Jet-type cross-medium vehicle and control method thereof

Abstract

The present application discloses a jet-type cross-medium vehicle and a control method thereof, wherein the jet-type cross-medium vehicle comprises an outer shell, including a shell, a connection mechanism and a tail structure connected in sequence, wherein the connection mechanism comprises a first connection part and a second connection part that are movably connected; a wing assembly, including at least one pair of first wings and at least one pair of second wings, each pair of first wings is telescopically connected to opposite sides of the shell, and each pair of second wings is rotatably connected to opposite sides of the shell; a propulsion assembly, including a propulsion tube; a driving assembly, which is arranged in the shell near the tail structure, and comprises a first driving mechanism and a second driving mechanism, wherein the first driving mechanism is used to drive the first connection part and the second connection part to move relative to each other, and the second driving mechanism is used to adjust the distance between the first connection part and the second connection part. The jet-type cross-medium vehicle and the control method thereof of the present application can ensure the endurance and maneuverability of the jet-type cross-medium vehicle when sailing in water.

Description

Technical Field

[0001] The present application belongs to the field of aircraft technology, and in particular, relates to a jet-type cross-medium aircraft and a control method thereof. Background Art

[0002] Cross-media vehicles are special vehicles that have both the ability to fly in the air and the ability to dive underwater. They can navigate and operate in air, surface and underwater environments, and have application value in both military and scientific research fields.

[0003] When a cross-medium vehicle is working underwater, it is usually propelled by underwater propellers or pump-jet propulsion devices, and the tail fin structure is swung for auxiliary propulsion. During the navigation of the cross-medium vehicle, the navigation speed is usually adjusted by adjusting the rotation speed or injection volume of the propulsion device, but this adjustment method will cause a large amount of energy loss, resulting in poor endurance of the cross-medium vehicle, and this adjustment method will result in poor overall maneuverability of the cross-medium vehicle in the water. Summary of the invention

[0004] The present application provides a jet-type cross-medium vehicle and a control method thereof, which can ensure the endurance and maneuverability of the jet-type cross-medium vehicle when navigating in water.

[0005] The present application provides a jet-type cross-medium aircraft, which includes: an outer shell, including a shell, a connecting mechanism and a tail structure connected in sequence, the shell is an internally hollow structure, and the connecting mechanism includes a first connecting part and a second connecting part that are movably connected; a wing assembly, including at least one pair of first wings and at least one pair of second wings, the two first wings in each pair are respectively telescopically connected to the opposite sides of the shell, and the two second wings in each pair are respectively rotatably connected to the opposite sides of the shell; a propulsion assembly, including a propulsion pipe passing through the shell for discharging a propulsion medium; a drive assembly, which is arranged in the shell near the tail structure, and the drive assembly includes a first drive mechanism and a second drive mechanism connected between the first connecting part and the second connecting part, the first drive mechanism is used to drive the first connecting part and the second connecting part to move relative to each other, and the second drive mechanism is used to adjust the distance between the first connecting part and the second connecting part.

[0006] As above, a jet-type cross-medium aircraft, wherein the surface of the shell is streamlined, and the end of the shell away from the tail structure is a pointed structure; the tail structure as a whole is a plate-like structure, and the tail structure of the plate-like structure is parallel to the extension direction of the shell, and the tail structure includes a first tail and a second tail connected at an inclined angle, the first tail is arranged below the second tail in the height direction, and the extension length and width of the first tail are greater than the extension length and width of the second tail.

[0007] As above, a jet-type cross-medium aircraft, wherein the first connecting part is connected to the shell, the second connecting part is connected to the tail structure, the first connecting part includes at least one first supporting frame of an annular structure, the second connecting part includes at least one second supporting frame of an annular structure, the annular area of ​​the first supporting frame is larger than the annular area of ​​the second supporting frame; the connecting mechanism also has a flexible membrane, the flexible membrane is connected to the outer edges of the first supporting frame and the second supporting frame to form the outer surface of the connecting mechanism.

[0008] As above, the jet-type cross-media aircraft, wherein the first driving mechanism includes a first driving member and a rotating connecting member, the first driving member is installed on the first connecting part, the rotating connecting member includes a first bending part and a second bending part connected by a bending connection, the first bending part is connected to the rotatable driving end of the first driving member, and the first bending part is parallel to the extension direction of the outer shell, the second connecting part has a slide groove with an annular structure, and the second bending part is movably arranged in the slide groove along the extension direction of the slide groove.

[0009] As above, the jet-type cross-media vehicle, wherein the first driving mechanism also includes a rolling member, which is rotatably arranged in the second bending portion, and the rolling member is slidably connected to the second bending portion along the extension direction of the second bending portion, and the second bending portion is rollingly connected to the slide groove through the rolling member.

[0010] As above, the jet-type cross-media aircraft, wherein the second driving mechanism includes a second driving member and a guide member, the guide member is extended along the extension direction of the outer shell, the first connecting part is fixedly connected to the guide member, the second connecting part is slidably connected to the guide member along the extension direction of the guide member, the second driving member is installed on the first connecting part, and the driving end of the second driving member is connected to the second connecting part, which is used to drive the second connecting part to move along the extension direction of the guide member.

[0011] As mentioned above, the jet-type cross-medium aircraft, wherein the wing assembly also includes a supporting mechanism, each first wing is connected to a corresponding supporting mechanism, the supporting mechanism includes a plurality of supporting rods with different extension lengths and a supporting shaft extending along the height direction, the plurality of supporting rods are stacked and rotatably mounted on the outer circumference of the supporting shaft, each supporting rod is slidably connected to the adjacent supporting rods through grooves and protrusions to limit the rotation angle of each supporting rod.

[0012] In the jet-type cross-medium aircraft as above, the setting position of the first wing portion in the height direction is higher than the setting position of the second wing portion in the height direction, and the unfolding area of ​​the first wing portion is larger than the area of ​​the second wing portion.

