Polymorphic small underwater exploration robot based on octopus ghost bionic

Abstract

The utility model provides a multi-form small underwater exploration robot based on octopus ghost bionics, which is a small underwater exploration robot with a novel movement mode designed by observing the underwater movement mode of the octopus ghost, and specifically comprises a robot front body, a tail propeller, two sweepback wings and a steering mechanism, the sweepback wings are arranged on the two sides of the robot front body through the steering mechanisms correspondingly, and the steering mechanisms are electrically connected with the terminal. The sweepback wings are additionally arranged on the two sides of the front body of the robot and matched with the jet pump, rapid turning of the robot is achieved through the flapping speed difference of the sweepback wings on the left side and the right side and the flow difference of the jet pump, and the turning amplitude reaches 360 degrees. According to the underwater exploration robot, the high-degree-of-freedom holder is arranged between the connecting parts of the sweepback wings and the shell, the underwater exploration robot is helped to move forwards and turn, the movement is very stable, and the concealment and comprehensiveness of the robot in the exploration process are perfectly achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, and particularly to a multi-morphology small underwater exploration robot based on the bionics of the vampire squid. Background Art

[0002] Bionic robots not only have the structure of organisms, but also have reasonable, flexible and efficient behavior patterns, and can replace humans to complete tasks such as reconnaissance, detection, and rescue in some specific environments.

[0003] The prior art (CN 217074757 U) is the first-generation robot of a small underwater exploration robot based on the bionics of the vampire squid. This robot is a small underwater exploration robot with a new motion mode designed according to the observed motion mode of the vampire squid underwater, which improves the efficiency of the mechanical transmission of the underwater exploration device. The robot includes a robot front body and a tail thruster. As Figure 1 shown in the thruster, the bionic vampire squid-like membrane thruster is divided into four main blades, and each main blade is equipped with four limited-position small blades, supplemented by a propulsion mechanism to achieve slow opening, rapid closing, and inertial sliding, and then complete a cycle of propulsion actions; as Figure 2 shown in the cylindrical cam mechanism, the periodic bionic motion of this robot is completed by an external cylindrical cam driving a driving straight rod, according to the three processes of inertial sliding, slow opening, and rapid closing and the duration of each process; as Figure 3 seen from the steering mechanism shown, the steering of this robot is achieved by the pulling of a parallelogram mechanism at the root of the thruster to rotate left and right. The pulling action is driven by a servo motor, and the driving of the servo motor is processed by a control system.

[0004] However, first, as shown in Figure 1 and Figure 2 , the tail thruster and the cylindrical cam mechanism of this robot make the forward movement of the robot a periodic motion, and the motion is very slow. As a result, during the underwater exploration operation of this robot, the speed cannot reach the expected ideal value; and once the speed is slightly increased, the motion of this robot becomes very unstable. Second, as shown in Figure 3 , the steering mechanism of this robot has a slow pulling action speed when turning and the turning angle is only within a limited range, and it cannot achieve multi-angle and all-round underwater exploration. Summary of the Utility Model

[0005] To solve the problems of slow or unstable movement, limited turning angle, and inability to achieve multi-angle and omni-directional underwater surveys of the above-mentioned robot, the present utility model proposes a multi-morphology small underwater exploration robot based on the bionics of the vampire squid. By installing swept-back wings with diverse functions on both sides of the robot, the defect that the above-mentioned initial-generation robot was very unstable during high-speed underwater operation is overcome; through the steering mechanism, the swept-back wings are connected to the present underwater exploration robot, and the speed difference of the flapping of the swept-back wings on the left and right sides and the flow rate difference of the jet pump are used to achieve the rapid turning of the robot, with a turning amplitude of 360°, overcoming the defects of limited turning angle and slow turning speed of the above-mentioned initial-generation robot.

