A biomimetic manta ray based ocean exploration robot

Abstract

The application discloses a kind of ocean detection robots based on bionic manta ray, it is related to underwater detection technical field, including torso module and respectively installing in the front end, rear end and both sides of torso module head module, tail fin drive module and a pair of pectoral fin drive module, still in the cavity of torso module is equipped with including a pair of gravity center adjusting module gravity center adjusting mechanism;Head module, torso module, pectoral fin drive module and tail fin drive module are all coated with bionic flexible skin.The gravity center adjusting mechanism of the application can work with tail fin drive module and pectoral fin drive module, realize the individual or common accurate regulation of robot gravity in front-back direction and left-right direction, make robot steering response faster, sink more stable, posture correction more quickly, and can effectively resist water flow disturbance, improve the posture control accuracy and complex sea condition adaptability of robot, so that robot can still maintain stable navigation and detection posture in complex marine environment.

Description

Technical Field

[0001] This invention relates to the field of underwater exploration technology, and more specifically to a robot for ocean exploration and its control method. Background Technology

[0002] With the deepening of marine development and utilization, the demand for marine environmental detection is becoming increasingly urgent. Tasks such as marine resource exploration, pollution monitoring, and ecological surveys require efficient, flexible, and covert underwater detection equipment. Traditional underwater detection equipment mostly uses propeller propulsion, which has problems such as high energy consumption, poor maneuverability, and high fluid resistance. Moreover, it is not adaptable enough to complex marine environments, is easily affected by wind and waves, and cannot meet the requirements of long-endurance and high-precision detection.

[0003] The development of biomimetic robot technology has provided new ideas for solving the above problems. Manta rays, as marine creatures with highly efficient swimming abilities, possess excellent stability, maneuverability, and energy efficiency underwater due to their flat, streamlined bodies and pectoral fin propulsion, making them ideal biomimetic prototypes for underwater exploration equipment. However, existing biomimetic manta ray robots still have many shortcomings: for example, some biomimetic manta ray robots using intelligent drive materials suffer from weak driving force and low control precision; while biomimetic manta ray robots driven by motors or servos have stronger driving force, their pectoral fin movement coordination, attitude control precision, and multi-task exploration adaptability need improvement; at the same time, existing biomimetic manta ray robots lack a complete center of gravity control coordination mechanism, resulting in poor buoyancy stability, slow attitude correction response, and insufficient coordination between multimodal sensing systems and motion control, making it difficult to efficiently complete diverse marine exploration tasks.

[0004] Based on existing technology searches, the following known technical solutions exist: Prior Art 1: A Bionic Manta Ray Based on a Bidirectional Coupled Wave Propulsion Structure Application number: CN202511738149.4, application date: 2025-11-24, publication (announcement) date: 2026-01-20.

[0005] Prior art 1 provides a bidirectional coupled wave-like propulsion biomimetic manta ray based on an eccentric wheel and linkage structure, including a head mechanism, a tail mechanism, and a body mechanism. The head mechanism is connected to the body mechanism. The body mechanism includes a silicone pectoral fin and five skeletons. Each skeleton has two linkage mechanisms. Each linkage mechanism includes a driven rod, a connecting rod, and an eccentric wheel. The eccentric wheel has a wheel hole and a first connecting hole. The connecting rod has a second and a third connecting hole. The driven rod has a fourth and a fifth connecting hole. The driven rod is bent. The second connecting hole is rotatably connected to the first connecting hole via a rotating shaft. The third connecting hole is rotatably connected to the fourth connecting hole via a rotating shaft. The fifth connecting hole is rotatably connected to the skeleton via a rotating shaft. The silicone pectoral fin is connected to all the driven rods. The tail mechanism includes a fish tail, which is connected to one of the skeletons. The fish tail contains two drive mechanisms. The flexible silicone pectoral fin of this invention improves the reliability of the biomimetic manta ray.

[0006] The existing technology 1 uses a tail drive mechanism to drive a transmission shaft, eccentric wheel and connecting rod, which drives the silicone pectoral fin to achieve spanwise and chordal oscillation. It relies solely on the differential speed of the pectoral fin to achieve steering, and relies solely on the change of the pectoral fin angle of attack to achieve sinking and floating. It lacks the ability to adjust the center of gravity and coordinate attitude control, resulting in slow steering response and lagging sinking and floating control. It also has poor attitude stability in water flow disturbance environments, making it difficult to meet the stability and maneuverability requirements of high-precision marine exploration.

