Bionic underwater robot based on electromagnetic drive flexible hinge jet propulsion and motion control method thereof

Abstract

The invention discloses a bionic underwater robot based on electromagnetic drive flexible hinge jet propulsion and a motion control method of the bionic underwater robot, and belongs to the technical field of bionic actuators and robots. The multiple electromagnetic actuators arranged in a matrix mode are sequentially connected to form a hinge structure, every two vertically adjacent electromagnetic actuators are symmetrically arranged, the multiple electromagnetic actuators are all arranged on the rear side of the fairing and connected with the fairing through connecting pieces, and the multiple electromagnetic actuators are independently controlled; the comprehensive phase difference and the reversing time difference of the multiple electromagnetic actuators are controlled through the electromagnetic driving controller, differential propulsion is achieved, and flexible steering and efficient movement are achieved. The overall structure simulates the jellyfish appearance design, the appearance design conforming to the flowing resistance reduction characteristic is adopted, the resistance during movement in water can be effectively reduced, the electromagnetic driver is used for generating power, the annular flexible structure is extruded to enable a fluid medium to be rapidly sprayed out, and efficient underwater propelling of the micro-robot is achieved.

Description

Technical Field

[0001] This invention belongs to the field of biomimetic actuators and robotics, specifically relating to a biomimetic underwater robot based on electromagnetically driven flexible hinge jet propulsion and its motion control method. Background Technology

[0002] Bionic jellyfish-inspired fully flexible underwater robots are a type of robot designed to mimic the movement of jellyfish in water. They propel themselves forward by simulating the pulsed jet motion of jellyfish, a movement method that differs significantly from traditional underwater robots.

[0003] These robots exhibit high levels of innovation and complexity in design and engineering, particularly in dynamics simulation, materials science, and mechatronics. Current underwater robots are capable of relatively complex movements, including forward, backward, turning, hovering, rapid movement, and obstacle avoidance. They hold broad application prospects in military reconnaissance, environmental monitoring, and disaster site search and rescue. With the emergence of biomimetic and flexible materials, and the increasing demand for miniaturization, flexible actuation has become a research hotspot for biomimetic flapping-wing robots. Therefore, there is an urgent need for a biomimetic underwater robot based on electromagnetically driven flexible hinge jet propulsion and its motion control method. Summary of the Invention

[0004] To achieve the above objectives, the present invention adopts the following technical solution: Biomimetic underwater robots based on electromagnetically driven flexible hinge jet propulsion include: Fairing; Multiple electromagnetic actuators are arranged in a matrix, and the multiple electromagnetic actuators are connected in sequence to form a hinge structure. Two adjacent electromagnetic actuators are symmetrically arranged. The multiple electromagnetic actuators are all located on the rear side of the fairing and are connected to the fairing through connectors. The multiple electromagnetic actuators are independently controlled. An electromagnetic drive controller is electrically connected to multiple electromagnetic actuators. The controller controls the combined phase difference, actuation amplitude, and commutation time difference of the multiple electromagnetic actuators to achieve controllable thrust distribution. The multiple electromagnetic actuators combine for differential propulsion to achieve flexible underwater pitching, turning, and movement.

[0005] Furthermore, each of the electromagnetic actuators includes: Upper wing; The lower wing is disposed opposite to the lower side of the upper wing, and the upper wing is connected to the lower wing to form a hollow cavity structure, with the front and rear openings of the cavity forming a fluid channel; The stator is a permanent magnet, which is disposed in the cavity and fixed to the front end of the lower wing by a lower fixing seat assembly; The oscillator is a copper coil, which is disposed in the cavity. The oscillator is fixed to the front end of the upper wing by the upper fixing seat assembly and is correspondingly matched with the stator. The upper and lower wing plates are both FPC flexible circuit boards. The stator and the oscillator repel each other, causing the front end of the cavity to expand and draw in water. Then, the stator and the oscillator attract each other, causing the front end of the cavity to contract, forming a conical nozzle guide structure to assist in guiding the water jet, so as to achieve unidirectional propulsion of the jet.

