Multi-mode propulsion system of water-air cross-domain aircraft and water-air amphibious aircraft

Abstract

The invention discloses a multi-mode propulsion system of a water-air cross-domain aircraft and a water-air amphibious aircraft. The multi-mode propulsion system of the water-air cross-domain aircraft comprises a brushless motor. The water-air force transmission system comprises a high-speed output transmission set and a low-speed output transmission set, and the input end of the water-air force transmission system is connected with an output shaft of the brushless motor; the output end of the water-air force transfer system is connected with the variable-pitch propeller assembly; when the rotating speed of the brushless motor is lower than or equal to a preset threshold value, a low-speed output transmission set of the water-air force transmission system provides driving force for the variable-pitch propeller assembly. When the rotating speed of the brushless motor is higher than a preset threshold value, a high-speed output transmission set of the water-air force transmission system provides driving force for the variable-pitch propeller assembly. According to the power transmission mechanism, the transmission shaft can be switched to different rotating speed positions, and rotating speed and torque parameter matching of power transmitted to the propeller is achieved.

Description

Technical Field

[0001] This application relates to the technical field of water-air amphibious vehicles, and specifically relates to a multi-mode propulsion system for a water-air cross-domain vehicle and a water-air amphibious vehicle. Background Art

[0002] Modern military is developing towards a multi-dimensional combat system, emphasizing the expansion of the multi-scenario operation capabilities of equipment. There are many organisms in nature with amphibious activity capabilities, and the bionic inspiration research on them forms the key technologies and robotic equipment to support operations in multiple scenarios. This type of equipment can achieve mission operations in water and airspace, strike targets like a submarine underwater, and can also break through the water surface and fly like an airplane, which can improve the environmental adaptability and mission operation capabilities of existing equipment.

[0003] Propeller propulsion is the most widely used in both water and air media. However, the propulsion requirements of water-air vehicles are inconsistent underwater and in the air. Underwater, low-speed and high-torque propulsion is required, while in the air, high-speed propulsion is required. Existing water-air vehicles mostly use two sets of power systems for underwater and air, or are designed mainly for a single medium with the other medium being a compatibility design, resulting in a relatively large weight of the propeller or inability to achieve efficient propulsion in both media. Therefore, it is necessary to solve the problem of matching output of power with the environment in a single water / air medium environment.

[0004] To expand the operation area of underwater vehicles or aerial vehicles, enable the vehicle to have the ability to operate underwater and in the air, and be able to quickly and repeatedly shuttle between water and air media. The present invention designs a sustainable self-adaptive variable speed and variable pitch propulsion system, and designs a propulsion configuration with a single power source driving a single propeller to achieve two transformation modes of water and air. An invention of a power transmission mechanism with torque self-adaptive variable speed using centripetal force is realized to match power with the environment and solve the multi-mode drive transformation problem of the vehicle caused by medium differences underwater and in the air. Summary of the Invention

[0005] The purpose of the present invention is to provide a multi-mode propulsion system for a water-air cross-domain vehicle to at least solve one of the above technical problems.

[0006] In one aspect of the present invention, a multi-mode propulsion system for a water-air cross-domain vehicle is provided. The multi-mode propulsion system for the water-air cross-domain vehicle includes:

[0007] A brushless motor;

[0008] A water-air force transmission system, the water-air force transmission system includes a high-speed output transmission group and a low-speed output transmission group, and the input end of the water-air force transmission system is connected to the output shaft of the brushless motor;

[0009] Pitch-changing propeller assembly, the output end of the water-air force transmission system is connected to the pitch-changing propeller assembly; wherein,

[0010] When the rotational speed of the brushless motor is lower than or equal to the preset threshold, the low-speed output transmission group of the water-air force transmission system provides driving force for the pitch-changing propeller assembly;

[0011] When the rotational speed of the brushless motor is higher than the preset threshold, the high-speed output transmission group of the water-air force transmission system provides driving force for the pitch-changing propeller assembly.

