Self-energy-storage bionic lobster explosive type ejection robot and explosive type ejection control method thereof

Abstract

The invention discloses a self-energy-storage bionic lobster explosive type catapult robot and an explosive type catapult control method thereof. At present, an underwater lobster simulation robot lacks an instantaneous burst ejection motion form; a line control wheel set is arranged in a head shell, a tail joint assembly is arranged in a tail shell, an ejection position control mechanism is arranged between the head shell and the tail joint assembly, a first take-up and pay-off bundle is arranged among the line control wheel set, the tail joint assembly and the top of a tail fin, and a second take-up and pay-off bundle is arranged in the line control wheel set. The third take-up and pay-off bundle is arranged among the bottoms of the wire control wheel set, the tail joint assembly and the tail fin, and the first take-up and pay-off bundle, the second take-up and pay-off bundle and the third take-up and pay-off bundle are driven by the wire control wheel set and the ejection position control mechanism to drive the tail joint assembly to make ejection bending or reset unfolding movement.

Description

TECHNICAL FIELD

[0001] The application is particularly a self-energy storage bionic lobster explosive ejection robot and an explosive ejection control method thereof, and belongs to the technical field of underwater simulation robots. BACKGROUND

[0002] With the development of marine resource development, underwater monitoring and aquaculture, the requirements for mobility and environmental adaptability of underwater robots are increasingly improved. At present, underwater robots are mainly based on traditional wave propulsion or jet propulsion. Although a relatively high moving speed can be achieved after a certain time of acceleration, there are obvious limitations in rapid direction change and instantaneous mobility, especially when a sudden situation is encountered during low-speed or stationary operation, and the underwater robot needs to quickly drive away from the dangerous area. The underwater robot is difficult to meet the needs of instantaneous start and rapid escape during underwater work. The key technical problem is that it is still impossible to build a high-efficiency propulsion mechanism with high-efficiency energy storage and instantaneous release capability, and it cannot obtain more explosive instantaneous acceleration capability. At present, there is no standard and complete way to deal with the details of the research on instantaneous acceleration underwater robots.

[0003] With the wide attention of bionic robot technology in underwater detection, environmental monitoring and national defense and military fields. Typical aquatic arthropods represented by Decapod Astacidae and Acheidae have high-speed ejection escape ability, which provides important bionics inspiration for the design of underwater instantaneous acceleration robots. Preliminary research shows that lobsters can produce strong propulsive force through rapid swinging of the abdominal segment when threatened, achieving rapid escape. This ejection movement relies on the synergistic action of the muscle-skeleton system, enabling the lobster to complete high-energy density movement in a very short time. The mechanical principle of underwater ejection and the matching mechanical ejection structure are difficult to directly combine with biological mechanism, and there is a gap between the two, lacking the advantages of bionic fluid mechanics; the ejection mode of jellyfish and squid has poor power persistence, and the explosive degree of instantaneous ejection mode is not enough. The current lobster robot still faces the problems of non-instantaneous ejection of propulsion mode, separation of energy storage and control, and insufficient precision of multi-joint cooperation, resulting in poor environmental adaptability, poor emergency motion conversion performance and difficult to meet the operation efficiency. SUMMARY

[0004] The application provides a self-energy storage bionic lobster explosive ejection robot and an explosive ejection control method thereof to solve the above problems.

[0005] A self-energy-storing biomimetic lobster-type explosive catapult robot includes a head shell, a tail shell, a control wheel assembly, a catapult control mechanism, a first take-up and release cable harness, a second take-up and release cable harness, a third take-up and release cable harness, a tail joint assembly, and a tail fin. The control wheel assembly is located inside the head shell, the tail joint assembly is located inside the tail shell, and the catapult control mechanism is located between the head shell and the tail joint assembly. The first take-up and release cable harness is located between the control wheel assembly, the tail joint assembly, and the top of the tail fin. The second take-up and release cable harness is located inside the control wheel assembly, and the third take-up and release cable harness is located between the control wheel assembly, the tail joint assembly, and the bottom of the tail fin. The first take-up and release cable harness, the second take-up and release cable harness, and the third take-up and release cable harness, driven by the control wheel assembly and the catapult control mechanism, drive the tail joint assembly to perform catapult bending or reset unfolding movements.

[0006] As a preferred embodiment: the control reel assembly includes a pay-off reel, a first drive unit, a first power-accumulating reel, and a second power-accumulating reel. The pay-off reel, the first power-accumulating reel, and the second power-accumulating reel are horizontally arranged from top to bottom inside the head shell. The first power-accumulating reel is located between the pay-off reel and the second power-accumulating reel. The pay-off reel is coaxially connected to the first drive unit. The pay-off reel rotates under the drive of the first drive unit. One end of the first take-up / pay-off bundle is wound around the pay-off reel. The other end of the first take-up / pay-off bundle passes through the first power-accumulating reel and the tail joint assembly in sequence and is connected to the top side of the tail fin. The two ends of the second take-up / pay-off bundle are respectively wound between the first power-accumulating reel and the second power-accumulating reel. One end of the third take-up / pay-off bundle is wound around the second power-accumulating reel. The other end of the third take-up / pay-off bundle passes through the first power-accumulating reel and the tail joint assembly in sequence and is connected to the bottom side of the tail fin.

[0007] As a preferred embodiment: the first and second accumulator wheels have identical structures. The first accumulator wheel includes an outer wheel housing, a base, a moving ring plate, a ratchet, a spiral path baffle, multiple vertical guide posts, a spring plate, a crank, and multiple first return springs. The base is disposed inside the head housing. An annular base plate is integrally connected to the bottom of the outer wheel housing. The outer wheel housing is hinged to the base via the annular base plate. Multiple vertical guide posts are evenly distributed along the circumference of the annular base plate. The moving ring plate is fitted onto the multiple vertical guide posts. The ratchet is disposed on the moving ring plate. Inside the ring plate, the bottom of the ratchet is fixedly connected to the base. A notch is machined on the top of the outer wheel housing. A spring plate is set between the top of the ratchet and the notch. A spiral path baffle is fixedly connected to the outer circumferential wall of the ratchet. A crank is hinged to the moving ring plate. One end of the crank is hinged to the moving ring plate. The bottom side of the crank abuts against the spiral path baffle. The other end of the crank is the actuating end, which engages with the teeth on the outer circumference of the ratchet. Multiple first return springs are set between the moving ring plate and the annular base plate.

[0008] As a preferred embodiment: the bottom of the ratchet is machined with a locking interface that matches the crank actuation end, and a second return spring is installed inside the locking interface; the lower top surface of the spiral path baffle is an inclined surface, which is in close contact with the locking interface.

[0009] As a preferred solution: a plug post is arranged between the first and third take-up and pay-off wires, the plug post is arranged on the tail fin, and the plug post is provided with connecting holes at both ends, the end of the first take-up and pay-off wire is connected to the connecting hole at the upper end of the plug post after passing through the first power wheel and the tail joint assembly in sequence, and the end of the third take-up and pay-off wire is connected to the connecting hole at the lower end of the plug post after passing through the second power wheel and the tail joint assembly in sequence.

[0010] As a preferred solution: the tail joint assembly comprises a first joint, a second joint, a third joint, a first connecting rod and a second connecting rod, both ends of the first connecting rod are hingedly connected to the first joint and the second joint respectively, both ends of the second connecting rod are hingedly connected to the second joint and the third joint respectively, the first joint is a first flat block, the first flat block is vertically arranged, both ends of the first flat block are provided with first through grooves, a first upper wire hole and a first lower wire hole are arranged in the first flat block in parallel along the length direction of the first flat block, the first upper wire hole and the first lower wire hole are located above and below the first connecting rod respectively, both ends of the first upper wire hole are connected to the two first through grooves respectively, and both ends of the first lower wire hole are connected to the two first through grooves respectively. The second joint is an inverted trapezoidal flat block, the second joint is vertically arranged, a second upper wire hole and a second lower wire hole are arranged in the second joint in parallel along the length direction of the second joint, the second upper wire hole and the second lower wire hole are located above and below the first connecting rod respectively, the second upper wire hole and the first upper wire hole are connected through a first spring, both ends of the first spring are fixedly connected to the first joint and the second joint respectively, and the second lower wire hole is arranged opposite to the first lower wire hole. The third joint is a second flat block, the second flat block is vertically arranged, a second through groove is arranged at one end of the second flat block facing the second joint, a third upper wire hole and a third lower wire hole are arranged in the second flat block in parallel along the length direction of the second flat block, the third upper wire hole and the third lower wire hole are located above and below the second connecting rod respectively, the third upper wire hole and the second upper wire hole are connected through a second spring, both ends of the second spring are fixedly connected to the second joint and the third joint respectively, and the third lower wire hole is arranged opposite to the second lower wire hole.

[0011] As a preferred solution: the first take-up and pay-off wire is matched with a first pulley guide assembly, the first pulley guide assembly comprises a first pulley, a second pulley, a third pulley, a fourth pulley and a fifth pulley, the axial directions of the first pulley, the second pulley, the third pulley, the fourth pulley and the fifth pulley are in the same direction as the axial direction of the first force accumulator, a first wire clamping channel is formed between the second pulley and the third pulley, a second wire clamping channel is formed between the fourth pulley and the fifth pulley, one end of the first take-up and pay-off wire is wound on the outer wall of the pay-off reel after sequentially passing through the outer wall of the first force accumulator and the outer wall of the first force accumulator, the other end of the first take-up and pay-off wire is connected with the top side of the tail fin after sequentially passing through the first wire clamping channel, the second wire clamping channel, the first upper wire hole, the first spring, the second upper wire hole, the second spring and the third upper wire hole.

