CN112009189B - Whale tailwheel amphibious propulsion integrated aircraft - Google Patents
Whale tailwheel amphibious propulsion integrated aircraft Download PDFInfo
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- CN112009189B CN112009189B CN202010833604.XA CN202010833604A CN112009189B CN 112009189 B CN112009189 B CN 112009189B CN 202010833604 A CN202010833604 A CN 202010833604A CN 112009189 B CN112009189 B CN 112009189B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F3/00—Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water
- B60F3/0061—Amphibious vehicles specially adapted for particular purposes or of a particular type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B15/00—Wheels or wheel attachments designed for increasing traction
- B60B15/26—Auxiliary wheels or rings with traction-increasing surface attachable to the main wheel body
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F3/00—Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water
- B60F3/0007—Arrangement of propulsion or steering means on amphibious vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H23/00—Transmitting power from propulsion power plant to propulsive elements
- B63H23/22—Transmitting power from propulsion power plant to propulsive elements with non-mechanical gearing
- B63H23/24—Transmitting power from propulsion power plant to propulsive elements with non-mechanical gearing electric
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H5/00—Arrangements on vessels of propulsion elements directly acting on water
- B63H5/02—Arrangements on vessels of propulsion elements directly acting on water of paddle wheels, e.g. of stern wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H5/00—Arrangements on vessels of propulsion elements directly acting on water
- B63H5/07—Arrangements on vessels of propulsion elements directly acting on water of propellers
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Transportation (AREA)
- Motorcycle And Bicycle Frame (AREA)
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Abstract
A whale tailwheel amphibious propulsion integrated amphibious aircraft comprises a watertight propulsion wheel and a propulsion wheel, wherein the left side and the right side of the watertight propulsion wheel are respectively connected with one propulsion wheel, one side of the propulsion wheel is in transmission fit with a power output shaft of a driving motor in the watertight propulsion wheel, the other side of the propulsion wheel is fixedly provided with a buoyancy air bag, an eccentric wheel is arranged between the watertight propulsion wheel and the propulsion wheel, and the middle circumference of the eccentric wheel is in transmission fit with an eccentric driving mechanism in the watertight propulsion wheel; a plurality of blade openings are uniformly arranged on the circumference of the wheel surface of the propelling wheel, whale tail wheel blades are arranged in each blade opening, the opening shapes of the blade openings are matched with whale tail wheel blades, and the eccentric wheels are in transmission fit with the whale tail wheel blades; and the front end and the rear end of the watertight box are respectively provided with a capturing camera. The design not only realizes high flexibility of land and water switching of two driving modes by one set of propulsion equipment, but also has simple structure, small mass and convenient maintenance.
Description
Technical Field
The invention relates to an integrated amphibious aircraft with whale tail wheel amphibious propulsion, which is particularly suitable for efficient and reliable intelligent operation in an amphibious environment.
Background
The amphibious aircraft is suitable for military operation assistance, has extremely wide application prospect and development space in the aspects of civil camp use, search and rescue, submarine resource search and the like, and is fast in research and development on the amphibious aircraft in China or the world at present. However, the current research on amphibious aircraft faces the following problems that need to be solved urgently: 1. the traditional amphibious aircraft can only realize amphibious propulsion on land and water, thus greatly limiting the application range of the aircraft; 2. the two sets of propulsion devices equipped in the traditional amphibious aircraft cause the defects of complex mechanism and inconvenient operation and maintenance; 3. the propulsion efficiency in an amphibious environment cannot be compatible, and the underwater running efficiency of the aircraft is greatly reduced. In order to solve the problems, related research projects are provided at home and abroad, wherein amphibious bionic propulsion is realized in a bionic robot mode, for example, a bionic snake can realize amphibious propulsion in a complex environment through multi-section designed relative peristalsis, but the application prospect is relatively narrow due to low efficiency; various amphibious all-terrain vehicles are designed by the military of various countries to realize amphibious battle missions, wherein the amphibious all-terrain vehicles comprise a 'spiral propulsion vehicle' developed by Russia, a 'U V TP-7 armored vehicle' in the United states, a 'bv 206s all-terrain vehicle' in Sweden and the like, but the amphibious all-terrain vehicles have a common problem that underwater propulsion cannot be realized or the underwater propulsion efficiency is low.
