CN113911299A

CN113911299A - Hay ray robot

Info

Publication number: CN113911299A
Application number: CN202010662635.3A
Authority: CN
Inventors: 黄豪彩; 周春琳; 盛超武; 吴刚; 吴建楠
Original assignee: Qingdao National Laboratory for Marine Science and Technology Development Center
Current assignee: Qingdao National Laboratory for Marine Science and Technology Development Center
Priority date: 2020-07-10
Filing date: 2020-07-10
Publication date: 2022-01-11

Abstract

The invention discloses a bat ray robot, which comprises a middle trunk, pectoral fins, a head part, a tail part and a plurality of wire coiling devices, wherein the middle trunk is provided with a first wire coiling device; the middle trunk is of a bendable and deformable structure; the pectoral fins are arranged on two sides of the middle trunk and used for advancing or retreating; the head and the tail are respectively connected with two ends of the middle trunk; the winding device is arranged at the head part or the tail part and comprises a first rotating power, a drum wheel and two winding wires; the drum is connected with the first rotating power; one ends of the two winding wires are wound on the drum wheel in opposite winding directions respectively, the end parts of the two winding wires are fixedly connected with the drum wheel, the other ends of the two winding wires tend to be arranged in parallel along the length direction of the middle trunk, and the end parts of the two winding wires are fixedly connected with the tail part or the head part respectively; the first rotating power drives the drum wheel to rotate so that the two winding wires are respectively tightened and loosened, and the middle trunk is deformed. The invention improves the flexibility and the maneuverability of the action of the manta ray robot.

Description

Hay ray robot

Technical Field

The invention relates to the technical field of underwater bionic robots, in particular to a manta ray robot.

Background

The bionic robot is a cross combination product of bionics and robotics, and is developed and guided by utilizing the structure, properties, principles, behaviors 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. The bat ray robot is a robot which is based on a biological prototype of a bat ray, simulates the motion characteristics of a flexible pectoral fin of the bat ray and is manufactured by utilizing a special mechanical driving structure and a flexible material. The power driving system of the robot imitates the pectoral fin of the bat ray to finish the fluctuation or oscillation flapping movement in water, thereby providing advancing power for the robot. 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 bat ray robot mainly comprises a middle trunk and flexible pectoral fins on two sides, such as a simulated bat ray underwater vehicle based on an intelligent material IPMC disclosed in a Chinese patent document with publication number CN102923286A, a simulated pectoral fin system and a bionic underwater robot disclosed in the Chinese patent document with publication number CN209142363U, and a simulated bat amphibious underwater robot disclosed in the Chinese patent document with publication number CN 209905021U. The technical scheme has various problems, in particular to the problems that the robot has poor floating, submerging and steering motion performances, is not sensitive enough and has to be improved in maneuverability.

Disclosure of Invention

The invention provides a manta ray robot. The flexibility of steering, floating up or diving of the bat ray robot is improved, and the maneuverability is improved.

In order to solve the technical problems, the invention adopts the following technical scheme:

a bat ray robot comprises a middle trunk, pectoral fins, a head part, a tail part and a plurality of wire coiling devices;

the middle trunk is of a bendable and deformable structure;

the pectoral fins are arranged on two sides of the middle trunk and used for advancing or retreating;

the head is connected with one end of the middle trunk;

the tail part is connected with the other end of the middle trunk;

the winding device is arranged at the head part or the tail part and comprises a first rotating power, a drum wheel and two winding wires; the drum is connected with the first rotating power; one ends of the two winding wires are wound on the drum wheel in opposite winding directions respectively, and the end parts of the two winding wires are fixedly connected with the drum wheel; the other ends of the two winding wires tend to be arranged in parallel along the length direction of the middle trunk, and the end parts of the two winding wires are fixedly connected with the tail part or the head part respectively; the first rotating power drives the drum wheel to rotate so that the two winding wires are respectively tightened and loosened, and the middle trunk is bent and deformed.

Further, the intermediate torso includes a plurality of torso units; adjacent torso units are rotatably connected; the head part and the tail part are respectively connected with two ends of the middle trunk in a rotating way.