[0012] As a preferred solution: the second take-up and pay-off wire is matched with a second pulley guide assembly, the second pulley guide assembly comprises a sixth pulley and a seventh pulley, the sixth pulley is vertically arranged between the first force accumulator and the second force accumulator, the seventh pulley is arranged below the first pulley and the sixth pulley, one end of the second take-up and pay-off wire is wound on the outer wall of the first force accumulator, the other end of the second take-up and pay-off wire is wound on the second force accumulator after sequentially passing through the sixth pulley and the seventh pulley; the winding direction of the second take-up and pay-off wire on the first force accumulator is the same as the winding direction of the first take-up and pay-off wire on the first force accumulator; the winding direction of the second take-up and pay-off wire on the second force accumulator is opposite to the winding direction of the third take-up and pay-off wire on the second force accumulator; The third take-up and pay-off wire is matched with a third pulley guide assembly, the third pulley guide assembly comprises an eighth pulley, a ninth pulley and a tenth pulley, the eighth pulley and the ninth pulley are arranged horizontally and side by side, the axial direction of the eighth pulley is in the same direction as the axial direction of the second force accumulator, a third wire clamping channel is formed between the eighth pulley and the ninth pulley, the tenth pulley is vertically arranged, one end of the third take-up and pay-off wire is connected with the outer wall of the second force accumulator after sequentially passing through the bottom of the tenth pulley and the third wire clamping channel, the other end of the third take-up and pay-off wire is connected with the bottom side of the tail fin after sequentially passing through the first lower wire hole, the second lower wire hole and the third lower wire hole.

[0013] As a preferred scheme: the ejection control mechanism comprises an incomplete gear, a motor, a rack, a front enclosing frame, a trajectory guide frame, a front elastic element, a middle elastic element, a linear bearing, a fixed seat, a rear elastic element, a first hard elastic composite support column, a second hard elastic composite support column, two double-headed articulated rods and two reset swing rods. The motor is arranged on the inner wall of the head shell. The incomplete gear is sleeved on the power output shaft of the motor. The front enclosing frame and the trajectory guide frame are both open-end H-shaped frame bodies. The end with the opening of the trajectory guide frame is arranged in the front enclosing frame through the opening end of the front enclosing frame. The rack is arranged in the trajectory guide frame. The incomplete gear is engaged with the rack. The two side outer walls of the trajectory guide frame are respectively machined with a closed strip-shaped trajectory groove. The two side outer walls of the trajectory guide frame are respectively arranged with a double-headed articulated rod. One end of each double-headed articulated rod is articulated in the closed strip-shaped trajectory groove close to it. The other end of each double-headed articulated rod is articulated with the inner wall of the front enclosing frame. The front end of the rack and the front end inner wall of the front enclosing frame are provided with the front elastic element. The rear side of the trajectory guide frame is connected with one side of the fixed seat through the first hard elastic composite support column. The other side of the fixed seat is provided with the linear bearing. The linear bearing is connected with the tail joint assembly through the second hard elastic composite support column. The middle elastic element is sleeved on the first hard elastic composite support column. The rear elastic element is sleeved on the second hard elastic composite support column. One end of the third take-up wire bundle is connected with the outer wall of the second power accumulator through the front end of the front enclosing frame, the bottom of the tenth pulley and the third wire channel in sequence. The other end of the third take-up wire bundle is connected with the bottom side of the tail fin through the bottom of the front enclosing frame, the first lower wire hole, the second lower wire hole, the third lower wire hole and the third wire channel.

[0014] A burst ejection control method is realized by using the self-energy storage bionic lobster burst ejection robot. When it is necessary to quickly evacuate the original position, the transition process from free movement to burst ejection movement of the self-energy storage bionic lobster burst ejection robot is as follows: The releasing wheel, the first power storage wheel and the second power storage wheel in the control line wheel set are started, and the releasing wheel, the first power storage wheel and the second power storage wheel are in a rotating state; the first and second take-up and release wire bundles are in a releasing state between the releasing wheel, the first power storage wheel and the second power storage wheel; and the third take-up and release wire bundle is in a taking-up state under the control of the second power storage wheel; when the tail joint assembly makes a movement of unfolding the top side and folding the bottom side of the tail joint assembly under the cooperation of the releasing of the first and second take-up and release wire bundles and the taking-up of the third take-up and release wire bundle, until the third take-up and release wire bundle reaches a taking-up limit amount and the first take-up and release wire bundle reaches a releasing limit amount, the spring sheet in the first power storage wheel is in an unfolding limit state, the first power storage wheel is in an energy releasing limit state, the spring sheet in the second power storage wheel is in a bending limit state, the second power storage wheel is in an energy storage limit state, the second hard spring composite support column in the ejection control mechanism is in a downward bending state, and the end part connected with the closed strip-shaped track groove in the double-head articulated rod is arranged close to the front end of the front surrounding frame, which indicates that the self-energy storage bionic lobster explosive ejection robot is in a limit position of explosive ejection movement, i.e., indicates that the conversion process of the self-energy storage bionic lobster explosive ejection robot from free movement to explosive ejection movement is completed. The conversion process of the self-energy storage bionic lobster explosive ejection robot from explosive ejection to free movement is as follows: The releasing wheel, the first power storage wheel and the second power storage wheel in the control line wheel set are started, and the releasing wheel, the first power storage wheel and the second power storage wheel are in a rotating state; the first and second take-up and release wire bundles are in a releasing state between the releasing wheel, the first power storage wheel and the second power storage wheel; and the third take-up and release wire bundle is in a taking-up state under the control of the second power storage wheel; when the tail joint assembly makes a movement of unfolding the top side and folding the bottom side of the tail joint assembly under the cooperation of the releasing of the first and second take-up and release wire bundles and the taking-up of the third take-up and release wire bundle, until the third take-up and release wire bundle reaches a taking-up limit amount and the first take-up and release wire bundle reaches a releasing limit amount, the spring sheet in the first power storage wheel is in an unfolding limit state, the first power storage wheel is in an energy releasing limit state, the spring sheet in the second power storage wheel is in a bending limit state, the second power storage wheel is in an energy storage limit state, the second hard spring composite support column in the ejection control mechanism is in a downward bending state, and the end part connected with the closed strip-shaped track groove in the double-head articulated rod is arranged close to the front end of the front surrounding frame, which indicates that the self-energy storage bionic lobster explosive ejection robot is in a limit position of explosive ejection movement, i.e., indicates that the conversion process of the self-energy storage bionic lobster explosive ejection robot from free movement to explosive ejection movement is completed. The displacement process of the self-energy storage bionic lobster explosive ejection robot from the original position is completed through the alternative explosive ejection movement and free movement within a predetermined time.

[0015] Compared with the prior art, the self-energy storage bionic lobster explosive ejection robot and the explosive ejection control method thereof have the following beneficial effects: The self-energy storage bionic lobster explosive ejection robot in the application can realize the basic explosive ejection movement by cooperation between the head shell, the tail shell, the control line wheel group, the ejection control position mechanism, the first wire winding and unwinding beam, the second wire winding and unwinding beam, the third wire winding and unwinding beam, the tail joint assembly and the tail fin, and can also continuously perform explosive ejection movement on demand, complete the movement process of rapid escape from the original position, and improve the rapid response performance of the self-energy storage bionic lobster explosive ejection robot in response to the complex underwater environment.

[0016] The ejection control method in the application is completed by the ejection robot based on the lobster tail biomechanics, realizes the cyclic process of efficient energy storage and release through bionic design, forms the continuous explosive ejection movement of instantaneous reset in a standardized process, and reasonably improves and expands the complex environment maneuvering performance of the underwater robot. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 It is a first three-dimensional structure schematic diagram of the self-energy storage bionic lobster explosive ejection robot in the application; Figure 2 It is a second three-dimensional structure schematic diagram of the self-energy storage bionic lobster explosive ejection robot in the application; Figure 3 It is a third three-dimensional structure schematic diagram of the self-energy storage bionic lobster explosive ejection robot in the application; Figure 4 It is a fourth three-dimensional structure schematic diagram of the self-energy storage bionic lobster explosive ejection robot in the application, in which the head shell is removed; Figure 5 It is a three-dimensional structure schematic diagram of the connection relationship between the tail joint assembly and the tail fin; Figure 6 It is a three-dimensional structure schematic diagram of the plug column; Figure 7 It is a three-dimensional structure schematic diagram of the relative position connection relationship between the control line wheel group, the first wire winding and unwinding beam, the second wire winding and unwinding beam, the third wire winding and unwinding beam, the tail joint assembly and the tail fin; Figure 8 It is a three-dimensional structure schematic diagram of the connection relationship between the ejection control position mechanism and the tail joint assembly; Figure 9 It is a three-dimensional structure schematic diagram of the ejection control position mechanism; Figure 10 It is an exploded view of the ejection control position mechanism; Figure 11 It is a front view structure schematic diagram of the trajectory guide frame; Figure 12 It is a top view structure schematic diagram of the first rotation form when the control line beam rotates; Figure 13 It is a top view structure schematic diagram of the second rotation form when the control line beam rotates; Figure 14 isometric view of the first accumulator wheel; Figure 15 front view of the first accumulator wheel; Figure 16 isometric view of the first accumulator wheel with the first wire beam wound on it; Figure 17 isometric view of the first accumulator wheel; Figure 18 isometric view of the connection between the moving ring, the ratchet, the spiral path baffle and the crank, in which the moving ring is in the lowest limit position; Figure 19 isometric view of the outer wheel shell; Figure 20 isometric view of the connection between the moving ring, the ratchet, the spiral path baffle and the crank, in which the moving ring is in the highest limit position; Figure 21 isometric view of the connection between the inner support shell, the wire control wheel set and the ejection control mechanism; Figure 22 isometric view of the shell piece; Figure 23 bottom view of the connection between the tail shell, the tail joint assembly and the shell piece; Figure 24 front view of the first movement posture of the self-energy storage lobster explosion ejection robot in the application, in which the head shell and the tail shell are removed; Figure 25 front view of the second movement posture of the self-energy storage lobster explosion ejection robot in the application, in which the head shell and the tail shell are removed; Figure 26 front view of the third movement posture of the self-energy storage lobster explosion ejection robot in the application, in which the head shell and the tail shell are removed; Figure 27 front view of the fourth movement posture of the self-energy storage lobster explosion ejection robot in the application, in which the head shell and the tail shell are removed.