The invention provides a research concept of a whale tailwheel amphibious propulsion integrated amphibious aircraft. Through the integrative propulsion thought of the amphibious propulsion of imitating the strange lizard of snake, combine two big modules of whale tail wheel propulsion module and land propulsion module integratively and reach the purpose of nimble propulsion under the amphibious environment, just so solved the problem that traditional amphibious aircraft can not realize land, surface of water, aquatic is impeld and propulsion system is complicated simultaneously, impel in water and adopt whale tail wheel propulsion system in addition, greatly compensatied the shortcoming that traditional aquatic bionical propeller is low in efficiency, this design benefit uses the bionics principle, solve for amphibious aircraft's relevant problem and provide the reference direction, the bionical amphibious power integration intelligent navigation ware that has solved above problem must can exert oneself in military field and civilian field.
Disclosure of Invention
The invention aims to solve the problems of complex structure and low operation efficiency in the prior art, and provides a whale tailwheel amphibious propulsion integrated aircraft which is simple in structure and operates efficiently.
In order to achieve the above purpose, the technical solution of the invention is as follows:
a whale tailwheel amphibious propulsion integrated amphibious aircraft comprises a watertight propulsion wheel and a propulsion wheel, wherein the left side and the right side of the watertight propulsion wheel are respectively connected with one propulsion wheel, one side of the propulsion wheel is in transmission fit with a power output shaft of a driving motor in the watertight propulsion wheel, the other side of the propulsion wheel is fixedly provided with a buoyancy air bag, an eccentric wheel is arranged between the watertight propulsion wheel and the propulsion wheel, and the middle circumference of the eccentric wheel is in transmission fit with an eccentric driving mechanism in the watertight propulsion wheel;
a plurality of blade openings are uniformly arranged on the circumference of the wheel surface of the propelling wheel, whale tail wheel blades are arranged in each blade opening, the opening shapes of the blade openings are matched with whale tail wheel blades, and the eccentric wheels are in transmission fit with the whale tail wheel blades;
and the front end and the rear end of the watertight box are respectively provided with a capturing camera.
The blade head of the whale tail wheel blade close to the watertight side is fixedly connected with a blade handle which is in rotating fit with a wheel frame on the side of the propulsion wheel, the blade handle penetrates through the wheel frame and is fixedly connected with one end of a swing rod, the other end of the swing rod is in rotating fit with one end of a connecting rod, the other end of the connecting rod is in rotating fit with an eccentric wheel through a hinge shaft, the hinge shaft is fixed on the outer circumference of the eccentric wheel, and the length of the connecting rod is greater than that of the swing rod.
Two driving motors are arranged in the watertight box, the two driving motors are respectively in transmission fit with wheel shafts of the propulsion wheels on the corresponding sides through a gear box, and the wheel shafts penetrate through the eccentric driving mechanism and the eccentric wheel in sequence and then are fixedly connected with the middle parts of wheel frames on the side parts of the propulsion wheels.
The two driving motors and the two gear boxes are arranged in the watertight inner shell, the eccentric driving mechanism, the storage battery plate and the control panel are arranged in the watertight outer shell, the storage battery plate and the control panel are fixed on a top plate of the inner shell, the storage battery plate supplies power for the motors, the capture cameras and the control panel in the watertight inner shell, and the control panel is in signal connection with the motors and the capture cameras in the watertight inner shell.
The eccentric driving mechanism comprises an eccentric wheel sleeve, a primary movable plate, a secondary movable plate, a first linear motor and a second linear motor, the first linear motor is fixedly connected with the watertight inner shell, a power output rod of the first linear motor is fixedly connected with one side of the primary movable plate, the second linear motor is fixed on the other side of the primary movable plate, a power output rod of the second linear motor is fixedly connected with one side of the secondary movable plate, an eccentric wheel sleeve is fixedly connected with the other side of the secondary movable plate, and the eccentric wheel sleeve penetrates through the watertight outer shell and then is matched with the eccentric wheel in a rotating mode;
the first-stage movable plate and the inner shell are in sliding fit along the central axis direction of the first linear motor, a long circular shaft hole is formed in the middle of the first-stage movable plate along the central axis direction of the first linear motor, the first-stage movable plate and the second-stage movable plate are in sliding fit along the central axis direction of the first linear motor, and a circular shaft hole is formed in the middle of the second-stage movable plate;
the propelling wheel is fixedly connected with a wheel shaft through the middle part of the propelling wheel, and the wheel shaft sequentially penetrates through the eccentric wheel, the eccentric wheel sleeve, the circular shaft hole, the long circular shaft hole and the side plate of the inner shell and then is in transmission fit with the driving motor.
