Amphibious bionic turtle robot

Abstract

The utility model discloses an amphibious bionic turtle robot, which belongs to the technical field of bionic robots, and comprises a bionic body, a motion actuating mechanism, a land and water switching mechanism, a steering mechanism and a floating and sinking control mechanism, and further comprises a magnetic type spline clutch, and the magnetic type spline clutch comprises a spline shaft and a spline sliding sleeve; the bionic body comprises a shell, the shell is fixedly provided with a rack body through rack ribs, the forelimb assembly comprises a worm and worm gear mechanism, a first bevel gear mechanism, a crank and rocker mechanism and a front driving wheel, and the hind limb assembly drives a rear driving wheel to achieve land movement in a land mode through a second bevel gear mechanism. The split multi-joint linkage is used for amphibious movement, and the energy efficiency exceeds that of traditional driving; quick power switching is achieved through magnetic attraction clutch, and the limitation of a single environment is broken through; double-shaft gravity center adjustment ensures stable floating and sinking; the steering is accurate, the sealing is reliable, and the technical effect of adapting to multiple scenes is achieved.

Description

Technical Field

[0001] This utility model belongs to the field of biomimetic robot technology, and in particular relates to an amphibious biomimetic turtle robot. Background Technology

[0002] my country's research on biomimetic sea turtles began in the early 21st century. After more than two decades of development, significant breakthroughs have been achieved in key technological areas such as mechanism design, motion control, and energy systems. Research teams are mainly concentrated in universities, research institutes, and high-tech enterprises, with research directions covering multiple fields such as marine exploration, military reconnaissance, and science education. However, there is still a certain gap compared to international advanced levels in the precision of multimodal motion control, the energy efficiency optimization of drive systems, and the comprehensiveness of eco-friendly design.

[0003] International research on biomimetic sea turtles is in a stage of multi-scenario integration and innovation, with technological breakthroughs centered on smart materials and biomimetic actuation reshaping the form of underwater equipment. For example, the amphibious robotic turtle (ART) developed by Yale University in the United States uses a smart material system to achieve rapid and seamless switching between land and water movement modes; the turtle-guided robot developed by the University of Notre Dame has achieved significant results in the field of ecological protection; Norway's U-CAT biomimetic robot has redefined aquatic monitoring standards; Germany's Festo's AquaRay demonstrates the engineering potential of biomimetic actuation technology; and the University of Tokyo in Japan has developed a magnetically controlled soft robot. Current international technological evolution is characterized by multidisciplinary collaboration driving the refinement of biomimetic mechanisms, the transformation of actuation systems towards energy efficiency optimization, and eco-friendliness becoming a core design principle. However, existing technologies have shortcomings in product miniaturization, low-cost mass production, and deep adaptation to educational and popular science scenarios, making it difficult to meet the needs of the consumer market and widespread education.

[0004] Existing bionic robots either have limitations in single-environment operation or are complex in structure and expensive, which hinders their widespread adoption. This invention aims to solve the above problems and provide an amphibious bionic turtle robot that combines multi-environment adaptability, educational and popular science value, and low cost and mass production capability. Utility Model Content

[0005] To address the problems of existing technologies, this utility model provides an amphibious biomimetic turtle robot. It features a split-type multi-joint linkage for both land and underwater movement, with optimized energy efficiency far exceeding traditional drives, balancing biological characteristics and practicality. Land-water switching achieves millisecond-level power reconfiguration, overcoming the limitations of single-environment operation. Underwater buoyancy is achieved through a dual-axis design for precise center of gravity adjustment, resulting in strong anti-interference capabilities. The steering system is precise and stable in both land and water scenarios, and is reliably sealed, providing an efficient solution for multiple scenarios. Its advantages include simple structure and low cost, solving the problems of existing biomimetic robots being limited to single-environment operation and having complex structures and high costs that hinder widespread adoption.

