CN105151301A - Aerial and underwater amphibious robot and method - Google Patents

Abstract

The invention discloses an air-submarine amphibious robot, which comprises a frame with an electronic cabin; the frame is a delta-wing frame; and an air motion system and an underwater motion system are respectively arranged on the frame. The air movement system includes air propellers respectively arranged at the three vertices of the frame; the air propeller includes a motor with a propeller, and an air ring is arranged on the periphery of the propeller; the connection between the air ring and the frame A large arc is adopted; the total area occupied by the three air circles does not exceed five-sixths of the triangular area of the frame; the output shaft of the motor is provided with a primary seal to prevent high-pressure water flow and a seal to prevent low-pressure water flow. A secondary seal; the primary seal is a controllable static seal; the secondary seal is a dynamic seal.

Description

Air-submersible amphibious robot and method

technical field

The invention relates to an amphibious robot, in particular to an amphibious robot capable of navigating underwater and flying in the air.

Background technique

With the development of science and technology, humans continue to explore the world through robots. As a favorable tool for exploring the ocean, unmanned underwater vehicles have played an important role in both military and civilian applications; It is a tool that can work at low altitudes, and can perform aerial photography, item delivery and other work.

At present, the recovery process of most unmanned underwater vehicles relies on ships and ships, and the recovery process is cumbersome, which greatly reduces the work efficiency of underwater operations; Flying in the air is easy to expose itself, and most aircraft are not waterproof. Especially in thunderstorms at sea, the aircraft is very easy to lose.

Contents of the invention

The technical problem to be solved by the invention is to provide an air-submarine amphibious robot with simple structure.

In order to solve the above technical problems, the present invention provides an air-submersible amphibious robot, comprising a frame with an electronic cabin; the frame is a delta-wing frame; the frame is respectively provided with an air movement system and an underwater movement system .

As an improvement to the air-submarine amphibious robot described in the present invention: the air motion system includes air propellers respectively arranged at three vertices of the frame; the air propellers include motors with propellers, and the periphery of the propellers is provided with Air ring; the connection between the air ring and the frame adopts a large arc transition; the total area occupied by the three air rings does not exceed five-sixths of the triangular area of the frame; the output shaft of the motor is provided with A primary seal for preventing high-pressure water flow and a secondary seal for preventing low-pressure water flow; the primary seal is a controllable static seal; the secondary seal is a dynamic seal.

As a further improvement to the air-submersible amphibious robot described in the present invention: the air ring includes a water baffle, a sliding motor and a casing; the casing is fixed to the apex of the frame, and it adopts a structure in which the diameter of the bottom ring is smaller than that of the top ring , the shape from the bottom ring to the top ring adopts a circular arc transition; the sliding motor is fixed on the inner side of the shell through a tripod bracket, and a water baffle is set on its output shaft; the water baffle includes an inner layer and an outer layer.

As a further improvement to the air-submarine amphibious robot described in the present invention: the underwater motion system includes an air energy propeller and a tail rudder arranged at the tail end of the frame; the tail rudder includes left and right adjusted rudders and an upper , down to adjust the rudder.

As a further improvement to the air-submersible amphibious robot of the present invention: a buffer cabin is provided on the lower side of the sealed cabin, the buffer cabin includes a water chamber, and a drain door with a water hole is arranged on the upper opening of the water chamber. The door is connected with the geometry of the buffer cabin to form a whole.

The use method of the air-submersible amphibious robot; it is divided into the air operation state and the underwater operation state; the air operation state is as follows: the primary seal of the motor in the air propeller is unlocked, the outer layer of the water retaining plate of the air ring is retracted into the inner gap, The motor of the air propeller starts to drive the propeller to generate buoyancy; the height and direction of the robot are changed by adjusting the speed of each propeller; the air propeller generates thrust to assist its advancement; the underwater operation status is as follows: the motor in the air propeller The primary seal of the air ring is locked, and the outer layer of the water baffle of the air ring protrudes from the gap in the inner layer, and the thrust is generated through the air energy propeller; the direction of movement of the left, right, up, and down is adjusted respectively through the tail rudder.

As an improvement of the use method of the air-submersible amphibious robot of the present invention: when entering the water in the air, the steps are as follows: the speed of the air propeller is reduced, and its height is reduced; The motor of the air propeller stops rotating, and at the same time the primary seal of the air propeller is locked, the frame enters the water surface, the drain door in the water chamber of the buffer cabin is closed, and the water flows into the water chamber through the water hole, and at the same time The water flow enters the air circle through the gap of the fender, the buoyancy of the robot decreases, and it sinks; after the robot completely enters the water, the air energy propeller is turned on, and the direction of movement of left, right, up and down is adjusted respectively through the tail rudder.

