Water-air cross-medium unmanned platform multi-mode structure based on bionic design

Abstract

The water-air cross-medium unmanned platform multi-mode structure based on the bionic design specifically comprises an aircraft main body bionic model designed based on the sperm whale swimming principle, and a pair of bow bionic front fins are arranged on the left side and the right side of the front end of the aircraft main body bionic model; a bionic dorsal fin is arranged on the upper portion of the separable shell, a plurality of rotor mechanisms are arranged in the separable shell, when the separable shell is opened, the rotor mechanisms are unfolded to work, a bionic tail fin and a double-shaft steering engine are arranged at the tail of the aircraft body bionic model, a seven-blade propeller is sleeved with a propeller guide pipe, and the propeller guide pipe is connected with the separable shell. When the aircraft main body bionic model sails underwater, the separable shell and the aircraft main body bionic model are attached to each other, so that the streamline of the aircraft main body is ensured; when the aircraft main body bionic model is in an air flight mode, the separable shell is lifted to provide space for unfolding of the multiple rotor wing structures below the separable shell.

Description

Technical Field

[0001] The present invention relates to the field of cross-medium vehicles, and in particular to a multi-modal structure of a water-air cross-medium unmanned platform based on bionic design. Background Art

[0002] Cross-medium flying submersibles can operate in the air, on the surface, and underwater, and can complete the crossing of two media. At present, the overall configuration design of cross-medium vehicles is mainly divided into two categories, namely fixed-wing structure and multi-rotor mechanism. While the fixed-wing structure has the advantages of high speed, stable and reliable structure, it is relatively complicated in terms of propeller arrangement. The multi-rotor mechanism can enter and exit the water through vertical take-off and landing, but it will be subject to greater resistance when sailing underwater, which seriously affects the underwater efficiency of the vehicle. At the same time, the process of crossing the medium is often accompanied by a large impact load, which may cause deformation or even damage to the structure of the interface contact part, and will also have a greater negative impact on the stability of the flying submersible's attitude. In order to avoid such situations, the vertical take-off and landing operation mode of rotorcraft UAVs is borrowed, and structural variants are used to achieve step-by-step medium crossing of vertical landing and take-off of flying submersibles. At present, conventional configurations can no longer meet the aforementioned special design requirements, and after countless evolutions, organisms in nature have acquired special forms that adapt to their living environment. Summary of the invention

[0003] In view of the problems existing in the prior art, the present invention discloses a multi-modal structure of a water-air cross-medium unmanned platform based on bionic design, which specifically includes:

[0004] The aircraft main body bionic model is designed based on the swimming principle of sperm whales. A pair of bow bionic front fins are arranged on the left and right sides of the front end of the aircraft main body bionic model. A detachable shell is arranged in the middle of the aircraft main body bionic model. A bionic dorsal fin is arranged on the upper part of the detachable shell. A plurality of rotor mechanisms are arranged inside the detachable shell. When the detachable shell is opened, the plurality of rotor mechanisms start to work. A bionic tail fin and a dual-axis steering gear are arranged at the tail of the aircraft main body bionic model. The dual-axis steering gear drives the bionic tail fin to work. A motor mechanism is arranged on the side of the bionic model, which drives a seven-blade propeller to rotate. The seven-blade propeller is installed on two sides of the bionic model of the aircraft body. A propeller duct is mounted on the outer side of the seven-blade propeller. When the multi-modal structure of the water-to-air cross-medium unmanned platform is sailing underwater, the detachable shell and the bionic model of the aircraft body fit together to ensure the streamline of the aircraft body; when the multi-modal structure of the water-to-air cross-medium unmanned platform is in the air flight mode, the detachable shell rises to provide space for the deployment of multiple rotor structures below.

[0005] When the multimodal structure of the water-to-air cross-medium unmanned platform is in the underwater navigation mode, a seven-blade propeller is used as a propulsion device, the bionic front fin controls the pitch movement of the main bionic model of the aircraft, and the bionic tail fin deflection controls the steering of the main bionic model of the aircraft; when the multimodal structure of the water-to-air cross-medium unmanned platform is in the air flight mode, an X-shaped rotor mechanism is used as a propulsion device.