[0006] In view of this, a multi-morphology small underwater exploration robot based on the bionics of the vampire squid of the present utility model includes a robot front body, a tail thruster, two swept-back wings, and a steering mechanism; wherein,

[0007] The robot front body includes a closed structure and a propulsion mechanism arranged inside the closed structure. The propulsion mechanism includes a main board, on which a motor one is arranged. The motor shaft of the motor one is connected to a cylindrical cam, and the inner surface of the cylindrical cam is slidably connected to one end of a driving main shaft;

[0008] The tail thruster includes a circular connecting piece one sleeved outside the driving main shaft and a circular connecting piece two fixed to the other end of the driving main shaft. At least 3 main blades are circumferentially rotatably arranged on the circular connecting piece one, and the main blades are rotatably connected to the circular connecting piece two through connecting rods;

[0009] The two swept-back wings are respectively arranged on both sides of the robot front body through the steering mechanism, and the steering mechanism is electrically connected to a terminal.

[0010] The steering mechanism includes a servo motor, a pan-tilt, and a jet pump. The servo motor is fixed on the robot front body. The servo motor is connected to the swept-back wing through the pan-tilt. The jet pump is axially fixed inside the robot front body, and the output pipeline of the jet pump faces the tail thruster.

[0011] The servo motor includes a servo motor one and a servo motor two. The servo motor one is fixed inside the robot front body. The servo motor one is connected to the servo motor two through a pan-tilt one. The servo motor two is arranged outside the robot front body, and the servo motor two is rotatably connected to the swept-back wing through a pan-tilt two.

[0012] The servo motor one is rotatably connected to the pan-tilt one through a steering wheel one. The servo motor two is fixed inside the pan-tilt one. The pan-tilt two is rotatably connected to the servo motor two through a steering wheel two. The swept-back wing is fixed on the pan-tilt two.

[0013] The closed structure of the robot front body is composed of an upper shell and a lower shell combined.

[0014] Inside the closed structure, a floating and sinking mechanism is further provided. The floating and sinking mechanism includes a second motor, a lead screw, a heavy object, and a guide rail. The output end of the second motor is connected to the lead screw. The heavy object is sleeved outside the lead screw, and the heavy object is slidably arranged in the guide rail.

[0015] A lead screw sleeve is sleeved outside the lead screw and the heavy object. One end of the lead screw sleeve is connected to a first bearing, and the other end of the lead screw sleeve is connected to a second bearing.

[0016] The inner surface of the cylindrical cam is provided with a chute. The cross-sectional profile of the driving main shaft is square. A cylindrical convex key is arranged on the outer wall of one end of the driving main shaft, and the cylindrical convex key moves along the chute.

[0017] A power source is arranged inside the front body of the robot. The power source is a rechargeable lithium battery pack with a small volume and strong endurance.

[0018] The first motor is installed on the main board through a motor slot. The main board is fixed in the closed structure of the front body of the robot through clips. The motor shaft of the first motor is connected to a cross connection device. The cross connection device is embedded in the cylindrical cam in a mortise and tenon structure. When the first motor rotates, the cross connection device and the cylindrical cam rotate simultaneously.

[0019] The beneficial effects of the present utility model are as follows:

[0020] 1. By adding swept-back wings on both sides of the front body of the robot and cooperating with the jet pump, the present utility model realizes the rapid turning of the robot through the speed difference of the flapping of the swept-back wings on both sides and the flow rate difference of the jet pump, and the turning amplitude reaches 360°.

[0021] 2. By arranging a pan-tilt head with high degrees of freedom between the connection part of the swept-back wing and the housing, the pan-tilt head facilitates the up-and-down flapping and rotation of the swept-back wing, helps the underwater exploration robot move forward and turn; it is more convenient and fast when turning, has a larger turning amplitude, and moves very smoothly, perfectly realizing the concealment and comprehensiveness of the robot during the exploration process.

[0022] 3. The present utility model selects a rechargeable lithium battery pack with a small volume and strong endurance as the power source, saving resources and energy.

