A folding wing for underwater gliding and a robot having the same

Abstract

The application discloses a folding wing for underwater gliding and a robot with the same, the wing comprising two folding wing mechanisms and a driving transmission mechanism, and a foot-type robot body. In a completely folded state of the folding wing assembly, the two wing assemblies are in an inverted V shape; the driving transmission mechanism is connected with a transmission assembly. In the application, the robot is provided with the underwater gliding capacity by unfolding the folding wing assembly; under the condition of the same energy consumption, the robot can perform long-distance underwater gliding by the folding wing assembly, so that the underwater operation range becomes wider; the folding wing can be folded when the working condition does not require unfolding the wing, so as to reduce the influence of the folding wing on other movements of the robot and the coupling disturbance of water flow, and improve the stability of underwater operation of the robot; in the completely folded state, the two folding wing assemblies are overlapped in an inverted V shape, and the stability of the folded state can be maintained without a self-locking mechanism; and when completely unfolded, the whole machine is self-locked, so as to reduce the energy consumption of the robot.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of bionic robot technology, in particular to a folding wing for underwater gliding and a robot having the same. BACKGROUND

[0002] Traditional multi-legged robots have flexible movement modes and strong adaptability to irregular terrains, and can stably move on complex terrains. However, they are mainly used for beach and land operations and cannot sail in near sea, which has a large range of operation limitations and cannot meet the demand of large-scale marine operations. Moreover, the currently developed crab robots are leg robots that rely on various walking feet to drive the robot to move, without gliding structure, resulting in high energy consumption of the robot and inability to move long distances and detect marine profiles. SUMMARY

[0003] The present application aims to provide a folding wing for underwater gliding and a robot having the same to solve the problems in the background.

[0004] To achieve the above-mentioned purpose, the present application provides the following technical solutions:

[0005] The folding wing for underwater gliding comprises:

[0006] Two folding wing mechanisms each comprising a plurality of levels of folding wing assemblies and corresponding transmission assemblies, the transmission assemblies being used to drive the corresponding folding wing assemblies to unfold or fold; the two folding wing assemblies are overlapped in an inverted V shape in a completely folded state of the folding wing assemblies.

[0007] A driving transmission mechanism is connected with the transmission assemblies and used to drive the transmission assemblies to act.

[0008] Further, the transmission assembly comprises:

[0009] A driving shaft is connected with the driving transmission mechanism;

[0010] A first-level folding main rod is fixedly connected with the driving shaft at one end;

[0011] A second-level folding main rod is arranged on a side of the first-level folding main rod away from the driving shaft and connected with the first-level folding main rod through a first-level gear transmission pair.

[0012] Further, the transmission assembly further comprises:

[0013] A third-level folding main rod is arranged on a side of the second-level folding main rod away from the driving shaft and connected with the second-level folding main rod through a second-level gear transmission pair.

[0014] Further, the primary gear transmission pair comprises:

[0015] A first gear fixedly connected to the other end of the first level folding main rod;

[0016] A second gear fixedly connected to the end of the second level folding main rod close to the drive shaft, the rotation angle ratio of the first gear and the second gear is 2:1 when the folding and unfolding wing assembly changes between the fully unfolded state and the fully folded state, and the rotation directions of the first gear and the second gear are opposite.

[0017] Further, the secondary gear transmission pair comprises:

[0018] A third gear fixedly connected to the other end of the second level folding main rod;

[0019] A fourth gear fixedly connected to the end of the third level folding main rod close to the drive shaft, the rotation angle ratio of the third gear and the fourth gear is 1:2 when the folding and unfolding wing assembly changes between the fully unfolded state and the fully folded state, and the rotation directions of the third gear and the fourth gear are opposite.

[0020] Further, the folding and unfolding wing assembly comprises:

[0021] A plurality of sub-wings connected to the first level folding main rod, the second level folding main rod, or the third level folding main rod.

[0022] Further, the drive transmission mechanism comprises:

[0023] A drive motor;

[0024] Two gear and rack pairs, the gears of which are connected to the corresponding transmission assemblies;

[0025] A linkage assembly connected to the drive motor and the gear and rack pairs respectively, for moving the racks in the gear and rack pairs.

