Delta wing water-air cross-medium amphibious robot

Abstract

The application discloses a delta wing water-air cross-medium amphibious robot, and relates to the technical field of robots, which comprises a fuselage, a water power device, an underwater power device and a lifting device, the fuselage comprises a delta wing and a tail wing, the water power device, the underwater power device and the lifting device are all connected to the delta wing, the delta wing is triangular and has a front tip, the tail wing is connected to a rear side of the delta wing opposite to the front tip, the water power device is used for providing water surface navigation power for the delta wing water-air cross-medium amphibious robot, the underwater power device is used for providing underwater navigation power for the delta wing water-air cross-medium amphibious robot, and the lifting device is used for providing lifting power for the delta wing water-air cross-medium amphibious robot. The fuselage can be thinner, the displacement weight is reduced, the stability of underwater navigation is improved, the delta wing can increase the lift during flight, the cross-medium margin factor is improved, and the working efficiency during cross-medium is improved.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to a delta-winged amphibious robot that can traverse water and air media. Background Technology

[0002] Traditional fixed-wing cross-medium robots employ a conventional rectangular wing design, which presents the following problems in complex cross-medium working environments: Insufficient lift: In low Reynolds number environments, the lift coefficient of traditional rectangular wings is low, failing to meet the lift requirements for aerial flight; Excessive displacement volume: Traditional thick-wing designs (wing thickness equal to 0.1–0.14 times the chord length of an aircraft wing) require the overall weight to approach the displacement weight to meet underwater submersion requirements. Excessive displacement volume directly leads to excessive weight, reducing load capacity and potentially causing wing loading to exceed safe limits; Low cross-medium conversion efficiency: Due to the significant difference in density between water and air, the wing loading contradiction in traditional designs is difficult to reconcile. Lower wing loading is required for aerial flight, while higher wing loading is needed for underwater submersion. This wing loading contradiction results in prolonged water-to-air conversion time and increased energy consumption, impacting operational efficiency. Summary of the Invention

[0003] The purpose of this invention is to provide a delta-wing amphibious robot that can cross water and air media to solve the problems existing in the prior art and make the delta-wing amphibious robot more efficient.

[0004] To achieve the above objectives, the present invention provides the following solution:

[0005] This invention provides a delta-wing amphibious robot that spans water and air, comprising: a fuselage, a surface propulsion unit, an underwater propulsion unit, and a lifting device. The fuselage includes a delta wing and a tail wing. The surface propulsion unit, the underwater propulsion unit, and the lifting device are all connected to the delta wing. The delta wing is triangular in shape and has a forward tip. The tail wing is connected to the rear side of the delta wing opposite the forward tip. The surface propulsion unit provides surface propulsion for the delta-wing amphibious robot, the underwater propulsion unit provides underwater propulsion for the delta-wing amphibious robot, and the lifting device provides lifting power for the delta-wing amphibious robot.

[0006] In some embodiments, the delta wing further has a first side end, a second side end, a first side edge connecting the first side end and the front tip, and a second side edge connecting the first side end and the front tip, the rear side edge connecting the first side end and the second side end, and the sweep angle α of the delta wing is 45° to 65°.

[0007] In some embodiments, the thickness of the delta wing is D: D≤0.01L, where L is the chord length of the delta wing.

[0008] In some embodiments, the delta-wing amphibious robot further includes a first servo arm, a first side wing, and a second side wing. The first servo arm is fixedly connected to the top wall of the delta wing via a fixed base. The first and second side wings are symmetrically arranged along the centerline of the delta wing and are both rotatably connected to the rear side. The centerline is perpendicular to the rear side. Each of the first and second side wings is connected to a first rudder angle. Each first rudder angle is hinged to one end of a first servo rod. The other ends of the two first servo rods are hinged to the first servo arm. The rotation of the first servo arm can adjust the pitch angle of the end of the first and second side wings away from the front tip.

[0009] In some embodiments, the delta-wing amphibious robot further includes a second servo arm and an elevator. The second servo arm is fixedly connected to the top wall of the delta wing via a fixed base. The elevator is rotatably connected to the end of the tail wing away from the delta wing. A second rudder is connected to the elevator. The second rudder is hinged to one end of a second servo rod, and the other end of the second servo rod is hinged to the second servo arm. The rotation of the second servo arm can adjust the pitch angle of the end of the elevator away from the leading edge.

