Bionic robotic ray

Abstract

The application discloses a bionic machine ray, and belongs to the field of bionic robots. The machine ray comprises a flexible shell, a device bin, a skeleton, a main power unit, a secondary power unit, a balance control device and a battery bin. The flexible shell is attached to the skeleton. The device bin is located at the front end, under the wing and the tail of the skeleton. The main power unit is installed inside the skeleton, drives the up-and-down flapping of the pectoral fin and the swing of the tail fin, and mainly provides buoyancy and forward thrust for the machine fish. The secondary power unit is installed in the pectoral fin, drives the wave-shaped fluctuation of the tail end of the pectoral fin, and mainly provides auxiliary thrust and controls the turning of the machine fish. The balance control device is installed on the back of the bottom plate of the skeleton, mainly controls the center of gravity of the machine fish, keeps the overall balance, and can also drive the machine fish to realize fast floating and sinking movement together with the secondary power system. The application has flexible motion control, large load capacity, and the double power system greatly improves the bionics degree of the machine fish.

Description

Technical Field

[0001] This invention relates to the field of biomimetic robots, specifically to a biomimetic robotic ray. Background Technology

[0002] Unlike ordinary marine fish, rays have a unique mode of locomotion. When suspended in the sea, the base and tip of their large, flat pectoral fins rhythmically flap up and down, providing buoyancy, thus eliminating the need for a swim bladder. When a ray moves forward quickly, its tail swings rhythmically, providing some of the propulsion. Simultaneously, the muscles at the tip of its pectoral fins contract rapidly, causing the edges of the fin tips to undulate like waves, providing the remaining propulsion. This method of locomotion is not only highly efficient in energy conversion but also produces minimal noise.

[0003] In current inventions of biomimetic robotic fish, a spindle-shaped structure is commonly used. First, the spindle shape itself has drawbacks such as limited usable space, irregular shape, and difficulty in increasing overall size, preventing the robotic fish from carrying large instruments and sensors. Second, this type of structure relies entirely on tail movement for power, resulting in low energy conversion efficiency and a single power source. Third, because the fins are too small to provide sufficient buoyancy, their buoyancy control systems often employ a swim bladder-like structure. This method of adjusting buoyancy involves installing a water pump-storage bladder or an air pump-air bladder, which suffers from a lack of flexibility, slow response, insufficient buoyancy, and excessive size, significantly occupying usable space within the robotic fish. Finally, the spindle shape of existing robotic fish is inherently unfavorable for balance, and the lack of active balancing devices makes it difficult for these robotic fish to operate normally in complex waters and carry large instruments. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention proposes a biomimetic robotic ray. A gear system, cam system, ball bearing slide rail system, and linkage system drive the fin and tail skeletons to swing, providing buoyancy and some forward thrust to the robotic fish. The auxiliary power unit, located at the rear of the fin skeleton, primarily drives the finger skeleton in a wave-like undulation, providing some forward thrust to the robotic fish. When the robotic fish needs to turn, simply locking the micro-speed-regulating motor on one side of the auxiliary power system while maintaining the operation of the micro-speed-regulating motor on the other side completes the turning operation.

[0005] The objective of this invention can be achieved through the following technical solutions:

[0006] A biomimetic robotic ray includes a flexible outer shell; an internal skeleton is provided within the flexible outer shell; the skeleton includes a wingtip skeleton, a wing root skeleton, a support base, and a tail skeleton; the support base is fixedly connected to the flexible outer shell; a root shaft is fixedly mounted on the support base; two wing root skeletons and two shaft connecting rods are rotatably connected to the root shaft; the wingtip skeletons are rotatably connected to the side of the wing root skeletons away from the root shaft; each wingtip skeleton is rotatably connected to a wingtip connecting rod; the shaft connecting rods have a connection point one and a connection point two; the connection points one, two, and the connection points of the shaft connecting rods to the root shaft are arranged in a triangle; the wingtip connecting rods are rotatably connected to the connection point one.

[0007] The support base is provided with two double-link seats that can move linearly in the direction of the root axis; the double-link seats are provided with two transmission links; the transmission links are rotatably connected to wing root links; the wing root skeleton and connection point two are respectively rotatably connected to one of the wing root links; a tail skeleton is rotatably connected to the side of the wing root skeleton near the root axis; the tail skeleton is rotatably connected to a tail skeleton link; the tail skeleton link is rotatably connected to the wingtip link; the flexible shell is provided with a pectoral fin, a tail fin, and a tail root; the interior of the tail fin and tail root is supported by the tail skeleton; the interior of the pectoral fin is supported by the wingtip skeleton and the wing root skeleton.

[0008] In some embodiments, the support base is rotatably connected to a driven shaft; the driven shaft is symmetrically and fixedly mounted with two cams; each cam is fixedly mounted with a camshaft; the camshaft is fixedly mounted with a second slider; the double-link seat is fixedly mounted with a first slider and a second slide rail; the first slider is slidably connected to the first slide rail; the first slide rail is fixedly connected to the support base; and the second slider is slidably connected to the second slide rail.

[0009] In some embodiments, each wing root skeleton is rotatably connected to a plurality of finger skeletons; the finger skeletons internally support the pectoral fin; each finger skeleton is rotatably connected to a four-link three; a secondary power shaft is fixedly installed on the side of each wing root skeleton near the four-link three; a four-link four is rotatably connected on the side of the secondary power shaft near the four-link three; each four-link four is rotatably connected to one of the four-link three; each wing root skeleton is fixedly installed with a motor two; each motor two is fixedly installed with a four-link one; each four-link one is rotatably connected to a four-link two; each four-link two is rotatably connected to an adjacent four-link four; two adjacent finger skeletons are connected by a pair of bullseye bearings.

[0010] In some embodiments, the flexible housing has a motor bracket on one side near the support base; a motor is mounted on the motor bracket; a main gear is fixedly mounted on the motor shaft of the motor; a driven gear is fixedly mounted on the driven shaft; and the main gear meshes with the driven gear.

