Amphibious bionic robot

Abstract

The invention discloses an amphibious bionic robot in the technical field of bionic robots. The amphibious bionic robot comprises a head mechanism, a leg mechanism, a tail mechanism and a chest power mechanism. The head mechanism is connected to the front end of the chest power mechanism, the tail mechanism is connected to the rear end of the front end of the chest power mechanism, and the leg mechanism is connected to the side edge of the chest power mechanism. The chest power mechanism is used for driving the leg mechanism to achieve the walking function of the amphibious bionic robot and driving the tail mechanism to achieve the swimming function of the amphibious bionic robot. According to the amphibious biomimetic robot, the land propelling device and the water propelling device are integrated, and the amphibious biomimetic robot has the advantage of land and water motion integration, is good in environmental adaptability and amphibious motion performance and has the advantages of being simple in structure, easy to control, flexible, light, handy and high in motion stability.

Description

Technical Field

[0001] The invention relates to the technical field of bionic robots, and in particular to an amphibious bionic robot. Background Art

[0002] In recent years, the transition area between ocean and land has attracted more and more attention in the fields of scientific investigation, environmental monitoring, military exploration, seabed resource exploration and development, which has promoted the development of amphibious robot technology. Therefore, it is of great significance to military operations, land and ocean exploration to study an amphibious robot that can adapt to movement in complex land terrain and adaptively meet the transition from land to sea and ocean movement.

[0003] At present, one of the key issues for amphibious robots to become practical is how to achieve the integration of land propulsion devices and water propulsion devices, that is, the amphibious robot can achieve efficient movement on land, in water, and in the transition zone without the help of other assistance except the body. Therefore, it is necessary to design a robot that is adaptable to amphibious environments and has the characteristics of simple structure, simple control, flexibility and lightness. Summary of the invention

[0004] The purpose of the present invention is to overcome the deficiencies in the prior art and to provide an amphibious bionic robot. The amphibious bionic robot integrates a land propulsion device and a water propulsion device, has the characteristics of integrated water and land movement, good environmental adaptability, and better amphibious movement performance.

[0005] To achieve the above object, the present invention is implemented by adopting the following technical solutions:

[0006] In one aspect, the present invention provides an amphibious bionic robot, comprising a head mechanism, a leg mechanism, a tail mechanism and a chest power mechanism;

[0007] The head mechanism is connected to the front end of the chest power mechanism, the tail mechanism is connected to the front and rear ends of the chest power mechanism, and the leg mechanism is connected to the side of the chest power mechanism; the chest power mechanism is used to drive the leg mechanism to realize the walking function of the amphibious bionic robot and drive the tail mechanism to realize the swimming function of the amphibious bionic robot;

[0008] The torso formed by connecting the head mechanism, the chest power mechanism and the tail mechanism has a bilaterally symmetrical structure.

[0009] Furthermore, the chest power mechanism includes a chest shell, a first servo motor and a transmission mechanism, the transmission mechanism is connected between the first servo motor and the leg mechanism and between the first servo motor and the tail mechanism, and the first servo motor and the transmission mechanism are both installed in the chest shell.

[0010] Further, the transmission mechanism includes a first bevel gear, a second bevel gear, a pulley, a belt, a rotating shaft and a bearing;

[0011] The first bevel gear is connected to the output end of the first servo motor, the second bevel gear is vertically meshed with the first bevel gear, and the pulley is installed on the second bevel gear and rotates synchronously with the second bevel gear;

[0012] The first servo motor, the first bevel gear, the second bevel gear, the pulley and the belt are all installed inside the chest shell, the rotating shaft is installed on the side of the chest shell, the bearing is installed on the rotating shaft, and the bearing is located inside the chest shell, one end of the belt is sleeved on the pulley, and the other end is sleeved on the bearing, so as to make the pulley and the rotating shaft move synchronously.

[0013] Furthermore, the leg mechanism includes a thigh rod, a calf rod and a bionic duck web, one end of the thigh rod is connected to the rotating shaft, and the other end is hinged to one end of the calf rod, and the other end of the calf rod is hinged to the bionic duck web.

