Bionic electric ray with clamping function and working method thereof

Abstract

The invention discloses a bionic electric ray with a clamping function and a working method of the bionic electric ray. The bionic electric ray comprises a ship body; the two pectoral fins are symmetrically arranged on the two sides of the ship body respectively, each pectoral fin comprises a first pectoral fin bone, a second pectoral fin bone and a pectoral fin piece, the first pectoral fin bone and the second pectoral fin bone can be bent upwards or downwards, and the pectoral fin pieces are connected to the first pectoral fin bone, the second pectoral fin bone and the ship body; the pectoral fin is a flexible part and can be bent along with the first pectoral fin bone and the second pectoral fin bone; wherein the first pectoral fin bone and the second pectoral fin bone in the two pectoral fins are bent downwards at the same time, and the ends of the pectoral fins can be utilized for clamping objects. According to the bionic electric skate with the clamping function, on one hand, the pectoral fins can be utilized for swimming, on the other hand, the pectoral fins can be utilized for bending downwards to grab objects, and therefore the grabbing function is increased under the condition that the influence on an existing structure is reduced. 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 a clamping function and a working method thereof. Background Art

[0002] Compared with traditional underwater robots, the movement of bionic robot fish produces less disturbance to the environment. However, although most bionic robot fish have made some progress in flexible underwater movement, they still face technical bottlenecks in multifunctional operation capabilities, especially how to grasp and clamp underwater objects.

[0003] At present, the grasping function of underwater robots is generally achieved by installing additional mechanical arms on the robots. The mechanical arms use clamping or suction cups to fix the objects, and then the underwater robots or mechanical arms move to move the objects. However, for bionic robot fish, the streamlined shape of fish has an important influence on the movement of robot fish. Directly adding mechanical arms will destroy the streamlined shape of robot fish, and the swimming resistance will also increase.

[0004] Therefore, how to increase the grasping function of objects within the existing structural framework of bionic robot fish and reduce the impact of the grasping mechanism on the structure of bionic robot fish is a technical problem that urgently needs to be solved in the field of bionic robot fish. 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 bionic electric ray with a clamping function, which can grab underwater objects and reduce the influence of the grabbing mechanism on the swimming of the bionic robotic fish.

[0006] The present application also proposes a working method of the bionic electric ray with the clamping function.

[0007] The bionic electric ray with a clamping function according to the first aspect of the present application includes:

[0008] hull;

[0009] Pectoral fins, wherein the number of the pectoral fins is two and they are symmetrically arranged on both sides of the hull, the pectoral fins include a first pectoral fin bone, a second pectoral fin bone and a pectoral fin piece, the first pectoral fin bone and the second pectoral fin bone can be bent upward or downward, the pectoral fin piece is connected to the first pectoral fin bone, the second pectoral fin bone and the hull, and the pectoral fin piece is a flexible member and can be bent along with the first pectoral fin bone and the second pectoral fin bone;

[0010] The first pectoral fin bone and the second pectoral fin bone of the two pectoral fins are bent downward at the same time, so that objects can be clamped by using the ends of the pectoral fins.

[0011] The bionic electric ray with a clamping function according to the embodiment of the present application has at least the following beneficial effects: the bionic electric ray with a clamping function can, on the one hand, use the pectoral fins to swim, and on the other hand, can also use the pectoral fins to bend downward to grasp objects, thereby increasing the grasping function while reducing the impact on the existing structure.

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

[0013] According to some embodiments of the present application, the pectoral fin 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 bone joints in the first pectoral fin bone and are connected to the pectoral fin bone 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 bone joints in the second pectoral fin bone and are connected to the pectoral fin bone joint at the very end.

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

[0015] According to some embodiments of the present application, the pectoral fin is a silicone piece.

[0016] According to some embodiments of the present application, the bionic electric ray with a clamping function also includes a tail fin, which includes a tail fin bone and a tail fin piece. The tail fin bone is connected to the hull, and the tail fin piece is installed to the end of the tail fin bone. The tail fin piece can bend with the bending of the tail fin bone.

[0017] According to some embodiments of the present application, the caudal fin bone includes a plurality of caudal fin bone joints hinged to each other.

[0018] According to some embodiments of the present application, the tail fin 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 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 bone joints in the tail fin bone and are connected to the tail fin bone joint located at the very end.

