Bionic flexible flapping wing underwater robot

Abstract

The invention discloses a bionic flexible flapping wing underwater robot which comprises a shell, two side wing flapping mechanisms located on the two sides of the shell, an empennage flapping mechanism located at the tail of the shell, a camera cabin located at the front end of the shell, a steering engine control cabin located at the front end of the interior of the shell and a gravity adjusting cabin located at the rear end of the interior of the shell. The side wing flapping mechanism comprises a side wing steering engine, a flapping assembly and a flexible side wing fin surface, the flapping assembly comprises a flapping transmission assembly, a fixing rod and a plurality of fin rays, one end of each fin ray is connected with the flapping transmission assembly, the middle of each fin ray is penetrated by the fixing rod, the other end of each fin ray is connected with the side wing fin surface, and the side wing steering engine is connected with and drives the flapping transmission assembly to drive one end of each fin ray to swing; all the fin rays are not in the same plane, and when the fin rays swing, the fin surfaces of the side wings swing in a wave shape. The device simulates the structural form, the motion characteristic and the driving mechanism of the natural aquatic organism manta ray, and has the characteristics of low noise, high maneuverability, small size, portability and high concealment.

Description

Technical Field

[0001] The invention belongs to the technical field of underwater robots, in particular to a bionic flexible flapping-wing underwater robot. Background Art

[0002] In order to effectively protect the underwater ecological environment, underwater exploration, rescue and other robots are indispensable. Existing underwater robots have many shortcomings, such as large size, high noise, low efficiency, poor maneuverability, etc. Affected by water flow and unstructured complex environment, underwater robots are difficult to control and move forward smoothly. In addition, the commonly used propeller propulsion method has low efficiency and high fluid disturbance, is too invasive to the animal growth environment, and is easy to damage the marine ecological environment. It has shortcomings such as poor maneuverability and weak biological affinity. These factors seriously limit the development of underwater robots. Summary of the invention

[0003] In view of the above-mentioned problems existing in the prior art, the purpose of the present invention is to provide a bionic flexible flapping-wing underwater robot, which is a new type of underwater equipment. It draws on and imitates the structural morphology, motion characteristics and driving mechanism of the manta ray, a natural aquatic organism. It has many advantages over traditional propeller-propelled underwater robots. Its streamlined flat body based on soft tissue can effectively achieve gliding motion with the help of fluid energy. It has the characteristics of low noise, high maneuverability, small size, easy to carry and high concealment.

[0004] In order to achieve the above object, the technical solution adopted by the present invention is:

[0005] A bionic flexible flapping-wing underwater robot comprises a shell, two wing flapping mechanisms located on both sides of the shell, a tail flapping mechanism located at the rear of the shell, a camera cabin located at the front end of the shell, a steering gear control cabin located at the front end of the shell and a gravity adjustment cabin located at the rear end of the shell. The two wing flapping mechanisms are symmetrically arranged on both sides of the shell. The wing flapping mechanisms comprise wing steering gears, a flapping assembly and flexible wing fin surfaces. The flapping assembly comprises a flapping transmission assembly, a fixing rod and a plurality of fin rays. The plurality of fin rays are arranged at intervals. One end of the fin ray is connected to the flapping transmission assembly, the middle part is passed through by the fixing rod and the other end is connected to the wing fin surface. The wing steering gear is connected to and drives the flapping transmission assembly. The flapping transmission assembly drives one end of the fin ray to swing. All the fin rays are not in a plane, so that when the fin rays swing, the wing fin surfaces connected to all the fin rays present a wave-like undulating swing.

[0006] As a further improvement of the above technical solution:

[0007] The length direction of each fin ray is perpendicular to the length direction of the fixing rod. The fixing rod is fixed relative to the shell or can rotate. The fixing rod passes through the middle of all the fin rays. The fin rays are staggered and non-parallel to each other.