[0013] As mentioned above, the jet-type cross-media vehicle, wherein the propulsion assembly also includes a material storage component and a control mechanism, both of which are arranged inside the shell, and the control mechanism includes a third driving component, a connecting pipe and a valve body structure, the connecting pipe is connected between the material storage component and the propulsion pipe, the valve body structure is arranged in the connecting pipe, and the driving end of the third driving component is connected to the valve body structure, which is used to control the valve body structure to block or conduct the connecting pipe.

[0014] As mentioned above, the jet-type cross-media vehicle, wherein the control mechanism also includes a sealing ring and a ejector pin, the outer edge of the sealing ring is sealed and connected to the inner surface of the connecting tube, the ejector pin is passed through the sealing ring and is sealed and connected to the inner edge of the sealing ring, the end of the ejector pin is inserted into the material storage piece, and a connecting channel is provided inside the ejector pin for connecting the material storage piece and the connecting tube on both sides of the sealing ring.

[0015] As above, the jet-type cross-media vehicle, wherein the control mechanism also includes a first connecting rod and a second connecting rod, the first connecting rod and the second connecting rod are respectively connected to the driving end of the third driving member and the valve body structure, the first connecting rod has a first driving arm extending in the horizontal direction, the second connecting rod has a second driving arm extending in the horizontal direction, and the end of the first driving arm away from the third driving member is fixedly connected to the end of the second driving arm away from the valve body structure.

[0016] The jet-type cross-media aircraft as mentioned above also includes a control component, which is arranged in the shell and is conductively connected to the outer shell, wing assembly, propulsion assembly and drive assembly. The control component includes a connected power module, a drive module, a control module and a sensing module. The drive module can drive the wing assembly, the propulsion assembly and the drive assembly through the control module. The sensing module is used to transmit the posture of the wing assembly and the tail structure to the control module.

[0017] On the other hand, the present application also provides a control method for a jet-type cross-medium aircraft, wherein the control method is applicable to the above-mentioned jet-type cross-medium aircraft, and includes:

[0018] The jet-type cross-medium vehicle is launched into the waters, the first wing of the wing assembly is in a fully retracted state, the propulsion assembly discharges the propulsion medium, and the tail structure is controlled to swing by the driving assembly, so that the jet-type cross-medium vehicle enters an underwater cruising state;

[0019] Adjusting the second wing of the wing assembly to tilt toward the water surface, so that the jet-type cross-medium vehicle floats to the water surface and enters a cross-medium navigation state;

[0020] The first wing is unfolded to be in a fully unfolded state, and the jet-type cross-medium vehicle leaves the water surface and enters a gliding state in the air;

[0021] The first wing is retracted to be in a fully retracted state, and the jet-type cross-medium vehicle descends from the air to the water surface and enters a cross-medium navigation state;

[0022] The second wing is adjusted to tilt toward underwater, so that the jet-type cross-medium vehicle dives underwater, the propulsion component discharges the propulsion medium, and controls the tail structure to swing through the driving component, so that the jet-type cross-medium vehicle enters an underwater cruising state.

[0023] The control method of the jet-type cross-medium vehicle as described above, wherein, when the jet-type cross-medium vehicle is in an underwater cruising state, further includes: adjusting the distance between the first connecting part and the second connecting part by the second driving mechanism of the driving assembly; controlling the relative movement of the first connecting part and the second connecting part by the first driving mechanism of the driving assembly to control the swing of the tail structure.

[0024] The jet-type cross-media aircraft of the present application includes a shell, a wing assembly, a propulsion assembly and a drive assembly. The jet-type cross-media aircraft achieves navigation in the water by discharging the medium from the propulsion pipe of the propulsion assembly, floats and dives by the angle of the second wing of the wing assembly, and achieves gliding in the air by unfolding the first wing of the wing assembly, thereby achieving cross-media navigation in water and airspace.

[0025] In the overall structure of the jet-type cross-medium craft, the shell and the tail structure of the outer shell are respectively connected to the first connection part and the second connection part of the connection mechanism, so as to realize a movable connection, and through the drive of the first driving structure, the first connection part and the second connection part are caused to move relative to each other, so that the tail structure can swing relative to the shell, which plays an auxiliary role in the propulsion of the propulsion assembly, so that the jet-type cross-medium craft can sail in the water at a faster speed, thereby reducing the consumption of the propulsion medium and improving the endurance of the jet-type cross-medium craft in the water. In addition, when the jet-type cross-medium craft sails in different water conditions, the second driving mechanism can adjust the distance between the first connection part and the second connection part, so that the swing amplitude of the tail structure relative to the shell can be changed, thereby improving the maneuverability of the jet-type cross-medium craft in the water. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solution of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0027] Figure 1 This is a schematic diagram of the overall structure of a jet-type cross-medium aircraft according to an embodiment of the present application;

[0028] Figure 2A schematic diagram of the internal structure of a jet-type cross-medium aircraft according to an embodiment of the present application;

[0029] Figure 3 A schematic diagram of the structure of a drive assembly of a jet-type cross-medium aircraft according to an embodiment of the present application;

[0030] Figure 4 A cross-sectional view of a drive assembly of a jet-type trans-medium vehicle according to an embodiment of the present application;

[0031] Figure 5 A schematic diagram of the connection of the flexible membrane of the jet-type cross-medium vehicle according to an embodiment of the present application;

[0032] Figure 6 A schematic diagram of a support mechanism of a jet-type cross-medium aircraft according to an embodiment of the present application;

[0033] Figure 7 This is a schematic diagram of the support shaft structure of a jet-type cross-medium vehicle according to an embodiment of the present application;

[0034] Figure 8 A schematic diagram of the connection of the support rods of the jet-type cross-medium aircraft according to an embodiment of the present application;

[0035] Fig. 9 A schematic diagram of the structure of a control mechanism of a jet-type cross-medium aircraft according to an embodiment of the present application;

[0036] Fig.10 for Fig. 9 A cross-sectional view of section AA;

[0037] Fig.11 A schematic structural diagram of a second wing of a jet-type cross-medium aircraft according to an embodiment of the present application;

[0038] Fig.12 An exploded view of a control assembly of a jet-type cross-medium aircraft according to an embodiment of the present application;

[0039] Fig.13 This is a flow chart of a control method of a jet-type cross-medium vehicle according to an embodiment of the present application.

