A multi-scene bionic lobster device

Abstract

The application relates to a multi-scene bionic lobster device. The device belongs to a bionic mechanism. Shrimp claw mechanisms are connected to the front sides of a lobster head mechanism, shrimp foot mechanisms are connected to the rear sides of the lobster head mechanism, lobster shrimp joint mechanisms are connected to the rear side of the lobster head mechanism in sequence, swimming foot mechanisms are installed on the lower part of the lobster shrimp joint mechanism, a shrimp tail mechanism is connected to the last shrimp joint mechanism of the lobster shrimp joint mechanism, and a speed reduction motor of a quick-return mechanism is fixedly connected with a speed reduction motor mounting seat of the shrimp head mechanism. The device has the advantages of novel structure, combination of multiple movement modes, application to multiple movement occasions, use of walking foot movement on land, combination of walking foot movement, swimming foot movement and tail movement under water, perfect imitation of real lobster movement, realization of the bionic purpose of learning from natural organisms, and omission of a complex transmission mechanism.

Description

Technical Field

[0001] This invention pertains to a type of biomimetic mechanism, and in particular relates to a biomimetic crayfish device suitable for multiple scenarios. Background Technology

[0002] The ocean contains abundant resources with immense scientific and economic value, making deep-sea exploration crucial. Unmanned underwater vehicles (UUVs) are increasingly playing an irreplaceable role in both military and civilian applications, primarily using propeller propulsion and robotic arms for sampling. However, the complex and unpredictable seabed environment presents challenges. Traditional propulsion methods risk entanglement with aquatic vegetation, while land-based navigation is inefficient. Research in marine bionics offers new tools for human exploration and utilization of the ocean.

[0003] Currently, the main biomimetic parts include the tail fin, wavy fin, and wave fin of fish, and biomimetic propulsion devices have their unique advantages. In calm waters, tail fin propulsion devices exhibit high speed, while wave fin propulsion devices offer high propulsion efficiency, high stability, and high maneuverability, making them suitable for low-speed swimming, turning, and maintaining posture in turbulent environments. Pectoral fin propulsion devices can better maintain posture and balance. Marine life can be categorized into five modes of locomotion: swimming, crawling, floating, digging, and walking. Fins alone can only achieve swimming. Crayfish, possessing both claws and swimming / crawling organs, have the ability to grasp prey and swim. Furthermore, their walking legs and tail's quick-return mechanism provide escape capabilities in complex and dangerous environments, making them excellent biological prototypes for underwater biomimetic robots.

[0004] Currently, there is limited research on crayfish in China, and existing studies haven't truly replicated their habits. Their locomotion often references the multi-legged mechanical locomotion of land-based creatures rather than adapting to local conditions and utilizing the characteristics of water. There are not many biomimetic crayfish-inspired mechanical devices on the market. Two well-known examples are the robotic crayfish developed by the US Navy and the SILVER2 created by an Italian research team. Both largely mimic the multi-legged structure of crayfish and have achieved a basic form, but they suffer from drawbacks such as not mimicking the multi-segmented body, failing to achieve the crayfish's characteristic rapid slapping and gliding movements; stiff and inflexible claws, hindering flexible grasping actions; different locomotion methods compared to real crayfish; and the need for cable connections, making them inconvenient for deep-sea operations.

[0005] Bionic crayfish are essentially underwater multi-legged robots. Through understanding this field, similar research has been found, including mantis shrimp-inspired robots and tiger mantis shrimp-inspired pipe robots. They have swimming legs and flexible bodies, but they can only bend their bodies to adapt to the surrounding environment. They cannot use rapid and large bending to retreat quickly to avoid danger, and they do not have walking legs. They can only rely on swimming legs to paddle in the water, which limits their movement scenarios. Summary of the Invention

[0006] This invention provides a biomimetic crayfish device suitable for multiple scenarios, which not only perfectly imitates the movement of real crayfish, but also truly achieves the biomimetic purpose of learning from natural organisms.

[0007] The technical solution adopted in this invention includes a pair of symmetrical shrimp claw mechanisms, a crayfish head mechanism, a crayfish segment mechanism, a swimming leg mechanism, a shrimp tail mechanism, a shrimp leg mechanism, and a quick-return mechanism. The pair of symmetrical shrimp claw mechanisms are respectively connected to the front two sides of the crayfish head mechanism, the three pairs of shrimp leg mechanisms are respectively connected to the rear two sides of the crayfish head mechanism, the three crayfish segment mechanisms are sequentially connected to the rear side of the crayfish head mechanism, the three pairs of swimming leg mechanisms are installed at the lower part of the crayfish segment mechanism, the shrimp tail mechanism is connected to the last segment of the crayfish segment mechanism, the reduction motor of the quick-return mechanism is fixedly connected to the reduction motor mounting base of the shrimp head structure, and the traction rope sequentially passes through the holes above the shrimp segment structure plate and the holes of the shrimp tail structure, and the tail end is connected to the cylindrical slide rod.

