Hybrid-driven amphibious bionic robot

Abstract

The invention discloses a hybrid-driven amphibious bionic robot which comprises a central control assembly, a driving assembly and a driving assembly. The two driving mechanisms are symmetrically arranged at the two ends of the central control assembly respectively and electrically connected with the central control assembly respectively; the two paper folding mechanisms are symmetrically arranged at the ends, away from the center control assembly, of the two driving mechanisms correspondingly, and the two paper folding mechanisms can be driven by the driving mechanisms connected with the two paper folding mechanisms to bend or stretch out and draw back in the axial direction; and the two walking mechanisms are symmetrically arranged at the ends, away from the center control assembly, of the two paper folding mechanisms correspondingly, the two walking mechanisms are electrically connected with the center control assembly correspondingly, and the two walking mechanisms are driven by the paper folding mechanisms connected with the walking mechanisms to change directions correspondingly, so that amphibious walking is achieved. According to the robot, stretching and bending actions can be carried out in an underwater narrow space through the paper folding mechanism, the advancing direction of the walking mechanism is changed through the paper folding mechanism, the robot has the maneuverability of zero turning radius, and direction conversion can be completed in situ, so that the adaptability and flexibility in a complex environment are remarkably improved, and the robot is more convenient to use.

Description

Technical Field

[0001] The present invention relates to the technical field of bionic robots, and particularly relates to a hybrid-driven amphibious bionic robot. Background Art

[0002] Underwater robots play an important role in modern ocean exploration, resource development, and scientific research. Currently, underwater robots mainly complete various complex tasks through the coordinated control of multiple propeller thrusters. However, there are still many problems with existing propeller underwater robots.

[0003] For example, in a patent named "An Amphibious Bionic Robot" (Patent No.: CN115339275A), although this robot can achieve the amphibious functions of swimming underwater and walking on land, the implementation scheme adopted by this invention greatly increases the volume of the robot and limits the flexibility and mobility of the robot. First, the rigid deformation mechanism adopted in this scheme is a gear transmission mechanism. Compared with a flexible mechanism, the rigid deformation mechanism cannot well adapt to complex and narrow underwater spaces, and the limited use environment causes inconvenience during use.

[0004] Therefore, the existing technology still needs to be improved. Summary of the Invention

[0005] In view of the deficiencies of the above-mentioned existing technology, the purpose of the present invention is to provide a hybrid-driven amphibious bionic robot, aiming to solve the problem that the rigid deformation mechanism adopted by the amphibious bionic robot in the existing technology cannot well adapt to complex and narrow underwater spaces, and the limited use environment causes inconvenience during use.

[0006] The technical solution adopted by the present invention to solve the technical problems is as follows:

[0007] In a first aspect, an embodiment of the present invention provides a hybrid-driven amphibious bionic robot, including:

[0008] A central control component;

[0009] Two driving mechanisms, the two driving mechanisms are symmetrically arranged at both ends of the central control component respectively, and are electrically connected to the central control component respectively;

[0010] Two origami mechanisms, the two origami mechanisms are symmetrically arranged at the ends of the two driving mechanisms far away from the central control component respectively, and the two origami mechanisms can be driven by the driving mechanisms connected to them to bend or axially expand respectively;

[0011] Two walking mechanisms, the two walking mechanisms are symmetrically arranged at one end of the two folding mechanisms away from the central control component respectively. The two walking mechanisms are electrically connected to the central control component respectively, and are driven by the corresponding folding mechanisms connected thereto to change directions, so as to realize amphibious walking.

[0012] As a further improved technical solution, the folding mechanism includes a folding structure, a wire-pulling structure and a support plate; wherein,

[0013] The support plate is fixed to one end of the central control component through a support column. Two ends of the folding structure are respectively connected to the support plate and the walking mechanism. One end of the wire-pulling structure is connected to the folding structure, and the other end of the wire-pulling structure penetrates through the support plate and is connected to the corresponding driving mechanism, so as to drive the folding structure to bend or stretch through the driving of the driving mechanism.

[0014] As a further improved technical solution, the wire-pulling structure includes a first wire and a second wire. One end of the first wire and one end of the second wire are respectively connected to two opposite corner lines distributed radially along the folding structure in a one-to-one correspondence;

[0015] The driving mechanism includes a servo motor. The servo motor is arranged at one end of the central control component. The other end of the first wire and the other end of the second wire respectively penetrate through the support plate and are wound around the servo disc of the servo motor in opposite directions.