[0026] Further, the linkage assembly comprises:

[0027] A crank connected to the motor shaft of the drive motor;

[0028] A first linkage having one end rotatably connected to the crank and the other end rotatably connected to a vertically sliding slider;

[0029] Two second linkages, one end of each rotatably connected to the slider and the other end of each rotatably connected to the rack.

[0030] Further, in the fully unfolded state of the folding and unfolding wing assembly, the two second linkages are in a horizontal state.

[0031] The robot of the application comprises the folding and unfolding wing as described above.

[0032] In summary, the technical effects and advantages of the application are:

[0033] 1. In the application, the underwater gliding ability of the machine is achieved by unfolding the folding and unfolding wing assembly. Under the condition of the same energy consumption, the machine can perform long-range gliding motion by virtue of the folding and unfolding wing assembly, thereby making the underwater operation range of the machine wider. The influence of the folding wing on the movement of the machine and the water flow is reduced by folding the folding and unfolding wing assembly, thereby improving the stability of the underwater operation of the machine. In the completely folded state of the folding and unfolding wing assembly, the two folding and unfolding wing assemblies are overlapped in an inverted V shape, and the stability of the folded state of the folding and unfolding wing assembly is maintained without the need for a self-locking mechanism.

[0034] 2. In the application, the gear tooth number ratio at the first and second folding main rods is 2:1, and the gear tooth number ratio at the second and third folding main rods is 1:2, so as to realize the inverted V-shaped or triangular overlapping of the folding and unfolding gliding wing when the wing is folded, thereby ensuring the stability of the wing folding shape and making the motor shaft of the driving motor in a stress-free state.

[0035] 3. In the application, in the completely unfolded state of the folding and unfolding wing assembly, the two second connecting rods are in a horizontal state, so that the driving transmission mechanism is in a dead point position, thereby maintaining the stability of the wing unfolding shape of the folding and unfolding wing assembly, and the folding wing as a whole is in a mechanical self-locking state without the need for additional work to maintain its state, further reducing the energy consumption of the robot.

[0036] 4. In the application, the unfolding of the folding and unfolding wing assembly makes the attitude stability of the machine in the water surface floating, underwater swimming and underwater gliding better. BRIEF DESCRIPTION OF DRAWINGS

[0037] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0038] Figure 1 Structure diagram of the robot with folding and unfolding wings in the completely folded state in an embodiment of the application Figure 1

[0039] Figure 2 Structure diagram of the robot with folding and unfolding wings in the completely folded state in an embodiment of the application Figure 2

[0040] ​​Figure 3 Schematic diagram of the structure of a robot with foldable wings in a fully expanded state according to one embodiment of the present invention Figure 3 ;

[0041] Figure 4 Schematic diagram of the structure of a robot with foldable wings in a fully expanded state according to one embodiment of the present invention Figure 4 ;

[0042] Figure 5 is a schematic structural diagram of a drive transmission mechanism in one embodiment of the present invention;

[0043] Figure 6 1 is a schematic diagram of the installation of the first connecting rod and the slider in one embodiment of the present invention;

[0044] Figure 7 is a structural schematic diagram of a folding and spreading wing mechanism in one embodiment of the present invention;

[0045] Figure 8 is a schematic structural diagram of a transmission assembly in one embodiment of the present invention;

[0046] Figure 9 This is a schematic diagram of the installation of the second gear, the second-stage folding main rod, and the second-stage folding auxiliary rod in one embodiment of the present invention;

[0047] Figure 10 Schematic diagram of the installation of the fifth sub-surface, the sixth sub-surface and the third-stage folding main rod in one embodiment of the present invention;

[0048] Figure 11 yes Figure 10 A partial enlarged view of point A in the middle;

[0049] Figure 12 1 is a schematic diagram of the installation of a biaxial hinge in one embodiment of the present invention;

[0050] Figure 13 1 is a schematic diagram of the installation of the first sub-airfoil and the drive shaft in one embodiment of the present invention;

[0051] Figure 14 is an interpolation curve of the lift-to-drag ratio of the amphibious robot crab according to an embodiment of the present invention as a function of the angle of attack;

