CN115303453A

CN115303453A - Rotatable telescopic wing of double-arm underwater robot

Info

Publication number: CN115303453A
Application number: CN202211110339.8A
Authority: CN
Inventors: 麦青群; 祁正鸿; 翁宸宇; 张科; 张桂雄; 刘海涛
Original assignee: Guangdong Ocean University
Current assignee: Guangdong Ocean University
Priority date: 2022-09-13
Filing date: 2022-09-13
Publication date: 2022-11-08
Anticipated expiration: 2042-09-13
Also published as: CN115303453B

Abstract

The invention discloses a rotatable telescopic wing of a double-arm underwater robot, which comprises two rotatable guide wings positioned at two sides of a double-arm underwater robot body; the rotatable guide wing comprises a rotating structure component, a guide plate component, a cylinder component and a solar panel; the rotating structure component comprises a fixed base, a wing main structure, an upper four-link structure and a lower four-link structure; the cylinder assembly is arranged on the fixed base; the fixed base is connected with the double-arm underwater robot body; go up four link structures, deflector plate subassembly and solar panel and all locate on the wing main structure, lower four link structures slide with the wing main structure and link to each other, go up four link structures and link to each other with lower four link structures and cylinder subassembly respectively. The rotatable telescopic wing is mounted on the body of the double-arm underwater robot, so that the small double-arm underwater robot can improve the operation duration, has high flexibility, can enter a narrower space in a seabed area for operation and other functions.

Description

Rotatable telescopic wing of double-arm underwater robot

Technical Field

The invention belongs to the technical field of underwater robot wings, and particularly relates to a rotatable telescopic wing of a double-arm underwater robot.

Background

The underwater robot is a robot which is unmanned or remotely controlled and can autonomously navigate underwater, and is mainly divided into a large-scale operation-level underwater robot and a small-scale underwater robot according to body types. The submarine landform, geological structure, submarine exploration and other large-range and all-terrain detection can be carried out by carrying various detection sensors. In the detection process, facing to the area where the sea bottom is narrow or the reef is erected, the small underwater robot has no huge volume of an operation-level underwater robot, and the small underwater robot is more convenient to move and can flexibly shuttle on a complex terrain. However, small underwater robots in the market cannot pass through narrow areas due to uneven volumes, and cannot achieve volume expansion and contraction in space due to the fact that the robots are generally of a fixed structure.

The double-arm underwater robot generally refers to an underwater gliding robot carrying guide wings or balance wings, can adjust self balance and other purposes through wings on two sides, is only applied to the field of aircrafts on the basis of rotatable wings at present, has few corresponding designs in the field of underwater robots, and has a key effect on a small underwater robot to shuttle in more complex regions with redundant seabed free edges.

The existing underwater autonomous robot comprises an underwater gliding robot, the defect of poor cruising ability is overcome to a certain degree, the power of a propeller carried by the robot is high, the long-time submarine detection task can not be carried out on the seabed autonomously, meanwhile, the rotating structure of the rotatable wing is limited underwater, and structures like gears are exposed in the seawater, so that the corrosion is easily caused and the normal use cannot be realized. Secondly, the function is generally realized by the guide function of the fixed wing, and the multi-angle guide function cannot be realized through the structural change of the fixed wing.

Disclosure of Invention

The present invention is directed to overcome the above-mentioned shortcomings in the prior art, and to provide a dual-arm underwater robot rotatable telescopic wing, so as to solve or improve the above-mentioned problems.

In order to achieve the purpose, the invention adopts the technical scheme that:

a double-arm underwater robot rotatable telescopic wing comprises two rotatable guide wings positioned on two sides of a double-arm underwater robot body; the rotatable guide wing comprises a rotating structure component, a guide plate component, a cylinder component and a solar panel;

the rotating structure assembly comprises a fixed base, a wing main structure, an upper four-link structure and a lower four-link structure; the cylinder assembly is arranged on the fixed base; the fixed base is connected with the double-arm underwater robot body; the upper four-linkage structure, the guide plate assembly and the solar panel are all arranged on the wing main structure, the lower four-linkage structure is connected with the wing main structure in a sliding mode, and the upper four-linkage structure is connected with the lower four-linkage structure and the cylinder assembly respectively.

The rotatable telescopic wing of the double-arm underwater robot provided by the invention has the following beneficial effects:

the rotatable telescopic wing is mounted on the body of the double-arm underwater robot, so that the small double-arm underwater robot can improve the operation duration, has high flexibility, can enter a narrower space in a seabed area for operation and other functions, and solves the problem that few rotatable wings are in the field of underwater robots.

The solar panel carried by the invention can realize that the double-arm underwater glider carrying the wing can provide power supply on the sea surface; the wing with the telescopic structure can retract the wing in a narrow area, so that the size of the whole aircraft in space is reduced, and the aircraft wing is more flexible; the rotary wing adopts a double four-link structure instead of a gear structure, so that the usability is higher; the rotating wing can realize the functions of guiding and steering the whole machine by carrying a quadrangular deformation structure guide plate which can rotate by 360 degrees; the power system of the rotary wing is a cylinder, and the double-arm underwater robot carrying high-pressure gas can open or close the wing by controlling the gas charging and discharging mode.

Drawings

FIG. 1 is a front elevational view of a rotatable airfoil in accordance with the present invention in its entirety deployed;

FIG. 2 is a top view of the entire rear side of the rotary wing of the present invention;

FIG. 3 is a front plan view of the entire fully closed rotary wing of the present invention 1;

FIG. 4 is a front plan view of the entire fully closed rotary wing of the present invention 2;

FIG. 5 is a schematic view of a fixing base of the rotary structure of the present invention;

FIG. 6 is a schematic view of a cylinder assembly 1 in a rotary wing according to the present invention;

FIG. 7 is a schematic view of a cylinder assembly in a rotary wing of the present invention 2;

FIG. 8 is a schematic view of a cylinder assembly-mount assembly in a rotary wing according to the present invention;

FIG. 9 is a schematic view of a rotary structural assembly-a lower four-bar linkage structure-a support bracket in a rotary wing according to the present invention;

FIG. 10 is a schematic view of the combination of a rotary structural component, a lower four-bar linkage structure, a support frame, no. 2 lower connecting rod in the rotary wing of the present invention;