[0008] The shrimp claw mechanism includes a gear claw plate, a claw plate rotation linkage, a claw clamping servo motor, a claw connecting rod 1, a claw connecting rod 2, a claw clamping servo motor fixing plate, a claw connecting rod 4, a claw connecting plate, a claw connecting rod 5, a claw connecting rod 6, a claw connecting disc, a claw rotation servo motor 1, a claw servo motor 1 fixing plate, a claw connecting rod 7, a claw connecting rod 8, a claw connecting rod 9, a claw rotation servo motor 2, a claw servo motor 2 fixing plate, a claw connecting rod 10, a claw servo motor 3 fixing plate, and a claw rotation servo. The three components are the chelicerae and the eleventh connecting rod. The gear-claw plates are a pair of meshing claw plates. The rotating rod of the claw plates drives the gear-claw plates to clamp and release. The chelicerae clamping servo is connected to the rotating rod of the claw plates and is fixed to the chelicerae clamping servo mounting plate. The upper part of the chelicerae clamping servo mounting plate is fixed to the first connecting rod of the chelicerae with bolts, and the lower part of the chelicerae clamping servo mounting plate is connected to the fourth connecting rod of the chelicerae with bolts. The first connecting rod of the chelicerae is hinged to the second connecting rod of the chelicerae, and the second connecting rod of the chelicerae is connected to the chelicerae... The upper part of the plate is connected by bolts, and the lower part of the claw connecting plate is connected to the claw connecting rod six by bolts. The claw connecting plate is also hinged to the claw connecting rod eleven. The claw connecting rod eleven is hinged to the claw connecting rod one. The claw connecting rod five is connected to the claw connecting rod four by rotatable bolts. The claw connecting rod five is connected to the claw connecting rod six by rotatable bolts. The claw connecting rod eleven is connected to the claw connecting disc by rotatable bolts, forming the first rotating joint of the shrimp claw. The first claw rotating servo is fixed on the claw servo first fixing plate to control the rotation of the first joint. The claw connecting rods seven and eight are connected by bolts, and the claw connecting rod nine is connected to the claw connecting rod eight by bolts, forming the second rotating joint of the shrimp claw. The second claw rotating servo is fixed on the claw servo second fixing plate to control the rotation of the second joint. The claw connecting rods ten and eleven are connected by rotatable bolts to form the third rotating joint of the shrimp claw. The third claw rotating servo is fixed on the claw servo third fixing plate to control the rotation of the third joint.

[0009] The crayfish head mechanism includes a vision sensor, a front segment of the head, a rotating connecting rod for the front segment of the head, a rear segment of the head, a servo motor, a stepper motor mounting base, and a geared motor mounting base. The vision sensor is fixed above the front segment of the head. The rotating connecting rod for the front segment of the head is connected to the front segment of the head. The rotating connecting rod for the front segment of the head is sleeved on the rod extending through the servo motor. The servo motor is connected to the rear segment of the head by bolts. The center hole of the stepper motor mounting base is aligned with the hole of the walking foot and is fixedly connected to the middle of the rear segment of the head. The geared motor mounting base is fixedly connected to the rear of the rear segment of the head.

[0010] The shrimp segment structure includes a belly plate, a front groove of the belly plate, a rear groove of the belly plate, a left connecting tenon, a right connecting tenon, a left limiting tenon, a right limiting tenon, a central shaft of the belly plate, a return torsion spring of the belly plate, a sealing telescopic tube, and a back side plate. The left and right limiting tenons are nested in the rear groove of the belly plate, and the left and right connecting tenons are nested in the front groove of the belly plate. The back side plate has threaded holes that coincide with the threaded holes of the belly plate and are fixed by bolts. The sealing telescopic tube is fixed between the two back side plates to ensure a waterproof seal between the two back side plates. The left connecting tenon and the left limiting tenon are connected by the central shaft of the belly plate, and the right connecting tenon and the right limiting tenon are connected by the central shaft of the belly plate. The central shaft of the belly plate passes through the return torsion spring of the belly plate, which is responsible for providing the return force for quick return. The left and right limiting tenons are used to limit the angle of quick return curling.

[0011] The swimming foot structure includes a left cam, a right cam, a left geared motor, a right geared motor, a left abdominal plate motor mount, a right abdominal plate motor mount, a left swimming foot, a right swimming foot, a swimming foot torsion spring, a swimming foot central shaft, an abdominal plate swimming foot shaft bracket, a left motor cover, and a right motor cover. The swimming foot central shaft passes through the center holes of the left and right swimming feet, and through the hole in the abdominal plate swimming foot shaft bracket, thus being fixed to the abdominal plate. The swimming foot torsion spring is passed through the swimming foot central shaft, fixed in the middle to the abdominal plate, and its two ends are fixed to the left and right swimming feet respectively. The left motor cover is located above the left swimming foot. One end of the output shaft of the left geared motor is sleeved with the cylindrical groove of the left abdominal plate motor mount and fixed with screws. One end is fitted with the left motor cover, which is directly connected to the left web plate motor seat by screws. The right motor cover is located above the right swimming foot. One end of the output shaft of the right geared motor is fitted with the cylindrical groove of the right web plate motor seat and fixed by screws, while the other end is fitted with the right motor cover, which is directly connected to the right web plate motor seat by screws. The hole of the left cam is fitted with the output shaft of the left geared motor, and the hole of the right cam is fitted with the output shaft of the right geared motor. The left and right geared motors drive the cams to rotate respectively. Under the restoring force of the left and right swimming foot torsion springs, the left and right swimming feet are always in contact with the side lines of the left and right cams respectively, thus completing the power transmission.