[0018] In the diagram: 1-Head shell; 2-Tail shell; 3-Control wheel assembly; 3-1-Line feeding wheel; 3-2-First drive component; 3-3-First power storage wheel; 3-3-1-Outer wheel shell; 3-3-2-Base; 3-3-3-Moving ring plate; 3-3-4-Ratchet; 3-3-5-Spiral path baffle; 3-3-6-Vertical guide post; 3-3-7-Spring plate; 3-3-8-First return spring; 3-3-9-Crank; 3-4-Second power storage wheel; 4-1-Incomplete gear ; 4-2-Motor; 4-3-Rack; 4-4-Front enclosure frame; 4-5-Trajectory guide frame; 4-6-Front elastic element; 4-7-Middle elastic element; 4-8-Linear bearing; 4-9-Fixed base; 4-10-Rear elastic element; 4-11-First rigid-elastic composite support column; 4-12-Double-headed hinge rod; 4-13-Reset swing arm; 4-14-Second rigid-elastic composite support column; 5-First take-up and release harness; 6-Second take-up and release harness; 7-Third take-up and release harness; 8- Tail joint assembly; 8-1-First joint; 8-2-Second joint; 8-3-Third joint; 8-4-First connecting rod; 8-5-Second connecting rod; 8-1-1-First through slot; 8-1-2-First upper wire hole; 8-1-3-First lower wire hole; 8-2-2-Second upper wire hole; 8-2-3-Second lower wire hole; 9-Caudal fin; 10-Annular base plate; 11-Notch; 12-Snap-fit ​​interface; 13-Pin; 14-1-First pulley; 14-2 - Second pulley; 14-3- Third pulley; 14-4- Fourth pulley; 14-5- Fifth pulley; 15- First spring; 16- Connecting hole; 17-1- Sixth pulley; 17-2- Seventh pulley; 18-1- Eighth pulley; 18-2- Ninth pulley; 18-3- Tenth pulley; 19- Second spring; 20- Inner support shell; 21- Electronic sealing chamber; 22- U-shaped connecting block; 24- Closed strip track groove; 25- Component shell; 26- Inlet / outlet. Detailed Implementation

[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] Specific implementation method one: Combining Figures 1 to 27To illustrate the embodiment, the self-energy storage biomimetic lobster explosive ejection robot in the embodiment includes a head shell 1, a tail shell 2, a control line wheel set 3, an ejection control position mechanism, a first wire winding and unwinding bundle 5, a second wire winding and unwinding bundle 6, a third wire winding and unwinding bundle 7, a tail joint assembly 8, and a tail fin 9. The control line wheel set 3 is arranged in the head shell 1, the tail joint assembly 8 is arranged in the tail shell 2, the ejection control position mechanism is arranged between the head shell 1 and the tail joint assembly 8, the first wire winding and unwinding bundle 5 is arranged between the control line wheel set 3, the tail joint assembly 8, and the top of the tail fin 9, the second wire winding and unwinding bundle 6 is arranged in the control line wheel set 3, the third wire winding and unwinding bundle 7 is arranged between the control line wheel set 3, the tail joint assembly 8, and the bottom of the tail fin 9. The first wire winding and unwinding bundle 5, the second wire winding and unwinding bundle 6, and the third wire winding and unwinding bundle 7 drive the tail joint assembly 8 to make an ejection bending or reset unfolding movement under the driving of the control line wheel set 3 and the ejection control position mechanism.

[0021] The self-energy storage biomimetic lobster explosive ejection robot in the embodiment is in the form of a high-simulation lobster structure. The first wire winding and unwinding bundle 5, the second wire winding and unwinding bundle 6, and the third wire winding and unwinding bundle 7 cooperated with three wire ropes form a quantitative processing process of the ejection movement and form an explosive ejection movement of a predetermined posture position. The control line wheel set 3, the ejection control position mechanism, the tail joint assembly 8, and the tail fin 9 cooperate with the first wire winding and unwinding bundle 5, the second wire winding and unwinding bundle 6, and the third wire winding and unwinding bundle 7 to realize the implementation of underwater ejection movement.

[0022] The head shell 1 in the embodiment is a shell with the appearance of a shrimp head, which is a three-sided enclosed shell and has an external protection and support effect. Multiple arc-shaped in-out long holes are processed in the thickness direction of the two sides of the head shell 1, which facilitates rapid drainage. Two wavy long holes are processed at the top of the head shell 1 for rapid in-out water at the top, so as to avoid the internal pressure in the ejection movement process affecting the ejection speed.

[0023] Further, an inner support shell 20 is arranged in the head shell 1, the head shell 1 is buckled on the inner support shell 20, the inner walls of the two sides of the head shell 1 are connected with the inner support shell 20, the control line wheel set 3, the ejection control position mechanism, the first wire winding and unwinding bundle 5, the second wire winding and unwinding bundle 6, and the third wire winding and unwinding bundle 7 are all arranged on the inner support shell 20. The inner support shell 20 is a support carrier for providing support for the above-mentioned components.

[0024] The first wire winding and unwinding bundle 5, the second wire winding and unwinding bundle 6, and the third wire winding and unwinding bundle 7 in the embodiment are all steel wire. The first wire winding and unwinding bundle 5, the second wire winding and unwinding bundle 6, and the third wire winding and unwinding bundle 7 are specifically adapted to single or multiple strands according to the specifications and design requirements of the self-energy storage biomimetic lobster explosive ejection robot.

[0025] The tail shell 2 in the embodiment is composed of a plurality of component shell pieces 25, each of which is an arc-shaped shell, the inner walls of both ends of each arc-shaped shell are detachably connected to the outer wall of the tail joint assembly 8, and the end of each arc-shaped shell is hinged to the outer wall of the tail joint assembly 8, so as to better adapt to the process of posture rotation deformation under the process of ejection movement.

[0026] Specific embodiment two: the embodiment is a further limitation of the specific embodiment one, the control line wheel set 3 in the embodiment includes a pay-off wheel 3-1, a first driving member 3-2, a first force storage wheel 3-3 and a second force storage wheel 3-4, the pay-off wheel 3-1, the first force storage wheel 3-3 and the second force storage wheel 3-4 are sequentially arranged horizontally in the head shell 1 from top to bottom, the first force storage wheel 3-3 is arranged between the pay-off wheel 3-1 and the second force storage wheel 3-4, the pay-off wheel 3-1 is coaxially connected with the first driving member 3-2, the pay-off wheel 3-1 rotates under the driving of the first driving member 3-2, one end of the first take-up and pay-off wire 5 is wound on the pay-off wheel 3-1, the other end of the first take-up and pay-off wire 5 sequentially passes through the first force storage wheel 3-3 and the tail joint assembly 8 and is connected with the top side of the tail fin 9, both ends of the second take-up and pay-off wire 6 are wound between the first force storage wheel 3-3 and the second force storage wheel 3-4, one end of the third take-up and pay-off wire 7 is wound on the second force storage wheel 3-4, and the other end of the third take-up and pay-off wire 7 sequentially passes through the first force storage wheel 3-3 and the tail joint assembly 8 and is connected with the bottom side of the tail fin 9.

[0027] In the embodiment, the pay-off wheel 3-1 rotates under the driving of the first driving member 3-2, the first driving member 3-2 is a rudder machine, the first take-up and pay-off wire 5, the second take-up and pay-off wire 6, the third take-up and pay-off wire 7, the first force storage wheel 3-3 and the second force storage wheel 3-4 are driven by the first driving member 3-2 to realize the process of taking up and paying off the wire, which simplifies and integrates the driving mechanism.

[0028] In the embodiment, the pay-off wheel 3-1 is used to take up and pay off the first take-up and pay-off wire 5, the rotation direction of the first take-up and pay-off wire 5 is A direction, the second take-up and pay-off wire 6 is wound between the first force storage wheel 3-3 and the second force storage wheel 3-4, the rotation direction of the second take-up and pay-off wire 6 is B direction, and the third take-up and pay-off wire 7 is wound on the second force storage wheel 3-4, the rotation direction of the third take-up and pay-off wire 7 is C direction.

[0029] In the embodiment, when the second take-up and pay-off wire 6 and the third take-up and pay-off wire 7 are wound on the second force storage wheel 3-4 at the same time, the wheel surfaces occupied by the two wires each occupy one side of the outer wheel surface of the second force storage wheel 3-4, and the two wires do not overlap each other, which is beneficial to the process of taking up and paying off the wire. Similarly, when the first take-up and pay-off wire 5 and the second take-up and pay-off wire 6 are wound on the first force storage wheel 3-3 at the same time, the wheel surfaces occupied by the two wires each occupy one side of the outer wheel surface of the first force storage wheel 3-3, and the two wires do not overlap each other, which is beneficial to the process of taking up and paying off the wire.