[0006] This invention is implemented as follows: an amphibious biomimetic turtle robot includes a biomimetic body, a motion execution mechanism, a water-land switching mechanism, a steering mechanism, and a buoyancy control mechanism. It also includes a magnetic spline clutch, which comprises a spline shaft and a spline sleeve. The biomimetic body includes a shell, on which a frame main body is fixedly mounted via frame ribs. A motor and a servo motor are fixedly mounted on the frame main body. The motion execution mechanism includes a forelimb assembly and a hindlimb assembly. The forelimb assembly includes a worm gear mechanism, a first bevel gear mechanism, a crank-rocker mechanism, and a front drive wheel, enabling land-assisted movement and underwater paddling. The hindlimb assembly, through a second bevel gear mechanism, drives the rear drive wheel in land mode to achieve land movement. The water-land switching mechanism consists of the spline shaft of the magnetic spline clutch, a moving slider, and a servo motor. The system comprises a servo motor that drives a slider to change the spline shaft connection state, enabling switching between the arm's bionic motion mode and rear-wheel drive mode; a steering mechanism including underwater and land steering; underwater steering including a worm gear 18, a spur gear body, a rack, and a clutch mechanism, the clutch mechanism including a spline sleeve of a magnetic spline clutch, achieving differential braking steering; and land steering achieved through a servo motor, gear meshing mechanism, planetary gear mechanism, crank-slider mechanism, and universal joint; and a buoyancy control mechanism consisting of a motor, gears 47 and 48, left and right screws 49, and a counterweight. The motor drives gear 47 to rotate two gears 48, which in turn rotate the left and right screws 49, causing the counterweight to move along the screws and change the center of gravity. Combining the forelimb's hydrodynamics with a closed-loop algorithm, underwater buoyancy control is achieved.

[0007] As a preferred embodiment of this utility model, the worm gear mechanism includes a worm and a worm wheel; the first bevel gear mechanism includes bevel gear three, bevel gear four, bevel gear five, and bevel gear six; and the crank rocker mechanism includes connecting rod seven, swing arm nine, truss, large bevel gear fourteen, large bevel gear fifteen, spur gear thirteen, and spur gear ten. Motor power is transmitted from the worm to the worm wheel one, driving the coaxial bevel gear three to rotate. Bevel gear three meshes with bevel gear four, bevel gear five rotates synchronously with bevel gear four and drives bevel gear six, bevel gear six drives connecting rod seven to move, causing swing arm nine to oscillate back and forth around the frame. Swing arm nine acts as a connecting rod, driving large bevel gear fifteen to mesh with large bevel gear fourteen to rotate. Simultaneously, spur gear ten cooperates with the internal gear ring to assist in motion transmission, ultimately achieving the biomimetic oscillation of the truss.

[0008] In a preferred embodiment of this invention, the gear meshing mechanism includes gear sixteen, gear seventeen, worm eighteen, spatial gear twenty, spatial gear twenty-one, spur gear twenty-one, and gear twenty-three; the planetary gear mechanism includes bevel gear twenty-four, bevel gear twenty-five, gear twenty-six, outer sun gear, planetary gears, and inner sun gear; and the crank-slider mechanism includes slider thirty-one, crank thirty-three, and screw thirty-four. During land-based steering, the servo motor drives gear sixteen to rotate, gear sixteen meshes with gear seventeen to rotate the worm eighteen, spatial gear twenty rotates synchronously with the worm eighteen and drives spatial gear twenty-one, rotates with spatial gear twenty-one and drives gear twenty-three, bevel gear twenty-four rotates coaxially with gear twenty-three and meshes with bevel gear twenty-five, gear twenty-six rotates with bevel gear twenty-five and drives the outer sun gear, the outer sun gear drives the inner sun gear to rotate through the planetary gears, and the inner sun gear drives screw thirty-four to move slider thirty-one, thereby causing crank thirty-three to swing, achieving steering of the front drive wheels through a universal joint.

[0009] As a preferred embodiment of this utility model, the counterweight of the buoyancy control mechanism is made of high-density metal, and the left and right screws are symmetrically arranged trapezoidal threaded screws. The counterweight and the left and right screws are connected by threads to achieve axial movement.

[0010] As a preferred embodiment of this utility model, the outer shell is made of PC / ABS composite engineering plastic with hexagonal biomimetic scale texture on the surface, the main frame is made of stainless steel reinforced skeleton, and key transmission parts are equipped with waterproof bearings and rotating dynamic sealing rings, with an overall protection level of IP67.

