Underwater bionic robot

Abstract

The invention relates to the technical field of underwater bionic robots, and discloses an underwater bionic robot which comprises a supporting bottom plate, supporting stand columns are arranged at the four corners of the top of the supporting bottom plate, and a supporting top seat is jointly supported by the tops of the four sets of supporting stand columns; supporting mechanisms are arranged between the two sides of the supporting top base and the outer sides of the two adjacent sets of supporting stand columns. According to the underwater bionic robot, the lifting stand column moves up and down, then the soft bottom plate and the supporting disc are driven to move downwards, the soft bottom plate expands and moves towards the outer side of the supporting disc, and therefore the supporting range of the bottom of the supporting disc is widened, and the supporting disc and the soft bottom plate form a supporting state for the whole supporting bottom plate; and a clutch control unit is matched to independently control a transverse threaded rod, so that the vertical displacement distance of a single set of lifting stand columns is independently controlled, the problem that sludge at the bottoms of different water bodies is uneven is solved, and then the adaptability of the device is improved.

Description

Technical Field

[0001] The invention relates to the technical field of underwater bionic robots, and more specifically, to an underwater bionic robot. Background Art

[0002] Through in-depth research on the movement methods and structures of organisms, bionic robots are designed with bionic appearances that have excellent fluid mechanics properties. For example, they imitate the streamlined body of fish to reduce water resistance and improve energy efficiency. Some robots even imitate the fins, tails and other movement organs of organisms to achieve flexible steering and posture control. Bionic robots use special materials that have properties such as pressure resistance, corrosion resistance, and lightness, ensuring the reliable operation of robots in extreme deep-sea environments.

[0003] When existing bionic robots work underwater, the underwater environment is different. Especially when working underwater in muddy water bodies, the bionic robots need to overcome the technical problem of poor mud support. The existing method is to use the bionic robot's spoiler impeller to drive the bionic robot in multiple directions, so that the bionic robot is in a relatively static state and then operates. However, this technology consumes a lot of electricity, which reduces the robot's underwater operation time. Therefore, it is necessary to optimize the structure of the bionic robot for underwater operations in muddy water bodies. Summary of the invention

[0004] The invention provides an underwater bionic robot, which solves the technical problem that the existing bionic robots in the related art are not convenient for overcoming the unstable support of the silt soft body when operating in silt water bodies.

[0005] The present invention achieves the above-mentioned purpose through the following technical solutions:

[0006] An underwater bionic robot comprises a supporting bottom plate, wherein four corners of the top of the supporting bottom plate are provided with supporting columns, the tops of four groups of the supporting columns jointly support a supporting top seat, and a supporting mechanism is jointly provided between the two sides of the supporting top seat and the outer sides of two adjacent groups of supporting columns, and the supporting mechanism comprises a lifting column, and the top of the lifting column is provided with an insertion rod penetrating to the bottom thereof, and the bottom of the insertion rod is inserted into the bottom mud of the water;

[0007] A central control unit is arranged in the middle of the top of the supporting base plate, lifting guide holes are arranged at the four corners of the top of the supporting top seat, lifting propulsion impellers are arranged inside the lifting guide holes, and multi-directional propulsion impellers are arranged at the four corners of the bottom of the supporting top seat. The multi-directional propulsion impeller and the lifting propulsion impeller are used to promote the overall lifting displacement and horizontal 360° displacement of the robot.

[0008] As a further optimization scheme of the present invention, a mounting frame is provided at the top of the forward end of the supporting base plate, and a mechanical claw is supported at the bottom of the mounting frame. The mounting frame is used for external operating equipment, and a guardrail is provided at the forward end of the supporting base plate. The guardrail is used to protect the bionic robot. The top end of the lifting guide hole is offset toward the center line position of the supporting top seat. The offset of the lifting guide hole makes the downward driving force of the water flow pushed by the lifting propulsion impeller be in an oblique downward direction.

[0009] As a further optimization scheme of the present invention, the supporting mechanism includes a mounting groove arranged on the outside of the supporting column, a longitudinal threaded rod is installed on the internal bearing of the mounting groove, a second bevel gear is arranged on the top of the longitudinal threaded rod, a second threaded sleeve rod is sleeved on the outside of the longitudinal threaded rod, one side of the second threaded sleeve rod is fastened to the lifting column, the top of the insertion rod is fastened to the top of the second threaded sleeve rod, the bottom end of the insertion rod is inserted from the top of the lifting column to the bottom of the lifting column and is inserted out, and a pointed cone is arranged at the bottom of the insertion rod.