[0030] Further, the first power accumulator 3-3 and the second power accumulator 3-4 can also be respectively provided with a spacer ring for isolating the respective outer wheel surface to provide a respective independent winding area for the winding of the first, second and third take-up beam 5, 6 and 7.

[0031] Specific embodiment three: the first power accumulator 3-3 and the second power accumulator 3-4 are consistent in structure, the first power accumulator 3-3 includes an outer wheel shell 3-3-1, a base 3-3-2, a movable ring 3-3-3, a ratchet wheel 3-3-4, a spiral path baffle 3-3-5, a plurality of vertical guide columns 3-3-6, a spring piece 3-3-7, a crank 3-3-9 and a plurality of first reset springs 3-3-8, the base 3-3-2 is arranged in the head shell 1, the bottom of the outer wheel shell 3-3-1 is integrally connected with the annular bottom piece 10, the outer wheel shell 3-3-1 is hinged to the base 3-3-2 through the annular bottom piece 10, the annular bottom piece 10 is uniformly distributed with a plurality of vertical guide columns 3-3-6 along the circumferential direction thereof, the movable ring 3-3-3 is sleeved on the plurality of vertical guide columns 3-3-6, the ratchet wheel 3-3-4 is arranged in the movable ring 3-3-3, the bottom of the ratchet wheel 3-3-4 is fixedly connected to the base 3-3-2, the spring piece 3-3-7 is arranged between the top of the ratchet wheel 3-3-4 and the aperture 11, the aperture 11 is processed on the top of the outer wheel shell 3-3-1 to provide a position for the spring piece 3-3-7 to pass through, the top of the ratchet wheel 3-3-4 is provided with a winding plug for stably fixing the end of the spring piece 3-3-7, the outer circumferential wall of the ratchet wheel 3-3-4 is fixedly connected with the spiral path baffle 3-3-5, the movable ring 3-3-3 is hinged with the crank 3-3-9, one end of the crank 3-3-9 is hinged to the movable ring 3-3-3, the bottom side of the crank 3-3-9 abuts against the spiral path baffle 3-3-5, the shape of the spiral path baffle 3-3-5 is used to cooperate with the spiral lifting process of the crank 3-3-9, the other end of the crank 3-3-9 is a poking end which is engaged with the teeth on the outer circumference of the ratchet wheel 3-3-4, a plurality of first reset springs 3-3-8 are arranged between the movable ring 3-3-3 and the annular bottom piece 10.

[0032] In combination Figure 13 As shown, the crank 3-3-9 is provided with a spring for timely resetting after the crank 3-3-9 makes a circumferential movement on the ratchet wheel 3-3-4, the inner wall of the end of the crank 3-3-9 hinged to the movable ring 3-3-3 is provided with a spring, one end of the spring is connected to the crank 3-3-9, and the other end of the spring is connected to the top surface of the movable ring 3-3-3.

[0033] Two inlets 26 are formed on the outer wheel shell 3-3-1 in the embodiment, which are used to pass through the end of the first wire winding beam 5 or the third wire winding beam 7 for fixing.

[0034] Specific implementation four: the embodiment is further limited to the specific implementation one, two or three, the bottom of the ratchet wheel 3-3-4 is provided with a clamping port 12 matched with the pushing end of the crank 3-3-9, and a second reset spring is arranged in the clamping port 12; the top surface of the lower end of the spiral path baffle 3-3-5 is an inclined surface, which is tightly attached to the clamping port 12.

[0035] Specific implementation five: the embodiment is further limited to the specific implementation one, two, three or four, the first wire winding beam 5 and the third wire winding beam 7 are arranged with a plug column 13, the plug column 13 is arranged on the tail fin 9, the plug column 13 is provided with a connecting hole 16 at both ends, the end of the first wire winding beam 5 is connected with the connecting hole 16 at the upper end of the plug column 13 after passing through the first power wheel 3-3 and the tail joint assembly 8 in sequence; the end of the third wire winding beam 7 is connected with the connecting hole 16 at the lower end of the plug column 13 after passing through the second power wheel 3-4 and the tail joint assembly 8 in sequence.

[0036] Specific implementation six: the embodiment is further limited to the specific implementation one, two, three, four or five, the tail joint assembly 8 includes a first joint 8-1, a second joint 8-2, a third joint 8-3, a first connecting rod 8-4 and a second connecting rod 8-5, both ends of the first connecting rod 8-4 are hingedly connected with the first joint 8-1 and the second joint 8-2 respectively, both ends of the second connecting rod 8-5 are hingedly connected with the second joint 8-2 and the third joint 8-3 respectively, the first joint 8-1 is a first flat block, the first flat block is vertically arranged, both ends of the first flat block are provided with a first through slot 8-1-1, a first upper wire passing hole 8-1-2 and a first lower wire passing hole 8-1-3 are arranged in the first flat block along the length direction, the first upper wire passing hole 8-1-2 and the first lower wire passing hole 8-1-3 are located above and below the first connecting rod 8-4 respectively, both ends of the first upper wire passing hole 8-1-2 are connected with the two first through slots 8-1-1 respectively, both ends of the first lower wire passing hole 8-1-3 are connected with the two first through slots 8-1-1 respectively. The second joint 8-2 is an inverted trapezoidal flat block, the second joint 8-2 is vertically arranged, the second joint 8-2 is parallelly machined with a second upper threading hole 8-2-2 and a second lower threading hole 8-2-3 along the length direction, the second upper threading hole 8-2-2 and the second lower threading hole 8-2-3 are respectively located above and below the first connecting rod 8-4, the second upper threading hole 8-2-2 is connected with the first upper threading hole 8-1-2 through the first spring 15, the two ends of the first spring 15 are respectively fixedly connected on the first joint 8-1 and the second joint 8-2, and the second lower threading hole 8-2-3 is oppositely arranged with the first lower threading hole 8-1-3. The third joint 8-3 is a second flat block, the second flat block is vertically arranged, one end of the second flat block towards the second joint 8-2 is machined with a second through groove, the second flat block is parallelly machined with a third upper threading hole and a third lower threading hole along the length direction, the third upper threading hole and the third lower threading hole are respectively located above and below the second connecting rod 8-5, the third upper threading hole is connected with the second upper threading hole 8-2-2 through the second spring 19, the two ends of the second spring 19 are respectively fixedly connected on the second joint 8-2 and the third joint 8-3, and the third lower threading hole is oppositely arranged with the second lower threading hole 8-2-3.

[0037] Specific embodiment seven: the first take-up and pay-off bundle 5 is cooperatively arranged with a first pulley guide assembly, the first pulley guide assembly includes a first pulley 14-1, a second pulley 14-2, a third pulley 14-3, a fourth pulley 14-4 and a fifth pulley 14-5, the axial direction of the first pulley 14-1, the second pulley 14-2, the third pulley 14-3, the fourth pulley 14-4 and the fifth pulley 14-5 is same as the axial direction of the first force storage wheel 3-3, a first wire clamping channel is formed between the second pulley 14-2 and the third pulley 14-3, a second wire clamping channel is formed between the fourth pulley 14-4 and the fifth pulley 14-5, one end of the first take-up and pay-off bundle 5 is sequentially wound on the outer wall of the pay-off wheel 3-1 after passing through the outer wall of the first pulley 14-1 and the outer wall of the first force storage wheel 3-3, the other end of the first take-up and pay-off bundle 5 is connected with the top side of the tail fin piece 9 after sequentially passing through the first wire clamping channel, the second wire clamping channel, the first upper threading hole 8-1-2, the first spring 15, the second upper threading hole 8-2-2, the second spring 19 and the third upper threading hole.

[0038] Specific embodiment eight: the second take-up and pay-off wire 6 is matched with a second pulley guide assembly, the second pulley guide assembly comprises a sixth pulley 17-1 and a seventh pulley 17-2, the sixth pulley 17-1 is vertically arranged between the first power wheel 3-3 and the second power wheel 3-4, the seventh pulley 17-2 is arranged directly below the first pulley 14-1, one end of the second take-up and pay-off wire 6 is wound on the outer wall of the first power wheel 3-3, the other end of the second take-up and pay-off wire 6 is wound on the second power wheel 3-4 after passing through the sixth pulley 17-1 and the seventh pulley 17-2 in turn; the winding direction of the second take-up and pay-off wire 6 on the first power wheel 3-3 is the same as the winding direction of the first take-up and pay-off wire 5 on the first power wheel 3-3; the winding direction of the second take-up and pay-off wire 6 on the second power wheel 3-4 is opposite to the winding direction of the third take-up and pay-off wire 7 on the second power wheel 3-4; The third take-up and pay-off wire 7 is matched with a third pulley guide assembly, the third pulley guide assembly comprises an eighth pulley 18-1, a ninth pulley 18-2 and a tenth pulley 18-3, the eighth pulley 18-1 and the ninth pulley 18-2 are arranged horizontally and side by side, the axial direction of the eighth pulley 18-1 is in the same direction as the axial direction of the second power wheel 3-4, a third wire clamping channel is formed between the eighth pulley 18-1 and the ninth pulley 18-2, the tenth pulley 18-3 is vertically arranged, one end of the third take-up and pay-off wire 7 is connected with the outer wall of the second power wheel 3-4 after passing through the bottom of the tenth pulley 18-3 and the third wire clamping channel in turn, the other end of the third take-up and pay-off wire 7 is connected with the bottom side of the tail fin 9 after passing through the first lower wire hole 8-1-3, the second lower wire hole 8-2-3 and the third lower wire hole in turn.

