Amphibious multi-mimicry bionic metamorphic robot

Abstract

The invention relates to the technical field of robots, provides an amphibious multi-mimicry bionic metamorphic robot, and aims to solve the problems that a traditional bionic robot and an amphibious robot only have a single motion mode and are very limited in flexibility, and the robot is difficult to adapt to complex and changeable terrains due to a fixed topological structure, so that the robot cannot adapt to the complex and changeable terrains; and a better motion mode is difficult to select according to the environment. Comprising a platform plate support; the water spraying and sucking bracket is arranged on one side of the platform plate bracket and is provided with a spraying and sucking opening; the fixed ends of the drivers are arranged on the platform plate bracket; the movable joints are arranged between the platform plate support and the water spraying and absorbing support, each movable joint comprises a driving rod, an elastic hinge with elasticity and a driven rod which are connected in sequence, the driving rods are connected with the driving ends of the corresponding drivers, and the driven rods are hinged to the water spraying and absorbing support; the cavity wrapping film is provided with a receding opening matched with the spraying and sucking opening.

Description

[0001] This application claims priority to the prior application number: 2025107440871, with a filing date of June 5, 2025. Technical Field

[0002] The present application relates to the field of robotics technology, and more specifically, to an amphibious multi-mimetic bionic metamorphic robot. Background Art

[0003] In the field of biomimetic robotics, robots mimic the structure and movement of living organisms, drawing on nature's highly optimized motion patterns. These robots can achieve the same flexibility and efficiency as living organisms in diverse environments, enabling them to complete tasks more efficiently. Furthermore, amphibious robots, capable of moving both on land and underwater, possess excellent environmental adaptability, promising broad application prospects in search and rescue, environmental monitoring, and other fields.

[0004] However, traditional bionic robots and amphibious robots only have a single mode of movement, with very limited flexibility. The fixed topological structure makes it difficult for robots to adapt to complex and changeable terrain, and it is also difficult to choose a better mode of movement according to the environment.

[0005] Therefore, the existing technology needs to be improved. Summary of the Invention

[0006] The purpose of this application is to provide an amphibious multi-mimetic bionic cell-changing robot to solve the problem that traditional bionic robots and amphibious robots have only a single mode of movement, very limited flexibility, and a fixed topological structure that makes it difficult for the robot to adapt to complex and changeable terrain, and it is also difficult to select a better mode of movement according to the environment.

[0007] To achieve the above objectives, the technical solutions adopted in the embodiments of the present application are:

[0008] Amphibious multi-morphic bionic metamorphic robot, including:

[0009] Platform plate bracket;

[0010] A water spraying and suction bracket is arranged on one side of the platform plate bracket, and the water spraying and suction bracket has a spraying and suction port;

[0011] A plurality of drivers, the fixed ends of which are arranged on the platform plate bracket;

[0012] Several movable joints are arranged in parallel, each of which is arranged between the platform plate bracket and the water spraying and suction bracket, wherein the movable joint includes an active rod, an elastic hinge with elasticity, and a driven rod connected in sequence, the active rod is connected to the driving end of the corresponding driver, and the driven rod is hinged to the water spraying and suction bracket;

[0013] A cavity envelope is provided between the platform plate support and the water spraying and suction support and is located on the movable joint, wherein the cavity envelope has a cavity and the connection end thereof with the platform plate support is a closed end;

[0014] The active rod is driven to rotate by a driver, so that the movable joint has a squid water spraying mode, a jellyfish bionic mode and a land motion mode.

[0015] According to the above-mentioned amphibious multi-morphic bionic metamorphic robot, the amphibious multi-morphic bionic metamorphic robot also includes:

[0016] A control board is provided at one end of the platform bracket away from the driver, and the input end of the driver is electrically connected to the output end of the control board;

[0017] The power module is arranged at one end of the platform plate bracket away from the driver and is located on one side of the control board. The output end of the power module is electrically connected to the input end of the control board and is used to supply power to the control board.

[0018] According to the above-mentioned amphibious multi-morphic bionic metamorphic robot, the amphibious multi-morphic bionic metamorphic robot also includes:

[0019] The water-proof cover is arranged on the side of the platform plate bracket facing away from the drive and is used to cover the control board and the power module.

