CN107554736B - Bionic flying cuttlefish sea-air vehicle capable of realizing soft variable structure - Google Patents
Bionic flying cuttlefish sea-air vehicle capable of realizing soft variable structure Download PDFInfo
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- CN107554736B CN107554736B CN201710822828.9A CN201710822828A CN107554736B CN 107554736 B CN107554736 B CN 107554736B CN 201710822828 A CN201710822828 A CN 201710822828A CN 107554736 B CN107554736 B CN 107554736B
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- 241000238371 Sepiidae Species 0.000 title claims abstract description 46
- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 34
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 94
- 210000000707 wrist Anatomy 0.000 claims abstract description 50
- 230000001105 regulatory effect Effects 0.000 claims abstract description 12
- 239000007788 liquid Substances 0.000 claims description 40
- 238000002347 injection Methods 0.000 claims description 15
- 239000007924 injection Substances 0.000 claims description 15
- 230000004888 barrier function Effects 0.000 claims description 7
- 230000003592 biomimetic effect Effects 0.000 claims description 7
- 230000000903 blocking effect Effects 0.000 claims description 5
- 238000007789 sealing Methods 0.000 claims description 5
- 230000009471 action Effects 0.000 claims description 4
- 230000000712 assembly Effects 0.000 claims description 4
- 238000000429 assembly Methods 0.000 claims description 4
- 230000001276 controlling effect Effects 0.000 claims description 2
- 240000008892 Helianthus tuberosus Species 0.000 claims 1
- 235000003230 Helianthus tuberosus Nutrition 0.000 claims 1
- 238000005507 spraying Methods 0.000 abstract description 3
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- 238000010586 diagram Methods 0.000 description 6
- 239000000243 solution Substances 0.000 description 5
- 238000006073 displacement reaction Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000007779 soft material Substances 0.000 description 2
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- 238000006467 substitution reaction Methods 0.000 description 1
- 230000001502 supplementing effect Effects 0.000 description 1
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T70/00—Maritime or waterways transport
- Y02T70/10—Measures concerning design or construction of watercraft hulls
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Abstract
The invention discloses a bionic flying cuttlefish sea-air vehicle capable of realizing a soft variable structure. The bionic flying cuttlefish sea-air vehicle capable of realizing the soft variable structure comprises: the outer shell is hollow, one end of the outer shell is provided with a fin assembly, the other end of the outer shell is provided with a wrist fin assembly, and the outer shell is provided with an air filling hole, a water filling hole and a pushing water outlet; the fin control system is arranged in the outer shell and is respectively connected with the fin pair assembly and the wrist fin assembly; the air source is connected with the fin control system; the propulsion system is arranged in the outer shell and connected with the air source, and is provided with a drainage pipeline and a speed regulating valve. According to the scheme, the robot can be transited to an air flight state from underwater high-speed water outlet by utilizing the high-pressure gas water spraying propulsion, the fin assembly and the wrist fin assembly can be folded and unfolded according to the fluid environment and the motion state, and extremely high propulsion efficiency is achieved.
Description
Technical Field
The invention relates to the technical field of amphibious cross-medium aircrafts, in particular to a bionic flying cuttlefish cross-sea and air aircrafts capable of realizing a soft variable structure.
Background
In order to realize underwater navigation and air flight simultaneously, a rigid variable structure design is generally adopted in the traditional craft capable of realizing soft variable structure, wings are unfolded during air flight to generate enough lift force for flight, and the wings are contracted or folded during water-air transition and underwater navigation to reduce resistance so as to realize high-efficiency navigation. The variable structure design is usually realized by a mechanical device with large equivalent volume, complex structure and large volume and weight of a connecting rod.
The traditional bionic flying cuttlefish cross-sea air craft capable of realizing the soft variable structure is usually provided with power for underwater and air navigation by the propeller, the propulsion mode is large in size and low in efficiency, and the power density of the propeller is harder to realize the transition from a water medium to an air medium.
