A bionic manta ray robot based on a sinusoidal oscillating fin structure

Abstract

The present invention provides a bionic manta ray robot based on a sinusoidal oscillating wave fin structure, comprising: a body unit; a fin unit, comprising two wave fin assemblies respectively connected to both sides of a main body plate; a sinking and floating unit, located in the shell and installed above the main body plate, the sinking and floating unit comprising a center of gravity adjustment mechanism and a first driving device driving the center of gravity adjustment mechanism to operate; wherein the wave fin assembly comprises a plurality of second driving devices, a plurality of flexible rods and a flexible skeleton, the plurality of second driving devices are installed at intervals along the direction from the head end to the tail end of the shell, and the plurality of flexible rods are respectively connected to the plurality of second driving devices. The present invention moves by means of the propulsion force generated by the wave fin assembly, and controls the sinking and floating of the present invention by the sinking and floating unit, so that the present invention has the advantages of high movement efficiency, good maneuverability, strong stability and anti-interference ability, and low environmental disturbance, and can complete underwater detection, underwater shooting and other tasks at a low speed.

Description

Technical Field

[0001] The invention belongs to the technical field of bionic robots and relates to an underwater robot, in particular to a bionic manta ray robot based on a sinusoidal oscillating wave fin structure. Background Art

[0002] More than 70% of the earth's surface is covered by water, and a large part of it is still not understood and developed by humans. Therefore, the development of underwater robots has long been valued by various countries, so in-depth research on the basic theory and key technologies of underwater robots has very important practical significance and application value.

[0003] Bionics is an important subject in the field of scientific research. Its purpose is to learn and imitate the structure and movement process of organisms, thereby obtaining the advantages of the organism's mechanics or dynamics and designing bionic mechanical structures with similar characteristics to the organism. Among them, due to the unique adaptability of fish in the ocean and waters, fish bionic robots have gradually become an important part of underwater bionic robots. Through the study of fish bionics, the special structure evolved over millions of years is simulated, so that robots with underwater adaptability can be designed to facilitate the completion of underwater tasks.

[0004] The underwater robots currently on the market are mainly divided into two types: fixed-point sonar radar robots and BCF (Body and / or Caudal Fin propulsion) propulsion mode fish-shaped robots. In actual work, fixed-point sonar radar robots mainly rely on ultrasonic waves for detection, and ultrasonic detection will seriously reduce the success rate of predation of many fish and affect the reproduction rate of fish, thereby damaging the marine ecological environment and reducing its effectiveness.

[0005] The fish-like robot with BCF propulsion mode pushes water behind it by vortex by moving or swinging part of its body and tail fin, and then uses the reaction force of water to realize the forward movement of the fish body, so that it has higher swimming efficiency at high speed and good acceleration and starting performance. However, the fish-like robot with BCF propulsion mode has limitations such as low sensitivity in posture adjustment, floating, sinking, and steering, and slow response at low speed. Summary of the invention

[0006] The present invention is made to solve the above-mentioned problem, and its purpose is to provide a bionic manta ray robot based on a sinusoidal oscillating wave fin structure.

[0007] The present invention provides a bionic manta ray robot based on a sinusoidal oscillating wave fin structure, which has the following characteristics: a body unit, comprising an outer shell and a main body plate installed in the outer shell; a fin unit, comprising two wave fin assemblies respectively connected to both sides of the main body plate; a sinking and floating unit, located in the outer shell and installed above the main body plate, the sinking and floating unit comprising a center of gravity adjustment mechanism and a first driving device driving the center of gravity adjustment mechanism to operate; wherein the wave fin assembly comprises a plurality of second driving devices, a plurality of flexible rods and a flexible skeleton, the plurality of second driving devices are installed at intervals in the direction from the head end to the tail end of the outer shell, the output shafts of the plurality of second driving devices are coaxial or parallel, the plurality of flexible rods are respectively connected to the plurality of second driving devices, and the flexible skeleton is fin-shaped and sleeved on the plurality of flexible rods.

