CN112093018A - Bionic bat ray robot - Google Patents

Abstract

The invention discloses a bionic bat ray robot which comprises a trunk, two pectoral fins and a pectoral fin driving mechanism for driving the pectoral fins to swing, wherein the length direction of the trunk is transverse, the width direction of the trunk is longitudinal, and the height direction of the trunk is vertical, the two pectoral fins are respectively arranged on two longitudinal sides of the trunk, the trunk is also provided with two propellers, the propellers are provided with propeller driving mechanisms for driving the propellers to rotate in two directions, rotating shafts of the propellers are vertically arranged, and straight lines of the rotating shafts of the propellers are intersected with the transverse central line of the trunk. The pitch angle of the robot can be rapidly adjusted by the robot, so that the robot can float up and dive, and the mobility of the robot is enhanced.

Description

Bionic bat ray robot

Technical Field

The invention belongs to the technical field of bionic robots, and particularly relates to a bionic manta ray robot.

Background

The bionic robot is a cross-combination product of bionics and robotics, and is developed by inspiring and guiding the robot by utilizing the structure, properties, principle, behavior and interaction of a biological system. The robot system is a comprehensive robot system comprising various components such as machinery, electricity, light and the like, not only embodies the morphological characteristics of organisms in the aspects of motion mechanism, perception mode and the like, but also can accurately and efficiently complete specific complex tasks in unknown environments. Therefore, the research in the field of the bionic robot is developed, the capability of human beings for reforming nature by utilizing science and technology is greatly improved, and great economic benefits are brought to the development of the human society. With the development of robotics and biology, the biomimetic robotics has also been developed.

The bat ray has a flat body, a rhombic body, a length of 8 m and a weight of more than 1 ton. The bat ray has a powerful pectoral fin, and generates forward thrust by the fluctuating motion of the pectoral fin. The bat ray has efficient tour performance, strong maneuverability and capability of quickly and flexibly realizing pivot steering. A bionic manta ray robot is a robot which is based on a biological prototype of a manta ray and simulates the motion characteristics of a flexible pectoral fin of the manta ray. The power driving system of the robot imitates the pectoral fin of the bat ray to finish the fluctuating or oscillating flapping movement in water, thereby providing forward power for the robot. For example, chinese patent CN102923286A discloses a simulated manta ray underwater vehicle based on an intelligent material IPMC, chinese patent CN209142363U discloses a simulated pectoral fin system and a bionic underwater robot, and chinese patent CN209905021U discloses an amphibious underwater robot simulating a manta ray. The bat ray robot has the advantages of high flexibility, strong maneuverability, high concealment, good environment integration and small influence on the surrounding environment. This kind of robot holds detection equipment such as camera, sensor under, can carry out independent autonomous operation in waters such as long-range, narrow, realizes high disguised reconnaissance, detection work under water.

The conventional bionic manta ray robot has the defect that the pitch angle of the robot is slowly or difficultly adjusted in the movement process. At present, the robot mainly adjusts the pitch angle of the robot through a buoyancy adjusting mechanism or a tail vane, so that the floating and diving motion capabilities are realized, but the buoyancy adjusting mechanism is large in size and slow in control of the pitch angle of the robot, the pitch angle of the robot is controlled through the tail vane to influence the overall hydrodynamic force of the robot, the requirement on a robot motion control system is high, and the pitch angle of the robot is difficult to adjust. Meanwhile, the robot is under the action of larger buoyancy force at the water bottom, and the friction force between the pectoral fin and the water bottom ground is difficult to generate, so that the existing bionic bat ray robot, even an amphibious robot capable of crawling on the ground, cannot realize the crawling at the water bottom through the swinging of the pectoral fin.

Disclosure of Invention

Aiming at the defects of the prior art, the invention aims to solve the technical problem of providing the bionic bat ray robot, wherein the robot can quickly adjust the pitch angle of the robot so as to realize the floating and submerging motions of the robot and enhance the maneuverability of the robot.

In order to achieve the purpose, the invention adopts the technical scheme that:

the utility model provides a bionical bat robot, includes the truck, two pectoral fins, and drive pectoral fin wobbling pectoral fin actuating mechanism, with truck length direction is horizontal, width direction is vertical, direction of height is vertical, two pectoral fin branch locates the vertical both sides of truck, two screws are still installed to the truck, the screw is installed and is driven the two-way pivoted screw actuating mechanism of screw, vertical setting is followed in the pivot of screw, just the pivot place straight line of screw with the transverse center line of truck is crossing.