[0012] Optionally, the low-speed output transmission group includes:

[0013] Low-speed stage driving gear, the low-speed stage driving gear is connected to the output shaft of the brushless motor;

[0014] Overrunning clutch, the inner ring of the overrunning clutch is connected to the pitch-changing propeller assembly;

[0015] Low-speed stage driven gear, the external teeth of the low-speed stage driven gear mesh with the low-speed stage driving gear, and the inner ring of the low-speed stage driven gear is connected to the outer ring of the overrunning clutch.

[0016] Optionally, the high-speed output transmission group includes:

[0017] High-speed stage driving gear, the high-speed stage driving gear is connected to the output shaft of the brushless motor;

[0018] Centrifugal clutch, the inner ring of the centrifugal clutch is connected to the pitch-changing propeller assembly;

[0019] High-speed stage driven gear, the external teeth of the high-speed stage driven gear mesh with the high-speed stage driving gear, and the inner ring of the high-speed stage driven gear is connected to the outer ring of the centrifugal clutch.

[0020] Optionally, the centrifugal clutch includes:

[0021] Centrifugal clutch housing, a spring receiving portion is provided on the centrifugal clutch housing, and the middle of the centrifugal clutch housing is connected to the pitch-changing propeller assembly;

[0022] Centrifugal clutch spring, the centrifugal clutch spring is arranged on the spring receiving portion;

[0023] Clutch centrifugal weight, the clutch centrifugal weight is hinged on the centrifugal clutch housing, and the centrifugal clutch spring abuts against one end of the clutch centrifugal weight;

[0024] Clutch cup, the outer ring of the clutch cup is connected to the inner ring of the high-speed stage driven gear, and a engaging portion is provided on the clutch cup; wherein,

[0025] When the rotational speed provided by the brushless motor is less than or equal to a preset threshold value, the clutch flyweight is not in contact with the clutch cup;

[0026] When the rotational speed provided by the brushless motor is greater than the preset threshold value, the clutch flyweight overcomes the elastic force of the flyweight spring and moves, so that the other end of the clutch flyweight abuts against the engaging portion of the clutch cup, so that the torque transmitted from the high-speed stage driving gear is transmitted to the high-speed stage driven gear through the flyweight clutch.

[0027] Optionally, the variable pitch propeller assembly includes:

[0028] A hollow shaft, on which the high-speed stage driven gear, the overrunning clutch and the flyweight clutch are all arranged;

[0029] A blade assembly, which is mounted on the hollow shaft;

[0030] A pitch control assembly, which is used to adjust the pitch information of the blade assembly.

[0031] Optionally, the blade assembly includes:

[0032] A fixed seat, which is connected to the hollow shaft and can rotate with the driving shaft. A plurality of blade mounting holes are provided on the fixed seat;

[0033] Blades, the number of which is plural. One blade is mounted in one blade mounting hole and can rotate around the blade mounting hole; wherein,

[0034] The pitch control assembly is used to control the rotation of each blade relative to the blade mounting hole.

[0035] Optionally, the pitch control assembly includes:

[0036] A linear ball screw motor;

[0037] A driving shaft, one end of which is connected to the output end of the linear ball screw motor, and the linear ball screw motor can drive the driving shaft to rotate;

[0038] A push block, which is arranged on the driving shaft and can move linearly on the driving shaft by the rotation of the driving shaft;

[0039] Link rods, the number of which is the same as the number of blades. One end of one link rod is connected to one blade, and the other end is connected to the push block; wherein,

[0040] When the push block moves linearly, each blade is driven to rotate relative to the blade mounting hole through the link rod.

[0041] Optionally, the preset threshold is obtained by the following formula:

[0042] where

[0043] n is the preset threshold, m is the total weight of the vehicle, g is the acceleration due to gravity, kt is the thrust coefficient of the propeller, ρ is the medium density, D is the diameter of the propeller, θ is the pitch angle of the vehicle, and φ is the roll angle of the vehicle.

[0044] The present application also provides an amphibious vehicle, and the amphibious vehicle is equipped with the multi-mode propulsion system of the above-mentioned water-air cross-domain vehicle.

[0045] Beneficial effects

[0046] The multi-mode propulsion system of the water-air cross-domain vehicle of the present application proposes a power transmission mechanism with torque adaptive variable speed using centripetal force, enabling the transmission shaft to switch to different speed positions and achieving the matching of the rotational speed and torque parameters of the power transmitted to the propeller. Description of the drawings

[0047] Figure 1 is an overall structural schematic diagram of the multi-mode propulsion system of the water-air cross-domain vehicle according to an embodiment of the present application.