[0010] In some embodiments, the delta-wing amphibious robot further includes a third servo arm, which is fixedly connected to the bottom wall of the delta wing via a mounting base. The tail wing includes a horizontal tail wing and a vertical tail wing. The horizontal tail wing is parallel to the delta wing. The vertical tail wing includes a connecting part and a rotating part. The connecting part is fixedly connected to the bottom wall of the horizontal tail wing and the delta wing, and is perpendicular to the horizontal tail wing. The rotating part and the end of the connecting part away from the leading tip form a rotatable connection about an axis perpendicular to the horizontal tail wing. A third rudder angle is connected to the rotating part. The third rudder angle is hinged to one end of a third servo rod, and the other end of the third servo rod is hinged to the third servo arm. The rotation of the third servo arm can drive the rotating part to rotate, causing the end of the rotating part away from the connecting part to swing toward the first side end or the second side end.

[0011] In some embodiments, the delta-wing amphibious robot further includes wing blades, two of which are fixedly connected to opposite sides of the horizontal tail fin and perpendicular to the horizontal tail fin, and extend toward the leading tip of the delta fin and are fixedly connected to the top wall of the delta fin.

[0012] In some embodiments, the water propulsion device includes a water motor and a propeller. The water motor is fixedly connected to the top wall of the delta wing, and the propeller is fixedly connected to the output end of the water motor. The water motor can provide kinetic energy for the rotation of the propeller.

[0013] In some embodiments, the underwater propulsion device is an underwater powered jet pump.

[0014] In some embodiments, the delta wing has a first opening and a second opening that penetrate the delta wing. The first opening and the second opening are symmetrically arranged along the center line of the delta wing, which is perpendicular to the rear side. The lifting device, which is a lifting spray pump, is fixedly connected to both the first opening and the second opening.

[0015] The present invention achieves the following technical effects compared to the prior art:

[0016] This invention provides a delta-wing amphibious robot that can traverse both water and air media. By setting up a triangular delta wing, an underwater propulsion unit and a lifting device are set on the bottom wall of the delta wing, and a surface propulsion unit is set on the top wall of the delta wing. A tail fin is connected to the rear side of the delta wing. This allows the delta wing to be thinner, eliminating the need for a pumping mechanism, reducing the weight of the dredged material, avoiding excessive buoyancy during underwater navigation, and improving the stability of underwater navigation. Furthermore, when the delta wing flies at high angles of attack, its leading edge generates separation vortices. These vortices form a low-pressure area on the upper surface of the wing, which can increase lift during flight, improve the transmedium margin factor, and thus improve the working efficiency of the delta-wing amphibious robot when traversing media. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the structure of a delta-winged amphibious robot that can traverse water and air in one embodiment of the present invention.

[0019] Figure 2 This is a schematic diagram of the structure of a delta-wing amphibious robot that crosses water and air media according to an embodiment of the present invention from another angle.

[0020] Figure 3 This is a top view of a delta-wing, trans-medium amphibious robot according to an embodiment of the present invention.

[0021] Figure 4 This is a side view of a delta-wing, trans-medium amphibious robot according to an embodiment of the present invention.

[0022] Figure 5 for Figure 1 A magnified view of a section at point A in the middle;

[0023] Figure 6 for Figure 2 A magnified view of a section at point B in the middle;

[0024] Figure 7 for Figure 2 A magnified view of a section at point C;

[0025] Figure 8 Line graphs showing the aspect ratio λ and transmedium maneuverability factor for several commonly used rectangular-wing transmedium robots;

[0026] Figure 9 Line graphs showing the sweep angle α and transmedium maneuverability factor for several uniform thickness delta wings of the present invention;

[0027] Figure 10 Line graphs showing the aspect ratio λ and transmedium efficiency factor for several commonly used rectangular-wing transmedium robots;

[0028] Figure 11 Line graphs showing the sweep angle α and transmedium efficiency factor of several uniform thickness delta wings of the present invention;

[0029] Figure 12 Maximum sweep angle α max The lift F of the lower rectangular wing and the delta wing of this invention are respectively lift Line graph showing the distribution of the wing volume V;

[0030] Figure 13 The lift F of the rectangular wing and the delta wing of this invention at the highest lift-to-drag ratio. lift Line graph showing the distribution of the wing volume V;

