Multi-fin coordinated bionic electric ray and working method thereof

Abstract

The invention discloses a multi-fin coordinated bionic electric ray and a working method thereof. The multi-fin coordinated bionic electric ray comprises a body cabin; the two pectoral fin assemblies are symmetrically arranged on the two sides of the body cabin, each pectoral fin assembly comprises a first pectoral fin ray, a second pectoral fin ray and a pectoral fin, the first pectoral fin rays and the second pectoral fin rays are installed on the side faces of the body cabin in parallel, and the pectoral fins are connected to the first pectoral fin rays, the second pectoral fin rays and the body cabin; the pectoral fin can be bent along with the bending of the first pectoral fin ray and the second pectoral fin ray; the tail fin assembly comprises a tail fin ray and a tail fin, the tail fin ray is connected to the body cabin, the tail fin is installed at the end of the tail fin ray, and the tail fin can be bent along with bending of the tail fin ray. According to the bionic electric ray, complex actions such as advancing, retreating and turning are completed through the first pectoral fin ray and the second pectoral fin ray; and by arranging the swingable tail fin, the high-speed cruising ability of the unmanned aerial vehicle is improved. The invention relates to the technical field of underwater bionic robots.

Description

Technical Field

[0001] The present application relates to the technical field of underwater bionic robots, and in particular to a bionic electric ray with coordinated multiple fins and a working method thereof. Background Art

[0002] At present, traditional underwater robots are mainly divided into two categories: remote-controlled underwater robots (ROVs) and autonomous underwater robots (AUVs). ROVs rely on external cables for power supply and real-time communication with operators, and can perform complex tasks for a long time, but their flexibility and endurance are greatly constrained by cables, and the equipment is complex and the cost of use is high. AUVs, with their autonomy and high endurance, are suitable for a wide range of underwater exploration tasks, but their traditional propulsion method relies on propellers, and the movement mode is single, which makes it difficult to meet the requirements for flexibility and concealment in complex environments. In contrast, bionic underwater robots such as robot fish and bionic manta rays have demonstrated certain fluid mechanics advantages, and they produce less disturbance to the environment during movement, thus having higher concealment and higher use value in the military field or field photography.

[0003] The propulsion mechanism of fish in nature can be roughly divided into body and / or caudal (BCF) propulsion mode and median and / or paired fin (MPF) propulsion mode. The advantage of the BCF propulsion mode is that it can cruise at high speed and start faster. The MPF propulsion mode has better performance in low-speed cruising and can achieve multiple movement modes such as forward, backward, turning, acceleration, diving and floating.

[0004] Current underwater bionic robots generally only use BCF or MPF as their movement mode, which limits their movement methods and makes it difficult to achieve both high speed and high flexibility at the same time. They still have certain limitations in practical applications. Summary of the invention

[0005] The present application aims to solve at least one of the technical problems existing in the prior art. To this end, the present application proposes a multi-fin coordinated bionic electric ray that can have the advantages of high-speed cruising and high flexibility.

[0006] The present application also proposes a working method for the above-mentioned multi-fin coordinated bionic electric ray.

[0007] The multi-fin coordinated bionic electric ray according to the first aspect of the present application includes:

[0008] Main body cabin;

[0009] a pectoral fin assembly, wherein the pectoral fin assembly is two in number and symmetrically arranged on both sides of the main body compartment, the pectoral fin assembly comprising a first pectoral fin ray, a second pectoral fin ray and a pectoral fin sheet, the first pectoral fin ray and the second pectoral fin ray are both installed in parallel to the side of the main body compartment, the pectoral fin sheet is connected to the first pectoral fin ray, the second pectoral fin ray and the main body compartment, and the pectoral fin sheet can bend along with the bending of the first pectoral fin ray and the second pectoral fin ray;

[0010] The caudal fin assembly comprises a caudal fin ray and a caudal fin sheet, wherein the caudal fin ray is connected to the main body cabin, the caudal fin sheet is mounted to the end of the caudal fin ray, and the caudal fin sheet can bend along with the bending of the caudal fin ray.