[0014] Furthermore, there are four groups of leg mechanisms, and the four groups of leg mechanisms are symmetrically installed in pairs on both sides of the chest power mechanism;

[0015] The transmission mechanism has two second bevel gears, two pulleys, four belts, four rotating shafts and four bearings, wherein the two second bevel gears are respectively vertically meshed with the first bevel gear and are symmetrically arranged relative to the first bevel gear, and the first bevel gear can drive the two second bevel gears to rotate in opposite directions;

[0016] The two pulleys are installed one-to-one on the two second bevel gears, and can move synchronously with the installed second bevel gears respectively; the four rotating shafts are installed on the sides of the chest shell, corresponding to the four groups of leg mechanisms, and the four groups of leg mechanisms are installed one-to-one on the four rotating shafts, the four bearings are installed one-to-one on the rotating shafts, one ends of the four belts are sleeved on the bearings one-to-one, and the other ends are sleeved on the pulleys on the corresponding sides, each pulley drives the two belts to rotate, thereby driving the leg mechanism on the same side to move.

[0017] Furthermore, the angle between the two calf rods of the two leg units installed on the same side and the horizontal plane is 55-65°, the angle between the two calf rods is 50-70°, and the two calf rods are connected by a cross bar, and the two ends of the cross bar are respectively fixedly connected to the top ends of the two calf rods.

[0018] Furthermore, the leg mechanism also includes auxiliary wheels, which are mounted and rotated at the bottom end of the chest shell, and the rotation direction of the auxiliary wheels is perpendicular to the symmetry plane of the amphibious bionic robot.

[0019] Furthermore, the tail mechanism includes a skin, a frame plate, a plurality of elastic plates of different sizes, a polyurethane rod, a tail fin clamp, a tail fin sheet, a second servo motor, a winding drum and a pull wire;

[0020] The multiple elastic plates of different sizes are arranged behind the frame plate in descending order of diameter, the polyurethane rod passes through the center of the frame plate and all the elastic plates, the skin covers the outer surface of the elastic plates, the tail fin clamp is connected to the skin at the elastic plate with the smallest diameter, and the tail fin is installed in the middle of the tail fin clamp;

[0021] The winding drum is installed on the second servo motor, and through holes are opened on the multiple elastic plates of different sizes. One end of the pull wire is fixed on the winding drum, and the other end passes through the through holes on all the elastic plates and is connected to the tail fin clamp. The second servo motor can drive the winding drum to rotate, thereby pulling the pull wire and driving the tail mechanism to swing.

[0022] Furthermore, the head mechanism includes a transparent head shell and a camera, and the camera is installed in the head shell.

[0023] Furthermore, it also includes a floating and sinking device, which is installed in the chest power mechanism;

[0024] The floating and sinking device includes a cavity, a screw, a piston and a reduction motor. The piston is placed in the cavity. The piston is fixedly connected to the screw. The screw is connected to the output end of the reduction motor. The cavity is provided with a through hole connected to the outside of the amphibious bionic machine. The reduction motor can drive the screw to move up and down, thereby driving the piston to move up and down in the cavity.

[0025] Compared with the prior art, the present invention has the following beneficial effects:

[0026] The amphibious bionic robot provided by the present invention is provided with a head mechanism, a leg mechanism, a tail mechanism and a chest power mechanism, wherein the chest power mechanism is used to drive the leg mechanism to realize the walking function of the amphibious bionic robot and drive the tail mechanism to realize the swimming function of the amphibious bionic robot, so that the land propulsion device and the water propulsion device of the robot are integrated, and the robot has the characteristics of integrated water and land movement, good environmental adaptability, and good amphibious movement performance;

[0027] The amphibious bionic robot provided by the present invention, and the amphibious bionic robot provided by the present invention, the chest power mechanism includes a chest shell, a first servo motor and a transmission mechanism, wherein the transmission mechanism is composed of a first bevel gear, a second bevel gear, a pulley, a belt, a rotating shaft and a bearing, and has the characteristics of simple structure, simple control, and flexibility and lightness;

