Water-air cross-medium aircraft

Abstract

The invention discloses a water-air cross-medium aircraft. The water-air cross-medium aircraft comprises a driving device; a plurality of rotors; the rotor wings comprise underwater propellers and aerial propellers; one end of the underwater paddle is connected with the driving device, and the other end is connected with the aerial paddle; the air propeller can rotate relative to the underwater propeller so as to be in an unfolded state coaxial with the underwater propeller when sailing in the air and in a folded state inclined relative to the underwater propeller when sailing underwater. The underwater propellers and the air propellers are integrated together to form the rotor wing, so that the overall layout of the rotor wing is more compact, shared driving can be achieved, the rotor wing serves the air propellers and the underwater propellers, power transmission is more direct and efficient, energy loss caused by an extra transmission device is reduced, and therefore the underwater and air high-speed cruise is achieved while the energy consumption is reduced. And the size, the weight and the control complexity of the propulsion system are reduced.

Description

Technical Field

[0001] The present application relates to the technical field of unmanned aerial vehicles, and in particular to a water-to-air cross-medium aerial vehicle. Background Art

[0002] The water-air cross-medium vehicle realizes the combination of aircraft and underwater vehicles, and has a wide range of military and civilian value. Compared with traditional aircraft, the water-air cross-medium vehicle can improve its own concealment through underwater diving strategy, and can effectively avoid the detection of enemy air radar and coastal radar in military, significantly improving its stealth capability; compared with traditional underwater vehicles, the water-air cross-medium vehicle can increase its combat range and maneuverability by using air flight strategy, and can also integrate underwater and air sensor information capabilities.

[0003] At present, in order to adapt to navigation in both air and underwater media, water-to-air cross-medium vehicles usually arrange two different propulsion systems at different heights of the machine, one for the underwater propulsion system and the other for the air propulsion system, to adapt to the two different environments, resulting in a large overall propulsion system and complex control.

[0004] Therefore, the prior art still needs to be improved and developed. Summary of the invention

[0005] The technical problem to be solved by the present application is to provide a water-to-air cross-medium vehicle in view of the above-mentioned defects of the prior art, aiming to solve the problems of large size and complex control of the overall propulsion system in the prior art.

[0006] The technical solutions adopted by this application to solve the technical problems are as follows:

[0007] A water-air cross-medium vehicle, comprising:

[0008] Drive device;

[0009] A plurality of rotors; the rotors include underwater propellers and air propellers; one end of the underwater propeller is connected to the driving device, and the other end is connected to the air propeller; the air propeller can rotate relative to the underwater propeller, so as to be in an expanded state coaxial with the underwater propeller when sailing in the air, and in a folded state inclined relative to the underwater propeller when sailing underwater.

[0010] In the water-to-air medium-spanning vehicle, every two rotors constitute a rotor group, and multiple rotor groups are vertically distributed; when the two air propellers in the rotor group are in a folded state, the folding directions are opposite.

[0011] The water-air cross-medium vehicle further comprises:

[0012] A main shaft connected to the driving device to rotate under the driving of the driving device;

[0013] The middle link is located between the two rotors and is arranged at the top end of the main shaft;

[0014] Two clamping seats are respectively arranged on both sides of the central link and are connected one by one with the two underwater propellers in the rotor group located at the top; the clamping seats can rotate relative to the central link around the axis of the underwater propeller;

[0015] The water-air cross-medium vehicle further comprises:

[0016] Fixed frame;

[0017] The pitch adjusting device is arranged on the fixing frame and connected with the clamping seat; the pitch adjusting device is used to drive the clamping seat to rotate so as to adjust the pitch of the rotor.

[0018] The water-to-air medium-spanning craft, wherein the pitch adjustment device comprises:

[0019] A plurality of steering gears are arranged on the fixing frame;

[0020] Cross plate;

[0021] A plurality of pull rods corresponding to the steering gears one by one; the bottom ends of the pull rods are movably connected to the rocker arms of the steering gears, and the top ends of the pull rods are movably connected to the outer plates of the cross plates, so as to drive the cross plates to tilt relative to the main shaft;

[0022] The rotor pulling arm has a bottom end movably connected to the inner plate of the cross plate, and a top end movably connected to the clamping seat to drive the clamping seat to rotate relative to the middle link.

[0023] The water-to-air medium-spanning vehicle comprises three tie rods, which are evenly distributed along the outer circumference of the cross plate.

[0024] The water-air cross-medium vehicle further comprises:

[0025] The buoyancy regulating cabin is sleeved on the periphery of the fixing frame and can be lifted and lowered relative to the fixing frame.