[0006] Furthermore, the two sides of the upper wing and the lower wing are connected by reinforcing parts, the upper wing and the lower wing are both single-layer polyimide films, and the reinforcing parts are multi-layer polyimide films.

[0007] Furthermore, the lower fixed base assembly in the upper electromagnetic actuator is fixedly connected to the upper fixed base assembly in the electromagnetic actuator adjacent to it below, and the right reinforcing part in the left electromagnetic actuator is fixedly connected to the left reinforcing part in the electromagnetic actuator adjacent to it on its right side.

[0008] Furthermore, the upper fixing seat assembly includes: The upper base is fixedly connected to the middle position of the upper side of the upper wing; The upper base center seat is fixedly connected to the lower side of the upper wing and located at the front end of the upper base, and the vibrator is fixedly connected to the upper base center seat.

[0009] Furthermore, the lower fixing seat assembly includes: The lower base is fixedly connected to the middle position of the lower side of the lower wing; The lower base center seat is fixedly connected to the upper side of the lower wing and located at the front end of the lower base, and the stator is fixedly connected to the lower base center seat.

[0010] Furthermore, the fairing has a hemispherical hollow structure.

[0011] Furthermore, the fairing is integrally 3D printed using TPU tough material.

[0012] Furthermore, the connector includes: The main connection port is connected to the interior of the fairing. Multiple connecting pipes are provided, each corresponding to the electromagnetic actuator. The first end of each connecting pipe is connected to the main connection port, and the second end is connected to the reinforcing part connected to the left and right or the fixed base assembly connected to the top and bottom, respectively.

[0013] A motion control method for a biomimetic underwater robot based on electromagnetically driven flexible hinge jet propulsion, employing any of the aforementioned biomimetic underwater robots based on electromagnetically driven flexible hinge jet propulsion, the motion control method includes the following steps: S1. Taking four electromagnetic actuators as an example, when the robot moves forward, the electric actuators pass voltages with a phase difference of 0 through the copper coils respectively. This makes the four electric actuators synchronously perform periodic pulse motion, draw in a sufficient amount of fluid into the cavity, and then pump it out at the same time. Under the action of the reaction force of the pumped fluid, they move in the opposite direction to the direction of the fluid pumping out. S2. When the robot needs to turn, the electric actuator will perform differentiated control on the electromagnetic actuators on the left and right sides. When the robot needs to change the pitch angle, the electric actuator will perform differentiated control on the electromagnetic actuators on the upper and lower sides. S21. Taking head-up as an example, a voltage with a non-zero phase difference is applied to the copper coil. The voltage phase of the lower electromagnetic actuator is 90° ahead of the upper one, and the voltage amplitude of the upper electromagnetic actuator is reduced to 70% of the voltage amplitude of the lower electromagnetic actuator. This setting causes the upper electromagnetic actuator to lag behind the lower electromagnetic actuator in movement, and the movement amplitude is relatively small. In terms of cavity movement, the cavity of the lower electromagnetic actuator starts to contract and pump out fluid first, while the cavity of the upper electromagnetic actuator is still in the state of sucking in fluid or contracting with a small amplitude. Since the reaction force generated by the lower electromagnetic actuator cavity pumping out fluid is larger, while the reaction force generated by the upper electromagnetic actuator is smaller, the robot will turn under the action of this differential reaction force. S3. When the robot needs to pitch and turn simultaneously, the electric actuator will perform differentiated control on multiple electromagnetic actuators. S31. When turning left and upward, the electrical actuator on the upper left is not energized. The other three actuators are energized with a non-zero phase difference in their copper coils. The voltage phase of the two electromagnetic actuators on the lower left and upper right is 90° ahead of that on the lower right, and the amplitude of the voltage on the lower left and upper right is reduced to 70% of that on the lower right. This setting causes the electromagnetic actuators on the lower left and upper right to lag behind the two electromagnetic actuators on the lower right, and their movement amplitude is relatively small. In terms of cavity movement, the lower right cavity begins to contract and pump out fluid first, while the lower left and upper right cavities are still in the state of sucking in fluid or contracting with a small amplitude. Because the reaction force generated by the pumping out fluid from the lower right cavity is larger, while the reaction force generated by the lower left and upper right cavities is smaller, the robot will simultaneously turn left and lift its head under the action of this differential reaction force.