FIG. 11 is a schematic view of the overall structure of the rotary structure-lower four-bar linkage structure of the rotary wing of the present invention;

FIG. 12 is a schematic view of the lower four-bar linkage-anchor base engagement of the rotary structure in the rotary wing of the present invention fully deployed;

FIG. 13 is a schematic view of the lower four-bar linkage structure of the rotary structure in the rotary wing of the present invention in conjunction with the stationary base;

FIG. 14 is a schematic view of a rotary structure-a main wing structure-a wafer plug in a rotary wing according to the present invention;

FIG. 15 is a schematic view of a rotary structure-an upper four-bar linkage structure-a support frame in a rotary wing according to the present invention;

FIG. 16 is a schematic view of the overall structure of the rotary structure-upper four-bar linkage structure in the rotary wing of the present invention 1;

FIG. 17 is a schematic view of the overall structure of the rotary structure-upper four-bar linkage structure in the rotary wing of the present invention 2;

FIG. 18 is a fully expanded view of the upper four-bar linkage-stationary base arrangement of the rotating structure of the present invention;

FIG. 19 is a fully expanded view of the upper four-bar linkage-stationary base arrangement of the rotating structure of the present invention;

FIG. 20 is an enlarged view of a portion of the structure of the roto-upper quadruple link structure in a rotary airfoil according to the present invention;

FIG. 21 is a schematic view of a fully deployed configuration of a rotary structure in a rotary wing according to the present invention;

FIG. 22 is a schematic view of the overall contraction of the upper and lower four-bar linkage structures of the rotary structure in the rotary wing of the present invention;

FIG. 23 is a schematic view of the overall contraction of the upper and lower four-bar linkage structures of the rotary structure in the rotary wing of the present invention;

FIG. 24 is a schematic view of the overall contraction of the upper and lower four-bar linkage structures of the rotary structure in the rotary wing of the present invention shown in FIG. 3;

FIG. 25 is a schematic view of the upper and lower four-bar linkage structure of the rotary structure of the present invention in an overall contracted state 4;

FIG. 26 is a schematic front top view of the upper and lower four-bar linkage structure of the rotational structure of the present invention fully closed;

FIG. 27 is a schematic front top view of the upper and lower four-bar linkage structure of the rotary structure of the present invention fully closed;

FIG. 28 is a schematic view of the wing main structure E3 of the present invention shown in FIG. 1;

FIG. 29 is a schematic view of the main wing structure E3 of the present invention shown in FIG. 2;

FIG. 30 is a schematic view 3 of a main wing structure E3 according to the present invention;

FIG. 31 is an enlarged view of a portion of the wing main structure E3 of the present invention shown in FIG. 1;

FIG. 32 is an enlarged view of a portion of the wing main structure E3 of the present invention;

FIG. 33 is a schematic view of the wing main structure-rotating structure assembly-cylinder assembly combination of the present invention in FIG. 1;

FIG. 34 is a schematic view of the wing main structure-rotating structure assembly-cylinder assembly combination of the present invention in FIG. 2;

FIG. 35 is a schematic view of the main wing structure-rotating structure assembly-cylinder assembly combination of the rotating wing assembly of the present invention shown in FIG. 3;

FIG. 36 is an enlarged view of the main part of the main structure of the wing, the rotating structure assembly and the cylinder assembly of the present invention;

FIG. 37 is a schematic view of a solar panel E6 in a rotary wing according to the present invention;

FIG. 38 is a schematic view of the main wing structure-rotating structure assembly-cylinder assembly-solar panel assembly in a rotary wing according to the present invention;

FIG. 39 is a schematic view of the internal development of the overall structure of the assembly of the guide vanes in the rotor according to the present invention in FIG. 1;

FIG. 40 is a schematic view of the internal deployment of the integrated structure of the assembly of the guide vanes in the rotor according to the present invention in FIG. 2;

FIG. 41 is an enlarged, fragmentary schematic view of a baffle assembly in a rotary wing according to the present invention;

FIG. 42 is a schematic view of the overall configuration of a baffle assembly in a rotary wing of the present invention 1;

FIG. 43 is a schematic view of the overall configuration of a baffle assembly in a rotary wing of the present invention 2;

FIG. 44 is a schematic structural view of a steering engine control system of a spoiler assembly in a rotary wing according to the present invention;

FIG. 45 is a schematic view of a baffle assembly component configuration in a rotary wing according to the present invention;

FIG. 46 is a schematic view of the construction of a single part of a baffle assembly in a rotary wing according to the present invention 1;

FIG. 47 is a schematic view of the construction of a single part of a deflector assembly in a rotary wing according to the present invention 2;

FIG. 48 is a schematic view of the construction of a single part of the assembly of the baffle of the rotary wing of the present invention in FIG. 3;

FIG. 49 is a schematic view of the construction of a single part of the assembly of the baffle of the rotary wing of the present invention 4;

FIG. 50 is an enlarged view of a portion of a main wing structure-a rotating structural assembly-a cylinder assembly-a deflector assembly-a solar panel of the present invention;

FIG. 51 is a schematic view showing the deployment effect of the present invention installed on an underwater gliding robot 1;

FIG. 52 is a schematic view of the deployment effect of the present invention installed on an underwater gliding robot;

FIG. 53 is a schematic view of the closing effect of the present invention installed on an underwater gliding robot 1;

FIG. 54 is a schematic view of the closing effect of the present invention installed on an underwater gliding robot shown in FIG. 2;

FIG. 55 is an enlarged partial schematic view of the present invention mounted on an underwater gliding robot shown in FIG. 1;

FIG. 56 is a partially enlarged view of the underwater gliding robot according to the present invention shown in FIG. 2.

