The invention discloses an underwater vehicle bionic propelling device based on a tensegrity structure and a design method of the underwater vehicle bionic propelling device. The propelling device comprises a flexible wing fixing plate, a flexible skin, two or more flexible fin rays, two or more wiring devices and two or more steering engines. The flexible wing fixing plate is fixed to an underwater vehicle, the flexible fin rays are installed on the flexible wing fixing plate in parallel, and the wiring devices are installed on the flexible fin rays in a one-to-one correspondence mode and used for driving the flexible fin rays to bend and deform. The steering engines are mounted on the flexible wing fixing plates, correspond to the flexible fin rays in position one by one, are connected with the wiring devices in a one-to-one correspondence manner and are used for driving the wiring devices to work; the flexible skin covers the outer parts of all the flexible fin rays and is fixed on the flexible wing fixing plate; according to the invention, more installation space can be saved, and thrust is provided for the AUV; meanwhile, due to large flexible deformation of the propelling device, the AUV can execute specific tasks more flexibly.
本发明公开了一种基于张拉整体结构的水下航行器仿生推进装置及其设计方法,该推进装置包括:柔性机翼固定板、柔性蒙皮、两个以上柔性鳍条、两个以上布线装置及两个以上舵机;所述柔性机翼固定板固定在水下航行器上,柔性鳍条并列安装在柔性机翼固定板上,布线装置分别一一对应安装在柔性鳍条上,用于驱动柔性鳍条的弯曲变形;舵机安装在柔性机翼固定板上,并与柔性鳍条的位置一一对应,舵机与布线装置一一对应连接,用于驱动布线装置工作;所述柔性蒙皮包覆在所有柔性鳍条的外部,并固定在柔性机翼固定板上;本发明不仅可以节省更多的安装空间,为AUV提供推力;同时推进装置的大柔性变形也可以使得AUV更加灵活地执行特定任务。
Underwater vehicle bionic propulsion device based on tensegrity structure and design method thereof
基于张拉整体结构的水下航行器仿生推进装置及其设计方法
2024-01-16
Patent
Electronic Resource
Chinese
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