[0008] The flapping transmission assembly includes a plurality of crankshaft assemblies, which are connected in sequence, and each crankshaft assembly is connected to a fin. The crankshaft assembly includes a long axis, a short axis, a first shaft key, and a second shaft key. The long axis and the short axis are arranged in parallel and spaced apart. The length directions of the first shaft key and the second shaft key are perpendicular to the length direction of the long axis. The first shaft key and the second shaft key are arranged in parallel and spaced apart. One end of the first shaft key is fixedly connected to one end of the long axis, and the other end of the first shaft key is hinged to one end of the short axis. The other end of the short axis is hinged to one end of the second shaft key, and the other end of the second shaft key is fixedly connected to one end of the long axis of another crankshaft assembly. The other end of the long axis is connected to the first shaft key of the crankshaft assembly in which it is located. The short axis passes through one end of the fin. All the long axes are on the same straight line, and the first shaft keys are staggered and not parallel to each other.

[0009] One end of the fin is provided with a long through hole, which is a connecting hole. The short axis passes through the connecting hole and can move in a direction perpendicular to the length of the short axis. The other end of the fin is provided with a groove. After the side fin surface is inserted into the groove, it is locked with a bolt that passes through the fin and the side fin surface at the same time.

[0010] The tail flapping mechanism comprises a tail servo, a fixture and a flexible tail fin surface. The tail fin surface is installed on the fixture. The tail servo transmits drive to the fixture to make the fixture swing up and down.

[0011] The tail flapping mechanism also includes two pads and a U-shaped block. The clamp is U-shaped. The two pads are located in the U-shaped opening of the clamp. There is a gap between the two pads. One end of the tail fin surface is inserted into the gap between the two pads and is locked by bolts passing through the two pads and the clamp. The U-shaped block and the clamp are fixedly connected. The U-shaped block is a U-shaped structure. The tail fin surface is located at the end of the clamp away from the U-shaped block. The open end of the U-shaped block is the end away from the clamp. The open end of the U-shaped block is hinged on the shell. The tail servo is connected to and drives the U-shaped block to swing up and down.

[0012] A camera and an image transmission module are installed in the camera cabin. The camera cabin is a rectangular structure formed by multiple acrylic panels connected in sequence. The acrylic panels are sealed with hot melt adhesive. The image transmission module can communicate with the software of the terminal device and transmit the images taken by the camera to the terminal device.

[0013] The gravity regulating cabin includes an outer box and a water storage device installed in the outer box, a left water pump, a right water pump, and an ultrasonic module. The water storage device is used for storing water. The water storage device is a rectangular structure formed by connecting multiple acrylic plates in sequence. Each adjacent acrylic plate is assembled and sealed with ultraviolet glue. An ultrasonic module is installed on the upper plate of the water storage device for real-time monitoring of the water level in the water storage device. The left water pump and the right water pump are respectively connected to the water storage device through a water pipe. One end of the left water pump is connected to the water storage device through a water pipe, and the other end is connected to the external environment through a water pipe. One end of the right water pump is connected to the water storage device through a water pipe, and the other end is connected to the external environment through a water pipe.

[0014] The servo control cabin is equipped with a single-chip microcomputer, a servo drive board and a step-down module.

[0015] The shell includes an upper plate, an upper cover, a bottom plate, a front surrounding structure, a rear surrounding structure and two side surrounding structures. The upper plate and the upper cover are connected to form the top plate of the shell. The top plate, the bottom plate, the front surrounding structure, the rear surrounding structure and the two side surrounding structures are connected to form a shell with an internal cavity. The upper cover is detachable or coverable on the shell.

[0016] The beneficial effects of the present invention are:

[0017] (1) It is a new type of underwater equipment. It draws on and imitates the structural morphology, movement characteristics and driving mechanism of manta rays, a natural aquatic organism. Compared with traditional propeller-propelled underwater robots, it has many advantages. Its streamlined flat body based on soft tissue can effectively use the energy of fluid to achieve gliding motion. It has the characteristics of low noise, high maneuverability, small size, easy to carry and high concealment.

[0018] (2) When moving, the lateral fins swing up and down, that is, flapping movements are realized. The lateral fins are flexible, and the fin rays with different initial phases swing periodically to realize the wave motion of the fin surface. The wave motion of the fin surface forms a streamlined flat body of soft tissue, which is not only conducive to swimming propulsion, but also conducive to diving and gliding. It can effectively use the energy of the fluid to realize gliding motion and has strong anti-flow ability.

