A quad-mode cross-medium amphibious water-air vehicle

Abstract

The application provides a four-mode cross-medium amphibious water-air vehicle, and belongs to the technical field of vehicles.The four-mode cross-medium amphibious water-air vehicle comprises a shell, at least two groups of placement grooves, four placement grooves in each group, uniform arrangement of the two groups of placement grooves around the surface of the shell, an inner cavity of a top group of placement grooves being provided with an upper arm, and inner cavities of a bottom group of placement grooves being respectively provided with a first lower arm and a second lower arm.The length of the first lower arm is higher than that of the second lower arm.The worm gear mechanism is arranged, and only two waterproof motors are used to drive the upper arm, the first lower arm and the second lower arm to expand or shrink, so that four propellers follow the upper arm to expand or shrink, so that flexible side wings and a tail wing follow the first lower arm and the second lower arm to expand or shrink, the mode of the vehicle in water and air can be quickly converted, high-cost air dropping or laying of underwater vehicles is avoided, water impact is reduced, and the whole process automation of flying into water, underwater monitoring and landing on shore is realized.

Description

Technical Field

[0001] This invention belongs to the field of aircraft technology, and in particular relates to a four-form cross-medium amphibious air and water vehicle. Background Technology

[0002] An amphibious air vehicle is an unmanned vehicle capable of moving in both water and air. It can traverse both water and air multiple times through changes in its own energy and structure, and can complete underwater and air operations by carrying corresponding sensors.

[0003] By combining aircraft and underwater vehicle technologies, a cross-medium amphibious vehicle can simultaneously navigate in both water and air. However, conventional amphibious vehicles, during normal operation, cannot rapidly switch between water and air configurations or maintain their existing shape. This means that wind loads, water currents, and other environmental factors can interfere with the vehicle's operation to varying degrees, increasing energy consumption and reducing maneuverability and flexibility. Consequently, the vehicle cannot operate at its optimal state and cannot efficiently complete missions. Furthermore, many underwater vehicles require deployment via UAVs or ships, which is costly, has a high impact upon entering the water, and is prone to damage. Automated entry and recovery are also not feasible. Therefore, this application provides a four-mode cross-medium amphibious vehicle to meet these requirements. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a four-form cross-medium amphibious water and air vehicle to solve the problem that existing vehicles cannot quickly change their form in water and air or that the form of the vehicle remains unchanged.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0006] The housing includes at least two sets of placement slots, each set containing four slots. The two sets of slots are evenly arranged around the surface of the housing. The inner cavity of the top set of slots has an upper arm, and the inner cavity of the bottom set of slots has a first lower arm and a second lower arm, respectively. The length of the first lower arm is greater than the length of the second lower arm, and the first and second lower arms are axially perpendicular. The inner cavity of the housing contains two worm gear mechanisms, which are arranged vertically. The tip of the upper arm moves between itself and one of the worm gear mechanisms. The bottom ends of the first and second lower arms are movably connected to one of the worm gear mechanisms. A fixed plate is provided at the bottom end of the inner cavity of the housing. The surface of the fixed plate is provided with two sets of four scrolls, each set consisting of two scrolls. The two sets of four scrolls are arranged horizontally and longitudinally on the surface of the fixed plate and are mirror images of each other. The two sets of scrolls are the first scroll and the second scroll. A side wing is formed between the first scroll and the first lower arm, and a tail wing is formed between the second scroll and the second lower arm. The width of the side wing is wider than that of the tail wing.

[0007] The bottom end of the upper arm is provided with a flight drive unit, and the bottom end of the output end of the flight drive unit is provided with a propeller.

[0008] The upper arm is arc-shaped and matches the placement groove at the top.

[0009] Both the first lower arm and the second lower arm are arc-shaped, and both the first lower arm and the second lower arm fit into the placement groove at the bottom.

[0010] The control unit is located at the center of the top of the fixed plate, and the shell is elliptical in shape.

[0011] The worm gear mechanism includes a waterproof motor. The inner side of the waterproof motor is connected to the top of the inner cavity of the housing and the bottom of the fixing plate, respectively. The outer side of the output end of the waterproof motor is connected to the worm gear body. The surface of the worm gear body is meshed with gears. The top of the upper arm, the bottom of the first lower arm, and the bottom of the second lower arm are all provided with grooves.

[0012] The gear extends into the inner cavity of the groove on the side away from the worm gear body, and the side of the gear away from the worm gear body is fixedly connected to the top end of the upper arm, the bottom end of the first lower arm, and the bottom end of the second lower arm, respectively.