[0012] The shrimp tail structure includes a cylindrical slide rod, a slide rail, a square slider, a short connecting rod, a long connecting rod, a bionic tail, and a base plate. The cylindrical slide rod and the bionic tail are nested within the base plate, which provides support for the bionic tail. The slide rail is hinged to the cylindrical slide rod by screws and is parallel to the upper surface of the base plate, allowing it to slide along with the cylindrical slide rod. Two square sliders are nested on the slide rail and can slide left and right along the track. One end of the short connecting rod is hinged to the base plate, and the other end is hinged to the upper surface of the square slider, allowing it to rotate and move the square slider. One end of the long connecting rod is hinged to the lower surface of the square slider, and the other end is hinged to the lower surface of the bionic tail. When the square slider moves, it can cause the long connecting rod to rotate, thereby moving the bionic tail left and right.

[0013] The described shrimp leg mechanism includes a walking leg rotating rod, a large driving gear, a small gear set, a large gear set, a non-rotating upper plate of a disc, a non-rotating middle plate of a disc, a non-rotating lower plate of a disc, a crayfish's front leg, a crayfish's middle leg, a crayfish's hind leg, and a stepper motor. The stepper motor is fixedly connected to a stepper motor mounting base and drives the walking leg rotating rod to rotate. The walking leg rotating rod is fixedly connected to the large driving gear and rotates synchronously. The large driving gear drives the small gear set to rotate, the small gear set drives the large gear set to rotate, and the rotation of the large gear set drives the rotation of each fixedly connected walking leg. The rod rotates; the upper plate of the non-rotating disc is nested in the protrusions of the middle plate of the non-rotating disc through two slots; the middle plate of the non-rotating disc is nested in the groove of the lower plate of the non-rotating disc through two protrusions; the rotating rod of the walking leg passes through the holes of each plate, and the smaller cylinder at the top passes through the small hole in the center of the lower plate of the non-rotating disc, forming a non-rotating disc structure. The direction of this disc structure does not change when it rotates, which can ensure that the toes always point downwards. The other three legs have the same disc structure; the crayfish's front leg, middle leg, and hind leg are installed on their respective lower disc plates and can move synchronously.

[0014] The quick-return mechanism includes a traction rope, a reduction motor, and a clutch. The reduction motor is connected to the reduction motor mounting base of the shrimp head structure by bolts. The first end of the traction rope is connected to the clutch and passes through the holes above the shrimp segment structure plate in sequence. The second end of the traction rope passes through the holes of the shrimp tail structure and is connected to the cylindrical slide rod. The clutch is nested on the reduction motor shaft.

[0015] The advantages of this invention are its novel structure, combining multiple modes of motion, and applicability to various sports scenarios. On land, it can use walking legs for movement, while underwater, it can combine walking legs, swimming legs, and tail movements. The movements of the walking legs, swimming legs, and tail striking the water perfectly mimic the movement of a real crayfish, truly achieving the biomimetic goal of learning from natural organisms, while also filling the gaps in crayfish biomimetic design. The biomimetic swimming leg system of this invention abandons the traditional method of propulsion via rotating submersible blades, instead using the reciprocating water-striking motion of swimming legs, mimicking the movement of a living organism. This avoids entanglement with aquatic plants or fishing nets in complex waters, providing better adaptability to different water conditions. Compared to traditional propeller propulsion and servo directional control systems with a limited number of propellers, the biomimetic swimming leg system of this invention allows each swimming leg to be individually controlled by a motor. By adjusting the rapid return speed of different swimming legs under different conditions, changes in the crayfish's head direction and pitch angle can be achieved without relying on additional servos, thus eliminating the need for complex transmission mechanisms. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of the present invention;

[0017] Figure 2 This is a schematic diagram of the shrimp claw mechanism of the present invention;

[0018] Figure 3 This is a top view of the shrimp claw mechanism of the present invention;

[0019] Figure 4 This is a schematic diagram of the crayfish head mechanism of the present invention;

[0020] Figure 5 This is a schematic diagram of the crayfish segment mechanism of the present invention;

[0021] Figure 6 This is a schematic diagram of the internal structure of the crayfish segment mechanism of the present invention;

[0022] Figure 7 This is a schematic diagram of the swimming foot mechanism of the present invention;

[0023] Figure 8 This is a schematic diagram of the structure of the left cam and the left swimming foot in the swimming foot mechanism of the present invention;

[0024] Figure 9 This is a schematic diagram of the shrimp tail mechanism of the present invention;

[0025] Figure 10 This is a schematic diagram of the shrimp foot mechanism of the present invention;

[0026] Figure 11 This is a top view of the shrimp leg mechanism of the present invention;

