Tandem double-rotor cross-medium unmanned aerial vehicle

Abstract

The invention belongs to the technical field of cross-medium unmanned aerial vehicles, and discloses a tandem type double-rotor cross-medium unmanned aerial vehicle which comprises a bow part, a middle fuselage and a stern part which are connected into a whole in a sealed mode through end seals. The middle fuselage is formed by longitudinally butting two fuselage sections and penetrates out of the stern end seal after penetrating through the bow end seal, the two fuselage sections and the middle end seal in sequence through a full-length bolt, and the two ends of the middle fuselage are locked through clamping plate nuts respectively. The unmanned aerial vehicle has a high gravity center mode that the motor is higher than the vehicle back and a low gravity center mode that the motor is installed in the vehicle body and provided with the fin stabilizer. The problems that an existing cross-medium unmanned aerial vehicle is low in underwater propulsion efficiency and large in navigation power consumption are solved, the problem that additional airborne equipment influences the gravity center and stability of the unmanned aerial vehicle is solved, good flight performance and underwater navigation capacity are achieved, and the diversified requirements of the civil field are met.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of cross-medium unmanned aerial vehicle, and relates to a cross-medium unmanned aerial vehicle air flight underwater diving and cross-medium method. Specifically, it is a longitudinal double-rotor cross-medium unmanned aerial vehicle which can realize cross-medium navigation between air and water, has high-speed maneuvering in the air and underwater covert operation ability, and has broad application prospects. BACKGROUND

[0002] With the continuous progress of science and technology, unmanned aerial vehicles are increasingly widely used in various fields, from civilian inspection to logistics, from agricultural plant protection to environmental monitoring, and almost in all fields. However, it is undeniable that traditional unmanned aerial vehicles have obvious limitations in running medium, and can only operate in the air. Once involved in water surface or underwater tasks, they are powerless. Similarly, unmanned underwater vehicles can only operate underwater and are difficult to access the water surface airspace. This single-medium operation mode greatly limits the application scenarios and task execution ability of unmanned aerial vehicles and unmanned underwater vehicles.

[0003] In the civil field, the demand for observation of the sea-air boundary layer is increasing, which is of great significance to climate research, marine resource development, and marine disaster warning. However, due to the limitations of traditional equipment, the current observation of the sea-air boundary layer needs to use unmanned aerial vehicles and unmanned underwater vehicles respectively, which operate independently and cannot cooperate with each other. This not only leads to a significant increase in observation costs, as two different sets of equipment need to be purchased and maintained, but also makes the observation inefficient, making it difficult to achieve real-time, continuous, and comprehensive observation of the sea-air boundary layer. Each observation task needs to plan the operation time and path of unmanned aerial vehicles and unmanned underwater vehicles respectively, and there is a time difference and spatial discontinuity in data acquisition, which brings many inconveniences and challenges to subsequent data analysis and application, seriously affecting the quality and effect of the observation of the sea-air boundary layer in the civil field, and restricting the development process of related scientific research and practical application.

[0004] To solve the above problems, the cross-media unmanned aerial vehicle emerges as the times require. It can break the media limit, flexibly convert in the air and underwater, and meet more extensive application requirements. At present, the development of multi-rotor cross-media unmanned aerial vehicles in the world is still in the initial exploration stage. Although the existing related products realize the cross-media function to some extent, most of them are based on classic unmanned aerial vehicles for waterproof treatment, and the underwater navigation performance is poor, which cannot well meet the actual application requirements such as continuous cross-domain observation tasks in the sea-air boundary layer. The common multi-rotor cross-media unmanned aerial vehicles with four-rotor and six-rotor configurations have advantages in stability in the air, but have disadvantages such as low underwater propulsion efficiency and large navigation power consumption. At the same time, the center of gravity of the common unmanned aerial vehicles is mostly fixed. Once a large weight of additional airborne equipment is installed on the back of the aircraft, the center of buoyancy is lower than the center of gravity, which seriously affects the navigation stability. The preset low center of gravity seriously affects the aircraft maneuverability during flight, and there is a problem of load installation position limitation. SUMMARY

