CN115871903A - Bionic long fin underwater vehicle - Google Patents
Bionic long fin underwater vehicle Download PDFInfo
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- CN115871903A CN115871903A CN202310195036.9A CN202310195036A CN115871903A CN 115871903 A CN115871903 A CN 115871903A CN 202310195036 A CN202310195036 A CN 202310195036A CN 115871903 A CN115871903 A CN 115871903A
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T70/00—Maritime or waterways transport
- Y02T70/10—Measures concerning design or construction of watercraft hulls
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Abstract
A biomimetic long fin underwater vehicle comprising: the rotating device comprises a rotating shell, a first accommodating space is formed in the rotating shell, and a plurality of first openings are formed in two sides of the rotating shell respectively; the connecting device is fixedly connected with the rotating device and is configured to drive the rotating device to rotate; the flat device is connected to one side of the connecting device opposite to the rotating device and comprises a flat shell, a second accommodating space is formed in the flat shell, and a plurality of second openings are formed in two sides of the flat shell respectively; and a plurality of skeg assemblies extending outwardly of the rotating shell and the flat shell through the first and second apertures, respectively, each skeg assembly configured to undulate relative to the rotating shell and the flat shell to alter a navigational pose of the biomimetic skeg underwater vehicle.
Description
Technical Field
The invention relates to the technical field of underwater navigation, in particular to a high-maneuverability bionic long-fin underwater vehicle.
Background
The existing underwater vehicle mainly adopts a propeller for propulsion, so that the phenomenon of difficult maneuvering is easy to occur under the low-speed or hovering state, and the working state of non-full-range rotation is easy to occur when the propeller performs small-amplitude motion adjustment, so that the defects of low working efficiency, insufficient pulse force, low motion control precision and the like are caused.
The fishes have extraordinary water tour performance and maneuvering performance through long-term natural selection and evolution, the swimming mode of the fishes becomes an object of bionic research of an underwater vehicle, and the bionic fish underwater vehicle comes into motion. However, the existing bionic fish underwater vehicle has poor maneuverability and influences navigation efficiency and navigation precision.
Disclosure of Invention
To at least partially overcome at least one of the above-mentioned technical shortcomings or other technical shortcomings of the invention, at least one embodiment of the invention provides a bionic long-fin underwater vehicle, and the navigation attitude of the bionic long-fin underwater vehicle can be changed by controlling the fluctuation of a plurality of long-fin assemblies respectively.
According to an aspect of the invention, there is provided a biomimetic long fin underwater vehicle comprising: the rotating device comprises a rotating shell, a first accommodating space is formed in the rotating shell, and a plurality of first openings are formed in two sides of the rotating shell respectively; the connecting device is fixedly connected with the rotating device and is configured to drive the rotating device to rotate; the flat device is connected to one side of the connecting device opposite to the rotating device and comprises a flat shell, a second accommodating space is formed in the flat shell, and a plurality of second openings are formed in two sides of the flat shell respectively; a plurality of skeg assemblies extending outwardly of said rotary hull and said flat hull through said first aperture and said second aperture, respectively, each of said skeg assemblies being configured to undulate relative to said rotary hull and said flat hull to change a navigational attitude of said biomimetic skeg underwater vehicle.
In some embodiments, each of the long fin assemblies includes a fin line and a driving portion configured to drive the fin line to swing or/and rotate with respect to a radial direction of the first opening or the second opening.
In some embodiments, the above-mentioned flat device further includes a center-of-gravity adjusting portion provided in the above-mentioned second accommodating space, including: two first supporting seats which are oppositely arranged; a driving mechanism mounted on the two first supporting seats; and the counterweight assembly is configured to move between the two first supporting seats under the driving of the driving mechanism so as to change the gravity center of the flat device.
In some embodiments, the drive mechanism comprises: a screw rod installed between the two first supporting seats, the counterweight component being rotatably engaged with the screw rod; and the first motor is arranged on one of the two first supporting seats and is connected with the screw rod, and the first motor is configured to drive the counterweight component to move between the two first supporting seats by driving the screw rod to rotate.
In some embodiments, the above-described weight assembly includes: a movable base screw-coupled to the screw to be moved by the screw; a connection frame connected to a lower portion of the movable base; and the balancing weight is detachably arranged on the connecting frame.
In some embodiments, the above-mentioned weight assembly further comprises: and the swinging mechanism is configured to drive the balancing weight to swing relative to the screw rod in a plane perpendicular to the extending direction of the screw rod so as to change the position of the gravity center of the counterweight assembly.
In some embodiments, the swing mechanism comprises: a guide rod installed between the two first supporting seats; a second motor installed on the moving base; the sleeve is arranged on the movable base and can be sleeved on the guide rod in a sliding manner so as to slide linearly along the guide rod along with the movable base in a reciprocating manner; and the rotating gear is rotatably sleeved on the sleeve and is meshed with the driving gear arranged on the output shaft of the second motor, and the connecting frame is arranged at the end part of the rotating gear, so that the connecting frame and the balancing weight rotate around the guide rod under the driving of the second motor through the rotating gear, and the position of the balancing weight on a plane vertical to the guide rod is changed.
In some embodiments, the connection frame includes: a connecting arm, a first end of which is mounted on an end of the rotating gear and extends radially relative to the guide rod; a support shaft connected to a second end of the connecting arm and extending parallel to the guide bar; the counterweight block comprises a plurality of sub counterweight blocks detachably sleeved on the supporting shaft, and the total weight of the counterweight component is changed by changing the number and/or the weight of the sub counterweight blocks.
In some embodiments, the above-described connection means comprises: a connection housing in which a third accommodation space is formed; a connecting base connected with the rotating housing at the outside of the connecting housing; a rotating shaft installed in the third accommodating space and connected to the connecting seat, wherein a connecting gear is installed at one end of the rotating shaft opposite to the connecting seat; and the third motor drives the connecting gear to rotate and the rotating shaft to rotate by driving the motor gear to rotate so as to drive the rotating device to rotate.
In some embodiments, the above connecting device further comprises: the hollow pipe is rotatably sleeved on the rotating shaft, a sealing cavity is formed between the hollow pipe and the rotating shaft, and sealing liquid is filled in the sealing cavity; a connecting flange extending radially outward from an outside of the hollow pipe, the hollow pipe being mounted on the connecting housing through the connecting flange.