Preferably, the two propellers are symmetrically arranged relative to a vertical plane on which the longitudinal center line of the trunk is located.

Preferably, the trunk is provided with two flow guide channels, the two propellers are respectively arranged in the two flow guide channels, and the central axis of each flow guide channel is vertically arranged and is intersected with the transverse central line of the trunk.

Preferably, the two transverse ends of the trunk are respectively used as the head and the tail of the trunk, and the two flow guide channels are respectively arranged close to the head and the tail.

Preferably, the pectoral fin driving mechanism comprises a driving unit for driving the pectoral fin to swing and a pectoral fin driving control unit; the pectoral fin driving control unit is used for controlling the driving unit so as to drive the pectoral fins to swing around a vertical swing central line below the trunk or swing around a longitudinal swing central line on two sides of the trunk.

Preferably, the pectoral fin is a flexible pectoral fin, the pectoral fin comprises a flexible fin skin and a fin foot arranged along an outer edge line of one side of the flexible fin skin far away from the trunk; the fin foot is of a wave-shaped curve structure, and barb structures are densely distributed on the surface of the fin foot.

Preferably, the driving unit comprises a fin ray connected with the pectoral fin and a servo motor driving the fin ray to rotate, two ends of the fin ray are respectively and fixedly connected with the fin foot and a servo motor driving shaft, the central axis of the driving shaft is transversely arranged, and the fin ray is perpendicular to the central axis of the driving shaft; every all be equipped with a plurality of along transverse arrangement on the pectoral fin the fin strip, be close to that the horizontal both ends of pectoral fin set up fin strip length weak point is same the length of other fin strips on the pectoral fin, servo motor with the fin strip one-to-one sets up, servo motor fixed mounting in the truck, pectoral fin drive control unit is including controlling a plurality ofly servo motor pivoted machine controller.

Preferably, the fin rays arranged on the two pectoral fins are symmetrically arranged relative to a vertical plane where the transverse center line of the trunk is located.

Preferably, the connecting end of the fin strip and the fin foot is provided with an annular clamping groove for clamping the fin foot, the fin strip is further provided with a long groove for inserting the flexible fin skin, the annular clamping groove is communicated with the long groove, the fin foot is provided with an elastic flexible supporting structure, and the flexible fin skin is provided with a flexible film structure.

Preferably, the fin rays are provided as a rigid support structure.

Preferably, the long-shaped groove is glued to the flexible fin skin, and the annular clamping groove is glued to the fin feet.

Preferably, the trunk comprises a trunk shell, the servo motor is fixedly installed in the trunk shell, a channel opening used for penetrating the fin rays and not blocking the fin rays to swing is formed in the trunk shell, and the channel opening and the fin rays are arranged in a one-to-one correspondence mode.

Preferably, the trunk shell is formed by splicing a top cover and a bottom cover, a battery bin for mounting a power supply battery, an electronic bin for mounting electronic elements, a camera shooting bin for mounting a camera, and a leveling component for adjusting the buoyancy and gravity balance of the robot are mounted in the trunk shell; battery compartment, electronic storehouse and the storehouse of making a video recording all establishes to waterproof cabin body, leveling part is used for making the floating core and the focus of robot all be located near trunk horizontal center line and floating core will be higher than the focus, leveling part establishes to balancing weight or floating block.

As preferred, the storehouse of making a video recording includes the axis along the barrel of vertical setting, and install respectively in two transparent spherical covers at barrel both ends, the cabin of making a video recording install in truck central authorities, truck casing has seted up and has worn to establish the central through-hole of barrel, barrel sealing connection central through-hole, two transparent spherical cover is located outside the truck casing.

Preferably, the trunk casing is internally provided with a first mounting bracket for fixedly mounting the battery compartment and the electronic bin, the battery compartment and the electronic bin are respectively arranged at two transverse sides of the camera shooting bin, the head and the tail of the trunk casing are respectively internally provided with a leveling part, and the propellers are respectively close to the two leveling parts.

Preferably, the electronic cabin is internally provided with the pectoral fin drive control unit and a propeller controller for controlling the propeller to rotate, and the battery cabin is electrically connected with the servo motor, the propeller drive mechanism, the pectoral fin drive control unit and the propeller controller.

