Bionic electric ray with clamping function and working method thereof
By designing a flexible structure and a complex joint system on the pectoral fins of the biomimetic electric ray, the technical bottleneck of the grasping function of the biomimetic robotic fish has been solved, enabling precise gripping of objects without increasing swimming resistance.
Patent Information
- Application Number
- CN202510105703.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- Filing Date
- 2025-01-23
- Publication Date
- 2025-10-24
- Estimated Expiration
- 2045-01-23
AI Technical Summary
When adding grasping functions, existing biomimetic robotic fish suffer from a loss of streamlined shape due to the addition of robotic arms, which increases swimming resistance and results in insufficient multi-functional operation capabilities.
Design a biomimetic electric ray with a gripping function, which uses the flexible structure of the pectoral fin to grasp objects, including flexible pectoral fin plates and a complex pectoral fin bone joint system, combined with servo motors and rope drive to realize the bending and gripping actions of the pectoral fin.
Without compromising the shape of the biomimetic robotic fish, the object-grabbing function was achieved, reducing the impact on swimming and improving the accuracy and efficiency of grasping.
Smart Images
Figure CN119911402B_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the technical field of underwater bionic robots, and particularly relates to a bionic electric ray with a clamping function and a working method thereof. BACKGROUND
[0002] Compared with traditional underwater robots, bionic robotic fish generates less disturbance to the environment during movement. However, although some progress has been made in the flexible movement of bionic robotic fish underwater, there are still technical bottlenecks in the multi-functional operation capability, especially how to grasp and clamp underwater objects.
[0003] At present, the grasping function of underwater robots is generally realized by installing an additional mechanical arm on the robot. The mechanical arm uses a clamping or suction cup suction method to fix the object, and then moves the underwater robot or the mechanical arm to complete the transportation of the object. However, for bionic robotic fish, the streamlined shape similar to fish has an important influence on the movement of the robotic fish. Directly adding a mechanical arm will destroy the streamlined shape of the robotic fish, and the swimming resistance will also increase.
[0004] Therefore, how to add the grasping function of the object under the existing structure framework of the bionic robotic fish and reduce the influence of the grasping mechanism on the structure of the bionic robotic fish is a technical problem to be solved in the field of bionic robotic fish at present. SUMMARY
[0005] The present application aims to at least solve one of the technical problems in the prior art. To this end, the present application provides a bionic electric ray with a clamping function, which can grasp underwater objects and reduce the influence of the grasping mechanism on the swimming of the bionic robotic fish.
[0006] The present application also provides a working method of the bionic electric ray with the clamping function.
[0007] The bionic electric ray with the clamping function according to the first aspect of the present application comprises:
[0008] a hull;
[0009] two thoracic fins, which are symmetrically arranged on both sides of the hull, the thoracic fin comprising a first thoracic fin bone, a second thoracic fin bone and a thoracic fin piece, the first thoracic fin bone and the second thoracic fin bone being capable of bending upward or downward, the thoracic fin piece being connected to the first thoracic fin bone, the second thoracic fin bone and the hull, the thoracic fin piece being a flexible member and being capable of bending with the first thoracic fin bone and the second thoracic fin bone;
[0010] wherein the first thoracic fin bone and the second thoracic fin bone in the two thoracic fins bend downward at the same time, and the end of the thoracic fin can clamp the object.
[0011] According to the bionic electric ray with the clamping function, the chest fin can be used for swimming and bending downward to grab objects, so that the clamping function is increased without affecting the existing structure.
[0012] According to some embodiments of the present application, the first chest fin bone and the second chest fin bone each comprise a plurality of chest fin bone joints hingedly connected to each other, and the chest fin piece is connected to each chest fin bone joint.