In some embodiments, each of the above-described long fin assemblies further comprises: a second support seat installed in the first receiving space or the second receiving space, the driving part being installed in the second support seat; the drive unit includes: a fourth motor installed on the second support base; a first turntable mounted on an output shaft of the fourth motor; a second rotary table detachably mounted on the first rotary table to be rotated by the fourth motor, the second rotary table being provided with a driving shaft extending to the outside of the first accommodating space or the second accommodating space; and the transmission mechanism is arranged on the driving shaft, and the fin rays are arranged on the transmission mechanism and driven by the fourth motor to swing.
In some embodiments, the transmission mechanism comprises: a bevel gear frame mounted on a mounting groove of the rotary housing or the flat housing corresponding to the first opening or the second opening; a swing shaft rotatably mounted on the bevel gear frame perpendicular to the drive shaft, the fin line being mounted on the swing shaft and extending radially relative to the swing shaft; and two meshed bevel gears, wherein one bevel gear is sleeved on the swinging shaft, and the other bevel gear is arranged on the driving shaft.
In some embodiments, the fin-shaped light is mounted on the swing shaft by a swing base, and the fin-shaped light is detachably mounted on the swing base.
In some embodiments, the transmission mechanism further comprises a seal ring sealingly fitted over the drive shaft between the second turntable and the other bevel gear, the bevel gear carrier abutting the seal ring against the rotating housing or the flat housing.
In some embodiments, the center of gravity of the applanation device is lower than the center of buoyancy of the biomimetic long fin underwater vehicle; the gravity center of the rotating device and the floating center of the bionic long-fin underwater vehicle are at the same height.
In some embodiments, the elastic fin surface is connected between two adjacent fin rays.
According to the embodiment of the invention, the plurality of long fin assemblies are arranged and respectively penetrate through the first opening and the second opening to extend to the outside of the rotating shell and the flat shell, so that the plurality of long fin assemblies can be respectively controlled to be in the same or different fluctuation postures, the flexibility is good, the navigation driving force of the bionic long fin underwater vehicle in any plane can be adjusted, the navigation posture of the bionic long fin underwater vehicle can be further changed, the plurality of long fin assemblies are respectively controlled, and the navigation efficiency and the navigation precision can be improved.
Drawings
Figure 1 schematically illustrates a perspective view of a biomimetic long fin underwater vehicle according to an embodiment of the present invention;
FIG. 2 schematically illustrates a front view of a biomimetic long fin underwater vehicle according to an embodiment of the present invention;
FIG. 3 schematically illustrates a top view of a biomimetic long fin underwater vehicle according to an embodiment of the present invention;
FIG. 4 schematically illustrates an exploded view of a biomimetic long fin underwater vehicle according to an embodiment of the present invention;
figure 5 schematically illustrates an exploded view of another perspective of a biomimetic long fin underwater vehicle, in accordance with an embodiment of the present invention;
figure 6 schematically illustrates an assembly view of the internal structure of a biomimetic long fin underwater vehicle according to an embodiment of the present invention;
fig. 7 schematically illustrates an exploded view of a long fin assembly according to an embodiment of the present invention;
fig. 8 schematically shows a perspective view of the center of gravity adjusting portion according to the embodiment of the invention;
FIG. 9 schematically illustrates a perspective view of a connection device with a connection housing removed, in accordance with an embodiment of the present invention;
FIG. 10 schematically illustrates a front view of a connection device with a connection housing removed, in accordance with an embodiment of the present invention;
FIG. 11 schematically illustrates an enlarged view of the embodiment shown in FIG. 10 at position I;
FIG. 12 schematically showsbase:Sub>A cross-sectional view in the direction A-A of the embodiment shown in FIG. 11;
FIG. 13 schematically illustrates an enlarged view of a portion of a biomimetic long-fin underwater vehicle at the location of the long fin assembly, in accordance with an embodiment of the present invention;
fig. 14 schematically illustrates a perspective view of a portion of a long fin assembly in accordance with an embodiment of the present invention;
FIG. 15 schematically shows a side view of the embodiment shown in FIG. 14;
FIG. 16 schematically shows a top view of the embodiment shown in FIG. 14;
FIG. 17 schematically shows a cross-sectional view in the direction J-J of the embodiment shown in FIG. 15;
figure 18 schematically illustrates a perspective view of a biomimetic long fin underwater vehicle with opposing fins on either side of the rotating device in a horizontal position, in accordance with an embodiment of the present invention;
figure 19 schematically illustrates a perspective view of a biomimetic long fin underwater vehicle according to an embodiment of the present invention with the pair of fins a and b at an angle greater than zero to the water surface;
figure 20 schematically illustrates a perspective view of a biomimetic long fin underwater vehicle with the pair of fins a and b perpendicular to the water surface, in accordance with an embodiment of the present invention.
Reference numerals
1: a rotating device;
11: rotating the housing;
12: a first accommodating space;
13: a first opening;
2: a connecting device;
21: connecting the shell;
22: a third accommodating space;
23: a connecting seat;
24: a rotating shaft;
25: a connecting gear;
26: a third motor;
27: a motor gear;
28: a hollow pipe;
29: a connecting flange;
210: a bearing;
3: a flat device;
31: a flat housing;
32: a second accommodating space;
33: a second opening;
34: a center of gravity adjusting section;
341: a first support base;
342: a drive mechanism;
3421: a screw;
3422: a first motor;
343: a counterweight assembly;
3431: a movable base;
3432: a connecting frame;
34321: a connecting arm;
34322: a support shaft;
3433: a balancing weight;
3434: a swing mechanism;
34341: a guide bar;
34342: a second motor;
34343: a sleeve;
34344: a rotating gear;
34345: a drive gear;
4: a long fin assembly;
41: a fin line;
42: a drive section;
421: a fourth motor;
422: a first turntable;
423: a second turntable;
424: a drive shaft;
425: a transmission mechanism;
4251: a bevel gear rack;
4252: a swing shaft;
4253: umbrella teeth;
4254: a swing seat;
4255: a seal ring;
43: a second support seat;
44: mounting a bar;
5: mounting grooves;
6: a fin surface;
7: and a signal receiving device.