[0023] 4. The present utility model selects wings with small resistance as the swept-back wings, effectively saving the energy of the underwater exploration robot itself. Description of the Drawings

[0024] Figure 1 It is a structural schematic diagram of a propulsion mechanism in the prior art;

[0025] Figure 2 It is a sectional schematic diagram of a cylindrical cam in the prior art;

[0026] Figure 3 Structural schematic diagram of the steering mechanism of the prior art;

[0027] Figure 4 Overall structural schematic diagram of the present utility model;

[0028] Figure 5 Structural schematic diagram of the propulsion mechanism and the tail thruster of the present utility model;

[0029] Figure 6 Top view of the overall structure of the present utility model;

[0030] Figure 7 Stereogram of the present utility model with a partial section along the axis;

[0031] Figure 8 Cross-sectional view of the present utility model with a partial section along the axis;

[0032] Figure 9 Structural schematic diagram of the steering gear and the pan-tilt of the present utility model;

[0033] Figure 10 Top view of the steering gear and the pan-tilt of the present utility model;

[0034] Figure 11 Partial stereogram of the internal structure of the present utility model;

[0035] Figure 12 Partial left view of the internal structure of the present utility model;

[0036] Figure 13 Structural schematic diagram of the floating and sinking mechanism of the present utility model;

[0037] Figure 14 Structural schematic diagram of the propulsion mechanism of the present utility model;

[0038] Figure 15 Schematic cross-section of the cylindrical cam of the present utility model Figure 1 ;

[0039] Figure 16 Schematic cross-section of the cylindrical cam of the present utility model Figure 2 ;

[0040] Figure 17 Front view of the cylindrical cam of the present utility model;

[0041] Figure 18 Design diagram of the angular ratio between the projection connection lines of both ends of each of the slow opening section, the sliding idle section, and the fast closing section provided by the embodiment of the present utility model and the center of the cylindrical cam in the same plane;

[0042] In the figure, 11 is the main board; 111 is the clip; 12 is the first motor; 13 is the cylindrical cam; 131 is the chute; 14 is the driving main shaft; 15 is the cylindrical convex key; 16 is the upper shell; 17 is the lower shell; 18 is the sealing rubber-like soft body; 19 is the cross-connecting device; 21 is the first circular connecting piece; 22 is the second circular connecting piece; 23 is the main blade; 24 is the connecting rod; 25 is the second connecting seat; 26 is the small blade; 27 is the limiting mechanism; 28 is the rotating pair; 3 is the swept-back wing; 41 is the first steering gear; 42 is the second steering gear; 43 is the first pan-tilt; 44 is the second pan-tilt; 45 is the jet pump; 46 is the first steering wheel; 47 is the second steering wheel; 51 is the second motor; 52 is the lead screw; 53 is the heavy object; 54 is the first bearing; 55 is the second bearing; 56 is the lead screw sleeve; 57 is the first connecting seat. Detailed implementation mode

[0043] The following combines the attached drawings and specific embodiments to further elaborate on the technical solutions of the present invention in detail.

[0044] See Figure 4-18 As shown, the present invention proposes a multi-morphology small underwater exploration robot based on the bionics of the vampire squid, which includes a robot front body, a tail thruster, two swept-back wings 3 and a steering mechanism;

[0045] The robot front body includes a closed structure and a propulsion mechanism arranged inside the closed structure. The propulsion mechanism includes a main board 11, on which a first motor 12 is arranged. The motor shaft of the first motor 12 is connected to the cylindrical cam 13, and the inner surface of the cylindrical cam 13 is slidably connected to one end of the driving main shaft 14;

[0046] The tail thruster includes a first circular connecting piece 21 sleeved outside the driving main shaft 14 and a second circular connecting piece 22 fixed to the other end of the driving main shaft 14. At least three main blades 23 are circumferentially rotatably arranged on the first circular connecting piece 21, and the main blades 23 are rotatably connected to the second circular connecting piece 22 through a connecting rod 24;

[0047] The two swept-back wings 3 are respectively arranged on both sides of the robot front body through the steering mechanism, and the steering mechanism is electrically connected to the terminal.