Preferably, the connection of the adjacent trunk units, the connection of the head part and the middle trunk, and the connection of the tail part and the middle trunk are all single-degree-of-freedom rotation connections which rotate in a horizontal plane or in a vertical plane;

the connection of each adjacent torso unit, the connection of the head with the middle torso, and the connection of the tail with the middle torso comprise at least one connection for rotation in a transverse plane and at least one connection for rotation in a vertical plane.

Furthermore, the walking device comprises a plurality of crank rocker mechanisms and second rotating power;

the crank rocker mechanisms are respectively arranged on two sides of the middle trunk and are installed on the trunk units; the crank rocker mechanism comprises a crank, a connecting rod and a rocker; one end of the crank and the rocking block are respectively hinged with the trunk unit; the other end of the crank is hinged with one end of the connecting rod; the other end of the connecting rod is connected with the rocking block in a sliding manner;

the pectoral fin comprises a fin line and a fin skin which are fixedly connected with each other; one end of the fin ray is fixedly connected with the rocking block;

one ends of the adjacent cranks positioned on the same side of the middle trunk are connected through a walking connecting piece, and one end of the crank positioned at the end part of the middle trunk is connected with the second rotating power; one end of each crank positioned on the same side of the middle trunk rotates at the same angular speed, and the distance between one end of each adjacent crank is adjustable.

Preferably, the walking connecting piece is a telescopic universal coupling.

Preferably, the cranks on the same side of the middle trunk are provided with phase differences.

Preferably, the connection between the trunk unit and the trunk unit or the head or the tail adjacent to the two sides of the trunk unit is a rotary connection in a horizontal plane and a rotary connection in a vertical plane respectively;

adjacent cranks are provided with a 90 ° phase difference.

Further, the trunk unit comprises two substrates which are of a flat-plate structure and fixedly connected through a stud, and a gap is arranged between the two substrates;

the crank rocker mechanism is arranged between the two base plates;

the cranks comprise a first crank and a second crank, and one ends of the cranks are respectively hinged with the two base plates; one end of the connecting rod is positioned between the other ends of the first crank and the second crank and is hinged with the other ends of the first crank and the second crank.

Further, the trunk unit further comprises a plurality of floating members, the buoyancy of each floating member is larger than the gravity of each floating member, and each floating member is fixedly arranged between the two substrates.

Preferably, the number of the wire coiling devices is two, and the two wire coiling devices are arranged in the tail part; the two drums are respectively arranged horizontally and vertically;

a first through hole and a second through hole which are mutually corresponding and are in vertical alignment, and a third through hole and a fourth through hole which are in horizontal alignment are respectively arranged on each trunk unit;

one ends of the two winding wires are respectively and fixedly connected with the vertically arranged drum wheel, and the other ends of the two winding wires respectively and correspondingly penetrate through the first through holes and the second through holes to be fixedly connected with the head; one ends of the other two winding wires are respectively and fixedly connected with the transversely arranged drum wheel, and the other ends of the other two winding wires respectively and correspondingly penetrate through the third through holes and the fourth through holes to be fixedly connected with the head.

Compared with the prior art, the invention has the advantages and positive effects that: the bat ray robot of the invention causes the middle trunk which can be bent and deformed to be bent and deformed under the traction of each wire winding device, thereby causing the thrust directions of the pectoral fins positioned at the two sides of the middle trunk to be changed and to face the direction of the change of the body shape of the robot; the bending deformation of the middle trunk changes the attack angle or drift angle of the robot, so that the hydrodynamic characteristics of the structure of the manta ray robot and the direction of pectoral fin thrust are influenced; the functions of upward floating, submerging and left-right steering movement of the bat ray robot are realized under the driving of the pectoral fin. The bending deformation of the middle trunk of the bat ray robot is uniformly distributed on the whole body of the bat ray robot under the action of the wire coiling device, so that the hydrodynamic characteristic of the bat ray robot is improved, and the motion sensitivity and controllability of the bat ray robot are improved.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

