CN105151301A - Aerial and underwater amphibious robot and method - Google Patents
Aerial and underwater amphibious robot and method Download PDFInfo
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- CN105151301A CN105151301A CN201510453997.0A CN201510453997A CN105151301A CN 105151301 A CN105151301 A CN 105151301A CN 201510453997 A CN201510453997 A CN 201510453997A CN 105151301 A CN105151301 A CN 105151301A
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Abstract
The invention discloses an aerial and underwater amphibious robot. The aerial and underwater amphibious robot comprises a machine frame with an electronic cabin. The machine frame is a delta wing machine frame. An aerial movement system and an underwater movement system are arranged on the machine frame. The aerial movement system comprises air propellers arranged at three vertexes of the machine frame respectively. Each air propeller comprises a motor with a propeller. Air rings are arranged on the peripheries of the propellers. Large arc transition is adopted for the joints of the air rings and the machine frame. The total area occupied by the three air rings does not exceed five sixths of the triangular area of the machine frame. A primary seal used for preventing high-pressure water flow and a secondary seal used for preventing low-pressure water flow are arranged on an output shaft of each motor. Each primary seal is a controllable static seal. Each secondary seal is a dynamic seal.
Description
Technical field
The present invention relates to a kind of amphibious robot, particularly a kind of amphibious robot that can navigate by water under water and can fly aloft.
Background technology
Along with the development of science and technology, the mankind are by robot to the constantly progress of the heuristic approach in the world, and UAV navigation, as a kind of tool exploring ocean, military and civilian all serves vital function; Multi-axis aircraft, can low idle job as a kind of flight tool, can carry out taking photo by plane, the work such as article delivery.
At present, the removal process of most of UAV navigation all depends on boats and ships, naval vessels, and removal process is loaded down with trivial details, and this greatly reduces the work efficiency of under-water operation; Aircraft as the tool of aerial investigation, but circles in the air for a long time and easily exposes self aloft, and most of aircraft does not possess water-proof function.Especially afloat thunderstorm is electric, aircraft and easily losing.
Summary of the invention
The technical problem to be solved in the present invention is to provide the simple empty amphibious robot of diving of a kind of structure.
In order to solve the problems of the technologies described above, the invention provides a kind of empty amphibious robot of diving, comprising the frame in having electronic cabin; Described frame is delta wing frame; Described frame is respectively arranged with aerial sports system and sub aqua sport system.
Improvement as amphibious robot of diving to sky of the present invention: described aerial sports system is included in the aerial propeller that frame three summits are arranged respectively; Described aerial propeller comprises the motor of band screw propeller, and the periphery of described screw propeller is provided with air sphere; The joining place of described air sphere and frame adopts great circle arc excessive; Described three air sphere area occupied summations are no more than 5/6ths of frame triangle area; The output shaft of described motor is provided with the secondary seal preventing the primary seal of high pressure current He prevent low pressure current; Described primary seal is controlled static seal; Secondary seal is dynamic seal.
Further improvement as amphibious robot of diving to sky of the present invention: described air sphere comprises manger, sliding motor and shell; The summit of described shell and frame fixes, and it adopts foundation ring diameter to be less than the structure of collar diameter, and foundation ring adopts arc transition to the shape of collar; Described sliding motor is fixed on inside shell by A-frame, and its output shaft arranges manger; Described manger comprises internal layer and skin.
Further improvement as amphibious robot of diving to sky of the present invention: the air energy propelling unit that the tail end that described sub aqua sport system is included in frame is arranged and tail vane; Described tail vane comprises the rudder of left and right adjustment and the rudder of upper and lower adjustment.
Further improvement as amphibious robot of diving to sky of the present invention: described sealed module downside is provided with buffering cabin, described buffering cabin comprises hydroecium, described hydroecium upper shed is provided with the freeing scuttle in band water hole, this freeing scuttle with cushion cabin solid and be connected and be integrally formed.