The cylinder comprises an E1-1 cylinder body, an E1-2 cylinder lower end vent hole, an E1-3 cylinder upper end vent hole, an E1-4 cylinder push rod, an E1-5 cylinder bifurcate support, an E1-6 cylinder fixing support, an E1-7 cylinder rotating shaft lock, an E1-8 cylinder bifurcate support fixing hole, an E1-9 cylinder fulcrum rotating shaft mounting hole, an E1-10 cylinder rotating shaft lock fixing bolt hole, an E1-11 cylinder fixing support fixing bolt hole, an E1-12 cylinder triangular support fixing bolt hole, an E1-13 cylinder triangular support;

e2-1, fixing a rotating shaft at the front end of the base, E2-2, fixing the rotating shaft at the rear end of the base, E2-3, a fixing groove, E2-4 and a base bolt hole;

e3-1, a wafer bolt sliding groove, E3-2, a main structure fixing hole, E3-3, a rotating shaft fixing position in the middle of a guide plate, E3-4, a main structure guide plate steering engine fixing hole, E3-5, an additional solar panel block, E3-6, a steering engine cover, E3-7, a main structure steering engine cover wedge block, E3-8, a main structure solar panel mounting concave area, E3-9, a wafer bolt, E3-9-1 and a wafer bolt fixing hole;

e4-1, an upper long plate of a guide plate, E4-2, an upper short plate of the guide plate, E4-3, a lower long plate of the guide plate, E4-4, a lower short plate of the guide plate, E4-5, a rotating shaft of the guide plate, E4-6, an internal rotating support of the guide plate, E4-7, a connecting shaft of the guide plate, E4-8, a steering engine of the guide plate, E4-8-1, a threaded hole of the steering engine of the guide plate, E4-9, an O-type steering engine connecting rod, E4-10, a steering engine cover of the guide plate, E4-10-1, a fixing hole of the steering engine cover of the guide plate, E4-10-2 and a wedge-shaped groove of the steering engine cover of the guide plate;

e5-1, no. 1 lower connecting rod, E5-1-1, no. 1 lower connecting rod fixing rotating hole, E5-2, no. 2 lower connecting rod, E5-3, no. 3 lower connecting rod, E5-4, no. 4 lower connecting rod, E5-5, no. 5 lower connecting rod, E5-5-1, no. 5 lower connecting rod fixing rotating hole, E5-6, lower connecting rod support frame, E5-6-1, lower connecting rod front end support base, E5-6-2, lower connecting rod rear end support base, E5-7, lower connecting rod support frame bolt hole, E5-8, no. 3-4-5 lower connecting rod rotating hole, E5-9, no. 1-4 lower connecting rod rotating shaft, E5-10, no. 1-2 lower connecting rod rotating shaft;

e7-1, no. 1 upper connecting rod, E7-1-1, no. 1 upper connecting rod fixing rotating hole, E7-1-2, no. 1 upper connecting rod threaded hole, E7-2, no. 2 upper connecting rod, E7-3, no. 3 upper connecting rod, E7-4, no. 4 upper connecting rod, E7-5, no. 5 upper connecting rod, E7-5-1, no. 5 upper connecting rod fixing rotating hole, E7-6, upper connecting rod support frame, E7-6-1, upper connecting rod front end support base, E7-6-2, upper connecting rod rear end support base, E7-7, upper connecting rod support frame bolt hole, E7-8, no. 3-4-5 upper connecting rod rotating hole, E7-9, no. 1-4 upper connecting rod rotating shaft, E7-10, no. 2-3 upper connecting rod rotating shaft, E7-11, threaded fixing pin.

Detailed Description

The following description of the embodiments of the present invention is provided to facilitate the understanding of the present invention by those skilled in the art, but it should be understood that the present invention is not limited to the scope of the embodiments, and it will be apparent to those skilled in the art that various changes may be made without departing from the spirit and scope of the invention as defined and defined in the appended claims, and all matters produced by the invention using the inventive concept are protected.

Embodiment 1, referring to fig. 1, the two-arm underwater robot rotatable telescopic wing of the present solution includes two rotatable guide wings located at two sides of a body of the two-arm underwater robot; the rotatable guide wing comprises a rotating structure component, a guide plate component E5, a cylinder component E1 and a solar panel E6;

the rotating structure assembly comprises a fixed base E2, a wing main structure E3, an upper four-link structure E7 and a lower four-link structure E5; the air cylinder component E1 is arranged on the fixed base E2; the fixed base E2 is connected with the double-arm underwater robot body; go up four link structure E7, guide plate subassembly E5 and solar panel E6 and all locate on wing main structure E3, lower four link structure E3 slides with wing main structure E3 and links to each other, goes up four link structure E7 and links to each other with lower four link structure E3 and cylinder subassembly E1 respectively.

Referring to fig. 1 to 4, the schematic view of the overall structure of the rotatable wing is that the rotatable wing assembly has a shape with two flat ends and a relatively raised middle, so that the rotatable wing assembly has a better performance of reducing water resistance no matter the rotatable wing is completely unfolded, folded or closed.

The following will show each component of the rotatable wing component in detail, and the fixed base E2 of the rotatable wing component is fixedly connected with the fuselage of the two-arm underwater robot through the base bolt holes E2-4, where it should be noted that the rotatable telescopic wing of the present invention is applicable to the two-arm underwater robot, but the two-arm underwater robot in this embodiment can directly adopt the existing underwater robot, and therefore, the detailed structure of the underwater robot is not described herein again.

The whole cylinder assembly E1 is fixed through a fixing groove E2-3, two rotating shafts E2-1 and E2-2 are installed on a rotating wing assembly fixing base E2, and a four-link structure wing main structure is fixed through the two rotating shafts.

Referring to fig. 5, in order to fix the base E2 of the rotating structure assembly, the bolt hole E2-4 of the base E2 is correspondingly connected with the fixing hole on the underwater robot body, two fixing rotation shafts are provided at the front and rear ends, one is the base rear end fixing rotation shaft E2-2 showing a single shaft for connecting and fixing the lower link fixing rotation hole E5-1-1 of the number 1 and the upper link fixing rotation hole E7-1-1 of the number 1, and the other is the base front end fixing rotation shaft E2-1 showing a symmetrical double shaft for connecting and fixing the lower link fixing rotation hole E5-5-1 of the number 5 and the upper link fixing rotation hole E7-5-1 of the number 5, it should be noted that the fixing base E2 and the upper and lower links of the number 1 and the upper and lower links of the number 5 rotate around the two rotation shafts each other, but the specific fixing and restraining manner of one end of the four rods and the two shafts is not shown in the figure, but the design is not in practical application, this is to emphasize the basic movement connection manner of the whole structure and does not represent the final illustration.

