., various bionic robots have emerged as the times require. The crocodile-imitating robot is one of the bionic robots that has been researched early and maturely. The crocodile-imitating robot can realize amphibious operation, and the main motion modes are crawling and swimming, which have good applications in environmental monitoring, biological observation, military and civil observation.

[0003] The existing crocodile-imitating robots can basically only realize two motion modes of crawling and swimming. For example, the crocodile-imitating robots disclosed in patents CN110561997B, CN114987123A and CN114952896A mainly have the motion modes of crawling and swimming, and lack the special action of crocodiles, i.e. side rolling, so that there is a problem of insufficient imitation degree in crocodile bionics, which affects crocodile motion bionics research and brings certain influence on the hiding, camouflage and integration of the crocodile-imitating robot in the crocodile living environment. SUMMARY

[0004] In view of the above problems, the present application provides a multi-configuration crocodile-imitating robot, which can solve the problem that the existing crocodile-imitating robot cannot realize side rolling.

[0005] To achieve the above purpose, the present application adopts the following technical scheme:

[0006] A multi-configuration crocodile-imitating robot comprises:

[0007] a trunk body, the top surfaces of the front and rear ends of which are respectively provided with auxiliary half wheels in a semicircular shape; and

[0008] a metamorphic mechanical leg arranged at the front and rear ends of the trunk body for driving the trunk body to walk forward and backward, and the metamorphic mechanical legs located at the front end or the rear end of the trunk body can respectively form a semicircle and form a circle with the auxiliary half wheels in a semicircular ring shape, so that the trunk body can also roll sideways by relying on the formed circle;

[0009] a head located at the front end of the trunk body and extending forward of the trunk body, the head and the trunk body being connected by a rudder motor to enable the head and the trunk body to swing up and down or left and right relative to each other;

[0010] a plurality of tail members arranged at the rear end of the trunk body and sequentially extending rearward from the trunk body, and adjacent tail members are connected by a rudder to enable the adjacent tail members to swing up and down or left and right relative to each other, and the tail member closest to the trunk body is connected by a rudder to enable the trunk body and the tail member to swing up and down or left and right relative to each other.

[0011] and the swinging directions of adjacent rudders are different.

[0012] Further, the swinging between the head and the trunk body is left and right swinging.

[0013] Further, the tail members are more than three.

[0014] Further, the tail members are one or more of circular, block-shaped or plate-shaped, and when the tail members are circular, the radial direction is perpendicular to the front-rear direction of the trunk body, and when the tail members are plate-shaped, the tail members are vertically arranged and parallel to the front-rear direction of the trunk body.

[0015] Further, the tail members are gradually smaller in external profile as they move away from the trunk body.

[0016] Further, the tail member at the end is plate-shaped, and the tail member adjacent to the tail member at the end is block-shaped or plate-shaped.

[0017] Further, the metamorphic mechanical leg comprises:

[0018] a first rudder fixedly mounted on the trunk body;

[0019] an arcuate leg comprising an upper end portion at the upper end of the arcuate leg and a lower end portion at the lower end of the arcuate leg, and the upper end portion of the arcuate leg is fixedly provided with a second rudder;

[0020] a rudder cover connected at one end to the first rudder and capable of swinging back and forth relative to each other, and connected at the other end to the second rudder and capable of swinging up and down relative to each other and capable of driving the metamorphic mechanical legs at the front end or rear end of the trunk body to form a semicircle.

[0021] Further, the lower end portion of the arcuate leg is provided with an electromagnet to be attracted by the electromagnet at the lower end portion of the arcuate leg when the metamorphic mechanical legs form a semicircle.

[0022] Further, the metamorphic mechanical leg further comprises a foot end;

[0023] The lower end of the arc-shaped leg is fixedly provided with a third steering engine, the third steering engine is connected with the foot end and can realize up-down swing between each other.

[0024] Further, the end surface of the lower end of the arc-shaped leg is a plane, so that when the electromagnets on the lower ends of the two arc-shaped legs are attracted and adsorbed, the end surfaces of the lower ends of the two arc-shaped legs are attached.

[0025] Compared with the prior art, the beneficial effects of the present application are:

[0026] 1. The crocodile-imitating robot can realize side rolling to imitate the rolling movement of a crocodile, so that the movement mode of the crocodile-imitating robot is more abundant and closer to the real crocodile, and the simulation degree on crocodile bionics is further improved.