[0010] As a further optimization scheme of the present invention, an adjusting turntable is provided at the bottom of the lifting column, a supporting disc is provided on the outer side of the insert rod located at the bottom of the adjusting turntable, supporting components are evenly distributed on the outer side of the supporting disc, and a driving component for driving the displacement of the supporting component is provided between the adjusting turntable and the supporting disc.

[0011] As a further optimization scheme of the present invention, the support assembly includes displacement grooves evenly arranged at the bottom of the outer side of the support disc, a displacement block is slidably arranged on the inner side of the displacement groove, limiting sliders are arranged on both sides of the displacement block, and the inner wall of the displacement groove is provided with sliding grooves that are compatible with the limiting sliders. A support top plate is arranged at the end of the displacement block away from the support disc, a soft bottom plate is arranged at the bottom of the support top plate, and sliding rods that penetrate to the top of the support top plate are symmetrically arranged on the top of the soft bottom plate. The sliding rod is located between the soft bottom plate and the support top plate, and a spring is sleeved on the outer side of the sliding rod, and the two ends of the spring are respectively fastened to the soft bottom plate and the support top plate.

[0012] As a further optimization scheme of the present invention, the driving assembly includes a plurality of groups of arc guide holes evenly arranged at the top edge position of the adjusting dial, the arc guide holes penetrate the bottom of the adjusting dial, the top of the supporting disc is provided with a plurality of groups of linear guide holes corresponding to the arc guide holes, and the top of the displacement block near the center position of the supporting disc is provided with a guide rod inserted into the linear guide hole and extending into the arc guide hole.

[0013] As a further optimization scheme of the present invention, a guide groove is provided on the outer side of the lifting column, the upper and lower ends of the guide groove are longitudinal straight groove structures, the middle part is an arc groove structure that fits the outer wall of the lifting column, and both ends of the outer side of the central control unit are provided with guide pins that are compatible with the guide groove.

[0014] As a further optimization scheme of the present invention, a bidirectional motor is arranged in the middle part of both sides of the support top seat, both ends of the bidirectional motor are transmission-connected with a clutch control unit, the output end of the clutch control unit is arranged with a transverse threaded rod, and the other end of the transverse threaded rod is arranged with a first bevel gear meshing with the second bevel gear.

[0015] As a further optimization scheme of the present invention, a first threaded sleeve block is sleeved on the outer side of the transverse threaded rod, a supporting hinge rod is jointly provided between the outer side of the first threaded sleeve block and the second threaded sleeve rod, the outer side of the second threaded sleeve rod and the inner wall of the mounting groove are in contact with each other, and the displacement of the second threaded sleeve rod is limited and guided up and down through the mounting groove.

[0016] As a further optimization scheme of the present invention, the bidirectional motor and the clutch control unit are electrically connected to the central control unit through wires respectively, and the opening and closing of the bidirectional motor and the clutch control unit are controlled by the central control unit.

[0017] The beneficial effects of the present invention are as follows: the present invention is provided with a lifting column that moves up and down, thereby driving the soft bottom plate and the support disc to move downward, and the soft bottom plate is displaced toward the outside of the support disc, thereby increasing the support range of the bottom of the support disc, so that the support disc and the soft bottom plate form a supporting state for the entire support bottom plate, and cooperates with the clutch control unit to independently control the transverse threaded rod, so that the up and down displacement distance of a single set of lifting columns is independently controlled, thereby adapting to the problem of uneven silt at the bottom of different water bodies, thereby improving the adaptability of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a three-dimensional structural schematic diagram of the present invention;

[0019] Figure 2 It is a schematic diagram of the three-dimensional structure decomposition of the present invention;

[0020] Figure 3 It is an enlarged cross-sectional view of the structure of the supporting top seat in the present invention;

[0021] Figure 4 It is an enlarged schematic diagram of the supporting structure at the supporting bottom plate in the present invention;

[0022] Figure 5 It is an enlarged schematic diagram of the connection structure at the supporting mechanism in the present invention;

[0023] Figure 6 It is an enlarged schematic diagram of the connection structure at the lifting column in the present invention;

[0024] Figure 7 It is an enlarged schematic diagram of the structure of the support assembly in the present invention;

[0025] Figure 8 It is an enlarged schematic diagram of the connection structure between the supporting disc and the insertion rod in the present invention;

[0026] Fig. 9 It is an enlarged cross-sectional view of the structure of the lifting column in the present invention;

[0027] Fig.10 It is an enlarged cross-sectional view of the connection structure at the support disc in the present invention.

