Functional modular cross-medium aircraft based on metal 3D printing

Abstract

The invention provides a functional modularized cross-medium aircraft based on metal 3D printing. The functional modularized cross-medium aircraft comprises an aircraft body, a folding wing assembly, a connecting rod, an empennage assembly and a functional module. The rear end of the machine body is detachably connected with the functional module; the folding wing assembly comprises a fixed wing, two movable wings, a steering engine and a connecting rod mechanism; the two movable wings are hinged to the two ends of the fixed wing in the length direction respectively. The steering engine is mounted on the fixed wing; the connecting rod mechanism comprises a steering engine arm, a first connecting rod, a second connecting rod, a pull rod and a motor base. The steering engine arms are driven by the steering engines to swing, so that the first connecting rods are driven to move in the direction close to the central axis of the aircraft body, the movable wings rotate around the fixed wings to unfold the movable wings, and the auxiliary propellers apply rotating torque to the second pull rods through the motor bases and the pull rods to assist in driving the movable wings to unfold while providing lift force for the cross-medium aircraft. The unfolding speed of the movable wing is increased, the time required for crossing media from water to air is shortened, and the success rate of crossing media is increased.

Description

Technical Field

[0001] The present invention relates to the technical field of seaplanes, and in particular to a functional modular cross-media aircraft based on metal 3D printing. Background Art

[0002] A cross-media vehicle is a cross-media vehicle that can switch freely between different physical media. Its most typical function is that it can fly autonomously in multiple environments such as air and ocean. In practical applications, cross-media vehicles can be quickly deployed and maneuvered in complex battlefield environments. They have excellent concealment and flexibility, broad development prospects, and great potential for application in reconnaissance, rescue, scientific exploration, transportation and other fields. Cross-media vehicles need to be able to navigate in air and water, and have the ability to enter air from water and enter water from air. This requires that the design of cross-media vehicles has a propulsion system that can adapt to different physical environments (air, water), as well as a reliable and stable cross-media method.

[0003] In the prior art, in the process of crossing the medium from water to air, the wings are unfolded only by a single drive of an electric motor, and the wing unfolding time is too long, resulting in a high failure rate in the process of crossing the medium from water to air. Summary of the invention

[0004] In view of this, the present invention proposes a functional modular cross-media vehicle based on metal 3D printing to solve the technical problem in the process of crossing the medium from water to air proposed in the above background technology that the wing deployment relies only on a single motor drive, the wing deployment time is too long, and the failure rate of the process of crossing the medium from water to air is relatively high.

[0005] The technical solution of the present invention is achieved in this way:

[0006] The present invention provides a functional modular cross-medium aircraft based on metal 3D printing, comprising a fuselage, a folding wing assembly, a connecting rod, a tail assembly and a functional module, wherein:

[0007] The front end of the fuselage is connected to a main propeller, and the rear end of the fuselage is detachably connected to the functional module;

[0008] The folding wing assembly comprises a fixed wing, two movable wings, a steering gear and a connecting rod mechanism, wherein the fixed wing is fixed to the fuselage and its length direction is perpendicular to the central axis of the fuselage; the two movable wings are respectively hinged to the two ends of the fixed wing in the length direction; the steering gear is installed on the fixed wing; the connecting rod mechanism comprises a steering gear arm, a first connecting rod, a second connecting rod, a pull rod and a motor seat, one end of the steering gear arm is drive-connected to the steering gear, and the other end is hinged to the first connecting rod; one end of the first connecting rod away from the steering gear arm is hinged to the movable wing; one end of the second connecting rod is hinged to the fixed wing, and the other end is hinged to the pull rod; one end of the pull rod away from the second connecting rod is fixedly connected to the motor seat; one end of the motor seat is hinged to the movable wing, and the other end is connected to an auxiliary motor, and a secondary propeller is installed on the auxiliary motor, and the axial direction of the auxiliary motor is always parallel to the central axis of the fuselage;

[0009] One end of the connecting rod is connected to the rear end of the fuselage, and the other end is connected to the tail assembly.

[0010] On the basis of the above technical solution, preferably, the folding wing assembly further includes a connecting block, a connecting shaft and two bearings, the connecting block is provided with a first mounting hole and a second mounting hole, the connecting block is located between the two bearings; the first connecting rod is hinged to the first mounting hole through a hinge shaft; the connecting shaft is mounted on the fixed wing and passes through the second mounting hole, and the bearing is mounted on the connecting shaft;

[0011] The fixed wing includes a base plate, a limit plate and a first wing shell, the base plate is fixed to the fuselage, the limit plate is sleeved on the connecting shaft and fixedly connected to the base plate, the first wing shell cover is arranged outside the base plate and the limit plate, the limit plate is provided with a limit groove, the hinge shaft is slidably installed in the limit groove, and when the hinge shaft is located at the two ends of the limit groove, the movable wing is respectively in a folded state and an unfolded state.

[0012] On the basis of the above technical solution, preferably, the limit groove includes an arc groove, a first limit end and a second limit end, the arc groove takes the second mounting hole as the center, and the first limit end and the second limit end are respectively located at two ends of the arc groove; when the hinge shaft slides to the first limit end, the movable wing is in a folded state; when the hinge shaft slides to the second limit end, the movable wing is in an unfolded state.

