Bionic cross-medium aircraft

Abstract

The invention belongs to the field of aircrafts, and particularly relates to a bionic cross-medium aircraft which comprises a body and an undulating fin assembly, the undulating fin assembly comprises undulating fins, and the undulating fins are made of flexible materials; the three fixing strips are connected with the undulating fin and are arranged at the front part, the middle part and the tail part of the undulating fin; one ends of the rotating shafts are connected with the ends of the fixing strips, the rotating shafts located at the front part and the middle part are collinear with the fixing strips connected with the rotating shafts, an obtuse angle is formed between the fixing strip located at the tail part and the fixing strip connected with the fixing strip, and the fixing strip located at the tail part is arranged along the radian of the tail part of the undulating fin; and the first driver drives the rotating shaft to rotate around the axis of the rotating shaft. Propulsion is carried out through wave-shaped swing of the undulating fins, the propulsion efficiency can be improved, and under the condition that the same energy is carried, the long voyage and high maneuverability are achieved. According to the undulating fin assembly and the control equation of the undulating fin, the undulating fin can adapt to deformation to destroy the vortex falling period, and the track stability is enhanced while energy consumption is reduced.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of vehicles, and particularly relates to a bionic cross-medium vehicle. BACKGROUND

[0002] As a new type of equipment that takes into account underwater detection and air maneuvering, the cross-medium vehicle has irreplaceable application value in the fields of marine resource exploration, emergency rescue, environmental monitoring, etc. The core technical problem thereof is to simultaneously adapt to the two significantly different medium environments of water and air, to overcome the fluid resistance of underwater navigation, and to meet the lift requirement of air flight, while the traditional design often fails to achieve a balance between navigation efficiency and track stability.

[0003] The existing cross-medium vehicles mostly adopt fixed-wing or folding-wing structures, and the shape design lacks self-adaptive ability to the fluid characteristics of the two media. When navigating underwater, the fixed shape easily causes fluid flow separation, forming periodic vortex shedding, which not only increases the navigation energy consumption, but also produces additional vibration, leading to track deviation; when switching to air flight, the traditional airfoil is difficult to quickly adjust the aerodynamic attitude, further aggravating the problem of insufficient stability.

[0004] To solve this dilemma, bionic design has become an important research direction. In nature, manta rays have unique pectoral fin structures, which enable them to efficiently cruise in water while having excellent attitude control ability. The flexible deformation characteristics of the pectoral fin can effectively regulate the flow field distribution and suppress vortex generation. However, the deformation mechanism of the existing bionic manta ray vehicles is mostly passive or fixed mode, lacking self-adaptive response ability to complex flow field environment, and unable to accurately break the vortex shedding period, resulting in limited energy consumption optimization and stability improvement effect.

[0005] In addition, during the cross-medium conversion process, the sudden change of medium density and viscosity puts higher requirements on the flow field adaptability of the vehicle. Due to the lack of deformation flexibility, the traditional design is prone to problems such as intensified flow field separation, sudden change of aerodynamic / water dynamic load, etc. when switching between the two media, further restricting the overall performance of the vehicle. Therefore, developing a bionic pectoral fin structure with self-adaptive deformation ability to actively regulate the vortex shedding period has become a key breakthrough to improve the energy consumption efficiency and track stability of the cross-medium vehicle. SUMMARY

[0006] The bionic cross-medium vehicle provided by the present application can effectively solve the problems in the background art.

[0007] The bionic cross-medium vehicle provided by the present application comprises a body and wave fin assemblies arranged on both sides of the body, and the wave fin assemblies comprise:

[0008] The wave fin is in the shape of a manta ray pectoral fin, and the wave fin is made of flexible material.

[0009] three fixed bars connected with the undulating fin, the three fixed bars are parallelly arranged along the curvature of the front, middle and tail of the undulating fin;

[0010] a rotating shaft connected with the end of the fixed bar, the rotating shafts located at the front and middle are collinear with the fixed bars connected therewith, the rotating shaft located at the tail forms an obtuse angle with the fixed bar connected therewith, and the fixed bar located at the tail is arranged along the curvature of the tail of the undulating fin;

[0011] and a first driver for driving the rotating shaft to rotate around the axis thereof, the first driver drives the undulating fin to swing in a wave shape.

[0012] As a further optimization of the present application, the swing wave shape of the undulating fin driven by the first driver satisfies the following equation:

[0013] ;

[0014] wherein, represents the spatial position of the undulating fin along the X axis, the interval range of which is ; represents the vertical distance of the undulating fin to the X axis, the interval range of which is ; is the maximum deflection angle of the undulating fin in the YZ plane; is the maximum wavelength of the undulating fin along the X axis, ; is the angular frequency of the undulating fin, , is the undulating frequency of the undulating fin; is the maximum length of the undulating fin along the X direction, is the maximum vertical distance of the undulating fin to the X axis.