Two first sliding blocks are fixed on the side portion of the inner shell, a first sliding rod in sliding fit with the first sliding blocks is arranged in the middle of the first sliding blocks, two ends of the first sliding rod are fixed on the primary movable plate, and the first sliding rod is arranged in parallel with a central axis of the first linear motor;
two second sliding blocks are fixed on the primary movable plate, a second sliding rod in sliding fit with the second sliding blocks is arranged in the middle of the second sliding blocks, two ends of the second sliding rod are fixed on the secondary movable plate, and the second sliding rod is arranged in parallel with the central axis of the second linear motor.
The wheel shaft is in sealing fit with the watertight inner shell through the sealing retainer ring, and the first linear motor and the second linear motor are both waterproof motors.
The outer circumference of the propelling wheel is sleeved with a rubber wheel sleeve, and anti-skid patterns are arranged on the surface of the rubber wheel sleeve.
Compared with the prior art, the invention has the beneficial effects that:
1. according to the whale-tail-wheel amphibious propulsion integrated amphibious aircraft, the amphibious propulsion wheels are arranged on two watertight sides, through the integrated propulsion thought of simulating the amphibious propulsion of a strange lizard, two modes of underwater whale-wheel propulsion and land wheel type driving are combined through the same propulsion wheel, and a whale-wheel propulsion mode with high propulsion efficiency and high flexibility in water is combined with land efficient wheel type propulsion, so that the amphibious propulsion efficiency of the aircraft is ensured, the weight of the aircraft is effectively reduced, and the complexity of operation and maintenance is reduced; when the propulsion wheel rotates, the eccentric wheel rotates along with the driving wheel, so that the whale tail wheel blades swing, and sailing in water is realized; when the whale tail wheel type propulsion wheel runs on the land, the eccentric driving mechanism is started to enable the axis of the eccentric wheel to coincide with the axis of the driving wheel, so that the connecting rod drives the swing rod to enable the posture of the whale tail wheel blade to change, and at the moment, the whale tail wheel blade is gathered into the propulsion wheel to enable the propulsion wheel to run on the land, meanwhile, the influence of the blade on the wheel type movement of the land is reduced, and the blade is protected to a certain extent. Thus. The design utilizes one set of propulsion equipment to realize the land-water switching of two driving modes, has high flexibility, can realize the navigation on land, water and water, has wide application range, can meet the requirements of military affairs, scientific research and civil search and rescue,
2. the whale tailwheel amphibious propulsion integrated vehicle adopts full electric propulsion, the two driving motors are respectively controlled through the control panel, the steering of the vehicle is realized through the differential rotation of the two driving motors, and meanwhile, the eccentric wheels on the two sides can be positioned at the same or different eccentric positions by controlling the first linear motor and the second linear motor on the two sides, so that the floating, sinking, advancing and retreating of the vehicle are realized, and the vehicle can flexibly and efficiently travel in water. Therefore, the design has high driving speed and high propelling flexibility no matter in water or on land.
3. According to the whale tailwheel amphibious propulsion integrated amphibious aircraft, the rubber wheel sleeve is sleeved on the surface of the propulsion wheel, the rubber wheel sleeve is sleeved on the entity part around the propulsion wheel and provided with surface patterns, the land grabbing force and the running efficiency of land running are improved, and the propulsion wheel is protected to a certain extent. Therefore, the design has strong ground gripping force and effectively protects the propelling wheel.
Drawings
Fig. 1 is a schematic structural view of the present invention.
Fig. 2 is a top view of fig. 1.
Fig. 3 is a left side view of fig. 1.
Fig. 4 is a schematic view showing the driving of the propulsion wheel of fig. 1.
Fig. 5 is a schematic view of the structure of the propulsion wheel of fig. 1.
FIG. 6 is a schematic view of the structure of the whale tail wheel blade in FIG. 1.
Fig. 7 is a schematic view of the installation of the driving motor of fig. 4.