Compared with the prior art, the invention has the advantages and positive effects that: the bionic bat ray robot has the advantages that the pitching angle of the bionic bat ray robot can be rapidly adjusted, floating and submerging movement of the robot is achieved, and maneuverability of the robot is enhanced. Specifically, the method comprises the following steps:

(1) the robot is provided with a pair of pectoral fins for providing driving power, and is also provided with two propellers as auxiliary power, pitching overturning moment can be quickly generated through rotation of the two propellers for adjusting the pitching angle of the robot, the robot can be flexibly and quickly controlled to float up and dive down, and the motion sensitivity of the robot is improved.

(2) In the preferred scheme, when the pectoral fin driving mechanism can drive the pectoral fin to swing on the water bottom ground, the pectoral fin driving mechanism can be matched with the lower thrust generated by the two propellers to enable the pectoral fin to generate certain pressure on the seabed, so that the friction force between the pectoral fin and the ground is used as power to realize the meandering and crawling of the seabed.

Drawings

Fig. 1 is a schematic structural view of an underwater swimming state of a bionic manta ray robot in this embodiment;

fig. 2 is a schematic view of an internal structure of the bionic manta ray robot of the present embodiment;

fig. 3 is a schematic structural view illustrating an underwater crawling state of the bionic manta ray robot in the embodiment;

fig. 4 is a schematic structural diagram of a bottom cover of the bionic manta ray machine of the present embodiment;

fig. 5 is a schematic view of a fin structure of a bionic manta ray machine of this embodiment;

fig. 6 is a schematic view of a partial structure of a fin-foot of a bionic manta ray machine of this embodiment;

fig. 7 is an exploded view of a camera chamber of the bionic manta ray machine of the embodiment;

fig. 8 is a schematic structural view of a motor base of the bionic manta ray machine of the present embodiment;

1-trunk, 11-bottom cover, 111-strip-shaped bracket, 112-mounting bracket, 113-flow guide channel, 114-central through hole, 115-passage opening, 12-top cover, 13-servo motor, 14-base, 15-battery chamber, 16-electronic chamber, 17-camera chamber, 171-transparent spherical cover, 172-barrel, 18-leveling component, 2-propeller, 3-pectoral fin, 31-fin strip, 311-annular clamping groove, 312-long-shaped groove, 32-flexible fin skin, 33-fin foot and 331-barb structure.

Detailed Description

The invention is described in detail below by way of exemplary embodiments. It should be understood, however, that elements, structures and features of one embodiment may be beneficially incorporated in other embodiments without further recitation.

It should be noted that in the description of the present invention, the terms "inside", "outside", "upper", "lower", "left", "right", "front", "rear", and the like indicate orientations or positional relationships based on the positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.

As shown in fig. 1 to 8, a bionic bat ray robot, including truck 1, two pectoral fins 3, and drive 3 wobbling pectoral fin actuating mechanism of pectoral fin, with truck 1 length direction is vertical, direction of height is vertical for horizontal, width direction 3 branch locates truck 1's vertical both sides, truck 1 still installs two screws 2, screw 2 installs the screw actuating mechanism that can drive 2 two-way rotations of screw, screw 2's pivot is along vertical setting, just screw 2's pivot place straight line with truck 1's transverse center line is crossing.

In the underwater swimming process of the robot, the pectoral fin 3 is driven by the pectoral fin driving mechanism to swing to provide motion power, the two propellers 2 can also be used as auxiliary power, pitching and overturning moment can be rapidly generated by rotation of the two propellers 2 to adjust the pitch angle of the robot, the robot floats up and dives, and the mobility of the robot is enhanced. Specifically, the underwater swimming process of the robot can be briefly described as follows: as shown in fig. 1, when the robot swims underwater, the pectoral fins 3 swing around a longitudinal swing center line under the driving of the pectoral fin driving mechanism to flap a water body, and the pectoral fin driving mechanism controls the pectoral fins 3 on two sides to swing at the same speed so as to realize forward movement; when the two pectoral fins swing at different speeds, the turning motion can be realized. The two propellers 2 are distinguished as a front propeller and a rear propeller with the robot forward direction as the front. When the propeller driving mechanism drives the front propeller to rotate to generate upward thrust and the rear propeller rotates to generate downward thrust, the body 1 quickly generates an elevation angle under the action of the two propellers 2, and the pectoral fins 3 on the two sides swing at the same speed, so that the robot can quickly realize upward floating movement; similarly, when the propeller driving mechanism drives the front propeller to generate downward thrust and the rear propeller generates upward thrust, the trunk 1 quickly generates a depression angle under the action of the two propellers 2, the pectoral fins 3 on the two sides swing at the same speed, and the robot can quickly realize diving movement.