[0027] 2. The crocodile-imitating robot can realize conversion between the foot-shaped configuration and the wheel-shaped configuration, can quickly switch the configuration according to needs, is convenient and fast, realizes the universality of multiple scenes, solves the limitation problem of single robot walking mode, and has the advantages of the foot-shaped configuration and the wheel-shaped configuration, so that the movement mode of the crocodile-imitating robot is more abundant and diverse, the crocodile bionics is more realistic, and the crocodile-imitating robot is helpful for hiding, disguising and integrating in the crocodile living environment. BRIEF DESCRIPTION OF DRAWINGS

[0028] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiment description.

[0029] Figure 1 It is a structural schematic view of the crocodile-imitating robot in the foot-shaped configuration.

[0030] Figure 2 It is a structural schematic view of the metamorphic mechanical leg.

[0031] Figure 3 It is an exploded schematic view of the metamorphic mechanical leg.

[0032] Figure 4 It is a structural schematic view of two metamorphic mechanical legs forming a semicircle.

[0033] Figure 5 It is a schematic view of the metamorphic mechanical leg in the foot-shaped configuration.

[0034] Figure 6 It is a schematic view of the metamorphic mechanical leg in the wheel-shaped configuration.

[0035] Figure 7A state schematic diagram of a wheel-shaped configuration of the crocodile-imitating robot according to the present application;

[0036] Figure 8 A state schematic diagram of a wheel-shaped configuration of the crocodile-imitating robot according to the present application.

[0037] In the figure, the marks are as follows:

[0038] 10 - trunk body; 11 - auxiliary half-wheel; 12 - platform;

[0039] 20 - metamorphic mechanical leg; 21 - arc-shaped leg; 211 - front side; 212 - upper end; 213 - lower end; 214 - side plate; 215 - support rod; 221 - first steering engine; 222 - second steering engine; 223 - third steering engine; 23 - steering engine cover; 24 - electromagnet; 241 - electromagnet cover; 25 - foot end;

[0040] 30 - head;

[0041] 40 - tail member;

[0042] 54 - fourth steering engine; 55 - fifth steering engine; 56 - sixth steering engine; 57 - seventh steering engine; 58 - eighth steering engine; 59 - ninth steering engine;

[0043] 60 - connecting member. DETAILED DESCRIPTION

[0044] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0045] In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application.

[0046] In the description of the present application, it is necessary to point out that unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium, or it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances. In addition, the technical features involved in the different embodiments of the present application described below can be combined with each other as long as they do not conflict with each other.

[0047] Please refer to Figures 1 to 8 The preferred embodiment of the present application provides a multi-state crocodile-like robot, mainly comprising a trunk body 10, a metamorphic mechanical leg 20, a head 30, a plurality of tail members 40, and a steering wheel for mutual connection.

[0048] Please refer to Figure 1 The trunk body 10 is a square frame structure as a whole, and a platform 12 is arranged thereon for fixing and placing components such as controllers and batteries. The top surfaces of the front and rear ends of the trunk body 10 are respectively provided with a semicircular auxiliary half wheel 11, and the diameter of the auxiliary half wheel 11 is equal to the width of the trunk body 10.

[0049] Please refer to Figures 2 to 6 The metamorphic mechanical leg 20 is arranged at the front and rear positions of the trunk body 10 for driving the trunk body 10 to walk forward and backward, and the metamorphic mechanical legs 20 located at the front end or the rear end of the trunk body 10 can be respectively wrapped into a semicircle, and can form a circle with the semicircular auxiliary half wheel 11 to enable the trunk body 10 to also roll on the side by the formed circle. In the preferred exemplary embodiment, the metamorphic mechanical leg 20 is four, which is respectively located at the four corners of the square frame structure of the trunk body 10 to imitate the quadruped of crocodile, and can walk forward and backward through the four metamorphic mechanical legs 20. Of course, it can be understood that the walking forward and backward through the four metamorphic mechanical legs 20 mentioned in the present application includes turning, that is, the four metamorphic mechanical legs 20 can realize walking forward and backward with turning.