Fig. 1 is a schematic structural diagram of an embodiment of a manta ray robot according to the present invention;

fig. 2 is a schematic structural view of a tail portion of an embodiment of the manta ray robot of fig. 1;

fig. 3 is a schematic view illustrating a connection structure of a body unit and a body unit of an embodiment of the manta ray robot of fig. 1;

fig. 4 is a schematic view of a connection structure of a torso unit and a crank-rocker mechanism of an embodiment of the manta ray robot of fig. 1;

fig. 5 is a schematic structural view of a head of an embodiment of the manta ray robot of fig. 1;

fig. 6 is a schematic structural view of a vertical bending deformation of an embodiment of the manta ray robot of fig. 1;

fig. 7 is a schematic structural view of a lateral bending deformation of an embodiment of the manta ray robot of fig. 1;

FIG. 8 is a schematic view of a crank attachment configuration;

FIG. 9 is a schematic view of a head connector configuration;

FIG. 10 is a schematic view of a walking attachment configuration;

FIG. 11 is a schematic illustration of a rocker configuration;

FIG. 12 is a schematic view of a fin structure;

figure 13 is a schematic diagram of an example of a torso joint.

In the figure, the position of the upper end of the main shaft,

1. a middle torso; 2. a head portion; 3. a tail portion; 4. a pectoral fin; 5. a wire winding device; 6. a traveling device; 7. a trunk connector; 8. a float member; 9. a stud; 10. sealing the cabin; 11. a torso unit; 21. A head bottom case; 22. a head upper cover; 31. a tail bottom shell; 32. the tail part is covered; 41. a fin skin; 42. a fin line; 51. a drum; 52. coiling; 53. a first rotational power; 61. a crank rocker mechanism; 62. a walking connecting piece; 63. a crank connecting piece; 64. a head connector; 65. a tail connector; 66. a second rotational power; 71. a first torso connector; 72. a second torso link; 73. a first rotating shaft; 111. a substrate; 611. a crank; 612. a connecting rod; 613. shaking the block; 1111. a first through hole; 1112. a second through hole; 1113. a third through hole; 1114. a fourth via hole; 6111. a first crank; 6112. a second crank 711, a first shoulder; 721. a second shoulder.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.

Referring to fig. 1, 2, 3, 5, 6 and 7, the bat ray robot of the present invention includes a middle trunk 1, a head 2, a tail 3, a pectoral fin 4, and a plurality of wire winding devices 5.

The middle body 1 is a flexible and deformable strip-shaped structure.

Pectoral fins 4 are arranged on two sides of the middle body 1, and make swinging motion to drive the bat robot to move forward or backward.

The head 2 is positioned at one end of the middle trunk 1 and is connected with the middle trunk 1; the tail 3 is positioned at the other end of the middle trunk 1 and is connected with the middle trunk 1.

Each winding device 5 is arranged at the head part 2 or the tail part 3 and comprises a drum 51, two winding wires 52 and a first rotating power 53; the rotating shaft of the drum 51 is connected with a first rotating power 53 and is driven to rotate by the first rotating power 53; one ends of the two winding wires 52 are wound on the drum 51 in opposite winding directions, and the end parts are fixed on the drum 51; the other ends of the two windings 52 are arranged approximately parallel along the length of the central trunk 1 and are fixedly connected to the tail 3 or the head 2.

When the first rotating power 53 rotates, the drum 51 is driven to rotate, so that the two winding wires 52 are respectively tightened and loosened, the middle body 1 is bent and deformed towards the tightened side of the winding wires 52, and the direction change, floating upward or submergence of the bat ray robot is realized under the action of the pectoral fin 4.

The bat ray robot of the invention changes the bending deformation of the head part 2, the tail part 3 and the middle trunk 1 in a plurality of directions through at least one wire coiling device 5, and influences the attack angle or the drift angle of the robot, thereby further changing the thrust direction of pectoral fins 4 positioned at both sides of the middle trunk 1 and facing the direction of the change of the body shape of the robot, and realizing the functions of upward floating, diving and left-right steering movement of the bat ray robot. The wire winding devices 5 enable the bending deformation of the body of the bat ray robot to be uniformly distributed on the middle trunk 1, and the deformation is uniform, so that the flexibility and the accuracy of the movement of the bat ray robot are improved; the wire winding device has simple structure, reduces the manufacturing cost of the bat ray robot and the control difficulty.