[0039] Specific implementation nine: this implementation is further limited to specific implementation one, two, three, four, five, six, seven or eight, the ejection control mechanism includes an incomplete gear 4-1, a motor 4-2, a rack 4-3, a front enclosing frame 4-4, a trajectory guide frame 4-5, a front elastic element 4-6, a middle elastic element 4-7, a linear bearing 4-8, a fixed seat 4-9, a rear elastic element 4-10, a first hard elastic composite support column 4-11, a second hard elastic composite support column 4-14, two double-headed articulated rods 4-12 and two reset swing rods 4-13, the motor 4-2 is arranged on the inner wall of the head shell 1, the incomplete gear 4-1 is sleeved on the power output shaft of the motor 4-2, the front enclosing frame 4-4 and the trajectory guide frame 4-5 are both open at one end of the frame body, the end with the opening of the trajectory guide frame 4-5 is arranged in the front enclosing frame 4-4 through the opening end of the front enclosing frame 4-4, the rack 4-3 is arranged in the trajectory guide frame 4-5, the incomplete gear 4-1 is engaged with the rack 4-3, the two side walls of the trajectory guide frame 4-5 are respectively processed with a closed strip-shaped trajectory groove 24, the two side walls of the trajectory guide frame 4-5 are respectively arranged with a double-headed articulated rod 4-12, one end of each double-headed articulated rod 4-12 is articulated in the closed strip-shaped trajectory groove 24 close to it, the other end of each double-headed articulated rod 4-12 is articulated with the inner wall of the front enclosing frame 4-4, the front end of the rack 4-3 and the front end of the front enclosing frame 4-4 are provided with the front elastic element 4-6, the rear side of the trajectory guide frame 4-5 is connected with one side of the fixed seat 4-9 through the first hard elastic composite support column 4-11, the other side of the fixed seat 4-9 is provided with the linear bearing 4-8, the linear bearing 4-8 is connected with the first joint 8-1 in the tail joint assembly 8 through the second hard elastic composite support column 4-14, the middle elastic element 4-7 is sleeved on the first hard elastic composite support column 4-11, the rear elastic element 4-10 is sleeved on the second hard elastic composite support column 4-14, one end of the third winding and unwinding wire bundle 7 is connected with the outer wall of the second power accumulator 3-4 through the front end of the front enclosing frame 4-4, the bottom of the tenth pulley 18-3 and the third wire clamping channel in turn, the other end of the third winding and unwinding wire bundle 7 is connected with the bottom side of the tail fin 9 through the bottom of the front enclosing frame 4-4, the first lower wire passing hole 8-1-3, the second lower wire passing hole 8-2-3 and the third lower wire passing hole.

[0040] In this embodiment, the first joint 8-1 is connected with the end of the second hard elastic composite support column 4-14 through the H-shaped connecting block 22. One end of the H-shaped connecting block 22 is connected with the end of the second hard elastic composite support column 4-14, the other end of the H-shaped connecting block 22 is articulated with the first joint 8-1, and the articulation is in the first slot 8-1-1.

[0041] Specific embodiment ten: the present embodiment is a further limitation of specific embodiments one, two, three, four, five, six, seven, eight or nine, in the present embodiment, an electronic sealed cabin 21 is arranged on the inner support shell 20, the electronic sealed cabin 21 is arranged at one end of the inner support shell 20 away from the tail joint assembly 8, the electronic sealed cabin 21 is used to seal the electronic control components such as the control mainboard related to the self-energy storage biomimetic lobster explosive ejection robot inside, realize the sealing protection effect, the electronic sealed cabin 21 includes a cabin cover, a sealed cabin flange, an acrylic sealed tube, an O-shaped sealing ring and a threading bolt. The cabin cover is provided with two ears, each ear has two threaded holes to realize connection with the robot body. A hole is opened in one side of the cabin cover for mounting a waterproof threading bolt, and waterproof sealing glue is poured at the threading position. The cabin cover and the sealed cabin flange are connected by screws, and an O-shaped sealing ring is arranged between the two for sealing. The side surface of the sealed cabin flange is sleeved with two O-shaped sealing rings and is pressed into the acrylic sealed tube under high pressure, so that the sealing environment in the electronic sealed cabin is realized.

[0042] When the self-energy storage biomimetic lobster explosive ejection robot is used for underwater environment detection, it can cope with the collision of fish groups and reefs or sudden severe sea conditions. The biomimetic lobster robot with ejection capability can quickly maneuver and avoid danger to ensure the safety of equipment and data. When monitoring fragile ecosystems such as coral reefs, the robot can quickly approach the observation target through sudden displacement and quickly retreat without disturbing the organisms, achieving minimal disturbance to the ecological environment.

[0043] When inspecting ship hulls, underwater pipelines or drilling platforms, it is often necessary to cope with complex underwater structures. The biomimetic lobster robot can simulate the behavior of lobsters moving in rock crevices and use ejection capability to move flexibly and accurately position between pipeline supports, greatly improving detection efficiency and coverage. The present invention has good motion control and operation capability, and when combined with ejection motion, it can quickly reach the specific point for cleaning or repair operation.

[0044] The robot is mainly composed of mechanical structures, and the parts do not need to be waterproofed. The parts that need to be waterproofed include motors, control mainboards and power supplies. The rudder is a continuous rotation waterproof rudder and does not need to be sealed.

[0045] The motor in the present invention uses a 3D printed shell as a sealed shell, the motor shaft part has an opening, and a waterproof rubber ring is installed in the opening part, the motor wiring part is not covered by a shell, and waterproof sealing glue is poured to seal, ensuring that the motor is waterproof.

[0046] The control mainboard and power supply sealing process used in the robot are as follows: after the bottom plate and the robot main plate are connected by bolts, waterproof sealing glue is injected into the waterproof sealing glue groove through the pouring port to realize the waterproof sealing of this part. The main plate opposite to the placement of the control mainboard is a plane, and after being combined with the bottom plate, the waterproof sealing glue groove forms a closed cavity with the main plate for pouring sealing glue. The line part of the motor and the steering engine is connected to the control mainboard through the opening of the main plate, and the opening part is sealed by waterproof sealing glue.

[0047] Specific implementation method eleven: the present implementation is further limited to the specific implementation methods one, two, three, four, five, six, seven, eight, nine or ten, and the control mainboard and power supply sealing process used in the robot are as follows: after the bottom plate and the robot main plate are connected by bolts, waterproof sealing glue is injected into the waterproof sealing glue groove through the pouring port to realize the waterproof sealing of this part. The main plate opposite to the placement of the control mainboard is a plane, and after being combined with the bottom plate, the waterproof sealing glue groove forms a closed cavity with the main plate for pouring sealing glue. The line part of the motor and the steering engine is connected to the control mainboard through the opening of the main plate, and the opening part is sealed by waterproof sealing glue. Figures 20 to 27 As shown in the figure, the process of the robot in the elastic energy storage-release-reset closed loop is as follows: When winding, the first energy storage wheel 3-3 rotates to accumulate elastic potential energy through the spring sheet 3-3-7, and the crank 3-3-9 is limited by the spiral path baffle 3-3-5 to avoid early rebound; after triggering, the crank 3-3-9 reaches the clamping port 12, and the spring sheet 3-3-7 rebounds together with the tension spring force to make the crank 3-3-9 and the movable ring descend synchronously and rotate clockwise, and the spiral path baffle 3-3-5, the reset clamping port 12 and the spring cooperate to ensure that the crank 3-3-9 is reset to the initial state after passing through.

[0048] The first driving member 3-2 winding mechanism: simulating the real lobster muscle effort, the first driving member 3-2 drives the winding wheel 3-1 to rotate, drives the steel wire to contract and transfer motion, makes the up and down steel wires through the tail joint assembly 8 of the assembly 8 stretch to different degrees, and realizes the bending of the tail.

[0049] System mechanism in the elastic energy storage state: First: the first winding and unwinding bundle 5 is an uplink steel wire group, and its operation process is that the winding wheel 3-1 rotates to tighten the steel wire, and the steel wire is wound after being fixed in the clamping groove of the control wheel set 3 to complete the tightening, and the control wheel set 3 rotates synchronously.

[0050] Second: the second winding and unwinding bundle 6 and the third winding and unwinding bundle 7 are downlink steel wire groups, and their operation process is that a group of steel wires is wound after being fixed in the clamping groove of the control wheel set 3, and is stretched and contracted synchronously with another group of steel wires through the pulley auxiliary; another group of steel wires is wound and fixed in another winding device to realize the relaxation action. Through the tightening and relaxation of the upper and lower two groups of steel wires, the assembly 8 of the tail joint assembly 8 is turned from bending to stretching, and each spring between each joint in the assembly 8 of the tail joint assembly 8 is compressed to store energy, which prepares for the bending of the tail during the ejection.

[0051] The mechanism of the ejection process system: the control line wheel group 3 rotates to loosen the corresponding steel wire and tighten the other steel wire, and the spring in the tail joint assembly 8 is stretched to realize the tail bending posture during ejection; the reciprocating rotation of the take-up wheel 3-1 can complete continuous posture adjustment.

[0052] The mechanism of the ejection control mechanism: in the ejection storage state, the incomplete gear 4-1 rotates and engages with the rack 4-3, drives the optical shaft to move axially to compress the spring and store potential energy, and the tail joint assembly 8 adjusts the posture under the constraint of the swing rod.

[0053] Ejection process: the incomplete gear 4-1 rotates to the empty position and disengages with the rack 4-3, the spring releases potential energy to drive the optical shaft to move, and the tail joint assembly 8 rotates to realize the ejection function in combination with the tail bending posture.

