Multi-mode hybrid motion bionic underwater robot

Abstract

The invention discloses a multi-mode hybrid motion bionic underwater robot, and relates to the technical field of underwater robots, the multi-mode hybrid motion bionic underwater robot comprises a body, a suspension assembly and a driving assembly, the body comprises a bionic fish head, a bionic fish body and a bionic fish tail which are connected in sequence, and a first gap exists between the bionic fish head and the bionic fish body; a second gap is formed between the bionic fish body and the bionic fish tail; the suspension assembly comprises a flexible oil bag located in the first gap and / or the second gap, and an oil control assembly communicating with the flexible oil bag and controlling expansion and contraction of the flexible oil bag. The driving assembly comprises side fins arranged on the two sides of the bionic fish body, a first driving module connected with and driving the side fins, a fluctuation fin located at the bottom of the bionic fish body and a second driving module connected with and driving the fluctuation fin, and when the robot is in a low-electric-quantity or low-power-consumption mode, the flexible oil bag can be matched with the fluctuation fin or the side fins to achieve gliding motion. The longer endurance is ensured; and when a certain drive fails, the task can be continued to be executed, so that the interference of an underwater environment is reduced.

Description

Technical Field

[0001] The invention relates to the technical field of underwater robots, and in particular to a multi-modal hybrid motion bionic underwater robot. Background Art

[0002] With the continuous development of science and technology and economy, human beings have a growing demand for ocean exploration. Underwater robots can be used as an important technical means to replace humans in various underwater operations, and their research and development and application prospects are broad. For example, in the civilian field, underwater robots can perform economic tasks such as underwater resource exploration, environmental monitoring, underwater construction, and underwater rescue; in the military field, underwater robots can perform reconnaissance and surveillance, anti-submarine warfare, mine removal and other combat tasks.

[0003] Traditional underwater propulsion methods such as propellers and jets have disadvantages such as high noise and large environmental disturbances. At the same time, propeller propulsion can easily cause damage to the driver in certain complex underwater environments, such as those with a lot of aquatic plants and sand and stones, thereby reducing the robot's movement efficiency. In addition, traditional underwater robots are energy-constrained, which makes it impossible to operate underwater for a long time, and have the disadvantage of short battery life.

[0004] Therefore, how to provide a multi-modal hybrid motion bionic underwater robot to at least partially solve the above-mentioned drawbacks is a technical problem that technical personnel in this field currently need to solve. Summary of the invention

[0005] The purpose of the present invention is to provide a multi-modal hybrid motion bionic underwater robot, which can realize the gliding, wave, flapping and hybrid motion modes of the bionic underwater robot to adapt to the changeable underwater environment, can ensure longer endurance, and perform long-term complex tasks. Even if a certain drive fails, it can continue to perform the task, reduce the interference from the underwater environment, and improve the robot's movement efficiency.

[0006] To achieve the above object, the present invention provides a multi-modal hybrid motion bionic underwater robot, comprising:

[0007] The body comprises a bionic fish head, a bionic fish body and a bionic fish tail which are connected in sequence, wherein a first gap exists between the bionic fish head and the bionic fish body, and a second gap exists between the bionic fish body and the bionic fish tail;

[0008] A suspension component, comprising a flexible oil bag located in the first gap and / or located in the second gap, and an oil control component connected to and controlling the expansion and contraction of the flexible oil bag;

[0009] The driving assembly comprises side fins arranged on both sides of the bionic fish body, a first driving module connected to and driving the side fins, an undulating fin located at the bottom of the bionic fish body, and a second driving module connected to and driving the undulating fin.

[0010] Preferably, the flexible oil bladder comprises:

[0011] An oil bladder cover is clamped to the bionic fish body, and the oil bladder cover includes an interface extending into the interior of the bionic fish body for fluid to enter and exit;

[0012] Oil film with deformation ability;

[0013] The pressure plate is used to fix the oil film to the side of the oil bag cover facing away from the bionic fish body, so that the oil film and the oil bag cover form a cavity structure connected to the interface.

[0014] Preferably, the oil control component is located inside the bionic fish body, and the oil control component includes:

[0015] A flexible bladder capable of deforming to store fluid;

[0016] An oil pump connected to the flexible bladder and providing fluid flow power;

[0017] The reversing valve is connected to the oil pump and the reversing valve is connected to the interface through an oil pipe.