[0014] Beneficial effects: The overall structure of this invention is designed to mimic the shape of a jellyfish and adopts a shape that conforms to fluid dynamics. This effectively reduces resistance when moving in water, ensuring the robot's efficient movement underwater. It uses an electromagnetic actuator to generate power and squeeze the water to eject at high speed, achieving efficient propulsion.

[0015] This invention draws inspiration from the flexibility of a jellyfish's body and employs flexible hinge technology to ensure coordinated movement between the robot's components, thereby enhancing its flexibility.

[0016] This invention enables turning movements in any direction, left or right, or up or down, by controlling the phase difference of the currents of two pairs of electromagnetic actuators; it also controls the forward distance of a single pulse motion robot by controlling the magnitude of the currents of the two pairs of electromagnetic actuators, and turns by controlling the current difference between the two pairs of electromagnetic actuators; it controls the pulse motion cycle by controlling the current commutation time, thereby controlling the forward speed or rapid start; and it also enables turning movements by controlling the time difference of the current commutation between the two pairs of electromagnetic actuators, which can result in different average thrusts of the two pairs of electromagnetic actuators over a period of time. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of the present invention (isometric view). Figure 2 This is another perspective view of the overall structure of the present invention from an isometric perspective; Figure 3 This is a schematic diagram of the structure of the present invention when the stator and oscillator are far apart from each other; Figure 4 This is a schematic diagram of the structure when the stator and oscillator of the present invention are close to each other; Figure 5 This is a schematic isometric view of a single electromagnetic actuator of the present invention; Figure 6 This is a schematic front view of a single electromagnetic actuator of the present invention.

[0018] Among them, 1. Upper winglet; 2. Lower winglet; 3. Copper coil; 4. Permanent magnet; 5. Upper base; 6. Upper base center seat; 7. Lower base; 8. Lower base center seat; 9. Reinforcing part; 10. Fairing; 11. Main connection port; 12. Connecting pipe. Detailed Implementation

[0019] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0020] This section will describe in detail specific embodiments of the present invention. Preferred embodiments of the present invention are shown in the accompanying drawings. The purpose of the drawings is to supplement the textual description with graphics, so that people can intuitively and vividly understand each technical feature and overall technical solution of the present invention, but they should not be construed as limiting the scope of protection of the present invention.

[0021] In the description of this invention, it should be understood that the orientation descriptions, such as up, down, front, back, left, right, etc., are based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0022] In the description of this invention, "several" means one or more, "more than" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. The use of "first" and "second" in the description is merely for distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0023] In the description of this invention, unless otherwise explicitly defined, terms such as "set up," "install," and "connect" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this invention in conjunction with the specific content of the technical solution.

[0024] Example 1

[0025] refer to Figures 1-6 A biomimetic underwater robot based on electromagnetically driven flexible hinge jet propulsion includes: Fairing 10; Multiple electromagnetic actuators are arranged in a matrix and connected in sequence to form a hinge structure. Two adjacent electromagnetic actuators are symmetrically arranged. All electromagnetic actuators are located on the rear side of the fairing 10 and connected to the fairing 10 through connectors. Each electromagnetic actuator is independently controlled. The electromagnetic drive controller is electrically connected to multiple electromagnetic actuators. By controlling the combined phase difference and commutation time difference, actuation amplitude and commutation time difference of multiple electromagnetic actuators, the electromagnetic drive controller achieves controllable thrust distribution output. Multiple electromagnetic actuators combine for differential propulsion to achieve pitch, turn and rapid movement in water.

[0026] In practice, the electromagnetic drive controller precisely adjusts the working parameters of each jet module according to the arrangement of the electromagnetic actuators and the robot's motion target.

[0027] The overall structure of this invention is designed to mimic the shape of a jellyfish and adopts a shape that conforms to fluid dynamics. This effectively reduces resistance when moving in water, ensuring the robot's efficient movement underwater. It uses an electromagnetic actuator to generate power and squeeze the water to eject at high speed, achieving efficient propulsion.