[0013] On the basis of the above technical solution, preferably, the movable wing includes a base, a connecting pipe, a rotating seat and a second wing shell, the base is fixedly connected to the connecting block, the two ends of the connecting pipe are respectively connected to the base and the rotating seat, the motor seat is installed on the rotating seat, and the second wing shell cover is arranged outside the base, the connecting pipe and the rotating seat.

[0014] On the basis of the above technical solution, preferably, it also includes a tail wing adjustment mechanism, which includes a tail drive motor, a screw and a slider, the tail wing assembly is provided with a guide groove, the tail drive motor is installed on the tail wing assembly and is driven and connected to the screw, the thread on the screw is a trapezoidal thread with a self-locking function, the slider is threadedly connected to the screw, and the guide groove limiter abuts against both sides of the slider.

[0015] On the basis of the above technical solution, preferably, the tail assembly includes a tail seat, a horizontal tail and a vertical tail, the tail seat is detachably connected to the connecting rod, the guide groove is arranged on the tail seat, and the tail drive motor is installed on the tail seat; the horizontal tail is installed on the tail seat in a horizontal direction and is symmetrical about the tail seat, and the vertical tail is installed on the top of the horizontal tail in a vertical direction.

[0016] On the basis of the above technical solution, preferably, the horizontal tail includes a horizontal stabilizing plate and two elevators, the horizontal stabilizing plate is fixedly mounted on the top of the tail seat, and the two elevators are rotatably mounted on the horizontal stabilizing plate and symmetrically arranged about the tail seat; the vertical tail includes a vertical stabilizing plate and a rudder, the vertical stabilizing plate is fixedly mounted on the top of the horizontal stabilizing plate, and the rudder is rotatably mounted on the vertical stabilizing plate.

[0017] On the basis of the above technical solution, preferably, it also includes an airbag assembly, which includes two front airbags and one rear airbag, the two front airbags are respectively installed on both sides of the bottom width direction of the fuselage, and the rear airbag is installed at the bottom of the tail wing assembly.

[0018] On the basis of the above technical scheme, preferably, a connecting rail is provided on the bottom surface of the rear end of the fuselage, and a connecting port is provided on the side; a connecting groove is provided on the top surface of the functional module, and the connecting groove is slidably installed on the connecting rail; a connecting column is provided on the side of the functional module, and the connecting column is plugged into the connecting port; the functional module can be one of a computing module, a reconnaissance module, a communication module, a power module, a detection module and a clamping claw module.

[0019] On the basis of the above technical solution, preferably, the fuselage, the folding wing assembly, the tail assembly and the functional module are formed by SLM processing using aluminum alloy powder; and the main propeller and the auxiliary propeller are formed by SLM processing using titanium alloy metal powder.

[0020] The functional modular cross-media vehicle based on metal 3D printing of the present invention has the following beneficial effects compared with the prior art:

[0021] (1) The servo drives the servo arm to swing, thereby driving the first connecting rod to move in a direction close to the central axis of the fuselage, so that the movable wing rotates around the fixed wing to unfold the movable wing, and the auxiliary propeller applies a rotational torque to the second pull rod through the motor seat and the pull rod while providing lift to the cross-medium vehicle, thereby assisting in driving the unfolding of the movable wing, increasing the unfolding speed of the movable wing, shortening the time required for cross-medium from water to air, and improving the success rate of cross-medium;

[0022] (2) The first connecting rod and the first mounting hole are hinged through a hinge shaft; the limiting plate is provided with a limiting groove, the hinge shaft is slidably installed in the limiting groove, and when the hinge shaft is located at the two ends of the limiting groove, the movable wing is respectively in a folded state and an unfolded state, and the sliding of the hinge shaft is limited by the limiting groove, thereby limiting the rotation of the movable wing, and limiting the two extreme positions of the folded state and the unfolded state of the movable wing, thereby improving the reliability and stability of the device;

[0023] (3) By driving the screw rod to rotate through the tail drive motor, the slider cannot rotate due to the restriction of the guide groove on both sides, so that the slider moves along the axis direction of the screw rod, driving the tail assembly to move, so that the distance between the tail assembly and the fuselage can be adjusted. After the distance is adjusted, when the tail drive motor stops working, the self-locking performance of the trapezoidal thread on the screw rod prevents the tail assembly from moving forward and backward under the action of external force, so that the center of gravity of the entire cross-medium vehicle can be adjusted to adapt to the influence of different functional modules on the center of gravity, thereby improving the application range of the device;

[0024] (4) The two front airbags are respectively installed on both sides of the bottom width direction of the fuselage, and the rear airbag is installed at the bottom of the tail assembly. By adjusting the volumes of the front airbag and the rear airbag, the buoyancy of the cross-medium vehicle is changed, so that the cross-medium vehicle can more flexibly navigate underwater and move forward on the water surface;

[0025] (5) The horizontal stabilizer is fixedly mounted on the top of the tail seat, the two elevators are rotatably mounted on the horizontal stabilizer and symmetrically arranged about the tail seat, the vertical stabilizer is fixedly mounted on the top of the horizontal stabilizer, and the rudder is rotatably mounted on the vertical stabilizer. The steering during air flight can be achieved by the differential speed of the two auxiliary propellers or by the rotation of the rudder of the vertical tail; the ups and downs of air flight can be achieved by the elevator of the horizontal tail;