[0011] As a preferred embodiment of this utility model, the worm gear 18 and worm wheel 18 are driven by a servo motor. The worm wheel 18 drives the spur gear body and causes the rack to generate axial displacement. The rack displacement is converted into a preset effective stroke and then pushes the first bevel gear mechanism on the steering side. The spline sleeve of the magnetic spline clutch disengages the first bevel gear mechanism on the steering side front limb from the meshing state, while the non-steering side remains fully engaged, thereby realizing differential braking steering.

[0012] As a preferred embodiment of this invention, when the spline shaft of the magnetic spline clutch is simultaneously connected to both the front and rear shafts, power is transmitted to the forelimb assembly to achieve the arm bionic movement mode. When the spline shaft of the magnetic spline clutch disengages from the front shaft and the external spline is connected to the internal spline of the large pulley, power is switched to the rear limb assembly to achieve the rear wheel drive mode. This achieves the switching between the arm bionic movement mode and the rear wheel drive mode, completing the reconstruction of the water and land power link.

[0013] Compared with the prior art, the beneficial effects of this utility model are as follows: the device adopts a split multi-joint linkage for movement on land and underwater, with the proximal and distal joints working together. During the propulsion phase, the area of ​​the flippers is increased to enhance the thrust. After optimization by fluid simulation, the energy conversion efficiency far exceeds that of traditional linear drive, preserving the characteristics of biological movement while enhancing engineering practicality.

[0014] The water-land switching is achieved through a magnetic clutch and planetary gear differential system, which realizes millisecond-level reconfiguration of the power link. In land mode, the front limbs are retracted to reduce drag, while in underwater mode, the planetary gear system idles to save energy. Multi-layer sealing ensures long-term waterproofing, breaking through the limitations of a single environment.

[0015] The underwater buoyancy control uses a dual-axis ball screw to drive the counterweight, adjusting the center of gravity with sub-millimeter precision. Combining hydrodynamics and a closed-loop algorithm, it resists ocean current interference and achieves steady-state buoyancy. The dual-axis design breaks through the single-axis precision bottleneck.

[0016] The underwater steering system relies on differential braking and single-sided power chain decoupling, combined with tail correction, for precise steering. On land, it relies on multi-stage transmission to compensate for terrain deviations and ensure trajectory stability. Both systems are reliably sealed for protection, providing efficient solutions for various scenarios. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure provided in an embodiment of the present utility model;

[0018] Figure 2 This is a schematic diagram of the bottom structure provided in an embodiment of the present utility model;

[0019] Figure 3 This is a schematic diagram of the bottom structure of the removal frame body provided in an embodiment of the present invention;

[0020] Figure 4 This is a schematic diagram of the top structure with the outer shell removed, provided in an embodiment of this utility model;

[0021] Figure 5 This is a schematic diagram of the forelimb assembly structure provided in an embodiment of the present invention;

[0022] Figure 6 This is a partially enlarged structural diagram of the forelimb assembly provided in an embodiment of the present invention;

[0023] Figure 7 This is provided by the embodiment of the present utility model. Figure 6 Schematic diagram of the internal structure of the middle section;

[0024] Figure 8 This is a schematic diagram of the main frame structure provided in an embodiment of the present utility model;

[0025] Figure 9 This is a schematic diagram of the hind limb assembly structure provided in an embodiment of the present invention;

[0026] Figure 10 This is provided by the embodiment of the present utility model. Figure 3 A schematic diagram of the enlarged middle section.