[0007] Prior Art 2: A Bionic Manta Ray Underwater Surveillance Robot Application number: CN202422973242.0, application date: 2024-12-04, publication (announcement) date: 2025-01-07.

[0008] Prior art 2 discloses a biomimetic manta ray underwater surveillance robot, including a main body and a biomimetic wing. The biomimetic wing includes a differential mechanism support, a passive fin drive shaft, and a silicone passive wing. The differential mechanism support is equipped with a differential and a rotary servo. The biomimetic wing is connected to the main body via a swing rod. A stepper motor compartment is located inside the main body, and a stepper motor is installed inside the stepper motor compartment. The output shaft of the stepper motor is connected to the swing rod through a transmission mechanism, and the swing rod controls the up-and-down swing of the biomimetic wing to provide forward propulsion. The differential and the rotary servo are respectively connected to the silicone passive wing and drive the silicone passive wing to rotate, controlling steering. This utility model has active and passive motion control, minimal impact on the marine ecological environment, and multiple underwater surveillance operation modes to adapt to different operating environments.

[0009] However, the existing technology 2 uses a single-degree-of-freedom swing rod to drive the bionic wing for propulsion, and relies on the differential and rotating servo to passively adjust the steering. The center of gravity of the whole machine is fixed and cannot be adjusted, lacking attitude coordination adjustment capability. In complex water flow disturbance environment, attitude deviation is prone to occur, making it difficult to maintain a stable monitoring operation attitude, resulting in insufficient operational stability and detection accuracy. Summary of the Invention

[0010] To avoid the shortcomings of the prior art, the present invention provides a marine exploration robot based on a biomimetic manta ray.

[0011] The present invention adopts the following technical solution to solve the technical problem: a marine exploration robot based on a biomimetic manta ray, comprising a torso module and a head module, a tail fin drive module and a pair of pectoral fin drive modules respectively installed at the front end, rear end and sides of the torso module, and a center of gravity adjustment mechanism including a pair of center of gravity adjustment modules is provided in the cavity of the torso module. The center of gravity adjustment module includes a drive motor, a screw, and a center of gravity adjustment assembly; The drive motor is fixedly installed inside the cavity, and the screw is rotatably connected to the torso module, with one end of the screw shaft being axially connected to the output end of the drive motor; the center of gravity adjustment component is threadedly installed on the screw and has at least one surface that slides against the inner wall of the cavity; In a pair of the aforementioned center of gravity adjustment modules, the axes of the screws are respectively set along the robot's front-back direction and left-right direction; The head module, the torso module, the pectoral fin drive module, and the tail fin drive module are all covered with biomimetic flexible skin.

[0012] Furthermore, the pectoral fin drive module is provided with a pectoral fin connection assembly and at least two pectoral fin drive units connected in a stepwise manner; The pectoral fin drive unit includes a drive servo, a connector and a flexible fin plate. Among the at least two pectoral fin drive units, the pectoral fin drive unit located at the last stage is the last stage pectoral fin drive unit and also includes an end assembly. The remaining pectoral fin drive units are connected pectoral fin drive units. In each of the pectoral fin drive units, the output end of the drive servo is fixedly mounted to the front end of the connector, and outputs a motion that drives the connector to swing up and down; In the primary pectoral fin drive unit, the drive servo is mounted and connected to the torso module via the pectoral fin connection assembly; In the connected pectoral fin drive unit, two flexible fin plates are fixedly installed in the middle of the connector, and a gap is left between the two flexible fin plates; the end of the connector is fixedly installed to the drive servo of the next stage pectoral fin drive unit. In the final stage pectoral fin drive unit, the flexible fin plate and the end assembly are respectively installed and fixed at the middle and end of the connector.

[0013] Furthermore, the cross-sections of each of the flexible fins are similarly hollow and streamlined, and the cross-sectional dimensions of each of the flexible fins decrease along the direction away from the torso module. After the pectoral fin drive module is covered with a biomimetic flexible skin, it forms the pectoral fin shape of a manta ray.

[0014] Furthermore, the pectoral fin drive module is provided with two connected pectoral fin drive units and one final-stage pectoral fin drive unit.

