Underwater bionic vehicle based on combined propulsion of swinging pectoral fins and dorsoventral tail fins

Abstract

The invention discloses an underwater bionic vehicle based on combined propulsion of swinging pectoral fins and dorsoventral tail fins, and belongs to the field of bionic underwater vehicles. The underwater bionic vehicle comprises a left side pectoral fin driving module 50, a right side pectoral fin driving module 51, a head and trunk control module 52, a tail fin driving module 53 and a skin 54;the head and trunk control module 52 serves as the trunk and the control part of the whole bionic vehicle; the left side pectoral fin driving module 50 and the right side pectoral fin driving module51 are two symmetrical assemblies, and are correspondingly mounted on the two sides of the head and trunk control module 52; and the tail fin driving module 53 is mounted at the tail end of the head and trunk control module 52. With the adoption of multi-fin-ray pectoral fin and serial joint tail fin structure, the vehicle simultaneously has the characteristics of the high steering maneuverabilityand the high pitching maneuverability, the movement speed is high, and the acceleration performance is good. The movement speed of the vehicle can reach 2 times of the body length per second, and movement of no-radius rotation and inverse swimming at no movement speed, and the like that existing pectoral and tail fin propulsion type bionic vehicles can not complete can be made by the underwater bionic vehicle.

Description

technical field [0001] The invention belongs to the field of bionic underwater vehicles, in particular to an underwater bionic vehicle based on combined propulsion of swinging pectoral fins and dorso-ventral tail fins. Background technique [0002] Since entering the 21st century, marine resources have gradually become an important part of the economic development of all countries in the world, and the status of maritime territorial integrity and security has also been continuously improved. In order to further improve our country's ability to use marine resources and strengthen our country's maritime security forces, our country has proposed a strategy of developing a marine economy, safeguarding marine rights and interests, protecting the marine environment, and building a marine power as our country's key development plan, and further promote It has promoted the development of my country's underwater vehicle technology field. In order to maintain the security of our count...

AI Technical Summary

Problems solved by technology

However, when working underwater, electromagnetic signals are likely to interfere with control signals such as sensors, and only one degree of freedom of tail fin swing drives the entire motion device, so the maneuverability of pitching and steering is not high.

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