The using method of empty amphibious robot of diving; Be divided into aerial running state and running state under water; Described aerial running state is as follows: in aerial propeller, the primary seal of motor unlocks, and the manger skin of air sphere is regained in internal layer crack, the electric motor starting of aerial propeller, and carrying screws produces buoyancy; Robot and direction is changed by the rotating speed adjusting each screw propeller; Air energy propelling unit produces thrust, and auxiliary its advances; Described running state is under water as follows: the primary seal locking of motor in aerial propeller, and the manger skin of air sphere stretches out in internal layer crack, produces thrust by air energy propelling unit; Left and right, upper and lower sense of motion adjustment is carried out respectively by tail vane.
To dive as sky of the present invention the improvement of using method of amphibious robot: when entering in water in the air, step is as follows: reduced by aerial propeller rotating speed, and it highly declines; On the water surface, the manger skin of air sphere extend out to completely in internal layer crack, the motor stalls of aerial propeller, the primary seal locking of aerial propeller simultaneously, frame enters the water surface, and in the hydroecium in buffering cabin, freeing scuttle is closed, current enter hydroecium by water hole, current enter air sphere by manger gap simultaneously, and robot buoyancy reduces, and sinks; Robot enters after in water completely, opens air energy propelling unit, carries out left and right, upper and lower sense of motion adjustment respectively by tail vane.
To dive as sky of the present invention the improvement of using method of amphibious robot: when entering in air in water, step is as follows: carry out left and right, upper and lower sense of motion adjustment respectively by tail vane, make frame enter the water surface; During adjoined water surface, the primary seal of aerial propeller unlocks, and the manger skin of air sphere is regained in internal layer; The freeing scuttle in buffering cabin is opened, and accelerates draining; When there being water to exist in air sphere, the screw propeller low speed rotation of aerial propeller, utilizes the thrust to water, makes robot progressively depart from the water surface; When robot departs from the water surface completely, air sphere is with when cushioning water emptying in cabin, and the screw propeller of aerial propeller reaches flight rotating speed.
To dive as sky of the present invention the improvement of using method of amphibious robot: manger is as follows by being retracted to opening procedure: manger internal layer, skin are all positioned at shell, sliding motor is by rotating the gap first driving manger skin to stretch out internal layer completely, now, outer field end combines with the top of internal layer, sliding motor output shaft sticks internal layer, internal layer is driven to extend out to completely, then sliding motor locking; Manger is by being retracted to closing process: manger is outer, internal layer stretches out all, sliding motor first drives manger internal layer to regain by rotating, when internal layer is regained completely, internal layer top and outer end depart from, sliding motor output shaft sticks skin, skin is driven to be retracted to completely, sliding motor locking.
Robot of the present invention realizes submerge in water on the one hand, in addition on the one hand, airflight can be realized again, and in water in submerge and aerial flight course, the efficiency increasing use is changed by the quality at any time for itself, and when carrying out quality switching, present invention employs hatch door this set with holes, in this set makes in water, in cabin with naturally to form one out of my cabin, increase its quality, and do not need structure complicated especially, and when lift-off, again by opening hatch door, realize fast speed quality to change, realize the efficiency of lift-off, and correspondence, corresponding primary seal and secondary seal is provided with in its air sphere, arranged by these, the mutual switching of underwater exercise and aerial sports can be realized by fast speed.
Accompanying drawing explanation
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described in further detail.
Fig. 1 is keystone configuration schematic diagram of the present invention;
Fig. 2 is the side-looking structural representation of Fig. 1;
Fig. 3 is the plan structure schematic diagram of Fig. 1.
Fig. 4 is that the sealing of aerial propeller arranges schematic diagram;
Fig. 5 is the structural representation of air sphere 300;
Fig. 6 is freeing scuttle 503 structural representation in buffering cabin 500.
Detailed description of the invention
Embodiment 1, Fig. 1 ~ Fig. 6 give a kind of empty amphibious robot and method of diving.