[0028] The amphibious bionic robot provided by the present invention has a trunk formed by connecting the head mechanism, the chest power mechanism and the tail mechanism, which has a bilaterally symmetrical structure, and has better stability when swimming. By providing auxiliary wheels, the robot also has higher movement stability when walking. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 is a schematic diagram of the side structure of an amphibious bionic robot provided by an embodiment of the present invention;

[0030] Figure 2 A schematic diagram of a side cross-sectional structure of an amphibious bionic robot provided by an embodiment of the present invention;

[0031] Figure 3 A schematic diagram of a cross-sectional structure of an amphibious bionic robot as viewed from above provided by an embodiment of the present invention;

[0032] Figure 4 This is a schematic diagram of the front cross-sectional structure of an amphibious bionic robot provided in an embodiment of the present invention.

[0033] In the figure: 1. chest shell; 2. first servo motor; 3. first bevel gear; 4. second bevel gear; 5. pulley; 6. belt; 7. rotating shaft; 8. bearing; 9. thigh rod; 10. calf rod; 11. bionic duck web; 12. cross bar; 13. auxiliary wheel; 14. skin; 15. elastic plate; 16. polyurethane rod; 17. tail fin splint; 18. tail fin; 19. second servo motor; 20. winding drum; 21. head shell; 22. camera; 23. cavity; 24. screw; 25. piston; 26. reduction motor; 27. skeleton plate; 28. lighting lamp. DETAILED DESCRIPTION

[0034] The present invention will be further described below in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and cannot be used to limit the protection scope of the present invention.

[0035] The bearings used in the embodiments provided by the present invention are all deep groove ball bearings.

[0036] Example 1

[0037] This embodiment provides an amphibious bionic robot, including a head mechanism, a leg mechanism, a tail mechanism and a chest power mechanism;

[0038] The head mechanism is connected to the front end of the chest power mechanism, the tail mechanism is connected to the front and rear ends of the chest power mechanism, and the leg mechanism is connected to the side of the chest power mechanism; the chest power mechanism is used to drive the leg mechanism to realize the walking function of the amphibious bionic robot and drive the tail mechanism to realize the swimming function of the amphibious bionic robot;

[0039] The torso formed by connecting the head mechanism, the chest power mechanism and the tail mechanism has a bilaterally symmetrical structure.

[0040] The leg mechanism includes a thigh rod 9, a shank rod 10 and a bionic duck web 11, one end of the thigh rod 9 is connected to the rotating shaft 7, and the other end is hinged to one end of the shank rod 10, and the other end of the shank rod 10 is hinged to the bionic duck web 11;

[0041] There are four groups of leg mechanisms, which are symmetrically installed in pairs on both sides of the chest power mechanism; the two calf rods 10 of the two leg units installed on the same side have an angle of 55-65° with the horizontal plane, and the angle between the two calf rods 10 is 50-70°. The two calf rods 10 are connected by a cross bar 12, and the two ends of the cross bar 12 are respectively fixedly connected to the top ends of the two calf rods 10.

[0042] The chest power mechanism includes a chest shell 1, a first servo motor 2 and a transmission mechanism, wherein the transmission mechanism is connected between the first servo motor 2 and the leg mechanism and between the first servo motor 2 and the tail mechanism, and the first servo motor 2 and the transmission mechanism are both installed in the chest shell 1.

[0043] The transmission mechanism includes a first bevel gear 3, two second bevel gears 4, two pulleys 5, four belts 6, four rotating shafts 7 and four bearings 8; wherein the first bevel gear 3 is connected to the output end of the first servo motor 2, the two second bevel gears 4 are respectively meshed vertically with the first bevel gear 3, and are symmetrically arranged relative to the first bevel gear 3, and the first bevel gear 3 can drive the two second bevel gears 4 to rotate in opposite directions;

[0044] The two pulleys 5 are installed one-to-one on the two second bevel gears 4, and can move synchronously with the installed second bevel gears 4 respectively; the four rotating shafts 7 are installed on the side of the chest shell 1, corresponding to the four groups of leg mechanisms, and the four groups of leg mechanisms are installed one-to-one on the four rotating shafts 7, the four bearings 8 are installed one-to-one on the rotating shafts 7, and the four bearings 8 are located inside the chest shell 1; one ends of the four belts 6 are sleeved on the bearings 8 one-to-one, and the other ends are sleeved on the pulleys 5 on the corresponding side, each pulley 5 drives the two belts 6 to rotate, and then drives the two rotating shafts 7 to rotate synchronously, thereby driving the two leg mechanisms located on the same side to move.

