Dolphin-imitating cross-medium aircraft and working method thereof

Abstract

The invention provides a dolphin-imitating cross-medium aircraft and a working method thereof.The aircraft comprises a dolphin-imitating fuselage, the two sides of the fuselage are each provided with a set of tiltable ducted rotor wings, a ducted tilting device and a steering engine are installed in the fuselage, the steering engine drives the ducted tilting device, the ducted tilting device is driven to drive a tilting shaft through a connecting rod, and the tiltable ducted rotor wings are connected with the connecting rod. A dorsal fin rudder is arranged on the fuselage; the rear side of the fuselage is sequentially connected with an aircraft middle section and an aircraft tail, and a tail driving device is installed in the fuselage and controls the aircraft middle section and the aircraft tail to swing. Tilting of the duct under different working conditions is achieved through the steering engine, the duct tilting device and the connecting rod, the tail swing device is driven through the micro alternating current motor and the servo motor, same-frequency swing of the middle section and the tail of the aircraft is achieved, thrust is provided for the aircraft underwater, underwater resistance and noise of the aircraft are greatly reduced, and the endurance time is prolonged.

Description

Technical Field

[0001] The invention relates to the technical field of aircraft design, in particular to a dolphin-imitation cross-medium aircraft and a working method thereof. Background Art

[0002] A cross-medium aircraft is a new concept aircraft that can fly in the air and dive underwater, commonly known as a "flying submarine" or "diving aircraft", which can meet the requirements of aerodynamics and hydrodynamics at the same time. It has both the speed of an aircraft and the concealment of a submarine, can obtain enemy and friendly information in the air, on the surface, and underwater, and can target the weaknesses of the enemy's defense system, and use a combination of air and underwater penetration methods to penetrate the enemy's defense system. It has efficient penetration and strike capabilities and multi-task capabilities. As a pure combat weapon, a cross-medium aircraft has excellent stealth performance and can be used as a penetration weapon; as an auxiliary weapon, it can complement the strengths and weaknesses of submarines and greatly improve the comprehensive combat capability of submarines. Cross-medium aircraft has a very broad application scenario, and with the development of the times, its role is becoming more and more prominent.

[0003] However, there are very few studies on bionic aircraft that can achieve cross-medium flight in the sea and air. Although some existing amphibious aircraft can already achieve some of the above functions, their concealment, adaptability to complex environments, air lift, water drag reduction, stability and other capabilities need to be improved. Dolphins have a beautiful streamlined body shape, which can minimize drag and energy consumption while sailing in the air and water, while increasing the speed of navigation. Bionic dolphins will provide us with a new idea for designing cross-medium aircraft. Summary of the invention

[0004] In order to solve the problems of the prior art, the present invention provides a dolphin-like cross-medium aircraft and a working method thereof. The aircraft utilizes a servo, a duct tilting device, and a connecting rod to realize the tilting of the duct under different working conditions. The tail swinging device is driven by a micro AC motor and a servo motor to realize the synchronous swinging of the middle section and the tail of the aircraft, thereby providing thrust for the aircraft underwater, greatly reducing the resistance and noise of the aircraft underwater, and improving the flight time.

[0005] A dolphin-like cross-medium aircraft comprises a dolphin-like fuselage, a group of tiltable ducted rotors are respectively installed on both sides of the fuselage, a ducted tilt device and a servo are installed inside the fuselage, the servo drives the ducted tilt device, and the ducted tilt device drives the tilt shaft through a connecting rod, so as to control the ducted tilt angle, and a dorsal fin rudder is arranged on the fuselage; the rear side of the fuselage is connected with the middle section and tail of the aircraft in sequence, and a tail drive device is installed in the fuselage, and the tail drive device controls the middle section and tail of the aircraft to swing respectively.

[0006] Further improvement, the duct tilting device includes a base and a planetary group installed on the base, the base is installed inside the fuselage, and the tilting axis is connected to the planetary group; the planetary group includes a cavity composed of a planetary group chassis and an end cover, and a planetary group support, a gear ring is fixed in the cavity, a sun gear and a planetary gear are meshed in the gear ring, one end of the planetary group support is fixedly connected to the base, and the other end extends into the planetary group cavity and is respectively connected to the sun gear and the planetary gear, the sun gear is connected to the dorsal fin rudder, and the dorsal fin rudder drives the sun gear to rotate, thereby controlling the rotation of the tilting axis through the planetary group, thereby controlling the tilting angle of the duct.