The bat ray robot realizes the bending deformation of the middle body 1 in multiple directions through the plurality of wire coiling devices 5, and the superposition and the compounding of the bending deformation in multiple directions realize the 1360-degree omnibearing bending deformation of the middle body, namely the 1360-degree omnibearing steering of the middle body, so as to realize the motion function of floating steering or dive steering at the same time, improve the motion flexibility and maneuverability of the bat ray robot, and improve the steering, floating steering or dive efficiency of the bat ray robot.

The specific structure and the operation principle of the manta ray robot according to the present invention will be described in detail with reference to the following specific embodiments.

In an embodiment, with reference to fig. 1, 2, 3, 5, 6 and 7, the bat ray robot is provided with two wire reeling devices 5, two drums 51 being arranged in the head 2 or the tail 3, tending to be vertical.

Preferably, one of the drums 51 of the two winding devices 5 is arranged radially horizontally inside the tail 3 with respect to the tail 3; the other drum 51 is arranged radially vertically in the tail 3 with respect to the tail 3.

The bat ray robot of this embodiment realizes the horizontal bending deformation and the vertical bending deformation of middle trunk 1 respectively through two drums 51 that tend to mutually perpendicular, and then realizes horizontal turning and vertical come-up or dive respectively.

When the two drums 51 are driven by the first rotating power 53 to rotate simultaneously, the middle trunk 1 is subjected to transverse bending deformation and vertical bending simultaneously; the transverse bending and the vertical bending are automatically superposed and compounded, so that the omnibearing bending deformation of the middle trunk at 1360 degrees is realized, and the motion functions of steering, floating up or sinking down of the bat robot are realized.

The embodiment realizes the control of the function of all-directional movement through a simple structure, improves the controllability of the bat robot, and further improves the sensitivity and the flexibility of the control of the bat robot and the efficiency of steering, floating or submerging.

Preferably, the head part 2 and the tail part 3 are both box bodies, the head part 2 is a nearly conical structure with the front size smaller than the rear size, and the tail part 3 is a nearly conical structure with the rear size smaller than the front size, so that the dynamic principle is met, and the advancing resistance of the manta ray robot is reduced.

The head 2 comprises a head upper cover 22 and a head bottom shell 21; the head upper cover 22 is fixedly connected with the head bottom shell 21 to form a head cavity. The tail part 3 comprises a tail part upper cover 32 and a tail part bottom shell 31; the rear upper cover 32 is fixedly connected to the rear bottom case 31 to form a rear cavity, and protects the drum 51 and the first rotational power 53 disposed therein.

The first rotating power 53 is preferably two servo motors, and rotating shafts of the two servo motors are fixedly arranged in the tail cavity in the transverse and vertical directions respectively; the two drums 51 are respectively fixedly connected with the rotating shafts of the two servo motors.

The front end of the tail part 3 is respectively provided with a first through hole 1111 and a second through hole 1112 which are vertically corresponding, and a third through hole 1113 and a fourth through hole 1114 which are horizontally corresponding, so that the winding ropes of the two winding devices 5 can pass through.

In one embodiment, referring to fig. 5, the device further comprises a sealed cabin 10 for sealing the battery and the controller; the sealed cavity is fixedly arranged in the head part 2 or the tail part 3.

Preferably, the sealed chamber is disposed within the head chamber.

Preferably, the head upper cover 22 is fixedly connected with the head bottom case 21 by screws. The tail upper cover 32 is fixedly connected with the tail bottom shell 31 through screws.

In an embodiment, referring to fig. 1, 2, 3, 5, 6 and 7, the intermediate torso 1 of the manta ray robot of the present embodiment includes a plurality of torso units 11; the connection of the trunk unit 11 and the head 2, the connection of the trunk unit 11 and the tail 3, and the connection of the adjacent trunk units 11 are all in rotating connection, so that the middle trunk 1 can be bent and deformed.

Preferably, the connection between the trunk unit 11 and the head 2 and the connection between the trunk unit 11 and the tail 3 are all single-degree-of-freedom rotation connections, and are respectively arranged horizontally or vertically.

