Wing folding mechanism of amphibious cross-medium unmanned aircraft

Abstract

The invention relates to the technical field of unmanned aircrafts, and particularly discloses a wing folding mechanism of a submarine-air amphibious cross-medium unmanned aircraft, which comprises a rack, one end of the rack is connected with a steering engine case, the middle part of the steering engine case is provided with a steering engine mounting groove, a steering engine is mounted in the steering engine mounting groove, a steering engine main shaft on the steering engine is connected with the middle part of a rotating rod, and the rotating rod is connected with the rotating rod. A first connecting rod is movably connected to one end of the rotating rod, a first electric telescopic rod is installed on the portion, on one side of the steering engine mounting groove, of the steering engine case shell, and a second electric telescopic rod is installed on the portion, on the other side of the steering engine mounting groove, of the steering engine case shell; compared with a common fixed-wing amphibious aircraft, the aircraft with the wings capable of being automatically folded has the advantages that the wings are folded to the back when entering water, the resistance of the aircraft entering water can be greatly reduced, and certain feasibility is achieved; compared with a four-rotor amphibious aircraft, the four-rotor amphibious aircraft is longer in endurance and higher in speed.

Description

Technical Field

[0001] The invention relates to the technical field of unmanned aerial vehicles, and in particular to a wing folding mechanism of a submersible and air-diving amphibious cross-medium unmanned aerial vehicle. Background Art

[0002] In recent years, the demand for amphibious unmanned aerial vehicles for military and civilian use has continued to grow, and advances in science and technology have made the manufacture of such vehicles more feasible. Based on the different wing types, amphibious aerial vehicles are currently mainly divided into: flying submarines, fixed wings, multi-rotor wings, combined wings, flapping wings, and swept wings. The advantages of swept wings over other types are: (1) faster flight speed and wider flight range. (2) When the wings are swept back, the entire aircraft becomes streamlined, which can reduce resistance. (3) Swept wing aircraft have a certain load capacity.

[0003] The U.S. Office of Naval Research proposed a fixed-wing HAUV deployed by airdrop and developed a prototype, Test Sub II. Test Sub II quickly approached the target waters by gliding after airdropping and then splashing water to complete its underwater mission, but this series of HAUVs could not be recycled. Johns Hopkins University developed a simple triangular plate-shaped fixed-wing HAUV made of carbon fiber panels and foam, and conducted tests focusing on tilted takeoff operations. The test results show that the tilting process of the fixed-wing HAUV has strict requirements on the attitude of the navigation body. If the attitude and speed are not fully matched during takeoff, the navigation body will not be able to generate enough lift and will eventually crash back into the water. North Carolina State University announced a fixed-wing HAUV. It is a waterproof treatment for fixed-wing drones. Its key feature is the design of an open structure that allows water to freely enter and exit the wings to reduce the excessive buoyancy of the wide wing cavity in the water. It is capable of air flight, surface navigation, and small-depth underwater movement, but the efficiency of underwater operations using air propellers is low.

[0004] In 2021, inspired by gannets, Friedrich and others from the Swiss Federal Institute of Technology developed a HAUV named Dipper. The prototype looks similar to a bionic gannet, with swept wings and folding tails. Air propellers and water propellers are installed at the front and rear of the fuselage respectively. The double propellers are driven separately to reduce the weight of the propulsion system. However, due to the low density of the fuselage, the dive landing movement alone cannot support the fuselage to sink completely into the water, and the underwater propeller is required to provide additional power. The control of Dipper's entry into the water is complex, and it is impossible to achieve continuous movement from dive landing to underwater navigation.

[0005] Researchers at RMIT designed a principle prototype of a HAUV with foldable wings, considering that the wide wings of a fixed-wing HAUV would generate significant drag during the crossing of the medium, and even be damaged during the entry into the water when hitting the water surface at high speed. In addition, the prototype is equipped with a propeller with foldable blades and a water jet take-off device with compressed gas as the working medium. The team has conducted complete simulations and wind tunnel tests on the HAUV prototype in both modes, but the prototype has not yet been tested in actual cross-domain movements. The same design has been applied to the small HAUV announced by Imperial College, with a water jet take-off mechanism and retractable wings that can be folded to reduce the impact when diving into the water. After that, the high-pressure gas can quickly squeeze out the water to achieve jet take-off. When the fuselage is completely out of the water, the wings open again and the aircraft flies in fixed-wing mode. In 2019, the team enhanced the jet take-off by using a chemical combustion method instead of high-pressure gas to provide a more powerful water jet power. However, neither of the two HAUVs developed by the team can currently perform underwater movements, and because both use non-reusable jet take-off devices, neither can take off repeatedly. Researchers at the Beijing University of Aeronautics and Astronautics have developed a HAUV prototype with folding wings and ballast tanks. The prototype has completed lake tests to verify basic underwater diving, surface takeoff, air flight and landing functions. However, the "Flying Fish" adopts a surface gliding takeoff method, which requires a long takeoff distance and is easily affected by surface disturbances.