[0007] As a further improvement, the duct tilting device is connected to the tilting shaft via a connecting plate and a connecting rod, and the ducts at both ends are connected to the tilting shaft.

[0008] As a further improvement, the fuselage is streamlined as a whole, and the duct and the tilt axis are both located at the center of gravity of the aircraft as a whole, that is, the position of the dolphin side fin.

[0009] Further improvement, the tail drive device includes a fuselage support plate and a middle section support plate connected by a swing connecting plate, the fuselage support plate is located inside the fuselage, a micro AC motor and a servo motor are fixed on the fuselage support plate, the middle section support plate is connected to the middle section of the aircraft, a long axis is fixed to the middle section support plate through an axis support, the servo motor is connected to the long axis through a short axis, and the long axis is connected to the tail; the micro AC motor is connected to the swing connecting plate through an eccentric connecting short rod, the swing connecting plate is connected to the middle section support plate through a connecting shaft, and the micro AC motor controls the swing connecting plate through the eccentric connecting short rod to produce a double rocker arm rocker movement, thereby controlling the middle section support plate to swing around the connecting shaft.

[0010] According to a further improvement, the short shaft is connected to the long shaft via a cross connecting rod and a shaft head.

[0011] As a further improvement, the tail is fixed to the middle support plate through a tail fixed shaft, the long shaft is connected to the tail through a universal connecting rod and a tail connecting rod in turn, and the servo motor drives the long shaft to rotate around the axis through the short shaft, thereby driving the tail to swing around the axis.

[0012] As a further improvement, the micro AC motor and the servo motor have the same frequency.

[0013] The present invention also provides a working method of a dolphin-like cross-medium aircraft, including an underwater navigation state and an out-of-water mode state: When sailing underwater, the left and right ducts of the aircraft are perpendicular to the fuselage. The micro AC motor and servo motor are turned on to make the middle section and tail of the aircraft swing around the axis respectively. The swing frequency is controlled in phase to increase the swing amplitude of the tail and reduce the power of the servo motor at the same time. At this time, the duct is perpendicular to the fuselage, greatly reducing the resistance during navigation. The dorsal fin of the aircraft controls the direction during navigation, and the left and right fins control rolling. In the water exit mode, the servo drives the duct tilt device to cause the duct to tilt to a certain angle. At this time, the rotor begins to rotate, and then cooperates with the tail swing device to provide thrust to the aircraft. The aircraft forms a certain angle with the horizontal plane and starts to move towards the water surface. At this time, the tilt angle of the duct and the fuselage is gradually increased until it forms an angle of 60 degrees with the horizontal plane and rushes out of the water. Finally, the duct and the fuselage are level and enter the air flight mode.

[0014] The beneficial effects of the present invention are: The aircraft described in the present invention uses a dolphin as a fuselage model, has a good streamlined shape, and reduces the resistance of the aircraft in the air and underwater. The tiltable ducts on both sides of the fuselage serve as a lift system to provide lift in the air, and the aircraft's posture in the air can be adjusted according to the tilt angle and the rotor speed. The real bionic dolphin's movement underwater uses the tail as an underwater thrust system to swing the middle section of the aircraft fuselage and the tail at the same time, which improves efficiency, reduces energy consumption, and increases endurance time. In the transition stage, the aircraft is parked and landed at a certain height above the water surface to ensure the overall safety of the aircraft and protect the structure of the aircraft. When it comes out of the water, the bionic dolphin jumps into the water, and the duct is tilted to increase the thrust, so that the aircraft can fly out of the water smoothly, increase the time the aircraft jumps into the water in the air, and reduce the time to switch to the air mode, ensuring that the duct can be smoothly tilted to be parallel to the fuselage, which can achieve a smooth transition of the aircraft across the sea and air, and has a wide range of application scenarios.