[0028] In the figure: 10, support base plate; 11, central control unit; 12, support column; 13, lifting guide hole; 14, support top seat; 15, mechanical claw; 16, guardrail; 17, multi-directional propulsion impeller; 18, lifting propulsion impeller; 19, mounting frame;

[0029] 100. Support mechanism;

[0030] 101. Lifting column; 102. Longitudinal threaded rod; 103. Transverse threaded rod; 104. Supporting hinged rod; 105. Guide groove; 106. Soft bottom plate; 107. Supporting disc; 108. Guide pin; 109. Mounting groove; 110. Bidirectional motor; 111. Clutch control unit; 112. First threaded sleeve block; 113. First bevel gear; 114. Second bevel gear; 115. Second threaded sleeve rod; 116. Adjusting dial; 117. Supporting top plate; 118. Insert rod; 119. Arc guide hole; 120. Slide rod; 121. Spring; 122. Guide rod; 123. Displacement block; 124. Limiting slider; 125. Linear guide hole; 126. Displacement groove; 127. Cone; 128. Slide groove. DETAILED DESCRIPTION

[0031] The subject matter described herein will now be discussed with reference to example embodiments. It should be understood that the discussion of these embodiments is only to enable those skilled in the art to better understand and implement the subject matter described herein, and the functions and arrangements of the elements discussed may be changed without departing from the scope of protection of the contents of this specification. Each example may omit, replace or add various processes or components as needed. In addition, the features described relative to some examples may also be combined in other examples.

[0032] Example 1

[0033] like Figure 1 , Figure 3As shown, an underwater bionic robot comprises a supporting base plate 10, a mounting frame 19 is arranged at the top of the forward end of the supporting base plate 10, a mechanical claw 15 is supported at the bottom of the mounting frame 19, the mounting frame 19 is used for external operation equipment, a guardrail 16 is arranged at the forward end of the supporting base plate 10, the guardrail 16 is used for protecting the bionic robot, the top end of the lifting guide hole 13 is offset to the center line position of the supporting top seat 14, and the offset of the lifting guide hole 13 makes the downward driving force of the water flow pushed by the lifting propulsion impeller 18 be in an oblique downward direction;

[0034] like Figure 1 , Figure 2 , Figure 5 As shown, support columns 12 are arranged at the four corners of the top of the support base plate 10, and the tops of the four groups of support columns 12 jointly support a support top seat 14. A support mechanism 100 is jointly arranged between the two sides of the support top seat 14 and the outer sides of the two adjacent groups of support columns 12. The support mechanism 100 includes a lifting column 101, and the top of the lifting column 101 is provided with an insertion rod 118 penetrating to the bottom thereof, and the bottom of the insertion rod 118 is inserted into the bottom mud. The support mechanism 100 includes a mounting groove 109 arranged on the outer side of the support column 12. The inner bearing of the mounting groove 109 is installed with a longitudinal threaded rod 102, the top of the longitudinal threaded rod 102 is provided with a second bevel gear 114, the outer side of the longitudinal threaded rod 102 is sleeved with a second threaded sleeve rod 115, one side of the second threaded sleeve rod 115 is fastened to the lifting column 101, the top of the insertion rod 118 is fastened to the top of the second threaded sleeve rod 115, the bottom end of the insertion rod 118 is inserted from the top of the lifting column 101 to the bottom of the lifting column 101 and is inserted out, and the bottom end of the insertion rod 118 is provided with a pointed cone 127;

[0035] like Figures 2 to 10 As shown, an adjusting dial 116 is provided at the bottom of the lifting column 101, and a support disc 107 is provided on the outer side of the insert rod 118 located at the bottom of the adjusting dial 116. Support components are evenly distributed on the outer side of the support disc 107. The support components include displacement grooves 126 evenly provided at the bottom of the outer side of the support disc 107, and a displacement block 123 is slidably provided on the inner side of the displacement groove 126. Limiting sliders 124 are provided on both sides of the displacement block 123. The inner wall of the displacement groove 126 is provided with a limit slider 124. 4 mutually adapted slide grooves 128, a support top plate 117 is arranged at one end of the displacement block 123 away from the support disc 107, a soft bottom plate 106 is arranged at the bottom of the support top plate 117, a slide bar 120 penetrating to the top of the support top plate 117 is symmetrically arranged at the top of the soft bottom plate 106, a spring 121 is sleeved on the outer side of the slide bar 120 located between the soft bottom plate 106 and the support top plate 117, and the two ends of the spring 121 are respectively fastened to the soft bottom plate 106 and the support top plate 117;

