An underwater flapping-wing gliding device with amplitude decoupling regulation and its regulation method

Abstract

The present invention discloses an underwater flapping wing gliding device with amplitude decoupling adjustment, which includes a central rotating shaft, a number of fin strips sequentially sleeved on the central rotating shaft, a power module, a ventral-dorsal ratio adjustment module, and an amplitude adjustment module. The end of the fin strip is slidably sleeved with a sleeve Ⅰ, and the sleeve Ⅰ is hinged with a slider Ⅰ and a first rod. The slider Ⅰ moves vertically, and the other end of the first rod is connected to the ventral-dorsal ratio adjustment module. The power module drives the end of the first rod to perform circular motion with the power module as the center through the ventral-dorsal ratio adjustment module. The ventral-dorsal ratio adjustment module adjusts the distance from the end of the first rod to the power module, thereby adjusting the ventral-dorsal ratio of the fin strip movement; the amplitude adjustment module is used to adjust the horizontal distance between the central rotating shaft and the power module, thereby adjusting the flapping amplitude of the fin strip under the condition that the ventral-dorsal ratio is determined. The decoupling of the flapping swing amplitude and the ventral-dorsal ratio of the mechanism is realized, and the amplitude can be adjusted independently without affecting the ventral-dorsal ratio, so that the dependence between modules is low and the independence of modules is strong.

Description

Technical Field

[0001] The present invention relates to an underwater robot propulsion device, and more particularly to an underwater flapping wing gliding device with amplitude decoupling adjustment and its adjustment method. Background Art

[0002] In a complex marine environment, the movement modes of fish organisms have attracted increasing attention. The swimming modes of fish are mainly divided into two types. One is the body / caudal fin mode, and the other is the median fin / paired fin mode. Among them, the body / caudal fin mode has poor maneuverability in the pitch direction and cannot quickly float / sink. The median fin / paired fin mode mainly uses the flapping of the pectoral fins for propulsion, which has greater advantages in terms of maneuverability and stability, and high propulsion efficiency under low-speed conditions. Among them, the representative organism manta ray with median fins / paired fins has the advantages of being flexible and having a large pectoral fin propulsion force compared with other fish. Therefore, many underwater flapping wing propulsion devices have been developed with the manta ray pectoral fin as the bionic object.

[0003] In the prior art, the Chinese patent application with the application number 201510854411.1 discloses an underwater flapping wing driving device, which adopts a parallel mechanism. Two driving motors drive the moving platform of the mechanism to perform two-degree-of-freedom motion, that is, the pitching motion and the up-and-down flapping motion of the flapping wing, improving the system stiffness and motion accuracy and reducing the system's moment of inertia. However, the up-and-down flapping motion of this motion device adopts a crank-rocker mechanism. When adjusting the swing amplitude of the flapping wing, the quick-return coefficient will also change accordingly. Similarly, when the quick-return coefficient changes, the swing amplitude of the flapping wing will also change, and decoupling cannot be achieved, and decoupling cannot be realized between the two.

[0004] Another example is the Chinese patent application with the application number 201910873144.0, which discloses an underwater bionic vehicle based on the hybrid propulsion of pectoral fins and propellers. It uses a multi-link structure framework for the pectoral fin flapping to complete the basic motion, and at the same time, the tail is propelled by two vector propellers to complete the coordinated motion, effectively improving the propulsion speed of the manta ray-like underwater vehicle. However, when the swing rod of the crank-slider mechanism of the pectoral fin drive module of this device makes a symmetric swing, its swing amplitude and the quick-return coefficient are coupled with each other, and the quick-return coefficient cannot be designed according to the swing amplitude, and the adjustment is not flexible. Summary of the Invention

[0005] Object of the Invention: Aiming at the above-mentioned shortcomings, the present invention provides an underwater flapping wing gliding device that realizes the decoupling of the swing amplitude and the ventral-dorsal ratio, and the amplitude can be adjusted independently and the adjustment is flexible and convenient.

[0006] The present invention also provides an adjustment method for an underwater flapping wing gliding device with amplitude decoupling adjustment.

[0007] Technical solution: To solve the above problems, the present invention adopts an underwater flapping wing gliding device with amplitude decoupling adjustment, which includes a central rotating shaft, several fin strips sequentially sleeved on the central rotating shaft, a power module, a ventral-dorsal ratio adjustment module, and an amplitude adjustment module. The end of the fin strip is sleeved with a sleeve Ⅰ, and the end of the fin strip slides within the sleeve Ⅰ. The sleeve Ⅰ is hinged with a slider Ⅰ and a first rod. The slider Ⅰ slides along a vertically extending guide rail Ⅰ. One end of the first rod is hinged to the sleeve Ⅰ and the slider Ⅰ, and the other end is axially positioned and connected to the ventral-dorsal ratio adjustment module. The ventral-dorsal ratio adjustment module is fixedly connected to the power module. The power module drives the end of the first rod to perform circular motion around the power module through the ventral-dorsal ratio adjustment module. The ventral-dorsal ratio adjustment module adjusts the distance from the end of the first rod to the power module, thereby adjusting the ventral-dorsal ratio of the fin strip movement.

[0008] The amplitude adjustment module is used to adjust the horizontal distance between the central rotating shaft and the power module, thereby adjusting the movement amplitude of the fin strip when the ventral-dorsal ratio is determined.

[0009] Further, the ventral-dorsal ratio adjustment module includes a hydraulic cylinder Ⅰ and a fixed shaft Ⅰ. One end of the hydraulic cylinder Ⅰ is fixedly connected to the power module, and the other end is fixedly connected to the fixed shaft Ⅰ. One end of the first rod is sleeved outside the fixed shaft Ⅰ, and the extending direction of the first rod is perpendicular to the extending direction of the fixed shaft Ⅰ. The hydraulic cylinder Ⅰ expands and contracts to adjust the distance of the fixed shaft Ⅰ relative to the power module, thereby adjusting the distance of the end of the first rod relative to the power module.

[0010] Further, the power module includes a driving motor. The extending direction of the output shaft of the driving motor is parallel to the extending direction of the fixed shaft Ⅰ. The output shaft of the driving motor is fixedly connected to the end of the hydraulic cylinder Ⅰ. A spring Ⅰ is connected between the fixed shaft Ⅰ and the output shaft of the driving motor. The ventral-dorsal ratio adjustment module further includes a hydraulic cylinder Ⅱ. One end of the hydraulic cylinder Ⅱ is fixedly connected to the fixed shaft Ⅰ, and the hydraulic cylinder Ⅱ is parallel to the hydraulic cylinder Ⅰ. All the hydraulic cylinders in the ventral-dorsal ratio adjustment modules provided on each fin strip are connected in communication, and all the hydraulic cylinders expand and contract synchronously.