The fixing groove E2-3 is two sections of square grooves which are parallel two by two, the purpose is to connect the cylinder triangular support E1-13 with the fixing base E2 through the cylinder triangular support fixing bolt holes E1-12, the fixing base E2 is not provided with a single bolt hole, and the fixing groove E2-3 is used for fixing the cylinder triangular support E1-13, the purpose is to flexibly adjust the accurate position of the cylinder assembly relative to the fixing base E2, the position of the cylinder assembly on the fixing base can finally influence the difficulty of the whole cylinder assembly for the effective support of the upper four-link structure E5, and therefore, the best supporting position can be found through multiple times of adjustment when the cylinder assembly is installed.

Referring to fig. 6 to 8, the cylinder assembly E1 includes a cylinder body E1-1 and a fixing structure thereof. The cylinder body E1-1 is provided with an upper end air vent E1-3 and a lower end air vent E1-2 at the upper end and the lower end respectively, an upper end air vent E1-3 and a lower end air vent E1-2 are arranged in the cylinder body E1-1, an upper end and a lower end of the cylinder are respectively provided with a cylinder push rod E1-4 which can contract and extend up and down, one end of the cylinder push rod E1-4 which is presented outside is fixed on a cylinder double-fork support E1-5 through a cylinder double-difference support fixing hole E1-8, two cylinder fulcrum rotating shaft mounting holes E1-9 are arranged on the cylinder double-fork support E1-5, the cylinder body E1-1 is clamped by two semicircular cylinder fixing supports E1-6, the two cylinder fixing supports E1-6 are distributed in a mirror image mode and are connected through two cylinder fixing support fixing bolt holes E1-11, in addition, one end of the cylinder fixing support E1-6 is provided with a cylinder, the two cylinder fixing supports E1-6 are integrated to form a pair of coaxial cylinders, the cylinders are arranged in semicircular grooves at the bottoms of V-type cylinder triangular supports E1-13, and a cylinder fixing support E1-7 lock is arranged at the bottom of the cylinder fixing support E1-6, and the triangular support. The cylinder tripod fixing bolt holes E1-12 are to be fixed in the fixing grooves E2-3. Part of the cylinder assembly will pass through the stationary base E2 to secure the slot mid-void area to provide support for the upper four bar linkage E7.

Referring to fig. 9-14, a detailed structural illustration of the lower four-bar linkage structure E5 of the rotating structure assembly is shown.

The lower four-link structure E5 mainly comprises five connecting rods and a supporting frame.

The lower connecting rod support frame E5-6 consists of a cross rod and three vertical forks, a lower connecting rod front end support base E5-6-1 and a lower connecting rod rear end support base E5-6-2 which present a higher height are arranged on the cross rod and are used for connecting and fixing the No. 2 lower connecting rod E5-2, and a certain distance is kept in space with the upper four-link connecting rod structure E7 to avoid interference and collision. The lower connecting rod support frame bolt holes E5-7 are arranged on the cross rods and the three vertical forks of the lower connecting rod support frame E5-6 and are distributed in parallel in space, and the lower connecting rod support frame bolt holes E5-7 are used for being connected with wafer bolts E3-9, the thinner end of each wafer bolt E3-9 is embedded in the lower connecting rod support frame bolt hole E5-7 and fixed through wafer bolt fixing holes E3-9-1, and then the lower connecting rod support frame E5-6 is connected with the wing main structure E3. A parallelogram area is enclosed by the crossed area of the No. 1 lower connecting rod E5-1, the No. 2 lower connecting rod E5-2, the No. 3 lower connecting rod E5-3 and the No. 4 lower connecting rod E5-4, and the length of the No. 3 lower connecting rod E5-3 is equal to the distance between the No. 1-2 lower connecting rod rotating shaft E5-10 and the No. 1-4 lower connecting rod rotating shaft. The No. 5 lower connecting rod E5-5 aims to be matched with other four connecting rods, and the overall motion track of the lower four-connecting-rod structure E5 is influenced by the length of the No. 5 lower connecting rod E5-5 and the length of each side of a parallelogram formed by the other four connecting rods. It should be noted that, in order to keep the whole lower connecting rod to be completely contracted, the sum of the distance between the axle centers of the rotating shafts E5-9 of the No. 1-4 lower connecting rod and the rotating shafts E5-10 of the No. 1-2 lower connecting rod and the distance between the axle centers of the fixing holes at the two ends of the No. 4 lower connecting rod E5-4 is ensured to be equal to the distance between the axle centers of the fixing holes of the No. 1 lower connecting rod E5-1. The No. 1-2 lower connecting rod rotating shaft E5-10 and the rear end supporting base E5-6-2 of the lower connecting rod are fixed in a bolt mode, and the No. 1-4 lower connecting rod rotating shaft E5-9 is arranged in the middle of the No. 1 lower connecting rod E5-1 in a protruding mode and provides support for a rotating hole at one end of the No. 4 lower connecting rod E5-4. A bump part is arranged in the middle of the No. 5 lower connecting rod E5-5, so that the condition that the No. 5 lower connecting rod E5-5 and the No. 1-4 lower connecting rod rotating shaft E5-9 collide in space in the process of completely closing the lower four-bar linkage structure E5 is avoided. The No. 1 lower connecting rod fixing and rotating hole E5-1-1 penetrates through the fixed rotating shaft E2-2 at the rear end of the base, the lower connecting rod fixing and rotating hole E5-5-1 penetrates through the fixed rotating shaft E2-1 at the front end of the base, and the whole lower four-link assembly E5 can perform structural contraction and expansion around the two fixed rotating shafts. Finally, the movement postures of the whole rotatable assembly are kept synchronous with the movement postures of the lower connecting rod support frames E5-6 and the No. 2 lower connecting rod E5-2 in space, and the lower connecting rod support frames E5-6 and the upper connecting rod support frames E7-6 are kept parallel to each other.

It should be noted that the whole lower connecting rod structure E5 and the wing main structure E3 are not fixedly connected in the whole structure, but the whole upper four-connecting-rod structure E7 is driven to move, i.e. to follow up, according to the sliding of the disc pin in the predetermined position in the disc pin sliding groove E3-1.