[0008] Furthermore, the plurality of second driving devices drive the corresponding flexible rods to perform asynchronous reciprocating swings.

[0009] Furthermore, the flexible skeleton includes multiple layers of flexible bone sheets, and the multiple layers of flexible bone sheets are sleeved on multiple flexible rods at intervals.

[0010] Furthermore, each flexible rod is perpendicular to the output shaft of the corresponding second driving device.

[0011] In the bionic manta ray robot based on the sinusoidal oscillating wave fin structure provided by the present invention, it can also have the following characteristics: the wave fin assembly also includes a mounting plate, the mounting plate is connected to the main body plate through a planetary gear mechanism, and a plurality of second drive devices are installed on the mounting plate.

[0012] In the bionic manta ray robot based on the sinusoidal oscillating wave fin structure provided by the present invention, it can also have the following characteristics: a waterproof flexible surface material is provided at the connection between the wave fin assembly and the main body plate; the wave fin assembly also includes a waterproof flexible sleeve mounted on the flexible skeleton.

[0013] In the bionic manta ray robot based on the sinusoidal oscillating wave fin structure provided by the present invention, it can also have the following feature: the fin unit also includes a tail fin connected to the tail end of the shell.

[0014] In the bionic manta ray robot based on the sinusoidal oscillating wave fin structure provided by the present invention, it can also have the following characteristics: the center of gravity adjustment mechanism includes a guide rod and an adjustment block, the guide rod is arranged on the main body plate along the direction from the head end of the shell toward the tail end of the shell, the guide rod is connected to the first driving device, the adjustment block is arranged on the guide rod, and the first driving device drives the guide rod to move the adjustment block along the guide rod.

[0015] In the bionic manta ray robot based on the sinusoidal oscillating wave fin structure provided by the present invention, it can also have the following characteristics: the bionic manta ray robot based on the sinusoidal oscillating wave fin structure also includes: a control unit, located in the shell and installed above the main body plate, controlling the operation of the first drive device and multiple second drive devices; the multiple second drive devices of each oscillating fin assembly drive the corresponding flexible rod, so that the movement posture of the flexible skeleton in the direction from the head end to the tail end of the shell is in the shape of a sine curve.

[0016] Furthermore, the control unit transmits the sinusoidal wave signals with different initial phases to the plurality of second driving devices respectively, so that the plurality of second driving devices drive the corresponding flexible rods to swing back and forth.

[0017] In the bionic manta ray robot based on the sinusoidal oscillating wave fin structure provided by the present invention, it can also have the following characteristics: the bionic manta ray robot based on the sinusoidal oscillating wave fin structure also includes: a lifting unit, including a third driving device installed above the main body plate, a lifting plate arranged below the main body plate, and a transmission mechanism connected to the third driving device and the lifting plate; a moving unit, installed below the main body plate, the moving unit is connected to the lifting plate and is used to drive the body unit to move; and a control unit controls the third driving device and the moving unit to work.

[0018] Furthermore, the transmission mechanism includes a transmission rod, a connecting rod and a limit plate, one end of the transmission rod is connected to the third driving device, the other end of the transmission rod is connected to the limit plate, one end of the connecting rod is connected to the limit plate, the other end of the connecting rod passes through the main body plate and is connected to the lifting plate, and the limit plate is arranged in the outer shell and is located above the main body plate.

[0019] Furthermore, the moving unit includes a crawler moving mechanism, which is connected to the lifting plate and is located below the main body plate.

[0020] Furthermore, a baffle is provided at the bottom of the housing for the mobile unit to enter and exit.

[0021] Functions and Effects of the Invention

[0022] According to the bionic manta ray robot based on the sinusoidal swing wave fin structure involved in the present invention, the second driving device in the wave fin assembly connected to both sides of the main body plate in the fin unit can drive the flexible rod to drive the flexible skeleton to swing, thereby driving the shell to move. Among them, the flexible skeleton is fin-shaped and can drive the shell to move more stably. At the same time, the sinking and floating unit can control the shell unit to sink and float.

