A robot with a biomimetic locomotion mechanism and a control method thereof

Abstract

The application relates to the technical field of bionic robots, and discloses a robot with a bionic motion mechanism, which comprises a body main body, a control box, a camera module and an illumination assembly are arranged at the front end of the body main body, fan moving assemblies are symmetrically arranged at the left and right sides of the body main body, a tail wing assembly is rotationally connected to the tail of the body main body, and a water sample collecting assembly is arranged between the body main body and the tail wing assembly; a driving assembly is arranged in the body main body, the output end of the driving assembly is connected with a rotating disc, the end, away from the driving assembly, of the rotating disc is provided with a first eccentric rod, the first eccentric rod is connected with the tail wing assembly through a transmission assembly; the first eccentric rod is slidably connected with a sliding block slidably arranged in the body main body, the sliding block is connected with the fan moving assembly, through the above arrangement, the number of power components can be saved, more space layout is provided, the bionic robot can be additionally provided with other functions, and the functions are more complete as a whole; and the application further provides a control method suitable for the robot.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of bionic robots, in particular to a robot simulating the motion mechanism of a living being and a control method thereof. BACKGROUND

[0002] A bionic robot is a robot designed and manufactured to imitate the structure, function, behavior or ecological characteristics of a living being; this is very important in scenarios where interaction with a living being or execution of tasks in a living environment is required.

[0003] In nature, the motion of a living being is often a coordinated process of multiple actions; for example, when a fish swims, the tail swing and the fan of the fin are coordinated with each other.

[0004] However, in order to enable simultaneous performance of multiple actions in the execution of tasks, each action of the existing underwater bionic robot is controlled or driven by a separate power component, which makes the spatial layout inside the robot complex, limits the space range that can be accommodated by the underwater bionic robot itself, and cannot perform other functional layouts on the underwater robot, resulting in a single function of the underwater bionic robot under water. At the same time, the existence 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 simulating the motion mechanism of a living being and a control method thereof to solve the above problems.

[0006] The above content is only used to assist in understanding the technical solutions of the present application and does not represent the acknowledgement of the above content as prior art. SUMMARY

[0007] The main purpose of the present application is to provide a robot simulating the motion mechanism of a living being, which solves the problem that the existing underwater bionic robot needs to be driven by multiple power components when performing multiple actions simultaneously, resulting in limited spatial layout of the bionic robot, single function and poor activity.

[0008] To achieve the above purpose, the robot simulating the motion mechanism of a living being provided by the present application comprises a main body, a control box, a camera module and an illumination assembly are arranged at the front end of the main body, fan assemblies are symmetrically arranged at the left and right sides of the main body, a tail wing assembly is rotatably connected to the tail of the main body, and a water sample collection assembly is arranged between the main body and the tail wing assembly.

[0009] A driving assembly is built in the main body, the output end of the driving assembly is connected with a turntable, the end of the turntable away from the driving assembly is provided with a first eccentric rod, and the first eccentric rod is connected with the tail wing assembly through a transmission assembly.

[0010] The first eccentric rod is in sliding connection with a sliding block which is slidingly arranged inside the main body of the fuselage, and the fan moving assembly is connected to the sliding block;

[0011] The driving assembly, the camera module, the lighting assembly, the water sample collecting assembly and the control box are connected, and the control box is electrically connected with the battery.

[0012] As a preferred scheme of the present application, the driving assembly comprises a motor, a first gear, a second gear and a rotating shaft;

[0013] The motor and the rotating shaft are arranged inside the main body of the fuselage, the motor is electrically connected with the control box, an output shaft of the motor is provided with a rotary encoder, the rotary encoder is in signal connection with the control box, the output shaft is connected with the first gear, the first gear is engaged with the second gear, one end of the second gear is connected with the rotating shaft, and the other end of the rotating shaft is connected with the rotating disc.