[0026] The water-air cross-medium vehicle further comprises:

[0027] A guide column, vertically arranged on the fixing frame;

[0028] A connecting piece is arranged in the buoyancy regulating cabin and sleeved on the outside of the guide column; the connecting piece can be lifted and lowered along the guide column.

[0029] The water-to-air cross-medium vehicle comprises two rotor groups, which are distributed on the upper and lower sides of the fixed frame; the driving device comprises two driving mechanisms, which are respectively connected to the two rotor groups in a one-to-one correspondence to drive the rotor groups to rotate.

[0030] The water-air cross-medium vehicle, wherein the driving mechanism comprises:

[0031] Driver;

[0032] A transmission shaft connected to the driver to rotate under the drive of the driver;

[0033] The gear assembly is sleeved on the transmission shaft and connected to the rotor assembly to drive the rotor assembly to rotate.

[0034] The water-air cross-medium vehicle further comprises:

[0035] Landing gear; the landing gear is provided with a accommodating position.

[0036] The water-air cross-medium vehicle further comprises:

[0037] An electronic compartment, disposed in the accommodation position;

[0038] The electronic equipment system is arranged in the electronic compartment and is electrically connected to the driving device.

[0039] Beneficial effects: In the present application, the underwater propeller and the air propeller are integrated together to form a rotor, and a composite adaptive rotor structure is designed, so that the overall layout of the rotor is more compact, and the driving device can be shared to achieve air and underwater movement. The same drive can serve the air propeller and the underwater propeller at the same time, and the power transmission is more direct and efficient, reducing the energy loss caused by the additional transmission device, thereby reducing the volume, weight and control complexity of the propulsion system while achieving high-speed cruising underwater and in the air;

[0040] The present application controls the pitch and roll motions of the aircraft through the pitch adjustment device, which has the advantages of rapid response, low steering gear requirements, and high reliability;

[0041] The buoyancy regulating cabin described in the present application can adjust the buoyancy center position by lifting and moving, realize attitude conversion, solve the problem of attitude conversion between aerial flight and underwater navigation, and significantly improve the efficiency of underwater navigation;

[0042] The coaxial twin-rotor design of the present application reduces the number of parts used, reduces structural complexity, failure rate and maintenance costs, reduces weight and volume while ensuring stability, and makes the cross-medium vehicle more suitable for operations in complex environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 It is a schematic diagram of the overall assembly structure of the water-air cross-medium vehicle described in this application;

[0044] Figure 2 It is a reference diagram of the use state of the rotor assembly when the aerial propeller and the underwater propeller are in a folded state;

[0045] Figure 3 yes Figure 1 A local enlarged schematic diagram of the middle A;

[0046] Figure 4 is a schematic diagram of a partially exploded structure of the rotor described in the present application;

[0047] Figure 5 : is a schematic diagram of the structure of the underwater paddle described in this application;

[0048] Figure 6 It is a schematic diagram of the exploded structure of the buoyancy regulating cabin and the fixing frame described in the present application;

[0049] Figure 7 is a schematic diagram of the assembly structure of the driving device and the fixing frame described in the present application;

[0050] Figure 8 is a schematic diagram of the exploded structure of the electronic cabin described in this application;

[0051] Fig. 9 It is a structural schematic diagram of the landing gear described in this application. DETAILED DESCRIPTION

[0052] The following will describe the implementation methods of the present application with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of the present application from the contents disclosed in this specification. The present application can also be implemented or applied through other different specific implementation methods, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present application. It should be understood that the preferred embodiments are only for illustrating the present application, not for limiting the scope of protection of the present application.

[0053] It should be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present application, and thus the drawings only show components related to the present application rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed at will, and the component layout may also be more complicated.

[0054] The present application provides a water-air cross-medium vehicle, such as Figure 1As shown, the water-air cross-medium vehicle comprises: a fixed frame 1, a driving device 2 (such as Figure 7 As shown) and at least two rotor groups 3; the driving device 2 is arranged on the fixing frame 1; the rotor groups 3 are coaxial and vertically distributed; the rotor group 3 includes two rotors 30 distributed horizontally; as shown Figure 1 and Figure 2 As shown, the rotor 30 includes an underwater propeller 301 and an aerial propeller 302; one end of the underwater propeller 301 is connected to the driving device 2, and the other end is connected to the aerial propeller 302; the aerial propeller 302 can rotate relative to the underwater propeller 301, so as to be in an expanded state coaxial with the underwater propeller 301 when sailing in the air, and in a folded state inclined relative to the underwater propeller 301 when sailing underwater; the two underwater propellers 301 in the rotor group 3 are coaxially arranged.

