Water-air cross-medium unmanned platform mode conversion aircraft

Abstract

The invention discloses a water-air cross-medium unmanned platform mode conversion aircraft. The water-air cross-medium unmanned platform mode conversion aircraft comprises a shell structure, a mode conversion mechanism and a bionic front fin structure. The mode switching mechanism switches different working modes when the aircraft is in an underwater navigation mode and a flight mode, when the aircraft is in the underwater navigation mode, the separable shell and the bionic shell are attached to each other to ensure the streamline appearance of the aircraft in the underwater mode, and when the aircraft is in the flight mode, the separable shell and the bionic shell are attached to each other to ensure the streamline appearance of the aircraft in the flight mode. A separable shell and a bionic shell in the shell structure are separated from each other, the position of the separable shell is located over the position of an underwater mode, and during mode conversion, the separable shell is controlled by a lifting push rod on the lower portion to ascend and descend. Different propulsion modes are selected according to the navigation modes of the aircraft in different media, and the mutual influence between the two propulsion modes is reduced to the minimum through reasonable arrangement of a variant scheme.

Description

Technical Field

[0001] The present invention relates to the technical field of water-to-air cross-medium vehicles, and in particular to a water-to-air cross-medium unmanned platform mode conversion vehicle. Background Art

[0002] At present, most submersibles are propelled by air rotors and underwater propellers. However, due to the huge differences in the density and dynamic viscosity of air and water, the efficiency of high-speed air rotors for underwater propulsion will be greatly reduced, and underwater propellers for air flight often cannot provide sufficient pulling force. In order to provide sufficient power for the aircraft to navigate in water and air, a widely studied solution is to use different propulsion methods to drive the aircraft when the aircraft is in two different working modes, underwater and air. When the aircraft is in the underwater working mode, the propeller propulsion method is used; when the aircraft is in the air working mode, a multi-rotor structure is used to provide power. When this propulsion method is used to design a cross-medium aircraft, the reasonable arrangement of the two propulsion devices has a great benefit for the aircraft's water and air amphibious operation capabilities and the ability to cross the air-water interface mode conversion. However, many cross-medium submersibles that have been developed still have major problems in the layout of the propulsion system. Different propulsion systems inevitably affect each other in the two navigation modes, resulting in a large difference between their basic navigation performance and the number of medium crossings and the ideal target. At the same time, current research on spacecraft crossing media is mostly limited to one-way medium crossing, and there is little comprehensive research on two-way medium crossing of the same configuration. Summary of the invention

[0003] In view of the problems existing in the prior art, the present invention discloses a water-air cross-medium unmanned platform mode conversion aircraft. In this solution, the low resistance and low energy consumption of the fixed-wing aircraft when sailing underwater and the stability and high maneuverability of the multi-rotor aircraft when crossing water and air are combined, and at the same time, it has the advantages of rapidity, stability and long endurance, and realizes the stable switching and operation of the air and underwater navigation modes. The specific technical solutions include:

[0004] The shell structure includes a detachable shell, a bionic shell and an underwater propeller, wherein the detachable shell is located on the upper surface of the bionic shell, the underwater propeller is installed on the left and right sides of the bionic shell, and the detachable shell performs lifting and lowering actions relative to the aircraft.

[0005] A mode conversion mechanism switches between different working modes when the aircraft is in an underwater navigation mode and a flight mode. When the aircraft is in an underwater navigation mode, the detachable shell and the bionic shell fit each other to ensure the streamlined shape of the aircraft in the underwater mode. When the aircraft is in an aerial flight mode, the detachable shell and the bionic shell in the shell structure are separated from each other, and the position of the detachable shell is directly above the position in the underwater mode. When the mode conversion is performed, the detachable shell is controlled by the lifting push rod below to perform a lifting action;

[0006] The bionic front fin structure can switch different orientations through rotation when the vehicle is in underwater navigation mode and flight mode.