Its hollow amphibious robot of diving comprises the frame 600 in having electronic cabin 400; Frame 600 is delta wing frame; Frame 600 is respectively arranged with aerial sports system and sub aqua sport system.Because robot of the present invention will move in atmosphere, and the motion that will take into account under water, so adopt the setting of delta wing, in water, delta wing be arranged so that the present invention has clear and definite sense of motion (the drift angle direction of equicrural triangle), and time skyborne, because three spiral propellers can form the uneven situation of power distribution, so adopt tail air energy propelling unit 210 to coordinate the mode moved ahead to move.
Aerial sports system mainly comprises propelling unit I, propelling unit II, propelling unit III; Sub aqua sport system mainly comprises rudder I 201, rudder II 202, rudder III 203, rudder IV 204, air energy propelling unit 210.
Aerial sports system completes the motion of robot of the present invention in air dielectric, the propelling unit I of aerial sports system, propelling unit II and propelling unit III are separately positioned on three summits of frame 600, and aerial propeller (logical I, the propelling unit II of propelling unit and propelling unit III) is formed by the motor 100 of screw propeller and air sphere 300; The position at motor 100 output shaft 101 place of screw propeller is in three summits of equicrural triangle (isosceles triangular arrangement that delta wing frame is formed), air sphere 300 adopts great circle arc excessive with the joining place of frame 600, to reduce resistance in water, overlook on face at robot, three set air sphere 300 area occupied are no more than 5/6ths of frame 600 triangle area.
As shown in Figure 4, the output shaft 101 of motor 100 is provided with two-stage water-stop, comprises primary seal 105 and secondary seal 106.Primary seal 105 is controlled static seal, is controlled locking and the unblock of primary seal 105 by steering wheel 104.When motor 100 output shaft 101 is static, primary seal 105 is locked, primary seal 105 plays the effect of static seal; When primary seal 105 unlocks, primary seal 105 pairs of motor 100 output shafts 101 are without friction.Secondary seal 106 is dynamic seal, and secondary seal 106 works all the time.Herein, output shaft 101 adopts output shaft shell 102 to wrap up, and primary seal 105 and secondary seal 106 are all arranged in output shaft shell 102, and its steering wheel 104 is fixed on output shaft shell 102 sidewall.
It is inner that this primary seal 105 can prevent High-Pressure Water from entering motor 100, and it is inner that secondary seal 106 can prevent the less current of pressure from entering motor 100.When motor 100 needs to rotate robot aloft fly or from water fleet-footed runner aerial, primary seal 105 unlocks; When motor 100 stop operating robot enter water navigation, primary seal 105 is locked.Secondary seal 106 is positioned at the sealed module closer to motor after primary seal 105, and when secondary seal 106 prevents primary seal 105 switching state, low pressure water flow enters motor internal.
Above-described screw propeller periphery is provided with air sphere 300, as Fig. 5, comprises manger (skin 301, internal layer 302), sliding motor 303 and shell 304.Manger (skin 301, internal layer 302) and sliding motor 303 have multiple and are uniformly distributed in shell 304 (A-frame is fixed), shell 304 adopts foundation ring 306 diameter to be less than the structure of collar 305 diameter, foundation ring 306 adopts arc transition to the shape of collar 305, motion characteristics when improving robot water outlet by reducing air characteristics.Manger comprises outer 301 and internal layer 302.Arrange outer 301 in crack in internal layer 302, its output shaft by sliding motor 303 controls to shrink and open.
Manger is by being retracted to opening procedure: manger internal layer 302, outer 301 is all positioned at shell 304, sliding motor 303 first drives manger skin 301 to stretch out the gap of internal layer 302 completely by rotating, now, the end of outer 301 combines with the top of internal layer 302, sliding motor 303 output shaft sticks internal layer 302, internal layer 302 is driven to extend out to completely, then sliding motor 303 locking.Manger is by being retracted to closing process: manger skin 301, internal layer 302 stretch out all, sliding motor 303 first drives manger internal layer 302 to regain by rotating, when internal layer 302 is regained completely, internal layer 302 top and outer 301 ends depart from, sliding motor 303 output shaft sticks outer 301, outer 301 are driven to be retracted to completely, sliding motor 303 locking.
Manger can reduce running resistance in water, slows down digging water speed simultaneously.Manger and shell 304 do not form seal cavity, and water flow energy enters air sphere 300.