[0055] Specifically, each rotor group 3 includes two rotors 30, and each rotor 30 includes the underwater propeller 301 and the air propeller 302; the driving device 2 is connected to all rotor groups 3, so as to drive all rotors 30 to rotate. The two rotors 30 in the rotor group 3 are horizontally distributed, and the rotor group 3 includes two underwater propellers 301 and two air propellers 302. The two underwater propellers 301 in the rotor group 3 are adjacent and coaxially arranged, and the two air propellers 302 in the rotor group 3 are away from each other. When the air propeller 302 and the underwater propeller 301 are in an unfolded state, the air propeller 302 is coaxially arranged with the underwater propeller 301; when the air propeller 302 and the underwater propeller 301 are in a folded state, the central axis of the air propeller 302 deviates from the central axis of the underwater propeller 301, so that a certain angle is formed between the air propeller 302 and the underwater propeller 301.

[0056] For the rotor 30, the air paddle 302 is located outside the underwater paddle 301 and can rotate relative to the underwater paddle 301; when the cross-medium vehicle switches from underwater to air, the air paddle 302 automatically rotates to an unfolded state relative to the underwater paddle 301 under the action of centrifugal force to provide sufficient lift for flying in the air; when the water-air cross-medium vehicle switches from air to underwater, the air paddle 302 automatically rotates to a folded state (such as folded state) relative to the underwater paddle 301 under the action of water resistance. Figure 2 As shown), only using the underwater paddle 301 to provide power can enable the driving device 2 to still maintain a high rotation speed to ensure that the driving device 2 has a high output efficiency. At the same time, the folding of the air paddle 302 can reduce the resistance during underwater navigation.

[0057] It can be seen that in the present application, the underwater propeller 301 and the aerial propeller 302 are integrated together to form a rotor 30, and a composite adaptive rotor 30 structure is designed to make the overall layout of the rotor 30 more compact, and the drive device 2 can be shared to achieve aerial and underwater movement. The same drive can serve the aerial propeller 302 and the underwater propeller 301 at the same time, and the power transmission is more direct and efficient, reducing the energy loss caused by the additional transmission device, thereby reducing the volume, weight and control complexity of the propulsion system while achieving high-speed cruising underwater and in the air.

[0058] In one embodiment of the present application, the length of the aerial paddle 302 is greater than the length of the underwater paddle 301; the underwater paddle 301 has a small pitch and a short length, and the aerial paddle 302 has a large pitch and a long length.

[0059] Specifically, the density of water is about 800 times that of air, so even if a smaller pitch is used in water, the blades can push a large amount of water and generate sufficient thrust. If the pitch is too large, the blades will not be able to fully utilize the power of the drive device 2, resulting in an "overload" phenomenon, increasing energy consumption and reducing efficiency; therefore, the underwater paddle 301 adopts a small pitch to match the high resistance environment of water to achieve smooth and efficient propulsion. The density of air is low, and the density of air is much lower than that of water. The blades must accelerate a larger volume of air to generate sufficient thrust, so the air paddle requires a larger pitch so that each rotation can push more air and improve flight efficiency and coverage. The blades of the air paddle 302 and the underwater paddle 301 are made of high-strength, lightweight carbon fiber composite materials with excellent mechanical properties and corrosion resistance.

[0060] In one embodiment of the present application, Figure 2 As shown, when the air paddle 302 and the underwater paddle 301 are in a folded state, an angle of 90° is formed between the air paddle 302 and the underwater paddle 301 , that is, the air paddle 302 and the underwater paddle 301 are perpendicular to each other.

[0061] Specifically, in an underwater navigation environment, when the underwater paddle 301 and the air paddle 302 are at an angle of 90°, the directions of the water flow do not interfere with each other, making the water flow distribution more symmetrical, the moment balance effect better, and avoiding the mutual influence of the wake between the blades of the underwater paddle 301 and the air paddle 302. In addition, the 90° angle is symmetrical in stress distribution, which can minimize the stress concentration at the folding point between the underwater paddle 301 and the air paddle 302.

[0062] In one implementation of this embodiment, Figure 4 As shown, the underwater paddle 301 is provided with an open slot 3011 at one end close to the aerial paddle 302; Figure 5As shown, the opening slot 3011 has two openings (a first opening 3012 and a second opening 3013); wherein the first opening 3012 is located at the end face of the underwater paddle 301, the second opening 3013 is located at the side of the underwater paddle 301, and the first opening 3012 is connected to the second opening 3013, so that the opening slot 3011 forms a receiving slot with a 90° opening. Then, under the receiving and limiting effect of the opening slot 3011, when the air paddle 302 rotates relative to the underwater paddle 301, it can only rotate along the opening of the opening slot 3011, and the maximum rotation angle is 90°.