[0023] In summary, the present invention generates propulsion force by means of the movement of the wave fin assembly to drive the movement of the hull unit, and the present invention controls the sinking and buoyancy of the hull unit through the sinking and buoyancy unit, so that the present invention has the advantages of high motion efficiency, good maneuverability, strong stability and anti-interference ability, and small environmental disturbance, and can complete underwater detection, underwater photography and other tasks at a low speed. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 is a schematic structural diagram of a bionic manta ray robot based on a sinusoidal oscillating wave fin structure in an embodiment of the present invention;

[0025] Figure 2 is a partial cross-sectional view of a bionic manta ray robot based on a sinusoidal oscillating wave fin structure in an embodiment of the present invention;

[0026] Figure 3 is an exploded view of a shell unit and its interior in an embodiment of the present invention;

[0027] Figure 4 is a schematic diagram of the structure inside the shell unit in an embodiment of the present invention;

[0028] Figure 5 is a schematic diagram of the structure above the main body plate in an embodiment of the present invention;

[0029] Figure 6 is a schematic structural diagram of a wave fin assembly in an embodiment of the present invention;

[0030] Figure 7 is an exploded view of an undulating fin assembly in an embodiment of the present invention.

[0031] 10. Shell unit; 11. Shell; 111. Baffle; 12. Main body plate; 20. Sinking and floating unit; 21. First driving device; 22. Center of gravity adjustment mechanism; 221. Guide rod; 222. Adjustment block; 30. Fin unit; 31. Wave fin assembly; 311. Second driving device; 312. Flexible rod; 313. Flexible skeleton; 3131. Flexible bone piece; 314. Mounting plate; 3141. Planetary gear mechanism; 32. Tail fin; 40. Lifting unit; 41. Third driving device; 42. Transmission mechanism; 421. Transmission rod; 422. Connecting rod; 423. Limiting plate; 43. Lifting plate; 50. Moving unit; 51. Track moving mechanism. DETAILED DESCRIPTION

[0032] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is specifically described in the following embodiments in conjunction with the accompanying drawings.

[0033] Example

[0034] Figure 1is a schematic diagram of the structure of a bionic manta ray robot based on a sinusoidal oscillating wave fin structure in an embodiment of the present invention, Figure 2 It is a partial cross-sectional view of a bionic manta ray robot based on a sinusoidal oscillating wave fin structure in an embodiment of the present invention.

[0035] like Figure 1 and Figure 2 As shown, this embodiment provides a bionic manta ray robot based on a sinusoidal oscillating wave fin structure, including: a body unit 10, a sinking and floating unit 20 arranged in the body unit 10, a fin unit 30 connected to the body unit 10, a lifting unit 40 arranged in the body unit 10, and a moving unit 50 arranged in the body unit 10 and connected to the lifting unit 40.

[0036] Figure 3 is an exploded view of a shell unit and its interior in an embodiment of the present invention, Figure 4 is a schematic diagram of the structure inside the shell unit in an embodiment of the present invention, Figure 5 It is a schematic diagram of the structure above the main body plate in an embodiment of the present invention.

[0037] like Figures 3 to 5 As shown, the housing unit 10 includes a housing 11 and a main body plate 12 installed in the housing 11.

[0038] A baffle 111 is provided at the bottom of the housing 11 for the mobile unit 50 to enter and exit.

[0039] In this embodiment, the present invention is provided with a main body plate 12 in the housing 11, so that when the baffle plate 111 at the bottom of the housing 11 is opened and water flows into the housing 11, it will not affect the operation of the first drive device 21 and the third drive device 41 inside the housing 11, thereby improving the stability of the present invention during operation. And when water enters below the main body plate 12 in the housing 11, due to the internal air pressure below the main body plate 12 and the crawler moving mechanism 51 of the present invention, the present invention can ensure the overall level of the present invention when the crawler moving mechanism 51 is retracted and extended.