The lower four-bar linkage structure E5 is arranged to provide higher-strength support for the wing main structure E3, and because the wing main structure E3 is longer, if one set of upper four-bar linkage structure E7 is used alone, the support force required by the whole wing main structure E3 during extension and contraction can not be borne. It should be further noted that the structural design of the lower connecting rod support frame is also for the purpose of increasing the support area.

Referring to fig. 15-20, a detailed structural illustration of the four bar linkage E7 on the rotating structural assembly is shown. The upper four-link structure E7 mainly comprises five connecting rods and a supporting frame.

The upper connecting rod support frame E7-6 consists of a cross rod and three vertical forks, and the cross rod is provided with an upper connecting rod front end support base E7-6-1 and a lower connecting rod rear end support base E7-6-2 which are used for connecting and fixing the No. 2 upper connecting rod E7-2. Secondly, it should be noted that the final heights of the upper link support E7-6 of the upper four-bar linkage structure E7 and the lower link support E5-6 of the lower four-bar linkage structure E5 in the space are required to be consistent, and therefore, a plurality of grooves are formed on the cross bar of the lower link support E5-6 for placing the upper link support E7-6. The bolt holes E7-7 of the upper connecting rod support frame are arranged on the cross rods and the three vertical forks of the upper connecting rod support frame E7-6 and are distributed in parallel in space, and the bolt holes are used for connecting the wing main structure E3 and fixing the upper connecting rod support frame E7-6 and the main structure fixing holes E3-2 through bolts. No. 1 upper connecting rod E7-1, no. 2 upper connecting rod E7-2, no. 3 upper connecting rod E7-3 and No. 4 upper connecting rod E7-4 enclose a parallelogram area in the crossing area, the length of No. 3 upper connecting rod E7-3 is equal to the distance between the axle center of No. 1-4 lower connecting rod rotating shaft E5-9 and No. 1 upper connecting rod fixed rotating hole, and meanwhile, no. 1-4 lower connecting rod rotating shaft E5-9 is arranged at the center of the whole No. 1 upper connecting rod, so that the side lengths of the parallelograms in the crossing area are equal. The No. 5 upper connecting rod E7-5 aims to be matched with other four connecting rods, and the whole motion track of the upper four-connecting-rod structure E7 is influenced by the length of the No. 5 upper connecting rod E7-5 and the length of each side of a parallelogram formed by the other four connecting rods. The No. 2-3 upper connecting rod rotating shaft E7-10 is arranged on the No. 2 upper connecting rod E7-2 in a protruding mode and provides support for a rotating hole at one end of the No. 3 upper connecting rod E7-3. The No. 1-4 upper connecting rod rotating shaft E7-9 is arranged on the No. 1 upper connecting rod E7-1 in a protruding mode and provides support for a rotating hole at one end of the No. 4 upper connecting rod E7-4. A bump is arranged in the middle of the No. 5 upper connecting rod E7-5, and the purpose is to avoid the situation that the No. 5 upper connecting rod E7-5 collides with the No. 1-4 upper connecting rod rotating shaft E7-9 in the process of completely closing the upper four-link structure E7. The upper end of the No. 1 upper connecting rod, one end of the No. 2 upper connecting rod E7-2 and the upper connecting rod bracket E7-6-2 are coaxially connected and fixed through pins. The upper connecting rod fixing rotating hole E7-1-1 penetrates through the base rear end fixing rotating shaft E2-2, the upper connecting rod fixing rotating hole E7-5-1 penetrates through the base front end fixing rotating shaft E2-1, and the whole upper four-link structure E7 can perform structural contraction and expansion around the two fixing rotating shafts. Finally, the motion postures of the whole rotatable assembly are kept synchronous with the motion postures of the upper connecting rod support frame E7-6 and the No. 2 upper connecting rod E7-2 in space. It should be noted that the whole upper connecting rod structure E7 and the wing main structure E3 are fixedly connected in the whole structure. The upper four-bar linkage structure E7 is arranged to provide main supporting moment for the wing main structure E3, and because the wing main structure E3 is longer, if one set of upper four-bar linkage structure E7 is used alone, the supporting force required by the whole wing main structure E3 during extension and contraction can not be borne, so that the requirement shows that the design of the invention is to design two sets of four-bar linkage structures which are distributed up and down in space.

The rear end of a No. 1-4 upper connecting rod rotating shaft E7-9 of a No. 1 upper connecting rod E7-1 is provided with a No. 1 upper connecting rod threaded hole for mounting a threaded fixing pin E7-11, one end of a cylinder fulcrum rotating shaft mounting hole E1-9 penetrates through the No. 1-4 upper connecting rod rotating shaft E7-9, and the other end of the cylinder fulcrum rotating shaft mounting hole penetrates through a cylinder of the threaded fixing pin E7-11, so that the No. 1 upper connecting rod E7-1 and the No. 4 upper connecting rod E7-4 are fixed with the cylinder assembly E1 and perform linkage movement.

Referring to fig. 21-27, three positions of the rotating structural component of the rotating wing component, namely, fully unfolded, fully retracted and fully closed, are shown. It should be noted that the whole structure is not limited to the three states shown, and the structural change of each link in the whole movement process is not described in detail.

The air cylinder assembly E1 generates moment through an air cylinder push rod, the No. 1 upper connecting rod E7-1 in the upper four-link structure E7 is connected with the air cylinder double-fork support E1-5, and further the moment provided by the air cylinder assembly is output to the No. 1 upper connecting rod E7-1 to drive the No. 1 upper connecting rod E7-1 to rotate around the fixed rotating shaft E2-2 at the rear end of the base, so that the whole upper four-link structure E7 is driven to move, and the space motion projected to the tail end upper connecting rod support E7-6 is changed in a telescopic mode of 0-90 degrees. The upper connecting rod support frames E7-6 and the wing main structure E3 are integrated, the same direction shows 0-90 degrees of telescopic change, in the telescopic process, as the disc pins move in the planned disc pin sliding grooves, the lower connecting rod support frames E5-6 are driven to be telescopic, and the telescopic movement of the lower connecting rod support frames E5-6 drives the whole lower four-link structure E5 to be telescopic. In addition, it should be noted that the main purpose of the lower four-bar linkage structure E5 is to provide the wing main structure E3 with a supporting force in a direction perpendicular to the entire wing main structure surface, so as to prevent the wing from breaking due to too small supporting force during rotation. Further, the upper link supporting frame E7 and the fixed base E2 will have a positional relationship of maintaining 90 degrees when fully extended, i.e. perpendicular to each other, and the upper link supporting frame E7 and the fixed base E2 will have a positional relationship of maintaining 0 degrees when fully closed, i.e. parallel to each other. Meanwhile, the upper connecting rod support frame E7-6 and the lower connecting rod support frame E5-6 are always kept in a parallel relation in the whole telescopic process.

