Bionic robot

Abstract

The application provides a kind of bionic robot, it includes frame, machine head, drive mechanism, crank rocker mechanism component, flexible bionic fin;Drive mechanism includes drive source and transmission shaft, drive source is set to frame;Transmission shaft is connected with drive source;Crank rocker mechanism component is provided with two groups, two groups of crank rocker mechanism component are located in the width direction of frame opposite ends, and each group of crank rocker mechanism component is correspondingly provided with one drive mechanism;Crank rocker mechanism component includes multiple crank rocker mechanisms, and multiple crank rocker mechanisms are sequentially arranged along the length direction of frame;Crank rocker mechanism includes crank, rocker mechanism, and one end of crank is set to transmission shaft;One end of rocker mechanism is hinged to the other end of crank;Each group of crank rocker mechanism component is correspondingly provided with one flexible bionic fin.Compared with prior art, the bionic robot provided by the application can avoid large amplitude underwater fluctuation during marching, has low cost and high mobility.

Description

TECHNICAL FIELD

[0001] The present application relates to the underwater robot technical field, and especially relates to a bionic robot. BACKGROUND

[0002] With the development of science and technology, the land resources cannot meet the demand, and the more abundant marine resources naturally become the next development focus. Meanwhile, how to observe the endangered animals without disturbing the bottom animals is also a problem to be solved by researchers.

[0003] The underwater robot is an economic and safe tool which is very suitable for the bottom search, investigation, identification and salvage operation. Compared with the manned submersible, the underwater robot has the advantages of safety (no people), simple structure, light weight, small size and low cost. The bionic robot fish as a new type of underwater bionic robot can imitate the movement mode of fish to complete underwater tasks, and can more conveniently carry out underwater exploration, underwater shooting and other researches.

[0004] However, most of the underwater bionic robots in the prior art use slurry or pump to drive the movement, and large underwater fluctuations are easily generated in the movement process. For some timid underwater organisms, the movement of the underwater bionic robot will disturb their normal activities, affect the underwater ecological environment, and also increase the difficulty of observing the underwater organisms by the underwater bionic robot in the prior art. SUMMARY

[0005] In view of the technical problem that the underwater bionic robot in the prior art easily generates large underwater fluctuations when working underwater, affects the underwater ecological environment, and also increases the difficulty of observing the underwater organisms, the present application provides a bionic robot which uses a crank rocker mechanism for transmission to convert rotation into floating of a flexible bionic fin to provide power movement, can better avoid generating large underwater fluctuations in the movement process, can better avoid disturbing the normal activities of the underwater organisms, better avoid affecting the underwater ecological environment, and also can reduce the difficulty of observing the underwater organisms.

[0006] A bionic robot comprises a frame, a head, a driving mechanism, a crank rocker mechanism assembly and a flexible bionic fin.

[0007] The head is arranged at one end of the frame.

[0008] The driving mechanism comprises a driving source and a transmission shaft, and the driving source is arranged on the frame.

[0009] The transmission shaft is connected with the driving source, can rotate under the driving of the driving source, and is arranged along the length direction of the frame.

[0010] The crank rocker mechanism assembly is provided with two groups, and two groups of the crank rocker mechanism assembly are located at opposite ends in the width direction of the frame.

[0011] The crank rocker mechanism assembly comprises a plurality of crank rocker mechanisms, and the plurality of crank rocker mechanisms are sequentially arranged in the length direction of the frame.

[0012] The crank rocker mechanism comprises a crank and a rocker mechanism, one end of the crank is arranged on the transmission shaft and can rotate under the driving of the transmission shaft.

[0013] One end of the rocker mechanism is hinged to the other end of the crank, and the middle part of the rocker mechanism is hinged to the frame.

[0014] Each group of the crank rocker mechanism assembly is correspondingly provided with one flexible bionic fin, and the flexible bionic fin is arranged at the other end of the rocker mechanism.