[0013] The inner cavity of the groove is larger than the outer ring of the gear, and a baffle is provided on the outer side of the worm gear body.

[0014] The outer circumference of the baffle is larger than the outer side of the worm gear body.

[0015] The first scroll is higher than the second scroll, and the side wings and tail wings can be retracted or extended in conjunction with the upper side arm, the first lower side arm, and the second lower side arm.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] In the above solution, by setting a worm gear mechanism, only two waterproof motors are needed to drive the upper side arm, the first lower side arm, and the second lower side arm to extend or retract. This allows the side wings and tail fins to extend or retract in tandem with the first and second lower side arms, enabling the vehicle to quickly change its form in water and air. This avoids the high cost of airdropping or deploying underwater vehicles, reduces water entry impact, and automates the entire process of flight into water, underwater monitoring, and landing on land. It also reduces interference from different environments, lowers the vehicle's energy consumption, and improves its maneuverability and flexibility, allowing the vehicle to operate at its optimal state. Furthermore, the four forms of this invention—landing or takeoff attitude, air flight attitude, underwater buoy attitude, and underwater gliding attitude—automate the water entry, underwater mission completion, and surfacing processes with minimal water entry impact. Attached Figure Description

[0018] Figure 1 A schematic diagram of the landing or takeoff attitude structure of a spacecraft;

[0019] Figure 2 A schematic diagram of the attitude structure of an underwater buoy of a vehicle;

[0020] Figure 3 A schematic diagram of the aircraft's attitude and structure during flight.

[0021] Figure 4 A schematic diagram of the underwater gliding attitude structure of a spacecraft;

[0022] Figure 5 A schematic diagram of the aircraft's wing deployment structure;

[0023] Figure 6 A schematic diagram of the tail fin deployment structure of a spacecraft;

[0024] Figure 7 This is a schematic diagram of the aircraft's side wing retraction structure;

[0025] Figure 8 A schematic diagram of the tail fin retraction structure of a spacecraft;

[0026] Figure 9 This is a schematic diagram of a worm gear mechanism.

[0027] In the diagram, 1. Shell; 2. Upper arm; 3. Flight drive unit; 4. Propeller; 5. First lower arm; 6. Second lower arm; 7. Side wing; 8. Worm gear mechanism; 9. Control unit; 10. Fixing plate; 11. First reel; 12. Second reel; 13. Tail wing; 81. Waterproof motor; 82. Worm gear body; 83. Gear. Detailed Implementation

[0028] The following are specific embodiments of the present invention, which are described in conjunction with the accompanying drawings. However, the present invention is not limited to these embodiments.

[0029] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.

[0030] Example 1

[0031] like Figures 1 to 8 As shown, this invention provides a four-form cross-medium amphibious water-air vehicle, comprising: a shell 1, including at least two sets of placement slots, each set having four slots, the two sets of placement slots being evenly arranged around the surface of the shell 1; the inner cavity of the top set of placement slots is provided with an upper arm 2, and the inner cavity of the bottom set of placement slots is respectively provided with a first lower arm 5 and a second lower arm 6; the length of the first lower arm 5 is greater than the length of the second lower arm 6, and the first lower arm 5 and the second lower arm 6 are axially perpendicular; the inner cavity of the shell 1 is provided with two worm gear mechanisms 8, the two worm gear mechanisms 8 being distributed vertically, the top of the upper arm 2 being connected to one of the worm gear mechanisms 8... The worm gear mechanism 8 is movably connected to each other. The bottom end of the first lower arm 5 and the bottom end of the second lower arm 6 are movably connected to one of the worm gear mechanism 8. The bottom end of the inner cavity of the housing 1 is provided with a fixed plate 10. The surface of the fixed plate 10 is provided with two sets of four scrolls, each set of scrolls consisting of two scrolls. The two sets of four scrolls are arranged horizontally and longitudinally on the surface of the fixed plate 10 and the two sets of scrolls are mirror images of each other. The two sets of scrolls are the first scroll 11 and the second scroll 12. The first scroll 11 and the first lower arm 5 form a side wing 7, and the second scroll 12 and the second lower arm 6 form a tail wing 13. The width of the side wing 7 is wider than that of the tail wing 13.