It is therefore desirable to have a solution that overcomes or at least alleviates at least one of the above-mentioned drawbacks of the prior art.
Disclosure of Invention
The invention aims to provide a bionic flying cuttlefish cross-sea and air aircraft capable of realizing a soft variable structure, which overcomes or at least alleviates at least one of the defects in the prior art.
In order to achieve the above object, the present invention provides a bionic flying cuttlefish over-sea-air vehicle capable of achieving a soft body changing structure, which can fly out of water and fly or fly under water, comprising: the outer shell is hollow, one end of the outer shell is provided with a fin assembly, the other end of the outer shell is provided with a wrist fin assembly, and the outer shell is provided with an air filling hole, a water filling hole and a propelling water outlet hole; the fin control system is arranged inside the outer shell and is respectively connected with the fin pair component and the wrist fin component; the air source is connected with the fin control system; a propulsion system disposed inside the outer housing and connected to the air source, the propulsion system having a drain line and a speed regulating valve disposed on the drain line; the air source is used for providing air for the fin control system and the propulsion system respectively so as to control the fin control system and/or the propulsion system to work; the fin control system is used for enabling the fin pair assembly and the wrist fin assembly to act; the propulsion system is used for controlling the motion of the bionic flying cuttlefish crossing the sea-air aircraft capable of realizing the soft variable structure and adjusting the power of the bionic flying cuttlefish crossing the sea-air aircraft capable of realizing the soft variable structure.
Preferably, the outer shell comprises a first shell and a second shell which are connected in a detachable manner, and the second shell is provided with the air filling hole, the water filling hole and the pushing water outlet;
the outer shell further comprises a sealing groove, and the sealing groove is distributed on the contact surface of the first shell and the second shell;
the pair of fin assemblies and the wrist fin assembly are disposed on the first housing or the second housing.
Preferably, the fin control system comprises:
the first two-position three-way electromagnetic valve is respectively connected with the air source and the fin alignment assembly;
the second two-position three-way electromagnetic valve is connected with the air source and the wrist fin assembly respectively.
Preferably, the pair of fins assembly comprises a first flexible pair of fins and a second flexible pair of fins, wherein an annular air cavity is arranged in the first flexible pair of fins, and an annular air cavity is arranged in the second flexible pair of fins; the annular air cavity in the first flexible pair of fins is communicated with the first two-position three-way electromagnetic valve respectively;
the wrist fin assembly comprises a first flexible wrist fin and a second flexible wrist fin, wherein an annular air cavity is arranged in the first flexible wrist fin, and an annular air cavity is arranged in the second flexible wrist fin; the annular air cavity in the first flexible wrist fin is communicated with the second two-position three-way electromagnetic valve respectively.
Preferably, the bionic flying cuttlefish sea-air crossing vehicle capable of realizing the soft variable structure further comprises an air charging pipeline and an air charging valve arranged in the air charging pipeline, one end of the air charging pipeline is connected with the air source, and the other end of the air charging pipeline is arranged at the air charging hole.
Preferably, the propulsion system further comprises:
the water storage cavity is internally provided with a gas-liquid barrier film capable of moving in the water storage cavity, and the gas-liquid barrier film separates the water outlet cavity into a gas cavity and a liquid cavity; the water storage cavity is provided with an input port and an output port, the input port is positioned in the gas cavity, and the output port is positioned in the liquid cavity; the output port is communicated with the drainage pipeline, and the input port is communicated with the air source;
the two-position two-way electromagnetic valve is communicated with the air source and the input port of the water storage cavity.
Preferably, the bionic flying cuttlefish sea-air vehicle capable of realizing the soft variable structure further comprises a water injection system, wherein the water injection system is connected with the water storage inner cavity and is used for providing liquid for the water storage inner cavity.
Preferably, the water injection system comprises:
the output end of the water supply centrifugal pump is communicated with the water storage inner cavity through a pipeline;
the one-way valve is arranged on a pipeline which is communicated with the water supply centrifugal pump and the water storage cavity.
