A multi-modal hybrid motion bionic underwater robot

Abstract

The present invention discloses a multimodal hybrid motion bionic underwater robot, which relates to the technical field of underwater robots. The robot comprises a main body, a suspension component and a drive component. The main body comprises a bionic fish head, a bionic fish body and a bionic fish tail which are 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 comprises a flexible oil bag located in the first gap and / or in the second gap, and an oil control component which is connected to and controls the expansion and contraction of the flexible oil bag. The drive component comprises side fins arranged on both sides of the bionic fish body, a first drive module which is connected to and drives the side fins, an undulating fin located at the bottom of the bionic fish body, and a second drive module which is connected to and drives the undulating fin. When the robot is in low power or low power consumption mode, the flexible oil bag can cooperate with the undulating fin or the side fin to achieve gliding motion to ensure longer endurance. Even if a certain drive fails, the robot can continue to perform its mission and reduce interference from the underwater environment.

Description

Technical Field

[0001] The present 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, technology, and the economy, humanity's demand for ocean exploration is growing. Underwater robots (AUVs) can serve as an important technical means of replacing humans in various underwater operations, and their research, development, and application prospects are broad. For example, in the civilian sector, AUVs can perform economic tasks such as underwater resource exploration, environmental monitoring, underwater construction, and underwater rescue.

[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 them unable to operate underwater for a long time and have the disadvantage of short battery life.

[0004] Therefore, how to provide a multimodal hybrid motion bionic underwater robot to at least partially solve the above-mentioned drawbacks is a technical problem that those skilled in the art 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 that can realize the gliding, waving, flapping and hybrid motion modes of the bionic underwater robot to adapt to the changeable underwater environment, ensure longer endurance, and perform long-term complex tasks. Even if a certain drive fails, it can continue to perform the task, reduce 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 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] The suspension assembly includes a flexible oil bag located in the first gap and / or in the second gap, and an oil control assembly communicating with and controlling the expansion and contraction of the flexible oil bag;

[0009] The driving assembly 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.

[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 inlet and outlet;

[0012] Deformable oil film;

[0013] It is used to fix the oil film to the pressure plate on the side of the oil bladder cover away from the bionic fish body, so that the oil film and the oil bladder 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 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 wheel and the side fins and driving the side fins and the steering wheel 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 the first sleeve 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 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;

[0027] The first driver includes 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 includes a first output shaft facing the bionic fish body;

[0028] The second driver includes 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 includes 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 gear transmission structures, belt transmission structures, and chain transmission structures.

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

[0031] A transmission shaft connected to the first output shaft is 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, with adjacent clamping mechanisms being arranged at an angle;

[0032] The 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 undulating fin.

[0033] Preferably, the top of the bionic fish body is provided with a charging connector, an airtightness 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 drive 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 in the second gap, and an oil control component that connects and controls the expansion and contraction of the flexible oil bag; the drive component includes side fins arranged on both sides of the bionic fish body, a first drive module connected to and drives the side fins, an undulating fin located at the bottom of the bionic fish body, and a second drive module connected to and drives the undulating fin.

[0036] Specifically, the flexible oil bladder can realize the robot's vertical sinking and floating functions; the undulating fin is 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 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 following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are merely embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0038] Figure 1 A schematic structural diagram of a multi-modal hybrid motion bionic underwater robot provided by an embodiment of the present invention;

[0039] Figure 2 A schematic structural diagram of a first driver provided in an embodiment of the present invention;

[0040] Figure 3 An exploded view of a first driver provided by an embodiment of the present invention;

[0041] Figure 4 A schematic structural diagram of a bionic fish body provided by an embodiment of the present invention;

[0042] Figure 5 An exploded view of a bionic fish body provided by an embodiment of the present invention;

[0043] Figure 6 A schematic structural diagram of a first driving module provided in an embodiment of the present invention;

[0044] Figure 7 An exploded view of a first driving module provided in an embodiment of the present invention;

[0045] Figure 8 A schematic structural diagram of a second driver provided in an embodiment of the present invention;

[0046] Figure 9 An exploded view of a second driver provided by an embodiment of the present invention;

[0047] Figure 10 This is a schematic structural diagram of a drive rod assembly provided by an embodiment of the present invention.

[0048] in:

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

[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 bladder cover; 38. Sealing chamber; 39. Pressure plate; 310. Oil film; 311. Wire hole; 312. Reversing valve; 313. Oil pump; 314. Flexible bladder; 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 wheel.

[0053] 51. Second protective cover; 52. Second mounting plate; 53. Second waterproof cover; 54. Drive 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. Drive shaft; 73. Second sleeve; 74. Cam drive assembly; 75. Second connector; 76. Clamping mechanism. DETAILED DESCRIPTION

[0055] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. 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 making creative efforts are within the scope of protection of the present invention.

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

[0057] In the description of the present invention, it should be understood that the terms "up", "down", "front", "back", "left" and "right" indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and 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 that can realize the gliding, waving, flapping and hybrid motion modes of the bionic underwater robot to adapt to the changeable underwater environment, ensure longer endurance, and perform long-term complex tasks. Even if a certain drive fails, it can continue to perform the task, reduce interference from the underwater environment, and improve the robot's movement efficiency.

