CN105151301B - Sky latent amphibious robot and method - Google Patents
Sky latent amphibious robot and method Download PDFInfo
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- CN105151301B CN105151301B CN201510453997.0A CN201510453997A CN105151301B CN 105151301 B CN105151301 B CN 105151301B CN 201510453997 A CN201510453997 A CN 201510453997A CN 105151301 B CN105151301 B CN 105151301B
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Abstract
The invention discloses a kind of empty latent amphibious robot, including having electronic cabin frame；The frame is dalta wing frame；Aerial sports system and sub-aqua sport system are respectively arranged with the frame.The aerial sports system is included in the air propeller that three summits of frame are respectively provided with；The air propeller includes the motor with propeller, and the periphery of the propeller is provided with air sphere；The air sphere is excessive using orthodrome with the joining place of frame；5/6ths of three air sphere occupied areas summation no more than frame triangle area；The primary seal for preventing high pressure current and the secondary seal for preventing low-pressure current are provided with the output shaft of the motor；The primary seal is controllable static seal；Secondary seal is dynamic sealing.
Description
Technical field
It is more particularly to a kind of under water to navigate by water two for can flying in the air again the present invention relates to a kind of amphibious robot
Dwell robot.
Background technology
With the development of science and technology, the mankind are constantly improved by robot to the heuristic approach in the world, UAV navigation
As a kind of tool of exploration ocean, important function is all served on military and civilian；Multi-axis aircraft is used as one kind
Flight tool, can low latitude operation, can be taken photo by plane, the work such as article delivery.
At present, the removal process of most of UAV navigations all relies on ship, naval vessels, and removal process is numerous
Trivial, this greatly reduces the operating efficiency of underwater operation；Aircraft flies for a long time as the aerial tool investigated
Xiang easily exposes itself in the air, and most of aircraft do not possess water-proof function.Especially afloat thunderstorm electrically, navigates
Row device and its it is easily lost.
The content of the invention
The technical problem to be solved in the present invention is to provide a kind of latent amphibious robot of sky of simple structure.
In order to solve the above-mentioned technical problem, a kind of frame of empty latent amphibious robot of present invention offer, including having electronic cabin；
The frame is dalta wing frame；Aerial sports system and sub-aqua sport system are respectively arranged with the frame.
As the improvement to empty latent amphibious robot of the present invention：The aerial sports system is included in frame three
The air propeller that summit is respectively provided with；The air propeller includes the motor with propeller, and the periphery of the propeller sets
It is equipped with air sphere；The air sphere is excessive using orthodrome with the joining place of frame；Three air spheres occupied area summation
No more than 5/6ths of frame triangle area；Being provided with the output shaft of the motor prevents the primary close of high pressure current
Seal and prevent the secondary seal of low-pressure current；The primary seal is controllable static seal；Secondary seal is dynamic sealing.
As the further improvement to empty latent amphibious robot of the present invention：The air sphere includes water fender, cunning
Dynamic motor and shell；The shell is mutually fixed with the summit of frame, and it uses foundation ring diameter less than the structure of collar diameter, foundation ring
Shape to collar uses arc transition；The sliding motor is fixed on shell inner side by A-frame, is set on its output shaft
Put water fender；The water fender includes internal layer and outer layer.
As the further improvement to empty latent amphibious robot of the present invention：The sub-aqua sport system is included in machine
Air energy propeller and tail vane that the tail end of frame is set；The tail vane includes the rudder of left and right adjustment and the rudder of upper and lower adjustment.
As the further improvement to empty latent amphibious robot of the present invention：The sealed compartment downside is provided with slow
Cabin is rushed, the buffering cabin includes hydroecium, and the hydroecium upper shed is provided with the drainage door with water hole, the drainage door is several with buffering cabin
What body linking is integrally formed.
The application method of the latent amphibious robot of sky；It is divided into aerial running status and under water running status；The aerial operation
State is as follows：The primary seal unblock of motor in air propeller, the water fender outer layer of air sphere is withdrawn in internal layer crack, air
The electric motor starting of propeller, drives propeller to produce buoyancy；Robot is changed by the rotating speed for adjusting each propeller
And direction；Air energy propeller produces thrust, aids in it to advance；The running status under water is as follows：Motor in air propeller
Primary seal locking, the water fender outer layer of air sphere stretched out from internal layer crack, and thrust is produced by air energy propeller；It is logical
Cross tail vane carries out left and right, upper and lower direction of motion adjustment respectively.