[0011] In some embodiments, the flexible shell includes a head and a tail; the interior of the flexible shell is provided with a head skeleton and a tail skeleton; the head is supported by the head skeleton; the tail is supported by the tail skeleton; the tail skeleton is fixedly connected to the motor bracket; the head skeleton is fixedly connected to the support seat; the wingtip skeleton, wing root skeleton, support seat and tail skeleton are disposed between the head skeleton and the tail skeleton.

[0012] In some embodiments, a balance control device is fixedly installed on the inner bottom of the flexible shell; the balance control device includes a linear motor and a counterweight; the counterweight is installed on the movable part of the linear motor.

[0013] In some embodiments, a battery compartment is installed at the bottom of the motor bracket; a lithium battery is installed inside the battery compartment.

[0014] In some embodiments, a head device compartment is provided inside the head frame; a tail device compartment is provided between the motor, the tail frame and the battery compartment.

[0015] The beneficial effects of this invention are:

[0016] The outer shell of this invention is streamlined to minimize drag. Made of flexible organic material, the shell not only minimizes gaps but also offers advantages such as lightweight, corrosion resistance, and impact resistance.

[0017] This invention employs a flat structure and features four large equipment compartments: a head compartment, a compartment under the left wing, a compartment under the right wing, and a tail compartment, enabling the transport of large instruments and equipment. The main propulsion system of this invention utilizes a high-power, variable-speed motor to drive the left and right fin skeletons in a rhythmic up-and-down flapping motion, providing appropriate buoyancy based on real-time conditions.

[0018] The shark fin skeleton of this invention is divided into two sections: the fin root skeleton and the fin tip skeleton. Under the traction of the connecting rod of the main power system, it can move up and down alternately, which increases the biomimicry and also improves the flexibility of the power system.

[0019] This invention employs a dual propulsion system, one main and one auxiliary. The main propulsion system controls buoyancy and provides thrust by swinging the tail. When rapid movement is required, the auxiliary propulsion system can be activated to supplement power, enhancing overall maneuverability.

[0020] The steering of this invention can be accomplished using a secondary power system, eliminating the need for an additional servo motor to control steering. This significantly saves internal space and reduces energy consumption. Furthermore, this steering method offers advantages over traditional steering methods, such as a smaller turning radius and easier operation.

[0021] This invention incorporates a balance control device to actively adjust the center of gravity of the robotic fish, making its movement more stable. Attached Figure Description

[0022] The invention will now be further described with reference to the accompanying drawings.

[0023] Figure 1 This is a full sectional view of the biomimetic robotic ray of the present invention;

[0024] Figure 2 This is a partial cross-sectional view of the pectoral fin of the biomimetic robotic ray of the present invention;

[0025] Figure 3 These are four views of the biomimetic robotic ray shell of the present invention;

[0026] Figure 4 This is a top view of the biomimetic robotic ray of the present invention;

[0027] Figure 5 This is a side view of the biomimetic robotic ray of the present invention;

[0028] Figure 6 This is an assembly diagram of the main and auxiliary power shafts of the biomimetic robotic ray propulsion system of the present invention;

[0029] Figure 7 This is a rear view of the biomimetic robotic ray of the present invention;

[0030] Figure 8 This is an assembly diagram of the biomimetic robotic ray skeleton of the present invention;

[0031] Figure 9 This is an assembly diagram of the fin root of the biomimetic robotic ray of the present invention;

[0032] Figure 10 This is a structural diagram of the biomimetic robotic ray propulsion system of the present invention;

[0033] Figure 11 This is a diagram showing the connection structure between the biomimetic robotic ray's main propulsion system and the base of its fins in this invention.

[0034] Figure 12 This is a front assembly diagram of the biomimetic robotic ray propulsion system of the present invention;

[0035] Figure 13 This is a structural diagram showing the connection between the biomimetic robotic ray's main propulsion system and the tip of its fin.

[0036] Figure 14 This is a rear assembly diagram of the biomimetic robotic ray propulsion system of the present invention;

[0037] Figure 15 This is a diagram showing the connection structure between the biomimetic robotic ray auxiliary power system and the base of the fin of the present invention;

[0038] Figure 16 This is a structural diagram of the biomimetic robotic ray auxiliary power system of the present invention;

[0039] Figure 17 This is a structural diagram of the biomimetic robotic ray balance control device and battery compartment of the present invention;

[0040] Figure 18 This is an assembly diagram of the battery compartment of the biomimetic robotic ray of the present invention. 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] In the description of this invention, it should be understood that the terms "opening", "upper", "lower", "thickness", "top", "middle", "length", "inner", "around", etc., which indicate orientation or positional relationship, are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the components or elements referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as limiting this invention.

[0043] Fixed connections in this application refer to connections where parts or components do not move relative to each other after installation. Common examples include using screws, splines, or wedges to fix components together. This type of connection allows for disassembly during maintenance without damaging the parts. Other methods include welding, riveting, and tenon joints. These methods require forging, sawing, or oxy-acetylene cutting for disassembly during maintenance or replacement, so the parts are generally not reusable. Rotating connections in this application refer to connections where parts or components rotate relative to a fixed component after installation. Common forms include mounting bearings on the fixed component, with the part mounted on the inner or outer ring of the bearing, allowing rotational movement via the bearing. Sliding connections in this application refer to connections where parts or components can move on a fixed component after installation.