[0027] In the diagram: 1. Outer shell; 101. Main frame; 102. Frame ribs; 2. Front limb assembly; 201. Worm gear one; 202. Worm wheel one; 203. Bevel gear three; 204. Bevel gear four; 205. Bevel gear five; 206. Bevel gear six; 207. Connecting rod seven; 208. Swing rod nine; 209. Truss; 210. Large bevel gear fourteen; 211. Large bevel gear fifteen; 212. Spur gear thirteen; 214. Spur gear ten; 215. Front drive wheel; 216. Internal gear ring; 3. Rear limb assembly; 301. Rear drive wheel; 302. Second bevel gear mechanism; 4. Magnetic spline clutch; 401. Moving slider; 5. 501. Worm Gear 18; 502. Spur Gear Body; 503. Rack; 504. Gear 16; 505. Gear 17; 506. Worm Gear 18; 507. Spatial Gear 20; 518. Spur Gear 21; 519. Gear 23; 510. Bevel Gear 24; 511. Bevel Gear 25; 512. Gear 26; 513. Outer Sun Gear; 514. Planetary Gear; 515. Inner Sun Gear; 516. Slider 31; 517. Crank 33; 520. Screw 34; 521. Universal Joint; 522. Spatial Gear 21; 6. Gear 47; 601. Gear 48; 602. Left and Right Screws 49; 603. Counterweight. Detailed Implementation

[0028] To further understand the utility model content, features and effects of this utility model, the following embodiments are provided, and detailed descriptions are given in conjunction with the accompanying drawings.

[0029] The structure of this utility model will now be described in detail with reference to the accompanying drawings.

[0030] refer to Figures 1 to 10As shown, the amphibious biomimetic turtle robot provided in this embodiment includes a biomimetic body, a motion execution mechanism, a land-water switching mechanism, a steering mechanism, and a buoyancy control mechanism. It also includes a magnetic spline clutch 4, which comprises a spline shaft and a spline sleeve. The biomimetic body includes a shell 1, on which a frame body 101 is fixedly mounted via frame ribs 102. A motor and a servo motor are fixedly mounted on the frame body 101. The motion execution mechanism includes a forelimb assembly 2 and a hindlimb assembly 3. The forelimb assembly 2 includes a worm gear mechanism, a first bevel gear mechanism, a crank-rocker mechanism, and a front drive wheel 215, enabling land-assisted movement and underwater paddling motion. The hindlimb assembly 3, through a second bevel gear mechanism 302, drives the rear drive wheel 301 in land mode to achieve land movement. The land-water switching mechanism consists of the spline shaft of the magnetic spline clutch 4, a moving slider 401, and a servo motor. The system comprises a servo motor that drives a slider to change the spline shaft connection state, enabling switching between the arm's bionic motion mode and rear-wheel drive mode; a steering mechanism including underwater and land steering; underwater steering including a worm gear 185, a spur gear body 501, a rack 502, and a clutch mechanism, the clutch mechanism including a spline sleeve of a magnetic spline clutch 4, achieving differential braking steering; and land steering achieved through a servo motor, gear meshing mechanism, planetary gear mechanism, crank-slider mechanism, and universal joint 521; and a buoyancy control mechanism consisting of a motor, gear 476, gear 48601, left and right screws 49602, and a counterweight 603. The motor drives gear 476 to rotate the two gears 48601, which in turn rotate the left and right screws 49602, causing the counterweight 603 to move along the screws and change its center of gravity. Combining the forelimb's hydrodynamics with a closed-loop algorithm, underwater buoyancy control is achieved.

[0031] Specifically, the worm gear mechanism includes a worm 201 and a worm wheel 202; the first bevel gear mechanism includes a bevel gear 203, a bevel gear 204, a bevel gear 205, and a bevel gear 206; and the crank-rocker mechanism includes a connecting rod 207, a rocker arm 208, a truss 209, a large bevel gear 14 210, a large bevel gear 15 211, a spur gear 13 212, and a spur gear 10 214. Motor power is transmitted from the worm 201 to the worm wheel 202, driving the coaxial bevel gears. When wheel 3 203 rotates, bevel gear 3 203 meshes with bevel gear 4 204 for transmission. Bevel gear 5 205 rotates synchronously with bevel gear 4 204 and drives bevel gear 6 206. Bevel gear 6 206 drives connecting rod 7 207 to move, causing swing arm 9 208 to swing back and forth around the frame. Swing arm 9 208 acts as a connecting rod, driving large bevel gear 15 211 to mesh with large bevel gear 14 210 for rotation. At the same time, spur gear 10 214 cooperates with internal gear ring 216 to assist in motion transmission, ultimately realizing the bionic swing of truss 209.