[0007] The mode conversion mechanism includes a lifting push rod, a lifting support, a plurality of rotating telescopic arms and a rotor mechanism arranged on the lifting support, wherein the rotating telescopic arms and the rotor mechanism are connected to the lifting support, and the lifting push rod controls the lifting support to move up and down to switch between the underwater navigation mode and the flight mode;

[0008] The rotating telescopic arm comprises an arm structure, a rotating mechanism and a pitching structure, wherein the rotating mechanism is connected to a lifting support, the rotating telescopic arm is connected to the lifting support through the rotating mechanism, the pitching structure is installed on the side of the rotating mechanism, and the arm structure is connected to the pitching structure;

[0009] The rotor mechanism comprises a plurality of rotor structures and a rotor motor driving each rotor structure, wherein the end of the arm structure is connected to the rotor motor.

[0010] The bionic front fin structure includes a bow bionic front fin and a rotating motor that drives the bow bionic front fin to rotate; when the aircraft is in an underwater navigation mode, the leading edge of the bow bionic front fin faces the bow of the aircraft, and when the aircraft is in a flight mode, the leading edge of the bow bionic front fin faces the top of the aircraft. When performing a mode conversion, the bow bionic front fin is driven by the rotating motor to rotate.

[0011] When the aircraft is in the underwater navigation mode, the detachable shell and the bionic shell in the shell structure are fitted together, the lifting push rod in the mode conversion mechanism is in a stopped working state, and the lifting support, multiple rotating telescopic arms and the rotor mechanism are stored inside the aircraft; when the aircraft is in the air flight mode, the lifting push rod in the mode conversion mechanism is in a working state, the lifting support, multiple rotating telescopic arms and the rotor mechanism are lifted to the outside of the aircraft, and the multiple rotating telescopic arms and the rotor mechanism are controlled by the arm structure, the rotating mechanism and the pitch structure to form an "X" shape relative to each other, serving as a propulsion device when the aircraft is in the air flight mode.

[0012] When the aircraft is converted from the underwater navigation mode to the aerial flight mode, the lifting push rod is driven by the control system to lift the detachable shell, the lifting support, the multiple rotating telescopic arms and the rotor mechanism to the corresponding positions, the rotating mechanism unfolds the multiple rotating telescopic arms to the left and right sides of the aircraft, the pitch mechanism drives the multiple rotating telescopic arms to lift to a horizontal position, and the arm structure is extended by the reduction motor arranged inside; when the aircraft is converted from the aerial flight mode to the underwater navigation mode, the arm structure is shortened by the internal reduction motor, the rotating telescopic arms are shortened, the pitch mechanism drives the multiple rotating telescopic arms to adjust to the appropriate angles, the rotating mechanism brings the multiple rotating telescopic arms from the left and right sides of the aircraft to the center, the lifting push rod is driven by the control system to lower the detachable shell, the lifting support, the multiple rotating telescopic arms and the rotor mechanism to the corresponding positions, and the mode conversion mechanism is re-stored inside the aircraft.

[0013] When the aircraft is in underwater navigation mode, the leading edge of the bionic front fin structure faces the bow of the aircraft. When the aircraft is in flight mode, the leading edge of the bionic front fin structure faces the top of the aircraft. When the mode is converted, the bionic front fin structure is driven by an internal rotating motor to rotate.

[0014] The specific objective function expression of the leading edge profile of the bow bionic front fin is as follows:

[0015] y=13sec(0.0046π(x+7.5))+1.7sin(0.2π(x+7.5))-11.38

[0016] 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.

[0017] Due to the adoption of the above technical solution, the present invention provides a water-to-air cross-medium unmanned platform mode conversion aircraft, which achieves stable cross-medium navigation while further reducing drag and increasing efficiency. When sailing underwater, the rotor structure used for air navigation is in a non-working state and is stored in the body of the aircraft, ensuring the underwater streamline of the aircraft, which has a significant effect on reducing resistance during underwater navigation. It also achieves reliable compatibility between different propellers when the cross-medium aircraft sails in both air and water media, effectively improving the stability and reliability of different power switching of the aircraft during cross-medium navigation. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] 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.

[0019] Figure 1 This is a third-perspective structural diagram of the cross-media aircraft in flight mode provided by the present application.

[0020] Figure 2 It is a schematic diagram of the structure of the rotor and variant scheme of the cross-medium aircraft provided in this application.