[0014] As a preferred scheme of the present application, the fan moving assembly comprises a fixed rod, a connecting shaft and a bionic fish fin;

[0015] The bionic fish fin is in rotary connection with the main body of the fuselage, two fixed rods are arranged on the sliding block, the connecting shaft is connected between the two fixed rods, and the connecting shaft is connected with the bionic fish fin.

[0016] As a preferred scheme of the present application, the tail wing assembly comprises an adapting block, a rotating rod and a swing assembly;

[0017] The swing assembly is connected by a plurality of swing units, the swing units are in rotary connection with each other, and the swing unit at the most terminal end is provided with a bionic fish tail;

[0018] Both ends of the rotating rod penetrate through the adapting block and are in rotary connection with the main body of the fuselage, one end of the adapting block is connected with the swing assembly, the other end of the adapting block is provided with a sliding groove, and the sliding groove is connected with the transmission assembly.

[0019] As a preferred scheme of the present application, the transmission assembly comprises a transmission shaft, a rotating wheel and a second eccentric rod;

[0020] The first eccentric rod is connected with one end of the transmission shaft, the other end of the transmission shaft penetrates through the tail of the main body of the fuselage and is connected with a rotating wheel, the rotating wheel is provided with the second eccentric rod, and the second eccentric rod is connected with the sliding groove.

[0021] As a preferred scheme of the present application, the inside of the front end of the fuselage main body is provided with a cavity, the control box, the camera module and the lighting assembly are arranged inside the cavity, and the front end of the fuselage main body is provided with a high-definition glass plate matched with the cavity.

[0022] As a preferred scheme of the present application, the water sample collection assembly comprises a mounting bracket, a pressure sensor, a clamping assembly and a collector,

[0023] The pressure sensor, the clamping assembly and the collector are arranged on the mounting bracket, the collector is fixedly connected with the mounting bracket through the clamping assembly,

[0024] 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.

[0025] As a preferred scheme of the present application, a sonar system is further included, the sonar system is arranged inside the cavity, and the sonar system comprises a transmitter, a receiver, a signal processing unit and a control system, the receiver is connected with the signal processing unit, and the transmitter, the signal processing unit and the control system are connected.

[0026] As a preferred scheme of the present application, the cavity is further provided with a wireless module and a positioning module, and the wireless module and the positioning module are connected with the control box.

[0027] A control method of a robot with a biomimetic motion mechanism, suitable for the robot with the biomimetic motion mechanism described in any one of the above, comprising:

[0028] Wirelessly connecting the wireless module with the water display device;

[0029] Placing the robot in water, and controlling the robot to move to a specified position through the operation panel on the display device, and then diving,

[0030] Obtaining picture information in the diving process of the robot by using the lighting assembly and the camera module, detecting the surrounding environment by using the sonar system, detecting the current water level position of the robot by using the pressure sensor, and sending the obtained data and image information to the display device;

[0031] When the robot dives to the vicinity of the specified depth position, the control box sends an instruction to the control valve, the control valve is opened, and water sample collection is performed;

[0032] Controlling the robot to swim by using the motor to drive the oscillating assembly and the tail wing assembly, and returning the robot by using the positioning module.

[0033] The application provides a robot simulating biological motion mechanism, through starting a driving assembly, the first eccentric rod drives the sliding block to slide up and down when rotating, the sliding block drives the fan assembly to repeatedly swing when sliding, the action of simulating the fan of fish wings is achieved, meanwhile, the first eccentric rod drives the tail wing assembly to swing left and right on the main body of the fuselage through the transmission assembly during the rotating process, the action of simulating the swing of fish tail is achieved, through one driving assembly, the bionic robot can simulate multiple actions of the living beings, without setting multiple independent driving power components, without setting complex programming or control algorithm, in the case of being able to realize more realistic simulation of the behavior of the living beings, the weight of the jumping bionic robot is effectively reduced, meanwhile, due to the saved setting of the power components, the robot has more layout space, through setting the water sample collecting assembly, the water sample can be collected at the specified depth position, through setting the lighting assembly and the camera module, the water environment is shot, and the overall function is more complete. BRIEF DESCRIPTION OF DRAWINGS