[0018] Preferably, there are four side fins, which are symmetrically distributed at the front and rear ends of both sides of the bionic fish body.

[0019] Preferably, the first driving module includes:

[0020] A servo fixed inside the bionic fish body via a fixing plate;

[0021] A steering wheel connected to the output end of the servo;

[0022] A rotating shaft connected to the steering disc and the side fins and driving the side fins and the steering disc to swing synchronously.

[0023] Preferably, the first driving module further includes:

[0024] A first sleeve is sleeved on the rotating shaft and one end of which is inserted into the bionic fish body, and a sealing ring is provided between the other end of the first sleeve and the bionic fish body;

[0025] The end cover is located inside the bionic fish body to connect and fix the end cover of the first sleeve.

[0026] Preferably, the second driving module comprises a first driver connected to the bionic fish head and located in the first gap, and a second driver connected to the bionic fish tail and located in the second gap;

[0027] The first driver comprises a first frame, a first power source fixed to the first frame, and a first transmission assembly connected to an output end of the first power source, wherein the first transmission assembly comprises a first output shaft facing the bionic fish body;

[0028] The second driver comprises a second frame, a second power source fixed to the second frame, and a second transmission assembly connected to an output end of the second power source, wherein the second transmission assembly comprises a second output shaft facing the bionic fish body;

[0029] The first transmission assembly and the second transmission assembly are specifically a combination of one or more of a gear transmission structure, a belt transmission structure, and a chain transmission structure.

[0030] Preferably, the second driving module further comprises a driving rod assembly, and the driving rod assembly comprises:

[0031] A transmission shaft connected to the first output shaft, the transmission shaft is provided with a plurality of cam transmission assemblies spaced apart from each other, the cam transmission assemblies are connected to the wave fins through clamping mechanisms, and adjacent clamping mechanisms are arranged at an angle;

[0032] A second sleeve connected to the second output shaft is rotatably sleeved on the transmission shaft and is connected to the front and rear ends of the wave fin.

[0033] Preferably, the top of the bionic fish body is provided with a charging connector, an airtight test head for detecting the airtightness inside the bionic fish body, a water depth sensor for detecting the water depth, and a communication connector for data transmission.

[0034] Preferably, a support assembly is provided inside the bionic fish body, so that a cavity structure is formed between the support assembly and the top cover of the bionic fish body, and the cavity structure is used to place the control board and the battery connected to the charging connector.

[0035] Compared with the above-mentioned background technology, the multimodal hybrid motion bionic underwater robot provided by the present invention includes a main body, a suspension component and a driving component. The main body includes a bionic fish head, a bionic fish body and a bionic fish tail connected in sequence. There is a first gap between the bionic fish head and the bionic fish body, and a second gap between the bionic fish body and the bionic fish tail; the suspension component includes a flexible oil bag located in the first gap and / or located in the second gap, and an oil control component connected to and controlling the expansion and contraction of the flexible oil bag; the driving component includes side fins arranged on both sides of the bionic fish body, a first driving module connected to and driving the side fins, an undulating fin located at the bottom of the bionic fish body, and a second driving module connected to and driving the undulating fin.

[0036] Specifically, the flexible oil bladder can realize the robot's vertical sinking and floating functions; the undulating fins are suitable for fast movement scenarios, such as quickly entering or escaping from the target area; the side fins ensure that the robot has better balance while making the robot's movement posture more flexible; by designing flexible oil bladders and oil control components that control the expansion and contraction of the flexible oil bladders, undulating fins and a second drive module that connects and drives the undulating fins, side fins and a first drive module that connects and drives the side fins, the bionic underwater robot's gliding, undulating, flapping and mixed motion modes are realized, so as to adapt to the changing underwater environment and perform long-term complex tasks; when the robot is in low-power or low-power consumption mode, the flexible oil bladder can cooperate with the undulating fins or side fins to achieve gliding motion to ensure longer endurance; even if a certain drive fails, it can continue to perform the task and reduce interference from the underwater environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0038] FIG1 is a schematic structural diagram of a multi-modal hybrid motion bionic underwater robot provided by an embodiment of the present invention;

[0039] FIG2 is a schematic diagram of the structure of a first driver provided in an embodiment of the present invention;

[0040] FIG3 is an exploded view of a first driver provided by an embodiment of the present invention;

[0041] FIG4 is a schematic structural diagram of a bionic fish body provided by an embodiment of the present invention;

[0042] FIG5 is an exploded view of a bionic fish body provided by an embodiment of the present invention;

[0043] FIG6 is a schematic structural diagram of a first driving module provided in an embodiment of the present invention;

[0044] FIG7 is an exploded view of a first driving module provided in an embodiment of the present invention;

[0045] FIG8 is a schematic diagram of the structure of a second driver provided in an embodiment of the present invention;

[0046] FIG9 is an exploded view of a second driver provided by an embodiment of the present invention;

[0047] FIG. 10 is a schematic structural diagram of a driving rod assembly provided in an embodiment of the present invention.

