The invention relates to a combined type bionic ray robot and a cooperative movement method thereof, and belongs to the field of robot research. The robot is composed of a body main body, propellers and pectoral fins. Wherein the body main body comprises a main body bottom plate, a shell, a buoyancy cabin, a battery, a pressure sensor, a gyroscope, a water leakage detection sensor, an electronic speed controller, a main control board, a voltage control board, a camera and a power switch; the pectoral fin comprises upper spring steel, lower spring steel, a soft PVC sheet, a U-shaped bracket, a bearing, a steering wheel, a waterproof steering engine and a steering engine fixing bracket; the four propellers are directly connected with the main body bottom plate through screws; the pectoral fins of the robot are designed in a rigid-flexible coupling mode, and the propelling performance of the robot is improved. Pectoral fins and propellers are combined, a novel composite bionic ray robot structure is provided, and the maneuverability, survivability and the like of the robot are improved through cooperative movement. The robot can realize underwater and air sailing and water-air medium crossing, and can be applied to the fields of exploration, reconnaissance and the like as an underwater and air platform.

    本发明涉及一种复合式仿生鳐鱼机器人及其协同运动方法,属于机器人的研究领域。它由身体主体、螺旋桨、胸鳍组成。其中身体主体包括主体底板、外壳、浮力舱、电池、压力传感器、陀螺仪、漏水检测传感器、电调、主控板、电压控制板、摄像头、电源开关;胸鳍包括上弹簧钢、下弹簧钢、软PVC片、U型支架、轴承、舵盘、防水舵机、舵机固定支架;螺旋桨共四个,通过螺丝直接与主体底板相连接;该机器人的胸鳍采用刚柔耦合的设计,提高了其推进性能。将胸鳍与螺旋桨相结合,提出一种新型复合仿生鳐鱼机器人结构,并通过协同运动提高机器人的机动性、生存性等。该机器人可实现水下、空中航行以及水空跨介质,可作为水下和空中平台应用于勘探、侦察等领域。


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    Title :

    Composite bionic ray robot and cooperative movement method thereof


    Additional title:

    一种复合式仿生鳐鱼机器人及其协同运动方法


    Contributors:
    YU ZHIWEI (author) / QIU YIFAN (author) / CHENG LINWEN (author) / HE JIANCHAO (author) / LI TAO (author)

    Publication date :

    2025-04-25


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B63H Schiffsantrieb oder Steuerung der Schiffe , MARINE PROPULSION OR STEERING / B64C AEROPLANES , Flugzeuge / B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen



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