[0032] By setting up a worm gear mechanism 8, only two waterproof motors are used to drive the upper arm, the first lower arm, and the second lower arm to extend or retract. This allows the four propellers to extend or retract with the upper arm, and the flexible side wings and tail fins to extend or retract with the first and second lower arms. This enables the vehicle to quickly change its form in water and air, avoiding the high cost of airdropping or deploying underwater vehicles, reducing the impact of entering the water, and achieving full automation of the entire process of flight into the water, underwater monitoring, and landing on land. The three side arms of the vehicle can be deployed or retracted, allowing for rapid transformation between its water and air configurations. Specifically, the vehicle can be categorized into landing or takeoff attitude, air flight attitude, underwater buoy attitude, and underwater gliding attitude. This reduces interference from different environments, lowers energy consumption, and enhances maneuverability and flexibility, ensuring optimal operational performance. The vehicle is primarily suited for underwater profile monitoring. The landing or takeoff and air flight attitudes facilitate underwater deployment, preventing damage to the fuselage or inaccurate deployment during airdrops. During descent, it assumes an underwater buoy attitude, performing underwater monitoring tasks. Upon surfacing, it glides underwater, correcting its horizontal position to return to the surface. Finally, it deploys its upper side arm 2 for takeoff to shore or a vessel. The vehicle typically utilizes electric motors, conventional engines, turbine engines, and propulsion systems in water, employing conventional technologies, which will not be detailed here. The side wings 7 and tail 13, when deployed, exhibit not only different heights but also different lengths. This design is primarily intended to improve the aerodynamic performance of the vehicle, which helps to control and stabilize the attitude and orientation of the underwater vehicle.

[0033] like Figure 1 and Figure 3 As shown, the bottom end of the upper arm 2 is provided with a flight drive unit 3, and the bottom end of the output end of the flight drive unit 3 is provided with a propeller 4.

[0034] The purpose of the flight drive unit 3 is to propel the vehicle into flight, enabling it to operate in the air. The flight drive unit 3 uses a waterproof motor, providing excellent waterproof performance and preventing damage in water, thus avoiding any operational defects. In water, it is driven by internal buoyancy and center-of-gravity adjustment mechanisms. When the upper arm 2 is not deployed, it is fitted with a slot on the surface of the housing 1, and a portion of the propeller 4 extends into the housing 1. The main function of the propeller 4 is to provide lift for the vehicle during aerial operation, ensuring its flight.

[0035] like Figure 1 and Figure 3 As shown, the upper arm 2 is arc-shaped and matches the placement groove at the top.

[0036] By setting the upper arm 2 in an arc shape, this design can effectively improve the hydrodynamic performance of the aircraft, enhance its wind resistance and control precision. When the aircraft is flying in the air, its upper arm 2 and propeller 4 will generate lift. The balance between lift and gravity can help adjust the flight state of the aircraft and ensure its stable flight in the air. By adjusting the speed of the four propellers, the magnitude of lift can be changed, thereby affecting the balance between lift and gravity and realizing the control of the aircraft.

[0037] like Figure 1 , Figure 4 and Figure 5 As shown, both the first lower arm 5 and the second lower arm 6 are arc-shaped, and both the first lower arm 5 and the second lower arm 6 fit into the placement groove at the bottom.

[0038] By designing both the first lower side arm 5 and the second lower side arm 6 to be arc-shaped, the latter provides support for the vehicle during landing. Both arms are constructed of durable materials, offering excellent stability and durability, supporting the vehicle's weight without damage and extending its service life. When the vehicle is used in water, the arc-shaped design of the first and second lower side arms 5 and 6 is primarily for retracting the arms in buoy mode, streamlining the outer shell and improving maneuverability and stability in water. When the vehicle is gliding underwater, the lower arms unfold, pulling out flexible side wings and a tail fin from the reel to form side and tail fins. The internal drive mechanism helps adjust the depth and attitude of the vehicle and ensures its stable operation underwater. Specifically, by changing the internal center of gravity adjustment mechanism and buoyancy adjustment mechanism, the vehicle can change the magnitude of lift and drag, thereby affecting the balance of buoyancy and gravity. In conjunction with the deployed side wings and tail fins, it can control the navigation depth and attitude. In addition, the arc-shaped lower sidewall design can also improve the maneuverability of the vehicle. When it is necessary to adjust the navigation direction or change the speed, by fine-tuning the lower sidewall and changing the size of the side wings and tail fins, the steering force of the vehicle can be quickly changed, enabling it to complete the task flexibly and accurately. At the same time, this design also helps to reduce the noise and water resistance of the vehicle and improve its working efficiency.

[0039] like Figure 5 , Figure 6 and Figure 7 As shown, a control part 9 is provided at the center of the top of the fixed plate 10, and the housing 1 is elliptical in shape.

