Robot simulating biological movement mechanism and control method thereof

Abstract

The invention relates to the technical field of bionic robots, and discloses a biological movement mechanism imitating robot which comprises a robot body, a control box, a camera module and a lighting assembly are arranged at the front end of the robot body, flapping assemblies are symmetrically arranged on the left side and the right side of the robot body, and an empennage assembly is rotationally connected to the tail of the robot body. A water sample collection assembly is arranged between the fuselage main body and the empennage assembly; a driving assembly is arranged in the fuselage body, the output end of the driving assembly is connected with a rotating disc, and a first eccentric rod is arranged at the end, away from the driving assembly, of the rotating disc and connected with the empennage assembly through a transmission assembly. The first eccentric rod is slidably connected with a sliding block slidably arranged in the robot body, and the sliding block is connected with a flapping assembly. Through the arrangement, the number of power components can be reduced, more space layout can be provided, other functions can be added to the bionic robot, the overall functions are more complete, and the practicability is high. The invention further provides a control method suitable for the robot.

Description

Technical Field

[0001] The present application relates to the technical field of bionic robots, and in particular to a robot that imitates biological motion mechanisms and a control method thereof. Background Art

[0002] A bionic robot is a robot designed and manufactured to imitate the structure, function, behavior or ecological characteristics of living organisms; this is very important in some scenarios where it is necessary to interact with living organisms or perform tasks in a biological environment.

[0003] In nature, the movement of organisms is often the coordinated action of multiple movements; for example, when a fish swims, the swinging of its tail and the flapping of its fins are coordinated with each other.

[0004] However, in order to perform multiple actions simultaneously in the execution of tasks, each action of the existing underwater bionic robot is controlled or driven by a separate power component. As a result, the internal space layout of the robot becomes complicated, and the space range that the underwater bionic robot itself can accommodate is limited. Other functional layouts of the underwater robot cannot be performed, resulting in a single function of the underwater bionic robot. At the same time, the presence of multiple power components also increases the weight of the bionic robot itself, which is not conducive to the activity of the underwater bionic robot.

[0005] Therefore, there is an urgent need for a robot that mimics biological motion mechanisms and a control method thereof to solve the above problems.

[0006] The above contents are only used to assist in understanding the technical solution of the present application and do not constitute an admission that the above contents are prior art. Summary of the invention

[0007] The main purpose of the present application is to provide a robot with a biological motion mechanism to solve the problem that the existing underwater bionic robots need to be driven by multiple power elements when performing multiple actions at the same time, resulting in limited spatial layout of the bionic robots, single functions and unfavorable activities.

[0008] To achieve the above-mentioned purpose, the present application provides a robot with a biological motion mechanism, comprising a body, a control box, a camera module and a lighting assembly are arranged at the front end of the body, fan assemblies are symmetrically arranged on the left and right sides of the body, a tail assembly is rotatably connected to the tail of the body, and a water sample collection assembly is arranged between the body and the tail assembly; The fuselage body is internally provided with a driving assembly, the output end of the driving assembly is connected to a rotating disk, the end of the rotating disk away from the driving assembly is provided with a first eccentric rod, and the first eccentric rod is connected to the tail assembly through a transmission assembly; The first eccentric rod is slidably connected to a slider slidably arranged inside the fuselage body, and the fanning assembly is connected to the slider; The driving component, the camera module, the lighting component, and the water sample collection component are connected to the control box, and the control box is electrically connected to the battery.

[0009] As a preferred solution of the present application, the driving assembly includes a motor, a first gear, a second gear and a rotating shaft; The motor and the rotating shaft are arranged inside the fuselage body, the motor is electrically connected to the control box, the output shaft of the motor is provided with a rotary encoder, the rotary encoder is signal-connected to the control box, and the output shaft is connected to the first gear, the first gear is meshed with the second gear, the second gear is connected to one end of the rotating shaft, and the other end of the rotating shaft is connected to the turntable.