[0050] Specifically, in the preferred embodiment, please refer to Figures 2 to 6The metamorphic mechanical leg 20 comprises a first steering engine 221, an arcuate leg 21, a second steering engine 222, a third steering engine 223, a steering engine cover 23, an electromagnet 24 and a foot end 25. The arcuate leg 21 is in the shape of an arc, and has an arc-shaped front side 211, an upper end 212 at the upper end of the arcuate leg 21 and a lower end 213 at the lower end of the arcuate leg 21. The rear side of the arcuate leg 21 opposite to the front side 211 is concave to form an arc structure. The arc-shaped front side 211 of the arcuate leg 21 has a profile of approximately one-fourth of a circle. The first steering engine 221 is fixedly installed on the trunk main body 10, and the second steering engine 222 is fixedly arranged at the upper end 212 of the arcuate leg 21. The steering engine cover 23 is connected to the first steering engine 221 at one end and can swing forward and backward relative to the first steering engine 221, and is connected to the second steering engine 222 at the other end and can swing upward and downward relative to the second steering engine 222. The steering engine cover 23 can drive the metamorphic mechanical leg 20 to form a semicircle around the trunk main body 10 by swinging upward and downward. In a preferred embodiment, the steering engine cover 23 comprises two U-shaped members arranged perpendicularly to each other and fixedly connected together. The two U-shaped members are fixed together by welding. At this time, the second steering engine 222 is connected to the open end of one of the U-shaped members and can swing upward and downward relative to the steering engine cover 23, and the first steering engine 221 is connected to the open end of the other U-shaped member and can swing forward and backward relative to the steering engine cover 23. The first steering engine 221 drives the arcuate leg 21 to swing forward and backward, and the second steering engine 222 drives the arcuate leg 21 to swing upward and downward, so as to realize the walking of the metamorphic mechanical leg 20 in the foot-shaped configuration.

[0051] The foot end 25 is installed near the lower end 213 of the arcuate leg 21. The foot end 25 comprises a U-shaped member.

[0052] The third steering engine 223 is fixedly arranged at the lower end 213 of the arcuate leg 21 by screwing. The third steering engine 223 is connected to the open end of the foot end 25 and can swing upward and downward relative to the foot end 25. When the foot end 25 swings, it can swing to the rear side of the arcuate leg 21. At this time, the foot end 25 does not block and exceed the end surface of the lower end 213 of the arcuate leg 21.

[0053] In the preferred embodiment, the first steering engine 221, the second steering engine 222 and the third steering engine 223 are all digital steering engines. The digital steering engine can process the input signal according to the set parameters before sending the power pulse to the steering engine motor, so that the width of the power pulse can be adjusted according to the program operation of the microprocessor to adapt to different functional requirements and optimize the performance of the steering engine. At the same time, the digital steering engine has a high frequency, the steering engine motor responds to the signal of the transmitter at a higher frequency, and the "non-response area" is smaller. The reaction becomes faster, the acceleration and deceleration are also faster and more gentle, which can provide higher precision and better fixing force, and has the advantages of anti-shaking and fast response speed.

[0054] The electromagnet 24 is installed at the lower end 213 of the arcuate leg 21, and is installed through an electromagnetic sleeve 241 which is fixedly installed at the lower end 213 of the arcuate leg 21 by bolts. The electromagnet 24 is fixedly arranged on the electromagnetic sleeve 241, and is used to be attracted to the electromagnet 24 on the lower end 213 of the other arcuate leg 21, that is, the two metamorphic mechanical legs can be attracted to each other and temporarily connected together through the electromagnet 24. The electromagnet 24 has an attraction effect when energized to achieve temporary connection of the ends of the two arcuate legs 21, and the mutual magnetic force disappears when de-energized, so that the connection relationship can be released. The metamorphic driving mechanism of the metamorphic mechanical leg of the present application can automatically realize free switching of the mechanical leg between the wheel form and the foot form, and can effectively avoid manual intervention when switching in the two working environments of the robot using the mechanical leg through the magnetic attraction of the electromagnet.

