A folding wing trans-medium water-air vehicle

Abstract

The application discloses a kind of folding wing cross-media water-air vehicle, belong to aviation technology and ocean technology field technical field, including shell, rotor and wing, it is characterized in that: the rotor is installed in shell front by front axle, the wing is installed in shell rear by rear axle, the vehicle is provided for driving front axle or rear axle rotation driver, the axis of the front axle and rear axle is perpendicular to vehicle axis;It further includes at least two axial slide rails between the rotor and the wing, axial slide rail is equipped with sliding block;The sliding block is respectively hinged to the rotor and the wing by connecting rod.The present water-air vehicle can realize the flexible deployment and contraction of wing and rotor unit, so as to switch freely between air and water, expand the application field and adaptability of the vehicle.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of aviation and ocean technology, and particularly relates to a folding wing trans-medium water-air vehicle. BACKGROUND

[0002] With the continuous development of aerospace technology and ocean technology, water-air trans-medium vehicles as a new type of marine equipment have broad application prospects. High-performance water-air trans-medium vehicles can be used in fields such as marine scientific research, marine resource exploration, and environmental monitoring. For example, it can be used as an efficient underwater detection tool in marine scientific research to study marine ecology, marine climate, etc.; in marine resource exploration, it can be used to search for sunken ships, oil and gas resources, etc.; in environmental monitoring, it can be used to monitor marine pollution, measure ocean temperature and salinity, etc. In addition, high-performance water-air trans-medium vehicles can also be applied to water rescue operations, by flying autonomously to the accident site to implement search and rescue and rescue tasks, improving rescue efficiency and success rate. In the field of communication, trans-medium vehicles can be used as mobile communication relay stations to achieve long-range communication and data transmission, and can be applied to disaster emergency communication, remote area communication, etc.

[0003] Water-air trans-medium vehicles can freely cross the water-air interface and flexibly switch between underwater and air environments, integrating underwater slip boundary drag reduction, supercavitating hydrofoils, bionic variable technology, etc., and have the characteristics of strong autonomy, high efficiency, and adaptability to complex water conditions. In the military field, the amphibious characteristics of trans-medium vehicles give them unique advantages in many application fields. For example, trans-medium vehicles can be launched at a long distance, fly autonomously to the target area to implement underwater reconnaissance, surveillance or surprise attack. After completing the task, it can be parked or carry the obtained data back, which not only improves the task efficiency but also increases the success rate of the task.

[0004] However, there are some problems in the design and implementation of existing water-air trans-medium vehicles in the prior art. For example, some existing water-air trans-medium vehicles still have room for improvement in performance, autonomy and adaptability, etc. SUMMARY

[0005] In view of the problems existing in the prior art, the present application provides a folding wing trans-medium water-air vehicle to solve the problem that the existing water-air trans-medium vehicles have poor performance, autonomy and adaptability.

[0006] The application is achieved by a folding wing cross-medium water-air vehicle, comprising a shell, a rotor and a wing, characterized in that the rotor is installed at the front of the shell through a front shaft, the wing is installed at the rear of the shell through a rear shaft, the vehicle is provided with a driver for driving the front shaft or the rear shaft to rotate, the axis of the front shaft and the rear shaft is perpendicular to the axis of the vehicle; further comprising at least two axial slide rails arranged between the rotor and the wing, the axial slide rails are equipped with slide blocks; the slide blocks are respectively hinged to the rotor and the wing through connecting rods.

[0007] In the above technical solution, preferably, the rotor comprises an arm, the inner end of the arm is installed on the shell through the front shaft; in the state that the wing abuts against the outer wall of the shell, the arm and the connecting rod hinged thereto form the cathetus and the hypotenuse of the same right-angled triangle respectively; in the state that the arm abuts against the outer wall of the shell, the axis of the wing and the connecting rod hinged thereto form the cathetus and the hypotenuse of the same right-angled triangle respectively.

[0008] In the above technical solution, preferably, the front of the shell is uniformly distributed with four rotors, and the rear of the two rotors symmetrically left and right is provided with the wing.