[0020] According to the above-mentioned amphibious multi-mimetic bionic metamorphic robot, a plurality of mounting seats are provided on the platform plate bracket, and the drivers are provided on the corresponding mounting seats.

[0021] According to the above-mentioned amphibious multi-morphic bionic metamorphic robot, a connecting disk is provided at the driving end of the driver, and a connecting head is provided at the end of the active rod close to the driver, and the connecting head is connected to the connecting disk.

[0022] According to the amphibious multi-morphic bionic metamorphic robot described above, a first mounting opening is provided at the end of the active rod facing away from the driver, a second mounting opening is provided at the end of the driven rod facing away from the water spraying and suction bracket, and one end of the elastic hinge is arranged in the first mounting opening and the other end is arranged in the second mounting opening.

[0023] According to the above-mentioned amphibious multi-mimetic bionic metamorphic robot, the water spraying and absorbing bracket includes:

[0024] The water spraying and absorbing plate has a spraying and absorbing port which is opened through the middle of the water spraying and absorbing plate;

[0025] A plurality of connecting rods are arranged on the peripheral side of the water spraying and absorbing plate and are respectively hinged to the corresponding driven rods.

[0026] According to the above-mentioned amphibious multi-morphic bionic metamorphic robot, a first hinge interface is provided at one end of the connecting rod away from the water spraying and absorbing plate, and a second hinge interface is provided at the driven rod. The bionic metamorphic robot further comprises:

[0027] One end of a plurality of pins is arranged in the corresponding first hinge interface, and the other end is arranged in the corresponding second hinge interface.

[0028] According to the above-mentioned amphibious multi-mimetic bionic metamorphic robot, the active rod and the driven rod are symmetrically arranged with the elastic hinge as the center.

[0029] According to the above-mentioned amphibious multi-mimetic bionic metamorphic robot, four movable joints are provided.

[0030] The beneficial effects of the amphibious multi-mimetic biomimetic metamorphic robot provided by this application are at least:

[0031] The squid water-spraying mode and the jellyfish bionic mode in this application both use a driver to drive the movable joint to move, so that water is sucked into the cavity envelope from the nozzle or sprayed from the nozzle to complete the underwater movement of the squid water-spraying mode and the jellyfish bionic mode. The land motion mode is achieved by driving the active rod and the driven rod to overlap into one, and the overlapping active rod and the driven rod will act as a new component. All new components will form an inclined angle with the platform plate support and are alternately driven by each driver to perform land motion. It is worth noting that when it is necessary to convert the land motion mode to the squid water-spraying mode or the jellyfish bionic mode, the new component is driven by the driver to be located at the same horizontal plane as the platform plate support. At this time, it is only necessary to drive the driver to rotate rapidly in the direction of the active rod away from the driven rod. Under the elastic force of the elastic hinge, the land motion mode can be converted to the squid water-spraying mode or the jellyfish bionic mode. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0033] Figure 1 This is a schematic structural diagram of the amphibious multi-mimetic bionic metamorphic robot provided in an embodiment of the present application.

[0034] Figure 2 This is a schematic diagram of the structure of the amphibious multi-mimetic bionic metamorphic robot provided in an embodiment of the present application after removing the cavity envelope.

[0035] Figure 3This is a structural schematic diagram of one angle of the amphibious multi-mimetic bionic metamorphic robot provided in an embodiment of the present application after removing the cavity envelope and water-proof cover.

[0036] Figure 4 This is a schematic structural diagram from another angle of the amphibious multi-mimetic bionic metamorphic robot provided in an embodiment of the present application after removing the cavity envelope and water-proof cover.

[0037] Figure 5 This is a schematic structural diagram of the water-spraying and absorbing bracket in the amphibious multi-mimetic bionic metamorphic robot provided in an embodiment of the present application.

[0038] Figure 6 This is a schematic diagram of a portion of the simple structure of the amphibious multi-mimetic bionic metamorphic robot provided in an embodiment of the present application when it is in the squid water spraying mode; in which components such as the cavity envelope, driver and water shield are omitted.

[0039] Figure 7 This is a schematic diagram of a portion of the simple structure of the amphibious multi-mimetic biomimetic metamorphic robot provided in an embodiment of the present application when it is in a jellyfish biomimetic mode; in which components such as the cavity envelope, driver, and water shield are omitted.