[0054] Reset automatic locking process: the incomplete gear 4-1 continues to rotate and re-engages with the rack 4-3, the spring releases part of the potential energy to drive the optical shaft to move, and the double-headed articulated rod 4-12 realizes self-locking along the trajectory end point; three states cooperate with the take-up system to complete the ejection function.

[0055] The mechanism of the ejection guide reset mechanism: it is composed of the ejection control mechanism, including the incomplete gear 4-1, the motor 4-2, the rack 4-3, the front enclosing frame 4-4, the trajectory guide frame 4-5, the front elastic element 4-6, the middle elastic element 4-7, the linear bearing 4-8, the fixed seat 4-9, the rear elastic element 4-10, the first hard elastic composite support column 4-11, the second hard elastic composite support column 4-14, the two double-headed articulated rods 4-12 and the two connecting swing rods 4-13; the front enclosing frame 4-4 is fixed with the robot mainboard, the reset swing rod 4-13 is fixed with the head shell 1 through a circular shaft, and the double-headed articulated rod 4-12 reciprocates in the closed strip-shaped trajectory slot 24 to realize self-locking and stroke limiting.

[0056] Specific implementation method twelve: this implementation method is a further limitation of the specific implementation methods one, two, three, four, five, six, seven, eight, nine, ten or eleven, in combination with Figures 20 to 27 As shown in the figure, the process of the robot in the ejection storage-release-reset closed loop in this implementation method is: The core cycle in the detailed working sequence of the robot ejection is: reset automatic locking state→three-tooth ejection storage process→ejection storage completion state→ejection process→reach the ejection limit position→two-tooth reset process→reach the reset limit position→reset automatic locking process→reset automatic locking state.

[0057] Among them, the reset automatic locking state is converted to the three-tooth ejection storage process, and then to the ejection storage completion state The first drive unit 3-2 of this robot drives the three-wire take-up process as follows: the first drive unit 3-2 drives the take-up wheel 3-1 to rotate clockwise to take in the wire, i.e., the position near the take-up wheel 3-1. At the same time, the wire on this side drives the first storage wheel 3-3 of the control wheel group 3 to rotate counterclockwise to take in two sets of wire, i.e., the position near the tail. The movement of one set of wire drives the first storage wheel 3-3 of the other control wheel group 3 to rotate clockwise to release the wire. The ejection control mechanism and ejection reset guide mechanism: the motor drives the incomplete gear 4-1 to rotate clockwise, from the missing part to the three-tooth part and mesh with the rack 4-3, driving the rack 4-3 and the optical shaft and other connected parts to move in the corresponding direction. This process will compress two sets of springs, and the double-headed hinge rod 4-12 will move along the guide track in the rack 4-3 fixing and reset swing rod 4-13.

[0058] The transition process from the reset automatic locking state to the ejection charging completion state in this invention is as follows: First: In the two-control wheel assembly 3, the cranks 3-3-9 are both rotated to the end from the position of two-fifths of the stroke of the spiral path baffle 3-3-5, and the spring plate 3-3-7 reaches the maximum torsional energy storage state, and the mechanism is in the critical rotation state. Second: The three-tooth part of the incomplete gear 4-1 starts to mesh with the rack 4-3 and rotates clockwise until it loses meshing with the rack 4-3; Third: The reset lever 4-13 moves along the corresponding guide rail footprint from the starting point to the ending point of the footprint; Fourth: Both sets of springs are compressed to their maximum compression.

[0059] The process of transition from the completed catapult charging state to the catapult process and then to reaching the catapult limit position is as follows: The first drive unit 3-2 drives the three-wire take-up system simultaneously: During this process, the first drive unit 3-2 no longer serves as the power source for the system. The power required to take up the steel wire is provided by the energy stored in the spring plate 3-3-7 in the control wheel group 3. Both control wheel groups 3 are in a rotating state. The first power storage wheel 3-3 of one control wheel group 3 rotates clockwise, releasing two sets of steel wire (near the tail side) and taking in the steel wire (near the take-up wheel 3-1). The first power storage wheel 3-3 of the other control wheel group 3 rotates counterclockwise, taking in two sets of steel wire.

[0060] Ejection control mechanism and ejection reset guide mechanism: The motor drives the incomplete gear 4-1 to rotate clockwise, from the three-tooth part to the missing part, losing engagement with the rack 4-3. The two sets of springs in the maximum compression state release elastic potential energy, driving the rack 4-3 and the optical shaft and other connected parts to move in the corresponding direction. The double-headed hinge rod 4-12 will move along the guide track footprint in the rack 4-3 fixing and reset swing rod 4-13.

[0061] The transition process from the completed catapult charging state to reaching the catapult limit position in this invention is as follows: First: Both control wheel sets 3 start to rotate from the critical rotation state, and when they reach the ejection limit position, the control wheel sets 3 return to the initial working state; Second: During the ejection process, the incomplete gear 4-1 is always in a gap and loses engagement with the rack 4-3; Third: The reset lever 4-13 moves along the corresponding guide rail footprint from the starting point to the ending point of the footprint; Fourth: Both sets of springs release their elastic potential energy from maximum compression and extend to minimum compression.

[0062] The process of transformation from reaching the ejection limit position → two-tooth reset process → reaching the reset limit position in this invention is as follows: The first drive unit 3-2 drives the three-line take-up system simultaneously: the first drive unit 3-2 drives the take-up reel 3-1 to rotate clockwise to take in the steel wire (near the side of the take-up reel 3-1), and at the same time, the steel wire on this side will drive the first accumulator wheel 3-3 of the control wheel group 3 to rotate counterclockwise to take in two sets of steel wire (near the tail side). The movement of one set of steel wire will drive the first accumulator wheel 3-3 of the other control wheel group 3 to rotate clockwise to release the steel wire.

[0063] The working principle of the ejection control mechanism and the ejection reset guide mechanism is that the motor drives the incomplete gear 4-1 to rotate clockwise, from the missing part to the two-tooth part to mesh with the rack 4-3, which drives the rack 4-3 and the optical shaft and other connected parts to move in the corresponding direction. This process will compress two sets of springs, and the double-headed hinge rod 4-12 moves along the guide track footprint in the fixed and closed strip track groove 24 of the rack 4-3.

[0064] The details of the transition from reaching the ejection limit position to reaching the reset limit position in this invention are as follows: First: The cranks 3-3-9 in the two control wheel sets 3 are both rotated from the starting point of the stroke of the spiral path baffle 3-3-5 to two-fifths of the stroke; Second: The two-tooth portion of the incomplete gear 4-1 starts to mesh with the rack 4-3 and rotates clockwise until it loses meshing with the rack 4-3; Third: The reset lever 4-13 moves along the corresponding guide rail footprint from the starting point to the ending point of the footprint; Fourth: Both sets of springs are compressed to about two-fifths of their maximum compression.

[0065] The transition process from reaching the reset limit position → automatic reset locking process → automatic reset locking state in this invention is as follows: Because the automatic reset locking process has a small travel range and occurs instantaneously, specifically, the motor drives the incomplete gear 4-1 to rotate clockwise, from the two-tooth portion to the empty portion, losing engagement with the rack 4-3. The two partially compressed springs release some elastic potential energy, driving the rack 4-3 and other connected components such as the optical axis to move in the corresponding direction. The travel distance of the rack 4-3 and optical axis is very short, and the resulting tail sway is used to slightly compress the springs and fine-tune the tail posture, having no impact on the robot's normal operation.

[0066] In this invention, the first driving component 3-2 and each motor are not used as power sources, but only as local controls. This invention provides a separate power source when operating underwater.

[0067] Detailed Implementation Method Thirteen: Combining Figures 1 to 27 As shown, the explosive ejection control method in this embodiment is implemented using a self-energy-storing bionic lobster explosive ejection robot. The ejection control process is as follows: when a rapid evacuation from the original position is required, the self-energy-storing bionic lobster explosive ejection robot transitions from free motion to explosive ejection motion as follows: The line release reel 3-1, the first power reserve reel 3-3, and the second power reserve reel 3-4 in the line control reel group 3 are activated. All three reels are rotating. The first take-up / release bundle 5 and the second take-up / release bundle 6 are in the line release state between the line release reel 3-1, the first power reserve reel 3-3, and the second power reserve reel 3-4. The third take-up / release bundle 7 is in the take-up state under the control of the second power reserve reel 3-4. When the tail joint assembly 8, in coordination with the line release of the first take-up / release bundle 5 and the second take-up / release bundle 6 and the take-up of the third take-up / release bundle 7, performs the action of unfolding the top side and retracting the bottom side of the tail joint assembly 8, until the third take-up / release bundle 7 reaches its take-up limit and the first take-up / release bundle 5 reaches its release limit... When the line limit is reached, the spring plate 3-3-7 in the first energy storage wheel 3-3 is in the unfolding limit state, the first energy storage wheel 3-3 is in the energy release limit state, the spring plate 3-3-7 in the second energy storage wheel 3-4 is in the bending limit state, the second energy storage wheel 3-4 is in the energy storage limit state, the second hard-elastic composite support column 4-14 in the catapult control mechanism is in the downward bending state, and the end of the double-headed hinge rod 4-12 connected to the closed strip track groove 24 is set close to the front end of the front enclosure frame 4-4, indicating that the self-energy storage bionic lobster explosive catapult robot is in the limit position of explosive catapult motion, that is, the self-energy storage bionic lobster explosive catapult robot has completed the transformation process from free motion to explosive catapult motion; The transition process of the self-energy-storing biomimetic lobster-shaped explosive catapult robot from explosive catapult to free-moving motion is as follows: The line control reel group 3 is activated, including the pay-off reel 3-1, the first power accumulator 3-3, and the second power accumulator 3-4. All three reels are rotating. The first take-up / release bundle 5 and the second take-up / release bundle 6 are in a take-up state between the pay-off reel 3-1, the first power accumulator 3-3, and the second power accumulator 3-4. The third take-up / release bundle 7 is in a release state under the control of the second power accumulator 3-4. When the tail joint assembly 8 is engaged by the take-up of the first take-up / release bundle 5 and the second take-up / release bundle 6 and the release of the third take-up / release bundle 7, the tail joint assembly 8 performs a top-side retraction and bottom-side expansion action until the third take-up / release bundle 7 reaches its release limit and the first take-up / release bundle 5 reaches its release limit. When the line is retracted to its maximum capacity, the spring plate 3-3-7 in the first energy storage wheel 3-3 is in the bending limit state, the first energy storage wheel 3-3 is in the energy storage limit state, the spring plate 3-3-7 in the second energy storage wheel 3-4 is in the unfolding limit state, the second energy storage wheel 3-4 is in the energy release limit state, the second hard-elastic composite support column 4-14 in the catapult control mechanism is in the upward state, and the end of the double-headed hinge rod 4-12 connected to the closed strip track groove 24 is set near the rear end of the front enclosure frame 4-4, indicating that the self-energy-storing bionic lobster explosive catapult robot is in the extreme position of free motion, that is, the self-energy-storing bionic lobster explosive catapult robot has completed the transformation process from explosive catapult motion to free motion; The self-energy-storing biomimetic lobster explosive catapult robot completes the relocation process of rapidly moving away from its original position within a predetermined time by alternating between explosive catapult motion and free motion.