[0044] In the description of this specification, references to terms such as "an embodiment," "example," "specific example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0045] A biomimetic robotic ray includes a flexible shell 1; the flexible shell 1 has an internal skeleton; the skeleton includes a wingtip skeleton 342, a wing root skeleton, a support base, and a tail skeleton 38; the support base is fixedly connected to the flexible shell 1; a root shaft 351 is fixedly mounted on the support base; the root shaft 351 is rotatably connected to two wing root skeletons and two shaft connecting rods 472; the wingtip skeleton 342 is rotatably connected to the side of the wing root skeleton away from the root shaft 351; each wingtip skeleton 342 is rotatably connected to a wingtip connecting rod 473; the shaft connecting rod 472 has a connection point one and a connection point two; the connection points one, two, and the connection points of the shaft connecting rod 472 and the root shaft 351 are arranged in a triangle; the wingtip connecting rod 473 is rotatably connected to the connection point one;

[0046] The support base is provided with two double-link seats that can move linearly in the direction of the root axis 351; the double-link seats are provided with two transmission links; the transmission links are rotatably connected to the wing root link 471; the wing root skeleton and connection point two are rotatably connected to one of the wing root links 471 respectively; a tail skeleton 38 is rotatably connected to the side of the wing root skeleton near the root axis 351; the tail skeleton 38 is rotatably connected to the tail skeleton link 474; the tail skeleton link 474 is rotatably connected to the wingtip link 473; the flexible shell 1 is provided with a pectoral fin 141, a tail fin 121 and a tail root 122; the interior of the tail fin 121 and the tail root 122 is supported by the tail skeleton 38; the interior of the pectoral fin 141 is supported by the wingtip skeleton 342 and the wing root skeleton.

[0047] When the double-link seat moves the transmission link, the rear transmission link drives the wing root link 471 to rotate, which in turn drives the shaft link 472 to rotate. The shaft link 472 then drives the wingtip link 473 to rotate, which in turn drives the wingtip skeleton 342 to rotate upwards / downwards. The front transmission link drives the other wing root link 471 to rotate, which in turn drives the wing root skeleton to rotate downwards / upwards. The wing root skeleton and the wingtip skeleton 342 rotate in opposite directions, causing the pectoral fin 141 to move up and down in a V or inverted V shape, thereby achieving buoyancy control. At the same time, the wingtip link 473 drives the tail skeleton 38 to swing up and down through the tail skeleton link 474, making the tail fin 121 act like a paddle to provide forward propulsion for the robotic fish.

[0048] The double-link seat that can move linearly in the direction of the root axis 351 in this application can be realized by a linear drive mechanism, such as a hydraulic cylinder, an electric push rod, a ball screw, or a linear motor 61; of course, it can also be replaced by other structures that can change the position of the connecting end.

[0049] In some embodiments, the support base is rotatably connected to a drive shaft 44; two cams are symmetrically fixedly mounted on the drive shaft 44; each cam is fixedly mounted with a camshaft 453; a second slider is fixedly mounted on the camshaft 453; a first slider and a second slide rail are fixedly mounted on the double-link seat; the first slider is slidably connected to the first slide rail; the first slide rail is fixedly connected to the support base; the second slider is slidably connected to the second slide rail; the drive shaft 44 can be directly driven by a motor, or indirectly driven by a motor in conjunction with gears, sprockets, chains, synchronous pulleys, etc.; the drive shaft 44 drives the cams to rotate, which in turn drives the second slider to reciprocate along the second slide rail via the camshaft 453. At the same time, as the height of the camshaft 453 changes, the second slide rail will drive the double-link seat and the first slider to reciprocate linearly along the first slide rail, thereby providing power to the fin root skeleton and fin tip skeleton 342 of the robotic fish.

[0050] In some embodiments, each wing root skeleton is rotatably connected to a plurality of finger skeletons; the finger skeletons internally support the pectoral fin 141; each finger skeleton is rotatably connected to a four-link three 523; a secondary power shaft is fixedly installed on the side of the wing root skeleton near the four-link three 523; a four-link four 524 is rotatably connected on the side of the secondary power shaft near the four-link three 523; each four-link four 524 is rotatably connected to one four-link three 523; each wing root skeleton is fixedly installed with a motor two 51; each motor two 51 is fixedly installed with a four-link one 521; each four-link one 521 is rotatably connected to a four-link two 522; each four-link two 522 is rotatably connected to an adjacent four-link four 524; two adjacent finger skeletons are connected by a pair of bullseye bearings 374; the structure of the bullseye bearings 374 is as follows: Figure 4 As shown, the bullseye bearing has a spherical root and is fitted into a circular opening inside a square base, allowing the front end of the bullseye bearing to rotate freely at a large angle. Motor 2 51 drives the finger skeleton to move up and down alternately through the above-mentioned four-bar linkage mechanism. When rapid movement is required, motor 2 51 can be turned on to drive the finger skeleton to swing and supplement the power, thereby enhancing the overall mobility.

[0051] In some embodiments, the flexible housing 1 has a motor bracket 412 on the side near the support base; the motor bracket 412 is equipped with a motor 41; a main gear 431 is fixedly mounted on the motor shaft 411 of the motor 41; a driven gear 432 is fixedly mounted on the driven shaft 44; the main gear 431 and the driven gear 432 mesh; the motor 41 drives the driven shaft 44 to rotate through the main gear 431 and the driven gear 432.

[0052] In some embodiments, the flexible shell 1 includes a head 11 and a tail 12; the interior of the flexible shell 1 is provided with a head frame 321 and a tail frame 322; the head 11 is supported by the head frame 321; the tail 12 is supported by the tail frame 322; the tail frame 322 is fixedly connected to the motor bracket 412; the head frame 321 is fixedly connected to the support seat; the wingtip frame 342, the wing root frame, the support seat and the tail frame 38 are disposed between the head frame 321 and the tail frame 322; the head frame 321 and the tail frame 322 are used to support the flexible shell 1 and prevent the flexible shell 1 from collapsing due to water pressure.

[0053] In some embodiments, a balance control device is fixedly installed on the inner bottom of the flexible shell 1; the balance control device includes a linear motor 61 and a counterweight 62; the movable part of the linear motor 61 is equipped with the counterweight 62; when rapidly diving, the linear motor 61 drives the counterweight 62 to move and shift the center of gravity forward, at which time the robotic fish will have its head 11 facing down and its tail 12 facing up; when it needs to rapidly rise, the linear motor 61 drives the counterweight 62 to move and shift the center of gravity backward, at which time the robotic fish will have its head 11 facing up and its tail 12 facing down.