[0036] A driving assembly for driving the displacement of the supporting assembly is arranged between the adjusting turntable 116 and the supporting disc 107. The driving assembly includes a plurality of groups of arc guide holes 119 uniformly arranged at the top edge of the adjusting turntable 116. The arc guide holes 119 penetrate the bottom of the adjusting turntable 116. The top of the supporting disc 107 is provided with a plurality of groups of linear guide holes 125 corresponding to the arc guide holes 119. A guide rod 122 inserted into the linear guide hole 125 and extending into the arc guide hole 119 is arranged at the top of the end of the displacement block 123 close to the center of the supporting disc 107. A guide groove 105 is arranged on the outside of the lifting column 101. The upper and lower ends of the guide groove 105 are longitudinal linear groove structures, and the middle part is an arc groove structure that fits the outer wall of the lifting column 101. Both ends of the outer side of the central control unit 11 are provided with guide pins 108 that are compatible with the guide groove 105.

[0037] A bidirectional motor 110 is provided in the middle of both sides of the support top seat 14, and both ends of the bidirectional motor 110 are transmission-connected with a clutch control unit 111, and the output end of the clutch control unit 111 is provided with a transverse threaded rod 103, and the other end of the transverse threaded rod 103 is provided with a first bevel gear 113 meshing with the second bevel gear 114, and the outer side of the transverse threaded rod 103 is sleeved with a first threaded sleeve block 112, and a supporting hinge rod 104 is commonly provided between the outer side of the first threaded sleeve block 112 and the second threaded sleeve rod 115, and the outer side of the second threaded sleeve rod 115 is in contact with the inner wall of the mounting groove 109, and the displacement of the second threaded sleeve rod 115 is limited and guided up and down by the mounting groove 109, and the bidirectional motor 110 and the clutch control unit 111 are respectively electrically connected to the central control unit 11 through wires, and the opening and closing of the bidirectional motor 110 and the clutch control unit 111 are controlled by the central control unit 11.

[0038] A central control unit 11 is arranged in the middle of the top of the supporting base plate 10, lifting guide holes 13 are arranged at the four corners of the top of the supporting top seat 14, lifting propulsion impellers 18 are arranged inside the lifting guide holes 13, and multi-directional propulsion impellers 17 are arranged at the four corners of the bottom of the supporting top seat 14. The multi-directional propulsion impellers 17 and the lifting propulsion impellers 18 promote the overall lifting displacement and horizontal 360° displacement of the robot.

[0039] The use process of the underwater bionic robot proposed in this embodiment is as follows: when the device is in use, the battery pack inside the central control unit 11 supplies power to the bidirectional motor 110 and the clutch control unit 111, and at the same time provides driving power to the multi-directional propulsion impeller 17 and the lifting propulsion impeller 18;

[0040] By driving and controlling the multi-directional propulsion impeller 17 and the lifting propulsion impeller 18, the support base plate 10 is driven to move as a whole to the position area where the operation is required underwater, and then the multi-directional propulsion impeller 17 and the lifting propulsion impeller 18 are controlled to make the support base plate 10 as a whole slowly descend to the bottom of the water body. At this time, the bidirectional motor 110 is started to drive the clutch control unit 111 to operate, and the clutch control unit 111 drives the transverse threaded rod 103 to rotate, and the rotation of the transverse threaded rod 103 drives the first threaded sleeve block 112 to move, and at the same time drives the first bevel gear 113 to rotate and mesh with the second bevel gear 114;

[0041] The rotation of the second bevel gear 114 drives the longitudinal threaded rod 102 to rotate, thereby causing the second threaded sleeve rod 115 to move downward. At this time, the support hinge rod 104 connected between the second threaded sleeve rod 115 and the first threaded sleeve block 112 provides auxiliary support for the displacement of the second threaded sleeve rod 115.

[0042] The downward displacement of the second threaded sleeve 115 drives the lifting column 101 to move downward as a whole. At this time, the guide groove 105 and the guide pin 108 on the outer side of the lifting column 101 engage with each other, so that the lifting column 101 generates a rotational force while moving downward.