[0032] Specifically, the gear meshing mechanism includes gear sixteen 506, gear seventeen 507, worm gear eighteen 508, spatial gear twenty 509, spatial gear twenty 522, spur gear twenty 510, and gear twenty 511; the planetary gear mechanism includes bevel gear twenty 512, bevel gear twenty 513, gear twenty 514, outer sun gear 515, planetary gear 516, and inner sun gear 517; the crank-slider mechanism includes slider thirty 518, crank thirty 519, and screw thirty 520. During land-based turning, the servo motor drives gear sixteen 506 to rotate, and gear sixteen 506 meshes with gear seventeen 507, causing worm gear eighteen 508 to mesh with gear twenty 509, space gear twenty 509, space gear twenty 522, spur gear twenty 510, and spur gear twenty 511. When 08 rotates, space gear 20509 rotates synchronously with worm gear 18508 and drives space gear 21522. Space gear 21522 rotates and drives gear 23511. Bevel gear 24512 rotates coaxially with gear 23511 and meshes with bevel gear 25513. Gear 26514 rotates with bevel gear 25513 and drives outer sun gear 515. Outer sun gear 515 drives inner sun gear 517 to rotate through planetary gear 516. Inner sun gear 517 drives screw 34520 to move slider 318, which in turn drives crank 33519 to swing. The front drive wheel 215 is turned through universal joint 521.

[0033] Specifically, the counterweight 603 of the buoyancy control mechanism is made of high-density metal, and the left and right screws 602 are symmetrically arranged trapezoidal threaded screws. The counterweight 603 and the left and right screws 602 are connected by threads to achieve axial movement.

[0034] Specifically, the outer shell 1 is made of PC / ABS composite engineering plastic with hexagonal biomimetic scale texture on the surface. The main frame 101 is made of stainless steel reinforced skeleton. Key transmission parts are equipped with waterproof bearings and rotating dynamic sealing rings, and the overall protection level reaches IP67.

[0035] Specifically, the worm gear 18 508 and worm wheel 18 5 are driven by a servo motor. The worm wheel 18 5 drives the spur gear body 501 and drives the rack 502 to generate axial displacement. The displacement of the rack 502 is converted into a preset effective stroke and then pushes the first bevel gear mechanism on the steering side. The spline sleeve of the magnetic spline clutch 4 disengages the first bevel gear mechanism on the steering side front limb from the meshing state, while the non-steering side remains fully engaged, realizing differential braking steering.

[0036] Specifically, when the splined shaft of the magnetic splined clutch 4 is connected to both the front and rear shafts, power is transmitted to the forelimb assembly 2 to achieve the arm bionic movement mode. When the splined shaft of the magnetic splined clutch 4 is disengaged from the front shaft and the external spline is connected to the internal spline of the large pulley, power is switched to the rear limb assembly 3 to achieve the rear wheel drive mode. This achieves the switching between the arm bionic movement mode and the rear wheel drive mode, completing the reconstruction of the water and land power link.

[0037] The working principle of this utility model:

[0038] In use, the robot uses a bionic body as its carrier. The outer shell 1 is made of PC / ABS composite engineering plastic. The frame body 101 is fixed internally by frame ribs 102, integrating power sources such as motors and servos. The core transmission components use a stainless steel reinforced frame, combined with waterproof bearings and dynamic sealing rings to achieve IP67 protection, ensuring stable operation in complex environments.

[0039] Motion Execution Mechanism: The power core for water and land movement. Forelimb Component 2: Underwater propulsion + land assistance: The motor power is transmitted to the first bevel gear mechanism via the worm gear mechanism, which drives the crank rocker mechanism. The swing arm 9 208 acts as a tie rod, driving the large bevel gear 15 211 to mesh and rotate with the fixed large bevel gear 14 210. At the same time, the spur gear 10 214 cooperates with the internal gear ring 216 to assist in the transmission, ultimately realizing the truss 209 to simulate the 120° biomimetic swing of the turtle's forelimbs, completing underwater propulsion or land-assisted movement. Rear Limb Component 3: Land drive: In land mode, the power is transmitted to the rear drive wheel 301 via the second bevel gear mechanism 302, which drives the rear wheel to rotate through gear meshing, achieving stable land movement.

