An underwater bionic robot

Abstract

The present invention relates to the technical field of underwater bionic robots, and discloses an underwater bionic robot, which includes a support bottom plate. At the four corners of the top of the support bottom plate, support columns are provided. The tops of the four groups of support columns jointly support a support top seat. A support mechanism is jointly arranged between the two sides of the support top seat and the outer sides of the adjacent two groups of support columns; for this underwater bionic robot, by setting the lifting columns to move up and down, the soft bottom plate and the support disc are driven to move downwards. Through the soft bottom plate moving outwards and displacing towards the outside of the support disc, the support range at the bottom of the support disc is increased, so that the support disc and the soft bottom plate form a supporting state for the overall support bottom plate. And with the independent control of the transverse threaded rod by the clutch control unit, the up and down displacement distance of a single group of lifting columns can be independently controlled, so as to adapt to the problem of uneven silt at the bottom of different water bodies, and thus improve the adaptability of the device.

Description

Technical Field

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

[0002] Through in-depth research on the movement modes and structures of organisms, bionic robots are designed with bionic shapes having excellent hydrodynamic performance. For example, they imitate the streamlined bodies of fish to reduce water flow resistance and improve energy efficiency. Some robots even imitate the movement organs such as fins and tails of organisms to achieve flexible steering and attitude control. By using special materials, bionic robots have properties such as pressure resistance, corrosion resistance, and light weight, ensuring the reliable operation of the robots in extreme deep-sea environments.

[0003] When existing bionic robots work underwater, the underwater environments at the bottom are different. Especially when working in muddy water bodies, bionic robots need to overcome the technical problem of poor supportability of the mud. The existing method is to use the turbulent flow impellers of bionic robots for multi-directional power drive, so that the bionic robots are in a relatively static state and then carry out operations. However, this technology consumes a large amount of electricity, thereby reducing the underwater operation time of the robots. Therefore, it is necessary to optimize the structure of bionic robots that need to carry out underwater operations in muddy water bodies. Summary of the Invention

[0004] The present invention provides an underwater bionic robot to solve the technical problem that existing bionic robots in related technologies are not convenient to overcome the unstable support of soft mud when operating on muddy water bodies.

[0005] The present invention achieves the above object through the following technical solutions:

[0006] An underwater bionic robot includes a support bottom plate. Support columns are provided at the four corners of the top of the support bottom plate. A support top seat is jointly supported by the tops of the four groups of support columns. A support mechanism is jointly provided between the two sides of the support top seat and the outer sides of the adjacent two groups of support columns. The support mechanism includes a lifting column. An insertion rod penetrating to the bottom is provided at the top of the lifting column. The bottom of the insertion rod is inserted into the interior of the underwater mud.

[0007] A central control unit is provided in the middle of the top of the support bottom plate. Lifting diversion holes are provided at the four corners of the top of the support top seat. Lifting propulsion impellers are provided inside the lifting diversion holes. Multi-directional propulsion impellers are provided at the four corners of the bottom of the support top seat. The overall lifting displacement and horizontal 360° displacement of the robot are promoted by the multi-directional propulsion impellers and the lifting propulsion impellers.

[0008] As a further optimized solution of the present invention, an installation frame is provided at the top of the forward end of the support base plate. A mechanical claw is supported at the bottom of the installation frame. The installation frame is used to externally connect an operating device. A protective fence is provided at the forward end of the support base plate. The protective fence is used to protect the bionic robot. The top end of the lifting diversion hole deviates towards the center line position of the support top seat. Through the deviation of the lifting diversion hole, the downward driving force of the water flow pushed by the lifting propulsion impeller is in an obliquely downward direction.

[0009] As a further optimized solution of the present invention, the support mechanism includes an installation groove provided on the outer side of the support column. A longitudinal threaded rod is installed in the installation groove by means of a bearing. A second bevel gear is provided at the top of the longitudinal threaded rod. A second threaded sleeve rod is sleeved on the outer side of the longitudinal threaded rod. One side of the second threaded sleeve rod is fixedly connected to a lifting column. The top end of the insertion rod is fixedly connected to the top end of the second threaded sleeve rod. The bottom end of the insertion rod is inserted into the bottom of the lifting column from the top end of the lifting column and protrudes out. And a sharp cone is provided at the bottom end of the insertion rod.