[0011] Further, a connecting device is provided between adjacent fin strips. The connecting device includes a swing hydraulic cylinder Ⅰ fixedly arranged at the end of the hydraulic cylinder Ⅰ. The output shaft of the swing hydraulic cylinder Ⅰ is fixedly connected to the end of the hydraulic cylinder Ⅱ provided on the adjacent fin strip. A torsion spring Ⅰ is provided between the end of the hydraulic cylinder Ⅰ and the end of the hydraulic cylinder Ⅱ provided on the adjacent fin strip. The swing hydraulic cylinder Ⅰ drives the hydraulic cylinder Ⅱ to rotate, thereby adjusting the phase difference between adjacent fin strips.

[0012] Further, the amplitude adjustment module includes a hydraulic cylinder Ⅴ with one end fixedly arranged. The other end of the hydraulic cylinder Ⅴ is fixedly connected to the central rotating shaft. The extending direction of the hydraulic cylinder Ⅴ is along the horizontal direction and perpendicular to the extending direction of the central rotating shaft. The hydraulic cylinder Ⅴ expands and contracts to drive the central rotating shaft to move. A spring Ⅹ is provided between the fixed end of the central rotating shaft and the hydraulic cylinder Ⅴ.

[0013] The present invention also adopts an adjustment method for an underwater flapping-wing gliding device, which includes the following steps:

[0014] (1) Determine the adjusted working modes, including the flapping-wing mode and the gliding mode. The flapping-wing mode includes a periodic non-sinusoidal mode and a periodic sinusoidal mode, and the gliding mode includes a variable swing angle mode and a variable angle of attack mode;

[0015] (2) Adjust the device parameters according to the selected working mode; the device parameters include the distance from the end of the first rod to the power module, the horizontal distance between the central rotating shaft and the power module, the angular difference between adjacent fin rays, and the speed of the end of the first rod performing circular motion.

[0016] Further, the adjustment method for the periodic non-sinusoidal mode in the flapping-wing mode is as follows: Determine the adjusted target parameters including the flapping-wing motion period T, the flapping-wing ventral-dorsal ratio K, the flapping-wing swing amplitude A, and the flapping-wing chordal wave number n. Adjust the speed of the end of the first rod performing circular motion according to the flapping-wing motion period T, adjust the distance from the end of the first rod to the power module according to the flapping-wing ventral-dorsal ratio K, adjust the horizontal distance between the central rotating shaft and the power module according to the flapping-wing swing amplitude A, and adjust the angular difference between adjacent fin rays according to the flapping-wing chordal wave number n;

[0017] The adjustment method for the periodic sinusoidal mode in the flapping-wing mode is as follows: Determine the target motion law of the fin rays after adjustment, obtain the fin-ray swing amplitude A and the real-time angular velocity, adjust the distance from the end of the first rod to the power module to be the smallest, adjust the horizontal distance between the central rotating shaft and the power module according to the fin-ray swing amplitude A, and adjust the speed of the end of the first rod performing circular motion according to the real-time angular velocity of the fin rays.

[0018] Further, the adjustment method for the variable swing angle mode in the gliding mode is as follows: Adjust the end of the first rod to be at the boundary position and determine the adjusted flapping-wing swing angle; if the flapping-wing swing angle is within the adjustable range, adjust the distance from the end of the first rod to the power module to be the smallest, calculate the theoretical horizontal distance between the central rotating shaft and the power module according to the distance from the end of the first rod to the power module and the flapping-wing swing angle. If the theoretical distance is less than the minimum horizontal distance between the central rotating shaft and the power module, adjust the horizontal distance between the central rotating shaft and the power module to the minimum distance, and adjust the distance from the end of the first rod to the power module at this time according to the flapping-wing swing angle; if the flapping-wing swing angle is outside the adjustable range, adjust the distance from the end of the first rod to the power module to be the smallest and the horizontal distance between the central rotating shaft and the power module to be the largest;

[0019] The adjustment method of the variable angle of attack mode in the gliding mode is as follows: Determine the adjusted flapping angle of attack, calculate the swing angles of the first fin ray and the last fin ray according to the flapping angle of attack, then calculate the target angle difference between adjacent fin rays, adjust the swing angle of the first fin ray, and then adjust the angle between adjacent fin rays to the target angle difference.

[0020] Beneficial effects: Compared with the prior art, the significant advantage of the present invention is that it decouples the flapping swing amplitude and the ventral-dorsal ratio of the mechanism. The amplitude can be adjusted independently without affecting the ventral-dorsal ratio, resulting in low dependence between modules and strong independence of modules. Since the amplitude can be adjusted independently, after adjusting the ventral-dorsal ratio and affecting the amplitude, the amplitude is adjusted for correction to achieve independent adjustment of the ventral-dorsal ratio. The adjustment of the flapping swing amplitude and the ventral-dorsal ratio is carried out through the combination of a hydraulic cylinder, a spring and a crank-slider transmission mechanism. Due to the presence of the spring, the hydraulic cylinder has a synchronous adjustment function during working expansion and contraction, with flexible and convenient adjustment, simple structure, large output force, stable and reliable performance, and smooth operation. The adjacent two adjustment modules are connected by a swinging hydraulic cylinder and a torsion spring. Under the action of the torsion spring, the swinging hydraulic cylinder swings synchronously, and this mechanism can change the flapping phase difference, with high working efficiency and compact structure. Brief Description of the Drawings

[0021] Figure 1 is the overall structural schematic diagram of the underwater flapping gliding device of the present invention arranged on the underwater robot frame.

[0022] Figure 2 is Figure 1 the structural schematic diagram after removing the outer frame in

[0023] Figure 3 is the structural schematic diagram of the unilateral underwater flapping gliding device of the present invention.

[0024] Figure 4 is the structural schematic diagram of the fin ray adjustment of the first adjustment module and the second adjustment module in the present invention.

[0025] Figure 5 is the front view of the fin ray adjustment of the first adjustment module and the second adjustment module in the present invention.

[0026] Figure 6 is the right view and partial perspective view of the fin ray adjustment structure of the first adjustment module in the present invention.

[0027] Figure 7 is the structural schematic diagram of the first adjustment module in the present invention.