[0048] in:

[0049] 1. Bionic fish head; 2. First drive; 3. Bionic fish body; 4. Side fins; 5. Second drive; 6. Bionic fish tail; 7. Wave fins;

[0050] 21. first waterproof cover; 22. first mounting plate; 23. first protective cover; 24. first spur gear; 25. first bearing; 26. second rotating shaft; 27. first rotating shaft; 28. swing motor mounting plate; 29. ​​swing motor; 210. third spur gear; 211. second spur gear; 212. third bearing; 213. second bearing; 214. third rotating shaft;

[0051] 31. Charging connector; 32. Airtight test head; 33. Top cover; 34. Water depth sensor; 35. Switch; 36. Communication connector; 37. Oil bag cover; 38. Sealing chamber; 39. Pressure plate; 310. Oil film; 311. Wire hole; 312. Reversing valve; 313. Oil pump; 314. Flexible bag; 315. Copper column; 316. Partition.

[0052] 41. Side fin; 42. First sleeve; 43. End cover; 44. Rotating shaft; 45. Servo; 46. Fixed plate; 47. Steering disc.

[0053] 51. Second protective cover; 52. Second mounting plate; 53. Second waterproof cover; 54. Driving motor; 55. Fourth rotating shaft; 56. Fourth bearing; 57. Fourth spur gear; 58. Sixth spur gear; 59. Fifth spur gear; 510. Sixth bearing; 511. Fifth bearing; 512. Sixth rotating shaft; 513. Fifth rotating shaft.

[0054] 71. First connector; 72. Transmission shaft; 73. Second sleeve; 74. Cam transmission assembly; 75. Second connector; 76. Clamping mechanism. DETAILED DESCRIPTION

[0055] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0056] In order to enable those skilled in the art to better understand the scheme of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0057] In the description of the present invention, it is necessary to understand that the directions or positional relationships indicated by terms such as “upper”, “lower”, “front”, “backward”, “left” and “right” are based on the directions or positional relationships shown in the accompanying drawings and are only for the convenience of describing the present invention and simplifying the description. They do not indicate or imply that the positions or elements referred to must have a specific direction, be constructed and operate in a specific direction. Therefore, they should not be understood as limitations of the present invention.

[0058] The purpose of the present invention is to provide a multi-modal hybrid motion bionic underwater robot, which can realize the gliding, wave, flapping and hybrid motion modes of the bionic underwater robot to adapt to the changeable underwater environment, can ensure longer endurance, and perform long-term complex tasks. Even if a certain drive fails, it can continue to perform the task, reduce the interference from the underwater environment, and improve the robot's movement efficiency.

[0059] Please refer to FIG. 1 . To achieve the above-mentioned purpose, the present invention provides a multi-modal hybrid motion bionic underwater robot, comprising a body, a suspension component and a drive component.

[0060] The main body comprises a bionic fish head 1 , a bionic fish body 3 , and a bionic fish tail 6 which are connected in sequence. There is a first gap between the bionic fish head 1 and the bionic fish body 3 , and there is a second gap between the bionic fish body 3 and the bionic fish tail 6 .

[0061] Among them, the bionic fish head 1 and the bionic fish tail 6 both adopt a streamlined structure, which plays a role in protection and reducing resistance. The bionic fish body 3 is used to provide a sealed environment. The bionic fish body 3 includes a sealed chamber 38 and a top cover 33 arranged on the top of the sealed chamber 38. The sealed chamber 38 has a accommodating space, and a wire hole 311 for passing the line can be set on the sealed chamber 38.

[0062] The suspension component comprises a flexible oil bag located in the first gap and / or in the second gap, and an oil control component which is in communication with and controls the expansion and contraction of the flexible oil bag.