[0048] Such as Figure 4 , Figure 6 , Figure 7 , Figure 8 , Figure 9 and Figure 10As shown in the figure, the steering mechanism includes a servo motor, a pan-tilt, and a jet pump 45. The servo motor is fixedly installed on the front body of the robot. The servo motor is connected to the swept-back wing 3 through the pan-tilt. The jet pump 45 is axially fixedly installed inside the front body of the robot, and the output pipe of the jet pump 45 faces the tail thruster. Specifically, the servo motor includes a first servo motor 41 and a second servo motor 42. The first servo motor 41 is fixed inside the front body of the robot. The first servo motor 41 is connected to the second servo motor 42 through a first pan-tilt 43. The second servo motor 42 is arranged outside the front body of the robot. The second servo motor 42 is rotatably connected to the swept-back wing 3 through a second pan-tilt 44.

[0049] In this embodiment, the closed structure of the front body of the robot is a shell structure with a cavity. Two fixing seats are arranged on an inner side wall of the shell. The fixing seats and the shell are integrally formed. The first servo motor 41 is electrically connected to the terminal, and the terminal is arranged inside the shell. The first servo motor 41 is fixed between the two fixing seats by screws. The first servo motor 41 and the first pan-tilt 43 are rotatably connected through a first steering wheel 46. The second servo motor 42 is fixed inside the first pan-tilt 43. The second pan-tilt 44 and the second servo motor 42 are rotatably connected through a second steering wheel 47. The swept-back wing 3 is fixed on the second pan-tilt 44, enabling the swept-back wing 3 to achieve a two-degree-of-freedom motion mode. The jet pump 45 is arranged below the first servo motor 41 and fixed on the inner wall of the same side of the shell. The output pipe of the jet pump 45 extends outside the shell. When the terminal sends a flapping instruction to the first servo motor 41, the second servo motor 42 moves synchronously, and then drives the second pan-tilt 44 to rotate, thereby realizing the up-and-down flapping of the swept-back wing 3. When the terminal sends a rotation instruction to the second servo motor 42, it drives the first servo motor 41 to rotate, thereby realizing the rotation of the swept-back wing 3. Then, by making the flow rates of the water jets ejected backward by the two side jet pumps 45 different, the relative change in the front and rear positions of the two side swept-back wings 3 is realized, thereby realizing the left and right rotation of the robot. Or, with the assistance of the first pan-tilt 43, the second pan-tilt 44, the two side swept-back wings 3, and the jet pump 45, the second servo motor 42 drives the tail thruster to make one side swept-back wing 3 stationary and the other side swept-back wing 3 swing around the center of this underwater exploration robot. After swinging, it moves forward to achieve a turn. The maximum swing angle on both sides is 360°. To ensure normal operation, both the servo motor 41 and the servo motor 42 use waterproof servo motors, and both the first pan-tilt 43 and the second pan-tilt 44 use waterproof and lightweight aluminum alloy sheets to ensure the normal working state of the robot in water. The swept-back wing 3 selects a wing with less resistance.

[0050] As Figure 4 shown, the closed structure of the front body of the robot is composed of an upper shell 16 and a lower shell 17 combined.

[0051] In this embodiment, the robot's front body needs to seal terminals that cannot be exposed to work in water, servo 1 41, etc. The upper shell 16 is designed with a smooth streamline shape to effectively reduce the propulsion resistance. The connection between the upper shell 16 and the lower shell 17 is installed and connected using an O-ring and bolts to ensure its underwater sealing performance. To enable this underwater exploration robot to work properly underwater, when manufacturing the upper shell 16 and the lower shell 17, through reasonable design, the weight, volume, and position of each part are ensured, so that the gravity, buoyancy, and center of gravity are approximately overlapped and balanced, enabling this underwater exploration robot to swim smoothly in water. The connection between the robot's front body and the tail thruster is sealed with a sealing rubber soft body 18. The upper shell 16, the lower shell 17, and the sealing rubber soft body 18 form a closed structure.