[0026] (6) A connecting rail is provided on the bottom surface of the rear end of the fuselage, and a connecting port is provided on the side; a connecting slide is provided on the top surface of the functional module, and the connecting slide is slidably installed on the connecting rail; a connecting column is provided on the side of the functional module, and the connecting column is plugged into the connecting port to realize a detachable connection between the functional module and the fuselage, which is convenient for the installation and replacement of different functional modules, improves the functional range of the device, and meets different usage requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the embodiments of the present invention 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 of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0028] Figure 1 It is a three-dimensional diagram of a functional modular cross-media aircraft based on metal 3D printing in an embodiment of the present invention with its movable wings deployed;

[0029] Figure 2 A three-dimensional diagram of a functional modular cross-media vehicle based on metal 3D printing in an embodiment of the present invention in a state where the movable wings are folded;

[0030] Figure 3 is a schematic structural diagram of a fuselage in an embodiment of the present invention;

[0031] Figure 4 is a front view of a functional module in an embodiment of the present invention;

[0032] Figure 5 is a schematic structural diagram of a folding wing assembly in an embodiment of the present invention;

[0033] Figure 6 It is a schematic structural diagram of a folding wing assembly (hiding the first wing shell and the second wing shell) in an embodiment of the present invention;

[0034] Figure 7 is a schematic structural diagram of a connecting rod mechanism in an embodiment of the present invention;

[0035] Figure 8 Schematic diagram of the structure of the bottom plate, the limiting plate and the connecting block in the embodiment of the present invention;

[0036] Fig. 9 is a schematic structural diagram of a tail wing adjustment mechanism in an embodiment of the present invention;

[0037] Fig.10 It is a flow chart of the airbag assembly control method in the process of switching from underwater navigation to surface navigation in an embodiment of the present invention;

[0038] Fig.11 It is a schematic flow chart of the process of water entering air-spanning medium in an embodiment of the present invention;

[0039] Fig.12 A schematic diagram of the classification of functional modules in an embodiment of the present invention;

[0040] Fig.13 The figure is a schematic diagram of the structure of a cross-media aircraft formation in an embodiment of the present invention.

[0041] Description of reference numerals: 100 - fuselage, 200 - folding wing assembly, 300 - connecting rod, 400 - tail assembly, 500 - functional module, 600 - tail adjustment mechanism, 700 - airbag assembly;

[0042] 101-main motor, 102-main propeller, 103-connection rail, 104-connection port;

[0043] 210-fixed wing, 211-bottom plate, 2111-third mounting hole, 2112-rotating groove, 212-limiting plate, 2120-limiting groove, 2121-arc groove, 2122-first limiting end, 2123-second limiting end, 213-first wing shell, 220-movable wing, 221-base, 222-connecting pipe, 223-rotating seat, 224-second wing shell, 2241-wing plate body, 2242-wing flap, 230-servo, 240-connecting rod mechanism, 241-servo arm, 242-first connecting rod, 243-second connecting rod, 244-pull rod, 245-motor seat, 250-auxiliary motor, 260-auxiliary propeller, 270-connecting block, 271-first mounting hole, 272-second mounting hole, 273-connecting ear seat, 280-bearing;

[0044] 410-tail seat, 411-guide slot, 420-horizontal tail, 421-horizontal stabilizer, 422-elevator, 430-vertical tail, 431-vertical stabilizer, 432-rudder;

[0045] 510-connecting chute, 520-connecting column;

[0046] 610-tail drive motor, 620-screw rod, 630-slider;

[0047] 710-front airbag, 720-rear airbag. DETAILED DESCRIPTION

[0048] The following will be combined with the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0049] Reference Figure 1-13 As shown, an embodiment of the present invention proposes a functional modular cross-medium aircraft based on metal 3D printing, including a fuselage 100, a folding wing assembly 200, a connecting rod 300, a tail assembly 400 and a functional module 500, wherein:

[0050] The front end of the fuselage 100 is connected to a main motor 101, which is drivingly connected to a main propeller 102, and the rear end of the fuselage 100 is detachably connected to the functional module 500;

[0051] The folding wing assembly 200 includes a fixed wing 210, two movable wings 220, a steering gear 230 and a connecting rod mechanism 240. The fixed wing 210 is fixed to the fuselage 100 and its length direction is perpendicular to the central axis of the fuselage 100; the two movable wings 220 are respectively hinged to the two ends of the length direction of the fixed wing 210; the steering gear 230 is installed on the fixed wing 210; the connecting rod mechanism 240 includes a steering gear arm 241, a first connecting rod 242, a second connecting rod 243, a pull rod 244 and a motor seat 245. One end of the steering gear arm 241 is drivingly connected to the steering gear 230, and the other end is The first connecting rod 242 is hinged at one end thereof with the first connecting rod 242; the first connecting rod 242 is hinged at one end thereof away from the servo arm 241 with the movable wing 220; the second connecting rod 243 is hinged at one end thereof with the fixed wing 210, and the other end thereof with the pull rod 244; the pull rod 244 is fixedly connected at one end thereof away from the second connecting rod 243 with the motor seat 245; the motor seat 245 is hinged at one end thereof with the movable wing 220, and the other end thereof is connected with an auxiliary motor 250, and the auxiliary motor 250 is mounted with a secondary propeller 260, and the axial direction of the auxiliary motor 250 is always parallel to the central axis of the fuselage 100;

[0052] One end of the connecting rod 300 is connected to the rear end of the fuselage 100 , and the other end is connected to the tail assembly 400 .