[0034] Figure 1 It is a perspective view of a robot simulating biological motion mechanism in an embodiment of the application;

[0035] Figure 2 It is a sectional view of a robot simulating biological motion mechanism in an embodiment of the application;

[0036] Figure 3 It is a right view of a robot simulating biological motion mechanism in an embodiment of the application on the basis of the structure; Figure 1

[0037] Figure 4 It is a structure schematic view of a fan assembly in a robot simulating biological motion mechanism in an embodiment of the application;

[0038] Figure 5 It is a structure schematic view of a driving assembly and a transmission assembly in a robot simulating biological motion mechanism in an embodiment of the application;

[0039] Figure 6 It is a structure schematic view of a water sample collecting assembly in a robot simulating biological motion mechanism in an embodiment of the application;

[0040] Figure 7 It is an exploded view of a tail wing assembly in a robot simulating biological motion mechanism in an embodiment of the application.

[0041] Explanation of reference signs:

[0042] ​1, body main body; 2, fan group; 3, water sample collection assembly; 4, tail wing assembly; 5, drive assembly; 6, turntable; 7, first eccentric rod; 8, transmission assembly; 9, sliding block; 10, camera module; 11, lighting assembly; 12, battery; 13, threading hole; 14, high-definition glass plate;

[0043] 201, fixed rod; 202, connecting shaft; 203, bionic fish fin; 301, mounting bracket; 302, collector; 303, water inlet; 304, water outlet; 305, pressure sensor; 401, adapter block; 402, rotating rod; 403, swing assembly; 404, sliding groove; 501, motor; 502, first gear; 503, second gear; 504, rotating shaft; 801, transmission shaft; 802, rotating wheel; 803, second eccentric rod. DETAILED DESCRIPTION

[0044] The embodiments of the present application are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference signs represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary and are intended to explain the present application, and cannot be understood as limiting the present application, and all other embodiments obtained by those skilled in the art without creative labor based on the embodiments in the present application are within the scope of protection of the present application.

[0045] In addition, if the description of "first", "second" and the like in the present application is only for the purpose of description (such as for distinguishing the same or similar elements), and cannot be understood as indicating or implying the relative importance of the indicated technical features or implying the number of the indicated technical features. Therefore, the features defined as "first", "second" can explicitly or implicitly include at least one of the features. In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the fact that the technical solutions can be realized by those skilled in the art, and when the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist, nor within the scope of protection required by the present application.

[0046] Please refer to Figure 1 , Figure 2 , Figure 3 In an embodiment, a robot with a bionic motion mechanism includes a body main body 1, a control box, a camera module 10 and a lighting assembly 11 are arranged at the front end of the body main body 1, fan assemblies 2 are symmetrically arranged on the left and right sides of the body main body 1, a tail wing assembly 4 is rotatably connected to the tail of the body main body 1, and a water sample collection assembly 3 is arranged between the body main body 1 and the tail wing assembly 4.

[0047] The driving assembly 5 is arranged in the fuselage body 1, and the output end of the driving assembly 5 is connected with a rotating disc 6, and the rotating disc 6 is provided with a first eccentric rod 7 at the end away from the driving assembly 5, and the first eccentric rod 7 is connected with the tail wing assembly 4 through a transmission assembly 8;

[0048] The first eccentric rod 7 is in sliding connection with a sliding block 9 arranged in the fuselage body 1, and the sliding block 9 is connected with the fan assembly 2;

[0049] The driving assembly 5, the camera module 10, the lighting assembly 11 and the water sample collection assembly 3 are connected with a control box, and the control box is electrically connected with a storage battery 12.

