Ocean energy self-sustained biomimetic manta ray underwater vehicle

Abstract

The utility model discloses a kind of ocean energy self-sustaining bionic manta ray underwater vehicle, it includes trunk frame, the front of trunk frame is connected with head frame, the middle part of trunk frame is equipped with control device, the two sides of control device are connected with chest fin driving device, chest fin driving device includes several series servo motors, the front and rear sides of servo motor are connected with flexible fin plate, the rear of control device is connected with tail fin driving device, the rear of trunk frame is connected with tail and sonar device, the rear top of trunk frame is equipped with vertical fin frame, vortex-induced vibration linear power generation device is installed in the inside of vertical fin frame, underwater vehicle outside is still coated with integrated bionic skin, the utility model innovatively integrates vortex-induced vibration linear power generation device in the vertical fin and back of underwater vehicle, provides two kinds of self-sustaining scheme using vortex-induced vibration energy;And using multiple servo motors series drive chest fin, realize highly bionic movement.

Description

Technical Field

[0001] This utility model belongs to the field of biomimetic underwater vehicles, specifically relating to a marine self-sustaining biomimetic manta ray submersible. Background Technology

[0002] The manta ray's flattened body and its unique swimming pattern combining gliding and flapping give the biomimetic manta ray underwater vehicle the characteristics of high propulsion efficiency, strong maneuverability, high stability, low noise, and low environmental interference, while overcoming the limitations of traditional underwater vehicles in terms of stealth, flexibility, and endurance. Currently, research institutions such as the Chinese Academy of Sciences, Northwestern Polytechnical University, and Shanghai Ocean University are conducting related research.

[0003] Regarding the propulsion energy of submersibles, existing technologies all utilize traditional chemical energy, solar energy, or ocean energy such as wave energy and ocean current energy to achieve self-sufficiency. For example, Chinese utility model patent CN117326031A discloses a manta ray-inspired submersible, method, and system based on thermodynamic buoyancy drive. The submersible includes a fish-shaped main body, biomimetic pectoral fin propulsion modules located on both sides of the fish-shaped main body, a battery compartment, a center of mass adjustment module, a buoyancy adjustment module, and a communication module located inside the fish-shaped main body. The buoyancy adjustment module and the center of mass adjustment module are installed front and rear on the central axis of the fish-shaped main body. The buoyancy adjustment module is driven by thermodynamic energy to achieve adaptive adjustment of the submersible's buoyancy.

[0004] Chinese utility model patent CN120395999A discloses a biomimetic robotic manta ray, comprising a manta ray body and a pair of pectoral fins. The pair of pectoral fins are respectively connected to the left and right sides of the manta ray body. Each pectoral fin includes a pectoral fin skeleton and a first drive mechanism. The first drive mechanism includes a first drive device, the output shaft of which is connected to a first region of the pectoral fin skeleton. Rotation of the output shaft of the first drive device can cause deformation of the pectoral fin skeleton. The first drive mechanism provides a degree of freedom for deformation of the pectoral fin, allowing the shape of the pectoral fin to change with the movement of the first drive mechanism, mimicking the flexible pectoral fins of a biological manta ray.

[0005] Chinese utility model patent CN118971667A discloses a long-term self-sustaining energy harvesting method for a manta ray-inspired submersible, including a triboelectric nanogenerator and a flexible lithium battery mounted in the flapping wing space of the manta ray-inspired submersible; during the flapping of the manta ray-inspired submersible's wings, the triboelectric nanogenerator captures the mechanical energy of the flapping wings in real time and generates electricity.

[0006] In the field of marine engineering, ocean energy generation takes many forms, including not only those mentioned in the existing technologies above, but also the conversion of vortex-induced vibration into electrical energy. Vortex-induced vibration refers to the alternating fluid forces exerted on the surface of a solid as it flows through it, causing the solid to reciprocate. Vortex-induced vibration is often considered a safety hazard for marine engineering structures. Existing research focuses on how to suppress vortex-induced vibration, while the reverse utilization of vortex-induced vibration for power generation remains an emerging research area.

[0007] For example, Chinese utility model patent CN120426167A discloses an energy conversion device and method based on vortex-induced vibration. The energy-harvesting support of the energy conversion device has a first sleeve and a second sleeve on both sides, respectively. An elastic component is provided between the support assembly and the energy-harvesting support to elastically connect the energy-harvesting support to the support assembly. An energy-harvesting column is horizontally arranged at the bottom of the energy-harvesting support, and the top of the energy-harvesting support is connected to the input end of the transmission conversion mechanism via a double-sided rack. A micro-generator is connected to the output end of the transmission conversion mechanism. A search reveals that this prior art has not yet been applied in the field of underwater vehicles. Its disadvantages are: connecting the engine via a rack not only fails to prevent seawater corrosion but also results in low energy conversion efficiency, thus lacking practicality; furthermore, it only discloses a power generation structure and does not provide any ideas or structures for achieving fluid-structure interaction control between a blunt body and seawater, therefore the disclosure is insufficient.

