A type of amphibious bionic robot

Abstract

This invention discloses an amphibious biomimetic robot, relating to the field of special robot technology. It includes a robot body comprising a head, a torso, mechanical legs, and a tail. The head is connected to the front end of the torso, the tail to the rear end of the torso, and the mechanical legs to both sides of the torso. The torso includes a spinal swing mechanism and multiple torso segments. The spinal swing mechanism connects the multiple torso segments and can drive relative rotation between adjacent torso segments to achieve torso swing. In this invention, the torso is divided into multiple torso segments, which are connected by a spinal swing mechanism that drives relative rotation between adjacent torso segments, thereby enabling torso swing and improving mobility.

Description

Technical Field

[0001] This invention relates to the field of special robot technology, and in particular to an amphibious bionic robot. Background Technology

[0002] Amphibians are highly adaptable to both aquatic and terrestrial environments. By studying their body structure and movement mechanisms, we can obtain biomimetic robots with different structures and functions. Currently, many amphibious biomimetic robots adopt snake-like or fish-like robot structures, enabling them to swim in water or crawl on land. Their bodies are usually composed of multiple modules, and flexible swinging and crawling are achieved by changing the joint angles between the modules.

[0003] For example, patent CN114987123A discloses a highly realistic amphibious crocodile-like robot, which includes a torso and a head, tail, and limbs that are movably connected to the torso. Although it is biomimetic to a certain extent and can perform actions such as swimming, floating, sinking, and turning underwater, the torso of the aforementioned highly realistic amphibious crocodile-like robot is a single structure that cannot swing. As a result, the crocodile-like robot does not have the flexible spinal swing and has poor swimming ability in water. Summary of the Invention

[0004] The purpose of this invention is to provide an amphibious biomimetic robot to solve the problems existing in the prior art, realize the swinging of the torso, and improve the mobility.

[0005] To achieve the above objectives, the present invention provides the following solution:

[0006] This invention provides an amphibious biomimetic robot, comprising a robot body, which includes a head, a torso, mechanical legs, and a tail. The head is connected to the front end of the torso, the tail is connected to the tail end of the torso, and the mechanical legs are connected to both sides of the torso. The torso includes a spinal swing mechanism and multiple torso segments. The spinal swing mechanism connects the multiple torso segments and can drive relative rotation between adjacent torso segments to achieve the swinging of the torso.

[0007] Preferably, the torso segment is provided with three segments, including a front leg segment, a middle segment, and a rear leg segment arranged sequentially from front to back. The front leg segment and the rear leg segment are rotatably connected to the middle segment. The front end of the front leg segment is connected to the head, and the rear end of the rear leg segment is connected to the tail. The mechanical legs are connected to both sides of the front leg segment and the rear leg segment.

[0008] Preferably, the spinal swing mechanism includes a spinal swing motor, a guide wheel assembly, a pulley assembly, a wire rope, a front connecting rod assembly, a rear connecting rod assembly, and a guide rail slider assembly;

[0009] The guide rail slider assembly includes a guide rail and a slider. The guide rail is disposed at the bottom of the intermediate compartment and extends along the width direction of the intermediate compartment. The slider is slidably disposed on the guide rail. One end of the front linkage assembly is rotatably connected to the slider, and the other end is connected to the front leg compartment. One end of the rear linkage assembly is rotatably connected to the slider, and the other end is connected to the rear leg compartment.

[0010] The pulley groups are provided on both sides of the front leg section and the rear leg section. The steel wire rope is led out from the pulley connected to the spinal swing motor, and is connected to the pulley group on the rear leg section through the guide wheel group and the pulley group on the front leg section.

[0011] Preferably, both the front leg section and the rear leg section include a connecting frame, a torso support frame, a leg fixing frame, a sealing ring, and an end cap. The torso support frame is connected to the intermediate section, and a leg fixing frame is provided on both sides of the torso support frame. The leg fixing frame is used to install the mechanical leg, and an end cap is provided at the end of the leg fixing frame away from the mechanical leg. A sealing element is provided between the end cap and the leg fixing frame. The connecting frame is connected to the end of the torso support frame away from the intermediate section and is used to connect the head or tail.

[0012] The intermediate section includes a body and a cover. The two ends of the body are connected to the torso support frame of the front leg section and the rear leg section, respectively. The cover is installed on the body. A battery is installed inside the body. A switch and a charging / discharging module are installed on the cover. The switch and the charging / discharging module are electrically connected to the battery.

[0013] The torso also includes a front leg section shell, a middle section shell, and a rear leg section shell, which are respectively fitted onto the front leg section, the middle section, and the rear leg section. The front leg section shell, the middle section shell, and the rear leg section shell are shells made by 3D printing after modeling and correcting a crocodile through 3D scanning.