[0016] As a further improved technical solution, the driving mechanism further includes a wire reel. The wire reel is arranged on the servo disc of the servo motor. The other end of the first wire and the other end of the second wire are respectively wound around the wire reel in opposite directions.

[0017] As a further improved technical solution, the folding structure is provided with multiple groups of opposite corner lines in the radial direction. The driving mechanism includes multiple servo motors. The wire-pulling structure is provided with multiple ones. One end of each wire-pulling structure is respectively connected to each of the opposite corner lines in a one-to-one correspondence, and the other end of each wire-pulling structure is respectively connected to the servo disc of each servo motor in a one-to-one correspondence.

[0018] As a further improved technical solution, the walking mechanism includes a propeller, a coupling and a stepping motor. The stepping motor is arranged at one end of the folding structure away from the support plate and is electrically connected to the central control component. The propeller is arranged on the rotating shaft of the stepping motor through the coupling.

[0019] As a further improved technical solution, the walking mechanism further includes an arc-shaped bottom plate. The outer ends of the blades of the propeller are respectively provided with the arc-shaped bottom plates. The distances between the arc-shaped bottom plates are uniform and are distributed around the rotating shaft of the stepping motor as the center.

[0020] As a further improved technical solution, the central control component includes a sealed cabin and a circuit board. The circuit board is arranged inside the sealed cabin. The steering gear and the stepping motor are respectively electrically connected to the circuit board. The steering gear and the support column are respectively arranged at one end of the sealed cabin.

[0021] As a further improved technical solution, a mounting plate is provided at the end of the sealed cabin. The mounting plate is fixed to the end face of the sealed cabin by screws. The steering gear and the support column are respectively arranged on the mounting plate.

[0022] As a further improved technical solution, a battery box is also arranged inside the sealed cabin. The battery box is used to accommodate a power source.

[0023] Compared with the prior art, the embodiments of the present invention have the following advantages:

[0024] The embodiments of the present invention provide a hybrid-driven amphibious bionic robot, including: a central control component; two driving mechanisms, the two driving mechanisms are respectively symmetrically arranged at both ends of the central control component and are respectively electrically connected to the central control component; two origami mechanisms, the two origami mechanisms are respectively symmetrically arranged at one end of the two driving mechanisms away from the central control component, and the two origami mechanisms can be respectively driven by the driving mechanisms connected thereto to bend or axially expand; two walking mechanisms, the two walking mechanisms are respectively symmetrically arranged at one end of the two origami mechanisms away from the central control component, the two walking mechanisms are respectively electrically connected to the central control component, and are respectively driven by the origami mechanisms connected thereto to change the direction, so as to realize amphibious walking on land and in water. In the present invention, the central control component is used to control the operation of the driving mechanism and the walking mechanism. The driving mechanism is used to drive the origami mechanism to make bending or telescopic movements, and the origami structure can drive the walking mechanism to change the traveling direction. The walking mechanism can be used for land walking and underwater propulsion. The hybrid-driven amphibious bionic robot provided by the present invention can make telescopic and bending movements in a narrow underwater space through the origami mechanism, and change the traveling direction of the walking mechanism through the origami mechanism, having the maneuverability of a zero turning radius, and can complete direction conversion in place, thus significantly improving the adaptability and flexibility in a complex environment and being more convenient to use. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a first three-dimensional structural schematic diagram of a hybrid-driven amphibious bionic robot provided by the present invention;

[0026] Figure 2 It is a second three-dimensional structural schematic diagram of a hybrid-driven amphibious bionic robot provided by the present invention;

[0027] Figure 3 It is a three-dimensional structural schematic diagram of the origami mechanism in the present invention;

[0028] Figure 4 This is a schematic cross-sectional structure diagram of the origami structure in the present invention;

[0029] Figure 5 This is a three-dimensional structure diagram of the central control component in the present invention.