[0015] Preferably, the rocker mechanism comprises a connecting rod and a rocker.

[0016] One end of the connecting rod is hinged to the other end of the crank.

[0017] One end of the rocker is hinged to the other end of the connecting rod, and the middle part of the rocker is hinged to the frame, and the other end of the rocker is provided with a bionic fin mounting groove.

[0018] Preferably, the frame comprises a frame unit and a support rod.

[0019] The frame unit is provided with a plurality of frame units, and the plurality of frame units are sequentially and spacedly arranged in the length direction of the frame.

[0020] The support rod is arranged in the length direction of the frame and connects all the frame units.

[0021] Adjacent two frame units are provided with the crank rocker mechanism.

[0022] Preferably, the head is provided with a camera and an image transmission module, and the camera and the image transmission module are respectively in communication connection with the general controller of the frame.

[0023] Preferably, the frame is further provided with a positioning module.

[0024] Preferably, it further comprises a tail fin, and the tail fin and the head are located at opposite ends of the frame in the length direction of the frame.

[0025] The tail fin is hinged to the frame.

[0026] The frame is provided with a tail fin control mechanism connected with the tail fin to drive the tail fin to swing.

[0027] Preferably, a side fin is further included, and the two ends of the head are provided with the side fin along the width direction of the frame, and the side fin is hinged with the head.

[0028] The head is provided with a side fin control mechanism connected with the side fin to drive the side fin to swing.

[0029] Preferably, the hinge shaft of the tail fin is along the width direction of the frame, and the hinge shaft of the side fin is along the length direction of the frame.

[0030] Preferably, the tail fin is provided with two tail fins respectively hinged with the frame.

[0031] The tail fin control mechanism is provided with two tail fin control mechanisms respectively connected with one tail fin.

[0032] Preferably, the flexible bionic fin is provided with a mounting part, and the number and position of the mounting part are matched with the number and position of the rocker mechanism in the corresponding crank rocker mechanism assembly.

[0033] Beneficial effects: compared with the prior art, the bionic robot provided by the application comprises a rack, a machine head, a driving mechanism, a crank rocker mechanism assembly and a flexible bionic fin; the machine head is arranged at one end of the rack; the driving mechanism comprises a driving source and a transmission shaft, the driving source is arranged on the rack, the transmission shaft is connected with the driving source and can rotate under the driving of the driving source, and the transmission shaft is arranged along the length direction of the rack; the crank rocker mechanism assembly is provided with two groups, the two groups of crank rocker mechanism assemblies are located at opposite ends in the width direction of the rack, and each group of crank rocker mechanism assemblies is correspondingly provided with one driving mechanism; the crank rocker mechanism assembly comprises a plurality of crank rocker mechanisms, which are sequentially arranged along the length direction of the rack; the crank rocker mechanism comprises a crank and a rocker mechanism, one end of the crank is arranged on the transmission shaft and can rotate under the driving of the transmission shaft; one end of the rocker mechanism is hinged to the other end of the crank, and the middle part of the rocker mechanism is hinged to the rack; each group of crank rocker mechanism assemblies is correspondingly provided with one flexible bionic fin, and the flexible bionic fin is arranged at the other end of the rocker mechanism. The bionic robot drives the transmission shaft to rotate through the driving source, so as to drive a plurality of crank rocker mechanisms to drive the flexible bionic fin to move, realize the movement of the bionic robot, and better avoid generating large underwater fluctuations, better avoid disturbing underwater organisms, avoid affecting the underwater ecological environment, and reduce the observation difficulty. At the same time, the maneuverability and transmission efficiency can be reduced without loss. BRIEF DESCRIPTION OF DRAWINGS

[0034] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0035] Figure 1 A perspective structural schematic view of a bionic robot (without showing a flexible bionic fin) provided by an embodiment;

[0036] Figure 2 A perspective structural schematic view of a bionic robot (without showing a flexible bionic fin) provided by an embodiment;

