Spanwise bending and chordwise oscillation controllable multi-skeleton propulsion mechanism simulating pectoral fin of manta ray

Abstract

The invention provides a spanwise bending and chordwise oscillation controllable multi-skeleton propulsion mechanism simulating a pectoral fin of a manta ray and belongs to the field of bionic underwater vehicles. The propulsion mechanism comprises a pectoral fin skeleton, wire rollers and driving motors, a steering motor assembly and a skin, wherein the pectoral fin skeleton consists of a plurality of NACA00 airfoil skeletons, steel wires and a middle cross beam; the chord length of the plurality of skeletons is sequentially reduced from the root of the pectoral fin to the tip of the pectoralfin in the axial direction of the pectoral fin skeleton; the front edge and the rear edge of each skeleton are separately connected through the steel wires, to form the outer edges of the pectoral fin skeleton; and the spanwise bending oscillation freedom and the spanwise rotation and chordwise oscillation freedom of a flapping wing are separately realized by the wire rollers and driving motors and the steering motor assembly. As the driving part is all arranged at the root of the wing, the problems of too-large torque required by oscillation caused by the too-heavy tip of the wing, difficultdriving and high energy consumption are solved. As the rotating motor is also arranged at the root of the wing, the compact structure of the electrified part is favorable to water proofing and sealing, and underwater work is safe and reliable.

Description

technical field [0001] The invention belongs to the field of bionic underwater vehicles, and in particular relates to a multi-skeleton imitation manta ray pectoral fin propulsion mechanism with controllable spanwise bending and chordwise swing. Background technique [0002] The propulsion method of the fish-like soft-body submersible is divided into two types. The BCF propulsion mode is the swimming mode of most caudal fin fishes. By undulating or swinging part of the body and the caudal fin, the vortex is used to push the water behind to obtain a reaction force to achieve forward motion. When cruising at high speed, this sports mode can achieve a high sports efficiency of more than 80%. The MPF propulsion mode is mainly the swimming method of pectoral fin propelling fish. The manta ray is the pectoral fin swing propelling fish in MPF ​​mode. The pectoral fin is the main propulsion part, and the tail fin assists in pitch adjustment. High maneuverability, stability and high...

AI Technical Summary

Problems solved by technology

This mechanism can imitate the flexible pectoral fins of manta rays, but it only has longitudinal flapping freedom and no spanwise rotation degree of freedom, which is not good for the bionic performance of manta rays

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