[0005] The present application is directed to the problems of low underwater propulsion efficiency and large navigation power consumption of the existing cross-media unmanned aerial vehicles, and proposes a longitudinal double-rotor cross-media unmanned aerial vehicle. Through unique configuration design and technical optimization, the unmanned aerial vehicle realizes efficient conversion in the air and underwater, has good flight performance and underwater navigation ability. At the same time, for additional airborne equipment such as satellite communication installed on the back of the aircraft, the unmanned aerial vehicle is provided with a low center of gravity mode with the motor located in the cabin. If the takeoff from the ground is not considered, the anti-roll fin can be installed below the belly. For additional airborne equipment such as an optical-electrical pod installed below the belly, a high center of gravity mode with the motor higher than the back of the aircraft is provided, so as to ensure the stability of navigation and flight, and meet the diversified needs in the civil field.

[0006] The technical scheme of the present application is as follows: A longitudinal double-rotor cross-media unmanned aerial vehicle comprises a bow, a middle fuselage and a stern, which are sealed and connected as a whole by end seals. The middle fuselage is formed by butt jointing two body sections in the longitudinal direction, and is sequentially penetrated through the bow end seal, the two body sections and the middle end seal by a through bolt, and then is penetrated out from the stern end seal, and the two ends are locked by clamp plate nuts. A rigid sleeve is provided on the through bolt to maintain the coaxiality of the end seal and the two body sections during fastening and form axial sealing. The bow is provided with a first power assembly, the stern is provided with a second power assembly, and the middle fuselage is provided with underwater propellers on both sides. The first power assembly comprises: a front rotor, a hub of which is fixedly connected with a first motor output shaft; the first motor is rotationally supported on the power base via a vector power base; a main rudder machine drives the vector power base to swing left and right around a transverse axis via a rudder arm transmission mechanism; or a front rotor, a rotor shaft of which is fixedly connected with one end of a universal shaft; the universal shaft is arranged in the vector power base, and the other end of the universal shaft is fixedly connected with the first motor output shaft via a flange; the first motor is rotationally supported on the power base via the vector power base; the main rudder machine drives the vector power base to swing left and right around a transverse axis via a rudder arm transmission mechanism; and a secondary rudder machine drives a bow horizontal rudder to pitch via a horizontal rudder transmission mechanism. The second power assembly is symmetrical to the first power assembly in structure, but the secondary rudder machine is omitted, and a fixed horizontal rudder is arranged. The first power assembly and the second power assembly are respectively connected with corresponding end seal bolts via a fuselage connecting plate, and are locked together with a same clamping plate nut of a through bolt. A raised base is integrally formed on the lower side of the end seal, and the raised base is symmetrically distributed along the longitudinal direction of the end seal, and is used for limiting the lateral roll of the machine body and providing a landing support point. A waterproof electronic cabin is arranged in the middle fuselage, and is used for centrally arranging energy sources and control systems; and a GPS waterproof shell is arranged on the upper side of the middle end seal.

[0007] As a further technical scheme of the present application, the rudder arm transmission mechanism comprises: A straight rudder arm, a root of which is fixedly connected with a main rudder machine output shaft; An arm ball head, which is used for hingedly connecting the end of the straight rudder arm with a power swing arm; The power swing arm is hingedly connected with the power base via a rotating shaft bearing baffle and a power rotating shaft, and is fixedly connected with the vector power base, so as to convert the rotating movement of the main rudder machine into the swinging movement of the vector power base.

[0008] As a further technical scheme of the present application, the axis of the power rotating shaft is collinear with the swinging axis of the vector power base, and axial limiting shoulders are arranged at both ends of the power rotating shaft.

[0009] As a further technical scheme of the present application, the horizontal rudder transmission mechanism comprises: A secondary rudder machine action base, which is used for laterally fixing the secondary rudder machine to the power base; A secondary rudder machine metal power swing arm, which drives a horizontal rudder rotating shaft via an arm ball head; A shaft coupling, which synchronously couples the horizontal rudder rotating shaft to two bow horizontal rudders.