[0019] According to some embodiments of the present application, the caudal fin further includes a caudal fin reset reed, which is installed in the caudal fin bone, and each of the caudal fin bone joints is connected to the caudal fin reset reed.

[0020] According to the second aspect of the present application, the working method for the above-mentioned bionic electric ray with a clamping function includes the following steps:

[0021] In the pectoral fin, the first pectoral fin bone and the second pectoral fin bone swing in a sinusoidal swing manner, driving the pectoral fin piece to bend;

[0022] The swing phase of the first pectoral fin bone is ahead of that of the second pectoral fin bone, and the swing amplitude of the first pectoral fin bone is greater than that of the second pectoral fin bone, so that the bionic electric ray with a clamping function moves forward; or the swing phase of the second pectoral fin bone is ahead of that of the first pectoral fin bone, and the swing amplitude of the second pectoral fin bone is greater than that of the first pectoral fin bone, so that the bionic electric ray with a clamping function moves backward;

[0023] The bionic electric ray with a clamping function moves to the top of the object to be grasped and stops moving;

[0024] The first pectoral fin bone and the second pectoral fin bone of the two pectoral fins are both bent downward, so that the ends of the pectoral fins are in contact with the object to be grasped, thereby completing the grasping action.

[0025] According to the working method of the embodiment of the present application, there are at least the following beneficial effects: the bionic electric ray with clamping function is driven by utilizing the pectoral fins on both sides of the hull to move it above the object to be grasped; and then the pectoral fins are bent downward to clamp the object.

[0026] 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

[0027] 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.

[0028] Figure 1 A three-dimensional diagram of a bionic electric ray with a clamping function according to an embodiment of the first aspect of the present application;

[0029] Figure 2 This is a schematic diagram of a bionic electric ray with a clamping function after removing the outer shell in accordance with an embodiment of the first aspect of the present application;

[0030] Figure 3This is a schematic diagram of a bionic electric ray with a clamping function grabbing an object according to the first aspect of the present application.

[0031] Figure markings: 100-hull, 200-pectoral fin, 210-first pectoral fin bone, 220-second pectoral fin bone, 230-pectoral fin piece, 240-pectoral fin bone joint, 250-first pectoral fin servo, 260-second pectoral fin servo, 270-first pectoral fin rope, 280-second pectoral fin rope, 300-caudal fin, 310-caudal fin bone, 320-caudal fin piece, 330-caudal fin bone joint, 340-caudal fin servo, 350-caudal fin rope, 360-caudal fin reset spring. DETAILED DESCRIPTION

[0032] 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.

[0033] 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.

[0034] 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.

[0035] 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.

[0036] 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.

[0037] At present, the grasping function of underwater robots is generally achieved by installing additional mechanical arms on the robots. The mechanical arms use clamping or suction cups to fix the objects, and then the underwater robots or mechanical arms move to move the objects. However, for bionic robot fish, the streamlined shape of fish has an important influence on the movement of robot fish. Directly adding mechanical arms will destroy the streamlined shape of robot fish, and the swimming resistance will also increase.

[0038] Therefore, how to increase the grasping function of objects within the existing structural framework of bionic robot fish and reduce the impact of the grasping mechanism on the structure of bionic robot fish is a technical problem that urgently needs to be solved in the field of bionic robot fish.

[0039] In this regard, the present application proposes a bionic electric ray with a clamping function, which can use the pectoral fins 200 to swim on the one hand, and can also use the pectoral fins 200 to bend downward to grasp objects on the other hand, thereby increasing the grasping function while reducing the impact on the existing structure.

[0040] In addition, the present application also proposes a working method for the above-mentioned bionic electric ray with clamping function, which drives the bionic electric ray with clamping function by utilizing the pectoral fins on both sides of the hull 100 to move it above the object to be grasped; and then utilizes the pectoral fins 200 to bend downward to achieve clamping of the object.

[0041] Reference Figure 1 The bionic electric ray with a clamping function in the embodiment of the first aspect of the present application comprises a hull 100 and a pectoral fin 200. The hull 100 is the main structure of the bionic electric ray with a clamping function, and the pectoral fin 200 is installed on the hull 100, which is used to drive the hull 100 to move on the one hand, and can be retracted to clamp objects on the other hand.