[0052] Figure 15 This is a simulation diagram of an amphibious robot crab resisting lateral water flow impact in a fully folded state according to an embodiment of the present invention;

[0053] Figure 16 This is a simulation diagram of an amphibious robot crab resisting lateral water flow impact in a fully deployed state according to an embodiment of the present invention;

[0054] Figure 17 This is a simulation diagram of an amphibious robot crab resisting an oblique water flow impact in a fully folded state according to an embodiment of the present invention;

[0055] Figure 18 is a simulation diagram of the amphibious crab resisting oblique water flow impact in a fully unfolded state according to an embodiment of the present application;

[0056] Figure 19 is a simulation diagram of the amphibious crab resisting vortex impact in a fully folded state according to an embodiment of the present application;

[0057] Figure 20 is a simulation diagram of the amphibious crab resisting vortex impact in a fully unfolded state according to an embodiment of the present application.

[0058] In the figure: 1, frame; 2, driving foot; 3, folding and unfolding wing; 11, mounting plate; 12, support frame; 13, support seat; 14, first guide rail; 15, support plate; 16, support block; 17, second guide rail; 31, transmission assembly; 32, driving transmission mechanism; 33, first sub-wing surface; 34, second sub-wing surface; 35, third sub-wing surface; 36, fourth sub-wing surface; 37, fifth sub-wing surface; 38, sixth sub-wing surface; 39, double-shaft hinge; 311, driving shaft; 312, first-stage folding main rod; 313, second-stage folding main rod; 314, third-stage folding main rod; 315, first-stage folding auxiliary rod; 316, first joint support; 317, second-stage folding auxiliary rod; 318, second joint support; 3121, first gear; 3131, second gear; 3132, third gear; 3133, flat head pin; 3134, screw; 3135, locking screw; 3141, fourth gear; 321, driving motor; 322, gear; 323, rack; 324, crank; 325, first connecting rod; 326, second connecting rod; 327, sliding block; 328, jam screw; 3281, threaded section; 3282, smooth shaft section; 331, root support; 3311, connecting part; 371, screw rod; 372, round nut; 391, hinge shaft. DETAILED DESCRIPTION

[0059] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0060] In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first", "second", "third" are only for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0061] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0062] In addition, the technical features involved in the different embodiments of the application described below can be combined with each other as long as they do not conflict with each other.

[0063] In order to solve the problems in the prior art, an embodiment of the present application provides a robot with a folding wing, which can be a multi-legged robot. The multi-legged robot is provided with a folding wing, which can have both land operation function and underwater operation function. In addition, the robot can also be an autonomous underwater vehicle. When operating underwater, the folding wing is unfolded, so that the stability of the posture of the robot is better when it is floating on the water surface, swimming underwater and gliding underwater. When not operating, the folding wing is folded, which can reduce the placement space. The embodiment describes in detail the amphibious robot crab formed by mounting the modular folding wing on the robot crab. Figures 1-13 As shown in the figure, the amphibious robot crab of the embodiment includes a frame 1, a driving leg 2 and a folding wing 3. A plurality of driving legs 2 are connected to the left and right sides of the frame 1, and the driving legs 2 are used to drive the entire robot to walk. The driving leg 2 and the frame 1 are the existing structure, which will not be described here. The folding wing 3 is mounted on the upper part of the frame 1. By unfolding the folding wing 3, the amphibious robot crab has the ability to glide underwater. Under the condition of the same energy consumption, the amphibious robot crab has a larger underwater operation range when gliding. In the working condition that the amphibious robot crab does not need to unfold the wing, the folding wing 3 is folded, which can reduce the influence on the movement of the amphibious robot crab.

