CN108910032A - A kind of imitative flying fish telescopic type hang gliding robot - Google Patents
A kind of imitative flying fish telescopic type hang gliding robot Download PDFInfo
- Publication number
- CN108910032A CN108910032A CN201810660664.9A CN201810660664A CN108910032A CN 108910032 A CN108910032 A CN 108910032A CN 201810660664 A CN201810660664 A CN 201810660664A CN 108910032 A CN108910032 A CN 108910032A
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- robot
- robot body
- hang gliding
- sliding block
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C31/00—Aircraft intended to be sustained without power plant; Powered hang-glider-type aircraft; Microlight-type aircraft
- B64C31/02—Gliders, e.g. sailplanes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F5/00—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media
- B60F5/02—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media convertible into aircraft
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
Abstract
The present invention provides a kind of imitative flying fish telescopic type hang gliding robot, including robot body, the motor being arranged in robot body, lead screw, sliding block, slideway, Divisional Bulkhead and twin shaft steering engine, the skeleton, hang gliding, connecting rod and the parallel wing that are symmetricly set on robot body two sides, the piggyback pod that robot body tail portion is set；The center has through-hole and on slideway, and the lead screw passes through the through-hole of sliding block and one end is connected to motor, and one end is connect with Divisional Bulkhead；Described connecting rod one end is connect with skeleton, and one end is connect with sliding block, and the parallel wing is arranged in the tail portion of robot body and connect with twin shaft steering engine.A kind of imitative flying fish telescopic type hang gliding design of the invention, before hang gliding designed using telescopic type, conducive to robot in water with skyborne movement, also achieve to the bionical of flying fish；One rear pair balance wing is used for the pose adjustment under air sail planing state；The function realization of two pairs of wings relies primarily on mechanical mechanism, and registration, response is comparatively fast.
Description
Technical field
The present invention relates to a kind of robot more particularly to a kind of imitative flying fish telescopic type hang gliding robots, belong to bionical
Robot field.
Background technique
Bio-robot technology has become the hot spot of various countries' research, and biology fits environment by evolution in up to ten thousand years
Should be able to power greatly enhance, and it is empty amphibious to study water for people as a kind of marine organisms that can be flown across medium for flying fish
Aircraft has very big reference.
It is deep not enough to the research of bionical flying fish at present, at home mainly in gliding mechanism and across medium navigation
It is bionical, but and the complete imitation that is not implemented in flying fish-shaped state and flying fish structure, the present invention is mainly to the hang gliding peace of flying fish
The wing that weighs carries out bionic structure.
Summary of the invention
It, not only can be with air sail planing but also can underwater diving the purpose of the invention is to realize to bionical in flying fish shape
And provide a kind of imitative flying fish telescopic type hang gliding robot.
The object of the present invention is achieved like this：
A kind of imitative flying fish telescopic type hang gliding robot, including robot body, the electricity being arranged in robot body
Machine, lead screw, sliding block, slideway, Divisional Bulkhead and twin shaft steering engine are symmetricly set on the skeleton, hang gliding, connecting rod of robot body two sides
With parallel wing, the piggyback pod of robot body tail portion is set；The center has through-hole and on slideway, and the lead screw is worn
The through-hole and one end for crossing sliding block are connected to motor, and one end is connect with Divisional Bulkhead；The connection of the front end of the skeleton and robot body,
Described connecting rod one end is connect with skeleton, and one end is connect with sliding block, and the hang gliding is connect with skeleton；The parallel wing is arranged in machine
It the tail portion of device human agent and is connect with twin shaft steering engine.
The invention also includes features some in this way：
It is slided described in 1. and is provided with flexible covering on the wing.
