Artificial lateral line based perception and driving integrated bionic underwater flapping wing

Abstract

The application relates to an artificial side line based perception and driving integrated bionic underwater flapping wing, which comprises a flapping wing support assembly, a bionic manta ray flapping wing structure, a driving structure and a pressure detection module; the root of the bionic manta ray flapping wing structure is hinged to the flapping wing support assembly, wherein the bionic manta ray flapping wing structure comprises a central fin plate, a flexible and elastic support frame is arranged on the central fin plate; a bionic skin is arranged on the flexible and elastic support frame, and the space formed by the bionic skin and the flexible and elastic support frame is filled with a flexible and elastic filler; the driving structure is arranged on the flapping wing support assembly and is used for driving the flapping wing structure to rotate around the central fin plate and driving the flapping wing structure to flap in the up-down direction; and the pressure detection module is arranged on the bionic skin. The device realizes the pressure and speed information perception of the surrounding flow field of the flapping wing in the static and flapping process, and enhances the perception ability of the underwater vehicle in the complex underwater environment.

Description

Technical Field

[0001] This invention relates to the field of biomimetic robot technology, specifically to a biomimetic underwater flapping wing based on artificial lateral lines and integrated perception and actuation. Background Technology

[0002] Manta rays are marine fish that swim by flapping their pectoral fins. Compared to fish that use their tail fins for propulsion, they primarily rely on the spanwise and chordal deformation of their pectoral fins to generate thrust. The manta ray's flattened body provides superior swimming stability, maneuverability, and propulsion efficiency. Its unique gliding-flapping propulsion system offers valuable insights for the development of biomimetic underwater vehicles. Biomimetic underwater vehicles inspired by manta rays offer advantages such as large payload capacity, stable navigation, high propulsion efficiency, and a wide operating range. They can be applied to scenarios including marine ranching fish monitoring, wide-area hydrological big data collection, and waterway monitoring.

[0003] The lateral line system is a highly differentiated sensory organ in the skin of aquatic organisms. In the underwater environment, fish can sense changes in the pressure of the surrounding water environment through the lateral line system distributed on both sides of their bodies. This system helps organisms perceive the pressure and velocity information of the surrounding flow field in the dark underwater environment and outside their line of sight, thereby acquiring the characteristics of the surrounding environment and enabling them to hunt and swim in groups.

[0004] Currently, research on artificial lateral lines and integrated sensing and actuation mainly focuses on cases where the substrate is a rigid material, and the substrate rarely or almost never undergoes elastic deformation. For biomimetic robots, soft bodies are their main characteristic. Therefore, the actuation and sensing of artificial lateral lines under soft substrate materials and dynamic deformation conditions is urgently needed.

[0005] Therefore, there is a need to provide a biomimetic underwater flapping wing based on artificial lateral lines and integrated perception and actuation to solve the above problems. Summary of the Invention

[0006] This invention provides a biomimetic underwater flapping wing based on artificial lateral line sensing and actuation. By incorporating the flapping wing structure of a manta ray and setting pressure detection holes on the flapping wing, it addresses the current gap in artificial lateral line actuation and sensing in soft substrate materials and under dynamic deformation conditions.

[0007] The present invention provides a sensing-driven integrated bionic underwater flapping wing based on artificial lateral lines, employing the following technical solution: including:

[0008] Flapping wing support components;

[0009] The flapping wing structure of the biomimetic manta ray has its root hinged to the flapping wing support assembly, which includes a central fin plate on which a flexible support frame is provided; a biomimetic skin is covered on the flexible support frame, and the space formed by the biomimetic skin and the flexible support frame is filled with a flexible filler.

[0010] The drive structure, which is mounted on the flapping wing support assembly, is used to drive the flapping wing structure to rotate spanwise around the central fin and to drive the flapping wing structure to flap vertically.

[0011] It also includes a pressure detection module, which is mounted on the biomimetic skin to detect the flow pressure and velocity of the flapping wing structure when it is stationary and during flapping.

[0012] Preferably, the flexible support frame includes:

[0013] Multiple chordal support ribs are spaced apart along the span of the central fin, and the multiple chordal support ribs are proportionally reduced along the span of the central fin. The chordal support ribs are perpendicular to the central fin and nested on the central fin. The structure of the chordal support ribs is an elliptical support bar.