[0050] Specifically, on the basis of the above embodiment, a cavity is arranged in the front end of the fuselage body 1, and the control box, the camera module 10 and the lighting assembly 11 are arranged in the cavity, and the front end of the fuselage body 1 is provided with a high-definition glass plate 14 matched with the cavity. It can be understood that the lighting assembly 11 provides sufficient light, so that the camera module 10 can clearly obtain underwater image and video information, and the camera module 10 transmits the collected image data to an image processing unit, and the image processing unit analyzes and processes the image through an image recognition algorithm to identify the characteristics and types of the target. For example, underwater organisms, objects or specific markers, etc.

[0051] Further, the cavity is further arranged with a wireless module and a positioning module, and the wireless module and the positioning module are connected with the control box. The wireless module can be wirelessly connected with a display instrument on land, so that the data of the robot in water can be displayed on the display instrument, which is convenient for the staff to observe. At the same time, the positioning module can be used to position the position of the robot in water, so as to avoid loss.

[0052] Preferably, the positioning module specifically comprises an inertial measurement unit (IMU), a geomagnetic sensor and a corresponding data processing module. Before the bionic fish is put into water, the initial position and attitude of the bionic fish 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 the acceleration and angular velocity of the bionic fish in real time, the geomagnetic sensor measures the geomagnetic direction to obtain the heading data of the bionic fish, and 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 direction of the displacement is corrected. At the same time, the data of the two sensors are fused by using a sensor fusion algorithm (such as Kalman filtering), so as to improve the accuracy and stability of the positioning.

[0053] Preferably, in order to avoid loss of the robot, a thin rope can be connected with a weight or a fixed object on land at the position of the threading hole 13. When it is needed to return the robot, the robot can be pulled back by winding the thin rope.

[0054] It is understandable that, in this embodiment, taking a bionic fish as an example, by activating the drive component 5, the first eccentric rod 7 rotates, causing the slider 9 to slide up and down. While the slider 9 slides, it causes the fan component 2 to repeatedly swing, thus simulating the flapping motion of a fish's wings. At the same time, during the rotation of the first eccentric rod 7, the tail fin component 4 swings left and right on the main body 1 through the transmission component 8, thus simulating the swaying motion of a fish's tail. By using a single drive component 5, the bionic robot can simultaneously simulate multiple biological actions, eliminating the need for multiple independently driven power components and complex programming or control algorithms. This effectively reduces the weight of the jumping bionic robot while achieving more realistic simulation of biological behavior. Furthermore, by saving on the power components, the robot has more layout space. By setting up the water sample collection component 3, water samples can be collected at a specified depth. By setting up the lighting component 11 and the camera module 10, the underwater environment can be photographed, making the overall functionality more complete.

[0055] Specifically, please refer to Figure 2 , Figure 5 Based on the above embodiments, the drive assembly 5 includes a motor 501, a first gear 502, a second gear 503, and a rotating shaft 504;

[0056] The main body 1 is equipped with a motor 501 and a rotating shaft 504. The motor 501 is electrically connected to the control box. The output shaft of the motor 501 is equipped with a rotary encoder, which is connected to the control box for signal transmission. The output shaft is also connected to a first gear 502. The first gear 502 meshes with a 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 a turntable 6.

[0057] Further, please refer to Figure 4 The fan 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 main body 1, and two fixed rods 201 are provided on the slider 9. The two fixed rods 201 are connected to each other through the connecting shaft 202, and the connecting shaft 202 is connected to the bionic fish fin 203.

[0058] It is understandable that by setting an encoder on the output shaft of motor 501, the real-time speed and rotation direction of motor 501 can be accurately obtained, realizing the dynamic detection of the speed of motor 501. The speed and direction of motor 501 have an important impact on the movement state of the bionic fish. By changing the speed of motor 501, the speed of tail rotation and wing flapping can be adjusted, thereby controlling the propulsion force of the bionic fish.

[0059] For example, when rapid ascent or descent is required, the rotation speed of the motor 501 is increased to increase the propulsion force; when stability at a certain depth is required, the rotation speed of the motor 501 is reduced. The steering of the motor 501 can control the direction of the tail rotation, realize the steering and posture adjustment of the bionic fish. For example, when steering to the left or right is required, the steering of the motor 501 is changed, so that the tail rotates to the left or right accordingly.