A kind of imitative flying fish telescopic type hang gliding working principle of design of the invention is：
(1) air sail planing mode：Twin shaft steering engine drives balance wing rotation, robot is adjusted to face upward appearance, robot is gone out
The water surface, then motor drives lead screw rotation, and along slideway forward slip, sliding block and connection-rod linkage, connecting rod pushes away lead screw band movable slider
Dynamic skeleton is unfolded outward, opens to slide the span, and robot realizes gliding.(2) underwater diving mode：Twin shaft steering engine band dynamic balancing
Wing rotation, robot pitch attitude change, and motor drives lead screw rotation, and lead screw band movable slider is slided backward along slideway, sliding block
With connection-rod linkage, connecting rod pulls skeleton to contract, slides wing tightening, and robot leaps into the water, and robot enters underwater diving
Mode；Hang gliding is designed as retractable structure, realizes to the bionical of the extensible pectoral fin of flying fish；Robot Design has balance wing,
Main wing and aileron are formed with hang gliding；As aileron, for adjusting the pitch attitude of robot；The present invention uses screw slider band
Dynamic link mechanism realizes the folding and unfolding of hang gliding；The present invention is realized to bionical in flying fish shape.
A kind of imitative flying fish telescopic type hang gliding design, including skeleton, hang gliding, balance wing, piggyback pod, twin shaft steering engine,
Divisional Bulkhead, lead screw, sliding block, connecting rod, slideway, motor, robot body.
Hang gliding is connected with skeleton, slides on the wing with flexible covering；Skeleton is connected with connecting rod, and junction is rotatably to save
Point；Connecting rod is connected with sliding block, and junction is that can be rotated node；Sliding block is on lead screw, and sliding block can be slided along lead screw, and in addition sliding block is embedding
In slideway, it can be moved along it；Lead screw one end is connected with Divisional Bulkhead, and one end is connected to the motor；Twin shaft steering engine symmetrically connects two
A balance wing, all of above mechanism is all on robot body.
The specific course of work is as follows：
After robot primers and gets into the air, motor is started to work, and lead screw is driven to start turning, and lead screw drives
Slide block movement, for sliding block along slideway forward slip, articulated connecting rod on sliding block, connecting rod pushes skeleton to arrange outward, and skeleton drives
Hang gliding is unfolded outward, into gliding state；In addition, twin shaft steering engine drives balance wing rotation, for adjusting robot in the sky
Posture.The invention proposes the design of imitative flying fish formula hang gliding, complete to the bionical of flying fish flex-wing, and design have two pairs it is right
Claim the wing, is conducive to the skyborne pose adjustment of robot.
Compared with prior art, the beneficial effects of the invention are as follows：
A kind of imitative flying fish telescopic type hang gliding design of the invention, before hang gliding using telescopic type design, be conducive to
Robot with skyborne movement, is also achieved to the bionical of flying fish in water；One rear pair balance wing is used for air sail planing shape
Pose adjustment under state；The function realization of two pairs of wings relies primarily on mechanical mechanism, and registration, response is comparatively fast.
Detailed description of the invention
Fig. 1 is hang gliding contraction state structural schematic diagram；
Fig. 2 is hang gliding unfolded state structural schematic diagram；
Fig. 3 is sliding block axonometric drawing；
Fig. 4 is balance wing structural schematic diagram.
Specific embodiment
Present invention is further described in detail with specific embodiment with reference to the accompanying drawing.
Show that hang gliding is shunk and the structural design drawing of unfolded state, one kind of the invention are imitative in conjunction with Fig. 1 and Fig. 2
Flying fish telescopic type hang gliding is designed by skeleton 1, hang gliding 2, balance wing 3, piggyback pod 4, twin shaft steering engine 5, Divisional Bulkhead 6, lead screw
7, sliding block 8, connecting rod 9, slideway 10, motor 11,12 main body of robot composition.
Hang gliding 2 is connected with skeleton 1, slides on the wing 2 with flexible covering；Skeleton 1 is connected with connecting rod 9, and junction is can
Rotate node；Connecting rod 9 is connected with sliding block 8, and junction is that can be rotated node；For sliding block 8 on lead screw 7, sliding block 9 can be sliding along lead screw 7
Dynamic, in addition sliding block 9 can move in slideway 10 along it；7 one end of lead screw is connected with Divisional Bulkhead 6, and one end is connected with motor 11；
Twin shaft steering engine 5 symmetrically connects two balance wings 3, and all of above mechanism is all on robot body 12.
Fig. 3 shows the axonometric drawing of sliding block 8, and sliding block 8 realizes front and back in slideway 10, through the linkage of lead screw 7
Sliding, 9 one end of connecting rod is flexibly connected with sliding block 8.