Fig. 8 is a schematic view of the watertight interior structure of fig. 1.
Fig. 9 is a schematic perspective view of the eccentric drive mechanism of fig. 8.
Fig. 10 is a schematic view of the eccentric drive mechanism of fig. 8.
Fig. 11 is a top view of fig. 10.
Fig. 12 is a schematic view of the construction of the watertight housing of fig. 1.
Figure 13 is a schematic view of the trailing wheel blades of the whale in operation on land.
Figure 14 is a schematic view of whale tail wheel blades in water running operation according to the invention.
In the figure: the device comprises a watertight box 1, a driving motor 11, a gear box 12, an inner shell 13, an outer shell 14, a storage battery plate 15, a control panel 16, a first sliding block 17, a propelling wheel 2, a blade opening 21, a wheel frame 22, a wheel shaft 23, a rubber wheel sleeve 24, an eccentric wheel 3, a hinge shaft 31, a connecting rod 32, a swing rod 33, a buoyancy air bag 4, an eccentric driving mechanism 5, a first sliding rod 50, an eccentric wheel sleeve 51, a primary movable plate 52, a secondary movable plate 53, a first linear motor 54, a second linear motor 55, an oblong shaft hole 56, a circular shaft hole 57, a second sliding block 58, a second sliding rod 59, a whale tail wheel blade 6, a blade handle 61 and a capturing camera 7.
Detailed Description
The present invention will be described in further detail with reference to the following description and embodiments in conjunction with the accompanying drawings.
Referring to fig. 1 to 14, the whale tailwheel amphibious propulsion integrated amphibious craft comprises a watertight 1 and a propulsion wheel 2, wherein the left side and the right side of the watertight 1 are respectively connected with one propulsion wheel 2, one side of the propulsion wheel 2 is in transmission fit with a power output shaft of a driving motor 11 in the watertight 1, the other side of the propulsion wheel 2 is fixed with a buoyancy air bag 4, an eccentric wheel 3 is arranged between the watertight 1 and the propulsion wheel 2, and the middle circumference of the eccentric wheel 3 is in transmission fit with an eccentric driving mechanism 5 in the watertight 1;
a plurality of blade openings 21 are uniformly arranged on the circumference of the wheel surface of the propelling wheel 2, whale tail wheel blades 6 are arranged in each blade opening 21, the opening shapes of the blade openings 21 are matched with the whale tail wheel blades 6, and the eccentric wheel 3 is in transmission fit with the whale tail wheel blades 6;
the front end and the rear end of the watertight 1 are respectively provided with a capturing camera 7.
The blade head of the whale tail wheel blade 6 close to the watertight 1 side is fixedly connected with a blade handle 61 which is in rotating fit with the wheel frame 22 on the side of the propelling wheel 2, the blade handle 61 penetrates through the wheel frame 22 and then is fixedly connected with one end of a swing rod 33, the other end of the swing rod 33 is in rotating fit with one end of a connecting rod 32, the other end of the connecting rod 32 is in rotating fit with the eccentric wheel 3 through a hinge shaft 31, the hinge shaft 31 is fixed on the outer circumference of the eccentric wheel 3, and the length of the connecting rod 32 is larger than that of the swing rod 33.
Two driving motors 11 are arranged in the watertight 1, the two driving motors 11 are respectively in transmission fit with wheel shafts 23 of the propelling wheels 2 on the corresponding sides through a gear box 12, and the wheel shafts 23 sequentially penetrate through the eccentric driving mechanism 5 and the eccentric wheels 3 and then are fixedly connected with the middle parts of wheel frames 22 on the side parts of the propelling wheels 2.
The two driving motors 11 and the two gear boxes 12 are arranged in an inner shell 13 of the watertight 1, the inner shell 13, the eccentric driving mechanism 5, the storage battery plate 15 and the control panel 16 are arranged in an outer shell 14 of the watertight 1, the storage battery plate 15 and the control panel 16 are fixed on a top plate of the inner shell 13, the storage battery plate 15 supplies power for the motor in the watertight 1, the capture camera 7 and the control panel 16 respectively, and the control panel 16 is in signal connection with the motor in the watertight 1 and the capture camera 7 respectively.