[0008] Chinese utility model patent CN119977064A discloses a sewage treatment stirring device and method. This prior art is based on computational fluid dynamics and marine structure dynamics, and reversely utilizes the principle of vortex-induced vibration. Through special structural design and two methods for inducing vortex-induced vibration, the energy that would damage the structure due to vortex-induced vibration is converted into the mechanical energy of the stirring fluid. This prior art provides two structural design and control ideas for converting vortex-induced vibration energy into mechanical energy.

[0009] In terms of underwater dynamic control, existing technologies all use one or more flexible rods to simulate pectoral fins. For example, Chinese utility model patent CN119975719A discloses an underwater emergency rescue biomimetic manta ray equipment platform, including a biomimetic manta ray torso and a linkage rod set below the biomimetic manta ray torso. The biomimetic manta ray torso is fixedly connected to both ends of a biomimetic manta ray tail fin and a biomimetic manta ray head. A servo motor is located below the biomimetic manta ray head. Two sets of biomimetic manta ray pectoral fins are located below the biomimetic manta ray torso. Each set of biomimetic manta ray pectoral fins contains multiple fins. The biomimetic manta ray pectoral fins are connected to the biomimetic manta ray torso using several spherical universal joints. The servo motor acts as an oscillation source, driving the movement of the pectoral fins through the servo motor, linkage rod, and spherical universal joints. The motion of the servo motor is transmitted to the spherical universal joint via a linkage, thereby causing the biomimetic manta ray's pectoral fins to move accordingly, propelling the biomimetic manta ray forward, turn, and ascend and descend in the water. The disadvantage of this method is that although the spanwise flexible rod can generate a certain degree of freedom in the z-axis direction, it cannot completely simulate the swimming motion of the manta ray, nor can it simulate the movement of the fin tip.

[0010] In summary, existing biomimetic manta ray underwater vehicle technology has the following shortcomings: 1. Limited energy self-sufficiency: Relying on chemical batteries or low-energy-density solar energy and triboelectric power generation, it is difficult to achieve long-term, large-scale stealthy cruising. 2. Insufficient biomimicry of motion: The pectoral fin drive structure is simple, with limited freedom in the z-axis direction, making it difficult to accurately reproduce the wave-like propulsion motion of a real manta ray. 3. Stealth needs to be improved: The mechanical transmission structure of traditional generators may also generate noise and eddies, which are detrimental to the acoustic and hydrodynamic stealth of the underwater vehicle. Utility Model Content

[0011] To address the problems mentioned in the background section, this invention provides a marine self-sustaining biomimetic manta ray submersible, characterized by strong stealth, high swimming dynamics fit, and long endurance.

[0012] To achieve at least one of the above objectives, the technical solution adopted by this utility model is as follows:

[0013] A self-sustaining biomimetic manta ray submersible includes a torso frame, a head frame connected to the front of the torso frame, a control device installed in the middle of the torso frame, pectoral fin drive devices connected to both sides of the control device, each pectoral fin drive device including several servo motors connected in series, the number of servo motors being 3-9, flexible fins connected to both the front and rear sides of each servo motor, a tail fin drive device connected to the rear of the control device, a trailing tail and sonar device connected to the rear of the torso frame, a vertical fin frame installed at the rear top of the torso frame, a vortex-induced vibration linear power generation device installed inside the vertical fin frame, and an integrated biomimetic skin covering the torso frame, head frame, and flexible fins.

[0014] Furthermore, a pair of flow-guiding protection plates are hinged to both sides of the vertical fin frame. The flow-guiding protection plates are driven by the door opening mechanism and electrically connected to the control device. The vortex-induced vibration linear power generation device includes a fixed bracket installed inside the vertical fin frame. The fixed bracket includes a front bracket and a rear bracket. A first upper spring and a first lower spring are installed on both the front bracket and the rear bracket. The fixed bracket is elastically connected to the first movable bracket through the first upper spring and the first lower spring. A vortex-induced column is hinged to the top of the first movable bracket. A crossbar is also provided on the first movable bracket. A vertical first permanent magnet rod is integrally connected to the middle of the crossbar. The first permanent magnet rod performs linear reciprocating motion under the drive of the vortex-induced column. A hollow first stator core is installed at the rear of the body frame. Several first coil windings are embedded in the inner side of the first stator core. The first permanent magnet rod performs linear reciprocating motion in the first coil windings and cuts magnetic field lines.

[0015] Furthermore, a kinetic energy recovery device is also installed on the top of the torso frame. The kinetic energy recovery device includes a transverse vortex-induced vibration column. The transverse vortex-induced vibration column is connected to a first lifting bracket via a spring assembly. The first lifting bracket is installed on the top of the torso frame.

[0016] The kinetic energy recovery device also includes a Karman vortex street resonant plate located behind the transverse vortex-induced vibration column. The left and right ends of the Karman vortex street resonant plate are fixedly connected to the second movable bracket. The second movable bracket is connected to the second lifting bracket through the second upper spring and the second lower spring. The second lifting bracket is fixed to the torso frame. A second permanent magnet rod is fixed below the Karman vortex street resonant plate. The second permanent magnet rod performs linear reciprocating motion under the drive of the Karman vortex street resonant plate.

[0017] A hollow second stator core is installed in the middle of the torso frame. Several second coil windings are embedded in the inner side of the second stator core. The second permanent magnet rod moves in a straight line and reciprocates in the second coil windings, cutting magnetic field lines.