[0030] In the figure: 1. Central control component; 101. Sealed cabin; 102. Circuit board; 2. Driving mechanism; 201. Servo; 202. Wire reel; 3. Origami mechanism; 301. Origami structure; 3011. Corner line; 302. Pulling wire structure; 3021. First pulling wire; 3022. Second pulling wire; 303. Support plate; 4. Walking mechanism; 401. Propeller; 402. Coupling; 403. Stepper motor; 404. Arc-shaped bottom plate; 5. Support column; 6. Mounting plate; 7. Screw; 8. Battery box. Detailed implementation manners

[0031] The embodiments of the present invention will be described in detail below. The examples of the embodiments are shown in the accompanying drawings, where the same or similar reference numerals represent the same or similar elements or elements with the same or similar functions from beginning to end. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention and should not be construed as a limitation to the present invention.

[0032] When the propulsion system adopted by traditional amphibious bionic robots faces uneven water flow or complex underwater environments, the robots often generate periodic swaying due to uneven forces, which in turn affects their motion trajectories and the normal operation of the carried devices. To solve this problem, the present invention provides the following embodiments to solve the above problems.

[0033] Embodiment:

[0034] Please refer to Figures 1 - 5 , wherein, the hybrid-driven amphibious bionic robot includes: a central control component 1; two driving mechanisms 2, the two driving mechanisms 2 are symmetrically arranged at both ends of the central control component 1 respectively and are electrically connected to the central control component 1 respectively; two origami mechanisms 3, the two origami mechanisms 3 are symmetrically arranged at one ends of the two driving mechanisms 2 away from the central control component 1 respectively, and the two origami mechanisms 3 can be driven by the driving mechanisms 2 connected thereto to bend or axially stretch; two walking mechanisms 4, the two walking mechanisms 4 are symmetrically arranged at one ends of the two origami mechanisms 3 away from the central control component 1 respectively, the two walking mechanisms 4 are electrically connected to the central control component 1 respectively, and are respectively driven by the origami mechanisms 3 connected thereto to change directions so as to realize amphibious walking.

[0035] Such as Figure 1As shown, in this embodiment, the hybrid-driven amphibious bionic robot includes a central control component 1, a driving mechanism 2, an origami mechanism 3 and a walking mechanism 4; wherein the driving mechanism 2, the origami mechanism 3 and the walking mechanism 4 are respectively provided in a pair and are symmetrically arranged at the two ends of the central control component 1. Specifically, the two driving mechanisms 2 are symmetrically arranged at the left and right ends of the central control component 1, and are electrically connected to the central control component 1 respectively; the two origami mechanisms 3 are symmetrically arranged at one end of the two driving mechanisms 2 away from the central control component 1, and the two origami mechanisms 3 can be driven to bend or extend axially through the driving mechanisms 2 connected thereto, that is, the driving mechanism 2 located at the left end of the central control component 1 can drive the origami mechanism 3 on the left to move, and the driving mechanism 2 located at the right end of the central control component 1 can drive the origami mechanism 3 on the right to move; the two walking mechanisms The walking mechanisms 4 are symmetrically arranged at one end of the two origami mechanisms 3 away from the central control component 1, and the two walking mechanisms 4 are electrically connected to the central control component 1, and are driven to change directions by the origami mechanisms 3 connected thereto, so as to realize amphibious walking on land and water; for example, when the amphibious bionic robot walks on land, the walking mechanisms 4 on both sides thereof maintain a relative state; when the amphibious bionic robot walks in water, the walking mechanisms 4 on both sides thereof will change directions through the origami structure 301, and the two walking mechanisms 4 will be located on the same side, and play a propulsion role at the same time.

[0036] In the present invention, the central control component 1 is used to control the operation of the driving mechanism 2 and the walking mechanism 4, the driving mechanism 2 is used to drive the origami mechanism 3 to bend or stretch, and the origami structure 301 can drive the walking mechanism 4 to change the direction of travel, and the walking mechanism 4 can be used for walking on land and propulsion in water; the hybrid-driven amphibious bionic robot provided by the present invention can stretch and bend in a small underwater space through the origami mechanism 3, and change the direction of travel of the walking mechanism 4 through the origami mechanism 3, and has the maneuverability of zero turning radius, and can complete the direction change in situ, thereby significantly improving the adaptability and flexibility in complex environments, and is more convenient to use. At the same time, the origami mechanism 3 used in the present invention can dynamically adjust the propulsion angle of the amphibious bionic robot to balance the force and ensure that the amphibious bionic robot remains stable in various environments. In addition, the origami mechanism 3 can flexibly change its shape according to the real-time water flow conditions to minimize the influence of unstable factors. The spatial posture adjustment of the amphibious bionic robot through the origami mechanism 3 can greatly reduce the shaking of the amphibious bionic robot and improve the movement stability of the amphibious bionic robot.