[0027] Figure 12 This is a schematic diagram of the quick-return mechanism of the present invention. Detailed Implementation

[0028] See Figure 1 , 12 It includes a pair of symmetrical shrimp claw mechanisms 1, a crayfish head mechanism 2, a crayfish segment mechanism 3, a swimming leg mechanism 4, a shrimp tail mechanism 5, a shrimp leg mechanism 6, and a quick-return mechanism 7. The pair of symmetrical shrimp claw mechanisms 1 are respectively connected to the front two sides of the crayfish head mechanism 2. The three pairs of shrimp leg mechanisms 6 are respectively connected to the rear two sides of the crayfish head mechanism 2. The three segments of the crayfish segment mechanism 3 are sequentially connected to the rear side of the crayfish head mechanism 2. The three pairs of swimming leg mechanisms 4 are installed at the lower part of the crayfish segment mechanism 3. The shrimp tail mechanism 5 is connected to the last segment of the crayfish segment mechanism 3. The reduction motor 702 of the quick-return mechanism 7 is fixedly connected to the reduction motor mounting seat 207 of the crayfish head structure 2. The traction rope 701 passes through the hole above the plate of the segment structure 3 and the hole of the tail structure 5 in sequence, and the tail end is connected to the cylindrical slide rod 501.

[0029] See Figure 2 , 3The shrimp claw mechanism 1 is used to grip objects and has multiple joints, including a gear claw plate 101, a claw plate rotation connecting rod 102, a claw clamping servo motor 103, a claw connecting rod one 104, a claw connecting rod two 105, a claw clamping servo motor fixing plate 106, a claw connecting rod four 107, a claw connecting plate 108, a claw connecting rod five 109, a claw connecting rod six 110, a claw connecting disc 111, a claw rotation servo motor one 112, a claw servo motor one fixing plate 113, a claw connecting rod seven 114, a claw connecting rod eight 115, a claw connecting rod nine 116, a claw rotation servo motor two 117, a claw servo motor two fixing plate 118, and a claw connecting... The system comprises a connecting rod 119, a chelicerar servo motor fixing plate 120, a chelicerar rotation servo motor 121, and a chelicerar connecting rod 1122; wherein the gear claw plate 101 is a pair of meshing claw plates, and the claw plate rotation rod 102 drives the gear claw plate 101 to perform clamping and releasing actions. The chelicerar clamping servo motor 103 is connected to the claw plate rotation rod 102 and is fixed on the chelicerar clamping servo motor fixing plate 106. The upper part of the chelicerar clamping servo motor fixing plate 106 is fixed to the chelicerar connecting rod 114 by bolts, and the lower part of the chelicerar clamping servo motor fixing plate 106 is connected to the chelicerar connecting rod 117 by bolts to ensure that its position remains unchanged. 04 is hinged to the second claw connecting rod 105. The second claw connecting rod 105 is bolted to the upper part of the claw connecting plate 108. The lower part of the claw connecting plate 108 is bolted to the sixth claw connecting rod 110. The claw connecting plate 108 is also hinged to the eleventh claw connecting rod 122. The eleventh claw connecting rod 122 is hinged to the first claw connecting rod 104. The fifth claw connecting rod 109 is rotatably bolted to the fourth claw connecting rod 107. The fifth claw connecting rod 109 is rotatably bolted to the sixth claw connecting rod 110. The eleventh claw connecting rod 122 is rotatably bolted to the claw connecting disc 111, forming the claw's rotation mechanism. The first movable joint, the claw rotation servo motor 112 is fixed on the claw servo motor 1 fixing plate 113, and controls the rotation of the first joint; the claw connecting rod 7 114 and the claw connecting rod 8 115 are connected by bolts, and the claw connecting rod 9 116 is connected to the claw connecting rod 8 115 by bolts, forming the second movable joint of the shrimp claw, the claw rotation servo motor 2 117 is fixed on the claw servo motor 2 fixing plate 118, and controls the rotation of the second joint; the claw connecting rod 10 119 and the claw connecting rod 11 122 are connected by rotatable bolts, forming the third movable joint of the shrimp claw, the claw rotation servo motor 3 121 is fixed on the claw servo motor 3 fixing plate 120, and controls the rotation of the third joint.

[0030] refer to Figure 4The crayfish head mechanism 2 is used to install various joints, sensors, motors, and batteries, including a vision sensor 201, a crayfish head front segment 202, a crayfish head front segment rotating connecting rod 203, a crayfish head rear segment 204, a servo motor 205, a stepper motor mounting base 206, and a geared motor mounting base 207. The vision sensor 201 is fixed above the crayfish head front segment 202. The crayfish head front segment rotating connecting rod 203 is connected to the crayfish head front segment 202 and is sleeved on the rod extending through the servo motor 205. The servo motor 205 is bolted to the crayfish head rear segment 204. The center hole of the stepper motor mounting base 206 is aligned with the walking foot hole and fixed to the middle of the crayfish head rear segment 204. The geared motor mounting base 207 is fixed to the rear of the crayfish head rear segment 204.

