A bionic horseshoe crab vector-propelled robot

Abstract

The present invention designs an underwater working robot, specifically disclosing a bionic horseshoe crab vector-propelled robot, comprising a front shell and a rear shell that are movably connected, a vector longitudinal adjustment component being provided between the front shell and the rear shell, a stepping direction adjustment component being relatively provided at the bottom of the front shell, a side wing penetrating the front shell being provided at the top of the inner side of the front shell, a vertex support wheel and a folding suspension wheel being provided at the bottom of the front shell for supporting the robot to contact the ground, and a vector nozzle assembly being provided on the inner side of the front shell and the rear shell. The bionic horseshoe crab vector-propelled robot, in which the front shell and the rear shell are combined to form the streamlined shape of the horseshoe crab, replicates the low-resistance form that the horseshoe crab has evolved in nature over hundreds of millions of years, and can effectively reduce the pressure difference resistance and friction resistance during underwater movement. Compared with traditional multi-propeller robots, its appearance design reduces useless energy consumption, and can significantly improve endurance, especially in complex water flow environments.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater bionic robots, in particular to a bionic horseshoe crab vector-propelled robot. Background Art

[0002] Currently, underwater robots (ROVs) commonly use multi-propeller propulsion systems. For example, the BlueROV2 is equipped with eight axially fixed propellers to achieve six degrees of freedom (6DOF) control (Marine Engineering Equipment Technology Development Report, 2022). These systems achieve attitude adjustment through a combination of redundant propulsion units, but suffer from high energy loss and complex structure. The closest existing technology is a traditional vector thruster, such as the "A Vector Propulsion Device for Underwater Robots" disclosed in patent CN202210123456.7. This utilizes a single-axis rotating nozzle driven by a servo. Thrust vector control is achieved by adjusting the nozzle's direction, but it still relies on a fixed energy source and cannot dynamically coordinate with the water flow.

[0003] Typical existing technical implementation solutions include:

[0004] Fixed propeller array: The attitude is controlled by combining multiple independent propellers. For example, more than six propellers are required for degree of freedom control, and the installation position and thrust direction of each propeller are fixed.

[0005] Single-degree-of-freedom vector nozzle: The nozzle is driven by a servo to rotate around a single axis (such as the yaw axis). The thrust direction can be adjusted within the plane, but pitch control still requires an additional thruster.

[0006] Passive water flow utilization: Some devices guide the direction of water flow through fixed guide plates, but lack dynamic feedback control (Ship Engineering, Issue 3, 2021).

[0007] Low energy utilization: Because the fixed propeller system cannot dynamically match the direction of water flow, 25%-40% of the energy is consumed in ineffective thrust (Test Report CSNAME-2023-T023 of the China Ship Science Research Center).

[0008] Complex structural redundancy: The multi-thruster system requires complex mechanical structure and electronic control coordination, which increases the failure rate and maintenance cost.

[0009] Insufficient dynamic response: The single-degree-of-freedom vector nozzle can only achieve planar thrust adjustment and cannot cope with three-dimensional water flow disturbances, resulting in increased energy consumption for path correction.

[0010] Dependence on external energy: Traditional solutions require continuous power supply and it is difficult to achieve autonomous compensation using environmental energy such as tidal energy. Summary of the Invention

[0011] The object of the present invention is to provide a bionic horseshoe crab vector-propelled robot to solve the problems raised in the above background technology.

[0012] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: a bionic horseshoe crab vector propulsion robot, comprising a front shell and a rear shell that are movably connected, a vector longitudinal adjustment component is arranged between the front shell and the rear shell, a step adjustment component is relatively arranged at the bottom of the front shell, the top of the inner side of the front shell is provided with side wings passing through the front shell, and the bottom of the front shell is also provided with vertex support wheels and folding suspension wheels for supporting the robot to contact the ground, a vector nozzle assembly is provided on the inner sides of the front shell and the rear shell, the water spraying end of the vector nozzle assembly extends to the outer side of the rear shell, the vector nozzle assembly is fixedly connected to the front shell, and the vector nozzle assembly and the rear shell are connected via a vector horizontal adjustment component.