[0011] The multi-fin coordinated bionic electric ray according to the embodiment of the present application has at least the following beneficial effects: the bionic electric ray completes complex movements such as moving forward, backward, and turning through the first pectoral fin rays and the second pectoral fin rays, thereby improving the flexibility of the bionic electric ray; and by providing a swingable tail fin, its high-speed cruising capability is improved, thereby improving the practicality of the bionic electric ray.

[0012] According to some embodiments of the present application, the first pectoral fin ray and the second pectoral fin ray each include a plurality of pectoral fin ray joints hinged to each other, and the pectoral fin piece is connected to each of the pectoral fin ray joints.

[0013] According to some embodiments of the present application, the pectoral fin assembly also includes a first pectoral fin servo, a second pectoral fin servo, a first pectoral fin rope and a second pectoral fin rope, and the output shafts of the first pectoral fin servo and the second pectoral fin servo are both equipped with steering discs; the first pectoral fin rope is wrapped around the steering disc of the first pectoral fin servo, and the two ends of the first pectoral fin rope pass through the pectoral fin ray joints in the first pectoral fin fin rays, and are connected to the pectoral fin ray joint located at the very end; the second pectoral fin rope is wrapped around the steering disc of the second pectoral fin servo, and the two ends of the second pectoral fin rope pass through the pectoral fin ray joints in the second pectoral fin fin rays, and are connected to the pectoral fin ray joint located at the very end.

[0014] According to some embodiments of the present application, the pectoral fin assembly further includes a pectoral fin reset spring, which is installed in the first pectoral fin ray and the second pectoral fin ray, and each of the pectoral fin ray joints is connected to the pectoral fin reset spring.

[0015] According to some embodiments of the present application, the caudal fin ray includes a plurality of caudal fin ray joints hinged to each other.

[0016] According to some embodiments of the present application, the tail fin assembly also includes a tail fin servo and a tail fin rope, the output shaft of the tail fin servo is installed with a steering disc, the tail fin rope is wrapped around the steering disc of the tail fin servo, and both ends of the tail fin rope pass through each of the tail fin fin joints in the tail fin fin rays and are connected to the tail fin fin joint located at the very end.

[0017] According to some embodiments of the present application, the tail fin assembly further includes a tail fin reset spring, wherein the tail fin reset spring is installed in the tail fin ray, and each of the tail fin ray joints is connected to the tail fin reset spring.

[0018] According to some embodiments of the present application, the pectoral fin piece and the caudal fin piece are both made of silicone.

[0019] According to some embodiments of the present application, the multi-fin coordinated bionic electric ray also includes a controller, which is installed in the main body cabin and is used to control the pectoral fin assembly and the caudal fin assembly.

[0020] The working method according to the second aspect of the present application is performed on the above-mentioned multi-fin coordinated bionic electric ray, wherein the first pectoral fin ray is located in front of the second pectoral fin ray, and the tail fin assembly is located behind the main body cabin;

[0021] The working method of the multi-fin coordinated bionic electric ray includes a forward mode, a backward mode, a turning mode, a floating mode, a diving mode and a high-speed swimming mode, wherein:

[0022] In the forward mode, the two pectoral fin assemblies keep synchronous movement, the swing phase of the first pectoral fin ray is ahead of the swing phase of the second pectoral fin ray, and the swing amplitude of the first pectoral fin ray is larger than the swing amplitude of the second pectoral fin ray, so that the pectoral fins form a wave that is transmitted backwards;

[0023] In the backward mode, the two pectoral fin assemblies keep moving synchronously, the swing phase of the second pectoral fin ray is ahead of the swing phase of the first pectoral fin ray, and the swing amplitude of the second pectoral fin ray is larger than the swing amplitude of the first pectoral fin ray, so that the pectoral fins form a wave that is transmitted forward;