[0014] Preferably, the mechanical leg includes a leg frame comprising a first straight arm segment, a second straight arm segment, and a third straight arm segment. The first straight arm segment is connected to the torso via a first joint power module, which enables the mechanical leg to pitch and swing. One end of the second straight arm segment is connected to the first straight arm segment via a second joint power module, which enables the mechanical leg to swing back and forth. The second straight arm segment contains a third joint power module, which is connected to the third straight arm segment via a connecting flange, and enables the third straight arm segment to swing back and forth. The third straight arm segment contains a cross-axis gear set and a fourth joint power module. The fourth joint power module is connected to the connecting flange via the cross-axis gear set, which converts the axial rotation of the fourth joint power module into vertical rotation, thereby reducing the rotational speed and increasing the torque to achieve the outward rotation of the third straight arm segment.

[0015] Preferably, a three-dimensional force sensor is also provided at the bottom of the third straight arm section, the three-dimensional force sensor being used to measure and provide real-time feedback of the foot contact force;

[0016] The bottom of the third straight boom section is also equipped with shock-absorbing foot pads;

[0017] The mechanical leg also includes a waterproof sleeve, which is fitted over the leg frame and connected to the torso.

[0018] Preferably, the head includes a bionic head shell, a head support frame, a waterproof sealing chamber, a vision sensor module, and a navigation module. The bionic head shell is a shell modeled by scanning the outline of a crocodile in three dimensions and manufactured using a rapid prototyping process. The bionic head shell is fitted onto the head support frame. The vision sensor module is located on the bionic head shell at the position corresponding to the eyes. The navigation module is mounted on the head support frame. The head support frame forms an installation cavity for mounting the waterproof sealing chamber, and the waterproof sealing chamber contains control elements.

[0019] The rear end of the head is connected to the torso via a pitch mechanism, which is used to realize the pitch movement of the head.

[0020] Preferably, the tail section includes a tail drive motor and a tail frame, the tail drive motor being connected to the tail frame for driving the tail frame to swing; wherein, the tail frame includes a drive section and a follower section arranged sequentially from front to back, the drive section having multiple drive section support ribs arranged side by side, and the follower section having multiple follower section support ribs arranged side by side.

[0021] The front end of the tail is connected to the torso via a pitch mechanism, which is used to realize the pitch movement of the tail.

[0022] Preferably, the pitch mechanism includes a pitch motor and a pitch linkage, wherein the pitch motor is connected to the pitch linkage via a transmission mechanism to drive the pitch linkage to rotate up and down;

[0023] The pitch motor is mounted on the torso, and the pitch linkage is used to rotatably connect with the head or tail.

[0024] The transmission mechanism includes a transmission gear set and a lead screw and slider assembly. A slide rail is provided on the top of the pitch motor along the length of the torso. The lead screw and slider assembly includes a lead screw and a slider. The lead screw is parallel to the slide rail, and the slider is mounted on the lead screw and can move along the slide rail. One end of the pitch linkage is rotatably connected to the slider, and the other end is rotatably connected to the head or tail. The output shaft of the pitch motor is connected to one end of the lead screw through the transmission gear set to drive the lead screw to rotate.

[0025] Preferably, it also includes a biomimetic skin structure, which is fitted onto the robot body. The biomimetic skin structure is a skin structure made by modeling and modifying a crocodile through a 3D scan and then using a vacuum casting mold forming process.

[0026] The bionic skin structure includes a bionic skin body, leg bionic skin, and tail bionic skin. The bionic skin body is fitted onto the head and torso of the robot body, the leg bionic skin is fitted onto the mechanical legs, and the tail bionic skin is fitted onto the tail.

[0027] The present invention achieves the following technical effects compared to the prior art:

[0028] In this invention, the torso is divided into multiple torso segments, which are rotatably connected to form a flexible torso. The multiple torso segments are connected by a spinal swing mechanism, which drives the relative rotation between adjacent torso segments, thereby enabling the swinging of the torso and improving the mobility of the amphibious biomimetic robot. Attached Figure Description

[0029] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0030] Figure 1This is an overall assembly drawing (including a partial enlarged view) of the amphibious bionic robot without skin in an embodiment of the present invention.

[0031] Figure 2 for Figure 1 Exploded view of components of a Chinese amphibious biomimetic robot;

[0032] Figure 3 This is an overall schematic diagram of the amphibious bionic robot after skinning is installed in an embodiment of the present invention;

[0033] Figure 4 This is a schematic diagram of the system degrees of freedom of the amphibious biomimetic robot in an embodiment of the present invention;

[0034] Figure 5 This is an exploded view of the head of the amphibious bionic robot in an embodiment of the present invention.