[0019] (3) The robot has an appearance similar to that of a manta ray and similar movements. Its stealth mode will not disturb other organisms and has good environmental affinity. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic diagram of an explosion structure of an embodiment of the present invention;

[0021] Figure 2 A schematic diagram of a housing structure according to an embodiment of the present invention;

[0022] Figure 3 It is a structural schematic diagram of a wing flapping mechanism according to an embodiment of the present invention;

[0023] Figure 4 It is a structural schematic diagram of a flapping assembly according to an embodiment of the present invention;

[0024] Figure 5 A schematic structural diagram of a crankshaft assembly according to an embodiment of the present invention;

[0025] Figure 6 It is a structural schematic diagram of a tail flapping mechanism according to an embodiment of the present invention;

[0026] Figure 7This is a schematic structural diagram of a gravity regulating cabin according to an embodiment of the present invention;

[0027] Figure 8 This is a bionic manta ray coordinate device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0028] The specific implementation of the present invention is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described here is only used to illustrate and explain the present invention, and is not used to limit the present invention.

[0029] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0030] A bionic flexible flapping-wing underwater robot that mimics the shape of a manta ray. Figures 1 to 7 As shown, it includes a shell 1, two side wing flapping mechanisms 2 located on both sides of the shell 1, a tail wing flapping mechanism 3 located at the rear of the shell 1, a camera cabin 4 located at the front end of the shell 1, a steering gear control cabin 5 located at the front end of the shell 1 and a gravity adjustment cabin 6 located at the rear end of the shell 1.

[0031] The steering gear control cabin 5 and the camera cabin 4 are completely sealed to form a sealed cabin, the shell 1, the side wing flapping mechanism 2, the tail wing flapping mechanism 3 and the gravity adjustment cabin 6 are directly exposed to the water, and the side wing flapping mechanism 2, the tail wing flapping mechanism 3, the steering gear control cabin 5, the gravity adjustment cabin 6 and the camera cabin 4 can communicate and power up with the outside or with each other.

[0032] like Figure 1 and 2As shown, the shell 1 includes an upper plate 11, an upper cover 12, a bottom plate 13, a front surrounding structure 14, a rear surrounding structure 16 and two side surrounding structures 15. The upper plate 11 and the upper cover 12 are connected to form the top plate of the shell 1, and the top plate, the bottom plate 13, the front surrounding structure 14, the rear surrounding structure 16 and the two side surrounding structures 15 are connected to form a shell 1 with an internal cavity. Among them, the upper cover 12 is detachably or coverably installed on the shell 1. The top plate and the bottom plate 13 are arranged relative to each other, and the front surrounding structure 14 and the rear surrounding structure 16 are arranged relative to each other, and are respectively located at the front end and the rear end of the shell 1. The two side surrounding structures 15 are arranged relative to each other, and are respectively located on both sides of the shell 1. Among them, the front surrounding structure 14 and the rear surrounding structure 16 are designed as curved structures, which are 3D printed from PLA (polylactic acid) material. The above structure of the shell 1 reduces the resistance encountered when swimming in the water while imitating the appearance of the manta ray. The front surrounding structure 14 imitates the head of the manta ray.

[0033] The two side wing flapping mechanisms 2 imitate the two wings of a manta ray. The two side wing flapping mechanisms 2 are symmetrically arranged on both sides of the housing 1. Figure 1 and Figure 3 As shown, it includes a wing steering gear 21, a steering gear bracket 22, a flapping assembly 23, a wing fin surface 24, a front mounting clamp plate 25 and a rear mounting clamp plate 26.

[0034] The front mounting plate 25 and the rear mounting plate 26 are connected to the side enclosure structure 15 or the bottom plate 13. The front mounting plate 25 is closer to the front enclosure structure 14 than the rear mounting plate 26. Meanwhile, other components of the wing flapping mechanism 2 are mounted on the front mounting plate 25 and the rear mounting plate 26. Specifically, the two ends of the flapping assembly 23 are respectively hinged on the front mounting plate 25 and the rear mounting plate 26. The wing fin surface 24 is flexible and is mounted on the flapping assembly 23. The steering gear bracket 22 is mounted on the side enclosure structure 15 or the bottom plate 13, and the wing steering gear 21 is mounted on the steering gear bracket 22. The wing steering gear 21 is connected to and drives the flapping assembly 23 to swing, so that the wing fin surface 24 swings. When swinging, the wing fin surface 24 swings in a wave-like manner, imitating the swinging posture of the wings of a manta ray.