[0037] like Figure 2 and Figure 3As shown in the figure, as a further solution, the origami mechanism 3 includes an origami structure 301, a wire-pulling structure 302, and a support plate 303. Among them, the support plate 303 is fixed to one end of the central control component 1 through a support column 5. Both ends of the origami structure 301 are respectively connected to the support plate 303 and the traveling mechanism 4. One end of the wire-pulling structure 302 is connected to the origami structure 301, and the other end of the wire-pulling structure 302 penetrates through the support plate 303 and is connected to the corresponding driving mechanism 2, so as to drive the origami structure 301 to bend or stretch through the driving of the driving mechanism 2.

[0038] Specifically, the support plate 303 is used to support and fix one end of the origami structure 301 close to the central control component 1. The origami structure 301 and the support plate 303 can be in abutment or fixed connection. One end of the wire-pulling structure 302 is distributed on the origami structure 301 along the radial direction of the origami structure 301 and is fixedly connected to the origami structure 301. The other end of the wire-pulling structure 302 penetrates through the support plate 303 and is connected to the driving mechanism 2. The driving mechanism 2 can drive the wire-pulling structure 302 to drive the origami structure 301 to stretch or bend. The traveling mechanism 4 realizes a zero turning radius through the origami structure 301.

[0039] As an even further solution, the wire-pulling structure 302 includes a first wire 3021 and a second wire 3022. One end of the first wire 3021 and one end of the second wire 3022 are respectively connected to two opposite corner lines 3011 distributed along the radial direction of the origami structure 301 in a one-to-one correspondence. Among them, the corner line 3011 refers to the intersection line between two adjacent side surfaces of the origami structure 301 distributed along the radial direction. For example, when the origami structure 301 is a quadrilateral, there are four corner lines 3011. When the origami structure 301 is a hexagon, there are six corner lines 3011. The driving mechanism 2 includes a servo motor 201. The servo motor 201 is arranged at one end of the central control component 1. The other ends of the first wire 3021 and the second wire 3022 respectively penetrate through the support plate 303 and are wound around the servo disc of the servo motor 201 in opposite directions. Specifically, when the servo motor 201 pulls the first wire 3021 to contract, the first wire 3021 will drive the origami structure 301 to bend towards the direction where the first wire 3021 is located. At this time, the second wire 3022 will stretch. When the servo motor 201 pulls the second wire 3022 to contract, the second wire 3022 will drive the origami structure 301 to bend towards the direction where the second wire 3022 is located. At this time, the first wire 3021 will stretch.

[0040] In this embodiment, the driving mechanism 2 further includes a wire reel 202, which is arranged on the steering wheel of the steering gear 201. The other ends of the first wire 3021 and the second wire 3022 are wound around the wire reel 202 in opposite directions respectively. Specifically, a wire groove (not shown) is provided on the wire reel 202, and both the first wire 3021 and the second wire 3022 are located in the wire groove. By restricting the winding positions of the first wire 3021 and the second wire 3022 through the wire groove, the bending angle of the origami structure 301 is more accurate when it is controlled to move.

[0041] As a further solution, the origami structure 301 is provided with multiple sets of opposite corner lines 3011 in the radial direction. The driving mechanism 2 includes multiple steering gears 201. The wire pulling structure 302 is provided with multiple ones. One end of each wire pulling structure 302 is respectively connected to each of the opposite corner lines 3011 in a one-to-one correspondence, and the other end of each wire pulling structure 302 is respectively connected to the steering wheel of each steering gear 201 in a one-to-one correspondence.