[0009] In the above technical solution, preferably, the rotor comprises a rotor motor installed at the outer end of the arm and a paddle installed on the rotor motor.

[0010] In the above technical solution, preferably, a rudder motor is installed outside the shell, the rudder motor is connected with the front shaft and drives the front shaft to rotate.

[0011] In the above technical solution, preferably, the connecting rod hinged with the arm is provided with an axial embedding groove, and the arm in the state of abutting against the shell is embedded in the axial embedding groove.

[0012] In the above technical solution, preferably, the wing is a rectangular wing plate, and the rear shaft is connected at the inner corner of the front edge of the wing.

[0013] In the above technical solution, preferably, the rear shaft is arranged at the rear end of the slide rail, a seat block is arranged in front of the front end of the slide rail, and the front shaft is installed on the seat block.

[0014] In the above technical solution, preferably, the vehicle is sequentially provided with a front fairing, a middle pressure-resistant cabin, a control cabin, a rear fairing and an underwater propeller in the axial direction from front to rear.

[0015] In the above technical solution, preferably, the middle pressure-resistant cabin is provided with a buoyancy adjusting unit, the buoyancy adjusting unit comprises a movable piston, a piston push rod and a linear driver.

[0016] The application has the advantages and effects that:

[0017] 1. Cross different medium environment: The water-air cross-medium vehicle of the present application has the ability of both air and water movement modes, and can flexibly switch between air and water, overcoming the medium limitation and having wider adaptability. Combined with the characteristics of underwater glider and aerial rotor unmanned aerial vehicle, the present application adopts a folding rotor design, combining the characteristics of underwater glider and aerial rotor unmanned aerial vehicle, which has both high efficiency maneuverability of air flight and the ability of underwater gliding and depth-keeping navigation, fully utilizing the advantages in two different media.

[0018] 2. Application of folding wing device: The folding wing structure in the present application enables the wings and rotors to be flexibly unfolded and contracted, realizing free switching in different medium environments. When the vehicle is gliding or depth-keeping in water, the wings are unfolded to reduce resistance and improve gliding efficiency; when flying in the air, the wings are contracted to reduce wind resistance and improve flight performance.

[0019] 3. Wide application field: The water-air cross-medium vehicle of the present application has important application value in resource detection, complex environment search and rescue, military field, etc. In resource detection, it can be applied to marine scientific research, environmental monitoring, weather detection, etc.; in complex environment search and rescue, it can be used for sea rescue, disaster rescue, etc.; in military field, it can be used for underwater reconnaissance, monitoring or surprise attack, etc., improving task efficiency and success rate.

[0020] In summary, the water-air cross-medium vehicle of the present application has the advantages and effects of crossing different medium environments, combining the characteristics of underwater glider and aerial rotor unmanned aerial vehicle, application of folding wing device, and wide application field. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 is a structure schematic diagram of the rotor of the vehicle of the present application opened;

[0022] Figure 2 is a structure schematic diagram of the wing of the vehicle of the present application opened;

[0023] Figure 3 is a structure schematic diagram of the buoyancy adjusting unit of the vehicle of the present application. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical scheme and advantages of the present application more clear and explicit, the present application is further described in detail below combined with examples. It should be understood that the specific examples described herein are only used to explain the present application, and are not used to limit the present application.

[0025] In order to solve the problem that the existing water-air cross-medium vehicle is poor in performance, autonomy and adaptability, the application provides a folding wing cross-medium water-air vehicle, which can realize flexible expansion and contraction of the wing and rotor unit, thereby freely switching between air and water, and expanding the application field and adaptability of the vehicle.