Preferably, the water injection system further comprises a second two-position two-way electromagnetic valve, and the second two-position two-way electromagnetic valve is communicated with the gas cavity of the water storage inner cavity.
Preferably, the propulsion system further comprises a flow meter, which is arranged on the drain line.
The bionic flying cuttlefish cross-sea air craft capable of realizing the soft variable structure can make the robot fly in the air from underwater high-speed water outlet by utilizing the high-pressure gas water spraying propulsion scheme, and has extremely high propulsion efficiency. And the fin assembly and the wrist fin assembly manufactured by using the soft robot technology can reduce underwater navigation resistance and provide lift force for air flight.
Drawings
FIG. 1 is a schematic diagram of a simulated flying cuttlefish cross-sea and air vehicle capable of realizing a soft variable structure according to one embodiment of the invention.
Fig. 2 is a schematic diagram of the internal structure of the bionic flying cuttlefish cross-sea and air craft shown in fig. 1 and capable of realizing a soft variable structure.
FIG. 3 is another schematic diagram of the simulated flying cuttlefish cross-sea and air craft of FIG. 1 capable of realizing a soft body variable structure.
Reference numerals
| 1 | |
41 | First two-position three-way |
| 2 | |
42 | Second two-position three-way |
| 3 | |
7 | |
| 4 | |
62 | |
| 5 | |
63 | Gas-liquid barrier film |
| 6 | |
621 | |
| 61 | |
622 | |
| 11 | |
64 | Two-position two-way |
| 12 | |
8 | |
| 13 | |
82 | One- |
| 81 | Water supply centrifugal pump | 83 | Second two-position two-way electromagnetic valve |
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention become more apparent, the technical solutions in the embodiments of the present invention will be described in more detail below with reference to the accompanying drawings in the embodiments of the present invention. In the drawings, the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The described embodiments are some, but not all, embodiments of the invention. The embodiments described below by referring to the drawings are illustrative and intended to explain the present invention and should not be construed as limiting the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention. Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
In the description of the present invention, it should be understood that the terms "center," "longitudinal," "lateral," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientation or positional relationships shown in the drawings, merely to facilitate describing the present invention and simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the scope of the present invention.
FIG. 1 is a schematic diagram of a simulated flying cuttlefish cross-sea and air vehicle capable of realizing a soft variable structure according to one embodiment of the invention. Fig. 2 is a schematic diagram of the internal structure of the bionic flying cuttlefish cross-sea and air craft shown in fig. 1 and capable of realizing a soft variable structure. FIG. 3 is another schematic diagram of the simulated flying cuttlefish cross-sea and air craft of FIG. 1 capable of realizing a soft body variable structure.
The bionic flying cuttlefish cross-sea and air craft capable of realizing the soft variable structure as shown in fig. 1 to 3 can fly or navigate underwater, and comprises an outer shell 1, a fin control system 4, an air source 5 and a propulsion system 6.
Referring to fig. 1, in this embodiment, an outer casing 1 is hollow, one end of the outer casing 1 is provided with a fin assembly 2, the other end is provided with a wrist fin assembly 3, and the outer casing 1 is provided with an air charging hole, a water filling hole and a pushing water outlet hole. In this embodiment, the fin assembly 2 and the wrist fin assembly 3 are made of soft materials, and can be deformed under the control of the fin control system. For example, in the present embodiment, the fin assembly 2 and the wrist fin assembly 3 are made of silicone. It will be appreciated that other soft materials may be used. For example, a soft plastic material.
Referring to fig. 2, in the present embodiment, a fin control system 4 is provided inside the outer case 1, and the fin control system 4 is connected to the paired fin assembly 2 and the wrist fin assembly 3, respectively.
Referring to fig. 2 and 3, in this embodiment, the air source 5 is connected to the fin control system 4.
Referring to fig. 3, in the present embodiment, a propulsion system 6 is provided inside the outer housing 1 and connected to the air source 5, the propulsion system 6 having a drain pipe and a speed adjusting valve 61 provided on the drain pipe.