[0018] Furthermore, the servo motor has two output shafts in the x-axis direction and a series output shaft in the y-axis direction. The series-connected servo motors are fixedly connected by waterproof connectors, and the y-axis output shafts of adjacent servo motors are connected by flexible couplings. The x-axis output shaft of the servo motor is provided with an external spline. The root of the flexible fin plate is connected to the external spline of the output shaft through a bearing with an internal spline. The outermost motor in the y-axis direction is a fin tip motor, which is only provided with a y-axis output shaft, and the output shaft is connected to a triangular flexible fin plate.

[0019] Furthermore, an image sensor and a lighting device are installed within the head frame, and the image sensor and the lighting device are electrically connected to the control device.

[0020] Furthermore, a battery is installed at the rear of the torso frame, and the battery is electrically connected to the vortex-induced vibration linear power generation device.

[0021] Furthermore, the interior of the torso frame is also equipped with several buoyancy controllers, the number of which is 1-8.

[0022] Furthermore, a communication antenna is also provided at the rear of the vertical fin frame.

[0023] Furthermore, the tail fin drive device includes a tail fin motor and a tail fin that are electrically connected to the control device.

[0024] Furthermore, the outer layer of the biomimetic skin is covered with a layer of electromagnetic wave absorbing material.

[0025] The advantages of this utility model compared with the prior art are as follows:

[0026] 1. High-efficiency energy self-sufficiency. A novel vortex-induced vibration linear power generation device is integrated into the vertical fin of the submersible, directly converting vortex-induced vibration energy into electrical energy through the principle of a linear motor. This power generation method eliminates the need for rotating parts, achieves high energy conversion efficiency, and avoids seawater sealing issues. It can continuously replenish the submersible's power, significantly extending its endurance and achieving true energy self-sufficiency. In another embodiment, a scheme for kinetic energy recovery using vortex-induced vibration during high-speed submersible movement is also provided, further improving energy utilization efficiency.

[0027] 2. Highly biomimetic motion. The design employs multiple servo motors connected in series to drive the pectoral fins. Each motor can independently control the two flexible fin plates at the front and rear, thereby generating continuous and smooth wave-like transmission in the chordal and spanwise directions of the pectoral fins. In addition, a fin tip motor is added to simulate the movement of the pectoral fin tip, which is more in line with the movement patterns of real organisms.

[0028] 3. All-around stealth. Acoustic stealth: The vortex-induced vibration linear power generation device has no high-speed rotating parts, reducing mechanical noise at its source; the highly biomimetic flexible flapping wing motion generates fluid noise far lower than traditional propellers. Hydrodynamic stealth: The integrated biomimetic skin and design conforming to biological shape effectively reduce drag and vortex generation, making its fluid noise characteristics closer to those of real marine life. Visual stealth: The biomimetic shape and skin make it difficult to be detected by optical means in the marine environment.

[0029] 4. The opening mechanism of the flow guide plate can be closed when not generating electricity, protecting the internal power generation device from damage or reducing resistance. When generating electricity, the two pairs of flow guide plates can be adjusted to a specific angle to change the local ocean current velocity, making it easier to induce vortex-induced vibration. Attached Figure Description

[0030] Figure 1 This is a half-sectional schematic diagram of the overall structure of Embodiment 1 of this utility model;

[0031] Figure 2 This is a half-sectional schematic diagram of the overall structure of Embodiment 2 of this utility model;

[0032] Figure 3 This is a schematic diagram of the external structure of this utility model;

[0033] Figure 4 This is a schematic diagram of the structural principle of the vortex-induced vibration linear power generation device inside the vertical fin frame of this utility model.

[0034] Figure 5 This is a schematic diagram of the charging state of this utility model;

[0035] Figure 6 This is a schematic diagram of the pectoral fin drive device of this utility model;

[0036] Figure 7 This is a bottom view of the present invention;

[0037] Figure 8 This is a side view of the present invention;

[0038] Figure 9 This is a schematic diagram of the kinetic energy recovery device according to Embodiment 2 of this utility model.

[0039] The components in the diagram are labeled as follows: 1. Torso frame; 101. Control device; 2. Head frame; 201. Image sensor; 202. Lighting equipment; 3. Pectoral fin drive device; 301. Servo motor; 302. Flexible fin plate; 303. Waterproof connector; 304. Flexible coupling; 305. Fin tip motor; 306. Triangular flexible fin plate; 4. Caudal fin drive device; 401. Caudal fin motor; 402. Caudal fin; 5. Trailing tail and sonar device; 6. Vertical fin frame; 601. Flow guide plate; 602. Flow velocity sensor; 603. Flow direction sensor; 7. Vortex-induced vibration linear generator; 701. Fixed bracket; 702. First upper spring; 703. First lower spring. 704. First movable support; 705. Vortex-induced column; 706. Crossbar; 707. First permanent magnet rod; 708. First stator core; 709. First coil winding; 8. Integrated bionic skin; 9. Battery; 10. Buoyancy controller; 11. Communication antenna; 12. Kinetic energy recovery device; 1201. Lateral vortex-induced vibration column; 1202. Spring assembly; 1203. First lifting support; 1204. Karman vortex street resonance plate; 1205. Second movable support; 1206. Second upper spring; 1207. Second lower spring; 1208. Second lifting support; 1209. Second permanent magnet rod; 1210. Second stator core; 1211. Second coil winding. Detailed Implementation

[0040] The technical solution of this utility model will be further described below with reference to the accompanying drawings. The advantages and features of this utility model will become clearer with the description. However, it should be understood that the embodiments are merely exemplary and do not constitute a limitation on the scope of this utility model.