[0042] Specifically, there are two pectoral fins 200 and they are symmetrically arranged on both sides of the hull 100. The pectoral fins 200 include a first pectoral fin bone 210, a second pectoral fin bone 220 and a pectoral fin piece 230. The first pectoral fin bone 210 and the second pectoral fin bone 220 can be bent upward or downward, and the pectoral fin piece 230 is connected to the first pectoral fin bone 210, the second pectoral fin bone 220 and the hull 100. The pectoral fin piece 230 is a flexible member and can bend with the first pectoral fin bone 210 and the second pectoral fin bone 220, so that the first pectoral fin bone 210 and the second pectoral fin bone 220 can drive the pectoral fin piece 230 to move and stir the surrounding waters, thereby obtaining a driving force for moving the bionic electric ray with a clamping function.

[0043] Among them, refer to Figure 2 The first pectoral fin bone 210 and the second pectoral fin bone 220 of the two pectoral fins 200 are bent downward at the same time, and the ends of the pectoral fins 200 can be used to clamp objects, thereby completing the action of grabbing the objects.

[0044] Furthermore, the first pectoral fin bone 210 and the second pectoral fin bone 220 each include a plurality of pectoral fin bone joints 240 that are hinged to each other, and the pectoral fin piece 230 is connected to each pectoral fin bone joint 240. By increasing the number of pectoral fin bone joints 240, the bending of the first pectoral fin bone 210 and the second pectoral fin bone 220 can be made more linear, so that the movement is more delicate, and the control of the bionic electric ray with a clamping function is more precise.

[0045] Further, refer to Figure 2 The pectoral fin 200 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, wherein 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 bone joint 240 in the first pectoral fin bone 210 and are connected to the pectoral fin bone joint 240 at the end. Thus, 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 bone 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 bone 210 to bend to the other side.

[0046] 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 bone joint 240 in the second pectoral fin bone 220, and are connected to the pectoral fin bone 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 bone 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 bone 220 to bend to the other side.

[0047] Furthermore, the pectoral fin 200 further includes a pectoral fin reset spring, which is installed in the first pectoral fin bone 210 and the second pectoral fin bone 220, and each pectoral fin bone joint 240 is connected to the pectoral fin reset spring. The pectoral fin reset spring is used to apply a reset force to the first pectoral fin bone 210 and the second pectoral fin bone 220, so that the first pectoral fin bone 210 and the second pectoral fin bone 220 are reset faster.

[0048] Specifically, the pectoral fin 230 is a silicone member, which is soft and easy to bend, thereby reducing material damage during repeated bending.

[0049] Furthermore, the bionic electric ray with a clamping function further includes a tail fin 300, which includes a tail fin bone 310 and a tail fin piece 320. The tail fin bone 310 is connected to the hull 100, and the tail fin piece 320 is installed to the end of the tail fin bone 310, and the tail fin piece 320 can bend with the bending of the tail fin bone 310. By providing the tail fin 300, the maneuverability of the bionic electric ray with a clamping function can be improved, and after the pectoral fin 200 clamps an object, the bionic electric ray with a clamping function can still be driven to move by the tail fin 300.

[0050] Furthermore, the caudal fin bone 310 includes a plurality of caudal fin bone joints 330 that are hinged to each other. By increasing the number of caudal fin bone joints 330, the bending of the caudal fin bone 310 can be made more linear, thereby making the movement more precise, and the control of the bionic electric ray with a clamping function more accurate.

[0051] Furthermore, the tail fin 300 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 bone joint 330 in the tail fin bone 310 and are connected to the tail fin bone 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 bone 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 bone 310 to bend to the other side.

[0052] Furthermore, the caudal fin 300 further includes a caudal fin reset reed 360, which is installed in the caudal fin bone 310, and each caudal fin bone joint 330 is connected to the caudal fin reset reed 360. The caudal fin reset reed 360 is used to drive the caudal fin bone 310 to reset.