The generation of motor 100 carrying screws carrys out drive machines people to the thrust of air and advances, and reaches by controlling rotating speed the object changing robot and direction.Sky dive amphibious robot sail into aerial from water time, aerial sports system low cruise, auxiliary robot depart from the water surface.After water droplet is thrown away this air sphere scope by the propeller rotational of propelling unit I herein, propelling unit II, propelling unit III, realize lift-off (if do not arrange air sphere herein, after then water droplet throws away, the water surface at this place can form whirlpool, water on limit is due to the reason of pressure, the continual position pressing to this propelling unit I, propelling unit II, propelling unit III place of meeting, hinders robot to take off).And in the process of such as water, then by the setting of manger, make the space forming opposing seal in air sphere, in the gap in this space, to overflow into current, increase the gravity of robot.
Sub aqua sport system completes the motion of the robot of submerged condition, and the motion-promotion force of sub aqua sport system is produced by air energy propelling unit 210 and four rudders (rudder I 201, rudder II 202, rudder III 203, rudder IV 204).Air energy propelling unit 210 can provide the power advanced in water, and the steering wheel of rudder I 201, rudder II 202, rudder III 203, rudder IV 204 drives rudder blade motion can change the empty hydrogymnastic direction of amphibious robot of diving.When sky dive amphibious robot aloft fly time sub aqua sport system stalls.
Empty amphibious robot of diving is from the process entered in the air water:
First, robot plays a role land to water surface by aerial sports system; Namely the rotating speed of propelling unit I, propelling unit II, propelling unit III reduces, and its buoyancy is reduced, can realize slow landing;
By the time in robot encroached water, then aerial sports system stalls, and robot produces the trend of sinking by the gravity of self, when this trend produces, as long as kinematic scheme under open water, just can realize the motion of this robot below the water surface.
Empty amphibious robot of diving is from entering aerial process under water: robot passes through sub aqua sport system motion to water surface, aerial sports system starts, now, the propeller rotational of propelling unit I, propelling unit II, propelling unit III, produce thrust upwards, now, by continuing the rotating speed promoting screw propeller in propelling unit I, propelling unit II, propelling unit III, robot just can be made to enter in the air.And above-described robot by self gravity produce sink trend mainly by arrange buffering cabin 500 realize, time due to flight, quality needs light, and when entering water, quality needs heavily, thus, mechanism's outbalance that can change quality is at any time set, thus, in the present invention, adopt the setting in buffering cabin 500, change the correlated quality of robot of the present invention at any time, realize the mutual switching of varying environment.The downside of sealed module 400 is provided with buffering cabin 500, buffering cabin 500 is made up of hydroecium, its sidewall upper shed is provided with the opposite opened freeing scuttle 503 of rotating steering wheel 502 and controlling, as shown in Figure 6, this freeing scuttle 503 is fixed on hydroecium by axle 504, its axle 504 is provided with and rotates the opening and closing that steering wheel 502 controls freeing scuttle 503, this freeing scuttle 503 is provided with water hole 501.When robot is in underwater exercise, the freeing scuttle 503 in buffering cabin 500 is closed, and current overflow into the hydroecium in buffering cabin 500 by water hole 501, the total force of robot is strengthened, final formation total force equals gross buoyancy, and center of gravity and centre of buoyancy are on same plumb bob vertical, and center of gravity is lower than the state of centre of buoyancy.When robot is in aerial sports, buffering cabin 500, by opening freeing scuttle 503, makes the current rapid deflation in hydroecium, robot center of gravity is moved, and oeverall quality alleviates, and increases the efficiency of taking off of robot; Be connected with sealed module 400 solid when freeing scuttle 503 is closed and be integrally formed, ensure its streamline degree.The closedown of freeing scuttle 503 and open the speed of the turnover hydroecium only affecting current.
Robot have employed integral sealing waterproof measure, ensures that electronic machine normally runs; Robot under water time total force equal gross buoyancy, and center of gravity and centre of buoyancy are on same plumb bob vertical, and center of gravity is lower than centre of buoyancy.