[0028] Figure 8 is the partial cross-sectional view of the structure of the first adjustment module in the present invention.

[0029] Figure 9 is the structural schematic diagram of the second adjustment module in the present invention.

[0030] Figure 10 It is a partial enlarged schematic view of the structure of the second adjustment module in the present invention.

[0031] Figure 11 It is a schematic view of the connection structure between the first adjustment module and the third adjustment module in the present invention.

[0032] Figure 12 is Figure 11 a cross-sectional view along A-A in

[0033] Figure 13 is Figure 11 a cross-sectional view along B-B in

[0034] Figure 14 It is a schematic view of the hydraulic control system in the present invention.

[0035] Figure 15 It is a kinematic diagram of the first adjustment module adjusting the fin rays in the present invention.

[0036] Figure 16 It is a schematic view of the division of the movement interval of the first adjustment module adjusting the fin rays in the present invention.

[0037] Figure 17 It is a flowchart of the working mode adjustment method in the present invention.

[0038] Figure 18 (a) is a side view of the mechanism dimensions of the variable angle of attack mode in the gliding mode of the present invention; Figure 18 (b) is a front view of the mechanism dimensions of the variable angle of attack mode in the gliding mode of the present invention; Figure 18 (c) is a three-dimensional view of the mechanism dimensions of the variable angle of attack mode in the gliding mode of the present invention.

[0039] Figure 19 (a) is a curve graph of the test results of the simulation adjustment of the driving motor angular position in the periodic sine mode in the flapping mode of the present invention; Figure 19 (b) is a curve graph of the test results of the simulation adjustment of the driving motor angular velocity in the periodic sine mode in the flapping mode of the present invention; Figure 19 (c) is a curve graph of the test results of the simulation adjustment of the flapping wing swing angular position in the periodic sine mode in the flapping mode of the present invention; Figure 19 (d) is a curve graph of the test results of the simulation adjustment of the flapping wing swing angular velocity in the periodic sine mode in the flapping mode of the present invention. Detailed implementation manners

[0040] Example 1

[0041] In this embodiment, an underwater flapping-wing gliding device with amplitude decoupling adjustment includes a central rotating shaft 26, a number of fin bars 4 successively sleeved on the central rotating shaft, a power module, and two adjustment modules. The first adjustment module is distributed along the power module, and the second adjustment module is horizontally distributed. In the embodiment, the example of seven adjustment modules and five fin bars 4 on one side is used for illustration.

[0042] As Figures 1 to 3 shown, in this embodiment, an underwater robot test device for the underwater flapping-wing gliding device is provided, which includes a power module 1, fin bars 4, a buoyancy adjustment device I 5, a buoyancy adjustment device II 6, and an electronic cabin 7. The first adjustment module 2, the third adjustment module 8, the fourth adjustment module 9, the fifth adjustment module 10, and the sixth adjustment module 11 are equally spaced along the output shaft direction of the power module 1. The second adjustment module 3 and the seventh adjustment module 12 are horizontally distributed. Moreover, the first adjustment module 2, the third adjustment module 8, the fourth adjustment module 9, the fifth adjustment module 10, and the sixth adjustment module 11 have the same structure, and the second adjustment module 3 and the seventh adjustment module 12 have the same structure. The first adjustment module 2, the third adjustment module 8, the fourth adjustment module 9, the fifth adjustment module 10, and the sixth adjustment module 11 are all ventral-dorsal ratio adjustment modules for synchronously adjusting the ventral-dorsal ratio and simultaneously performing circular rotation under the action of the power module 1. The second adjustment module 3 and the seventh adjustment module 12 are both amplitude adjustment modules for synchronously adjusting the flapping amplitude of the wing.

[0043] As Figures 4 to 6As shown in the figure, in this embodiment, two adjustment modules (the ventral-dorsal ratio adjustment module and the amplitude adjustment module) adjust one fin ray. Taking the first adjustment module 2 and the second adjustment module 3 adjusting the fin ray 4 as an example for illustration, the power module 1 includes a driving motor 13, a coupling 14 fixedly connected to the output end of the driving motor 13, a vertical bearing block 15 arranged at the other end of the coupling 14, and a rotating shaft 16 arranged at the other end of the vertical bearing block 15. The rotating shaft 16 is fixedly connected to the coupling 14. The driving motor 13 drives the rotating shaft 16 to rotate. The driving motor 13 is fastened to the aluminum profile frame 25 by bolts and nuts (here, the aluminum profile frame 25 is an auxiliary frame of the device model and can be fixed to the fuselage of the underwater robot in actual use). The vertical bearing block 15 is fastened to the aluminum profile frame 25 by bolts and nuts. The rotating shaft 16 is fixedly connected to the base 17 and thus is integrally fixed with the first adjustment module 2. The driving motor 13 drives the rotating shaft 16 to rotate, thereby driving the first adjustment module 2 to rotate. The upper end of the first rod 19 is sleeved on the hollow cylinder I 18 and is axially positioned with the hollow cylinder I 18. The lower end of the first rod 19 is hinged to the slider I 20. The slider I 20 slides on the guide rail I 21. The lower end of the guide rail I 21 is fixedly connected to the aluminum profile frame 25. The guide rail I 21 extends in the vertical direction. One side of the slider I 20 is fixedly connected with a straight shaft I 23. The sleeve I 22 is axially positioned on the straight shaft I 23 and rotates relative to the straight shaft I 23. The sleeve I 22 is sleeved on the end of the fin ray 4, and there is a sliding connection between the inner side of the sleeve I 22 and the end of the fin ray 4. The middle part of the fin ray 4 rotates on the central rotating shaft 26. One snap ring is added to each side of the fin ray 4 on the central rotating shaft 26 to limit its axial movement. The central rotating shaft 26 is supported by the horizontal bearing block II 24 for rotation. The central rotating shaft 26 is connected to the second adjustment module 3, thereby realizing the adjustment function of the second adjustment module 3.