[0053] It should be noted that, when the servo arm 241 drives the first connecting rod 242 to move toward the direction close to the central axis of the fuselage 100, so that the movable wing 220 rotates around the fixed wing 210, the second connecting rod 243 drives the pull rod 244 and the motor seat 245 to rotate around the movable wing 220, so that the axial direction of the output shaft of the auxiliary motor 250 is always parallel to the central axis of the fuselage 100, and the thrust direction of the auxiliary propeller 260 is always parallel to the central axis of the fuselage 100.

[0054] The functional modular cross-media aircraft based on metal 3D printing proposed in this embodiment drives the servo arm 241 to swing through the servo 230, thereby driving the first connecting rod 242 to move in the direction close to the central axis of the fuselage 100, so that the movable wing 220 rotates around the fixed wing 210 to unfold the movable wing 220, and the auxiliary propeller 260, while providing lift to the cross-media aircraft, applies a rotational torque to the second pull rod 244 through the motor seat 245 and the pull rod 244, to assist in driving the unfolding of the movable wing 220, thereby increasing the unfolding speed of the movable wing 220, shortening the time required for entering the air from water to cross the medium, and improving the success rate of cross-media.

[0055] In some embodiments, the folding wing assembly also includes a connecting block 270, a connecting shaft (not shown in the figure) and two bearings 280, the connecting block 270 is provided with a first mounting hole 271 and a second mounting hole 272, and the connecting block 270 is located between the two bearings 280; the first connecting rod 242 is hinged to the first mounting hole 271 through a hinge shaft (not shown in the figure), and the two ends of the hinge shaft are limited so that the hinge shaft will not be detached from the first mounting hole 271; the connecting shaft is installed on the fixed wing 210 and passes through the second mounting hole 272, and the bearing 280 is installed on the connecting shaft; the fixed wing 210 includes a bottom plate 211, a limiting plate 212 and a first wing shell 213, the bottom plate 211 is fixed on the fuselage 100, the bottom plate 211 is provided with a third mounting hole 2111, the connecting shaft passes through the third mounting hole 2111, the limiting plate 212 is sleeved on the connecting shaft and is fixedly connected to the bottom plate 211, the first wing shell 213 is covered outside the bottom plate 211 and the limiting plate 212, the limiting plate 212 is provided with a limiting groove 2120, the hinge shaft is slidably installed in the limiting groove 2120, when the hinge shaft is located at the two ends of the limiting groove 2120, the movable wing 220 is respectively in a folded state and an unfolded state. The sliding of the hinge shaft is limited by the limiting groove 2120, so as to limit the rotation of the movable wing 220, and limit the two extreme positions of the folded state and the unfolded state of the movable wing 220, so as to improve the reliability and stability of the device.

[0056] In some embodiments, in order to facilitate the connection between the connecting block 270 and the first connecting rod 242, the connecting block 270 is protruded downward at the position of the first mounting hole 271, and the connecting block 270 is provided with two connecting ear seats 273. The first mounting hole 271 is arranged on the connecting ear seat 273. In order to avoid interfering with the rotation of the connecting ear seat 273 at the lower end, in this embodiment, a rotation groove 2112 is arranged on the bottom plate 211, and the rotation groove 2112 is formed by being recessed downward. The rotation groove 2112 is a part of an annular groove with the third mounting hole 2111 as the center. When the connecting ear seat 273 at the lower end contacts the side of the rotation groove 2112, the rotation groove 2112 can limit the rotation of the connecting block 270. At this time, the movable wing 220 is in an unfolded state.

[0057] In some embodiments, the limiting groove 2120 includes an arc groove 2121, a first limiting end 2122 and a second limiting end 2123. The arc groove 2121 takes the second mounting hole 272 as the center of the circle, and the first limiting end 2122 and the second limiting end 2123 are respectively located at two ends of the arc groove 2121; when the hinge shaft slides to the first limiting end 2122, the movable wing 220 is in a folded state; when the hinge shaft slides to the second limiting end 2123, the movable wing 220 is in an unfolded state. The rotation of the movable wing 220 is limited by the first limiting end 2122 and the second limiting end 2123, and the two extreme positions of the folded state and the unfolded state of the movable wing 220 are limited, thereby improving the reliability and stability of the device.

[0058] In some embodiments, the movable wing 220 includes a base 221, a connecting tube 222, a rotating seat 223 and a second wing shell 224. The base 221 is fixedly connected to a side of the connecting block 270 away from the first mounting hole 271. The two ends of the connecting tube 222 are respectively connected to the base 221 and the rotating seat 223. The two connecting tubes 222 are arranged in parallel to form a frame structure. The motor seat 245 is installed on the rotating seat 223. The second wing shell 224 is covered outside the base 221, the connecting tube 222 and the rotating seat 223. The second wing shell 224 includes a wing plate body 2241 and a wing flap 2242. The wing flap 2242 is rotatably installed on the wing plate body 2241. During the folding process of the movable wing 220, the second wing shell 224 will not interfere with the first wing shell 213, and after the folding is completed, the top surface of the second wing shell 224 is located below the top surface of the first wing shell 213, forming an approximately rectangular plane (when the middle gap is negligible), reducing resistance and facilitating the cross-medium vehicle to navigate in the water.