The eccentric driving mechanism 5 comprises an eccentric wheel sleeve 51, a primary movable plate 52, a secondary movable plate 53, a first linear motor 54 and a second linear motor 55, wherein the first linear motor 54 is fixedly connected with the inner shell 13 of the watertight 1, a power output rod of the first linear motor 54 is fixedly connected with one side of the primary movable plate 52, the second linear motor 55 is fixed on the other side of the primary movable plate 52, a power output rod of the second linear motor 55 is fixedly connected with one side of the secondary movable plate 53, an eccentric wheel sleeve 51 is fixedly connected with the other side of the secondary movable plate 53, and the eccentric wheel sleeve 51 penetrates through the outer shell 14 of the watertight 1 and then is in rotating fit with the eccentric wheel 3;
the primary movable plate 52 is in sliding fit with the inner shell 13 along the central axis direction of the first linear motor 54, the middle of the primary movable plate 52 is provided with a long circular shaft hole 56 along the central axis direction of the first linear motor 54, the primary movable plate 52 is in sliding fit with the secondary movable plate 53 along the central axis direction of the first linear motor 54, and the middle of the secondary movable plate 53 is provided with a circular shaft hole 57;
the propulsion wheel 2 is fixedly connected with a wheel shaft 23 through the middle part thereof, and the wheel shaft 23 sequentially passes through the eccentric wheel 3, the eccentric wheel sleeve 51, the circular shaft hole 57, the long circular shaft hole 56 and the side plate of the inner shell 13 and then is in transmission fit with the driving motor 11.
Two first sliding blocks 17 are fixed on the side of the inner shell 13, a first sliding rod 50 in sliding fit with the first sliding blocks 17 is arranged in the middle of the first sliding blocks 17, two ends of the first sliding rod 50 are fixed on a primary movable plate 52, and the first sliding rod 50 is arranged in parallel with the central axis of a first linear motor 54;
two second sliding blocks 58 are fixed on the primary movable plate 52, a second sliding rod 59 in sliding fit with the second sliding blocks 58 is arranged in the middle of the second sliding blocks 58, two ends of the second sliding rod 59 are fixed on the secondary movable plate 53, and the second sliding rod 59 is arranged in parallel with the central axis of the second linear motor 55.
The wheel shaft 23 is in sealing fit with the inner shell 13 of the watertight 1 through a sealing retainer ring, and the first linear motor 54 and the second linear motor 55 are waterproof motors.
The outer circumference of the propelling wheel 2 is sleeved with a rubber wheel sleeve 24, and anti-skid patterns are arranged on the surface of the rubber wheel sleeve 24.
The principle of the invention is illustrated as follows:
eccentric drive mechanism 5: when the first linear motor 54 is pushed and pulled, the first sliding rod 50 is pushed to slide in the first sliding block 17, and simultaneously the primary movable plate 52, the secondary movable plate 53 and the eccentric wheel sleeve 51 are driven to move transversely; when the second linear motor 55 performs pushing and pulling actions, the second sliding rod 59 is pushed to slide in the second sliding block 58, and the second movable plate 53 and the eccentric wheel sleeve 51 are driven to perform longitudinal movement; the actions of the first linear motor 54 and the second linear motor 55 are combined, the eccentric wheel sleeve 51 can drive the eccentric wheel 3 to change the position of the eccentric wheel 3 within 360 degrees in a plane, so that the postures of the whale tail wheel blades 6 on the propulsion wheel 2 are changed, when the propulsion wheel 2 rotates, due to the different postures of the whale tail wheel blades 6, the propulsion force in different directions can be generated, the floating, the submerging, the advancing and the retreating are realized, meanwhile, the two driving motors are driven at different rotating speeds, and the steering and the overturning of the aircraft can be realized.
Sealing: the design can realize independent sealing or simultaneous sealing of the inner shell 13 or the outer shell 14 according to different requirements.