[0043] It should be noted that the arc-shaped groove structure of the guide groove 105 is located at the bottom of the lifting column 101. When the lifting column 101 moves downward, the arc-shaped groove structure of the guide groove 105 limits the guide pin 108.

[0044] The rotation of the lifting column 101 drives the adjusting turntable 116 to rotate, thereby driving the guide rod 122 to follow the displacement, and the outer side of 122 is restricted by the linear guide hole 125 at the top of the support disc 107, so that the guide rod 122 can only move linearly along the linear guide hole 125, and the linear displacement of the guide rod 122 drives the displacement block 123 at the bottom thereof to slide, and then the displacement block 123 drives the support top plate 117 to expand toward the outer side of the support disc 107;

[0045] The support disc 107 drives the soft bottom plate 106 to follow the displacement. As the lifting column 101 continues to move downward, when the soft bottom plate 106 fits the bottom surface of the water body, an extrusion force is generated by the soft bottom plate 106 and the bottom surface of the water body. The extrusion force acts on the soft bottom plate 106 and compresses the spring 121, thereby generating a buffering effect.

[0046] Through the expansion of the soft bottom plate 106 and the supporting effect of the bottom of the supporting disc 107, the supporting bottom plate 10 as a whole can realize the supporting function in the water body, and by increasing the supporting area of ​​the soft bottom plate 106 and the supporting disc 107, the supporting bottom plate 10 can also be stably supported at the bottom of the muddy water body. As the lifting column 101 moves downward, the insertion rod 118 is driven to move downward synchronously, so that the pointed cone 127 at the bottom of the insertion rod 118 is inserted into the mud, thereby improving the stability of the overall structure of the supporting bottom plate 10;

[0047] When the silt height at the bottom of the water body is inconsistent, the central control unit 11 controls the clutch control unit 111 to independently disconnect or connect the corresponding transverse threaded rods 103, so that the rotation or stop of the group of transverse threaded rods 103 can be independently controlled, thereby independently controlling the position structure of the lifting column 101 driven by the group of transverse threaded rods 103;

[0048] Furthermore, the central control unit 11 controls the mechanical claw 15 and the operating equipment external to the mounting frame 19 to perform underwater operations, thereby realizing the underwater operation function of the bionic robot. The various components of the support mechanism 100 provide a stable support function for the robot, thereby reducing the operation and starting of the multi-directional propulsion impeller 17 and the lifting propulsion impeller 18, reducing the use of electricity, extending the underwater operation time of the robot, and improving the stability of the support through the extended structure of the soft base plate 106.

[0049] The specific implementation methods of this embodiment are described above, but this embodiment is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Ordinary technicians in this field can also make many forms inspired by this embodiment, all of which are within the protection of this embodiment.

Claims

1. An underwater bionic robot, characterized in that: It comprises a support bottom plate (10), wherein support columns (12) are arranged at the four corners of the top of the support bottom plate (10), the tops of the four groups of support columns (12) jointly support a support top seat (14), and a support mechanism (100) is jointly arranged between the two sides of the support top seat (14) and the outer sides of two adjacent groups of support columns (12), and the support mechanism (100) comprises a lifting column (101), and the top of the lifting column (101) is provided with an insertion rod (118) penetrating to the bottom thereof, and the bottom of the insertion rod (118) is inserted into the bottom mud of the water bottom; A central control unit (11) is arranged in the middle of the top of the support base plate (10), lifting guide holes (13) are arranged at the four corners of the top of the support top seat (14), lifting propulsion impellers (18) are arranged inside the lifting guide holes (13), and multi-directional propulsion impellers (17) are arranged at the four corners of the bottom of the support top seat (14), and the robot is driven to move upward and downward and horizontally 360° by the multi-directional propulsion impellers (17) and the lifting propulsion impellers (18).

2. An underwater bionic robot according to claim 1, characterized in that: A mounting frame (19) is provided at the top of the forward end of the support base plate (10), a mechanical claw (15) is supported at the bottom of the mounting frame (19), and the mounting frame (19) is used for externally connecting an operating device. A guardrail (16) is provided at the forward end of the support base plate (10), and the guardrail (16) is used for protecting the bionic robot. The top end of the lifting guide hole (13) is offset toward the center line position of the support top seat (14), and the offset of the lifting guide hole (13) causes the downward driving force of the water flow pushed by the lifting propulsion impeller (18) to be in an oblique downward direction.

