CN111746208B - A sea-air amphibious heterogeneous robot - Google Patents

Abstract

The invention discloses a water-air amphibious heterogeneous robot, relates to the field of air-submersible amphibious robots, and solves the problem that the detection range of the robot is limited because no robot capable of triphibious operation underwater, on-water and in-air exists. The technical characteristics comprise: a main body; the quick floating and submerging structure is arranged in the main body and used for quickly floating and submerging; the water surface-underwater switching structure is arranged on the side surface of the main body and is used for switching between a water surface mode and an underwater mode; the steering wing is arranged on a water surface-underwater switching structure and used for increasing the motion flexibility of the robot, the spindle-shaped attached body is used for reducing resistance, the propeller overturning device is arranged on the attached body and used for realizing the switching of water-air modes, and the water-air dual-purpose propeller is arranged on the propeller overturning device and used for providing propulsion power. The invention can increase the working range of the robot, realize reciprocating cross-domain, quickly switch the working modes and is convenient to use.

Description

A sea-air amphibious heterogeneous robot

technical field

The invention relates to the technical field of water and air amphibious unmanned aerial vehicles, in particular to a sea and air amphibious heterogeneous robot.

Background technique

Amphibious robots can simultaneously have the advantages of underwater concealed operations of marine robots and large-scale detection and rapid arrival of unmanned aerial vehicles. Therefore, amphibious robots have great application potential in the military field, in scientific research fields such as oceanography and geophysical chemistry. , the amphibious robot also has great application value. If the amphibious robot can be further isomerized into a surface unmanned ship, it can detect the near shallow sea, increase its detection field, and facilitate recovery.

At present, there are few researches on water and air amphibious robots. The Chinese invention patent with the publication number CN105151301A discloses an air-submersible amphibious robot and method, which cannot perform vector propulsion and has low movement flexibility; the Chinese invention with the publication number CN108128450A The patent discloses a multi-rotor amphibious cross-domain marine robot, which cannot operate in the surface ship mode, which limits the detection range of the robot.

At present, there is no robot that can operate underwater, on the surface and in the air, which limits the detection range of the robot. Therefore, in order to solve this problem, it is very necessary to design an amphibious and heterogeneous robot.

SUMMARY OF THE INVENTION

The present invention aims to solve the technical problem that there is no robot in the prior art that can operate underwater, on the water surface and in the air, thereby limiting the detection range of the robot, and provides an amphibious heterogeneous robot in sea and air.

In order to solve the above-mentioned technical problems, the technical scheme of the present invention is as follows:

A sea-air amphibious heterogeneous robot includes:

main body;

A structure for fast up-and-down diving, the fast up-and-down structure is arranged in the main body;

two pairs of surface-underwater switching structures, two pairs of said surface-underwater switching structures are arranged on the side surface of the main body;

two pairs of steering wings, each of which is arranged on a corresponding surface-underwater switching structure;

a pair of attachments, each of which is arranged on a corresponding pair of the surface-underwater switching structures, and the pair of attachments are symmetrically distributed on both sides of the main body;

Two pairs of propeller turning devices, each of which is symmetrically arranged on the corresponding appendage;

Two pairs of amphibious propellers, each of which is arranged on a corresponding propeller turning device.

The main body includes: a sealed pressure-resistant casing, a sealed cover, an electric control cabin, two pairs of steering gear bases and an energy cabin;

The electric control cabin is arranged in front of the inner and lower surface of the sealed pressure-resistant casing, the two pairs of the steering gear bases are symmetrically arranged on the inner and lower surface of the sealed pressure-resistant casing, and the energy cabin is arranged behind the inner and lower surface of the sealed pressure-resistant casing. An opening is provided on the upper surface of the sealed and pressure-resistant casing, the sealing cover is arranged on the upper surface of the sealed and pressure-resistant casing, and the sealing cover is matched with the opening.

The rapid up-floating-submersible structure includes: a pressing air pump, a piston, a sealing ring, a cylinder and an air pump;

The cylinder is installed at the center of the inner and lower surfaces of the sealed pressure-resistant casing, the upper surface of the sealing cover is provided with a circular opening, the cylinder is arranged at the circular opening, and the pressurized air pump is arranged in the sealed pressure-resistant casing The front end of the lower surface of the body, the air pump is arranged at the rear end of the inner lower surface of the sealed pressure-resistant casing, the pressurizing air pump and the air pumping pump are symmetrically installed on the front and rear of the cylinder, and the pressurizing air pump and the air suction pump nozzle are located below the piston limit structure and Passing through the outer wall of the cylinder, the piston is arranged in the cylinder, the piston can slide along the inner wall of the cylinder, and the sealing ring is installed in the sealing groove of the piston.