[0035] Figure 6 This is a schematic diagram of the pitching mechanism in an embodiment of the present invention;

[0036] Figure 7 This is an exploded view of the torso of the amphibious bionic robot in an embodiment of the present invention;

[0037] Figure 8 This is a schematic diagram of the rear leg section in an embodiment of the present invention;

[0038] Figure 9 This is a schematic diagram of the spinal swing mechanism in an embodiment of the present invention;

[0039] Figure 10 This is a schematic diagram of the mechanical leg in an embodiment of the present invention;

[0040] Figure 11 This is a schematic diagram showing the connection between the mechanical leg and the leg fixing frame in an embodiment of the present invention;

[0041] Figure 12 This is a schematic diagram of the waterproof sleeve in an embodiment of the present invention;

[0042] Figure 13 This is a schematic diagram of the tail and tail-like bionic skin of the amphibious bionic robot in an embodiment of the present invention.

[0043] Figure 14 This is a schematic diagram of the biomimetic skin structure of the amphibious biomimetic robot in an embodiment of the present invention.

[0044] In the diagram: 10-Head; 110-Bionic head shell; 111-Bionic nose tip; 112-Bionic upper shell; 113-Bionic lower shell; 120-Double C bracket; 121-C-shaped frame; 122-Navigation module mounting bracket; 123-Limiting plate; 124-Pitch mechanism connecting block; 125-End face support plate; 130-Waterproof sealed chamber; 131-Sealed chamber body; 132-Sealed chamber cover; 133-Outer shell mounting post; 140-Vision sensor module; 150-Navigation module; 160-Pitch mechanism; 161-Pitch linkage; 162-Slider; 163-Pitch motor; 164-Lead screw; 165-Transmission gear set;

[0045] 20-Tortoise; 210-Bionic torso shell; 211-Foreleg section shell; 212-Middle section shell; 213-Rear leg section shell; 220-Foreleg section; 230-Rear leg section; 232-Connecting frame; 233-Tortoise support frame; 234-Leg fixing frame; 235-Sealing ring; 236-End cap; 240-Middle section; 241-Carrier body; 242-Carrier cover; 243-Switch and charging / discharging module; 244-Waterproof connector; 250-Spine swing mechanism; 251-Spine swing motor; 252-Guide wheel assembly; 253-Pulley assembly; 254-Wire rope; 255-Front linkage assembly; 256-Guide rail slider assembly; 257-Rear linkage assembly;

[0046] 30-Mechanical leg; 310-First joint power module; 311-First straight arm segment; 312-Second joint power module; 313-Second straight arm segment; 314-Connecting flange; 315-Cross shaft gear set; 316-Fourth joint power module; 317-Third straight arm segment; 318-Three-dimensional force sensor; 319-Rubber shock-absorbing foot pad; 320-Waterproof sleeve;

[0047] 40 - Tail end; 411 - Pitch mechanism connecting rod; 412 - Tail end motor waterproof box; 413 - Motor swing arm; 414 - Drive section support rib; 415 - Follower section support rib;

[0048] 50 - Bionic skin structure; 511 - Bionic skin body; 512 - Bionic skin for legs; 513 - Bionic skin for tail;

[0049] 101 - Head pitch degree of freedom; 201 - Trunk swing degree of freedom; 301 - First straight arm segment pitch degree of freedom; 302 - Second straight arm segment swing degree of freedom; 303 - Third straight arm segment swing degree of freedom; 304 - Third straight arm segment eversion degree of freedom; 401 - Tail pitch degree of freedom; 402 - Tail swing degree of freedom. Detailed Implementation

[0050] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0051] The purpose of this invention is to provide an amphibious biomimetic robot to solve the problems existing in the prior art, realize the swinging of the torso, and improve the mobility.

[0052] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0053] Example 1

[0054] like Figure 1 and Figure 2 As shown, this embodiment provides an amphibious biomimetic robot, specifically a crocodile-like robot. It adopts a split layout and modular design, divided into five sub-modules: a head 10, a torso 20, mechanical legs 30, a tail 40, and a biomimetic skin structure 50. The head 10 is connected to the front of the torso 20, the tail 40 is connected to the tail end of the torso 20, and the mechanical legs 30 are connected to both sides of the torso 20. It should be noted that the above structure is a mature structure in the field and will not be described in detail in this embodiment. In this embodiment, the torso 20 includes a spinal swing mechanism 250 and multiple torso segments. The spinal swing mechanism 250 connects the multiple torso segments and can drive relative rotation between adjacent torso segments to achieve the swinging motion of the torso 20.

[0055] In this embodiment, the torso 20 is divided into multiple torso segments, which are rotatably connected to form a flexible torso. A spinal swing mechanism 250 connects these multiple torso segments and drives relative rotation between adjacent segments, thereby enabling the torso 20 to swing and improving the mobility of the amphibious biomimetic robot. The specific number of torso segments can be selected according to specific operational needs, such as two, three, or four segments.