[0063] The driving assembly includes side fins 41 arranged on both sides of the bionic fish body 3 , a first driving module connected to and driving the side fins 41 , an undulating fin 7 located at the bottom of the bionic fish body 3 , and a second driving module connected to and driving the undulating fin 7 .

[0064] The flexible oil bladder can realize the vertical sinking and floating function of the robot; the undulating fin 7 is suitable for fast movement scenarios, such as quickly entering or escaping from the target area; the side fin 41 ensures that the robot has better balance while making the robot's movement posture more flexible; by designing a flexible oil bladder and an oil control component that controls the expansion and contraction of the flexible oil bladder, the undulating fin 7 and a second drive module that connects and drives the undulating fin 7, the side fin 41 and a first drive module that connects and drives the side fin 41, the bionic underwater robot's gliding, undulating, flapping and mixed motion modes are realized, so as to adapt to the changing underwater environment and perform long-term complex tasks; when the robot is in low-power or low-power consumption mode, the flexible oil bladder can cooperate with the undulating fin 7 or the side fin 41 to realize gliding motion to ensure longer battery life; even if a certain drive fails, it can continue to perform the task and reduce interference from the underwater environment.

[0065] Please refer to Figures 4 and 5. In this embodiment, the flexible oil bladder includes an oil bladder cover 37 that is snap-connected to the bionic fish body 3, an oil film 310 with deformation ability, and a pressure plate 39 for fixing the oil film 310 to the side of the oil bladder cover 37 away from the bionic fish body 3. The oil bladder cover 37 includes an interface extending into the interior of the bionic fish body 3 for fluid to enter and exit; the pressure plate 39 allows the oil film 310 and the oil bladder cover 37 to form a cavity structure connected to the interface.

[0066] The oil bag cover 37 can provide basic support for the overall deformation of the flexible oil bag. The edge of the oil film 310 is fixed on the circumference of the oil bag cover 37 through the pressure plate 39, forming a closed space together to prevent hydraulic oil leakage. At the same time, the oil film 310 is always in the first gap or the second gap during the expansion and contraction process, achieving a sinking and floating effect.

[0067] The oil control component is located inside the bionic fish body 3, and includes a flexible sac 314 with deformation ability to store fluid, an oil pump 313 connected to the flexible sac 314 and providing fluid flow power, and a reversing valve 312 connected to the oil pump 313, and the reversing valve 312 is connected to the interface through an oil pipe.

[0068] The flexible sac 314 is used to store and discharge hydraulic oil. When the overall volume of the flexible oil sac needs to be increased to increase the buoyancy of the entire robot, the hydraulic oil in the flexible oil sac 314 is discharged to the inside of the flexible oil sac through the oil pump 313 and the reversing valve 312 to expand the oil film 310; when the overall volume of the flexible oil sac needs to be reduced to reduce the buoyancy of the entire robot, the hydraulic oil in the flexible oil sac is stored in the flexible sac 314 through the oil pump 313 and the reversing valve 312, and the oil film 310 returns to its natural state. The volumes of the flexible oil sacs located in the first gap and the second gap can also be controlled separately as needed to meet the needs of various scenarios.

[0069] In addition, a support assembly is provided inside the bionic fish body 3, and the support assembly includes a partition 316 and copper columns 315 arranged around the bottom of the partition 316. The partition 316 is suspended inside the bionic fish body 3 through the connection between the copper columns 315 and the bottom of the bionic fish body 3. A cavity structure is formed between the partition 316 in the support assembly and the top cover 33 of the bionic fish body 3, and the cavity structure is used to place the control board and the battery.

[0070] The oil control component and the first driving module can be arranged between the bottom of the bionic fish body 3 and the partition 316, and the control board and the battery are arranged between the partition 316 and the top cover 33 to form a relatively independent module to avoid crushing the flexible capsule 314.

[0071] The top of the bionic fish body 3 is provided with a charging connector 31, an airtight test head 32 for detecting the airtightness inside the bionic fish body 3, a water depth sensor 34 for detecting the water depth, a communication connector 36 for data transmission, and a switch 35 for controlling whether the robot is running or not. Corresponding mounting holes are provided on the top cover 33 for positioning and installing the charging connector 31, the airtight test head 32, the water depth sensor 34, the communication connector 36, and the switch 35. The charging connector 31 is connected to the battery to charge the battery.