[0035] The flapping component 23 is as follows Figure 4As shown, it includes a flapping transmission assembly, a fixing rod 237 and a plurality of fin rays 232. The two ends of the fixing rod 237 are fixedly connected or hinged to the front mounting clamp plate 25 and the rear mounting clamp plate 26 respectively. The plurality of fin rays 232 are located between the front mounting clamp plate 25 and the rear mounting clamp plate 26, and the plurality of fin rays 232 are arranged at intervals. The length direction of the fixing rod 237 is perpendicular to the length direction of the fin rays 232. The fixing rod 237 passes through the middle of all the fin rays 232, and the fin rays 232 can rotate around the fixing rod 237 as the central axis. One end of the fin ray 232 is connected to the flapping transmission assembly, the middle part is passed through by the fixing rod 237, and the other end is connected to the wing fin surface 24. The wing servo 21 is connected to and drives the flapping transmission assembly, and the flapping transmission assembly drives one end of the fin ray 232 to swing, so that the fin ray 232 rotates around the fixing rod 237 as the central axis, and the wing fin surface 24 at the other end of the fin ray 232 is driven to swing. All the fins 232 are not in one plane, so that the side fin surface 24 can undulate and swing in a wave-like manner.

[0036] One end of the fin ray 232 is provided with a long through hole, which is a connecting hole 2321 for connecting the flapping transmission assembly. The other end of the fin ray 232 is provided with a groove 2322, which is similar in shape to a clamp and has a threaded hole. After the side fin surface 24 is inserted into the groove 2322, it is locked with a bolt that passes through the fin ray 232 and the side fin surface 24 at the same time, so that the side fin surface 24 and the fin ray 232 are connected together and will not fall off. The lengths of the fin rays 232 are not exactly the same to adapt to the curved edge shape of the fin ray 232.

[0037] The flapping transmission assembly is designed so that all the fins 232 are not in the same plane when they are swinging or stationary. The flapping transmission assembly includes a plurality of crankshaft assemblies, which are connected in sequence, and each crankshaft assembly is connected to a fin 232. Figure 5 As shown, each crankshaft assembly includes a long shaft 234, a short shaft 235, a first shaft key 233, a second shaft key 238 and a baffle 231 ( Figure 5 The long axis 234 and the short axis 235 are arranged in parallel and spaced apart. The length direction of the first shaft key 233 and the second shaft key 238 is perpendicular to the length direction of the long axis 234. The first shaft key 233 and the second shaft key 238 are arranged in parallel and spaced apart. The long axis 234, the first shaft key 233, the short axis 235, and the second shaft key 238 are connected in sequence. Specifically, one end of the first shaft key 233 is fixedly connected to one end of the long axis 234, the other end of the first shaft key 233 is hinged to one end of the short axis 235, the other end of the short axis 235 is hinged to one end of the second shaft key 238, and the other end of the second shaft key 238 is fixedly connected to one end of the long axis 234 of another crankshaft assembly, and the other end of the long axis 234 is connected to the first shaft key 233 of the crankshaft assembly.

[0038] When the flapping transmission assembly is connected to the fin 232, all the long axes 234 are on the same straight line, such as Figure 3 and 4 As shown, a short axis 235 passes through each connection hole 2321, and the length direction of the short axis 235 is perpendicular to the length direction of the fin 232. Since the connection hole 2321 is a long strip, the short axis 235 can move in a direction perpendicular to the length direction of the short axis 235 after passing through the connection hole 2321 to adapt to the position change of the fin 232. Each first axis key 233 is staggered and non-parallel to each other, so that the initial phases of different fins 232 are different, and the wing fin surface 24 connected to all fins 232 can form a wave-like undulating swing under the drive of the wing servo 21. Preferably, the angle between two adjacent first axis keys 233 is 30°. In other words, the first axis key 233 and the second axis key 238 at both ends of the same long axis 234 are not parallel, and the angle between the first axis key 233 and the second axis key 238 at both ends of the same long axis 234 is 30°.