[0010] As a preferred solution of the present application, the fanning assembly includes a fixing rod, a connecting shaft and a bionic fish fin; The bionic fish fin is rotatably connected to the fuselage main body, and two fixing rods are arranged on the sliding block. The two fixing rods are connected by the connecting shaft, and the connecting shaft is connected to the bionic fish fin.

[0011] As a preferred solution of the present application, the tail assembly includes an adapter block, a rotating rod and a swing assembly; The swing assembly is connected by a plurality of swing units, and the plurality of swing units are rotationally connected to each other, and the swing unit at the end is provided with a bionic fish tail; Both ends of the rotating rod pass through the adapter block and are rotatably connected to the fuselage body, one end of the adapter block is connected to the swing assembly, and the other end of the adapter block is provided with a slide groove, which is connected to the transmission assembly.

[0012] As a preferred solution of the present application, the transmission assembly includes a transmission shaft, a rotating wheel and a second eccentric rod; The first eccentric rod is connected to one end of the transmission shaft, and the other end of the transmission shaft passes through the tail of the fuselage body and is connected to a rotating wheel, on which the second eccentric rod is arranged, and the second eccentric rod is connected to the sliding groove.

[0013] As a preferred solution of the present application, a cavity is opened inside the front end of the fuselage main body, the control box, the camera module and the lighting assembly are arranged inside the cavity, and a high-definition glass plate adapted to the cavity is arranged at the front end of the fuselage main body.

[0014] As a preferred solution of the present application, the water sample collection assembly includes a mounting frame, a pressure sensor, a clamping assembly and a collector. The pressure sensor, the clamping assembly and the collector are arranged on the mounting frame, and the collector is fixedly connected to the mounting frame through the clamping assembly. The collector is provided with a water inlet and a water outlet, the water inlet is provided with a control valve, and the pressure sensor, the control valve and the control box are signal-connected.

[0015] As a preferred solution of the present application, it also includes a sonar system, which is arranged inside the cavity. The sonar system includes a transmitter, a receiver, a signal processing unit and a control system. The receiver is connected to the signal processing unit, and the transmitter and the signal processing unit are connected to the control system.

[0016] As a preferred solution of the present application, the cavity also has a built-in wireless module and a positioning module, and the wireless module and the positioning module are connected to the control box.

[0017] A control method for a robot with a biomimetic motion mechanism, applicable to any of the above-mentioned robots with a biomimetic motion mechanism, comprising: Use wireless module to connect wirelessly with water display equipment; Place the robot in water and use the operation panel on the display device to control the robot to move to the specified position and then dive. Use lighting components and camera modules to obtain image information during the robot's diving process, use the sonar system to detect the surrounding environment, and use the pressure sensor to detect the robot's current water level depth position, and send the acquired data and image information to the display device; When the robot dives to the specified depth, the control box sends a command to the control valve, and the control valve is opened to collect water samples; The motor drives the flapping assembly and the tail assembly to control the robot's movement, and the positioning module is used to return the robot.

[0018] The present application provides a robot with a biological motion mechanism. By starting a driving component, the first eccentric rod drives a slider to slide up and down when it rotates. When the slider slides, it drives the flapping component to swing repeatedly, so as to simulate the flapping of the wings of fish. At the same time, during the rotation of the first eccentric rod, the transmission component is used to realize the left and right swinging of the tail component on the fuselage body, so as to simulate the swinging of the tail of the fish. Through a driving component, the bionic robot can simulate multiple biological movements at the same time. There is no need to set up multiple independently driven power components, and there is no need to set up complex programming or control algorithms. While being able to achieve more realistic simulation of biological behavior, the weight of the jumping bionic robot itself is effectively reduced. At the same time, since the setting of power components is saved, the robot has more layout space. By setting a water sample collection component, water samples can be collected at a specified depth. By setting a lighting component and a camera module, the underwater environment can be photographed. The overall function is more complete. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 A schematic diagram of the three-dimensional structure of a robot that mimics biological motion mechanism in one embodiment of the present application; Figure 2 A cross-sectional view of a robot that mimics biological motion mechanism in one embodiment of the present application; Figure 3 In one embodiment of the present application, a robot that imitates biological motion mechanism is Figure 1 A right side view of the structure base; Figure 4 This is a schematic structural diagram of a fanning component in a robot that mimics biological motion mechanism in one embodiment of the present application; Figure 5 This is a schematic diagram of the structure of a driving component and a transmission component in a robot that mimics the biological motion mechanism in one embodiment of the present application; Figure 6 This is a schematic diagram of the structure of a water sample collection component in a robot that mimics biological motion mechanism in one embodiment of the present application; Figure 7 This is an exploded view of the tail assembly of a robot that mimics biological motion mechanism in one embodiment of the present application.