As the improvement of the application method of empty latent amphibious robot of the present invention：It is aerial to enter when in water, step
It is rapid as follows：Reduced by air propeller rotating speed, its height declines；On the water surface, the water fender outer layer of air sphere is pressed from both sides from internal layer
It is extend out in seam completely, the motor stalls of air propeller, while the primary seal locking of air propeller, frame entrance
The water surface, drainage door is closed in buffering the hydroecium in cabin, and current enter hydroecium by water hole, while current are entered by water fender gap
Air sphere, robot buoyancy reduces, and sinks；Air energy propeller is opened completely into after in water by robot, by tail vane point
Left and right, upper and lower direction of motion adjustment is not carried out.
As the improvement of the application method of empty latent amphibious robot of the present invention：When being got into the air in water,
Step is as follows：Carry out left and right, upper and lower direction of motion adjustment respectively by tail vane so that frame enters upstream face；Adjoined water surface
When, the primary seal unblock of air propeller, the water fender outer layer of air sphere is withdrawn in internal layer；The drainage door for buffering cabin is opened,
Accelerate draining；In the presence of having water in air sphere, the propeller low speed rotation of air propeller, using the thrust to water so that
Robot gradually disengages the water surface；When robot completely disengages from the water surface, in air sphere and buffering cabin during water emptying, air propeller
Propeller reaches flight rotating speed.
As the improvement of the application method of empty latent amphibious robot of the present invention：Water fender is by being retracted to opening procedure
It is as follows：Dash inner cord, outer layer are respectively positioned in shell, and sliding motor first drives the fully extended internal layer of water fender outer layer by rotating
Gap, now, the end of outer layer is combined with the top of internal layer, and sliding motor output shaft sticks internal layer, drives internal layer to stretch out
To complete, then sliding motor locking；Water fender is by being retracted to closing process：Water fender outer layer, internal layer have stretched out, and slide electricity
Machine first drive the withdrawal of dash inner cord by rotating, and when internal layer withdraws completely, internal layer top and outer layer end depart from, and slide electricity
Machine output shaft sticks outer layer, drives outer layer to be retracted to completely, sliding motor locking.
On the one hand robot of the invention realizes submariner in water, and still further aspect can realize airflight again, and in water
In submariner and aerial flight course, the efficiency for using is increased by changing for the quality of itself at any time, and carry out quality
When switching, present invention employs hatch door this set with holes, this set is caused when in water, in cabin and out of my cabin
One is naturally formed, increases its quality, and do not need especially complex structure, and when lift-off, and can be by opening
Hatch door, realizes that quick quality changes, and realizes the efficiency of lift-off, and corresponding, is provided with its air sphere corresponding primary close
Envelope and secondary seal, are set by these, can quickly realize the mutual switching of underwater exercise and aerial sports.
Brief description of the drawings
Specific embodiment of the invention is described in further detail below in conjunction with the accompanying drawings.
Fig. 1 is primary structure schematic diagram of the invention；
Fig. 2 is the side structure schematic view of Fig. 1；
Fig. 3 is the overlooking the structure diagram of Fig. 1.
Fig. 4 is that the sealing of air propeller sets schematic diagram；
Fig. 5 is the structural representation of air sphere 300；
Fig. 6 is the structural representation of drainage door 503 for buffering cabin 500.
Specific embodiment
Embodiment 1, Fig. 1~Fig. 6 gives a kind of empty latent amphibious robot and method.
Its hollow latent amphibious robot includes the frame 600 in having electronic cabin 400；Frame 600 is dalta wing frame；Frame
Aerial sports system and sub-aqua sport system are respectively arranged with 600.Because robot of the invention will be moved in atmosphere, and
Motion under water is taken into account, so using the setting of dalta wing, in water, the setting of dalta wing causes that the present invention has clearly fortune
Dynamic direction (the drift angle direction of isosceles triangle), and when skyborne, because three spiral propellers can form power distribution
Uneven situation, so being moved by the way of tail air energy propeller 210 coordinates and moves ahead.