[0040] By setting the shell 1 into an elliptical spherical shape, the vehicle's performance and efficiency can be improved by considering factors such as hydrodynamics and structural mechanics during use. This can effectively reduce the vehicle's drag, increase its flight speed and stability in the air, and at the same time, the elliptical shape can also improve the vehicle's water mobility, making it more stable and flexible when traveling underwater. In addition, the shell 1 is small in size, making it convenient for daily use.

[0041] like Figure 7 , Figure 8 and Figure 9 As shown, the worm gear mechanism 8 includes a waterproof motor 81. The inner side of the waterproof motor 81 is connected to the top of the inner cavity of the housing 1 and the bottom of the fixing plate 10, respectively. The outer side of the output end of the motor 81 is connected to the worm gear body 82. The surface of the worm gear body 82 is meshed with a gear 83. The top of the upper arm 2, the bottom of the first lower arm 5, and the bottom of the second lower arm 6 are all provided with grooves.

[0042] By setting up a worm gear mechanism 8, the upper arm 2, the first lower arm 5, and the second lower arm 6 are driven to extend or retract. At the same time, the side wings 7 and the tail fin 13 extend or retract with the first lower arm 5 and the second lower arm 6, so that the vehicle can quickly change its form in water and air. In addition, the entire worm gear mechanism 8 is made of waterproof material, which has good waterproof performance, so that the worm gear mechanism 8 can operate normally in water without interference.

[0043] like Figure 7 , Figure 8 and Figure 9 As shown, the side of gear 83 away from the worm gear body 82 extends into the inner cavity of the groove, and the side of gear 83 away from the worm gear body 82 is fixedly connected to the top end of the upper arm 2, the bottom end of the first lower arm 5, and the bottom end of the second lower arm 6, respectively.

[0044] By setting gear 83, the waterproof motor 81 drives the worm gear body 82 to rotate forward and backward, so that gear 83 rotates forward and backward, which in turn drives the upper side arm 2, the first lower side arm 5 and the second lower side arm 6 to rotate forward and backward, so that the side arms of the aircraft can be extended or retracted, making the aircraft easier to use.

[0045] like Figure 7 , Figure 8 and Figure 9 As shown, the inner cavity of the groove is larger than the outer ring of the gear 83, and a baffle is provided on the outer side of the worm gear body 82. By setting the groove, the gear 83 can be connected to the top of the upper arm 2, the bottom of the first lower arm 5, and the bottom of the second lower arm 6 respectively. The connection can be made by welding or plugging, so that when the gear 83 rotates, it can drive the upper arm 2, the first lower arm 5, and the second lower arm 6 to rotate together, thereby improving the driving performance of the vehicle.

[0046] like Figure 7 , Figure 8 and Figure 9 As shown, the outer ring of the baffle is larger than the outer side of the worm gear body 82. The purpose of the baffle is to restrict the gear 83 and prevent it from rotating directly out of the worm gear body 82, thus preventing it from operating within the specified range and reducing its cyclical use.

[0047] like Figure 7 , Figure 8 and Figure 9 As shown, the first scroll 11 is higher than the second scroll 12, and the side wings 7 and tail wings 13 can retract or extend in conjunction with the upper side arm 2, the first lower side arm 5 and the second lower side arm 6.

[0048] By setting the first scroll 11 and the second scroll 12 to be made of waterproof material, it is possible to prevent them from becoming unusable after encountering water, which would cause the side wings 7 and tail 13 of the vehicle to malfunction and thus render the vehicle unusable. At the same time, when the first lower side arm 5 and the second lower side arm 6 are deployed, they can serve as a support structure for landing and take-off attitudes, supporting the vehicle and also suitable for underwater gliding attitudes.

[0049] The technical solution provided by this invention involves placing the aircraft on a ship, using an external controller to activate the waterproof motor 81, which drives the worm gear body 82 to rotate, causing the gear 83 to rotate, which in turn causes the upper arm 2, the first lower arm 5, and the second lower arm 6 to extend or retract. Simultaneously, as the first lower arm 5 and the second lower arm 6 extend, the side wings 7 and the tail fin 13 also extend, at which point the aircraft changes to a landing or takeoff posture. Then, the external controller activates the flight drive unit 3, driving the propeller 4 to rotate, allowing the aircraft to fly. During flight, the first lower arm 5 and the second lower arm 6 retract, causing the side wings 7 and the tail fin 13 to retract. 3. The first reel 11 and the second reel 12 are rotated and retracted onto the shaft inside the shell 1, causing the vehicle to change into an aerial flight attitude. When the vehicle needs to select a suitable water area for launch, the worm gear mechanism 8 causes the upper arm 2, the first lower arm 5, and the second lower arm 6 to retract, changing the vehicle's shape to an underwater buoy attitude for profile monitoring. When the vehicle needs to surface, the worm gear mechanism 8 causes the first lower arm 5 and the second lower arm 6 to unfold, causing the side wings 7 and tail fin 13 to unfold, causing the vehicle to change into an underwater gliding attitude to surface and correct its horizontal displacement, returning to a certain water surface area. Finally, the upper arm 2 is unfolded again, and the flight drive unit 3 and the propeller 4 take off and land on land or a ship.