In order to realize 360-degree omnibearing bending deformation of the bat ray robot, the connection between the body unit 11 and the head part 2, the connection between the body unit 11 and the tail part 3, and the connection between the adjacent body units 11 at least comprise a horizontally arranged single-degree-of-freedom rotation connection and a vertically arranged single-degree-of-freedom rotation connection.

Preferably, two ends of each body unit 11 are respectively connected with the head part 2 or the tail part 3 or the body unit 11, and the two ends of each body unit 11 are respectively connected with a horizontally arranged single-degree-of-freedom rotating connection and a vertically arranged single-degree-of-freedom rotating connection, so that the bending deformation of the bat ray robot is more uniform, and further the steering, floating up or submerging of the bat ray robot is more stable, reliable and easy to control.

Of course, the connection between the body unit 11 and the head 2, the connection between the body unit 11 and the tail 3, and the connection between the body units 11 may also be 360-degree omni-directional rotational connection, without distinguishing the transverse setting and the vertical setting, and similarly realize 360-degree omni-directional bending deformation of the bat ray robot.

In one embodiment, referring to fig. 1, 2, 3, 4, 5, 6 and 7, the connection between the trunk units 11, the connection between the trunk unit 11 and the head 2, and the connection between the trunk unit 11 and the tail 3 are realized by the trunk connecting member 7.

The trunk link 7 includes a first trunk link 71, a second trunk link 72, a first rotation shaft 73; one end of the first trunk connecting piece 71 is fixedly connected with the head 2, the tail 3 or the trunk unit 11, and the other end is rotatably connected with one end of the second trunk connecting piece 72 through a first rotating shaft 73; the other end of the second trunk connecting piece 72 is fixedly connected with the trunk unit 11, or the head 2 or the tail 3, so that the single-degree-of-freedom rotary connection of the trunk unit 11 and the head 2, or the tail 3, or the adjacent trunk unit 11 is realized.

In order to limit the degree of bending deformation between the trunk units 11, and between the trunk unit 11 and the head 2 or the tail 3, stoppers are provided on the first trunk link 71 and the second trunk link 72, respectively.

Preferably, the stopper is a first shoulder 711 and a second shoulder 721 provided at the outer peripheral ends of the first trunk link 71 and the second trunk link 72, and when the first shoulder 711 abuts against the second shoulder 721, the first trunk link 71 stops rotating relative to the second trunk link 72.

Of course, the stopper may be a rib provided on the side of the first trunk link 71 or the second trunk link 72, and when the stopper abuts against the rib, the relative movement of the first trunk link 71 and the second trunk link 72 is stopped.

Of course, the trunk link may be of a planetary gear type structure, see fig. 13.

In an embodiment, referring to fig. 1, 3 and 4, the bat robot of the present embodiment further comprises a plurality of buoyant members 8, whose buoyancy in water is greater than gravity; each floating piece 8 is respectively arranged on each body unit 11 in a one-to-one correspondence manner, and is fixedly connected with the body unit 11, so as to balance the gravity of the bat ray robot, reduce energy consumption and improve flexibility.

In one embodiment, referring to fig. 1, 3 and 4, the trunk unit 11 includes two substrates 111, which are flat plate-shaped structures and are fixedly connected together by bolts or studs 9, and a gap is provided between the two substrates 111.

Preferably, the floating member 8 is disposed above the trunk unit 11, between the two base plates 111, and is fixedly connected to the two base plates 111 by bolts or studs 9.

Each substrate 111 is provided with a first through hole 1111 and a second through hole 1112 corresponding to each other in the vertical direction, and a third through hole 1113 and a fourth through hole 1114 corresponding to each other in the horizontal direction, for each winding wire 52 to pass through and be positioned.

The torso unit 11 is a modular unit forming the middle torso 1, and the bat robots with different lengths can be realized by the number of the torso units 11, so that the length of the bat robots is more flexibly set.

In an embodiment, referring to fig. 1, 2, 3, 4, 5, 6, 7, 8, 9, 10 and 11, the bat ray robot further comprises a walking device 6 including a plurality of crank-rocker mechanisms 61, a plurality of walking connectors 62, and two second rotating powers 66, which are respectively and correspondingly disposed on two sides of the middle trunk 1.