[0063] When the aerial paddle 302 passes through the first opening 3012, the aerial paddle 302 is coaxially arranged with the underwater paddle 301, and the aerial paddle 302 and the underwater paddle 301 are in an unfolded state; when the aerial paddle 302 passes through the second opening 3013, the aerial paddle 302 is inclined 90° relative to the underwater paddle 301, and the aerial paddle 302 and the underwater paddle 301 are in a folded state.

[0064] In one embodiment of the present application, when the two air propellers 302 in the rotor group 3 are in a folded state, the folding directions are opposite.

[0065] In one implementation of the present embodiment, when the water-to-air cross-medium vehicle is in a static state, the second openings 3013 on the two underwater propellers 301 in the rotor group 3 face opposite directions, so that the folding directions of the two air propellers 302 in the rotor group 3 are opposite.

[0066] like Figure 3 and Figure 4 As shown, the water-to-air cross-medium vehicle also includes a main shaft 4, a middle link 5, a pitch adjustment device 6 and two clamping seats 7; the main shaft 4 is connected to the driving device 2 so as to rotate under the drive of the driving device 2; the middle link 5 is located between the two rotors 30 and is arranged at the top of the main shaft 4; the two clamping seats 7 are respectively arranged on both sides of the middle link 5, and are connected one by one with the two underwater propellers 301 in the rotor group 3 located at the top; the clamping seat 7 can rotate around the axis of the underwater propeller 301 relative to the middle link 5; the pitch adjustment device 6 is arranged on the fixing frame 1 and connected to the clamping seat 7; the pitch adjustment device 6 is used to drive the clamping seat 7 to rotate so as to adjust the pitch of the rotor 30.

[0067] Specifically, the central link 5 is T-shaped; the central link 5 is connected to the underwater paddle 301 in the uppermost rotor group 3 through the clamp seat 7; the central link 5 is arranged at the top of the main shaft 4; the main shaft 4 is connected to the driving device 2; then, under the driving action of the driving device 2, the main shaft 4 drives the underwater paddle 301 to rotate through the central link 5 and the clamp seat 7, thereby realizing the rotation of the uppermost rotor group 3.

[0068] The clamp seat 7 is used to clamp and fix the underwater paddle 301. At the same time, the clamp seat 7 can also rotate relative to the central link 5 under the drive of the pitch adjustment device 6, and the rotation center of the clamp seat 7 coincides with the axis of the underwater paddle 301. Then, when the clamp seat 7 rotates, the underwater paddle 301 and the air paddle 302 rotate synchronously, thereby realizing the pitch adjustment of the rotor 30.

[0069] It should be noted that in the present application, only the rotor group 3 located at the top needs to be pitch adjusted, while the pitches of the remaining rotor groups 3 are fixed. Since the rotor group 3 located at the top is responsible for the main thrust adjustment and direction control, the lower rotor group 3 usually provides a fixed lift, mainly used to provide lift and offset the counter torque (the counter torque is generated by the reaction force of the air on the rotor) on the rotating shaft when the upper rotor group rotates. Therefore, by adjusting the cyclic pitch to control the flight direction and adjusting the total pitch to control the lift, the combination of the two can control the flight speed and flight direction, and achieve stable flight and power distribution. At the same time, for each additional set of blade pitch adjustment, it is necessary to add a pitch adjustment device 6. In the present application, only one pitch adjustment device 6 is required to achieve the pitch adjustment of the rotor group 3 located at the top, simplifying the entire pitch control system. In addition, the airflow of the upper rotor will affect the aerodynamic performance of the lower rotor. If the pitch of the lower rotor is also adjusted frequently, the aerodynamic interference between the two rotor groups 3 will become more complicated, and even cause reduced efficiency and flight instability. Therefore, maintaining a fixed pitch of the lower rotor will help reduce the impact of this mutual interference.

[0070] like Figure 3 and Figure 4As shown, the pitch adjustment device 6 includes multiple servos 61, bearings 62, cross plates 63, multiple pull rods 64, and rotor pull arms 65; multiple servos 61 are arranged on the fixed frame 1; the bearings 62 are sleeved on the main shaft 4; the cross plate 63 is sleeved on the bearings 62; multiple pull rods 64 correspond to the servos 61 one by one; the bottom end of the pull rod 64 is movably connected to the rocker arm of the servo 61, and the top end of the pull rod 64 is movably connected to the outer plate 631 of the cross plate 63, so as to drive the cross plate 63 to tilt relative to the main shaft 4; the bottom end of the rotor pull arm 65 is movably connected to the inner plate 632 of the cross plate 63, and the top end of the rotor pull arm 65 is movably connected to the clamp seat 7, so as to drive the clamp seat 7 to rotate relative to the center link 5.