[0055] In the preferred embodiment, the end face of the lower end 213 of the arcuate leg 21 is a plane, so that when the electromagnets 24 on the lower ends 213 of the two arcuate legs 21 are attracted to each other, the end faces of the lower ends 213 of the two arcuate legs 21 are in close contact, and the front sides 211 of the two arcuate legs 21 form a semicircular arc, having a semicircular arc profile. The foot end 25 can swing to the rear side of the arcuate leg 21 when swinging, and the foot end 25 does not block and exceed the end face of the lower end 213 of the arcuate leg 21, so it does not affect the connection between the electromagnets 24 and the end faces of the lower ends 213 of the arcuate legs 21.

[0056] In the preferred embodiment, the arcuate leg 21 includes two oppositely arranged side plates 214 and a support rod 215 connecting the side plates 214, and the first steering engine 221, the second steering engine 222, the third steering engine 223 and the support rod 215 are located between the two oppositely arranged side plates 214. Through the arrangement of the side plates 214 and the support rod 215, on the one hand, the structural strength of the arcuate leg 21 can be ensured and the weight can be reduced, and on the other hand, a space for accommodating the first steering engine 221, the second steering engine 222 and the third steering engine 223 can be formed to facilitate the placement and fixation of the first steering engine 221, the second steering engine 222 and the third steering engine 223.

[0057] The head part 30 is located at the front end of the trunk body 10 and extends forwardly from the trunk body 10. The head part 30 is connected to the trunk body 10 by a fourth steering engine 54 so that the head part 30 and the trunk body 10 can swing leftward and rightward relative to each other.

[0058] The tail parts 40 are located at the rear end of the trunk body 10 and extend rearwardly from the trunk body 10. Adjacent tail parts 40 are connected by steering engines so that the adjacent tail parts 40 can swing upward and downward or leftward and rightward relative to each other. The tail part 40 closest to the trunk body 10 is connected to the trunk body 10 by a steering engine so that the trunk body 10 and the tail part 40 closest to the trunk body 10 can swing upward and downward or leftward and rightward relative to each other.

[0059] The steering engines connected between the trunk body 10 and the tail parts 40 and the steering engines connected between the tail parts 40 are arranged such that the swing directions of adjacent steering engines are different, so that the side rolling of the multi-configuration crocodile-like robot can be driven by the swing in different directions at adjacent joints. The steering engines connected between the trunk body 10 and the tail parts 40 and the steering engines connected between the tail parts 40 are arranged such that the swing directions of adjacent steering engines are different, so that a kind of orthogonal structure is formed, which cooperates with the driving of the steering engines, thereby realizing the side rolling of the multi-configuration crocodile-like robot.

[0060] The tail parts 40 are more than three, so that the side rolling of the multi-configuration crocodile-like robot can be realized by the swing between the tail parts 40 and the swing between the trunk body 10 and the tail parts 40. In the preferred embodiment, the tail parts 40 are five.

[0061] In the preferred embodiment, the trunk body 10 and the tail parts 40 are connected by a fifth steering engine 55 so that the trunk body 10 and the tail parts 40 can swing leftward and rightward relative to each other. The first tail part 40 and the second tail part 40 are connected by a sixth steering engine 56 so that the first tail part 40 and the second tail part 40 can swing upward and downward relative to each other. The second tail part 40 and the third tail part 40 are connected by a seventh steering engine 57 so that the second tail part 40 and the third tail part 40 can swing leftward and rightward relative to each other. The third tail part 40 and the fourth tail part 40 are connected by an eighth steering engine 58 so that the third tail part 40 and the fourth tail part 40 can swing upward and downward relative to each other. The fourth tail part 40 and the fifth tail part 40 are connected by a ninth steering engine 59 so that the fourth tail part 40 and the fifth tail part 40 can swing leftward and rightward relative to each other.

[0062] The tail members 40 are one or more of circular, block-shaped or plate-shaped as a whole, and when the tail members 40 are circular, the radial direction thereof is perpendicular to the front-back direction of the trunk body 10, and when the tail members 40 are plate-shaped, the tail members 40 are vertically arranged and parallel to the front-back direction of the trunk body 10. The tail members 40 are arranged in a direction away from the trunk body 10, and the outer contour of the tail members 40 becomes smaller and smaller, which facilitates the simulation of the crocodile tail.