[0014] Two spanwise support ribs are symmetrically arranged on both sides of the central fin about the central fin, and are rotatably connected to the two arc surfaces of each chordwise support rib.

[0015] And two end support ribs, which are set between the ends of the two spanwise support ribs and are hinged to the beginning and end of the two spanwise support ribs respectively. The end support ribs on the side closer to the flapping wing support assembly are connected to the flapping wing support assembly.

[0016] Preferably, two spanwise support ribs and two end support ribs are connected to form a trapezoidal structure, wherein the lower base of the trapezoidal structure faces the flapping wing support assembly.

[0017] Preferably, the drive structure includes: a first drive component and a second drive component;

[0018] The first drive component is mounted on the flapping wing support component, and its output end is connected to the flapping motor support frame.

[0019] The second drive assembly is mounted on the flapping motor support frame, and its output end is connected to a drive shaft perpendicular to the output end. The drive shaft passes through the chordal support rib near the flapping wing support assembly and then connects to the central fin.

[0020] Preferably, the first drive component includes:

[0021] A torsion motor, which is fixed to the flapping wing support assembly via a torsion motor support frame;

[0022] And a rotating shaft, which is mounted on the flapping wing support assembly via a rotating shaft support frame and is perpendicular to the output shaft of the torsion motor. The rotating shaft is connected to the torsion motor via gear transmission, and the end of the rotating shaft passes through the rotating shaft support frame and is connected to the flapping motor support frame.

[0023] Preferably, the flapping wing support assembly includes:

[0024] The flapping wing fixing bracket includes a torsion motor, a shaft support bracket, and a torsion motor support bracket, all of which are mounted on the flapping wing fixing bracket.

[0025] Preferably, the flexible filler is a three-dimensional lattice made of a flexible material.

[0026] Preferably, the pressure detection module includes multiple pressure sensors, and the array of multiple pressure sensors is arranged on the bionic skin, with the surface of the pressure sensors flush with the surface of the bionic skin.

[0027] Preferably, the biomimetic skin is made of a flexible material.

[0028] Preferably, the central fin plate adopts the skeletal form of the manta ray's pectoral fin.

[0029] The beneficial effects of this invention are:

[0030] Traditional underwater sensing solutions mainly rely on optical and acoustic sensing devices to achieve visual and acoustic perception of environmental information, neglecting the capture of dynamic load information of the surrounding environment. However, this invention, by arranging a pressure detection module on the flapping surface of the manta ray-inspired underwater vehicle, can detect the pressure and velocity information of the surrounding flow field during both static and flapping processes of the biomimetic underwater flapping wing. This enhances the perception capability of the manta ray-inspired underwater vehicle in complex underwater environments and is of great significance for improving the underwater reliability and underwater operation capability of the vehicle. Attached Figure Description

[0031] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0032] Figure 1 This is a schematic diagram of the overall structure of an embodiment of the present invention, which is a perception-driven integrated bionic underwater flapping wing based on artificial lateral lines.

[0033] Figure 2 This is a schematic diagram of the driving structure and flapping wing structure of a sensor-driven integrated bionic underwater flapping wing based on artificial lateral line according to the present invention.

[0034] Figure 3 This is a schematic diagram of a flapping wing support assembly and drive structure of an integrated biomimetic underwater flapping wing based on artificial lateral line perception and drive according to the present invention.

[0035] Figure 4 This is a schematic diagram of the internal structure of the biomimetic skin of a biomimetic underwater flapping wing structure based on artificial lateral line sensing and driving integrated biomimetic flapping wing according to the present invention.

[0036] Figure 5 This is a structural diagram of the flapping wing structure of a sensor-driven integrated bionic underwater flapping wing based on artificial lateral line according to the present invention.

[0037] Figure 6 This is a schematic diagram of the central fin plate of a biomimetic underwater flapping fin based on artificial lateral line sensing and actuation according to the present invention.

[0038] Figure 7 This is a schematic diagram of the structure of the adapter and fixing plate of the integrated biomimetic underwater flapping wing based on artificial lateral line sensing and driving according to the present invention.

[0039] Figure 8 This is a schematic diagram of the three-dimensional lattice structure of a biomimetic underwater flapping wing based on artificial lateral line sensing and actuation of the present invention.