[0015] Furthermore, the tail fin drive module includes a tail fin connection assembly, a tail fin drive servo, and a tail shank; The tail fin drive servo is installed and fixed to the body module through the tail fin connection assembly, and its output end is installed and fixed to the tail shank, outputting a motion that drives the tail shank to swing up and down. The tail fin drive module, after being covered with a biomimetic flexible skin, forms the tail fin shape of a manta ray.

[0016] Furthermore, a multimodal perception and control module is also provided, which includes a main control unit and a visual sensor, a sonar sensor, a depth sensor, a water quality multi-parameter sensor, an inertial measurement unit, a satellite positioning module, and lighting equipment that are connected to the main control unit via data communication. The main control unit is also connected to the pectoral fin drive module, the caudal fin drive module, and the center of gravity adjustment mechanism via data communication.

[0017] Furthermore, the biomimetic flexible skin is made of flexible soft rubber material, and its outer surface is a continuous curved surface.

[0018] Furthermore, both ends of the screw are provided with bearing seats. One end of the screw, which is connected to the drive shaft, is rotatably connected to the bearing seat through an angular contact bearing, and the other end is rotatably connected to the bearing seat through a deep groove ball bearing.

[0019] Furthermore, the cavity is located at the front of the torso module, with an opening at the top, and is fitted with an openable torso cover.

[0020] This invention provides a marine exploration robot based on a biomimetic manta ray, which has the following beneficial effects: 1. The robot of the present invention is equipped with a center of gravity adjustment mechanism, which can work in conjunction with the tail fin drive module and the pectoral fin drive module to achieve precise adjustment of the robot's center of gravity individually or jointly in the forward and backward and left and right directions. This makes the robot's turning response faster, its buoyancy more stable, and its attitude correction more rapid. It can also effectively resist water flow disturbances, improve the robot's attitude control accuracy and adaptability to complex sea conditions, and enable the robot to maintain a stable navigation and exploration attitude in complex marine environments. This solves the problems of unstable attitude and lagging control of existing biomimetic manta ray robots.

[0021] 2. The pectoral fin drive module of this invention adopts a structure in which multi-level pectoral fin drive units are connected in stages. The hollow streamline shape and gradual size design of the flexible fin plate, together with the biomimetic flexible skin, form the pectoral fin shape of the manta ray. The drive servos of each pectoral fin drive unit work together to accurately reproduce the sinusoidal wave swing of the manta ray's pectoral fin, resulting in higher hydrodynamic capture efficiency. At the same time, the flexible fin plate and the biomimetic flexible skin deform synchronously to buffer the water flow impact, greatly reducing motion resistance and energy consumption. Compared with traditional rigid pectoral fins and propeller propulsion, the motion is smoother, the noise is lower, and the stealth is stronger.

[0022] 3. The visual sensor, sonar sensor, depth sensor and water quality multi-parameter sensor integrated in this invention can simultaneously complete functions such as seabed imaging, topographic mapping, obstacle avoidance and water quality monitoring, realizing the integration of "environmental perception - data acquisition - motion control", making up for the shortcomings of the single detection function of existing biomimetic manta ray robots, and fully meeting the comprehensive task requirements of marine resource exploration, ecological monitoring, pipeline inspection and other tasks. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the partial explosion structure of the present invention.

[0024] Figure 2 This is a partial exploded structural diagram of the head module and torso module of the present invention.

[0025] Figure 3 This is a schematic diagram of the pectoral fin drive module of the present invention.

[0026] Figure 4 This is a schematic diagram of the tail fin drive module of the present invention.

[0027] Figure 5 This is a schematic diagram of the center of gravity adjustment mechanism of the present invention.

[0028] Figure 6 This is a structural schematic diagram from another perspective of the present invention.