The surface-underwater switching structure includes: two pairs of switching parts;

The two pairs of the switching parts are symmetrically arranged on both sides of the main body, and the two pairs of the switching parts have the same structure.

The switching part includes: a driving motor, a gear A, a gear B, a gear C, a key shaft A, a swing gear assembly, a key shaft B, an attachment-main body connecting shaft, a swing assembly, a cylindrical pin, a rotating assembly and a steering gear;

The drive motor is installed inside the attached body sealed cabin, the gear A is placed on the drive motor motor shaft, the key shaft A is placed in the water permeable section of the attached body through the keyway of the gear B and the gear C, and the gear B and the gear A is externally meshed, the key shaft B is placed in the water-permeable section of the attachment body through the keyway of the swing gear assembly, the swing gear assembly is externally meshed with the gear C, and the shaft end protrusion of the swing gear assembly is placed on the attachment body-main body connecting shaft Inside the groove, and the two can rotate relative to each other, the attachment-main body connecting shaft is fixedly connected with the swinging assembly, the swinging assembly is mounted on the rotating assembly through a cylindrical pin, and the swinging assembly can rotate around the axis of the cylindrical pin , the rotating assembly is arranged on the sealed pressure-resistant casing, and the rotating assembly is fixedly connected with the steering gear, and the steering gear is fixed on the steering gear base.

Each of the steering wings is arranged on a corresponding appendage-body connecting shaft.

The attachment includes: an attachment housing, a control and energy compartment, and a control and energy compartment fixing assembly;

The control and energy cabin fixing components are fixed inside the attached housing sealed cabin, the control and energy cabins are arranged on the control and energy cabin fixing components, and the driving motor is arranged inside the attached casing sealed cabin.

The propeller turning device includes: a water-air propeller mounting seat, a rotating shaft, a bearing and a turning motor;

The reversing motor is arranged inside the attachment housing, the rotating shaft is fixedly connected with the reversing motor, the bearing inner ring is connected with the rotating shaft, the bearing outer ring is fixed on the attachment housing, the water and air propulsion The propeller mounting seat is fixedly connected with the rotating shaft, and the water-air dual-purpose propeller is fixedly connected with the water-air dual-purpose propeller mounting seat.

The water surface-underwater switching mechanism can move around the main body under the driving of the driving motor to switch the underwater-water surface mode. - Empty amphibious switch.

The present invention has the following beneficial effects:

The present invention is a sea-air amphibious heterogeneous robot, which can realize the underwater-surface-air three-mode operation of the robot, increase the working range, realize reciprocating and cross-domain, and switch the working mode quickly, and is very convenient to use.

Description of drawings

The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

1 is a schematic structural diagram of a sea-air amphibious heterogeneous robot according to the present invention;

Fig. 2 is the sectional view of the main body of the present invention;

3 is a cross-sectional view of the surface-underwater switching mechanism of the present invention;

4 is an exploded view of the surface-underwater switching mechanism of the present invention;

Fig. 5 is the sectional view of the appendage of the present invention;

FIG. 6 is an axonometric view of a water surface mode of a sea-air amphibious heterogeneous robot according to the present invention;

FIG. 7 is an aerial mode axonometric view of a sea-air amphibious heterogeneous robot according to the present invention.

The reference numbers in the figures are indicated as:

1. Main body; 2. Fast surfacing and diving structure; 3. Surface-underwater switching structure; 4. Steering wing; 5. Attachment; 6. Propeller turning device; Pressure housing; 102, sealing cover; 103, electric control cabin; 104, steering gear base; 105, energy cabin; 201, pressurized air pump; 202, piston; 203, sealing ring; 204, cylinder; 205, air pump ;301, drive motor; 302, gear A; 303, gear B; 304, gear C; 305, key shaft A; 306, swing gear assembly; 307, key shaft B; 308, attachment-main body connection shaft; 309, Swing assembly; 310, cylindrical pin; 311, rotating assembly; 312, steering gear; 501, attached casing; 502, control and energy cabin; 503, control and energy cabin fixed assembly; 601, water and air propeller installation seat; 602, rotating shaft; 603, bearing; 604, flipping motor.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