[0040] In the diagram: 1. Flapping wing support assembly; 2. Bionic skin; 3. Flexible filler; 11. Drive structure; 12. Central fin; 13. Flexible support frame; 14. Adapter fixing plate; 111. Flapping wing fixing bracket; 112. Torsion motor support frame; 113. Torsion motor; 114. Flapping motor support frame; 115. Flapping motor; 116. Drive shaft; 117. Rotating shaft; 118. First bevel gear; 119. Rotating shaft support frame; 131. First-level chordal support rib; 132. Second-level chordal support rib; 133. Third-level chordal support rib; 134. Fourth-level chordal support rib; 135. Root support rib; 136. First spanwise support rib; 137. Second spanwise support rib; 138. Tip support rib; 21. Flexible material; 22. Pressure sensor. Detailed Implementation

[0041] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0042] An embodiment of the present invention, based on an artificial lateral line sensing and actuation integrated biomimetic underwater flapping wing, is as follows: Figure 1 As shown, it includes: a flapping wing support assembly 1, a biomimetic manta ray flapping wing structure, a drive structure 11, and a pressure detection module; the root of the biomimetic manta ray flapping wing structure is hinged to the flapping wing support assembly 1, wherein the biomimetic manta ray flapping wing structure includes a central fin plate 12, on which a flexible support frame 13 is provided; a biomimetic skin 2 is provided on the flexible support frame 13, and the space formed by the biomimetic skin 2 and the flexible support frame 13 is filled with a flexible filler 3; the drive structure 11 is provided on the flapping wing support assembly 1, and is used to drive the flapping wing structure to rotate around the central fin plate 12 in the spanwise direction and to drive the flapping wing structure to flap in the vertical direction; the pressure detection module is provided on the biomimetic skin 2, and is used to detect the static pressure change and dynamic pressure change information of the flow field around the flow field when the flapping wing structure is chordally undulating, and to use the dynamic pressure information to calculate the velocity information of the flow field.

[0043] Specifically, the flexible support frame 13 includes: multiple chordal support ribs, two spanwise support ribs, and two end support ribs, wherein the structure of the chordal support ribs is a quasi-elliptical support bar, such as... Figure 4 As shown, the multiple chordal support ribs are primary chordal support rib 131, secondary chordal support rib 132, tertiary chordal support rib 133, and quaternary chordal support rib 134. These multiple chordal support ribs are spaced apart along the span of the central fin 12, and they are proportionally reduced in size along the span of the central fin 12. Specifically, the primary chordal support rib 131, secondary chordal support rib 132, tertiary chordal support rib 133, and quaternary chordal support rib 134 are proportionally reduced in size along the span of the central fin 12. The chordal support ribs are aligned with the central fin 12. The central fin plate 12 is vertically embedded in the central fin plate 12; the two spanwise support ribs include a first spanwise support rib 136 and a second spanwise support rib 137, which are symmetrically arranged on both sides of the central fin plate 12 about the central fin plate 12. The first spanwise support rib 136 is rotatably connected to the end face of the chordal support rib away from the central fin plate 12, and the second spanwise support rib 137 is rotatably connected to the end face of the chordal support rib away from the first spanwise support rib 136. Specifically, as shown... Figure 4As shown, the chordal support rib is provided with a groove to accommodate the second spanwise support rib 137 and the first spanwise support rib 136, so that the surface of one side of the chordal support rib is flush with the surface of the second spanwise support rib; the surface of the other side is flush with the surface of the first spanwise support rib. Meanwhile, the groove wall of the chordal support rib is connected to the spanwise support rib via a shaft and a hole to achieve rotation. The two end support ribs include a root support rib 135 and a tip support rib 138, with the root support rib 135 disposed on one of the two spanwise support ribs. Between the corresponding ends of the two spanwise support ribs, the tip support rib 138 is set between the other corresponding ends of the two spanwise support ribs. The root support rib 135 is fixedly connected to the flapping motor support frame 114 on the flapping wing support assembly 1, and the ends of the root support rib 135 and the tip support rib 138 are hinged to the ends of the spanwise support ribs. The hinge is a cylindrical pair connection, which ensures that the chord support ribs and the spanwise support ribs, as well as the spanwise support ribs and the end support ribs, can rotate and slide relative to each other to avoid interfering with the passive bending deformation of the flapping wing structure.