[0037] Figure 3 A perspective structural schematic view of a bionic robot (without showing a flexible bionic fin) provided by an embodiment;

[0038] Figure 4A schematic view of a planar structure of a frame and a crank-rocker mechanism in a bionic robot is provided for an embodiment;

[0039] Figure 5 A schematic view of a planar structure of a head in a bionic robot is provided for an embodiment;

[0040] Figure 6 A schematic view of a planar structure of a flexible bionic fin in a bionic robot is provided for an embodiment;

[0041] Wherein: 100-bionic robot, 10-frame, 11-frame unit, 12-supporting rod, 13-general controller, 14-tail fin control mechanism, 20-head, 21-camera, 22-image transmission module, 30-driving mechanism, 31-driving source, 32-transmission shaft, 40-crank-rocker mechanism assembly, 41-crank-rocker mechanism, 411-crank, 412-rocker mechanism, 4121-connecting rod, 4122-rocker, 4123-bionic fin mounting groove, 50-flexible bionic fin, 51-mounting part, 60-tail fin, 70-side fin. DETAILED DESCRIPTION

[0042] In order for those skilled in the art to better understand the technical solutions in the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below. Obviously, the described embodiments are only part of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0043] It should be noted that when a component is referred to as "fixed to", "mounted to" or "disposed on" another component, it can be directly on the other component or indirectly disposed on the other component; when a component is "connected" to another component, or a component is referred to as "connected to" another component, it can be directly connected to the other component or indirectly connected to the other component.

[0044] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "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 on the present application.

[0045] In addition, the terms "first", "second", etc. are used only for descriptive purposes and should not be construed as implying or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined as "first", "second" can explicitly or implicitly include one or more features. In the description of the present application, the meaning of "a plurality of" is two or more, unless otherwise specifically limited.

[0046] It should be understood that the structures, proportions, sizes, etc. shown in the drawings of the present application are only used to cooperate with the disclosed content, to be understood and read by those skilled in the art, and are not used to limit the implementation conditions of the present application, so they do not have technical significance. Any modification of the structure, change of the proportion relationship or adjustment of the size, without affecting the effect and purpose that can be achieved by the present application, should still fall within the scope of the technical content disclosed by the present application.

[0047] The present application provides a kind of bionic robot, it includes frame, machine head, drive mechanism, crank rocker mechanism component, flexible bionic fin;The machine head is arranged at one end of the frame;The drive mechanism includes drive source and transmission shaft, the drive source is arranged in the frame;The transmission shaft is connected with the drive source, can be driven by the drive source to rotate, and it is arranged along the length direction of the frame;The crank rocker mechanism component is provided with two groups, two groups of the crank rocker mechanism component are located at the opposite ends in the width direction of the frame, and each group of the crank rocker mechanism component is correspondingly provided with one drive mechanism;The crank rocker mechanism component includes multiple crank rocker mechanisms, and multiple crank rocker mechanisms are sequentially arranged along the length direction of the frame;The crank rocker mechanism includes crank and rocker mechanism, one end of the crank is arranged on the transmission shaft, and can be rotated under the driving of the transmission shaft;One end of the rocker mechanism is hinged to the other end of the crank, and the middle part of the rocker mechanism is hinged to the frame;Each group of the crank rocker mechanism component is correspondingly provided with one flexible bionic fin, and the flexible bionic fin is arranged at the other end of the rocker mechanism. The bionic robot drives the transmission shaft to rotate by the drive source, so that multiple crank rocker mechanisms are driven by the transmission shaft, and the flexible bionic fin is driven to move, realizes the advancing of the bionic robot, can better avoid generating large amplitude underwater fluctuation, can better avoid disturbing underwater organisms, avoid affecting underwater ecological environment, and can reduce observation difficulty. At the same time, it can reduce the cost without losing mobility and transmission efficiency.