[0015] The aircraft described in the present invention uses a planetary gear set as the main duct tilt device, which reduces the energy consumption of the steering gear, improves the durability of the parts, and can achieve precise control of the duct tilt angle. The aircraft's posture in the air can be controlled by the rotor speed and the duct tilt angle. The operation is simple and the implementation is convenient. The aircraft uses a mechanical connecting rod and a universal joint as the tail swing device, so that the middle section of the fuselage and the tail swing together, and the swing frequency and phase of the middle section and the tail can be accurately controlled. The swing frequency can be increased as needed to increase the speed, which effectively improves the control of the tail, enhances the flexibility of the aircraft, and prevents dolphins from moving underwater, reduces the resistance and noise of underwater navigation, and enables it to adapt to complex marine environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 This is a schematic diagram of the flight mode of the aircraft of the present invention; Figure 2 is a schematic diagram of the tilt axis of the present invention; Figure 3 It is a partial enlarged schematic diagram of the tilt axis of the present invention; Figure 4 It is a schematic diagram of the duct tilting device of the present invention; Figure 5 It is an enlarged schematic diagram of the interior of the duct tilting device of the present invention; Figure 6 This is a schematic diagram of the tail swinging device of the present invention; Figure 7 It is a partial enlarged schematic diagram of the connection between the tail swing device and the tail of the present invention; Figure 8 It is an enlarged schematic diagram of the middle section of the tail swinging device of the present invention; Fig. 9 This is an enlarged schematic diagram of the connection plate of the tail swing device of the present invention; Fig.10 This is a schematic diagram of the underwater navigation mode of the aircraft shown in the present invention; Fig.11 It is a schematic diagram of the water-to-air medium transition mode of the aircraft shown in the present invention.

[0018] 1-fuselage; 2-rotor; 3-duct; 4-tilt axis; 5-duct tilt device; 6-dorsal fin rudder; 7-tail swing device; 8-mid-section of aircraft; 9-tail; 401-connecting rod; 402-connecting plate; 403-hexagonal flange bolt; 404-hexagonal nut; 501-base; 502-planetary group; 503-end cover; 504-hexagonal bolt; 505-planetary group support; 506-planetary group chassis; 507-gear ring; 508-planetary gear; 509- Sun gear; 510-hexagonal bolts connecting the gear ring and the base; 701-support plate; 702-micro AC motor; 703-servo motor; 704-short shaft; 705-long shaft; 706-shaft support; 707-middle section support plate; 708-swing connecting plate; 709-universal connecting rod; 710-tail connecting rod; 711-tail fixed shaft; 712-cross connecting rod; 713-shaft head; 714-connecting shaft; 715-eccentric connecting short rod; 8-middle section of the aircraft; 9 tail. DETAILED DESCRIPTION

[0019] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0020] A specific implementation of the present invention is as follows: like Figure 1As shown, the conventional layout of the dolphin-like cross-medium aircraft described in the present invention includes a fuselage 1, a rotor 2, a duct 3, a tilt axis 4, a duct tilt device 5, a dorsal fin rudder 6, a tail swing device 7, an aircraft mid-section 8, and a tail 9.

[0021] like Figure 1 , 2 As shown in FIG. 3 , ducts 3 are installed on both sides of the fuselage 1 through the tilt shaft 4, and the ducts 3 have rotors 2. The overall fuselage 1 of the aircraft is dolphin-shaped, streamlined as a whole, and has low aerodynamic resistance. The ducts 3 and the tilt shaft 4 are both located at the center of gravity of the aircraft as a whole, that is, the position of the dolphin side fin. The tilt shaft 4 is connected to the connecting plate 402 by bolts and nuts, and the connecting rod 401 is also connected to the connecting plate 402 by bolts and nuts. The dorsal fin rudder 6 is installed on the fuselage, and the bolt and nut structure includes hexagonal head flange bolts 403 and hexagonal nuts 404.

[0022] like Figure 1 , 2 As shown in FIG. 4 , the base 501 is installed inside the fuselage 1 , and the tilt shaft 4 is fixed on the base 501 . The planetary set 502 is connected to the end cover 503 by a hexagonal bolt 504 .

[0023] like Figure 4 , 5 As shown, the planetary group 502 is fixed by the planetary group pillar 505, the sun gear 509, the planetary gear 508, and the gear ring 507 are fixed on the planetary group pillar, and are supported by the planetary group chassis 506 to prevent the gears from moving. The end cover 503 also fixes the gears. The gear ring is connected to the base by a hexagonal bolt 510 to fix the gear ring on the planetary group chassis 506. The sun gear 509 is directly connected to the steering gear 6. When the steering gear is driven, the sun gear rotates, driving the planetary gear group to rotate, so that the planetary group chassis rotates around the axis, and the connecting rod. Thus driving the connecting rod, when the connecting rod is driven by the duct tilting device, it will move with the connecting plate. At this time, the tilting shaft is fixed on the base 501, and the duct will tilt around the axis. Controlling the steering gear can control the duct tilting angle.

[0024] like Figure 1 , 6 As shown, the support plate 701, the micro AC motor 702, the servo motor 703, the short shaft 704, and the connecting plate 708 are all inside the fuselage 1. The long shaft 704 and the middle section support plate 707 are inside the middle section 8 of the aircraft and are directly connected thereto.