[0044] It should be noted that the central fin 12 is made of a homogeneous rigid material of uniform thickness through machining, while the flexible support frame 13 is supported by a soft material through machining and additive manufacturing. Each level of chordal support rib allows the front and rear edges of the central fin 12 to be embedded, and permits relative displacement between the central fin 12 and the chordal support ribs. Furthermore, as... Figure 4 As shown, when the flapping wing structure flaps underwater, it will undergo passive deformation, resulting in different curvatures on the upper and lower surfaces. Without this relative displacement, the bending deformation of the flapping wing structure will be limited, which is not conducive to improving propulsion force and propulsion efficiency.

[0045] Specifically, such as Figure 2 and Figure 4 As shown, two spanwise support ribs and two end support ribs are connected to form a trapezoidal structure, wherein the lower base of the trapezoidal structure faces the flapping wing support assembly 1, i.e. Figure 2 and Figure 4 As shown, the ends of the root support rib 135, the first spanning support rib 136, the second spanning support rib 137, and the tip support rib 138 are connected in sequence to form a trapezoidal structure. The vertical dimension of the root support rib 135 is larger than that of the tip support rib 138, that is, the root support rib 135 is the bottom surface of the trapezoidal structure.

[0046] Specifically, the drive structure 11 in this embodiment includes: a first drive component and a second drive component; the first drive component is mounted on the flapping wing support component 1, and its output end is connected to a flapping motor support frame 114, wherein, as shown... Figure 3As shown, the first drive assembly includes a torsion motor 113 and a rotating shaft 117. The torsion motor 113 is fixed to the flapping wing support assembly 1 via a torsion motor support frame 112. The rotating shaft 117 is connected to the torsion motor 113 via gear transmission. The end of the rotating shaft 117 passes through a rotating shaft support frame 119 and is connected to a flapping motor support frame 114. The gear transmission connection is as follows: the power from the torsion motor 113 is output via a first bevel gear 118 on the output shaft of the torsion motor to a second bevel gear on the rotating shaft 117. The first bevel gear 118 and the second bevel gear mesh, thereby transmitting the rotational output of the torsion motor 113 to the rotating shaft 117, causing the rotating shaft 117 to drive the flapping motor support frame 114 to rotate. Figure 3 As shown, the second drive assembly uses a flapping motor 115, which is mounted on a flapping motor support frame 114. When the rotating shaft 117 rotates, it drives the flapping motor 115 to rotate. The output end of the flapping motor 115 is connected to a drive shaft 116 perpendicular to the output end. The drive shaft 116 passes through the chordal support rib near the flapping wing support assembly 1 (i.e., through the first-stage chordal support rib 131), and then... Figure 2 and Figure 3 As shown, it is connected to the central fin plate 12, specifically, as follows: Figure 2 and Figure 7 The central fin plate 12 is connected to the drive shaft 116 via a transition fixing plate 14. The transition fixing plate 14 and the drive shaft 116 are connected by a key, and the transition fixing plate 14 and the central fin plate 12 are connected by a flange to ensure that there is no relative rotation between the central fin plate 12 and the output shaft 116 of the flapping motor.

[0047] Specifically, the flapping wing support assembly 1 includes: flapping wing fixing bracket 111, wherein the torsion motor 113, the rotating shaft support bracket 119 and the torsion motor support bracket 112 are all mounted on the flapping wing fixing bracket 111.

[0048] Specifically, such as Figure 1 and Figure 8As shown, the flexible filler 3 is a three-dimensional lattice made of flexible material. The outer contour surface of the three-dimensional lattice filler can be adjusted according to the overall shape of the flapping wing, and the outer contour surface is higher than the boundary of the flapping wing support assembly 1. In this embodiment, the three-dimensional lattice filler is prepared by additive manufacturing and is divided into upper and lower parts for easy assembly. Similarly, the three-dimensional lattice filler and the first-level chordal support rib 131, second-level chordal support rib 132, third-level chordal support rib 133, fourth-level chordal support rib 134, root support rib 135, first spanwise support rib 136, second spanwise support rib 137, and tip support rib 138 in the flapping wing support assembly are all fitted with a clearance fit. However, the flexible filler 3 and the central fin 12 are fixedly connected. This connection is to ensure that the motion transmitted by the central fin 12 can be transmitted to the flapping wing structure surface quickly, continuously and without impact. At the same time, it is also necessary to ensure that the flapping wing support assembly 1 does not restrict the active and passive deformation of the flapping wing structure. In this embodiment, the flapping wing shape adopts the NACA00 series airfoil, and the external surface of the flexible filler 3 is higher than the first-level chordal support rib 131, the second-level chordal support rib 132, the third-level chordal support rib 133, the fourth-level chordal support rib 134, the first spanwise support rib 136, and the second spanwise support rib 137 in the flapping wing support assembly, so as to ensure the integrity and continuity of the flapping wing structure in both static and dynamic states.