[0013] According to some embodiments of the present application, the chest fin further comprises a first chest fin steering engine, a second chest fin steering engine, a first chest fin rope, and a second chest fin rope, the output shaft of the first chest fin steering engine and the output shaft of the second chest fin steering engine are each provided with a steering disc, the first chest fin rope is wound around the steering disc of the first chest fin steering engine, the two ends of the first chest fin rope pass through each chest fin bone joint in the first chest fin bone and are connected to the last chest fin bone joint, the second chest fin rope is wound around the steering disc of the second chest fin steering engine, the two ends of the second chest fin rope pass through each chest fin bone joint in the second chest fin bone and are connected to the last chest fin bone joint.
[0014] According to some embodiments of the present application, the chest fin further comprises a chest fin reset spring, the chest fin reset spring is installed in the first chest fin bone and the second chest fin bone, and each chest fin bone joint is connected to the chest fin reset spring.
[0015] According to some embodiments of the present application, the chest fin piece is a silica gel piece.
[0016] According to some embodiments of the present application, the bionic electric ray with the clamping function further comprises a tail fin, the tail fin comprises a tail fin bone and a tail fin piece, the tail fin bone is connected to the hull, the tail fin piece is installed at the end of the tail fin bone and can bend with the bending of the tail fin bone.
[0017] According to some embodiments of the present application, the tail fin bone comprises a plurality of tail fin bone joints hingedly connected to each other.
[0018] According to some embodiments of the present application, the tail fin further comprises a tail fin steering engine and a tail fin rope, the output shaft of the tail fin steering engine is provided with a steering disc, the tail fin rope is wound around the steering disc of the tail fin steering engine, and the two ends of the tail fin rope pass through each tail fin bone joint in the tail fin bone and are connected to the last tail fin bone joint.
[0019] According to some embodiments of the present application, the tail fin further comprises a tail fin reset spring, which is installed in the tail fin bones, and each of the tail fin bone joints is connected with the tail fin reset spring.
[0020] According to the working method of the bionic electric ray with clamping function of the second aspect of the present application, the working method comprises the following steps:
[0021] In the pectoral fin, the first pectoral fin bone and the second pectoral fin bone swing in a sinusoidal manner, driving the pectoral fin to bend;
[0022] The swing phase of the first pectoral fin bone is ahead 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 clamping function moves forward; or the swing phase of the second pectoral fin bone is ahead 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 clamping function moves backward;
[0023] The bionic electric ray with clamping function moves to above the to-be-grabbed object and stops moving;
[0024] The first pectoral fin bones and the second pectoral fin bones in the two pectoral fins are bent downward, so that the ends of the pectoral fins contact the to-be-grabbed object, and the grabbing action is completed.
[0025] According to the working method of the present application, at least the following beneficial effects are achieved: the bionic electric ray with clamping function is driven by the pectoral fins on both sides of the ship body to move above the to-be-grabbed object; and then the pectoral fins are bent downward to clamp the object.
[0026] Additional aspects and advantages of the present application will be in part apparent and in part pointed out hereinafter. BRIEF DESCRIPTION OF DRAWINGS
[0027] The accompanying drawings are included to provide a further understanding of the technical solutions of the present application, and constitute a part of the specification, and are used to explain the technical solutions of the present application together with the embodiments of the present application, and do not constitute a limitation on the technical solutions of the present application.
[0028] Figure 1 A three-dimensional view of the bionic electric ray with clamping function of the first aspect of the present application;
[0029] Figure 2 A schematic view of the bionic electric ray with clamping function of the first aspect of the present application after removing the shell;
[0030] Figure 3Fig. 1 is a schematic diagram of the first aspect of the present application, showing a bionic electric ray with a clamping function grabbing an object.
[0031] Reference signs: 100-ship body, 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 steering engine, 260-second pectoral fin steering engine, 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 steering engine, 350-caudal fin rope, 360-caudal fin reset spring. DETAILED DESCRIPTION
[0032] The embodiments of the present application are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar notations represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary only, for the purpose of explaining the present application, and should not be understood as a limitation of the present application.