The robot controls the pitch angle of the robot through the two propellers 2, the pitch angle of the robot can be adjusted rapidly, the robot can be flexibly and rapidly controlled to float and dive, and the motion sensitivity of the robot is improved.

Specifically, the two propellers 2 are symmetrically arranged relative to a vertical plane where a longitudinal center line of the trunk 1 is located.

Specifically, two flow guide channels 113 are formed in the trunk 1, the two propellers 2 are respectively installed in the two flow guide channels 113, and the central axis of the flow guide channel 113 is vertically arranged and is intersected with the transverse center line of the trunk 1. The two propellers 2 arranged in the flow guide channel 113 can simultaneously generate equal and same-direction thrust to generate upward or downward thrust on the trunk 1; equal and reverse thrust can be generated, so that the robot has a certain pitching moment, and finally the pitching moment can be balanced with the restoring moment formed by gravity and buoyancy, the pitching angle of the robot is stabilized at a constant value, and the rapid adjustment of the pitching angle of the trunk 1 can be realized.

Specifically, the two transverse ends of the trunk 1 are respectively used as the head and the tail of the trunk 1, and the two flow guide channels 113 are respectively arranged near the head and the tail.

Specifically, the pectoral fin driving mechanism comprises a driving unit for driving the pectoral fin 3 to swing and a pectoral fin driving control unit; the pectoral fin driving control unit is used for controlling the driving unit so as to drive the pectoral fins 3 to swing around a vertical swing central line below the trunk 1 or swing around a longitudinal swing central line at two sides of the trunk 1. The pectoral fin driving mechanism is of the structure, so that the robot can swim underwater and can crawl underwater on the ground under the cooperation of the driving of the propeller. Specifically, when the robot swims underwater as shown in fig. 1, the pectoral fin driving mechanism drives the pectoral fins 3 to swing around the longitudinal swing center line on both sides of the body 1 to drive the robot to swim underwater. When the robot falls to the water bottom, the pectoral fin driving mechanism can also drive the pectoral fins to swing around a vertical swing central line below the trunk 1 (as shown in a state of figure 3), the pectoral fins 3 stand on the water bottom ground, the outer edges of the pectoral fins 3 are contacted with the water bottom ground, at the moment, the propeller driving mechanism drives the two propellers 2 to rotate so as to provide downward thrust, so that the buoyancy borne by the robot is overcome, and pressure is generated between the outer edges of the pectoral fins 3 and the ground, therefore, when the pectoral fins 3 swing, the fluctuating motion similar to serpentine motion can be generated, so that friction force is generated between the fluctuating motion and the ground, and power is provided for the robot to crawl under the water bottom; when the pectoral fins 3 on the two sides swing at the same speed, the robot can realize forward crawling movement, and when the pectoral fins 3 on the two sides swing at different speeds, the robot can realize steering crawling movement. The bionic robot can solve the technical problem that the existing robot difficultly realizes underwater crawling, and the pectoral fins of the robot can generate certain pressure on the seabed under the driving of the propellers, so that the seabed crawls in a winding manner.

Specifically, the pectoral fin 3 is a flexible pectoral fin, and the pectoral fin 3 includes a flexible fin skin 32 and a fin foot 33 arranged along an outer edge line of one side of the flexible fin skin 32 away from the trunk 1; the fin foot 33 is provided with a wave-shaped curve structure.

Specifically, the surface of the fin foot 33 is densely distributed with barb structures 331. The barb structure 331 (shown in fig. 6) on the surface of the fin foot 33 is used for simulating a snake-like rough skin surface, so that anisotropic friction force can be generated when the snake-like rough skin surface moves on the ground under the water, and the movement power is ensured.

Specifically, the driving unit includes a fin 31 connected to the pectoral fin 3, and a servo motor 13 driving the fin 331 to rotate, two ends of the fin 31 are respectively and fixedly connected to the fin foot 33 and a driving shaft of the servo motor 13, a central axis of the driving shaft is arranged along a transverse direction, and the fin 3 is arranged perpendicular to the central axis of the driving shaft; every all be equipped with a plurality of along transverse arrangement on pectoral fin 3 fin 31, servo motor 13 with fin 31 one-to-one sets up, servo motor 13 fixed mounting in truck 1, pectoral fin drive control unit is including controlling a plurality ofly servo motor 13 pivoted machine controller. The servo motor 13 is controlled by the motor controller to rotate so as to drive the pectoral fins 3 to swing, and the controller can control and adjust the swing position and the swing amplitude of the pectoral fins 3 by controlling the rotation position and the rotation amplitude of the servo motor.