[0056] As a preferred implementation method, such as Figures 7-9As shown, in this embodiment, the torso section is provided with three segments, including a front leg section 220, a middle section 240, and a rear leg section 230 arranged sequentially from front to back. The front leg section 220 and the rear leg section 230 are rotatably connected to the middle section 240. The front end of the front leg section 220 is connected to the head 10, and the tail end of the rear leg section 230 is connected to the tail 40. Furthermore, a mechanical leg 30 is connected to each side of the front leg section 220 and the rear leg section 230.

[0057] In this embodiment, the front leg section 220 and the rear leg section 230 have the same structure, mainly including a connecting frame 232, a torso support frame 233, a leg fixing frame 234, and an end cap 236. The torso support frame 233 is connected to the intermediate section 240, and a leg fixing frame 234 is provided on both sides of the torso support frame 233. The leg fixing frame 234 is used to install the mechanical leg 30, and an end cap 236 is provided at the end of the leg fixing frame 234 away from the mechanical leg 30. 6. A sealing element is provided between the end cap 236 and the leg fixing frame 234 for sealing, wherein the sealing element is preferably a sealing ring 235; the connecting frame 232 is connected to the end of the torso support frame 233 away from the intermediate section 240, and is used to hinge the head 10 or the tail 40. The connecting frame 232 is also equipped with a pitch mechanism 160, which is connected to the head 10 or the tail 40 to realize the pitch movement of the head 10 or the tail 40.

[0058] It should be further explained that the torso support frame 233 can be bolted to the intermediate section 240, the leg fixing frame 234, and the connecting frame 232, etc., to facilitate disassembly and assembly.

[0059] In this embodiment, the intermediate section 240 mainly includes a cabin body 241, a cover 242, a switch and charging / discharging module 243, a waterproof connector 244, etc. The cabin body 241 houses a battery for powering the amphibious bionic robot. It also contains a voltage regulator module, a control board, a battery power sensor, a temperature and humidity sensor, and other components, while reserving space for other measuring devices. The cabin body 241 is a waterproof structure welded from stainless steel, its main function being to ensure the waterproofing of the components installed within. The components are waterproofed, and the components are connected by wires. The wires are connected to the outside and communicate through waterproof connectors 244. The waterproof connectors 244 are installed on the cover 242, which covers the cabin body 241 and is waterproofed by sealing rings to ensure the airtightness of the cabin. The switch and charging / discharging module 243 are set on the cover 242. The switch and charging / discharging module 243 are electrically connected to the battery for charging and discharging. The cover 242 also has reserved electrical interfaces and a load mounting platform for installing other equipment and loads.

[0060] In this embodiment, the spinal swing mechanism mainly includes a spinal swing motor 251, a guide wheel assembly 252, a pulley assembly 253, a wire rope 254, a front connecting rod assembly 255, a guide rail slider assembly 256, and a rear connecting rod assembly 257. The guide rail slider assembly 256 includes a guide rail and a slider. The guide rail is located at the bottom of the intermediate compartment 240 and extends along the width of the intermediate compartment 240. The slider is slidably mounted on the guide rail. One end of the front connecting rod assembly 255 is rotatably connected to the slider, and the other end is connected to the front leg compartment 220. One end of the rear connecting rod assembly 257 is rotatably connected to the slider, and the other end is connected to the rear leg compartment 230. When the compartment swings, the connecting rod assembly swings along with it, pushing the slider to move on the guide rail. Both the front connecting rod assembly 255 and the rear connecting rod assembly 257 are telescopic connecting rods, allowing them to extend and retract during the swing.

[0061] Both sides of the front leg section 220 and the rear leg section 230 are respectively provided with pulley groups 253. The steel wire rope 254 is led out from the pulley connected to the spinal swing motor 251, and connected to the pulley group 253 on the rear leg section 230 through the guide wheel group 252 and the pulley group 253 on the front leg section 220. The pulley group 253 of the front leg section 220 is a fixed pulley group, and the pulley group 253 of the rear leg section 230 is a movable pulley group. The pulley group 253 amplifies the torque, so only one spinal swing motor 251 is needed to realize the swing of all three sections, thus realizing the overall swing of the torso 20. The spinal swing motor 251 is a waterproof motor and can be mounted on the front leg section 220 via a motor mount.

[0062] In this embodiment, the torso 20 further includes a biomimetic torso shell 210, which includes a front leg section shell 211, a middle section shell 212, and a rear leg section shell 213. The front leg section shell 211, the middle section shell 212, and the rear leg section shell 213 are respectively fitted onto the front leg section 220, the middle section 240, and the rear leg section 230. The front leg section shell 211, the middle section shell 212, and the rear leg section shell 213 are modeled and corrected by scanning a real crocodile in three dimensions and then manufactured by 3D printing, ensuring the biomimetic shape and the streamlined shape of the torso.