[0025] like Figure 6 , 7As shown in Figure 8, the servo motor is directly connected to the short shaft 704, the short shaft 704 is connected to the long shaft 704 through a cross link and a shaft head, and the long shaft 705 and the short shaft 704 are respectively fixed to the support plate 701 and the middle support plate 707 by the shaft support 706. The long shaft is connected to the tail through a universal rotating device, specifically, the long shaft 705 is connected to the tail connecting rod 710 through a universal connecting rod 709. The tail 9, the connecting short rod 710 is fixed to the tail fixed shaft 711. When the servo motor is started, the short shaft 704 connected thereto will rotate accordingly, thereby driving the long shaft to rotate around the axis, because the axes of the long shaft and the tail fixed shaft are fixed, and the tail will swing around the axis due to the universal connecting device.

[0026] like Figure 6 , 8 As shown in 9, the micro AC motor 702 is connected to the swing connection plate 708 through an eccentric connecting short rod 715, the support plate 701 is connected to the middle support plate 707, and the swing connection plate 708 is connected to the micro AC motor 701 through an eccentric connecting short rod. When the motor is started, the swing connection plate 708 generates a double rocker arm movement, driving the middle support plate 707 to move around the connecting axis between the support plate 701 and the middle support plate 707.

[0027] The dolphin-like cross-medium aircraft of the present invention has four working modes, and the specific working methods are as follows: like Figure 1 As shown, in the aerial flight mode, the duct provides lift. When the aircraft is flying vertically or hovering, the tiltable ducts on the left and right sides of the aircraft are level with the fuselage, and the rotor rotation speed can be adjusted up and down; when flying forward or backward, the servo can be turned on to drive the duct tilting device to make the duct form a certain angle with the horizontal plane of the aircraft, forming a forward or backward pulling force, and the angle can be controlled to adjust the speed of forward or backward flight; at the same time, the rotation speed of the left and right rotors can be adjusted respectively to adjust the heading of the aircraft; in this way, the aircraft can be flown in the air; like Figure 1 As shown, in the water entry mode, the aircraft shuts down the rotor engine at a certain height from the water surface, so that the aircraft can enter the water safely, and after entering the water, the steering gear drives the duct tilting device to tilt the duct forward, gradually transitioning to the mode in which the left and right ducts form a 90-degree angle with the fuselage in the underwater navigation state; like Fig.10 As shown, when the aircraft is sailing underwater, the left and right ducts are perpendicular to the fuselage. Turning on the micro AC motor and the servo motor can respectively make the middle section and the tail of the aircraft swing around the axis. Controlling the swing frequency in phase can increase the swing amplitude of the tail, while reducing the power of the servo motor, reducing energy consumption, and increasing the endurance time. At this time, the duct is perpendicular to the fuselage, which can greatly reduce the resistance during navigation; the dorsal fin of the aircraft can control the direction during navigation, and the left and right fins control rolling; like Fig.11 As shown, in the water exit mode, the servo drives the duct tilt device to cause the duct to tilt to a certain angle. At this time, the rotor begins to rotate, and the tail swing device cooperates to provide thrust to the aircraft. The aircraft will form a certain angle with the horizontal plane and start to move towards the water surface. At this time, the tilt angle of the duct and the fuselage is gradually increased until it forms an angle of 60 degrees with the horizontal plane and rushes out of the water. Finally, the duct and the fuselage are leveled and the aerial flight mode is restored.

[0028] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device embodiment, the above is only a preferred embodiment of the present invention. Since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment. The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited to this. Any technician familiar with the technical field is within the technical scope disclosed by the present invention. For ordinary technicians in the technical field, changes or replacements that can be easily thought of should be covered within the protection scope of the present invention without departing from the principle of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A dolphin-like cross-medium aircraft, characterized in that: The invention comprises a fuselage (1) in the shape of a dolphin, a group of tiltable ducted rotors are respectively installed on both sides of the fuselage (1), a ducted tilting device (5) and a steering gear are installed inside the fuselage (1), the steering gear drives the ducted tilting device (5), and the ducted tilting device (5) drives the tilting shaft (4) through a connecting rod, thereby controlling the tilting angle of the duct (3), and a dorsal fin rudder (6) is arranged on the fuselage; the rear side of the fuselage (1) is connected in sequence to the middle section (8) and the tail section (9) of the aircraft, and a tail driving device (7) is installed inside the fuselage (1), and the tail driving device (7) controls the middle section (8) and the tail section (9) of the aircraft to swing respectively.