Aerial sports system mainly includes propeller I, propeller II, propeller III；Sub-aqua sport system mainly includes rudder I
201st, rudder II 202, rudder III 203, rudder IV 204, air energy propeller 210.
Motion of the aerial sports system completion robot of the present invention in air dielectric, the propeller I of aerial sports system,
Propeller II and propeller III are separately positioned on three summits of frame 600, air propeller (the propeller logical I, and of propeller II
Propeller III) constituted by the motor 100 and air sphere 300 of propeller；Position where 100 output shaft of motor 101 of propeller
Put three summits in isosceles triangle (isosceles triangular arrangement that dalta wing frame is constituted), air sphere 300 and frame 600
Joining place using orthodrome excessively, to reduce resistance in water, on the vertical view face of robot, three set air spheres
5/6ths of 300 occupied areas no more than the triangle area of frame 600.
As shown in figure 4, two-stage water-stop is provided with the output shaft 101 of motor 100, including primary seal 105 and secondary
Sealing 106.Primary seal 105 is controllable static seal, and the locking and unblock of primary seal 105 are controlled by steering wheel 104.Work as motor
When 100 output shafts are 101 static, primary seal 105 is locked, primary seal 105 plays a part of static seal；When primary seal 105
During unblock, primary seal 105 is to the output shaft 101 of motor 100 without friction.Secondary seal 106 is dynamic sealing, and secondary seal 106 begins
Work eventually.Herein, output shaft 101 is wrapped up using output shaft housing 102, and primary seal 105 and secondary seal 106 are respectively provided with
In output shaft housing 102, its steering wheel 104 is fixed on the output side wall of shaft housing 102.
The primary seal 105 can prevent High-Pressure Water from entering inside motor 100, and secondary seal 106 can prevent pressure smaller
Current enter motor 100 inside.When motor 100 needs to rotate, robot flies in the air or fleet-footed runner is aerial from water, just
Level sealing 105 is unlocked；When the robot that stops operating of motor 100 enters water navigation, primary seal 105 locks.Secondary seal 106 is located at
Closer to the sealed compartment of motor after primary seal 105, low pressure water when secondary seal 106 prevents 105 switching state of primary seal
Stream enters motor internal.
Above-described propeller periphery is provided with air sphere 300, such as Fig. 5, including water fender (outer layer 301, internal layer
302), sliding motor 303 and shell 304.Water fender (outer layer 301, internal layer 302) and sliding motor 303 have multiple and uniform points
It is distributed in shell 304 (A-frame is fixed), structure of the shell 304 using the diameter of foundation ring 306 less than the diameter of collar 305, foundation ring
The shape of 306 to collar 305 uses arc transition, and kinetic characteristic during robot water outlet is improved by reducing air characteristics.
Water fender includes outer layer 301 and internal layer 302.Outer layer 301 is set in the crack in internal layer 302, and it passes through the defeated of sliding motor 303
Shaft control is shunk and is opened.
Water fender is by being retracted to opening procedure：Dash inner cord 302, outer layer 301 are respectively positioned in shell 304, sliding motor
303 gaps that the fully extended internal layer 302 of water fender outer layer 301 is first driven by rotating, now, the end of outer layer 301 and internal layer
302 top is combined, and the output shaft of sliding motor 303 sticks internal layer 302, drives internal layer 302 to extend out to completely, then slides electricity
The locking of machine 303.Water fender is by being retracted to closing process：Water fender outer layer 301, internal layer 302 have stretched out, and sliding motor 303 leads to
Crossing rotation first drives dash inner cord 302 to withdraw, and when internal layer 302 withdraws completely, the top of internal layer 302 and the end of outer layer 301 are de-
From the output shaft of sliding motor 303 sticks outer layer 301, drives outer layer 301 to be retracted to completely, the locking of sliding motor 303.
Water fender can reduce running resistance in water, while slowing down digging water speed.It is empty that water fender and shell 304 do not constitute sealing
Between, current energy air inlet circle 300.
