A cross-domain vehicle architecture

Abstract

The application discloses a general structure of a cross-domain vehicle, which comprises a flight unit autonomous folding and unfolding structure and a tail fixed shaft propeller mounting structure. The flight unit autonomous folding and unfolding structure is mounted in front of a rear propeller of a boat body and is controlled through a rudder mounted on the boat body. Rotation of the rudder drives rotation rods and connecting rods to move, so that the connecting rods of the flight unit are unfolded. After unfolding, the rotation rods connected with the rudder are positioned in grooves and the unfolded structure is triangular and stable. The vehicle control cabin sends signals to realize folding and unfolding of the flight unit through control of the rudder. The purpose of autonomous folding and unfolding of the flight unit is achieved, and the lift generated by the flight unit is transmitted to the boat body without loss. The tail fixed shaft propeller is connected with the vehicle boat body through a connecting component. The connecting component is at a fixed angle with the center line direction of the boat body, so that the tail of the fixed shaft propeller is inclined inward. The thrust of different propellers is controlled, and the purpose of high-efficiency differential control is achieved.

Description

Technical Field

[0001] This invention belongs to the field of mechanical structure design, specifically relating to the overall structure of a cross-domain vehicle. Background Technology

[0002] The overall structure of a trans-domain submersible plays a crucial role in its manufacturing, assembly, and performance improvement, affecting its overall stability, power transmission, and maneuverability. The overall structure primarily includes the installation method of the flight unit on the hull and the installation method of the propellers. The installation method of the flight unit on the hull affects the stability of the overall structure and the transmission of lift provided by the flight unit. Traditional installation methods require manual opening and closing of the retraction mechanism. Furthermore, during flight unit operation, the linkage structure, which transmits lift to the main body of the submersible via connecting rods, undergoes movement due to stress, failing to maintain its original stable state. This structural deformation leads to insufficient stability and consequently, lift loss. The installation method of the propellers on the submersible affects its maneuverability and propulsion capabilities. While traditional installation methods, such as mounting the tail propeller parallel to the hull, ensure sufficient propulsion, the ability to achieve differential control of turning capacity by using different propeller directions and magnitudes is inefficient, resulting in insufficient underwater turning performance and maneuverability. Summary of the Invention

[0003] The purpose of this invention is to provide an overall structure for a cross-domain vehicle.

[0004] The objective of this invention is achieved through the following technical solution:

[0005] An overall structure for a cross-domain vehicle includes an autonomous flight unit deployment and retraction structure and a tail-mounted fixed-axis thruster mounting structure; the autonomous flight unit deployment and retraction structure includes a servo motor, flight unit linkage, long linkage, short linkage, a fixed frame, a flight unit linkage connecting frame, a long linkage connecting end, and a flight unit mounted on the hull;

[0006] A mounting frame is fixed to the hull, with a flight unit connecting rod hinged to one side of the mounting frame and a groove provided on the other side.

[0007] The servo is fixed on the fixed frame. The end of the short connecting rod connected to the servo's rotating shaft is fixedly connected, and the end connected to the long connecting rod is connected by a rotating joint. One end of the long connecting rod is connected to the flight unit connecting rod connecting frame through the long rod connecting end. The flight unit connecting rod connecting frame is attached to the flight unit connecting rod through a rotating joint. The flight unit is fixed to the flight unit connecting rod.

[0008] The servo motor is connected to the vehicle control compartment. The vehicle control compartment sends retraction and extension commands to the servo motor. The servo motor receives signals transmitted by the hull control unit to achieve autonomous control of the rotation angle.

[0009] When the short link driven by the servo moves to the flight unit deployment position, the end of the long link is engaged in the groove on the fixed frame, forming a one-way fixation;

[0010] The stern fixed-axis thruster mounting structure includes a stern thruster mounting base, a fixed-axis thruster, and a thruster connection structure; the fixed-axis thruster is mounted on the stern thruster mounting base via the thruster connection structure.

[0011] Furthermore, the unfolded structure of the flight unit is triangular.

[0012] Furthermore, the propeller connection structure causes the fixed-axis propeller to tilt toward the hull centerline on the stern side of the propeller mounting base at the stern of the hull.

[0013] The beneficial effects of this invention are as follows:

[0014] 1. The autonomous deployment and retraction structure of the flight unit can be automatically deployed and closed via servo motors.

[0015] 2. The retractable structure of the flight unit after deployment can stably fix the rotor connecting rod.

[0016] 3. The unfolded flight unit retraction structure can transfer the lift generated by the rotor to the hull without loss.

[0017] 4. The method of installing the propeller at the tail of the vehicle can make the propeller deflect inward at a fixed angle to the axis of the hull, thereby achieving a greater turning moment and improving the turning and maneuverability of the transoceanic vehicle underwater.

[0018] 5. Several thrusters generate thrust through the rotation of the propellers. The thruster guide shields act as guides, generating a fixed-direction thrust that propels the submersible forward or backward.

[0019] 6. Several thrusters are positioned at a certain angle. By changing the thrust of different thrusters (i.e., the propeller speed) or the propulsion direction of different thrusters, a large torque is generated at the tail of the submersible, enabling the submersible to turn and thus achieving high-efficiency differential control. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the retracted structure of the cross-domain vehicle flight unit of the present invention;

[0021] Figure 2 This is a schematic diagram of the unfolded structure of the cross-domain vehicle flight unit of the present invention;

[0022] Figure 3 This is a schematic diagram of the tail-mounted fixed-axis thruster installation structure of the present invention. Detailed Implementation

[0023] The present invention will now be further described with reference to the accompanying drawings.