[0064] Specifically, as shown in the figure, Figures 1-13As shown, the folding wing 3 for underwater gliding includes two folding wing mechanisms and a drive transmission mechanism 32. Both folding wing mechanisms can be unfolded and folded. In the unfolded state, they are wing-shaped, which is convenient for gliding. In the folded state, the folding wing mechanisms occupy less space. Each folding wing mechanism includes several stages of folding wing assemblies and corresponding transmission assemblies 31. The transmission assembly 31 is used to drive the corresponding folding wing assembly to unfold or fold. When the folding wing assemblies are fully folded, the two folding wing assemblies overlap to form an inverted V shape. The drive transmission mechanism 32 is connected to the transmission assembly 31 to drive the transmission assembly 31 to operate. The frame 1 is provided with a mounting plate 11, a support frame 12, and a support seat 13 for mounting or supporting components of the folding wing mechanism and the drive transmission mechanism 32.

[0065] In this embodiment, when the folding wing assemblies are in the fully folded state, the two folding wing assemblies overlap to form an inverted V shape, so that the folding wing 3 as a whole can maintain the stability of the folded state without a self-locking mechanism.

[0066] Furthermore, the drive transmission mechanism 32 includes a drive motor 321, two rack and pinion pairs, and a connecting rod assembly. The drive motor 321 is mounted on the front or rear side of the frame 1 via the mounting plate 11. The connecting rod assembly is connected to the drive motor 321 and the rack and pinion pair, respectively. The connecting rod assembly converts the motor's rotation into movement of the rack 323 in the rack and pinion pair. The gear 322 of the rack and pinion pair is connected to the corresponding transmission assembly 31; the movement of the rack 323 drives the rotation of the gear 322, which in turn is transmitted to the transmission assembly 31.

[0067] Optionally, the linkage assembly comprises a crank 324, a first linkage 325 and two second linkages 326. The crank 324 is connected with the motor shaft of the driving motor 321; one end of the first linkage 325 is rotationally connected with the crank 324, and the other end is rotationally connected with a vertically sliding slider 327; one end of each of the two second linkages 326 is rotationally connected with the slider 327, and the other end is rotationally connected with the rack 323. Specifically, the mounting plate 11 on which the driving motor 321 is mounted is provided with an upward support frame 12, and the support frame 12 is provided with a vertical first guide rail 14, and the slider 327 can vertically slide on the first guide rail 14. In order to improve the connection strength, the slider 327 is in the shape of an isosceles triangle as a whole; the part of the slider 327 connected with the second linkage 326 is symmetrical left and right. The two second linkages 326 are the same in structure and size. The support frame 12 is provided with a horizontal support plate 15, and the left and right sides of the support plate 15 are symmetrically provided with support blocks 16. The support blocks 16 are used for mounting the gear 322 and the rack 323. One end of the driving shaft 311 protrudes out of the support block 16, and the gear 322 is mounted on the driving shaft 311 protruding out of the support block 16. The rotation of the gear 322 can drive the driving shaft 311 to rotate. The support block 16 is provided with a horizontal second guide rail 17, and the rack 323 can slide horizontally along the second guide rail 17. The driving motor 321 drives the crank 324 to rotate, the crank 324 drives the first linkage 325 to rotate, the first linkage 325 drives the slider 327 to move up and down, and the slider 327 drives the two second linkages 326 to rotate in opposite directions, and the two second linkages 326 drive the corresponding racks 323 to move horizontally, and the two racks 323 move in opposite directions, and the rotation directions of the gears 322 connected with the two racks 323 are opposite, and the rotation directions of the two driving shafts 311 connected with the corresponding gears 322 are opposite.

[0068] Further, in the fully unfolded state of the folding and unfolding wing assembly, the two second linkages 326 are in a horizontal state. In this embodiment, the geometric sizes of the crank 324, the first linkage 325 and the slider 327 can be coordinated to make the second linkage 326 in the fully unfolded state keep horizontal with the folding and unfolding wing mechanism, realize self-locking of the linkage mechanism and the gear and rack pair, and make the driving motor 321 in a zero torque state; the folding and unfolding wing 3 can keep stable in the unfolded state in the case of power failure of the driving motor 321.

[0069] Optionally, the rotary joint structure of the linkage assembly and / or the second linkage 326 and the rack 323 can be rotationally connected by a socket screw 328. Taking the first linkage 325 and the slider 327 as an example, the threaded segment 3281 of the socket screw 328 is threadedly connected with the slider 327, and detachable threaded fastening glue is injected, and the optical axis segment 3282 of the socket screw 328 is clearance-fitted with the first linkage 325, so that the first linkage 325 can freely rotate relative to the slider 327.