[0031] See Figure 5 , 6 The shrimp segment structure 3 includes a belly plate 301, a front groove 302, a rear groove 303, a left connecting tenon 304, a right connecting tenon 305, a left limiting tenon 306, a right limiting tenon 307, a central shaft 308, a return torsion spring 309, a sealing telescopic tube 310, and a back side plate 311. The left limiting tenon 306 and the right limiting tenon 307 are nested in the rear groove 303 of the belly plate 301, and the left connecting tenon 304 and the right connecting tenon 305 are nested in the front groove 302 of the belly plate 301. The back side plate 311 is threaded. The hole coincides with the threaded hole of the web plate 301 and is fixed by bolts. The sealing telescopic tube 310 is fixed between the two back side plates to ensure the waterproof seal between the two back side plates 311. The left connecting tenon 304 and the left limiting tenon 306 are connected by the web plate central shaft 308. The right connecting tenon 305 and the right limiting tenon 307 are connected by the web plate central shaft. The web plate central shaft 308 passes through the web plate return torsion spring 309. The web plate return torsion spring 309 is responsible for providing the return force for quick return. The left limiting tenon 306 and the right limiting tenon 307 are used to limit the angle of quick return curling.

[0032] See Figure 7 , 8The swimming foot structure 4 includes a left cam 401, a right cam 402, a left reduction motor 403, a right reduction motor 404, a left abdominal plate motor seat 405, a right abdominal plate motor seat 406, a left swimming foot 407, a right swimming foot 408, a swimming foot torsion spring 409, a swimming foot central shaft 410, an abdominal plate swimming foot shaft bracket 411, a left motor cover 412, and a right motor cover 413. The swimming foot central shaft 410 passes through the central hole of the left swimming foot 407 and the right swimming foot 408. The center hole of 08 passes through the hole of the swimming foot bracket 411 on the belly plate, thus fixing it to the belly plate 301. The swimming foot torsion spring 409 is passed through by the swimming foot central shaft 410, fixed in the middle to the belly plate 301, and fixed at both ends to the left swimming foot 407 and the right swimming foot 408 respectively. The left motor cover 412 is located above the left swimming foot 407. One end of the output shaft of the left reduction motor 403 is sleeved with the cylindrical groove of the left belly plate motor seat 405 and fixed with screws, and the other end is connected to... The left motor cover 412 is directly connected to the left abdominal plate motor seat 405 by screws. The right motor cover 413 is located above the right swimming foot 408. One end of the output shaft of the right reduction motor 404 is sleeved with the cylindrical groove of the right abdominal plate motor seat 406 and fixed by screws, and the other end is sleeved with the right motor cover 413. The right motor cover 413 is directly connected to the right abdominal plate motor seat 406 by screws. The hole of the left cam 401 is sleeved with the output shaft of the left reduction motor 403, and the hole of the right cam 402 is sleeved with the output shaft of the right reduction motor 404. The left reduction motor 403 and the right reduction motor 404 drive the cams to rotate respectively. Under the restoring force of the torsion spring of the left swimming foot 407 and the torsion spring of the right swimming foot 408, the left swimming foot 407 and the right swimming foot 408 are always in contact with the side lines of the left cam 401 and the right cam 402 respectively to complete the power transmission and realize that each swimming foot can strike the water independently to achieve the purpose of propulsion.

[0033] See Figure 9 The shrimp tail structure 5 includes a cylindrical slide rod 501, a slide rail 502, a square slider 503, a short connecting rod 504, a long connecting rod 505, a bionic tail 506, and a base plate 507. The cylindrical slide rod 501 and the bionic tail 506 are nested within the base plate 507, which provides support for the bionic tail 506. The slide rail 502 is hinged to the cylindrical slide rod 501 by screws and is parallel to the upper surface of the base plate 507, allowing it to slide along with the cylindrical slide rod 501. The square slider 503 is nested on the slide rail 502 and can slide left and right along the slide rail 502. One end of the short connecting rod 504 is hinged to the base plate 507 and the other end is hinged to the upper surface of the square slider 503. It can rotate to drive the square slider 503 to move. One end of the long connecting rod 505 is hinged to the lower surface of the square slider 503 and the other end is hinged to the lower surface of the bionic tail 506. When the square slider 503 moves, it can drive the long connecting rod 505 to rotate, thereby causing the bionic tail 506 to move left and right.