[0044] As Figure 7 and Figure 8As shown in the figure, in this embodiment, the first adjustment module 2 includes a hydraulic cylinder I 28, a hydraulic cylinder II 36, a fixed shaft I 33, and a hollow cylinder I 18. The hollow cylinder I 18 is fixedly sleeved outside the fixed shaft I 33. The fixed shaft I 33 passes through the pores at both ends of the hollow cylinder I 18 and is fastened to the hollow cylinder I 18 through a nut gasket. The side of the hollow cylinder I 18 is provided with an opening for the hydraulic cylinder to pass through. The upper end of the hydraulic cylinder I 28 is fixedly connected to the adapter I 32, and the lower end is fixedly connected to the adapter II 31. The adapter I 32 passes through the pore of the hollow cylinder I 18 and is fastened to the fixed shaft I 33 through a nut gasket. The adapter II 31 is fastened to the fixed shaft II 27 through a nut gasket. The fixed shaft II 27 is fixedly connected to the base I 17. Between the fixed shaft I 33 and the fixed shaft II 27, there are connected a spring I 29 and a spring II 30 that have elastic recovery ability and pass through the pore of the hollow cylinder I 18. The upper end of the hydraulic cylinder II 36 is fixedly connected to the adapter III 34, and the lower end is fixedly connected to the adapter IV 38. The adapter III 34 passes through the pore of the hollow cylinder I 18 and is fastened to the fixed shaft I 33 through a nut gasket. The adapter IV 38 is fastened to the fixed shaft III 39 through a nut gasket. The fixed shaft III 39 is fixedly connected to the base II 40. Between the fixed shaft I 33 and the fixed shaft III 39, there are connected a spring III 35 and a spring IV 37 that have elastic recovery ability and pass through the pore of the hollow cylinder I 18. The hydraulic cylinder I 28 and the hydraulic cylinder II 36 work synchronously. The hydraulic cylinder I 28 and the hydraulic cylinder II 36 can also adopt other mechanical, electric, or pneumatic components with telescopic functions.

[0045] As Figure 9 and Figure 10 shown in the figure, in this embodiment, the second adjustment module 3 includes a hydraulic cylinder V 43, a T-shaped nut bar 48, and a gasket slider 47. The upper end of the hydraulic cylinder V 43 is fixedly connected to the adapter IX 46, and the lower end is fixedly connected to the adapter X 45. The adapter IX 46 is fastened to the central rotating shaft 26 through a nut gasket. The right side of the central rotating shaft 26 rotates in the horizontal bearing block II 24. The horizontal bearing block II 24 is fastened to the gasket slider 47 through bolts. The gasket slider 47 is fixedly connected to the T-shaped nut bar 48 through bolts. The T-shaped nut bar 48 slides in the groove of the aluminum profile frame 25. The adapter X 45 is fastened to the long straight shaft II 41 through a nut gasket (the long straight shaft II 41 is only used as a fixing part. In actual use, the hydraulic cylinder V 43 can be fixed to the fuselage of the underwater robot or other application devices in any way). The long straight shaft II 41 is fastened to the aluminum profile frame 25 through a nut gasket. Between the central rotating shaft 26 and the long straight shaft II 41, there are connected a spring IX 42 and a spring X 44 that have elastic recovery ability. The hydraulic cylinder V 43 can also adopt other mechanical, electric, or pneumatic components with telescopic functions.

[0046] As Figures 11 to 13As shown, in this embodiment, taking the connection mode between the first adjustment module 2 and the third adjustment module 8 as an example of the connection mode between adjacent adjustment modules, a rotating cylinder 49 is fixed on one side of the base II 17. The rotating cylinder 49 is sleeved on the output shaft of the swing hydraulic cylinder I 51 and is fixedly connected. The swing hydraulic cylinder I 51 is fixedly connected to the base III 52. A torsion spring I 50 with elastic recovery ability is connected between the base II 17 and the base III 52. The base III 52 is fixedly connected to the fixed shaft IV 66. The fixed shaft IV 66 is fastened to the adapter V 64 through a nut gasket. The adapter V 64 is fixedly connected to the lower end of the hydraulic cylinder III 54. The upper end of the hydraulic cylinder III 54 is fixedly connected to the adapter VI 61. The adapter VI 61 passes through the pore of the hollow cylinder II 53 and is fastened to the fixed shaft V 62 through a nut gasket. The hollow cylinder II 53 is fixedly sleeved outside the fixed shaft V 62. The fixed shaft V 62 passes through the pores at both ends of the hollow cylinder II 53 and is fastened to the hollow cylinder II 53 through a nut gasket. A spring V 55 and a spring VI 56 with elastic recovery ability and passing through the pore of the hollow cylinder II 53 are connected between the fixed shaft IV 66 and the fixed shaft V 62. The fixed shaft V 62 is fastened to the adapter VII 63 through a nut gasket. The adapter VII 63 passes through the pore of the hollow cylinder II 53 and is fixedly connected to the upper end of the hydraulic cylinder IV 57. The lower end of the hydraulic cylinder IV 57 is fixedly connected to the adapter VIII 65. The adapter VIII 65 is fastened to the fixed shaft VI 67 through a nut gasket. The fixed shaft VI 67 is fixedly connected to the base IV 60. A spring VII 58 and a spring VIII 59 with elastic recovery ability and passing through the pore of the hollow cylinder II 53 are connected between the fixed shaft V 62 and the fixed shaft VI 67. The hydraulic cylinders III 54 and IV 57 work synchronously.

[0047] The working principle of the above underwater flapping-wing gliding device is as follows:

[0048] When the device works, the driving motor 13 rotates, driving the rotating shaft 16 to rotate. The first adjustment module 2, the third adjustment module 8, the fourth adjustment module 9, the fifth adjustment module 10, and the sixth adjustment module 11 are successively connected, and then drive the first adjustment module 2, the third adjustment module 8, the fourth adjustment module 9, the fifth adjustment module 10, and the sixth adjustment module 11 to rotate around the rotating shaft 16. The rotating hollow cylinder I 18 around the rotating shaft 16 drives the end of the first rod 19 to perform circular motion with the output shaft of the driving motor 13 as the center of the circle. The circular motion of the first rod 19 drives the slider I 20 to slide linearly on the guide rail I 21. The sliding of the slider I 20 drives the directly connected straight shaft I 23 on one side to move. The movement of the straight shaft I 23 drives the sleeve I 22 to move. The movement of the sleeve I 22 drives the fin 4 to swing around the central rotating shaft 26.