[0071] Specifically, the servo 61 corresponds to the pull rod 64 one by one; the bottom end and the top end of the pull rod 64 are respectively connected to the rocker arm of the servo 61 and the outer plate 631 of the cross plate 63, so that when the servo 61 is started and the rocker arm of the servo 61 rotates, the pull rod 64 moves, thereby driving the outer plate 631 of the cross plate 63 to tilt relative to the main shaft 4, and then driving the inner plate 632 of the cross plate 63 to tilt relative to the main shaft 4. The inner plate 632 of the cross plate 63 is connected to the clamp seat 7 through the rotor pull arm 65. When the inner plate 632 of the cross plate 63 tilts relative to the main shaft 4, because the rotor pull arm 65 is a rigid pull arm and the length of the rotor pull arm 65 is not variable, the rotor pull arm 65 can drive the clamp seat 7 to rotate relative to the center link 5, so as to adjust the pitch of the rotor 30.

[0072] Due to the transmission effect of the inner plate 632 of the cross plate 63 and the rotor pull arm 65, the pitch of the rotor 30 located at the top is changed periodically, thereby realizing the Pitch and Roll motion of the cross-medium vehicle. Here, the Pitch and Roll motions are decoupled, which helps to improve the control performance of the cross-medium vehicle; at the same time, adjusting the rocker arm of the servo 61 can also adjust the height of the cross plate 63, thereby changing the pitch of the rotor 30, and finally changing the lift and efficiency provided by the rotor 30.

[0073] It should be noted that when the rocker arm of the servo 61 rotates, the pull rod 64 will not only produce rotational motion, but also produce relative displacements such as lifting, lowering and tilting; similarly, when the inner plate 632 of the cross plate 63 is tilted relative to the main shaft 4, the rotor pulling arm 65 will also produce displacements in multiple directions. Therefore, the connection between the pull rod 64 and the rocker arm of the servo 61 and the cross plate 63, as well as the connection between the rotor pulling arm 65 and the cross plate 63 and the clamp seat 7 are all active connections to ensure that there will be no adverse interference with the activities of the pull rod 64 and the rotor pulling arm 65.

[0074] The bearing 62 is a fisheye bearing, and the inner plate 632 of the cross plate 63 can be tilted relative to the main shaft 4 through the bearing effect of the fisheye bearing between the main shaft 4 and the cross plate 63.

[0075] In one embodiment of the present application, the fixing frame 1 is further provided with a guide frame 8 (such as Figure 3 As shown), the guide frame 8 is provided with a guide groove 81, and the guide groove 81 is arranged vertically; the outer plate 631 of the cross plate 63 is provided with a guide arm 9, and the guide arm 9 is movably connected to one of the pull rods 64 and inserted into the guide groove 81, and can be lifted and lowered along the guide groove 81.

[0076] In one embodiment of the present application, there are three pull rods 64 , and the three pull rods 64 are evenly distributed along the outer circumference of the cross plate 63 .

[0077] Specifically, the cross plate 63 is tilted by three pull rods 64; in three-dimensional space, three points can uniquely determine a plane, and the tilting of the cross plate 63 is essentially to adjust the direction of a plane: two degrees of freedom of tilt in two directions (pitch and roll), plus one degree of freedom of up and down movement (for changing the total pitch). The position and length of the three pull rods 64 can accurately adjust the tilt angle and height of the cross plate 63 by force distribution, thereby achieving control requirements.

[0078] Furthermore, the three pull rods 64 are arranged symmetrically at an angle of 120°, so that the force can be evenly distributed when the cross plate 63 is tilted, thereby avoiding structural deformation or additional vibration caused by uneven force.

[0079] The water-air cross-medium vehicle further includes a buoyancy regulating cabin 10 (such as Figure 1 and Figure 6 As shown in FIG. 1 , the buoyancy regulating cabin 10 is sleeved on the periphery of the fixing frame 1 and can be lifted and lowered relative to the fixing frame 1. The water-air cross-medium vehicle also includes a lifting device 11 (as shown in FIG. 1 ). Figure 7 As shown in the figure), the lifting device 11 is arranged on the fixing frame 1 and connected with the buoyancy regulating cabin 10 to drive the buoyancy regulating cabin 10 to rise and fall.