[0049] Specifically, such as Figure 1 and Figure 5 As shown, the pressure detection module includes multiple pressure sensors 22, which are arrayed on the bionic skin 2. The surfaces of the pressure sensors 22 are flush with the surface of the bionic skin 2. In this embodiment, the pressure sensors 22 are piezoresistive sensors. Piezoresistive sensors mainly sense external information based on the piezoresistive effect of semiconductor materials. When semiconductor materials are subjected to external force, they deform and their resistance changes. By designing a corresponding measurement circuit, the resistance change information of the sensor can be read, and the physical quantities to be measured, such as pressure and tension, can be deduced. By further comparing the physical quantity information obtained from other sensors, the information on water flow velocity and pressure change can be calculated.

[0050] Specifically, the bionic skin 2 is made of a flexible material 21. The bionic skin 2 is made of soft material using an integral casting method. In this embodiment, the flexible material 21 is silicone. After the flapping wing support component 1 and the flexible filler 3 of the three-dimensional lattice are assembled, the bionic skin 2 and the three-dimensional lattice are bonded together using an organic solvent to ensure that there is no relative movement between the bionic skin 2 and the three-dimensional lattice. On the one hand, this ensures that there is no dislocation phenomenon during the movement of this embodiment, ensuring the integrity and continuity of the flapping wing surface. On the other hand, it also avoids friction between the bionic skin 2 and the three-dimensional lattice, improving the durability and service life of the flexible skin 21.

[0051] Specifically, such as Figure 6 As shown, the central fin plate 12 adopts the skeletal form of the pectoral fin of a manta ray.

[0052] Specific working principle

[0053] In use, taking the upward lunge motion as an example, the downward lunge can be regarded as a mirror image of the upward lunge. At the initial moment, the torsion motor 113 and the lunge motor 115 are located as follows: Figure 2 In the horizontal position shown, the motor motion is a reciprocating oscillation. The flapping motor 115 rotates before the torsional motor 113. The motion functions of the two motors can be expressed by the following formula: where A1 represents the amplitude of the flapping motor 115 and A2 represents the amplitude of the torsional motor 113, in degrees (°), and f is the frequency of the motor's reciprocating motion. This frequency f is the flapping frequency of the biomimetic flapping wing, in Hertz (Hz). Let t1 represent the phase difference between the flapping motor 115 and the torsional motor 113, and t2 represent the operating time of the flapping motor 115 and the torsional motor 113, respectively, in seconds (s). At the initial moment, both t1 and t2 are 0, and t1 = t2. 115 For the real-time angular position of the flapping motor 115, Angle 113 To determine the real-time angular position of the torsion motor 113, specifically...

[0054]

[0055] When flapping begins, the flapping motor 115 drives the central fin plate 12 to move via the drive shaft 116, and the central fin plate 12 further drives the flexible support frame 13 to move. It is worth noting that in this embodiment, the drive shaft 116 is only fixed to the central fin plate 12 through the adapter fixing plate 14, and the flexible support frame is only fixed to the flapping motor support frame 114 through adhesive bonding. A limited range of relative movement can occur between the drive shaft 116 and the flexible support frame 13, and between the central fin plate 14 and the flexible support frame 13. This movement is a necessary prerequisite for achieving the smooth movement of the biomimetic flapping wing.

[0056] The flapping motor 115 drives the central fin plate 12 to flap, after... After a certain time, the torsion motor 113 begins to move, driving the flapping motor 115, the central fin 12, and the entire flexible support frame 13 to rotate around the axis of the shaft 117 via the rotating shaft 117. The central fin 12 transmits the motion to the flexible support frame 13, causing relative displacement and rotation among the primary chordal support ribs 131, 2nd chordal support ribs 132, 3rd chordal support ribs 133, 4th chordal support ribs 134, 1st spanwise support rib 136, and 2nd spanwise support ribs 137 within the frame. This changes the overall structure of the frame and drives the flexible filler 3 to move, achieving the movement of the biomimetic flapping wing. Due to the interaction with the external flow field during flapping, the dynamic pressure of the flow field is transmitted to the flexible support frame 13 via the biomimetic skin 2 and the flexible filler 3, and further to the central fin 12, resulting in passive deformation.