[0006] When the multi-modal structure of the water-to-air cross-medium unmanned platform is in the aerial flight mode, after the multiple rotor mechanisms are fully deployed, the bionic front fin points forward, causing disturbances in the flow field below the rotor mechanism, which affects the propulsion efficiency of the rotor mechanism. The bionic front fin needs to be controlled by the motor to move upward.

[0007] There are multiple convex structures of different sizes and irregular arrangement at the front end of the bionic front fin, which gradually shrink in the direction away from the root of the bionic front fin. The leading edge profile of the bionic front fin is represented by superimposing a sine function and a secant function, and its function expression is:

[0008] y=13sec(0.0046π(x+7.5))+1.7sin(0.2π(x+7.5))-11.38

[0009] Where x represents the distance from each point on the leading edge line to the root of the leading edge line along the direction of the extension, and y represents the distance from each point on the leading edge line to the root of the leading edge line along the direction of the chord length.

[0010] The propeller duct and the aircraft body bionic model are superimposed on each other and are subjected to unequally spaced fillet processing. The propeller duct has a suitable interface thickness and trailing edge shrinkage rate.

[0011] Due to the adoption of the above technical solution, the present invention provides a multi-modal structure of a water-air cross-medium unmanned platform based on bionic design. When the aircraft is in the underwater working mode and slams into the water, the streamlined aircraft body can effectively reduce the resistance of the body. The setting of the bionic front fin and dorsal fin is conducive to the adjustment and stable control of the navigation posture of the aircraft. At the same time, the smooth transition between the various structures on the surface of the main body and the main body limits the change of the curvature of the main body surface within a reasonable range, taking into account the bionic performance and motion performance of the aircraft underwater mode. When the aircraft is in flight mode and takes off from the water, the multi-rotor mechanism provides the aircraft with the power output required for flying and crossing the medium. During the entire cross-medium process, the aircraft can maintain a stable posture. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0013] Figure 1 This is a third-perspective image of the cross-media vehicle provided by the present application in the underwater navigation mode.

[0014] Figure 2 This is a third-perspective image of the cross-media aircraft provided by the present application in an aerial flight mode.

[0015] Figure 3 This is a schematic diagram of the bow and bionic front fin structure of the cross-medium vehicle provided in this application.

[0016] Figure 4 It is a schematic diagram of the connection structure between the ducted propeller and the main body of the cross-medium vehicle provided in this application.

[0017] Figure 5 It is a schematic diagram of the tail fin and dual-axis servo structure of the cross-medium vehicle provided in this application.

[0018] 1. Bionic front fin at the bow, 2. Bionic model of the main body of the aircraft, 3. Detachable shell, 4. Bionic dorsal fin, 5. Bionic tail fin, 6. Rotor mechanism, 7. Motor mechanism, 8. Seven-blade propeller, 9. Propeller duct, 10. Dual-axis servo. DETAILED DESCRIPTION

[0019] In order to make the technical solutions and advantages of the present invention more clear, the technical solutions in the embodiments of the present invention are clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention:

[0020] like Figure 1 and Figure 2The multimodal structure of a water-air cross-medium unmanned platform based on bionic design is shown, including a bionic shape of a vehicle body designed based on the swimming principle of sperm whales, a bionic structure of a fish fin, and a power propulsion structure. The bionic shape of the vehicle body includes a bionic model 2 of the vehicle body and a detachable shell 3. The detachable shell 3 is arranged in the middle of the bionic model 2 of the vehicle body, and the detachable shell 3 can be lifted relative to the bionic model 2 of the vehicle body. A plurality of rotor mechanisms 6 are arranged inside the lower part of the detachable shell 3 to provide power for the multimodal structure of the water-air cross-medium unmanned platform during flight. When the multimodal structure of the water-air cross-medium unmanned platform is in the underwater navigation mode, the detachable shell 3 fits with the bionic model 2 of the vehicle body to ensure the streamlined shape of the main body of the multimodal structure of the water-air cross-medium unmanned platform. When the multimodal structure of the water-air cross-medium unmanned platform is in the air flight mode, the detachable shell rises to provide space for the deployment of the plurality of rotor structures 6 below.