[0045] The leg mechanism also includes two auxiliary wheels 13, both of which are mounted on the bottom end of the chest shell 1, and the rotation direction is perpendicular to the symmetry plane of the amphibious bionic robot. When the amphibious bionic robot walks on land, the amphibious bionic robot lifts one side of the leg mechanism, and the amphibious bionic robot will tilt to the side of the lifted leg. In order to prevent the robot from tipping over, the auxiliary wheels 13 can play a supporting role at this time. When the amphibious bionic robot walks on land, at least one auxiliary wheel 13 and two leg mechanisms are in contact with the ground. The two auxiliary wheels 13 cooperate with the leg mechanisms on both sides to alternately support, which can prevent the amphibious bionic robot from tipping over when walking.

[0046] The tail mechanism includes a skin 14, a skeleton plate 27, five elastic plates 15 of different sizes, a polyurethane rod 16, a tail fin clamp 17, a tail fin sheet 18, two second servo motors 19, two winding drums 20 and two pull wires;

[0047] The five elastic plates 15 of different sizes are arranged behind the frame plate 27 in descending order of diameter, the polyurethane rod 16 passes through the center of the frame plate 27 and all the elastic plates 15, the skin 14 covers the outer surface of the elastic plates 15, the tail fin clamping plate 17 is connected to the skin 14 at the elastic plate 15 with the smallest diameter, the tail fin piece 18 is installed in the middle of the tail fin clamping plate 17, and the tail fin piece is kept vertically installed;

[0048] The two winding drums 20 are installed on the two second servo motors 19, and the five elastic plates 15 of different sizes are provided with through holes on the panels on both sides of the symmetry line. One ends of the two pull wires are fixed one-to-one on the two winding drums 20, and the other end of one pull wire passes through the through holes on the left side of all the elastic plates 15 and is connected to the left panel of the tail fin clamp 17. The other end of the other pull wire passes through the through holes on the right side of all the elastic plates 15 and is connected to the right panel of the tail fin clamp 17. After the two pull wires are installed, they maintain a straight line state in a naturally stress-free state. The two second servo motors 19 can drive the two winding drums 20 to rotate, thereby pulling the two pull wires, driving the tail mechanism to swing left and right, and realizing the swimming function of the amphibious bionic robot.

[0049] In this embodiment, the skin 14 is made of silicone, and the elastic plate 15 is also made of silicone.

[0050] The head mechanism includes a transparent head shell 21 and a camera 22 , wherein the camera 22 is installed in the head shell 21 .

[0051] It also includes a floating and sinking device, which is installed in the chest power mechanism;

[0052] The floating and sinking device includes a cavity 23, a screw 24, a piston 25 and a reduction motor 26. The piston 25 is placed in the cavity 23. The piston 25 is fixedly connected to the screw 24. The screw 24 is connected to the output end of the reduction motor 26. The cavity 23 is provided with a through hole connected to the outside of the amphibious bionic machine. The reduction motor 26 can drive the screw 24 to move up and down, thereby driving the piston 25 to move up and down in the cavity 23.

[0053] Example 2

[0054] This embodiment provides an amphibious bionic robot, which is different from the first embodiment in that Figure 2 As shown, in this embodiment, the head mechanism includes: a front half shell of the head, a rear half shell of the head and a camera 33, wherein the camera 33 is installed in the front half shell of the head, and the front half shell of the head is connected to the rear half shell of the head by sheet metal; the front half shell of the head is made of transparent plastic, which can reduce the weight of the robot head; the front half shell of the head includes a circular stopper and a main shell, a circular through hole is provided at the front end of the main shell and is drafted inwardly, and the circular stopper is fitted with the circular through hole drafted inwardly in an interference fit manner, which can prevent water from entering the robot body.