Referring to fig. 28-38, the main wing structure mainly comprises a wafer plug pin sliding groove E3-1, a main structure fixing hole E3-2, a guide plate middle rotating shaft fixing position E3-3, a main structure guide plate steering engine fixing position E3-4, an additional solar panel block, a steering engine cover threaded hole E3-6, a main structure steering engine cover wedge block E3-7, a main structure solar panel installation concave area E3-8 and a wafer plug pin E3-9.

The main structure fixing holes E3-2 are connected with the upper connecting rod support frame bolt holes E7-7 in a one-to-one correspondence mode, the wing main structure is made of a material with high rigidity and light weight, and it needs to be shown that the additional solar panel E3-5 in the whole wing main structure is an independent solar panel and needs to be manufactured and fixed on the wing main structure E3, and besides the wafer bolts E3-9 are independent parts, other contents of the main structure are integrated. Six wafer bolt sliding grooves E3-1 are arranged, the six wafer bolt sliding grooves are distributed in pairwise symmetry, the movement track of bolt holes of each lower connecting rod support frame on a lower connecting rod support frame E5-7 is considered in the shape design of the wafer bolt sliding grooves E3-1, meanwhile, strong constraint is carried out on the wafer bolts E3-9, therefore, deep grooves are formed in a concave installation area E3-8 of the main structural solar panel, the deep grooves are divided into an un-penetrated area and a completely penetrated area, and the width design of the completely penetrated area meets the requirement that the bolt sliding grooves E3-2 cannot fall from the penetrated area while the diameter of a cylinder at the thinner end of the bolt sliding grooves E3-1 is met. The width of the wafer plug pin sliding groove E3-1 in each direction is required to be larger than or equal to the diameter of the wafer at the wafer end of the wafer plug pin E3-9. In addition, it should be noted that the installation of the bolts of the main structure fixing holes E3-2 should not affect the flatness of the main structure solar panel installation concave areas E3-8, which is the installation area of the solar panel E6. Further, other structural design purposes at the rear end of the wing main structure E3 are to install the deflector assembly E4.

The main structure guide plate steering engine fixing position E3-4 is four oval through holes and is used for corresponding to a guide plate steering engine bolt hole E4-8-1 in the guide plate steering engine E4-8, the main structure steering engine cover wedge block E3-7 is used for being butted with a guide plate steering engine cover wedge groove E4-10, and in addition, the steering engine cover threaded hole is used for being butted with a guide plate steering engine cover fixing hole E4-10-1 in the guide plate steering engine cover E4-10. The rotary shaft fixing positions E3-3 in the middle of the guide plate are two, and the purpose is to fix a guide plate connecting shaft E4-7 at the foremost end of the rhombic guide plate.

Referring to FIGS. 39-50, a guide plate component of the rotary wing component comprises a guide plate upper long plate E4-1, a guide plate upper short plate E4-2, a guide plate lower long plate E4-3, a guide plate lower short plate E4-4, a guide plate rotating shaft E4-5, a guide plate internal rotating support E4-6, a guide plate connecting shaft E4-7, a guide plate steering engine E4-8, a guide plate steering engine threaded hole E4-8-1, an O-shaped steering engine connecting rod E4-9, a guide plate steering engine cover E4-10, a guide plate steering engine cover fixing hole E4-10-1 and a guide plate steering engine cover wedge-shaped groove E4-10-2.

The guide plate component is in a regular diamond column shape, the front end of the guide plate component is provided with a guide plate upper short plate E4-2 and a guide plate lower short plate E4-4 which are connected through a guide plate connecting shaft E4-7, the rear end of the guide plate component is provided with a guide plate upper long plate E4-1 and a guide plate lower long plate E4-3 which are connected through a guide plate connecting shaft E4-7, and in addition, the rear end two long plates, the front end two short plates and one end of a guide plate inner rotating support E4-6 are connected through two guide plate connecting shafts E4-7. The rotating supports E4-6 in the four guide plates are arranged in total, and the two rotating supports are combined together, and the included angle between the two rotating supports in the spatial combination is kept between 20 and 60 degrees. One end of each of the two internal rotating supports E4-6 of the guide plate is clamped between the short plate E4-2 of the guide plate and the long plate E4-1 of the guide plate, and one end of each of the other two internal rotating supports E4-6 of the guide plate is clamped between the short plate E4-4 of the lower guide plate and the long plate E4-3 of the lower guide plate. Meanwhile, the other ends of rotating supports E4-6 in the four guide plates are coaxially connected through guide plate rotating shafts E4-5, the guide plate rotating shafts E4-5 are fixed in a guide plate middle rotating shaft fixing position E3-3, two guide plate steering gears E4-8 are distributed at two ends of each guide plate, one end of an O-shaped steering gear connecting rod E4-9 is connected with a guide plate steering gear, the other end of the O-shaped steering gear connecting rod is connected with a guide plate connecting shaft E4-7 at the front end of each guide plate, and the purpose that the steering gear connecting rod is in an O shape instead of a single connecting rod is to avoid the situation that the single connecting rod is easy to break. And the guide plate rudder cover E-10 is used for protecting the steering engine. It should be noted that the short plate E4-4 under the guide plate and the short plate E4-2 on the guide plate have the same external structure except for different placement directions, and are connected end to end in use, and the long plate E4-1 on the guide plate and the long plate E4-3 under the guide plate have the same structure and are connected end to end in use. The guide plate is in the luffing motion in-process, and the appearance presents a quadrangular shape that changes, and the structure that overall structure front end forked open presents and has reached better reposition of redundant personnel effect.