[0021] Figure 3 It is a schematic diagram of the structure of the bionic front fin and rotating motor of the cross-medium vehicle provided in this application. DETAILED DESCRIPTION

[0022] 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:

[0023] like Figure 1 and Figure 2 A water-to-air cross-medium unmanned platform mode conversion aircraft shown in the figure includes a shell structure, a mode conversion mechanism and a bionic front fin structure, wherein the shell structure includes a detachable shell 1, a bionic shell 11 and an underwater propeller 12, wherein the detachable shell 1 is located on the upper surface of the bionic shell 11, and the underwater propeller 12 is installed on the left and right sides of the bionic shell 11, and the detachable shell 1 performs lifting and lowering actions relative to the aircraft.

[0024] The mode conversion mechanism switches between different working modes when the aircraft is in underwater navigation mode and flight mode. When the aircraft is in underwater navigation mode, the detachable shell 1 and the bionic shell 11 fit together to ensure the streamlined shape of the aircraft in the underwater mode. When the aircraft is in the air flight mode, the detachable shell 1 and the bionic shell 11 in the shell structure are separated from each other, and the position of the detachable shell 11 is directly above the position in the underwater mode. When performing mode conversion, the detachable shell 11 is controlled by the lifting push rod below to perform lifting and lowering movements.

[0025] like Figure 3As shown, the specific working principle of the bionic front fin structure is as follows: when the aircraft is in underwater navigation mode and flight mode, different orientations are switched through rotation. The bionic front fin structure includes a bow bionic front fin 9 and a rotary motor 10 that drives the bow bionic front fin 9 to rotate; when the aircraft is in underwater navigation mode, the leading edge of the bow bionic front fin 9 faces the bow of the aircraft, and when the aircraft is in flight mode, the leading edge of the bow bionic front fin 9 faces the top of the aircraft. When the mode is switched, the bow bionic front fin 9 is driven by the rotary motor 10 to rotate.

[0026] Furthermore, the mode conversion mechanism includes a lifting push rod 7, a lifting support 8, a plurality of rotating telescopic arms 40 arranged on the lifting support, and a rotor mechanism 20. The rotating telescopic arms 40 and the rotor mechanism 20 are connected to the lifting support 8, and the lifting push rod 7 controls the lifting support 8 to move up and down to switch between the underwater navigation mode and the flight mode;

[0027] Further, the rotating telescopic arm 40 includes an arm structure 4, a rotating mechanism 6 and a pitch structure 5, wherein the rotating mechanism 6 is connected to the lifting support 8, the rotating telescopic arm 40 is connected to the lifting support 8 through the rotating mechanism 6, the pitch structure 5 is installed on the side of the rotating mechanism 6, and the arm structure 4 is connected to the pitch structure 5;

[0028] Furthermore, the rotor mechanism 20 includes a plurality of rotor structures 2 and a rotor motor 3 for driving each rotor structure 2 , wherein the end of the arm structure 4 is connected to the rotor motor 3 .

[0029] Furthermore, when the aircraft is in the underwater navigation mode, the detachable shell 1 and the bionic shell 11 in the shell structure are attached to each other, the lifting push rod 7 in the mode conversion mechanism is in a stopped working state, and the lifting support 8 and the multiple rotating telescopic arms 40 and the rotor mechanism 20 arranged on the lifting support are stored inside the aircraft. When the aircraft is in the air flight mode, the lifting push rod 7 in the mode conversion mechanism is in a working state, the lifting support 8 and the multiple rotating telescopic arms 40 and the rotor mechanism 20 arranged on the lifting support are lifted to the outside of the aircraft, and the multiple rotating telescopic arms 40 and the rotor mechanism 20 are controlled by the arm structure 4, the rotating mechanism 6 and the pitching structure 5 to form an "X" shape with each other, serving as a propulsion device when the aircraft is in the air flight mode.