Motor 100 drives propeller generation to carry out driven machine people to the thrust of air and advances, and is changed by controlling rotating speed to reach
Become the purpose in robot and direction.When the latent amphibious robot of sky sails aerial into from water, aerial sports system low speed fortune
OK, auxiliary robot departs from the water surface.Water droplet is thrown away this by propeller I herein, propeller II, the propeller rotational of propeller III
After individual air sphere scope, and realization lift-off (if being not provided with air sphere herein, after water droplet throws away, water surface meeting in this place
Whirlpool is formed, the water on side continual can press to the propeller I, propeller II, the institute of propeller III due to pressure
Position, hinder robot take off).And during Ru Shui, then by the setting of water fender so that formed in air sphere
The space of opposing seal, overflows into current in the gap in the space, 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 passes through air
Can propeller 210 and four rudders (rudder I 201, rudder II 202, rudder III 203, rudder IV 204) generations.Air energy propeller 210 can be carried
The power advanced in water supply, rudder I 201, rudder II 202, rudder III 203, the steering wheel of rudder IV 204 drive rudder blade to move can change empty latent two
Dwell the direction of robot underwater exercise.The sub-aqua sport system stalls when sky latent amphibious robot flight in the air.
The latent amphibious robot of sky is from the aerial process entered in water：
First, robot is played a role land to water surface by aerial sports system；I.e. propeller I, propeller II, push away
Enter the rotating speed reduction of device III, reduce its buoyancy, it is possible to achieve slow landing；
Deng in robot encroached water, then aerial sports system stalls, and robot is produced by the gravity of itself
Heavy trend is given birth to, when this trend is produced, as long as opening sub-aqua sport system, it is possible to realize the robot in water
Motion below face.
The latent amphibious robot of sky is under water into aerial process：Robot is by sub-aqua sport system motion to water meter
Face, aerial sports system starts, now, propeller I, propeller II, the propeller rotational of propeller III are produced upward
Thrust, now, by the rotating speed for continuing to lift up propeller in propeller I, propeller II, propeller III, it is possible to so that machine
People enters aerial.And above-described robot produces the trend sunk to be mainly by setting buffering cabin by the gravity of itself
500 realizations, when due to flight, quality needs gently, and when entering water, and quality needs weight, thus, setting one can change at any time
The mechanism of variable mass is more important, thus, in the present invention, using the setting in buffering cabin 500, robot of the present invention is changed at any time
Correlated quality, realize the mutual switching of varying environment.The downside of sealed compartment 400 is provided with buffering cabin 500, buffers cabin 500
It is made up of hydroecium, its side wall upper shed is provided with the opposite opened drainage door 503 for rotating the control of steering wheel 502, as shown in fig. 6,
The drainage door 503 is fixed on hydroecium by axle 504, is provided with its axle 504 and rotates the opening that steering wheel 502 controls drainage door 503
And closing, it is provided with water hole 501 in the drainage door 503.When robot is in underwater exercise, the drainage door 503 in cabin 500 is buffered
Close, current overflow into the hydroecium in buffering cabin 500 by water hole 501 so that the total force of robot is increased, and ultimately forms gross weight
Power is equal to gross buoyancy, and on same plumb line, center of gravity is less than the state of centre of buoyancy for center of gravity and centre of buoyancy.When robot is in aerial sports
When, buffering cabin 500 is by opening drainage door 503 so that the current rapid deflation in hydroecium, is moved in robot center of gravity, and overall
Quality mitigates, and increases the efficiency of taking off of robot；It is integrally formed with the linking of the solid of sealed compartment 400 when drainage door 503 is closed, is protected
Demonstrate,prove its streamline degree.The closing of drainage door 503 and opening only influence the speed of the turnover hydroecium of current.
Robot employs integral sealing waterproof measure, it is ensured that electronic equipment normally runs；Robot under water when gross weight
Power is equal to gross buoyancy, and center of gravity and centre of buoyancy are on same plumb line, and center of gravity is less than centre of buoyancy.
Frame 300 is used to fix propeller I, propeller II, propeller III, rudder I 201, rudder II 202, rudder III 203, rudder IV
204th, air energy propeller 210, electronic compartment 400, frame 300 use seawater corrosion resistance material.