Example 1:
a whale tailwheel amphibious propulsion integrated amphibious aircraft comprises a watertight 1 and a propulsion wheel 2, wherein the left side and the right side of the watertight 1 are respectively connected with one propulsion wheel 2, one side of each propulsion wheel 2 is in transmission fit with a power output shaft of a driving motor 11 in the watertight 1, the other side of each propulsion wheel 2 is fixedly provided with a buoyancy air bag 4, an eccentric wheel 3 is arranged between the watertight 1 and the propulsion wheel 2, and the middle circumference of the eccentric wheel 3 is in transmission fit with an eccentric driving mechanism 5 in the watertight 1; a plurality of blade openings 21 are uniformly arranged on the circumference of the wheel surface of the propelling wheel 2, whale tail wheel blades 6 are arranged in each blade opening 21, the opening shapes of the blade openings 21 are matched with the whale tail wheel blades 6, and the eccentric wheel 3 is in transmission fit with the whale tail wheel blades 6; the front end and the rear end of the watertight 1 are respectively provided with a capturing camera 7; a blade handle 61 which is rotatably matched with a wheel frame 22 at the side part of the propelling wheel 2 is fixedly connected to a blade head of the whale tail wheel blade 6 near the watertight 1 side, the blade handle 61 penetrates through the wheel frame 22 and then is fixedly connected with one end of a swing rod 33, the other end of the swing rod 33 is rotatably matched with one end of a connecting rod 32, the other end of the connecting rod 32 is rotatably matched with the eccentric wheel 3 through a hinge shaft 31, the hinge shaft 31 is fixed on the outer circumference of the eccentric wheel 3, and the length of the connecting rod 32 is greater than that of the swing rod 33; the eccentric driving mechanism 5 comprises an eccentric wheel sleeve 51, a primary movable plate 52, a secondary movable plate 53, a first linear motor 54 and a second linear motor 55, wherein the first linear motor 54 is fixedly connected with the inner shell 13 of the watertight 1, a power output rod of the first linear motor 54 is fixedly connected with one side of the primary movable plate 52, the second linear motor 55 is fixed on the other side of the primary movable plate 52, a power output rod of the second linear motor 55 is fixedly connected with one side of the secondary movable plate 53, an eccentric wheel sleeve 51 is fixedly connected with the other side of the secondary movable plate 53, and the eccentric wheel sleeve 51 penetrates through the outer shell 14 of the watertight 1 and then is in rotating fit with the eccentric wheel 3; the primary movable plate 52 is in sliding fit with the inner shell 13 along the central axis direction of the first linear motor 54, the middle of the primary movable plate 52 is provided with a long circular shaft hole 56 along the central axis direction of the first linear motor 54, the primary movable plate 52 is in sliding fit with the secondary movable plate 53 along the central axis direction of the first linear motor 54, and the middle of the secondary movable plate 53 is provided with a circular shaft hole 57; the propulsion wheel 2 is fixedly connected with a wheel shaft 23 through the middle part thereof, and the wheel shaft 23 sequentially passes through the eccentric wheel 3, the eccentric wheel sleeve 51, the circular shaft hole 57, the long circular shaft hole 56 and the side plate of the inner shell 13 and then is in transmission fit with the driving motor 11; two first sliding blocks 17 are fixed on the side of the inner shell 13, a first sliding rod 50 in sliding fit with the first sliding blocks 17 is arranged in the middle of the first sliding blocks 17, two ends of the first sliding rod 50 are fixed on a primary movable plate 52, and the first sliding rod 50 is arranged in parallel with the central axis of a first linear motor 54; two second sliding blocks 58 are fixed on the primary movable plate 52, a second sliding rod 59 in sliding fit with the second sliding blocks 58 is arranged in the middle of the second sliding blocks 58, two ends of the second sliding rod 59 are fixed on the secondary movable plate 53, and the second sliding rod 59 is arranged in parallel with the central axis of the second linear motor 55.
Example 2:
example 2 is substantially the same as example 1 except that:
two driving motors 11 are arranged in the watertight box 1, the two driving motors 11 are in transmission fit with wheel shafts 23 of the propelling wheels 2 on the corresponding sides through a gear box 12 respectively, and the wheel shafts 23 penetrate through the eccentric driving mechanism 5 and the eccentric wheel 3 in sequence and then are fixedly connected with the middle parts of wheel frames 22 on the side parts of the propelling wheels 2; the outer circumference of the propelling wheel 2 is sleeved with a rubber wheel sleeve 24, and anti-skid patterns are arranged on the surface of the rubber wheel sleeve 24.