[0070] Optionally, the gear rack and connecting rod assembly can be replaced by a double screw and bevel gear transmission structure; to simplify the drive transmission mechanism structure, improve the transmission accuracy.

[0071] Further, the transmission assembly 31 comprises a driving shaft 311, a first stage folding main rod 312 and a second stage folding main rod 313. Wherein the driving shaft 311 is connected with the drive transmission mechanism 32; in the embodiment, the driving shaft 311 is connected with the gear 322 of the gear rack and pinion pair. The driving motor 321 transmits motion to the driving shaft 311 through the connecting rod assembly and the gear rack and pinion pair in turn, driving the driving shaft 311 to rotate. One end of the first stage folding main rod 312 is fixedly connected with the driving shaft 311, that is, the driving shaft 311 drives the first stage folding main rod 312 to rotate, realizing the folding or unfolding of the first stage folding main rod 312; the second stage folding main rod 313 is arranged on the side of the first stage folding main rod 312 away from the driving shaft 311, and is connected with the first stage folding main rod 312 through a first stage gear 322 transmission pair. The first stage folding main rod 312 drives the second stage folding main rod 313 to rotate through the first stage gear 322 transmission pair, realizing the folding or unfolding of the second stage folding main rod 313.

[0072] Specifically, the first-stage gear 322 transmission pair includes a first gear 3121 and a second gear 3131. The first gear 3121 is fixedly connected to the other end of the first-stage folding main rod 312; the first gear 3121 rotates synchronously with the first-stage folding main rod 312. The second gear 3131 is fixedly connected to the end of the second-stage folding main rod 313 close to the drive shaft 311; the second-stage folding main rod 313 rotates synchronously with the second gear 3131. When the folding and unfolding wing 3 assembly is completely unfolded and completely folded, the rotation angle ratio of the first gear 3121 to the second gear 3131 is 2:1, and the rotation directions of the first gear 3121 and the second gear 3131 are opposite; when the two first-stage folding main rods 312 are lapped, the second-stage folding main rod 313 is reversely rotated to be folded to be parallel to the first-stage folding main rod 312; when the first-stage folding main rod 312 is unfolded to be horizontal, the second-stage folding main rod 313 is also rotated to be horizontal. Optionally, in the embodiment, the first gear 3121 is a complete cylinder, and the teeth are uniformly distributed on the outer peripheral wall of the first gear 3121 in the circumferential direction; the second gear 3131 is not a complete cylinder; the second gear 3131 is a sector, and the teeth are uniformly distributed on the outer peripheral wall of the second gear 3131 in the circumferential direction; the tooth number ratio of the first gear 3121 to the second gear 3131 is 2:1, which can make the rotation angle ratio of the first gear 3121 to the second gear 3131 be 2:1, and the rotation directions of the first gear 3121 and the second gear 3131 be opposite. In addition, the second gear 3131 can also be a complete cylinder, and the teeth are uniformly distributed on the outer peripheral wall of the second gear 3131 in the circumferential direction; the tooth number ratio of the first gear 3121 to the second gear 3131 is 1:2, which can also make the rotation angle ratio of the first gear 3121 to the second gear 3131 be 2:1, and the rotation directions of the first gear 3121 and the second gear 3131 be opposite. By selecting the appropriate length of the first-stage folding main rod 312 and the appropriate tooth number of the first gear 3121 and the second gear 3131, the two first-stage folding main rods 312 and the second-stage folding main rod 313 can be lapped to be inverted V-shaped in the completely folded state; the inverted V-shaped structure and the horizontal support plate 15 form an isosceles triangle structure, which can ensure the stability of the folded state and make the motor shaft of the drive motor 321 be in a stress-free state.

[0073] Further, the transmission assembly 31 further includes a third-stage folding main rod 314. The third-stage folding main rod 314 is arranged on the side of the second-stage folding main rod 313 away from the drive shaft 311, and is connected with the second-stage folding main rod 313 through the second-stage gear 322 transmission pair. The second-stage folding main rod 313 drives the third-stage folding main rod 314 to rotate through the second-stage gear 322 transmission pair, so as to realize the folding or unfolding of the third-stage folding main rod 314.