[0072] Please refer to Figures 6 and 7. In this embodiment, the first driving module includes a servo 45 fixed to the inside of the bionic fish body 3 through a fixing plate 46, a steering wheel 47 connected to the output end of the servo 45, and a rotating shaft 44 connected to the steering wheel 47 and the side fins 41 and driving the side fins 41 and the steering wheel 47 to swing synchronously.

[0073] There are four side fins 41 symmetrically distributed at the front and rear ends of both sides of the bionic fish body 3 . The steering wheel 47 is driven to move by the steering gear 45 , thereby driving the rotating shaft 44 and the side fins 41 to swing synchronously.

[0074] In order to prevent moisture from entering the bionic fish body 3 along the rotating shaft 44 , the first driving module also includes a first sleeve 42 which is sleeved on the rotating shaft 44 and one end of which is inserted into the bionic fish body 3 , and an end cover 43 located inside the bionic fish body 3 to connect and fix the first sleeve 42 .

[0075] A sealing ring is provided between the other end of the first sleeve 42 and the bionic fish body 3. The end cover 43 connected to the first sleeve 42 is located inside the bionic fish body 3. Through the abutment between the end cover 43 and the bionic fish body 3, the other end of the first sleeve 42 can press the sealing ring to the outside of the bionic fish body 3 to achieve a waterproof effect.

[0076] The second driving module includes a first driver 2 connected to the bionic fish head 1 and located in the first gap, and a second driver 5 connected to the bionic fish tail 6 and located in the second gap.

[0077] The first driver 2 includes a first frame, a first power source fixed to the first frame, and a first transmission assembly connected to the output end of the first power source, wherein the first transmission assembly includes a first output shaft facing the bionic fish body 3; the second driver 5 includes a second frame, a second power source fixed to the second frame, and a second transmission assembly connected to the output end of the second power source, wherein the second transmission assembly includes a second output shaft facing the bionic fish body 3, wherein the first transmission assembly and the second transmission assembly are specifically a combination of one or more gear transmission structures, belt transmission structures, and chain transmission structures, the first frame and the bionic fish head 1 are smoothly connected, and the second frame and the bionic fish tail 6 are smoothly connected to reduce the resistance when the robot moves.

[0078] Please refer to Figures 2 and 3. The first frame includes a first frame body, a first mounting plate 22 disposed on the side of the first frame body away from the bionic fish body 3, and a first protective cover 23 disposed on the side of the first mounting plate 22 away from the frame body. Taking the gear transmission structure as an example, the first power source can be a swing motor 29, and is fixed to the first frame body through a swing motor mounting plate 28. The first mounting plate 22 is provided with a bearing fixing position for fixing the first bearing 25, the second bearing 213, and the third bearing 212. The first protective cover 23 is provided with a first spur gear 24 corresponding to the first bearing 25, a first spur gear 25 corresponding to the second bearing 213, and a first spur gear 26 corresponding to the second bearing 213. The second spur gear 211 and the third spur gear 210 corresponding to the third bearing 212 are passed through the first shaft 27 through the first bearing 25 and the first spur gear 24, the second shaft 26 is passed through the second bearing 213 and the second spur gear 211, and the third shaft 214 is passed through the third bearing 212 and the third spur gear 210, so that when the output end of the swing motor 29 drives the first shaft 27 to rotate, the third shaft 214 is driven to rotate through the meshing of the first spur gear 24 and the second spur gear 211, and the meshing of the second spur gear 211 and the third spur gear 210, and the third shaft 214 can be used as the first output shaft for subsequent power transmission.

[0079] Please refer to Figures 8 and 9. Similarly, the second frame includes a second frame body, a second mounting plate 52 disposed on the side of the second frame body away from the bionic fish body 3, and a second protective cover 51 disposed on the side of the second mounting plate 52 away from the frame body. The second power source can be a driving motor 54, and is fixed to the second frame body through the driving motor mounting plate. The second mounting plate 52 is provided with a bearing fixing position for fixing the fourth bearing 56, the fifth bearing 511, and the sixth bearing 510. The second protective cover 51 is provided with a fourth spur gear 57 corresponding to the fourth bearing 56, a fifth spur gear 57 corresponding to the fifth bearing 511, and a sixth bearing 510. The gear 59 and the sixth spur gear 58 corresponding to the sixth bearing 510 are passed through the fourth bearing 56 and the fourth spur gear 57 through the fourth rotating shaft 55, the fifth rotating shaft 513 is passed through the fifth bearing 511 and the fifth spur gear 59, and the sixth rotating shaft 512 is passed through the sixth bearing 510 and the sixth spur gear 58, so that when the output end of the driving motor 54 drives the fourth rotating shaft 55 to rotate, the sixth rotating shaft 512 is driven to rotate through the meshing of the fourth spur gear 57 and the fifth spur gear 59, and the meshing of the fifth spur gear 59 and the sixth spur gear 58, and the sixth rotating shaft 512 can be used as the second output shaft for subsequent power transmission.