[0060] In particular, please refer to Figure 5 , Figure 7 On the basis of the above embodiment, the tail wing assembly 4 comprises an adapter block 401, a rotating rod 402 and a swing assembly 403.

[0061] The swing assembly 403 is connected by a plurality of swing units, the swing units are rotationally connected, and the swing unit at the end is provided with a bionic fish tail.

[0062] Both ends of the rotating rod 402 penetrate the adapter block 401 and are rotationally connected with the body main body 1, one end of the adapter block 401 is connected with the swing assembly 403, and the other end of the adapter block 401 is provided with a sliding groove 404, and the sliding groove 404 is connected with the transmission assembly 8.

[0063] Further, the transmission assembly 8 comprises a transmission shaft 801, a rotating wheel 802 and a second eccentric rod 803; the first eccentric rod 7 is connected with one end of the transmission shaft 801, the other end of the transmission shaft 801 penetrates the tail of the body main body 1 and is connected with the rotating wheel 802, the rotating wheel 802 is provided with the second eccentric rod 803, and the second eccentric rod 803 is connected with the sliding groove 404.

[0064] 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 body main body 1, realize the action of simulating the tail swing of fish biological, without adding other power mechanism to drive the tail wing assembly 4, which can effectively reduce the weight of the bionic robot, and is beneficial to the swimming of the bionic robot.

[0065] In particular, please refer to Figure 2 , Figure 6 On the basis of the above embodiment, the water sample collection assembly 3 comprises a mounting bracket 301, a pressure sensor 305, a clamping assembly and a collector 302,

[0066] The mounting bracket 301 is provided with the pressure sensor 305, the clamping assembly and the collector 302, the collector 302 is fixedly connected with the mounting bracket 301 through the clamping assembly,

[0067] 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 and the control valve are signal connected with the control box.

[0068] The pressure sensor 305 can convert the sensed water pressure into an electrical signal, which is converted into a corresponding depth value by a signal processing circuit, and the depth position of the bionic fish is detected by utilizing the relationship between liquid pressure and depth. When the pressure sensor 305 detects that the robot reaches the preset depth position, the control box controls the control valve to open, and the water sample is collected into the collector 302. After reaching the preset time, 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.

[0069] Preferably, the mounting rack 301 is mainly composed of two mutually rotating semicircular rings, one of which is internally provided with a spring and a wedge-shaped block, and the wedge-shaped block is clamped and connected with the other semicircular ring. In the unlocking process, only the wedge-shaped block needs to be pulled to push the spring in a compression mode to achieve quick unlocking. By setting the mounting rack 301 and the clamping assembly, the quick mounting and unlocking of the collector 302 can be achieved.

[0070] 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) emits acoustic signals to the surrounding water area. When the acoustic signals encounter obstacles during propagation, they will be reflected. The receiver (such as a piezoelectric ceramic hydrophone) receives the reflected acoustic signals and converts them into electrical signals. The signal processing unit analyzes the electrical signals and calculates the distance, direction, and other parameters of the obstacles based on the propagation time, intensity, and other information of the acoustic signals. The control system adjusts the movement direction and speed of the robot based on these parameters to achieve obstacle avoidance and navigation functions. For example, when an obstacle appears in front of the robot, the receiver receives a stronger reflected signal, and the signal processing unit calculates that the distance to the obstacle is closer. The control system will control the robot to turn or slow down to avoid the obstacle.

[0071] Specifically, on the basis of the above embodiment, a sonar system (not marked in the figure) is further included, 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, the signal processing unit, and the control system are connected.