[0040] Description of Figure Numbers:

[0041] 10. Shell; 11. Shell; 12. Connecting mechanism; 121. First connecting part; 122. Second connecting part; 123. First supporting frame; 124. Second supporting frame; 125. Flexible membrane; 126. Slide groove; 13. Tail structure; 131. First tail; 132. Second tail;

[0042] 20. Wing assembly; 21. First wing; 22. Second wing; 23. Support mechanism; 231. Support rod; 232. Support shaft; 233. Slot; 234. Protrusion; 24. Fourth driving member;

[0043] 30. Propulsion assembly; 31. Propulsion tube; 32. Material storage member; 33. Control mechanism; 331. Third driving member; 332. Connecting tube; 334. Sealing ring; 335. Ejector pin; 336. First connecting rod; 337. Second connecting rod; 338. First driving arm; 339. Second driving arm;

[0044] 40. driving assembly; 41. first driving mechanism; 411. first driving member; 412. rotating connecting member; 413. first bending portion; 414. second bending portion; 415. rolling member; 42. second driving mechanism; 421. second driving member; 422. guiding member;

[0045] 50. Control component; 51. Power module; 52. Drive module; 53. Control module; 54. Sensing module. DETAILED DESCRIPTION

[0046] The features and exemplary embodiments of various aspects of the present application will be described in detail below. In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain the present application, rather than to limit the present application. For those skilled in the art, the present application can be implemented without the need for some of these specific details. The following description of the embodiments is only to provide a better understanding of the present application by illustrating the examples of the present application.

[0047] like Figures 1 to 12As shown, the embodiment of the present application provides a jet-type cross-medium aircraft, which includes: a shell 10, including a shell 11, a connecting mechanism 12 and a tail structure 13 connected in sequence, the shell 11 is a hollow structure, the connecting mechanism 12 includes a first connecting portion 121 and a second connecting portion 122 that are movably connected; a wing assembly 20, including at least one pair of first wings 21 and at least one pair of second wings 22, the two first wings 21 in each pair are respectively telescopically connected to the opposite sides of the shell 11, and the two second wings 22 in each pair are respectively rotatably connected Connected to opposite sides of the shell 11; the propulsion assembly 30 includes a propulsion pipe 31 passing through the shell 11 and used to discharge the propulsion medium; the driving assembly 40 is arranged in the shell 11 near the tail structure 13, and the driving assembly 40 includes a first driving mechanism 41 and a second driving mechanism 42 connected between the first connecting part 121 and the second connecting part 122. The first driving mechanism 41 is used to drive the first connecting part 121 and the second connecting part 122 to move relative to each other, and the second driving mechanism 42 is used to adjust the distance between the first connecting part 121 and the second connecting part 122.

[0048] In specific implementation, the jet-type cross-media vehicle of the embodiment of the present application includes a shell 10, a wing assembly 20, a propulsion assembly 30 and a drive assembly 40. The jet-type cross-media vehicle achieves navigation in the water by discharging the medium from the propulsion pipe 31 of the propulsion assembly 30, floats and dives through the angle of the second wing 22 of the wing assembly 20, and achieves gliding in the air by unfolding the first wing 21 of the wing assembly 20, thereby achieving cross-media navigation in water and airspace.

[0049] In the overall structure of the jet-type cross-medium vehicle, the shell 11 and the tail structure 13 of the outer shell 10 are respectively connected to the first connection part 121 and the second connection part 122 of the connecting mechanism 12, so as to realize a movable connection, and through the drive of the first driving mechanism 41, the first connection part 121 and the second connection part 122 are caused to move relative to each other, so that the tail structure 13 can swing relative to the shell 11, which plays an auxiliary role in the propulsion of the propulsion assembly 30, so that the jet-type cross-medium vehicle can sail in the water at a faster speed, thereby reducing the consumption of the propulsion medium and improving the endurance of the jet-type cross-medium vehicle in the water.

[0050] Moreover, when the jet-propelled cross-medium vehicle sails in different water conditions, the second driving mechanism 42 can adjust the distance between the first connecting portion 121 and the second connecting portion 122, so that the swing amplitude of the tail structure 13 relative to the shell 11 can be changed, thereby improving the maneuverability of the jet-propelled cross-medium vehicle in the water.

[0051] like Figure 1 and Figure 2As shown, a jet-type cross-medium aircraft according to an embodiment of the present application, wherein the surface of the shell 11 is streamlined, and the end of the shell 11 away from the tail structure 13 is a pointed structure; the tail structure 13 is a plate-like structure as a whole, and the plate-like tail structure 13 is parallel to the extension direction of the outer shell 10, and the tail structure 13 includes a first tail portion 131 and a second tail portion 132 connected at an inclined angle, and the first tail portion 131 is arranged below the second tail portion 132 in the height direction, and the extension length and width of the first tail portion 131 are both greater than the extension length and width of the second tail portion 132.

[0052] In specific implementation, the tail structure 13 includes a first tail portion 131 and a second tail portion 132 connected at an inclined angle, so that the tail structure 13 is in the shape of a fishtail as a whole. The tail structure 13 is connected to the end of the shell 11 with a streamlined surface, so that the jet-type cross-medium vehicle has an overall fish-shaped structure, which is more conducive to sailing in the water, reduces the consumption of propulsion medium, and improves the endurance of the jet-type cross-medium vehicle in the water.