[0048] Please see Figures 1 to 6 The embodiment provides a kind of bionic robot 100, for a kind of underwater bionic robot, specifically for a kind of underwater robot of imitation stingray, it is used to realize the exploration of underwater complex area, underwater biological observation.

[0049] The bionic robot 100 comprises a frame 10, a head 20, a driving mechanism 30, a crank rocker mechanism assembly 40, and a flexible bionic fin 50. The head 20 is arranged at one end of the frame 10. The driving mechanism 30 comprises a driving source 31 and a transmission shaft 32. The driving source 31 is arranged on the frame 10, and the transmission shaft 32 is connected with the driving source 31. The transmission shaft 32 can rotate under the driving of the driving source 31, and the transmission shaft 32 is arranged along the length direction of the frame 10. The length direction and the width direction of the frame 10 are taken as the reference directions of the X-axis and the Y-axis. Figure 1 In an embodiment, the driving source 31 is a brush motor. Of course, in other embodiments, the driving source 31 can also be any mechanism capable of driving the transmission shaft 32 to rotate.

[0050] The crank rocker mechanism assembly 40 is arranged in two groups. Two groups of the crank rocker mechanism assembly 40 are located at opposite ends in the width direction of the frame 10, and each group of the crank rocker mechanism assembly 40 is correspondingly arranged with one driving mechanism 30. That is, the crank rocker mechanism assembly 40 is arranged on both sides of the frame 10, and each group of the crank rocker mechanism assembly 40 is correspondingly arranged with one driving mechanism 30, so that different driving mechanisms 30 can drive the corresponding crank rocker mechanism assembly 40 to move independently.

[0051] The crank rocker mechanism assembly 40 comprises a plurality of (at least two) crank rocker mechanisms 41 arranged in sequence along the length direction of the frame 10. That is, each group of the crank rocker mechanism assembly 40 comprises a plurality of crank rocker mechanisms 41 arranged in sequence along the length direction of the frame 10, and the plurality of crank rocker mechanisms 41 constitute a group of the crank rocker mechanism assembly 40.

[0052] The crank rocker mechanism 41 comprises a crank 411 and a rocker mechanism 412. One end of the crank 411 is arranged on the transmission shaft 32 and can rotate under the driving of the transmission shaft 32. One end of the rocker mechanism 412 is hinged to the other end of the crank 411, and the middle part of the rocker mechanism 412 is hinged to the frame 10. The driving source 31 drives the transmission shaft 32 to rotate, so that the plurality of cranks 411 mounted on the same transmission shaft 32 can rotate synchronously. The rotation of the crank 411 drives the rocker mechanism 412 to operate, and the rocker mechanism 412 swings around the hinge shaft hinged to the frame 10.

[0053] Each of the crank rocker mechanism assemblies 40 is correspondingly provided with one flexible bionic fin 50, which is arranged at the other end of the rocker mechanism 412. That is, the flexible bionic fin 50 is arranged in two, one for each of the crank rocker mechanism assemblies 40, and the flexible bionic fin 50 is arranged on the rocker mechanism 412 in the crank rocker mechanism assembly 40. Through the up and down swing of the rocker mechanism 412, the corresponding part of the flexible bionic fin 50 can be swung, and through the driving of different rocker mechanisms 412 in the same group of crank rocker mechanism assemblies 40, the swing of each part of the flexible bionic fin 50 can be realized, thereby realizing the underwater movement of the bionic robot 100. The flexible bionic fin 50 refers to a bionic fin made of flexible material, which can deform to a certain extent under force, for example, flexible silicone, flexible rubber, etc.

[0054] It can be understood that most of the underwater bionic robots in the prior art use slurry or pumps to drive movement, which can easily cause large underwater fluctuations during movement. For some timid underwater organisms, the movement of the underwater bionic robot will disturb their normal activities and affect the underwater ecological environment. At the same time, when the underwater bionic robot is applied to the observation of underwater organisms, it will also cause the underwater bionic robot to be unable to closely observe the underwater organisms, increasing the observation difficulty.