[0080] A first waterproof cover 21 may be added to the first frame body and the first mounting plate 22 to protect the first power source and the first transmission assembly inside. A second waterproof cover 53 may be added to the second frame body and the second mounting plate 52 to protect the second power source and the second transmission assembly inside.

[0081] Please refer to Figure 10. It should be noted that the second driving module also includes a driving rod assembly, which includes a transmission shaft 72 connected to the first output shaft, and a second sleeve 73 connected to the second output shaft. The transmission shaft 72 is provided with a first connecting head 71 connected to the first output shaft, and the second sleeve 73 is provided with a second connecting head 75 connected to the second output shaft.

[0082] A plurality of cam transmission assemblies 74 are provided on the transmission shaft 72 at intervals. The cam transmission assemblies 74 are connected to the wave fin 7 through a clamping mechanism 76. Adjacent clamping mechanisms 76 are arranged at an angle. The second sleeve 73 is rotatably sleeved on the transmission shaft 72. The second sleeve 73 is connected to the front and rear ends of the wave fin 7.

[0083] There are two types of driving modules for the undulating fin 7. One is used to provide the power required for propulsion during the movement of the undulating fin 7, which is specifically reflected in the power that makes the undulating fin 7 vibrate to generate power to propel the robot, and is realized by the power transmitted from the first output shaft to the transmission shaft 72. The other is used to provide the power required for posture adjustment during the movement of the undulating fin 7 of the robot, which is specifically reflected in the posture adjustment of the undulating fin 7, such as angular rotation in the left and right directions. The undulating fin 7 of the robot can achieve a deflection in the range of 0 to 180 degrees, realizing the robot's forward, backward, turning, left / right swing, etc., which is realized by the power transmitted from the second output shaft to the second sleeve 73. The difference in the initial angles of the installation of adjacent clamping mechanisms 76 is θ, and is the same as the maximum swing angle θ of the transmission shaft 72.

[0084] In short, the first output shaft drives the clamping mechanism 76 to drive the wave fin 7 to move. At this time, the movements of the clamping mechanism 76 and the wave fin 7 body are relative to the driving rod assembly; the second output shaft drives the wave fin 7 to move. At this time, the movements of the second sleeve 73, the clamping mechanism 76 and the wave fin 7 are relative to the robot.

[0085] In summary, the multi-modal hybrid motion bionic underwater robot provided by the present invention realizes the underwater advancement of the robot by at least one of the following three methods: the undulating fin 7 moves at different undulating frequencies, the side fin 41 moves periodically at the same angle at different frequencies with the horizontal direction of the robot as the center, and the side fin 41 moves periodically at different angles with the horizontal direction of the robot as the center; the robot turns underwater by at least one of the following three methods: the undulating fin 7 deflects at different angles along the plumb direction of the robot, the side fins 41 on the left and right sides of the robot move at different frequencies, and the side fins 41 on the left and right sides of the robot move at different angles; the lateral movement of the robot underwater is realized by the deflection of the undulating fin 7 to the horizontal state of the robot; the dynamic sinking and floating of the robot underwater is realized by at least one of the following methods: only the oil bag works when the battery is low, the side fin 41 swings at an oblique upward angle, the side fin 41 swings at an oblique downward angle, and the undulating fin 7 cooperates with the oil bag and / or the side fin 41; the vertical sinking and floating of the robot underwater is realized by the side fin 41 being in a plumb state, the hydraulic oil is discharged or sucked into the bionic fish body 3, and / or the side fin 41 makes a reciprocating periodic motion with the plumb direction of the robot as the midline.

[0086] It should be noted that, in this specification, relational terms such as first and second are merely used to distinguish one entity from other entities, but do not necessarily require or imply any actual relationship or order between these entities.

[0087] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0088] The principles and implementation methods of the present invention are described in this article using specific examples. The description of the above embodiments is only used to help understand the method and core ideas of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made to the present invention without departing from the principles of the present invention, and these improvements and modifications also fall within the scope of protection of the present invention.