As an improvement of the use method of the air-submersible amphibious robot described in the present invention: when the water enters the air, the steps are as follows: adjust the direction of movement to the left, right, up and down through the tail rudder, so that the frame enters the water surface; When the water surface, the primary seal of the air propeller is unlocked, and the outer layer of the water baffle of the air ring is retracted into the inner layer; the drain door of the buffer compartment is opened to accelerate drainage; when there is water in the air ring, the propeller of the air propeller rotates at a low speed , the robot is gradually separated from the water surface by using the thrust of the water; when the robot is completely separated from the water surface and the water in the air circle and the buffer cabin is drained, the propeller of the air propeller reaches the flight speed.

As an improvement of the use method of the air-submersible amphibious robot according to the present invention: the process of shrinking the water baffle to opening is as follows: the inner layer and the outer layer of the water baffle are located in the shell, and the sliding motor first drives the outer layer of the water baffle through rotation Fully extend the gap of the inner layer. At this time, the end of the outer layer is combined with the top of the inner layer, and the output shaft of the sliding motor sticks to the inner layer, driving the inner layer to extend completely, and then the sliding motor is locked; Shrinking to closing process: the outer and inner layers of the water baffle have been stretched out, and the sliding motor first drives the inner layer of the water baffle to retract through rotation. When the inner layer is fully retracted, the top of the inner layer and the end of the outer layer are separated, and the sliding motor outputs The shaft is attached to the outer layer, which drives the outer layer to retract completely, and the sliding motor is locked.

On the one hand, the robot of the present invention realizes underwater submersion, and on the other hand, it can also realize air flight. In the process of underwater submersion and air flight, the efficiency of use is increased by changing the quality of itself at any time, and when the quality is switched, The present invention adopts the setting of the hatch door with holes, which makes the inside and outside of the cabin naturally form one body when in water, increases its quality, and does not require a particularly complicated structure. , and by opening the hatch, it can achieve rapid mass change and lift-off efficiency. Correspondingly, the air circle is equipped with corresponding primary seals and secondary seals. Through these settings, water movement and Mutual switching of air movement.

Description of drawings

The specific implementation manners of the present invention will be described in further detail below in conjunction with the accompanying drawings.

Fig. 1 is the main structural representation of the present invention;

Fig. 2 is a side view structural schematic diagram of Fig. 1;

FIG. 3 is a schematic top view of the structure in FIG. 1 .

Fig. 4 is a schematic diagram of the sealing arrangement of the air propeller;

FIG. 5 is a schematic structural view of the air ring 300;

FIG. 6 is a structural schematic diagram of the drain door 503 of the buffer compartment 500 .

Detailed ways

Embodiment 1, Figures 1 to 6 provide an air-submersible amphibious robot and its method.

Wherein the air-submersible amphibious robot includes a frame 600 with an electronic cabin 400; the frame 600 is a delta-wing frame; the frame 600 is respectively provided with an air movement system and an underwater movement system. Because the robot of the present invention will move in the air, and will take into account the underwater motion, so adopt the setting of delta wing, in water, the setting of delta wing makes the present invention have definite motion direction (vertex angle direction of isosceles triangle) , while in the air, since the power distribution of the three screw propellers will be uneven, the tail air energy propeller 210 is used to move forward.

The air movement system mainly includes propeller I, propeller II, and propeller III; the underwater movement system mainly includes rudder I201, rudder II202, rudder III203, rudder IV204, and air energy propeller 210.

The air motion system completes the motion of the robot of the present invention in the air medium, and the propeller I, propeller II and propeller III of the air motion system are respectively arranged at three vertices of the frame 600, and the air propellers (the propeller through I, propulsion Both the propeller II and propeller III) are composed of the motor 100 of the propeller and the air ring 300; the position of the output shaft 101 of the motor 100 of the propeller is at the three vertices of the isosceles triangle (the isosceles triangle structure formed by the delta wing frame), The connection between the air ring 300 and the frame 600 adopts a large arc to reduce the resistance in the water. On the top view of the robot, the area occupied by the three air rings 300 is no more than one-sixth of the triangular area of the frame 600 five.

As shown in FIG. 4 , two-stage water seals are provided on the output shaft 101 of the motor 100 , including a primary seal 105 and a secondary seal 106 . The primary seal 105 is a controllable static seal, and the locking and unlocking of the primary seal 105 is controlled by the steering gear 104 . When the output shaft 101 of the motor 100 is stationary and the primary seal 105 is locked, the primary seal 105 acts as a static seal; when the primary seal 105 is unlocked, the primary seal 105 has no friction against the output shaft 101 of the motor 100 . The secondary seal 106 is a dynamic seal and the secondary seal 106 is always active. Here, the output shaft 101 is wrapped by the output shaft housing 102 , while the primary seal 105 and the secondary seal 106 are both arranged in the output shaft housing 102 , and its steering gear 104 is fixed on the side wall of the output shaft housing 102 .