Detailed Description
In order that the objects, technical solutions and advantages of the present invention will become more apparent, the present invention will be further described in detail with reference to the accompanying drawings in conjunction with the following specific embodiments. This invention may, however, be embodied in different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. In the drawings, the size and relative sizes of layers and regions may be exaggerated for clarity, and like reference numerals designate like elements throughout.
Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. It is to be understood that such description is merely illustrative and not intended to limit the scope of the present invention. In the following detailed description, for purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of the embodiments of the invention. It may be evident, however, that one or more embodiments may be practiced without these specific details. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present invention.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The terms "comprises," "comprising," and the like, as used herein, specify the presence of stated features, steps, operations, and/or components, but do not preclude the presence or addition of one or more other features, steps, operations, or components.
All terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art unless otherwise defined. It is noted that the terms used herein should be interpreted as having a meaning that is consistent with the context of this specification and should not be interpreted in an idealized or overly formal sense.
In order to facilitate understanding of the technical aspects of the present invention by those skilled in the art, the following technical terms will now be explained.
In those instances where a convention analogous to "at least one of A, B, and C, etc." is used, in general such a construction is intended in the sense one having skill in the art would understand the convention (e.g., "a system having at least one of A, B, and C" would include but not be limited to systems that have A alone, B alone, C alone, A and B together, A and C together, B and C together, and/or A, B, and C together, etc.). Where a convention analogous to "at least one of A, B, or C, etc." is used, in general such a construction is intended in the sense one having skill in the art would understand the convention (e.g., "a system having at least one of A, B, or C" would include but not be limited to systems that have A alone, B alone, C alone, A and B together, A and C together, B and C together, and/or A, B, and C together, etc.).
The swimming of fish can be divided into body/tail fin propulsion mode (BCF) and central fin/pair fin propulsion Mode (MPF). In the MPF propulsion mode, dorsal fins, hip fins, pectoral fins and ventral fins are used as main propulsion parts, and the propulsion force in different directions is generated by means of various flexible fins.
Further, MPF propulsion modes may be classified into a wave mode and a pair-fin swing mode. The inventors have found that wave mode propulsion has excellent concealment compared to fin swing mode propulsion. Meanwhile, the adjustable parameters of the long fin in the fluctuation mode are more, and the control capability is more accurate. Therefore, the embodiment of the invention provides a bionic long-fin underwater vehicle with high maneuverability based on a fin wave propulsion mode.
Figure 1 schematically illustrates a perspective view of a biomimetic long fin underwater vehicle according to an embodiment of the present invention. Figure 2 schematically illustrates a front view of a biomimetic long fin underwater vehicle, according to an embodiment of the present invention. Figure 3 schematically illustrates a top view of a biomimetic long fin underwater vehicle according to an embodiment of the present invention. Figure 4 schematically illustrates an exploded view of a biomimetic long fin underwater vehicle according to an embodiment of the present invention. Figure 5 schematically illustrates an exploded view of another perspective of a biomimetic long fin underwater vehicle, in accordance with an embodiment of the present invention. Figure 6 schematically illustrates an assembly view of the internal structure of a biomimetic long fin underwater vehicle, in accordance with an embodiment of the present invention.
An embodiment of the invention provides a bionic long fin underwater vehicle, as shown in fig. 1 to 6, comprising a rotating device 1, a connecting device 2, a flat device 3 and a plurality of long fin assemblies 4. Specifically, the rotating device 1 generally serves as a head of a bionic long-fin underwater vehicle, and includes a rotating shell 11, a first accommodating space 12 is formed in the rotating shell 11, and a plurality of first openings 13 arranged in a row are respectively opened at two sides of the rotating shell 11. The connecting device 2 is fixedly connected with the rotating device 1, and the connecting device 2 is configured to drive the rotating device 1 to rotate. The flat device 3 is connected to the side of the connecting device 2 opposite to the rotating device 1, the flat device 3 is generally used as the tail of the bionic long fin underwater vehicle and comprises a flat shell 31, a second accommodating space 32 is formed in the flat shell 31, and a plurality of second openings 33 arranged in a row are respectively formed in two sides of the flat shell 31. A plurality of long fin assemblies 4 extend through the first and second apertures 13 and 33, respectively, to the exterior of the rotating hull 11 and the flat hull 31, each long fin assembly 4 being configured to undulate relative to the rotating hull 11 and the flat hull 31 to change the sailing attitude of the biomimetic long fin underwater vehicle by changing the interaction force of the long fin assembly 4 with the water.
The rotary case 11 may include a rotary case upper cover and a rotary case lower cover, and the first opening 13 may be provided on the rotary case upper cover or the rotary case lower cover, and may be connected to each other by a plurality of bolts. Likewise, the flat housing 31 may include a flat housing upper cover and a flat housing lower cover, and the second opening 33 may be provided on the flat housing upper cover or the flat housing lower cover, and the flat housing upper cover and the flat housing lower cover may be connected by a plurality of bolts.
According to the embodiment of the invention, by arranging the plurality of long fin assemblies 4 and respectively enabling the plurality of long fin assemblies 4 to penetrate through the first opening 13 and the second opening 33 and extend to the outside of the rotating shell 11 and the flat shell 31, the plurality of long fin assemblies 4 can be respectively controlled to be in the same or different fluctuation postures, the flexibility is good, the navigation driving force of the bionic long fin underwater vehicle in any plane can be adjusted, the navigation posture of the bionic long fin underwater vehicle can be further changed, the plurality of long fin assemblies 4 are respectively controlled, and the navigation stability and the navigation precision can be improved. As shown in fig. 1, 9 long fin assemblies 4 are uniformly arranged on two sides of the flat device 3 and the rotating device 1 respectively, and a total of 36 long fin assemblies 4 are arranged on the bionic long fin underwater vehicle.
Fig. 7 schematically illustrates an exploded view of a long fin assembly according to an embodiment of the present invention.
As shown in fig. 1-7, in some embodiments, each long fin assembly 4 includes a fin line 41 and a driver 42. The driving portion 42 is configured to drive the fin rays 41 to swing or/and rotate with respect to the radial direction of the first opening 13 or the second opening 33. Each of the fins 41 may correspond to one of the driving portions 42, each of the driving portions 42 may drive the corresponding fin 41 to swing or/and rotate (e.g., swing or/and rotate in the up-down direction in fig. 2) in the radial direction relative to the first opening 13 or the second opening 33 through a gear, and the rotation direction of the driving portion 42 may be the same as or different from the swing or/and rotation direction of the fin 41.