[0015] As a further optimization of the present application, the body adopts a sealed cabin body structure in the shape of a manta ray body, and the longitudinal section of the body is designed in a myring type line.

[0016] As a further optimization of the present application, the body is provided with a duct passing through from top to bottom; and further comprising a propeller arranged in the duct, the propeller comprising:

[0017] two groups of blades arranged in longitudinal series, the two groups of blades are symmetrically installed in positive and negative directions;

[0018] and a second driver for driving the two groups of blades to rotate respectively.

[0019] As a further optimization of the present application, the propeller further comprises:

[0020] a guide pipe with a shape and size adapted to the duct, the two groups of blades are arranged in the guide pipe;

[0021] And a rotor connected to the second driver and the paddle, the second driver drives the rotor to rotate the paddle.

[0022] As a further optimization of the present application, the two groups of ducts are divided into three groups, and the three groups of ducts are arranged in a linear array in the middle of the body.

[0023] As a further optimization of the present application, the body and the propeller are made of carbon fiber composite material.

[0024] As a further optimization of the present application, the undulating fin is made of silica gel material.

[0025] As a further optimization of the present application, a battery is further arranged in the body, and the battery supplies power to the first driver.

[0026] As a further optimization of the present application, the tail of the undulating fin is provided with a plurality of openings.

[0027] The present application provides a kind of bionic cross-media vehicle, is propelled by undulating fin wave form swing, can improve propulsion efficiency, with equivalent energy under carrying, the present application has long voyage and high mobility simultaneously.This application adopts undulating fin assembly and in the control equation of undulating fin, so that undulating fin can self-adapt deformation destroy vortex shedding period, reduce energy consumption while enhancing track stability. BRIEF DESCRIPTION OF DRAWINGS

[0028] Figure 1 It is the structural schematic diagram of the embodiment;

[0029] Figure 2 It is Figure 1 the schematic diagram of the body structure in the embodiment;

[0030] Figure 3 It is Figure 1 the schematic diagram of undulating fin assembly in the embodiment;

[0031] Figure 4 It is Figure 1 the schematic diagram of propeller in the embodiment;

[0032] Figure 5 It is Figure 1 the schematic diagram of fin strip assembly in the embodiment;

[0033] Among them, the body 1, undulating fin 2, propeller 3, guide pipe 3-1, paddle 3-2, rotor 3-3, duct 4, fin strip assembly 5, fixed strip 5-1, rotating shaft 5-2, waterproof sealing shell 5-3, second driver 6, first driver 7, battery 8. DETAILED DESCRIPTION

[0034] As Figures 1-5 shown, the embodiment mainly includes body 1 and undulating fin assembly.

[0035] The embodiment has both underwater and air navigation functions, and therefore the main body 1 adopts a sealed cabin structure.

[0036] The undulating fin assembly is provided with two undulating fins 2, which are respectively located on both sides of the main body 1.

[0037] The undulating fin assembly includes the undulating fin 2, the fin strip assembly 5 and the first driver 7.

[0038] The undulating fin 2 is in the shape of a manta ray pectoral fin, that is, the whole is triangular, one side of which coincides with the main body 1, and the other two sides are arc-shaped, one of which is an outer arc near the front end of the main body 1, and the other is an inner arc near the tail end of the main body 1.

[0039] The undulating fin 2 is divided into three parts, the front part near the outer arc side, the tail part near the inner arc side, and the middle part between the front part and the tail part.

[0040] In the embodiment, the undulating fin 2 is made of flexible material, specifically, silicone material.

[0041] The fin strip assembly 5 includes a fixed strip 5-1 and a rotating shaft 5-2.

[0042] The fixed strip 5-1 is provided with three parallel fixed strips 5-1, which are respectively connected to the front part, the middle part and the tail part of the undulating fin 2, and the fixed strip 5-1 is arranged along the outer arc side of the undulating fin 2, that is, the fixed strip 5-1 is arranged in a direction tending to be parallel to the tangent of the arc line of the front part of the undulating fin 2.

[0043] One end of the rotating shaft 5-2 is connected to the end of the fixed strip 5-1, and the rotating shaft 5-2 located in the front part and the middle part is arranged in line with the fixed strip 5-1 connected thereto; the fixed strip 5-1 located in the tail part is arranged at an obtuse angle with the fixed strip 5-1 connected thereto, and the fixed strip 5-1 located in the tail part is arranged along the curvature of the tail part of the undulating fin 2.

