The invention relates to the field of underwater bionic vehicles, in particular to an underwater vehicle capable of switching a swing mode, the underwater vehicle comprises a head, a rotatable part and a multi-joint flexible propeller which are connected in sequence, the rotatable part can roll relative to the head, and the multi-joint flexible propeller is fixedly connected with the rotatable part; the multi-joint flexible propeller can swing underwater in a reciprocating manner to generate propulsive force; a rotatable part cavity is formed in the rotatable part, and a mode switching mechanism is arranged in the rotatable part cavity. According to the multi-joint flexible propeller, the counter weights on the two sides of the rotatable part are adjusted through the mode switching mechanism, the multi-joint flexible propeller can roll by 90 degrees, and the swing waveforms of the tails of different fishes or dolphins can be simulated according to needs in the left-right or up-down swing propelling mode so as to adapt to the requirements of different sea conditions and improve the propelling efficiency; and floating or diving of the underwater vehicle can also be realized, so that seabed landing bottom sitting and near-seabed'creeping 'operation can be realized under a static or low-speed condition.

    本发明涉及水下仿生航行器领域,具体是一种可切换摆动模态的水下航行器,包括依次连接的头部、可转动部和多关节柔性推进器,所述可转动部能够相对于头部滚转,所述多关节柔性推进器与可转动部固定连接;所述多关节柔性推进器能够在水下往复摆动以产生推进力;所述可转动部的内部设有可转动部腔体,所述可转动部腔体内设有模态切换机构。本发明通过模态切换机构调节可转动部两侧的配重,能够使多关节柔性推进器滚转90°,在左右或上下摆动推进模态下能够根据需要模拟不同鱼类或海豚尾部的摆动波形,以适应不同海况需要并提高推进效率;还能够实现水下航行器的上浮或下潜,从而在静止或低游速下实现海底着陆坐底和近海底“匍行”作业。


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    Title :

    Underwater vehicle capable of switching swinging modes


    Additional title:

    一种可切换摆动模态的水下航行器


    Contributors:
    HUANG XINGZHONG (author) / ZHANG GANG (author) / SHI BINGZHEN (author)

    Publication date :

    2024-05-03


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B63H Schiffsantrieb oder Steuerung der Schiffe , MARINE PROPULSION OR STEERING / B63G OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS , Angriffs- oder Verteidigungsanordnungen auf Schiffen



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