The solar panel carried by the invention can realize that the double-arm underwater glider carrying the wing can provide power supply on the sea surface; the wing with the telescopic structure can retract the wing in a narrow area, so that the size of the whole aircraft in space is reduced, and the aircraft wing is more flexible; the rotary wing adopts a double four-link structure instead of a gear structure, so that the usability is higher; the rotating wing can realize the functions of guiding and steering the whole machine by carrying a flow guide plate with a quadrangular deformation structure which can rotate by 360 degrees; the power system of the rotary wing is a cylinder, and the double-arm underwater robot carrying high-pressure gas can open or close the wing by controlling the gas charging and discharging mode.

The invention can simultaneously open 4 guide plate steering engines, wherein the rotation directions of the guide plate steering engines on two sides are opposite. The guide plate steering engines on the two sides rotate in opposite directions, the guide plate assemblies on the rotating wings can rotate for 360 degrees on the wings, the guide plates on the two sides rotate in different directions, the function of reducing the rotating radius of the body can be achieved, and the underwater robot can rotate in situ in water.

As shown in fig. 52 to 56, the rotatable telescopic wing of the present embodiment can be applied to an underwater gliding robot.

The wings of the gliding robot can replace the rotatable wings to build a double-arm underwater robot, as shown in fig. 51-52, the whole state diagram of the double-arm underwater gliding robot when the double arms are unfolded is shown, and the double-arm robot finishes normal gliding action in the state; as shown in fig. 53 to 54, which are schematic diagrams of a state that a dual-arm underwater robot retracts wings when working in an underwater narrow space, the transverse volume of the dual-arm underwater robot is obviously reduced by retracting the wings, and collision is avoided due to overlarge volume; as shown in fig. 55, the double-arm underwater glider can control four steering engines on the rotary wings to move in the same direction for a fixed angle, so that the function of assisting in gliding can be achieved to a certain extent; as shown in fig. 56, the dual-arm underwater glider can achieve the functions of assisting the steering thereof by controlling the guide plates on the two sides to rotate in different directions. It should be noted that the compressed air used to rotate the wing cylinders requires the glider itself to carry the air storage and then control it to close or open using the control system.

While the embodiments of the invention have been described in detail in connection with the accompanying drawings, it is not intended to limit the scope of the invention. Various modifications and changes may be made by those skilled in the art without inventive work within the scope of the appended claims.

Claims

1. The utility model provides a rotatable flexible wing of both arms underwater robot which characterized in that: the double-arm underwater robot comprises two rotatable guide wings positioned on two sides of a double-arm underwater robot body; the rotatable guide wing comprises a rotating structure component, a guide plate component, a cylinder component and a solar panel;

the rotating structure assembly comprises a fixed base, a wing main structure, an upper four-link structure and a lower four-link structure; the air cylinder assembly is arranged on the fixed base; the fixed base is connected with the double-arm underwater robot body; go up four link structures, deflector subassembly and solar panel and all locate on the wing main structure, lower four link structures slide with the wing main structure and link to each other, go up four link structures and link to each other with lower four link structures and cylinder subassembly respectively.

2. The dual arm underwater robot rotatable telescopic wing of claim 1, wherein: the fixed base is fixed on the body of the double-arm underwater robot through a base bolt hole; two fixed rotating shafts are respectively arranged at the front end and the rear end of the fixed base and are respectively connected with the upper four-link structure and the lower four-link structure; a fixing groove is formed in the fixing base;

the fixing grooves are two sections of square grooves which are parallel to each other, and the cylinder triangular supports are connected with the fixing base through cylinder triangular support fixing bolt holes in the cylinder assembly.

3. The dual arm underwater robot rotatable telescopic wing of claim 2, wherein: the cylinder assembly comprises a cylinder main body and a fixing structure; the upper end and the lower end of the cylinder main body are respectively provided with a cylinder upper end vent hole and a cylinder lower end vent hole, a cylinder push rod capable of contracting and extending up and down is arranged in the cylinder main body, one end of the cylinder push rod, which is presented outside, is used for fixing a cylinder bifurcate bracket through a cylinder bifurcate bracket fixing hole, two cylinder fulcrum rotating shaft mounting holes are formed in the cylinder bifurcate bracket, the cylinder main body is clamped through two semicircular cylinder fixing supports, the two cylinders are fixed and supported in a mirror image distribution mode and are connected through two cylinder fixing support fixing bolt holes; one end of the air cylinder fixing support is provided with a cylinder, two air cylinder fixing supports are integrated to form a pair of coaxial cylinders, the cylinders are arranged in semicircular grooves in the bottom of the V-shaped air cylinder triangular support to roll, are reversely buckled at the bottom of the V-shaped air cylinder triangular support through an air cylinder rotating shaft lock with a groove in the middle, and are fixed through air cylinder rotating shaft lock fixing bolt holes; the cylinder A-frame fixing bolt hole is fixed in the fixing groove.

4. The dual arm underwater robot rotatable telescopic wing of claim 3, wherein: the lower four-link assembly is fixed with a rotating shaft around the front end of the base and the rotating shaft is fixed at the rear end of the base to perform structural contraction and extension; the lower four-link structure comprises a lower connecting rod support frame, a No. 1 lower connecting rod, a No. 2 lower connecting rod, a No. 3 lower connecting rod, a No. 4 lower connecting rod and a No. 5 lower connecting rod;

the lower connecting rod supporting frame comprises a cross rod and three vertical forks; the cross rod is provided with a lower connecting rod front end supporting base and a lower connecting rod rear end supporting base; the lower connecting rod support frame bolt holes are arranged on the cross rod and the three vertical forks of the lower connecting rod support frame, are distributed in parallel in space and are used for connecting the wafer bolts; the thin end of the wafer bolt is embedded in the bolt hole of the lower connecting rod support frame and is fixed through the wafer bolt fixing hole, and the lower connecting rod support frame is connected with the wing main structure;

a parallelogram area is enclosed by the No. 1 lower connecting rod, the No. 2 lower connecting rod, the No. 3 lower connecting rod and the No. 4 lower connecting rod in the cross area, and the length of the No. 3 lower connecting rod is equal to the distance from the rotating shaft of the No. 1-2 lower connecting rod to the two shafts of the rotating shaft of the No. 1-4 lower connecting rod;

the No. 1-2 lower connecting rod rotating shaft is fixed with a supporting base at the rear end of the lower connecting rod through a bolt, and the No. 1-4 lower connecting rod rotating shaft is arranged in the middle of the No. 1 lower connecting rod in a protruding mode and provides support for a rotating hole at one end of the No. 4 lower connecting rod; and a raised part is arranged in the middle of the No. 5 lower connecting rod, a No. 1 lower connecting rod fixing and rotating hole penetrates through the base rear end fixing rotating shaft, and a lower connecting rod fixing and rotating hole penetrates through the base front end fixing rotating shaft.