[0024] In the steering mode, in one of the pectoral fin assemblies, the swing phase of the first pectoral fin ray is ahead of the swing phase of the second pectoral fin ray, and the swing amplitude of the first pectoral fin ray is larger than the swing amplitude of the second pectoral fin ray, so that the pectoral fin forms a wave that is transmitted backward; in another pectoral fin assembly, the swing phase of the second pectoral fin ray is ahead of the swing phase of the first pectoral fin ray, and the swing amplitude of the second pectoral fin ray is larger than the swing amplitude of the first pectoral fin ray, so that the pectoral fin forms a wave that is transmitted forward;

[0025] In the floating mode, the two pectoral fin assemblies keep synchronous movement, the first pectoral fin ray and the second pectoral fin ray synchronously swing back and forth, and the downward bending rate of the first pectoral fin ray and the second pectoral fin ray is higher than the upward bending rate, so as to generate an upward force;

[0026] In the diving mode, the two pectoral fin assemblies keep synchronous movement, the first pectoral fin ray and the second pectoral fin ray synchronously swing back and forth, and the upward bending rate of the first pectoral fin ray and the second pectoral fin ray is higher than the downward bending rate, so as to generate a downward force;

[0027] In the high-speed swimming mode, the tail fin rays swing back and forth to increase the forward thrust, thereby improving the swimming speed of the multi-fin coordinated bionic electric ray.

[0028] According to the working method of the embodiment of the present application, there are at least the following beneficial effects: by controlling the pectoral fin and the caudal fin respectively, the bionic electric ray can perform various actions, combining flexibility and high-speed characteristics, thereby adapting to different working scenarios.

[0029] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The accompanying drawings are used to provide further understanding of the technical solution disclosed in the present application and constitute a part of the specification. Together with the embodiments disclosed in the present application, they are used to explain the technical solution disclosed in the present application and do not constitute a limitation on the technical solution disclosed in the present application.

[0031] Figure 1 A three-dimensional diagram of a bionic electric ray with coordinated multiple fins according to an embodiment of the first aspect of the present application;

[0032] Figure 2 This is a schematic diagram of the main body cabin of the multi-fin coordinated bionic electric ray after removing the shell in the embodiment of the first aspect of the present application.

[0033] Figure markings: 100-main body cabin, 210-first pectoral fin ray, 220-second pectoral fin ray, 230-pectoral fin piece, 240-pectoral fin ray joint, 250-first pectoral fin servo, 260-second pectoral fin servo, 270-first pectoral fin rope, 280-second pectoral fin rope, 290-pectoral fin reset spring, 310-caudal fin ray, 320-caudal fin piece, 330-caudal fin ray joint, 340-caudal fin servo, 350-caudal fin rope, 360-caudal fin reset spring. DETAILED DESCRIPTION

[0034] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as limiting the present application.

[0035] In the description of the present application, it should be understood that descriptions involving orientation, such as up, down, front, back, left, right, etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0036] In the description of this application, "several" means more than one, "more" means more than two, "greater than", "less than", "exceed", etc. are understood to exclude the number itself, and "above", "below", "within", etc. are understood to include the number itself. If there is a description of "first" or "second", it is only used for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0037] In the description of this application, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in this application based on the specific content of the technical solution.

[0038] In the description of the present application, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0039] The propulsion mechanism of fish in nature can be roughly divided into body and / or caudal (BCF) propulsion mode and median and / or paired fin (MPF) propulsion mode. The advantage of the BCF propulsion mode is that it can cruise at high speed and start faster. The MPF propulsion mode has better performance in low-speed cruising and can achieve multiple movement modes such as forward, backward, turning, acceleration, diving and floating.

[0040] Current underwater bionic robots generally only use BCF or MPF as their movement mode, which limits their movement methods and makes it difficult to achieve both high speed and high flexibility at the same time. They still have certain limitations in practical applications.

[0041] In this regard, the present application proposes a bionic electric ray with multi-fin coordination, which completes complex movements such as moving forward, backward, and turning through the first pectoral fin ray 210 and the second pectoral fin ray 220, thereby improving the flexibility of the bionic electric ray; and by providing a swingable tail fin, its high-speed cruising capability is improved, thereby improving the practicality of the bionic electric ray.