[0031] In the diagram: 1-Delta wing, 2-Horizontal tail fin, 3-Waterproof equipment compartment, 4-Propeller, 5-Leading tip, 6-First servo, 7-First servo stick, 8-First side wing, 9-Second side wing, 10-Wing fence, 11-First rudder angle, 12-Elevator, 13-Second servo, 14-Second servo stick, 15-Second rudder angle, 16-Rotating part, 17-Third rudder angle, 18-Third servo stick, 19-Third servo, 20-Underwater power jet pump, 21-Rear side, 22-First side end, 23-Second side end, 24-First side, 25-Second side, 26-Connecting part, α-Sweep angle. Detailed Implementation

[0032] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0033] The purpose of this invention is to provide a delta-wing amphibious robot that can cross water and air media to solve the problems existing in the prior art and make the delta-wing amphibious robot more efficient.

[0034] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0035] This invention provides a delta-wing, water-air, transmedium amphibious robot, such as... Figures 1-4 As shown, it includes: a fuselage, a surface propulsion system, an underwater propulsion system, and a lifting system. The fuselage includes a delta wing 1 and a tail wing. The surface propulsion system, the underwater propulsion system, and the lifting system are all connected to the delta wing 1. The delta wing 1 is triangular and has a leading tip 5. The tail wing is connected to the rear side 21 of the delta wing 1, which is opposite to the leading tip 5. The surface propulsion system is used to provide surface navigation power for the delta wing amphibious robot, the underwater propulsion system is used to provide underwater navigation power for the delta wing amphibious robot, and the lifting system is used to provide lifting power for the delta wing amphibious robot.

[0036] When the delta-wing amphibious robot is navigating on water, the underwater power unit and lifting device stop working, and the surface power unit provides the power for navigation. When the delta-wing amphibious robot is performing cross-medium operations, the lifting device provides the power for descent from the surface to underwater and for ascent from underwater to the surface. When the delta-wing amphibious robot is navigating underwater, the surface power unit and lifting device stop working, and the underwater power unit provides the power for underwater navigation. By setting up a triangular delta wing 1, with an underwater power unit and lifting device installed on the bottom wall of the delta wing 1, and a water-based power unit installed on the top wall of the delta wing 1, and a tail fin connected to the rear side of the delta wing 1, and a waterproof equipment compartment 3 located at the leading tip 5 of the delta wing 1, the wing body of the delta wing 1 can be made thinner, eliminating the need for a drainage mechanism, reducing drainage weight, avoiding excessive buoyancy during underwater navigation, and improving the stability of underwater navigation. Furthermore, when the delta wing 1 flies at high angles of attack, its leading edge will generate separation vortices. These vortices will form a low-pressure area on the upper surface of the wing, which can increase lift during flight, improve the cross-medium margin factor, and thus improve the working efficiency of the delta wing amphibious robot in cross-medium operations.

[0037] In another embodiment of this example, a battery and a receiver are connected inside the waterproof equipment compartment 3. The battery can provide power to the receiver, and the receiver can receive wireless control signals from the remote control. The wireless control signals from the remote control can be transmitted to the receiver through the water and the body of the waterproof electronic compartment 3. The receiver is communicatively connected to the above-water power unit, the underwater power unit, and the lifting device, and can send control commands to adjust the operating status of these devices.

[0038] In another embodiment of this invention, the delta wing 1 further comprises a first side end 22, a second side end 23, a first side edge 24 connecting the first side end 22 and the leading tip 5, and a second side edge 25 connecting the first side end 22 and the leading tip 5. A rear side edge 21 connects the first side end 22 and the second side end 23. The sweep angle α of the delta wing 1 is 45° to 65°. Setting the sweep angle α of the delta wing 1 to 45° to 65° results in a larger sweep angle, making the wing structure more compact, reducing the aspect ratio, enhancing the overall rigidity of the wing, optimizing flight drag, improving handling stability, and increasing the lift coefficient.

[0039] In another embodiment of this invention, the thickness of the delta wing 1 is D: D≤0.01L, where L is the chord length of the delta wing. This improves flight efficiency, makes the structure lighter, reduces drainage weight, and thus improves the working efficiency of the delta-wing amphibious robot when traversing media. It should be noted that the thickness of the delta wing 1 is uniform.