[0039] Among the multiple crankshaft assemblies, one end of the long axis 234 of the crankshaft assembly at the end is hinged on the rear mounting clamp 26, and the other end is fixedly connected to the first shaft key 233. One end of the second shaft key 238 of the crankshaft assembly at the head end is hinged to the short axis 235, and the other end is fixedly connected to one end of the stud bolt 236. The other end of the stud bolt 236 is connected to the driving shaft of the side wing servo 21.

[0040] In this embodiment, four fins 232 and four crankshaft assemblies are provided.

[0041] In order to improve the operating stability of the crankshaft assembly and the fin 232 , a baffle 231 is sleeved on each end of the short shaft 235 . The width of the baffle 231 is greater than the width of the connecting hole 2321 , and the fin 232 through which the short shaft 235 passes is located between the two baffles 231 .

[0042] Based on the above structure, the working principle and process of the flapping assembly 23 are as follows: the wing servo 21 drives the stud 236 to rotate alternately clockwise and counterclockwise, the stud 236 drives the short shaft 235 to rotate around the long shaft 234 through the second shaft key 238 connected thereto, the short shaft 235 drives one end of the fin ray 232 through which it passes to swing up and down, the short shaft 235 drives the first shaft key 233 connected thereto to rotate around the long shaft 234, the first shaft key 233 drives the long shaft 234 connected thereto to rotate, thus realizing the transmission of power, making all the long shafts 234 equivalent to synchronous rotation, and all the fin rays 232 are driven to swing. Under the different initial phases of each fin ray 232 and the energy supply of a certain frequency, the wing fin surface 24 presents a regular fluctuation similar to a sine wave, and then acts on the water, using the reaction force of the water to drive the robot to swim. This fluctuation form is close to the fluctuation of the fin surface of the manta ray, realizing forward swimming.

[0043] Furthermore, when the robot needs to turn, the output power of the wing servos 21 on both sides of the shell 1 is controlled, and the steering characteristics of the manta ray are simulated by using the differential principle. When the power of the wing servo 21 on the right side is greater than the power of the wing servo 21 on the left side, a left turn is achieved; otherwise, a right turn is achieved.

[0044] In this embodiment, the wing servo 21 is a large torque waterproof servo.

[0045] Tail flapping mechanism 3 Figure 1 and Figure 6 As shown, it includes a tail servo 31, a fixture 32, two pads 33, a U-shaped block 34, a multifunctional frame 35 and a flexible tail fin surface 36. The fixture 32 is U-shaped, and the two pads 33 are located in the U-shaped opening of the fixture 32, with a gap between the two pads 33. One end of the tail fin surface 36 is inserted into the gap between the two pads 33 and is locked by bolts passing through the two pads 33 and the fixture 32. The U-shaped block 34 is fixedly connected to the fixture 32, and the U-shaped block 34 is a U-shaped structure. The tail fin surface 36 is located at the end of the fixture 32 away from the U-shaped block 34, and the open end of the U-shaped block 34 is the end away from the fixture 32. The open end of the U-shaped block 34 is hinged on the rear surrounding structure 16 or the bottom plate 13, so that the U-shaped block 34 and the fixture 32 can rotate relative to the rear surrounding structure 16 as a whole. The multifunctional frame 35 is fixedly mounted on the rear enclosure structure 16 or the bottom plate 13, and the tail fin servo 31 is mounted on the multifunctional frame 35. The tail fin servo 31 is located at the open end of the U-shaped block 34. The tail fin servo 31 is connected to and drives the U-shaped block 34 to swing up and down, thereby driving the tail fin surface 36 to swing up and down. During movement, driven by the tail fin servo 31, the tail fin surface 36 swings up and down at a fixed angle, so that the robot generates a forward thrust. The swinging form of the tail fin surface 36 is more in line with the movement of the manta ray, and improves the design of the entire bionic machine.

[0046] In this embodiment, the side fin surface 24 and the tail fin surface 36 are both made of silicone.