[0053] Furthermore, the first tail portion 131 of the tail structure 13 is arranged below the second tail portion 132 in the height direction, and the extension length and width of the first tail portion 131 are greater than the extension length and width of the second tail portion 132, so that the overall area of ​​the first tail portion 131 located below is greater than the overall area of ​​the second tail portion 132. When the tail structure 13 swings, it can provide stronger power to propel the jet-type cross-medium vehicle forward, further reducing the consumption of the propulsion medium and further improving the endurance of the jet-type cross-medium vehicle in water.

[0054] like Figure 3 and Figure 4 As shown, a jet-type cross-medium aircraft according to an embodiment of the present application, wherein a first connection portion 121 is connected to the shell 11, and a second connection portion 122 is connected to the tail structure 13, the first connection portion 121 includes at least one first support frame 123 of an annular structure, and the second connection portion 122 includes at least one second support frame 124 of an annular structure, and the annular area of ​​the first support frame 123 is greater than the annular area of ​​the second support frame 124; the connection mechanism 12 also has a flexible membrane 125, and the flexible membrane 125 is connected to the outer edges of the first support frame 123 and the second support frame 124 to form the outer surface of the connection mechanism 12.

[0055] In specific implementation, the first connecting part 121 is connected to the shell 11, and its first supporting frame 123 is closer to the shell 11, and the second connecting part 122 is connected to the tail structure 13, and its second supporting frame 124 is closer to the tail structure 13, and the annular area of ​​the first supporting frame 123 is larger than the annular area of ​​the second supporting frame 124. After the flexible membrane 125 is arranged on the outer edge of the first supporting frame 123 and the second supporting frame 124, the outer surface of the connecting mechanism 12 can form a streamlined outer surface together with the shell 11, without generating additional resistance, thereby assisting the navigation of the jet-type cross-medium vehicle.

[0056] Specifically, the first connection part 121 has a first support frame 123, and the second connection part 122 has two second support frames 124. The two second support frames 124 are connected by a connection block, and the tail structure 13 is connected to the second support frame 124 adjacent thereto by a connection block. Along the direction from the shell 11 to the tail structure 13, the annular area of ​​the two second support frames 124 gradually decreases, and after the flexible membrane 125 is connected, an outer surface with a gradually decreasing cross-sectional area can be formed, thereby forming a streamlined surface with a better navigation effect, further improving the effect of assisting navigation.

[0057] like Figures 3 to 5 As shown, a jet-type cross-medium aircraft in an embodiment of the present application, wherein the first driving mechanism 41 includes a first driving member 411 and a rotating connecting member 412, the first driving member 411 is installed on the first connecting portion 121, the rotating connecting member 412 includes a first bending portion 413 and a second bending portion 414 connected in a bending connection, the first bending portion 413 is connected to the rotatable driving end of the first driving member 411, and the first bending portion 413 is parallel to the extension direction of the outer shell 10, the second connecting portion 122 has a slide groove 126 with an annular structure, and the second bending portion 414 is movably arranged in the slide groove 126 along the extension direction of the slide groove 126.

[0058] During specific implementation, the driving end of the first driving member 411 can drive the rotating connecting member 412 to rotate as a whole, and the second bending portion 414 of the rotating connecting member 412 can rotate with the first bending portion 413 as the rotation center. Since the second bending portion 414 is slidingly connected with the annular slide groove 126 of the second connecting portion 122, it can drive the second connecting portion 122 to swing by sliding in the slide groove 126, thereby causing the tail structure 13 connected to the second connecting portion 122 to swing periodically.

[0059] Specifically, when the second connecting portion 122 slides relative to the first connecting portion 121, the slide groove 126 can slide with the second bending portion 414 along the extension direction of the shell 11, so that the slide groove 126 can slide with the second bending portion 414 at different length positions of the second bending portion 414, thereby allowing the second bending portion 414 to drive the second connecting portion 122 to swing at different amplitudes, thereby achieving an effect of adjusting the swing amplitude.

[0060] In an optional embodiment, the length of the second bending portion 414 is adjustable, and the two ends of the second bending portion 414 are respectively connected to the first bending portion 413 and the second connecting portion 122, so that the distance between the first connecting portion 121 and the second connecting portion 122 can be adjusted by adjusting the length of the second bending portion 414, thereby adjusting the swing amplitude.

[0061] Furthermore, the first driving mechanism 41 further includes a rolling member 415, which is a spherical structure with a tube through hole. The rolling member 415 is rotatably arranged in the second bending portion 414, and the rolling member 415 is slidably connected to the second bending portion 414 along the extension direction of the second bending portion 414, and the second bending portion 414 is rollingly connected to the slide groove 126 through the rolling member 415. By arranging the rolling member 415 on the second bending portion 414, the second bending portion 414 can roll in the slide groove 126 with the help of the rolling member 415, and the rolling resistance of the rolling member 415 in the slide groove 126 is smaller than that of the rolling member 415 itself sliding in the slide groove 126, thereby improving the effect of the second bending portion 414 controlling the second connecting portion 122 and the tail structure 13 to swing.

[0062] like Figure 3 and Figure 4 As shown, the jet-type cross-media aircraft of an embodiment of the present application, wherein the second driving mechanism 42 includes a second driving member 421 and a guide member 422, the guide member 422 is extended along the extension direction of the outer shell 10, the first connecting part 121 is fixedly connected to the guide member 422, the second connecting part 122 is slidably connected to the guide member 422 along the extension direction of the guide member 422, the second driving member 421 is installed on the first connecting part 121, and the driving end of the second driving member 421 is connected to the second connecting part 122, which is used to drive the second connecting part 122 to move along the extension direction of the guide member 422.

[0063] In a specific implementation, the driving end of the second driving member 421 can perform a linear motion along the extension direction of the housing 10, and can drive the second connecting portion 122 connected thereto to move in the same direction, so as to drive the second connecting portion 122 to approach or move away from the first connecting portion 121, thereby adjusting the spacing between the first connecting portion 121 and the second connecting portion 122. When driving the tail structure 13 to swing, the first driving member 411 can cooperate with the second driving member 421 to adjust the swing amplitude of the tail structure 13.