[0054] In some embodiments, a battery compartment 7 is installed at the bottom of the motor bracket 412; a lithium battery 71 is installed inside the battery compartment 7; the lithium battery 71 in the battery compartment 7 is used to power the aforementioned electrical equipment.

[0055] In some embodiments, a head equipment compartment 21 is provided inside the head frame 321; a tail equipment compartment 24 is provided between the motor 51, the tail frame 322 and the battery compartment 7, and the equipment compartment can be used to carry large instruments and equipment for work.

[0056] In some embodiments, a head equipment compartment is provided inside the head frame; a tail equipment compartment is provided between the motor, the tail frame and the battery compartment, and the equipment compartment can be used to carry large instruments and equipment for operation.

[0057] The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0058] refer to Figure 1 As shown, the biomimetic robotic ray includes a flexible shell 1, an equipment compartment 2, a skeleton 3, a main power unit 4, a secondary power unit 5, a balance control device 6, and a battery compartment 7;

[0059] Figure 1This is a full sectional view of the robotic fish. The head 11 of the flexible shell 1 is supported by a head frame 321; the large space inside the head frame 321 is the head equipment compartment 21; the tail 12 is supported by a tail frame 322 connected to a motor bracket 412; the gap between the tail frame 322, the motor 41, and the battery compartment 7 is the tail equipment compartment 24; the tail fin 121 and the tail root 122 are supported by a tail frame 38; the top 13 of the shell is directly connected to the fin frame 34; the bottom 14 of the shell... It is divided into two parts: the pectoral fin 141 and the body 142. The pectoral fin 141 is connected to the bottom of the fin skeleton 34 and clamps the upper and lower sides of the fin skeleton 34 with the top of the shell 13, so that when the fin skeleton 34 moves, it drives the thin pectoral fin 141 to move, generating buoyancy and thrust. The body 142 is used to support the skeleton 3, main power unit 4, auxiliary power unit 5, balance control device 6, and battery compartment 7 of the bionic robotic ray. The bottom of the body 142 is supported by the shell of the axial linear motor 61.

[0060] Figure 2 This is a cross-sectional view of the pectoral fin 141 of the robotic fish, mainly showing the assembly of the pectoral fin 141. The end of the pectoral fin 141 is fully supported by the wingtip bone 342, which allows the wingtip bone 342 to flap up and down, thus driving the end of the pectoral fin 141 to flap up and down. The middle part of the pectoral fin 141 near the tail 12 is supported by three phalanges 36. Because the pectoral fin 141 is made of elastic material, the phalanges 36, when moving up and down, will cause this position of the pectoral fin 141 to move in a wave-like motion, thereby generating forward thrust. The middle part of the pectoral fin 141 near the head 11 is fully supported by the wing skeleton 323. The wing skeleton 323 covers the bottom 14 except for the end of the pectoral fin 141, not only providing support, but also isolating the space as the wing equipment compartment 22, which serves to store instruments and sensors.

[0061] Figure 3This is a four-view drawing of the flexible shell 1 of the robotic fish. The flexible shell 1 includes four parts: head 11, tail 12, top 13, and bottom 14. The bottom 14 is composed of a pectoral fin 141 and a trunk 142. It is made of synthetic polymer material, possessing advantages such as waterproofing, lightweight, wear resistance, impact resistance, and corrosion resistance. The flexible shell 1 has a streamlined overall shape, with the head 11 being a flattened ellipsoid located at the front. There is a smooth transition between the head 11, top 13, and pectoral fin 141. A bow 15 connects the head 11 and trunk 142. During underwater movement, the streamlined flexible shell 1 minimizes drag, and the bow 15 can break through water currents at high speeds, facilitating increased speed. The top 13 has a circular center, smoothly connecting the head 11, pectoral fin 141, and tail 12. The tail 12 is designed with a caudal fin 121 and a tail root 122 to provide thrust. The tail root 122 is directly connected to the top 13 and is a semi-ellipsoidal protrusion. The caudal fin 121 is fan-shaped and connected to the tail 12. The tail root 122 has a hollow internal structure, allowing the front curved section of the caudal skeleton 38 to move freely within the tail root 122 when the caudal skeleton 38 moves up and down and left and right under the drive of the main power unit 4. The caudal fin 121 is a thin fan shape that completely wraps around the rear section of the caudal skeleton 38. When the caudal skeleton 38 moves up and down and left and right under the drive of the caudal bone connecting rod 474, it causes the caudal fin 121 to fan downwards at an angle, thus providing thrust. The pectoral fin 141 is flat and completely attached to the fin skeleton 34. When the main propulsion system is running, the left wing root bone 341 and right wing root bone 343 flap up and down in the same amplitude under the action of the wing root connecting rod 471. The left and right wing tip bones 342 flap in the opposite direction and in the same amplitude under the action of the wing tip connecting rod 473, causing the pectoral fin 141 to undulate up and down in a wave-like manner, thereby providing buoyancy. In addition, the middle part of the pectoral fin 141 near the tail 12 is supported by the first phalanx 361, the second phalanx 362, and the third phalanx 363. Since the pectoral fin 141 is made of elastic material, the staggered movement of the three phalanxes will cause this position of the pectoral fin 141 to move in a wave-like manner, thereby generating forward thrust. The torso 142 encloses the balance control device 6, the main propulsion unit 4, and the skeleton 3.

[0062] The upper half of the tail 12 is semi-ellipsoidal, and the lower half is fan-shaped. The entire tail is supported by the tail skeleton 38, which provides forward propulsion for the robotic fish when the main power unit 4 is running. The pectoral fin 141 is flat and completely attached to the fin skeleton 34, providing buoyancy for the robotic fish when the main power unit 4 is running. The torso 142 encloses the balance control device 6, the main power unit 4, and the skeleton 3.