[0010] As a further technical scheme of the present application, the horizontal rudder rotating shaft and the bow horizontal rudder are connected via the shaft coupling, so that the bow horizontal rudder can be individually replaced.

[0011] As a further technical scheme of the present application, the convex base extends downward from the lower surface of the end seal to form a continuous strip-shaped convex, and the lower surface of the convex is located in the same plane to form stable support when the unmanned aerial vehicle is parked.

[0012] As a further technical scheme of the present application, the longitudinal length of the convex base is consistent with the longitudinal length of the end seal to provide a limiting surface when the body is rolled laterally.

[0013] As a further technical scheme of the present application, it further comprises a propeller cabin in fluid communication with the underwater propeller through a propeller mounting slot on the middle end seal; the propeller mounting slot is a through hole with a boss around the periphery for positioning the propeller connecting piece.

[0014] As a further technical scheme of the present application, it further comprises a fin stabilizer fixedly connected to the lower surfaces of the bow body and the stern body through fin mounting seats on the bow end seal and the stern end seal, respectively; The fin stabilizer comprises: The lead weight is adjusted by changing its weight to adjust the center of gravity of the unmanned aerial vehicle. The lead weight connecting arm connects the lead weight to the fin stabilizer base. The fin stabilizer base connects the lead weight connecting arm to the body to provide adjustment of the mounting angle of the fin stabilizer.

[0015] As a further technical scheme of the present application, a circumferential sealing structure is provided between the GPS waterproof shell and the middle end seal, and the sealing structure comprises a sealing ring groove and a sealing ring to form an independent waterproof cavity.

[0016] Compared with the prior art, the present application has the following beneficial effects: 1. The present application organically combines the longitudinal double-rotor configuration and the long circular shape of the underwater vehicle, and proposes a new concept of longitudinal double-rotor trans-medium unmanned aerial vehicle. The configuration combines the design ideas of unmanned aerial vehicles and underwater robots, fully considers the compatibility of water and air fluids, adopts the layout of longitudinal double-rotor and foldable rotor design, has good flight maneuverability, high stability, and small underwater resistance surface. Two sets of power systems are used in the air and underwater, which significantly increases the underwater range and speed while ensuring flight performance, improves the comprehensive performance of the trans-medium unmanned aerial vehicle, and solves the key and common technical problems in the field of trans-medium unmanned aerial vehicles.

[0017] 2. The present application adopts longitudinal double-rotor layout combined with underwater vehicle long circular shape design, fully considers the compatibility of water and air fluid mechanics, and improves the range and speed.

[0018] 3. The present application uses two kinds of propellers to drive in the air and underwater respectively, uses rotors in the air and uses propellers underwater, which ensures the water and air propulsion efficiency.

[0019] 4、The present application sets low gravity center mode of motor in cabin and high gravity center mode of motor higher than machine back, if not considering taking off from ground, can install anti roll fin under machine belly, thereby ensuring stability of sailing and flying.

[0020] 5、The underwater propeller of the present application is arranged in the lower part of the middle section of the fuselage, which ensures that the gravity center is below and the buoyancy center is above, and ensures that the cross-medium unmanned aerial vehicle has certain stability in water, and ensures that the cross-medium process of entering and leaving water is more stable.

[0021] The present application will be described in further detail below in combination with the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0022] Figure 1 It is a whole machine three-dimensional structure schematic diagram of one embodiment of the cross-medium longitudinal double-rotor unmanned aerial vehicle of the present application. Figure 2 It is a structure schematic diagram of the first power assembly in the embodiment. Figure 1 Figure 3 It is a partial enlarged view of the rudder arm transmission mechanism in the embodiment. Figure 2 Figure 4 It is a side view structure schematic diagram of the horizontal rudder transmission mechanism in the embodiment. Figure 1 Figure 5 It is a side view structure schematic diagram of the stern and the second power assembly in the embodiment. Figure 1 Figure 6 It is a bottom view enlarged view of the end seal and the convex base in the embodiment. Figure 1 Figure 7 It is a mounting schematic diagram of the middle fuselage and the underwater propeller in the embodiment. Figure 1 Figure 8 It is an axial fastening enlarged view of the long bolt, the rigid sleeve, the fuselage connecting plate and the end seal of the present application.