Please refer to Fig. 1-7, an amphibious heterogeneous robot including: a main body 1; a fast up-and-down structure 2, which is arranged in the main body 1; two pairs of surface-underwater switching structures 3, Two pairs of surface-underwater switching structures 3 are arranged on the side surface of the main body 1; two pairs of steering wings 4, each of which is arranged on the corresponding surface-underwater switching structure 3; a pair of attachments 5, each of which is attached. The body 5 is arranged on a corresponding pair of surface-underwater switching structures 3, and a pair of attachments 5 are symmetrically distributed on both sides of the main body 1; two pairs of propeller turning devices 6, each propeller turning device 6 is symmetrically arranged on the On the corresponding attachment 5; two pairs of water-air propellers 7, each of which is placed on the corresponding propeller turning device 6.

The main body 1 includes: a sealed pressure-resistant casing 101, a sealing cover 102, an electric control cabin 103, two pairs of steering gear bases 104 and an energy cabin 105; The steering gear base 104 is symmetrically arranged on the inner and lower surfaces of the sealed and pressure-resistant housing 101, the energy cabin 105 is arranged behind the inner and lower surfaces of the sealed and pressure-resistant housing 101, the upper surface of the sealed and pressure-resistant housing 101 is provided with an opening, and the sealing cover 102 It is arranged on the upper surface of the sealed pressure-resistant casing 101, and the sealing cover 102 is matched with the opening.

The rapid up-floating-submersible structure 2 includes: a pressing air pump 201, a piston 202, a sealing ring 203, a cylinder 204, and an air pump 205; The upper surface of 102 is provided with a circular opening, the cylinder 204 is arranged at the circular opening, the pressurizing air pump 201 is arranged at the front end of the inner and lower surface of the sealed pressure-resistant housing 101, and the air pump 205 is arranged at the sealing resistance. At the rear end of the inner and lower surfaces of the pressure housing 101, the pressure air pump 201 and the air suction pump 205 are symmetrically installed on the front and rear of the cylinder 204, and the air nozzles of the pressure air pump 201 and the air suction pump 205 are located below the piston limiting structure and pass through the outer wall of the cylinder 204, The piston 202 is arranged in the cylinder 204 , and the piston 202 can slide along the inner wall of the cylinder 204 , and the sealing ring 203 is installed in the sealing groove of the piston 202 .

The surface-underwater switching structure 3 includes: two pairs of switching parts; the two pairs of switching parts are symmetrically arranged on both sides of the main body 1, and the two pairs of switching parts have the same structure.

The switching part includes: drive motor 301, gear A302, gear B303, gear C304, key shaft A305, swing gear assembly 306, key shaft B307, attachment-main body connecting shaft 308, swing assembly 309, cylindrical pin 310, rotating assembly 311 and The steering gear 312; the drive motor 301 is installed inside the enclosure 5, the gear A302 is placed on the motor shaft of the drive motor 301, the key shaft A305 passes through the keyway of the gear B303 and the gear C304 and is placed in the water-permeable section of the attachment 5, the gear B303 and the gear A302 meshes externally, the key shaft B307 passes through the keyway of the swing gear assembly 306 and is placed in the water-permeable section of the appendage 5, the swing gear assembly 306 meshes with the gear C304 externally, and the shaft end of the swing gear assembly 306 is convex and placed in the appendage-main body connecting shaft 308 concave Inside the groove, and the two can rotate relative to each other, the attachment-main body connecting shaft 308 is fixedly connected with the swing assembly 309, the swing assembly 309 is installed on the rotation assembly 311 through the cylindrical pin 310, and the swing assembly 309 can rotate around the axis of the cylindrical pin 310, and the swing The assembly 311 is arranged on the sealed pressure-resistant housing 101 , and the rotating assembly 311 is fixedly connected with the steering gear 312 , and the steering gear 312 is fixed on the steering gear base 104 .

Each steering wing 4 is seated on a corresponding appendage-body connecting shaft 308 .

Attachment 5 includes: attachment housing 501, control and energy compartment 502, and control and energy compartment fixing components 503; control and energy compartment fixing components 503 are fixed inside the sealing compartment of the attachment housing 501, and the control and energy compartment 502 is placed in On the control and energy compartment fixing assembly 503 , the driving motor 301 is arranged inside the sealed compartment of the attached housing 501 .