[0040] Water-Land Switching Mechanism: Dual-mode rapid switching, relying on magnetic spline clutch 4 spline shaft, moving slider 401, and servo motor to achieve power link reconfiguration: When the spline shaft is connected to both the front and rear shafts, power is transmitted to the forelimb assembly 2, activating the arm bionic movement mode suitable for underwater use; when the servo motor drives the slider to move, causing the spline shaft to disengage from the front shaft and the external spline to connect with the internal spline of the large pulley, power is switched to the rear limb assembly 3, activating the rear wheel drive mode suitable for land use. The magnetic structure achieves millisecond-level switching, solving the problems of slow response and low reliability of traditional mechanical switching.

[0041] Steering Mechanism: Precise orientation control in both water and land scenarios. Underwater steering: Based on the differential braking principle, the servo drives the worm gear, spur gear, and rack 502 to move. Through the splined sliding sleeve clutch mechanism, the first bevel gear mechanism of the steering side front limb is disengaged from the power chain, while the non-steering side maintains power output, forming a thrust difference. Combined with the tail fluid effect, steering is achieved. Land steering: The servo power is transmitted to the crank-slider mechanism through the gear meshing mechanism and planetary gear mechanism. Through the universal joint 521, the front wheel is driven to rotate, achieving flexible steering in the plane and adapting to complex terrain.

[0042] Buoyancy control mechanism: underwater three-dimensional motion attitude adjustment, motor drives gear 476 to drive gear 48601 on both sides to rotate, which in turn drives the symmetrically arranged trapezoidal threaded screws, i.e., left and right screws 49602 to rotate, so that the high-density metal counterweight 603 moves along the screw axis, dynamically changing the position of the robot's center of gravity forward / backward. Combined with the hydrodynamics generated by the forelimbs paddling and the closed-loop control algorithm, the relative offset between the center of gravity and the center of buoyancy forms the pitch angle / dive angle, realizing stable underwater surfacing or diving to a maximum operating depth of 150 meters.

[0043] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0044] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An amphibious biomimetic turtle robot, characterized in that, It includes a bionic body, a motion execution mechanism, a water-land switching mechanism, a steering mechanism, and a floating and sinking control mechanism, as well as a magnetic spline clutch (4), which includes a spline shaft and a spline sleeve; The bionic body includes an outer shell (1), and the outer shell (1) is fixedly mounted with a frame body (101) by frame ribs (102). A motor and a servo motor are fixedly mounted on the frame body (101). The motion execution mechanism includes a forelimb assembly (2) and a hindlimb assembly (3). The forelimb assembly (2) includes a worm gear mechanism, a first bevel gear mechanism, a crank rocker mechanism and a front drive wheel (215) to realize forelimb land-assisted movement and underwater paddling movement. The hindlimb assembly (3) drives the rear drive wheel (301) in land mode through a second bevel gear mechanism (302) to realize land movement. The water-land switching mechanism consists of a spline shaft of a magnetic spline clutch (4), a movable slider (401), and a servo motor. The servo motor drives the slider to move and change the connection state of the spline shaft, thereby realizing the switching between the arm bionic motion mode and the rear wheel drive mode. The steering mechanism includes underwater steering and land steering. When steering underwater, it includes a worm gear 18 (5), a spur gear body (501), a rack (502) and a clutch mechanism. The clutch mechanism includes the spline sleeve of a magnetic spline clutch (4) to achieve differential braking steering. When steering on land, it achieves planar steering through a servo motor, a gear meshing mechanism, a planetary gear mechanism, a crank-slider mechanism and a universal joint (521). The buoyancy control mechanism consists of a motor, gear 47 (6), gear 48 (601), left and right screws 49 (602), and counterweight (603). The motor drives gear 47 (6) to rotate the two gears 48 (601), and the gears 48 (601) drive the left and right screws 49 (602) to rotate, so that the counterweight (603) moves along the screws to change the center of gravity. Combined with the forelimb paddling hydrodynamics and closed-loop algorithm, underwater buoyancy control is achieved.