Specifically, the oscillation is a simple harmonic motion.

Specifically, the two fin lines 31 mounted on the pectoral fins 3 are symmetrically arranged relative to the vertical plane where the horizontal center line of the trunk 1 is located, and the length of the fin line 31 arranged near the two horizontal ends of the pectoral fin 3 is shorter than the length of the other fin lines 31 on the same pectoral fin 3. The two fin lines 31 at the head and the tail of the single-side pectoral fin 3 are shorter than the other fin lines 31 in the middle of the pectoral fin 3, so that the end positions of fin feet 33 can be ensured to have a certain attack angle, and the robot has the capacity of climbing and crossing obstacles.

Specifically, the connecting end of the fin line 31 and the fin foot 33 is provided with an annular clamping groove 311 for clamping the fin foot 33, the fin line 31 is further provided with a long groove 312 for inserting the flexible fin skin 32, and the annular clamping groove 311 is communicated with the long groove 312. By adopting the structure, the assembly of the pectoral fins 3 can be more convenient.

Specifically, the fin foot 33 is configured as a flexible support structure having elasticity, the flexible fin skin 32 is configured as a flexible thin film structure, the fin 31 may be configured as an elastic support structure or a rigid support structure, and the fin 31 is preferably configured as a rigid support structure.

Specifically, a certain phase difference exists between adjacent fin lines 31 on the same pectoral fin 3, so that the pectoral fin 3 driven by a plurality of fin lines 31 can perform fluctuating motion during swinging, and the swinging of the pectoral fin 3 can provide motion power.

Specifically, the fin ray 31 is a straight rod structure, and the fin foot 33 and the flexible fin skin 32 may be made of flexible materials with certain elasticity, such as rubber, plastic, and the like. The fin 31 may be made of rigid material such as hard plastic.

Specifically, the long groove 312 is glued to the flexible fin skin 32, and the annular groove 311 is glued to the fin feet 33.

Specifically, the trunk 1 includes a trunk casing, the servo motor 13 is fixedly installed in the trunk casing, the trunk casing is provided with a passage opening 115 for penetrating the fin 31 and not blocking the fin swing, and the passage opening and the fin are arranged in one-to-one correspondence.

Specifically, the trunk shell is formed by splicing a top cover 12 and a bottom cover 11, a battery compartment 15 for installing a power supply battery, an electronic compartment 16 for installing electronic components (such as a controller, a control circuit and other electronic components needing water proofing) and a camera shooting compartment 17 with a camera are installed in the trunk shell, and the battery compartment 15, the electronic compartment 16 and the camera shooting compartment 17 are all set to be waterproof compartments.

Specifically, the bottom cover 11 and the top cover 12 have the same structure.

Specifically, a motor fixing component for fixedly mounting the servo motor is mounted in the trunk shell.

Specifically, the motor fixing assembly includes a base 14 fixedly connected to the body of the servo motor 14, the base 14 and the servo motors 13 are arranged in a one-to-one correspondence manner, two elongated brackets 111 for mounting the base 14 are fixedly mounted on the bottom cover 11, the elongated brackets 111 are arranged in a transverse direction, and the bases 14 of the plurality of servo motors 13 connected to the same pectoral fin 3 are fixedly mounted on the same elongated bracket 111.

Specifically, the base 14 is connected with the servo motor 13 through a fixing screw, the base 14 is connected with the elongated bracket 111 through a fixing screw, and the base 14 and the elongated bracket 111 are both provided with corresponding screw holes.

Specifically, the trunk housing is provided with a mounting bracket 112 for fixedly mounting the battery compartment 15 and the electronic compartment 16.

Specifically, the camera shooting cabin 17 includes the cylinder 172 that the axis set up along vertical, and respectively seal installation in two transparent spherical covers 171 at the cylinder 172 both ends, the camera shooting cabin 17 install in truck 1 central authorities, truck casing has been seted up and has been passed and establish the central through hole 114 of cylinder 172, cylinder 172 sealing connection central through hole 114, two transparent spherical cover 171 is located outside the truck casing.