[0049] When adjusting the front-back ratio, the hydraulic cylinder Ⅰ28 is filled with water, and the upper end of the hydraulic cylinder Ⅰ28 extends and moves. The upward movement of the upper end of the hydraulic cylinder Ⅰ28 drives the adapter Ⅰ32 to move upward. The movement of the adapter Ⅰ32 drives the fixed shaft Ⅰ33 to move. The movement of the fixed shaft Ⅰ33 drives the hollow cylinder Ⅰ18 to move. At the same time, the spring Ⅰ29 and the spring Ⅱ30 between the fixed shaft Ⅰ33 and the fixed shaft Ⅱ27 are stretched. At this time, the hydraulic cylinder Ⅰ28 is in the extended state. If the hydraulic cylinder Ⅰ28 returns to its original state, the hydraulic cylinder Ⅰ28 discharges water. The stretched spring Ⅰ29 and spring Ⅱ30 will contract due to their own elastic recovery ability. The contraction of the spring Ⅰ29 and spring Ⅱ30 drives the fixed shaft Ⅰ33 to move in the reverse direction. The reverse movement of the fixed shaft Ⅰ33 drives the hollow cylinder Ⅰ18 to move in the reverse direction. The reverse movement of the fixed shaft Ⅰ33 drives the adapter Ⅰ32 to move in the reverse direction. The reverse movement of the adapter Ⅰ32 drives the upper end of the hydraulic cylinder Ⅰ28 to retract until the piston rod of the hydraulic cylinder Ⅰ28 is completely retracted. When the hydraulic cylinder Ⅱ36 is filled with water, the upper end of the hydraulic cylinder Ⅱ36 extends and moves. The upward movement of the upper end of the hydraulic cylinder Ⅱ36 drives the adapter Ⅲ34 to move. The movement of the adapter Ⅲ34 drives the fixed shaft Ⅰ33 to move. At the same time, the spring Ⅲ35 and the spring Ⅳ37 between the fixed shaft Ⅰ33 and the fixed shaft Ⅲ39 are stretched. At this time, the hydraulic cylinder Ⅱ36 is in the extended state. If the hydraulic cylinder Ⅱ36 returns to its original state, the hydraulic cylinder Ⅱ36 discharges water. The stretched spring Ⅲ35 and spring Ⅳ37 will contract due to their own elastic recovery ability. The contraction of the spring Ⅲ35 and spring Ⅳ37 drives the fixed shaft Ⅰ33 to move in the reverse direction. The reverse movement of the fixed shaft Ⅰ33 drives the hollow cylinder Ⅰ18 to move in the reverse direction. The reverse movement of the fixed shaft Ⅰ33 drives the adapter Ⅲ34 to move in the reverse direction. The reverse movement of the adapter Ⅲ34 drives the upper end of the hydraulic cylinder Ⅱ36 to retract until the piston rod of the hydraulic cylinder Ⅱ36 is completely retracted. Since the hydraulic cylinder Ⅰ28 and the hydraulic cylinder Ⅱ36 have the same structure and are filled with water at the same time, and the spring Ⅰ29, spring Ⅱ30, spring Ⅲ35, and spring Ⅳ37 have the same structure and elastic coefficient, the hydraulic cylinder Ⅰ28 and the hydraulic cylinder Ⅱ36 work synchronously.

[0050] When adjusting the amplitude, the hydraulic cylinder Ⅴ43 takes in water, and the upper end of the hydraulic cylinder Ⅴ43 moves upward. The upward movement of the upper end of the hydraulic cylinder Ⅴ43 drives the adapter Ⅸ46 to move. The movement of the adapter Ⅸ46 drives the central rotating shaft 26 to move. The movement of the central rotating shaft 26 drives the horizontal bearing block Ⅱ24 to move. The movement of the horizontal bearing block Ⅱ24 drives the gasket slider 47 to move. The movement of the gasket slider 47 drives the T-shaped nut strip 48 to move within the groove of the aluminum profile frame 25. At the same time, the springs Ⅸ42 and Ⅹ44 between the central rotating shaft 26 and the long straight shaft Ⅱ41 are stretched. At this time, the hydraulic cylinder Ⅴ43 is in the extended state. If the hydraulic cylinder Ⅴ43 returns to its original state, the hydraulic cylinder Ⅴ43 discharges water, and the stretched springs Ⅸ42 and Ⅹ44 will contract due to their own elastic recovery ability. The contraction of the springs Ⅸ42 and Ⅹ44 drives the central rotating shaft 26 to move in the reverse direction. The reverse movement of the central rotating shaft 26 drives the horizontal bearing block Ⅱ24 to move in the reverse direction. The reverse movement of the horizontal bearing block Ⅱ24 drives the gasket slider 47 to move in the reverse direction. The reverse movement of the gasket slider 47 drives the T-shaped nut strip 48 to move in the reverse direction within the groove of the aluminum profile frame 25.

[0051] When adjusting the fin phase difference, the oscillating hydraulic cylinder Ⅰ51 takes in water, and the output shaft of the oscillating hydraulic cylinder Ⅰ51 rotates. The rotation of the output shaft of the oscillating hydraulic cylinder Ⅰ51 drives the rotating cylinder 49 to rotate. The rotation of the rotating cylinder 49 drives the first adjustment module 2 to rotate around the output shaft of the oscillating hydraulic cylinder Ⅰ51. The torsion spring Ⅰ50 between the base Ⅱ17 and the base Ⅲ52 is stretched. At this time, an angle is generated between the first adjustment module 2 and the third adjustment module 8, and the phase changes. The oscillating hydraulic cylinder Ⅰ51 discharges water, and the stretched torsion spring Ⅰ50 will contract due to its own elastic recovery ability. The contraction of the torsion spring Ⅰ50 drives the rotating cylinder 49 to move in the reverse direction. The reverse movement of the rotating cylinder 49 drives the first adjustment module 2 to move in the reverse direction until the torsion spring Ⅰ50 returns to its original state, and there is no angle between the first adjustment module 2 and the third adjustment module 8, and the phases are the same. The elastic coefficients of all torsion springs are the same, so that all oscillating hydraulic cylinders rotate synchronously.

[0052] The synchronous adjustment working principle of the above hydraulic cylinder system is as follows:

[0053] As Figure 14As shown in the figure, it includes a hydraulic drive system. The hydraulic drive system includes a hydraulic drive motor, a lead screw fixedly connected to the output shaft of the hydraulic drive motor, a nut threadedly connected to the lead screw, a rodless cavity filled with liquid, and a piston rod disposed in the rodless cavity. The nut is fixedly connected to the piston rod through a connecting rod. The hydraulic drive motor drives the lead screw to rotate, driving the nut to move. The movement of the nut drives the movement of the piston rod of the hydraulic cylinder. The movement of the piston rod of the hydraulic cylinder pushes the liquid in the rodless cavity to flow. The rodless cavity is connected to the hydraulic cylinders in the first adjustment module 2, the third adjustment module 8, the fourth adjustment module 9, the fifth adjustment module 10, and the sixth adjustment module 11 through a two-position two-way directional control valve I. The rodless cavity is connected to all the oscillating hydraulic cylinders through a two-position two-way directional control valve II. The rodless cavity is connected to the hydraulic cylinders in the second adjustment module 3 and the seventh adjustment module 12 through a two-position two-way directional control valve III.