[0026] Please refer to Figure 1 and Figure 2 A folding wing cross-medium water-air vehicle, comprising a shell, the vehicle is sequentially provided with a front fairing 1, a middle pressure-resistant cabin 2, a control cabin 3, a rear fairing 4 and an underwater propeller 5 along the axial direction from front to back. The fairing, the middle pressure-resistant cabin, the control cabin and the rear fairing are all components of the shell. The middle pressure-resistant cabin is a sealed shell structure with a pressure-resistant cavity inside. In this embodiment, the middle pressure-resistant cabin is cylindrical, and forms an AUV streamline shape design with the front fairing, the control cabin and the rear fairing. The front fairing and the middle pressure-resistant cabin are connected by a rib ring 6, the middle pressure-resistant cabin and the control cabin are connected by a rib ring, and the rear fairing is directly connected to the rear end of the control cabin. When the water-air cross-medium vehicle enters water from air, the middle pressure-resistant cabin will not be damaged due to water impact load. Further, the middle pressure-resistant cabin and the control cabin are made of carbon fiber reinforced composite material, the front fairing and the rear fairing are made of ABS material, and the rib ring is made of 6061-t6 material. The front fairing, the middle pressure-resistant cabin, the control cabin, the rear fairing and the rib ring all adopt integral forming technology, flange sealing technology and dynamic sealing technology to improve the water sealing performance of the vehicle, so as to improve the waterproof capability of the vehicle. The front fairing and the rib ring, the rib ring and the middle pressure-resistant cabin, the middle pressure-resistant cabin and the rib ring, the rib ring and the control cabin, and the control cabin and the rear fairing all adopt O-ring static sealing. A control unit is integrated in the control cabin, the control unit comprises a main control chip, a brushless motor and an electronic compass, the brushless motor is in driving connection with the underwater propeller, and the main control chip is connected with the brushless motor and a rudder motor outside the front fairing.

[0027] The shell is externally provided with a rotor and a wing.

[0028] Rotor generally refers to the rotating wing system on helicopters, multi-rotor aircraft and similar aircraft, used to generate lift and achieve flight. Rotor is usually composed of multiple rotating blades, which generate lift by rotating in the air, so that the aircraft can take off vertically, hover and perform aerial maneuvers. In this embodiment, the rotor includes a wing arm 7, a rotor motor mounted at the outer end of the wing arm, and a blade 8 mounted on the rotor motor. Further, the rotor is mounted on the front of the housing through a front shaft 9, the axis of the front shaft is perpendicular to the axis of the vehicle, and the rotor rotates around the front shaft to achieve folding and unfolding of the rotor. Further, four seat blocks 10 are uniformly fixed on the outer wall of the front of the housing, and the inner end of the wing arm is mounted on the seat block through the front shaft to realize the four-rotor arrangement of the vehicle, wherein the wings are arranged symmetrically behind the two rotors.

[0029] Underwater vehicles usually do not have traditional wings because the movement in water is different from that in air. Underwater vehicles usually move underwater by controlling buoyancy, propellers, rudders, etc. Some underwater vehicles may use wing-like designs, such as underwater gliders, which generate lift by adjusting the angle and shape of the wings and glide in water. These wings are usually simple in shape and may resemble the wings of an airplane, but their working principle and movement in water are different from those in air. In this embodiment, the wing 11 is a rectangular wing plate.

[0030] The wing is mounted on the rear of the housing through a rear shaft 12. The rear shaft is connected to the inner corner of the front edge of the wing. The axis of the rear shaft is perpendicular to the axis of the vehicle, and the wing is unfolded and folded horizontally by rotating around the rear shaft.

[0031] The vehicle is provided with a drive for driving the front shaft or the rear shaft to rotate. The front fairing is externally mounted with a steering gear 17, which is connected with the front shaft and drives the front shaft to rotate. Specifically, the steering gear is a special underwater equipment steering gear with waterproof function. The steering gear is connected with the steering gear fixing block outside the front fairing through bolts, and the steering gear fixing block is connected to the housing through a clamp.

[0032] It also includes at least two axial sliding rails 13 between the rotor and the wing, and the axial sliding rails are equipped with sliding blocks 14. In this embodiment, the housing is fixed with sliding rails extending in the axis on the left and right sides. The rear shaft is arranged at the rear end of the sliding rail, and the seat block for mounting the rotor is arranged in front of the front end of the sliding rail. That is, the wings are arranged on both sides of the middle pressure-resistant cabin, the wing fixing frame is fixed on both sides of the middle pressure-resistant cabin through a clamp, and the rear shaft is installed at the position corresponding to the rear end of the sliding rail.