[0033] In the description of the present application, it should be understood that the orientation description, such as the orientation or position relationship indicated by up, down, front, back, left, right, etc. is based on the orientation or position relationship shown in the drawings, and is only for the purpose of facilitating the description of the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be understood as a limitation of the present application.
[0034] In the description of the present application, if the meaning of several is more than one, the meaning of multiple is more than two, greater than, less than, more than, etc. is understood as not including the number, above, below, etc. is understood as including the number. If it is described as first, second, it is only for the purpose of distinguishing technical features, and should not be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features or the order of indicated technical features.
[0035] In the description of the present application, unless otherwise explicitly limited, the words such as setting, installing, connecting, etc. should be broadly understood, and the person skilled in the art can reasonably determine the specific meaning of the above words in the present application in combination with the specific content of the technical solution.
[0036] In the description of the present application, the description of the terms "one embodiment", "some embodiments", "exemplary embodiment", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the exemplary description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any suitable manner in any one or more embodiments or examples.
[0037] At present, the grabbing function of the underwater robot is generally realized by installing an additional mechanical arm on the robot. The mechanical arm uses the clamping or suction cup suction method to complete the fixation of the object, and then completes the carrying of the object through the movement of the underwater robot or the movement of the mechanical arm. However, for a bionic robotic fish, the streamlined shape similar to fish has an important influence on the movement of the robotic fish. Directly adding a mechanical arm will destroy the streamlined shape of the robotic fish, and the swimming resistance will also increase.
[0038] Therefore, how to increase the grabbing function of the object under the structure framework of the existing bionic robotic fish and reduce the influence of the grabbing mechanism on the structure of the bionic robotic fish is a technical problem that needs to be solved in the field of bionic robotic fish at present.
[0039] To this end, the present application provides a bionic electric ray with clamping function, which can utilize the pectoral fin 200 for swimming on one hand, and can also utilize the pectoral fin 200 to bend downward to realize the grabbing of the object, thereby increasing the grabbing function while reducing the influence on the existing structure.
[0040] In addition, the present application also provides a working method for the bionic electric ray with clamping function described above, which drives the bionic electric ray with clamping function by utilizing the pectoral fins on both sides of the hull 100 to move above the object to be grabbed, and then utilizes the pectoral fin 200 to bend downward to realize the clamping of the object.
[0041] Reference Figure 1 The bionic electric ray with clamping function in the first aspect embodiment of the present application includes a hull 100 and a pectoral fin 200. The hull 100 is the main structure of the bionic electric ray with clamping function, and the pectoral fin 200 is installed to the hull 100, which is used to drive the hull 100 to move on one hand, and can be folded to clamp the object on the other hand.
[0042] Specifically, the number of the pectoral fins 200 is two and symmetrically arranged on both sides of the hull 100. The pectoral fin 200 comprises a first pectoral fin bone 210, a second pectoral fin bone 220 and a pectoral fin blade 230, the first pectoral fin bone 210 and the second pectoral fin bone 220 are both capable of bending upwards or downwards, and the pectoral fin blade 230 is connected to the first pectoral fin bone 210, the second pectoral fin bone 220 and the hull 100. The pectoral fin blade 230 is a flexible piece and is capable of bending 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 blade 230 to move and agitate the surrounding water, thereby obtaining the propulsive force for moving the bionic electric ray with gripping function.
[0043] Wherein, referring to Figure 2 , the first pectoral fin bone 210 and the second pectoral fin bone 220 in the two pectoral fins 200 bend downwards at the same time, the end of the pectoral fin 200 can be used to clamp the object, thereby completing the grabbing action of the object.
[0044] Further, the first pectoral fin bone 210 and the second pectoral fin bone 220 each comprise a plurality of pectoral fin bone joints 240 hingedly connected to each other, and the pectoral fin blade 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 more linear, thereby the action is more delicate and the control of the bionic electric ray with gripping function is more accurate.