[0040] Figure 8 This is a schematic diagram of a portion of the simple structure of the amphibious multi-mimetic bionic metamorphic robot provided in an embodiment of the present application when it is in an intermediate mode; in which components such as the cavity envelope, driver and water-proof cover are omitted.

[0041] Figure 9 This is a schematic diagram of a portion of the simple structure of the amphibious multi-mimetic bionic metamorphic robot provided in an embodiment of the present application when it is in a self-locking mode; in which components such as the cavity envelope, driver and water shield are omitted.

[0042] Figure 10 This is a schematic diagram of a portion of the simple structure of the amphibious multi-mimetic bionic metamorphic robot provided in an embodiment of the present application when it is in a terrestrial motion mode; in which components such as the cavity envelope, driver and water-proof cover are omitted.

[0043] Among them, the reference numerals in the figures are:

[0044] 1. Platform plate bracket; 2. Spray and suction bracket; 21. Spray and suction port; 22. Spray and suction plate; 23. Connecting rod; 231. First hinge port; 3. Driver; 4. Movable joint; 41. Active rod; 42. Elastic hinge; 43. Driven rod; 5. Cavity envelope; 51. Yield port; 6. Mounting seat; 71. Control panel; 72. Power module; 8. Waterproof cover; 91. Connecting plate; 92. Connector. DETAILED DESCRIPTION

[0045] In order to make the technical problems, technical solutions and beneficial effects to be solved by this application more clearly understood, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0046] It should be noted that when a component is referred to as being "fixed on" or "disposed on" another component, it may be located directly or indirectly on the other component. When a component is referred to as being "connected to" another component, it may be directly or indirectly connected to the other component. The directions or positions indicated by the terms "upper", "lower", "left", "right", "front", "back", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc. are based on the directions or positions shown in the accompanying drawings and are only for the convenience of description and cannot be understood as limitations on this technical solution. The terms "first" and "second" are only used for the purpose of convenience of description and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features. "Multiple" means two or more, unless otherwise clearly and specifically defined.

[0047] In the field of biomimetic robotics, robots mimic the structure and movement of living organisms, drawing on nature's highly optimized motion patterns. These robots can achieve the same flexibility and efficiency as living organisms in diverse environments, enabling them to complete tasks more efficiently. Furthermore, amphibious robots, capable of moving both on land and underwater, possess excellent environmental adaptability, promising broad application prospects in search and rescue, environmental monitoring, and other fields.

[0048] However, traditional bionic robots and amphibious robots only have a single mode of movement, with very limited flexibility. The fixed topological structure makes it difficult for robots to adapt to complex and changeable terrain, and it is also difficult to choose a better mode of movement according to the environment.

[0049] For this purpose, see Figure 1 、 Figure 2 and Figure 3The amphibious multi-mimetic bionic metamorphic robot provided in the embodiment of the present application includes a platform plate bracket 1, a water spraying and suction bracket 2, a plurality of drivers 3, a plurality of parallel movable joints 4 and a cavity envelope 5, the water spraying and suction bracket 2 is arranged on one side of the platform plate bracket 1, the water spraying and suction bracket 2 has a spraying and suction port 21, the fixed ends of the plurality of drivers 3 are arranged on the platform plate bracket 1, and the plurality of parallel movable joints 4 are all arranged between the platform plate bracket 1 and the water spraying and suction bracket 2, and are located on the movable joints 4, wherein the movable joints 4 include an active rod 41, an elastic hinge 42 and a The driven rod 43 and the active rod 41 are connected to the corresponding driving end of the driver 3. The driven rod 43 is hinged to the water spraying and suction bracket 2. The cavity envelope 5 is provided with a clearance opening 51 that matches the suction opening 21. The cavity envelope 5 avoids the suction opening 21 through the clearance opening 51 and is arranged between the platform bracket 1 and the water spraying and suction bracket 2. The cavity envelope 5 is arranged on the movable joint 4. The cavity envelope 5 has a cavity, and its connection end with the platform bracket 1 is a closed end. The cavity envelope 5 can be arranged on the inner side of the movable joint 4 or can be sleeved on the outside of the movable joint 4. In this embodiment, the driver 3 drives the active rod 41 to rotate, so that the movable joint 4 has a squid water spray mode, a jellyfish bionic mode, and a land motion mode.