[0040] In another embodiment of this example, as Figures 5-7 As shown, the delta-wing amphibious robot also includes a first servo arm 6, a first side wing 8, and a second side wing 9. The first servo arm 6 is fixedly connected to the top wall of the delta wing 1 via a fixed base. The first side wing 8 and the second side wing 9 are symmetrically arranged along the center line of the delta wing 1 and are both rotatably connected to the rear side 21. The center line is perpendicular to the rear side 21. The first side wing 8 and the second side wing 9 are each connected to a first rudder angle 11. Each first rudder angle 11 is hinged to one end of a first servo rod 7. The other ends of the two first servo rods 7 are both hinged to the first servo arm 6. The rotation of the first servo arm 6 can adjust the pitch angle of the end of the first side wing 8 and the second side wing 9 away from the front tip 5. The first wing 8 and the second wing 9 are both connected to the rear side 21 via a first connecting shaft. The axis of the first connecting shaft is parallel to the axis of the rear side 21. The first wing 8 and the second wing 9 can both rotate around the axis of the first connecting shaft. The rotation of the first servo rocker arm 6 can drive the first wing 8 and the second wing 9 to rotate, adjusting the pitch angle of the end of the first wing 8 and the second wing 9 away from the front tip 5, thereby adjusting the angle of the delta-wing amphibious robot in the horizontal direction and thus achieving turning.

[0041] In another embodiment of this invention, the delta-wing amphibious robot further includes a second servo arm 13 and an elevator 12. The second servo arm 13 is fixedly connected to the top wall of the delta wing 1 via a fixed base. The elevator 12 is rotatably connected to the end of the tail wing away from the delta wing 1. A second rudder angle 15 is connected to the elevator 12. The second rudder angle 15 is hinged to one end of a second servo rod 14, and the other end of the second servo rod 14 is hinged to the second servo arm 13. The rotation of the second servo arm 13 can adjust the pitch angle of the end of the elevator 12 away from the front tip 5. The elevator 12 is connected to the end of the tail wing away from the delta wing 1 via a second connecting shaft. The axis of the second connecting shaft is parallel to the axis of the rear side 21. The elevator 12 can rotate around the axis of the second connecting shaft. The rotation of the second servo arm 13 can drive the elevator 12 to rotate, adjusting the pitch angle of the end of the elevator 12 away from the front tip 5, thereby adjusting the pitch angle of the delta-wing amphibious robot in water, and thus achieving ascent and descent.

[0042] In another embodiment of this invention, the delta-wing amphibious robot further includes a third servo arm 19. The third servo arm 19 is fixedly connected to the bottom wall of the delta wing 1 via a fixed base. The tail wing includes a horizontal tail wing 2 and a vertical tail wing. The horizontal tail wing 2 is parallel to the delta wing 1. The vertical tail wing includes a connecting part 26 and a rotating part 16. The connecting part 26 is fixedly connected to the bottom wall of the horizontal tail wing 2 and the delta wing 1. The connecting part 26 is perpendicular to the horizontal tail wing 2. The rotating part 16 and the end of the connecting part 26 away from the front tip 5 form a rotatable connection around an axis perpendicular to the horizontal tail wing 2. A third rudder angle 17 is connected to the rotating part 16. The third rudder angle 17 is hinged to one end of the third servo rod 18. The other end of the third servo rod 18 is hinged to the third servo arm 19. The rotation of the third servo arm 19 can drive the rotating part 16 to rotate, causing the end of the rotating part 16 away from the connecting part 26 to swing toward the first side end 22 or the second side end 23. The vertical tail fin is provided, and the swinging end of the rotating part 16 away from the connecting part 26 can adjust the angle of the delta-wing amphibious robot in the horizontal direction, maintain the static stability of the delta-wing amphibious robot in the yaw direction, and control the movement of the delta-wing amphibious robot in the horizontal direction.

[0043] In another embodiment of this invention, the delta-wing amphibious robot further includes two wing fences 10. The two wing fences 10 are fixedly connected to opposite sides of the horizontal tail 2 and perpendicular to the horizontal tail 2, extending towards the leading tip 5 of the delta wing 1 and fixedly connected to the top wall of the delta wing 1. The two wing fences 10 can impede airflow along the wingspan direction of the wing, helping to improve airflow distribution on the wing surface, enhance flight stability, and increase lift when the delta wing 1 flies at high angles of attack.