[0068] The self-energy-storing bionic lobster explosive catapult robot in this embodiment has the same structure and the same connection method of each component as the self-energy-storing bionic lobster explosive catapult robot described in specific embodiments one, two, three, four, five, six, seven, eight, nine, ten, eleven or twelve.

Claims

1. A self-energy-storing biomimetic lobster-shaped explosive catapult robot, characterized in that: The device includes a head shell (1), a tail shell (2), a control reel assembly (3), a launch control mechanism, a first take-up and release harness (5), a second take-up and release harness (6), a third take-up and release harness (7), a tail joint assembly (8), and a tail fin (9). The control reel assembly (3) is located inside the head shell (1), the tail joint assembly (8) is located inside the tail shell (2), the launch control mechanism is located between the head shell (1) and the tail joint assembly (8), and the first take-up and release harness (5) is located in the control reel assembly (3). Between the top of the tail joint assembly (8) and the tail fin (9), the second take-up and release harness (6) is set inside the control wheel assembly (3), and the third take-up and release harness (7) is set between the control wheel assembly (3), the bottom of the tail joint assembly (8) and the tail fin (9). The first take-up and release harness (5), the second take-up and release harness (6), and the third take-up and release harness (7) drive the tail joint assembly (8) to make a catapult bending or reset unfolding movement under the drive of the control wheel assembly (3) and the catapult control mechanism.

2. The self-energy-storing biomimetic lobster-type explosive catapult robot according to claim 1, characterized in that: The control reel assembly (3) includes a pay-off reel (3-1), a first drive member (3-2), a first power accumulator (3-3), and a second power accumulator (3-4). The pay-off reel (3-1), the first power accumulator (3-3), and the second power accumulator (3-4) are horizontally arranged from top to bottom inside the head shell (1). The first power accumulator (3-3) is located between the pay-off reel (3-1) and the second power accumulator (3-4). The pay-off reel (3-1) is coaxially connected to the first drive member (3-2). The pay-off reel (3-1) rotates under the drive of the first drive member (3-2). The first take-up and pay-off... One end of the wire harness (5) is wound around the wire release reel (3-1). The other end of the first take-up and release wire harness (5) passes through the first power storage reel (3-3) and the tail joint assembly (8) in sequence and is connected to the top side of the tail fin (9). The two ends of the second take-up and release wire harness (6) are respectively wound between the first power storage reel (3-3) and the second power storage reel (3-4). One end of the third take-up and release wire harness (7) is wound around the second power storage reel (3-4). The other end of the third take-up and release wire harness (7) passes through the first power storage reel (3-3) and the tail joint assembly (8) in sequence and is connected to the bottom side of the tail fin (9).

3. The self-energy-storing biomimetic lobster-type explosive catapult robot according to claim 2, characterized in that: The first accumulator wheel (3-3) and the second accumulator wheel (3-4) have the same structure. The first accumulator wheel (3-3) includes an outer wheel housing (3-3-1), a base (3-3-2), a moving ring plate (3-3-3), a ratchet (3-3-4), a spiral path baffle (3-3-5), multiple vertical guide posts (3-3-6), a spring plate (3-3-7), a crank (3-3-9), and multiple first return springs (3-3-8). The base (3-3-2) is set inside the head shell (1). The bottom of the outer wheel shell (3-3-1) is integrally connected to an annular base plate (10). The outer wheel shell (3-3-1) is hinged to the base (3-3-2) through the annular base plate (10). The annular base plate (10) has multiple vertical guide posts (3-3-6) evenly distributed along its circumference. The moving ring plate (3-3-3) is fitted on the multiple vertical guide posts (3-3-6). The ratchet (3-3-4) is set... Inside the moving ring plate (3-3-3), the bottom of the ratchet (3-3-4) is fixedly connected to the base (3-3-2). A notch (11) is machined on the top of the outer wheel housing (3-3-1). A spring plate (3-3-7) is provided between the top of the ratchet (3-3-4) and the notch (11). A spiral path baffle (3-3-5) is fixedly connected to the outer circumferential wall of the ratchet (3-3-4). A curved... The handle (3-3-9) has one end hinged to the moving ring plate (3-3-3), the bottom side of the crank (3-3-9) abuts against the spiral path baffle (3-3-5), and the other end of the crank (3-3-9) is the actuating end, which engages with the teeth on the outer circumference of the ratchet (3-3-4). Multiple first return springs (3-3-8) are provided between the moving ring plate (3-3-3) and the annular base plate (10).

4. The self-energy-storing biomimetic lobster-type explosive catapult robot according to claim 3, characterized in that: The bottom of the ratchet (3-3-4) is machined with a locking interface (12) that matches the actuating end of the crank (3-3-9). A second reset spring is installed inside the locking interface (12). The top surface of the lower end of the spiral path baffle (3-3-5) is an inclined surface, which is close to the locking interface (12).

5. The self-energy-storing biomimetic lobster-type explosive catapult robot according to claim 1, characterized in that: A plug (13) is provided between the first take-up harness (5) and the third take-up harness (7). The plug (13) is inserted on the tail fin (9). The plug (13) has connection holes (16) at both ends. The end of the first take-up harness (5) passes through the first accumulator wheel (3-3) and the tail joint assembly (8) in sequence and is connected to the connection hole (16) at the upper end of the plug (13). The end of the third take-up harness (7) passes through the second accumulator wheel (3-4) and the tail joint assembly (8) in sequence and is connected to the connection hole (16) at the lower end of the plug (13).

6. The self-energy-storing biomimetic lobster-type explosive catapult robot according to claim 5, characterized in that: The tail joint assembly (8) includes a first joint (8-1), a second joint (8-2), a third joint (8-3), a first connecting rod (8-4), and a second connecting rod (8-5). The two ends of the first connecting rod (8-4) are hinged to the first joint (8-1) and the second joint (8-2), respectively. The two ends of the second connecting rod (8-5) are hinged to the second joint (8-2) and the third joint (8-3), respectively. The first joint (8-1) is a first flat block, which is vertically arranged. The two ends of the first flat block are respectively... The first through groove (8-1-1) is machined. The first flat block has a first upper through hole (8-1-2) and a first lower through hole (8-1-3) machined side by side along its length. The first upper through hole (8-1-2) and the first lower through hole (8-1-3) are located above and below the first connecting rod (8-4) respectively. The two ends of the first upper through hole (8-1-2) are connected to the two first through grooves (8-1-1) respectively. The two ends of the first lower through hole (8-1-3) are connected to the two first through grooves (8-1-1) respectively. The second joint (8-2) is an inverted trapezoidal flat block. The second joint (8-2) is vertically arranged. The second joint (8-2) has a second upper threading hole (8-2-2) and a second lower threading hole (8-2-3) machined in parallel along its length. The second upper threading hole (8-2-2) and the second lower threading hole (8-2-3) are located above and below the first connecting rod (8-4), respectively. The second upper threading hole (8-2-2) and the first upper threading hole (8-1-2) are connected by a first spring (15). The two ends of the first spring (15) are fixedly connected to the first joint (8-1) and the second joint (8-2), respectively. The second lower threading hole (8-2-3) is arranged opposite to the first lower threading hole (8-1-3). The third joint (8-3) is a second flat block. The second flat block is vertically arranged. A second through groove is machined at one end of the second flat block facing the second joint (8-2). A third upper wire hole and a third lower wire hole are machined side by side along the length of the second flat block. The third upper wire hole and the third lower wire hole are located above and below the second connecting rod (8-5), respectively. The third upper wire hole and the second upper wire hole (8-2-2) are connected by a second spring (19). The two ends of the second spring (19) are fixedly connected to the second joint (8-2) and the third joint (8-3), respectively. The third lower wire hole and the second lower wire hole (8-2-3) are arranged opposite to each other.