[0029] Numbering on the map: 1. Head module; 2. Torso module, 21. Torso cover; 3. Pectoral fin drive module, 31. Pectoral fin connection assembly, 32. Drive servo motor, 33. Connector, 34. Flexible fin plate, 35. End assembly; 4. Tail fin drive module, 41. Tail fin connection assembly, 42. Tail fin drive servo motor, 43. Tail shank; 5. Center of gravity adjustment mechanism, 51. Drive motor, 52. Coupling, 53. Screw, 54. Bearing seat, 55. Center of gravity adjustment assembly; 6. Multimodal perception and control module, 61. Vision sensor, 62. Sonar sensor, 63. Depth sensor, 64. Water quality multi-parameter sensor; 7. Bionic flexible skin. Detailed Implementation

[0030] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0031] A marine exploration robot based on a biomimetic manta ray, such as Figures 1-6 As shown, its structural relationship is as follows: it includes a torso module 2 and a head module 1, a tail fin drive module 4 and a pair of pectoral fin drive modules 3 respectively installed at the front end, rear end and sides of the torso module 2. The head module 1 is preferably streamlined. A center of gravity adjustment mechanism 5 including a pair of center of gravity adjustment modules is also provided in the cavity of the torso module 2. The center of gravity adjustment module includes a drive motor 51, a screw 53, and a center of gravity adjustment assembly 55; The drive motor 51 is fixedly installed inside the cavity, preferably a stepper motor. The screw 53 is rotatably connected to the torso module 2, and one end of the screw 53 is shaft-connected to the output end of the drive motor 51 via a coupling 52. The center of gravity adjustment component 55 is threadedly installed on the screw 53 and has at least one surface that slides against the inner wall of the cavity. The center of gravity adjustment component 55 can translate along the axis of the screw 53 under the rotation of the screw 53 and the limiting action of the torso module 2. At the same time, the center of gravity adjustment component 55 should have a large density and sufficient mass to ensure the center of gravity adjustment effect of the robot. In a pair of center of gravity adjustment modules, the axes of the screws 53 are set along the robot's front-back direction (x-axis) and left-right direction (y-axis), respectively. The pair of center of gravity adjustment modules are used to adjust the robot's center of gravity in the front-back direction and left-right direction, respectively. They can be adjusted individually or in concert to adapt to the center of gravity adjustment requirements in situations such as robot turning and attitude correction.

[0032] The head module 1, torso module 2, pectoral fin drive module 3 and tail fin drive module 4 are all covered with biomimetic flexible skin 7.

[0033] Preferably, the pectoral fin drive module 3 is provided with a pectoral fin connection assembly 31 and at least two pectoral fin drive units connected in a stepwise manner; The pectoral fin drive unit includes a drive servo motor 32, a connector 33, and a flexible fin plate 34. Among the at least two pectoral fin drive units, the pectoral fin drive unit located at the last stage serves as the last stage pectoral fin drive unit and also includes an end assembly 35. The remaining pectoral fin drive units serve as connecting pectoral fin drive units. In each pectoral fin drive unit, the output end of the drive servo motor 32 is fixedly installed to the front end of the connector 33, and the output drives the connector 33 to swing up and down. In the primary pectoral fin drive unit, the drive servo 32 is installed and connected to the body module 2 via the pectoral fin connection assembly 31; In the connection of the pectoral fin drive unit, two flexible fin plates 34 are installed and fixed in the middle of the connector 33, and a gap is left between the two flexible fin plates 34; the end of the connector 33 is installed and fixed to the drive servo 32 of the next stage pectoral fin drive unit. In the final stage pectoral fin drive unit, flexible fin plates 34 and end components 35 are respectively installed and fixed in the middle and at the end of the connector 33.

[0034] In the pectoral fin drive module 3, each drive servo motor 32 works together to achieve the up-and-down reciprocating oscillating motion of each pectoral fin drive unit, and drives the biomimetic flexible skin 7 covering the surface of the pectoral fin drive module 3 to interact with the water flow, capture hydrodynamic force, and provide the robot with the power to move forward and turn; the flexible fin plate 34 can buffer the impact of the water flow, improve the compliance and smoothness of the movement of the pectoral fin drive module 3, and reduce the robot's energy consumption.

[0035] When both pectoral fin drive modules 3 are in a naturally extended posture, that is, when the rotation angle of each drive servo motor 32 is 0°, the height difference between the robot's center of gravity and the axis of the pair of screws 53 is preferably exactly the same.

[0036] Preferably, the cross-section of each flexible fin plate 34 is a similar hollow streamline shape, and the cross-sectional dimensions of each flexible fin plate 34 decrease along the direction away from the body module 2. After the pectoral fin drive module 3 is covered with the biomimetic flexible skin 7, it forms the pectoral fin shape of a manta ray.

[0037] Preferably, the pectoral fin drive module 3 is provided with two connected pectoral fin drive units and one final-stage pectoral fin drive unit.