[0034] refer to Figure 10 , 11 The crayfish foot mechanism 6 is used to complete the walking action of the crayfish, including a walking foot rotating rod 601, a large driving gear 602, a small gear set 603, a large gear set 604, a non-rotating upper plate 605, a non-rotating middle plate 606, a non-rotating lower plate 607, a crayfish front leg 608, a crayfish middle leg 609, a crayfish hind leg 610, and a stepper motor 611; wherein the stepper motor 611 is fixedly connected to the stepper motor mounting base 206, and the stepper motor 611 drives the walking foot rotating rod 601 to rotate; the walking foot rotating rod 601 is fixedly connected to the large driving gear 602 and rotates synchronously; the large driving gear 602 drives the small gear set 603 to rotate, and the small gear set 603 drives the large gear set 604 to rotate. The rotation of the gear set 604 can drive the rotation of the fixed walking leg rotating rods 601; the non-rotating disc upper plate 605 is nested in the boss of the non-rotating disc middle plate 606 through two slots; the non-rotating disc middle plate 606 is nested in the groove of the non-rotating disc lower plate 607 through two bosses; the walking leg rotating rods 601 pass through the holes of each plate, and the smaller cylinder at the top passes through the small hole in the center of the non-rotating disc lower plate 607, forming a non-rotating disc structure. The direction of this disc structure does not change when it rotates, which can ensure that the toes always point downwards. The other three legs have the same disc structure; the crayfish front leg 608, crayfish middle leg 609, and crayfish hind leg 610 are installed on their respective disc lower plates 607 and can move synchronously.

[0035] refer to Figure 12 The quick-return mechanism 7 includes a traction rope 701, a reduction motor 702, and a clutch 703. The reduction motor 702 is connected to the reduction motor mounting base 207 of the shrimp head structure 2 by bolts. The first end of the traction rope 701 is connected to the clutch 703 and passes through the hole above the plate of the shrimp segment structure 3 in sequence. The tail end of the traction rope 701 passes through the hole of the shrimp tail structure 5 and is connected to the cylindrical slide rod 501. The clutch 703 is nested on the shaft of the reduction motor 702.

[0036] Working principle

[0037] 1. Implementation of the quick return principle

[0038] The rapid return is achieved through the cooperation of the geared motor 702, clutch 703, abdominal plate return torsion spring 309, and the cylindrical slide rod 501 of the shrimp tail structure 5 with the traction rope 701. When the geared motor 702 rotates, it winds the traction rope 701, compresses the abdominal plate return torsion spring 309, straightens the bionic crayfish body, and retracts the bionic tail 506, putting it in a normal working state and waiting to trigger the rapid return.

[0039] When the shrimp is in a normal environment, the microcontroller does not send a signal, the clutch lock 703 is locked, the reduction motor 702 pulls the traction rope 701 connecting each segment of the shrimp tail through the clutch 703 to tighten it, the abdominal plate reset torsion spring 309 is compressed, each shrimp segment remains in a straight state, the cylindrical slide bar 501 at the shrimp tail moves forward, and the bionic shrimp tail is in a closed state due to the restriction of the linkage mechanism at the shrimp tail.

[0040] In an emergency, the microcontroller sends a signal, the clutch 703 is released, the traction rope 701 is loosened, and the shrimp segments, relying on the elasticity stored in the compressed abdominal torsion spring 309, bend the shrimp's body, slapping the water surface, and the shrimp quickly retreats. At this time, the cylindrical slide rod 501 at the shrimp's tail moves backward, and restricted by the linkage mechanism at the shrimp's tail, the biomimetic shrimp tail is in an open state, increasing the water-slapping area. After completing this action, the microcontroller does not send a signal, the clutch 501 is locked again, and the reduction motor 702 drives the traction rope 701 to keep the shrimp segments in a straight state.

[0041] When the robot encounters a sudden change in the environment and needs to take emergency avoidance, the clutch 703 disengages, the traction rope 701 is unloaded, and due to the stored force of the abdominal plate reset torsion spring 309, the shrimp's entire body will curl up, and the tail linkage mechanism will open the tail to increase the water-slapping area, causing the shrimp's entire body to move backward, thus achieving the ability to take emergency avoidance.

[0042] 2. The Implementation of the Foot-Stroke Principle in Swimming

[0043] The left swimming leg 407 and the right swimming leg 408 are fixed to the central shaft 410 of each segment of the swimming leg. Each segment has a left reduction motor 403 and a right reduction motor 404 that drive the left cam 401 and the right cam 402, respectively, to drive the swimming leg. When the swimming frequencies of the left and right swimming legs are the same, the biomimetic crayfish robot can maintain its buoyancy or forward movement. When the frequency of the left leg is significantly greater than that of the right leg, it can swim to the right, and vice versa.

[0044] 3. Implementation of the walking foot part

[0045] The crayfish has a unique locomotion method, unlike the common "sideways walking" crab. It moves by rotating its foot joints back and forth. To save on motor power, gear transmission is used. One motor 611 drives one drive gear 602, which in turn drives the small gear 603 and the large gear 604. The phase is controlled by the initial installation position. A disc rotation structure is also employed, including: a walking foot rotation rod 601, a non-rotating upper disc plate 605, a non-rotating middle disc plate 606, and a non-rotating lower disc plate 607. This ensures that while mimicking joint rotation, the foot direction remains unchanged, always keeping the toes pointing downwards.

[0046] 4. Achieving waterproofing of the shrimp body

[0047] Since crayfish need to operate underwater and their bodies will bend and twist, simple waterproofing methods are not suitable. Therefore, multiple waterproofing measures were designed, layer upon layer, to prevent water from entering the crayfish during operation and enhance machine safety.

[0048] (1) The joints are connected by a sealed telescopic tube 310 for waterproofing, which not only provides waterproofing but also does not affect the crayfish’s free movement.