[0030] Further, when the aircraft is converted from the underwater navigation mode to the air flight mode, the lifting push rod 7 is driven by the control system to lift the detachable shell 1, the lifting support 8, and the multiple rotating telescopic arms 40 and the rotor mechanism 20 arranged on the lifting support 8 to the corresponding position. The rotating mechanism 6 unfolds the multiple rotating telescopic arms 40 to the left and right sides of the aircraft; the pitching mechanism 5 drives the multiple rotating telescopic arms 40 to the horizontal position; the internal reduction motor of the arm structure 4 drives the screw to extend the arm. When the aircraft is converted from the air flight mode to the underwater navigation mode, the arm structure 4 is shortened by the internal reduction motor to shorten the arm, the pitching mechanism 5 drives the multiple rotating telescopic arms 40 to adjust to the appropriate angle, the rotating mechanism 6 closes the multiple rotating telescopic arms 40 from the left and right sides of the aircraft to the center, and the lifting push rod 7 is driven by the control system to lower the detachable shell 1, the lifting support 8, and the multiple rotating telescopic arms 40 and the rotor mechanism 20 arranged on the lifting support 8 to the corresponding position, and the mode conversion mechanism is re-stored inside the aircraft.

[0031] Furthermore, the specific objective function expression of the leading edge profile of the bow bionic front fin 9 is as follows:

[0032] y=13sec(0.0046π(x+7.5))+1.7sin(0.2π(x+7.5))-11.38

[0033] Wherein, x represents the distance from each point on the leading edge profile to the root of the leading edge profile along the direction of the extension, and y represents the distance from each point on the leading edge profile to the root of the leading edge profile along the direction of the chord length.

[0034] The water-to-air cross-medium unmanned platform mode conversion aircraft provided by the present invention is mainly arranged in the middle of the aircraft, and the variant structure includes multiple driving mechanisms including a lifting support and a rotating telescopic arm. When sailing underwater, the rotor propulsion unit used for air navigation is stored inside the aircraft, which can effectively reduce the resistance encountered by the cross-medium aircraft in the water. Different propulsion methods are selected according to the navigation mode of the aircraft in different media. The mutual influence between the two propulsion methods is minimized through the reasonable arrangement of the variant scheme. When crossing the medium, the switching of the two propulsion methods has little effect on the movement posture of the aircraft, and a stable power output is always provided for the aircraft.

[0035] 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 water-air cross-medium unmanned platform mode conversion vehicle, characterized in that include: A shell structure, comprising a detachable shell (1), a bionic shell (11) and an underwater propeller (12), wherein the detachable shell (1) is located on the upper surface of the bionic shell (11), the underwater propeller (12) is installed on the left and right sides of the bionic shell (11), and the detachable shell (1) performs a lifting action relative to the aircraft; A mode conversion mechanism switches between different working modes when the aircraft is in an underwater navigation mode and a flight mode. When the aircraft is in an underwater navigation mode, the detachable shell (1) and the bionic shell (11) fit together to ensure the streamlined shape of the aircraft in the underwater mode. When the aircraft is in an aerial flight mode, the detachable shell (1) and the bionic shell (11) in the shell structure are separated from each other, and the position of the detachable shell (11) is directly above the position in the underwater mode. When the mode conversion is performed, the detachable shell (11) is controlled by a lifting push rod below to perform a lifting action. The bionic front fin structure can switch different orientations through rotation when the vehicle is in underwater navigation mode and flight mode.

2. The water-air cross-medium unmanned platform mode conversion vehicle according to claim 1, characterized in that: The mode conversion mechanism comprises a lifting push rod (7), a lifting support (8), a plurality of rotating telescopic arms (40) arranged on the lifting support, and a rotor mechanism (20); the rotating telescopic arms (40) and the rotor mechanism (20) are connected to the lifting support (8); the lifting push rod (7) controls the lifting support (8) to move up and down to switch between an underwater navigation mode and a flight mode; The rotating telescopic arm (40) comprises an arm structure (4), a rotating mechanism (6) and a pitch structure (5), wherein the rotating mechanism (6) is connected to a lifting support (8), the rotating telescopic arm (40) is connected to the lifting support (8) via the rotating mechanism (6), the pitch structure (5) is installed on the side of the rotating mechanism (6), and the arm structure (4) is connected to the pitch structure (5); The rotor mechanism (20) comprises a plurality of rotor structures (2) and a rotor motor (3) for driving each rotor structure (2), wherein the end of the arm structure (4) is connected to the rotor motor (3).