[0053] The working method in the second aspect of the present application is carried out on the bionic electric ray with a clamping function, and comprises the following steps:

[0054] S100. In the pectoral fin 200, the first pectoral fin bone 210 and the second pectoral fin bone 220 swing in a sinusoidal swing manner, driving the pectoral fin 230 to bend;

[0055] S200. The swing phase of the first pectoral fin bone 210 is ahead of that of the second pectoral fin bone 220, and the swing amplitude of the first pectoral fin bone 210 is greater than that of the second pectoral fin bone 220, so that the bionic electric ray with a clamping function moves forward; or the swing phase of the second pectoral fin bone 220 is ahead of that of the first pectoral fin bone 210, and the swing amplitude of the second pectoral fin bone 220 is greater than that of the first pectoral fin bone 210, so that the bionic electric ray with a clamping function moves backward;

[0056] S300. The bionic electric ray with a clamping function moves to the top of the object to be grasped and stops moving;

[0057] S400. The first pectoral fin bone 210 and the second pectoral fin bone 220 of the two pectoral fins 200 are both bent downward, so that the ends of the pectoral fins 200 are in contact with the object to be grasped, thereby completing the grasping action.

[0058] It is easy to understand that when the bionic electric ray with a clamping function moves, the two pectoral fins 200 adopt the same movement mode to make the bionic electric ray with a clamping function move forward or backward; or the two pectoral fins 200 adopt opposite movement modes to make the bionic electric ray with a clamping function turn in situ.

[0059] After the bionic electric ray with a clamping function clamps an object through the pectoral fin 200 , the caudal fin 300 can be used to move the object, or the object and the bionic electric ray with a clamping function can be recovered together with external equipment.

[0060] 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 a clamping function, characterized in that: include: hull; Pectoral fins, wherein the number of the pectoral fins is two and they are symmetrically arranged on both sides of the hull, the pectoral fins include a first pectoral fin bone, a second pectoral fin bone and a pectoral fin piece, the first pectoral fin bone and the second pectoral fin bone can be bent upward or downward, the pectoral fin piece is connected to the first pectoral fin bone, the second pectoral fin bone and the hull, and the pectoral fin piece is a flexible member and can be bent along with the first pectoral fin bone and the second pectoral fin bone; The first pectoral fin bone and the second pectoral fin bone of the two pectoral fins are bent downward at the same time, so that objects can be clamped by using the ends of the pectoral fins.

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

3. The bionic electric ray with clamping function according to claim 2, characterized in that: The pectoral fin 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 wound 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 bone joints in the first pectoral fin bone and are connected to the pectoral fin bone joint at the very end; the second pectoral fin rope is wound 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 bone joints in the second pectoral fin bone and are connected to the pectoral fin bone joint at the very end.

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

5. The bionic electric ray with clamping function according to claim 1, characterized in that: The pectoral fin piece is a silicone piece.

6. The bionic electric ray with clamping function according to any one of claims 1 to 5, characterized in that: The bionic electric ray with a clamping function also includes a tail fin, which includes a tail fin bone and a tail fin piece. The tail fin bone is connected to the hull, and the tail fin piece is installed to the end of the tail fin bone. The tail fin piece can bend with the bending of the tail fin bone.

7. The bionic electric ray with clamping function according to claim 6, characterized in that: The caudal fin bone comprises a plurality of caudal fin bone joints hinged to each other.

8. The bionic electric ray with clamping function according to claim 7, characterized in that: The tail fin 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 bone joints in the tail fin bone and are connected to the tail fin bone joint at the very end.

9. The bionic electric ray with clamping function according to claim 8, characterized in that: The caudal fin further comprises a caudal fin reset spring, which is installed in the caudal fin bone, and each of the caudal fin bone joints is connected to the caudal fin reset spring.

10. A working method for the bionic electric ray with clamping function as claimed in any one of claims 1 to 9, characterized in that: include: In the pectoral fin, the first pectoral fin bone and the second pectoral fin bone swing in a sinusoidal swing manner, driving the pectoral fin piece to bend; The swing phase of the first pectoral fin bone is ahead of that of the second pectoral fin bone, and the swing amplitude of the first pectoral fin bone is greater than that of the second pectoral fin bone, so that the bionic electric ray with a clamping function moves forward; or the swing phase of the second pectoral fin bone is ahead of that of the first pectoral fin bone, and the swing amplitude of the second pectoral fin bone is greater than that of the first pectoral fin bone, so that the bionic electric ray with a clamping function moves backward; The bionic electric ray with a clamping function moves to the top of the object to be grasped and stops moving; The first pectoral fin bone and the second pectoral fin bone of the two pectoral fins are both bent downward, so that the ends of the pectoral fins are in contact with the object to be grasped, thereby completing the grasping action.

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