[0042] In addition, the present application also proposes a working method for the above-mentioned multi-fin coordinated bionic electric ray. By controlling the pectoral fins and the caudal fins separately, the bionic electric ray can perform various actions, combining flexibility and high speed characteristics, thereby adapting to different working scenarios.

[0043] Reference Figure 1 The multi-fin coordinated bionic electric ray in the embodiment of the first aspect of the present application includes a body cabin 100, a pectoral fin assembly and a caudal fin assembly. The body cabin 100 is the main structure of the multi-fin coordinated bionic electric ray, and the pectoral fin assembly and the caudal fin assembly are both installed to the body cabin 100 to move the surrounding water to generate a force, thereby driving the multi-fin coordinated bionic electric ray to move.

[0044] Specifically, there are two pectoral fin assemblies and they are symmetrically arranged on both sides of the body cabin 100. The pectoral fin assembly includes a first pectoral fin ray 210, a second pectoral fin ray 220 and a pectoral fin piece 230, wherein the first pectoral fin ray 210 and the second pectoral fin ray 220 are both installed in parallel to the side of the body cabin 100, and the pectoral fin piece 230 is connected to the first pectoral fin ray 210, the second pectoral fin ray 220 and the body cabin 100. The pectoral fin piece 230 is a flexible member, which can bend with the bending of the first pectoral fin ray 210 and the second pectoral fin ray 220, and then the pectoral fin piece 230 can stir the nearby waters when bending, thereby generating thrust.

[0045] The tail fin assembly includes a tail fin ray 310 and a tail fin piece 320 . The tail fin ray 310 is connected to the body cabin 100 . The tail fin piece 320 is installed to the end of the tail fin ray 310 . The tail fin piece 320 can bend along with the bending of the tail fin ray 310 .

[0046] Furthermore, the first pectoral fin ray 210 and the second pectoral fin ray 220 each include a plurality of pectoral fin ray joints 240 that are hinged to each other, and the first pectoral fin ray 210 and the second pectoral fin ray 220 are bent as a whole by bending each pectoral fin ray joint 240. The pectoral fin piece 230 is connected to each pectoral fin ray joint 240, and by increasing the number of pectoral fin ray joints 240, the bending accuracy of the pectoral fin piece 230 can be higher, and the driving of the multi-fin coordinated bionic electric ray can be more refined.

[0047] Further, refer to Figure 2 The pectoral fin assembly further includes a first pectoral fin servo 250, a second pectoral fin servo 260, a first pectoral fin rope 270 and a second pectoral fin rope 280, and the output shafts of the first pectoral fin servo 250 and the second pectoral fin servo 260 are both equipped with steering discs. The first pectoral fin rope 270 is wound around the steering disc of the first pectoral fin servo 250, and both ends of the first pectoral fin rope 270 pass through each pectoral fin ray joint 240 in the first pectoral fin ray 210, and are connected to the pectoral fin ray joint 240 at the end. Therefore, when the first pectoral fin servo 250 rotates in one direction, the first pectoral fin rope 270 is pulled to drive the first pectoral fin ray 210 to bend to one side; when the first pectoral fin servo 250 rotates in the other direction, the first pectoral fin rope 270 is pulled to drive the first pectoral fin ray 210 to bend to the other side.

[0048] The second pectoral fin rope 280 is wound around the steering plate of the second pectoral fin steering gear 260, and both ends of the second pectoral fin rope 280 pass through each pectoral fin ray joint 240 in the second pectoral fin ray 220, and are connected to the pectoral fin ray joint 240 at the end. Therefore, when the second pectoral fin steering gear 260 rotates in one direction, the second pectoral fin rope 280 is pulled to drive the second pectoral fin ray 220 to bend to one side; when the second pectoral fin steering gear 260 rotates in the other direction, the second pectoral fin rope 280 is pulled to drive the second pectoral fin ray 220 to bend to the other side.