3. The water-air cross-medium unmanned platform mode conversion vehicle according to claim 1 is characterized by: The bionic front fin structure comprises a bow bionic front fin (9) and a rotating motor (10) for driving the bow bionic front fin (9) to rotate; when the aircraft is in an underwater navigation mode, the leading edge of the bow bionic front fin (9) faces the bow of the aircraft, and when the aircraft is in a flight mode, the leading edge of the bow bionic front fin (9) faces the top of the aircraft; when the mode is switched, the bow bionic front fin (9) is driven by the rotating motor (10) to rotate.

4. The water-air cross-medium unmanned platform mode conversion vehicle according to claim 2, characterized in that: When the aircraft is in an underwater navigation mode, the detachable shell (1) and the bionic shell (11) in the shell structure are fitted together, the lifting push rod (7) in the mode conversion mechanism is in a stopped working state, and the lifting support (8), the plurality of rotating telescopic arms (40) and the rotor mechanism (20) are stored inside the aircraft; when the aircraft is in an aerial flight mode, the lifting push rod (7) in the mode conversion mechanism is in a working state, the lifting support (8), the plurality of rotating telescopic arms (40) and the rotor mechanism (20) are lifted to the outside of the aircraft, and the plurality of rotating telescopic arms (40) and the rotor mechanism (20) are controlled by the arm structure (4), the rotating mechanism (6) and the pitch structure (5) to form an "X" shape with respect to each other, serving as a propulsion device when the aircraft is in an aerial flight mode.

5. The water-air cross-medium unmanned platform mode conversion vehicle according to claim 3 is characterized by: When the aircraft is converted from an underwater navigation mode to an aerial flight mode, the lifting push rod (7) is driven by the control system to lift the detachable shell (1), the lifting support (8), the plurality of rotating telescopic arms (40) and the rotor mechanism (20) to corresponding positions, the rotating mechanism (6) unfolds the plurality of rotating telescopic arms (40) to the left and right sides of the aircraft, the pitch mechanism (5) drives the plurality of rotating telescopic arms (40) to lift to a horizontal position, and the arm structure (4) is extended under the drive of the reduction motor arranged inside; when the aircraft is converted from an aerial flight mode to an underwater flight mode, the lifting push rod (7) is driven by the control system to lift the detachable shell (1), the lifting support (8), the plurality of rotating telescopic arms (40) and the rotor mechanism (20) to corresponding positions, the rotating mechanism (6) unfolds the plurality of rotating telescopic arms (40) to the left and right sides of the aircraft, the pitch mechanism (5) drives the plurality of rotating telescopic arms (40) to lift to a horizontal position, and the arm structure (4) is extended under the drive of the reduction motor arranged inside; In the lower flight mode, the arm structure (4) is shortened by the control of the internal reduction motor, the rotating telescopic arm (40) is shortened, the pitch mechanism (5) drives the plurality of rotating telescopic arms (40) to adjust to a suitable angle, the rotating mechanism (6) brings the plurality of rotating telescopic arms (40) together from the left and right sides of the aircraft to the center, the lifting push rod (7) is driven by the control system to lower the detachable shell (1), the lifting support (8), the plurality of rotating telescopic arms (40) and the rotor mechanism (20) to corresponding positions, and the mode conversion mechanism is re-stored inside the aircraft.

6. The water-air cross-medium unmanned platform mode conversion vehicle according to claim 4, characterized in that: When the aircraft is in an underwater navigation mode, the leading edge of the bionic front fin structure faces the bow of the aircraft, and when the aircraft is in a flight mode, the leading edge of the bionic front fin structure faces the top of the aircraft. When the mode is switched, the bionic front fin structure is driven by an internal rotary motor (10) to rotate.

7. The water-air cross-medium unmanned platform mode conversion vehicle according to claim 3 is characterized by: The specific objective function expression of the leading edge profile of the bow bionic front fin (9) is as follows: y=13sec(0.0046π(x+7,5))+1.7sin(0.2π(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.

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