[0038] Preferably, the tail fin drive module 4 includes a tail fin connection assembly 41, a tail fin drive servo 42, and a tail shank 43; The tail fin drive servo 42 is installed and fixed to the body module 2 via the tail fin connecting assembly 41, and its output end is installed and fixed to the tail shank 43, outputting the movement of driving the tail shank 43 to swing up and down. The tail fin drive module 4 is covered with a biomimetic flexible skin 7 to form the tail fin shape of a manta ray.

[0039] The tail fin drive module 4 is used to assist in adjusting the overall posture of the robot. When the tail fin 43 swings upward, the fluid reaction force causes the robot to generate a head-up torque, which drives the robot to float and reduces the robot's diving depth. When the tail fin 43 swings downward, the fluid reaction force causes the robot to generate a head-down torque, which causes the robot to dive and increases the robot's diving depth.

[0040] Preferably, a multimodal perception and control module 6 is also provided. The multimodal perception and control module 6 includes a main control unit and a vision sensor 61, a sonar sensor 62, a depth sensor 63, a water quality multi-parameter sensor 64, an inertial measurement unit, a satellite positioning module, and lighting equipment that are connected to the main control unit for data communication. The main control unit is also connected to the pectoral fin drive module 3, the caudal fin drive module 4, and the center of gravity adjustment mechanism 5.

[0041] The main control unit is preferably located in the central area of ​​the rear part of the torso module 2.

[0042] The visual sensor 61 is used to acquire seabed images for resource exploration or obstacle avoidance, etc. The visual sensor 61 is preferably mounted on top of the head module 1.

[0043] Sonar sensor 62 is used to detect seabed topography, shipwrecks, pipelines, and other man-made structures, assisting in large-scale topographic mapping and target search. Preferably, two sonar sensors 62 are provided, symmetrically mounted on both sides of the bottom front of the body module 2. The depth sensor 63 is used to collect real-time data on the robot's current depth underwater, providing feedback for the robot's buoyancy control. The depth sensor 63 is preferably installed below the head module 1.

[0044] The water quality multi-parameter sensor 64 is used to monitor key indicators of the marine environment in real time, including pH value, dissolved oxygen, temperature, salinity, conductivity, etc.; the water quality multi-parameter sensor 64 is preferably installed below the body module 2.

[0045] The inertial measurement unit (IMU) is used to acquire the robot's attitude data in real time, including the robot's pitch angle. Roll angle and yaw angle and its rate of change , , This provides support for the robot's motion control, attitude stabilization, and heading correction. The inertial measurement unit is preferably located in the rear of the torso module 2.

[0046] The satellite positioning module is used to obtain the robot's position information and is preferably located in the rear part of the torso module 2.

[0047] The lighting equipment is used to provide underwater illumination, is adapted for detection in low-light environments, and is preferably installed at the front end of the head module 1.

[0048] Preferably, the biomimetic flexible skin 7 is made of flexible soft rubber material, and the outer surface is a continuous curved surface that conforms to the biological shape characteristics of manta rays. The biomimetic flexible skin 7 has good elasticity and wear resistance, and can deform synchronously with the movement of the pectoral fin drive module 3 and the tail fin drive module 4 without affecting the movement of the pectoral fin drive module 3 and the tail fin drive module 4. At the same time, it reduces the underwater fluid resistance experienced by the robot and improves the robot's movement efficiency.

[0049] Preferably, both ends of the screw 53 are provided with bearing seats 54. One end of the screw 53 is rotatably connected to the bearing seat 54 through an angular contact bearing, and the other end is rotatably connected to the bearing seat 54 through a deep groove ball bearing.

[0050] Preferably, the cavity is located at the front of the torso module 2, with an opening at the top, and is covered by an openable torso cover 21.

[0051] The standard parts and conventional components involved in this invention are commercially available, and the circuit connections adopt conventional connection methods in the prior art.