[0049] (2) The motor is waterproofed by the left motor cover 412 and the right motor cover 413, forming a double waterproof protection with the telescopic tube.

[0050] (3) The stepper motor for the walking leg is inside the shrimp shell, and the protruding shaft uses a waterproof bearing to prevent water from entering.

[0051] (4) Waterproof interfaces are used at the crayfish line interfaces.

Claims

1. A biomimetic crayfish device suitable for multiple scenarios, characterized in that: It includes a pair of symmetrical shrimp claw mechanisms, a crayfish head mechanism, a crayfish segment mechanism, a swimming leg mechanism, a shrimp tail mechanism, a shrimp leg mechanism, and a quick-return mechanism. The pair of symmetrical shrimp claw mechanisms are connected to the front two sides of the crayfish head mechanism, the three pairs of shrimp leg mechanisms are connected to the rear two sides of the crayfish head mechanism, the three crayfish segment mechanisms are connected to the rear side of the crayfish head mechanism in sequence, the three pairs of swimming leg mechanisms are installed at the lower part of the crayfish segment mechanism, the shrimp tail mechanism is connected to the last segment of the crayfish segment mechanism, the reduction motor of the quick-return mechanism is fixedly connected to the reduction motor mounting base of the shrimp head structure, and the traction rope passes through the holes above the shrimp segment structure plate and the holes of the shrimp tail structure in sequence, and the tail end is connected to the cylindrical slide rod. The crayfish segment structure includes a belly plate, a front groove of the belly plate, a rear groove of the belly plate, a left connecting tenon, a right connecting tenon, a left limiting tenon, a right limiting tenon, a central shaft of the belly plate, a belly plate return torsion spring, a sealing telescopic tube, and a back side plate. The left and right limiting tenons are nested in the rear groove of the belly plate, and the left and right connecting tenons are nested in the front groove of the belly plate. The back side plate has threaded holes that coincide with the threaded holes of the belly plate and are fixed by bolts. The sealing telescopic tube is fixed between the two back side plates to ensure a waterproof seal between them. The left connecting tenon and the left limiting tenon are connected by the central shaft of the belly plate, and the right connecting tenon and the right limiting tenon are connected by the central shaft of the belly plate. The central shaft of the belly plate passes through the return torsion spring, which provides the return force for rapid return. The left and right limiting tenons limit the angle of rapid return curling.

2. The biomimetic crayfish device suitable for multiple scenarios according to claim 1, characterized in that: The shrimp claw mechanism includes a gear claw plate, a claw plate rotation linkage, a claw clamping servo motor, a claw connecting rod 1, a claw connecting rod 2, a claw clamping servo motor fixing plate, a claw connecting rod 4, a claw connecting plate, a claw connecting rod 5, a claw connecting rod 6, a claw connecting disc, a claw rotation servo motor 1, a claw servo motor 1 fixing plate, a claw connecting rod 7, a claw connecting rod 8, a claw connecting rod 9, a claw rotation servo motor 2, a claw servo motor 2 fixing plate, a claw connecting rod 10, a claw servo motor 3 fixing plate, and a claw rotation servo. The three components are the chelicerae and the eleventh connecting rod. The gear-claw plates are a pair of meshing claw plates. The rotating rod of the claw plates drives the gear-claw plates to clamp and release. The chelicerae clamping servo is connected to the rotating rod of the claw plates and is fixed to the chelicerae clamping servo mounting plate. The upper part of the chelicerae clamping servo mounting plate is fixed to the first connecting rod of the chelicerae with bolts, and the lower part of the chelicerae clamping servo mounting plate is connected to the fourth connecting rod of the chelicerae with bolts. The first connecting rod of the chelicerae is hinged to the second connecting rod of the chelicerae, and the second connecting rod of the chelicerae is connected to the chelicerae... The upper part of the plate is connected by bolts, and the lower part of the claw connecting plate is connected to the claw connecting rod six by bolts. The claw connecting plate is also hinged to the claw connecting rod eleven. The claw connecting rod eleven is hinged to the claw connecting rod one. The claw connecting rod five is connected to the claw connecting rod four by rotatable bolts. The claw connecting rod five is connected to the claw connecting rod six by rotatable bolts. The claw connecting rod eleven is connected to the claw connecting disc by rotatable bolts, forming the first rotating joint of the shrimp claw. The first claw rotating servo is fixed on the claw servo first fixing plate to control the rotation of the first joint. The claw connecting rods seven and eight are connected by bolts, and the claw connecting rod nine is connected to the claw connecting rod eight by bolts, forming the second rotating joint of the shrimp claw. The second claw rotating servo is fixed on the claw servo second fixing plate to control the rotation of the second joint. The claw connecting rods ten and eleven are connected by rotatable bolts to form the third rotating joint of the shrimp claw. The third claw rotating servo is fixed on the claw servo third fixing plate to control the rotation of the third joint.