[0074] Specifically, the secondary gear 322 transmission pair includes a third gear 3132 and a fourth gear 3141. The third gear 3132 is fixedly connected to the other end of the second-stage folding main rod 313; the fourth gear 3141 is fixedly connected to the end of the third-stage folding main rod 314 closest to the drive shaft 311. When the folding wing 3 assembly switches between fully deployed and fully folded states, the rotation angle ratio of the third gear 3132 and the fourth gear 3141 is 1:2, and the third gear 3132 and the fourth gear 3141 rotate in opposite directions. This allows the third-stage folding main rod 314 to rotate and fold parallel to the second-stage folding main rod 313 when the two first-stage folding main rods 312 are connected; when the first-stage folding main rods 312 are deployed horizontally, the third-stage folding main rod 314 also rotates horizontally. Alternatively, in this embodiment, the fourth gear 3141 is a complete cylindrical shape, with teeth evenly distributed circumferentially on the outer wall of the fourth gear 3141; the third gear 3132 is not a complete cylindrical shape; the third gear 3132 is fan-shaped, with teeth evenly distributed circumferentially on the outer wall of the third gear 3132; and the gear ratio between the fourth gear 3141 and the third gear 3132 is 2:1. This configuration enables the rotational angle ratio between the fourth gear 3141 and the third gear 3132 to be 2:1, and the fourth gear 3141 and the third gear 3132 to rotate in opposite directions. Alternatively, the third gear 3132 can be a complete cylindrical shape, with teeth evenly distributed circumferentially on the outer wall of the third gear 3132. In this case, the gear ratio between the fourth gear 3141 and the third gear 3132 is 1:2, which also satisfies the rotational angle ratio between the first gear 3121 and the second gear 3131 of 2:1, and the fourth gear 3141 and the third gear 3132 to rotate in opposite directions.

[0075] Further, in order to limit the folding and unfolding rotation angle of the second folding main rod 313 and the third folding main rod 314, and ensure the gear engagement of the first gear 3121 and the second gear 322, the transmission assembly 31 further comprises a first folding auxiliary rod 315, a first joint bracket 316, a second folding auxiliary rod 317 and a second joint bracket 318. The support seat 13 is arranged on the rack 1 at the side of the driving shaft 311 away from the first folding main rod 312. One end of the first folding auxiliary rod 315 is rotationally connected with the support seat 13, and the other end is rotationally connected with the first joint bracket 316. One end of the second folding main rod 313 provided with the second gear 3131 is rotationally connected with the first joint bracket 316. By arranging the first folding auxiliary rod 315, the rotation of the first joint bracket 316 can be restricted, thereby limiting the folding and unfolding rotation angle of the second folding main rod 313 connected with the first joint bracket 316; meanwhile, the first gear 3121 and the second gear 3131 can be in meshing state. One end of the second folding auxiliary rod 317 is rotationally connected with the first joint bracket 316, and the other end is rotationally connected with the second joint bracket 318. One end of the second folding main rod 313 provided with the third gear 3132 is rotationally connected with the second joint bracket 318, and one end of the third folding main rod 314 provided with the fourth gear 3141 is rotationally connected with the second joint bracket 318. By arranging the second folding auxiliary rod 317, the rotation of the second joint bracket 318 can be restricted, thereby limiting the folding and unfolding rotation angle of the third folding main rod 314 connected with the second joint bracket 318; meanwhile, the third gear 3132 and the fourth gear 3141 can be in meshing state.