Electronic compartment 400 is used to place the electronic equipment of aerial sports system and sub-aqua sport system, while electronic compartment can be put
Put the electronic equipment of operation and control, the equipment such as including control mainboard, battery, sensor.
The application method of the latent amphibious robot of sky is comprised the following steps that：
It is divided into aerial running status and under water running status；
Aerial running status is as follows：
The primary seal 105 of air propeller is unlocked, and the water fender (outer layer 301, internal layer 302) of air sphere withdraws, air
The motor 100 of propeller starts, and drives propeller to produce buoyancy；
Robot and direction are changed by the rotating speed for adjusting each air propeller；Air energy propeller 210 is in machine
Device people produces thrust when needing to fast forward through, and aids in it to advance.
The running status under water is as follows：
The primary seal 105 of air propeller is locked, and the water fender (outer layer 301, internal layer 302) of air sphere stretches out, and passes through
Air energy propeller 210 produces thrust；
Carry out left and right, upper and lower direction of motion adjustment respectively by tail vane.
Aerial to enter when in water, step is as follows：
Reduced by air propeller rotating speed, its height declines；
On the water surface, the water fender of air sphere extend out to completely, the motor stalls of air propeller, while air is pushed away
The primary seal 105 for entering device is locked, and frame 600 enters upstream face, and the drainage door 503 for buffering cabin is closed.Current are by buffering cabin
Water hole 501 enters hydroecium, while current are by water fender gap air inlet circle, robot buoyancy reduces, and sinks；
Air energy propeller 210 is opened completely into after in water by robot, is carried out respectively by tail vane left and right, upper and lower
The direction of motion adjustment.
When being got into the air in water, step is as follows：
Carry out left and right, upper and lower direction of motion adjustment respectively by tail vane so that frame 600 enters upstream face；Press close to water
During face, the primary seal 105 of air propeller is unlocked, and the water fender of air sphere slowly withdraws, while motor accelerates；Buffering cabin
Drainage door 503 is opened.In the presence of having and having water in air sphere, the propeller low speed rotation of air propeller is pushed away using to water
Power so that robot gradually disengages the water surface；When robot completely disengages from the water surface, in air sphere and buffering cabin during water emptying, air
The propeller of propeller reaches flight rotating speed, and water fender (outer layer 301, internal layer 302) withdraws completely.
Finally, in addition it is also necessary to it is noted that listed above is only a specific embodiment of the invention.Obviously, the present invention
Above example is not limited to, there can also be many deformations.One of ordinary skill in the art can be straight from present disclosure
The all deformations derived or associate are connect, protection scope of the present invention is considered as.
Claims (7)
1. a kind of frame (600) of empty latent amphibious robot, including band sealed compartment (400)；It is characterized in that：The frame (600)
It is dalta wing frame；
Aerial sports system and sub-aqua sport system are respectively arranged with the frame (600)；
The aerial sports system is included in the air propeller that (600) three summits of frame are respectively provided with；
The air propeller includes the motor (100) with propeller, and the periphery of the propeller is provided with air sphere (300)；
The air sphere (300) is excessive using orthodrome with the joining place of frame (600)；
5/6ths of three air spheres (300) occupied area summation no more than frame (600) triangle area；
The primary seal (105) that prevents high pressure current is provided with the output shaft of the motor (100) and low-pressure water is prevented
The secondary seal (106) of stream；
The primary seal (105) is controllable static seal；Secondary seal (106) is dynamic sealing；
The air sphere (300) includes water fender, sliding motor (303) and shell (304)；
The shell (304) is mutually fixed with the summit of frame (600), and it uses foundation ring diameter less than the structure of collar diameter, bottom
The shape for enclosing collar uses arc transition；
The sliding motor (303) is fixed on shell (304) inner side by A-frame, and water fender is set on its output shaft；
The water fender includes internal layer (302) and outer layer (301).
2. empty latent amphibious robot according to claim 1, it is characterized in that：The sub-aqua sport system is included in frame
(600) air energy propeller (210) and tail vane that tail end is set；
The tail vane includes the rudder of left and right adjustment and the rudder of upper and lower adjustment.