In this embodiment, the gas source is used to provide gas to the fin control system and the propulsion system, respectively, to control the operation of the fin control system and/or the propulsion system. It will be appreciated that in this embodiment, the fin control system and propulsion system may be controlled independently as desired, or both.
In this embodiment, the fin control system is used to actuate the fin assembly and the wrist fin assembly.
In this embodiment, the propulsion system is used to control the motion of the biomimetic flying cuttlefish across the sea and air craft capable of realizing the soft variant structure and to regulate the power of the biomimetic flying cuttlefish across the sea and air craft capable of realizing the soft variant structure.
The bionic flying cuttlefish cross-sea air craft capable of realizing the soft variable structure can make the robot fly in the air from underwater high-speed water outlet by utilizing the high-pressure gas water spraying propulsion scheme, and has extremely high propulsion efficiency. And the fin assembly and the wrist fin assembly manufactured by using the soft robot technology can reduce underwater navigation resistance and provide lift force for air flight.
Referring to fig. 1, in the present embodiment, the outer housing includes a first housing 11 and a second housing 12 detachably connected to each other, and the second housing 12 is provided with an air-filling hole, a water-filling hole, and a push-out water hole.
Referring to fig. 2, in the present embodiment, the outer case 1 further includes a seal groove 13, and the seal groove 13 is distributed on the contact surface of the first case 11 and the second case 12. In this way, external liquid or gas can be prevented from entering the inside of the outer case 1.
In the present embodiment, the paired fin assembly 2 and the wrist fin assembly 3 are provided on the first housing 11. It will be appreciated that the extra-fin assembly may also be provided on the second housing 12.
Referring to fig. 3, in the present embodiment, the fin control system 4 includes a first two-position three-way electromagnetic valve 41 and a second two-position three-way electromagnetic valve 42, wherein the first two-position three-way electromagnetic valve 41 is connected with the air source 5 and the fin alignment assembly 2 respectively; the second two-position three-way electromagnetic valve 42 is respectively connected with the air source 5 and the wrist fin assembly 3. The control of the first two-position three-way electromagnetic valve can control the air source to provide air for the fin assembly, and the control of the second two-position three-way electromagnetic valve can control the air source to provide air for the wrist fin assembly.
It is understood that the gas source in this application is a high pressure gas at a pressure of 5bar to 10bar.
Referring to fig. 2, in the present embodiment, the pair-fin assembly 2 includes a first flexible pair of fins, in which an annular air cavity is provided, and a second flexible pair of fins, in which an annular air cavity is provided; the annular air cavity in the first flexible pair of fins is respectively communicated with the first two-position three-way electromagnetic valve; the wrist fin assembly 3 comprises a first flexible wrist fin and a second flexible wrist fin, wherein an annular air cavity is arranged in the first flexible wrist fin, and an annular air cavity is arranged in the second flexible wrist fin; the annular air cavity in the first flexible wrist fin and the annular air cavity in the second flexible wrist fin are respectively communicated with the second two-position three-way electromagnetic valve.
Referring to fig. 3, in the present embodiment, the bionic flying cuttlefish air-sea craft capable of realizing soft variable structure further includes an air inflation pipeline and an air inflation valve 7 disposed in the air inflation pipeline, one end of the air inflation pipeline is connected with the air source 5, and the other end is disposed at the air inflation hole.
By adopting the structure, the bionic flying cuttlefish cross-sea and air craft capable of realizing the soft variable structure can be inflated outside without disassembling the air craft under the condition that the air in the air source is lack.
Referring to fig. 2 and 3, in the present embodiment, the propulsion system further includes a water storage cavity 62 and a two-position two-way electromagnetic valve 64, wherein a gas-liquid blocking film 63 capable of moving in the water storage cavity 62 is disposed in the water storage cavity 62, and the gas-liquid blocking film 63 divides the water outlet cavity into a gas cavity 621 and a liquid cavity 622; the water storage cavity 62 is provided with an input port and an output port, the input port is positioned in the gas cavity 621, and the output port is positioned in the liquid cavity 622; the output port is communicated with the drainage pipeline, and the input port is communicated with the air source; the two-position two-way electromagnetic valve 64 is communicated with the air source 5 and the input port of the water storage cavity 62.