[0048] Figure 2 is an exploded view of the structure of the water-air force transmission system according to an embodiment of the present application.

[0049] Figure 3 is a schematic structural diagram of a variable pitch propeller assembly according to an embodiment of the present application.

[0050] Figure 4 is a schematic structural diagram of a centrifugal clutch according to an embodiment of the present application, wherein the centrifugal clutch is not in contact with the clutch cup.

[0051] Figure 5 is a schematic structural diagram of a centrifugal clutch according to an embodiment of the present application, wherein the engaging portion of the centrifugal clutch is in contact with the clutch cup.

[0052] Reference numerals:

[0053] 1 - water-air force transmission system; 11 - centrifugal spring; 12 - centrifugal housing; 13 - centrifugal clutch; 14 - clutch cup; 15 - high-speed stage driven gear; 16 - low-speed stage driven gear; 17 - overrunning clutch; 18 - output shaft; 19 - brushless motor; 110 - high-speed stage driving gear; 111 - low-speed stage driving gear; 121 - engaging portion;

[0054] 2 - variable pitch propeller assembly

[0055] 20 - Linear ball screw motor; 21 - Drive shaft; 22 - Blade; 23 - Blade seat; 24 - Connecting rod; 25 - Fixed seat; 26 - Pusher block. Detailed implementation manner

[0056] To make the purpose, technical solution and advantages of the implementation of this application clearer, the technical solution in the embodiments of this application will be described in more detail below in conjunction with the accompanying drawings in the embodiments of this application. In the accompanying drawings, the same or similar reference numerals represent the same or similar elements or elements with the same or similar functions from beginning to end. The described embodiments are part of the embodiments of this application, not all of the embodiments. The embodiments described below by referring to the accompanying drawings are exemplary and are intended to explain this application and should not be construed as a limitation to this application. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of this application. The embodiments of this application will be described in detail below in conjunction with the accompanying drawings.

[0057] As Figures 1 to 3 shown, the multi - mode propulsion system of the water - air cross - domain vehicle includes a brushless motor 19, a water - air force transmission system, and a variable - pitch propeller assembly 2; among them,

[0058] The water - air force transmission system includes a high - speed output transmission group and a low - speed output transmission group. The input end of the water - air force transmission system is connected to the output shaft of the brushless motor;

[0059] The output end of the water - air force transmission system is connected to the variable - pitch propeller assembly; among them,

[0060] When the rotational speed of the brushless motor is lower than or equal to the preset threshold, the low - speed output transmission group of the water - air force transmission system provides driving force for the variable - pitch propeller assembly;

[0061] When the rotational speed of the brushless motor is higher than the preset threshold, the high - speed output transmission group of the water - air force transmission system provides driving force for the variable - pitch propeller assembly.

[0062] In this embodiment, the low - speed output transmission group includes a low - speed stage driving gear 111, an overrunning clutch 17, and a low - speed stage driven gear 16, where,

[0063] The low - speed stage driving gear 111 is connected to the output shaft of the brushless motor 19;

[0064] The inner ring of the overrunning clutch 17 is connected to the variable - pitch propeller assembly 2;

[0065] The external teeth of the low - speed stage driven gear 16 mesh with the low - speed stage driving gear 111, and the inner ring of the low - speed stage driven gear 16 is connected to the outer ring of the overrunning clutch 17.

[0066] In this embodiment, the high-speed output transmission group includes a high-speed stage driving gear 110, a centrifugal clutch, and a high-speed stage driven gear 15. Among them,

[0067] The high-speed stage driving gear 110 is connected to the output shaft of the brushless motor 19;

[0068] The inner ring of the centrifugal clutch is connected to the variable pitch propeller assembly 2;

[0069] The external teeth of the high-speed stage driven gear 15 mesh with the high-speed stage driving gear 110, and the inner ring of the high-speed stage driven gear 15 is connected to the outer ring of the centrifugal clutch.