[0064] The guide member 422 is fixedly connected to the first connection part 121 and is extended along the extension direction of the shell 10. When the second driving member 421 drives the second connection part 122 to move, since the second connection part 122 is slidingly connected to the guide member 422, the second connection part 122 can slide relative to the first connection part 121 along the extension direction of the guide member 422, thereby achieving an auxiliary effect on the sliding direction, avoiding the sliding deviation of the second connection part 122 and affecting the subsequent swing control.

[0065] Specifically, the first driving member 411 is a rotary motor, the second driving member 421 is a linear motor, the guide member 422 is a linear slide rail, and a slider structure matching the linear slide rail is provided on the second connecting portion 122. It should be noted that the first driving member 411, the second driving member 421 and the guide member 422 include but are not limited to the above-mentioned specific configuration forms, and can be any form that can realize their respective actions.

[0066] like Figure 6 As shown, the jet-type cross-medium aircraft of an embodiment of the present application, wherein the wing assembly 20 also includes a support mechanism 23, each first wing 21 is connected to a corresponding support mechanism 23, the support mechanism 23 includes a plurality of support rods 231 with different extension lengths and a support shaft 232 extending along the height direction, the plurality of support rods 231 are stacked and rotatably sleeved on the outer circumference of the support shaft 232, and each support rod 231 is slidably connected to the adjacent support rods 231 through the groove 233 and the protrusion 234 to limit the rotation angle of each support rod 231.

[0067] In a specific implementation, the height directions of the multiple support rods 231 are different. After the multiple support rods 231 are rotated in sequence to fully unfold the first wing 21, the first wing 21 can form a shape suitable for gliding in the air according to the different lengths of the support rods 231, thereby enabling the jet-propelled cross-medium aircraft to be transformed into an aircraft suitable for sailing in the air.

[0068] When the multiple support rods 231 rotate in sequence, the support rod 231 at the top rotates first, and the protruding portion 234 on its edge can slide in the slot 233 of the second support rod 231 adjacent to it. When sliding to one end against the slot 233, the top support rod 231 and the second support rod 231 stop rotating relative to each other. After stopping the relative rotation, the two support rods 231 rotate synchronously, and the second support rod 231 rotates relative to the third support rod 231. The protrusion 234 of the rod 231 can slide in the groove 233 of the third support rod 231 until the protrusion 234 abuts against one end of the groove 233, and the second support rod 231 and the third support rod 231 stop rotating relative to each other; the rotation method of multiple support rods 231 is similar, and finally, after each support rod 231 rotates a certain angle, the first wing 21 is unfolded and a support is formed, so that the first wing 21 can maintain its shape in the air, thereby ensuring the navigation effect of the jet-type cross-medium aircraft in the air.

[0069] The cooperation between the protrusion 234 and the groove 233 plays a role of limiting and guiding, and the groove 233 can limit the rotation angle of the support rod 231, so that the angle between adjacent support rods 231 will not exceed the preset angle range, so that the first wing portion 21 forms a shape suitable for gliding in the air, so that the jet-type cross-medium aircraft can be transformed into an aircraft suitable for sailing in the air.

[0070] like Figure 1 and Figure 2 As shown, in the jet-type cross-medium aircraft of the embodiment of the present application, the setting position of the first wing 21 in the height direction is higher than the setting position of the second wing 22 in the height direction, and the unfolding area of ​​the first wing 21 is larger than the area of ​​the second wing 22.

[0071] In specific implementation, the first wing 21 has a larger unfolding area, making the jet-type cross-medium vehicle suitable for gliding in the air; the second wing 22 has a smaller area, which is convenient for directional adjustment, making the jet-type cross-medium vehicle suitable for sailing in the water without causing greater resistance to the vehicle as a whole.

[0072] Moreover, in the height direction, the first wing 21 is set at a higher height, which is suitable for aerial navigation, while the second wing 22 is set at a lower height, which is suitable for underwater navigation, so that the jet-type cross-media aircraft can have a suitable posture both in the air and in the water, making the aircraft more suitable for cross-media navigation.

[0073] Specifically, Fig.11As shown, the wing assembly 20 also has a plurality of fourth driving members 24 corresponding to the second wing 22. The fourth driving member 24 is specifically a servo, which is arranged inside the shell 11. The driving end of the fourth driving member 24 is connected to the corresponding second wing 22, and can drive the second wing 22 to rotate, thereby adjusting the inclination angle of the second wing 22.

[0074] like Fig. 9 and Fig.10 As shown, the jet-type cross-media aircraft of the embodiment of the present application, wherein the propulsion assembly 30 also includes a material storage member 32 and a control mechanism 33, the material storage member 32 and the control mechanism 33 are both arranged inside the shell 11, the control mechanism 33 includes a third driving member 331, a connecting pipe 332 and a valve body structure, the connecting pipe 332 is connected between the material storage member 32 and the propulsion pipe 31, the valve body structure is arranged in the connecting pipe 332, the driving end of the third driving member 331 is connected to the valve body structure, and is used to control the valve body structure to block or conduct the connecting pipe 332.

[0075] In the embodiment of the present application, the storage member 32 stores a propulsion medium, which is specifically a gas, and the gas is suitable for propulsion of the vehicle in water. The third driving member 331 controls the valve body structure to control the conduction degree of the connecting pipe 332, thereby controlling the amount of gas discharged from the connecting pipe 332 to the propulsion pipe 31, and then adjusting the navigation speed or start and stop of the vehicle.

[0076] Specifically, the valve body structure is a ball valve (not shown in the figure), which is convenient for installation in the connecting pipe 332 and convenient for the third driving member 331 to rotate and adjust the ball valve.

[0077] Specifically, the storage member 32 is a high-pressure gas cylinder, and the internal pressure can be controlled by setting the internal gas volume. The storage member 32 and the connecting tube 332 are fixedly matched by threads, the bottle mouth of the storage member 32 has an external thread, and the inner surface of the connecting tube 332 has an internal thread. Such a matching setting can prevent the internal gas leakage of the storage member 32.