The primary seal 105 can prevent high-pressure water from entering the motor 100 , and the secondary seal 106 can prevent low-pressure water from entering the motor 100 . When the motor 100 needs to rotate, the robot flies in the air or flies into the air from the water, the primary seal 105 is unlocked; when the motor 100 stops rotating, the robot enters the water and sails, the primary seal 105 is locked. The secondary seal 106 is located behind the primary seal 105 and closer to the sealed compartment of the motor. The secondary seal 106 prevents low-pressure water flow from entering the motor when the primary seal 105 switches states.

The air ring 300 is arranged on the periphery of the propeller mentioned above, as shown in FIG. There are multiple water barriers (outer layer 301, inner layer 302) and sliding motors 303 and are evenly distributed in the casing 304 (fixed by a tripod bracket). The casing 304 adopts a structure in which the diameter of the bottom ring 306 is smaller than that of the top ring 305. The shape of the top ring 305 adopts a circular arc transition, which improves the motion characteristics of the robot when it comes out of the water by reducing the air characteristics. The water barrier comprises an outer layer 301 and an inner layer 302 . The outer layer 301 is arranged in the gap in the inner layer 302 , and it is controlled to shrink and open by the output shaft of the sliding motor 303 .

The process of shrinking and opening the water barrier: the inner layer 302 and the outer layer 301 of the water barrier are located in the shell 304, and the sliding motor 303 drives the outer layer 301 of the water barrier to fully extend out of the gap of the inner layer 302 through rotation. At this time, The end of the outer layer 301 is combined with the top of the inner layer 302, and the output shaft of the sliding motor 303 sticks to the inner layer 302, which drives the inner layer 302 to stretch out completely, and then the sliding motor 303 is locked. The process of shrinking the flap to closing: both the outer layer 301 and the inner layer 302 of the flap have been stretched out, and the sliding motor 303 first drives the inner layer 302 of the flap to retract through rotation. When the inner layer 302 is fully retracted, the inner layer 302 The top end is separated from the end of the outer layer 301, and the output shaft of the sliding motor 303 is attached to the outer layer 301, which drives the outer layer 301 to retract completely, and the sliding motor 303 is locked.

The water baffle can reduce the running resistance in the water and slow down the speed of entering the water at the same time. The water baffle and the shell 304 do not constitute a sealed space, and water flow can enter the air ring 300 .

The motor 100 drives the propeller to generate thrust against the air to drive the robot forward, and the purpose of changing the height and direction of the robot is achieved by controlling the rotational speed. When the air-submersible amphibious robot sails into the air from the water, the air motion system runs at a low speed to assist the robot to get out of the water. The propellers of propeller Ⅰ, propeller Ⅱ and propeller Ⅲ here rotate to throw water droplets out of the range of the air circle to realize lift-off (if no air circle is set here, after the water droplets are thrown out, the A vortex will be formed on the water surface, and the water on the side will continue to press against the position where the propeller I, propeller II, and propeller III are located due to the pressure, preventing the robot from taking off). In the process of being like water, a relatively sealed space is formed in the air circle through the setting of the water baffle, and water flows into the gaps in the space, increasing the gravity of the robot.

The underwater motion system completes the movement of the robot in the diving state, and the motion power of the underwater motion system is generated by the air energy propeller 210 and four rudders (rudder I 201, rudder II 202, rudder III 203, rudder IV 204). The air energy propeller 210 can provide power for advancing in water, and the steering gears of rudder I 201, rudder II 202, rudder III 203, and rudder IV 204 can drive the rudder blades to change the direction of the air-submersible amphibious robot's water movement. When the air-submersible amphibious robot is flying in the air, the underwater motion system stops working.

The process of the air-submersible amphibious robot entering the water from the air:

First of all, the robot lands on the water surface through the air movement system; that is, the speed of propeller I, propeller II, and propeller III decreases to reduce its buoyancy and achieve slow landing;

When the robot enters the water, the aerial motion system stops working, and the robot has a sinking tendency through its own gravity. When this trend occurs, as long as the underwater motion system is turned on, the robot can move below the water surface.