5. The dual arm underwater robot rotatable telescopic wing of claim 4, wherein: the upper four-link structure fixes a rotating shaft around the front end of the base and fixes the rotating shaft around the rear end of the base to perform structural contraction and extension; the upper four-linkage structure comprises a No. 1 upper connecting rod, a No. 2 upper connecting rod, a No. 3 upper connecting rod, a No. 4 upper connecting rod and a No. 5 upper connecting rod;

the upper connecting rod support frame comprises a cross rod and three vertical forks; the cross rod is provided with an upper connecting rod front end supporting base and a lower connecting rod rear end supporting base which are used for connecting and fixing the No. 2 upper connecting rod; a plurality of grooves are formed in the cross rod of the lower connecting rod support frame for placing the upper connecting rod support frame; the bolt holes of the upper connecting rod support frame are arranged on the cross rod and the three vertical forks of the upper connecting rod support frame, are distributed in parallel in space, are used for connecting the wing main structure and are fixed with the main structure fixing holes through bolts;

the No. 1 upper connecting rod, the No. 2 upper connecting rod, the No. 3 upper connecting rod and the No. 4 upper connecting rod enclose a parallelogram area in a cross area, the length of the No. 3 upper connecting rod is equal to the axle center distance from the No. 1-4 lower connecting rod rotating shaft to the No. 1 upper connecting rod fixed rotating hole, and the No. 1-4 lower connecting rod rotating shaft is arranged at the center position of the No. 1 upper connecting rod;

the No. 2-3 upper connecting rod rotating shaft is arranged on the No. 2 upper connecting rod E7-2; the No. 1-4 upper connecting rod rotating shaft is arranged on the No. 1 upper connecting rod; a raised part is arranged in the middle of the No. 5 upper connecting rod; the upper end of the No. 1 upper connecting rod, one end of the No. 2 upper connecting rod and the upper connecting rod bracket are coaxially connected and fixed through pins; the upper connecting rod fixing and rotating hole penetrates through the fixed rotating shaft at the rear end of the base, the upper connecting rod fixing and rotating hole penetrates through the fixed rotating shaft at the front end of the base,

and the rear end of a No. 1-4 upper connecting rod rotating shaft of the No. 1 upper connecting rod is provided with a No. 1 upper connecting rod threaded hole for mounting a threaded fixing pin, one end of a cylinder fulcrum rotating shaft mounting hole penetrates through the No. 1-4 upper connecting rod rotating shaft, the other end of the cylinder fulcrum rotating shaft mounting hole penetrates through a cylinder with the threaded fixing pin, and the No. 1 upper connecting rod, the No. 4 upper connecting rod and the cylinder assembly are driven to perform linkage motion.

6. The dual arm underwater robot rotatable telescopic wing of claim 5, wherein: the air cylinder assembly outputs torque to the No. 1 upper connecting rod to drive the No. 1 upper connecting rod to rotate around a fixed rotating shaft at the rear end of the base so as to drive the upper four-link structure to move, and the spatial motion of the upper connecting rod support frame projected to the tail end is changed in a telescopic mode of 0-90 degrees; the upper connecting rod support frame and the wing main structure are integrated, the same direction of the upper connecting rod support frame and the wing main structure is changed in a telescopic mode by 0-90 degrees, in the telescopic process, the wafer bolt moves in the wafer bolt sliding groove to drive the lower connecting rod support frame to stretch, and the lower four-link structure is driven to stretch by stretching of the lower connecting rod support frame.

7. The dual arm underwater robot rotatable telescopic wing of claim 6, wherein: the wing main structure comprises a wafer bolt sliding groove, a main structure fixing hole, a guide plate middle rotating shaft fixing position, a main structure guide plate steering engine fixing position, a steering engine cover threaded hole, a main structure steering engine cover wedge-shaped block, a main structure solar panel mounting concave area and a wafer bolt;

the main structure fixing holes are correspondingly connected with the bolt holes of the upper connecting rod support frame, and the additional solar panel is fixed on the wing main structure; six wafer bolt sliding grooves are arranged and are symmetrically distributed pairwise; the solar panel is arranged on the solar panel mounting concave area of the main structure, and the flow guide plate component is arranged at the rear end of the wing main structure.

8. The dual arm underwater robot rotatable telescopic wing of claim 7, wherein: the guide plate component comprises a guide plate upper long plate, a guide plate upper short plate, a guide plate lower long plate, a guide plate lower short plate, a guide plate rotating shaft, a guide plate inner rotating support, a guide plate connecting shaft, a guide plate steering engine threaded hole, an O-shaped steering engine connecting rod, a guide plate steering engine cover fixing hole and a guide plate steering engine cover wedge-shaped groove;

the guide plate component is in the shape of a right diamond column, and the front end of the right diamond column is provided with an upper guide plate short plate and a lower guide plate short plate which are connected through a guide plate connecting shaft; the rear end of the right diamond column is provided with a guide plate upper long plate and a guide plate lower long plate which are connected through a guide plate connecting shaft; one end of each of the two guide plate internal rotating supports is clamped between the guide plate upper short plate and the guide plate upper long plate, and one end of each of the other two guide plate internal rotating supports is clamped between the guide plate lower short plate and the guide plate lower long plate; the other ends of the rotating supports in the four guide plates are coaxially connected through guide plate rotating shafts, the guide plate rotating shafts are fixed in a rotating shaft fixing position in the middle of the guide plate, the two guide plate steering gears are distributed at two ends of the guide plate, one end of an O-shaped steering gear connecting rod is connected with the guide plate steering gears, and the other end of the O-shaped steering gear connecting rod is connected with a guide plate connecting shaft at the front end of the guide plate.