[0006] In summary, there is currently no public use of a wing folding mechanism on the market that allows an unmanned aerial vehicle to automatically fold its wings before entering the water, and automatically unfold the wings when leaving the water, thereby reducing the resistance of the unmanned aerial vehicle in the water. Even if there are some mechanisms on the market that can allow the wings to be folded, these structures often use multiple servos, which are not only costly, but also increase the overall weight of the unmanned aerial vehicle and reduce the overall flight time. In addition, some existing folding mechanisms cannot enhance the stability of the connection between the wings and the unmanned aerial vehicle after the wings are unfolded. Under the action of strong winds, the wings are often affected by wind force, which often affects the service life of the servos. For this reason, a wing folding mechanism for a submersible amphibious cross-medium unmanned aerial vehicle is provided. Summary of the invention

[0007] The purpose of the present invention is to provide a wing folding mechanism for a submersible and air-capable amphibious cross-medium unmanned aerial vehicle in view of the defects of the prior art, so as to solve the problems raised by the above-mentioned background technology.

[0008] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a wing folding mechanism of a submersible and air-air amphibious cross-medium unmanned aerial vehicle, comprising a frame, one end of the frame is connected to a steering gear case, a steering gear mounting slot is provided in the middle of the steering gear case, a steering gear is installed in the steering gear mounting slot, a steering gear spindle on the steering gear is connected to the middle of a rotating rod, one end of the rotating rod is movably connected to a first connecting rod, a first limiting plug hole is provided on the first connecting rod, a second connecting rod is movably connected to the other end of the rotating rod, a second limiting plug hole is provided on the second connecting rod, a first electric telescopic rod is installed on the steering gear case shell on one side of the steering gear mounting slot, a second electric telescopic rod is installed on the steering gear case shell on the other side of the steering gear mounting slot, and the telescopic rods on the first electric telescopic rod and the second electric telescopic rod both pass through the top shell of the steering gear case and are telescopic in a direction perpendicular to the top shell of the steering gear case;

[0009] One end of the first connecting rod is connected to the first wing through a first wing connecting plate, and one end of the second connecting rod is connected to the second wing through a second wing connecting plate;

[0010] A wing connecting frame is installed on the top of the steering gear box, the first wing connecting plate is movably connected to the wing connecting frame through a fifth movable shaft, and the second wing connecting plate is movably connected to the wing connecting frame through a fourth movable shaft;

[0011] The first connecting rod is movably connected to the first wing connecting plate via a first movable shaft, and the second connecting rod is movably connected to the second wing connecting plate via a second movable shaft.

[0012] As a preferred technical solution of the present invention, the other ends of the first connecting rod and the second connecting rod are movably connected to the rotating rod through a third movable shaft.

[0013] As a preferred technical solution of the present invention, the wing connecting frame is installed on the top of the steering gear case by bolts, a motor and a reduction box for driving the propeller are installed on one side of the interior of the steering gear case, the main shaft of the motor is connected to the gear in the reduction box, the gear in the reduction box is connected to the propeller shaft, one end of the propeller shaft is fixed with a propeller through a propeller fixing cone head, the steering gear case is fixed to the frame by bolts, and the other end of the frame is installed with a tail wing.

[0014] As a preferred technical solution of the present invention, the first wing connecting plate and the first wing are fixedly connected by bolts, and the second wing connecting plate and the second wing are fixedly connected by bolts.

[0015] As a preferred technical solution of the present invention, rubber rings are fixed inside the second limit socket and the first limit socket, the first electric telescopic rod and the second electric telescopic rod are installed in the steering gear chassis by bolts, and the telescopic rod diameters of the first electric telescopic rod and the second electric telescopic rod are 2-3 mm smaller than the inner diameter of the rubber ring.

[0016] As a preferred technical solution of the present invention, the middle portion of the rotating rod is fixed on the steering gear main shaft.