3. The biomimetic crayfish device suitable for multiple scenarios according to claim 1, characterized in that: The crayfish head mechanism includes a vision sensor, a front segment of the head, a rotating connecting rod for the front segment of the head, a rear segment of the head, a servo motor, a stepper motor mounting base, and a geared motor mounting base. The vision sensor is fixed above the front segment of the head. The rotating connecting rod for the front segment of the head is connected to the front segment of the head. The rotating connecting rod for the front segment of the head is sleeved on the rod extending through the servo motor. The servo motor is connected to the rear segment of the head by bolts. The center hole of the stepper motor mounting base is aligned with the hole of the walking foot and is fixedly connected to the middle of the rear segment of the head. The geared motor mounting base is fixedly connected to the rear of the rear segment of the head.

4. The biomimetic crayfish device suitable for multiple scenarios according to claim 1, characterized in that: The swimming foot structure includes a left cam, a right cam, a left geared motor, a right geared motor, a left abdominal plate motor mount, a right abdominal plate motor mount, a left swimming foot, a right swimming foot, a swimming foot torsion spring, a swimming foot central shaft, an abdominal plate swimming foot shaft bracket, a left motor cover, and a right motor cover. The swimming foot central shaft passes through the center holes of the left and right swimming feet, and through the hole in the abdominal plate swimming foot shaft bracket, thus being fixed to the abdominal plate. The swimming foot torsion spring is passed through the swimming foot central shaft, fixed in the middle to the abdominal plate, and its two ends are fixed to the left and right swimming feet respectively. The left motor cover is located above the left swimming foot. One end of the output shaft of the left geared motor is sleeved with the cylindrical groove of the left abdominal plate motor mount and fixed with screws. One end is fitted with the left motor cover, which is directly connected to the left web plate motor seat by screws. The right motor cover is located above the right swimming foot. One end of the output shaft of the right geared motor is fitted with the cylindrical groove of the right web plate motor seat and fixed by screws, while the other end is fitted with the right motor cover, which is directly connected to the right web plate motor seat by screws. The hole of the left cam is fitted with the output shaft of the left geared motor, and the hole of the right cam is fitted with the output shaft of the right geared motor. The left and right geared motors drive the cams to rotate respectively. Under the restoring force of the left and right swimming foot torsion springs, the left and right swimming feet are always in contact with the side lines of the left and right cams respectively, thus completing the power transmission.

5. A biomimetic crayfish device suitable for multiple scenarios according to claim 1, characterized in that: The shrimp tail structure includes a cylindrical slide rod, a slide rail, a square slider, a short connecting rod, a long connecting rod, a bionic tail, and a base plate. The cylindrical slide rod and the bionic tail are nested within the base plate, which provides support for the bionic tail. The slide rail is hinged to the cylindrical slide rod by screws and is parallel to the upper surface of the base plate, allowing it to slide along with the cylindrical slide rod. Two square sliders are nested on the slide rail and can slide left and right along the track. One end of the short connecting rod is hinged to the base plate, and the other end is hinged to the upper surface of the square slider, allowing it to rotate and move the square slider. One end of the long connecting rod is hinged to the lower surface of the square slider, and the other end is hinged to the lower surface of the bionic tail. When the square slider moves, it can cause the long connecting rod to rotate, thereby moving the bionic tail left and right.

6. The biomimetic crayfish device suitable for multiple scenarios according to claim 1, characterized in that: The described shrimp leg mechanism includes a walking leg rotating rod, a large driving gear, a small gear set, a large gear set, a non-rotating upper plate of a disc, a non-rotating middle plate of a disc, a non-rotating lower plate of a disc, a crayfish's front leg, a crayfish's middle leg, a crayfish's hind leg, and a stepper motor. The stepper motor is fixedly connected to a stepper motor mounting base and drives the walking leg rotating rod to rotate. The walking leg rotating rod is fixedly connected to the large driving gear and rotates synchronously. The large driving gear drives the small gear set to rotate, the small gear set drives the large gear set to rotate, and the rotation of the large gear set drives the rotation of each fixedly connected walking leg. The rod rotates; the upper plate of the non-rotating disc is nested in the protrusions of the middle plate of the non-rotating disc through two slots; the middle plate of the non-rotating disc is nested in the groove of the lower plate of the non-rotating disc through two protrusions; the rotating rod of the walking leg passes through the holes of each plate, and the smaller cylinder at the top passes through the small hole in the center of the lower plate of the non-rotating disc, forming a non-rotating disc structure. The direction of this disc structure does not change when it rotates, which can ensure that the toes always point downwards. The other three legs have the same disc structure; the crayfish's front leg, middle leg, and hind leg are installed on their respective lower disc plates and can move synchronously.

7. The biomimetic crayfish device suitable for multiple scenarios according to claim 1, characterized in that: The quick-return mechanism includes a traction rope, a reduction motor, and a clutch. The reduction motor is connected to the reduction motor mounting base of the shrimp head structure by bolts. The first end of the traction rope is connected to the clutch and passes through the holes above the shrimp segment structure plate in sequence. The second end of the traction rope passes through the holes of the shrimp tail structure and is connected to the cylindrical slide rod. The clutch is nested on the reduction motor shaft.

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