Fig. 4 shows the structure design of balance wing, by balance wing 3, piggyback pod 4, twin shaft steering engine 5, robot body 12
Four parts composition.A pair of of balance wing is connected with twin shaft steering engine 5, and when needing pitch attitude to adjust, twin shaft steering engine 5 drives balance wing
3 rotations.
In conjunction with Fig. 1 to Fig. 4, a kind of imitative flying fish telescopic type hang gliding working principle of design of the invention is：
(1) air sail planing mode：Twin shaft steering engine 5 drives balance wing 3 to rotate, and robot is adjusted to face upward appearance, robot punching
The water surface out, then motor 11 drives lead screw 7 to rotate, and lead screw 7 is with movable slider 8 along 10 forward slip of slideway, sliding block 8 and bar 9
Dynamic, connecting rod 9 pushes skeleton 1 to be unfolded outward, opens to slide the span 2, and robot realizes gliding.
(2) underwater diving mode：Twin shaft steering engine 5 drives balance wing 3 to rotate, and robot pitch attitude changes, 11 band of motor
Dynamic lead screw 7 rotates, and lead screw 7 is slided backward with movable slider 8 along slideway 10, and sliding block 8 and connecting rod 9 link, and connecting rod 9 pulls skeleton 1
To contract, the tightening of the wing 2 is slided, robot leaps into the water, and robot enters underwater diving mode.
In summary：A kind of imitative flying fish telescopic type hang gliding design, is related to bio-robot field, and the present invention makes every effort to real
Now bionical in flying fish flight theory, of the invention imitative flying fish telescopic type hang gliding is designed, including skeleton 1, hang gliding 2, flat
Weigh the wing 3, piggyback pod 4, twin shaft steering engine 5, Divisional Bulkhead 6, lead screw 7, sliding block 8, connecting rod 9, slideway 10, motor 11, robot body 12.
Present invention design has balance wing and flexible hang gliding, and the hang gliding of telescopic type can realize diving mode in air sail planing and water
Conversion, balance wing are used to adjust the pitch attitude of robot.
Claims (2)
1. a kind of imitative flying fish telescopic type hang gliding robot, it is characterized in that：Including robot body, it is arranged in robot body
Interior motor, lead screw, sliding block, slideway, Divisional Bulkhead and twin shaft steering engine is symmetricly set on skeleton, the gliding of robot body two sides
The wing, connecting rod and parallel wing, the piggyback pod that robot body tail portion is set；
The center has through-hole and on slideway, and the lead screw passes through the through-hole of sliding block and one end is connected to motor, one end
It is connect with Divisional Bulkhead；
The connection of the front end of the skeleton and robot body, connecting rod one end are connect with skeleton, and one end is connect with sliding block, described
Hang gliding is connect with skeleton；
The parallel wing is arranged in the tail portion of robot body and connect with twin shaft steering engine.
2. imitative flying fish telescopic type hang gliding robot according to claim 1, it is characterized in that：Described slide is arranged on the wing
Flexible covering.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810660664.9A CN108910032A (en) | 2018-06-25 | 2018-06-25 | A kind of imitative flying fish telescopic type hang gliding robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810660664.9A CN108910032A (en) | 2018-06-25 | 2018-06-25 | A kind of imitative flying fish telescopic type hang gliding robot |
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| CN108910032A true CN108910032A (en) | 2018-11-30 |
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| CN201810660664.9A Pending CN108910032A (en) | 2018-06-25 | 2018-06-25 | A kind of imitative flying fish telescopic type hang gliding robot |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109823501A (en) * | 2019-03-25 | 2019-05-31 | 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） | A kind of retractably flexibility seawater rudder wing |