[0063] In this embodiment, four mechanical legs 30 are provided, including the left and right front legs located on both sides of the front leg section 220, and the left and right hind legs located on both sides of the rear leg section 230. The four mechanical legs 30 are installed around the torso 20 and are responsible for supporting the weight of the entire amphibious bionic robot. The robot moves by swinging the four mechanical legs 30 in coordination.

[0064] In this embodiment, each of the mechanical legs 30 has four degrees of freedom and is driven by four joint power modules. Specifically, as shown in the example... Figures 10-12 As shown, the mechanical leg 30 includes a leg frame comprising a first straight arm segment 311, a second straight arm segment 313, and a third straight arm segment 317, all of which are machined from aluminum alloy. The first straight arm segment 311 is connected to the torso 20 via a first joint power module 310, which enables the mechanical leg 30 to pitch and swing. The first joint power module 310 is mounted on a leg mounting bracket 234 on the torso 20, and the root of the first straight arm segment 311 is fixed to the flange of the first joint power module 310. One end of the second straight arm segment 313 is connected to the first straight arm segment 311 via a second joint power module 312, which enables the mechanical leg to swing back and forth. The root of the second straight arm segment is fixed to the flange of the second joint power module 312. It also has a built-in third joint power module, which is connected to the third straight boom section 317 via a connecting flange 314. The third joint power module is used to realize the forward and backward swing of the third straight boom section 317. The third straight boom section 317 has a built-in cross shaft gear set 315 and a fourth joint power module 316. The fourth joint power module 316 is connected to the connecting flange 314 via the cross shaft gear set 315. The cross shaft gear set 315 is used to convert the axial rotation of the fourth joint power module 316 into vertical rotation, and has a 1:2 reduction ratio to reduce the speed and increase the torque, so as to realize the outward tilting movement of the third straight boom section 317.

[0065] Furthermore, it should be noted that the four joint power modules mentioned above in this embodiment are composed of a frameless motor, a motor driver, an encoder, and a harmonic reducer, which are mature structures in the field and will not be described in detail in this embodiment; while the cross shaft gear set 315 is composed of two meshing bevel gears.

[0066] In this embodiment, a three-dimensional force sensor 318 is also provided at the bottom of the third straight arm section 317 near the foot. The three-dimensional force sensor 318 is used to measure and provide real-time feedback of the foot contact force. A shock-absorbing foot pad, preferably a rubber shock-absorbing foot pad 319, is also provided at the bottom of the third straight arm section 317 to provide shock absorption and cushioning.

[0067] In this embodiment, the mechanical leg 30 also includes a waterproof sleeve 320. The waterproof sleeve 320 is integrally molded and is fitted onto the leg frame and connected to the leg fixing frame 234, which can achieve overall waterproofing of a single mechanical leg 30. The foot end of the waterproof sleeve 320 contacts the three-dimensional force sensor 318 and is pressed by the rubber shock-absorbing foot pad 319.

[0068] In this embodiment, as Figure 5 As shown, the head 10 includes a bionic head shell 110, a head support frame, a waterproof sealed chamber 130, a visual sensor module 140, and a navigation module 150. The bionic head shell 110 is fitted onto the head support frame and includes a bionic nose tip 111, a bionic upper shell 112, and a bionic lower shell 113. It is modeled by scanning the outline of a real crocodile in three dimensions and manufactured using a rapid prototyping process to ensure the bionic shape and streamlined shape of the head. Radar waves can penetrate the shell, and it has built-in sensors.

[0069] The head support frame can be a double C-bracket 120, which includes a C-shaped frame 121, a navigation module mounting bracket 122, a limiting plate 123, a pitch mechanism connecting block 124, and an end face support plate 125. Two C-shaped frames 121 are arranged side by side, and the limiting plate 123 is disposed between the two C-shaped frames 121 to ensure that the width of the two C-shaped frames 121 is fixed. The navigation module mounting bracket 122 is installed between the tops of the two C-shaped frames 121 for installing the navigation module 150. The end face support plate 125 is disposed between the tail ends of the two C-shaped frames 121 for hinged connection with the torso.

[0070] The waterproof sealed chamber 130 includes a sealed chamber body 131, a sealed chamber cover 132, and an outer shell mounting column 133. The waterproof sealed chamber 130 is mainly welded from a stainless steel shell, and its main function is to ensure waterproofness. It has built-in control elements, which mainly include a main control board and sensors. It is connected to the outside through wires. The sealed chamber cover 132 is connected to the sealed chamber body 131 by screws, and the connection is waterproofed by a sealing rubber ring to ensure waterproofing inside the chamber. The whole chamber is placed in the mounting cavity formed by the double C bracket 120 and is fixedly sealed to the end face support plate 125.