[0047] A camera and an image transmission module are installed in the camera cabin 4. The camera cabin 4 is a rectangular structure formed by connecting multiple acrylic plates in sequence to achieve light transmission, which is convenient for camera shooting. The acrylic plates are sealed with hot melt adhesive to prevent water from entering the camera cabin 4. The camera cabin 4 is installed on the front enclosure structure 14, and the camera is located at the front end for easy filming. Preferably, the camera cabin 4 is fixed to the reserved position of the front enclosure structure 14 by hot melt adhesive. The image transmission module uses WiFi to communicate with the software of terminal devices such as mobile phones. After connection, the underwater environment can be directly viewed on the terminal device and filming and video recording can be performed.

[0048] The gravity regulating cabin 6 is used to adjust the gravity of the robot to achieve the robot's diving and floating. As shown in Figure 7, the gravity regulating cabin 6 includes an outer box 61 and a water storage device 62 installed in the outer box 61, a left water pump 63, a lithium battery 64, a right water pump 65, and an ultrasonic module 66.

[0049] The material of the outer box 61 is an acrylic plate. The water storage device 62 is used to store water. The water storage device 62 is a rectangular structure formed by connecting multiple acrylic plates in sequence, and each adjacent acrylic plate is assembled and sealed by ultraviolet glue. An ultrasonic module 66 is installed on the upper plate of the water storage device 62, which is used to monitor the water level in the water storage device 62 in real time. The left water pump 63 and the right water pump 65 are each connected to the water storage device 62 through a water pipe, one end of the water pipe is connected to the water storage device 62, and the other end passes through the outer box 61. In order to ensure the waterproofness of the gravity adjustment cabin 6, ultraviolet glue is used to seal each hole (the connection between the outer box 61 and the water pipe, and the connection between the water storage device 62 and the water pipe). The lithium battery 64 is used to power the electrical components such as the left water pump 63 and the right water pump 65 of the gravity adjustment cabin 6.

[0050] In this embodiment, the lithium battery is a 12V lithium battery. The water pipe is made of rubber.

[0051] Based on the above structure, when the robot needs to dive, the left water pump 63 starts working to introduce water from the external environment into the water storage device 62, the overall volume of the robot remains unchanged, the gravity increases, and the robot dives. When the robot needs to float, the right water pump 65 starts working to discharge the water from the water storage device 62 into the environment, the overall volume of the robot remains unchanged, the gravity decreases, and the robot floats.

[0052] The steering gear control cabin 5 is equipped with a single-chip microcomputer, a steering gear drive board and a step-down module for adjusting the direction of the robot body, wherein the single-chip microcomputer is an STM32 single-chip microcomputer. Furthermore, the STM32 single-chip microcomputer adopts the STM32F103C8T6 model, is designed using Altium Designer20, integrates a TB6612 motor driver chip, an SPP-C Bluetooth module, an OLED interface and a motor encoder interface and has a power protection circuit, which is used to control the motor in the water pump to control the water volume.

[0053] The servo drive board uses STM32C8T6 as the main control, is connected to a Bluetooth interface, receives and sends information through the serial port, and then issues commands to control the movement of each servo;

[0054] The step-down module uses LM2596, with an input voltage of 2.5~35V, an output voltage of 1.25V~35, an output current of 3A, and a conversion efficiency of about 92%. It converts the 12V power supply voltage into the required voltage to supply the STM32 microcontroller, servo drive board, water pumps and servos.

[0055] Each water pump is controlled by the STM32 microcontroller to achieve the purpose of accurately controlling the water level change. The ultrasonic module 66 adopts HC-04, and the detection distance range is 4mm~4m, which monitors the water level of the water storage device 62 at all times. The distance measurement is triggered by the IO level, and the test distance = (high level time * sound speed (340M / S)), and the measured data is sent to the STM32 microcontroller through the serial port to achieve the purpose of accurately controlling the water level change of the water storage device 62.

[0056] As can be seen from the above, the robot is a bionic manta ray. In order to realize intelligent functions such as human-computer interaction and path planning, the following Figure 8 The bionic manta ray coordinate system shown in Table 1 is a table of bionic manta ray position parameters.