[0063] In a preferred embodiment, the last tail member 40 is plate-shaped as a whole, the tail member 40 adjacent to the last tail member 40 is block-shaped or plate-shaped as a whole, and the tail member 40 at the end is plate-shaped as a whole, which facilitates the swimming of the crocodile robot. For example, as shown in Figure 1 、 Figure 7 and Figure 8 , in the preferred embodiment, the first tail member 40 and the second tail member 40 are circular as a whole, the third tail member 40 and the fourth tail member 40 are block-shaped as a whole, and the last tail member 40 is plate-shaped as a whole. In addition, in the preferred embodiment, the upper and lower sides of the tail member 40 that is block-shaped are arc-shaped, which facilitates the stability during the rolling.

[0064] In a preferred embodiment, in view of the fact that a certain space or interval is required between the head 30 and the trunk body 10, between the trunk body 10 and the tail members 40, and between the tail members 40, and in order to facilitate the connection of the front and rear members by the rudder, a connecting member 60 is arranged in the trunk body 10 and some of the tail members 40. The connecting member 60 is mainly in the form of a structure with one large end and one small end, the large end is connected to the trunk body 10 or the tail member 40, and the small end is connected to the rudder.

[0065] In a preferred embodiment, a control module for controlling the movement of the robot is arranged on the platform 12. The control module comprises a single-chip microcomputer (preferably an STM32 single-chip microcomputer), a battery and a voltage stabilizing module. The single-chip microcomputer is electrically connected to each rudder, the electromagnet 24 and the like. The single-chip microcomputer cooperates with the rudders, the electromagnet 24 and the like to control the operation thereof, so as to realize the operation of the crocodile robot.

[0066] In a preferred embodiment, a flexible waterproof film is arranged on the crocodile robot. On the one hand, the waterproof film can effectively prevent water from entering and affecting the operation of the robot. On the other hand, the crocodile robot can be disguised as a crocodile by the waterproof film.

[0067] The following is a specific implementation of a preferred embodiment of the present application: the crocodile robot of the present application is provided with four metamorphic mechanical legs 20 on the trunk body 10. When the four metamorphic mechanical legs 20 are independent, they can form four legs, and at this time, the crocodile robot is in a four-legged walking state, as shown in Figure 1As shown, the configuration is similar to the conventional quadruped walking of crocodiles, and the crocodile robot can walk forward and backward and turn, at this time, the robot is driven forward by the leg joint, which is beneficial to walking on rough environment and non-structural road surface; when the crocodile robot needs to roll on the side or roll on the side, the metamorphic mechanical legs 20 located at the front and rear ends of the trunk body 10 are driven by the first steering wheel 221, the bow-shaped legs 21 of the metamorphic mechanical legs 20 on both sides of the trunk body 10 are transversely flush, then the second steering wheel 222 drives the bow-shaped legs 21 to swing, the lower ends 213 of the bow-shaped legs 21 of the metamorphic mechanical legs 20 located at the front and rear ends of the trunk body 10 are abutted and adsorbed by the electromagnet 24, a semicircle is formed between the two metamorphic mechanical legs 20 (refer to Figure 4 ), the semicircle formed between the two metamorphic mechanical legs 20 and the auxiliary semicircle wheel 11 form a circle (refer to Figure 6 ), at this time, the two auxiliary semicircle wheels 11 on the trunk body 10 and the metamorphic mechanical legs 20 can form two circles, and the crocodile robot is in a wheel-shaped configuration, as shown in Figure 7 and Figure 8 , by starting the steering wheel connected between the trunk body 10 and the tail member 40 and the steering wheel connected between the tail member 40, cooperating with the steering wheel connected between the trunk body 10 and the head 30, the crocodile robot can realize rolling to simulate the rolling motion of crocodiles, and can also realize the side rolling of the crocodile robot, which can realize the side rolling walking mode, increase the new walking mode of the crocodile robot, the motion mode is more rich, which is helpful for the robot to move on the smooth ground. The crocodile robot of the present application can realize side rolling, and can quickly switch the configuration as needed, which is convenient and fast, realizes the universality of multiple scenes, solves the limitation problem of single walking mode of the robot, and has the advantages of foot shape and wheel shape configuration, the motion mode of the crocodile robot is more rich and diverse, the crocodile bionics is more realistic, which is helpful for the crocodile robot to hide, camouflage and integrate in the crocodile living environment.