[0041] It should be noted that the terms "upper," "lower," "front," "rear," etc., in the claims and description of this application indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and should not be construed as meaning that the device or component referred to must have a specific orientation, or be constructed or operated in a specific orientation.

[0042] In this utility model, unless otherwise explicitly specified and limited, terms such as "fixed" and "connected" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0043] Example 1:

[0044] Please see Figures 1 to 8A self-sustaining biomimetic manta ray submersible includes a torso frame 1, a head frame 2 connected to the front of the torso frame 1, a control device 101 mounted in the middle of the torso frame 1, pectoral fin drive devices 3 connected to both sides of the control device 101, each pectoral fin drive device 3 comprising several servo motors 301 connected in series (3-9 motors in total), flexible fins 302 connected to both the front and rear sides of each servo motor 301, a tail fin drive device 4 connected to the rear of the control device 101, a trailing tail and sonar device 5 connected to the rear of the torso frame 1, a vertical fin frame 6 mounted on the rear top of the torso frame 1, a vortex-induced vibration linear power generation device 7 installed inside the vertical fin frame 6, and an integrated biomimetic skin 8 covering the torso frame 1, head frame 2, and flexible fins 302. The outer layer of the biomimetic skin 8 is covered with an electromagnetic wave absorbing material.

[0045] A pair of flow guide plates 601 are hinged to both sides of the vertical fin frame 6. The flow guide plates 601 are driven by the door opening mechanism and electrically connected to the control device 101. The vortex-induced vibration linear power generation device 7 includes a fixed bracket 701 installed inside the vertical fin frame 6. The fixed bracket 701 includes a front bracket and a rear bracket. A first upper spring 702 and a first lower spring 703 are installed on both the front bracket and the rear bracket. The fixed bracket 701 is elastically connected to a first movable bracket 704 through the first upper spring 702 and the first lower spring 703. A vortex-excited column 705 is hinged to the top of the first movable bracket 704. A crossbar 706 is also provided on the first movable bracket 704. A vertical first permanent magnet rod 707 is integrally connected to the middle of the crossbar 706. The first permanent magnet rod 707 performs linear reciprocating motion under the drive of the vortex-excited column 705. A hollow first stator core 708 is installed at the rear of the torso frame 1. Several first coil windings 709 are embedded in the inner side of the first stator core 708. The first permanent magnet rod 707 performs linear reciprocating motion in the first coil windings 709 and cuts magnetic field lines.

[0046] The servo motor 301 has two output shafts in the x-axis direction and a series output shaft in the y-axis direction. The series servo motors 301 are fixedly connected by a waterproof connector 303, and the y-axis output shafts of adjacent servo motors 301 are connected by a flexible coupling 304. The x-axis output shaft of the servo motor 301 is provided with an external spline. The root of the flexible fin plate 302 is connected to the external spline of the output shaft through a bearing with an internal spline. The outermost motor in the y-axis direction is a fin tip motor 305, which is only provided with a y-axis output shaft, and the output shaft is connected to a triangular flexible fin plate 306.

[0047] A battery 9 is installed at the rear of the torso frame 1, and the battery 9 is electrically connected to the vortex-induced vibration linear power generation device 7. Several buoyancy controllers 10 are also installed inside the torso frame 1, with the number of controllers 10 ranging from 1 to 8. An image sensor 201 and a lighting device 202 are installed inside the head frame 2, and the image sensor 201 and the lighting device 202 are electrically connected to the control device 101. A communication antenna 11 is also provided at the rear of the upright fin frame 6. The tail fin drive device 4 includes a tail fin motor 401 and a tail fin 402, both electrically connected to the control device 101.

[0048] In this implementation scheme: the torso frame 1 constitutes the main support structure of the submersible, and is made of lightweight, high-strength materials (such as carbon fiber composites or titanium alloys), forming a sealed compartment inside. The front of the torso frame 1 is connected to the head frame 2 by bolts or a one-piece molding method. The control device 101 is installed in the sealed compartment in the middle of the torso frame 1, and its core includes a main control chip, a navigation module, a depth sensor, etc.

[0049] The pectoral fin drive devices 3 are connected to both sides of the control device 101. Each pectoral fin drive device 3 includes several (preferably six) servo motors 301 connected in series. The output shaft of each servo motor 301 is connected to flexible fin plates 302 on its front and rear sides respectively. The flexible fin plates 302 are made of flexible materials such as silicone, polyurethane elastomer, or fiber-reinforced composite materials, and have a certain rigidity and elasticity, which can transmit and amplify the rotation of the servo motors 301 to form a continuous wave-like motion. By coordinating the phase control of the multiple servo motors 301 connected in series by the control device 101, the entire pectoral fin can generate complex three-dimensional waves propagating from the root to the tip, efficiently mimicking the propulsion mode of manta rays, and realizing actions such as forward movement, backward movement, turning, surfacing, and diving.