Referring to fig. 3, in the present embodiment, the bionic flying cuttlefish cross-sea-air craft capable of realizing a soft body variable structure further includes a water injection system 8, the water injection system 8 is connected with the water storage cavity, and the water injection system 8 is used for providing liquid for the water storage cavity 62. The water injection system is arranged to ensure that the bionic flying cuttlefish with the soft variable structure can realize continuous water supplementing under the water of the sea-air vehicle, so that the continuous flying ability of the bionic flying cuttlefish with the soft variable structure under the water of the sea-air vehicle is ensured.
Referring to fig. 3, in the present embodiment, the water injection system includes a water supply centrifugal pump 81, a one-way valve 82, and a second two-position two-way electromagnetic valve 83, and an output end of the water supply centrifugal pump 81 is communicated with the water storage cavity 62 through a pipe; the check valve 82 is provided on a pipe through which the water supply centrifugal pump 81 communicates with the water storage chamber 62.
The second two-position two-way electromagnetic valve 83 is communicated with the gas cavity 621 of the water storage cavity.
In an alternative embodiment, the propulsion system further comprises a flow meter, the flow meter being arranged on the drain line. The water displacement of the bionic flying cuttlefish crossing the sea-air aircraft with the soft variable structure can be measured in real time through the flowmeter, so that the water displacement can be fed back to the control end of the bionic flying cuttlefish crossing the sea-air aircraft with the soft variable structure, and remote negative feedback control is realized.
The present application is further illustrated by way of example below. It will be understood that this example does not constitute any limitation to the present application.
Referring to fig. 1 to 3, when underwater, the air source of the bionic flying cuttlefish cross-sea air craft capable of realizing the soft variable structure stores high-pressure air, the water storage cavity is filled with water, and the air-liquid barrier film 63 is positioned at the left side (the left side shown in fig. 2) of the water storage cavity, namely the volume of the air cavity is far smaller than that of the liquid cavity.
When the air source is required to fly, the two-position two-way electromagnetic valve 64 is controlled, so that high-pressure gas in the air source enters the air cavity, the pressure in the water storage cavity is increased until the pressure in the water storage cavity is the same or basically the same as the pressure of the air source, at the moment, the speed regulating valve 61 is fully opened, the gas-liquid barrier film pushes the liquid cavity at a high speed under the action of high-pressure gas, the liquid cavity is compressed, so that liquid in the liquid cavity is discharged, high-pressure thrust is formed, and the bionic flying cuttlefish capable of realizing the soft variable structure of the application is pushed out of the water surface and flies through the high-pressure thrust.
When the device needs to move underwater, the two-position two-way electromagnetic valve 64 is controlled, so that high-pressure gas in a gas source enters the gas cavity, the opening of the speed regulating valve 61 is controlled according to the requirement, under the action of the high-pressure gas, the gas-liquid barrier film pushes the liquid cavity at a high speed to compress the liquid cavity, so that liquid in the liquid cavity is discharged, thrust is formed, and the bionic flying cuttlefish capable of realizing the soft variable structure moves underwater across the sea and air craft and controls the speed by regulating the opening of the speed regulating valve 61.
Referring to fig. 1 and 2, in the present embodiment, the fin assembly and the wrist fin assembly are: the fin assembly and/or the wrist fin assembly are inflated by the air source to bend the fin assembly and/or the wrist fin assembly.
The bending or stretching of the fin assembly and/or the wrist fin assembly can be controlled according to the fluid condition and the self requirement when the aircraft or the underwater motion is performed, so that the condition of the aircraft or the underwater motion can be further controlled.