Claims

1. A multi-modal hybrid motion bionic underwater robot, characterized in that: include: The body comprises a bionic fish head, a bionic fish body and a bionic fish tail which are connected in sequence, wherein there is a first gap between the bionic fish head and the bionic fish body, and there is a second gap between the bionic fish body and the bionic fish tail; A suspension component, comprising a flexible oil bag located in the first gap and / or located in the second gap, and an oil control component connected to and controlling the expansion and contraction of the flexible oil bag; The driving assembly comprises side fins arranged on both sides of the bionic fish body, a first driving module connected to and driving the side fins, an undulating fin located at the bottom of the bionic fish body, and a second driving module connected to and driving the undulating fin.

2. The multi-modal hybrid motion bionic underwater robot according to claim 1, characterized in that: The flexible oil bag comprises: An oil bladder cover is clamped to the bionic fish body, and the oil bladder cover includes an interface extending into the interior of the bionic fish body for fluid to enter and exit; Oil film with deformation ability; The oil film is fixed to a pressure plate on the side of the oil bag cover facing away from the bionic fish body, so that the oil film and the oil bag cover form a cavity structure connected to the interface.

3. The multi-modal hybrid motion bionic underwater robot according to claim 2, characterized in that: The oil control component is located inside the bionic fish body, and the oil control component includes: A flexible bladder capable of deforming to store fluid; An oil pump connected to the flexible bladder and providing fluid flow power; The reversing valve is connected to the oil pump, and the reversing valve is connected to the interface through an oil pipe.

4. The multi-modal hybrid motion bionic underwater robot according to claim 2, characterized in that: There are four side fins, which are symmetrically distributed at the front end and the rear end of both sides of the bionic fish body.

5. The multi-modal hybrid motion bionic underwater robot according to any one of claims 1 to 4, characterized in that: The first driving module comprises: A steering gear fixed inside the bionic fish body via a fixing plate; A steering wheel connected to the output end of the steering gear; A rotating shaft is connected to the steering disc and the side fins and drives the side fins and the steering disc to swing synchronously.

6. The multi-modal hybrid motion bionic underwater robot according to claim 5, characterized in that: The first driving module further includes: A first sleeve is sleeved on the rotating shaft and one end of which is inserted into the bionic fish body, and a sealing ring is provided between the other end of the first sleeve and the bionic fish body; The end cover is located inside the bionic fish body to connect and fix the end cover of the first sleeve.

7. The multi-modal hybrid motion bionic underwater robot according to claim 5, characterized in that: The second driving module includes a first driver connected to the bionic fish head and located in the first gap, and a second driver connected to the bionic fish tail and located in the second gap; The first driver comprises a first frame, a first power source fixed to the first frame, and a first transmission assembly connected to an output end of the first power source, wherein the first transmission assembly comprises a first output shaft facing the bionic fish body; The second driver comprises a second frame, a second power source fixed to the second frame, and a second transmission assembly connected to an output end of the second power source, wherein the second transmission assembly comprises a second output shaft facing the bionic fish body; The first transmission assembly and the second transmission assembly are specifically a combination of one or more gear transmission structures, belt transmission structures, and chain transmission structures.

8. The multi-modal hybrid motion bionic underwater robot according to claim 7, characterized in that: The second driving module further includes a driving rod assembly, and the driving rod assembly includes: A transmission shaft connected to the first output shaft, the transmission shaft being provided with a plurality of cam transmission assemblies spaced apart from each other, the cam transmission assemblies being connected to the wave fins via clamping mechanisms, and adjacent clamping mechanisms being arranged at an angle; A second sleeve is connected to the second output shaft, the second sleeve is rotatably sleeved on the transmission shaft, and the second sleeve is connected to the front end and the rear end of the wave fin.

9. The multi-modal hybrid motion bionic underwater robot according to any one of claim 7, characterized in that: The top of the bionic fish body is provided with a charging connector, an airtight test head for detecting the airtightness inside the bionic fish body, a water depth sensor for detecting the water depth, and a communication connector for data transmission.

10. The multi-modal hybrid motion bionic underwater robot according to claim 9, characterized in that: A support component is provided inside the bionic fish body, so that a cavity structure is formed between the support component and the top cover of the bionic fish body, and the cavity structure is used to place a control board and a battery connected to the charging connector.

Images