[0068] The above is only a specific embodiment of the present application, but the protection scope of the present application is not limited thereto, any change or replacement within the technical range disclosed by the present application can be easily thought by those skilled in the art, which should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A multi-configured crocodile-like robot, characterized in that, The utility model relates to a kind of variable mechanical legs (20), which are arranged at the front and rear ends of the trunk body (10) for driving the trunk body (10) to walk forward and backward, and the variable mechanical legs (20) located at the front end or the rear end of the trunk body (10) can be respectively surrounded into a semicircle, and can form a circle with the auxiliary half wheel (11) in semicircle ring shape, so that the trunk body (10) can also roll on the side surface by the formed circle. The head (30) is located at the front end of the trunk body (10) and extends forward to the trunk body (10), and the head (30) is connected with the trunk body (10) by a rudder machine, so that the head (30) and the trunk body (10) can realize up-down or left-right swing between each other. The tail members (40) are located at the rear end of the trunk body (10), and the tail members (40) sequentially extend rearward to the trunk body (10), and the adjacent tail members (40) are connected by a rudder machine, so that the adjacent tail members (40) can realize up-down or left-right swing between each other. The tail member (40) closest to the trunk body (10) is connected by a rudder machine, so that the trunk body (10) and the tail member (40) can realize up-down or left-right swing between each other. The swing directions of adjacent rudder machines are inconsistent. The swing between the head (30) and the trunk body (10) is left-right swing.

2. The multi-configuration crocodile-like robot according to claim 1, wherein, The tail members (40) are more than three.

3. The multi-configuration crocodile-like robot according to claim 1, wherein, The tail members (40) are one or more of circular, block-shaped or plate-shaped, and when the tail members (40) are circular, the radial direction is perpendicular to the front-rear direction of the trunk body (10), and when the tail members (40) are plate-shaped, they are vertically arranged and parallel to the front-rear direction of the trunk body (10).

4. The multi-configuration crocodile-like robot according to claim 2 or 3, characterized in that, The outer contours of the tail members (40) become smaller and smaller in the direction away from the trunk body (10).

5. The multi-configured crocodile-like robot according to claim 4, wherein, The tail member (40) at the farthest end is plate-shaped as a whole, and the tail member (40) adjacent to the tail member (40) at the farthest end is block-shaped or plate-shaped as a whole.

6. The multi-configuration crocodile-like robot according to claim 4, wherein, The variable mechanical legs (20) comprise:

7. The multi-configuration crocodile-like robot according to claim 1, wherein, A first rudder machine (221) fixedly installed on the trunk body (10); The bow-shaped leg (21) comprises an upper end portion (212) located at the upper end position of the bow-shaped leg (21) and a lower end portion (213) located at the lower end position of the bow-shaped leg (21), and the upper end portion (212) of the bow-shaped leg (21) is fixedly provided with a second rudder machine (222); The tail members (40) are located at the rear end of the trunk body (10), and the tail members (40) sequentially extend rearward to the trunk body (10), and the adjacent tail members (40) are connected by a rudder machine, so that the adjacent tail members (40) can realize up-down or left-right swing between each other. A rudder sleeve (23) is connected to the first rudder (221) at one end and can realize front and back swing between each other, and is connected to the second rudder (222) at the other end and can realize up and down swing between each other and can drive the metamorphic mechanical leg (20) located at the front end or rear end of the trunk body (10) to surround into a semicircle.

8. The multi-configuration crocodile-like robot according to claim 7, wherein, The lower end (213) of the arcuate leg (21) is provided with an electromagnet (24) to be adsorbed by the electromagnet (24) located on the lower end (213) of the arcuate leg (21) when the metamorphic mechanical leg (20) surrounds into a semicircle.

9. The multi-configuration crocodile-imitating robot according to claim 7, characterized in that, The metamorphic mechanical leg (20) further comprises a foot end (25). The lower end (213) of the arcuate leg (21) is fixedly provided with a third rudder (223), and the third rudder (223) is connected to the foot end (25) and can realize up and down swing between each other.

10. The multi-configuration crocodile-like robot according to claim 7, wherein, The end surface of the lower end (213) of the arcuate leg (21) is a plane, so that when the electromagnets (24) on the lower ends (213) of the two arcuate legs (21) are adsorbed, the end surfaces of the lower ends (213) of the two arcuate legs (21) are in close contact.

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