[0050] In this embodiment, both the squid spray mode and the jellyfish biomimetic mode are achieved by actuator 3 driving the movable joint 4 to move, causing water to be drawn into the cavity envelope 5 from the spray port 21 or ejected from the spray port 21, thereby achieving the underwater motion of the squid spray mode and the jellyfish biomimetic mode. In the land motion mode, the actuator 3 drives the active rod 41 and the driven rod 43 to overlap and integrate them. The overlapping active rod 41 and driven rod 43 function as new components. All of these new components form an inclined angle with the platform support 1 and are alternately driven by the actuators 3 to achieve land motion. It is worth noting that when the land motion mode needs to be converted to the squid spray mode or the jellyfish biomimetic mode, the actuator 3 is used to drive the new components to be aligned with the platform support 1 at the same horizontal plane. At this point, the actuator 3 only needs to be driven to rapidly rotate in the direction of the active rod 41 away from the driven rod 43. Under the elastic force of the elastic hinge 42, the land motion mode is converted to the squid spray mode or the jellyfish biomimetic mode.

[0051] Optional, see Figure 2 and Figure 3 In one embodiment, the platform support 1 is provided with a plurality of mounting seats 6, and the driver 3 is provided on the corresponding mounting seats 6. In this embodiment, the mounting seats 6 are provided to facilitate the installation and fixation of the driver 3.

[0052] Optionally, in one embodiment, the driver 3 can be configured as a steering gear.

[0053] Optional, see Figure 3 and Figure 4 In one embodiment, the amphibious multi-mimetic bionic metamorphic robot also includes a control board 71 and a power module 72. The control board 71 is arranged at the end of the platform plate bracket 1 away from the driver 3, and the input end of the driver 3 is electrically connected to the output end of the control board 71. The power module 72 is arranged at the end of the platform plate bracket 1 away from the driver 3 and is located on one side of the control board 71. The output end of the power module 72 is electrically connected to the input end of the control board 71 and is used to power the control board 71.

[0054] Optional, see Figure 2 and Figure 3 In one embodiment, the amphibious multi-morphic biomimetic metamorphic robot further includes a water shield 8, which is disposed on the side of the platform support 1 facing away from the driver 3 and is used to cover the control board 71 and power module 72. The provision of the water shield 8 in this embodiment prevents water from entering the control board 71 and power module 72, thereby preventing them from functioning properly.

[0055] Optional, see Figure 2 and Figure 3 In one embodiment, a connecting disk 91 is provided at the driving end of the driver 3, and a connecting head 92 is provided at the end of the active rod 41 close to the driver 3, and the connecting head 92 is connected to the connecting disk 91. In this embodiment, a connecting disk 91 and a connecting head 92 are provided on the driver 3 and the active rod 41 respectively, and the driver 3 is connected to the active rod 41 through the connecting disk 91 and the connecting head 92.

[0056] Optionally, in one embodiment, a first mounting opening (not shown) is defined at the end of the active rod 41 facing away from the driver 3, a second mounting opening (not shown) is defined at the end of the driven rod 43 facing away from the water spraying and suction bracket 2, and one end of the elastic hinge 42 is disposed within the first mounting opening and the other end within the second mounting opening. In this embodiment, by defining the first mounting opening and the second mounting opening on the active rod 41 and the driven rod 43, respectively, the elastic hinge 42 is connected to the active rod 41 and the driven rod 43 via the first mounting opening and the second mounting opening, respectively.

[0057] Optional, see Figure 5In one embodiment, the water spray and suction bracket 2 includes a water spray and suction plate 22 and a plurality of connecting rods 23, the spray and suction port 21 is opened through the middle of the water spray and suction plate 22, and the plurality of connecting rods 23 are arranged on the peripheral side of the water spray and suction plate 22, and the connecting rods 23 are hinged to the corresponding driven rods 43.

[0058] Optional, see Figure 2 and Figure 3 In one embodiment, a first hinge port 231 is provided at one end of the connecting rod 23 away from the water-absorbing plate 22, and a second hinge port (not shown in the figure) is provided at the driven rod 43. The amphibious multi-morphic bionic metamorphic robot further includes a plurality of pins (not shown in the figure), one end of each pin being arranged in the corresponding first hinge port 231, and the other end being arranged in the corresponding second hinge port.