[0057] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A sensor-driven integrated biomimetic underwater flapping wing based on artificial lateral lines, characterized in that, include: flapping wing support assembly (1); The flapping wing structure of the biomimetic manta ray has its root hinged to the flapping wing support assembly (1), which includes a central fin plate (12) and a flexible support frame (13) on the central fin plate (12); a biomimetic skin (2) is covered on the flexible support frame (13), and the space formed by the biomimetic skin (2) and the flexible support frame (13) is filled with a flexible filler (3). The drive structure (11) is mounted on the flapping wing support assembly (1) and is used to drive the flapping wing structure to rotate around the length of the central fin plate (12) and to drive the flapping wing structure to flap in the vertical direction. And a pressure detection module is set on the bionic skin (2) to detect the static pressure change and dynamic pressure change information of the flow field around the flapping wing structure when it undulates in the chord direction, and to calculate the velocity information of the flow field using the dynamic pressure information; the pressure detection module includes multiple pressure sensors (22), and the array of multiple pressure sensors (22) is set on the bionic skin (2), and the surface of the pressure sensor (22) is flush with the surface of the bionic skin (2); The flexible support frame (13) includes: Multiple chordal support ribs are spaced apart along the span of the central fin (12), and the multiple chordal support ribs are proportionally reduced along the span of the central fin (12). The chordal support ribs are perpendicular to the central fin (12) and nested on the central fin (12). The structure of the chordal support ribs is an elliptical support bar. Two spanwise support ribs are symmetrically arranged on both sides of the central fin (12) and are rotatably connected to the two arc surfaces of each chordwise support rib. And two end support ribs, which are disposed between the ends of the two spanwise support ribs and are hinged to the beginning and end of the two spanwise support ribs respectively. The end support rib near the flapping wing support assembly (1) is connected to the flapping wing support assembly (1).

2. The integrated biomimetic underwater flapping wing based on artificial lateral lines and driven by perception, as described in claim 1, is characterized in that... The two end support ribs have different lengths, and the two spanwise support ribs and the two end support ribs are connected to form a trapezoidal structure, wherein the bottom surface of the trapezoidal structure faces the flapping wing support assembly (1).

3. The integrated biomimetic underwater flapping wing based on artificial lateral lines and driven by perception, as described in claim 1, is characterized in that... The drive structure (11) includes: a first drive component and a second drive component; The first drive component is installed on the flapping wing support component (1), and its output end is connected to the flapping motor support frame (114). The second drive assembly is mounted on the flapping motor support frame (114), and its output end is connected to a drive shaft (116) perpendicular to the output end. The drive shaft (116) passes through the chordal support rib near the flapping wing support assembly (1) and is connected to the central fin plate (12).

4. The integrated biomimetic underwater flapping wing based on artificial lateral lines and driven by perception, as described in claim 3, is characterized in that... The first driving component includes: Torsion motor (113), which is fixed to flapping wing support assembly (1) by torsion motor support frame (112); And a rotating shaft (117) is mounted on the flapping wing support assembly (1) via a rotating shaft support frame (119), and is perpendicular to the output shaft of the torsion motor (113). The rotating shaft (117) is connected to the torsion motor (113) via gear transmission, and the end of the rotating shaft (117) passes through the rotating shaft support frame (119) and is connected to the flapping motor support frame (114).

5. The integrated biomimetic underwater flapping wing based on artificial lateral lines and driven by perception, as described in claim 4, is characterized in that... The flapping wing support assembly (1) includes: The flapping wing fixing bracket (111) includes a torsion motor (113), a shaft support bracket (119), and a torsion motor support bracket (112), all of which are mounted on the flapping wing fixing bracket (111).

6. The integrated biomimetic underwater flapping wing based on artificial lateral lines and sensing and actuation as described in claim 1, characterized in that, The flexible filler (3) is a three-dimensional lattice made of flexible material.

7. The integrated biomimetic underwater flapping wing based on artificial lateral lines and sensing and actuation as described in claim 1, characterized in that, The biomimetic skin (2) is made of a flexible material (21).

8. The integrated biomimetic underwater flapping wing based on artificial lateral lines and driven by perception, as described in claim 1, is characterized in that... The central fin plate (12) adopts the skeletal form of the manta ray's pectoral fin.

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