[0013] Preferably, the front shell includes a spindle streamlined shell and a panel body, and the rear shell includes a tail shell and a bottom shell, and the tail shell and the spindle streamlined shell are connected together to form the external shape of a horseshoe crab.

[0014] Preferably, a water outlet is opened at the bottom of the front shell, and the vector nozzle assembly includes a water inlet pump pipe connected to the water outlet, the water outlet end of the water inlet pump pipe is connected to a hard pipe, and the water outlet end of the hard pipe is connected to a jet tail pipe, and the jet tail pipe and the hard pipe are connected by a soft connecting pipe.

[0015] Preferably, wing grooves are provided on both sides of the outer wall of the front shell, and a support platform is provided inside the wing groove. The side wings include a wing-spreading servo, and a drive disk is provided at the output end of the wing-spreading servo. A ball joint connecting rod is relatively connected to the top of the drive disk, and the outer end of the ball joint connecting rod is rotatably connected to the hollow wing. The hollow wing passes through the wing groove, and the bottom of the hollow wing is slidably connected to a slide rail, and the slide rail is fixed to the support platform.

[0016] Preferably, the step-by-step steering assembly includes a propeller, a propeller bracket is provided on the outside of the propeller, a transmission rod shaft rotatably connected to the front shell is fixed to the top of the propeller bracket, and a driving gear meshingly connected to the transmission rod shaft is provided on the inside of the front shell.

[0017] Preferably, the folding suspension wheel includes a rack slidingly connected to the front shell, a rack drive is fixedly connected to the outer side of the rack, the bottom of the rack is meshedly connected to a rotating gear, both ends of the rotating gear are provided with a support shaft rotatably connected to the front shell, the support shaft and the rotating gear are connected by a universal joint, the outer wall of the support shaft is fixedly connected to a flip leg, and the free end of the flip leg is provided with a roller.

[0018] Preferably, the rear shell is rotatably connected to the front shell via a connecting shaft, and the vector longitudinal adjustment component includes a longitudinal adjustment servo fixedly connected to the inner wall of the front shell, and the output end of the longitudinal adjustment servo is provided with a rocker arm, and the free end of the rocker arm is connected to a traction rod, and the end of the traction rod away from the rocker arm is rotatably connected to the inner wall of the rear shell.

[0019] Preferably, the vector transverse adjustment assembly includes a transverse adjustment servo fixedly connected to the rear outer shell, the output end of the transverse adjustment servo is provided with a fixed support plate, the fixed support plate is fixedly connected to the bottom of the vector nozzle assembly, and the top of the fixed support plate is provided with a fixed ring sleeved on the outer wall of the vector nozzle assembly, the top of the fixed ring is provided with a limiting shaft rod, and the limiting shaft rod is coaxial with the output end of the transverse adjustment servo.

[0020] Preferably, a center of gravity adjustment component is provided on the inner side of the front shell, and the center of gravity adjustment component includes a slide frame, and a rotating screw is laterally provided on the inner side of the slide frame, and the outer wall of the rotating screw is threadedly connected to a counterweight slider that is slidably connected to the slide frame.

[0021] Preferably, a relative support plate is provided on the inner bottom of the front shell, an arc-shaped limiting sliding groove is opened on the support plate, and a limiting shaft is provided on the inner side of the rear shell, and the limiting shaft is slidably connected to the limiting sliding groove.

[0022] Compared with the prior art, the present invention has the following beneficial effects:

[0023] This bionic horseshoe crab vector propulsion robot features a streamlined front and rear shells (spindle-shaped shell plus tail shell), replicating the low-drag form that horseshoe crabs have evolved over millions of years in nature. This design effectively reduces pressure differential drag and frictional resistance during underwater motion. Compared to traditional multi-propeller robots, this design reduces wasted energy consumption, significantly improving endurance, especially in complex water environments.