[0028] This invention draws inspiration from the flexibility of a jellyfish's body and employs flexible hinge technology to ensure coordinated movement between the robot's components, thereby enhancing its flexibility.

[0029] The electromagnetic actuator of this invention provides stable power for jet propulsion, and precisely adjusts the jet intensity and propulsion force by controlling the direction and magnitude of the current.

[0030] The robot of this invention can efficiently simulate the jet propulsion mode of jellyfish and has broad application prospects in underwater exploration, marine environmental monitoring, military reconnaissance and other fields. It has advantages such as high propulsion efficiency, flexible movement and good concealment.

[0031] In practice, flexible hinges can deform under certain external forces and return to their original shape after the force disappears, providing buffering and flexible connection during robot movement, reducing rigid collisions and wear between components.

[0032] In this embodiment, each electromagnetic actuator includes: Upper wing 1; The lower wing 2 is positioned opposite to the lower side of the upper wing 1, and the upper wing 1 and the lower wing 2 are connected to form a hollow cavity structure. The front and rear openings of the cavity form fluid channels. The stator is a permanent magnet 4. The stator is set inside the cavity and fixed to the front end of the lower wing 2 by the lower fixing seat assembly. The oscillator is a copper coil 3. The oscillator is set inside the cavity and is fixed to the front end of the upper wing 1 by the upper fixing seat assembly, and is set to cooperate with the stator. The upper wing 1 and the lower wing 2 are both FPC flexible circuit boards. The stator and the oscillator repel each other, causing the front end of the cavity to expand and draw in water. Then the stator and the oscillator attract each other, causing the front end of the cavity to contract, forming a conical nozzle guide structure to assist in guiding the water jet, so as to achieve unidirectional propulsion of the jet.

[0033] In practice, the copper coil 3 is connected to the upper fixing base assembly by adhesive.

[0034] In this embodiment, the electromagnetically driven opposing blades flap relative to each other, which can more effectively utilize the flapping action to drive the water flow and generate greater thrust.

[0035] In practice, the upper wing 1 and the lower wing 2 can withstand a certain amount of elastic deformation, which can reduce rigid collisions and wear during operation and reduce working noise.

[0036] In practice, the electromagnetic drive device includes a power supply, a host computer, and an electrical driver.

[0037] In practice, the electric driver adjusts the direction, frequency and amplitude of the copper coil current through the PWM signal, so that the oscillator and stator generate periodic attractive and repulsive forces, driving the cavity to reciprocate and compress at a frequency of 10-50Hz.

[0038] In practice, the electromagnetic drive device provides stable power to the actuator. By changing the direction and magnitude of the current flowing through the copper coil, it controls the interaction between the oscillator and the stator, thereby generating power outputs of different intensities and frequencies.

[0039] In practice, by controlling the current commutation time, the size of the pulse motion cycle can be controlled, thereby controlling the forward speed or rapid start.

[0040] In practice, the actuator can be started and its forward speed controlled by controlling the current amplitude and the commutation time difference.

[0041] In this embodiment, the two sides of the upper wing 1 and the lower wing 2 are connected by the reinforcing part 9. Both the upper wing 1 and the lower wing 2 are single-layer polyimide films, and the reinforcing part 9 is a multi-layer polyimide film.

[0042] In practical implementation, a single-layer polyimide film serves as the basic structural layer of the flexible joint. Thanks to its excellent flexibility and bendability, it can withstand repeated bending deformations during operation without cracking. Its thickness is controlled at approximately 0.03 mm. Multilayer polyimide reinforcing materials are used in actuators where rigidity is required, such as at the connection with the blades; these are tightly bonded to the single-layer polyimide film through a hot-pressing process. Simultaneously, by utilizing the ability to deposit metal on polyimide, metal patterns can be selectively deposited onto the film to enhance its strength against strain in a specific direction.

[0043] In practice, flexible joints are used to improve the flexibility of the winglet deformation.