[0023] Figure 9 It is a whole machine three-dimensional structure schematic diagram of the second embodiment of the cross-medium longitudinal double-rotor unmanned aerial vehicle of the present application. Figure 10 It is a mounting schematic diagram of the end seal and the anti roll fin in the embodiment. Figure 9 Figure 11 It is a side view structure schematic diagram of the bow and the first power assembly in the embodiment. Figure 9 ​​​​​​​​The figure mark explanation: 100, bow; 110, first power assembly; 111, front rotor; 112, first motor; 112a, motor mounting base; 113, vector power base; 113a, universal shaft; 114, power base; 115, main rudder; 116, rudder arm transmission mechanism; 116a, one-letter rudder arm; 116b, arm ball head; 116c, power swing arm; 116d, power rotation shaft; 116e, rotation shaft bearing baffle; 117, auxiliary rudder; 118, horizontal rudder transmission mechanism; 118a, auxiliary rudder action base; 118b, auxiliary rudder metal power swing arm; 118c, arm ball head; 118d, horizontal rudder rotation shaft; 118e, coupling; 119, bow horizontal rudder; 120, stern horizontal rudder; 130, fuselage connecting plate; 200, middle fuselage; 210, underwater propeller; 211, propeller connecting piece; 220, waterproof electronic cabin; 230, middle end seal; 231, propeller mounting groove; 240, GPS waterproof shell; 300, stern; 310, second power assembly; 320, anti-rolling fin; 321, anti-rolling fin base; 322, counterweight connecting arm; 323, counterweight lead block; 400, end seal; 401, bow end seal; 402, stern end seal; 410, protruding base; 420, anti-rolling fin mounting seat; 500, through bolt; 510, clamping plate nut; 520, rigid sleeve. DETAILED DESCRIPTION

[0024] For the purpose, technical scheme and advantages of the implementation of the present application, the technical scheme of the embodiment of the present application will be described in more detail below in combination with the drawings of the embodiment of the present application. In the drawings, the same or similar reference numerals represent the same or similar elements or elements with the same or similar functions throughout. The described embodiments are part of the embodiments of the present application, not all embodiments.

[0025] The embodiments described below by reference to the drawings are exemplary and are intended to explain the present application, and cannot be understood as a limitation of the present application.

[0026] Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor are within the scope of protection of the present application.

[0027] The following will be described in combination with the drawings Figures 1-8 The embodiments of the present application are described in detail.

[0028] Embodiment 1 As Figure 1As shown, the application discloses a longitudinal double-rotor cross-medium unmanned aerial vehicle, which is composed of a bow part 100, a middle fuselage 200 and a stern part 300, and the three parts are connected by an end seal 400 to form a continuous streamline shell. The lower surface of the end seal 400 is integrally extended downward to form a convex base 410, which is symmetrically distributed along the longitudinal direction, and the lower ends are flush to constitute a stable fulcrum when the unmanned aerial vehicle is parked. Propeller mounting grooves 231 are formed on the two sides of the middle fuselage 200 for fixing underwater propellers 210. A waterproof electronic cabin 220 is independently arranged in the middle fuselage 200 for centralized arrangement of energy sources and control systems. The bow power assembly is combined Figures 2-3 The output shaft of the first motor 112 is fixedly connected with the hub of the front rotor 111, and the first motor 112 is fixed on the vector power base 113. The vector power base 113 is pivotally connected to the power base 114 through a power rotating shaft 116d, the two ends of the power rotating shaft 116d are provided with shoulder blocks to limit the axial displacement. The output shaft of the main rudder 115 is fixedly connected with a character-shaped rudder arm 116a, the end of the character-shaped rudder arm 116a is hingedly connected with a power swing arm 116c through a belt arm ball head 116b, the power swing arm 116c is fixedly connected with the vector power base 113, thereby forming a crank-rocker mechanism to realize the left-right swing of the vector power base 113.