[0076] The transmission relationship is as follows: the first folding main rod 312 rotates with the driving shaft 311 at the same angle, and at the same time, due to the mechanism movement restriction of the first folding auxiliary rod 315 and the second folding auxiliary rod 317, the first gear 3121 and the incomplete second gear 3131 are in meshing transmission, resulting in that the rotation angle ratio of the first folding main rod 312 to the second folding main rod 313 is 2:1, and the rotation directions are opposite. Similarly, the second folding main rod 313 rotates with the incomplete second gear 3131 at the same angle, and at the same time, due to the mechanism movement restriction of the first folding auxiliary rod 315 and the second folding auxiliary rod 317, the incomplete third gear 3132 and the fourth gear 3141 are in meshing transmission, resulting in that the rotation angle ratio of the second folding main rod 313 to the third folding main rod 314 is 1:2, and the rotation directions are opposite. In this embodiment, the first folding main rod, the second folding main rod and the third folding main rod are arranged, and the folding rate (unfolding length / folding length) can reach 4. Alternatively, the folding movement linkage of the transmission assembly 31 of this embodiment can also be realized by arranging synchronous pulleys, or the joint linkage can be realized by bevel gears 322 transmission.

[0077] Optionally, the fixed connection structure of the second gear 3131 is that the second gear 3131 is fixed on the second folding main rod by means of the flat head pin 3133 and the screw 3134, so as to realize the fixed connection of the second gear 3131 and the second folding main rod. The screw 3134 can be a cross head screw. The second folding main rod is connected to the first joint support 316 through the flat head pin 3133, so as to realize the relative rotation. The set screw 3135 assists in fixing the flat head pin 3133 and the second folding main rod. Due to the limitation of the size of the positioning structure, the circumferential positioning and fixing of the second gear 3131 and the second folding main rod cannot be realized by means of the bolt connection of the offset hinge hole relative to the shaft. Therefore, the screw connection mode with more compact and simple structure is selected. Because there is a gap between the screw 3134 and the through hole in the second gear 3131, there will be random errors in the circumferential positioning of the second gear 3131, which needs to be adjusted during assembly. The circumferential positioning of the second gear 3131 and the second folding main rod is realized by means of friction force to transmit torque, and the size of the transmitted torque will be limited.

[0078] The fixed connection structure of the third gear 3132 is similar to that of the second gear 3131. The fixed connection of the first gear 3121 is realized by means of the bolt connection of the offset hinge hole relative to the shaft to connect with the first folding main rod 312. The fixed connection of the fourth gear 3141 is realized by means of the bolt connection of the offset hinge hole relative to the shaft to connect with the third folding main rod 314.

[0079] Further, the folding and unfolding wing assembly comprises a plurality of sub-wings. The sub-wings are connected to the first-stage folding main rod 312, the second-stage folding main rod 313 or the third-stage folding main rod 314. The first-stage folding main rod 312 is correspondingly connected with a first sub-wing 33 and a second sub-wing 34 on both sides thereof; the second-stage folding main rod 313 is correspondingly connected with a third sub-wing 35 and a fourth sub-wing 36 on both sides thereof; and the third-stage folding main rod 314 is correspondingly connected with a fifth sub-wing 37 and a sixth sub-wing 38 on both sides thereof. Optionally, each sub-wing is fixed on the first-stage folding main rod 312, the second-stage folding main rod 313 or the third-stage folding main rod 314 by means of a screw rod 371 and two side nuts 372. Adjacent sub-wings are connected by means of a double-shaft hinge 39. For example, the sub-wings are connected by means of the double-shaft hinge 39, the hinge shaft 391 of the double-shaft hinge 39 is coaxial with the corresponding first gear 3121, second gear 3131, third gear 3132 or fourth gear 3141, which can enhance the folding and unfolding joint stiffness without interfering with the folding and unfolding movement; for example, the third sub-wing 35 and the fifth sub-wing 37 are hingedly connected with the two hinge shafts 391 of the double-shaft hinge 39, respectively, and the two hinge shafts 391 are coaxial with the centers of the third gear 3132 and the fourth gear 3141, respectively. The first sub-wing 33 and / or the second sub-wing 34 are fixedly connected with the driving shaft 311 by means of a root support 331. One end of the root support 331 is provided with a ring-shaped connecting portion 3311 which is sleeved on the driving shaft 311, and the connecting portion 3311 is provided with a fastening screw which can fasten the root support 331 with the driving shaft 311; the other end of the root support 331 is interference-connected or screw-connected with the first sub-wing 33 or the second sub-wing 34.