[0044] In this embodiment, the lower fixed base assembly in the upper electromagnetic actuator is fixedly connected to the upper fixed base assembly in the electromagnetic actuator adjacent to it below, and the right reinforcing part in the left electromagnetic actuator is fixedly connected to the left reinforcing part in the electromagnetic actuator adjacent to it on its right side.

[0045] In this embodiment, the upper fixing base assembly includes: Upper base 5 is fixedly connected to the middle position of the upper side of the upper wing 1; The upper base center seat 6 is fixedly connected to the lower side of the upper wing 1 and located at the front end of the upper base 5. The vibrator is fixedly connected to the upper base center seat 6.

[0046] Preferably, the upper base 5 is made of polyimide, and the upper base center seat 6 is made of PETG.

[0047] In practice, the vibrator is bonded to the center seat 6 of the upper base, the upper base 5 is bonded to the center seat 6 of the upper base, and the upper base 5 is bonded to the upper wing 1 with adhesive.

[0048] Preferably, the adhesive is epoxy resin glue, which is used to bond the two together to ensure that they will not separate during high-frequency vibration.

[0049] In this embodiment, after the copper coil 3 is shaped by molding resin, it is connected to the center seat 6 of the upper base by adhesive.

[0050] Preferably, the copper coil (2.5mm inner diameter, 400 turns) is heat-cured at 80℃ for 2 hours and then bonded to the center seat 6 of the upper base with epoxy resin adhesive.

[0051] In practice, the copper coil 3 is bonded to the center seat 6 of the upper base, the upper base 5 is bonded to the center seat 6 of the upper base, and the upper base 5 is bonded to the upper wing piece 1 with adhesive.

[0052] In practice, 0.1mm enameled copper wire is wrapped around a ring-shaped base 3D printed from PETG material using epoxy resin. After the epoxy resin has fully cured, the ring-shaped base, which serves as the molding tool, is removed by heating.

[0053] In this embodiment, the stator is a permanent magnet 4, which is fixedly connected to the lower fixed base assembly and is correspondingly matched with the copper coil 3.

[0054] Preferably, the outer diameter of the permanent magnet 4 is 0.4 mm smaller than the inner diameter of the copper coil 3.

[0055] In practice, the permanent magnet 4 and the copper coil 3 are placed concentrically opposite each other. The diameter of the permanent magnet 4 is slightly smaller than that of the copper coil. This increases the magnetic induction intensity passing through the copper coil 3 during operation, thereby increasing the amplitude. Furthermore, the permanent magnet 4 does not make physical contact with the copper coil 3, thus avoiding energy loss.

[0056] In practice, when the current in the copper coil periodically reverses direction, the actuating mechanism generates a periodic attraction and repulsion effect, thereby achieving periodic propulsion.

[0057] In this embodiment, the lower fixing seat assembly includes: The lower base 7 is fixedly connected to the middle position of the lower side of the lower wing 2; The lower base center seat 8 is fixedly connected to the upper side of the lower wing 2 and located at the front end of the lower base 7. The stator is fixedly connected to the lower base center seat 8.

[0058] Preferably, the material of the lower base 7 is polyimide, and the material of the lower base center seat 8 is PETG.

[0059] In this embodiment, the permanent magnet 4 is connected to the lower base center seat 8, the lower base 7 is connected to the lower base center seat 8, and the lower base 7 is connected to the lower wing 2 by adhesive.

[0060] Preferably, the adhesive is epoxy resin glue, which is used to bond the two together to ensure that they will not separate during high-frequency vibration.

[0061] Preferably, the stator is an N52 neodymium iron boron permanent magnet (diameter D=2mm, height H=5mm), which is vertically fixed to the center of the lower base center seat 8 by epoxy resin adhesive (curing conditions: room temperature 24h).

[0062] In this embodiment, the fairing 10 has a hemispherical hollow structure.

[0063] In this embodiment, the fairing 10 is integrally 3D printed using TPU tough material.

[0064] In this embodiment, the connector includes: Main connection port 11, the main connection port 11 is connected to the inside of the fairing 10; Multiple connecting pipes 12 are provided, corresponding to the electromagnetic actuator. The first end of each connecting pipe 12 is connected to the main connection port 11, and the second end is connected to the left and right reinforcing parts or the upper and lower fixed base assembly, respectively.