[0029] Horizontal rudder transmission, as Figure 4 The auxiliary rudder 117 is fixedly connected to the power base 114 through an auxiliary rudder action base 118a. The end of the auxiliary rudder character-shaped swing arm 118b drives a horizontal rudder rotating shaft 118d through a belt arm ball head 118c. The horizontal rudder rotating shaft 118d synchronously drives two pieces of bow horizontal rudders 119 through a pair of shaft couplings 118e. The bow horizontal rudders 119 can be quickly plugged and unplugged with the horizontal rudder rotating shaft 118d to realize modular replacement.

[0030] Simplified structure of the stern part, as Figure 5 The stern part 300 is symmetrical with the bow part 100, only the main rudder 115 and the rudder arm transmission mechanism 116 are reserved, and the auxiliary rudder 117 and the horizontal rudder transmission mechanism 118 are omitted. The stern horizontal rudder 120 is fixed and cannot be adjusted, and is fixed to the stern shell through bolts, which is used for simplifying maintenance. Limiting and supporting of the convex base, as Figure 6 The convex base 410 is continuously strip-shaped and is formed by extending downward from the lower surface of the end seal 400. The longitudinal length of the convex base 410 is consistent with the longitudinal length of the end seal 400, when the unmanned aerial vehicle is laterally inclined, the outer edge of the convex base 410 first contacts the ground to limit the roll angle. The lower surfaces of the convex bases 410 are coplanar to ensure parking stability.

[0031] Mounting of the propeller and isolation of the electronic cabin, as Figure 7The middle end seal 230 is provided with thruster installation grooves 231 on both sides, the thruster installation grooves 231 are through-hole structures, and the periphery of the thruster installation grooves 231 is provided with an annular boss for positioning the thruster connecting piece 211. The thruster connecting piece 211 is fixed with the thruster installation groove 231 through bolts, and forms detachable connection. The GPS waterproof shell 240 is independently arranged on the upper side of the middle end seal 230, and is provided with a sealing ring groove and a sealing ring in the periphery, forms an independent waterproof cavity, and ensures the safe operation of the positioning module.

[0032] The through bolt is fastened and sealed, as shown in Figure 8 The through bolt 500 is inserted from the center through hole of the bow end seal 401, passes through the first section of the body, the middle end seal 230 and the second section of the body in sequence, and is then inserted out of the center through hole of the stern end seal 402; the through bolt 500 is sleeved with a rigid sleeve 520, the two ends of the rigid sleeve 520 abut against the inner side end face of the end seal 400, so as to limit the stretching deformation amount of the bolt and maintain the coaxiality. The two end clamping plate nuts 510 are locked against the outer surface of the end seal 400, and an axial compression sealing surface is formed. The through hole concentric with the through hole of the end seal 400 is arranged on the body connecting plate 130, the through bolt 500 passes through the through hole and is locked with the clamping plate nut 510, and synchronous fixing and sealing of the power assembly and the end seal are realized.

[0033] A longitudinal double-rotor cross-medium unmanned aerial vehicle has a unique configuration design and is optimized in technology, and can realize smooth conversion of the unmanned aerial vehicle in the air and underwater, has good flight performance and underwater navigation capability, and is suitable for diversified needs in the civil field.

[0034] The unmanned aerial vehicle main body structure is designed as follows: the unmanned aerial vehicle main body comprises a fuselage, a longitudinal double-rotor system and an underwater control system. The fuselage adopts a streamlined design to reduce resistance when driving in the air and water, and to ensure that the unmanned aerial vehicle can efficiently operate in both media. The longitudinal double-rotor system is the power source of the unmanned aerial vehicle when flying in the air, can provide strong lift and thrust, and ensures that the unmanned aerial vehicle has good maneuverability and stability in the air. The foldable rotor mechanism plays an important role when the unmanned aerial vehicle enters underwater navigation. By folding the rotor, the resistance when navigating underwater can be effectively reduced, and the underwater propulsion efficiency can be improved. The underwater propeller is designed for underwater navigation, can provide stable propulsion in water, overcome water resistance, and ensure the navigation speed and maneuverability of the unmanned aerial vehicle underwater.