[0063] from Figure 1 and Figure 2The two cross-sectional views show the equipment compartment 2. There are four regular usable spaces between the head 11 and the bottom 12 and the rigid support frame supporting the outer shell. These spaces are used to place instruments and sensors, namely the head equipment compartment 21, the equipment compartment 221 under the left wing, the equipment compartment 222 under the right wing, and the tail equipment compartment 23.

[0064] Figure 4 , Figure 5 , Figure 7 These are the internal three-view drawings of the robotic fish. Figure 4 The dotted box in the bottom view shows the assembly drawing of bullseye bearing 374. Figure 5 The dashed boxes in the side view outline the main power shaft 42, the driven power shaft 44, and the components mounted on them, which are the core parts of the main power system 4. Figure 6 That is Figure 5 Assembly drawing of the main drive shaft 42 and the driven drive shaft 44 within the dashed box.

[0065] Figure 7 This is an assembly drawing of the robotic fish skeleton 3. The skeleton 3 comprises eight main parts: a support base, a head skeleton 321, a fin skeleton 34, a shaft 35, a finger skeleton 36, a bearing 37, and a tail skeleton 38. The support base consists of a base plate 31 and a central support frame 33. The base plate 31 is a rectangular aluminum alloy plate, serving as the base for the skeleton 3 and the main power unit 4, with a balance control device 6 connected to its back. The central support frame 33 includes a first support section 331, a second support section 332, a third support section 333, and a fourth support section 334. It primarily supports the remaining parts of the skeleton 3 and the main power unit 4 and auxiliary power unit 5. The main structure of the central support frame 33 is a rectangular aluminum alloy plate with a circular top. The first support section 331 has a circular hole at its top, through which the end of the root shaft 351 passes, and the root shaft 351 is fixed to the first support section 331 with an anti-slip nut. The ball bearing slide rail 46 of the main power unit 4 is fixed to the inner side of the first support part 331 by screws. The second support part 332 and the third support part 333 have circular holes at their top and middle, each housing a deep groove ball bearing 492, which secures the main power shaft 42 and the driven power shaft 44. The fourth support part 334 has a hexagonal hole at its top, through which the root shaft 351 passes. The hexagonal hole fits against the hexagonal portion at the front end of the root shaft 351 to prevent radial rotation of the root shaft 351. A circular hole is also present in the middle, housing a deep groove ball bearing 492, which secures the main power shaft 42.

[0066] like Figure 8As shown, the top of the root shaft 351 is a regular hexagonal protrusion, which serves to fix it axially; the front part is a regular hexagonal shaft with a side length smaller than the top hexagon, which mates with the hexagonal hole at the top of the fourth support part 334 to serve to fix it by rotation; the middle part is a smooth cylinder with a diameter equal to the inscribed circle diameter of the front regular hexagonal shaft; the tail part is threaded and fixed to the first support part 331 with a lock nut.

[0067] like Figure 9 As shown, the wing root skeleton consists of a left wing root skeleton 341 and a right wing root skeleton 343. The left and right wing root skeletons 341 and 343 are generally M-shaped, with a circular hole at their root for the root shaft 351 to pass through, facilitating the hoisting of the micro-speed-regulating motor 51. This also allows for the insertion of three shafts behind the wing root: the finger skeleton shaft 353, the auxiliary power shaft 53, and the tail skeleton shaft 354. The two protruding parts of the M-shape facilitate the opening of holes for the shafts. This allows the left and right wing root skeletons 341 and 343 to rotate freely around the root shaft 351. Hexagonal fixing holes and circular holes are located on both sides of the first arc section for assembling the tail skeleton shaft 354 and restricting its rotation. A circular positioning hole is located above the first arc section, and the tail skeleton shaft 354 also has a circular positioning hole of the same size at the same position. An external hexagonal bolt passes through both circular positioning holes to fix the axial position of the tail skeleton shaft 354. The lower part of the first arc segment connects to the motor bracket 2 511, which suspends the motor 2 51 below the left wing root frame 341 and the right wing root frame 343. A circular boss is located next to the motor bracket 2 511 for fixing the wing root connecting rod 471. Hexagonal fixing holes and circular holes are provided at both ends of the second arc segment for assembling the finger frame shaft 353. Similar to the tail frame shaft 354, the finger frame shaft 353 is fixed in rotation and axial position using a hexagonal shaft segment and a circular positioning hole. Hexagonal fixing holes and circular holes are also provided on the square block below the second arc segment for fixing the auxiliary power shaft 53. The auxiliary power shaft 53 also has a hexagonal shaft segment for rotational fixation. The tail end of the auxiliary power shaft 53 is threaded, and an anti-loosening nut is used to fix its axial position. Holes at the tail ends of the left wing root frame 341 and the right wing root frame 343 connect to the wingtip frame 342.

[0068] The wingtip skeleton 342 is generally equilateral triangular, with one side being flat and the other two sides being curved. The opening at the flat end matches the tail openings of the left wing root skeleton 341 and the right wing root skeleton 343, and they are connected together via the wingtip shaft 352. There is a circular boss at the bottom of the wingtip skeleton 342 for connecting the wingtip connecting rod 473.

[0069] The structure of the wingtip shaft 352 is similar to that of the auxiliary power shaft 53. The hexagonal shaft section at the front end is used to fix the rotation, and the tail end is threaded and fixed in axial position with a lock nut.

[0070] The finger skeleton 36 comprises a first finger skeleton 361, a second finger skeleton 362, and a third finger skeleton 363, and is strip-shaped. The base of the finger skeleton 36 has a circular opening, and it is assembled onto the finger skeleton shaft 353 through the first finger bone bearing 371, the second finger bone bearing 372, and the third finger bone bearing 373, so that the finger skeleton 36 can rotate freely around the finger skeleton shaft 353.