[0059] In some embodiments, the cross-medium vehicle also includes a tail adjustment mechanism 600, which includes a tail drive motor 610, a screw rod 620 and a slider 630. The tail assembly 400 is provided with a guide groove 411. The tail drive motor 610 is installed on the tail assembly 400 and is driven and connected to the screw rod 620. The thread on the screw rod 620 is a trapezoidal thread with a self-locking function. The slider 630 is threadedly connected to the screw rod 620, and the guide groove 411 is limited and abuts against both sides of the slider 630. The screw rod 620 is driven to rotate by the tail drive motor 610. Since the two sides of the slider 430 are restricted by the guide groove 411 and cannot rotate, the slider 430 moves along the axial direction of the screw rod 620, driving the tail assembly 400 to move, so that the distance between the tail assembly 400 and the fuselage 100 can be adjusted. After the distance is adjusted, when the tail drive motor 610 stops working, the self-locking property of the trapezoidal thread on the screw rod 620 prevents the tail assembly 400 from moving forward and backward under the action of external force, and the center of gravity of the entire cross-medium vehicle can be adjusted to adapt to the influence of different functional modules 500 on the center of gravity, thereby improving the scope of application of the device.

[0060] In other embodiments, the tail adjustment mechanism 600 may also be a slider guide structure, a gear rack mechanism, a cylinder, etc., as long as it can achieve linear motion of the tail assembly 400 along the length direction of the connecting rod 300.

[0061] In some embodiments, the tail assembly 400 includes a tail seat 410, a horizontal tail 420 and a vertical tail 430. The tail seat 410 is detachably connected to the connecting rod 300, a guide groove 411 is provided on the tail seat 410, and a tail drive motor 610 is installed on the tail seat 410; the horizontal tail 420 is installed on the tail seat 410 in the horizontal direction and is symmetrical about the tail seat 410, and the vertical tail 430 is installed on the top of the horizontal tail 420 in the vertical direction. The horizontal tail 420 can improve the stability of the cross-medium vehicle and can provide downforce, making it more stable during flight or underwater navigation; the vertical tail 430 can adjust the direction and assist in steering when turning.

[0062] In some embodiments, the horizontal tail 420 includes a horizontal stabilizing plate 421 and two elevators 422, wherein the horizontal stabilizing plate 421 is fixedly mounted on the top of the tail seat 410, and the two elevators 422 are rotatably mounted on the horizontal stabilizing plate 421 and are symmetrically arranged about the tail seat 410; the vertical tail 430 includes a vertical stabilizing plate 431 and a rudder 432, wherein the vertical stabilizing plate 431 is fixedly mounted on the top of the horizontal stabilizing plate 421, and the rudder 432 is rotatably mounted on the vertical stabilizing plate 431. The horizontal stabilizer plate 421 is fixedly mounted on the top of the tail seat 410, the elevator 422 is rotatably mounted on the horizontal stabilizer plate 421, the vertical stabilizer plate 431 is fixedly mounted on the top of the horizontal stabilizer plate 421, and the rudder 432 is rotatably mounted on the vertical stabilizer plate 431. Steering during air flight can be achieved by the differential of the two auxiliary propellers 260, or by rotating the rudder 432 of the vertical tail; the ups and downs of air flight can be achieved by the elevator 422 of the horizontal tail 420 or the flap 2242 on the movable wing 220.

[0063] In some embodiments, the cross-medium craft further includes an airbag assembly 700, and the airbag assembly 700 includes two front airbags 710 and a rear airbag 720. The two front airbags 710 are respectively installed on both sides of the bottom width direction of the fuselage 100, and the rear airbag 720 is installed on the bottom of the tail assembly 400. By installing the two front airbags 710 on both sides of the bottom width direction of the fuselage 100, and the rear airbag 720 is installed on the bottom of the tail assembly 400, the buoyancy of the cross-medium craft is changed by adjusting the volumes of the front airbags 710 and the rear airbags 720, so that the cross-medium craft can more flexibly navigate underwater and move forward on the water surface. The gas source is a high-pressure gas tank located in the fuselage 100, and the air pipe for the high-pressure gas tank to inflate the rear airbag 720 is located in the connecting rod 300.

[0064] In some embodiments, the bottom surface of the rear end of the fuselage 100 is provided with a connecting rail 103, which may be L-shaped, and a connecting port 104 is provided on the side; the top surface of the functional module 500 is provided with a connecting slot 510, which is slidably mounted on the connecting rail 103, and the side of the functional module 500 is provided with a connecting column 520, which is plugged and matched with the connecting port 104; the functional module 500 may be one of a computing module, a reconnaissance module, a communication module, a power module, a detection module and a clamping module. The connecting slot 510 slides along the connecting rail 103, and when the connecting column 520 slides to the connecting port 104, the functional module 500 is snap-connected with the fuselage 100, so as to realize the detachable connection between the functional module 500 and the fuselage 100, facilitate the installation and replacement of different functional modules 500, improve the functional range of the device, and meet different usage requirements. Functional module 500 has the function of quick connection and disassembly, which greatly expands the function of the cross-media aircraft. By installing detachable modules with different functions on the cross-media aircraft, the cross-media aircraft can more flexibly respond to application scenarios with different functional requirements; by matching detachable modules with different functions on multiple cross-media aircraft, a powerful cross-media aircraft formation can be formed.