[0035] Optimization of aerodynamic and hydrodynamic characteristics: In view of the significant difference between air and water density, the present application deeply studies the fluid mechanics characteristics of the unmanned aerial vehicle in the two media, and optimizes the shape design of the unmanned aerial vehicle accordingly. When flying in the air, the unmanned aerial vehicle utilizes the strong lift and thrust generated by the longitudinal double rotors to realize high-speed maneuvering flight, while ensuring the stability and flexibility of flight. After entering the water, the unmanned aerial vehicle relies on the thrust of the underwater propeller to overcome the water resistance, and reduces the water resistance through the optimized body shape design to improve the navigation efficiency and ensure long-term stable operation underwater.

[0036] High-speed water entry and exit process control: High-speed water entry and exit is a key technical link of the cross-medium unmanned aerial vehicle, which is directly related to the performance and safety of the unmanned aerial vehicle. During the water entry process, the attitude and speed of the unmanned aerial vehicle are precisely controlled, combined with the streamlined body design, to effectively reduce the impact force of water on the unmanned aerial vehicle and avoid structural damage. When exiting the water, the power system and the cross-medium transition mechanism work together to ensure that the unmanned aerial vehicle can exit the water smoothly and quickly switch to the air flight mode.

[0037] The present application also deeply studies the influence of different water entry parameters on cavitation effect, and further improves the stability and reliability of the unmanned aerial vehicle during cross-medium conversion by optimizing the fluid dynamics performance of the unmanned aerial vehicle during water entry and exit process. Water-air adaptive control method, develop water-air adaptive control algorithm and system, according to the motion state and environmental information of the unmanned aerial vehicle in different media, automatically switch the control mode. When flying in the air, realize the precise control of hovering, vertical take-off and landing and horizontal flight; when navigating underwater, ensure the stability and maneuverability of the unmanned aerial vehicle.

[0038] Embodiment 2 In combination Figure 1 With Figure 9 The present application discloses a longitudinal double-rotor cross-medium unmanned aerial vehicle, which is composed of a bow part 100, a middle body 200 and a stern part 300. The three parts are connected by an end seal 400 to form a continuous streamline shell. The lower surface of the end seal 400 is integrally extended downward to form a convex base 410, which is symmetrically distributed along the longitudinal direction, and the lower ends are flush to constitute a stable fulcrum when the unmanned aerial vehicle is parked. Propeller mounting grooves 231 are provided on both sides of the middle body 200 for fixing underwater propellers 210. A waterproof electronic cabin 220 is independently arranged inside the middle body 200 for centralized arrangement of energy sources and control systems. The anti-roll fin 320 is fixed to the lower surface of the body.

[0039] Bow power assembly, in combination Figure 2 , Figure 3 And Figure 11The output shaft of the first motor 112 is flange-fixed to the universal joint 113a. The first motor 112 is fixed to the motor mounting base 112a. The universal joint 113a is located inside the vector power base, and one end of the universal joint 113a is fixed to the hub of the front rotor 111. The vector power base 113 is pivotally connected to the power base 114 via the power shaft 116d. The power shaft 116d has shoulders at both ends to limit axial displacement. The output shaft of the main servo motor 115 is fixed to the rudder arm 116a. The end of the rudder arm 116a is hinged to the power swing arm 116c via the ball joint 116b. The power swing arm 116c is fixed to the vector power base 113, forming a crank-rocker mechanism to realize the left and right swing of the vector power base 113.

[0040] Horizontal rudder transmission, such as Figure 4 As shown, the auxiliary servo 117 is laterally fixed to the power base 114 via the auxiliary servo actuation base 118a. The end of the auxiliary servo's horizontal swing arm 118b drives the horizontal rudder shaft 118d via a ball joint 118c. The horizontal rudder shaft 118d synchronously drives two bow horizontal rudders 119 via a pair of couplings 118e. The bow horizontal rudders 119 can be quickly plugged into and removed from the horizontal rudder shaft 118d, enabling modular replacement.