7. The self-energy-storing biomimetic lobster-type explosive catapult robot according to claim 6, characterized in that: The first take-up and release harness (5) is equipped with a first pulley guide assembly, which includes a first pulley (14-1), a second pulley (14-2), a third pulley (14-3), a fourth pulley (14-4), and a fifth pulley (14-5). The axial directions of the first pulley (14-1), second pulley (14-2), third pulley (14-3), fourth pulley (14-4), and fifth pulley (14-5) are in the same direction as the axial direction of the first power storage wheel (3-3). A first [missing information] is formed between the second pulley (14-2) and the third pulley (14-3). The second clamping channel is formed between the fourth pulley (14-4) and the fifth pulley (14-5). One end of the first take-up and release bundle (5) passes through the outer wall of the first pulley (14-1) and the outer wall of the first power storage wheel (3-3) in sequence and then wraps around the outer wall of the release wheel (3-1). The other end of the first take-up and release bundle (5) passes through the first clamping channel, the second clamping channel, the first upper threading hole (8-1-2), the first spring (15), the second upper threading hole (8-2-2), the second spring (19) and the third upper threading hole in sequence and then connects to the top side of the tail fin (9).

8. The self-energy-storing biomimetic lobster-type explosive catapult robot according to claim 7, characterized in that: The second take-up and release harness (6) is equipped with a second pulley guide assembly, which includes a sixth pulley (17-1) and a seventh pulley (17-2). The sixth pulley (17-1) is vertically arranged between the first power storage wheel (3-3) and the second power storage wheel (3-4), and the seventh pulley (17-2) is arranged below the first pulley (14-1) and the sixth pulley (17-1). One end of the second take-up and release harness (6) is wound around the outer wall of the first power storage wheel (3-3). The other end of the take-up and release harness (6) passes around the sixth pulley (17-1) and the seventh pulley (17-2) in sequence and then winds around the second power storage wheel (3-4); the winding direction of the second take-up and release harness (6) on the first power storage wheel (3-3) is the same as the winding direction of the first take-up and release harness (5) on the first power storage wheel (3-3); the winding direction of the second take-up and release harness (6) on the second power storage wheel (3-4) is opposite to the winding direction of the third take-up and release harness (7) on the second power storage wheel (3-4); The third take-up and release cable bundle (7) is equipped with a third pulley guide assembly, which includes an eighth pulley (18-1), a ninth pulley (18-2), and a tenth pulley (18-3). The eighth pulley (18-1) and the ninth pulley (18-2) are arranged horizontally side by side. The axial direction of the eighth pulley (18-1) is the same as the axial direction of the second power storage wheel (3-4). A third cable clamping channel is formed between the eighth pulley (18-1) and the ninth pulley (18-2). The tenth pulley (18-3) is arranged vertically. One end of the third take-up and release cable bundle (7) passes through the bottom of the tenth pulley (18-3) and the third cable clamping channel in sequence and is connected to the outer wall of the second power storage wheel (3-4). The other end of the third take-up and release cable bundle (7) passes through the first under-thread hole (8-1-3), the second under-thread hole (8-2-3), and the third under-thread hole in sequence and is connected to the bottom side of the tail fin (9).

9. A self-energy-storing biomimetic lobster-type explosive catapult robot according to any one of claims 1 to 8, characterized in that: The ejection control mechanism includes an incomplete gear (4-1), a motor (4-2), a rack (4-3), a front enclosure frame (4-4), a trajectory guide frame (4-5), a front elastic element (4-6), a middle elastic element (4-7), a linear bearing (4-8), a fixed base (4-9), a rear elastic element (4-10), a first hard-elastic composite support column (4-11), a second hard-elastic composite support column (4-14), two double-headed hinge rods (4-12), and two reset swing rods (4-13). The motor (4-2) is mounted on the inner wall of the head shell (1), and the incomplete gear (4-1) is fitted onto the motor (4-2). On the power output shaft of the device, the front enclosure frame (4-4) and the trajectory guide frame (4-5) are both U-shaped frames with a notch at one end. The notch end of the trajectory guide frame (4-5) passes through the notch end of the front enclosure frame (4-4) and is inserted into the front enclosure frame (4-4). The rack (4-3) is set in the trajectory guide frame (4-5), and the incomplete gear (4-1) meshes with the rack (4-3). A closed strip-shaped trajectory groove (24) is machined on each of the two outer walls of the trajectory guide frame (4-5). A double-headed hinge rod (4-12) is correspondingly provided on each of the two outer walls of the trajectory guide frame (4-5). Each double-headed hinge rod... One end of (4-12) is hinged to its adjacent closed strip track groove (24), and the other end of each double-headed hinge rod (4-12) is hinged to the inner wall of the front enclosure frame (4-4). A front elastic element (4-6) is provided between the front end of the rack (4-3) and the front inner wall of the front enclosure frame (4-4). The rear side of the track guide frame (4-5) is connected to one side of the fixed seat (4-9) through the first hard-elastic composite support column (4-11). A linear bearing (4-8) is provided on the other side of the fixed seat (4-9). The linear bearing (4-8) is connected to the tail joint assembly through the second hard-elastic composite support column (4-14). 8) Connected, the central elastic element (4-7) is fitted on the first hard elastic composite support column (4-11), the rear elastic element (4-10) is fitted on the second hard elastic composite support column (4-14), one end of the third take-up and release wire harness (7) passes through the front end of the front enclosure frame (4-4), the bottom of the tenth pulley (18-3), the third wire clamping channel and connects to the outer wall of the second power storage wheel (3-4) in sequence, and the other end of the third take-up and release wire harness (7) passes through the bottom of the front enclosure frame (4-4), the first lower wire hole (8-1-3), the second lower wire hole (8-2-3), the third lower wire hole and connects to the bottom side of the tail fin (9).

10. A burst-type ejection control method, implemented using the self-energy-storing biomimetic lobster burst-type ejection robot as described in any one of claims 1 to 9, characterized in that: The ejection control method involves the following process: when a rapid evacuation from the original position is required, the self-energy-storing biomimetic lobster-style ejection robot transitions from free motion to explosive ejection motion as follows: Start the pay-off reel (3-1), first power accumulator (3-3), and second power accumulator (3-4) in the control reel group (3). The pay-off reel (3-1), first power accumulator (3-3), and second power accumulator (3-4) are all rotating. The first take-up / pay-off bundle (5) and the second take-up / pay-off bundle (6) are in the pay-off state between the pay-off reel (3-1), first power accumulator (3-3), and second power accumulator (3-4). The third take-up / pay-off bundle (7) is in the take-up state under the control of the second power accumulator (3-4). When the tail joint assembly (8) performs the action of opening the top side and closing the bottom side under the cooperation of the pay-off of the first take-up / pay-off bundle (5) and the second take-up / pay-off bundle (6) and the take-up of the third take-up / pay-off bundle (7), the tail joint assembly (8) continues until the third take-up / pay-off bundle (7) reaches the take-up limit. When the wire harness (5) reaches the wire release limit, the spring plate (3-3-7) in the first energy storage wheel (3-3) is in the unfolding limit state, the first energy storage wheel (3-3) is in the energy release limit state, the spring plate (3-3-7) in the second energy storage wheel (3-4) is in the bending limit state, the second energy storage wheel (3-4) is in the energy storage limit state, the second hard-elastic composite support column (4-14) in the ejection control mechanism is in the downward bending state, and the end of the double-headed hinge rod (4-12) connected to the closed strip track groove (24) is set close to the front end of the front enclosure frame (4-4), indicating that the self-energy storage bionic lobster explosive ejection robot is in the limit position of explosive ejection motion, that is, the self-energy storage bionic lobster explosive ejection robot has completed the transformation process from free motion to explosive ejection motion; The transition process of the self-energy-storing biomimetic lobster-shaped explosive catapult robot from explosive catapult to free-moving motion is as follows: Start the pay-off reel (3-1), first power accumulator (3-3), and second power accumulator (3-4) in the control reel group (3). The pay-off reel (3-1), first power accumulator (3-3), and second power accumulator (3-4) are all rotating. The first take-up and pay-off bundle (5) and the second take-up and pay-off bundle (6) are in the take-up state between the pay-off reel (3-1), first power accumulator (3-3), and second power accumulator (3-4). The third take-up and pay-off bundle (7) is in the pay-off state under the control of the second power accumulator (3-4). When the tail joint assembly (8) performs the action of closing the top side and opening the bottom side under the cooperation of the take-up of the first take-up and pay-off bundle (5) and the second take-up and pay-off bundle (6) and the pay-off of the third take-up and pay-off bundle (7), until the third take-up and pay-off bundle (7) reaches the pay-off limit, When the first take-up and release harness (5) reaches the take-up limit, the spring plate (3-3-7) in the first energy storage wheel (3-3) is in the bending limit state, the first energy storage wheel (3-3) is in the energy storage limit state, the spring plate (3-3-7) in the second energy storage wheel (3-4) is in the unfolding limit state, the second energy storage wheel (3-4) is in the energy release limit state, the second hard-elastic composite support column (4-14) in the catapult control mechanism is in the upward state, and the end of the double-headed hinge rod (4-12) connected to the closed strip track groove (24) is set near the rear end of the front enclosure frame (4-4), indicating that the self-energy-storing bionic lobster explosive catapult robot is in the limit position of free motion, that is, the self-energy-storing bionic lobster explosive catapult robot has completed the transformation process from explosive catapult motion to free motion; The self-energy-storing biomimetic lobster explosive catapult robot completes the relocation process of rapidly moving away from its original position within a predetermined time by alternating between explosive catapult motion and free motion.

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