[0052] As Figure 5 , Figure 11 , Figure 12 and Figure 13 shown, a floating and sinking mechanism is also provided inside the closed structure. The floating and sinking mechanism includes motor 2 51, lead screw 52, heavy object 53, and guide rail. The output end of motor 2 51 is connected to lead screw 52. A heavy object 53 is sleeved outside the lead screw 52, and the heavy object 53 is slidably arranged inside the guide rail.

[0053] In this embodiment, the floating and sinking mechanism is located at the very front end inside the closed structure. Motor 2 51 is installed in the motor slot fixed on the lower end surface of the main board 11. The output end of motor 2 51 is connected to one end of lead screw 52 through bearing 1 54. The other end of lead screw 52 is connected to bearing 2 55 fixed at the tail of the lower shell 17. A heavy object 53 is placed in the middle of the lead screw 52. The heavy object 53 uses a battery with a relatively large relative density and weight, which can not only provide electrical energy for the power consumption structure of this underwater exploration robot but also save space. The heavy object 53 can also use other structures such as steel blocks. The guide rail is arranged on the lower shell 17 or on the mounting shell fixedly connected to the lower shell 17. When the floating and sinking mechanism works, motor 2 51 rotates to drive lead screw 52 to rotate. Since the two ends of the heavy object 53 are provided with guide rails and cannot rotate, the heavy object 53 moves back and forth along the guide rail. That is, when the lead screw 52 rotates clockwise and counterclockwise, the heavy object 53 starts to move back and forth. The back and forth movement of the heavy object 53 causes the overall center of the robot to move, and the pitch angle changes simultaneously, enabling this underwater exploration robot to float and sink while moving forward. A variety of sensors are carried on the head of the underwater exploration robot to monitor the environment. The sensors are electrically connected to the terminal, used to monitor the environment, collect data regularly, and send it to the terminal.

[0054] As Figure 13 shown, a lead screw sleeve 56 is sleeved outside the lead screw 52 and the heavy object 53. One end of the lead screw sleeve 56 is connected to bearing 1 54, and the other end of the lead screw sleeve 56 is connected to bearing 2 55.

[0055] In this embodiment, driven by the second motor 51, the lead screw 52 rotates within the lead screw sleeve 56. The inner wall of the lower portion of the lead screw sleeve 56 is provided with a guide rail, enabling the heavy object 53 to slide along the guide rail. The lower end of the lead screw sleeve 56 is fixed to the lower housing through the first connecting seat 57. The lead screw sleeve 56 is provided with windows on both sides.

[0056] As Figure 14-18 shown, the inner surface of the cylindrical cam 13 is provided with a chute 131. One end of the outer wall of the driving main shaft 14 is provided with a cylindrical convex key 15, and the cylindrical convex key 15 moves along the chute 131. The chute 131 includes a rapid closing section, a sliding idle section, and a slow opening section. The included angle between the tangent direction of the rapid closing section and the axial direction of the cylindrical cam 13 is 7° - 90°. The included angle between the tangent direction of the sliding idle section and the axial direction of the cylindrical cam 13 is 90°. The included angle between the tangent direction of the slow opening section and the axial direction of the cylindrical cam 13 is 45°. The ratio of the angles formed by the connection lines between the projection points of each section of the rapid closing section, the sliding idle section, and the slow opening section in the same plane perpendicular to the axial direction of the cylindrical cam 13 and the projection point of the center of the cylindrical cam 13 in this plane is 3:5:8.