[0021] like Figure 3 and Figure 4 As shown, the power propulsion structure mainly includes a motor mechanism 7, a seven-blade propeller 8, a propeller duct 9 and a plurality of rotor mechanisms 6. The motor mechanism 7, the seven-blade propeller 8 and the propeller duct 9 are all arranged on the left and right sides below the main bionic model 2 of the aircraft. When the multimodal structure of the water-to-air cross-medium unmanned platform is in the underwater navigation mode, the rotor mechanism 6 is stored inside the main bionic model 2 of the aircraft below the detachable shell 3, and the aircraft uses the seven-blade propeller 8 as a propulsion device. When the multimodal structure of the water-to-air cross-medium unmanned platform is in the air flight mode, the rotor mechanism 6 rises upward with the detachable shell 3, and after rising to the corresponding position, it unfolds to the left and right, and the plurality of rotor mechanisms 6 unfold into an "X" shape, serving as a propulsion device for the multimodal structure of the water-to-air cross-medium unmanned platform.

[0022] Furthermore, the fish fin bionic structure includes a bionic front fin 1 at the bow, a bionic dorsal fin 4 and a bionic tail fin 5. The bionic front fin 1 is arranged on the left and right sides of the bow of the aircraft main body bionic model 2, and is connected to the internal motor of the aircraft main body bionic model 2, and can change its direction under the drive of the internal motor. The bionic dorsal fin 4 is arranged above the detachable shell 3, and the bionic tail fin 5 is arranged at the tail of the aircraft main body bionic model 2, and is connected to the dual-axis servo 10 at the tail, and the bionic tail fin 5 is controlled by the dual-axis servo 10 to perform deflection movement. The fish fin bionic structure mainly guarantees the motion performance of the water-air cross-medium unmanned platform multimodal structure when it is sailing underwater. When the water-air cross-medium unmanned platform multimodal structure is sailing underwater, the bionic front fin 1 changes its direction under the control of the internal motor to control the pitch movement of the water-air cross-medium unmanned platform multimodal structure underwater. When the water-air cross-medium unmanned platform multi-modal structure is flying in the air, in order to avoid the large windward surface area of ​​the bionic front fin 1 under the rotor mechanism affecting the flight performance of the water-air cross-medium unmanned platform multi-modal structure, the bionic front fin 1 is directed upward under the control of the internal motor. The bionic tail fin 5 is deflected under the control of the dual-axis steering gear 10 to control the movement and steering of the water-air cross-medium unmanned platform multi-modal structure and improve the rotation performance of the water-air cross-medium unmanned platform multi-modal structure. The bionic dorsal fin 4 is arranged above the detachable shell 3, which can improve the heading stability of the water-air cross-medium unmanned platform multi-modal structure when it dives underwater.

[0023] There are many convex structures of different sizes and irregular arrangement at the front end of the bionic front fin 1, which gradually shrink in the direction away from the root of the bionic front fin 1. The leading edge profile of the bionic front fin 1 is expressed by superimposing a sine function and a secant function, and its function expression is:

[0024] y=13sec(0.0046π(x+7.5))+1.7sin(0.2π(x+7.5))-11.38

[0025] Where x represents the distance from each point on the leading edge line to the root of the leading edge line along the direction of the extension, and y represents the distance from each point on the leading edge line to the root of the leading edge line along the direction of the chord length.