[0010] As a further optimized solution of the present invention, an adjustment turntable is provided at the bottom of the lifting column. A support disk is provided on the outer side of the bottom of the adjustment turntable where the insertion rod is located. Support components are evenly distributed on the outer side of the support disk. A driving component for driving the displacement of the support components is provided between the adjustment turntable and the support disk.

[0011] As a further optimized solution of the present invention, the support component includes displacement grooves evenly provided at the bottom of the outer side of the support disk. A displacement block is slidably provided inside the displacement groove. Limiting sliders are provided on both sides of the displacement block. A sliding groove adapted to the limiting sliders is provided on the inner wall of the displacement groove. One end of the displacement block away from the support disk is provided with a support top plate. A soft body bottom plate is provided at the bottom of the support top plate. Slide rods penetrating through to the top of the support top plate are symmetrically provided on the top of the soft body bottom plate. Springs are sleeved on the outer sides of the slide rods between the soft body bottom plate and the support top plate. And the two ends of the springs are fixedly connected to the soft body bottom plate and the support top plate respectively.

[0012] As a further optimized solution of the present invention, the driving component includes a number of groups of arc-shaped guiding holes evenly provided at the edge position of the top end of the adjustment turntable. The arc-shaped guiding holes penetrate through the bottom of the adjustment turntable. A number of groups of linear guiding holes corresponding to the arc-shaped guiding holes are provided on the top of the support disk. A guiding rod is provided at the top of one end of the displacement block close to the center position of the support disk and is inserted into the linear guiding hole and extends into the arc-shaped guiding 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 view of the connection structure at the lifting column in the present invention;

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

[0025] Figure 8 It is an enlarged schematic view of the connection structure at the support disc and the insertion rod in the present invention;

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

[0027] Figure 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 bottom plate; 11, central control unit; 12, support column; 13, lifting diversion hole; 14, support top seat; 15, mechanical claw; 16, guardrail; 17, multi-directional propulsion impeller; 18, lifting propulsion impeller; 19, mounting bracket;

[0029] 100, support mechanism;

[0030] 101, lifting column; 102, longitudinal threaded rod; 103, transverse threaded rod; 104, support hinge rod; 105, guide groove; 106, soft bottom plate; 107, support 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, adjustment turntable; 117, support top plate; 118, insertion rod; 119, arc-shaped guide hole; 120, slide rod; 121, spring; 122, guide rod; 123, displacement block; 124, limit slider; 125, linear guide hole; 126, displacement groove; 127, sharp cone; 128, chute. Detailed implementation manners

[0031] Now, the subject matter described herein will be discussed with reference to exemplary embodiments. It should be understood that discussing these embodiments is only to enable those skilled in the art to better understand and thus implement the subject matter described herein. Without departing from the scope of protection of the content of this specification, changes can be made to the functions and arrangements of the elements discussed. Each example can omit, substitute, or add various processes or components as needed. Additionally, the features described relative to some examples can also be combined in other examples.

[0032] Example 1

[0033] As Figure 1 、 Figure 3As shown in the figure, an underwater bionic robot includes a support bottom plate 10. At the top of the forward end of the support bottom plate 10, there is an installation frame 19. A mechanical claw 15 is supported at the bottom of the installation frame 19. The installation frame 19 is used to externally connect an operating device. A protective fence 16 is provided at the forward end of the support bottom plate 10, and the protective fence 16 is used to protect the bionic robot. The top end of the lifting diversion hole 13 deviates towards the center line position of the support top seat 14. Through the deviation of the lifting diversion hole 13, the downward driving force of the water flow pushed by the lifting propulsion impeller 18 is in a direction obliquely downward;

[0034] As Figure 1 , Figure 2 , Figure 5 As shown in the figure, support columns 12 are provided at the four corners of the top of the support bottom plate 10. A support top seat 14 is jointly supported by the tops of the four groups of support columns 12. A support mechanism 100 is jointly provided between the two sides of the support top seat 14 and the outer sides of the adjacent two groups of support columns 12. The support mechanism 100 includes a lifting column 101. At the top of the lifting column 101, there is a plug rod 118 penetrating to its bottom. The bottom of the plug rod 118 is inserted into the internal part of the underwater silt. The support mechanism 100 includes an installation groove 109 provided on the outer side of the support column 12. A longitudinal threaded rod 102 is installed by bearings in the internal part of the installation groove 109. A second bevel gear 114 is provided at the top of the longitudinal threaded rod 102. A second threaded sleeve rod 115 is sleeved on the outer side of the longitudinal threaded rod 102. One side of the second threaded sleeve rod 115 is fixedly connected to the lifting column 101. The top end of the plug rod 118 is fixedly connected to the top end of the second threaded sleeve rod 115. The bottom end of the plug rod 118 is inserted into the lifting column 101 from the top end of the lifting column 101 and inserted out of the bottom of the lifting column 101, and a sharp cone 127 is provided at the bottom end of the plug rod 118;