[0024] The vector longitudinal adjustment component adjusts the relative angle between the rear outer shell and the front outer shell, combined with the soft connecting pipe structure of the vector nozzle assembly, to achieve up and down pitch adjustment of the jet tail pipe (simulating the longitudinal thrust control of the horseshoe crab's tail swing); the vector transverse adjustment component drives the jet tail pipe to rotate horizontally through the transverse adjustment servo to achieve left and right thrust vector control; multi-dimensional vector propulsion improves movement flexibility.

[0025] The step-by-step steering assembly can drive the propeller to rotate 360°. Combined with the vector nozzle, it solves the problems of traditional underwater robots' difficulty in turning and slow emergency stop response, and achieves precise motion control in three-dimensional space.

[0026] The wing structure mimics the function of horseshoe crab appendages. The hollow wings, driven by wing servos, extend and retract along rails, dynamically adjusting the robot's underwater balance. When extended, they increase the hydrodynamic area, enhancing the robot's stability in turbulent water. When retracted, they reduce drag, adapting to rapid movements and achieving a balance between stability and flexibility. A center of gravity adjustment component also enhances stability.

[0027] The combined design of the apex support wheel and the folding suspension wheel simulates the support method of horseshoe crabs crawling on mudflats: the folding suspension wheel is driven by a rack to flip and unfold, and cooperates with the apex support wheel to form a three-point stable support, allowing the robot to move flexibly underwater and land smoothly on the seabed or mudflats, adapting to the operational needs of complex terrains such as shallow seas and intertidal zones.

[0028] Compared with traditional multi-thruster systems, the present invention achieves multi-degree-of-freedom control through a single vector nozzle assembly combined with a small number of auxiliary adjustment structures, reducing the redundancy of mechanical components and lowering maintenance costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 This is a schematic diagram of the three-dimensional structure of the front side of the robot in a preferred embodiment of the present invention;

[0030] Figure 2 This is a schematic diagram of the three-dimensional structure of the rear side of the robot in a preferred embodiment of the present invention;

[0031] Figure 3 This is a bottom-up structural diagram of a robot with foldable suspension wheels folded in a preferred embodiment of the present invention;

[0032] Figure 4 This is a bottom-up structural diagram of the robot with its foldable suspension wheels unfolded in a preferred embodiment of the present invention;

[0033] Figure 5 This is a schematic diagram of the structure of the rear interior of the robot in a preferred embodiment of the present invention;

[0034] Figure 6 This is a schematic structural diagram of the connection between the front housing and the rear housing in a preferred embodiment of the present invention;

[0035] Figure 7 This is a schematic structural diagram of a vector nozzle assembly in a preferred embodiment of the present invention;

[0036] Figure 8 This is a structural diagram of a step-by-step direction adjustment component in a preferred embodiment of the present invention;

[0037] Figure 9 This is a structural diagram of center of gravity adjustment in a preferred embodiment of the present invention;

[0038] Figure 10This is a schematic diagram of the three-dimensional structure of the foldable suspension wheel unfolded in a preferred embodiment of the present invention;

[0039] Figure 11 This is a schematic diagram of the structure in an upward direction during the unfolding process of the folding suspension wheel in a preferred embodiment of the present invention;

[0040] Figure 12 This is a schematic diagram of the structure in a top view of a folded suspension wheel in a preferred embodiment of the present invention;

[0041] Figure 13 This is a schematic structural diagram of a side wing in a preferred embodiment of the present invention;

[0042] Figure 14 A schematic diagram of positions A, B, and C in a preferred embodiment of the present invention.