[0054] When the two-position two-way directional control valve I is opened, after the water in the rodless cavity flows through the two-position two-way directional control valve I, it flows to the hydraulic cylinder I 28, the hydraulic cylinder II 36, the hydraulic cylinder III 54, and the hydraulic cylinder IV 57 simultaneously. The water flow pressure pushes the piston rods of the hydraulic cylinder I 28, the hydraulic cylinder II 36, the hydraulic cylinder III 54, and the hydraulic cylinder IV 57 to move upward. The upward movement of the piston rods makes the lengths of the adjustment modules longer. Since the spring is in a stretched state regardless of the state of the hydraulic cylinder, and the spring constants of the spring I 29, the spring II 30, the spring III 35, and the spring IV 37 are the same, the generated external load forces are the same. Therefore, the piston rods of the hydraulic cylinder I 28, the hydraulic cylinder II 36, the hydraulic cylinder III 54, and the hydraulic cylinder IV 57 move synchronously and move upward by the same displacement. The upward movement of the piston rods by the same displacement changes the lengths of the adjustment modules by the same amount. When the motor stops rotating, the spring I 29, the spring II 30, the spring III 35, and the spring IV 37 will be contracted. The contraction of the spring I 29, the spring II 30, the spring III 35, and the spring IV 37 drives the piston rods of the hydraulic cylinder I 28, the hydraulic cylinder II 36, the hydraulic cylinder III 54, and the hydraulic cylinder IV 57 to reset synchronously. The synchronous reset of the piston rods makes the lengths of the adjustment modules change by the same amount. Therefore, the hydraulic cylinders in the first adjustment module 2, the third adjustment module 8, the fourth adjustment module 9, the fifth adjustment module 10, and the sixth adjustment module 11 are adjusted synchronously.

[0055] Open the two-position two-way change-over valve II. The water in the rodless chamber flows through the two-position two-way change-over valve II and simultaneously flows to the swing hydraulic cylinder between adjacent adjustment modules. The water flow pressure drives the output shaft of the swing hydraulic cylinder I 51 to rotate. The rotation of the output shaft of the swing hydraulic cylinder I 51 drives the first adjustment module 2 to rotate around the output shaft of the swing hydraulic cylinder I 51. The torsion spring I 50 between the base II 17 and the base III 52 is stretched. At this time, an angle is generated between the first adjustment module 2 and the third adjustment module 8, and the phase changes. Since the torsion spring is in a stretched state regardless of the state of the swing hydraulic cylinder and the elastic coefficient of the torsion spring is the same, and the generated external load force is the same, the output shafts of the swing hydraulic cylinders rotate synchronously, rotate the same angle, and the rotation of the output shafts by the same angle changes the angles of adjacent adjustment modules by the same amount. When the motor stops rotating, the torsion spring will contract, and the contraction of the torsion spring drives the output shafts of the swing hydraulic cylinders to reset synchronously. The synchronous reset of the output shafts makes the angles of adjacent adjustment modules change by the same amount. Therefore, the swing hydraulic cylinders between adjacent adjustment modules are synchronously adjusted.

[0056] Open the two-position two-way change-over valve III. The water in the rodless chamber flows through the two-position two-way change-over valve III and simultaneously flows to the hydraulic cylinders in the second adjustment module 3 and the seventh adjustment module 12. The water flow pressure drives the piston rod of the hydraulic cylinder V 43 to extend. The extension of the piston rod makes the horizontal distance between the gasket slider 47 and the center of the output end of the drive motor 13 longer. Since the spring is in a stretched state regardless of the state of the hydraulic cylinder and the elastic coefficient of the spring is the same, and the generated external load force is the same, the piston rods of the hydraulic cylinders in the second adjustment module 3 and the seventh adjustment module 12 move synchronously, extend the same displacement. The extension of the piston rods by the same displacement changes the horizontal distance between the gasket slider 47 and the center of the output end of the drive motor 13 by the same amount. When the motor stops rotating, the spring will contract, and the contraction of the spring drives the piston rods of the hydraulic cylinders in the second adjustment module 3 and the seventh adjustment module 12 to reset synchronously. The synchronous reset of the piston rods makes the horizontal distance between the gasket slider 47 and the center of the output end of the drive motor 13 change by the same amount. Therefore, the hydraulic cylinders in the second adjustment module 3 and the seventh adjustment module 12 are synchronously adjusted.

[0057] Embodiment 2

[0058] As Figure 15 shown, the distance between the center of the output end of the drive motor 13 and the center of the hollow cylinder I 18 is R, that is, the length of the adjustment module is R. The angle between the adjustment module and the vertical line is θ, and the counterclockwise rotation is the positive direction. The angular velocity of rotation is θ'. The length of the first rod 19 is L. The slider I 20 slides in the vertical direction, and the distance from the center of the output end of the drive motor 13 is x. The central rotating shaft 26 slides in the horizontal direction. The horizontal distance between the central rotating shaft 26 and the center of the output end of the drive motor 13 is h, and the vertical distance is the length L of the first rod 19. The fin swing angle is

[0059] As Figure 15 shown, the relationship between x and θ is

[0060]

[0061] Differentiating both sides gives

[0062]

[0063] Let x′ = 0. If sinθ = 0, then θ = 0 or θ = π. If then L = R. From this, the boundary positions x of the slider Ⅰ 20 can be obtained as min = L - R, x max = L + R.

[0064] When the slider Ⅰ 20 moves to the middle position, at this time, x = L, (L + Rcosθ) 2 = L 2 - R 2 sin 2 θ, L 2 + R 2 cos 2 θ + 2LRcosθ = L 2 - R 2 sin 2 θ, R 2 + 2LRcosθ = 0, that is:

[0065]

[0066] As Figure 15 shown, calculating the relationship between θ and x is

[0067] (x + Rcosθ) 2 = L 2 - R 2 sin 2 θ, x 2 + R 2 cos 2 θ + 2xRcosθ = L 2 - R 2 sin 2 θ, 2xRcosθ = L 2 - R 2 - x 2 , that is

[0068]

[0069] As Figure 15 shown, the relationship with x is The relationship with θ is The relationship between x and is The relationship between θ and is

[0070] As Figure 16 shown, when the adjustment module is in interval I and interval II, the fin 4 is above the horizontal line, that is, on the back of the test device. When the adjustment module is in interval III and interval IV, the fin 4 is below the horizontal line, that is, on the abdomen of the test device. For the convenience of description in this embodiment, the "abdomen-to-back ratio" is used to describe the ratio of the time of the fin 4 in the abdomen to the time in the back.