[0057] In this embodiment, the chute 131 is an arc-shaped circular groove, which is built by cutting with a cylinder with a radius of 3 mm, with a maximum width of 4 mm and a depth of 3 mm, and is attached to the inner wall of the cylindrical cam. The cylindrical convex key 15 of the driving main shaft 14 slides through the rapid closing section, the sliding idle section, and the slow opening section of the chute 131 in sequence to realize the rapid advance, sliding, and slow expansion processes of the robot, that is, to complete a complete cycle. The ratio of the angles formed by the connection lines between the projection points of each section of the rapid closing section, the sliding idle section, and the slow opening section in the same plane perpendicular to the axial direction of the cylindrical cam 138 and the projection point of the center of the cylindrical cam 13 in this plane, that is, the included angle between the connection line between one end of the rapid closing section and the axis of the cylindrical cam 13 along the radial direction of the cylindrical cam 13 and the connection line between the other end of the rapid closing section and the axis of the cylindrical cam 13 along the radial direction of the cylindrical cam 13: the included angle between the connection line between one end of the sliding idle section and the axis of the cylindrical cam 13 along the radial direction of the cylindrical cam 13 and the connection line between the other end of the sliding idle section and the axis of the cylindrical cam 13 along the radial direction of the cylindrical cam 13: the included angle between the connection line between one end of the slow opening section and the axis of the cylindrical cam 13 along the radial direction of the cylindrical cam 13 and the connection line between the other end of the slow opening section and the axis of the cylindrical cam 13 along the radial direction of the cylindrical cam 13, is 3:5:8.

[0058] As Figure 14As shown in the figure, the first motor 12 is installed on the main board 11 through a motor slot. The main board 11 is fixed within the enclosed structure of the front body of the robot by a clip 111. The motor shaft of the first motor 12 is connected to the cross-connecting device 19. The cross-connecting device 19 is embedded in the cylindrical cam 13 in a mortise and tenon structure. When the first motor 12 rotates, it drives the cross-connecting device 19 and the cylindrical cam 13 to rotate simultaneously. The cross-sectional profile of the driving main shaft 14 is square. One end of the driving main shaft 14 is connected to the chute 131 on the inner surface of the cylindrical cam 13 through a cylindrical convex key 15.

[0059] In this embodiment, a cylindrical convex key 15 is fixed at one end of the driving main shaft 14, so that it is connected to the chute 131 on the inner surface of the cylindrical cam 13 through the cylindrical convex key 15. The first circular connecting piece 21 is installed at the tail end of the main board 11 through the second connecting seat 25. A square hole is provided in the middle of the first circular connecting piece 21. The driving main shaft 14 passes through the square hole on the first circular connecting piece 21. When the first motor 12 rotates to drive the cylindrical cam 13 to rotate, the square driving main shaft 14 cannot rotate due to the limitation of the square hole in the middle of the first circular connecting piece 21, so that the driving main shaft 14 can only reciprocate axially, thereby pushing the blades at the tail to open and close, and pushing the water forward. Preferably, two cylinders are led out from both sides of the tail end of the main board 11 for installing two third bearings. The outer rings of the third bearings are in contact with the cylindrical cam 13, so as to play a role in lifting and prevent the tail from sagging due to excessive weight.

[0060] As Figure 11 shown in the figure, the main blade 23 includes an arc-shaped frame and a number of arc-shaped small blades 26 arranged on the arc-shaped frame. The small blades 26 form a fit with the arc-shaped frame through a rotating pair 28. The arc-shaped frame is also provided with a limiting mechanism 27 for limiting the opening angle of the small blades 26. Under the action of the limiting mechanism 27 and the rotating pair 28, the opening angle of the small blades 26 is limited, so as to ensure that when the main blade 23 is fully opened, the maximum opening degree of the small blades 26 is just parallel to the forward axis, minimizing the forward resistance to the greatest extent. In this embodiment, the limiting mechanism 27 adopts two limiting blocks. The two limiting blocks are fixed on the arc-shaped frame. The connecting plate on the small blade 26 is inserted between the two limiting blocks and is rotatably connected to the two limiting blocks. The structure of the limiting blocks can not only limit the opening angle of the small blades 26, but also avoid interfering with the rotation of the small blades 26. The connecting rod 24 forms a fit with the main blade 23 through a rotating pair 28.