[0071] In this embodiment, the visual sensor module 140 adopts a contour structure that simulates the eyes of a real crocodile. The module shell is made by 3D printing, and the binocular camera is integrated into the inside of the module shell and sealed with sealant. The whole module is installed above the waterproof sealed chamber 130, coinciding with the eye position of the head bionic shell 110 to form a complete head shell. In this embodiment, the visual sensor module 140 enables the robot to have visual perception capabilities, which will be used later to achieve positioning and navigation, as well as to perform reconnaissance and monitoring tasks.

[0072] In this embodiment, the rear end of the head 10 is also connected to the torso 20 via a pitch mechanism 160. The pitch mechanism 160 is used to realize the pitch movement of the head 10 and is installed at the cervical spine position of the robot.

[0073] In this embodiment, as Figure 13 As shown, the tail section 40 mainly includes a tail drive motor and a tail frame. The tail drive motor is connected to the tail frame and is used to drive the tail frame to swing. The tail frame includes a drive section and a follower section arranged sequentially from front to back. Multiple drive section support ribs are arranged side by side on the drive section, and multiple follower section support ribs are arranged side by side on the follower section. Further, the tail drive motor is housed in a waterproof tail motor box 412 for waterproofing. The waterproof tail motor box 412 is composed of a stainless steel shell welded together and a flexible waterproof silicone skin. In this embodiment, the tail drive motor is connected to a motor swing rod 413. The drive section is fixed to the motor swing rod 413 and connected to the follower section through a connecting rod. The rotation of the tail drive motor drives the drive section and its drive section support ribs 414 to swing. The swing of the drive section drives the follower section and its follower section support ribs 415 to swing. When the tail bionic skin is covered and installed on the support ribs, the swing of the tail drives the skin to swing and generate thrust, realizing bionic swimming.

[0074] In this embodiment, the front end of the tail motor waterproof box 412 is hinged to the torso 20, and the top of the front end of the tail motor waterproof box 412 is also connected to the torso through a pitch mechanism 160, which is used to realize the pitch movement of the tail 40.

[0075] In this embodiment, the pitch mechanism 160 mainly includes a pitch motor 163 and a pitch linkage 161. The pitch motor 163 is connected to the pitch linkage 161 through a transmission mechanism to drive the pitch linkage 161 to swing up and down. The pitch motor 163 is a waterproof motor and is mounted on the connecting frame 232 of the torso 20 through a motor mount. The pitch linkage 161 is used to rotatably connect with the head 10 or the tail 40. When the pitch linkage 161 swings up and down, it can drive the head 10 or the tail 40 to perform pitch movement.

[0076] Furthermore, the transmission mechanism may include a transmission gear set 165 and a lead screw and slider assembly. The top of the pitch motor 163 is provided with a slide rail along the length direction of the torso 20. The lead screw and slider assembly includes a lead screw 164 and a slider 162. The lead screw 164 is parallel to the slide rail, and the slider 162 is mounted on the lead screw 164 and can move along the slide rail. The pitch linkage 161 is rotatably connected to the slider 162. The output shaft of the pitch motor 163 is connected to one end of the lead screw through the transmission gear set 165 to drive the lead screw to rotate, thereby driving the slider to move, which in turn drives the pitch linkage 161 to swing up and down, realizing the pitch movement of the head 10 or the tail 40.

[0077] In this embodiment, as Figure 14 As shown, the bionic skin structure 50 is divided into three sub-modules, including a bionic skin body 511, a leg bionic skin 512, and a tail bionic skin 513. The bionic skin body 511 is modeled and modified based on a 3D scan of a real crocodile's head and torso. It is made of polyurethane resin DPI8400 soft rubber using a vacuum casting molding process. A zipper is provided at the bottom for easy wearing, and after being worn, it fits snugly against the head bionic shell 110 and the torso bionic shell 210. The leg bionic skin 512 is modeled and modified based on a 3D scan of a real crocodile's head and torso. The model is created and modified using DPI8400 polyurethane resin soft rubber, and manufactured through a vacuum casting mold process. It is then fitted onto the mechanical leg 30 during use. The biomimetic tail skin 513 is modeled and modified after 3D scanning of a real crocodile. It is also created using DPI8400 polyurethane resin soft rubber, and manufactured through a vacuum casting mold process. During use, it is fitted onto the tail 40 and closely adheres to the drive section support rib 414 and the follower section support rib 415. When the tail 40 swings, it follows suit, exhibiting good flexibility and extensibility.

[0078] In this embodiment, the robot's shape is highly biomimetic through the biomimicry of the outer shell and skin, which facilitates the performance of highly concealed tasks. Furthermore, the buoyancy of the overall structure can be increased after the skin is attached. When swimming in water, the swaying of the tail biomimetic skin 513 provides the thrust for swimming.

[0079] like Figure 4 As shown, the amphibious bionic robot in this embodiment includes 20 active degrees of freedom:

[0080] The head pitch freedom of 101 indicates the connection between the head 10 and the torso 20, and the angle is adjusted by the head pitch mechanism 160.