[0071] As Figure 17 shown, a test method for an underwater flapping-wing gliding drive mechanism of the present invention for invention patents includes the following steps:

[0072] Step 1: Select the adjusted working modes, including the flapping-wing mode and the gliding mode. The flapping-wing mode includes a periodic non-sinusoidal mode and a periodic sinusoidal mode. The gliding mode includes a variable swing angle mode and a variable angle of attack mode;

[0073] Step 2: Adjust the device parameters according to the selected working mode; the device parameters include the distance from the end of the first rod to the power module, the horizontal distance between the central rotating shaft and the power module, the angle difference between adjacent fins, and the speed of the end of the first rod performing circular motion;

[0074] If it is the periodic non-sinusoidal mode in the flapping-wing mode, the driving motor 13 rotates at a constant speed and is adjusted according to the following steps:

[0075] (1) Determine the period T;

[0076] (2) According to the period T, calculate the rotation speed θ' = 2π / T of the driving motor 13; adjust the rotation speed of the driving motor;

[0077] (3) Determine the abdomen-to-back ratio K;

[0078] (4) According to the abdomen-to-back ratio K, calculate the length R of the adjustment module, and adjust the length of the adjustment module according to the calculated length R of the adjustment module;

[0079] According to formula (3), That is,

[0080] (5) Determine the flapping-wing swing amplitude A;

[0081] (6) Calculate h based on the swing amplitude A, and adjust the horizontal distance between the central rotating shaft 26 and the center of the output end of the driving motor 13 to h;

[0082] According to Get That is When the ventral-dorsal ratio is first adjusted to the target value, that is, when the R value is determined, the amplitude can be adjusted independently without affecting the ventral-dorsal ratio, realizing the decoupling of the ventral-dorsal ratio and the amplitude, and the two can be adjusted independently;

[0083] When the amplitude is first adjusted to the target value, that is, when the h value is determined, adjust the ventral-dorsal ratio to the target value, and then adjust the amplitude to correct the change amount of the amplitude, so that both can be adjusted to the target value independently.

[0084] (7) Determine the chordal wave number n;

[0085] (8) According to the chordal wave number n, calculate the phase difference Δθ = 2nπ / (N - 1) between adjacent two adjustment modules, where N is the number of adjustment modules, and adjust the phase difference between adjacent modules.

[0086] If it is the periodic sine mode in the flapping wing mode, the first rod 19 swings in a sine law, and the adjustment is carried out according to the following steps:

[0087] (1) Determine the flapping wing swing law as

[0088] (2) Adjust the length R of the adjustment module to the minimum value R min ;

[0089] (3) Calculate Adjust h;

[0090] (4) According to Calculate the speed θ′ of the driving motor 13 at each moment and adjust:

[0091] For Take the derivative of both sides to get Then,

[0092] From Get x = htan(Asin(wt)) + L.

[0093] From formula (4), we get

[0094] In interval I and interval IV, And

[0095]

[0096] In Region II and Region III,

[0097]

[0098] If it is the variable swing angle mode in the gliding mode, after the angle adjustment of the adjustment module is completed, it remains unchanged and the adjustment is carried out according to the following steps:

[0099] (1) Adjust the end of the first rod at the boundary position. At this time, the reaction force borne by the flapping wing by the adjustment module forms self-locking, which is beneficial to maintaining gliding stability. Calculate the adjustable range of the swing angle:

[0100] When the adjustment module is at the boundary position II, θ = π, then Thus, is an increasing function of R and a decreasing function of h, then When the adjustment module is at the boundary position I, θ = 0,

[0101] (2) Determine the target swing angle When the adjustment module is at the boundary position, if the swing angle is within the adjustable range, first adjust the length of the adjustment module to the minimum value R min , calculate If h < h min , then adjust h to h min , calculate Adjust the length of the adjustment module to

[0102] If the swing angle is outside the adjustable range, that is, then adjust R to R min , adjust h to h max ,

[0103] If it is the variable angle of attack mode in the gliding mode, after the angle adjustment of the adjustment module is completed, it remains unchanged. As Figure 18 shown, the adjustment is carried out according to the following steps:

[0104] (1) Determine the angle of attack α;

[0105] (2) According to the angle of attack α, calculate the angular position θ1 of the adjustment module of the first fin ray. b is half of the length from the center of the central rotating shaft 26 to the end of the fin ray; e is half of the distance between the first fin ray and the last fin ray;

[0106] From d = etanα, we get then

[0107] (3) According to the angle of attack α, calculate the angular position θ of the adjustment module of the last fin ray N :

[0108] From d = e tan(-α), we get then

[0109] (4) Calculate the phase difference between two adjacent fin rays

[0110] (5) Adjust the first fin ray to the target swing angle, and then adjust the phase difference between two adjacent fin rays.

[0111] Taking the periodic sinusoidal flapping wing test as an example, a simulation test is carried out. The test parameters are: R = 3, L = 10, h = 4, and the target motion law of the flapping wing is The test results are as Figure 19 shown.

[0112] The test results show that the angular position curve of the drive motor 13 changes continuously. Among them, at 0.75 seconds, the drive motor 13 passes through the boundary position I, and the angular position returns from 2π to 0, which is also continuous in essence. Therefore, the angular position curve can be achieved. The angular velocity control quantity of the drive motor 13 is consistent with the differential of the angular position of the drive motor 13. Therefore, the angular velocity control quantity of the drive motor 13 can be achieved. The control result of the flapping wing swing angular position is consistent with the target quantity of the flapping wing swing angular position. Therefore, the angular position control method in this embodiment is effective. The control result of the flapping wing swing angular velocity is consistent with the target quantity of the flapping wing swing angular velocity. Therefore, the angular velocity control method in this embodiment is effective.