[0045] Further, referring to Figure 2 , the pectoral fin 200 further comprises a first pectoral fin steering engine 250, a second pectoral fin steering engine 260, a first pectoral fin rope 270 and a second pectoral fin rope 280, wherein the output shaft of the first pectoral fin steering engine 250 and the second pectoral fin steering engine 260 is provided with a steering disc. The first pectoral fin rope 270 is wound around the steering disc of the first pectoral fin steering engine 250, the two 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 last pectoral fin bone joint 240. Therefore, when the first pectoral fin steering engine 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 steering engine 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 disc of the second pectoral fin steering engine 260, the two ends of the second pectoral fin rope 280 pass through each pectoral fin joint 240 in the second pectoral fin bone 220 and are connected with the pectoral fin joint 240 at the end. Thus, when the second pectoral fin steering engine 260 rotates in one direction, the second pectoral fin rope 280 is pulled to bend the second pectoral fin bone 220 to one side; when the second pectoral fin steering engine 260 rotates in the other direction, the second pectoral fin rope 280 is pulled to bend the second pectoral fin bone 220 to the other side.
[0047] Further, the pectoral fin 200 further comprises 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 joint 240 is connected with the pectoral fin reset spring. The function of the pectoral fin reset spring is to apply a resetting 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 piece 230 is a silica gel piece, which has the characteristics of softness and easy bending, thereby reducing material damage in the process of repeated bending.
[0049] Further, the bionic electric ray with clamping function further comprises a tail fin 300, the tail fin 300 comprising 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 at the end of the tail fin bone 310 and can bend with the bending of the tail fin bone 310. By arranging the tail fin 300, the maneuverability of the bionic electric ray with clamping function can be improved, and after the pectoral fin 200 clamps the object, the bionic electric ray with clamping function can still move by relying on the tail fin 300.
[0050] Further, the tail fin bone 310 comprises a plurality of tail fin joints 330 hinged to each other, and by increasing the number of tail fin joints 330, the bending of the tail fin bone 310 can be more linear, thereby the action is more delicate and the control of the bionic electric ray with clamping function is more accurate.
[0051] Further, the tail fin 300 further comprises a tail fin steering engine 340 and a tail fin rope 350, the output shaft of the tail fin steering engine 340 is provided with a steering disc, the tail fin rope 350 is wound around the steering disc of the tail fin steering engine 340, and the two ends of the tail fin rope 350 pass through each tail fin joint 330 in the tail fin bone 310 and are connected with the tail fin joint 330 at the end. Thus, when the tail fin steering engine 340 rotates in one direction, the tail fin rope 350 is pulled to bend the tail fin bone 310 to one side; when the tail fin steering engine 340 rotates in the other direction, the tail fin rope 350 is pulled to bend the tail fin bone 310 to the other side.
[0052] Further, the tail fin 300 further comprises a tail fin reset spring 360, which is installed in the tail fin bone 310, and each tail fin bone joint 330 is connected with the tail fin reset spring 360. The tail fin reset spring 360 is used to drive the tail fin bone 310 to reset.
[0053] The working method in the second aspect embodiment of the present application is performed on the above-mentioned bionic electric ray with 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 manner, driving the pectoral fin sheet 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 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 clamping function moves backward;
[0056] S300. The bionic electric ray with clamping function moves to above the to-be-grabbed article and stops moving;
[0057] S400. The first pectoral fin bone 210 and the second pectoral fin bone 220 in the two pectoral fins 200 are both bent downward, so that the tail end of the pectoral fin 200 contacts the to-be-grabbed article, and the grabbing action is completed.
[0058] It is easily understood that, when the bionic electric ray with clamping function moves, the two pectoral fins 200 adopt the same movement mode to make the bionic electric ray with clamping function move forward or backward; or the two pectoral fins 200 adopt opposite movement modes to make the bionic electric ray with clamping function turn in place.
[0059] After the bionic electric ray with clamping function clamps the article through the pectoral fin 200, the tail fin 300 can be used to move, or the article and the bionic electric ray with clamping function are recycled together by relying on an external device.
