“创新思维与现代设计” 创新设计项目报告 灾害救援中递送物资用四旋翼 小组成员：储沁钰（组长） 陈佳威 王明祥 徐易理 杨之远 日期：2018年12月20日
“创新思维与现代设计” 创新设计项目报告 灾害救援中递送物资用四旋翼 小组成员：储沁钰（组长） 陈佳威 王明祥 徐易理 杨之远 日期：2018 年 12 月 20 日
创新思维与现代设计作业 目录 1.优秀设计案例分析… 3 1.1案例1：诸葛连弩（完成人：杨之远） 3 1.1.1引言及背景介绍… 3 1.1.2诸葛连弩的机械结构… …4 1.1.3产品分析 …7 1.1.4展望与设想… …7 1.2案例2：波音747（完成人：陈佳威） 8 1.2.1引言及背景介绍. 8 1.2.2创新设计… …10 1.2.3产品分析 -10 1.2.4小结… …12 2.问题/需求发现… …13 2.1十年后的手机设想… …13 2.1.1无线充电的普及… …13 2.1.2模块化的手机… 13 2.2半机械人畅想… …14 2.2.1改造残疾人… …14 2.2.2.探索极端环境/从事高危工作 …14 2.23.增加人类的机动性…14 2.3未来汽车设想（磁悬浮自动驾驶汽车）（完成人：储沁钰） 14 3.创新设计实践· …15 3.1背景和需求… 15 3.2功能分析及定义… …15 3.3方案提出… …16 3.3.1控制系统与动力系统 …16 3.3.2输入及输出系统… …18 3.3.3机械臂及补给系统… …19 3.4详细设计… 20 3.4.1控制系统与动力系统 20 3.4.2输入及输出系统 22 3.4.3机械臂及补给系统 23 3.5可行性及效果评估… 27 3.5.1成本分析… …27 3.5.2实际装配分析… …27 3.5.3机械臂自由度分析 27 3.5.4实际效益分析 27 3.6小组分工… 28 4.思考和体会… 29 2/30
创新思维与现代设计作业 2/30 目 录 1. 优秀设计案例分析···········································································································································3 1.1 案例 1：诸葛连弩（完成人：杨之远）····························································································3 1.1.1 引言及背景介绍··································································································································3 1.1.2 诸葛连弩的机械结构·························································································································4 1.1.3 产品分析················································································································································7 1.1.4 展望与设想···········································································································································7 1.2 案例 2：波音 747（完成人：陈佳威）·····························································································8 1.2.1 引言及背景介绍··································································································································8 1.2.2 创新设计··············································································································································10 1.2.3 产品分析··············································································································································10 1.2.4 小结·······················································································································································12 2. 