[0040] The sinking and floating unit 20 includes a gravity center adjustment mechanism 22 and a first driving device 21 for driving the gravity center adjustment mechanism 22 .

[0041] The center of gravity adjustment mechanism 22 may be a screw slider mechanism, a guide rail slider mechanism, or other mechanisms capable of adjusting the center of gravity thereof.

[0042] In this embodiment, the center of gravity adjustment mechanism 22 includes a guide rod 221 and an adjustment block 222. The guide rod 221 is connected to the first drive device 21, and the adjustment block 222 is arranged on the guide rod 221. When the present invention needs to float or dive, the first drive device 21 drives the guide rod 221 to rotate, so that the adjustment block 222 moves on the guide rod 221, thereby changing the center of gravity position of the shell unit 10 as a whole; when the center of gravity of the shell unit 10 as a whole is forward (or backward), the motion state of the present invention will change from balance to forward tilt (or backward tilt), so that the power generated by the wave fin assembly 31 changes from a horizontal vector to a space vector, so that the present invention can achieve floating and diving.

[0043] The fin unit 30 includes two wave fin components 31 respectively connected to the two sides of the main body plate 12 and a tail fin 32 connected to the tail end of the shell 11.

[0044] In this embodiment, the tail fin 32 can balance the body unit 10 during the movement of the present invention, thereby making the present invention more stable during the movement.

[0045] The lifting unit 40 includes a third driving device 41 installed above the main body plate 12, a lifting plate 43 provided below the main body plate 12, and a transmission mechanism 42 connected to the third driving device 41 and the lifting plate 43, and the moving unit 50 includes a crawler moving mechanism 51.

[0046] The moving unit 50 may be a track moving mechanism 51, a wheel moving mechanism or other mechanisms capable of achieving planar motion on a plane.

[0047] In this embodiment, the moving unit 50 is preferably a track moving mechanism 51, so that the present invention can move more smoothly when switching between moving in water and moving on land.

[0048] In this embodiment, the transmission mechanism 42 includes a transmission rod 421, a connecting rod 422 and a limit plate 423. Among them, one end of the transmission rod 421 is connected to the third driving device 41, the other end of the transmission rod 421 is connected to the limit plate 423, one end of the connecting rod 422 is connected to the limit plate 423, and the other end of the connecting rod 422 penetrates the main body plate 12 and is connected to the lifting plate 43. When the lifting unit 40 in the present invention controls the moving unit 50 to be lifted, first, the third driving device 41 drives the transmission rod 421 to move upward (or downward). Since the transmission rod 421 is connected to the limit plate 423, the transmission rod 421 drives the limit plate 423 to rise (or fall) as a whole. Then, the limit plate 423 drives the lifting plate 43 to rise (or fall) through the connecting rod 422, so that the crawler moving mechanism 51 connected to the connecting plate rises (or falls). When the track moving mechanism 51 descends, the baffle 111 provided at the bottom of the outer shell 11 opens, allowing the track moving mechanism 51 to move to the outside of the outer shell 11; when the track moving mechanism 51 ascends, that is, the track moving mechanism 51 moves to the inside of the outer shell 11, the baffle 111 provided at the bottom of the outer shell 11 is closed.

[0049] Figure 6 is a schematic diagram of the structure of the undulating fin assembly 31 in an embodiment of the present invention, Figure 7 is an exploded view of the undulating fin assembly 31 in an embodiment of the present invention.

[0050] like Figure 6 and Figure 7 As shown, the wave fin assembly 31 includes a plurality of second drive devices 311, a plurality of flexible rods 312, a flexible skeleton 313, a waterproof flexible sleeve and a mounting plate 314. The plurality of second drive devices 311 are installed at intervals along the direction from the head end to the tail end of the housing 11, the output shafts of the plurality of second drive devices 311 are coaxial or parallel, the plurality of flexible rods 312 are respectively connected to the plurality of second drive devices 311, the flexible skeleton 313 is fin-shaped, sleeved on the plurality of flexible rods 312, and the waterproof flexible sleeve is sleeved on the flexible skeleton 313.