[0044] In another embodiment of this invention, the water propulsion system includes a water-powered motor and a propeller 4. The water-powered motor is fixedly connected to the top wall of the delta wing 1, and the propeller 4 is fixedly connected to the output end of the water-powered motor. The water-powered motor provides kinetic energy for the rotation of the propeller 4. When the delta wing amphibious robot is flying on water, the underwater propulsion system stops operating. The water-powered motor and propeller 4 provide the amphibious propulsion for the delta wing amphibious robot. The propeller 4 has a simple structure and does not require a complex mechanical transmission system, thus reducing the overall weight and manufacturing cost.

[0045] In another embodiment of this invention, the underwater propulsion device is an underwater power jet pump 20. When the delta-wing amphibious robot is flying underwater, the surface motor and propeller 4 stop working. The underwater power jet pump 20 provides underwater propulsion for the delta-wing amphibious robot. The power jet pump adopts a closed propulsion structure, which improves the reliability of the equipment in complex waters, reduces cavitation effects and water flow disturbances, increases the navigation speed, and has a simple structure.

[0046] In another embodiment of this invention, the delta wing 1 has a first opening and a second opening penetrating through it. The first and second openings are symmetrically arranged along the centerline of the delta wing 1, which is perpendicular to the rear side 21. A lifting device, specifically a lifting pump, is fixedly connected to both the first and second openings. When the delta wing amphibious robot enters or emerges from the water, the lifting pump is activated to provide kinetic energy for descent or ascent, thereby improving the robot's efficiency during amphibious operations.

[0047] like Figure 8 The figure shows the aspect ratio λ and transmedium maneuverability factor (CRM) of several commonly used rectangular-wing transmedium robots. max The (Cross-Medium-max-power) line graph shows that the cross-medium maneuverability factor for most samples is less than 0, except for the rectangular wing sample set of NACA0002 airfoil, where the cross-medium maneuverability factor is greater than 0. This indicates that using a traditional rectangular wing configuration, the maximum lift is insufficient to counteract gravity at low speeds, requiring the assistance of an additional multi-rotor system. Figure 9 The figure shows a line graph of the sweep angle α and the cross-medium maneuverability factor of the delta wing 1 of the present invention with several uniform thicknesses. It can be seen that the cross-medium maneuverability factor of the uniform thickness delta wing 1 is greater than that of the traditional rectangular wing, and both are greater than 0. It can be seen that the maximum lift of the uniform thickness delta wing 1 is much greater than its own weight, and it has stronger maneuverability and load capacity. It can complete cross-medium work without the assistance of a multi-rotor system. This shows that the delta wing amphibious robot with the delta wing design has higher working efficiency when crossing media.

[0048] like Figure 10 The figure shows the aspect ratio λ and transmedium efficiency factor (CRM) of several commonly used rectangular-wing transmedium robots. me The (Cross-Medium-most-efficient) line graph shows that CRM-me is less than 0, indicating that almost all conventional rectangular wing designs cannot achieve a balance between lift and gravity at the maximum lift-to-drag ratio, and the difference between the two is significant; for example... Figure 11 The figure shows line graphs of the sweep angle α and transmedium efficiency factor for several uniform thicknesses of the delta wing 1 of the present invention. It can be seen that with the airfoil design of delta wing 1, under the condition of maximum lift-to-drag ratio, there is a possibility that the lift is greater than the gravity, and even if CRM-me is less than 0, it is still basically greater than the CRM corresponding to the traditional rectangular wing design. me This indicates that by using the delta wing thin airfoil design, the delta wing amphibious robot has higher working efficiency when crossing media.