[0080] In this embodiment, the geometric size of the first-stage folding main rod 312 is appropriately set, so that the second connecting rod 326 is kept horizontal with the folding and unfolding wing mechanism in the fully unfolded state of the amphibious machine crab, the driving transmission mechanism 32 is self-locked, and the driving motor 321 is not subjected to torsion. Figure 14 As shown in FIG. 9, the amphibious machine crab with the folding and unfolding wing can have gliding function, and the maximum gliding ratio can reach 3:1. Figures 15-20 As shown in FIG. 10, the simulation of the resistance to water flow impact of the amphibious machine crab in different states and different directions of this embodiment shows that the amphibious machine crab with the folding and unfolding wing has better stability in the floating and diving movement and underwater walking.

[0081] Finally, it should be noted that the above are only preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or make equivalent replacements for some of the technical features therein. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A folding wing for underwater gliding, characterized in that, The utility model relates to a kind of two-fold wing mechanism, including: Two folding wing mechanisms, each including several levels of folding wing assemblies and corresponding transmission assemblies (31), the transmission assemblies (31) are used to drive corresponding folding wing assemblies to unfold or fold;When the folding wing assemblies are completely folded, the two folding wing assemblies are overlapped and present inverted V shape; Drive transmission mechanism (32) is connected with the transmission assembly (31), for driving the transmission assembly (31) to act; Wherein, the transmission assembly (31) includes: Drive shaft (311) is connected with the drive transmission mechanism (32); First level folding main rod (312), one end is fixedly connected with the drive shaft (311); Second level folding main rod (313) is arranged on the side of the first level folding main rod (312) away from the drive shaft (311), and is connected with the first level folding main rod (312) by first level gear transmission pair; The first level gear transmission pair includes: First gear (3121) is fixedly connected with the other end of the first level folding main rod (312); Second gear (3131) is fixedly connected with the end of the second level folding main rod (313) close to the drive shaft (311), the first gear (3121) and the second gear (3131) are 2:1 when the folding wing assemblies are completely unfolded and completely folded State conversion ratio of angle of rotation, and the rotation direction of the first gear (3121) and the second gear (3131) is opposite.

2. The folding wing for underwater gliding according to claim 1, characterized in that, The transmission assembly (31) further includes: Third level folding main rod (314) is arranged on the side of the second level folding main rod (313) away from the drive shaft (311), and is connected with the second level folding main rod (313) by second level gear transmission pair.

3. The folding wing for underwater gliding according to claim 2, characterized in that, The second level gear transmission pair includes: Third gear (3132) is fixedly connected with the other end of the second level folding main rod (313); Fourth gear (3141) is fixedly connected with the end of the third level folding main rod (314) close to the drive shaft (311), the third gear (3132) and the fourth gear (3141) are 1:2 when the folding wing assemblies are completely unfolded and completely folded State conversion ratio of angle of rotation, and the rotation direction of the third gear (3132) and the fourth gear (3141) is opposite.

4. The folding wing for underwater gliding according to claim 2, characterized in that, The folding wing assembly includes: Several subwings, the subwing is connected with the first level folding main rod (312), the second level folding main rod (313) or the third level folding main rod (314).

5. The folding wing for underwater gliding according to claim 1, characterized in that, The drive transmission mechanism (32) includes: Driving motor (321); Two gear and rack pairs, the gear (322) of which is connected with corresponding transmission assembly (31); Connecting rod assembly is connected with the driving motor (321) and gear and rack pair respectively, for driving the rack (323) in the gear and rack pair to move.

6. The folding wing for underwater gliding according to claim 5, characterized in that, The connecting rod assembly includes: Crank (324) is connected with the motor shaft of the driving motor (321); First connecting rod (325), one end is rotatably connected with the crank (324), and the other end is rotatably connected with vertically sliding slider (327); Two second connecting rods (326) are rotatably connected with the slider (327) at one end and rotatably connected with the rack (323) at the other end.

7. The folding wing for underwater gliding according to claim 6, characterized in that, In the fully unfolded state of the folding wing assembly, the two second connecting rods (326) are in a horizontal state.

8. A robot, characterized in that The folding wing assembly comprises the folding wing as claimed in any one of claims 1-7.

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