[0070] In this embodiment, the centrifugal clutch includes a centrifugal clutch housing 12, a centrifugal clutch spring 11, a clutch cup 14, and a centrifugal clutch block 13. Among them,

[0071] The centrifugal clutch housing 12 is provided with a spring receiving portion, and the middle of the centrifugal clutch housing is connected to the variable pitch propeller assembly;

[0072] The centrifugal clutch spring 11 is arranged on the spring receiving portion;

[0073] The centrifugal clutch block 13 is hinged on the centrifugal clutch housing, and the centrifugal clutch spring 11 abuts against one end of the centrifugal clutch block 13;

[0074] The outer ring of the clutch cup 14 is connected to the inner ring of the high-speed stage driven gear 15, and the clutch cup 14 is provided with a engaging portion 121; Among them,

[0075] When the rotational speed provided by the brushless motor 19 is less than or equal to a preset threshold value, the centrifugal clutch block 13 is not in contact with the clutch cup 14;

[0076] When the rotational speed provided by the brushless motor 19 is greater than the preset threshold value, the centrifugal clutch block 13 overcomes the elastic force of the centrifugal clutch spring 11 and moves, so that the other end of the centrifugal clutch block 13 abuts against the engaging portion of the clutch cup 14, so that the torque transmitted from the high-speed stage driving gear 110 is transmitted to the high-speed stage driven gear 15 through the centrifugal clutch.

[0077] In this embodiment, the variable pitch propeller assembly includes a hollow shaft 18, a blade assembly, and a pitch control assembly. Among them,

[0078] The high-speed stage driven gear 15, the overrunning clutch 17, and the centrifugal clutch are all arranged on the hollow shaft 18;

[0079] The blade assembly is installed on the hollow shaft 18;

[0080] The pitch control assembly is used to regulate the pitch information of the blade assembly.

[0081] In this embodiment, the blade assembly includes a fixed seat 25 and blades 22, where,

[0082] The fixed seat 25 is connected to the hollow shaft 18 and can rotate with the rotation of the drive shaft 21. A plurality of blade mounting holes are provided on the fixed seat 25;

[0083] The number of the blades 22 is multiple. One blade 22 is installed in one blade mounting hole and can rotate around the blade mounting hole; where,

[0084] The pitch control assembly is used to control the rotation of each blade 22 relative to the blade mounting hole.

[0085] In this embodiment, the pitch control assembly includes a linear ball screw motor 20, a drive shaft 21, a push block 26 and a connecting rod 24, where,

[0086] One end of the drive shaft 21 is connected to the output end of the linear ball screw motor 20. The linear ball screw motor 20 can drive the drive shaft 21 to rotate. The drive shaft 21 is sleeved in the hollow shaft 18;

[0087] The push block 26 is arranged on the drive shaft 21 and can move linearly on the drive shaft through the rotation of the drive shaft;

[0088] The number of the connecting rods 24 is the same as the number of the blades 22. One end of one connecting rod 24 is connected to one blade 22, and the other end is connected to the push block 26; where,

[0089] When the push block 26 moves linearly, each blade 22 is driven to rotate relative to the blade mounting hole through the connecting rod 24.

[0090] In this embodiment, the preset threshold is obtained through the following formula:

[0091] where,

[0092] n is the preset threshold, m is the total weight of the vehicle, g is the acceleration due to gravity, kt is the thrust coefficient of the propeller, ρ is the medium density, D is the diameter of the propeller, θ is the pitch angle of the vehicle, and φ is the roll angle of the vehicle.

[0093] The following will elaborate on this application in conjunction with the attached Figures 1 to 5 It can be understood that this example does not constitute any limitation to this application.

[0094] See Figure 4 , in this embodiment, when in an underwater environment, the brushless motor is in a low-speed state. At this time, the centrifugal clutch does not act, and the overrunning clutch engages the low-speed stage driven gear. At this time, the low-speed stage driving gear and the low-speed stage driven gear are engaged to complete the low-speed output in the underwater environment.

[0095] See Figure 5 When entering the aerial environment from underwater, the brushless motor switches from a low-speed state to a high-speed state. At this time, the flyweights of the flyweight clutch are thrown out and engaged with the clutch cup, the flyweight clutch is engaged with the high-speed stage driven gear, while the overrunning clutch is disengaged. At this time, the high-speed stage driving gear and the high-speed stage driven gear are engaged to complete the high-speed output in the aerial environment.