The crank rocker mechanism 61 is arranged between the two base plates 111 and comprises a crank 611, a connecting rod 612 and a rocker 613; one end of the crank 611 is hinged to the two base plates 111, and the other end is hinged to one end of the connecting rod 612; the other end of link 612 is slidably connected to rocker 613; the rocker 613 is hinged to both base plates 111.

One ends of the adjacent cranks 611 positioned on the same side of the middle trunk 1 are connected by the walking connecting piece 62, so that one ends of the cranks 611 rotate on the same axis but at the same angular speed, and the distance between one ends of the adjacent cranks 611 is adjustable.

The second rotational power 66 is provided in the head 2 or the tail 3; one end of the crank 611 at the end of the middle trunk 1 is connected to the second rotational power 66 for driving the walking means 6.

The adjacent cranks 611 are provided with a phase difference, so that when one end of each crank 611 rotates at the same angular speed, the rocking blocks 613 form different included angles with the horizontal plane, and therefore the pectoral fins 4 are driven to move regularly to move forwards or backwards.

Each body unit 11 of the bat ray robot in the embodiment is provided with two sets of crank rocker mechanisms 61 which are symmetrically arranged on two sides of the body and used for driving pectoral fins 4 on two sides to swing. The crank rocker mechanisms 61 on the trunk units 11 on the same side of the middle trunk 1 realize axial movement of one end of the crank 611 through the second rotating power 66 and the walking connecting piece 62, can rotate at the same angular speed on the same axis, realize transmission of rotating motion among the trunk units 11, and can adapt to the deformation of the body of the robot by adjusting the structure of the crank rocker mechanisms.

The walking device 6 of the bat ray robot of this embodiment only needs two second rotary power 66, or the second rotary power 66 of a linkage can realize the walking function, has reduced the setting of driver part, reduces the volume and the weight of the bat ray robot, reduces energy consumption, improves the motion flexibility.

Preferably, the second rotational power 66 is a servo motor.

Preferably, the walking device 6 further comprises a head connecting piece 64, a tail connecting piece 65 and a crank connecting piece 63; the walking attachment 62 is a telescopic universal joint.

The second rotational power 66 may be provided in the head 2 or tail 3, preferably in the head cavity; one end of the head connecting piece 64 is fixedly connected with the rotating shaft of the second rotating power 66, and the other end is connected and matched with one end of the walking connecting piece 62; the head connecting member 64 penetrates the head bottom case 21 and is rotatably connected to the head bottom case 21, so that the second rotating power 66 is transmitted through the head connecting member 64.

One end of the crank connecting member 63 is fixedly connected with the crank 611 and rotatably connected with the base plate 111, and the other end is connected and adapted with the end of the walking connecting member 62 and used for transmitting the second rotating power 66 at the same angular velocity.

The crank link 63 at the end of the middle trunk 1 connected to the tail 3 has one end connected to the walking link 62 and the other end rotatably connected to the tail 3 through a tail link 65.

Preferably, the crank 611 includes a first crank 6111 and a second crank 6112, one ends of which are respectively hinged to the two base plates 111 of the trunk unit 11 through crank connectors 63; one end of the connecting rod 612 is located between the other ends of the first crank 6111 and the second crank 6112, and is hinged to the other ends of the first crank 6111 and the second crank 6112, so that the crank rocker mechanism 61 is more stable and convenient to mount, and the strength of the crank rocker mechanism 61 structure, the stability of transmission and the assembly efficiency are improved.

Preferably, one end of the rocker 613 is provided with a receiving hole adapted to the other end of the link 612 so that the other end of the link 612 can slide in the receiving hole.

Preferably, the adjacent cranks 611 positioned on the same side of the middle trunk 1 are provided with a phase difference of 90 degrees, so that the pectoral fins 4 connected to the rocking blocks 613 of the crank-rocking-block mechanism 61 perform regular swinging according to a certain phase difference, thereby increasing the sensitivity and controllability of the movement of the bat ray robot.