Specifically, the transparent globe 171 is a glass globe.

Specifically, two cameras are installed in the camera shooting bin 17, and the camera shooting monitoring of the upper water area and the lower water area of the robot can be achieved through the two transparent spherical covers 171 respectively.

Specifically, a leveling component 18 for adjusting the buoyancy and gravity balance of the robot is further installed in the trunk shell; the leveling component 18 is used for enabling the floating center and the gravity center of the robot to be located near the transverse center line of the trunk 1, the floating center is higher than the gravity center, and the leveling component 18 is set to be a balancing weight or a floating block.

Specifically, as shown in fig. 2, the battery compartment 15 and the electronic compartment 16 are respectively disposed on two lateral sides of the camera compartment 17, the head and the tail of the trunk casing are respectively provided with a leveling member 18, and the two propellers 2 are respectively disposed near the two leveling members 18.

Specifically, install in the electronic bin 16 pectoral fin drive control unit and control the screw controller that the screw rotated, the battery compartment is connected servo motor, screw actuating mechanism pectoral fin drive control unit with the screw controller is for its power supply.

Specifically, the pectoral fin drive control unit is electrically connected or in signal connection with the servo motor to control the rotation angle position and the rotation speed of the servo motor, and the propeller controller is electrically connected or in signal connection with the drive motor of the propeller to control the rotation speed and the rotation direction of the propeller.

Specifically, a main control single chip microcomputer is further installed in the electronic cabin.

In the following, with reference to the forward direction of the robot, the two propellers 2 are distinguished as a front propeller and a rear propeller, and the two pectoral fins 3 are distinguished as a left pectoral fin and a right pectoral fin, which exemplifies the driving manner of the robot in this embodiment for each exercise capability:

advancing and swimming: the left and right pectoral fins of the robot swing at the same speed, and the two propellers 2 do not move.

Left turn swimming: the swinging speed of the left pectoral fin of the robot is less than that of the right pectoral fin, and the two propellers 2 do not move.

Right turn swimming: the swing speed of the left pectoral fin of the robot is higher than that of the right pectoral fin, and the two propellers 2 do not move.

Floating up and swimming: the swinging speeds of the left pectoral fin and the right pectoral fin of the robot are the same. The front propeller generates upward thrust, the rear propeller generates downward thrust, the two thrusts are equal in magnitude and opposite in direction, the head of the robot inclines upwards, and the robot floats upwards for swimming.

Diving and swimming: the swinging speeds of the left pectoral fin and the right pectoral fin of the robot are the same. The front propeller generates downward thrust, the rear propeller generates upward thrust, the two thrusts are equal in magnitude and opposite in direction, the head of the robot inclines downwards, and the robot swims in a diving mode.

Subsea forward crawling (shown in fig. 3): the left pectoral fin and the right pectoral fin of the robot rotate downwards by 90 degrees to be vertical to the seabed ground, the swinging speeds of the left pectoral fin and the right pectoral fin are the same, and the fin feet 33 of the two pectoral fins 3 are in contact with the seabed ground. The two propellers 2 generate downward thrust, the two thrusts are equal in magnitude and same in direction, so that the friction force between the fin feet 33 and the ground is increased, and the robot can advance and crawl on the seabed.

Crawling at the left turn of the seabed: the left pectoral fin and the right pectoral fin of the robot rotate downwards by 90 degrees until the left pectoral fin and the right pectoral fin are vertically arranged on the seabed ground, the swing speed of the left pectoral fin is lower than that of the right pectoral fin, fin feet 33 of the two pectoral fins 3 are in contact with the seabed ground, the two propellers 2 generate downward thrust, the two thrust are equal in magnitude and same in direction, so that the friction force between the fin feet 33 and the ground is increased, and the robot climbs in a left turn on the seabed.

And (3) crawling the right turn of the sea bottom: the left pectoral fin and the right pectoral fin of the robot rotate downwards by 90 degrees until the left pectoral fin and the right pectoral fin are vertically arranged on the seabed ground, the swing speed of the left pectoral fin is higher than that of the right pectoral fin, fin feet 33 of the two pectoral fins 3 are in contact with the seabed ground, the two propellers 2 generate downward thrust, the two thrust are equal in magnitude and same in direction, so that the friction force between the fin feet 33 and the ground is increased, and the robot climbs in a right turn on the seabed.