[0055] The leg mechanism includes three rotational joints, namely, a base joint, a knee joint and an ankle joint. The base joint is a rotational pair connecting the thigh rod 9 and the rotating shaft 7, the knee joint is a rotational pair connecting the thigh rod 9 and the shank rod 10, and the ankle joint is a rotational pair connecting the shank rod 10 and the bionic duck web 11. The base joint and the ankle joint each have one degree of freedom, and the knee joint has one degree of freedom. Since the thigh rod 9 of the leg mechanism on the same side rotates synchronously and the shank rod 10 on the same side is connected by a cross bar 12, the thigh mechanism on the same side can be regarded as a virtual constraint. It is also considered that when the machine is working, the bionic duck web 11 in contact with the ground does not displace, which is equivalent to a point, that is, each leg of the robot has 4 degrees of freedom.

[0056] In this embodiment, the movement of the ankle joint is controlled by a waterproof servo. When walking, the bionic duck web 11 is parallel to the ground and keeps in contact with the ground while walking. When swimming in water, the angle of the bionic duck web 11 relative to the calf rod 10 can be adjusted according to the swimming posture.

[0057] Example 3

[0058] This embodiment provides an amphibious bionic robot. Different from Embodiment 2, in this embodiment, a lighting lamp 28 is also installed next to the auxiliary wheel 13 at the bottom of the chest shell. It should be noted that the lighting lamp 28 can also be installed in other parts of the robot. In this embodiment, the lighting lamp 28 is set in a position that allows the light to cover a larger range of vision in front of the robot.

[0059] In this embodiment, the thigh connecting rod and the calf rod are designed with hollowed-out middles, which can reduce material loss and make the robot lighter.

[0060] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only used to explain the relative positional relationship, movement, etc. between the components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly. It is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention. In addition, the terms "first", "second", etc. are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0061] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood by specific circumstances.

[0062] The embodiments of the present invention are described above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the enlightenment of the present invention, ordinary technicians in this field can also make many forms without departing from the scope of protection of the purpose of the present invention and the claims, which all fall within the protection of the present invention.

Claims

1. An amphibious bionic robot, characterized in that: It includes a head mechanism, a leg mechanism, a tail mechanism and a chest power mechanism; The head mechanism is connected to the front end of the chest power mechanism, the tail mechanism is connected to the front and rear ends of the chest power mechanism, and the leg mechanism is connected to the side of the chest power mechanism; the chest power mechanism is used to drive the leg mechanism to realize the walking function of the amphibious bionic robot and drive the tail mechanism to realize the swimming function of the amphibious bionic robot; The torso formed by connecting the head mechanism, the chest power mechanism and the tail mechanism has a bilaterally symmetrical structure.

2. The amphibious bionic robot according to claim 1, characterized in that: The chest power mechanism comprises a chest shell (1), a first servo motor (2) and a transmission mechanism, the transmission mechanism being connected between the first servo motor (2) and the leg mechanism and between the first servo motor (2) and the tail mechanism, and the first servo motor (2) and the transmission mechanism are both mounted in the chest shell (1).

3. The amphibious bionic robot according to claim 2, characterized in that: The transmission mechanism comprises a first bevel gear (3), a second bevel gear (4), a pulley (5), a belt (6), a rotating shaft (7) and a bearing (8); The first bevel gear (3) is connected to the output end of the first servo motor (2), the second bevel gear (4) is vertically meshed with the first bevel gear (3), and the pulley (5) is mounted on the second bevel gear (4) and rotates synchronously with the second bevel gear (4); The first servo motor (2), the first bevel gear (3), the second bevel gear (4), the pulley (5) and the belt (6) are all mounted inside the chest housing (1); the rotating shaft (7) is mounted on the side of the chest housing (1); the bearing (8) is mounted on the rotating shaft (7), and the bearing (8) is located inside the chest housing (1); one end of the belt (6) is sleeved on the pulley (5), and the other end is sleeved on the bearing (8), so as to enable the pulley (5) and the rotating shaft (7) to move synchronously.