[0057] Table 1 Motion parameters of bionic manta ray

[0058]

[0059] In Table 1, the first three components and their time derivatives respectively describe the position and linear velocity of the bionic manta ray through the transformation matrix, and the last three components and their time derivatives respectively describe the direction and angular velocity of the bionic manta ray through the transformation matrix, specifically:

[0060] x, y and z are the displacements of the bionic manta ray on the x-axis, y-axis and z-axis in the motion coordinate system; u, v and w are the velocity components of the bionic manta ray along the x-axis, y-axis and z-axis respectively, and X, Y and Z are the components of the combined bionic manta ray force on the x-axis, y-axis and z-axis respectively. φ, θ and ψ are the roll angle, pitch angle and heading angle of the bionic manta ray respectively, p, q and r are the angular velocity components along the x-axis, y-axis and z-axis respectively, and K, M and N are the torques corresponding to X, Y and Z respectively.

[0061] In the global coordinate system established above, the kinematic equation of the bionic manta ray is further established as:

[0062]

[0063] η=|η1 T ,η2 T | T , η1=|u,v,w|, η2=|φ,θ,ψ|

[0064] v=|v1 T , v2 T |,v1=|uvw| T , v2=|pqr| T

[0065] Among them, J∈R 6represents the position and direction of the bionic manta ray relative to the inertial coordinate system; v∈R 6 are the linear velocity and angular velocity vectors in the carrier coordinate system; J: R 6 →R 6×6 is the transformation matrix between the two coordinate systems; Describes the relationship between position and linear velocity, and transforms again to:

[0066]

[0067]

[0068]

[0069]

[0070] Finally, through matrix transformation, the position and angle expressions of the bionic manta ray in the global coordinate system are obtained as shown in the following formula:

[0071]

[0072]

[0073] Finally, it is necessary to explain here that the above embodiments are only used to further illustrate the technical solution of the present invention in detail and cannot be understood as limiting the scope of protection of the present invention. Some non-essential improvements and adjustments made by technicians in this field based on the above content of the present invention all fall within the scope of protection of the present invention.

Claims

1. A bionic flexible flapping-wing underwater robot, characterized in that: The invention comprises a housing (1), two side-wing flapping mechanisms (2) located on both sides of the housing (1), a tail-wing flapping mechanism (3) located at the rear of the housing (1), a camera cabin (4) located at the front end of the housing (1), a steering engine control cabin (5) located at the front end of the housing (1), and a gravity adjustment cabin (6) located at the rear end of the housing (1), wherein the two side-wing flapping mechanisms (2) are symmetrically arranged on both sides of the housing (1), the side-wing flapping mechanism (2) comprises a side-wing steering engine (21), a flapping assembly (23) and a flexible side-wing fin surface (24), and the flapping assembly (23) comprises a flapping The invention relates to a flapping transmission assembly, a fixing rod (237) and a plurality of fin rays (232), wherein the plurality of fin rays (232) are arranged at intervals, one end of the fin ray (232) is connected to the flapping transmission assembly, the middle part is passed through by the fixing rod (237), and the other end is connected to the wing fin surface (24), the wing servo (21) is connected to and drives the flapping transmission assembly, and the flapping transmission assembly drives one end of the fin ray (232) to swing, and all the fin rays (232) are not in the same plane, so that when the fin rays (232) swing, the wing fin surface (24) connected to all the fin rays (232) swings in a wave-like manner.

2. The underwater robot according to claim 1, characterized in that: The length direction of each fin ray (232) is perpendicular to the length direction of the fixing rod (237). The fixing rod (237) is fixed relative to the housing (1) or can rotate. The fixing rod (237) passes through the middle of all the fin rays (232). The fin rays (232) are staggered and non-parallel to each other.

3. The underwater robot according to claim 1 or 2, characterized in that: The flapping transmission assembly comprises a plurality of crankshaft assemblies, the plurality of crankshaft assemblies are connected in sequence, each crankshaft assembly is connected to a fin (232), the crankshaft assembly comprises a long shaft (234), a short shaft (235), a first shaft key (233), and a second shaft key (238), the long shaft (234) and the short shaft (235) are arranged in parallel and spaced apart, the length direction of the first shaft key (233) and the second shaft key (238) are perpendicular to the length direction of the long shaft (234), the first shaft key (233) and the second shaft key (238) are arranged in parallel and spaced apart, one end of the first shaft key (233) is fixed One end of the long axis (234) is fixedly connected, the other end of the first shaft key (233) is hinged to one end of the short axis (235), the other end of the short axis (235) is hinged to one end of the second shaft key (238), the other end of the second shaft key (238) is fixedly connected to one end of the long axis (234) of another crankshaft assembly, the other end of the long axis (234) is connected to the first shaft key (233) of the crankshaft assembly, the short axis (235) passes through one end of the fin (232), all the long axes (234) are on the same straight line, and the first shaft keys (233) are staggered and not parallel to each other.