[0080] Specifically, the buoyancy regulating cabin 10 is lifted and lowered in the vertical direction under the drive of the lifting device 11, and the relative positions of the buoyancy center and the center of gravity of the water-to-air cross-medium vehicle are changed by changing its up and down positions, thereby adjusting the posture of the water-to-air cross-medium vehicle in the water.

[0081] When the water-to-air cross-medium vehicle needs to enter the water to perform a mission, the rotation speed of the rotor 30 is first reduced to gradually reduce the lift, and the water-to-air cross-medium vehicle slowly descends under the action of gravity. When it contacts the water surface, the air paddle 302 is quickly folded under the action of the water resistance, reducing the resistance and impact force when entering the water; at this time, the lifting device 11 starts to work, and the buoyancy center position is lowered by controlling the buoyancy center adjustment cabin 10 to move downward, thereby realizing the switching of the water-to-air cross-medium vehicle's posture from a vertical state to a horizontal state, completing a smooth transition from air movement to water movement. When moving in the water, only the underwater paddle 301 provides power. Since the size and pitch of the underwater paddle 301 are designed to be very small, the drive device 2 can still maintain a relatively high rotation speed at this time, which not only ensures sufficient thrust, but also ensures a relatively high output efficiency of the drive device 2.

[0082] When the water-to-air medium-spanning craft needs to return to the air from underwater, the lifting device 11 is first used to control the buoyancy regulating cabin 10 to move upward, and the buoyancy center position is controlled to rise, so that the posture of the water-to-air medium-spanning craft changes from a horizontal state to a vertical state. Then, the rotation speed of the rotor 30 is gradually increased, so that the water-to-air medium-spanning craft quickly rushes to the water surface. The rotor 30 located at the top leaves the water surface first. Due to the absence of water resistance, the rotor 30 located at the top will suddenly accelerate. Under the action of centrifugal force, the air paddle 302 of the rotor 30 located at the top will instantly unfold, generating greater lift, driving the water-to-air medium-spanning craft to rise further. Then, the rotor 30 below also leaves the water surface, and the previous process is repeated. At this time, the driving force is increased, the lift increases sharply, and the water-to-air medium-spanning craft overcomes its own weight, achieves vertical ascent, and enters the air flight mode.

[0083] The lifting device 11 includes an electric push rod, which is connected to the buoyancy regulating cabin 10 to drive the buoyancy regulating cabin 10 to move up and down.

[0084] like Figure 7 As shown, the water-air cross-medium vehicle further includes a guide column 12 and a connecting member 13; the guide column 12 is vertically arranged on the fixing frame 1; the connecting member 13 is arranged in the buoyancy regulating cabin 10 and sleeved on the outside of the guide column 12; the connecting member 13 can be raised and lowered along the guide column 12. The guide column 12 is used to limit the lifting and lowering of the buoyancy regulating cabin 10 through the connecting member 13, so that the buoyancy regulating cabin 10 can always be lifted and lowered in a straight line when being lifted and lowered, without deflection.

[0085] In one embodiment of the present application, there are two rotor groups 3, and the two rotor groups 3 are distributed on the upper and lower sides of the fixed frame 1; the driving device 2 includes two driving mechanisms 20, and the two driving mechanisms 20 are respectively connected to the two rotor groups 3 in a one-to-one correspondence to drive the rotor groups 3 to rotate. That is, each rotor group 3 is driven by an independent driving mechanism 20, so as to achieve the adjustment of different rotation speeds of different rotor groups 3. When the water-air cross-medium vehicle is flying in the air and sailing underwater, the direction control strategy is the same, and the pitch adjustment device 6 controls the cyclic pitch of the rotor 30 located at the top to achieve precise Pitch and Roll movement; the rotation speed difference between the upper and lower rotors 30 is independently controlled by the two driving mechanisms 20 to achieve yaw control of the water-air cross-medium vehicle. The rotation centers of the two rotor groups 3 are located on a vertical line, so that the water-to-air cross-medium vehicle forms a coaxial double rotor 30 structure, which reduces the use of parts, reduces structural complexity, failure rate and maintenance costs, and reduces weight and volume while ensuring stability, making the cross-medium vehicle more suitable for operations in complex environments.

[0086] like Figure 7 As shown, the driving mechanism 20 includes a driver 21, a transmission shaft 22 and a gear assembly; the transmission shaft 22 is connected to the driver 21 to rotate under the drive of the driver 21; the gear assembly is connected to the rotor assembly 3 to drive the rotor assembly 3 to rotate. The gear assembly includes a first gear 23 and a second gear 24; the first gear 23 is sleeved on the transmission shaft 22; the second gear 24 is meshed with the first gear 23 and connected to the rotor assembly 3 to drive the rotor assembly 3 to rotate; the diameter of the second gear 24 is greater than the diameter of the first gear 23.