[0050] The rear of the control device 101 is connected to the tail fin drive device 4 via a transmission mechanism or directly electrically. The tail fin drive device 4 includes a tail fin motor 401 and a tail fin 402. The tail fin motor 401 receives control commands and drives the tail fin 402 to swing left and right, mainly for auxiliary propulsion during high-speed sprints and to provide additional steering torque at low speeds, thereby enhancing maneuverability.

[0051] The tail and sonar device 5 are connected to the rear of the torso frame 1. This device not only simulates the slender tail of a manta ray, but can also integrate small sonar units, such as side-scan sonar or obstacle avoidance sonar, for underwater detection and navigation.

[0052] A vertical fin frame 6, whose shape mimics the dorsal fin of a manta ray, is fixedly installed at the rear top of the torso frame 1. A vortex-induced vibration linear power generation device 7 is installed inside the vertical fin frame 6. The vortex-induced vibration linear power generation device 7 is the core of this invention for achieving energy self-sufficiency. A pair of flow-guiding protection plates 601 are hinged to both sides of the vertical fin frame 6. The flow-guiding protection plates 601 are driven by an opening mechanism composed of a micro motor or hydraulic cylinder, and can be controlled by the control device 101. When high-speed maneuvering, obstacle avoidance, or stopping is required, the control device 101 can instruct the opening mechanism to close the flow-guiding protection plates 601, protecting the internal power generation device and reducing resistance.

[0053] The vortex-induced vibration linear power generation device 7 includes a fixed bracket 701 mounted inside the vertical fin frame 6 via a support frame. The fixed bracket 701 consists of front and rear parts. A first upper spring 702 and a first lower spring 703 are mounted on both the front and rear brackets. The fixed bracket 701 is elastically connected to a first movable bracket 704 via these springs, allowing the first movable bracket 704 to perform linear reciprocating motion in a vertical direction within a certain range. A vortex-induced column 705 is hinged to the top of the first movable bracket 704. After the vortex-induced vibration effect is activated, the vortex-induced column 705 generates periodic up-and-down motion, thereby forcing the first movable bracket 704 to overcome the spring force and perform up-and-down reciprocating vibration. A crossbar 706 is also fixedly mounted on the first movable bracket 704, and a first permanent magnet rod 707 is integrally and vertically connected to the middle of the crossbar 706. The first permanent magnet rod 707 is made of high-performance neodymium iron boron permanent magnet material. A hollow first stator core 708 is installed at the rear of the torso frame 1, and several first coil windings 709 are embedded in the inner circumference of the first stator core 708. The lower end of the first permanent magnet rod 707 extends into the hollow cavity of the first stator core 708 and is surrounded by the first coil windings 709. When the first movable support 704 drives the first permanent magnet rod 707 to perform a vertical linear reciprocating motion, the magnetic field of the first permanent magnet rod 707 moves relative to the fixed first coil windings 709, generating an induced electromotive force in the first coil windings 709, thereby directly converting mechanical energy into electrical energy. The generated electrical energy is processed by a rectifier and voltage regulator circuit and stored in the battery 9 to power the entire submersible.

[0054] The image sensor 201 and the lighting device 202 are installed inside the head frame 2. They are electrically connected to the control device 101 for the observation and recording of the underwater environment.

[0055] The interior of the torso frame 1 also houses several (preferably four) buoyancy controllers 10. The buoyancy controllers 10 can be piston-type or oil-filled buoyancy adjusters, which adjust the overall displacement of the submersible by changing their own volume, thereby achieving surfacing, diving, and hovering.

[0056] A communication antenna 11 is also installed at the rear of the vertical fin frame 6. It can exchange data and receive commands with the ground control center via satellite or radio.

[0057] The torso frame 1, head frame 2, and all flexible fins 302 are covered with an integrated biomimetic skin 8. The biomimetic skin 8 is made of a flexible material that is elastic, corrosion-resistant, and hydrophilic. Preferably, the exterior of the biomimetic skin 8 can be covered with an electromagnetic wave absorbing material. This not only gives the submarine a realistic appearance and a smooth, streamlined surface to reduce fluid resistance, but also encases the internal mechanical structure, providing waterproofing, protection, and improved stealth.

[0058] The working principle of this invention is as follows: When the submersible is performing a mission, the control device 101 controls the pectoral fin drive device 3 and the tail fin drive device 4 to work in coordination according to the mission plan, driving the submersible to navigate in a highly biomimetic manner. Mission payloads such as the image sensor 201 and sonar device 5 collect environmental information and transmit it back via the communication antenna 11. The buoyancy controller 10 adjusts the submersible's depth according to instructions. Throughout the process, the submersible possesses excellent stealth capabilities due to its biomimetic shape, flexible movement, and silent power generation.

[0059] Example 2:

[0060] Please see Figures 1 to 9 A self-sustaining biomimetic manta ray submersible includes a torso frame 1, a head frame 2 connected to the front of the torso frame 1, a control device 101 mounted in the middle of the torso frame 1, pectoral fin drive devices 3 connected to both sides of the control device 101, each pectoral fin drive device 3 comprising several servo motors 301 connected in series (3-9 motors in total), flexible fins 302 connected to both the front and rear sides of each servo motor 301, a tail fin drive device 4 connected to the rear of the control device 101, a trailing tail and sonar device 5 connected to the rear of the torso frame 1, a vertical fin frame 6 mounted on the rear top of the torso frame 1, a vortex-induced vibration linear power generation device 7 installed inside the vertical fin frame 6, and an integrated biomimetic skin 8 covering the torso frame 1, head frame 2, and flexible fins 302. The outer layer of the biomimetic skin 8 is covered with an electromagnetic wave absorbing material.