[0042] As Figure 4 shown, specifically, the origami structure 301 may include one set of corner lines 3011, two sets of corner lines 3011, three sets of corner lines 3011 or four sets of corner lines 3011... The cross-section of the origami structure 301 in this embodiment is hexagonal and has three sets of corner lines 3011. The wire pulling structure 302 is provided with three sets, and the driving mechanism 2 includes three steering gears 201. Among them, each steering gear 201 controls one set of wire pulling structures 302 respectively, and each set of wire pulling structures 302 corresponds to one set of corner lines 3011 respectively. For details, see Figure 4; A first cable 3021 of the first set of cable structures 302 is provided on the corner line 3011 above the origami structure 301, and a second cable 3022 of the first set of cable structures 302 is provided on the corner line 3011 below the origami structure 301. The first cable 3021 and the second cable 3022 of the first set of cable structures 302 are distributed oppositely and are simultaneously wound around the cable reel 202 of the first servo 201. When the first servo 201 pulls the upper first cable 3021 alone, the origami structure 301 bends upward. When the servo 201 pulls the lower second cable 3022 alone, the origami structure 301 bends downward; A first cable 3021 of the second set of cable structures 302 is provided on the corner line 3011 at the lower left of the origami structure 301, and a second cable 3022 of the second set of cable structures 302 is provided on the corner line 3011 at the upper right of the origami structure 301. The first cable 3021 and the second cable 3022 of the second set of cable structures 302 are distributed oppositely and are simultaneously wound around the cable reel 202 of the second servo 201. When the second servo 201 pulls the lower left first cable 3021 alone, the origami structure 301 bends downward to the left. When the second servo 201 pulls the upper right second cable 3022 alone, the origami structure 301 bends upward to the right; A first cable 3021 of the third set of cable structures 302 is provided on the corner line 3011 at the lower right of the origami structure 301, and a second cable 3022 of the third set of cable structures 302 is provided on the corner line 3011 at the upper left of the origami structure 301. The first cable 3021 and the second cable 3022 of the third set of cable structures 302 are distributed oppositely and are simultaneously wound around the cable reel 202 of the third servo 201. When the third servo 201 pulls the lower right first cable 3021 alone, the origami structure 301 bends downward to the right. When the third servo 201 pulls the upper left second cable 3022 alone, the origami structure 301 bends upward to the left; In this embodiment, the bending angle of the origami structure 301 is 0° - 90°. And when the three servos 201 simultaneously pull the corresponding first cables 3021 or simultaneously pull the corresponding second cables 3022 respectively, the origami structure 301 can be driven to complete contraction. When the amphibious bionic robot encounters a narrow aisle, the walking mechanisms 4 at both ends can be contracted inward to reduce its own body size and pass through the narrow aisle. The first cables 3021 and the second cables 3022 in this embodiment can also be used in cooperation. That is, either a single servo 201 controls the movement of the origami structure 301, or two or three servos 201 control the movement of the origami structure 301 simultaneously.

[0043] As a further solution, the walking mechanism 4 includes a propeller 401, a coupling 402 and a stepper motor 403. The stepper motor 403 is arranged at one end of the origami structure 301 away from the support plate 303 and is electrically connected to the central control component 1. The propeller 401 is arranged on the rotating shaft of the stepper motor 403 through the coupling 402. Specifically, the central control component 1 is used to control the operation and rotation direction of the stepper motor 403. The propeller 401 is arranged on the coupling 402, and the coupling 402 is arranged on the rotating shaft of the stepper motor 403. When the rotating shaft of the stepper motor 403 rotates, the propeller 401 is driven to rotate through the coupling 402. When the amphibious bionic robot walks on the ground, the blades of the propeller 401 contact the ground and roll on the ground. When the amphibious bionic robot is in water, the blades of the propeller 401 rotate to propel the amphibious bionic robot to move.

[0044] The hybrid-driven amphibious bionic provided by the present invention shows unique advantages in the tasks of amphibious operation. The walking mechanism 4 in the form of the propeller 401 also has the wheel-driven ability, and can realize the wheeled rolling forward function in environments such as underwater shoals and land. Compared with the rigid structure, the origami mechanism 3 can absorb the impact brought by the unstructured terrain to the robot. At the same time, through the deformation of the origami mechanism 3, the angle of the propeller 401 can be adjusted, so that the amphibious bionic robot can change the posture of the propeller 401 during wheeled movement, enabling the robot to pass through narrow or low spaces.

[0045] In this embodiment, the walking mechanism 4 further includes an arc-shaped bottom plate 404. The outer ends of the blades of the propeller 401 are respectively provided with the arc-shaped bottom plates 404. The spaces between the arc-shaped bottom plates 404 are evenly spaced and distributed around the rotating shaft of the stepper motor 403. Specifically, there are gaps between the arc-shaped bottom plates 404 to facilitate adaptation to various terrain environments. The arc-shaped bottom plate 404 can cooperate with the origami mechanism 3. When the amphibious bionic robot walks on the beach, after adjusting the angle of the propeller 401 through the origami mechanism 3, one end of the arc-shaped bottom plate 404 can be driven into the beach by driving the propeller 401, so as to assist the amphibious bionic robot to be fixed in place on the beach. At the same time, anti-slip patterns (not shown) are provided on the outer side of the arc-shaped bottom plate 404, which is beneficial to the normal progress of the walking mechanism 4 on a slippery road surface and avoids slipping.