[0020] Description of reference numerals: 1. Fuselage body; 2. Fan assembly; 3. Water sample collection assembly; 4. Tail assembly; 5. Drive assembly; 6. Turntable; 7. First eccentric rod; 8. Transmission assembly; 9. Slider; 10. Camera module; 11. Lighting assembly; 12. Battery; 13. Threading hole; 14. High-definition glass plate; 201, fixing rod; 202, connecting shaft; 203, bionic fish fin; 301, mounting frame; 302, collector; 303, water inlet; 304, water outlet; 305, pressure sensor; 401, adapter block; 402, rotating rod; 403, swing assembly; 404, slide; 501, motor; 502, first gear; 503, second gear; 504, rotating shaft; 801, transmission shaft; 802, rotating wheel; 803, second eccentric rod. DETAILED DESCRIPTION

[0021] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0022] In addition, if the descriptions of "first", "second", etc. are involved in this application, they are only used for descriptive purposes (such as for distinguishing the same or similar elements), and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in this field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0023] Please refer to Figure 1 , Figure 2 , Figure 3 In one embodiment, a robot imitating biological motion mechanism includes a body 1, a control box, a camera module 10 and a lighting assembly 11 are arranged at the front end of the body 1, a fan assembly 2 is symmetrically arranged on the left and right sides of the body 1, a tail assembly 4 is rotatably connected to the tail of the body 1, and a water sample collection assembly 3 is arranged between the body 1 and the tail assembly 4; The fuselage body 1 has a built-in driving assembly 5, the output end of the driving assembly 5 is connected to a turntable 6, and the end of the turntable 6 away from the driving assembly 5 is provided with a first eccentric rod 7, and the first eccentric rod 7 is connected to the tail assembly 4 through a transmission assembly 8; The first eccentric rod 7 is slidably connected to a slider 9 slidably arranged inside the fuselage body 1, and the slider 9 is connected to the fan assembly 2; The driving component 5 , the camera module 10 , the lighting component 11 , and the water sample collection component 3 are connected to the control box, and the control box is electrically connected to the battery 12 .

[0024] Specifically, on the basis of the above-mentioned embodiment, a cavity is provided inside the front end of the fuselage main body 1, and a control box, a camera module 10 and a lighting assembly 11 are arranged inside the cavity, and a high-definition glass plate 14 adapted to the cavity is arranged at the front end of the fuselage main body 1; it can be understood that the lighting assembly 11 provides sufficient light so that the camera module 10 can clearly obtain underwater images and video information, and the camera module 10 transmits the collected image data to the image processing unit, and the image processing unit analyzes and processes the image through an image recognition algorithm to identify the characteristics and type of the target. For example, underwater organisms, objects or specific markers can be identified.

[0025] Furthermore, the cavity is also built with a wireless module and a positioning module, which are connected to the control box. The wireless module can be wirelessly connected to a display instrument on land, and the data of the robot in the water can be displayed on the display instrument, which is convenient for staff to observe. At the same time, the positioning module can be used to locate the position of the robot in the water to avoid loss. Preferably, the positioning module specifically includes an inertial measurement unit (IMU), a geomagnetic sensor, and a corresponding data processing module. Before the bionic fish is placed in water, its initial position and posture need to be calibrated, and the initial position information is input into the data processing module. When the bionic fish moves in water, the IMU measures its acceleration and angular velocity in real time, and the geomagnetic sensor measures the geomagnetic direction to obtain the heading data of the bionic fish. The data processing module processes the data collected by the IMU and the geomagnetic sensor. By integrating the acceleration, the speed and displacement information of the bionic fish can be obtained. Combined with the heading information provided by the geomagnetic sensor, the displacement is corrected in direction. At the same time, the sensor fusion algorithm (such as Kalman filtering, etc.) is used to fuse the data of the two sensors to improve the accuracy and stability of positioning.