问题/需求发现················································································································································13 2.1 十年后的手机设想··································································································································13 2.1.1 无线充电的普及································································································································13 2.1.2 模块化的手机····································································································································13 2.2 半机械人畅想···········································································································································14 2.2.1 改造残疾人·········································································································································14 2.2.2. 探索极端环境/从事高危工作······································································································14 2.2.3. 增加人类的机动性··························································································································14 2.3 未来汽车设想（磁悬浮自动驾驶汽车）（完成人：储沁钰）················································14 3. 创新设计实践··················································································································································15 3.1 背景和需求················································································································································15 3.2 功能分析及定义·······································································································································15 3.3 方案提出····················································································································································16 3.3.1 控制系统与动力系统·······················································································································16 3.3.2 输入及输出系统································································································································18 3.3.3 机械臂及补给系统···························································································································19 3.4 详细设计····················································································································································20 3.4.1 控制系统与动力系统·······················································································································20 3.4.2 输入及输出系统································································································································22 3.4.3 机械臂及补给系统···························································································································23 3.5 可行性及效果评估··································································································································27 3.5.1 成本分析··············································································································································27 3.5.2 实际装配分析····································································································································27 3.5.3 机械臂自由度分析···························································································································27 3.5.4 实际效益分析····································································································································27 3.6 小组分工····················································································································································28 4. 思考和体会·······················································································································································29
创新思维与现代设计作业 1.优秀设计案例分析 1.1案例1：诸葛连弩 1.1.1引言及背景介绍 在生活中的不同棋牌类或影视作品甚至一些电子游戏中都可以看到有一种称为诸葛连弩 的强力的连发弩。其相对于其他古代传统弓箭的显著特点是可连发、威力强大，故引起了我 们的强烈的研究兴趣。对于诸葛弩的设想和复制方向有很多种，我就一种民间及网上最为流 行的一种复制的方向进行一次复制实验，并研究得出了一些结论供参考和讨论。 历史情况：有关诸葛连弩的早期记载主要集中在《三国志》及其注释之中： 《诸葛亮传》中有“亮性长于巧思，损益连弩，木牛流马，皆出其意。推演兵法，作八阵 图，咸得其要。"注引《魏氏春秋》曰：亮作八务、七戒、六恐、五惧，皆有条章，以训厉 臣子。又损益连弩，谓之元戎，以铁为矢，矢长八寸，一弩十矢俱发。“皆出其意，即指诸 葛亮的创意、构思、设计，而由他人具体制作。 以及外国人对于诸葛连弩的评价：中国连发弩一诸葛弩的构造及原理： 拉尔夫爵士在《弩之书》(The Book of Crossbow)第四十九章中将诸葛弩称为“中国 连发弩”，事实上本来这种武器也很可能只是托武侯之名。其构造其实并不神秘，作者通过 详尽的图解和扼要的说明展示了这种简单高效的机械。