[0078] like Fig. 9 and Fig.10 As shown, the jet-type cross-media aircraft of the embodiment of the present application, wherein the control mechanism 33 also includes a sealing ring 334 and a ejector pin 335, the outer edge of the sealing ring 334 is sealed and connected to the inner surface of the connecting tube 332, the ejector pin 335 is penetrated by the sealing ring 334 and is sealed and connected to the inner edge of the sealing ring 334, the end of the ejector pin 335 is inserted into the material storage part 32, and the ejector pin 335 has a connecting channel inside, which is used to connect the material storage part 32 and the connecting tube 332 on both sides of the sealing ring 334.

[0079] In specific implementation, the sealing ring 334 cooperates with the end of the ejector pin 335 to seal the internal space of the connecting tube 332. The gas from the storage part 32 to the part of the connecting tube 332 on the other side of the sealing ring 334 can only be connected through the connecting channel in the ejector pin 335. After the end of the ejector pin 335 is inserted into the storage part 32, the gas in the storage part 32 can enter the connecting channel of the ejector pin 335, and enter the part of the connecting tube 332 on the other side of the sealing ring 334 through the connecting channel, thereby realizing the transfer of gas in the connecting tube 332. The matching arrangement of the sealing ring 334 and the ejector pin 335 can prevent most of the gas in the storage part 32 from flowing out of the connecting tube 332 to the propulsion tube 31, realize the control of the gas amount in the storage part 32, and improve the endurance of the jet-type cross-medium aircraft.

[0080] Specifically, the end of the ejector pin 335 has a smaller diameter, which can pierce the port of the material storage piece 32 and has a better sealing effect when matched with the sealing ring 334; the main part of the ejector pin 335 has a larger diameter, which can form a step with the end of the ejector pin 335, thereby facilitating a sealed connection with the sealing ring 334.

[0081] like Fig. 9 and Fig.10 As shown, the jet-type cross-medium aircraft of the embodiment of the present application, wherein the control mechanism 33 further includes a first connecting rod 336 and a second connecting rod 337, the first connecting rod 336 and the second connecting rod 337 are respectively connected to the driving end of the third driving member 331 and the valve body structure, the first connecting rod 336 has a first driving arm 338 extending in the horizontal direction, the second connecting rod 337 has a second driving arm 339 extending in the horizontal direction, and the end of the first driving arm 338 away from the third driving member 331 is fixedly connected to the end of the second driving arm 339 away from the valve body structure. The third driving member 331 is a rotary motor.

[0082] In specific implementation, the driving end of the third driving member 331 can be connected to the valve body structure through the cooperation of the first connecting rod 336 and the second connecting rod 337. The driving end of the third driving member 331 rotates, which can drive the first connecting rod 336 and the second connecting rod 337 to rotate synchronously, and then the second connecting rod 337 drives the valve body structure to rotate, thereby realizing the control of the connectivity of the connecting pipe 332.

[0083] Furthermore, the first driving arm 338 of the first connecting rod 336 and the second driving arm 339 of the second connecting rod 337 both extend in the horizontal direction, and the end of the first driving arm 338 away from the third driving member 331 and the end of the second driving arm 339 away from the valve body structure are fixedly connected. During the rotation of the driving end of the third driving member 331, the first driving arm 338 and the second driving arm 339 can provide a larger torque, which is convenient for driving the valve body structure.

[0084] like Fig.12 As shown, the jet-type cross-medium aircraft of the embodiment of the present application further includes a control component 50, which is arranged in the shell 11 and is conductively connected to the outer shell 10, the wing assembly 20, the propulsion assembly 30 and the drive assembly 40. The control component 50 includes a power supply module 51, a drive module 52, a control module 53 and a sensing module 54 connected to each other. The drive module 52 can drive the wing assembly 20, the propulsion assembly 30 and the drive assembly 40 through the control module 53. The sensing module 54 is used to transmit the posture of the wing assembly 20 and the tail structure 13 to the control module 53, so that the control module 53 can control and adjust the wing assembly 20, the propulsion assembly 30 and the drive assembly 40 according to the overall posture and speed of the jet-type cross-medium aircraft, as well as the inclination angle and swing angle of the wing assembly 20 and the tail structure 13, thereby completing the overall adjustment of the jet-type cross-medium aircraft.

[0085] like Fig.13 As shown, the embodiment of the present application further provides a control method for a jet-type cross-medium aircraft, wherein the control method is applicable to the above-mentioned jet-type cross-medium aircraft, and includes:

[0086] S110, launching the jet-type cross-medium vehicle into the water area, making the first wing 21 of the wing assembly 20 in a fully retracted state, the propulsion assembly 30 discharging the propulsion medium, and controlling the tail structure 13 to swing through the driving assembly 40, so that the jet-type cross-medium vehicle enters an underwater cruising state;

[0087] The expansion and contraction of the first wing 21 is controlled by the support mechanism 23. When the first wing 21 is in a fully contracted state, the support rods 231 of the support mechanism 23 are stacked in the height direction, and the angle between adjacent support rods 231 is 0 degrees. When in a fully contracted state, the first wing 21 will not generate excessive resistance to the jet-type cross-medium vehicle sailing underwater, thereby ensuring the endurance of the jet-type cross-medium vehicle in water.