[0081] The trunk swing degree of freedom 201 indicates the connection method of the front leg section 220, the middle section 240 and the rear leg section 230 of the trunk 20, which is realized by the spinal swing mechanism 250.

[0082] The first straight arm segment has a pitching degree of freedom 301, the second straight arm segment has a swinging degree of freedom 302, the third straight arm segment has a swinging degree of freedom 303, and the third straight arm segment has an outward turning degree of freedom 304. All four mechanical legs 30 have the above four degrees of freedom.

[0083] The tail pitch freedom 401, the angle is adjusted by the pitch mechanism 160 of the tail 40, indicating the connection method between the rear leg section 230 and the tail 40;

[0084] The tail swing has 402 degrees of freedom and is driven by a tail drive motor to achieve tail swing.

[0085] This embodiment employs up to 20 active degrees of freedom, including a head 10 with pitch freedom, mechanical legs 30 with 4 rotational degrees of freedom, a torso 20 with a linked flexible swinging degree of freedom, and a tail 40 with swinging and pitching degrees of freedom. By fully referencing the joint motion degrees of freedom of biomimetic objects, the robot possesses more flexible movement capabilities.

[0086] It should be noted that the locomotion capabilities of the amphibious bionic robot in this embodiment mainly include crawling, swimming, and autonomous entry / exit from the water. The crawling process on land can be achieved through a bionic gait designed using four mechanical legs 30 and a flexible torso 20. Swimming in water can be achieved through the swinging of the tail 40 and the flexible torso 20. Controlling the deflection, swing amplitude, and period of the tail 40 can control the swimming direction and speed. By controlling the swinging of the four mechanical legs 30, the amphibious bionic robot can also achieve... In-water attitude control; autonomous entry and exit from the water can be achieved by crawling on four mechanical legs 30, combined with the pitch freedom of the tail 40 and head 10. During the process of climbing out of the water, the amphibious bionic robot can rely on the pitch support of the tail 40 to adjust its body balance, while the pitch of the head 10 allows the robot to raise its head when approaching the shore, so that the center of the amphibious bionic robot can get as close to the shore as possible and avoid collisions. During the process of entering the water, the pitch of the tail 40 can help adjust the center of gravity and make the body reach a balanced state.

[0087] This invention utilizes a crocodile-inspired biomimetic design, achieving biomimicry not only in appearance but also in motion freedom. Through the design of quadrupedal locomotion, a semi-flexible torso, and a tail, combined with biomimetic gait design, the robot can crawl on land and propel itself in water using a swinging motion. This invention innovates in robot function, structure, and motion control methods. It has been deployed to a real prototype with good results, ultimately achieving a crawling speed exceeding 0.2 m / s, a swimming speed exceeding 0.4 m / s, crawling on an 8° slope, and autonomous entry and exit from water using a slope.

[0088] Specific examples have been used to illustrate the principles and implementation methods of this invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this invention. Furthermore, those skilled in the art will recognize that, based on the ideas of this invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this invention.

Claims

1. An amphibious bionic robot, comprising a robot body, the robot body comprising a head, a trunk, mechanical legs and a tail, the head being connected to a front end of the trunk, the tail being connected to a tail end of the trunk, and the mechanical legs being connected to two sides of the trunk; characterized in that: The torso includes a spinal swing mechanism and multiple torso segments. The spinal swing mechanism connects the multiple torso segments and can drive relative rotation between adjacent torso segments to achieve the swinging of the torso. The torso section is provided with three parts, including a front leg section, a middle section and a rear leg section arranged from front to back. The front leg section and the rear leg section are rotatably connected to the middle section. The front end of the front leg section is connected to the head and the rear end of the rear leg section is connected to the tail. The mechanical legs are connected to both sides of the front leg section and the rear leg section. The spinal swing mechanism includes a spinal swing motor, a guide wheel assembly, a pulley assembly, a wire rope, a front linkage assembly, a rear linkage assembly, and a guide rail slider assembly. The guide rail slider assembly includes a guide rail and a slider. The guide rail is disposed at the bottom of the intermediate compartment and extends along the width direction of the intermediate compartment. The slider is slidably disposed on the guide rail. One end of the front linkage assembly is rotatably connected to the slider, and the other end is connected to the front leg compartment. One end of the rear linkage assembly is rotatably connected to the slider, and the other end is connected to the rear leg compartment. The pulley groups are provided on both sides of the front leg section and the rear leg section. The steel wire rope is led out from the pulley connected to the spinal swing motor, and is connected to the pulley group on the rear leg section through the guide wheel group and the pulley group on the front leg section.