[0071] The finger skeletons 36 are connected by bullseye bearings 374, such as Figure 7 As shown in the figure, the bullseye bearing 374 has a spherical root that is fitted into a circular opening inside a square base, allowing the front end of the bullseye bearing to rotate freely at a large angle. The bullseye bearing 374 enables the first digit 361, the second digit 362, and the third digit 363 to rotate at a certain angle. Under the action of inertia, these components drive the end of the pectoral fin 141 to flap up and down in a wave-like motion, providing thrust.

[0072] The tailstock 38 is scimitar-shaped with a hole at the tail end. The tailstock shaft 354 passes through the hole at the tail end of the tailstock 38, allowing the tailstock 38 to move axially and radially on the tailstock shaft 354. The scimitar-shaped design facilitates better driving of the tail section 12 and provides thrust.

[0073] Figure 10 The diagram shows the structure of the main power unit 4. The main power unit includes a motor 41, a main power shaft 42, a gear 43, a driven power shaft 44, a cam 45, a ball bearing slide rail 46, a connecting rod 47, a bushing 48, and a bearing 49. The motor 41 is a high-power, speed-regulating motor, cylindrical in shape, with speed control functionality. Its rotational speed can be adjusted as needed, thereby regulating the flapping frequency of the shark fin skeleton 34 and the oscillation frequency of the tail skeleton 38. The motor 41 is connected to the main power shaft 42 via its motor shaft 411. The distal cross-section of the motor shaft 411 is capsule-shaped, and the rear end face of the main power shaft 42 has a circular slot 425. These two components are matched to transmit the power from the motor 41 to the main power shaft 42.

[0074] like Figure 6As shown, the main drive shaft 42 has three levels of shoulders: main shaft shoulder 1 421, main shaft shoulder 2 422, and main shaft shoulder 3 423, used to position deep groove ball bearings 492 of different diameters. The main drive shaft 42 is mounted on the central support frame 33 via the deep groove ball bearings 492, and can rotate freely relative to the central support frame 33. A main gear keyway 424 is opened between main shaft shoulder 1 421 and main shaft shoulder 2 422. The main gear 431 is fixed by assembling the gear key 483 with the main gear keyway 424. In addition, two gear bushings 481 are assembled between the main gear 431 and the two deep groove ball bearings 492 on both sides. The gear bushings 481 are cylindrical with a hole in the middle. The main drive shaft 42 passes through the central hole of the gear bushings 481. The two gear bushings 481 fill the gap between the main gear 431 and the deep groove ball bearings 492, fixing the axial position of the main gear 431. Using deep groove ball bearings 492 can effectively reduce the coefficient of friction and reduce power loss.

[0075] The main gear 431 and the driven gear 432 mesh to transmit power to the driven shaft 44. Both the main gear 431 and the driven gear 432 have a module of 1.75 and a gear ratio of 1:2, which serves to reduce speed.

[0076] like Figure 6 As shown, the driven shaft 44 has four shoulders: shoulder one 441, shoulder two 442, shoulder three 443, and shoulder four 444, used to position deep groove ball bearings 492 with different shaft diameters. The driven shaft 44 has a front cam keyway 446 between shoulder one 441 and shoulder two 442, a driven gear keyway 445 between shoulder two 442 and shoulder three 443, and a rear cam keyway 447 between shoulder three 443 and shoulder four 444. The three keyways, through cam key one 484, cam key two 485, and gear key 483, serve to fix the rotation of the front cam 451, rear cam 452, and driven gear 432. Similarly to the driving shaft 42, the axial positions of the front cam 451, rear cam 452, and driven gear 432 are fixed through gear sleeve 481 and cam sleeve 482. The drive shaft 44 is fixed to the openings of the second support 332 and the third support 333 via a deep groove ball bearing 492.

[0077] Figure 11 and Figure 13 These are diagrams showing the connection structure between the front and rear parts of the main power unit 4 and the shark fin bone (34). Figure 11 The dashed box outlines the front system of the main propulsion unit 4. Figure 12 This is the assembly diagram of the front system of the main power unit 4. It can be clearly seen how the front cam 451 drives the wing root connecting rod 471 to move up and down through two sets of mutually perpendicular slide rails, thereby driving the wing root bone to flap up and down. Figure 13 The rear system of the main propulsion unit 4 is outlined in the dashed box. Figure 14This is the rear system structure diagram of the main power unit 4. The combination of shaft connecting rod 472 and wingtip connecting rod 473 can realize the same amplitude and opposite movement of the wing root bone and wingtip bone 342.

[0078] like Figure 6 , 11 As shown in Figure 13, cam 45 includes a front cam 451 and a rear cam 452. The difference between the front cam 451 and the rear cam 452 lies in their bore diameters. The front cam 451 is mounted between follower shaft shoulder 1 441 and follower shaft shoulder 2 442, while the rear cam 452 is mounted between follower shaft shoulder 3 443 and follower shaft shoulder 444. Cam 45 is generally circular, with six holes evenly spaced along its circumference inside. A camshaft 453 is mounted in these holes and fixed to the cam by a keyway and a nut. The camshaft 453 is completely stationary relative to cam 45. Follower shaft 44 drives cam 45 to rotate, and the rotation of cam 45 drives camshaft 453 to rotate circumferentially.

[0079] The main components of the ball slide rail 46 are the ball slider 461 and the slider track 462. The ball slider 461 has built-in balls that can slide freely on the slider track 462.