[0049] Furthermore, the pectoral fin assembly further includes a pectoral fin reset spring 290, which is installed in the first pectoral fin ray 210 and the second pectoral fin ray 220, and each pectoral fin ray joint 240 is connected to the pectoral fin reset spring 290. The pectoral fin reset spring 290 is used to apply a reset force to the first pectoral fin ray 210 and the second pectoral fin ray 220, so that the first pectoral fin ray 210 and the second pectoral fin ray 220 are reset faster.

[0050] Furthermore, the caudal fin ray 310 includes a plurality of caudal fin ray joints 330 that are hinged to each other, and the overall bending of the caudal fin ray 310 is achieved by bending each caudal fin ray joint 330. The caudal fin piece 320 acts as a driven component and follows the caudal fin ray 310 to swing.

[0051] Furthermore, the tail fin assembly further includes a tail fin steering gear 340 and a tail fin rope 350. The output shaft of the tail fin steering gear 340 is equipped with a steering plate. The tail fin rope 350 is wound around the steering plate of the tail fin steering gear 340. Both ends of the tail fin rope 350 pass through each tail fin ray joint 330 in the tail fin ray 310 and are connected to the tail fin ray joint 330 at the end. Therefore, when the tail fin steering gear 340 rotates in one direction, the tail fin rope 350 is pulled to drive the tail fin ray 310 to bend to one side; when the tail fin steering gear 340 rotates in the other direction, the tail fin rope 350 is pulled to drive the tail fin ray 310 to bend to the other side.

[0052] Furthermore, the caudal fin assembly further includes a caudal fin reset spring 360, which is installed in the caudal fin ray 310, and each caudal fin ray joint 330 is connected to the caudal fin reset spring 360. The caudal fin reset spring 360 is used to drive the caudal fin ray 310 to reset.

[0053] Specifically, the pectoral fin piece 230 and the caudal fin piece 320 are both made of silicone, which is soft and easy to bend, thereby reducing material damage during repeated bending.

[0054] Furthermore, the multi-fin coordinated bionic electric ray also includes a controller, which is installed in the main body cabin 100 and is used to control the pectoral fin assembly and the caudal fin assembly.

[0055] The working method in the second aspect of the present application is carried out for the above-mentioned multi-fin coordinated bionic electric ray. It should be noted that in the multi-fin coordinated bionic electric ray, refer to Figure 1 In the front-to-back direction, the first pectoral fin ray 210 is located in front of the second pectoral fin ray 220, and the tail fin assembly is located behind the main body cabin 100.

[0056] The working method of the multi-fin coordinated bionic electric ray includes a forward mode, a backward mode, a turning mode, a floating mode, a diving mode and a high-speed swimming mode, wherein:

[0057] In the forward mode, the two pectoral fin components keep moving synchronously, the first pectoral fin ray 210 and the second pectoral fin ray 220 both adopt a sinusoidal swing mode, and the swing phase of the first pectoral fin ray 210 is ahead of the swing phase of the second pectoral fin ray 220. In addition, the swing amplitude of the first pectoral fin ray 210 is larger than the swing amplitude of the second pectoral fin ray 220, so that the pectoral fin ray 230 forms a wave that is transmitted backwards, driving the multi-fin coordinated bionic electric ray to move forward.

[0058] In the backward mode, the two pectoral fin assemblies maintain synchronous movement, and the first pectoral fin ray 210 and the second pectoral fin ray 220 both adopt a sinusoidal swinging method. The swinging phase of the second pectoral fin ray 220 is ahead of the swinging phase of the first pectoral fin ray 210, and the swinging amplitude of the second pectoral fin ray 220 is larger than the swinging amplitude of the first pectoral fin ray 210, so that the pectoral fin ray 230 forms a wave that is transmitted forward, driving the multi-fin coordinated bionic electric ray to move backward.