[0041] Simplified stern structure, such as Figure 5 As shown, the stern section 300 is structurally symmetrical to the bow section 100, retaining only the main servo motor 115 and the rudder arm transmission mechanism 116, while omitting the auxiliary servo motor 117 and the horizontal rudder transmission mechanism 118. The stern horizontal rudder 120 is fixed and non-adjustable, secured to the stern housing with bolts for simplified maintenance. The raised base provides positioning and support, such as... Figure 6 As shown, the raised base 410 extends downward from the lower surface of the end cap 400, forming a continuous strip-shaped protrusion. The longitudinal length of the raised base 410 is the same as the longitudinal length of the end cap 400. When the UAV tilts to the side, the outer edge of the raised base 410 contacts the ground first, limiting the roll angle. The lower surfaces of the raised base 410 are coplanar, ensuring parking stability.

[0042] The thruster installation is isolated from the electronics compartment, combined with Figure 7 The middle end seal 230 has pusher mounting slots 231 on both sides. The pusher mounting slots 231 are through holes with annular bosses around their periphery for positioning the pusher connector 211. The pusher connector 211 is fixed to the pusher mounting slots 231 with bolts to form a detachable connection. The GPS waterproof housing 240 is independently set on the upper side of the middle end seal 230. It has a sealing ring groove and a sealing ring around its periphery to form an independent waterproof cavity to ensure the safe operation of the positioning module.

[0043] For example, the use of long bolts for fastening and sealing. Figure 8As shown, the through bolt 500 passes through the center through hole of the bow end seal 401, and then passes through the first section of the body, the middle end seal 230, and the second section of the body, and finally passes out of the center through hole of the stern end seal 402; the through bolt 500 is sleeved with a rigid sleeve 520, and the rigid sleeve 520 is in abutment with the inner side end face of the end seal 400 at both ends, so as to limit the stretching deformation amount of the bolt and maintain the coaxiality. The two end clamping plate nuts 510 are locked against the outer surface of the end seal 400, so as to form an axially compressed sealing surface. The overhole coaxial with the through hole of the end seal 400 is formed on the body connecting plate 130, and the through bolt 500 passes through the overhole and is locked together with the clamping plate nut 510, so as to realize the synchronous fixing and sealing of the power assembly and the end seal.

[0044] The fin stabilizer 320 is connected with the fin stabilizer mounting seat 420 on the end seal 400 through a bolt, so as to be fixed to the lower surface of the bow body and the stern body respectively. The counterweight connecting arm 322 is connected to the fin stabilizer base, and the angle of the fin stabilizer is adjusted through the hinge between the two. The counterweight lead block 323 is connected to the end of the counterweight connecting arm 322.

[0045] Thus, the purpose of the present application is achieved.

[0046] The above is only a preferred embodiment of the present application, and is not used to limit the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A tandem dual-rotor transmedium unmanned aerial vehicle, characterized in that, include: The bow, mid-fuselage, and stern are connected as a whole by end seals. The middle fuselage is formed by two sections of the fuselage joined together longitudinally, and then passes through the bow end seal, the two sections of the fuselage and the middle end seal in sequence by a long bolt, and then exits from the stern end seal. Each end is locked with a clamp nut. The long bolt is fitted with a rigid sleeve to maintain the coaxiality of the end seal with the two sections of the machine body and to form an axial seal during the tightening process; The bow is equipped with a first power unit, the stern is equipped with a second power unit, and underwater thrusters are provided on both sides of the mid-fuselage; The first power assembly includes: a front rotor, the hub of which is fixedly connected to the output shaft of a first motor; a first motor, rotatably supported on a power base via a vector power base; a main servo, which drives the vector power base to swing left and right around a transverse axis via a servo arm transmission mechanism; and a secondary servo, which drives the bow horizontal rudder to pitch via a horizontal rudder transmission mechanism; or, a front rotor, the rotor shaft of which is fixedly connected to one end of a universal joint; a universal joint, disposed within the vector power base, the other end of which is fixedly connected to the output shaft of the first motor via a flange; a first motor, rotatably supported on the power base via a motor mounting base; a main servo, which drives the vector power base to swing left and right around a transverse axis via a servo arm transmission mechanism; and a secondary servo, which drives the bow horizontal rudder to pitch via a horizontal rudder transmission mechanism. The second power assembly is symmetrical in structure to the first power assembly, but omits the auxiliary servo and is equipped with a fixed horizontal rudder; The first power assembly and the second power assembly are respectively connected to the corresponding end seal bolts through the fuselage connecting plate, and are locked together with the through bolt using the same clamp nut; The lower side of the end seal is integrally formed with a raised base, which is symmetrically distributed along the longitudinal direction of the end seal to limit the roll of the aircraft and provide a landing fulcrum. The central fuselage houses a waterproof electronics compartment for the centralized placement of energy and control systems; the upper side of the central end seal is equipped with a GPS waterproof housing.