Advantageously, the pair of fin assemblies and/or the wrist fin assembly are in an extended state in the flight state. When underwater, the fin assembly and/or the wrist fin assembly are in a bent state, so that resistance can be reduced.
Finally, it should be pointed out that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting. Although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (9)
1. The bionic flying cuttlefish sea-air vehicle capable of realizing the soft variable structure can take off from water and can fly in the air or fly underwater, and is characterized in that the bionic flying cuttlefish sea-air vehicle capable of realizing the soft variable structure comprises:
the novel wrist fin device comprises an outer shell body (1), wherein the inner part of the outer shell body (1) is hollow, one end of the outer shell body (1) is provided with a pair fin assembly (2), the other end of the outer shell body is provided with a wrist fin assembly (3), and the outer shell body (1) is provided with an air filling hole, a water filling hole and a propelling water outlet;
the fin control system (4) is arranged inside the outer shell (1), and the fin control system (4) is respectively connected with the pair of fin assemblies (2) and the wrist fin assembly (3);
the air source (5) is connected with the fin control system (4);
-a propulsion system (6), said propulsion system (6) being arranged inside said outer casing (1) and being connected to said air source (5), said propulsion system (6) having a drain line and a speed regulating valve (61) arranged on said drain line; wherein,,
the air source is used for providing air for the fin control system and the propulsion system respectively so as to control the fin control system and/or the propulsion system to work;
the fin control system is used for enabling the fin pair assembly and the wrist fin assembly to act;
the propulsion system is used for controlling the motion of the bionic flying cuttlefish crossing the sea-air aircraft capable of realizing the soft variable structure and adjusting the power of the bionic flying cuttlefish crossing the sea-air aircraft capable of realizing the soft variable structure;
the propulsion system (6) further comprises:
the water storage device comprises a water storage cavity (62), wherein a gas-liquid blocking film (63) capable of moving in the water storage cavity (62) is arranged in the water storage cavity (62), and the gas-liquid blocking film (63) divides the water outlet cavity into a gas cavity (621) and a liquid cavity (622); the water storage inner cavity (62) is provided with an input port and an output port, the input port is positioned in the gas cavity (621), and the output port is positioned in the liquid cavity (622); the output port is communicated with the drainage pipeline, and the input port is communicated with the air source;
the two-position two-way electromagnetic valve (64) is communicated with the air source (5) and the input port of the water storage inner cavity (62);
when the air source (5) is required to fly, the two-position two-way electromagnetic valve (64) is controlled, so that high-pressure air in the air source (5) enters the air cavity (621), the pressure in the water storage cavity (62) is increased until the pressure in the water storage cavity (62) is the same or basically the same as the pressure in the air source (5), at the moment, the speed regulating valve (61) is fully opened, the air-liquid barrier film (63) pushes the liquid cavity (622) at a high speed under the action of the high-pressure air, and the liquid cavity (622) is compressed, so that liquid in the liquid cavity (622) is discharged, high-pressure thrust is formed, and the bionic flying cuttlefish capable of realizing a soft body variable structure is pushed out of the water surface and flies through the high-pressure thrust;
when the device is required to move underwater, the two-position two-way electromagnetic valve (64) is controlled, so that high-pressure gas in the gas source (5) enters the gas cavity (621), the opening of the speed regulating valve (61) is controlled according to the requirement, the gas-liquid blocking film (63) pushes the liquid cavity (622) at high speed under the action of the high-pressure gas, the liquid cavity (622) is compressed, so that liquid in the liquid cavity (622) is discharged, thrust is formed, and the bionic flying cuttlefish with a soft variable structure moves underwater across the sea air craft through the thrust, and the speed is controlled by regulating the opening of the speed regulating valve (61).
2. The bionic flying cuttlefish sea-air vehicle capable of realizing the soft variable structure according to claim 1, wherein the outer shell comprises a first shell (11) and a second shell (12) which are connected in a detachable manner, and the second shell (12) is provided with the air charging hole, the water filling hole and the propelling water outlet hole;
the outer shell (1) further comprises a sealing groove (13), and the sealing groove (13) is distributed on the contact surface of the first shell (11) and the second shell (12);
the pair of fin assemblies (2) and the wrist fin assembly (3) are arranged on the first shell (11) or the second shell (12).