Fig. 8 schematically shows a perspective view of the center of gravity adjusting portion according to the embodiment of the present invention.
As shown in fig. 1 to 8, in some embodiments, the flat device 3 further includes a center of gravity adjusting portion 34 disposed in the second accommodating space 32, and the center of gravity adjusting portion 34 is adapted to adjust the center of gravity of the entire biomimetic long-fin underwater vehicle, so as to assist the long-fin assembly in changing the attitude of the biomimetic long-fin underwater vehicle in water, such as forward and backward tilting, left and right tilting, and the like. The center of gravity adjusting section 34 includes two first supporting seats 341, a driving mechanism 342, and a weight assembly 343 which are disposed oppositely. Specifically, the driving mechanism 342 is mounted on the two first supporting seats 341. The weight assembly 343 is configured to move between the two first supporting seats 341 under the drive of the driving mechanism 342 to change the center of gravity of the flat device 3. By arranging the driving mechanism 342, the counterweight assembly 343 can be driven to move along the horizontal direction (e.g., the X direction in fig. 8) of the center-of-gravity adjusting part 34, so as to change the position of the center of gravity of the center-of-gravity adjusting part 34, and thus change the positions of the center of gravity of the flat device 3 and the bionic long-fin underwater vehicle. The driving mechanism 342 can drive the weight assembly 343 to move by means of screw threads, and can also drive the weight assembly 343 to move by means of traction, for example, the traction weight assembly 343 moves along the horizontal direction of the gravity center adjusting part 34 by the winding wire, the winding shaft and the godet wheel which are matched to form a traction piece. The number of the first supporting seats 341 may be increased by an appropriate amount to increase the stability of the center of gravity adjusting portion 34, and 3 first supporting seats 341 are provided as shown in fig. 8.
When the bionic long-fin underwater vehicle navigates in an initial state, the gravity center of the bionic long-fin underwater vehicle is positioned on a vertical line from a floating center to the water surface by adjusting the gravity center adjusting part 34, and the gravity center of the bionic long-fin underwater vehicle can be finely adjusted by adjusting the gravity center adjusting part 34 to stabilize the vehicle under the condition that the posture of the bionic long-fin underwater vehicle is disturbed to generate abnormal change in the navigating process.
In some embodiments, the drive mechanism 342 includes a screw 3421 and a first motor 3422. Specifically, the screw 3421 is installed between the two first supporting seats 341, and the weight assembly 343 is rotatably engaged with the screw 3421. A first motor 3422 is installed on one of the two first supporting seats 341 and connected to the screw 3421, and the first motor 3422 is configured to drive the weight assembly 343 to move between the two first supporting seats 341 by driving the screw 3421 to rotate.
As shown in fig. 8, in some embodiments, weight assembly 343 includes a motion base 3431, a connecting frame 3432, and a weight 3433. Specifically, the moving base 3431 is screw-coupled with the screw 3421 to be linearly moved by the driving of the screw 3421. The connection frame 3432 is connected to a lower portion of the moving base 3431. The weight 3433 is detachably mounted on the connection frame 3432. The first motor 3422 drives the moving base 3431 of the weight assembly 343 to move along the horizontal direction of the center of gravity adjusting portion 34 by the rotation of the driving screw 3421, and further, the connecting frame 3432 can be fixedly connected to the moving base 3431, and the moving base 3431 drives the weight block 3433 to move along the horizontal direction of the center of gravity adjusting portion 34 by the connecting frame 3432, so as to change the position of the center of gravity of the flat device 3 in the horizontal direction (e.g., the X direction in fig. 8).
In some embodiments, the weight assembly 343 further includes a swing mechanism 3434. The swinging mechanism 3434 is configured to drive the weight 3433 to swing in a plane perpendicular to the extending direction of the screw 3421 with respect to the screw 3421 to change the position of the center of gravity of the weight assembly 343.
The connecting frame 3432 may be fixedly connected to the moving base 3431 through a swinging mechanism 3434, the moving base 3431 may drive the connecting frame 3432 to move through the swinging mechanism 3434, and further drive the weight 3433 to move along the horizontal direction of the center of gravity adjusting part 34, the swinging mechanism 3434 may drive the connecting frame 3432 to swing in a plane perpendicular to the extending direction of the screw 3421 relative to the screw 3421, and further drive the weight 3433 to swing in a plane perpendicular to the extending direction of the screw 3421 (for example, the X direction in fig. 8 may be the extending direction of the screw 3421) relative to the screw 3421, so as to change the center of gravity position of the flat device 3 in the direction perpendicular to the screw 3421. The center-of-gravity adjusting part 34 can respectively change the position of the center of gravity of the flat device 3 in the horizontal direction (such as the X direction in fig. 8) and the position of the center of gravity of the flat device 3 in the direction perpendicular to the horizontal direction by arranging the driving mechanism 342 and the swinging mechanism 3434, so that the overall adjustment of the center of gravity of the flat device 3 can be realized, and the posture of the bionic long fin underwater vehicle can be changed.
In some embodiments, the swing mechanism 3434 includes a guide bar 34341, a second motor 34342, a sleeve 34343, and a rotation gear 34344. Specifically, the guide bar 34341 is installed between the two first supporting seats 341. The second motor 34342 is mounted on the moving base 3431. The sleeve 34343 is mounted on the movable base 3431 and slidably fitted over the guide bar 34341 to linearly slide back and forth along the guide bar 34341 with the movable base 3431. The rotating gear 34344 is rotatably fitted over the sleeve 34343 and engaged with the driving gear 34345 mounted on the output shaft of the second motor 34342, and the connecting frame 3432 is mounted on the end of the rotating gear 34344 so that the connecting frame 3432 and the weight block 3433 are rotated around the guide bar 34341 by the second motor 34342 through the rotating gear 34344, thereby changing the position of the weight block 3433 on the plane perpendicular to the guide bar 34341.