[0043] In the figure: 1. front shell, 11. spindle streamline shell, 12. panel body, 13. support platform, 14. wing groove, 15. water inlet; 2. rear shell, 21. tail shell, 22. bottom shell, 23. connecting shaft, 24. support plate, 25. limit shaft, 26. limit slide; 3. vector nozzle assembly, 31. jet tail pipe, 32. soft connecting pipe, 33. hard pipe, 34. water inlet pump pipe; 4. side wing, 41. wing servo, 42. drive plate, 43. ball joint connecting rod, 44. hollow wing, 45. slide rail; 5. stepping direction adjustment assembly, 51. propeller bracket, 52. Driving gear, 53. Transmission rod shaft, 54. Propeller; 6. Folding suspension wheel, 61. Rack, 62. Rotating gear, 63. Universal joint, 64. Flip support leg, 65. Roller, 66. Rack drive, 67. Support shaft; 7. Vector longitudinal adjustment assembly, 71. Longitudinal adjustment servo, 72. Rocker arm, 73. Traction rod; 8. Vector transverse adjustment assembly, 81. Transverse adjustment servo, 82. Fixed support plate, 83. Fixed collar, 84. Limiting shaft; 9. Center of gravity adjustment assembly, 91. Slide frame, 92. Rotating screw, 93. Counterweight slider; 10. Vertex support wheel. DETAILED DESCRIPTION

[0044] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0045] See also Figures 1-14 , the present invention provides a technical solution:

[0046] A bionic horseshoe crab vector-propelled robot comprises a front shell 1 and a rear shell 2, each movably connected. A vector longitudinal adjustment assembly 7 is disposed between the front and rear shells 1, controlling the vertical rotation of the rear shell 2 relative to the front shell 1. A stepping steering assembly 5 is disposed at the bottom of the front shell 1, primarily used for turning, accelerating, and decelerating the robot. Side wings 4 are disposed on the top inner side of the front shell 1 and extend and retract, primarily used to balance the robot.

[0047] The bottom of the front housing 1 is also equipped with vertex support wheels 10 and folding suspension wheels 6 for supporting the robot in contact with the ground. These vertex support wheels 10 and folding suspension wheels 6 are primarily used to support the robot when it lands. A vector nozzle assembly 3 is installed inside the front and rear housings 1 and 2 to propel the robot forward. The water spray end of the vector nozzle assembly 3 extends to the outside of the rear housing 2 and is fixedly connected to the front housing 1.

[0048] The vector nozzle assembly 3 is connected to the rear housing 2 via a vector horizontal adjustment assembly 8. This assembly controls the left and right swinging of the water spray end of the vector nozzle assembly 3 relative to the robot, thereby adjusting the direction of the water spray from the vector nozzle assembly 3 and, in turn, changing the left and right propulsion direction of the robot. The vector vertical adjustment assembly 7 controls the vertical rotation of the rear housing 2 relative to the front housing 1, thereby driving the vertical spray angle of the water spray end of the vector nozzle assembly 3, thereby controlling the vertical propulsion direction of the robot.

[0049] An information acquisition module, such as a camera, can be embedded on the front side of the front housing 1 and can be connected to a control system.

[0050] The front housing 1 comprises a spindle-shaped streamlined housing 11 and a panel body 12. The top front of the panel body 12 features a waterproof compartment for electronic components, such as batteries. The rear housing comprises a tail housing 21 and a bottom housing 22. The tail housing 21 and the spindle-shaped streamlined housing 11 are connected together to form the exterior shape of a horseshoe crab, with the interior forming cavities for accommodating various components. The spindle-shaped streamlined housing 11 and the tail housing 21 are pivotally connected.