[0044] The other end of the rotating shaft 5-2 is connected to the first driver 7, and the first driver 7 can drive the rotating shaft 5-2 to rotate around its axis. In the embodiment, the three rotating shafts 5-2 are provided with three independent first drivers 7.

[0045] The three first drivers 7 drive the three rotating shafts 5-2 to rotate, and the three rotating shafts 5-2 drive the three fixed strips 5-1 to rotate and oscillate. Since the undulating fin 2 is made of flexible material, the rotation and oscillation of the three fixed strips 5-1 can drive the undulating fin 2 to oscillate in a wavy posture, and under the action of the first driver 7, the oscillation of the undulating fin 2 satisfies the following equation:

[0046] ;

[0047] wherein, represents the spatial position of the undulating fin along the X axis, and the interval range is ; represents the vertical distance of the undulating fin to the X axis, the interval range of which is ; represents the maximum deflection angle of the undulating fin in the YZ plane; represents the maximum wavelength of the undulating fin along the X axis, ; represents the angular frequency of the undulating fin, , represents the undulating frequency of the undulating fin; represents the maximum length of the undulating fin along the X direction, represents the maximum vertical distance of the undulating fin to the X axis, i.e. the maximum width.

[0048] The sailing movement principle of the embodiment is as follows:

[0049] The transmission direction of the undulating of the undulating fin is opposite to the direction of the thrust generated by the undulating fin 2. When the undulating of the undulating fins on the left and right sides of the vehicle is transmitted from front to back, the undulating fin 2 generates a forward thrust to push the vehicle forward. Similarly, when the undulating of the undulating fins on the left and right sides of the vehicle is transmitted from back to front, the undulating fin 2 generates a backward thrust to push the vehicle backward. When the thrust of the undulating fin 2 on the left side is forward and the thrust of the undulating fin 2 on the right side is backward, the vehicle is right yawed. When the thrust of the undulating fin 2 on the left side is backward and the thrust of the undulating fin 2 on the right side is forward, the vehicle is left yawed.

[0050] The undulating fin assembly adopted by the embodiment and under the control equation of the undulating fin 2 can make the undulating fin 2 adaptively deform to destroy the vortex shedding period, reduce the energy consumption, and enhance the track stability. In addition, the undulating sailing of the undulating fin 2 under water has a high propelling efficiency.

[0051] Preferably, the embodiment further provides a plurality of triangular openings at the tail of the undulating fin 2, which can improve the fluidity of the undulating of the undulating fin 2, reduce the sailing resistance, and improve the sailing speed. The openings can further strengthen the adaptively deforming of the undulating fin 2 to destroy the vortex shedding period, reduce the energy consumption, and enhance the track stability.

[0052] Preferably, the embodiment provides a through duct 4 on the body 1, and a propeller 3 is arranged in the duct 4. The propeller 3 is a shaftless propeller, which specifically includes a guide pipe 3-1, a paddle 3-2, a rotor 3-3, and a second driver 6.

[0053] The shape and size of the guide pipe 3-1 correspond to the duct 4, and the guide pipe 3-1 is fixed in the duct 4.

[0054] The paddle 3-2 and the rotor 3-3 are arranged in the guide pipe 3-1, and the rotor 3-3 drives the paddle 3-2 to rotate.

[0055] The paddle 3-2 is provided with two groups, and the two groups of paddle 3-2 are longitudinally arranged in series and are symmetrically installed.

[0056] The second driver 6 is connected with the rotor 3-3, the second driver 6 drives the rotor 3-3 to rotate, and the rotor 3-3 drives the two groups of paddle 3-2 to rotate respectively.

[0057] The floating and sinking movement principle of the embodiment is as follows:

[0058] Meanwhile, the rotation speed of the rotor 3-3 and the paddle 3-2 of the propeller 3 is increased, and the thrust of the propeller 3 is increased. Since the forward and reverse paddle 3-2 are symmetrically installed, the moment is not considered. When the thrust of the propeller 3 is greater than the resultant force of the gravity and the buoyancy of the vehicle, the vehicle will accelerate to float to the water surface. With the continuous increase of the rotation speed, when the thrust of the propeller 3 is greater than the gravity of the vehicle, the vehicle takes off, and the cross-medium navigation is completed. Similarly, the rotation speed of the propeller 3 is reduced, and when the thrust of the propeller 3 is less than the gravity of the vehicle, the vehicle lands on the water surface. With the continuous reduction of the rotation speed, when the thrust of the propeller 3 is less than the resultant force of the gravity and the buoyancy of the vehicle, the vehicle sinks into the water.

[0059] Preferably, the body 1 in the embodiment adopts a sealed cabin body structure in the shape of a manta ray. The embodiment further includes a battery 8 for providing power for the first driver 7 and the second driver 6. The battery 8, the first driver 7 and the second driver 6 are all arranged in the body 1.