4. The amphibious bionic robot according to claim 3, characterized in that: The leg mechanism comprises a thigh rod (9), a shank rod (10) and a bionic duck web (11); one end of the thigh rod (9) is connected to the rotating shaft (7), the other end is hinged to one end of the shank rod (10), and the other end of the shank rod (10) is hinged to the bionic duck web (11).

5. The amphibious bionic robot according to claim 4, characterized in that: There are four groups of leg mechanisms, and the four groups of leg mechanisms are symmetrically installed in pairs on both sides of the chest power mechanism; The transmission mechanism comprises two second bevel gears (4), two pulleys (5), four belts (6), four rotating shafts (7) and four bearings (8), wherein the two second bevel gears (4) are respectively vertically meshed with the first bevel gear (3) and are symmetrically arranged relative to the first bevel gear (3), and the first bevel gear (3) can drive the two second bevel gears (4) to rotate in opposite directions; The two pulleys (5) are mounted one-to-one on the two second bevel gears (4) and can respectively move synchronously with the mounted second bevel gears (4); the four rotating shafts (7) are mounted on the side of the chest shell (1) and are arranged corresponding to the four groups of leg mechanisms, and the four groups of leg mechanisms are mounted one-to-one on the four rotating shafts (7); the four bearings (8) are mounted one-to-one on the rotating shafts (7); one end of the four belts (6) is sleeved on the bearings (8) one-to-one, and the other end is sleeved on the pulleys (5) on the corresponding side; each pulley (5) drives the two belts (6) to rotate, thereby driving the leg mechanisms on the same side to move.

6. The amphibious bionic robot according to claim 5, characterized in that: The angle between the two calf rods (10) of the two leg units installed on the same side and the horizontal plane is 55-65 degrees, the angle between the two calf rods (10) is 50-70 degrees, and the two calf rods (10) are connected by a cross bar (12), and the two ends of the cross bar (12) are respectively fixedly connected to the top ends of the two calf rods (10).

7. The amphibious bionic robot according to claim 4, characterized in that: The leg mechanism further comprises an auxiliary wheel (13), the auxiliary wheel (13) being rotatably mounted on the bottom end of the chest shell (1), and the rotation direction of the auxiliary wheel (13) being perpendicular to the symmetry plane of the amphibious bionic robot.

8. The amphibious bionic robot according to claim 3, characterized in that: The tail mechanism comprises a skin (14), a frame plate (27), a plurality of elastic plates (15) of different sizes, a polyurethane rod (16), a tail fin clamp (17), a tail fin sheet (18), a second servo motor (19), a winding drum (20), and a pull wire; The plurality of elastic plates (15) of different sizes are arranged behind the frame plate (27) in order of diameter from large to small, the polyurethane rod (16) passes through the center of the frame plate (27) and all the elastic plates (15), the skin (14) covers the outer surface of the elastic plate (15), the tail fin clamp (17) is connected to the skin (14) at a position corresponding to the elastic plate (15) with the smallest diameter, and the tail fin sheet (18) is installed in the middle of the tail fin clamp (17); The winding drum (20) is mounted on the second servo motor (19); through holes are provided on the plurality of elastic plates (15) of different sizes; one end of the pull wire is fixed on the winding drum (20); the other end of the pull wire passes through the through holes on all the elastic plates (15) and is connected to the tail fin clamping plate (17); the second servo motor (19) can drive the winding drum (20) to rotate, thereby pulling the pull wire and driving the tail mechanism to swing.

9. The amphibious bionic robot according to claim 1, characterized in that: The head mechanism comprises a transparent head shell (21) and a camera (22), wherein the camera (22) is installed in the head shell (21).

10. The amphibious bionic robot according to claim 1, characterized in that: It also includes a floating and sinking device, which is installed in the chest power mechanism; The floating and sinking device comprises a cavity (23), a screw (24), a piston (25) and a reduction motor (26); the piston (25) is disposed in the cavity (23); the piston (25) is fixedly connected to the screw (24); the screw (24) is connected to the output end of the reduction motor (26); the cavity (23) is provided with a through hole connected to the outside of the amphibious bionic machine; the reduction motor (26) can drive the screw (24) to move up and down, thereby driving the piston (25) to move up and down in the cavity (23).

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