2. The amphibious bionic robot according to claim 1, characterized in that: Both the front leg section and the rear leg section include a connecting frame, a torso support frame, a leg fixing frame, a sealing ring, and an end cap. The torso support frame is connected to the intermediate section, and a leg fixing frame is provided on both sides of the torso support frame. The leg fixing frame is used to install the mechanical leg. An end cap is provided at the end of the leg fixing frame away from the mechanical leg, and a sealing element is provided between the end cap and the leg fixing frame. The connecting frame is connected to the end of the torso support frame away from the intermediate section and is used to connect the head or tail. The intermediate section includes a body and a cover. The two ends of the body are connected to the torso support frame of the front leg section and the rear leg section, respectively. The cover is installed on the body. A battery is installed inside the body. A switch and a charging / discharging module are installed on the cover. The switch and the charging / discharging module are electrically connected to the battery. The torso also includes a front leg section shell, a middle section shell, and a rear leg section shell, which are respectively fitted onto the front leg section, the middle section, and the rear leg section. The front leg section shell, the middle section shell, and the rear leg section shell are shells made by 3D printing after modeling and correcting a crocodile through 3D scanning.

3. The amphibious biomimetic robot according to any one of claims 1-2, characterized in that: The robotic leg includes a leg frame comprising a first straight arm segment, a second straight arm segment, and a third straight arm segment. The first straight arm segment is connected to the torso via a first joint power module, which enables the robotic leg to pitch and swing. One end of the second straight arm segment is connected to the first straight arm segment via a second joint power module, which enables the robotic leg to swing back and forth. The second straight arm segment houses a third joint power module, which is connected to the third straight arm segment via a connecting flange, enabling the third straight arm segment to swing back and forth. The third straight arm segment houses a cross-axis gear set and a fourth joint power module. The fourth joint power module is connected to the connecting flange via the cross-axis gear set, which converts the axial rotation of the fourth joint power module into vertical rotation, thereby reducing the rotational speed and increasing the torque to achieve the outward rotation of the third straight arm segment.

4. The amphibious biomimetic robot according to claim 3, characterized in that: A three-dimensional force sensor is also installed at the bottom of the third straight arm section. The three-dimensional force sensor is used to measure and provide real-time feedback of the foot contact force. The bottom of the third straight boom section is also equipped with shock-absorbing foot pads; The mechanical leg also includes a waterproof sleeve, which is fitted over the leg frame and connected to the torso.

5. The amphibious biomimetic robot according to claim 1, characterized in that: The head includes a bionic head shell, a head support frame, a waterproof sealed chamber, a vision sensor module, and a navigation module. The bionic head shell is a shell modeled by scanning the outline of a crocodile in 3D and manufactured using a rapid prototyping process. The bionic head shell is fitted onto the head support frame. The vision sensor module is located on the bionic head shell at the position corresponding to the eyes. The navigation module is mounted on the head support frame. The head support frame forms an installation cavity for mounting the waterproof sealed chamber, which contains control components. The rear end of the head is connected to the torso via a pitch mechanism, which is used to realize the pitch movement of the head.

6. The amphibious biomimetic robot according to claim 1, characterized in that: The tail section includes a tail drive motor and a tail frame. The tail drive motor is connected to the tail frame and is used to drive the tail frame to swing. The tail frame includes a drive section and a follower section arranged sequentially from front to back. Multiple drive section support ribs are arranged side by side on the drive section, and multiple follower section support ribs are arranged side by side on the follower section. The front end of the tail is connected to the torso via a pitch mechanism, which is used to realize the pitch movement of the tail.

7. The amphibious biomimetic robot according to claim 5 or 6, characterized in that: The pitch mechanism includes a pitch motor and a pitch linkage. The pitch motor is connected to the pitch linkage through a transmission mechanism to drive the pitch linkage to rotate up and down. The pitch motor is mounted on the torso, and the pitch linkage is used to rotatably connect with the head or tail. The transmission mechanism includes a transmission gear set and a lead screw and slider assembly. A slide rail is provided on the top of the pitch motor along the length of the torso. The lead screw and slider assembly includes a lead screw and a slider. The lead screw is parallel to the slide rail, and the slider is mounted on the lead screw and can move along the slide rail. One end of the pitch linkage is rotatably connected to the slider, and the other end is rotatably connected to the head or tail. The output shaft of the pitch motor is connected to one end of the lead screw through the transmission gear set to drive the lead screw to rotate.

8. The amphibious biomimetic robot according to claim 1, characterized in that: It also includes a biomimetic skin structure, which is fitted onto the robot body. The biomimetic skin structure is a skin structure made by modeling and modifying a crocodile through a 3D scan and then using a vacuum casting mold forming process. The bionic skin structure includes a bionic skin body, leg bionic skin, and tail bionic skin. The bionic skin body is fitted onto the head and torso of the robot body, the leg bionic skin is fitted onto the mechanical legs, and the tail bionic skin is fitted onto the tail.

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