[0072] It can be understood that the sonar system is used to capture underwater acoustic information, including the position, distance, shape, and other information of the target. The transmitter in the sonar system emits acoustic signals to the surrounding water area. When the acoustic signals encounter targets or obstacles during propagation, they will be reflected. The receiver receives the reflected acoustic signals and converts them into electrical signals. The signal processing unit analyzes the electrical signals and calculates the distance, direction, and other parameters of the target based on the propagation time, intensity, and other information of the acoustic signals. For example, when the robot searches for underwater targets, the sonar system can detect the approximate position and distance of the target.

[0073] A control method of a robot with a biomimetic motion mechanism, suitable for the robot with the biomimetic motion mechanism of any of the above, comprising:

[0074] Wirelessly connecting with the water display device by using the wireless module;

[0075] Placing the robot in water, and controlling the robot to move to a specified position by the operation panel on the display device, and then diving,

[0076] Using the lighting assembly 11 and the camera module 10 to obtain picture information during the diving of the robot, using the sonar system to detect the surrounding environment, and using the pressure sensor 305 to detect the current water depth position of the robot, and sending the obtained data and image information to the display device;

[0077] When the robot dives to the vicinity of the specified depth position, the control box sends instructions to the control valve, the control valve is opened, and water samples are collected;

[0078] Using the motor 501 to drive the fan assembly 2 and the tail assembly 4 to control the swimming of the robot, and using the positioning module to return the robot.

[0079] In summary, when using the robot with a biomimetic motion mechanism, the motor 501 is started, the rotating shaft 504 rotates under the transmission of the first gear 502 and the second gear 503, the rotating shaft 504 drives the rotating disc 6 and the first eccentric rod 7 to rotate, the first eccentric rod 7 drives the sliding block 9 to slide up and down along the axis of the guide rod during rotation, the sliding block 9 drives the fixed rod 201, the connecting shaft 202 and the biomimetic fin 203 to move downward while sliding downward, and the sliding block 9 repeatedly slides up and down to simulate the wing flapping action of the biomimetic fin 203;

[0080] Meanwhile, the first eccentric rod 7 is connected with the transmission shaft 801 through the sliding block 9, 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 sliding groove 404 on the adapter block 401, the adapter block 401 is rotationally connected with the main body 1, and the second eccentric rod 803 drives the swing assembly 403 to swing repeatedly during rotation, simulating the tail swing action of the biological organism;

[0081] When the robot in the present application is placed in water, the water environment of the lighting assembly 11 and the camera module 10 is used for shooting, and the sonar system is used to detect the surrounding environment of the water body; at the same time, when descending to the preset depth, the water sample collection assembly 3 can be used to collect water samples, which is convenient for researchers to study the water samples;

[0082] The application sets a power structure in the bionic robot, uses a power component to cooperate with a series of linkage mechanisms, realizes that the bionic robot simulates multiple actions of a living creature at the same time, does not need to set multiple independently driven power components, does not need to set a complex programming or control algorithm, effectively reduces the weight of the jumping bionic robot in the case of being able to realize more realistic simulation of the behavior of a living creature, is more complete in the overall function, simultaneously, due to the saved setting of the power component, can vacate more layout space, adds other functional components, makes the underwater bionic robot be able to play more functions, and the application range is more extensive.

[0083] It should be noted that in this document, the terms "comprise", "comprising", or any other variant thereof are intended to cover non-exclusive inclusions, so that a process, device, article or method comprising a series of elements not only includes those elements, but also includes other elements not explicitly listed, or includes elements inherent to such a process, device, article or method. Without more limitations, the element defined by the statement "comprising a" does not exclude the presence of other identical elements in the process, device, article or method comprising the element.

[0084] The above is only the preferred embodiment of the application, and does not limit the patent scope of the application, and any equivalent structure or equivalent process transformation using the content of the specification and drawings, or direct or indirect application in other related technical fields, are also included in the patent protection scope of the application.