[0024] Example 1: As Figure 1 As shown, the present invention discloses an overall design structure for a cross-domain vehicle, specifically an autonomous flight unit deployment structure. The flight unit deployment structure includes, but is not limited to, 2, 3, 4, 5, and 6, including a mounting bracket 25 with a groove 23 fixed to the hull structure. One side of the mounting bracket 25 is hinged to a flight unit connecting rod 4, and the other side has a groove 23. A servo motor 2 is fixed to the mounting bracket 25. A short connecting rod 24 is connected to the rotating shaft of the servo motor 2 via a revolute joint. The other end of the short connecting rod 24 is connected to a long connecting rod 21. The other end of the long connecting rod 21 is connected to a flight unit connecting rod connecting bracket 26 via a long rod connecting end 27. The flight unit 41 connecting bracket is attached to the flight unit connecting rod 4 via a revolute joint. The flight unit 41 is fixed to the flight unit connecting rod 4. The end of the short connecting rod 24 connected to the rotating shaft of the servo motor 2 is fixedly connected, and the end connected to the long connecting rod 21 is connected via a revolute joint. Both ends of the long connecting rod 21 are connected via revolute joints.

[0025] The operation of this embodiment is as follows: The aircraft control bay 1 sends a command to retract or extend the autonomous retraction structure of the flight unit. After receiving the signal, the servo motor 2, fixed to the mounting frame 25, begins to rotate, driving the short connecting rod 24 to rotate clockwise around the servo motor 2 axis. Figure 1 (As shown) When the short connecting rod 24 rotates, it causes the long connecting rod 21 to shift and rotate. The long connecting rod 21 then causes the flight unit connecting rod 4 to unfold. When rotated to the desired position, the end 22 of the long connecting rod precisely engages in the groove 23 of the fixing frame 25, achieving overall unfolding and structural stability. The unfolded structure of the flight unit is triangular and stable. After unfolding, the long connecting rod 21 causes the flight unit connecting rod 4 to unfold at a 90° angle to the hull, providing stable support. By controlling the servo motor 2, the flight unit 41 can be autonomously unfolded and retracted. Simultaneously, the structure is stable during unfolding, ensuring lossless transmission of lift generated by the flight unit 41.

[0026] Example 2: As Figure 3 As shown, the present invention discloses an overall design structure for a cross-domain vehicle, specifically a tail-mounted fixed-axis thruster mounting structure, including a hull-end thruster mounting base 31, a fixed-axis thruster 3, a thruster propeller 32, a tail section of the hull-end thruster mounting base 33, a thruster propeller mounting shaft 34, a propeller guide shield 35, and a thruster connection structure 36. The fixed-axis thruster 3 is mounted at a certain angle on the hull-end thruster mounting base 31 via the thruster connection structure 36. The fixed-axis thruster 3 includes, but is not limited to, 3, 4, 5, and 6 units.

[0027] The operation of this example is as follows: Several fixed-axis thrusters 3, fixed to the thruster mounting base 31 at the stern of the hull using the thruster connection structure 36, generate thrust through the rotation of propellers 32. Commands are sent from the vehicle control compartment 1 to control the different propeller speeds 32, thereby adjusting the thrust of the different fixed-axis thrusters 3. When the fixed-axis thrusters 3 are at a certain angle to the hull's centerline, a large torque is generated, achieving high-efficiency differential control, and thus enabling the trans-domain vehicle to achieve high-efficiency turning and maneuvering underwater. The thruster connection structure 36 causes the fixed-axis thrusters 3 to be offset at a fixed angle relative to the hull's centerline towards the stern of the thruster mounting base 33, with the angle range selected between 0-45°.

[0028] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. The overall structure of a transdomain vehicle, characterized in that: It includes a flight unit autonomous retraction and deployment structure and a tail-mounted fixed-axis thruster mounting structure; the flight unit autonomous retraction and deployment structure includes a servo motor (2) mounted on the hull, a flight unit connecting rod (4), a long connecting rod (21), a short connecting rod (24), a fixed frame (25), a flight unit connecting rod connecting frame (26), a long rod connecting end (27), and a flight unit (41). A mounting bracket (25) is fixed on the hull. One side of the mounting bracket (25) is hinged to the flight unit connecting rod (4), and the other side is provided with a groove (23). The servo (2) is fixed on the fixed frame (25). The end of the short connecting rod (24) connected to the rotating shaft of the servo (2) is fixedly connected, and the end connected to the long connecting rod (21) is connected by a rotating joint. One end of the long connecting rod (21) is connected to the flight unit connecting rod connecting frame (26) through the long rod connecting end (27). The flight unit connecting rod connecting frame (26) is attached to the flight unit connecting rod (4) through a rotating joint. The flight unit (41) is fixed on the flight unit connecting rod (4). The servo motor (2) is connected to the vehicle control compartment (1). The vehicle control compartment (1) sends retraction and extension commands to the servo motor (2). The servo motor (2) receives signals transmitted by the hull control unit to achieve autonomous control of the rotation angle. When the short link (24) driven by the servo motor (2) moves to the unfolded position of the flight unit (41), the end (22) of the long link is engaged in the groove (23) on the fixed frame (25) to form a one-way fixation; The stern fixed-axis thruster mounting structure includes a stern thruster mounting base (31), a fixed-axis thruster (3), and a thruster connecting structure (36); the fixed-axis thruster (3) is mounted on the stern thruster mounting base (31) via the thruster connecting structure (36).

2. The overall structure of a transdomain vehicle according to claim 1, characterized in that: The unfolded structure of the flight unit (41) is triangular.

3. The overall structure of a transdomain vehicle according to claim 1, characterized in that: The propeller connection structure (36) causes the fixed-axis propeller (3) to tilt toward the centerline of the hull on the stern side of the propeller mounting base (31).

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