The process of the air-submersible amphibious robot entering the air from underwater: the robot moves to the water surface through the underwater motion system, and the air motion system starts to work. Thrust, at this time, by continuing to increase the rotational speed of propellers in propeller I, propeller II, and propeller III, the robot can be made to enter the air. The above-mentioned tendency of the robot to sink by its own gravity is mainly realized by setting the buffer cabin 500. When flying, the quality needs to be light, and when entering the water, the quality needs to be heavy. The mechanism of the robot is more important. Therefore, in the present invention, the setting of the buffer cabin 500 is used to change the relevant quality of the robot of the present invention at any time, so as to realize mutual switching between different environments. The lower side of the airtight cabin 400 is provided with a buffer cabin 500, and the buffer cabin 500 is composed of a water chamber, and an opening on its side wall is provided with a split-type drain door 503 controlled by a steering gear 502, as shown in Figure 6, the drain door 503 is fixed to the water chamber through a shaft 504, on which a steering gear 502 is provided to control the opening and closing of the drain door 503, and the drain door 503 is provided with a water hole 501. When the robot is moving in the water, the drain door 503 of the buffer cabin 500 is closed, and the water flow overflows into the water chamber in the buffer cabin 500 through the water hole 501, so that the total gravity of the robot is increased, and finally the total gravity is equal to the total buoyancy, and the center of gravity and the buoyancy The center is on the same plumb line and the center of gravity is lower than the center of buoyancy. When the robot is moving in the air, the buffer cabin 500 makes the water flow in the water chamber empty quickly by opening the drain door 503, the center of gravity of the robot moves up, and the overall mass is reduced, which increases the take-off efficiency of the robot; The geometry is connected to form a whole to ensure its streamlinedness. Closing and opening of the drain door 503 only affects the speed of water flow into and out of the water chamber.

The robot adopts overall sealing and waterproof measures to ensure the normal operation of electronic equipment; when the robot is underwater, the total gravity is equal to the total buoyancy, and the center of gravity and the center of buoyancy are on the same plumb line, and the center of gravity is lower than the center of buoyancy.

The frame 300 is used to fix propeller I, propeller II, propeller III, rudder I 201, rudder II 202, rudder III 203, rudder IV 204, air energy propeller 210, and electronic cabin 400. The frame 300 is made of seawater corrosion-resistant materials.

The electronic cabin 400 is used to place the electronic equipment of the aerial motion system and the underwater sports system, and the electronic equipment for operation and control can be placed in the electronic cabin, including control boards, batteries, sensors and other equipment.

The specific steps of using the air-submarine amphibious robot are as follows:

It is divided into air operation state and underwater operation state;

The air operation status is as follows:

The primary seal 105 of the air propeller is unlocked, the water baffles (outer layer 301, inner layer 302) of the air ring are retracted, the motor 100 of the air propeller is started, and the propeller is driven to generate buoyancy;

The height and direction of the robot are changed by adjusting the rotational speed of each air propeller; the air energy propeller 210 generates thrust when the robot needs to move forward quickly to assist its advancement.

The underwater operation status is as follows:

The primary seal 105 of the air propeller is locked, and the water baffle (outer layer 301, inner layer 302) of the air ring is stretched out, and the thrust is generated by the air propeller 210;

Use the tail rudder to adjust the movement direction of left, right, up and down respectively.

When entering the water in the air, the steps are as follows:

By reducing the rotational speed of the air propeller, its height is lowered;

On the water surface, the water retaining plate of the air ring stretches out completely, the motor of the air propeller stops rotating, and the primary seal 105 of the air propeller locks simultaneously, and the frame 600 enters the water surface, and the drain door 503 of the buffer cabin is closed. The water flow enters the water chamber through the water hole 501 of the buffer cabin, and at the same time, the water flow enters the air circle through the gap of the water barrier, and the buoyancy of the robot decreases and sinks;

After the robot completely enters the water, the air energy propeller 210 is turned on, and the direction of movement of left, right, up and down is adjusted respectively through the tail rudder.

When the water enters the air, the steps are as follows:

The direction of movement of left, right, up and down is adjusted through the tail rudder, so that the frame 600 enters the water surface; when it is close to the water surface, the primary seal 105 of the air propeller is unlocked, the water baffle of the air ring is slowly retracted, and the motor accelerates at the same time; The drain door 503 of the buffer compartment is opened. When there is water in the air circle, the propeller of the air propeller rotates at a low speed, using the thrust on the water to make the robot gradually leave the water surface; The propeller reaches the flying speed, and the water baffle (outer layer 301, inner layer 302) is fully retracted.

Finally, it should also be noted that what is listed above is only a specific embodiment of the present invention. Obviously, the present invention is not limited to the above embodiments, and many variations are possible. All deformations that can be directly derived or associated by those skilled in the art from the content disclosed in the present invention should be considered as the 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.