[0017] As a preferred technical solution of the present invention, a controller and a battery box are also installed inside the servo chassis, the battery in the battery box is electrically connected to the controller, the controller is electrically connected to the first electric telescopic rod, the second electric telescopic rod, the servo and the motor respectively, and a wireless transmission module is integrated on the controller, and the controller is connected to the remote control device through the wireless transmission module.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] 1. Compared with ordinary fixed-wing amphibious aircraft, the aircraft with automatically foldable wings of the present invention can greatly reduce the resistance of the aircraft when entering the water, and has certain feasibility; compared with quad-rotor amphibious aircraft, it has longer endurance and faster speed.

[0020] 2. The wing folding mechanism of the present invention adopts a single servo to control the wing folding. Compared with multiple servos to control the wing folding, it reduces the weight of the aircraft head, simplifies the structural design of the aircraft, better controls the folding rate of the two wings when the wings are folded, and improves the stability of the aircraft when entering and exiting the water.

[0021] 3. When the two wings are unfolded, the wing folding mechanism of the present invention limits and fixes the connecting rod on the folding mechanism through the telescopic mechanism, thereby limiting the two wings and allowing the two wings to be more stably connected to the wing connecting frame after unfolding, thereby reducing the damage to the wing folding mechanism caused by the impact of wind on the wings during flight and increasing the service life. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a structural schematic diagram of the wings of the present invention being unfolded;

[0023] Figure 2 It is a schematic diagram of the structure of the wing storage of the present invention;

[0024] Figure 3 It is a schematic diagram of the three-dimensional structure of the steering gear chassis of the present invention;

[0025] Figure 4This is a partial enlarged view of the wing being unfolded by the steering gear of the present invention;

[0026] Figure 5 This is a partial enlarged view of the steering gear of the present invention driving the wing to be stored.

[0027] In the figure: 1, steering gear chassis; 2, frame; 3, wing connecting frame; 4, first wing connecting plate; 5, second wing connecting plate; 6, first wing; 7, second wing; 8, propeller fixing cone head; 9, propeller; 10, tail wing; 11, propeller shaft; 101, steering gear; 102, steering gear main shaft; 103, rotating rod; 104, first connecting rod; 105, second connecting rod; 106, second limiting jack; 107, first limiting jack; 108, first electric telescopic rod; 109, second electric telescopic rod; 110, steering gear mounting slot; 111, first movable axis; 112, second movable axis; 113, third movable axis; 114, fourth movable axis; 115, fifth movable axis. DETAILED DESCRIPTION

[0028] The preferred embodiments of the present invention are described in detail below in conjunction with the accompanying drawings so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby making a clearer and more definite definition of the protection scope of the present invention.

[0029] Example: See Figure 1-3 The present invention provides a technical solution: a wing folding mechanism of a submersible and air-borne amphibious cross-medium unmanned aerial vehicle, comprising a frame 2, one end of the frame 2 is connected to a steering gear chassis 1, the middle of the steering gear chassis 1 is provided with a steering gear installation groove 110, a steering gear 101 is installed in the steering gear installation groove 110, a steering gear spindle 102 on the steering gear 101 is connected to the middle of a rotating rod 103, one end of the rotating rod 103 is movably connected to a first connecting rod 104, the first connecting rod 104 is provided with a first limiting socket 107, the other end of the rotating rod 103 is movably connected to a second connecting rod 105, the second connecting rod 105 is provided with a second limiting socket Hole 106, a first electric telescopic rod 108 is installed on the steering gear chassis shell on one side of the steering gear installation slot 110, and a second electric telescopic rod 109 is installed on the steering gear chassis shell on the other side of the steering gear installation slot 110. The telescopic rods on the first electric telescopic rod 108 and the second electric telescopic rod 109 both pass through the top shell of the steering gear chassis and are telescopic in a direction perpendicular to the top shell of the steering gear chassis. After the wings are unfolded, the telescopic rods can be inserted into the limiting plug holes set on the first connecting rod 104 and the second connecting rod 105, so as to limit the first connecting rod 104 and the second connecting rod 105 and improve the stability of the wing connection;

[0030] One end of the first connecting rod 104 is connected to the first wing 6 through the first wing connecting plate 4, and one end of the second connecting rod 105 is connected to the second wing 7 through the second wing connecting plate 5;

[0031] A wing connecting frame 3 is installed on the top of the servo chassis 1, the first wing connecting plate 4 is movably connected to the wing connecting frame 3 through the fifth movable shaft 115, and the second wing connecting plate 5 is movably connected to the wing connecting frame 3 through the fourth movable shaft 114. The first wing connecting plate 4 can rotate around the fifth movable shaft 115, and the second wing connecting plate 5 can rotate around the fourth movable shaft 114.