The guide rod 34341 and the screw rod 3421 may be disposed in parallel, the moving base 3431 drives the swing mechanism 3434 to move along the direction of the guide rod 34341 through the sleeve 34343, and further drives the weight block 3433 to move along the direction of the guide rod 34341, the driving gear 34345 and the rotating gear 34344 on the second motor 34342 move synchronously along the direction of the guide rod 34341, and by controlling the rotation of the driving gear 34345, the rotation of the rotating gear 34344 may be controlled, and further the weight block 3433 may be controlled to rotate around the guide rod 34341, so as to change the position of the weight block 3433 on the plane perpendicular to the guide rod 34341, and realize the omnidirectional adjustment of the center of gravity position of the flat device 3.
In some embodiments, the connection frame 3432 includes a connection arm 34321 and a support shaft 34322. Specifically, a first end of the connecting arm 34321 (e.g., an upper end of the connecting arm 34321 in fig. 8) is mounted to an end of the rotating gear 34344, extending radially with respect to the guide bar 34341. The support shaft 34322 is connected to a second end of the connecting arm 34321 (e.g., a lower end of the connecting arm 34321 in fig. 8) and extends parallel to the guide bar 34341. The weight 3433 includes a plurality of sub-weights detachably mounted on the supporting shaft 34322, and the total weight of the weight assembly 343 can be changed by changing the number and/or weight of the sub-weights.
By controlling the rotation of the driving gear 34345, the connecting arm 34321 can be controlled to rotate around the guide rod 34341, and by providing the supporting shaft 34322 in parallel with the guide rod 34341, the space utilization of the center of gravity adjusting part 34 can be increased, and the number of sub-weight blocks can be increased.
Fig. 9 schematically shows a perspective view of a connection device according to an embodiment of the invention with the connection housing removed. Fig. 10 schematically illustrates a front view of the connection device with the connection housing removed, according to an embodiment of the present invention. Fig. 11 schematically shows an enlarged view of the position I of the embodiment shown in fig. 10. Fig. 12 schematically showsbase:Sub>A cross-sectional view in the directionbase:Sub>A-base:Sub>A of the embodiment shown in fig. 11.
As shown in fig. 1-12, in some embodiments, the connection device 2 includes a connection housing 21, a connection seat 23, a rotation shaft 24, and at least one third motor 26. Specifically, the connection housing 21 has a third accommodation space 22 formed therein. The connecting holder 23 is connected to the rotary housing 11 outside the connecting housing 21. A rotation shaft 24 is installed in the third receiving space 22 and connected to the connection seat 23, and a connection gear 25 is installed at an end of the rotation shaft 24 opposite to the connection seat 23. At least one third motor 26 is installed in the third accommodating space 22, a motor gear 27 engaged with the connecting gear 25 is installed at one side of the third motor 26, and the third motor 26 drives the connecting gear 25 and the rotating shaft 24 to rotate by driving the motor gear 27 to rotate, so as to drive the rotating device 1 to rotate. A plurality of third motors 26 may be provided to improve the accuracy and speed of rotation of the rotary shaft 24, and 2 third motors 26 are provided as in fig. 9. By controlling the rotation of the third motor 26, the rotation of the rotating shaft 24 and thus the rotation of the connecting seat 23 can be controlled, so as to control the rotation of the rotating device 1 fixedly connected with the connecting seat 23. The flat housing 31 may be flat, the connection housing 21 may be connected between the flat housing 31 and the rotation housing 11 and may be configured as a smooth transition structure, and the connection housing 21 and the flat housing 31 may be configured as an integral molding.
As shown in fig. 9-12, in some embodiments, the connection device 2 further comprises a hollow tube 28 and a connection flange 29. Specifically, the hollow tube 28 is rotatably sleeved on the rotating shaft 24, and a sealing cavity is formed between the hollow tube 28 and the rotating shaft 24 and filled with sealing liquid. A connecting flange 29 extends radially outwardly from the outside of the hollow tube 28, and the hollow tube 28 is mounted on the connecting housing 21 via the connecting flange 29. The tight fit of the connecting flange 29 with the connecting housing 21 and the sealing liquid filled in the sealing cavity between the hollow tube 28 and the rotating shaft 24 can achieve the sealing isolation of the third accommodating space 22 from the external environment and facilitate the disassembly.
As shown in fig. 1 to 12, in some embodiments, the connecting device 2 further includes two bearings 210 respectively installed at two ends of the rotating shaft 24, which can control the rotating direction of the rotating shaft 24 and limit the rotating shaft 24 to rotate around the axis of the two bearings 210.
Figure 13 schematically illustrates a close-up view of a biomimetic long fin underwater vehicle at the location of the long fin assembly, in accordance with an embodiment of the present disclosure.
As shown in fig. 1-7, in some embodiments, each of the skeg assemblies 4 further includes a second support seat 43. Specifically, the second support seat 43 is installed in the first accommodation space 12 or the second accommodation space 32, and the driving part 42 is installed on the second support seat 43. The driving section 42 includes a fourth motor 421, a first turntable 422, a second turntable 423, and a transmission mechanism 425.
Further, a fourth motor 421 is mounted on the second support seat 43. The first rotary plate 422 is mounted on an output shaft of the fourth motor 421. The second rotary plate 423 is detachably mounted on the first rotary plate 422 to be rotated by the fourth motor 421, and the second rotary plate 423 is provided with a driving shaft 424 extending to the outside of the first accommodating space 12 or the second accommodating space 32. A transmission mechanism 425 is mounted on the driving shaft 424, and the fin 41 is mounted on the transmission mechanism 425 to swing by the fourth motor 421.
As shown in fig. 1 to 13, the long fin assembly 4 may be mounted in the first accommodation space 12 or the second accommodation space 32 through the second support seat 43 and extend to the outside of the rotary case 11 and the flat case 31 through the first opening 13 or the second opening 33. The fourth motor 421, the first rotary plate 422 and the second rotary plate 423 may be installed in the first accommodation space 12 or the second accommodation space 32 through the second support seat 43 and extend to the outside of the rotary case 11 and the flat case 31 through the first opening 13 or the second opening 33. The fourth motor 421 can be controlled to rotate to drive the first rotating disc 422 to rotate, so as to drive the second rotating disc 423 and the transmission mechanism 425 to rotate, thereby realizing the swinging of the fin 41.