2. The dolphin-like cross-medium aircraft according to claim 1, characterized in that: The duct tilting device (5) comprises a base (501) and a planetary group (502) mounted on the base, wherein the base (501) is mounted inside a fuselage, and a tilting shaft (4) is connected to the planetary group (502); the planetary group (502) comprises a cavity composed of a planetary group chassis (506) and an end cover (503), and a planetary group support (505); a gear ring (507) is fixed in the cavity, and a sun gear (509) and a planetary gear (508) are meshed in the gear ring (507); one end of the planetary group support (505) is fixedly connected to the base (501), and the other end extends into the cavity of the planetary group (502) and is respectively connected to the sun gear (509) and the planetary gear (508); the sun gear (509) is connected to a dorsal fin rudder (6); the dorsal fin rudder (6) drives the sun gear (509) to rotate, thereby controlling the rotation of the tilting shaft (4) through the planetary group (502), thereby controlling the tilting angle of the duct (3).

3. The dolphin-like cross-medium aircraft according to claim 1 or 2, characterized in that: The duct tilting device (5) and the tilting shaft (4) are connected to the connecting rod (401) via a connecting plate (402), and the ducts (3) at both ends are connected to the tilting shaft (4).

4. The dolphin-like cross-medium aircraft according to claim 1, characterized in that: The fuselage (1) is streamlined as a whole, and the duct (3) and the tilt axis (4) are both located at the center of gravity of the aircraft as a whole, that is, the position of the dolphin side fin.

5. The dolphin-like cross-medium aircraft according to claim 1, characterized in that: The tail drive device (7) comprises a fuselage support plate (701) and a middle section support plate (707) connected via a swing connection plate (708); the fuselage support plate (701) is located in the fuselage (1); a micro AC motor (702) and a servo motor (703) are fixed to the fuselage support plate (701); the middle section support plate (707) is connected to the middle section (8) of the aircraft; a long shaft (705) is fixed to the middle section support plate (707) via an axis support (706); and the servo motor (703) is connected to the middle section (8) of the aircraft via an axis support (706). The micro AC motor (702) is connected to the swing connection disk (708) via an eccentric connecting short rod (715), and the swing connection disk (708) is connected to the middle support plate (707) via a connecting shaft (714). The micro AC motor (702) controls the swing connection disk (708) via the eccentric connecting short rod (715) to generate a double rocker arm rocker motion, thereby controlling the middle support plate (707) to swing around the connecting shaft (714).

6. The dolphin-like cross-medium aircraft according to claim 5, characterized in that: The short shaft (704) and the long shaft (705) are connected via a cross connecting rod (712) and a shaft head (713).

7. The dolphin-like cross-medium aircraft according to claim 5 or 6, characterized in that: The tail (9) is fixed to the middle support plate (707) via a tail fixing shaft (711); the long shaft (705) is connected to the tail (9) via a universal connecting rod (709) and a tail connecting rod (710) in sequence; the servo motor (703) drives the long shaft (705) to rotate around the axis via a short shaft (704), thereby driving the tail (9) to swing around the axis.

8. The dolphin-like cross-medium flying vehicle according to claim 5, characterized in that: The micro AC motor (702) and the servo motor (703) have the same frequency.

9. A method for operating the dolphin-like cross-medium aircraft according to any one of claims 1 to 8, characterized in that Including underwater navigation status and out of water mode status: When sailing underwater, the left and right ducts of the aircraft are perpendicular to the fuselage. The micro AC motor and servo motor are turned on to make the middle section and tail of the aircraft swing around the axis respectively. The swing frequency is controlled in phase to increase the swing amplitude of the tail and reduce the power of the servo motor at the same time. At this time, the duct is perpendicular to the fuselage, greatly reducing the resistance during navigation. The dorsal fin of the aircraft controls the direction during navigation, and the left and right fins control rolling. In the water exit mode, the servo drives the duct tilt device to cause the duct to tilt to a certain angle. At this time, the rotor begins to rotate, and then cooperates with the tail swing device to provide thrust to the aircraft. The aircraft forms a certain angle with the horizontal plane and starts to move towards the water surface. At this time, the tilt angle of the duct and the fuselage is gradually increased until it forms an angle of 60 degrees with the horizontal plane and rushes out of the water. Finally, the duct and the fuselage are level and enter the air flight mode.

Images