至于他对其威力的看法，就见仁见智 了。 显然，当时研发这种武器也是有强烈需求的。当时的蜀国军队人数并不是很多，而且分 布非常分散，每一个城池中的守军人数也很有限，故能够使少数人射出尽量多的弓箭在守城 的时候就非常重要了，于是诸葛亮在这种需求环境下完善了元戎弩，从而装备到了蜀军中， 在一段时间内抵御了魏国的猛攻。 下面介绍相关弓弩。首先从弩箭的始祖，即弓箭说起。弓箭是通过人力，将弓弦拉伸， 使得弓体产生了一定的弹性形变，从而积蓄巨大的弹性势能，手松开的瞬间，弹性势能快速 释放，从而将箭矢弹射出去，造成伤害。由这个过程我们不难发现，弓箭的使用对于操作者 来说门槛很高。首先，他要有足够大的力气来拉动弓弦，然后还要保持弓体呈绷紧状态来瞄 准，此时仍然不能放手，也就是手臂仍需要很大的拉力，然后瞄准后射出才能够命中目标， 之后手臂还需要承受一个较大的后坐力。 弓箭中也有一些有趣的分支，比如英国的长弓，通过特殊材质制成的长弓有更大的威 力，同时也对操作者有更高的的臂力要求。长弓的瞄准方式较普通弓箭有一定改善。长弓采 取一个箭管来约束箭矢，类似于现代的炮管和枪管，并且似乎采用了类似子母弹的形式，从 一定程度上优化了命中率，而长弓强有力的弹射也使得射程较普通弓箭更远。 3/30
创新思维与现代设计作业 3/30 1. 优秀设计案例分析 1.1 案例 1：诸葛连弩 1.1.1 引言及背景介绍 在生活中的不同棋牌类或影视作品甚至一些电子游戏中都可以看到有一种称为诸葛连弩 的强力的连发弩。其相对于其他古代传统弓箭的显著特点是可连发、威力强大，故引起了我 们的强烈的研究兴趣。对于诸葛弩的设想和复制方向有很多种，我就一种民间及网上最为流 行的一种复制的方向进行一次复制实验，并研究得出了一些结论供参考和讨论。 历史情况：有关诸葛连弩的早期记载主要集中在《三国志》及其注释之中： 《诸葛亮传》中有"亮性长于巧思，损益连弩，木牛流马，皆出其意。推演兵法，作八阵 图，咸得其要。"注引《魏氏春秋》曰：亮作八务、七戒、六恐、五惧，皆有条章，以训厉 臣子。又损益连弩，谓之元戎，以铁为矢，矢长八寸，一弩十矢俱发。"皆出其意，即指诸 葛亮的创意、构思、设计，而由他人具体制作。 以及外国人对于诸葛连弩的评价：中国连发弩——诸葛弩的构造及原理： 拉尔夫爵士在《弩之书》（The Book of Crossbow）第四十九章中将诸葛弩称为“中国 连发弩”，事实上本来这种武器也很可能只是托武侯之名。其构造其实并不神秘，作者通过 详尽的图解和扼要的说明展示了这种简单高效的机械。至于他对其威力的看法，就见仁见智 了。 显然，当时研发这种武器也是有强烈需求的。当时的蜀国军队人数并不是很多，而且分 布非常分散，每一个城池中的守军人数也很有限，故能够使少数人射出尽量多的弓箭在守城 的时候就非常重要了，于是诸葛亮在这种需求环境下完善了元戎弩，从而装备到了蜀军中， 在一段时间内抵御了魏国的猛攻。 下面介绍相关弓弩。首先从弩箭的始祖，即弓箭说起。弓箭是通过人力，将弓弦拉伸， 使得弓体产生了一定的弹性形变，从而积蓄巨大的弹性势能，手松开的瞬间，弹性势能快速 释放，从而将箭矢弹射出去，造成伤害。由这个过程我们不难发现，弓箭的使用对于操作者 来说门槛很高。首先，他要有足够大的力气来拉动弓弦，然后还要保持弓体呈绷紧状态来瞄 准，此时仍然不能放手，也就是手臂仍需要很大的拉力，然后瞄准后射出才能够命中目标， 之后手臂还需要承受一个较大的后坐力。 弓箭中也有一些有趣的分支，比如英国的长弓，通过特殊材质制成的长弓有更大的威 力，同时也对操作者有更高的的臂力要求。长弓的瞄准方式较普通弓箭有一定改善。长弓采 取一个箭管来约束箭矢，类似于现代的炮管和枪管，并且似乎采用了类似子母弹的形式，从 一定程度上优化了命中率，而长弓强有力的弹射也使得射程较普通弓箭更远
创新思维与现代设计作业 在弓箭后，渐渐出现了弓弩，或者称之为弩机。弩的发射原理基本与弓箭相似，同样通 过弹性形变来积累弹性势能，快速释放以产生杀伤力。但是不同的是，弩机提供了一个支撑 平台，弩机身可以容纳一发箭矢，并且有一个凹槽和触发装置用以固定弩弦。 弩较弓体现出了非常大的优势。首先弩不需要操作者一直保持拉弓弦的拉力，只需要在 上弦的时候拉弦即可，故不仅解放了瞄准时需要提供的拉力，同时因为可以通过手脚并用的 方式上弦，威力大于弓箭。并且在之后的改进和完善中，弩机还提供了一个支撑结构用以支 撑在操作者的肩上，从而用身体，而不是双臂来承受后坐力。无论是威力还是命中率都有很 大的提升。 秦弩是少数可以大规模量产的古代武器。在秦代，秦弩制造的如同现在的自动步枪一样 精密。秦弩综合了植物弹性和动物弹性，即采取皮条和桑木双重弹性势能源，动力更加丰富 稳定。且采取了很多表面工艺，从而减小了箭矢与弩身的摩擦。 背弩是一种暗发弩，又名紧背低头花装弩。弩弓平缚于背上，用绳两条，分套于两后 另一条绳索从弩机连于腰上，弩背之出口处向上。临阵时贯矢于弩，扣弦于弩机之上。隐蔽 性很好，主要用于暗杀。 1.1.2诸葛连弩的机械结构 ①诸葛连弩的机械结构分析 各部分编号详见图1-4中国连发弩。 图1-中国连发弩侧视图 如图1所示：A:连发弩的箭仓。准备发射时其中可存放十到十二支箭，其宽度略大于 弩箭直径以免影响箭下落。B:弩臂，竹制弩干固定其上。C:控制整个连发弩运作的杠 杆，用金属销钉分别与弩臂和箭仓相连接，具体见图4。E:装于弩臂上方，箭仓下方的木 制箭槽，发射时弩箭落入其上的凹槽，与箭仓之间的缝隙是弩弦移动的地方，其后缘缺刻在 发射过程中能勾住弩弦。与箭仓连接成一体。 4/30