The above description is only a preferred embodiment of the present invention, and not intended to limit the present invention in other forms, and any person skilled in the art may apply the above modifications or changes to the equivalent embodiments with equivalent changes, without departing from the technical spirit of the present invention, and any simple modification, equivalent change and change made to the above embodiments according to the technical spirit of the present invention still belong to the protection scope of the technical spirit of the present invention.

Claims (10)

1. The utility model provides a bionical bat robot, its characterized in that, includes the truck, two pectoral fins, and drive pectoral fin wobbling pectoral fin actuating mechanism, with truck length direction is vertical, direction of height for horizontal, width direction the pectoral fin branch is located the vertical both sides of truck, two screws are still installed to the truck, the screw is installed and is driven screw drive mechanism of two-way pivoted of screw, vertical setting is followed in the pivot of screw, just the pivot place straight line of screw with the transverse center line of truck is crossing.

2. The biomimetic bat ray robot of claim 1, wherein the two propellers are symmetrically arranged with respect to a vertical plane on which a longitudinal center line of the trunk is located.

3. The bionic manta robot as claimed in claim 2, wherein the trunk is provided with two flow-guiding canals, the two propellers are respectively arranged in the two flow-guiding canals, and the central axes of the flow-guiding canals are vertically arranged and intersect with the transverse central line of the trunk; the transverse two ends of the trunk are respectively used as the head and the tail of the trunk, and the two flow guide channels are respectively arranged close to the head and the tail.

4. The bionic bat ray robot of claim 1, wherein the pectoral fin driving mechanism comprises a driving unit for driving the pectoral fin to swing and a pectoral fin driving control unit; the pectoral fin driving control unit is used for controlling the driving unit so as to drive the pectoral fins to swing around a vertical swing central line below the trunk or swing around a longitudinal swing central line on two sides of the trunk.

5. The biomimetic bat robot of claim 4, wherein the pectoral fin is provided as a flexible pectoral fin, the pectoral fin comprising a flexible fin skin and fin feet disposed along an outer fringe line of a side of the flexible fin skin remote from the torso; the fin foot is of a wave-shaped curve structure, and barb structures are densely distributed on the surface of the fin foot.

6. The bionic bat ray robot of claim 5, wherein the driving unit comprises a fin bar connected with the pectoral fin and a servo motor driving the fin bar to rotate, two ends of the fin bar are respectively and fixedly connected with the fin foot and a servo motor driving shaft, a central axis of the driving shaft is transversely arranged, and the fin bar is perpendicular to the central axis of the driving shaft; every all be equipped with a plurality of along transverse arrangement on the pectoral fin the fin strip, be close to that the horizontal both ends of pectoral fin set up fin strip length weak point is same the length of other fin strips on the pectoral fin, servo motor with the fin strip one-to-one sets up, servo motor fixed mounting in the truck, pectoral fin drive control unit is including controlling a plurality ofly servo motor pivoted machine controller.

7. The bionic bat ray robot as claimed in claim 6, wherein the connecting end of the fin ray and the fin feet is provided with an annular clamping groove for clamping the fin feet, the fin ray is further provided with a long groove for inserting the flexible fin skin, the annular clamping groove is communicated with the long groove, the fin feet are flexible supporting structures with elasticity, and the flexible fin skin is a flexible film structure.

8. The bionic bat ray robot of claim 6, wherein the trunk comprises a trunk shell, the servo motor is fixedly installed in the trunk shell, a channel port used for penetrating the fin bars and not blocking the fin bars to swing is formed in the trunk shell, and the channel port and the fin bars are arranged in a one-to-one correspondence manner.

9. The bionic bat ray robot of claim 8, wherein the body housing is formed by splicing a top cover and a bottom cover, a battery chamber for installing a power supply battery, an electronic chamber for installing electronic components, a camera chamber for installing a camera, and a leveling component for adjusting the buoyancy and gravity balance of the robot are installed in the body housing; the battery compartment, the electronic compartment and the camera shooting compartment are all arranged as waterproof compartments, and the leveling component is arranged as a balancing weight or a floating block.

10. The bionic manta ray robot of claim 3, wherein the camera shooting chamber comprises a cylinder body with a central axis vertically arranged and two transparent spherical covers respectively arranged at two ends of the cylinder body, the camera shooting chamber is arranged in the center of the body, the body shell is provided with a central through hole capable of being penetrated, the cylinder body is hermetically connected with the central through hole, and the two transparent spherical covers are arranged outside the body shell.

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