[0060] Preferably, the fin strip assembly 5 further includes a waterproof sealing shell 5-3. The waterproof sealing shell 5-3 is arranged between the body 1 and the outside, one end of the waterproof sealing shell 5-3 is connected with the second driver 6 in the body 1, and the other end of the waterproof sealing shell 5-3 is connected with the rotating shaft 5-2 outside the body 1. The waterproof sealing shell 5-3 can prevent the fluid outside from entering the body 1 through the rotating shaft 5-2.

[0061] Further, the longitudinal section of the sealed cabin of the body 1 adopts a myring type line design, which has a good streamline shape and can make the resistance of the vehicle lower.

[0062] Preferably, the duct 4 is provided with six, and two groups are divided into three groups, and the three groups of duct 4 are arranged in linear array in the middle of the body 1. This structure makes the overall gravity more balanced, and has stronger driving force.

[0063] Preferably, the body 1 and the propeller 3 of the embodiment both adopt carbon fiber composite material, which can reduce the noise of the vehicle, thereby improving the concealment of the vehicle, and also can improve the efficiency of the propeller 3.

[0064] It should be understood that the expressions of up, down, left, right, front, back, top, bottom, tail, horizontal, vertical and the like orientation or position relationship described in the present application are referred to the drawings, and are only used to more clearly express the technical solutions and simplify the description, and are not intended to indicate or imply that the device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus cannot be understood as a limitation on the scope of protection of the present application.

[0065] Finally, it should be noted that the above examples are only used to illustrate the technical solutions of the present application, and are not intended to limit the scope of protection of the present application. Although the present application has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present application can be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present application.

Claims

1. A biomimetic trans-medium vehicle, characterized in that, The body and the undulating fin assembly arranged on both sides of the body, the undulating fin assembly comprising: The undulating fin is in the shape of a manta ray pectoral fin and is made of flexible material; Three fixed bars connected with the undulating fin, the three fixed bars are arranged in parallel along the front, middle and tail of the undulating fin; A rotating shaft connected with the end of the fixed bar, the rotating shafts located at the front and middle are collinear with the fixed bars connected therewith, the rotating shaft located at the tail forms an obtuse angle with the fixed bar connected therewith, and the fixed bar located at the tail is arranged along the arc of the tail of the undulating fin; A first driver for driving the rotating shaft to rotate around the axis thereof, the first driver drives the undulating fin to swing in a wave shape.

2. The biomimetic trans-mechanical vehicle of claim 1, wherein, The swing wave shape of the undulating fin driven by the first driver satisfies the following equation: ； wherein, represents the spatial position of the undulating fin along the X-axis, whose interval range is ; represents the vertical distance of the undulating fin to the X-axis, whose interval range is ; is the maximum deflection angle of the undulating fin in the YZ plane; is the maximum wavelength of the undulating fin along the X-axis, ; is the angular frequency of the undulating fin, , is the undulating frequency of the undulating fin; is the maximum length of the undulating fin along the X direction, is the maximum vertical distance of the undulating fin to the X-axis.

3. The biomimetic trans-mechanical vehicle of claim 1, wherein, The body is in the shape of a manta ray and is made of a sealed cabin structure, and the longitudinal section of the body is designed in the shape of a myring.

4. The biomimetic trans-mechanical vehicle of claim 1, wherein, The body is provided with a duct penetrating through the body in the vertical direction, and further comprises a propeller arranged in the duct, the propeller comprising: Two groups of blades arranged in series in the longitudinal direction, the two groups of blades are symmetrically arranged in positive and negative directions; A second driver for driving the two groups of blades to rotate respectively.

5. The biomimetic trans-moderate vehicle of claim 4, wherein, The propeller further comprises: A guide pipe in the shape and size suitable for the duct, the two groups of blades are arranged in the guide pipe; A rotor connected with the second driver and the blades, the second driver drives the rotor to rotate the blades.

6. The biomimetic trans-mechanical vehicle of claim 4, wherein, The two groups of ducts are divided into three groups, and the three groups of ducts are arranged in a linear array in the middle of the body.

7. The biomimetic trans-mechanical vehicle of claim 4, wherein, The body and the propeller are made of carbon fiber composite material.

8. The biomimetic trans-mechanical vehicle of claim 1, wherein, The undulating fin is made of silica gel material.

9. The biomimetic trans-mechanical vehicle of claim 1, wherein, A battery arranged in the body, the battery supplies power to the first driver.

10. The biomimetic trans-moderate vehicle of claim 1, wherein, The tail of the undulating fin is provided with a plurality of openings.

Images