创新思维与现代设计作业 4/30 在弓箭后，渐渐出现了弓弩，或者称之为弩机。弩的发射原理基本与弓箭相似，同样通 过弹性形变来积累弹性势能，快速释放以产生杀伤力。但是不同的是，弩机提供了一个支撑 平台，弩机身可以容纳一发箭矢，并且有一个凹槽和触发装置用以固定弩弦。 弩较弓体现出了非常大的优势。首先弩不需要操作者一直保持拉弓弦的拉力，只需要在 上弦的时候拉弦即可，故不仅解放了瞄准时需要提供的拉力，同时因为可以通过手脚并用的 方式上弦，威力大于弓箭。并且在之后的改进和完善中，弩机还提供了一个支撑结构用以支 撑在操作者的肩上，从而用身体，而不是双臂来承受后坐力。无论是威力还是命中率都有很 大的提升。 秦弩是少数可以大规模量产的古代武器。在秦代，秦弩制造的如同现在的自动步枪一样 精密。秦弩综合了植物弹性和动物弹性，即采取皮条和桑木双重弹性势能源，动力更加丰富 稳定。且采取了很多表面工艺，从而减小了箭矢与弩身的摩擦。 背弩是一种暗发弩，又名紧背低头花装弩。弩弓平缚于背上，用绳两条，分套于两后， 另一条绳索从弩机连于腰上，弩背之出口处向上。临阵时贯矢于弩，扣弦于弩机之上。隐蔽 性很好，主要用于暗杀。 1.1.2 诸葛连弩的机械结构 ① 诸葛连弩的机械结构分析 各部分编号详见图 1-4 中国连发弩。 图 1-中国连发弩侧视图 如图 1 所示：A：连发弩的箭仓。准备发射时其中可存放十到十二支箭，其宽度略大于 弩箭直径以免影响箭下落。B：弩臂，竹制弩干固定其上。C：控制整个连发弩运作的杠 杆，用金属揿钉分别与弩臂和箭仓相连接，具体见图 4。E ：装于弩臂上方，箭仓下方的木 制箭槽，发射时弩箭落入其上的凹槽，与箭仓之间的缝隙是弩弦移动的地方，其后缘缺刻在 发射过程中能勾住弩弦。与箭仓连接成一体
创新思维与现代设计作业 图3-中国连发弩的发射机构 图2-中国连发弩背视图 图4-中国连发弩箭仓剖面示图 如图3所示：B:被箭槽后缘勾住的弩弦。D:弩弦前方落入箭槽的弩箭。E:存箭的箭 仓。 连弩的原理和发射过程：发射连弩比发射普通弩简单得多。首先将杠杆向前推，箭仓和 与之一体的箭槽也随之往前，箭槽后缘缺刻向上抬升并自动勾住弩弦。正常情况下弩弦横在 箭槽中央起到阻挡箭仓内弩箭落入箭槽的作用，但当弩弦被勾到箭槽后方后，一支箭在重 力的作用下就会自动落入箭槽。 弩弦对弩箭下落的阻挡作用：要完成发射动作只需将杠杆扳回，在这过程中箭槽与箭仓 就会向后运动并将弩弦也往后拉，弩干弯曲蓄能。拉到尽头的同时箭槽后缘也会开始下坐， 箭槽缺刻下方顶钮露出下方的部分与弩臂接触并被顶起，随之将弩弦顶出缺刻，弩弦前行将 箭槽中的弩箭弹出。这顶钮由硬木制成，一头稍大以防止脱出。第一支箭发射出去以后弩弦 又挡住了第二支箭的下落，开始了新的一轮循环直到箭仓内的弩箭全部发射完毕。 在此之后的数百年中，诸葛弩也曾被改造，优化。明朝的水军也曾使用过诸葛弩，当时 的工程师将诸葛弩放大后直接安装在战船上，从而成为一个稳定的弩箭台，类似于现代战船 的侧弦炮台。由于弩弦的行程大大增加，从而将威力也有显著增加。 ②创新点 首先诸葛连弩似乎是唯一连发的冷兵器。冷兵器时代的远程武器的射频通常是通过人为 加快装填来增快射频。只有连弩是通过纯机械的方式来加速射频，而且是连发，不需要人为 供弹。 其次在于其连杆结构。弩在弓的基础上已经一定程度上缓解了操作者的力量要求，而连 弩在弩的基础上更上一部。连弩的发射机构和上弹机构都是通过连杆响应的，由图可知，这 是一个省力杠杆，拉弦过程更加流畅且轻松，用起来更加得心应手。 5/30
创新思维与现代设计作业 5/30 图 2-中国连发弩背视图 图 4-中国连发弩箭仓剖面示图 如图 3 所示：B：被箭槽后缘勾住的弩弦。D：弩弦前方落入箭槽的弩箭。E ：存箭的箭 仓。 连弩的原理和发射过程：发射连弩比发射普通弩简单得多。首先将杠杆向前推，箭仓和 与之一体的箭槽也随之往前，箭槽后缘缺刻向上抬升并自动勾住弩弦。正常情况下弩弦横在 箭槽中 央起到阻挡箭仓内弩箭落入箭槽的作用，但当弩弦被勾到箭槽后方后，一支箭在重 力的作用下就会自动落入箭槽。 弩弦对弩箭下落的阻挡作用：要完成发射动作只需将杠杆扳回，在这过程中箭槽与箭仓 就会向后运动并将弩弦也往后拉，弩干弯曲蓄能。拉到尽头的同时箭槽后缘也会开始下坐， 箭槽缺刻下方顶钮露出下方的部分与弩臂接触并被顶起，随之将弩弦顶出缺刻，弩弦前行将 箭槽中的弩箭弹出。这顶钮由硬木制成，一头稍大以防止脱出。第一支箭发射出去以后弩弦 又挡住了第二支箭的下落，开始了新的一轮循环直到箭仓内的弩箭全部发射完毕。 在此之后的数百年中，诸葛弩也曾被改造，优化。明朝的水军也曾使用过诸葛弩，当时 的工程师将诸葛弩放大后直接安装在战船上，从而成为一个稳定的弩箭台，类似于现代战船 的侧弦炮台。由于弩弦的行程大大增加，从而将威力也有显著增加。 ② 创新点 首先诸葛连弩似乎是唯一连发的冷兵器。冷兵器时代的远程武器的射频通常是通过人为 加快装填来增快射频。只有连弩是通过纯机械的方式来加速射频，而且是连发，不需要人为 供弹。 其次在于其连杆结构。弩在弓的基础上已经一定程度上缓解了操作者的力量要求，而连 弩在弩的基础上更上一部。连弩的发射机构和上弹机构都是通过连杆响应的，由图可知，这 是一个省力杠杆，拉弦过程更加流畅且轻松，用起来更加得心应手。 图 3-中国连发弩的发射机构