[0088] S120, adjusting the second wing 22 of the wing assembly 20 to be inclined toward the water surface, so that the jet-type cross-medium vehicle floats to the water surface and enters a cross-medium navigation state;

[0089] In the cross-medium navigation state, the bottom of the jet cross-medium craft is in the water, the propulsion tube 31 can still propel the jet cross-medium craft forward in the water, and the first wing portion 21 and the top portion thereof are above the water surface;

[0090] S130, unfolding the first wing 21, so that the first wing 21 is in a fully unfolded state, and the jet-type cross-medium vehicle leaves the water surface and enters a gliding state in the air;

[0091] The first wing 21 is in a fully deployed state. Since the first wing 21 is above the water surface, it can provide an upward lift, thereby driving the aircraft to leave the water surface and completely enter the airspace, and finally achieve air gliding under the action of inertia;

[0092] S140, retracting the first wing 21 to make the first wing 21 in a fully retracted state, and the jet-type cross-medium vehicle descends from the air to the water surface and enters a cross-medium navigation state;

[0093] After the first wing 21 is fully retracted, the lift of the jet-type cross-medium vehicle is insufficient, and the vehicle freely falls to the water surface, thereby re-entering the cross-medium navigation state, at which time the second wing 22 is in the water, and the first wing 21 is still above the water surface;

[0094] S150, adjusting the second wing 22 to tilt toward underwater, so that the jet-type cross-medium vehicle dives underwater, the propulsion assembly 30 discharges the propulsion medium, and controls the tail structure 13 to swing through the driving assembly 40, so that the jet-type cross-medium vehicle enters an underwater cruising state;

[0095] When the jet-propelled cross-medium vehicle is in an underwater cruising state, the buoyancy and diving of the jet-propelled cross-medium vehicle can be adjusted by adjusting the inclination angle of the second wing 22. When the propulsion assembly 30 discharges the propulsion medium to propel the vehicle forward, the driving assembly 40 can also drive the tail structure 13 to swing to assist, thereby ensuring the endurance of the jet-propelled cross-medium vehicle in the water.

[0096] In an optional embodiment, when the jet-propelled cross-medium aircraft is in a gliding state in the air, the propulsion assembly 30 may also discharge the propulsion medium to increase the gliding time of the jet-propelled cross-medium aircraft in the air, thereby improving the gliding distance of the jet-propelled cross-medium aircraft.

[0097] The control method of the jet-type cross-medium vehicle in the embodiment of the present application, when the jet-type cross-medium vehicle is in an underwater cruising state, further includes: adjusting the distance between the first connection part 121 and the second connection part 122 by the second driving mechanism 42 of the driving component 40; controlling the relative movement of the first connection part 121 and the second connection part 122 by the first driving mechanism 41 of the driving component 40 to control the swing of the tail structure 13.

[0098] In a specific implementation, after the second driving mechanism 42 is used to adjust the distance between the first connection part 121 and the second connection part 122, the larger the distance between the first connection part 121 and the second connection part 122, the smaller the swing amplitude of the tail structure 13 controlled by the first driving mechanism 41; the smaller the distance between the first connection part 121 and the second connection part 122, the larger the swing amplitude of the tail structure 13 controlled by the first driving mechanism 41. By adjusting the swing amplitude of the tail structure 13, the navigation speed of the jet-type cross-medium craft can be adjusted.

[0099] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the statement "include..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0100] The above is only a specific implementation of the present application. Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working processes of the systems, modules and units described above can refer to the corresponding processes in the aforementioned method embodiments, and will not be repeated here. It should be understood that the protection scope of the present application is not limited to this. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in this application, and these modifications or replacements should be included in the protection scope of this application.

Claims

1. A jet-type cross-medium aircraft, characterized in that: include: A housing (10) comprising a shell (11), a connecting mechanism (12) and a tail structure (13) connected in sequence, the shell (11) being an internally hollow structure, the connecting mechanism (12) comprising a first connecting portion (121) and a second connecting portion (122) that are movably connected, the first connecting portion (121) being connected to the shell (11), the second connecting portion (122) being connected to the tail structure (13), the tail structure (13) comprising a first tail portion (131) and a second tail portion (132) that are connected at an inclined angle, the first tail portion (131) being arranged below the second tail portion (132) in a height direction; A wing assembly (20) comprising at least one pair of first wings (21) and at least one pair of second wings (22), wherein the two first wings (21) in each pair are respectively telescopically connected to opposite sides of the shell (11), and the two second wings (22) in each pair are respectively rotatably connected to opposite sides of the shell (11); A propulsion assembly (30) comprising a propulsion pipe (31) passing through the housing (11) and used for discharging a propulsion medium; A drive assembly (40) is disposed in the housing (11) near the tail structure (13), the drive assembly (40) comprising a first drive mechanism (41) and a second drive mechanism (42) connected between the first connection part (121) and the second connection part (122), the first drive mechanism (41) being used to drive the first connection part (121) and the second connection part (122) to move relative to each other, the second drive mechanism (42) being used to adjust the distance between the first connection part (121) and the second connection part (122), the second drive mechanism (42) comprising a second drive member (41) The housing (10) comprises a first connecting portion (121) and a guide member (422), wherein the guide member (422) is extended along the extension direction of the housing (10), the first connecting portion (121) is fixedly connected to the guide member (422), the second connecting portion (122) is slidably connected to the guide member (422) along the extension direction of the guide member (422), the second driving member (421) is mounted on the first connecting portion (121), and the driving end of the second driving member (421) is connected to the second connecting portion (122) for driving the second connecting portion (122) to move along the extension direction of the guide member (422).

2. The jet-type cross-medium aircraft according to claim 1, characterized in that: The surface of the shell (11) is streamlined, and one end of the shell (11) away from the tail structure (13) is a pointed structure; the tail structure (13) is a plate-like structure as a whole, the plate-like tail structure (13) is parallel to the extension direction of the shell (10), and the extension length and width of the first tail (131) are greater than the extension length and width of the second tail (132).

3. The jet-type cross-medium aircraft according to claim 1, characterized in that: The first connection part (121) comprises at least one first support frame (123) of an annular structure, the second connection part (122) comprises at least one second support frame (124) of an annular structure, the annular area of ​​the first support frame (123) being greater than the annular area of ​​the second support frame (124); the connection mechanism (12) further comprises a flexible membrane (125), the flexible membrane (125) being connected to the outer edges of the first support frame (123) and the second support frame (124) to form an outer surface of the connection mechanism (12).