[0046] As Figure 5As shown, as a further solution, the central control component 1 includes a sealed chamber 101 and a circuit board 102. The circuit board 102 is disposed within the sealed chamber 101. The steering gear 201 and the stepping motor 403 are respectively electrically connected to the circuit board 102. The steering gear 201 and the support column 5 are respectively disposed at one end of the sealed chamber 101. Among them, the steering gear 201 can be detachably connected to the sealed chamber 101 by bolts, and the support column 5 can be fixedly welded to the sealed chamber 101. The sealed chamber 101 is used to protect the circuit board 102.

[0047] As an even further solution, a mounting plate 6 is provided at the end of the sealed chamber 101. The mounting plate 6 is fixed to the end face of the sealed chamber 101 by screws 7. The steering gear 201 and the support column 5 are respectively disposed on the mounting plate 6. Specifically, the sealed chamber 101 in this embodiment is in a sleeve shape. Both sides of the opening of the sealed chamber 101 are sealed by the mounting plate 6. When the screws 7 are removed, the mounting plate 6 can be removed to open the sealed chamber 101, so as to facilitate the maintenance of the circuit board 102.

[0048] In this embodiment, a battery box 8 is further provided within the sealed chamber 101. The battery box 8 is used to accommodate a power source. The battery in the battery box 8 is electrically connected to the circuit board 102 for power supply. And the battery in the battery box 8 is detachable. The battery in this embodiment is a cylindrical battery.

[0049] In summary, the embodiment of the present invention provides a hybrid-driven amphibious bionic robot, including: a central control component 1; two driving mechanisms 2, the two driving mechanisms 2 are symmetrically arranged at both ends of the central control component 1 respectively, and are electrically connected to the central control component 1 respectively; two origami mechanisms 3, the two origami mechanisms 3 are symmetrically arranged at one end of the two driving mechanisms 2 away from the central control component 1 respectively, and the two origami mechanisms 3 can be driven to bend or axially expand by the driving mechanisms 2 connected thereto respectively; two walking mechanisms 4, the two walking mechanisms 4 are symmetrically arranged at one end of the two origami mechanisms 3 away from the central control component 1 respectively, the two walking mechanisms 4 are electrically connected to the central control component 1 respectively, and are driven by the origami mechanisms 3 connected thereto respectively to change the direction, so as to realize amphibious walking. In the present invention, the central control component 1 is used to control the operation of the driving mechanism 2 and the walking mechanism 4, the driving mechanism 2 is used to drive the origami mechanism 3 to make bending or telescopic movements, and the origami structure 301 can drive the walking mechanism 4 to change the traveling direction, and the walking mechanism 4 can be used for land walking and underwater propulsion; the hybrid-driven amphibious bionic robot provided by the present invention can make telescopic and bending movements in a narrow underwater space through the origami mechanism 3, and change the traveling direction of the walking mechanism 4 through the origami mechanism 3, with the maneuverability of zero turning radius, and can complete direction conversion in place, thus significantly improving the adaptability and flexibility in complex environments and being more convenient to use.

[0050] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus cannot be understood as a limitation of the present invention.

[0051] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, "a plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0052] In the present invention, unless otherwise clearly specified or defined, terms such as "installed", "connected", "linked", "fixed", etc. shall be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the internal communication of two components or the interaction relationship between two components, unless otherwise clearly defined. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0053] In the present invention, unless otherwise clearly specified or defined, the first feature being "on" or "under" the second feature may be that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature may be that the first feature is directly above or obliquely above the second feature, or merely indicates that the first feature has a higher horizontal height than the second feature. The first feature being "under", "below" and "beneath" the second feature may be that the first feature is directly below or obliquely below the second feature, or merely indicates that the first feature has a lower horizontal height than the second feature.

[0054] It should be noted that when an element is referred to as "fixed to" or "disposed on" another element, it can be directly on the other element or there may also be an intermediate element. When an element is considered to be "connected" to another element, it can be directly connected to the other element or there may be an intermediate element at the same time. The terms "vertical", "horizontal", "up", "down", "left", "right" and similar expressions used herein are for illustrative purposes only and do not represent the only implementation.