2. The tandem dual-rotor transmedium unmanned aerial vehicle according to claim 1, characterized in that, The rudder arm transmission mechanism includes: The rudder arm is rigidly connected at its base to the output shaft of the main servo motor. The ball joint with arm hinges the end of the rudder arm to the power swing arm. The power swing arm is pivotally connected to the power base and fixed to the vector power base via a pivot bearing baffle and a power pivot shaft, so as to convert the rotational motion of the main servo motor into the swing of the vector power base.

3. A tandem dual-rotor transmedium unmanned aerial vehicle according to claim 2, characterized in that, The axis of the power shaft is collinear with the swing axis of the vector power base, and axial limiting shoulders are provided at both ends of the power shaft.

4. A tandem dual-rotor transmedium unmanned aerial vehicle according to claim 1, characterized in that, The horizontal rudder transmission mechanism includes: Sub-servo motor mounting base, used to laterally fix the sub-servo motor to the power base; The auxiliary servo motor's metal power swing arm drives the horizontal rudder shaft via a ball joint with an arm. The coupling synchronously couples the horizontal rudder shaft to the two bow horizontal rudders.

5. A tandem dual-rotor transmedium unmanned aerial vehicle according to claim 4, characterized in that, The horizontal rudder shaft is connected to the bow horizontal rudder by a coupling, so that the bow horizontal rudder can be replaced separately.

6. A tandem dual-rotor transmedium unmanned aerial vehicle according to claim 1, characterized in that, The raised base extends downward from the lower surface of the end cap to form a continuous strip-shaped protrusion, and the lower surfaces of the protrusions are located on the same plane to provide stable support when the drone is parked.

7. A tandem dual-rotor transmedium unmanned aerial vehicle according to claim 6, characterized in that, The longitudinal length of the raised base is the same as the longitudinal length of the end seal, so as to provide a limiting surface when the machine body rolls.

8. A tandem dual-rotor transmedium unmanned aerial vehicle according to claim 1, characterized in that, Also includes: The propulsion chamber is in fluid communication with the underwater propulsion through a propulsion mounting slot on the central end seal; the propulsion mounting slot is a through hole with a boss on its periphery for positioning the propulsion connector.

9. A tandem dual-rotor transmedium unmanned aerial vehicle according to claim 1, characterized in that, Also includes: The anti-roll fins are fixed to the lower surfaces of the bow and stern fuselages respectively via anti-roll fin mounting seats on the bow end seal and stern end seal. The anti-roll fins include: Counterweight lead blocks are used to adjust the drone's center of gravity by changing their weight. The counterweight connecting arm connects the counterweight lead block to the anti-sway fin base; The anti-roll fin base connects the counterweight connecting arm to the fuselage, providing adjustment for the anti-roll fin installation angle.

10. A tandem dual-rotor transmedium unmanned aerial vehicle according to claim 1, characterized in that, A circumferential sealing structure is provided between the GPS waterproof shell and the central end seal. The sealing structure includes a sealing ring groove and a sealing ring to form an independent waterproof cavity.

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