[0080] The front cam 451 is connected to the slider pad 463 via a camshaft 453 and a deep groove ball bearing 492. The camshaft 453 can rotate freely at the center of the slider pad 463. A hole is opened in the center of the slider pad 463 to accommodate the deep groove ball bearing 492. Two sets of ball bearing slides 46 are arranged in front of the front cam 451 in the main power unit 4. The first set of ball bearing slides 46 is laterally fixed to the back of the slider pad 463, and the second set of ball bearing slides 46 is longitudinally fixed to the inside of the first support 331. A front slide double-link seat 464 is sandwiched between the two sets of ball bearing slides 46. The lower part of the front slide double-link seat 464 is elongated and capsule-shaped, connecting the two sets of mutually perpendicular ball bearing slides 46 through openings on both sides. Above the front slide double-link seat 464 are two rectangular connecting rods, distributed at a certain angle, with openings at the tails to connect to two wing root connecting rods 471 respectively. The wing root connecting rod 471 is rectangular with circular openings at both the front and rear. One end of the two wing root connecting rods 471 is connected to the front slide rail double connecting rod seat 464, and the other end is connected to the circular bosses at the first arc of the left wing root frame 341 and the right wing root frame 343. When the front cam 451 rotates, it drives the two sets of ball slide rails 46 to slide, causing the front slide rail double connecting rod seat 464 to move up and down. This up and down movement is transmitted to the left wing root frame 341 and the right wing root frame 343 through the wing root connecting rods 471, causing the left wing root frame 341 and the right wing root frame 343 to flap up and down, thus achieving buoyancy control.

[0081] Similarly, the rear cam 452 is connected to two wing root connecting rods 471 using the same structure. The other end of the wing root connecting rod 471 is connected to a small round hole at the end corner of the shaft connecting rod 472. The shaft connecting rod 472 is V-shaped, with small round holes at two end corners serving as connection point one and connection point two, and a large round hole at the apex corner. A deep groove ball bearing 492 is fitted inside the large round hole at the apex corner of the shaft connecting rod 472, and is mounted on the root shaft 351 through the deep groove ball bearing 492, allowing the shaft connecting rod 472 to rotate freely around the root shaft 351. One end of the shaft connecting rod 472 is connected to the wing root connecting rod 471, and the other end is connected to the wing tip connecting rod 473. The wing tip connecting rod 473 is similar in shape to the wing root connecting rod 471, but much longer. One end is connected to the shaft connecting rod 472, and the other end is connected to a circular boss below the wing tip skeleton 342. When the rear cam 452 rotates, it drives the two sets of ball bearing slide rails 46 to slide, causing the front slide rail double linkage seat 464 to move up and down. This, in turn, pulls one end of the shaft linkage 472 up and down through the wing root linkage 471. Since the apex of the shaft linkage 472 is fixed on the wing root linkage 471, the shaft linkage 472 rotates at a small angle along the root axis 351 under the drive of the wing root linkage 471. This small-angle rotation is converted into a pulling force through the wingtip linkage 473, which pulls the wingtip skeleton 342 to rotate at a small angle along the wingtip axis 352, causing the end of the pectoral fin 141 to flap at a small angle.

[0082] Because of the use of two transmission systems, the wing root skeleton and the wing tip skeleton 342 can move relatively independently. This design improves the kinetic energy utilization rate and increases the overall biomimeticity.

[0083] A hole is made in the wingtip link 473 near the tail frame shaft 354 to connect to the tail frame link 474. The tail frame link 474 has the same shape as the wing root link 471, but is slightly shorter in length. When the wingtip link 473 moves, it drives the tail frame link 474 to swing, causing the tail frame 38 to swing along the tail frame shaft 354, which in turn drives the tail fin 121 to swing, providing forward propulsion.

[0084] Figure 15 , 16This document presents the assembly and structural diagrams of the auxiliary power unit 5. The power source for the auxiliary power unit 5 is motor 2 51; a micro-speed-regulating motor is suitable. Motor 2 51 outputs power through a head-mounted circular groove shaft 512, which is structurally similar to the motor shaft 411 of motor 1 41. Motor 2 51 is suspended below the shark fin skeleton 34 via motor bracket 2 511, which is basket-shaped and secured by metal strips on both sides and a metal mesh at the bottom. The head-mounted circular groove shaft 512 is directly connected to the four-bar linkage 52, specifically the first four-bar linkage 52. The first four-bar linkage 521 has two holes on both sides, one of which matches the shape of the head-mounted circular groove shaft 512, both having a capsule-shaped cross-section. This structure prevents linkage slippage, allowing the first four-bar linkage 521 to receive the power output from motor 2 51 and rotate around the head-mounted circular groove shaft 512. The other end of link 1 521 is connected to link 2 522, which is the longest link in the entire four-bar linkage 52, approximately four times the length of link 1 521. The other end of link 2 522 is connected to link 3 523. Link 3 523 is slightly longer than link 1 521 and has round holes at both ends and at the center. The hole at the other end of link 3 523 is directly connected to the circular boss below the first finger skeleton 361. The round hole at the center of link 3 523 is connected to link 4 524, which is the shortest link in the four-bar linkage 52, slightly shorter than link 1 521. The other end of link 4 524 is connected to the auxiliary power shaft 53, which has a structure similar to the wingtip shaft 352, featuring a hexagonal shaft segment for fixed rotation and an anti-slip nut for axial positioning.

[0085] When motor 2 51 outputs power, the head circular groove shaft 512 drives the first four-bar linkage 521 to rotate around the head circular groove shaft 512. The part of the second four-bar linkage 522 connected to the first four-bar linkage 521 rotates around the head circular groove shaft 512 along with the first four-bar linkage 521. Since the other end is fixed to the third four-bar linkage 523, and the third four-bar linkage 523 is fixed to the auxiliary power shaft 53 by the fourth four-bar linkage 524, the other end of the second four-bar linkage 522 moves back and forth, causing the part of the fourth four-bar linkage 523 connected to the second four-bar linkage 522 to move back and forth. The center of the third four-bar linkage 523 is fixed by the fourth four-bar linkage 524. The fourth four-bar linkage 524 plays a fixed left and right role in the four-bar linkage mechanism 52, and its other end rotates at a small angle around the auxiliary power shaft 53 as the third four-bar linkage 522 moves back and forth. Because the forward and backward movement of link 3523 is restricted by link 4524, the area where link 3523 connects to the circular boss below the first digit 361 can only move up and down, lifting the first digit 361 and causing it to rotate slightly around the digit axis 353. The first digit 361 then drives the other two digits to rotate slightly around the digit axis 353 via bullseye bearing 374. Since bullseye bearing 374 can rotate omnidirectionally at a large traction angle, under the influence of inertia, the first digit 361 travels a certain distance before reaching the maximum traction angle of bullseye bearing 374, at which point bullseye bearing 374 locks, driving the second digit 362 to move. This process continues until the second digit 362 has moved a certain distance before driving the third digit 363. This achieves the staggered up-and-down movement of the three digits 36, driving the pectoral fin 141 in a wave-like motion, providing forward thrust.