The propeller turning device 6 includes: a water-air propeller mounting seat 601, a rotating shaft 602, a bearing 603, and a turning motor 604; The inner ring of 603 is connected with the rotating shaft 602, the outer ring of the bearing 603 is fixed on the attached casing 501, the water-air thruster mounting seat 601 is fixedly connected with the rotating shaft 602, and the water-air thruster 7 is used for the water-air thruster. The device mounting base 601 is fixedly connected.

The surface-underwater switching mechanism 3 can move around the main body 1 under the driving of the driving motor 301 to switch the underwater-surface mode, and the water-air propeller 7 can rotate around the axis of the rotation shaft 602 under the driving of the propeller turning device 6, Realize water-air amphibious switching.

working principle:

The fast surfacing and diving device 2 installed inside the main body 1 is used for ascending and descending, and the propeller turning device 6 installed symmetrically in the appendage 5 is used to turn the water-air propeller 7. The electric control cabin 103 is used for control, the steering gear base 104 on the sealed pressure-resistant casing 101 is used to fix the steering gear 312, and the energy cabin 105 behind the lower surface of the sealed pressure-resistant casing 101 is used to provide energy, water and air modes In the underwater mode, the air pump 205 works to move the piston 202 down, which leads to the decrease of the drainage volume of the robot, which can increase the water volume of the robot. When diving quickly and switching between the surface-underwater mode, the drive motor 301 transmits torque through gear meshing, so that the attachment-body connecting shaft 308 and the swing structure 309 swing relative to the main body 1, and the attachment 5 is relative to the main body 1. Swing and move inward. Under the action of the rapid up-floating and submerging device 2, the robot quickly floats up and forms a surface unmanned ship mode. The steering gear 312 drives the rotating structure 311 to make the swinging structure 309 together with the attachment-body connecting shaft 308 and steering. The wing 4 rotates, and through the action of the steering wing 4, the robot can quickly turn in the water surface mode and increase its flexibility of movement. The shape of the attached body 501 is spindle-shaped, and the fluid resistance is small. The surface-underwater switching mechanism 3 drives the motor. Driven by 301, it can move around the main body 1 to switch the underwater-surface mode, and the water-air propeller 7 can rotate around the axis of the rotating shaft 602 under the drive of the propeller turning device 6 to realize the water-air amphibious switch.

Obviously, the above -mentioned examples are just a clear explanation of the examples, not the limitation of the embodiment. For those of ordinary skill in the art, changes or modifications in other different forms can also be made on the basis of the above description. There is no need and cannot be exhaustive of all implementations here. And the obvious changes or changes derived from this are still within the protection scope of the present invention.

Claims (5)

1. An air-sea amphibious heterogeneous robot, characterized by comprising:

a main body (1);

the main body (1) comprises: the device comprises a sealed pressure-resistant shell (101), a sealing cover (102), an electric control cabin (103), two pairs of steering engine bases (104) and an energy cabin (105);

the electric control cabin (103) is arranged in front of the inner lower surface of the sealed pressure-resistant shell (101), the two pairs of steering engine bases (104) are symmetrically arranged on the inner lower surface of the sealed pressure-resistant shell (101), the energy cabin (105) is arranged behind the inner lower surface of the sealed pressure-resistant shell (101), an opening is formed in the upper surface of the sealed pressure-resistant shell (101), the sealing cover (102) is arranged on the upper surface of the sealed pressure-resistant shell (101), and the sealing cover (102) is matched with the opening;

a fast floating submergence structure (2), the fast floating submergence structure (2) being disposed within the main body (1);

two pairs of surface-underwater switching structures (3), two pairs of said surface-underwater switching structures (3) being disposed on the main body (1) side surface;

the surface-underwater switching structure (3) comprises: two pairs of switching parts;

the two pairs of switching parts are symmetrically arranged on two sides of the main body (1) and have the same structure;

the switching unit includes: the device comprises a driving motor (301), a gear A (302), a gear B (303), a gear C (304), a key shaft A (305), a swinging gear assembly (306), a key shaft B (307), an accessory-body connecting shaft (308), a swinging assembly (309), a cylindrical pin (310), a rotating assembly (311) and a steering engine (312);