[0050] It should be noted that in this invention, the use of terms such as "first," "second," and "a" is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified. The terms "connection," "fixed," etc., should be interpreted broadly. For example, "fixed" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two elements or the interaction between two elements, unless otherwise explicitly specified. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0051] Furthermore, the technical solutions of the various embodiments of the present invention can be combined with each other, but only if they are feasible for those skilled in the art. If the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed by the present invention.

[0052] The specific embodiments described herein are merely illustrative of the spirit of the invention. Those skilled in the art to which this invention pertains may make various modifications or additions to the described specific embodiments or use similar methods to substitute them, without departing from the spirit of the invention or exceeding the scope defined by the appended claims.

Claims

1. A four-mode, cross-medium, amphibious water-air vehicle, characterized in that, include: The housing includes at least two sets of placement slots, each set having four slots. The two sets of placement slots are evenly arranged around the surface of the housing. The inner cavity of the top set of placement slots is provided with an upper side arm, and the inner cavity of the bottom set of placement slots is provided with a first lower side arm and a second lower side arm, respectively. The length of the first lower arm is greater than the length of the second lower arm, and the first lower arm and the second lower arm are axially perpendicular. The inner cavity of the housing is provided with two worm gear mechanisms, which are distributed vertically. The top end of the upper arm is movably connected to one of the worm gear mechanisms, and the bottom ends of the first lower arm and the second lower arm are movably connected to one of the worm gear mechanisms. The bottom end of the inner cavity of the housing is provided with a fixing plate. The surface of the fixing plate is provided with two sets of four scrolls, each set of scrolls consists of two scrolls, the two sets of four scrolls are arranged horizontally and longitudinally on the surface of the fixing plate and the two sets of scrolls are mirror images of each other, the two sets of scrolls are the first scroll and the second scroll, the first scroll and the first lower side arm form a side wing, the second scroll and the second lower side arm form a tail wing, the width of the side wing is wider than the tail wing. The bottom end of the upper arm is provided with a flight drive unit, and the bottom end of the output end of the flight drive unit is provided with a propeller. The worm gear mechanism includes a waterproof motor. The inner side of the waterproof motor is connected to the top of the inner cavity of the housing and the bottom of the fixing plate, respectively. The outer side of the output end of the waterproof motor is connected to the worm gear body. The surface of the worm gear body is meshed with gears. The top of the upper arm, the bottom of the first lower arm, and the bottom of the second lower arm are all provided with grooves. The gear extends into the inner cavity of the groove on the side away from the worm gear body, and the side of the gear away from the worm gear body is fixedly connected to the top end of the upper arm, the bottom end of the first lower arm, and the bottom end of the second lower arm, respectively. The inner cavity of the groove is larger than the outer ring of the gear, and a baffle is provided on the outer side of the worm gear body.

2. The four-mode cross-medium amphibious water-air vehicle according to claim 1, characterized in that, The upper arm is arc-shaped and matches the placement groove at the top.

3. A four-mode, cross-medium, amphibious water-air vehicle according to claim 1, characterized in that, Both the first lower arm and the second lower arm are arc-shaped, and both the first lower arm and the second lower arm fit into the placement groove at the bottom.

4. A four-mode, cross-medium, amphibious water-air vehicle according to claim 1, characterized in that, The control unit is located at the center of the top of the fixed plate, and the shell is elliptical in shape.

5. A four-mode, cross-medium, amphibious water-air vehicle according to claim 1, characterized in that, The outer circumference of the baffle is larger than the outer side of the worm gear body.

6. A four-mode, cross-medium, amphibious water-air vehicle according to claim 1, characterized in that, The first scroll is higher than the second scroll, and the side wings and tail wings can be retracted or extended in conjunction with the upper side arm, the first lower side arm, and the second lower side arm.

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