[0086] When a turn is needed, simply lock one side motor 51 of the auxiliary power unit 5 and turn the other side motor 51 to its maximum power to achieve a small-radius turn, which is very flexible.

[0087] Figure 17 The robotic fish's balance control device 6 is connected to the base plate 31 via a motor bracket 412 for fixation. The balance adjustment device 6 is powered by a axial linear motor 61, which is rectangular in shape and consists of a linear shaft and a linear motor as its moving parts. The counterweight 62 is square and modularly designed, allowing for the replacement of counterweights of different weights to achieve better results. The counterweight 62 is directly fixed to the raised platform of the axial linear motor 61, and its movement along the axis of the axial linear motor adjusts the center of gravity, thus balancing the robotic fish.

[0088] The balance control device 6 and the auxiliary power unit 5 can be used to achieve rapid diving and surfacing. During rapid diving, the main power system is turned off, and the balance control device 6 shifts the center of gravity forward, causing the robotic fish to face head down and tail up. The auxiliary power unit 5 is then activated, propelling the robotic fish to descend rapidly. When rapid surfacing is required, the balance control device 6 shifts the center of gravity backward, causing the robotic fish to face head up and tail down. The auxiliary power unit 5 is then activated, propelling the robotic fish to ascend rapidly.

[0089] Figure 18 For the battery compartment 7, the lithium battery 71 is fixed below the motor bracket 412.

[0090] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed invention.

Claims

1. A biomimetic robotic ray, characterized in that, The system includes a flexible outer shell; an internal skeleton is provided within the flexible outer shell; the skeleton includes a wingtip skeleton, a wing root skeleton, a support base, and a tail skeleton; the support base is fixedly connected to the flexible outer shell; a root shaft is fixedly mounted on the support base; two wing root skeletons and two shaft connecting rods are rotatably connected to the root shaft; the wingtip skeleton is rotatably connected to the side of the wing root skeleton away from the root shaft; each wingtip skeleton is rotatably connected to a wingtip connecting rod; the shaft connecting rod has a connection point one and a connection point two; the connection points one, two, and the connection point of the shaft connecting rod to the root shaft are arranged in a triangle; the wingtip connecting rod is rotatably connected to the connection point one. The support base is provided with two double-link seats that can move linearly in the direction of the root axis; the double-link seats are provided with two transmission links; the transmission links are rotatably connected to wing root links; the wing root skeleton and connection point two are respectively rotatably connected to one of the wing root links; a tail skeleton is rotatably connected to the side of the wing root skeleton near the root axis; the tail skeleton is rotatably connected to a tail skeleton link; the tail skeleton link is rotatably connected to the wingtip link; the flexible shell is provided with a pectoral fin, a tail fin, and a tail root; the interior of the tail fin and tail root is supported by the tail skeleton; the interior of the pectoral fin is supported by the wingtip skeleton and the wing root skeleton.

2. The biomimetic robotic ray according to claim 1, characterized in that, The support base is rotatably connected to a driven shaft; the driven shaft is symmetrically and fixedly mounted with two cams; each cam is fixedly mounted with a camshaft; the camshaft is fixedly mounted with a second slider; the double-link seat is fixedly mounted with a first slider and a second slide rail; the first slider is slidably connected to the first slide rail; the first slide rail is fixedly connected to the support base; the second slider is slidably connected to the second slide rail.

3. The biomimetic robotic ray according to claim 2, characterized in that, Each wing root skeleton is rotatably connected to several finger skeletons; the finger skeletons internally support the pectoral fins; each finger skeleton is rotatably connected to a four-link three; a secondary power shaft is fixedly installed on the side of each wing root skeleton near the four-link three; a four-link four is rotatably connected on the side of the secondary power shaft near the four-link three; each four-link four is rotatably connected to one of the four-link three; each wing root skeleton is fixedly installed with a motor two; each motor two is fixedly installed with a four-link one; each four-link one is rotatably connected to a four-link two; each four-link two is rotatably connected to an adjacent four-link four; two adjacent finger skeletons are connected by a pair of bullseye bearings.

4. The biomimetic robotic ray according to claim 3, characterized in that, The flexible housing has a motor bracket on one side near the support base; a motor is mounted on the motor bracket; a main gear is fixedly mounted on the motor shaft of the motor; a driven gear is fixedly mounted on the driven shaft; the main gear meshes with the driven gear.

5. The biomimetic robotic ray according to claim 4, characterized in that, The flexible shell includes a head and a tail; the interior of the flexible shell is provided with a head skeleton and a tail skeleton; the head is supported by the head skeleton; the tail is supported by the tail skeleton; the tail skeleton is fixedly connected to the motor bracket; the head skeleton is fixedly connected to the support seat; the wingtip skeleton, wing root skeleton, support seat and tail skeleton are located between the head skeleton and the tail skeleton.

6. The biomimetic robotic ray according to claim 5, characterized in that, A balance control device is fixedly installed on the inner bottom of the flexible shell; the balance control device includes a linear motor and a counterweight; the counterweight is installed on the movable part of the linear motor.

7. The biomimetic robotic ray according to claim 6, characterized in that... A battery compartment is installed at the bottom of the motor bracket; a lithium battery is installed inside the battery compartment.

8. The biomimetic robotic ray according to claim 7, characterized in that... The head frame contains a head equipment compartment; the motor, tail frame and battery compartment are connected by a tail equipment compartment.

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