[0049] Compared to traditional rectangular wings, the delta wing 1 of this invention has the characteristics of a large sweep angle and a thin airfoil thickness. Since the lift coefficient of the delta wing 1 is not strongly dependent on the airfoil thickness, under sufficient structural strength, the airfoil thickness of a small fixed-wing delta wing 1 configuration is often even smaller, and the entire wing is a single flat plate of uniform thickness. Based on the above characteristics, a geometric model of the thin airfoil configuration of the delta wing 1 is performed: l 翼 For wingspan; C 弦 Let be the wing chord length; in most cases, the sweep angle α ∈ [45°, 65°]; the wing thickness λ0 ∈ [0.003m, 0.01m]; based on statistical data, at low Reynolds numbers, at cruise angles of attack of 4°–6°, the cross-medium wing efficiency lift coefficient Cl me ∈[0.4,0.6]; at 23°–25°, the cross-medium maneuverability lift coefficient Cl max ∈[1.4,1.6]. Taking the scale of the triangular-winged water-air transmedium amphibious robot of this invention as a calculation example, let the air density ρ 空气 =1.225kg / m 3 Wing area S = 0.3m 2 Wing volume V = 12 m / s, mean flight Reynolds number Re ∈ [220000, 330000]

[0050] Transmedium wing efficiency factor

[0051]

[0052] Among them, F Liftmax For the maximum lift that the wing can provide, F 机翼排水重力 This represents the wing's displacement gravity.

[0053] Cross-medium maneuverability lift value

[0054]

[0055] Among them, l 翼 For wingspan; C 弦 Let q be the wing chord length and q be the dynamic pressure. ，v The velocity of the aircraft relative to the fluid;

[0056] Wing Discharge Gravity

[0057] F 机翼排水重力 =ρ 水 Vg = 1000 * 0.5l 翼 C 弦 *λ0C 弦 *9.8

[0058] Where, ρ 水 The density of water;

[0059] The calculation yields:

[0060] CRM max ∈[1.30,11.83]

[0061] Transmedium wing efficiency factor

[0062]

[0063] in, This represents the lift value for the transmedium wing efficiency.

[0064] Transmedium wing efficiency lift value

[0065]

[0066] The calculation yields:

[0067] CRM me ∈[-0.34,3.81]

[0068] like Figure 12 As shown, this represents the maximum sweep angle α. max The lift F of the conventional rectangular wing and the delta wing 1 of this invention are respectively lift Linear graph of wing volume V distribution, maximum sweep angle α max For a given wing volume, the sweep angle corresponding to the minimum wing thickness λ0 that allows the aircraft wing to complete the test can be used to obtain the maximum lift F of the delta wing 1. lift Both are larger than those of a traditional rectangular wing, and when comparing the control wing volume V, the lift F of delta wing 1 is... lift Significantly larger than traditional rectangular wings, the delta wing design can better resolve the design contradictions caused by the different densities of water and air media, and improve the working efficiency of the delta wing amphibious robot when crossing media.

[0069] like Figure 13 As shown, the lift F of the conventional rectangular wing and the delta wing 1 of this invention are respectively at the highest lift-to-drag ratio. lift A line graph showing the distribution of wing volume V. The maximum lift-to-drag ratio is the lift-to-drag ratio corresponding to the minimum wing thickness λ0 at which the aircraft wing can complete the test when the wing volume is specified. The maximum lift-to-drag ratio of delta wing 1 corresponds to the lift F. lift Both are larger than those of a traditional rectangular wing, and when comparing the control wing volume V, the lift F of delta wing 1 is... lift The design is significantly larger than that of a traditional rectangular wing, indicating that the use of the delta wing type 1 design can better resolve the design contradictions caused by the different densities of water and air media, and improve the working efficiency of the delta wing water-air cross-media amphibious robot when crossing media.

[0070] Specific examples have been used to illustrate the principles and implementation methods of this invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this invention. Furthermore, those skilled in the art will recognize that, based on the ideas of this invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this invention.

Claims

1. A delta-winged, trans-medium amphibious robot, characterized in that: include: The fuselage comprises a surface propulsion system, an underwater propulsion system, and a lifting device. The fuselage includes a delta wing (1) and a tail wing. The tail wing includes a horizontal tail wing (2) parallel to the delta wing (1). It also includes wing fences (10), two of which are fixedly connected to opposite sides of the horizontal tail wing (2) and perpendicular to it, extending towards the leading tip (5) of the delta wing (1) and fixedly connected to the top wall of the delta wing (1). The surface propulsion system, the underwater propulsion system, and the lifting device are all connected to the delta wing (1), which is triangular in shape and has… It has a front tip (5), and the tail fin is connected to the rear side (21) of the delta wing (1) opposite to the front tip (5); the underwater power unit is set on the center line of symmetry of the bottom wall of the delta wing (1); the above-water power unit is set on the center line of symmetry of the top wall of the delta wing (1), close to the front tip (5) and away from the tail fin; the above-water power unit is used to provide above-water navigation power for the delta wing amphibious robot, the underwater power unit is used to provide underwater navigation power for the delta wing amphibious robot, and the lifting device is used to provide lifting power for the delta wing amphibious robot.