[0065] In some embodiments, the fuselage 100, the folding wing assembly 200, the tail assembly 400 and the functional module 500 are made of aluminum alloy powder by SLM processing; the main propeller 102 and the auxiliary propeller 260 are made of titanium alloy metal powder by SLM processing. As an important part of rapid prototyping technology in the field of 3D printing, SLM (Selective laser melting) can directly manufacture high-quality metal parts using single metal or mixed metal powder. SLM technology overcomes the difficulties of traditional manufacturing of complex parts and can directly form integrated, high-density, high-precision and high-mechanical performance parts. The fuselage 100 is printed as a whole using SLM technology. While ensuring the strength of the fuselage 100, it also greatly reduces the area of ​​the sealing interface to ensure the sealing of the fuselage 100 underwater. The strength requirements of the fuselage 100, the folding wing assembly 200, the tail assembly 400 and the functional module 500 are not particularly high. They are made of aluminum alloy powder through SLM processing, which can meet the strength requirements while greatly reducing weight, thereby improving the endurance of the cross-medium vehicle; the main propeller 102 and the auxiliary propeller 260 have higher strength requirements due to the need to overcome greater resistance. Therefore, they are made of titanium alloy metal powder through SLM processing, so that the main propeller 102 and the auxiliary propeller 260 have high strength and hardness, excellent corrosion resistance, especially in seawater and acidic environments, thereby improving reliability and service life.

[0066] The functional modular cross-media vehicle based on metal 3D printing proposed in this embodiment works as follows:

[0067] When the trans-medium aircraft is flying in the air, the movable wing 220 is unfolded, the airbag assembly 700 is deflated and retracted, and the trans-medium aircraft uses the aerodynamic lift in flight to maintain flight. When the trans-medium aircraft needs to fly at high speed, the three motors in the power component operate together; when the trans-medium aircraft needs to fly with high endurance, the two suspension motors on the movable wing 220 stop working, and only the main motor 101 at the nose is kept running. By using the motors in the power component in combination, the trans-medium aircraft can meet the requirements of high speed or high endurance according to the application scenario. Steering during air flight can be achieved by rotating the rudder 432 of the vertical tail wing, or by the differential speed of the two auxiliary propellers 260; the ups and downs of air flight can be achieved by the elevator 422 of the horizontal tail wing 420 or the flap 2242 on the movable wing 220;

[0068] When the cross-medium vehicle is sailing underwater, it relies on two auxiliary propellers 260 as underwater propellers. Since the density of water is greater than that of air, the resistance is stronger. In order to allow the cross-medium vehicle to sail at high speed in the water, the movable wing 220 is folded to reduce the waterfront area of ​​the cross-medium vehicle to achieve underwater drag reduction, and can be divided into a high-speed mode or a high-maneuverability mode according to the degree of folding of the wing. When the movable wing 220 is folded back 90 degrees, it is in the high-speed mode, the waterfront area of ​​the cross-medium vehicle is the smallest, and the cruising speed can reach the maximum. In the high-speed mode, the auxiliary motor 250 on the movable wing 220 is closest to the central axis of the fuselage 100. At this time, the turning torque generated by the auxiliary motor 250 during differential turning is very small, resulting in a large turning radius of the cross-medium vehicle. At this time, the movable wing 220 can be unfolded to a certain angle to increase the turning torque generated by the motor differential, so that the cross-medium vehicle can turn quickly. At this time, the mode in which the movable wing 220 is unfolded to a certain angle is a high-maneuverability mode. In actual underwater navigation, the underwater navigation mode of the cross-medium vehicle can be adjusted according to the specific route environment. The ups and downs of underwater navigation can be achieved by the elevator 422 of the horizontal tail 420, or by inflating the airbag assembly 700 to change the buoyancy of the cross-medium vehicle;

[0069] The cross-medium vehicle can also sail on the water surface. In this state, the front airbag 710 and the rear airbag 720 are inflated by the high-pressure gas tank located inside the fuselage 100. The volume of the front airbag 710 and the rear airbag 720 increases, thereby increasing the buoyancy of the cross-medium vehicle. The control flow chart of the airbag assembly 700 at this time is shown in FIG. Fig.10 At this time, the power comes from the auxiliary propeller 260, and the left and right directions of the forward movement are adjusted by the rudder 432 of the vertical tail. In this state, the trans-medium vehicle can be made to dive and enter the underwater navigation state by adjusting the volume of the airbag assembly 700.