[0059] In the steering mode, in one of the pectoral fin assemblies, the swing phase of the first pectoral fin ray 210 is ahead of the swing phase of the second pectoral fin ray 220, and the swing amplitude of the first pectoral fin ray 210 is larger than the swing amplitude of the second pectoral fin ray 220, so that the pectoral fin ray 230 forms a wave that is transmitted to the rear. In the other pectoral fin assembly, the swing phase of the second pectoral fin ray 220 is ahead of the swing phase of the first pectoral fin ray 210, and the swing amplitude of the second pectoral fin ray 220 is larger than the swing amplitude of the first pectoral fin ray 210, so that the pectoral fin ray 230 forms a wave that is transmitted to the front. Thus, the two pectoral fin assemblies generate opposite forces, so that the multi-fin coordinated bionic electric ray turns in situ and achieves steering. By changing the propulsion direction of the two pectoral fin assemblies, the turning direction of the multi-fin coordinated bionic electric ray can be changed.

[0060] In the buoyancy mode, the two pectoral fin assemblies maintain synchronous movement, the first pectoral fin ray 210 and the second pectoral fin ray 220 swing back and forth synchronously, and the downward bending rate of the first pectoral fin ray 210 and the second pectoral fin ray 220 is higher than the upward bending rate to generate an upward force, thereby completing the buoyancy action.

[0061] In the diving mode, the two pectoral fin assemblies maintain synchronous movement, the first pectoral fin ray 210 and the second pectoral fin ray 220 swing back and forth synchronously, and the upward bending rate of the first pectoral fin ray 210 and the second pectoral fin ray 220 is higher than the downward bending rate to generate a downward force, thereby completing the diving action.

[0062] In the high-speed swimming mode, the tail fin fin ray 310 swings back and forth to increase the forward thrust, thereby improving the swimming speed of the multi-fin coordinated bionic electric ray, so that the multi-fin coordinated bionic electric ray has a higher speed when cruising.

[0063] The embodiments of the present application are described in detail above in conjunction with the accompanying drawings, but the present application is not limited to the above embodiments. Various changes can be made within the knowledge of ordinary technicians in the relevant technical field without departing from the purpose of the present application. In addition, the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

Claims

1. A bionic electric ray with coordinated multiple fins, characterized in that: include: Main body cabin; a pectoral fin assembly, wherein the pectoral fin assembly is two in number and symmetrically arranged on both sides of the main body compartment, the pectoral fin assembly comprising a first pectoral fin ray, a second pectoral fin ray and a pectoral fin sheet, the first pectoral fin ray and the second pectoral fin ray are both installed in parallel to the side of the main body compartment, the pectoral fin sheet is connected to the first pectoral fin ray, the second pectoral fin ray and the main body compartment, and the pectoral fin sheet can bend along with the bending of the first pectoral fin ray and the second pectoral fin ray; The caudal fin assembly comprises a caudal fin ray and a caudal fin sheet, wherein the caudal fin ray is connected to the main body cabin, the caudal fin sheet is mounted to the end of the caudal fin ray, and the caudal fin sheet can bend along with the bending of the caudal fin ray.

2. The multi-fin coordinated bionic electric ray according to claim 1, characterized in that: The first pectoral fin ray and the second pectoral fin ray each include a plurality of pectoral fin ray joints hinged to each other, and the pectoral fin piece is connected to each of the pectoral fin ray joints.

3. The multi-fin coordinated bionic electric ray according to claim 2, characterized in that: The pectoral fin assembly also includes a first pectoral fin servo, a second pectoral fin servo, a first pectoral fin rope and a second pectoral fin rope, and the output shafts of the first pectoral fin servo and the second pectoral fin servo are both equipped with steering discs; the first pectoral fin rope is wrapped around the steering disc of the first pectoral fin servo, and the two ends of the first pectoral fin rope pass through the pectoral fin ray joints in the first pectoral fin ray and are connected to the pectoral fin ray joint at the very end; the second pectoral fin rope is wrapped around the steering disc of the second pectoral fin servo, and the two ends of the second pectoral fin rope pass through the pectoral fin ray joints in the second pectoral fin ray and are connected to the pectoral fin ray joint at the very end.