[0096] Figure 3 A variable pitch propeller assembly, which includes a linear ball screw motor 20; a drive shaft 21, a propeller blade 22, a propeller hub 23, a connecting rod 24, a fixed seat 25, and a push block 26. Among them, the fixed seat 25 can only rotate and cannot move linearly. The linear ball screw motor 20, the drive shaft 21, and the push block 26 are connected together to achieve linear motion, driving the connecting rod 24 and the propeller hub 23 to realize the rotational movement of the propeller blade 22, so that the pitch can be adjusted in real time according to the working conditions to meet the propulsion requirements in different media underwater and in the air.

[0097] The multi-mode propulsion system of the water-air cross-domain vehicle of the present invention enables the propeller to switch modes with the change of water and air scenarios, meeting the efficient navigation in both scenarios.

[0098] Existing water-air vehicles mostly adopt two sets of power systems for underwater and aerial use or are designed mainly for a single medium with the other medium being a compatibility design, resulting in a large weight of the propulsion device or being unable to take into account efficient propulsion in both media. The multi-mode propulsion system of the water-air cross-domain vehicle proposed by the present invention designs a variable-speed system that uses centripetal force to achieve automatic power switching and a variable pitch propeller suitable for water and air environments, so as to meet the low-speed and small pitch mode underwater, adapt to the propulsion requirements of high-density media, and prevent cavitation effects caused by high speeds; switch to a high-speed and large pitch mode in the air to optimize aerodynamic performance. This system can continuously respond to environmental changes, ensuring that the propeller can achieve efficient propulsion in both water and air media, improving the overall energy utilization rate and navigation performance.

[0099] This application also provides a water-air amphibious vehicle, which is equipped with the multi-mode propulsion system of the water-air cross-domain vehicle as described above.

[0100] In this embodiment, the water-air amphibious vehicle of this application further includes a housing, and the water-air force transmission system is arranged in the housing. In this embodiment, the housing is a sealed housing. For example, it is sealed by a sealing ring.

[0101] In this embodiment, when the water-air force transmission system is arranged in the housing, a plurality of bearings can be arranged on the water-air force transmission system. The bearings are installed on bearing supports, and the bearing supports are connected to the housing.

[0102] In this embodiment, the motors used above are all waterproof motors.

[0103] Although the present invention has been described in detail above with general descriptions and specific embodiments, on the basis of the present invention, some modifications or improvements can be made, which are obvious to those skilled in the art. Therefore, these modifications or improvements made without departing from the spirit of the present invention all fall within the scope of the present invention claimed.

Claims

1. A multi-mode propulsion system for a water-air cross-domain vehicle, characterized in that: The multi-mode propulsion system of the water-air cross-domain vehicle includes: Brushless motor (19); A water-to-air power transmission system, the water-to-air power transmission system comprising a high-speed output transmission group and a low-speed output transmission group, the input end of the water-to-air power transmission system being connected to the output shaft of the brushless motor; A variable pitch propeller assembly (2), the output end of the water-air power transmission system is connected to the variable pitch propeller assembly; wherein, When the rotation speed of the brushless motor is lower than or equal to a preset threshold, the low-speed output transmission group of the water-air power transmission system provides driving force for the variable-pitch propeller assembly; When the rotation speed of the brushless motor is higher than a preset threshold, the high-speed output transmission group of the water-to-air power transmission system provides driving force for the variable-pitch propeller assembly.

2. The multi-mode propulsion system for a water-air cross-domain vehicle according to claim 1, characterized in that: The low-speed output transmission group comprises: A low-speed driving gear (111), wherein the low-speed driving gear (111) is connected to an output shaft of the brushless motor (19); An overrunning clutch (17), the inner ring of the overrunning clutch (17) being connected to the variable pitch propeller assembly (2); A low-speed driven gear (16), the outer teeth of the low-speed driven gear (16) mesh with the low-speed driving gear (111), and the inner ring of the low-speed driven gear (16) is connected to the outer ring of the overrunning clutch (17).