[0065] Preferably, the material of the connecting tube is TPU.

[0066] In practice, the fairing 10 is arranged at the front of the overall body to reduce the resistance encountered by the body when moving forward. The TPU material used is an ultra-thin wall 3D printed structure with strong toughness and good elasticity, which can reduce resistance in water. It is bonded to the base and reinforcement of the main body with epoxy resin.

[0067] Working principle: In nature, jellyfish pulsately compress water after absorbing it through their umbrella-shaped cavity, and then eject the water backward through the nozzle, generating forward thrust. They propel themselves forward in a pulsating manner during the water absorption-ejection cycle.

[0068] This invention, by mimicking the shape of a jellyfish and adopting a design that conforms to fluid dynamics, can effectively reduce resistance when moving in water, ensuring the robot's efficient movement underwater.

[0069] In practice, an electromagnetic drive is used to generate a pulse commutation current to make the actuating mechanism vibrate, which in turn drives the body cavity to squeeze. The electromagnetic actuating mechanism is placed at the front of the cavity. When squeezing, the front end of the cavity contracts first to form a cone, which squeezes the water in the cavity backward to achieve forward movement. Preferably, the robot consists of four electromagnetic actuators symmetrically connected in parallel, vertically and horizontally, in a stationary state. Each of the four actuators is controlled independently. By controlling the phase difference of the current in two pairs of actuators, turning in any direction (left, right, up, or down) can be achieved. By controlling the magnitude of the current in two pairs of actuators, the forward distance of a single pulse motion robot can be controlled. By controlling the current difference between the two pairs of actuators, turning can be achieved. By controlling the current commutation time, the pulse motion cycle can be controlled, thereby controlling the forward speed or rapid start. By controlling the time difference of the current commutation between the two pairs of actuators, the average thrust of the two pairs of actuators can be different over a period of time, achieving turning. It is also possible to control any three thrusters to achieve simultaneous changes in direction and pitch. The method of combining phase difference and commutation time difference enables various maneuvering actions.

[0070] Compared to traditional biomimetic underwater robots, this invention uses two pairs of electromagnetic actuators, which can more effectively utilize vibration to drive water flow, generating greater thrust and more flexible movements. At the same time, the flapping wing mechanism built with flexible hinges has advantages in terms of size and friction loss.

[0071] Example 2

[0072] This embodiment provides a motion control method for a biomimetic underwater robot based on electromagnetically driven flexible hinge jet propulsion. Using the biomimetic underwater robot based on electromagnetically driven flexible hinge jet propulsion from Embodiment 1, the motion control method includes the following steps: S1. Taking four electromagnetic actuators as an example, when the robot moves forward, the electric actuators pass voltages with a phase difference of 0 through the copper coils respectively. This makes the four electric actuators synchronously perform periodic pulse motion, draw in a sufficient amount of fluid into the cavity, and then pump it out at the same time. Under the action of the reaction force of the pumped fluid, they move in the opposite direction to the direction of the fluid pumping out. S2. When the robot needs to turn, the electric actuator will perform differentiated control on the electromagnetic actuators on the left and right sides. When the robot needs to change the pitch angle, the electric actuator will perform differentiated control on the electromagnetic actuators on the upper and lower sides. S21. Taking head-up as an example, a voltage with a non-zero phase difference will be applied to the copper coil 3. The voltage phase of the lower electromagnetic actuator is 90° ahead of the upper one, and the voltage amplitude of the upper electromagnetic actuator will be reduced to 70% of the voltage amplitude of the lower electromagnetic actuator. This setting makes the movement of the upper electromagnetic actuator lag behind that of the lower electromagnetic actuator, and the movement amplitude is relatively small. In terms of cavity movement, the cavity of the lower electromagnetic actuator starts to contract and pump out fluid first, while the cavity of the upper electromagnetic actuator is still in the state of sucking in fluid or contracting with a small amplitude. Since the reaction force generated by the pumping out of fluid by the lower electromagnetic actuator cavity is larger, while the reaction force generated by the upper electromagnetic actuator is smaller, the robot will turn under the action of this differential reaction force. S3. When the robot needs to pitch and turn simultaneously, the electric actuator will perform differentiated control on multiple electromagnetic actuators. S31. When turning left and upward, the upper left electric actuator does not apply voltage, while the other three will pass a voltage with a non-zero phase difference through copper coil 3. The voltage phase of the two electromagnetic actuators on the lower left and upper right sides is 90° ahead of the lower right side, and the amplitude of the voltage on the lower left and upper right sides will be reduced to 70% of the amplitude of the voltage on the lower right side. This setting makes the movement of the electromagnetic actuators on the lower left and upper right sides lag behind the two electromagnetic actuators on the lower right side, and the movement amplitude is relatively small. In terms of cavity movement, the lower right cavity starts to contract and pump out fluid first, while the lower left and upper right cavities are still in the state of sucking in fluid or contracting with a small amplitude. Since the reaction force generated by the pumping out fluid by the lower right cavity is larger, while the reaction force generated by the lower left and upper right cavities is smaller, the robot will simultaneously turn left and lift its head under the action of this differential reaction force.