[0055] The bionic robot 100 provided in the embodiment is connected to the flexible bionic fin 50 through the crank rocker mechanism assembly 40 to form a pectoral fin, and the transmission shaft 32 is driven by the driving source 31, and then the crank rocker mechanism assembly 40 is driven to move the flexible bionic fin 50 to realize movement, which can better avoid large underwater fluctuations during movement, thereby avoiding affecting the underwater ecological environment. When the bionic robot 100 is applied to the observation of underwater organisms, the observation difficulty can also be reduced. And two transmission shafts 32 are driven to rotate by two driving sources 31 respectively, thereby driving multiple crank rocker mechanisms 41 to operate, which can reduce the cost without losing the maneuverability and transmission efficiency. At the same time, the crank rocker mechanism assemblies 40 on both sides can be controlled to rotate at different speeds by the two driving mechanisms 30, thereby realizing U-turn, which can avoid the shortcomings of poor maneuverability and large turning radius of other bionic robots.

[0056] Specifically, in one embodiment, each of the crank rocker mechanism assemblies 40 includes 12 crank rocker mechanisms 41.

[0057] Preferably, in an embodiment, the rocker mechanism 412 comprises a connecting rod 4121, one end of which is hinged to the other end of the crank 411. One end of the rocker 4122 is hinged to the other end of the connecting rod 4121, and the middle of the rocker 4122 is hinged to the rack 10, and the other end of the rocker 4122 is provided with a bionic fin mounting groove 4123. Thus, the flexible bionic fin 50 can be correspondingly installed and arranged at the bionic fin mounting groove 4123, which can better guarantee the connection reliability between the flexible bionic fin 50 and the rocker mechanism 412. When the transmission shaft 32 drives the crank 411 to rotate, the crank 411 synchronously drives the connecting rod 4121 to move, so that the connecting rod 4121 changes position and drives the rocker 4122, causing the rocker 4122 to swing around the hinged shaft hinged to the rack 10 as the axis.

[0058] Preferably, in an embodiment, the rack 10 comprises a rack unit 11, a support rod 12, the rack unit 11 is provided with a plurality of rack units 11, which are sequentially and spaced apart along the length direction of the rack 10. The support rod 12 is arranged along the length direction of the rack 10 and connects all the rack units 11, thereby connecting a plurality of rack units 11 to form a whole. The crank rocker mechanism 41 is arranged between adjacent two rack units 11. Through this structure, sufficient movement space can be left for the crank rocker mechanism 41, which can better avoid interference between the rack 10 and the crank rocker mechanism 41. Specifically, in an embodiment, the support rod 12 is provided with three support rods 12, which are triangularly distributed and respectively connect all the rack units 11, thereby better guaranteeing the structural strength and stability of the rack 10. More preferably, in an embodiment, the rack unit 11 adopts an aluminum rack, and the support rod 12 adopts a carbon fiber support rod. Specifically, in an embodiment, the rack 10 further comprises two mounting rods, which are arranged along the length direction of the rack 10, each of the mounting rods corresponds to a group of the crank rocker mechanisms 41, and the rocker 4122 in the crank rocker mechanism 41 is hinged to the mounting rod, thereby realizing the installation of the rocker 4122. The mounting rod can also adopt a carbon fiber structure.