Frame 300 is for fixing propelling unit I, propelling unit II, propelling unit III, rudder I 201, rudder II 202, rudder III 203, rudder IV 204, air energy propelling unit 210, electronic compartment 400, and frame 300 adopts seawater corrosion resistance material.
Electronic compartment 400 is for placing the electronic machine of aerial sports system and sub aqua sport system, and electronic compartment can place the electronic machine of operation and control simultaneously, comprises and controls mainboard, battery, sensor equipment.
The using method concrete steps of empty amphibious robot of diving are as follows:
It is divided into aerial running state and running state under water;
Aerial running state is as follows:
The primary seal 105 of aerial propeller unlocks, and the manger (skin 301, internal layer 302) of air sphere is regained, and the motor 100 of aerial propeller starts, and carrying screws produces buoyancy;
Robot and direction is changed by the rotating speed adjusting each aerial propeller; Air energy propelling unit 210 produces thrust when robot needs to advance fast, and auxiliary its advances.
Described running state is under water as follows:
The primary seal 105 of aerial propeller is locked, and the manger (skin 301, internal layer 302) of air sphere stretches out, and produces thrust by air energy propelling unit 210;
Left and right, upper and lower sense of motion adjustment is carried out respectively by tail vane.
When entering in water in the air, step is as follows:
Reduced by aerial propeller rotating speed, it highly declines;
On the water surface, the manger of air sphere extend out to completely, the motor stalls of aerial propeller, and the primary seal 105 of aerial propeller is locked simultaneously, and frame 600 enters the water surface, and the freeing scuttle 503 in buffering cabin is closed.Current enter hydroecium by the water hole 501 in buffering cabin, and current enter air sphere by manger gap simultaneously, and robot buoyancy reduces, and sinks;
Robot enters after in water completely, opens air energy propelling unit 210, carries out left and right, upper and lower sense of motion adjustment respectively by tail vane.
When entering in air in water, step is as follows:
Carry out left and right, upper and lower sense of motion adjustment respectively by tail vane, make frame 600 enter the water surface; During adjoined water surface, the primary seal 105 of aerial propeller unlocks, and the manger of air sphere is slowly regained, and motor accelerates simultaneously; The freeing scuttle 503 in buffering cabin is opened.When have in air sphere have water to exist time, the screw propeller low speed rotation of aerial propeller, utilizes the thrust to water, makes robot progressively depart from the water surface; When robot departs from the water surface completely, air sphere is with when cushioning water emptying in cabin, and the screw propeller of aerial propeller reaches flight rotating speed, and manger (skin 301, internal layer 302) is regained completely.
Finally, it is also to be noted that what enumerate above is only a specific embodiment of the present invention.Obviously, the invention is not restricted to above embodiment, many distortion can also be had.All distortion that those of ordinary skill in the art can directly derive from content disclosed by the invention or associate, all should think protection scope of the present invention.
Claims (9)
1. sky is dived an amphibious robot, comprises the frame (600) of having electronic cabin (400); It is characterized in that: described frame (600) is delta wing frame;
Described frame (600) is respectively arranged with aerial sports system and sub aqua sport system.
2. sky according to claim 1 is dived amphibious robot, it is characterized in that: described aerial sports system is included in frame (600) three aerial propellers that summit is arranged respectively;
Described aerial propeller comprises the motor (100) of band screw propeller, and the periphery of described screw propeller is provided with air sphere (300);
Described air sphere (300) adopts great circle arc excessive with the joining place of frame (600);
Described three air sphere (300) area occupied summations are no more than 5/6ths of frame (600) triangle area;
The output shaft of described motor (100) is provided with the secondary seal (106) preventing the primary seal of high pressure current (105) and prevent low pressure current;
Described primary seal (105) is controlled static seal; Secondary seal (106) is dynamic seal.
3. sky according to claim 2 is dived amphibious robot, it is characterized in that: described air sphere (300) comprises manger, sliding motor (303) and shell (304);
Described shell (304) fixes with the summit of frame (600), and it adopts foundation ring diameter to be less than the structure of collar diameter, and foundation ring adopts arc transition to the shape of collar;
Described sliding motor (303) is fixed on shell (304) inner side by A-frame, and its output shaft arranges manger;
Described manger comprises internal layer (302) and outer (301).