4. The underwater robot according to claim 3, characterized in that: One end of the fin (232) is provided with a long strip through hole, which is a connecting hole (2321). The short axis (235) passes through the connecting hole (2321) and can move in a direction perpendicular to the length of the short axis (235). The other end of the fin (232) is provided with a groove (2322). After the side fin surface (24) is inserted into the groove (2322), it is locked with a bolt that passes through the fin (232) and the side fin surface (24) at the same time.

5. The underwater robot according to claim 1, characterized in that: The tail flapping mechanism (3) comprises a tail wing steering engine (31), a clamp (32) and a flexible tail wing fin surface (36); the tail wing fin surface (36) is mounted on the clamp (32); the tail wing steering engine (31) transmits drive to the clamp (32) to make the clamp (32) swing up and down.

6. The underwater robot according to claim 5, characterized in that: The tail flapping mechanism (3) also includes two pads (33) and a U-shaped block (34); the clamp (32) is U-shaped; the two pads (33) are located in the U-shaped opening of the clamp (32); a gap is provided between the two pads (33); one end of the tail fin surface (36) is inserted into the gap between the two pads (33) and is connected and locked by bolts passing through the two pads (33) and the clamp (32); the U-shaped block (34) and the clamp (32) are fixedly connected; the U-shaped block (34) is U-shaped; the tail fin surface (36) is located at one end of the clamp (32) away from the U-shaped block (34); the open end of the U-shaped block (34) is the end away from the clamp (32); the open end of the U-shaped block (34) is hinged on the housing (1); and the tail servo (31) is connected to and drives the U-shaped block (34) to swing up and down.

7. The underwater robot according to claim 1, characterized in that: A camera and an image transmission module are installed in the camera cabin (4). The camera cabin (4) is a rectangular parallelepiped structure formed by connecting a plurality of acrylic plates in sequence. The acrylic plates are sealed with hot melt adhesive. The image transmission module can communicate with the software of the terminal device. The image transmission module transmits the images captured by the camera to the terminal device.

8. The underwater robot according to claim 1, characterized in that: The gravity regulating cabin (6) comprises an outer box (61) and a water storage device (62), a left water pump (63), a right water pump (65), and an ultrasonic module (66) installed in the outer box (61). The water storage device (62) is used for storing water. The water storage device (62) is a rectangular parallelepiped structure formed by connecting a plurality of acrylic plates in sequence. Each adjacent acrylic plate is assembled and sealed by ultraviolet glue. An ultrasonic module (66) is installed on the upper plate of the water storage device (62) for real-time monitoring of the water level in the water storage device (62). The left water pump (63) and the right water pump (65) are respectively connected to the water storage device (62) through a water pipe. One end of the left water pump (63) is connected to the water storage device (62) through the water pipe, and the other end is connected to the external environment through the water pipe. One end of the right water pump (65) is connected to the water storage device (62) through the water pipe, and the other end is connected to the external environment through the water pipe.

9. The underwater robot according to claim 1, characterized in that: A single chip microcomputer, a steering gear drive board and a voltage reduction module are installed in the steering gear control cabin (5).

10. The underwater robot according to claim 1, characterized in that: The shell (1) comprises an upper plate (11), an upper cover (12), a bottom plate (13), a front surrounding structure (14), a rear surrounding structure (16) and two side surrounding structures (15); the upper plate (11) and the upper cover (12) are connected to form a top plate of the shell (1); the top plate, the bottom plate (13), the front surrounding structure (14), the rear surrounding structure (16) and the two side surrounding structures (15) are connected to form a shell (1) having an internal cavity; the upper cover (12) is detachably or coverably mounted on the shell (1).

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