3. The underwater bionic robot according to claim 1, characterized in that: The support mechanism (100) comprises a mounting groove (109) arranged on the outside of the support column (12); a longitudinal threaded rod (102) is mounted on an internal bearing of the mounting groove (109); a second bevel gear (114) is arranged on the top of the longitudinal threaded rod (102); a second threaded sleeve rod (115) is sleeved on the outside of the longitudinal threaded rod (102); one side of the second threaded sleeve rod (115) is fastened to the lifting column (101); the top end of the insertion rod (118) is fastened to the top end of the second threaded sleeve rod (115); the bottom end of the insertion rod (118) is inserted from the top end of the lifting column (101) to the bottom end of the lifting column (101) and is removed; and a pointed cone (127) is arranged on the bottom end of the insertion rod (118).

4. The underwater bionic robot according to claim 3, characterized in that: An adjusting dial (116) is provided at the bottom of the lifting column (101); a supporting disc (107) is provided on the outer side of the insert rod (118) located at the bottom of the adjusting dial (116); supporting components are evenly distributed on the outer side of the supporting disc (107); and a driving component for driving the supporting component to move is provided between the adjusting dial (116) and the supporting disc (107).

5. The underwater bionic robot according to claim 4, characterized in that: The support assembly comprises a displacement groove (126) uniformly arranged at the outer bottom of the support disc (107); a displacement block (123) is slidably arranged inside the displacement groove (126); limiting sliders (124) are arranged on both sides of the displacement block (123); a sliding groove (128) adapted to the limiting slider (124) is arranged on the inner wall of the displacement groove (126); and a support top plate is arranged at one end of the displacement block (123) away from the support disc (107). (117), a soft bottom plate (106) is arranged at the bottom of the supporting top plate (117), a sliding rod (120) is symmetrically arranged on the top of the soft bottom plate (106) and extends to the top of the supporting top plate (117), and a spring (121) is sleeved on the outer side of the sliding rod (120) located between the soft bottom plate (106) and the supporting top plate (117), and two ends of the spring (121) are respectively fastened to the soft bottom plate (106) and the supporting top plate (117).

6. The underwater bionic robot according to claim 5, characterized in that: The driving assembly comprises a plurality of groups of arc-shaped guide holes (119) uniformly arranged at the top edge of the adjusting dial (116), the arc-shaped guide holes (119) penetrating the bottom of the adjusting dial (116), a plurality of groups of linear guide holes (125) corresponding to the arc-shaped guide holes (119) are arranged at the top of the supporting disc (107), and a guide rod (122) is arranged at the top of one end of the displacement block (123) close to the center of the supporting disc (107) and is inserted into the linear guide hole (125) and extends into the arc-shaped guide hole (119).

7. The underwater bionic robot according to claim 6, characterized in that: A guide groove (105) is arranged on the outer side of the lifting column (101); the upper and lower ends of the guide groove (105) are longitudinal straight groove structures, and the middle part is an arc-shaped groove structure that fits the outer wall of the lifting column (101); and both ends of the outer side of the central control unit (11) are arranged with guide pins (108) that are compatible with the guide groove (105).

8. The underwater bionic robot according to claim 3, characterized in that: A bidirectional motor (110) is disposed in the middle of both sides of the support top seat (14), both ends of the bidirectional motor (110) are drivingly connected to a clutch control unit (111), an output end of the clutch control unit (111) is disposed with a transverse threaded rod (103), and the other end of the transverse threaded rod (103) is disposed with a first bevel gear (113) meshing with a second bevel gear (114).

9. The underwater bionic robot according to claim 8, characterized in that: A first threaded sleeve block (112) is sleeved on the outer side of the transverse threaded rod (103); a supporting hinge rod (104) is provided between the outer side of the first threaded sleeve block (112) and the second threaded sleeve rod (115); the outer side of the second threaded sleeve rod (115) is in contact with the inner wall of the mounting groove (109); and the displacement of the second threaded sleeve rod (115) is guided upward and downward by the mounting groove (109).

10. The underwater bionic robot according to claim 8, characterized in that: The bidirectional motor (110) and the clutch control unit (111) are respectively electrically connected to the central control unit (11) via wires, and the opening and closing of the bidirectional motor (110) and the clutch control unit (111) are controlled via the central control unit (11).

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