4. The jet-type cross-medium aircraft according to claim 3, characterized in that: The first driving mechanism (41) includes a first driving member (411) and a rotating connecting member (412), wherein the first driving member (411) is installed on the first connecting portion (121), and the rotating connecting member (412) includes a first bending portion (413) and a second bending portion (414) connected in a bending manner, wherein the first bending portion (413) is connected to a rotatable driving end of the first driving member (411), and the first bending portion (413) is parallel to an extension direction of the housing (10), and the second connecting portion (122) has a slide groove (126) with an annular structure, and the second bending portion (414) is movably arranged in the slide groove (126) along the extension direction of the slide groove (126).

5. The jet-type cross-medium aircraft according to claim 4, characterized in that: The first driving mechanism (41) further comprises a rolling member (415), the rolling member (415) being rotatably disposed in the second bending portion (414), and the rolling member (415) being slidably connected to the second bending portion (414) along an extension direction of the second bending portion (414), and the second bending portion (414) being rollingly connected to the slide groove (126) via the rolling member (415).

6. The jet-type cross-medium aircraft according to claim 1, characterized in that: The wing assembly (20) further comprises a support mechanism (23), each of the first wings (21) being connected to a corresponding support mechanism (23), the support mechanism (23) comprising a plurality of support rods (231) having different extension lengths and a support shaft (232) extending in a height direction, the plurality of support rods (231) being stacked and rotatably sleeved on an outer peripheral surface of the support shaft (232), and each of the support rods (231) being slidably connected to an adjacent support rod (231) via a groove (233) and a protrusion (234) so ​​as to limit a rotation angle of each of the support rods (231).

7. The jet-type cross-medium aircraft according to claim 1, characterized in that: The arrangement position of the first wing (21) in the height direction is higher than the arrangement position of the second wing (22) in the height direction, and the unfolded area of ​​the first wing (21) is greater than the area of ​​the second wing (22).

8. The jet-type cross-medium aircraft according to claim 1, characterized in that: The propulsion assembly (30) further comprises a material storage member (32) and a control mechanism (33), wherein the material storage member (32) and the control mechanism (33) are both arranged inside the housing (11), and the control mechanism (33) comprises a third driving member (331), a connecting pipe (332) and a valve body structure, wherein the connecting pipe (332) is connected between the material storage member (32) and the propulsion pipe (31), and the valve body structure is arranged inside the connecting pipe (332). The driving end of the third driving member (331) is connected to the valve body structure, and is used to control the valve body structure to block or conduct the connecting pipe (332).

9. The jet-type cross-medium aircraft according to claim 8, characterized in that: The control mechanism (33) further comprises a sealing ring (334) and a push pin (335); the outer edge of the sealing ring (334) is sealingly connected to the inner surface of the connecting tube (332); the push pin (335) is inserted through the sealing ring (334) and is sealingly connected to the inner edge of the sealing ring (334); the end of the push pin (335) is inserted into the material storage member (32); and a connecting channel is provided inside the push pin (335) for connecting the material storage member (32) and the connecting tube (332) on both sides of the sealing ring (334).

10. The jet-type cross-medium aircraft according to claim 8, characterized in that: The control mechanism (33) further comprises a first connecting rod (336) and a second connecting rod (337), wherein the first connecting rod (336) and the second connecting rod (337) are respectively connected to the driving end of the third driving member (331) and the valve body structure, wherein the first connecting rod (336) has a first driving arm (338) extending in a horizontal direction, and the second connecting rod (337) has a second driving arm (339) extending in the horizontal direction, and an end of the first driving arm (338) away from the third driving member (331) and an end of the second driving arm (339) away from the valve body structure are fixedly connected.

11. The jet-type cross-medium aircraft according to claim 1, characterized in that: Also includes: A control assembly (50) is disposed in the shell (11) and is conductively connected to the outer shell (10), the wing assembly (20), the propulsion assembly (30) and the drive assembly (40). The control assembly (50) comprises a power module (51), a drive module (52), a control module (53) and a sensing module (54) which are connected to each other. The drive module (52) can drive the wing assembly (20), the propulsion assembly (30) and the drive assembly (40) through the control module (53). The sensing module (54) is used to transmit the postures of the wing assembly (20) and the tail structure (13) to the control module (53).

12. A control method for a jet-type cross-medium aircraft, characterized in that: Applicable to the jet-type cross-medium aircraft according to any one of claims 1 to 11, the control method comprises: The jet-type cross-medium vehicle is launched into waters, the first wing (21) of the wing assembly (20) is in a fully retracted state, the propulsion assembly (30) discharges the propulsion medium, and the tail structure (13) is controlled to swing by the drive assembly (40), so that the jet-type cross-medium vehicle enters an underwater cruising state; Adjusting the second wing (22) of the wing assembly (20) to be inclined toward the water surface, so that the jet-type cross-medium vehicle floats to the water surface and enters a cross-medium navigation state; unfolding the first wing (21) so that the first wing (21) is in a fully unfolded state, and the jet-type cross-medium vehicle leaves the water surface and enters a gliding state in the air; The first wing portion (21) is retracted to place the first wing portion (21) in a fully retracted state, and the jet-type cross-medium vehicle descends from the air to the water surface and enters the cross-medium navigation state; The second wing (22) is adjusted to tilt toward underwater, so that the jet-type cross-medium vehicle dives underwater, the propulsion assembly (30) discharges the propulsion medium, and controls the tail structure (13) to swing through the drive assembly (40), so that the jet-type cross-medium vehicle enters an underwater cruising state.

13. The control method of a jet-type cross-medium vehicle according to claim 12, characterized in that: When the jet-type cross-medium vehicle is in an underwater cruising state, it also includes: adjusting the distance between the first connecting portion (121) and the second connecting portion (122) by means of a second driving mechanism (42) of the driving assembly (40); The first driving mechanism (41) of the driving assembly (40) controls the relative movement of the first connecting portion (121) and the second connecting portion (122) to control the swinging of the tail structure (13).

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