[0073] The above description is merely a preferred embodiment of the present invention and does not constitute any limitation on the technical scope of the present invention. Therefore, any minor modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of the present invention shall still fall within the scope of the technical solution of the present invention.

Claims

1. A biomimetic underwater robot based on electromagnetically driven flexible hinge jet propulsion, characterized in that, include: Fairing; Multiple electromagnetic actuators are arranged in a matrix, and the multiple electromagnetic actuators are connected in sequence to form a hinge structure. Two adjacent electromagnetic actuators are symmetrically arranged. The multiple electromagnetic actuators are all located on the rear side of the fairing and are connected to the fairing through connectors. The multiple electromagnetic actuators are independently controlled. An electromagnetic drive controller is electrically connected to multiple electromagnetic actuators. The controller controls the combined phase difference, actuation amplitude, and commutation time difference of the multiple electromagnetic actuators to achieve controllable thrust distribution. The multiple electromagnetic actuators combine for differential propulsion to achieve flexible underwater pitching, turning, and movement.

2. The biomimetic underwater robot based on electromagnetically driven flexible hinge jet propulsion according to claim 1, characterized in that, Each of the electromagnetic actuators includes: Upper wing; The lower wing is disposed opposite to the lower side of the upper wing, and the upper wing is connected to the lower wing to form a hollow cavity structure, with the front and rear openings of the cavity forming a fluid channel; The stator is a permanent magnet, which is disposed in the cavity and fixed to the front end of the lower wing by a lower fixing seat assembly; The oscillator is a copper coil, which is disposed in the cavity. The oscillator is fixed to the front end of the upper wing by the upper fixing seat assembly and is correspondingly matched with the stator. The upper and lower wing plates are both FPC flexible circuit boards. The stator and the oscillator repel each other, causing the front end of the cavity to expand and draw in water. Then, the stator and the oscillator attract each other, causing the front end of the cavity to contract, forming a conical nozzle guide structure to assist in guiding the water jet, so as to achieve unidirectional propulsion of the jet.

3. The biomimetic underwater robot based on electromagnetically driven flexible hinge jet propulsion according to claim 2, characterized in that, The upper wing and the lower wing are connected by reinforcing parts on both sides. Both the upper wing and the lower wing are single-layer polyimide films, and the reinforcing parts are multi-layer polyimide films.

4. The biomimetic underwater robot based on electromagnetically driven flexible hinge jet propulsion according to claim 3, characterized in that, The lower fixed base assembly in the upper electromagnetic actuator is fixedly connected to the upper fixed base assembly in the electromagnetic actuator adjacent to it below, and is fixedly connected to the right reinforcing part in the left electromagnetic actuator and the left reinforcing part in the electromagnetic actuator adjacent to it on its right side.

5. The biomimetic underwater robot based on electromagnetically driven flexible hinge jet propulsion according to claim 2, characterized in that, The upper fixing base assembly includes: The upper base is fixedly connected to the middle position of the upper side of the upper wing; The upper base center seat is fixedly connected to the lower side of the upper wing and located at the front end of the upper base, and the vibrator is fixedly connected to the upper base center seat.