[0051] The plurality of second driving devices 311 drive the corresponding flexible rods 312 to swing back and forth asynchronously; the flexible skeleton 313 includes a plurality of flexible bone pieces 3131 , and the plurality of flexible bone pieces 3131 are sleeved on the plurality of flexible rods 312 at intervals.

[0052] In addition, the bionic manta ray robot based on the sinusoidal oscillating wave fin structure also includes a control unit (not shown in the figure), which can be located in the shell 11 and installed above the main body plate 12. The control unit controls the operation of the first drive device 21, multiple second drive devices 311, the lifting unit 40 and the moving unit 50.

[0053] In this embodiment, when the undulating fin assembly 31 of the present invention moves, the control unit transmits sinusoidal signals with different initial phases to multiple second drive devices 311 respectively, so that the multiple second drive devices 311 drive the corresponding flexible rods 312 to swing back and forth, and then the flexible rods 312 drive the flexible skeleton 313 to swing, so that the undulating fin assembly 31 performs a sinusoidal wave motion from the head to the tail. In addition, since the flexible skeleton 313 is composed of multiple layers of flexible bone pieces 3131 and the multiple layers of flexible bone pieces 3131 are spaced on multiple flexible rods 312, the flexible rods 312 will bend when moving under the resistance of water, causing the root of the undulating fin assembly 31 to move faster than the tip, that is, a sine wave-like motion will also be generated along the axis of the flexible rod 312. The undulating fin assembly 31 has a smaller resistance and higher motion efficiency during the motion process through the superposition of two mutually perpendicular sinusoidal motions.

[0054] In this embodiment, the present invention provides a waterproof flexible surface material at the connection between the mounting plate 314 and the main body plate 12, so as to achieve good sealing of the shell unit 10 without affecting the movement of the wave fin assembly 31.

[0055] In this embodiment, the fin unit 30 of the present invention also includes a waterproof flexible sleeve mounted on the flexible skeleton 313, so that when the undulating fin assembly 31 is swinging, the multi-layer flexible bone sheet 3131 can move as a whole, while increasing the resistance of the water flow to the flexible skeleton 313, so that the undulating fin assembly 31 can move in a sinusoidal motion, thereby improving the movement efficiency of the undulating fin assembly 31.

[0056] In this embodiment, the mounting plate 314 is connected to the main body plate 12 through a planetary gear mechanism 3141, and the planetary gear mechanism 3141 is connected to the second driving device 311. The second driving device 311 drives the planetary gear mechanism 3141 to rotate, thereby realizing the rotation of the wave fin assembly 31, thereby increasing the freedom of movement of the wave fin assembly 31, and further enhancing (or weakening) the sinusoidal movement of the wave fin assembly 31 from the head to the tail, adjusting the overall movement posture of the wave fin assembly 31, and assisting the movement of the sinking and floating unit 20. At the same time, the flexible rod 312 can directly receive force instead of the second driving device 311, thereby improving the movement accuracy and service life of the second driving device 311.

[0057] Functions and Effects of the Embodiments

[0058] According to the bionic manta ray robot based on the sinusoidal oscillating wave fin structure involved in this embodiment, the use of the center of gravity adjustment mechanism makes it possible to change the center of gravity position of the entire body unit. When the center of gravity of the entire body unit is forward (or backward), the movement state of the present invention will change from balance to forward tilt (or backward tilt), so that the power generated by the wave fin assembly is changed from a horizontal vector to a space vector, so that the present invention can achieve floating and diving.

[0059] According to the bionic manta ray robot based on the sinusoidal oscillating wave fin structure involved in this embodiment, due to the use of the lifting unit and the moving unit, the present invention can move in water and on land, thereby expanding the working range of the present invention and increasing the working coverage area.

[0060] According to the bionic manta ray robot based on the sinusoidal oscillating wave fin structure involved in this embodiment, because the moving unit is preferably a track moving mechanism, the present invention can move more smoothly when switching between movement in water and movement on land.