3. empty latent amphibious robot according to claim 2, it is characterized in that：Sealed compartment (400) downside is provided with buffering
Cabin (500), the buffering cabin (500) includes hydroecium, and the hydroecium upper shed is provided with the drainage door (503) with water hole (501),
The drainage door (503) is integrally formed with buffering cabin (500) solid linking.
4. a kind of sky using as any one of claims 1 to 3 is dived the application method of amphibious robot, it is characterized in that：
It is divided into aerial running status and under water running status；
The aerial running status is as follows：
Primary seal (105) unblock of motor (100) in air propeller, the water fender outer layer (301) of air sphere (300) withdraws
In internal layer (302) crack, the motor (100) of air propeller starts, and drives propeller to produce buoyancy；
Robot and direction are changed by the rotating speed for adjusting each propeller；
Air energy propeller (210) produces thrust, aids in it to advance；
The running status under water is as follows：
Primary seal (105) locking of motor (100) in air propeller, the water fender outer layer (301) of air sphere (300) is from interior
Stretched out in layer (302) crack, thrust is produced by air energy propeller (210)；
Carry out left and right, upper and lower direction of motion adjustment respectively by tail vane.
5. the application method of empty latent amphibious robot according to claim 4, it is characterized in that：It is aerial enter in water when
Wait, step is as follows：
Reduced by air propeller rotating speed, its height declines；
On the water surface, the water fender outer layer (301) of air sphere (300) extend out to completely from internal layer (302) crack, air propulsion
The motor stalls of device, while the primary seal (105) of air propeller is locked, frame (600) enters upstream face, buffers cabin
(500) drainage door (503) is closed in hydroecium, and current enter hydroecium by water hole (501), while current pass through water fender gap
Air inlet circle (300), robot buoyancy reduces, and sinks；
Air energy propeller (210) is opened completely into after in water by robot, is carried out respectively by tail vane left and right, upper and lower
The direction of motion is adjusted.
6. the application method of empty latent amphibious robot according to claim 5, it is characterized in that：Got into the air in water when
Wait, step is as follows：
Carry out left and right, upper and lower direction of motion adjustment respectively by tail vane so that frame (600) enters upstream face；
During adjoined water surface, primary seal (105) unblock of air propeller, the water fender outer layer (301) of air sphere (300) withdraws
In internal layer (302)；
The drainage door (503) for buffering cabin (500) is opened, and accelerates draining；
In the presence of having water in air sphere (300), the propeller low speed rotation of air propeller, using the thrust to water so that
Robot gradually disengages the water surface；
When robot completely disengages from the water surface, when air sphere (300) and the interior water emptying of buffering cabin (500), the spiral of air propeller
Oar reaches flight rotating speed.
7. the application method of empty latent amphibious robot according to claim 6, it is characterized in that：Water fender is by being retracted to opening
Process is as follows：Dash inner cord (302), outer layer (301) are respectively positioned in shell (304), and sliding motor (303) is by rotating first band
The gap of dynamic water fender outer layer (301) fully extended internal layer (302), now, the end of outer layer (301) and the top of internal layer (302)
End is combined, and sliding motor (303) output shaft sticks internal layer (302), drives internal layer (302) to extend out to completely, then slides electricity
Machine (303) locking；
Water fender is by being retracted to closing process：Water fender outer layer (301), internal layer (302) have stretched out, and sliding motor (303) leads to
Crossing rotation first drives dash inner cord (302) to withdraw, when internal layer (302) withdraws completely, internal layer (302) top and outer layer
(301) end departs from, and sliding motor (303) output shaft sticks outer layer (301), drives outer layer (301) to be retracted to completely, slides electricity
Machine (303) locking.
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| CN201510453997.0A CN105151301B (en) | 2015-07-28 | 2015-07-28 | Sky latent amphibious robot and method |
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| CN105151301B true CN105151301B (en) | 2017-06-06 |
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| CN108312795A (en) * | 2018-02-05 | 2018-07-24 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | Aerial-underwater paleocinetic amphibious aircraft and sailing method can be achieved in one kind |
| CN108312795B (en) * | 2018-02-05 | 2019-06-11 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | Aerial-underwater paleocinetic amphibious aircraft and sailing method can be achieved in one kind |
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