4. sky according to claim 3 is dived amphibious robot, it is characterized in that: the air energy propelling unit (210) that the tail end that described sub aqua sport system is included in frame (600) is arranged and tail vane;
Described tail vane comprises the rudder of left and right adjustment and the rudder of upper and lower adjustment.
5. sky according to claim 4 is dived amphibious robot, it is characterized in that: described sealed module (400) downside is provided with buffering cabin (500), described buffering cabin (500) comprises hydroecium, described hydroecium upper shed is provided with the freeing scuttle (503) of band water hole (501), this freeing scuttle (503) with cushion cabin (500) solid and be connected and be integrally formed.
6. the using method of empty amphibious robot of diving; It is characterized in that: be divided into aerial running state and running state under water;
Described aerial running state is as follows:
In aerial propeller, the primary seal (105) of motor (100) unlocks, the manger skin (301) of air sphere (300) is regained in internal layer (302) crack, the motor (100) of aerial propeller starts, and carrying screws produces buoyancy;
Robot and direction is changed by the rotating speed adjusting each screw propeller;
Air energy propelling unit (210) produces thrust, and auxiliary its advances;
Described running state is under water as follows:
Primary seal (105) locking of motor (100) in aerial propeller, the manger skin (301) of air sphere (300) stretches out in internal layer (302) crack, produces thrust by air energy propelling unit (210);
Left and right, upper and lower sense of motion adjustment is carried out respectively by tail vane.
7. sky according to claim 6 is dived the using method of amphibious robot, and it is characterized in that: when entering in water in the air, step is as follows:
Reduced by aerial propeller rotating speed, it highly declines;
On the water surface, the manger skin (301) of air sphere (300) extend out to completely in internal layer (302) crack, the motor stalls of aerial propeller, primary seal (105) locking of aerial propeller simultaneously, frame (600) enters the water surface, in the hydroecium of buffering cabin (500), freeing scuttle (503) is closed, current enter hydroecium by water hole (501), current enter air sphere (300) by manger gap simultaneously, robot buoyancy reduces, and sinks;
Robot enters after in water completely, opens air energy propelling unit (210), carries out left and right, upper and lower sense of motion adjustment respectively by tail vane.
8. sky according to claim 7 is dived the using method of amphibious robot, and it is characterized in that: when entering in air in water, step is as follows:
Carry out left and right, upper and lower sense of motion adjustment respectively by tail vane, make frame (600) enter the water surface;
During adjoined water surface, the primary seal (105) of aerial propeller unlocks, and the manger skin (301) of air sphere (300) is regained in internal layer (302);
The freeing scuttle (503) of buffering cabin (500) is opened, and accelerates draining;
When having water to exist in air sphere (300), the screw propeller low speed rotation of aerial propeller, utilizes the thrust to water, makes robot progressively depart from the water surface;
When robot departs from the water surface completely, when air sphere (300) and buffering cabin (500) interior water emptying, the screw propeller of aerial propeller reaches flight rotating speed.
9. sky according to claim 8 is dived the using method of amphibious robot, it is characterized in that: manger is as follows by being retracted to opening procedure: manger internal layer (302), outer (301) are all positioned at shell (304), sliding motor (303) first drives manger skin (301) to stretch out the gap of internal layer (302) completely by rotating, now, the end of outer (301) combines with the top of internal layer (302), sliding motor (303) output shaft sticks internal layer (302), internal layer (302) is driven to extend out to completely, then sliding motor (303) locking,
Manger is by being retracted to closing process: manger skin (301), internal layer (302) stretch out all, sliding motor (303) first drives manger internal layer (302) to regain by rotating, when internal layer (302) is regained completely, internal layer (302) top and outer (301) end depart from, sliding motor (303) output shaft sticks skin (301), outer (301) are driven to be retracted to completely, sliding motor (303) locking.
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