Preferably, one end of the crank 611 is provided with a square hole; one end of the crank connecting piece 63 connected with the crank 611 is set to be square in connection and adaptation with the square hole, so that a phase difference of 90 degrees is easier to guarantee while the adjacent cranks 611 positioned at the same side are fixedly connected, the installation of the crank 611 is facilitated, and the installation efficiency of the bat ray robot is improved.

Preferably, the tail link 65 includes a square hole adapted to be coupled to one end of the square of the crank link 63; the tail 3 comprises a through hole for the crank connecting piece 63 to pass through; one square end of the crank connecting piece 63 passes through the through hole and is fixedly connected with the tail connecting piece 65; the tail connecting piece is larger than the through hole in size, is positioned in the tail part 3 and is used for limiting a crank connecting piece 63 connected with the tail connecting piece.

In an embodiment, referring to fig. 1, 3, 4, 11 and 12, the pectoral fin 4 includes a fin skin 41 and a plurality of fin rays 42, each fin ray 42 is disposed in parallel and is respectively fixedly connected to the fin skin 41; one end of the fin 42 is fixedly attached to the rocker 613. When the rocking block 613 swings, the fin line 42 swings to drive the fin skin 41 to swing regularly, so as to advance or retreat.

Specifically, the fin skin 41 is made of a material having a certain flexibility, such as rubber, plastic, or the like; one end of the fin 42 is cylindrical and is fitted with one end of the rocker 613; corresponding holes are formed in one end of the fin 42 and one end of the corresponding rocking block 613, and one end of the fin 42 and one end of the rocking block 613 are installed and fixedly connected through the corresponding holes in a screw connection mode. The efficiency and the steadiness of pectoral fin 4 installation are improved.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", and the like indicate orientations or positional relationships based on those 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.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.

Claims

1. A bat ray robot, comprising:

a middle trunk which is a bendable and deformable structure;

pectoral fins arranged on both sides of the middle trunk for advancing or retreating;

a head connected to one end of the intermediate trunk;

a tail connected to the other end of the middle trunk;

a plurality of winding devices, which are arranged at the head or the tail, and comprise a first rotating power, a drum wheel and two winding wires; the drum is connected with the first rotating power; one ends of the two winding wires are wound on the drum wheel in opposite winding directions respectively, and the end parts of the two winding wires are fixedly connected with the drum wheel; the other ends of the two winding wires tend to be arranged in parallel along the length direction of the middle trunk, and the end parts of the two winding wires are fixedly connected with the tail part or the head part respectively; the first rotating power drives the drum wheel to rotate so that the two winding wires are respectively tightened and loosened, and the middle trunk is bent and deformed.

2. The bat ray robot of claim 1, wherein the intermediate torso comprises a plurality of torso units; adjacent torso units are rotatably connected; the head part and the tail part are respectively connected with two ends of the middle trunk in a rotating way.

3. The bat ray robot of claim 2, wherein the connection of adjacent torso units, the connection of the head with the intermediate torso, and the connection of the tail with the intermediate torso are all single-degree-of-freedom rotational connections, which are rotational in a transverse plane or rotational in a vertical plane;

4. The bat robot of claim 3, further comprising a walking device comprising a plurality of crank-rocker mechanisms, a second rotary power;

5. The bat-ray robot of claim 4, wherein the walking connector is a telescoping universal joint.

6. The bat robot of claim 4, wherein the cranks located on the same side of the intermediate torso are arranged with a phase difference.

7. The bat robot of claim 6, wherein the connection of the torso unit and the adjacent torso unit on both sides thereof or the head or the tail is a rotational connection in a horizontal plane and a rotational connection in a vertical plane, respectively;

adjacent cranks are provided with a 90 ° phase difference.

8. The bat robot of claim 4, wherein the torso unit comprises two base plates having a plate-shaped structure and fixedly connected by a stud, and a gap is provided between the two base plates;

the crank rocker mechanism is arranged between the two base plates;

9. The bat ray robot of claim 8, wherein the torso unit further comprises a plurality of buoyant members having a buoyancy greater than a gravity thereof, fixedly disposed between the two substrates.

10. A manta robot according to any one of claims 1 to 9, wherein two of said thread winding means are provided within said tail portion; the two drums are respectively arranged horizontally and vertically;