[0059] See also Figure 1 To achieve the above objectives, 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 includes 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 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 includes 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 sac 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 sac and an oil control component that controls the expansion and contraction of the flexible oil sac, the undulating fin 7 and the second drive module connected to and driving the undulating fin 7, the side fin 41 and the first drive module connected to and driving 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 mode, the flexible oil sac can cooperate with the undulating fin 7 or the side fin 41 to realize 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.

[0065] See also Figure 4 and Figure 5 In this embodiment, the flexible oil bladder includes an oil bladder cover 37 that is snapped onto 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 in and out; the pressure plate 39 enables 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 to 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 the oil control component 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. 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 inside of 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, which 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, which is used to place the control board and the battery.

[0070] The oil control component and the first drive module can be arranged between the bottom of the bionic fish body 3 and the partition 316. At the same time, the control board and the battery are arranged between the partition 316 and the top cover 33 to form relatively independent modules 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] See also Figure 6 and Figure 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 inserted into the bionic fish body 3 at one end, 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 be pressed against 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, and 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, and 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] See also Figure 2 and Figure 3 The first frame includes a first frame body, a first mounting plate 22 arranged on the side of the first frame body away from the bionic fish body 3, and a first protective cover 23 arranged 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 the 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 and a second spur gear corresponding to the second bearing 213. 211, and the third spur gear 210 corresponding to the third bearing 212, through the first rotating shaft 27 passing through the first bearing 25 and the first spur gear 24, the second rotating shaft 26 passing through the second bearing 213 and the second spur gear 211, and the third rotating shaft 214 passing 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 rotating shaft 27 to rotate, the third rotating shaft 214 is driven to rotate through the engagement of the first spur gear 24 and the second spur gear 211, and the engagement of the second spur gear 211 and the third spur gear 210, and the third rotating shaft 214 can be used as the first output shaft for subsequent power transmission.

[0079] See also Figure 8 and Figure 9Similarly, 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 drive motor 54, which is fixed to the second frame body through the drive 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 and a fifth spur gear 59 corresponding to the fifth bearing 511. , 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 engagement of the fourth spur gear 57 and the fifth spur gear 59, and the engagement 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 can 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 can 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] See also Figure 10 It should be noted that the second drive module also includes a drive 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 connector 71 connected to the first output shaft, and the second sleeve 73 is provided with a second connector 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 undulating 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 undulating 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 undulation of the undulating fin 7 to generate power to propel the robot, and is achieved 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 robot's undulating fin 7 can achieve a deflection range of 0 to 180 degrees, realizing the robot's forward, backward, turning, left / right swing, etc., which is achieved by the power transmitted from the second output shaft to the second sleeve 73. The difference in the initial angles of the 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 undulating fin 7 to move. At this time, the movement of the clamping mechanism 76 and the undulating fin 7 body is relative to the driving rod assembly; the second output shaft drives the undulating fin 7 to move. At this time, the movement of the second sleeve 73, the clamping mechanism 76 and the undulating fin 7 is relative to the robot.

[0085] In summary, the multimodal hybrid motion bionic underwater robot provided by the present invention realizes the robot's underwater advancement by at least one of the following three methods: the undulating fin 7 moves at different undulation frequencies, the side fins 41 periodically move at the same angle at different frequencies with the horizontal direction of the robot as the center, and the side fins 41 periodically move at different angles with the horizontal direction of the robot as the center; the robot's underwater turning is realized 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 left and right side fins 41 have different movement frequencies, and the left and right side fins 41 have different movement angles; the undulating fin 7 is deflected to the horizontal state of the robot to realize the robot's underwater lateral movement; the robot's underwater dynamic sinking and floating is realized by at least one of the following methods: only the oil bag works when the battery is low, the side fins 41 swing at an oblique upward angle, the side fins 41 swing at an oblique downward angle, and the undulating fin 7 cooperates with the oil bag and / or the side fin 41; the side fin 41 is in a plumb state, and the hydraulic oil is discharged or sucked into the bionic fish body 3, and / or the side fin 41 performs reciprocating periodic motion with the plumb direction of the robot as the midline to realize the robot's vertical sinking and floating underwater.

[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 herein using specific examples. The description of the above examples is only intended to help understand the method and core concept of the present invention. It should be noted that those skilled in the art may make various improvements and modifications to the present invention without departing from the principles of the present invention, and such 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 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; a suspension assembly comprising a flexible oil sac located in the first gap and / or in the second gap, and an oil control assembly communicating with and controlling the expansion and contraction of the flexible oil sac; A driving assembly comprising side fins provided 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; 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 includes a first output shaft, and the second driver includes a second output shaft; 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 spaced cam transmission assemblies, the cam transmission assemblies being connected to the wave fins via clamping mechanisms, the 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 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 inlet and outlet; Deformable oil film; 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 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 and rear ends 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 includes: A servo 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 plate and the side fins and drives the side fins and the steering plate 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 first sleeve.

7. The multi-modal hybrid motion bionic underwater robot according to claim 5, characterized in that: The first driver further includes 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 is provided with a first output shaft facing the bionic fish body; The second driver includes 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 is provided with 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 top of the bionic fish body is provided with a charging connector, an airtightness 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.

9. The multi-modal hybrid motion bionic underwater robot according to claim 8, characterized in that: A support component is provided inside the bionic fish body to form a cavity structure between the support component and the top cover of the bionic fish body. The cavity structure is used to place a control board and a battery connected to the charging connector.

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