4. The multi-fin coordinated bionic electric ray according to claim 3, characterized in that: The pectoral fin assembly also includes a pectoral fin reset spring, which is installed in the first pectoral fin ray and the second pectoral fin ray, and each of the pectoral fin ray joints is connected to the pectoral fin reset spring.

5. The multi-fin coordinated bionic electric ray according to claim 1, characterized in that: The caudal fin ray comprises a plurality of caudal fin ray joints hinged to each other.

6. The multi-fin coordinated bionic electric ray according to claim 5, characterized in that: The tail fin assembly also includes a tail fin servo and a tail fin rope. The output shaft of the tail fin servo is equipped with a steering disc. The tail fin rope is wound around the steering disc of the tail fin servo. Both ends of the tail fin rope pass through each of the tail fin fin joints in the tail fin fin rays and are connected to the tail fin fin joint at the very end.

7. The multi-fin coordinated bionic electric ray according to claim 6, characterized in that: The tail fin assembly also includes a tail fin reset spring, which is installed in the tail fin fin ray, and each of the tail fin fin ray joints is connected to the tail fin reset spring.

8. The multi-fin coordinated bionic electric ray according to any one of claims 1 to 7, characterized in that: The pectoral fin piece and the caudal fin piece are both made of silicone.

9. The multi-fin coordinated bionic electric ray according to any one of claims 1 to 7, characterized in that: The multi-fin coordinated bionic electric ray also includes a controller, which is installed in the main body cabin and is used to control the pectoral fin assembly and the caudal fin assembly.

10. A working method for the multi-fin coordinated bionic electric ray according to any one of claims 1 to 9, characterized in that: In the multi-fin coordinated bionic electric ray, the first pectoral fin ray is located in front of the second pectoral fin ray, and the tail fin assembly is located behind the main body cabin; The working method of the multi-fin coordinated bionic electric ray includes a forward mode, a backward mode, a turning mode, a floating mode, a diving mode and a high-speed swimming mode, wherein: In the forward mode, the two pectoral fin assemblies keep synchronous movement, the swing phase of the first pectoral fin ray is ahead of the swing phase of the second pectoral fin ray, and the swing amplitude of the first pectoral fin ray is larger than the swing amplitude of the second pectoral fin ray, so that the pectoral fins form a wave that is transmitted backwards; In the backward mode, the two pectoral fin assemblies keep moving synchronously, the swing phase of the second pectoral fin ray is ahead of the swing phase of the first pectoral fin ray, and the swing amplitude of the second pectoral fin ray is larger than the swing amplitude of the first pectoral fin ray, so that the pectoral fins form a wave that is transmitted forward; In the steering mode, in one of the pectoral fin assemblies, the swing phase of the first pectoral fin ray is ahead of the swing phase of the second pectoral fin ray, and the swing amplitude of the first pectoral fin ray is larger than the swing amplitude of the second pectoral fin ray, so that the pectoral fin forms a wave that is transmitted backward; in another pectoral fin assembly, the swing phase of the second pectoral fin ray is ahead of the swing phase of the first pectoral fin ray, and the swing amplitude of the second pectoral fin ray is larger than the swing amplitude of the first pectoral fin ray, so that the pectoral fin forms a wave that is transmitted forward; In the floating mode, the two pectoral fin assemblies keep synchronous movement, the first pectoral fin ray and the second pectoral fin ray synchronously swing back and forth, and the downward bending rate of the first pectoral fin ray and the second pectoral fin ray is higher than the upward bending rate, so as to generate an upward force; In the diving mode, the two pectoral fin assemblies keep synchronous movement, the first pectoral fin ray and the second pectoral fin ray synchronously swing back and forth, and the upward bending rate of the first pectoral fin ray and the second pectoral fin ray is higher than the downward bending rate, so as to generate a downward force; In the high-speed swimming mode, the tail fin rays swing back and forth to increase the forward thrust, thereby improving the swimming speed of the multi-fin coordinated bionic electric ray.

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