3. A biomimetic flying cuttlefish cross-sea and air craft capable of realizing a soft body variable structure as in claim 2, wherein said fin control system (4) comprises:
the first two-position three-way electromagnetic valve (41), and the first two-position three-way electromagnetic valve (41) is respectively connected with the air source (5) and the fin alignment assembly (2);
the second two-position three-way electromagnetic valve (42), and the second two-position three-way electromagnetic valve (42) is respectively connected with the air source (5) and the wrist fin assembly (3).
4. A biomimetic flying cuttlefish air-sea craft capable of realizing a soft body variable structure as in claim 3, wherein the pair of fins assembly (2) comprises a first flexible pair of fins and a second flexible pair of fins, wherein an annular air cavity is arranged in the first flexible pair of fins, and an annular air cavity is arranged in the second flexible pair of fins; the annular air cavity in the first flexible pair of fins is communicated with the first two-position three-way electromagnetic valve respectively;
the wrist fin assembly (3) comprises a first flexible wrist fin and a second flexible wrist fin, wherein an annular air cavity is arranged in the first flexible wrist fin, and an annular air cavity is arranged in the second flexible wrist fin; the annular air cavity in the first flexible wrist fin is communicated with the second two-position three-way electromagnetic valve respectively.
5. The simulated flying cuttlefish sea-air vehicle capable of realizing the soft body variable structure according to claim 1, further comprising an air charging pipeline and an air charging valve (7) arranged in the air charging pipeline, wherein one end of the air charging pipeline is connected with the air source (5), and the other end of the air charging pipeline is arranged at the air charging hole.
6. The soft-convertible jerusalem artichoke straddling air vehicle of claim 1 further comprising a water injection system (8), said water injection system (8) being connected to said water storage interior, said water injection system (8) being adapted to provide liquid to said water storage interior (62).
7. The biomimetic flying cuttlefish cross-sea and air craft capable of realizing soft body change structure according to claim 6, wherein the water injection system comprises:
a water supply centrifugal pump (81), wherein the output end of the water supply centrifugal pump (81) is communicated with the storage Shui Naqiang (62) through a pipeline;
the one-way valve (82), the one-way valve (82) is arranged on a pipeline which is communicated with the water supply centrifugal pump (81) and the water storage inner cavity (62).
8. The biomimetic flying cuttlefish cross-sea and air craft capable of realizing a soft body variable structure as in claim 7, wherein the water injection system further comprises a second two-position two-way electromagnetic valve (83), and the second two-position two-way electromagnetic valve (83) is communicated with a gas cavity (621) of the water storage inner cavity.
9. The biomimetic flying cuttlefish cross-sea and air vehicle capable of realizing a soft body variable structure according to claim 1, wherein the propulsion system further comprises a flowmeter, and the flowmeter is arranged on the drainage pipeline.
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| CN201710822828.9A CN107554736B (en) | 2017-09-13 | 2017-09-13 | Bionic flying cuttlefish sea-air vehicle capable of realizing soft variable structure |
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| CN201710822828.9A CN107554736B (en) | 2017-09-13 | 2017-09-13 | Bionic flying cuttlefish sea-air vehicle capable of realizing soft variable structure |
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| CN107554736B true CN107554736B (en) | 2023-06-13 |
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| CN110588934B (en) * | 2019-10-15 | 2024-01-30 | 上海海洋大学 | Underwater flexible bionic squid |
| CN111005820A (en) * | 2019-12-27 | 2020-04-14 | 哈尔滨工程大学 | High-pressure water supply device for engine |
| CN113386929B (en) * | 2021-05-07 | 2022-11-08 | 上海大学 | Underwater soft snake-shaped robot |
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| CN107554736A (en) | 2018-01-09 |
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