[0033] The slider is hinged to the rotor and the wing by the connecting rods 15. The length of the connecting rods and the design of the hinge points are required to ensure that, in the state where the wing is attached to the outer wall of the shell, the wing arm and the connecting rod hinged thereto form the hypotenuse and the opposite side of a right-angled triangle, respectively; in the state where the wing arm is attached to the outer wall of the shell, the wing axis and the connecting rod hinged thereto form the hypotenuse and the opposite side of a right-angled triangle, respectively. This size design can achieve that, in the state where the wing is folded, the linkage mechanism formed by the two connecting rods and the slider pushes the wing wall to be unfolded to be perpendicular to the outer wall of the shell, and vice versa, in the state where the wing arm is folded, the linkage mechanism formed by the two connecting rods and the slider pushes the wing to be unfolded, thereby forming the linkage mechanism of the wing and the wing arm, which ensures that the two wings are only in the unfolded state, realizing the coordinated switching of the two wings of the vehicle. The inner end of the connecting rod is hinged to the slider by a pin shaft whose axis is parallel to the axes of the front shaft and the rear shaft, and the outer end of the connecting rod is hinged to the wing and the wing arm by pin shafts whose axes are parallel to the axes of the front shaft and the rear shaft.

[0034] In order to improve the stability of the linkage structure, a reinforcing arm 16 is formed between the hinge points of the connecting rods of the wing and the wing arm and the hinge points of the inner section shell. In order to prevent the self-locking of the connecting rod during the folding and switching process, a torsional spring is installed in the rear shaft, which is tightened when the wing is folded. The torsional spring always has a tendency to unfold the wing, so when the rudder drives the wing arm to fold, the torque generated by the torsional spring and the pushing force of the slider can avoid the self-locking of the connecting rod. The torsional spring is a known component, and its structure, installation method and working principle are conventional known technologies in the mechanical field. The torsional spring is sleeved on the rear shaft, and two sections are connected to two components that rotate relative to the rear shaft, i.e. the wing and the shaft seat of the rear shaft. The torsional spring will exert elasticity on the wing to unfold the wing. In this way, the mechanism is self-locking.

[0035] The connecting rod hinged to the wing arm is provided with an axial slot, and the wing arm in the state of attaching to the shell is embedded in the axial slot.

[0036] Please refer to Figure 3 The buoyancy adjusting unit is arranged inside the middle pressure-resistant cabin, which includes a movable piston 17, a linear actuator 18, a piston push rod 19 and a fixed flange 20. The sliding fit between the movable piston rod inside the buoyancy adjusting unit and the middle pressure-resistant cabin is a dynamic seal. The buoyancy adjusting unit can be used to adjust the buoyancy and attitude of the vehicle during underwater operation. When the linear actuator drives the movable piston to move towards the head of the vehicle, the internal buoyancy of the vehicle increases, resulting in an increase in the pitch angle of the vehicle; when the linear actuator drives the movable piston to move towards the tail of the vehicle, the internal buoyancy of the vehicle decreases, resulting in a decrease in the pitch angle of the vehicle.

[0037] The control unit is arranged in the control cabin and is used for controlling two motion states of the water-air cross-medium vehicle. The water-air cross-medium vehicle is designed in combination with the application scheme, and an intelligent control algorithm and an intelligent decision algorithm which can switch control modes are designed to meet different fluid disturbance conditions in the air, on the water surface and underwater, so that the water-air cross-medium vehicle can meet the free switching of multiple motion modes.

[0038] The power supply unit is arranged in the control cabin and includes a lithium battery and wires and other components, and is used for providing power for the vehicle.