[0059] Preferably, in an embodiment, the head 20 is provided with a camera 21 and an image transmission module 22, which are respectively in communication connection with the general controller 13 of the frame 10. That is, the general controller 13 is provided on the frame 10, and when the bionic robot 100 is in use, the camera 21 transmits the images captured to the general controller 13, the general controller 13 superimposes part of the information of the bionic robot 100 on the images through a chip (such as an OSD chip), and then transmits the processed images to the image transmission module 22, which then transmits the images. The operator can watch using a handheld receiving device. A mode of one transmitting end and multiple receiving ends can be realized. Meanwhile, in other embodiments, a waterproof camera can also be carried on the frame 10 for underwater shooting. Specifically, in an embodiment, the camera 21 adopts a 1700TVL camera, and the image transmission module 22 adopts a 5.8G 2W transmission image transmission, which can provide relatively high image definition on the premise of ensuring transmission distance, and through the carried camera, the exploration of underwater complex areas and the observation of underwater organisms can be better realized.

[0060] Preferably, in an embodiment, the frame 10 is also provided with a positioning module, so that the general controller 13 can realize autonomous navigation under the condition that the positioning module provides coordinates.

[0061] More preferably, in an embodiment, the bionic robot 100 can use software to set tasks in addition to manual control, to realize automatic navigation. For example, in an embodiment, the general control end is STM32F405 as the main control, and MPU6000 as the gyroscope, so as to realize the attitude sensing and attitude adjustment of the bionic robot 100 at a relatively low price. Meanwhile, it is carried with a Beidou 121 locator, which can provide multiple positioning modes such as GPS and GLONASS. When automatic navigation is used, a mobile phone or a computer can be connected with the general controller 13 through wired or wireless connection, and through a special host computer, the route parameters can be simply set. When moving, the crank rocker mechanisms 41 on both sides can rotate in the same direction to realize forward or backward movement, and when the rotation speeds of the two sides are different or the directions of the two sides are opposite, the bionic robot 100 can realize turning or U-turn.

[0062] Preferably, in an embodiment, the bionic robot 100 further comprises tail fins 60, which are located at opposite ends of the frame 10 along the length direction of the frame 10. The tail fins 60 are hinged to the frame 10, and the frame 10 is provided with tail fin control mechanisms 14 connected to the tail fins 60 to control the swinging of the tail fins 60. The swinging of the tail fins 60 controlled by the tail fin control mechanisms 14 can better adjust the bionic robot 100 and improve the maneuverability. Specifically, in an embodiment, the tail fin control mechanisms 14 can adopt rudders.

[0063] More preferably, in an embodiment, the bionic robot 100 further comprises side fins 70, which are provided at both ends of the frame 10 along the width direction of the frame 10. The side fins 70 are hinged to the frame 10. The frame 10 is provided with side fin control mechanisms connected to the side fins 70 to drive the side fins 70 to swing. The swinging of the side fins 70 controlled by the side fin control mechanisms can better adjust the bionic robot 100, provide higher degrees of freedom, and further improve the maneuverability. Specifically, in an embodiment, the side fin control mechanisms can adopt rudders. In an embodiment, the side fin control mechanisms, the tail fin control mechanisms 14, and the driving source 31 are all connected to the general controller 13, so that the general controller 13 can centrally control the components.

[0064] More preferably, in an embodiment, the hinge shaft of the tail fin 60 is arranged along the width direction of the frame 10, i.e., the hinge shaft between the tail fin 60 and the frame 10 is arranged along the width direction of the frame 10. The hinge shaft of the side fin 70 is arranged along the length direction of the frame 10, i.e., the hinge shaft between the side fin 70 and the frame 10 is arranged along the length direction of the frame 10. The side fin control mechanisms can control the side fins 70 to achieve a function similar to the ailerons of an airplane, which can cooperate with the tail fins 60 to achieve the functions of floating and diving.

[0065] More preferably, in an embodiment, two tail fins 60 are provided, and each of the tail fins 60 is hingedly connected to the frame 10. The tail fin control mechanism 14 is provided with two, and each of the tail fin control mechanisms 14 is connected to one of the tail fins 60. The tail fins 60 are controlled by rotating the tail fin control mechanisms 14 to make the tail fins 60 swing up and down. The tail fins 60 can swing up and down alternately by differentiating the rotation of the two tail fin control mechanisms 14 to realize the roll of the bionic robot 100. The tail fins 60 can be rotated in the same direction to realize the action of surfacing and diving. The tail fins 60 and the side fins 70 can realize the roll and surfacing and diving of the bionic robot 100, further improve the maneuverability, and avoid being entangled in a small area or a place with obstacles.