[0087] The two rotors 30 located at the bottom are fixed by the transmission disk 17; the bottom of the fixed frame 1 is also provided with a fixed shaft 18, which is coaxially arranged with the transmission disk 17, and the fixed shaft 18 passes downward from the transmission disk 17 to position the transmission disk 17 below the fixed frame 1. For the uppermost rotor 30: the corresponding second gear 24 is coaxially arranged with the main shaft 4, so when the driver 21 drives the first gear 23 to rotate, the second gear 24 can synchronously drive the main shaft 4 to rotate, thereby realizing the rotation of the uppermost rotor 30. For the lower rotor 30: the corresponding second gear 24 is coaxially arranged with the fixed shaft 18, so when the driver 21 drives the first gear 23 to rotate, the second gear 24 can synchronously drive the lower rotor 30 to rotate through the transmission of force between the fixed shaft 18 and the transmission disk 17.

[0088] The first gear 23 and the second gear 24 form a gear reduction structure, which adopts a high-precision POM helical gear design, with high transmission efficiency, light weight, low noise, and self-lubrication. The transmission shaft 22 is made of aluminum alloy, which can withstand the axial and radial forces generated by the high-speed rotation of the rotor 30; the fixing frame 1 is made of aviation aluminum alloy material, which not only ensures the structural strength but also reduces the overall weight; the driver 21 includes a motor.

[0089] like Figure 1 and Figure 8 As shown, the water-air cross-medium aircraft also includes a landing gear 14, an electronic compartment 15 and an electronic equipment system 16; Fig. 9 As shown, a receiving position 140 is provided on the landing gear 14 ; the electronic compartment 15 is provided in the receiving position 140 ; ​​the electronic equipment system 16 is provided in the electronic compartment 15 and is electrically connected to the driving device 2 .

[0090] Specifically, the landing gear 14 enables the water-air cross-medium vehicle to take off and land from land, thereby improving the efficiency of deployment and recovery. The landing gear 14 is connected to the fixed shaft 18 and is located below the transmission plate 17; the landing gear 14 is also used to carry the electronic compartment 15 and the electronic equipment system 16. Fig. 9 As shown, the landing gear 14 has a support rod 141, which is a carbon fiber rod to enhance the structural strength of the landing gear 14, while reducing the overall weight and providing better impact resistance and durability; elbows 142 are installed at both ends of the support rod 141, and the elbows 142 are used to absorb and disperse the impact force during landing, reduce damage to the fuselage and other parts of the landing gear 14, better adapt to uneven terrain, and improve the adaptability and stability of landing and taxiing.

[0091] The electronic equipment system 16 is arranged in the electronic compartment 15, and the electronic compartment 15 is used to provide a sealed environment, so as to ensure that the electronic equipment system 16 will not be damaged by water ingress when the water-to-air cross-medium vehicle is navigating underwater.

[0092] like Figure 8As shown, the electronic cabin 15 includes a cabin body 151 and a cover body 152. The cover body 152 is used to buckle on the cabin body 151 to seal the space inside the cabin body 151. A sealing ring 153 is arranged between the cover body 152 and the cabin body 151. The sealing ring 153 is applied with sealing silicone grease and inserted into the cabin body 151 for waterproof sealing. The cover body 152 is provided with a threading hole, an airtight test hole and a charging hole. The threading hole is waterproofed by a cable with a stainless steel gland and applied with silicone rubber. The airtight test hole is installed with an airtight test head. The charging hole is used to charge the lithium battery. The cabin body 151 is a pressure-resistant cabin body 151, which can effectively protect the internal electronic equipment system 16 in an underwater high-pressure environment.

[0093] like Figure 8 As shown, the electronic equipment system 16 includes a power supply 161, a flight controller 162, a communication device 163 and an electronic speed regulator 164; the power supply 161, the communication device 163, the electronic speed regulator 164 and the drive device 2 are all electrically connected to the flight controller 162. The flight controller 162 is used to obtain the attitude, position, environment and status information of the water-air cross-medium vehicle, and record the operation data and mission data of the water-air cross-medium vehicle; the communication device 163 supports 2.4GHz and 433MHz wireless communication, and realizes real-time data transmission and command reception with the ground station, remote controller and other equipment; the electronic speed regulator 164 is used to control the operation of the driver 21.