[0039] The underwater propeller is arranged at the tail of the vehicle and provides power for the depth-keeping mode of the vehicle in water. The underwater propeller mainly includes a paddle and an outer water ring. The underwater propeller is a known accessory, and the connection relationship and working principle between the underwater propeller and the control unit are conventional known technologies.

[0040] When the water-air cross-medium vehicle flies in the air, the rotor unit is unfolded, and the vehicle flies in the air in a vertical posture; when it is needed to enter water, the vehicle vertically enters water, and after entering water, the rotor unit is folded through the folding wing device, the wing is unfolded, the buoyancy adjusting unit adjusts the posture of the vehicle, the vehicle enters the underwater gliding mode, and the underwater propeller can provide power for the depth-keeping mode of the vehicle in water.

[0041] The above is only a preferred embodiment of the application, and is not used to limit the application. Any modification, equivalent replacement and improvement made within the spirit and principle of the application should be included in the protection scope of the application.

Claims

1. A folding wing trans-medium water-air vehicle comprising a hull, a rotor and a wing, characterized in that: The rotor is installed on the front part of the shell through a front shaft, the wing is installed on the rear part of the shell through a rear shaft, the vehicle is provided with a driver for driving the front shaft or the rear shaft to rotate, and the axes of the front shaft and the rear shaft are perpendicular to the axis of the vehicle; Further comprising: At least two axial slide rails arranged between the rotor and the wing, and a slide block matched with the axial slide rails; the slide block is hingedly connected with the rotor and the wing through connecting rods respectively; The linkage mechanism formed by the two connecting rods and the slide block pushes the wing arm of the rotor to be unfolded to be perpendicular to the outer wall of the shell, and vice versa, the linkage mechanism formed by the two connecting rods and the slide block pushes the wing to be unfolded when the wing arm of the rotor is in a folded state, so as to form a linkage mechanism of the wing arm of the rotor and the wing, which ensures that only one of the two is in an unfolded state.

2. The folding wing trans-medium water-air vehicle according to claim 1, characterized in that: The rotor comprises a wing arm, and the inner end of the wing arm is installed on the shell through a front shaft; in the state that the wing abuts against the outer wall of the shell, the wing arm and the connecting rod hingedly connected with the wing arm form the hypotenuse and the right angle of the same right-angled triangle respectively; in the state that the wing arm abuts against the outer wall of the shell, the axis of the wing and the connecting rod hingedly connected with the wing form the hypotenuse and the right angle of the same right-angled triangle respectively.

3. The folding wing trans-medium water-air vehicle according to claim 2, characterized in that: The front part of the shell is uniformly provided with four rotors, and the rear part of the two rotors symmetrically arranged left and right is provided with the wing.

4. The folding wing trans-medium water-aircraft of claim 3, wherein: The rotor comprises a rotor motor installed on the outer end of the wing arm and a paddle installed on the rotor motor.

5. The folding wing trans-medium water-aircraft of claim 4, wherein: A rudder is installed on the outside of the shell, the rudder is connected with the front shaft and drives the front shaft to rotate.

6. The folding wing trans-medium water-aircraft of claim 5, wherein: The connecting rod hingedly connected with the wing arm is provided with an axial embedding groove, and the wing arm in the state of abutting against the shell is embedded in the axial embedding groove.

7. The folding wing trans-medium water-aircraft of claim 6, wherein: The wing is a rectangular wing plate, and the rear shaft is connected to the inner corner of the front edge of the wing.

8. The folding wing trans-medium water-aircraft of claim 7, wherein: The rear shaft is arranged at the rear end of the slide rail, a seat block is arranged in front of the front end of the slide rail, and the front shaft is installed on the seat block.

9. The folding wing trans-medium water-aircraft of claim 8, wherein: The vehicle is sequentially provided with a front fairing, a middle pressure-resistant cabin, a control cabin, a rear fairing and an underwater propeller in the axial direction from front to rear.

10. The folding wing trans-medium water-aircraft of claim 9, wherein: The middle pressure-resistant cabin is provided with a buoyancy adjusting unit, and the buoyancy adjusting unit comprises a movable piston, a piston push rod and a linear driver.

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