[0066] Specifically, when the left tail fin 60 swings up and the right tail fin 60 swings down, the bionic robot 100 rolls to the left. Conversely, it rolls to the right. When the two tail fins 60 swing down at the same time, and the side fins 70 also swing down at the same time, the bionic robot 100 realizes the action of diving. Conversely, it surfaces. When manually controlled, the control mode can be selected. When using the self-stabilizing mode, the control angle of the bionic robot 100 is limited, and the action of rolling over and other angles exceeding 60° cannot be realized. The total controller 13 automatically corrects the angle information collected by the gyroscope, and can resist the abnormal shaking of the bionic robot 100 caused by external disturbances such as underwater turbulence to cause unstable shooting pictures. When using the pure manual mode, the bionic robot 100 can be completely operated by the operator, and the total controller 13 does not correct the action, and the maneuverability of the bionic robot 100 can be fully utilized.

[0067] In order to better improve the stability of the bionic robot 100 swimming in water, preferably, in an embodiment, the overall appearance of the bionic robot 100 adopts a streamlined structure, so as to reduce the resistance. The streamlined structure refers to that the bionic robot 100 has a complete and smooth appearance, and there is no geometric mutation on the surface of the bionic robot 100, so that the water flow does not separate obviously when flowing on the surface of the bionic robot 100, so as to reduce the resistance as much as possible.

[0068] Preferably, in an embodiment, the side fin 70, the tail fin 60 and the nose 20 are simulated using ANASYS Workbench. The resistance in water is calculated. The streamline shape of the nose 20 part can reduce the resistance, but not be wrapped up and lose the attitude when encountering small turbulence. At the same time, the optimal area of the side fin 70 and the tail fin 60 is obtained, which can reduce the area while obtaining sufficient wing effect, finally obtain a suitable streamline shape, reduce the resistance while ensuring the maneuverability.

[0069] Preferably, in an embodiment, all electronic devices in the bionic robot 100 are coated with waterproof silica gel after the circuit connection is completed, and finally filled with liquid waterproof silica gel after the shell installation is completed. The dynamic seal of the motor and the steering engine is sealed by the plastic O-ring.

[0070] Preferably, in an embodiment, the crank rocker mechanism 41 and most of the components such as the nose 20, the side fin 70 and the tail fin 60 are 3D printed by PLA (polylactic acid) material, which is cheap, simple to manufacture, easy to replace, and can ensure the surface shape of the side fin 70, the tail fin 60 and the nose 20, and maximize the structural advantages of computer simulation. The nose 20 can be integrally formed to improve its waterproofness. The side fin 70 and the tail fin 60 adopt a hollow structure and are covered with flexible silica gel to reduce weight while ensuring the rudder effect.

[0071] Preferably, in an embodiment, the flexible bionic fin 50 is provided with a mounting part 51, and the number and position of the mounting part 51 are matched with the number and position of the rocker mechanism 412 in the corresponding crank rocker mechanism assembly 40. That is, the mounting part 51 provided on the two flexible bionic fins 50 is matched with the rocker mechanism 412 in the two crank rocker mechanism assemblies 40. Thus, when the flexible bionic fin 50 is installed, the flexible bionic fin 50 can be fixed with all the rocker mechanisms 412 in a group of crank rocker mechanism assemblies 40. Specifically, in an embodiment, the flexible bionic fin 50 can be provided with 12 mounting parts 51, so as to be matched with 12 crank rocker mechanisms 41. Specifically, in an embodiment, the fixing mode of the flexible bionic fin 50 can be that the mounting part 51 is clamped into the bionic fin mounting groove 4123 and fixed by a screw.