[0060] The embodiments of the present application are described in detail above in combination with the drawings, but the present application is not limited to the above-mentioned embodiments, and various changes can be made within the knowledge range of ordinary skill in the art 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 clamping function, characterized in that, The bionic electric ray with clamping function comprises a hull, two chest fins symmetrically arranged on two sides of the hull, each chest fin comprising a first chest fin bone, a second chest fin bone and a chest fin piece, the first chest fin bone and the second chest fin bone being capable of bending upward or downward, the chest fin piece being connected to the first chest fin bone, the second chest fin bone and the hull, the chest fin piece being a flexible piece and capable of bending with the first chest fin bone and the second chest fin bone. The first chest fin bone and the second chest fin bone of the two chest fins bend downward at the same time, and the end of the chest fin can clamp an article. The first chest fin bone and the second chest fin bone each comprise a plurality of chest fin bone joints hingedly connected to each other, and the chest fin piece is connected to each chest fin bone joint. The chest fin further comprises a first chest fin steering engine, a second chest fin steering engine, a first chest fin rope and a second chest fin rope, the output shaft of each of the first chest fin steering engine and the second chest fin steering engine being provided with a steering disc, the first chest fin rope being wound around the steering disc of the first chest fin steering engine, the two ends of the first chest fin rope passing through each chest fin bone joint in the first chest fin bone and being connected to the last chest fin bone joint, the second chest fin rope being wound around the steering disc of the second chest fin steering engine, the two ends of the second chest fin rope passing through each chest fin bone joint in the second chest fin bone and being connected to the last chest fin bone joint. The chest fin further comprises a chest fin reset spring piece, which is installed in the first chest fin bone and the second chest fin bone, and each chest fin bone joint is connected to the chest fin reset spring piece. The chest fin piece is a silica gel piece.
2. The bionic electric ray with clamping function according to claim 1, characterized in that: The bionic electric ray with clamping function further comprises a tail fin, the tail fin comprising a tail fin bone and a tail fin piece, the tail fin bone being connected to the hull, the tail fin piece being installed at the end of the tail fin bone and capable of bending with the bending of the tail fin bone.
3. The bionic electric ray with clamping function according to claim 1, characterized in that: The tail fin bone comprises a plurality of tail fin bone joints hingedly connected to each other.
4. The bionic electric ray with clamping function according to any one of claims 1 to 3, characterized in that: The tail fin further comprises a tail fin steering engine and a tail fin rope, the output shaft of the tail fin steering engine being provided with a steering disc, the tail fin rope being wound around the steering disc of the tail fin steering engine, the two ends of the tail fin rope passing through each tail fin bone joint in the tail fin bone and being connected to the last tail fin bone joint.
5. The bionic electric ray with clamping function according to claim 4, characterized in that: The tail fin further comprises a tail fin reset spring piece, which is installed in the tail fin bone, and each tail fin bone joint is connected to the tail fin reset spring piece.
6. The bionic electric ray with clamping function according to claim 5, characterized in that: In the chest fin, the first chest fin bone and the second chest fin bone swing in a sinusoidal manner, driving the chest fin piece to bend.
7. The bionic electric ray with clamping function according to claim 6, characterized in that: The swing phase of the first chest fin bone is ahead of that of the second chest fin bone, and the swing amplitude of the first chest fin bone is greater than that of the second chest fin bone, so that the bionic electric ray with clamping function moves forward; or the swing phase of the second chest fin bone is ahead of that of the first chest fin bone, and the swing amplitude of the second chest fin bone is greater than that of the first chest fin bone, so that the bionic electric ray with clamping function moves backward.
8. A working method for the bionic electric ray with clamping function according to any one of claims 1 to 7, characterized in that, The bionic electric ray with clamping function moves to above the article to be grabbed and stops moving. The first pectoral fin bone and the second pectoral fin bone in the two pectoral fins are both bent downward, so that the end of the pectoral fin contacts the article to be grabbed, completing the grabbing action.
Citation Information
Patent Citations
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