[0094] In summary, the present application provides a water-air cross-medium vehicle, which includes: a fixed frame; a driving device, which is arranged on the fixed frame; a plurality of rotors; the rotor includes an underwater propeller and an air propeller; one end of the underwater propeller is connected to the driving device, and the other end is connected to the air propeller; the air propeller can rotate relative to the underwater propeller, so as to be in an unfolded state coaxial with the underwater propeller when sailing in the air, and in a folded state inclined relative to the underwater propeller when sailing underwater. In the present application, the underwater propeller and the air propeller are integrated together to form a rotor, and a composite adaptive rotor structure is designed to make the overall layout of the rotor more compact, and the driving device can be shared to achieve air and underwater movement. The same drive can serve the air propeller and the underwater propeller at the same time, and the power transmission is more direct and efficient, reducing the energy loss caused by the additional transmission device, thereby reducing the volume, weight and control complexity of the drive system and the rotor system while achieving high-speed cruising underwater and in the air.

[0095] It should be understood that the application of the present application is not limited to the above examples. For ordinary technicians in this field, improvements or changes can be made based on the above description. All these improvements and changes should fall within the scope of protection of the claims attached to this application.

Claims

1. A water-air cross-medium vehicle, characterized in that: It includes: Drive device; Multiple rotors; The rotors include underwater propellers and aerial propellers; One end of the underwater paddle is connected to the driving device, and the other end is connected to the aerial paddle; The aerial paddle can rotate relative to the underwater paddle, so as to be in an unfolded state coaxial with the underwater paddle when sailing in the air, and in a folded state inclined relative to the underwater paddle when sailing underwater.

2. The water-air cross-medium vehicle according to claim 1, characterized in that: Every two rotors form a rotor group, and multiple rotor groups are distributed vertically; when two air propellers in the rotor group are in a folded state, the folding directions are opposite.

3. The water-air cross-medium vehicle according to claim 2, characterized in that: It also includes: A main shaft connected to the driving device to rotate under the driving of the driving device; The middle link is located between the two rotors and is arranged at the top end of the main shaft; Two clamping seats are respectively arranged on both sides of the central link and are connected one by one with the two underwater propellers in the rotor group located at the top; the clamping seats can rotate relative to the central link around the axis of the underwater propeller.

4. The water-air cross-medium vehicle according to claim 3, characterized in that: It also includes: Fixed frame; The pitch adjusting device is arranged on the fixing frame and connected with the clamping seat; the pitch adjusting device is used to drive the clamping seat to rotate so as to adjust the pitch of the rotor.

5. The water-air cross-medium vehicle according to claim 4, characterized in that: The pitch adjustment device comprises: A plurality of steering gears are arranged on the fixing frame; Cross plate; A plurality of pull rods corresponding to the steering gears one by one; the bottom ends of the pull rods are movably connected to the rocker arms of the steering gears, and the top ends of the pull rods are movably connected to the outer plates of the cross plates, so as to drive the cross plates to tilt relative to the main shaft; The rotor pulling arm has a bottom end movably connected to the inner plate of the cross plate, and a top end movably connected to the clamping seat to drive the clamping seat to rotate relative to the middle link.

6. The water-air cross-medium vehicle according to claim 5, characterized in that: There are three pull rods, and the three pull rods are evenly distributed along the outer circumference of the cross plate.

7. The water-air cross-medium vehicle according to claim 4, characterized in that: It also includes: The buoyancy regulating cabin is sleeved on the periphery of the fixing frame and can be lifted and lowered relative to the fixing frame.

8. The water-air cross-medium vehicle according to claim 7, characterized in that: It also includes: A guide column, vertically arranged on the fixing frame; A connecting piece is arranged in the buoyancy regulating cabin and sleeved on the outside of the guide column; the connecting piece can be lifted and lowered along the guide column.

9. The water-air cross-medium vehicle according to claim 4, characterized in that: There are two rotor groups, which are distributed on the upper and lower sides of the fixing frame; the driving device includes two driving mechanisms, which are respectively connected to the two rotor groups in a one-to-one correspondence to drive the rotor groups to rotate.

10. The water-air cross-medium vehicle according to claim 9, characterized in that: The driving mechanism comprises: Driver; A transmission shaft connected to the driver to rotate under the drive of the driver; The gear assembly is sleeved on the transmission shaft and connected to the rotor assembly to drive the rotor assembly to rotate.

11. The water-air cross-medium vehicle according to claim 1, characterized in that: It also includes: Landing gear; the landing gear is provided with a accommodating position.

12. The water-air cross-medium vehicle according to claim 11, characterized in that: It also includes: An electronic compartment, disposed in the accommodation position; The electronic equipment system is arranged in the electronic compartment and is electrically connected to the driving device.

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