[0032] The first connecting rod 104 is movably connected to the first wing connecting plate 4 via a first movable shaft 111 , and the second connecting rod 105 is movably connected to the second wing connecting plate 5 via a second movable shaft 112 .

[0033] The other ends of the first connecting rod 104 and the second connecting rod 105 are movably connected to the rotating rod 103 via the third movable shaft 113 .

[0034] The wing connecting frame 3 is installed on the top of the steering gear chassis 1 by bolts. A motor and a reduction box for driving the propeller 9 are installed on one side of the interior of the steering gear chassis 1. The main shaft of the motor is connected to the gear in the reduction box, and the gear in the reduction box is connected to the propeller shaft 11. One end of the propeller shaft 11 is fixed with the propeller 9 through a propeller fixing cone head 8. The steering gear chassis 1 is fixed to the frame 2 by bolts, and the other end of the frame 2 is installed with a tail 10.

[0035] The first wing connecting plate 4 and the first wing 6 are fixedly connected by bolts, and the second wing connecting plate 5 and the second wing 7 are fixedly connected by bolts.

[0036] like Figure 3 As shown, rubber rings are fixed inside the second limit socket 106 and the first limit socket 107, and the first electric telescopic rod 108 and the second electric telescopic rod 109 are installed in the steering gear chassis 1 by bolts. The telescopic rod diameter of the first electric telescopic rod 108 and the second electric telescopic rod 109 is 2-3mm smaller than the inner diameter of the rubber ring, which is convenient for inserting the telescopic rod, and the rubber ring is used for buffering and protection.

[0037] The middle part of the rotating rod 103 is fixed on the steering gear main shaft 102 , and when the steering gear main shaft 102 rotates, the rotating rod 103 rotates accordingly.

[0038] A controller and a battery box are also installed inside the steering gear chassis 1. The batteries in the battery box are electrically connected to the controller. The controller is electrically connected to the first electric telescopic rod 108, the second electric telescopic rod 109, the steering gear 101 and the motor respectively. A wireless transmission module is integrated on the controller. The controller is connected to the remote control device through the wireless transmission module, and a wireless connection is achieved between the controller and the wireless remote control device, and then a signal is transmitted to the controller, so that the controller controls the first electric telescopic rod 108, the second electric telescopic rod 109, the steering gear 101 and the motor to power on and work.

[0039] Working principle: A wing folding mechanism of a submersible amphibious cross-medium unmanned aerial vehicle. Before the unmanned aerial vehicle enters the water surface, the flight speed is reduced, and the first electric telescopic rod 108 and the second electric telescopic rod 109 are controlled by a remote control device to be energized and work, so that the telescopic rods on the first electric telescopic rod 108 and the second electric telescopic rod 109 are respectively pulled out from the second limit socket 106 and the first limit socket 107, so that the rotating rod 103 is not limited, and then the steering gear 101 is controlled by the remote control device to work, so that the steering gear 101 drives the steering gear main shaft 102 to rotate, so that the rotating rod 103 rotates to a certain angle, so that the first connecting rod 104 pushes the first wing connecting plate 4 to rotate around the fifth movable axis 115, and the second connecting rod 105 pushes the second wing connecting plate 5 to rotate around the fourth movable axis 114, so as to realize that the first wing 6 on the first wing connecting plate 4 and the second wing 7 on the second wing connecting plate 5 are brought closer to each other, such as Figure 2 As shown, the first wing 6 and the second wing 7 that are brought close together reduce the overall volume of the unmanned aerial vehicle, thereby reducing resistance when entering the water;

[0040] When the unmanned aerial vehicle is out of the water, the flight speed is reduced, and the steering gear 101 is controlled by the remote control device to rotate in the opposite direction, so as to reset the rotating rod 103. When the rotating rod 103 rotates and resets, it will drive the first connecting rod 104 to pull the first wing connecting plate 4 to rotate around the fifth movable axis 115, and also drive the second connecting rod 105 to pull the second wing connecting plate 5 to rotate around the fourth movable axis 114. Figure 1 As shown, after the first wing 6 on the first wing connecting plate 4 and the second wing 7 on the second wing connecting plate 5 are made perpendicular to the steering gear chassis 1, the first electric telescopic rod 108 and the second electric telescopic rod 109 are opened, and the telescopic rods on the first electric telescopic rod 108 and the second electric telescopic rod 109 are extended, so that the telescopic rods are inserted into the second limiting hole 106 and the first limiting hole 107, and the first connecting rod 104 and the second connecting rod 105 are protected by the rubber rings in the second limiting hole 106 and the first limiting hole 107, so as to achieve the purpose of limiting the first connecting rod 104 and the second connecting rod 105, and prevent the first wing 6 and the second wing 7 from being subjected to a backward folding force when being subjected to strong wind, so as to pull the first connecting rod 104 and the second connecting rod 105 apart, and when the first connecting rod 104 and the second connecting rod 105 are unfolded, the rotating rod 103 will be driven to rotate, thereby affecting the service life of the steering gear 101.