[0051] A water inlet 15 is provided at the bottom of the front housing 1. The vector nozzle assembly 3 includes a water inlet pump pipe 34 connected to the water inlet 15. The water inlet pump pipe 34 is provided with two opposite water outlet ends. The outlet ends of the two water inlet pump pipes 34 are both connected to a hard pipe 33. Two hard pipes 33 are provided to accommodate the inner space of the robot. The outlet ends of the hard pipes 33 are connected to a jet tail pipe 31. The jet tail pipe 31 and the two hard pipes 33 are connected together by a tee. The jet tail pipe 31 and the hard pipe 33 are connected by a soft connecting pipe 32. The soft connecting pipe 32 is made of a bendable flexible material to facilitate the jet tail pipe 31 to change direction.

[0052] Wing slots 14 are provided on both sides of the outer wall of the front housing 1. A support platform 13 is provided inside the wing slots 14. The side wings 4 include a wing servo 41. A drive disc 42 is provided at the output end of the wing servo 41. A ball-jointed connecting rod 43 is relatively connected to the top of the drive disc 42. The drive disc 42 can drive the ball-jointed connecting rod 43 to move. The outer end of the ball-jointed connecting rod 43 is rotatably connected to a hollow wing 44. The hollow wing 44 passes through the wing slot 14. The bottom of the hollow wing 44 is slidably connected to a slide rail 45. The slide rail 45 is fixed to the support platform 13. The wing servo 41 drives the drive disc 42 to rotate within a certain range. The drive disc 42 drives the two ball-jointed connecting rods 43 to move relative to each other. The ball-jointed connecting rod 43 pulls the hollow wing 44 to move along the slide rail 45, extending or retracting the wing slot 14.

[0053] The stepping steering assembly 5 includes a propeller 54, a propeller bracket 51 is provided on the outside of the propeller 54, a transmission rod shaft 53 rotatably connected to the front housing 1 is fixedly connected to the top of the propeller bracket 51, and a driving gear 52 is provided on the inside of the front housing 1 to mesh with the transmission rod shaft 53. The driving gear 52 is connected to the drive motor, which drives the transmission rod shaft 53 to rotate. The driving gear 52 then drives the propeller bracket 51 through the transmission rod shaft 53, and then drives the propeller 54 to rotate. This allows the propeller 54 to rotate in water without blind spots, providing a solution to the problem that vector-propelled robots have difficulty turning and stopping suddenly.

[0054] The folding suspension wheel 6 includes a rack 61 slidably connected to the front housing 1. A rack drive 66 is fixedly attached to the outer side of the rack 61, which can drive the rack 61 back and forth. The bottom of the rack 61 is meshed with a rotating gear 62. The movement of the rack 61 drives the rotating gear 62. Both ends of the rotating gear 62 are provided with support shafts 67 rotatably connected to the front housing 1. The support shafts 67 and rotating gear 62 are connected by universal joints 63. A flip leg 64 is fixedly attached to the outer wall of the support shaft 67. The free end of the flip leg 64 is provided with a roller 65. The rotation of the rotating gear 62 drives the universal joint 63, which in turn drives the flip leg 64 to flip via the support shaft 67. The flipping of the flip leg 64 drives the roller 65 downward. The flip leg 64 can be configured in an arc shape to increase the ground clearance of the robot when landing.

[0055] The rear housing 2 is rotationally connected to the front housing 1 via a connecting shaft 23. The vector longitudinal adjustment assembly 7 includes a longitudinal adjustment servo 71 fixedly connected to the inner wall of the front housing 1. The output end of the longitudinal adjustment servo 71 is provided with a rocker arm 72. The free end of the rocker arm 72 is connected to a traction rod 73. The end of the traction rod 73, which is remote from the rocker arm 72, is rotationally connected to the inner wall of the rear housing 2. The rocker arm 72 drives the traction rod 73, which drives the rear housing 2 to rotate about the connecting shaft 23. The traction rod 73 then drives the outlet end of the jet tail pipe 31 to swing up and down through the rear housing 2.

[0056] Point A is the output end of the longitudinal steering gear 71; Point B is the axis of the connecting shaft 23, that is, the connection between the spindle streamlined shell 11 and the tail shell 21; Point C is the connection between the dynamic traction rod 73 and the tail shell 21, and C1 is the farthest limit position that point C can move.