[0035] As Figures 2 to 10 As shown in the figure, an adjustment turntable 116 is provided at the bottom of the lifting column 101. A support disc 107 is provided on the outer side of the plug rod 118 at the bottom of the adjustment turntable 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. A displacement block 123 is slidably provided inside the displacement grooves 126. Limiting sliders 124 are provided on both sides of the displacement block 123. A chute 128 adapted to the limiting sliders 124 is provided on the inner wall of the displacement grooves 126. One end of the displacement block 123 away from the support disc 107 is provided with a support top plate 117. A soft bottom plate 106 is provided at the bottom of the support top plate 117. Slide rods 120 penetrating to the top of the support top plate 117 are symmetrically provided at the top of the soft bottom plate 106. A spring 121 is sleeved on the outer side of the slide rods 120 between the soft bottom plate 106 and the support top plate 117, and both ends of the spring 121 are fixedly connected to the soft bottom plate 106 and the support top plate 117 respectively;

[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] Through the drive control of the multi-directional propulsion impeller 17 and the lifting propulsion impeller 18, the overall displacement of the support bottom plate 10 is driven to the position area where underwater operations are required. Then, the multi-directional propulsion impeller 17 and the lifting propulsion impeller 18 are controlled to slowly lower the entire support bottom plate 10 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. The clutch control unit 111 drives the lateral threaded rod 103 to rotate. The rotation of the lateral threaded rod 103 drives the first threaded sleeve block 112 to displace, 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 displace 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 rod 115 drives the entire lifting column 101 to displace downward. At this time, the guide groove 105 on the outer side of the lifting column 101 engages with the guide pin 108, causing the lifting column 101 to generate rotational power while displacing downward;

[0043] It should be particularly 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 displaces 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 adjustment turntable 116 to rotate, thereby pushing the guide rod 122 to follow the displacement. The outer side of the guide rod 122 is restricted by the linear guide hole 125 at the top of the support disk 107. Therefore, the guide rod 122 can only displace linearly along the linear guide hole 125. The linear displacement of the guide rod 122 pushes the displacement block 123 at its bottom to slide, and then drives the support top plate 117 to expand outward from the support disk 107 through the displacement block 123;

[0045] The support disk 107 drives the flexible bottom plate 106 to follow the displacement. As the lifting column 101 continues to displace downward, when the flexible bottom plate 106 is in contact with the bottom surface of the water body, a squeezing force is generated between the flexible bottom plate 106 and the bottom surface of the water body. This squeezing force acts on the flexible bottom plate 106 and compresses the spring 121, thereby producing 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 overall supporting function of the supporting bottom plate 10 in the water body is realized. 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 silt 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 silt, 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 rod 103 at this time, so that the group of transverse threaded rods 103 rotates or stops, and then the position structure of the lifting column 101 driven by the group of transverse threaded rods 103 can be independently controlled;

[0048] Furthermore, the central control unit 11 controls the mechanical claw 15 and the operating equipment externally connected 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 start of the multi-directional propulsion impeller 17 and the lifting propulsion impeller 18, reducing the power consumption, prolonging the underwater operation time of the robot, and improving the support stability through the expansion structure of the soft bottom plate 106.

[0049] The specific implementation manners of this embodiment have been described above, but this embodiment is not limited to the above specific implementation manners. The above specific implementation manners are only illustrative and not restrictive. Under the inspiration of this embodiment, those of ordinary skill in the art can also make many forms, all of which fall within the protection scope 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; 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); 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) penetrating to the top of the supporting top plate (117) is symmetrically arranged at the top of the soft bottom plate (106), 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); 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 1, 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).

5. The underwater bionic robot according to claim 4, 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).

6. 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).

7. The underwater bionic robot according to claim 6, 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).

8. The underwater bionic robot according to claim 6, 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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