[0061] In this embodiment, to save resources and energy, this underwater exploration robot selects a rechargeable lithium battery pack with a small volume and strong endurance as the power source. The power source is arranged in the front body of the robot. After comparing and screening the existing literature, the final selected charging speed of the battery pack is (4.6%) / h, and the charging time is 21.7h. The endurance of the battery is calculated as follows:

[0062] P0 = 0.45W

[0063] S0 = 74 cm²

[0064] S1 = 550.8 cm²

[0065] P1 = (1 + 50%)S1 * P0 / S0 = 5.0242 W

[0066] Wb = 12 V * 1 A * 3600 s = 120 KJ

[0067] N = 3600P1 / Wb = 15.07%

[0068] As can be seen from the data, the battery has strong endurance to complete the long - time underwater operation of this underwater exploration robot.

[0069] In this embodiment, since this underwater exploration robot needs to operate underwater for a long time, fluid trace analysis and fluid stress analysis are carried out on it. Assuming the water pressure, flow velocity, temperature and the force - receiving surface of the robot, imitating its stress state and motion state underwater, and applying a fixed fixture, the SolidWorks flow simulink software is used to simulate it, and it is concluded that this underwater exploration robot can operate smoothly underwater.

[0070] The working process of a multi - form small underwater exploration robot based on the bionics of the vampire squid of the present utility model is described as follows:

[0071] After the robot is powered on, each motor starts to receive instructions.

[0072] After the propulsion motor receives the start instruction, it starts to rotate. The propulsion motor drives the cross - connection device 19 embedded on the cylindrical cam 13 to rotate. Since the cross - section of the driving spindle 14 is square and it cannot rotate under the fixed connection, it can only move back and forth axially under the push of the cylindrical key 15. In the rapid - advance stage, the spindle quickly extends backward, the main blade 23 quickly closes, and at the same time, under the action of the water flow, the small blade 26 also closes at the same time, thus pushing the water forward; the next stage is the slip stage, at this time each blade is in a fully closed state, and the underwater exploration robot slips forward under the initial push; the last stage is the slow - opening stage, at this time the spindle slowly moves forward, driving the main blade 23 to open, and the small blade 26 always remains parallel to the forward direction under the push of the water flow, thus minimizing the forward resistance to the greatest extent. Then it repeats in this cycle, and the acceleration and deceleration of the robot are achieved by changing the rotation speed of the propulsion motor to change the size of the minimum cycle.

[0073] When the robot needs to turn, the terminal sends a rotation instruction to the first steering gear 41. The first steering gear 41 is connected to the second steering gear 42, enabling the second steering gear 42, with the assistance of the cloud platform, the swept-back wing 3, and the jet pump 45, to drive the tail thruster to achieve the state where one side of the swept-back wing 3 remains stationary, while the other side of the swept-back wing 3 swings around the center of the underwater exploration robot. After swinging, it moves forward to achieve a turn. The maximum swing angle on both sides can reach 360°.

[0074] When the underwater exploration robot receives a sinking instruction, the motor starts to work, and the heavy object 53 on the lead screw moves forward simultaneously, thus shifting the overall center of gravity of the underwater exploration robot forward. The head of the underwater exploration robot sinks, and the angle between the central axis and the horizontal line increases. At the same time, it starts to sink under the action of the thruster. When receiving a floating instruction, the movement of each mechanism is completely opposite to that of the sinking instruction.

[0075] Meanwhile, various sensors are installed on the head of the underwater exploration robot to monitor the environment, collect data at regular intervals, and send it to the terminal.

