Line-driven multi-joint underwater vector propulsion device and bionic body thereof

Abstract

The invention discloses a line-driven multi-joint underwater vector propulsion device and a bionic body thereof. The propulsion device comprises a flexible hose, a plurality of vertebral skeletons and a drive line, wherein the vertebral skeletons consist of a central column and at least three fins on different planes, the flexible hose penetrates through the central holes of the central columns for serial connection of the vertebral skeletons, one end of every vertebral skeleton is provided with a concave spherical surface, the other end of every vertebral skeleton is provided with a convex spherical surface, the convex spherical surface of a previous vertebral skeleton is arranged in the convex spherical surface of a following vertebral skeleton in a matching way to form a spherical joint, every fin is provided with a line hole, and the drive line penetrates through the line holes of the fins on the same side. Since the flexible hose is adopted for serial connection of the vertebral skeletons with spherical joint elements, the drive line on different fins of the vertebral skeletons is alternately tightened or loosened to drive the vertebral skeletons to rotate around the corresponding spherical joints, thrust and turning can be realized in any direction, an underwater vehicle can be propelled, and the yaw and pitch direction of the underwater vehicle can be controlled. Moreover, the device has the advantages of fewer drivers, compact structure and easiness in control.

Description

technical field [0001] The invention relates to the field of bionic mechanisms used in water, in particular to a line-driven multi-joint underwater vector propulsion device with low noise and high propulsion efficiency and a bionic mechanism thereof. Background technique [0002] Bionic mechanism refers to the mechanism made by simulating the structural form and function of biological movement. With the increase of human activities on the water surface and underwater, there are more and more devices and mechanisms that imitate fish swimming, such as fish tail propulsion devices. Compared with the traditional propeller drive, the imitation fishtail propulsion device generates thrust through the reciprocating swing of the fishtail. Its swing frequency is low, the noise is low, and the propulsion efficiency is high. It can not only realize propulsion but also control the direction. [0003] Existing fishtail propulsion devices can only swing or fluctuate in a plane, so as to i...

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