[0026] Preferably, in order to avoid the robot from being lost, a thin rope can be tied to the threading hole 13 to connect it to a heavy object or fixed object on land. When the robot needs to be returned, the robot can be pulled back by storing the thin rope.

[0027] It can be understood that in this embodiment, taking the bionic fish as an example, by starting the driving component 5, the first eccentric rod 7 is prompted to drive the slider 9 to slide up and down when rotating, and the slider 9 drives the flapping component 2 to swing repeatedly while sliding, so as to simulate the flapping of the wings of the fish. At the same time, the first eccentric rod 7 realizes the left and right swinging movement of the tail wing component 4 on the fuselage main body 1 through the transmission component 8 during the rotation process, so as to simulate the swinging movement of the tail of the fish. Through a driving component 5, the bionic robot can simulate multiple biological actions at the same time, without setting up multiple independently driven power components, and without setting up complex programming or control algorithms. While being able to achieve more realistic simulation of biological behavior, the weight of the jumping bionic robot itself is effectively reduced. At the same time, due to the saving of the setting of power components, the robot has more layout space, and by setting the water sample collection component 3, water samples can be collected at a specified depth position, and by setting the lighting component 11 and the camera module 10, the underwater environment can be photographed, and the overall function is more complete.

[0028] For details, please refer to Figure 2 , Figure 5 , based on the above embodiment, the driving assembly 5 includes a motor 501, a first gear 502, a second gear 503 and a rotating shaft 504; A motor 501 and a rotating shaft 504 are provided inside the body 1. The motor 501 is electrically connected to the control box. The output shaft of the motor 501 is provided with a rotary encoder. The rotary encoder is connected to the control box signal, and the output shaft is connected to the first gear 502. The first gear 502 is meshed with the second gear 503. The second gear 503 is connected to one end of the rotating shaft 504, and the other end of the rotating shaft 504 is connected to the turntable 6.

[0029] For further information, please refer to Figure 4 The fanning assembly 2 includes a fixed rod 201, a connecting shaft 202 and a bionic fish fin 203; the bionic fish fin 203 is rotatably connected to the fuselage body 1, and two fixed rods 201 are arranged on the slider 9, and the two fixed rods 201 are connected by a connecting shaft 202, and the connecting shaft 202 is connected to the bionic fish fin 203; It can be understood that by setting an encoder on the output shaft of motor 501, the real-time rotation speed and rotation direction of motor 501 can be accurately obtained, thereby realizing the dynamic detection of the rotation speed of motor 501. The rotation speed and direction of motor 501 have an important influence on the movement state of bionic fish; by changing the rotation speed of motor 501, the speed of tail rotation and wing flapping can be adjusted, thereby controlling the propulsion force of the bionic fish.

[0030] For example, when it is necessary to quickly float up or dive, the speed of motor 501 is increased to increase the propulsion force; when it is necessary to maintain stability at a certain depth, the speed of motor 501 is reduced. The direction of rotation of motor 501 can control the direction of rotation of the tail, so as to achieve the turning and posture adjustment of the bionic fish. For example, when it is necessary to turn left or right, the direction of motor 501 is changed to make the tail turn left or right accordingly.

[0031] For details, please refer to Figure 5 , Figure 7 , based on the above embodiment, the tail assembly 4 includes an adapter block 401, a rotating rod 402 and a swing assembly 403; The swing assembly 403 is connected by a plurality of swing units, and the plurality of swing units are rotatably connected to each other, and the swing unit at the end is provided with a bionic fish tail; Both ends of the rotating rod 402 pass through the adapter block 401 and are rotatably connected to the fuselage body 1 . One end of the adapter block 401 is connected to the swing assembly 403 . The other end of the adapter block 401 is provided with a slide groove 404 , which is connected to the transmission assembly 8 .