2. The amphibious biomimetic turtle robot as described in claim 1, characterized in that: The worm gear mechanism includes a worm (201) and a worm wheel (202). The first bevel gear mechanism includes a bevel gear (203), a bevel gear (204), a bevel gear (205), and a bevel gear (206). The crank rocker mechanism includes a connecting rod (207), a rocker arm (208), a truss (209), a large bevel gear (210), a large bevel gear (211), a spur gear (214), a spur gear (212), and a spur gear (214). The motor power is transmitted to the worm wheel (202) via the worm (201), driving the coaxial bevel gears. Wheel 3 (203) rotates, bevel gear 3 (203) meshes with bevel gear 4 (204) for transmission, bevel gear 5 (205) rotates synchronously with bevel gear 4 (204) and drives bevel gear 6 (206), bevel gear 6 (206) drives connecting rod 7 (207) to move, causing swing rod 9 (208) to swing back and forth around the frame. Swing rod 9 (208) acts as a tie rod to drive large bevel gear 15 (211) to mesh with large bevel gear 14 (210) for rotation. At the same time, spur gear 10 (214) and internal gear ring (216) cooperate to assist in motion transmission, ultimately realizing the bionic swing of the truss (209).

3. The amphibious biomimetic turtle robot as described in claim 1, characterized in that: The gear meshing mechanism includes gear sixteen (506), gear seventeen (507), worm eighteen (508), space gear twenty (509), space gear twenty-one (522), spur gear twenty-one (510), and gear twenty-three (511). The planetary gear mechanism includes bevel gear twenty-four (512), bevel gear twenty-five (513), gear twenty-six (514), outer sun gear (515), planet gear (516), and inner sun gear (517). The crank-slider mechanism includes slider thirty-one (518), crank thirty-three (519), and screw thirty-four (520). When turning on land, the servo drives gear sixteen (506) to rotate, and gear sixteen (506) meshes with gear seventeen (507) to make worm eighteen (508) rotate. Rotating, space gear 20 (509) rotates synchronously with worm gear 18 (508) and drives space gear 21 (522), which rotates with space gear 21 (522) and drives gear 23 (511). Bevel gear 24 (512) rotates coaxially with gear 23 (511) and meshes with bevel gear 25 (513). Gear 26 (514) rotates with bevel gear 25 (513) and drives outer sun gear (515). Outer sun gear (515) drives inner sun gear (517) to rotate through planetary gear (516). Inner sun gear (517) drives screw 34 (520) to move slider 31 (518), which in turn drives crank 33 (519) to swing, and the front drive wheel (215) is turned through universal joint (521).

4. The amphibious biomimetic turtle robot as described in claim 1, characterized in that: The counterweight (603) of the buoyancy control mechanism is made of high-density metal, and the left and right screws (602) are symmetrically arranged trapezoidal threaded screws. The counterweight (603) and the left and right screws (602) are connected by threads to achieve axial movement.

5. The amphibious biomimetic turtle robot as described in claim 1, characterized in that: The outer shell (1) is made of PC / ABS composite engineering plastic and has a hexagonal biomimetic scale texture on the surface. The main frame (101) is made of stainless steel reinforced skeleton. Key transmission parts are equipped with waterproof bearings and rotating dynamic sealing rings. The overall protection level reaches IP67.

6. The amphibious biomimetic turtle robot as described in claim 1, characterized in that: The worm gear 18 (508) and worm wheel 18 (5) are driven by the servo motor. The worm wheel 18 (5) drives the spur gear body (501) and drives the rack (502) to generate axial displacement. The displacement of the rack (502) is converted into a preset effective stroke and then pushes the first bevel gear mechanism on the steering side. The spline sleeve of the magnetic spline clutch (4) disengages the first bevel gear mechanism on the steering side front limb from the meshing state, while the non-steering side remains fully engaged, thus realizing differential braking steering.

7. The amphibious biomimetic turtle robot as described in claim 1, characterized in that: When the spline shaft of the magnetic spline clutch (4) is connected to both the front and rear shafts, power is transmitted to the forelimb assembly (2) to realize the arm bionic movement mode. When the spline shaft of the magnetic spline clutch (4) is disengaged from the front shaft and the external spline is connected to the internal spline of the large pulley, power is switched to the rear limb assembly (3) to realize the rear wheel drive mode. The arm bionic movement mode and the rear wheel drive mode are switched to complete the reconstruction of the water and land power link.

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