[0061] A kinetic energy recovery device 12 is also installed on the top of the torso frame 1. The kinetic energy recovery device 12 includes a transverse vortex-induced vibration column 1201, which is connected to a first lifting bracket 1203 via a spring assembly 1202. The first lifting bracket 1203 is installed on the top of the torso frame 1. The kinetic energy recovery device 12 also includes a Karman vortex street resonance plate 1204 located behind the transverse vortex-induced vibration column 1201. The left and right ends of the Karman vortex street resonance plate 1204 are fixedly connected to a second movable bracket 1205. The second movable bracket 1205 is connected to a second upper spring 1206 and a second lower spring 1207. The second spring 1207 is connected to the second lifting bracket 1208, which is fixed to the torso frame 1. A second permanent magnet rod 1209 is fixed below the Karman vortex street resonance plate 1204. The second permanent magnet rod 1209 moves in a linear reciprocating motion under the drive of the Karman vortex street resonance plate 1204. A hollow second stator core 2010 is installed in the middle of the torso frame 1. Several second coil windings 2011 are embedded in the inner side of the second stator core 2010. The second permanent magnet rod 1209 moves in a linear reciprocating motion in the second coil windings 2011 and cuts the magnetic field lines.

[0062] In this embodiment, the linear reciprocating motion of the second permanent magnet rod 1209 is not driven by the transverse vortex-induced vibration column 1201, but by the Karman vortex street resonance plate 1204. The Karman vortex street resonance plate 1204 vibrates up and down due to the Karman vortex street released by the transverse vortex-induced vibration column 1201 in front of it. The entire system can be driven by a lifting device, hidden in the torso frame 1 when in standby mode, and raised when the submersible moves rapidly, stimulating vortex-induced vibration and recovering kinetic energy, greatly improving the submersible's endurance. The conversion of the mechanical energy of the second permanent magnet rod 1209 into electrical energy is similar to that in Embodiment 1. The magnetic field of the second permanent magnet rod 1209 moves relative to the fixed second coil winding 2011, generating an induced electromotive force in the second coil winding 2011, thereby directly converting mechanical energy into electrical energy. The generated electrical energy is processed by a rectifier and voltage regulator circuit and stored in the battery 9 to power the entire submersible.

[0063] The servo motor 301 has two output shafts in the x-axis direction and a series output shaft in the y-axis direction. The series servo motors 301 are fixedly connected by a waterproof connector 303, and the y-axis output shafts of adjacent servo motors 301 are connected by a flexible coupling 304. The x-axis output shaft of the servo motor 301 is provided with an external spline. The root of the flexible fin plate 302 is connected to the external spline of the output shaft through a bearing with an internal spline. The outermost motor in the y-axis direction is a fin tip motor 305, which is only provided with a y-axis output shaft, and the output shaft is connected to a triangular flexible fin plate 306.

[0064] A battery 9 is installed at the rear of the torso frame 1, and the battery 9 is electrically connected to the vortex-induced vibration linear power generation device 7. Several buoyancy controllers 10 are also installed inside the torso frame 1, with the number of controllers 10 ranging from 1 to 8. An image sensor 201 and a lighting device 202 are installed inside the head frame 2, and the image sensor 201 and the lighting device 202 are electrically connected to the control device 101. A communication antenna 11 is also provided at the rear of the upright fin frame 6. The tail fin drive device 4 includes a tail fin motor 401 and a tail fin 402, both electrically connected to the control device 101.

[0065] In this implementation scheme: the torso frame 1 constitutes the main support structure of the submersible, and is made of lightweight, high-strength materials (such as carbon fiber composites or titanium alloys), forming a sealed compartment inside. The front of the torso frame 1 is connected to the head frame 2 by bolts or integral molding. The control device 101 is installed in the sealed compartment in the middle of the torso frame 1, and its core includes a main control chip, a navigation module, a depth sensor, etc.

[0066] The pectoral fin drive devices 3 are connected to both sides of the control device 101. Each pectoral fin drive device 3 includes several (preferably six) servo motors 301 connected in series. The output shaft of each servo motor 301 is connected to flexible fin plates 302 on its front and rear sides respectively. The flexible fin plates 302 are made of flexible materials such as silicone, polyurethane elastomer, or fiber-reinforced composite materials, and have a certain rigidity and elasticity, which can transmit and amplify the rotation of the servo motors 301 to form a continuous wave-like motion. By coordinating the phase control of the multiple servo motors 301 connected in series by the control device 101, the entire pectoral fin can generate complex three-dimensional waves propagating from the root to the tip, efficiently mimicking the propulsion mode of manta rays, and realizing actions such as forward movement, backward movement, turning, surfacing, and diving.