[0026] like Figure 4 and Figure 5 As shown, since the distance between the seven-blade propeller 8 and the propeller duct 9 and the aircraft body bionic model 2 is small, there is overlap and a small gap between the propeller duct 9 and the aircraft body bionic model 2, so the intersection of the two is processed with unequally spaced fillets to make the intersection and overlap of each structure smooth. The propeller duct 9 has a suitable interface thickness and trailing edge shrinkage rate to ensure the propulsion performance of the seven-blade propeller 8.

[0027] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A multi-modal structure of a water-air medium-spanning unmanned platform based on bionic design, characterized in that include: A bionic model (2) of an aircraft body designed based on the swimming principle of a sperm whale, wherein a pair of bionic front fins (1) are arranged on the left and right sides of the front end of the bionic model (2), a detachable shell (3) is arranged in the middle of the bionic model (2), a bionic dorsal fin (4) is arranged on the upper part of the detachable shell (3), a plurality of rotor mechanisms (6) are arranged inside the detachable shell (3), and when the detachable shell (3) is opened, the plurality of rotor mechanisms (6) start to work, and a bionic tail fin (5) and a dual-axis steering gear (10) are arranged at the tail of the bionic model (2). The dual-axis steering engine (10) drives the bionic tail fin (5) to work, and a motor mechanism (7) is arranged on the side of the aircraft main body bionic model (2). The motor mechanism (7) drives a seven-blade propeller (8) to rotate and work. The seven-blade propeller (8) is installed on two sides of the aircraft main body bionic model (2). The outer side of the seven-blade propeller (8) is equipped with a propeller guide (9). When the water-to-air cross-medium unmanned platform multi-modal structure is sailing underwater, the detachable shell (3) and the aircraft main body bionic model (2) are mutually fitted to ensure the streamline of the main body of the water-to-air cross-medium unmanned platform multi-modal structure; When the multi-modal structure of the water-to-air medium-spanning unmanned platform is in an aerial flight mode, the detachable outer shell (3) rises to provide space for the deployment of the plurality of rotor structures (6) below.

2. According to claim 1, a multi-modal structure of a water-air medium-spanning unmanned platform based on bionic design, characterized in that: When the multi-modal structure of the water-to-air cross-medium unmanned platform is in an underwater navigation mode, a seven-blade propeller (8) is used as a propulsion device, a bionic front fin (1) controls the pitching movement of a bionic model of the aircraft body (2), and a bionic tail fin (5) deflects to control the steering of the bionic model of the aircraft body (2); and when the multi-modal structure of the water-to-air cross-medium unmanned platform is in an aerial flight mode, an X-shaped rotor mechanism (6) is used as a propulsion device.

3. The multi-modal structure of the water-air medium-spanning unmanned platform based on bionic design according to claim 1 is characterized by: When the multi-modal structure of the water-to-air medium-spanning unmanned platform is in an aerial flight mode, after the multiple rotor mechanisms (6) are fully deployed, the bionic front fin (1) moves forward, causing disturbances in the flow field below the rotor mechanism (6), which affects the propulsion efficiency of the rotor mechanism (6). Therefore, the bionic front fin (1) needs to be controlled by a motor to move upward.

4. The multi-modal structure of the water-air medium-spanning unmanned platform based on bionic design according to claim 1 is characterized by: The front end of the bionic front fin (1) has a plurality of protruding structures of different sizes and irregular arrangement, and gradually shrinks in a direction away from the root of the bionic front fin (1). The front edge profile of the bionic front fin (1) is represented by superimposing a sine function and a secant function, and the function expression is: y=13sec(o.0046π(x+7.5))+1·7sin(o.2π(x+7·5))-11·38 Where x represents the distance from each point on the leading edge line to the root of the leading edge line along the direction of the extension, and y represents the distance from each point on the leading edge line to the root of the leading edge line along the direction of the chord length.

5. The multi-modal structure of the water-air medium-spanning unmanned platform based on bionic design according to claim 1 is characterized by: The propeller duct (9) and the aircraft body bionic model (2) are superimposed on each other and subjected to unequally spaced fillet processing, and the propeller duct (9) has a suitable interface thickness and trailing edge shrinkage rate.

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