Example 3:
example 3 is substantially the same as example 2 except that:
the two driving motors 11 and the two gear boxes 12 are all arranged in an inner shell 13 of the watertight 1, the inner shell 13, the eccentric driving mechanism 5, the storage battery plate 15 and the control panel 16 are arranged in an outer shell 14 of the watertight 1, the storage battery plate 15 and the control panel 16 are fixed on a top plate of the inner shell 13, the storage battery plate 15 respectively supplies power to the motor, the capturing camera 7 and the control panel 16 in the watertight 1, and the control panel 16 is respectively in signal connection with the motor and the capturing camera 7 in the watertight 1; the wheel shaft 23 is in sealing fit with the inner shell 13 of the watertight 1 through a sealing retainer ring, and the first linear motor 54 and the second linear motor 55 are both waterproof motors.
Claims (7)
1. The whale tailwheel amphibious propulsion integrated aircraft is characterized in that:
the amphibious aircraft comprises a watertight body (1) and a propulsion wheel (2), wherein the left side and the right side of the watertight body (1) are respectively connected with the propulsion wheel (2), one side of the propulsion wheel (2) is in transmission fit with a power output shaft of a driving motor (11) in the watertight body (1), the other side of the propulsion wheel (2) is fixedly provided with a buoyancy air bag (4), an eccentric wheel (3) is arranged between the watertight body (1) and the propulsion wheel (2), and the middle circumference of the eccentric wheel (3) is in transmission fit with an eccentric driving mechanism (5) in the watertight body (1);
a plurality of blade openings (21) are uniformly arranged on the circumference of the wheel surface of the propulsion wheel (2), whale tail wheel blades (6) are arranged in each blade opening (21), the opening shapes of the blade openings (21) are matched with the whale tail wheel blades (6), and the eccentric wheel (3) is in transmission fit with the whale tail wheel blades (6);
the front end and the rear end of the watertight (1) are respectively provided with a capturing camera (7);
the eccentric driving mechanism (5) comprises an eccentric wheel sleeve (51), a primary movable plate (52), a secondary movable plate (53), a first linear motor (54) and a second linear motor (55), the first linear motor (54) is fixedly connected with an inner shell (13) of the watertight box (1), a power output rod of the first linear motor (54) is fixedly connected with one side of the primary movable plate (52), the second linear motor (55) is fixed to the other side of the primary movable plate (52), a power output rod of the second linear motor (55) is fixedly connected with one side of the secondary movable plate (53), the eccentric wheel sleeve (51) is fixedly connected to the other side of the secondary movable plate (53), and the eccentric wheel sleeve (51) penetrates through an outer shell (14) of the watertight box (1) and then is matched with the eccentric wheel (3) in a rotating mode;
the primary movable plate (52) is in sliding fit with the inner shell (13) along the central axis direction of the first linear motor (54), a long circular shaft hole (56) is formed in the middle of the primary movable plate (52) along the central axis direction of the first linear motor (54), the primary movable plate (52) is in sliding fit with the secondary movable plate (53) along the central axis direction of the first linear motor (54), and a circular shaft hole (57) is formed in the middle of the secondary movable plate (53);
the propulsion wheel (2) is fixedly connected with a wheel shaft (23) through the middle part of the propulsion wheel, and the wheel shaft (23) penetrates through the eccentric wheel (3), the eccentric wheel sleeve (51), the circular shaft hole (57), the long circular shaft hole (56) and the side plate of the inner shell (13) in sequence and then is in transmission fit with the driving motor (11).
2. The integrated amphibious vehicle with whale tailwheel amphibious propulsion as claimed in claim 1, wherein:
the paddle head of whale tail wheel paddle (6) nearly watertight (1) side department fixedly connected with impel wheel (2) lateral part rim (22) rotation fit's petiole (61), petiole (61) pass behind rim (22) and the one end fixed connection of pendulum rod (33), the other end of pendulum rod (33) and the rotatory cooperation of one end of connecting rod (32), the other end of connecting rod (32) with through hinge (31) and eccentric wheel (3) rotation fit, hinge (31) are fixed in on the outside circumference of eccentric wheel (3), the length of connecting rod (32) is greater than the length of pendulum rod (33).