[0052] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0053] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A marine exploration robot based on a biomimetic manta ray, comprising a torso module (2) and a head module (1), a tail fin drive module (4), and a pair of pectoral fin drive modules (3) respectively installed at the front end, rear end, and sides of the torso module (2), characterized in that: The cavity of the torso module (2) is also provided with a center of gravity adjustment mechanism (5) including a pair of center of gravity adjustment modules; The center of gravity adjustment module includes a drive motor (51), a screw (53), and a center of gravity adjustment component (55). The drive unit (51) is fixedly installed in the cavity, and the screw (53) is rotatably connected to the torso module (2), with one end of the screw being axially connected to the output end of the drive unit (51); the center of gravity adjustment component (55) is threadedly installed on the screw (53) and has at least one surface that slides against the inner wall of the cavity; In a pair of center of gravity adjustment modules, the axis of the screw (53) is set along the front-back direction and the left-right direction of the robot, respectively; the head module (1), the torso module (2), the pectoral fin drive module (3) and the tail fin drive module (4) are all covered with biomimetic flexible skin (7).

2. The marine exploration robot based on a biomimetic manta ray as described in claim 1, characterized in that: The pectoral fin drive module (3) is provided with a pectoral fin connection assembly (31) and at least two pectoral fin drive units connected in a stepwise manner; The pectoral fin drive unit includes a drive servo (32), a connector (33), and a flexible fin plate (34). Among the at least two pectoral fin drive units, the pectoral fin drive unit located at the last stage is the last stage pectoral fin drive unit and also includes an end assembly (35). The remaining pectoral fin drive units are connected pectoral fin drive units. In each of the pectoral fin drive units, the output end of the drive servo (32) is fixedly installed to the front end of the connector (33), and outputs a motion that drives the connector (33) to swing up and down; In the primary pectoral fin drive unit, the drive servo (32) is mounted and connected to the torso module (2) via the pectoral fin connection assembly (31); In the connected pectoral fin drive unit, two flexible fin plates (34) are installed and fixed in the middle of the connector (33), and a gap is left between the two flexible fin plates (34); the end of the connector (33) is installed and fixed to the drive servo (32) of the next-level pectoral fin drive unit; In the final stage pectoral fin drive unit, the flexible fin plate (34) and the end assembly (35) are respectively installed and fixed at the middle and end of the connector (33).

3. The marine exploration robot based on a biomimetic manta ray as described in claim 2, characterized in that: The cross-sections of each of the flexible fins (34) are similar hollow streamlined shapes, and the cross-sectional dimensions of each of the flexible fins (34) decrease in the direction away from the torso module (2). The pectoral fin drive module (3) is covered with a biomimetic flexible skin (7) to form the pectoral fin shape of a manta ray.

4. The marine exploration robot based on a biomimetic manta ray as described in claim 3, characterized in that: The pectoral fin drive module (3) is provided with two connected pectoral fin drive units and one final-stage pectoral fin drive unit.

5. A marine exploration robot based on a biomimetic manta ray according to any one of claims 2 or 4, characterized in that: The tail fin drive module (4) includes a tail fin connection assembly (41), a tail fin drive servo (42), and a tail shank (43). The tail fin drive servo (42) is installed and fixed to the body module (2) through the tail fin connecting assembly (41), and its output end is installed and fixed to the tail shank (43), outputting the motion that drives the tail shank (43) to swing up and down; The tail fin drive module (4) is covered with a biomimetic flexible skin (7) to form the tail fin shape of a manta ray.

6. A marine exploration robot based on a biomimetic manta ray as described in claim 5, characterized in that: It also includes a multimodal perception and control module (6), which includes a main control unit and a vision sensor (61), a sonar sensor (62), a depth sensor (63), a water quality multi-parameter sensor (64), an inertial measurement unit, a satellite positioning module, and a lighting device that are connected to the main control unit via data communication. The main control unit is also connected to the pectoral fin drive module (3), the caudal fin drive module (4), and the center of gravity adjustment mechanism (5) via data communication.

7. The marine exploration robot based on a biomimetic manta ray according to claim 1, characterized in that: The biomimetic flexible skin (7) is made of flexible soft rubber material, and its outer surface is a continuous curved surface.

8. A marine exploration robot based on a biomimetic manta ray according to claim 1, characterized in that: Both ends of the screw (53) are provided with bearing seats (54). One end of the screw (53) is rotatably connected to the bearing seat (54) through an angular contact bearing, and the other end is rotatably connected to the bearing seat (54) through a deep groove ball bearing.

9. A marine exploration robot based on a biomimetic manta ray according to claim 1, characterized in that: The cavity is located at the front of the torso module (2), with an opening at the top, and is fitted with an openable torso cover (21).

Images