the driving motor (301) is installed inside a sealed cabin of an accessory body (5), the gear A (302) is arranged on a motor shaft of the driving motor (301), the key shaft A (305) passes through a gear B (303) and a gear C (304) key groove and is arranged on a water permeable section of the accessory body (5), the gear B (303) is externally meshed with the gear A (302), the key shaft B (307) passes through a swing gear assembly (306) key groove and is arranged on the water permeable section of the accessory body (5), the swing gear assembly (306) is externally meshed with the gear C (304), a shaft end protrusion of the swing gear assembly (306) is arranged inside a groove of an accessory body-main body connecting shaft (308), the swing gear assembly (306) and the groove of the accessory body-main body connecting shaft (308) can rotate relatively, the accessory body-main body connecting shaft (308) is fixedly connected with a swing assembly (309), the swing assembly (309) is installed on a rotating assembly (311) through a cylindrical pin (310), the swing assembly (309) can rotate around the axis of the cylindrical pin (310), the rotating assembly (101) is arranged on a sealed cabin and is fixedly connected with a steering engine (312) and is fixedly connected with a steering engine (104) and fixed on a steering engine (311);

two pairs of steering wings (4), each steering wing (4) being arranged in a corresponding surface-to-underwater switching structure (3);

each steering wing (4) is arranged on the corresponding appendage-body connecting shaft (308);

a pair of appendages (5), wherein each appendage (5) is arranged on a corresponding pair of the water surface-underwater switching structures (3), and the pair of appendages (5) are symmetrically distributed on two sides of the main body (1);

two pairs of propeller turning devices (6), wherein each propeller turning device (6) is symmetrically arranged on the corresponding auxiliary body (5);

two pairs of water-air dual-purpose propellers (7), wherein each water-air dual-purpose propeller (7) is arranged on a corresponding propeller overturning device (6).

2. A sea-air amphibious heterogeneous robot according to claim 1, wherein said fast floating-submerging structure (2) comprises: the air pump (201), the piston (202), the sealing ring (203), the air cylinder (204) and the air pump (205) are pressurized;

the air cylinder (204) is installed at the center of the inner lower surface of the sealed pressure-resistant shell (101), a circular opening is formed in the upper surface of the sealing cover (102), the air cylinder (204) is installed at the circular opening, the pressurizing air pump (201) is installed at the front end of the inner lower surface of the sealed pressure-resistant shell (101), the air pump (205) is installed at the rear end of the inner lower surface of the sealed pressure-resistant shell (101), the pressurizing air pump (201) and the air pump (205) are symmetrically installed in the front and at the rear of the air cylinder (204), air nozzles of the pressurizing air pump (201) and the air pump (205) are located below a piston limiting structure and penetrate through the outer wall of the air cylinder (204), the piston (202) is installed in the air cylinder (204), the piston (202) can slide along the inner wall of the air cylinder (204), and the sealing ring (203) is installed in a sealing groove of the piston (202).

3. A sea-air amphibious heterogeneous robot according to claim 1, wherein said appendage (5) comprises: an appendage housing (501), a control and energy pod (502), and a control and energy pod securing assembly (503);

the control and energy cabin fixing assembly (503) is fixed inside the sealed cabin of the appendage shell (501), the control and energy cabin (502) is arranged on the control and energy cabin fixing assembly (503), and the driving motor (301) is arranged inside the sealed cabin of the appendage shell (501).

4. A sea-air amphibious heterogeneous robot according to claim 3, wherein the thruster well-turning device (6) comprises: the water-air dual-purpose propeller comprises a water-air dual-purpose propeller mounting seat (601), a rotating shaft (602), a bearing (603) and a turnover motor (604);

the turning motor (604) is arranged inside the attached body shell (501), the rotating shaft (602) is fixedly connected with the turning motor (604), the inner ring of the bearing (603) is connected with the rotating shaft (602), the outer ring of the bearing (603) is fixed on the attached body shell (501), the water-air dual-purpose propeller mounting seat (601) is fixedly connected with the rotating shaft (602), and the water-air dual-purpose propeller (7) is fixedly connected with the water-air dual-purpose propeller mounting seat (601).

5. The amphibious robot with the sea and the air as claimed in claim 4, wherein the water surface-underwater switching mechanism (3) can move around the main body (1) under the driving of the driving motor (301) to switch the underwater-water surface mode, and the water-air dual-purpose propeller (7) can rotate around the axis of the rotating shaft (602) under the driving of the propeller overturning device (6) to realize the water-air amphibious switching.

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