3. The integrated amphibious vehicle with whale tailwheel amphibious propulsion as claimed in claim 2, wherein:
two driving motors (11) are arranged in the watertight box (1), the two driving motors (11) are in transmission fit with wheel shafts (23) of the propelling wheels (2) on the corresponding sides through gear boxes (12), and the wheel shafts (23) sequentially penetrate through the eccentric driving mechanism (5) and the eccentric wheel (3) and then are fixedly connected with the middle parts of wheel frames (22) on the side parts of the propelling wheels (2).
4. The integrated amphibious vehicle with whale tailwheel amphibious propulsion as claimed in claim 3, wherein:
two driving motors (11) and two gear boxes (12) are arranged in an inner shell (13) of the watertight box (1), the inner shell (13), the eccentric driving mechanism (5), the storage battery plate (15) and the control panel (16) are arranged in an outer shell (14) of the watertight box (1), the storage battery plate (15) and the control panel (16) are fixed on a top plate of the inner shell (13), the storage battery plate (15) supplies power for a motor in the watertight box (1), a capture camera (7) and the control panel (16) respectively, and the control panel (16) is in signal connection with the motor in the watertight box (1) and the capture camera (7) respectively.
5. The integrated whale tailed wheel amphibious propulsion vehicle as claimed in claim 1, 2, 3 or 4, wherein:
two first sliding blocks (17) are fixed on the side portion of the inner shell (13), a first sliding rod (50) in sliding fit with the first sliding blocks (17) is arranged in the middle of the first sliding blocks (17), two ends of the first sliding rod (50) are fixed on a primary movable plate (52), and the first sliding rod (50) is arranged in parallel with the central axis of a first linear motor (54);
two second sliding blocks (58) are fixed on the primary movable plate (52), a second sliding rod (59) in sliding fit with the second sliding blocks (58) is arranged in the middle of the second sliding blocks (58), two ends of the second sliding rod (59) are fixed on the secondary movable plate (53), and the second sliding rod (59) and the central axis of the second linear motor (55) are arranged in parallel.
6. The integrated amphibious vehicle with whale tailwheel amphibious propulsion as claimed in claim 5, wherein:
the wheel shaft (23) is in sealing fit with the inner shell (13) of the watertight device (1) through a sealing retainer ring, and the first linear motor (54) and the second linear motor (55) are both waterproof motors.
7. The integrated amphibious vehicle with whale tailwheel amphibious propulsion as claimed in claim 6, wherein:
the outer circumference of the propelling wheel (2) is sleeved with a rubber wheel sleeve (24), and anti-skid patterns are arranged on the surface of the rubber wheel sleeve (24).
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| CN202010833604.XA CN112009189B (en) | 2020-08-18 | 2020-08-18 | Whale tailwheel amphibious propulsion integrated aircraft |
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| CN113059968A (en) * | 2021-04-01 | 2021-07-02 | 宿正国 | Small-size amphibious exploration robot of sea and land |
| CN114083944B (en) * | 2021-10-28 | 2023-09-29 | 东南大学 | Amphibious robot propelled by decoupled cycloidal blade wheel |
| CN114619813B (en) * | 2022-04-13 | 2023-12-01 | 郜生云 | Amphibious vehicle and application method thereof |
| CN115871384A (en) * | 2023-02-21 | 2023-03-31 | 天津大学 | Multi-mode cross-amphibious motion bionic amphibious robot |
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| CN100493937C (en) * | 2006-03-01 | 2009-06-03 | 北京航空航天大学 | Amphibious two-purpose robot mechanism |
| CN104842726A (en) * | 2015-05-12 | 2015-08-19 | 西北工业大学 | Water-land amphibious barrel-shaped robot |
| CN107187570B (en) * | 2017-05-03 | 2019-04-30 | 武汉理工大学 | A kind of ship whale tail wheel propeller with high propulsive efficiency |
| CN108162706A (en) * | 2018-01-05 | 2018-06-15 | 上海海洋大学 | A kind of amphibious aircraft |
| CN110549804B (en) * | 2019-09-17 | 2021-05-14 | 北京大学 | Amphibious propulsion device based on 4D printing technology and manufacturing method |
| CN110789272B (en) * | 2019-11-04 | 2023-04-11 | 湖南科技大学 | Amphibious composite wheel and amphibious vehicle |
| CN111204183B (en) * | 2020-02-28 | 2021-06-01 | 东南大学 | Amphibious platform based on wheel wing composite propulsion mechanism and motion method thereof |
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