[0057] BC1: The length of the connecting rod BC at the first extreme position in the four-bar linkage (unit: mm).

[0058] AB: The length of the fixed end AB in the four-bar linkage (unit: mm).

[0059] AC1: The length of the connecting rod AC in the first extreme position of the four-bar linkage (unit: mm).

[0060] : The angle between the fixed end AB and the connecting rod AC1 at the first extreme position (unit: °).

[0061] When the rocker arm 72 and the traction rod 73 are in a collinear stretched state and form the first limit position, the cosine theorem can be used to calculate: , .

[0062] The same method can be used to analyze the second extreme position. The theoretical range of motion of rocker arm 72 is 62.42° to 334.58° relative to the non-negative direction of the X-axis, corresponding to a vector angle range of -82.99° to 41.7° for traction rod 73. With the assistance of the lateral vector adjustment servo, the vector angle adjustment range covers all common robot operating angles.

[0063] The vector transverse adjustment assembly 8 includes a transverse adjustment servo 81 fixedly connected to the rear housing 2. The output end of the transverse adjustment servo 81 is provided with a fixed support plate 82, which is fixedly connected to the bottom of the vector nozzle assembly 3. The top of the fixed support plate 82 is provided with a fixed collar 83 that sleeves onto the outer wall of the vector nozzle assembly 3. The fixed support plate 82 is fixedly connected to the jet tail pipe 31 at at least two points, which is used to increase the reliability of driving the jet tail pipe 31 when rotating horizontally. The top of the fixed collar 83 is provided with a limit shaft 84, which is coaxial with the output end of the transverse adjustment servo 81.

[0064] The robot reduces the pressure difference resistance coefficient to , friction resistance coefficient to , reducing about 60% of useless energy consumption.

[0065] Using the energy saving rate in the theoretical mathematical model Analytical formula, in typical scenarios (oblique water flow, = 60°, travel 1 km) and then substitute the values ​​into the calculation: , , , .

[0066] For water flow force; for robot quality; is the robot acceleration; The overall representation is the resultant force required by the robot in the target direction; is the direction correction coefficient, the angle between the water flow direction and the target direction Related, The bigger, The bigger; is the thrust gain coefficient of the traditional scheme, which can reflect the additional thrust demand caused by water flow interference.

[0067] New plan ( is the magnitude of the vector thrust under the vector propulsion scheme, The time it takes for the vector push program to complete its assigned tasks. is the component of the water flow force in the x-axis direction, is the component of the water flow force in the y-axis direction, is the target distance, in km, is the actual effective velocity of the robot in the target direction of motion in a vector propulsion scheme. The acceleration phase is ignored in this calculation, simplifying the velocity calculation to highlight the core advantage of vector propulsion: no lateral velocity loss): , , , , .

[0068] The solution obtained by this In order to maintain the minimum thrust for the robot to accelerate in water, if the thrust provided is greater than this value, the robot's useless energy consumption will increase. If the thrust provided is less than this value, the robot will be underpowered.

[0069] Fixed solution ( is the magnitude of the vector thrust under the fixed propulsion scheme, To fix the time for completing the set tasks of the promotion plan, is the target distance, in km, is the actual effective velocity of the robot along the target motion direction in the fixed propulsion scheme): , , , , .

[0070] Energy saving rate ( is the total energy consumption of the vector propulsion scheme, is the total energy consumption of the fixed propulsion scheme): , .

[0071] If the robot designed in this technical solution uses the average shallow sea operating propulsion power ( ), operating 8 hours per day, 300 days per year, saving 3,900 kWh of electricity annually, equivalent to the average household electricity consumption of 4,800 kWh per year in China, and providing power for approximately 296 days. This achievement quantitatively verifies the technical and economic feasibility of the green transformation of marine equipment.