[0032] Furthermore, the transmission assembly 8 includes a transmission shaft 801, a rotating wheel 802 and a second eccentric rod 803; the first eccentric rod 7 is connected to one end of the transmission shaft 801, and the other end of the transmission shaft 801 passes through the tail of the fuselage body 1 and is connected to the rotating wheel 802, and the second eccentric rod 803 is arranged on the rotating wheel 802, and the second eccentric rod 803 is connected to the slide groove 404.

[0033] It can be understood that the power is transmitted to the tail wing assembly 4 through the transmission assembly 8, so that the tail wing assembly 4 can repeatedly swing on the fuselage body 1, thereby simulating the swinging action of the tail of fish. There is no need to add other power mechanisms to drive the tail wing assembly 4 separately, which can effectively reduce the weight of the bionic robot and facilitate the swimming of the bionic robot.

[0034] For details, please refer to Figure 2 , Figure 6 Based on the above embodiment, the water sample collection component 3 includes a mounting frame 301, a pressure sensor 305, a clamping component and a collector 302. The mounting frame 301 is provided with a pressure sensor 305, a clamping assembly and a collector 302. The collector 302 is fixedly connected to the mounting frame 301 through the clamping assembly. The collector 302 is provided with a water inlet 303 and a water outlet 304 , the water inlet 303 is provided with a control valve, and the pressure sensor 305 , the control valve and the control box are connected by signal.

[0035] The pressure sensor 305 can convert the water pressure it feels into an electrical signal, which is then converted into a corresponding depth value by a signal processing circuit. Specifically, the relationship between liquid pressure and depth is used to detect the depth position of the bionic fish. When the pressure sensor 305 detects that the robot has reached a preset depth position, the control box is used to control the control valve to open, and the water sample is collected into the collector 302. After the preset time is reached, the control box sends an instruction to the control valve again to close the control valve, and the collection of the water sample is completed at this time. Preferably, the mounting frame 301 is mainly composed of two semicircular rings rotating with each other, one of the semicircular rings has a built-in spring and a wedge block, and the wedge block is used to achieve a clamping connection with the other semicircular ring. During the unlocking process, it is only necessary to pull the wedge block toward the spring compression mode to achieve quick unlocking. By setting the mounting frame 301 and the clamping assembly of the above structure, the collector 302 can be quickly installed and unlocked.

[0036] Preferably, the transmitter can use a piezoelectric ceramic transducer and the receiver can use a piezoelectric ceramic hydrophone; the transmitter (such as a piezoelectric ceramic transducer) transmits an acoustic signal to the surrounding waters, and the acoustic signal will be reflected after encountering an obstacle during the propagation process. The receiver (such as a piezoelectric ceramic hydrophone) receives the reflected acoustic signal and converts it into an electrical signal. The signal processing unit analyzes the electrical signal and calculates the distance, direction and other parameters of the obstacle based on the propagation time, intensity and other information of the acoustic signal. The control system adjusts the movement direction and speed of the robot according to these parameters to achieve obstacle avoidance and navigation functions. For example, when an obstacle appears in front of the robot, the intensity of the reflected signal received by the receiver will increase, the signal processing unit calculates that the distance of the obstacle is close, and the control system will control the robot to turn or slow down to avoid the obstacle.

[0037] Specifically, based on the above embodiment, it also includes a sonar system (not shown in the figure). The sonar system is arranged inside the cavity. The sonar system includes a transmitter, a receiver, a signal processing unit and a control system. The receiver is connected to the signal processing unit, and the transmitter and the signal processing unit are connected to the control system.