[0059] Optionally, in one embodiment, the active rod 41 and the driven rod 43 are symmetrically arranged with the elastic hinge 42 as the center.

[0060] Optional, see Figure 2 、 Figure 3 and Figure 4 In one embodiment, the movable joints 4 can be provided in four configurations. Accordingly, four active rods 41 are provided, and four driven rods 43 are also provided. For the convenience of description, the four active rods 41 are defined as L1, L2, L3, and L4, and the four driven rods 43 are defined as L1', L2', L3', and L4'.

[0061] Among them, L1, L2, L3, and L4, which are controlled by the respective drivers 3, act as the prime movers and swing simultaneously, pushing L1', L2', L3', and L4' to move, thereby changing the volume of the cavity and rapidly squeezing water out of the spray and suction ports 21, generating an impulse in the opposite direction. By controlling the swing speed during water spraying to be much greater than the swing speed during water absorption, the water spraying function is achieved while also achieving the squid spraying mode effect. Figure 6 ;

[0062] L1, L2, L3, L4 are controlled by each driver 3 respectively, so that the angles between L1, L2, L3, L4 and the platform plate bracket 1 are increased, so as to achieve the following Figure 5 The effect of squid spray mode to jellyfish biomimetic mode conversion is shown in Figure 7 .

[0063] By controlling L1, L2, L3, L4 respectively through each driver 3, the angles between L1, L2, L3, L4 and the platform support 1 are further increased, so that L1, L2, L3, L4 and the platform support 1 are in the same horizontal plane (intermediate mode). In this state, L1, L2, L3, L4 and L1', L2', L3', L4' overlap to form new components AL1, AL2, AL3, AL4 respectively, and the platform support 1 overlaps with the spray and suction support 2. Figure 8 .

[0064] By controlling AL1 and AL3 to rotate toward the outside of the cavity and controlling rods AL2 and AL4 to rotate toward the inside of the cavity, and controlling AL1, AL2, AL3, and AL4 to rotate in different directions at different times by each driver 3, the platform support 1 and the spray and suction support 2 can be made to reach a self-locking mode (keep overlap), see Figure 9 Finally, AL1 and AL3 rotate toward the inner side of the cavity and successfully reach the land motion mode (crawling mode). Figure 10 .

[0065] In summary, the amphibious multi-mimetic bionic cell-changing robot provided by the present application includes a platform plate bracket 1, a water spraying and sucking bracket 2, a plurality of drivers 3, a plurality of parallel movable joints 4 and a cavity envelope 5, the water spraying and sucking bracket 2 is arranged on one side of the platform plate bracket 1, the water spraying and sucking bracket 2 has a spraying and sucking port 21, the fixed ends of the plurality of drivers 3 are arranged on the platform plate bracket 1, and the plurality of parallel movable joints 4 are all arranged between the platform plate bracket 1 and the water spraying and sucking bracket 2, and are located on the movable joints 4, wherein the movable joints 4 include The active rod 41, the elastic hinge 42, and the driven rod 43 are connected to each other. The active rod 41 is connected to the driving end of the corresponding driver 3. The driven rod 43 is hinged to the water spraying and suction bracket 2. The cavity envelope 5 is provided with a clearance port 51 that matches the suction port 21. The cavity envelope 5 avoids the suction port 21 through the clearance port 51 and is arranged between the platform bracket 1 and the water spraying and suction bracket 2. The cavity envelope 5 is arranged on the movable joint 4. The cavity envelope 5 has a cavity, and its connection end with the platform bracket 1 is a closed end. In this application, the driver 3 drives the active rod 41 to rotate, so that the movable joint 4 has a squid water spray mode, a jellyfish bionic mode, and a land motion mode. In the present application, both the squid spray mode and the jellyfish biomimetic mode are driven by the driver 3 to move the movable joint 4, so that water is sucked into the cavity envelope 5 from the spray port 21 or water is sprayed from the spray port 21, thereby completing the underwater motion of the squid spray mode and the jellyfish biomimetic mode. In the land motion mode, the driver 3 drives the active rod 41 and the driven rod 43 to overlap into one. The overlapping active rod 41 and the driven rod 43 will act as a new component. All new components will form an inclined angle with the platform plate support 1 and are alternately driven by each driver 3 to perform land motion. It is worth noting that when it is necessary to convert the land motion mode to the squid spray mode or the jellyfish biomimetic mode, the driver 3 drives the new component to be located at the same horizontal plane as the platform plate support 1. At this time, it is only necessary to drive the driver 3 to rotate rapidly in the direction of the active rod 41 away from the driven rod 43. Under the elastic force of the elastic hinge 42, the land motion mode can be converted to the squid spray mode or the jellyfish biomimetic mode.