[0072] A center of gravity adjustment assembly 9 is provided inside the front housing 1. The center of gravity adjustment assembly 9 includes a slide frame 91. A rotating screw 92 is laterally provided inside the slide frame 91. The outer wall of the rotating screw 92 is threadedly connected to a counterweight slider 93 that is slidably connected to the slide frame 91. The center of gravity of the robot is adjusted by adjusting the position of the counterweight slider 93.

[0073] The inner bottom of the front housing 1 is provided with a relative support plate 24, on which an arc-shaped limiting slot 26 is formed. The inner side of the rear housing 2 is provided with a limiting shaft 25, which is slidably connected to the limiting slot 26 to limit the movement trajectory of the rear housing 2.

[0074] The device is deployed in the Bohai Sea area, and the tidal flow rate The magnitude and direction of the water flow are periodically changed. The IMU963RA sensor collects the water flow vector parameters (direction , flow rate ), the microcontroller calculates the optimal thrust direction .

[0075] The vector longitudinal adjustment component 7 and vector transverse adjustment component 8 composed of double rudders adjust the nozzle to The buoyancy adjustment mechanism and the attitude stabilization adjustment component cooperate with each other to stabilize the robot's operating posture. When the target direction changes at a large angle, the stepping adjustment component 5 works to ensure the robot's rapid turning and U-turn; if there is a need to glide to the bottom during operation, the folding suspension wheel 6 can be operated to ensure the robot's three-point stable landing and smooth movement on the seabed; during the operation of the robot, the propeller in the water inlet pump pipe 34 continues to rotate, providing axial thrust, which is changed in real time through the vector longitudinal adjustment component 7 and the vector lateral adjustment component 8. , which can maximize energy saving throughout the process.

[0076] In the description of the present invention, it should be understood that the terms "coaxial", "bottom", "one end", "top", "middle", "the other end", "upper", "one side", "top", "inside", "front", "center", "both ends", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying 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 therefore cannot be understood as a limitation on the present invention.

[0077] In the present invention, unless otherwise clearly stipulated and limited, the terms "install", "set", "connect", "fix", "screw" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integrated connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal connection of two elements or the interaction relationship between two elements. Unless otherwise clearly defined, ordinary technicians in this field can understand the specific meanings of the above terms in the present invention according to the specific circumstances.

[0078] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A bionic horseshoe crab vector-propelled robot, characterized by: The invention comprises a front shell (1) and a rear shell (2) which are movably connected, a vector longitudinal adjustment component (7) is provided between the front shell (1) and the rear shell (2), a step direction adjustment component (5) is relatively provided at the bottom of the front shell (1), a side wing (4) penetrating the front shell (1) is provided at the top of the inner side of the front shell (1), and a vertex support wheel (10) and a folding suspension wheel (6) for supporting the robot to contact the ground are also provided at the bottom of the front shell (1), a vector nozzle component (3) is provided on the inner side of the front shell (1) and the rear shell (2), a water spray end of the vector nozzle component (3) extends to the outer side of the rear shell (2), the vector nozzle component (3) is fixedly connected to the front shell (1), and the vector nozzle component (3) and the rear shell (2) are connected via a vector horizontal adjustment component (8).

2. The bionic horseshoe crab vector propulsion robot according to claim 1, characterized in that: The front shell (1) includes a spindle streamlined shell (11) and a panel body (12), and the rear shell includes a tail shell (21) and a bottom shell (22), and the tail shell (21) and the spindle streamlined shell (11) are connected together to form the external shape of a horseshoe crab.

3. The bionic horseshoe crab vector-propelled robot according to claim 2, characterized in that: A water inlet (15) is provided at the bottom of the front housing (1), and the vector nozzle assembly (3) includes a water inlet pump pipe (34) connected to the water inlet (15), a water outlet end of the water inlet pump pipe (34) is connected to a hard pipe (33), and a water outlet end of the hard pipe (33) is connected to a jet tail pipe (31), and the jet tail pipe (31) and the hard pipe (33) are connected via a soft connecting pipe (32).