6. The biomimetic underwater robot based on electromagnetically driven flexible hinge jet propulsion according to claim 2, characterized in that, The lower fixing seat assembly includes: The lower base is fixedly connected to the middle position of the lower side of the lower wing; The lower base center seat is fixedly connected to the upper side of the lower wing and located at the front end of the lower base, and the stator is fixedly connected to the lower base center seat.

7. The biomimetic underwater robot based on electromagnetically driven flexible hinge jet propulsion according to claim 1, characterized in that, The fairing has a hemispherical hollow structure.

8. The biomimetic underwater robot based on electromagnetically driven flexible hinge jet propulsion according to claim 7, characterized in that, The fairing is made of TPU tough material and is 3D printed in one piece.

9. The biomimetic underwater robot based on electromagnetically driven flexible hinge jet propulsion according to claim 1, characterized in that, The connector includes: The main connection port is connected to the interior of the fairing. Multiple connecting pipes are provided, each corresponding to the electromagnetic actuator. The first end of each connecting pipe is connected to the main connection port, and the second end is connected to the reinforcing part connected to the left and right or the fixed base assembly connected to the top and bottom, respectively.

10. A motion control method for a biomimetic underwater robot based on electromagnetically driven flexible hinge jet propulsion, characterized in that, The motion control method of the biomimetic underwater robot based on electromagnetically driven flexible hinge jet propulsion as described in any one of claims 1 to 9 includes the following steps: S1. Taking four electromagnetic actuators as an example, when the robot moves forward, the electric actuators pass voltages with a phase difference of 0 through the copper coils respectively. This makes the four electric actuators synchronously perform periodic pulse motion, draw in a sufficient amount of fluid into the cavity, and then pump it out at the same time. Under the action of the reaction force of the pumped fluid, they move in the opposite direction to the direction of the fluid pumping out. S2. When the robot needs to turn, the electric actuator will perform differentiated control on the electromagnetic actuators on the left and right sides. When the robot needs to change the pitch angle, the electric actuator will perform differentiated control on the electromagnetic actuators on the upper and lower sides. S21. Taking head-up as an example, a voltage with a non-zero phase difference is applied to the copper coil. The voltage phase of the lower electromagnetic actuator is 90° ahead of the upper one, and the voltage amplitude of the upper electromagnetic actuator is reduced to 70% of the voltage amplitude of the lower electromagnetic actuator. This setting causes the upper electromagnetic actuator to lag behind the lower electromagnetic actuator in movement, and the movement amplitude is relatively small. In terms of cavity movement, the cavity of the lower electromagnetic actuator starts to contract and pump out fluid first, while the cavity of the upper electromagnetic actuator is still in the state of sucking in fluid or contracting with a small amplitude. Since the reaction force generated by the lower electromagnetic actuator cavity pumping out fluid is larger, while the reaction force generated by the upper electromagnetic actuator is smaller, the robot will turn under the action of this differential reaction force. S3. When the robot needs to pitch and turn simultaneously, the electric actuator will perform differentiated control on multiple electromagnetic actuators. S31. When turning left and upward, the electrical actuator on the upper left is not energized. The other three actuators are energized with a non-zero phase difference in their copper coils. The voltage phase of the two electromagnetic actuators on the lower left and upper right is 90° ahead of that on the lower right, and the amplitude of the voltage on the lower left and upper right is reduced to 70% of that on the lower right. This setting causes the electromagnetic actuators on the lower left and upper right to lag behind the two electromagnetic actuators on the lower right, and their movement amplitude is relatively small. In terms of cavity movement, the lower right cavity begins to contract and pump out fluid first, while the lower left and upper right cavities are still in the state of sucking in fluid or contracting with a small amplitude. Because the reaction force generated by the pumping out fluid from the lower right cavity is larger, while the reaction force generated by the lower left and upper right cavities is smaller, the robot will simultaneously turn left and lift its head under the action of this differential reaction force.

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