Claims

1. An underwater flapping-wing gliding device with amplitude decoupling regulation, characterized in that, It includes a central rotating shaft (26), several fin rays (4) successively sleeved on the central rotating shaft, a power module (1), a ventral-dorsal ratio adjustment module, and an amplitude adjustment module. A sleeve I (22) is sleeved on the end of the fin ray (4), and the end of the fin ray (4) slides within the sleeve I (22). The sleeve I (22) is hinged with a slider I (20) and a first rod (19). The slider I (20) slides along a vertically extending guide rail I (21). One end of the first rod (19) is hinged to the sleeve I (22) and the slider I (20), and the other end is axially and fixedly connected to the ventral-dorsal ratio adjustment module. The ventral-dorsal ratio adjustment module is fixedly connected to the power module (1). The power module drives the end of the first rod (19) to perform circular motion around the power module through the ventral-dorsal ratio adjustment module. The ventral-dorsal ratio adjustment module adjusts the distance from the end of the first rod (19) to the power module, thereby adjusting the ventral-dorsal ratio of the fin ray movement. The amplitude adjustment module is used to adjust the horizontal distance between the central rotating shaft (26) and the power module, thereby adjusting the movement amplitude of the fin ray when the ventral-dorsal ratio is determined. The ventral-dorsal ratio adjustment module includes a hydraulic cylinder I (28) and a fixed shaft I (33). One end of the hydraulic cylinder I (28) is fixedly connected to the power module (1), and the other end is fixedly connected to the fixed shaft I (33). One end of the first rod (19) is sleeved outside the fixed shaft I (33), and the extending direction of the first rod (19) is perpendicular to the extending direction of the fixed shaft I (33). The hydraulic cylinder I (28) expands and contracts to adjust the distance of the fixed shaft I (33) relative to the power module, thereby adjusting the distance of the end of the first rod (19) relative to the power module. The ventral-dorsal ratio adjustment module further includes a hydraulic cylinder II (36). One end of the hydraulic cylinder II (36) is fixedly connected to the fixed shaft I (33), and the hydraulic cylinder II (36) is parallel to the hydraulic cylinder I (28). A connecting device is provided between adjacent fin rays. The connecting device includes a swing hydraulic cylinder I (51) fixedly arranged at the end of the hydraulic cylinder I (28). The output shaft of the swing hydraulic cylinder I (51) is fixedly connected to the end of the hydraulic cylinder II (36) arranged on the adjacent fin ray. A torsion spring I (50) is arranged between the end of the hydraulic cylinder I (28) and the end of the hydraulic cylinder II (36) arranged on the adjacent fin ray. The swing hydraulic cylinder I drives the hydraulic cylinder II to rotate, thereby adjusting the phase difference between adjacent fin rays.

2. The underwater flapping-wing gliding device according to claim 1, wherein The power module (1) includes a driving motor (13). The extending direction of the output shaft of the driving motor (13) is parallel to the extending direction of the fixed shaft I (33). The output shaft of the driving motor (13) is fixedly connected to the end of the hydraulic cylinder I (28). A spring I (29) is connected between the fixed shaft I (33) and the output shaft of the driving motor (13).

3. The underwater flapping-wing gliding device according to claim 2, wherein All the hydraulic cylinders in the ventral-dorsal ratio adjustment module provided on each fin ray are communicated with each other, and all the hydraulic cylinders expand and contract synchronously.

4. The underwater flapping-wing gliding device according to claim 1, wherein The amplitude adjustment module includes a hydraulic cylinder V (43) with one end fixedly arranged. The other end of the hydraulic cylinder V (43) is fixedly connected to the central rotating shaft (26). The extending direction of the hydraulic cylinder V (43) is along the horizontal direction and perpendicular to the extending direction of the central rotating shaft (26). The telescopic movement of the hydraulic cylinder V (43) drives the central rotating shaft (26) to move. A spring X (44) is arranged between the fixed end of the hydraulic cylinder V (43) and the central rotating shaft (26).

5. A method for adjusting the underwater flapping-wing gliding device according to any one of claims 1 to 4, characterized in that, It includes the following steps: (1) Determine the adjusted working modes, including the flapping mode and the gliding mode. The flapping mode includes the periodic non-sinusoidal mode and the periodic sinusoidal mode. The gliding mode includes the variable swing angle mode and the variable angle of attack mode; (2) Adjust the device parameters according to the selected working mode; the device parameters include the distance from the end of the first rod to the power module, the horizontal distance between the central rotating shaft and the power module, the angular difference between adjacent fin rays, and the speed of the end of the first rod performing circular motion.

6. The adjustment method according to claim 5, characterized in that The adjustment method for the periodic non-sinusoidal mode in the flapping mode is: Determine the adjusted target parameters including the flapping motion period T, the flapping ventral-dorsal ratio K, the flapping swing amplitude A, and the flapping chordal wave number n. Adjust the speed of the end of the first rod performing circular motion according to the flapping motion period T, adjust the distance from the end of the first rod to the power module according to the flapping ventral-dorsal ratio K, adjust the horizontal distance between the central rotating shaft and the power module according to the flapping swing amplitude A, and adjust the angular difference between adjacent fin rays according to the flapping chordal wave number n; The adjustment method for the periodic sinusoidal mode in the flapping mode is: Determine the target motion law of the fin rays after adjustment to obtain the fin ray swing amplitude A and the real-time angular velocity. Adjust the distance from the end of the first rod to the power module to be the minimum. According to the fin ray swing amplitude A, adjust the horizontal distance between the central rotating shaft and the power module. According to the real-time angular velocity of the fin rays, adjust the speed of the end of the first rod performing circular motion.

7. The adjustment method according to claim 5, characterized in that The adjustment method for the variable swing angle mode in the gliding mode is: Adjust the end of the first rod to be at the boundary position and determine the adjusted flapping swing angle; if the flapping swing angle is within the adjustable range, adjust the distance from the end of the first rod to the power module to be the minimum. Calculate the theoretical horizontal distance between the central rotating shaft and the power module according to the distance from the end of the first rod to the power module and the flapping swing angle. If the theoretical distance is less than the minimum horizontal distance between the central rotating shaft and the power module, adjust the horizontal distance between the central rotating shaft and the power module to the minimum distance, and adjust the distance from the end of the first rod to the power module at this time according to the flapping swing angle; if the flapping swing angle is outside the adjustable range, adjust the distance from the end of the first rod to the power module to be the minimum, and the horizontal distance between the central rotating shaft and the power module is the maximum; The adjustment method for the variable angle of attack mode in the gliding mode is: Determine the adjusted flapping angle of attack, calculate the swing angles of the first fin ray and the last fin ray according to the flapping angle of attack, then calculate the target angular difference between adjacent fin rays, adjust the swing angle of the first fin ray, and then adjust the angle between adjacent fin rays to the target angular difference.

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