As shown in fig. 1-13, in some embodiments, the transmission 425 includes a bevel gear rack 4251 and a swing shaft 4252. Specifically, the bevel gear rack 4251 is mounted on the mounting groove 5 of the rotation housing 11 or the flat housing 31 corresponding to the first opening 13 or the second opening 33. The oscillating shaft 4252 is rotatably mounted on the bevel gear rack 4251 perpendicularly to the driving shaft 424, and the fin 41 is mounted on the oscillating shaft 4252 and extends radially relative to the oscillating shaft 4252; two engaged bevel gears 4253, one of the bevel gears 4253 is sleeved on the swinging shaft 4252, and the other bevel gear 4253 is installed on the driving shaft 424. Both sides of the rotation housing 11 and the flat housing 31 may be uniformly provided with mounting grooves 5, the mounting grooves 5 may correspond to the first opening 13 or the second opening 33, respectively, a mounting hole for mounting the swing shaft 4252 may be provided on the bevel gear rack 4251, and the mounting groove 5 and the bevel gear rack 4251 may be provided with through holes for mounting the other gear 4253 with the driving shaft 424 in a direction perpendicular to the swing shaft 4252. A protrusion may be provided on the other bevel gear 4253, a groove matching with the protrusion may be provided on the driving shaft 424, and the driving shaft 424 and the bevel gear 4253 may be connected by a jackscrew.
Fig. 14 schematically illustrates a perspective view of a portion of a long fin assembly in accordance with an embodiment of the present invention. Fig. 15 schematically shows a side view of the embodiment as shown in fig. 14. Fig. 16 schematically shows a top view of the embodiment shown in fig. 14. Fig. 17 schematically shows a cross-sectional view in the J-J direction of the embodiment shown in fig. 15.
As shown in fig. 14, in some embodiments, the fins 41 are mounted on the swing shaft 4252 by a swing seat 4254, and the fins 41 are detachably mounted on the swing shaft 4252 seat.
The fin 41 may be directly sleeved on the swinging shaft 4252 as shown in fig. 7, and the fin 41 may also be mounted on the swinging shaft 4252 through a swinging seat 4254, so as to facilitate replacement and maintenance of the fin 41, for example, the fin 41 may be inserted into a mounting hole of the fin 41 of the swinging seat 4254, and a mutually matched protrusion and groove may be provided between the mounting hole of the fin 41 and the fin 41. So as to replace the fins 41 with different materials and shapes according to actual requirements.
In some embodiments, the transmission 425 further comprises a seal ring 4255, the seal ring 4255 sealingly fits over the drive shaft 424 between the second swivel plate 423 and another bevel gear 4253, and the bevel gear 4251 abuts the seal ring 4255 against the rotary housing 11 or the flat housing 31. As shown in fig. 14 to 17, the sealing ring 4255 may be configured as a groove-shaped silicone pad, and tightly pressed on the rotating housing 11 or the flat housing 31 by using a bevel gear rack 4251, and a small hole slightly smaller than the shaft end of the driving shaft 424 may be formed in the middle of the sealing ring 4255, so as to perform a waterproof sealing function without affecting the rotation of the driving shaft 424.
In some embodiments, the center of gravity of the flat device 3 is below the center of buoyancy of the biomimetic long-fin underwater vehicle. The position of the balancing weight 3433 can be adjusted through the gravity center adjusting part 34, so that the gravity center position of the flat device 3 can be adjusted, and the stability of the bionic long fin underwater vehicle can be improved under the condition that the gravity center of the flat device 3 is lower than the floating center of the bionic long fin underwater vehicle.
The stability of the bionic long-fin underwater vehicle can be improved by widening the flat shell 31, and the phenomenon of reverse rotation when the rotating device 1 rotates can be prevented. Accessories such as batteries and an electric control board can be arranged in the second accommodating space 32 or the third accommodating space 22, so that the mass of the second accommodating space or the third accommodating space relative to the first accommodating space is increased, and the stability of the bionic long fin underwater vehicle rotating device 1 during rotation is further improved.
In some embodiments, the center of gravity of the rotating device 1 is at the same height as the floating center of the bionic long-fin underwater vehicle, so that the rotating efficiency of the rotating device 1 can be improved. By controlling the rotation of the rotating device 1 and the fluctuation of the long fin assembly 4, the bionic long fin underwater vehicle can have navigation driving force in any plane.
In some embodiments, a signal receiving device 7, such as an antenna, may be disposed on the rotating shell 11 and the flat shell 31 to receive a motion command to the inside of the biomimetic long fin underwater vehicle, so as to control the biomimetic long fin underwater vehicle to execute the command.
In some embodiments, the fins 41 may be flat, the fins 41 may be made of a malleable material, adjacent fins 41 may be configured to be connected to each other, and the plurality of fins 41 may be controlled to form an undulating surface by controlling the rotation and/or oscillation of each fin 41, thereby changing the sailing attitude of the biomimetic long-fin underwater vehicle. In some embodiments, as shown in fig. 1 to 13, an elastic fin surface 6 may be connected between two adjacent fins 41. The fin surface 6 may be an elastic skin to improve the elasticity and ductility of the fin surface 6. The fin surface 6 may be mounted between the mounting bar 44 and the fin bar 41 by the mounting bar 44.
The rotating device 1 and the flat device 3 can be regarded as a pair of fins arranged on two sides (namely, the fin strip 41 and the fin surface 6 on one side of the rotating device 1 or the flat device 3 jointly form a pair of fins), the length of the pair of fins is equivalent to the wave wavelength and is a balance point (the number of single pair of fins is about 1) with better propelling efficiency, propelling speed and propelling stability in the wave mode, the area of the pair of fins can be reduced under the condition that the overall length of the bionic long-fin underwater vehicle is preset, as shown in the embodiment, the pair of fins are respectively arranged on two sides of the rotating device 1 and the flat device 3 instead of the pair of fins extending from the rotating device 1 to the flat device 3, and the sailing efficiency can be improved.
Fig. 18 schematically shows a perspective view of a biomimetic long fin underwater vehicle according to an embodiment of the present invention with the pair of fins on both sides of the rotating device 1 in a horizontal position.