[0067] The rear of the control device 101 is connected to the tail fin drive device 4 via a transmission mechanism or directly electrically. The tail fin drive device 4 includes a tail fin motor 401 and a tail fin 402. The tail fin motor 401 receives control commands and drives the tail fin 402 to swing left and right, mainly for auxiliary propulsion during high-speed sprints and to provide additional steering torque at low speeds, thereby enhancing maneuverability.

[0068] The tail and sonar device 5 are connected to the rear of the torso frame 1. This device not only simulates the slender tail of a manta ray, but can also integrate small sonar units, such as side-scan sonar or obstacle avoidance sonar, for underwater detection and navigation.

[0069] The image sensor 201 and the lighting device 202 are installed inside the head frame 2. They are electrically connected to the control device 101 for the observation and recording of the underwater environment.

[0070] The interior of the torso frame 1 also houses several (preferably four) buoyancy controllers 10. The buoyancy controllers 10 can be piston-type or oil-filled buoyancy adjusters, which adjust the overall displacement of the submersible by changing their own volume, thereby achieving surfacing, diving, and hovering.

[0071] A communication antenna 11 is also installed at the rear of the vertical fin frame 6. It can exchange data and receive commands with the ground control center via satellite or radio.

[0072] The torso frame 1, head frame 2, and all flexible fins 302 are covered with an integrated biomimetic skin 8. The biomimetic skin 8 is made of a flexible material that is elastic, corrosion-resistant, and hydrophilic. Preferably, the exterior of the biomimetic skin 8 can be covered with an electromagnetic wave absorbing material. This not only gives the submarine a realistic appearance and a smooth, streamlined surface to reduce fluid resistance, but also encases the internal mechanical structure, providing waterproofing, protection, and improved stealth.

[0073] The operation steps of this utility model include:

[0074] S1. By controlling the buoyancy controller 10, the submersible sinks to the seabed. Based on the data from the current velocity sensor 602 and the current direction sensor 603, the control device 101 calculates the optimal orientation of the submersible and adjusts the submersible to the optimal attitude. The control device 101 controls the door opening mechanism to open the two pairs of flow guide plates 601 on the left and right sides of the vertical fin frame 6, and adjusts the angle of the flow guide plates 601 relative to the submersible to correct the attitude adjustment error.

[0075] S2. Adjust the relative angle between the flow guide plates 601 to control the local flow velocity to stabilize at the fluid velocity that induces vortex-induced vibration. The natural frequency of the vortex-induced column 705 is obtained from the outer surface diameter D, damping ratio ζ, unit cylinder mass m, damping coefficient, etc. When the natural frequency is consistent with the vortex discharge frequency, the vortex-induced vibration effect of the vortex-induced column 705 is activated. The seabed is a low-velocity environment, the Reynolds number Re is within the normal range, and the Strouhal coefficient St is about 0.21. Combine the natural frequency formula and the vortex discharge frequency formula to obtain the matching value of the local flow velocity UI. There is a functional relationship between the overall flow velocity U, the local flow velocity UI and the relative angle between the flow guide plates 601. The relative angle between the flow guide plates 601 is adjusted accordingly.

[0076] D·W0=2π·St·U (where St=0.21, W0=f st );

[0077]

[0078] S3. After the flow guide plate 601 increases the local flow velocity, the vortex-induced vibration effect of the vortex-induced column 705 is continuously excited. The vortex-induced column 705 reciprocates under the reaction of the Karman vortex street and drives the first movable support 704 to move up and down. The fixed support 701 is elastically connected to the first movable support 704 through the first upper spring 702 and the first lower spring 703, forming a system with a damping coefficient of 1-2 N·s / mm. The first movable support 704 drives the vertical first permanent magnet rod 707 to reciprocate. The first permanent magnet rod 707 is alternately provided with magnetic poles. When the first permanent magnet rod 707 reciprocates, it cuts the magnetic field lines of the first coil winding 709 located inside the body frame 1, and generates an induced electromotive force in the first coil winding 709, thereby directly converting mechanical energy into electrical energy. The generated electrical energy is processed by the rectifier and voltage regulator circuit and stored in the battery 9 to power the entire submersible.

[0079] S4. When the submersible moves at high speed, the first lifting bracket 1203 and the second lifting bracket 1208 drive the kinetic energy recovery device 12 to rise from inside the torso frame 1. Fluid flows through the transverse vortex-induced vibration column 1201 and forms a regular Karman vortex street behind it. When the natural frequency W0 and the vortex discharge frequency f st When they are in sync, the transverse vortex-induced vibration column 1201 induces the vortex-induced vibration effect. The transverse vortex-induced vibration column 1201 is connected to the first lifting bracket 1203 through the spring assembly 1202, thus having two degrees of freedom in the x-axis and z-axis. Its natural vibration generates more Karman vortex streets. The Karman vortex street resonance plate 1204 behind the transverse vortex-induced vibration column 1201 reciprocates under the action of the Karman vortex street law, thereby driving the second permanent magnet rod 1209 to reciprocate. A hollow second stator core 2010 is installed in the middle of the body frame 1. Several second coil windings 2011 are embedded in the inner side of the second stator core 2010. The second permanent magnet rod 1209 makes linear reciprocating motion in the second coil windings 2011 and cuts the magnetic field lines.