[0038] It can be understood that the sonar system is used to capture underwater acoustic information, including the location, distance, shape, etc. of the target; the transmitter in the sonar system transmits acoustic signals to the surrounding waters, and the acoustic signals are reflected after encountering targets or obstacles during the propagation process; the receiver receives the reflected acoustic signals and converts them into electrical signals; the signal processing unit analyzes the electrical signals and calculates the target's distance, direction and other parameters based on the propagation time, intensity and other information of the acoustic signals; for example, when the robot is searching for underwater targets, the sonar system can detect the approximate location and distance of the target.

[0039] A control method for a robot with a biomimetic motion mechanism, applicable to any of the above-mentioned robots with a biomimetic motion mechanism, comprising: Use wireless module to connect wirelessly with water display equipment; Place the robot in water and use the operation panel on the display device to control the robot to move to the specified position and then dive. The lighting assembly 11 and the camera module 10 are used to obtain the image information of the robot during the diving process, the sonar system is used to detect the surrounding environment, and the pressure sensor 305 is used to detect the current water level depth position of the robot, and the obtained data and image information are sent to the display device; When the robot dives to the specified depth, the control box sends a command to the control valve, and the control valve is opened to collect water samples; The motor 501 is used to drive the flapping assembly 2 and the tail assembly 4 to control the robot to swim, and the positioning module is used to return the robot.

[0040] In summary, when a robot with a biological motion mechanism is used, by starting the motor 501, the rotating shaft 504 rotates under the transmission of the first gear 502 and the second gear 503, and the rotating shaft 504 drives the turntable 6 and the first eccentric rod 7 to rotate while rotating. The first eccentric rod 7 drives the slider 9 to slide up and down along the axial direction of the guide rod during the rotation process. The slider 9 drives the fixed rod 201, the connecting shaft 202 and the bionic fish fin 203 to move downward while sliding downward. The slider 9 slides up and down repeatedly, so that the bionic fish fin 203 simulates the action of flapping wings of a biological being. At the same time, the first eccentric rod 7 passes through the slider 9 and is connected to the transmission shaft 801, driving the transmission shaft 801, the rotating wheel 802 and the second eccentric rod 803 to rotate. Since the second eccentric rod 803 slides in the slide groove 404 provided on the adapter block 401, the adapter block 401 is rotationally connected to the fuselage body 1. During the rotation process, the second eccentric rod 803 drives the swing assembly 403 to swing repeatedly, realizing the action of simulating the swinging of the tail of a biological being. When the robot in the present application is placed in water, the water environment is photographed using the lighting component 11 and the camera module 10, and the surrounding environment of the water body is detected using the sonar system; at the same time, when descending to a preset depth, the water sample collection component 3 can be used to collect water samples, which is convenient for researchers to study water samples; The present application sets a power structure in the bionic robot and uses a power component to coordinate a series of linkage mechanisms to achieve the bionic robot simulating multiple biological actions at the same time. There is no need to set up multiple independently driven power components, and there is no need to set up complex programming or control algorithms. While being able to achieve more realistic simulation of biological behavior, the weight of the jumping bionic robot itself is effectively reduced, and the overall functions are more complete. At the same time, since the setting of power components is saved, more layout space can be freed up and other functional components can be added, so that the underwater bionic robot can play more functions and has a wider range of applications.

[0041] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, device, article or method including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, device, article or method. In the absence of further restrictions, an element defined by the sentence "includes a ..." does not exclude the presence of other identical elements in the process, device, article or method including the element.

[0042] The above description is only a preferred embodiment of the present application, and does not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly used in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A robot that imitates biological motion mechanism, characterized in that: It includes a fuselage body, a control box, a camera module and a lighting assembly are arranged at the front end of the fuselage body, fan assemblies are symmetrically arranged on the left and right sides of the fuselage body, a tail assembly is rotatably connected to the tail of the fuselage body, and a water sample collection assembly is arranged between the fuselage body and the tail assembly; The fuselage body is internally provided with a driving assembly, the output end of the driving assembly is connected to a rotating disk, the end of the rotating disk away from the driving assembly is provided with a first eccentric rod, and the first eccentric rod is connected to the tail assembly through a transmission assembly; The first eccentric rod is slidably connected to a slider slidably arranged inside the fuselage body, and the fanning assembly is connected to the slider; The driving component, the camera module, the lighting component, and the water sample collection component are connected to the control box, and the control box is electrically connected to the battery.