Under the condition that the paired fins (such as a, b in the figure 18) on two sides of the rotating device 1 are in a horizontal plane position, and the fluctuation directions of the paired fins (such as a, b, c and d in the figure 18) on two sides of the rotating device 1 and the flat device 3 are consistent, the bionic long-fin underwater vehicle can realize rapid cruise. When the unilateral pair fin wave fluctuation (such as a and c in fig. 18) or the diagonal pair fin wave fluctuation (such as a and d in fig. 18) are consistent and the propagation directions are consistent (such as the propagation from the rotating device 11 to the flat device 3), and the other two pair fins are static, the bionic long fin underwater vehicle can turn while advancing (such as the counter-clockwise turning of the view angle of fig. 18 can be generated in the case of driving from the flat device 3 to the rotating device 1). In the case that the pair of fins on the diagonal fluctuate (a and d in fig. 18) and the propagation directions are all directed to the connecting device 2, the bionic long fin underwater vehicle can perform pivot steering (counterclockwise rotation of the view angle of fig. 18).
Figure 19 schematically illustrates a perspective view of a biomimetic long fin underwater vehicle according to an embodiment of the present invention where the angle between the pair of fins a and b and the water surface is greater than zero.
Under the condition that the included angles between the paired fins a and b and the water surface are larger than zero, the bionic long-fin underwater vehicle can generate the yawing moment of the plane where the included angles are located.
Figure 20 schematically illustrates a perspective view of a biomimetic long fin underwater vehicle with the pair of fins a and b perpendicular to the water surface, in accordance with an embodiment of the present invention.
Under the condition that the paired fins a and b are perpendicular to the water surface, the bionic long-fin underwater vehicle can generate pitching moment so as to realize floating and submerging maneuvers.
By adjusting the fluctuation state of each fin ray 41, the four pairs of fins (such as a, b, c and d in fig. 18) are controlled to fluctuate symmetrically or asymmetrically, and further, the propelling force in each direction can be formed, so that the navigation state of the bionic long fin underwater vehicle can be accurately controlled. If the control is completely symmetrical fluctuation, only thrust can be generated, the lateral force and the moment are zero, and the bionic long-fin underwater vehicle can stably cruise; and the asymmetric fluctuation forms sailing driving force in each direction, so that the bionic long-fin underwater vehicle has six-direction freedom degrees.
When the opposite fins on both sides of the rotating device 1 are in the horizontal plane, the yaw moment in the horizontal plane can be provided together with the opposite fins on both sides of the flat device 3. The side force and the thrust force generated by the fins 41 can be controlled by adjusting the fluctuation state of each fin 41. Further, the device can also eliminate the propelling force and the lateral force, only generates a yaw moment and realizes the in-situ rotation maneuver.
Under the condition that the opposite fins on the two sides of the rotating device 1 and the opposite fins on the two sides of the flat device 3 provide propulsion force together, the opposite fins on the two sides of the flat device 3 are in the wake flow of the opposite fins on the two sides of the rotating device 1, the fluctuation state of the opposite fins on the two sides of the flat device 3 can be adjusted, the wake flow of the opposite fins on the two sides of the rotating device 1 is better utilized, and higher thrust force is obtained.
In the case where 9 fins 41 are provided for both the rotating device 1 and the flat device 3, the fluctuation angle of each fin 41 can be expressed as:
wherein the subscript
Is to fin number (as a, b, c and d in fig. 18); />
The same number is used for the fin strips in the fins; />
Is the fin ray position; />
Is the wobble frequency; t is the swing time; />
For the fin-line oscillation or the amplitude of the oscillation, in the present exemplary embodiment->
Maximum 60 °; />
Indicating the wave number contained in the fin wave, wherein the values of 9 fin rays on each section of the fin are the same; />
The phases are swung for each fin.
Wherein the content of the first and second substances,
l is the length of the paired fins->
Is the wavelength of the fluctuation of the fin.
By controlling the wave state of the fin-shaped rays 41, it is possible to control the generation of wave motion in a determined direction to the fins, the amplitude of the wave motion increasing linearly from the end of the fin-shaped rays 41 close to the rotating device 1 and/or the flat device 3 to the end remote from the rotating device 1 and/or the flat device 3. Under the condition that the swing phases of the fin rays 41 in the same pair of fins are the same, the fins do regular sine fluctuation; symmetric fluctuation is made for the fins when the parameters of the fluctuation of the fin lines 41 in the same pair of fins (e.g., a and b or c and d in fig. 18) are the same.
It should also be noted that the directional terms mentioned in the embodiments, such as "upper", "lower", "front", "back", "left", "right", etc., are only directions referring to the drawings, and are not intended to limit the protection scope of the present invention. Throughout the drawings, like elements are represented by like or similar reference numerals. In the event of possible confusion for understanding of the present invention, the conventional structure or configuration will be omitted, and the shapes and sizes of the respective components in the drawings do not reflect actual sizes and proportions, but merely illustrate the contents of the embodiments of the present invention.
Unless otherwise indicated, the numerical parameters set forth in the specification and attached claims are approximations that can vary depending upon the desired properties sought to be obtained by the present invention. In particular, all numbers expressing quantities of ingredients, reaction conditions, and so forth used in the specification and claims are to be understood as being modified in all instances by the term "about". Generally, the expression is meant to encompass variations of ± 10% in some embodiments, 5% in some embodiments, 1% in some embodiments, 0.5% in some embodiments by the specified amount.
The use of ordinal numbers such as "first," "second," "third," etc., in the specification and claims to modify a corresponding element does not by itself connote any ordinal number of the element or any ordering of one element from another or the order of manufacture, and the use of the ordinal numbers is only used to distinguish one element having a certain name from another element having a same name.
In addition, unless steps are specifically described or must occur in sequence, the order of the steps is not limited to that listed above and may be changed or rearranged as desired by the desired design. The embodiments described above may be mixed and matched with each other or with other embodiments based on design and reliability considerations, i.e., technical features in different embodiments may be freely combined to form further embodiments.
The above embodiments are provided to further explain the objects, technical solutions and advantages of the present invention in detail, and it should be understood that the above embodiments are only examples of the present invention and are not intended to limit the present invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (16)
1. A biomimetic long fin underwater vehicle, comprising:
the rotating device comprises a rotating shell, a first accommodating space is formed in the rotating shell, and a plurality of first openings are formed in two sides of the rotating shell respectively;
the connecting device is fixedly connected with the rotating device and is configured to drive the rotating device to rotate;
the flat device is connected to one side of the connecting device opposite to the rotating device and comprises a flat shell, a second accommodating space is formed in the flat shell, and a plurality of second openings are formed in two sides of the flat shell respectively;
a plurality of skeg assemblies extending outwardly of said rotating hull and said flattened hull through said first and second apertures, respectively, each of said skeg assemblies configured to undulate relative to said rotating hull and said flattened hull to alter a navigational pose of said biomimetic skeg underwater vehicle.