[0080] The above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A marine self-sustaining biomimetic manta ray submersible, characterized in that: The device includes a torso frame (1), a head frame (2) connected to the front of the torso frame (1), a control device (101) installed in the middle of the torso frame (1), pectoral fin drive devices (3) connected to both sides of the control device (101), the pectoral fin drive device (3) including several servo motors (301) connected in series, the number of servo motors (301) being 3-9, flexible fin plates (302) connected to both the front and rear sides of the servo motors (301), a tail fin drive device (4) connected to the rear of the control device (101), a trailing tail and sonar device (5) connected to the rear of the torso frame (1), a vertical fin frame (6) installed at the rear top of the torso frame (1), a vortex-induced vibration linear power generation device (7) installed inside the vertical fin frame (6), and an integrated bionic skin (8) covering the exterior of the torso frame (1), the head frame (2), and the flexible fin plates (302).

2. The marine-powered self-sustaining biomimetic manta ray submersible according to claim 1, characterized in that: A pair of flow guide protection plates (601) are hinged to both sides of the vertical fin frame (6). The flow guide protection plates (601) are driven by the door opening mechanism and electrically connected to the control device (101). A flow velocity sensor (602) and a flow direction sensor (603) are also installed inside the vertical fin frame (6). The vortex-induced vibration linear power generation device (7) includes a fixed bracket (701) installed inside the vertical fin frame (6). The fixed bracket (701) includes a front bracket and a rear bracket. A first upper spring (702) and a first lower spring (703) are installed on both the front bracket and the rear bracket. The fixed bracket (701) is elastically connected to a first movable bracket (704) through the first upper spring (702) and the first lower spring (703). A vortex-induced column (705) is hinged to the top of the first movable bracket (704). A crossbar (706) is also provided on the first movable bracket (704). A vertical first permanent magnet rod (707) is integrally connected to the middle of the crossbar (706). The first permanent magnet rod (707) performs linear reciprocating motion under the drive of the vortex-induced column (705). The rear of the torso frame (1) is equipped with a hollow first stator core (708), and a plurality of first coil windings (709) are embedded in the inner side of the first stator core (708). The first permanent magnet rod (707) moves linearly back and forth in the first coil windings (709) and cuts magnetic field lines. The rear of the torso frame (1) is also equipped with a battery (9), which is electrically connected to the eddy-induced vibration linear power generation device (7).

3. The marine-powered self-sustaining biomimetic manta ray submersible according to claim 1 or 2, characterized in that: The top of the torso frame (1) is also equipped with a kinetic energy recovery device (12), which includes a transverse vortex-induced vibration column (1201). The transverse vortex-induced vibration column (1201) is connected to a first lifting bracket (1203) via a spring assembly (1202). The first lifting bracket (1203) is installed on the top of the torso frame (1). The kinetic energy recovery device (12) also includes a Karman vortex street resonance plate (1204) located behind the transverse vortex-induced vibration column (1201). The left and right ends of the Karman vortex street resonance plate (1204) are fixedly connected to the second movable bracket (1205). The second movable bracket (1205) is connected to the second lifting bracket (1208) through the second upper spring (1206) and the second lower spring (1207). The second lifting bracket (1208) is fixed to the torso frame (1). A second permanent magnet rod (1209) is fixed below the Karman vortex street resonance plate (1204). The second permanent magnet rod (1209) moves in a straight line reciprocating motion under the drive of the Karman vortex street resonance plate (1204). A hollow second stator core (2010) is installed in the middle of the trunk frame (1). A plurality of second coil windings (2011) are embedded in the inner side of the second stator core (2010). The second permanent magnet rod (1209) moves in a straight line and cuts magnetic field lines in the second coil windings (2011).

4. The marine-powered self-sustaining biomimetic manta ray submersible according to claim 1 or 2, characterized in that: The servo motor (301) has two output shafts in the x-axis direction and a series output shaft in the y-axis direction. The series servo motors (301) are fixedly connected by a waterproof connector (303), and the y-axis output shafts of adjacent servo motors (301) are connected by a flexible coupling (304). The x-axis output shaft of the servo motor (301) is provided with an external spline. The root of the flexible fin plate (302) is connected to the external spline of the output shaft by a bearing with an internal spline. The outermost motor in the y-axis direction is a fin tip motor (305). The fin tip motor (305) is only provided with a y-axis output shaft, and the output shaft is connected to a triangular flexible fin plate (306).

5. The marine-powered self-sustaining biomimetic manta ray submersible according to claim 1 or 2, characterized in that: The torso frame (1) is also equipped with a number of buoyancy controllers (10), the number of which is 1-8.

6. The marine-powered self-sustaining biomimetic manta ray submersible according to claim 1 or 2, characterized in that: A communication antenna (11) is also provided at the rear of the upright fin frame (6).

7. The marine-powered self-sustaining biomimetic manta ray submersible according to claim 1 or 2, characterized in that: The tail fin drive device (4) includes a tail fin motor (401) and a tail fin (402) that are electrically connected to the control device (101).

8. The marine-powered self-sustaining biomimetic manta ray submersible according to claim 1 or 2, characterized in that: An image sensor (201) and a lighting device (202) are installed inside the head frame (2), and the image sensor (201) and the lighting device (202) are electrically connected to the control device (101).

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