3. The multi-mode propulsion system for a water-air cross-domain vehicle according to claim 2, characterized in that: The high-speed output transmission group comprises: A high-speed driving gear (110), wherein the high-speed driving gear (110) is connected to an output shaft of the brushless motor (19); A block-swinging clutch, the inner ring of which is connected to the variable pitch propeller assembly (2); A high-speed driven gear (15), the outer teeth of which are meshed with the high-speed driving gear (110), and the inner ring of which is connected with the outer ring of the block-throwing clutch.

4. The multi-mode propulsion system for a water-air cross-domain vehicle as claimed in claim 3, characterized in that: The block-throwing clutch comprises: A swing block housing (12), wherein a spring receiving portion is provided on the swing block housing (12), and a middle portion of the swing block housing is connected to the variable pitch propeller assembly; A swing block spring (11), wherein the swing block spring (11) is arranged on the spring accommodating portion; A clutch swing block (13), wherein the clutch swing block (13) is hinged on the swing block housing, and the swing block spring (11) abuts against one end of the clutch swing block (13); A clutch cup (14), the outer ring of the clutch cup (14) is connected to the inner ring of the high-speed driven gear (15), and the clutch cup (14) is provided with a clamping portion (121); wherein, When the rotation speed provided by the brushless motor (19) is less than or equal to a preset threshold, the clutch block (13) is out of contact with the clutch cup (14); When the rotation speed provided by the brushless motor (19) is greater than a preset threshold, the clutch throw block (13) overcomes the elastic force of the throw block spring (11) and moves, so that the other end of the clutch throw block (13) abuts against the engaging portion of the clutch cup (14), so that the torque transmitted from the high-speed driving gear (110) is transmitted to the high-speed driven gear (15) through the throw block clutch.

5. The multi-mode propulsion system for a water-air cross-domain vehicle according to claim 4, characterized in that: The variable pitch propeller assembly comprises: A hollow shaft (18), the high-speed driven gear (15), the overrunning clutch (17) and the block-throwing clutch are all arranged on the hollow shaft (18); a blade assembly, the blade assembly being mounted on the hollow shaft (18); A pitch control component, wherein the pitch control component is used to adjust the pitch information of the blade assembly.

6. The multi-mode propulsion system for a water-air cross-domain vehicle as claimed in claim 5, characterized in that: The blade assembly comprises: A fixing seat (25), the fixing seat (25) being connected to the hollow shaft (18) and being capable of rotating along with the driving shaft (21), and the fixing seat (25) being provided with a plurality of blade mounting holes; A blade (22), wherein the number of the blades (22) is plural, and one blade (22) is installed in one blade installation hole and can rotate around the blade installation hole; wherein, The pitch control assembly is used to control the rotation of each blade (22) relative to the blade mounting hole.

7. The multi-mode propulsion system for a water-air cross-domain vehicle as claimed in claim 6, characterized in that: The pitch control assembly comprises: Linear screw motor (20); a drive shaft (21), one end of the drive shaft (21) being connected to the output end of the linear screw motor (20), the linear screw motor (20) being capable of driving the drive shaft (21) to rotate, and the drive shaft (21) being sleeved in the hollow shaft (18); A push block (26), the push block (26) being arranged on the drive shaft (21) and capable of performing linear motion on the drive shaft through the rotation of the drive shaft; A connecting rod (24), the number of the connecting rods (24) is the same as the number of the blades (22), one end of a connecting rod (24) is connected to a blade (22), and the other end is connected to the push block (26); wherein, When the push block (26) performs linear motion, each blade (22) is driven to rotate relative to the blade mounting hole through the connecting rod (24).

8. The multi-mode propulsion system for a water-air cross-domain vehicle as claimed in claim 7, characterized in that: The preset threshold is obtained by the following formula: in, n is the preset threshold, m is the total weight of the aircraft, g is the gravitational acceleration, kt is the thrust coefficient of the propeller, ρ is the medium density, D is the diameter of the propeller, θ is the pitch angle of the aircraft, and φ is the roll angle of the aircraft.

9. A water-air amphibious vehicle, characterized in that: The water-air amphibious vehicle is equipped with a multi-mode propulsion system for a water-air cross-domain vehicle as described in any one of claims 1 to 8.

Images