[0066] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present application should be included in the scope of protection of the present application.

Claims

1. Amphibious multi-morphic bionic metamorphic robot, characterized by: include: Platform plate bracket; A water spraying and suction bracket is provided on one side of the platform plate bracket, and the water spraying and suction bracket has a spraying and suction port; A plurality of drivers, the fixed ends of which are arranged on the platform plate bracket; A plurality of movable joints arranged in parallel, each of which is arranged between the platform plate bracket and the water spraying and suction bracket, wherein the movable joints include an active rod, an elastic hinge with elasticity, and a driven rod connected in sequence, the active rod being connected to the driving end of the corresponding driver, and the driven rod being hinged to the water spraying and suction bracket; a cavity envelope, which is arranged between the platform plate bracket and the water spraying and suction bracket and located on the movable joint, wherein the cavity envelope has a cavity, and the connection end between the cavity envelope and the platform plate bracket is a closed end; The active rod is driven to rotate by the driver, so that the movable joint has a squid water spraying mode, a jellyfish bionic mode and a land movement mode.

2. The amphibious multi-morphic biomimetic metamorphic robot according to claim 1, characterized in that: The amphibious multi-mimetic bionic metamorphic robot also includes: A control board is provided at one end of the platform support away from the driver, wherein the input end of the driver is electrically connected to the output end of the control board; A power module is arranged at one end of the platform board bracket away from the driver and located on one side of the control board. The output end of the power module is electrically connected to the input end of the control board and is used to supply power to the control board.

3. The amphibious multi-morphic biomimetic metamorphic robot according to claim 2, characterized in that: The amphibious multi-mimetic bionic metamorphic robot also includes: A water-proof cover is provided on a side of the platform plate bracket facing away from the driver and is used to cover the control board and the power module.

4. The amphibious multi-morphic biomimetic metamorphic robot according to claim 1, characterized in that: The platform plate bracket is provided with a plurality of mounting seats, and the driver is provided on the corresponding mounting seats.

5. The amphibious multi-mimetic biomimetic metamorphic robot according to claim 1, characterized in that: A connecting disk is provided at the driving end of the driver, and a connecting head is provided at one end of the active rod close to the driver, and the connecting head is connected to the connecting disk.

6. The amphibious multi-morphic biomimetic metamorphic robot according to claim 1, characterized in that: A first mounting opening is provided at one end of the active rod away from the driver, a second mounting opening is provided at one end of the driven rod away from the water spraying and suction bracket, one end of the elastic hinge is arranged in the first mounting opening, and the other end is arranged in the second mounting opening.

7. The amphibious multi-morphic biomimetic metamorphic robot according to claim 1, characterized in that: The water spraying and suction support comprises: A water spraying and absorbing plate, wherein the spraying and absorbing port is provided through the middle of the water spraying and absorbing plate; A plurality of connecting rods are arranged on the peripheral side of the water spraying and absorbing plate and are respectively hinged to the corresponding driven rods.

8. The amphibious multi-morphic biomimetic metamorphic robot according to claim 7, characterized in that: The end of the connecting rod facing away from the water spraying and absorbing plate is provided with a first hinge interface, and the driven rod is provided with a second hinge interface. The bionic metamorphic robot further comprises: One end of a plurality of pins is arranged in the corresponding first hinge interface, and the other end is arranged in the corresponding second hinge interface.

9. The amphibious multi-morphic biomimetic metamorphic robot according to claim 1, characterized in that: The active rod and the driven rod are symmetrically arranged with the elastic hinge as the center.

10. The amphibious multi-morphic biomimetic metamorphic robot according to claim 1, characterized in that: The number of movable joints is four.

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