[0070] The cross-medium aircraft in this embodiment, in the process of realizing the cross-medium from water to air, the cross-medium aircraft rises up out of the water at a certain depth and at a certain angle. In this process, the cross-medium aircraft needs to achieve rapid water exit. In the water, the cross-medium aircraft needs to be in a high-speed mode with the active wing 220 fully folded, so that the cross-medium aircraft is subjected to the least resistance during the water exit. After the folded wing assembly 200 leaves the water surface, the wing needs to be quickly unfolded to enter the air flight state. The cross-medium aircraft of this patent can achieve high-speed water exit and rapid unfolding of the wing after the water exit. The implementation method is that the auxiliary propeller 260 at the end of the wing is used as a propeller underwater to make the cross-medium aircraft dive upward in the water. When the propeller at the nose starts to run after exiting the water, the cross-medium aircraft obtains a greater water exit pulling force under the operation of three motors. When the wings in the folded state are all out of the water, the two steering gears 230 located in the middle fixed wing 210 start to work, so that the active wing 220 rotates and unfolds. During this process, the auxiliary propeller 260 at the end of the active wing 220 continues to run. The auxiliary propeller 260 at the end of the wing can not only provide lift to the cross-media aircraft, but also provide a rotational torque to the movable wing 220 during the deployment process, thereby driving the movable wing 220 to deploy. During the process of the movable wing 220 rotating and deploying, the rotational torque applied by the auxiliary propeller 260 at the end of the movable wing 220 increases as the angle between the movable wing 220 and the central axis of the fuselage 100 increases. Under the joint action of the servo 230 and the auxiliary propeller 260 at the end of the movable wing 220, the movable wing 220 is rapidly deployed. After the wings are deployed, the cross-media aircraft quickly rises to a specified height under the action of three propellers. The cross-media aircraft in this patent uses different power combinations at different times during the entire cross-media process from water to air, so that the cross-media aircraft can quickly exit the water while also enabling the movable wing 220 to rapidly deploy, thereby shortening the time required for cross-media operation and improving the success rate of cross-media operation. Its water exit strategy is as follows: Fig.11 shown.

[0071] In the process of entering water from air to water, the cross-medium aircraft can choose to glide into the water or dive into the water. The most prominent difference between these two ways of entering the water is that the angle between the cross-medium aircraft and the water surface is different before entering the water. When choosing to glide into the water, the cross-medium aircraft flying in the air increases the flight angle of attack, slowly reduces the flight altitude and speed, and when it is one to two meters away from the water surface, the movable wing 220 glides to the bottom of the fuselage 100 and contacts the water surface to decelerate, and decides whether to inflate the airbag assembly 700 according to whether the cross-medium aircraft is sailing on the water surface or underwater. The motion trajectory of diving into the water is similar to the process of water birds entering the water to hunt in nature. In this process, the cross-medium aircraft adjusts to a head-down posture when approaching the water surface, and the movable wing 220 folds, and quickly enters the water under the action of gravity and inertia. After diving into the water, the cross-medium aircraft enters the underwater navigation state. Among them, gliding into the water is suitable for the situation where the motion posture is required to maintain stability after entering the water, and diving into the water is suitable for the situation where the entry into the water is required to be efficient and rapid.

[0072] The functions of the general cross-media vehicles in this patent can be modularly installed to form a formation, in which each cross-media vehicle can be installed with the corresponding required modules according to the needs of the mission objectives, such as computing modules, reconnaissance modules, communication modules, power modules, detection modules and gripper modules. The detachable modules of the cross-media vehicles make the formation highly scalable and adaptable. The specific functions that can be realized by the formation can be flexibly configured according to the mission requirements, and they can cooperate with each other during navigation and mission execution. The specific types of modules are as follows: Fig.12 As shown. The computing module has powerful computing power and can calculate and analyze external environmental data in real time. The cross-media vehicle equipped with the computing module can command the actions of the entire cross-media vehicle formation and adjust the formation to complete the task; the reconnaissance module is equipped with infrared thermal imaging, panoramic camera, high-resolution camera, telephoto camera module and sonar module. The cross-media vehicle equipped with the reconnaissance module can complete the long-range reconnaissance, target identification and image acquisition in the task; the communication module can be equipped with regional network, satellite communication, underwater acoustic communication machine, and remote relay module. The cross-media drone equipped with the communication module can complete the internal communication of the formation, the external communication of the formation, the underwater communication of the formation, and act as a data transmission relay station; the power module can be regarded as an additional power source for the cross-media vehicle, and lithium battery module, solar module and combustion battery module can be selected according to demand; the detection module can be equipped with sonar, infrared sensor, vibration sensor, laser radar, gas sensor, temperature sensor, and can complete the work of resource exploration, personnel search and rescue, and environmental exploration and monitoring; the gripper module is mainly used for cross-border cross-media vehicles in underwater navigation, and can collect and sample items, perform remote operations, and other tasks.

[0073] Fig.13A cross-media aircraft formation is performing a mission. The formation starts from the starting point and flies in the air. Along the way, the cross-media aircraft with the remote relay module glides into the water and switches to the low-power surface navigation mode to ensure the reliability of the communication link of the cross-media aircraft formation. After arriving at the mission area, the cross-media aircraft with the main control computing module glides to the surface and is responsible for the overall command of the mission; the cross-media aircraft with the regional network module and the module with the hydroacoustic communication machine glides to the surface and underwater, respectively responsible for the communication of the cross-media aircraft in the air and the communication of the cross-media aircraft underwater; the reconnaissance module, the detection module and the gripper module are installed with corresponding functional modules 500 according to the specific requirements of the mission.