| CN109850026A (en) * | 2019-02-21 | 2019-06-07 | 北京航空航天大学 | It is a kind of to climb wall-gliding machine people with the ala that take down the exhibits |
| CN109895937A (en) * | 2019-04-03 | 2019-06-18 | 哈尔滨工程大学 | A kind of bionical pressure wave device |
| CN110341405A (en) * | 2019-07-09 | 2019-10-18 | 西安理工大学 | A kind of imitative amphibious walking robot of basilisk lizard |
| CN110844045A (en) * | 2019-10-31 | 2020-02-28 | 湖南航天机电设备与特种材料研究所 | Long-range accurate air-drop equipment that glides |
| CN111319740A (en) * | 2020-03-18 | 2020-06-23 | 哈尔滨工程大学 | Deep-sea extensible boat body underwater vehicle |
| CN111907669A (en) * | 2020-07-08 | 2020-11-10 | 哈尔滨工程大学 | Motion mode switching mechanism and navigation climbing bionic robot applying same |
| CN112824226A (en) * | 2019-11-20 | 2021-05-21 | 哈尔滨工程大学 | A ware of diving extends wing for carrying acoustic sensor |
| CN113580859A (en) * | 2020-05-01 | 2021-11-02 | 胡静宇 | Flap hovercar |
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| CN103661919A (en) * | 2013-12-23 | 2014-03-26 | 北京理工大学 | Wing folding mechanism based on flex-wing aircraft |
| CN103693197A (en) * | 2013-11-29 | 2014-04-02 | 南京航空航天大学 | Submarine-launched unmanned aerial vehicle |
| US9010678B1 (en) * | 2013-03-05 | 2015-04-21 | The Boeing Company | Rapid deployment air and water vehicle |
| CN104589938A (en) * | 2014-03-20 | 2015-05-06 | 中国特种飞行器研究所 | Cross-medium aircraft with changeable shape like flying fish |
| CN106005323A (en) * | 2016-06-30 | 2016-10-12 | 深圳乐智机器人有限公司 | Bionic underwater glider and propelling method thereof |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| US9010678B1 (en) * | 2013-03-05 | 2015-04-21 | The Boeing Company | Rapid deployment air and water vehicle |
| CN103693197A (en) * | 2013-11-29 | 2014-04-02 | 南京航空航天大学 | Submarine-launched unmanned aerial vehicle |
| CN103661919A (en) * | 2013-12-23 | 2014-03-26 | 北京理工大学 | Wing folding mechanism based on flex-wing aircraft |
| CN104589938A (en) * | 2014-03-20 | 2015-05-06 | 中国特种飞行器研究所 | Cross-medium aircraft with changeable shape like flying fish |
| CN106005323A (en) * | 2016-06-30 | 2016-10-12 | 深圳乐智机器人有限公司 | Bionic underwater glider and propelling method thereof |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109850026A (en) * | 2019-02-21 | 2019-06-07 | 北京航空航天大学 | It is a kind of to climb wall-gliding machine people with the ala that take down the exhibits |
| CN109850026B (en) * | 2019-02-21 | 2020-11-06 | 北京航空航天大学 | Wall-climbing and gliding robot with foldable wing membrane |
| CN109823501A (en) * | 2019-03-25 | 2019-05-31 | 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） | A kind of retractably flexibility seawater rudder wing |
| CN109895937A (en) * | 2019-04-03 | 2019-06-18 | 哈尔滨工程大学 | A kind of bionical pressure wave device |
| CN110341405A (en) * | 2019-07-09 | 2019-10-18 | 西安理工大学 | A kind of imitative amphibious walking robot of basilisk lizard |
| CN110844045A (en) * | 2019-10-31 | 2020-02-28 | 湖南航天机电设备与特种材料研究所 | Long-range accurate air-drop equipment that glides |
| CN112824226A (en) * | 2019-11-20 | 2021-05-21 | 哈尔滨工程大学 | A ware of diving extends wing for carrying acoustic sensor |
| CN111319740A (en) * | 2020-03-18 | 2020-06-23 | 哈尔滨工程大学 | Deep-sea extensible boat body underwater vehicle |
| CN111319740B (en) * | 2020-03-18 | 2022-02-08 | 哈尔滨工程大学 | Deep-sea extensible boat body underwater vehicle |
| CN113580859A (en) * | 2020-05-01 | 2021-11-02 | 胡静宇 | Flap hovercar |
| CN111907669A (en) * | 2020-07-08 | 2020-11-10 | 哈尔滨工程大学 | Motion mode switching mechanism and navigation climbing bionic robot applying same |
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Application publication date: 20181130 |
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