2. The delta-winged amphibious robot according to claim 1, characterized in that: The delta wing (1) also has a first side end (22), a second side end (23), a first side edge (24) connecting the first side end (22) and the front tip (5), and a second side edge (25) connecting the second side end (23) and the front tip (5). The rear side edge (21) connects the first side end (22) and the second side end (23). The sweep angle α of the delta wing (1) is 45° to 65°.

3. The delta-wing, water-air, transmedium amphibious robot according to claim 1, characterized in that: The thickness of the delta wing (1) is D: D≤0.01L, where L is the chord length of the delta wing (1).

4. The delta-winged amphibious robot according to claim 1, characterized in that: It also includes a first servo rocker arm (6), a first side wing (8), and a second side wing (9). The first servo rocker arm (6) is fixedly connected to the top wall of the delta wing (1) by a fixed seat. The first side wing (8) and the second side wing (9) are symmetrically arranged along the center line of the delta wing (1) and are rotatably connected to the rear side (21). The center line is perpendicular to the rear side (21). The first side wing (8) and the second side wing (9) are each connected to a first rudder angle (11). Each first rudder angle (11) is hinged to one end of a first servo rod (7). The other ends of the two first servo rods (7) are hinged to the first servo rocker arm (6). The rotation of the first servo rocker arm (6) can adjust the pitch angle of the end of the first side wing (8) and the second side wing (9) away from the front tip (5).

5. The delta-wing, trans-medium amphibious robot according to claim 1, characterized in that: It also includes a second servo rocker arm (13) and an elevator (12). The second servo rocker arm (13) is fixedly connected to the top wall of the delta wing (1) by a fixed base. The elevator (12) is rotatably connected to the end of the tail wing away from the delta wing (1). A second rudder angle (15) is connected to the elevator (12). The second rudder angle (15) is hinged to one end of the second servo stick (14). The other end of the second servo stick (14) is hinged to the second servo rocker arm (13). The rotation of the second servo rocker arm (13) can adjust the pitch angle of the end of the elevator (12) away from the front tip (5).

6. The delta-wing, water-air, transmedium amphibious robot according to claim 2, characterized in that: It also includes a third servo rocker arm (19), which is fixedly connected to the bottom wall of the delta wing (1) via a mounting base. The tail wing also includes a vertical tail wing, which includes a connecting part (26) and a rotating part (16). The connecting part (26) is fixedly connected to the bottom wall of the horizontal tail wing (2) and the delta wing (1). The connecting part (26) is perpendicular to the horizontal tail wing (2). The rotating part (16) and the connecting part (26) form a loop around the end away from the front tip (5). A rotating connection perpendicular to the axis of the horizontal tail fin (2) is provided. A third rudder angle (17) is connected to the rotating part (16). The third rudder angle (17) is hinged to one end of the third servo stick (18). The other end of the third servo stick (18) is hinged to the third servo rocker arm (19). The rotation of the third servo rocker arm (19) can drive the rotating part (16) to rotate, so that the end of the rotating part (16) away from the connecting part (26) swings toward the first side end (22) or the second side end (23).

7. The delta-wing, water-air, transmedium amphibious robot according to claim 1, characterized in that: The water power unit includes a water power motor and a propeller (4). The water power motor is fixedly connected to the top wall of the delta wing (1), and the propeller (4) is fixedly connected to the output end of the water power motor. The water power motor can provide kinetic energy for the rotation of the propeller (4).

8. The delta-wing, trans-medium amphibious robot according to claim 1, characterized in that: The underwater power unit is an underwater power jet pump (20).

9. The delta-winged amphibious robot according to claim 1, characterized in that: The delta wing (1) has a first opening and a second opening that penetrate the delta wing (1). The first opening and the second opening are symmetrically arranged along the center line of the delta wing (1). The center line is perpendicular to the rear side (21). The lifting device is fixedly connected in both the first opening and the second opening. The lifting device is a lifting spray pump.

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