[0041] The above embodiments only express the implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention.

Claims

1. A wing folding mechanism for an amphibious, cross-medium unmanned aerial vehicle, comprising a frame (2), characterized in that: One end of the frame (2) is connected to a steering gear box (1), a steering gear installation groove (110) is provided in the middle of the steering gear box (1), a steering gear (101) is installed in the steering gear installation groove (110), a steering gear main shaft (102) on the steering gear (101) is connected to the middle of a rotating rod (103), one end of the rotating rod (103) is movably connected to a first connecting rod (104), a first limiting plug hole (107) is provided on the first connecting rod (104), and the other end of the rotating rod (103) is movably connected to a A second connecting rod (105), wherein a second limiting plug hole (106) is provided on the second connecting rod (105); a first electric telescopic rod (108) is installed on the outer shell of the steering gear case on one side of the steering gear installation slot (110); and a second electric telescopic rod (109) is installed on the outer shell of the steering gear case on the other side of the steering gear installation slot (110); the telescopic rods on the first electric telescopic rod (108) and the second electric telescopic rod (109) both pass through the top outer shell of the steering gear case and are telescopic in a direction perpendicular to the top outer shell of the steering gear case; One end of the first connecting rod (104) is connected to the first wing (6) via a first wing connecting plate (4), and one end of the second connecting rod (105) is connected to the second wing (7) via a second wing connecting plate (5); A wing connecting frame (3) is installed on the top of the steering gear box (1); the first wing connecting plate (4) is movably connected to the wing connecting frame (3) via a fifth movable shaft (115); and the second wing connecting plate (5) is movably connected to the wing connecting frame (3) via a fourth movable shaft (114); The first connecting rod (104) is movably connected to the first wing connecting plate (4) via a first movable shaft (111), and the second connecting rod (105) is movably connected to the second wing connecting plate (5) via a second movable shaft (112).

2. The wing folding mechanism of the underwater amphibious cross-medium unmanned aerial vehicle according to claim 1 is characterized in that: The other ends of the first connecting rod (104) and the second connecting rod (105) are movably connected to the rotating rod (103) via a third movable shaft (113).

3. The wing folding mechanism of the underwater amphibious cross-medium unmanned aerial vehicle according to claim 1 is characterized in that: The wing connecting frame (3) is mounted on the top of the steering gear box (1) by bolts. A motor and a reduction box for driving a propeller (9) are mounted on one side of the interior of the steering gear box (1). The main shaft of the motor is connected to a gear in the reduction box. The gear in the reduction box is connected to a propeller shaft (11). One end of the propeller shaft (11) is fixed with a propeller (9) via a propeller fixing cone head (8). The steering gear box (1) is fixed to a frame (2) by bolts. A tail wing (10) is mounted on the other end of the frame (2).

4. The wing folding mechanism of the underwater amphibious cross-medium unmanned aerial vehicle according to claim 1 is characterized in that: The first wing connecting plate (4) and the first wing (6) are fixedly connected by bolts, and the second wing connecting plate (5) and the second wing (7) are fixedly connected by bolts.

5. The wing folding mechanism of the underwater amphibious cross-medium unmanned aerial vehicle according to claim 1 is characterized in that: The second limiting socket (106) and the first limiting socket (107) are both fixed with rubber rings, the first electric telescopic rod (108) and the second electric telescopic rod (109) are both installed in the steering gear box (1) by means of bolts, and the telescopic rod diameters of the first electric telescopic rod (108) and the second electric telescopic rod (109) are 2-3 mm smaller than the inner diameter of the rubber ring.

6. The wing folding mechanism of the underwater amphibious cross-medium unmanned aerial vehicle according to claim 1 is characterized by: The middle part of the rotating rod (103) is fixed on the steering gear main shaft (102).

7. The wing folding mechanism of the underwater amphibious cross-medium unmanned aerial vehicle according to claim 1 is characterized in that: A controller and a battery box are also installed inside the steering gear box (1); the storage battery in the battery box is electrically connected to the controller; the controller is electrically connected to the first electric telescopic rod (108), the second electric telescopic rod (109), the steering gear (101) and the motor respectively; a wireless transmission module is integrated on the controller; the controller is connected to the remote control device via the wireless transmission module.

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