[0061] According to the bionic manta ray robot based on the sinusoidal oscillating wave fin structure involved in this embodiment, the control unit transmits sinusoidal wave signals with different initial phases to multiple second driving devices respectively, so that the multiple second driving devices drive the corresponding flexible rods to swing back and forth, and then the flexible rods drive the flexible skeleton to swing, so that the oscillating fin assembly performs a sinusoidal wave motion from head to tail.

[0062] According to the bionic manta ray robot based on the sinusoidal oscillating wave fin structure involved in this embodiment, because the fin unit also includes a tail fin, due to the passive flexibility of the tail fin itself, the tail fin can act as a damper when the present invention changes its posture underwater, thereby making the present invention more stable during movement.

[0063] According to the bionic manta ray robot based on the sinusoidal oscillating wave fin structure involved in this embodiment, because the present invention provides a waterproof flexible surface material at the connection between the mounting plate and the main body plate, it can achieve good sealing of the body unit without affecting the movement of the wave fin assembly.

[0064] According to the bionic manta ray robot based on the sinusoidal oscillating wave fin structure involved in this embodiment, because the fin unit in the present invention also includes a waterproof flexible sleeve mounted on the flexible skeleton, the oscillating fin assembly can drive the overall movement of the multi-layer flexible bone pieces when swinging, so that the oscillating fin assembly can better perform sinusoidal motion, thereby improving the movement efficiency of the oscillating fin assembly.

[0065] According to the bionic manta ray robot based on the sinusoidal oscillating wave fin structure involved in this embodiment, because a main body plate is provided in the shell, when the baffle at the bottom of the shell is opened and water flows into the shell, it will not affect the operation of the first drive device and the third drive device inside the shell, thereby improving the stability of the present invention during operation. And when water enters below the main body plate in the shell, due to the internal air pressure below the main body plate of the present invention and the crawler moving mechanism, the present invention can ensure the overall level of the present invention when the crawler moving mechanism is retracted and extended.

[0066] According to the bionic manta ray robot based on the sinusoidal oscillating wave fin structure involved in this embodiment, because the mounting plate is connected to the main body plate through a planetary gear mechanism, and the planetary gear mechanism is connected to the second driving device, the second driving device drives the planetary gear mechanism to rotate, thereby realizing the rotation of the wave fin assembly, thereby increasing the freedom of movement of the wave fin assembly, and further enhancing (or weakening) the sinusoidal movement of the wave fin assembly from the head to the tail, adjusting the overall movement posture of the wave fin assembly, and assisting the movement of the sinking and floating unit. At the same time, the flexible rod can directly bear force instead of the second driving device, thereby improving the movement accuracy and service life of the second driving device.

[0067] The above-mentioned embodiments are preferred examples of the present invention and are not intended to limit the protection scope of the present invention.

Claims

1. A bionic manta ray robot based on a sinusoidal oscillating wave fin structure, characterized in that: include: A body unit, comprising a shell and a main body plate installed in the shell; The fin unit comprises two wave fin components respectively connected to two sides of the main body plate; A sinking and floating unit is located in the shell and installed above the main body plate, and the sinking and floating unit includes a center of gravity adjustment mechanism and a first driving device that drives the center of gravity adjustment mechanism to operate; The undulating fin assembly includes a plurality of second driving devices, a plurality of flexible rods and a flexible skeleton. A plurality of the second driving devices are installed at intervals along the direction from the head end to the tail end of the housing, and the output shafts of the plurality of the second driving devices are coaxial or parallel. The plurality of flexible rods are respectively connected to the plurality of the second driving devices, The flexible skeleton is fin-shaped and is sleeved on the plurality of flexible rods. The flexible skeleton comprises multiple layers of flexible bone sheets, and the multiple layers of flexible bone sheets are sleeved on the plurality of flexible rods at intervals. The waving fin assembly also includes a mounting plate, which is connected to the main body plate through a planetary gear mechanism, and a plurality of second drive devices are mounted on the mounting plate, and the planetary gear mechanism is connected to the second drive device, so that the second drive device drives the planetary gear mechanism to rotate, thereby realizing the rotation of the waving fin assembly, thereby increasing the freedom of movement of the waving fin assembly, and further enhancing or weakening the sinusoidal motion of the waving fin assembly from head to tail, adjusting the overall motion posture of the waving fin assembly, and assisting the movement of the sinking and floating unit. The flexible rod can directly bear force instead of the second drive device, thereby improving the motion accuracy and service life of the second drive device.