[0072] The bionic robot 100 propels in crank rocker mechanism variable rotation to wave, makes up for most defects of existing underwater robots. High mobility, 8 degrees of freedom, can realize turning in place, rolling, surfacing and diving, and advancing and retreating. Automatic navigation can be realized, and under the positioning of the positioning module, automatic navigation can be realized, realizing autonomous task without the control of the operator. At the same time, when the control signal of the operator is lost, it can automatically return to the set return point.

[0073] The above only describes the embodiments of the present application, and it should be pointed out that those skilled in the art can make improvements without departing from the inventive concept, but these are within the protection scope of the present application.

Claims

1. A biomimetic robot, characterized in that, Includes frame, head, drive mechanism, crank-rocker mechanism assembly, and flexible bionic fins; The machine head is located at one end of the frame; The drive mechanism includes a drive source and a transmission shaft, and the drive source is disposed on the frame; The drive shaft is connected to the drive source, can rotate under the drive of the drive source, and is arranged along the length direction of the frame; The crank-rocker mechanism assembly is provided in two sets, and the two sets of crank-rocker mechanism assemblies are located at opposite ends in the width direction of the frame. Each set of crank-rocker mechanism assemblies is provided with a corresponding drive mechanism. The crank-rocker mechanism assembly includes multiple crank-rocker mechanisms, which are arranged sequentially along the length of the frame. The crank-rocker mechanism includes a crank and a rocker mechanism. One end of the crank is disposed on the transmission shaft and can rotate under the drive of the transmission shaft. One end of the rocker mechanism is hinged to the other end of the crank, and the middle part of the rocker mechanism is hinged to the frame; Each set of crank-rocker mechanism components is provided with a corresponding flexible bionic fin, and the flexible bionic fin is disposed at the other end of the rocker mechanism; It also includes a tail fin, which is located at opposite ends of the frame along the length of the frame and the head; the tail fin is hinged to the frame; the frame is provided with a tail fin control mechanism, which is connected to the tail fin and used to drive the tail fin to swing. The tail fin is provided in two parts, and each tail fin is hinged to the frame; the tail fin control mechanism is provided in two parts, and each tail fin control mechanism is connected to one tail fin. It also includes side fins, which are provided at both ends of the machine head along the width direction of the frame. The side fins are hinged to the machine head. The machine head is provided with a side fin control mechanism, which is connected to the side fins to drive the side fins to swing. The side fin control mechanism, the tail fin control mechanism, and the drive source are all connected to the main controller on the frame. The hinge axis of the tail fin is along the width direction of the frame, and the hinge axis of the side fin is along the length direction of the frame.

2. The bionic robot according to claim 1, characterized in that, The rocker mechanism includes a connecting rod and a rocker arm; One end of the connecting rod is hinged to the other end of the crank; One end of the rocker arm is hinged to the other end of the connecting rod, and the middle part of the rocker arm is hinged to the frame. The other end of the rocker arm is provided with a bionic fin mounting groove.

3. The bionic robot according to claim 1, characterized in that, The frame includes frame units and support rods; Multiple rack units are provided, and the multiple rack units are arranged sequentially at intervals along the length direction of the rack; The support rod is arranged along the length of the frame and connects all the frame units; The crank-rocker mechanism is provided between each of the two adjacent frame units.

4. The bionic robot according to claim 1, characterized in that, The machine head is equipped with a camera device and an image transmission module, and the camera device and the image transmission module are respectively connected to the main controller of the frame.

5. The bionic robot according to claim 4, characterized in that, The rack is also equipped with a positioning module.

6. The bionic robot according to claim 1, characterized in that, The flexible bionic fin is provided with a mounting part, and the number and position of the mounting parts are adapted to the number and position of the rocker mechanism in the corresponding crank rocker mechanism assembly.

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