[0074] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A functional modular cross-media vehicle based on metal 3D printing, characterized in that: It includes a fuselage, a folding wing assembly, a connecting rod, a tail assembly and a functional module, wherein: The front end of the fuselage is connected to a main propeller, and the rear end of the fuselage is detachably connected to the functional module; The folding wing assembly comprises a fixed wing, two movable wings, a steering gear and a connecting rod mechanism, wherein the fixed wing is fixed to the fuselage and its length direction is perpendicular to the central axis of the fuselage; the two movable wings are respectively hinged to the two ends of the fixed wing in the length direction; the steering gear is installed on the fixed wing; the connecting rod mechanism comprises a steering gear arm, a first connecting rod, a second connecting rod, a pull rod and a motor seat, one end of the steering gear arm is drive-connected to the steering gear, and the other end is hinged to the first connecting rod; one end of the first connecting rod away from the steering gear arm is hinged to the movable wing; one end of the second connecting rod is hinged to the fixed wing, and the other end is hinged to the pull rod; one end of the pull rod away from the second connecting rod is fixedly connected to the motor seat; one end of the motor seat is hinged to the movable wing, and the other end is connected to an auxiliary motor, and a secondary propeller is installed on the auxiliary motor, and the axial direction of the auxiliary motor is always parallel to the central axis of the fuselage; One end of the connecting rod is connected to the rear end of the fuselage, and the other end is connected to the tail assembly.

2. The functional modular cross-media vehicle based on metal 3D printing as claimed in claim 1, characterized in that: The folding wing assembly further includes a connecting block, a connecting shaft and two bearings, wherein the connecting block is provided with a first mounting hole and a second mounting hole, and the connecting block is located between the two bearings; the first connecting rod is hinged to the first mounting hole through a hinge shaft; the connecting shaft is mounted on the fixed wing and passes through the second mounting hole, and the bearing is mounted on the connecting shaft; The fixed wing includes a base plate, a limit plate and a first wing shell, the base plate is fixed to the fuselage, the limit plate is sleeved on the connecting shaft and fixedly connected to the base plate, the first wing shell cover is arranged outside the base plate and the limit plate, the limit plate is provided with a limit groove, the hinge shaft is slidably installed in the limit groove, and when the hinge shaft is located at the two ends of the limit groove, the movable wing is respectively in a folded state and an unfolded state.

3. The functional modular cross-media vehicle based on metal 3D printing as claimed in claim 2, characterized in that: The limiting groove includes an arc groove, a first limiting end and a second limiting end. The arc groove takes the second mounting hole as the center, and the first limiting end and the second limiting end are respectively located at two ends of the arc groove; when the hinge shaft slides to the first limiting end, the movable wing is in a folded state; when the hinge shaft slides to the second limiting end, the movable wing is in an unfolded state.

4. The functional modular cross-media vehicle based on metal 3D printing as claimed in claim 2, characterized in that: The movable wing includes a base, a connecting pipe, a rotating seat and a second wing shell. The base is fixedly connected to the connecting block, two ends of the connecting pipe are respectively connected to the base and the rotating seat, the motor seat is installed on the rotating seat, and the second wing shell cover is arranged outside the base, the connecting pipe and the rotating seat.

5. The functional modular cross-media vehicle based on metal 3D printing as claimed in claim 1, characterized in that: It also includes a tail wing adjustment mechanism, which includes a tail drive motor, a screw rod and a slider. The tail wing assembly is provided with a guide groove. The tail drive motor is installed on the tail wing assembly and is connected to the screw rod. The thread on the screw rod is a trapezoidal thread with a self-locking function. The slider is threadedly connected to the screw rod, and the guide groove limiter abuts against both sides of the slider.

6. The functional modular cross-media vehicle based on metal 3D printing as claimed in claim 5, characterized in that: The tail assembly includes a tail seat, a horizontal tail and a vertical tail, the tail seat is detachably connected to the connecting rod, the guide groove is arranged on the tail seat, and the tail drive motor is installed on the tail seat; the horizontal tail is installed on the tail seat in a horizontal direction and is symmetrical about the tail seat, and the vertical tail is installed on the top of the horizontal tail in a vertical direction.

7. The functional modular cross-media vehicle based on metal 3D printing as claimed in claim 6, characterized in that: The horizontal tail includes a horizontal stabilizer plate and two elevators, wherein the horizontal stabilizer plate is fixedly mounted on the top of the tail seat, and the two elevators are rotatably mounted on the horizontal stabilizer plate and symmetrically arranged about the tail seat; the vertical tail includes a vertical stabilizer plate and a rudder, wherein the vertical stabilizer plate is fixedly mounted on the top of the horizontal stabilizer plate, and the rudder is rotatably mounted on the vertical stabilizer plate.

8. The functional modular cross-media vehicle based on metal 3D printing as claimed in claim 1, characterized in that: It also includes an airbag assembly, which includes two front airbags and a rear airbag. The two front airbags are respectively installed on both sides of the bottom width direction of the fuselage, and the rear airbag is installed at the bottom of the tail wing assembly.

9. The functional modular cross-media vehicle based on metal 3D printing according to any one of claims 1 to 8, characterized in that: The bottom surface of the rear end of the fuselage is provided with a connecting rail, and the side surface is provided with a connecting port; the top surface of the functional module is provided with a connecting slide groove, and the connecting slide groove is slidably installed on the connecting rail; the side surface of the functional module is provided with a connecting column, and the connecting column is plugged into the connecting port; the functional module can be one of a computing module, a reconnaissance module, a communication module, a power module, a detection module and a clamping claw module.

10. The functional modular cross-media vehicle based on metal 3D printing according to any one of claims 1 to 8, characterized in that: The fuselage, the folding wing assembly, the tail assembly and the functional module are formed by SLM processing using aluminum alloy powder; the main propeller and the auxiliary propeller are formed by SLM processing using titanium alloy metal powder.

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