2. The bionic manta ray robot based on the sinusoidal oscillating wave fin structure according to claim 1, characterized in that: in, The plurality of the second driving devices drive the corresponding flexible rods to perform asynchronous reciprocating swings.

3. The bionic manta ray robot based on the sinusoidal oscillating wave fin structure according to claim 1, characterized in that: in, Each of the flexible rods is perpendicular to the output shaft of the corresponding second driving device.

4. The bionic manta ray robot based on a sinusoidal oscillating wave fin structure according to claim 1, characterized in that: in, A waterproof flexible surface material is provided at the connection between the wave fin assembly and the main body plate; The wave fin assembly also includes a waterproof flexible sleeve sleeved on the flexible frame.

5. The bionic manta ray robot based on a sinusoidal oscillating wave fin structure according to claim 1, characterized in that: in, The fin unit also includes a tail fin connected to the tail end of the shell.

6. The bionic manta ray robot based on a sinusoidal oscillating wave fin structure according to claim 1, characterized in that: in, The center of gravity adjustment mechanism includes a guide rod and an adjustment block. The guide rod is arranged on the main body plate along the direction from the head end of the shell to the tail end of the shell, and the guide rod is connected to the first driving device. The adjusting block is arranged on the guide rod. The first driving device drives the guide rod to make the adjustment block move along the guide rod.

7. The bionic manta ray robot based on a sinusoidal oscillating wave fin structure according to any one of claims 1 to 6, Features: in, Also includes: A control unit, located in the housing and mounted above the main body plate, controls the operation of the first drive device and the plurality of second drive devices; The plurality of the second driving devices of each of the undulating fin components drive the corresponding flexible rods, so that the flexible rods drive the flexible skeleton to move in a sinusoidal shape from the perspective of the head end toward the tail end of the shell.

8. The bionic manta ray robot based on a sinusoidal oscillating wave fin structure according to claim 7, characterized in that: in, The control unit transmits sinusoidal wave signals with different initial phases to the plurality of second driving devices respectively, so that the plurality of second driving devices drive the corresponding flexible rods to perform reciprocating swings.

9. The bionic manta ray robot based on the sinusoidal oscillating wave fin structure according to claim 7, Features: in, Also includes: A lifting unit, comprising a third driving device installed above the main body plate, a lifting plate arranged below the main body plate, and a transmission mechanism connected to the third driving device and the lifting plate; A moving unit is installed below the main body plate, the moving unit is connected to the lifting plate, and is used to drive the shell unit to move; The control unit controls the third driving device and the moving unit to operate.

10. The bionic manta ray robot based on a sinusoidal oscillating wave fin structure according to claim 9, characterized in that: in, The transmission mechanism includes a transmission rod, a connecting rod and a limit plate. One end of the transmission rod is connected to the third driving device, and the other end of the transmission rod is connected to the limiting plate. One end of the connecting rod is connected to the limiting plate, and the other end of the connecting rod passes through the main body plate and is connected to the lifting plate. The limiting plate is arranged in the shell and is located above the main body plate.

11. The bionic manta ray robot based on a sinusoidal oscillating wave fin structure according to claim 9, characterized in that: in, The mobile unit includes a crawler moving mechanism, The crawler moving mechanism is connected to the lifting plate and is located below the main body plate.

12. The bionic manta ray robot based on a sinusoidal oscillating wave fin structure according to claim 9, characterized in that: in, A baffle is provided at the bottom of the housing for the mobile unit to enter and exit.

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