Claims

1. A multi - morphological small underwater exploration robot based on the bionics of the vampire squid, characterized in that, It includes a robot front body, a tail thruster, two swept-back wings, and a steering mechanism; among them, the robot front body includes a closed structure and a propulsion mechanism arranged inside the closed structure. The propulsion mechanism includes a main board, on which a first motor is arranged. The motor shaft of the first motor is connected to a cylindrical cam, and the inner surface of the cylindrical cam is slidably connected to one end of a driving main shaft; the tail thruster includes a first circular connecting piece sleeved outside the driving main shaft and a second circular connecting piece fixed to the other end of the driving main shaft. At least 3 main blades are circumferentially rotatably arranged on the first circular connecting piece, and the main blades are rotatably connected to the second circular connecting piece through connecting rods; the two swept-back wings are respectively arranged on both sides of the robot front body through the steering mechanism, and the steering mechanism is electrically connected to a terminal.

2. The multi - form small underwater exploration robot based on the bionics of the vampire squid according to claim 1, characterized in that, The steering mechanism includes a servo motor, a pan-tilt, and a jet pump. The servo motor is fixed on the robot front body. The servo motor is connected to the swept-back wing through the pan-tilt. The jet pump is axially fixed inside the robot front body, and the output pipeline of the jet pump faces the tail thruster.

3. The multi - form small underwater exploration robot based on the bionics of the vampire squid according to claim 2, characterized in that, The servo motor includes a first servo motor and a second servo motor. The first servo motor is fixed inside the robot front body. The first servo motor is connected to the second servo motor through a first pan-tilt. The second servo motor is arranged outside the robot front body. The second servo motor is rotatably connected to the swept-back wing through a second pan-tilt.

4. The multi - morphological small underwater exploration robot based on the bionics of the vampire squid according to claim 3, characterized in that, The first servo motor and the first pan-tilt are rotatably connected through a first steering wheel. The second servo motor is fixed inside the first pan-tilt. The second pan-tilt and the second servo motor are rotatably connected through a second steering wheel. The swept-back wing is fixed on the second pan-tilt.

5. The multi-morphology small underwater exploration robot based on the mimicry of the vampire squid according to claim 1, characterized in that, The closed structure of the robot front body is composed of an upper outer shell and a lower outer shell combined.

6. The multi-morphology small underwater exploration robot based on the octopodiform biomimicry according to claim 4, wherein A floating and sinking mechanism is also arranged inside the closed structure. The floating and sinking mechanism includes a second motor, a lead screw, a heavy object, and a guide rail. The output end of the second motor is connected to the lead screw. The heavy object is sleeved outside the lead screw, and the heavy object is slidably arranged inside the guide rail.

7. The multi-morphology small underwater exploration robot based on the bionics of the vampire squid according to claim 6, characterized in that, A lead screw sleeve is sleeved outside the lead screw and the heavy object. One end of the lead screw sleeve is connected to a first bearing, and the other end of the lead screw sleeve is connected to a second bearing.

8. The multi-morphology small underwater exploration robot based on the mimicry of Vampyroteuthis infernalis according to claim 1, characterized in that A chute is arranged on the inner surface of the cylindrical cam. The cross-section of the driving main shaft is square. A cylindrical convex key is arranged on the outer wall of one end of the driving main shaft, and the cylindrical convex key moves along the chute.

9. The multi-morphology small underwater exploration robot based on the mimicry of Vampyroteuthis infernalis according to claim 8, characterized in that, A power source is arranged inside the robot front body. The power source is a rechargeable lithium battery pack with a small volume and strong endurance.

10. The multi - morphological small underwater exploration robot based on the bionics of the vampire squid according to claim 1, characterized in that, The first motor is installed on the main board through a motor slot. The main board is fixed inside the closed structure of the robot front body through clips. The motor shaft of the first motor is connected to a cross connection device. The cross connection device is embedded in the cylindrical cam in a mortise and tenon structure. The rotation of the first motor drives the cross connection device and the cylindrical cam to rotate simultaneously.

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