2. A robot imitating biological motion mechanism according to claim 1, characterized in that: The driving assembly includes a motor, a first gear, a second gear and a rotating shaft; The motor and the rotating shaft are arranged inside the fuselage body, the motor is electrically connected to the control box, the output shaft of the motor is provided with a rotary encoder, the rotary encoder is signal-connected to the control box, and the output shaft is connected to the first gear, the first gear is meshed with the second gear, the second gear is connected to one end of the rotating shaft, and the other end of the rotating shaft is connected to the turntable.

3. A robot imitating biological motion mechanism according to claim 2, characterized in that: The fanning assembly includes a fixing rod, a connecting shaft and a bionic fish fin; The bionic fish fin is rotatably connected to the fuselage main body, two fixing rods are arranged on the sliding block, the two fixing rods are connected via the connecting shaft, and the connecting shaft is connected to the bionic fish fin.

4. A robot imitating biological motion mechanism according to claim 2, characterized in that: The tail assembly includes an adapter block, a rotating rod and a swing assembly; The swing assembly is connected by a plurality of swing units, and the plurality of swing units are rotationally connected to each other, and the swing unit at the end is provided with a bionic fish tail; Both ends of the rotating rod pass through the adapter block and are rotatably connected to the fuselage body, one end of the adapter block is connected to the swing assembly, and the other end of the adapter block is provided with a slide groove, which is connected to the transmission assembly.

5. A robot imitating biological motion mechanism according to claim 4, characterized in that: The transmission assembly includes a transmission shaft, a rotating wheel and a second eccentric rod; The first eccentric rod is connected to one end of the transmission shaft, and the other end of the transmission shaft passes through the tail of the fuselage body and is connected to a rotating wheel, on which the second eccentric rod is arranged, and the second eccentric rod is connected to the sliding groove.

6. The robot imitating biological motion mechanism according to claim 1, characterized in that: A cavity is opened inside the front end of the fuselage main body, and the control box, the camera module and the lighting assembly are arranged inside the cavity. A high-definition glass plate adapted to the cavity is arranged at the front end of the fuselage main body.

7. The robot with biological motion mechanism as claimed in claim 1, characterized in that: The water sample collection assembly includes a mounting frame, a pressure sensor, a clamping assembly and a collector. The pressure sensor, the clamping assembly and the collector are arranged on the mounting frame, and the collector is fixedly connected to the mounting frame through the clamping assembly. The collector is provided with a water inlet and a water outlet, the water inlet is provided with a control valve, and the pressure sensor, the control valve and the control box are signal-connected.

8. The robot with biological motion mechanism as claimed in claim 6, characterized in that: It also includes a sonar system, which is arranged inside the cavity. The sonar system includes a transmitter, a receiver, a signal processing unit and a control system. The receiver is connected to the signal processing unit, and the transmitter and the signal processing unit are connected to the control system.

9. The robot with biological motion mechanism as claimed in claim 6, characterized in that: The cavity also has a built-in wireless module and a positioning module, and the wireless module and the positioning module are connected to the control box.

10. A control method for a robot with a biomimetic motion mechanism, applicable to the robot with a biomimetic motion mechanism as claimed in any one of claims 1 to 9, characterized in that: include: Use wireless module to connect wirelessly with water display equipment; Place the robot in water and use the operation panel on the display device to control the robot to move to the specified position and then dive. Use lighting components and camera modules to obtain image information during the robot's diving process, use the sonar system to detect the surrounding environment, and use the pressure sensor to detect the robot's current water level depth position, and send the acquired data and image information to the display device; When the robot dives to the specified depth, the control box sends a command to the control valve, and the control valve is opened to collect water samples; The motor drives the flapping assembly and the tail assembly to control the robot's movement, and the positioning module is used to return the robot.

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