[0055] Of course, the above description of the embodiments of the present invention is relatively detailed, but it should not be construed as a limitation on the protection scope of the present invention. The present invention may have other various implementation manners. Based on this implementation manner, other implementation manners obtained by those of ordinary skill in the art without any creative work belong to the protection scope of the present invention. The protection scope of the present invention shall be subject to the appended claims.

Claims

1. A hybrid-driven amphibious bionic robot, characterized in that: include: Central control components; Two driving mechanisms, the two driving mechanisms are symmetrically arranged at two ends of the central control component and are electrically connected to the central control component respectively; Two paper folding mechanisms, the two paper folding mechanisms are symmetrically arranged at one end of the two driving mechanisms away from the central control assembly, and the two paper folding mechanisms can be driven to bend or extend and retract along the axial direction by the driving mechanisms connected thereto; Two walking mechanisms are symmetrically arranged at one end of the two paper-folding mechanisms away from the central control component. The two walking mechanisms are electrically connected to the central control component respectively, and are driven to change direction by the paper-folding mechanisms connected thereto respectively, so as to realize amphibious walking.

2. The hybrid-driven amphibious bionic robot according to claim 1, characterized in that: The paper folding mechanism comprises a paper folding structure, a wire pulling structure and a support plate; wherein, The support plate is fixed to one end of the central control assembly through a support column, and both ends of the origami structure are respectively connected to the support plate and the walking mechanism, one end of the pull wire structure is connected to the origami structure, and the other end of the pull wire structure passes through the support plate and is connected to the corresponding driving mechanism, so that the origami structure can be driven to bend or extend through the driving mechanism.

3. The hybrid-driven amphibious bionic robot according to claim 2, characterized in that: The pull wire structure comprises a first pull wire and a second pull wire, one end of the first pull wire and one end of the second pull wire are respectively connected to two opposite corner lines of the origami structure distributed along the radial direction in a one-to-one correspondence; The driving mechanism comprises a steering gear, which is arranged at one end of the central control assembly. The other end of the first cable and the other end of the second cable respectively penetrate the support plate and are wound around the steering disc of the steering gear in opposite directions.

4. The hybrid-driven amphibious bionic robot according to claim 3, characterized in that: The driving mechanism further includes a wire drum, which is arranged on the steering disc of the steering gear, and the other end of the first pull wire and the other end of the second pull wire are respectively wound on the wire drum in opposite directions.

5. The hybrid-driven amphibious bionic robot according to claim 3, characterized in that: The origami structure is provided with a plurality of groups of relative corner lines along the radial direction, the driving mechanism includes a plurality of the servos, and a plurality of the pull-wire structures are provided, one end of each of the pull-wire structures is respectively connected to each of the relative corner lines in a one-to-one correspondence, and the other end of each of the pull-wire structures is respectively connected to the steering wheel of each of the servos in a one-to-one correspondence.

6. The hybrid-driven amphibious bionic robot according to claim 3, characterized in that: The walking mechanism includes a propeller, a coupling and a stepper motor. The stepper motor is arranged at one end of the origami structure away from the support plate and is electrically connected to the central control component. The propeller is arranged on the rotating shaft of the stepper motor through the coupling.

7. The hybrid-driven amphibious bionic robot according to claim 6, characterized in that: The walking mechanism also includes an arc bottom plate, and the outer end of each blade of the propeller is respectively provided with the arc bottom plate, and the arc bottom plates are evenly spaced and distributed with the rotating shaft of the stepping motor as the center of the circle.

8. The hybrid-driven amphibious bionic robot according to claim 6, characterized in that: The central control assembly includes a sealed cabin and a circuit board, the circuit board is arranged in the sealed cabin, the steering gear and the stepper motor are electrically connected to the circuit board respectively; the steering gear and the support column are respectively arranged at one end of the sealed cabin.

9. The hybrid-driven amphibious bionic robot according to claim 8, characterized in that: A mounting plate is provided at the end of the sealed cabin, and the mounting plate is fixed to the end surface of the sealed cabin by screws. The steering gear and the support column are respectively arranged on the mounting plate.

10. The hybrid-driven amphibious bionic robot according to claim 8, characterized in that: A battery box is also provided in the sealed cabin, and the battery box is used to accommodate a power source.

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