Claims

1. A robot that imitates a mechanism of a living being, characterized by comprising: The utility model provides a kind of water sample collection device, including fuselage main body, the fuselage main body front end is provided with control box, camera module and lighting assembly, the left and right sides of the fuselage main body are symmetrically provided with fan movement component, the tail of the fuselage main body is rotatably connected with tail wing component, water sample collection component is arranged between the fuselage main body and the tail wing component; The drive assembly is built-in in the fuselage main body, the output end of the drive assembly is connected with the rotating disc, the first eccentric rod is arranged at the end of the rotating disc away from the drive assembly, the first eccentric rod is connected with the tail wing component through the transmission assembly; The first eccentric rod is slidably connected with the sliding block slidably arranged in the fuselage main body, and the fan movement component is connected to the sliding block; The drive assembly, the camera module, the lighting assembly, the water sample collection component and the control box are connected, and the control box is electrically connected with the battery. The drive assembly includes a motor, a first gear, a second gear and a rotating shaft. The motor and the rotating shaft are arranged in the fuselage main body, the motor is electrically connected with the control box, the output shaft of the motor is provided with a rotary encoder, the rotary encoder is signal connected with the control box, and the output shaft is connected with the first gear, the first gear is engaged with the second gear, one end of the second gear is connected with the rotating shaft, and the other end of the rotating shaft is connected with the rotating disc. The fan movement component includes a fixed rod, a connecting shaft and a bionic fish fin. The bionic fish fin is rotatably connected with the fuselage main body, two fixed rods are arranged on the sliding block, the connecting shaft is connected between the two fixed rods, and the connecting shaft is connected with the bionic fish fin. The tail wing component includes an adapter block, a rotating rod and a swing assembly. The swing assembly is connected by a plurality of swing units, the swing units are rotatably connected, and the last swing unit is provided with a bionic fish tail. The two ends of the rotating rod penetrate through the adapter block and are rotatably connected with the fuselage main body, one end of the adapter block is connected with the swing assembly, and the other end of the adapter block is provided with a sliding groove, and the sliding groove is connected with the transmission assembly.

2. The robot of claim 1, wherein The transmission assembly includes a transmission shaft, a rotating wheel and a second eccentric rod. The first eccentric rod is connected with one end of the transmission shaft, the other end of the transmission shaft penetrates through the tail of the fuselage main body and is connected with a rotating wheel, the second eccentric rod is arranged on the rotating wheel, and the second eccentric rod is connected with the sliding groove.

3. The robot of claim 1, wherein, A cavity is formed in the front end of the fuselage main body, the control box, the camera module and the lighting assembly are arranged in the cavity, and a high-definition glass plate is arranged at the front end of the fuselage main body.

4. The robot of claim 1, wherein The water sample collection component includes a mounting bracket, a pressure sensor, a clamping assembly and a collector, The pressure sensor, the clamping assembly and the collector are arranged on the mounting bracket, the collector is fixedly connected with the mounting bracket 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.

5. The robot of claim 3, wherein the robot is configured to move in a manner that mimics the motion of a living being. Further comprising a sonar system, which is arranged inside the cavity, the sonar system comprising a transmitter, a receiver, a signal processing unit and a control system, the receiver being connected with the signal processing unit, the transmitter, the signal processing unit and the control system being connected.

6. The robot of claim 3, wherein the robot is configured to move in a manner that simulates a motion of a living being. The cavity is further arranged with a wireless module and a positioning module, which are connected with the control box.

7. A control method of a robot of a biomimetic locomotion mechanism, suitable for the robot of the biomimetic locomotion mechanism according to any one of claims 1 to 6, characterized by, Comprise: Wireless connection with the water display device by using the wireless module; Place the robot in water, and control the robot to move to a specified position by the operation panel on the display device, then submerge, Obtain picture information of the robot during submerging by using the lighting assembly and the camera module, detect the surrounding environment by using the sonar system, detect the current water level position of the robot by using the pressure sensor, and send the obtained data and image information to the display device; When the robot is submerged to the vicinity of the specified depth position, the control box sends an instruction to the control valve, the control valve is opened, and water sampling is performed; Control the robot to swim by using the motor to drive the fan assembly and the tail wing assembly, and return the robot by using the positioning module.

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