4. The bionic horseshoe crab vector-propelled robot according to claim 1, characterized in that: Wing slots (14) are provided on both sides of the outer wall of the front shell (1), and a support platform (13) is provided inside the wing slot (14). The side wing (4) includes a wing-spreading servo (41), and a driving disc (42) is provided at the output end of the wing-spreading servo (41). A ball-jointed connecting rod (43) is relatively connected to the top of the driving disc (42), and an outer end of the ball-jointed connecting rod (43) is rotatably connected to a hollow wing (44). The hollow wing (44) passes through the wing slot (14), and the bottom of the hollow wing (44) is slidably connected to a slide rail (45), and the slide rail (45) is fixed to the support platform (13).

5. The bionic horseshoe crab vector-propelled robot according to claim 1, characterized in that: The step-by-step direction adjustment component (5) includes a propeller (54), a propeller bracket (51) is provided on the outside of the propeller (54), a transmission rod shaft (53) rotatably connected to the front housing (1) is fixed to the top of the propeller bracket (51), and a driving gear (52) meshingly connected to the transmission rod shaft (53) is provided on the inside of the front housing (1).

6. The bionic horseshoe crab vector-propelled robot according to claim 1, characterized in that: The folding suspension wheel (6) includes a rack (61) slidably connected to the front housing (1), a rack drive (66) is fixedly connected to the outer side of the rack (61), the bottom of the rack (61) is meshedly connected to a rotating gear (62), both ends of the rotating gear (62) are provided with a support shaft (67) rotatably connected to the front housing (1), the support shaft (67) and the rotating gear (62) are connected via a universal joint (63), the outer wall of the support shaft (67) is fixedly connected to a flip leg (64), and the free end of the flip leg (64) is provided with a roller (65).

7. The bionic horseshoe crab vector-propelled robot according to claim 1, characterized in that: The rear housing (2) is rotatably connected to the front housing (1) via a connecting shaft (23); the vector longitudinal adjustment assembly (7) comprises a longitudinal adjustment servo (71) fixedly connected to the inner wall of the front housing (1); an output end of the longitudinal adjustment servo (71) is provided with a rocker arm (72); a free end of the rocker arm (72) is connected to a traction rod (73); and an end of the traction rod (73) away from the rocker arm (72) is rotatably connected to the inner wall of the rear housing (2).

8. The bionic horseshoe crab vector-propelled robot according to claim 1, characterized in that: The vector transverse adjustment component (8) includes a transverse adjustment servo (81) fixedly connected to the rear housing (2), an output end of the transverse adjustment servo (81) is provided with a fixed support plate (82), the fixed support plate (82) is fixedly connected to the bottom of the vector nozzle assembly (3), and a top of the fixed support plate (82) is provided with a fixed collar (83) sleeved on the outer wall of the vector nozzle assembly (3), a limit shaft (84) is provided on the top of the fixed collar (83), and the limit shaft (84) is coaxial with the output end of the transverse adjustment servo (81).

9. The bionic horseshoe crab vector-propelled robot according to claim 1, characterized in that: A center of gravity adjustment assembly (9) is provided on the inner side of the front housing (1), and the center of gravity adjustment assembly (9) includes a slide frame (91), a rotating screw (92) is laterally provided on the inner side of the slide frame (91), and the outer wall of the rotating screw (92) is threadedly connected to a counterweight slider (93) that is slidably connected to the slide frame (91).

10. The bionic horseshoe crab vector propulsion robot according to claim 1, characterized in that: A relative support plate (24) is provided at the inner bottom of the front housing (1), and an arc-shaped limiting sliding groove (26) is provided on the support plate (24). A limiting shaft (25) is provided on the inner side of the rear housing (2), and the limiting shaft (25) is slidably connected to the limiting sliding groove (26).

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