2. The biomimetic long fin underwater vehicle of claim 1, wherein each of the long fin assemblies comprises a fin-line and a drive portion configured to drive oscillation or/and rotation of the fin-line in a radial direction relative to the first aperture or the second aperture.
3. The biomimetic long fin underwater vehicle of claim 1, wherein the flat device further includes a center of gravity adjustment portion disposed within the second receiving space, comprising:
two first supporting seats which are oppositely arranged;
the driving mechanisms are arranged on the two first supporting seats;
a weight assembly configured to move between the two first support seats under the driving of the driving mechanism to change the center of gravity of the flat device.
4. The biomimetic long fin underwater vehicle of claim 3, wherein the drive mechanism comprises:
the screw rod is arranged between the two first supporting seats, and the counterweight component is rotatably meshed with the screw rod;
the first motor is installed on one of the two first supporting seats and connected with the screw rod, and the first motor is configured to drive the counterweight component to move between the two first supporting seats by driving the screw rod to rotate.
5. The biomimetic long fin underwater vehicle of claim 4, wherein the weight assembly comprises:
a moving base screw-coupled with the screw to move by being driven by the screw;
a connection frame connected to a lower portion of the moving base;
and the balancing weight is detachably arranged on the connecting frame.
6. The biomimetic long fin underwater vehicle of claim 5, wherein the counterweight assembly further comprises: a swinging mechanism configured to drive the weight block to swing relative to the screw in a plane perpendicular to an extending direction of the screw to change a position of a center of gravity of the weight assembly.
7. The biomimetic long fin underwater vehicle of claim 6, wherein the wobble mechanism comprises:
the guide rod is arranged between the two first supporting seats;
the second motor is arranged on the movable base;
the sleeve is arranged on the movable base and can be sleeved on the guide rod in a sliding manner so as to slide linearly along with the movable base in a reciprocating manner along the guide rod;
the rotating gear is rotatably sleeved on the sleeve and meshed with the driving gear installed on the output shaft of the second motor, and the connecting frame is installed at the end part of the rotating gear, so that the connecting frame and the balancing weight rotate around the guide rod under the driving of the second motor through the rotating gear, and the position of the balancing weight on a plane perpendicular to the guide rod is changed.
8. The biomimetic long fin underwater vehicle of claim 7, wherein the connection frame comprises:
a connecting arm, a first end of which is mounted on an end of the rotating gear and extends radially relative to the guide rod;
a support shaft connected to a second end of the connecting arm and extending parallel to the guide bar;
the counterweight block comprises a plurality of sub counterweight blocks detachably sleeved on the supporting shaft, and the total weight of the counterweight component is changed by changing the number and/or weight of the sub counterweight blocks.
9. The biomimetic long fin underwater vehicle of any of claims 1-8, wherein the connection device comprises:
a connection housing in which a third accommodation space is formed;
a connecting seat connected with the rotating housing at the outside of the connecting housing;
the rotating shaft is arranged in the third accommodating space and is connected with the connecting seat, and a connecting gear is arranged at one end of the rotating shaft, which is opposite to the connecting seat;
at least one third motor is installed in the third accommodation space, one side of third motor install with connect gear engagement's motor gear, the third motor is through the drive motor gear rotates and drives connect gear rotation with the pivot rotates, with the drive rotating device rotates.
10. The biomimetic long fin underwater vehicle of claim 9, wherein the connection apparatus further comprises:
the hollow pipe is rotatably sleeved on the rotating shaft, a sealing cavity is formed between the hollow pipe and the rotating shaft, and sealing liquid is filled in the sealing cavity;
a connection flange extending radially outward from an outside of the hollow pipe, the hollow pipe being mounted on the connection housing through the connection flange.
11. The biomimetic long fin underwater vehicle of claim 2, wherein each of the long fin assemblies further comprises:
a second support seat installed in the first accommodation space or the second accommodation space, the driving part being installed on the second support seat; the driving part includes:
the fourth motor is arranged on the second supporting seat;
the first rotating disc is arranged on an output shaft of the fourth motor;
the second rotating disc is detachably arranged on the first rotating disc and driven by the fourth motor to rotate, and a driving shaft extending to the outside of the first accommodating space or the second accommodating space is arranged on the second rotating disc;
and the transmission mechanism is arranged on the driving shaft, and the fin rays are arranged on the transmission mechanism and driven by the fourth motor to swing.
12. The biomimetic long fin underwater vehicle of claim 11, wherein the transmission mechanism comprises:
a bevel gear frame mounted on a mounting groove of the rotary housing or the flat housing corresponding to the first opening or the second opening;
a swing shaft rotatably mounted on the bevel gear frame perpendicular to the drive shaft, the fin mounted on the swing shaft and extending radially relative to the swing shaft;
and one of the two meshed bevel gears is sleeved on the swinging shaft, and the other bevel gear is arranged on the driving shaft.
13. The biomimetic long fin underwater vehicle of claim 12, wherein the fin-line is mounted on the swing shaft by a swing mount on which the fin-line is removably mounted.
14. The biomimetic long fin underwater vehicle of claim 12, wherein the transmission mechanism further comprises a seal ring sealingly sleeved on the drive shaft between the second turntable and the another of the bevel teeth, the bevel gear carrier abutting the seal ring against the rotating housing or the flat housing.
15. The biomimetic long fin underwater vehicle of claim 1, wherein:
the center of gravity of the flat device is lower than the floating center of the bionic long-fin underwater vehicle;
the gravity center of the rotating device and the floating center of the bionic long-fin underwater vehicle are at the same height.
16. The biomimetic long fin underwater vehicle of claim 1, wherein a resilient fin surface is connected between two adjacent fin rays.
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| CN117902022A (en) * | 2024-03-20 | 2024-04-19 | 中国海洋大学 | Separated MPF (multi-platform surface mount) propelled underwater robot and moving method thereof |
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