Stepped airbag folded wing type cross-medium unmanned vehicle

Abstract

The application discloses a step airbag folding wing type cross-medium unmanned vehicle, and belongs to the technical field of marine equipment and vehicles. The two sides of a boat body are connected with wings, and the two wings are folding wings. The folding wings are composed of rotatingly connected inner wing plates and outer wing plates. The lower surfaces of the inner wing plates are connected with inner airbags, and the lower surfaces of the outer wing plates are connected with outer airbags. The inner wing plates and the outer wing plates of each wing are connected with a folding wing mechanism, and the folding wing mechanism is connected with the bottom of the outer airbag, so as to pull the outer wing plate to fold and the outer airbag to fold. An air exchange mechanism is installed on each wing. A tail frame is connected on the inner wing plate through buckling. A tail gas pipe is connected with a compressor in the boat body. The step airbag and the folding wing device are equipped, and the simple spring system and the step airbag realize load reduction. The device can slow down into water, so as to protect internal components and sensors of the vehicle. When the vehicle is out of water, the device can ensure sufficient power through air jetting, so as to realize multiple water entering and leaving behaviors.

Description

Technical Field

[0001] This invention belongs to the field of marine equipment and vehicle technology, specifically relating to a stepped airbag folding-wing cross-medium unmanned vehicle. Background Technology

[0002] With the increasing demand for marine resource development, marine monitoring, maritime security, and expansion into the aerospace domain, the limitations of traditional single-medium unmanned vehicles (UAVs) are becoming increasingly apparent. In the marine domain, while underwater vehicles can perform missions in the deep sea, they struggle to efficiently cross the water and air to transmit information rapidly or conduct large-scale surface reconnaissance. While airborne vehicles offer advantages in rapid arrival and wide-area cruising, they cannot penetrate deep underwater for detailed exploration and operations. Against this backdrop, cross-medium UAV technology has emerged. In marine resource exploration, it can quickly locate target sea areas from the air and then dive underwater to conduct detailed geological surveys or biological resource investigations. In maritime rescue operations, cross-medium UAVs can rapidly reach the accident site from a distant airborne base station and then enter the water to conduct close-range searches and information transmission, greatly improving rescue efficiency and accuracy. As global development and utilization of the ocean and near-space continue to deepen, cross-medium UAV technology is gradually becoming a key technological hotspot for research and development in the scientific research and defense fields of various countries, and is expected to play an irreplaceable and important role in many complex mission scenarios in the future.

[0003] Studies have found that there are instantaneous impact loads and accelerations during water entry. Excessive water entry velocity can lead to high impact loads, which can cause components and sensors of cross-medium unmanned aerial vehicles to malfunction. Furthermore, the control and energy requirements are high when exiting the water. Existing cross-medium unmanned aerial vehicles cannot effectively solve these problems. Summary of the Invention

[0004] In order to solve the technical problems in the prior art, such as excessive impact load caused by excessive water entry speed leading to component and sensor failure, and high control and energy requirements during water exit, the present invention provides a stepped airbag folding wing cross-medium unmanned aerial vehicle that can decelerate upon entering the water to protect components, while reducing energy loss during water entry and exit and providing greater power for water exit.

[0005] The technical solution adopted in this invention is:

[0006] A stepped airbag folding-wing cross-medium unmanned aerial vehicle includes a hull, wings, a tailstock, an inner airbag, an outer airbag, a tailpipe, a folding wing mechanism, and a ventilation mechanism. The hull is connected to the wings on both sides, and both wings are folding wings. The folding wings are composed of an inner wing plate and an outer wing plate that are rotatably connected. The lower surface of the inner wing plate is connected to the inner airbag, and the lower surface of the outer wing plate is connected to the outer airbag. The folding wing mechanism is connected between the inner wing plate and the outer wing plate of each wing, and the folding wing mechanism is connected to the bottom of the outer airbag, which can pull the outer wing plate and the outer airbag to fold. A ventilation mechanism is installed on each wing. The tailstock is connected to the inner wing plate by a snap-fit. The tailpipe is connected to a compressor inside the hull.

[0007] Compared with the prior art, the present invention has the following advantages:

[0008] This invention is equipped with a stepped airbag and a folding wing device. Load reduction is achieved through a simple spring system and stepped airbags, allowing for deceleration during water entry and protecting internal components and sensors. Sufficient power is ensured by jet propulsion upon exiting the water, enabling multiple water entry and exit maneuvers. Attached Figure Description

[0009] Figure 1 This is a schematic diagram of the structure of the present invention;

[0010] Figure 2 This is a schematic diagram of the folding wing mechanism of the present invention;

[0011] Figure 3 This is a schematic diagram of the ventilation mechanism of the present invention;

[0012] Figure 4 This is a schematic diagram of the vibration reduction system of the present invention;

[0013] Figure 5 This is a schematic diagram of the vibration reduction system structure of the present invention;

[0014] Figure 6 This is a schematic diagram of the internal airbag of the present invention;

[0015] Figure 7 This is a schematic diagram of the self-locking device of the present invention;

[0016] The components are as follows: 1. Hull; 2. Wing; 4. Internal airbag; 5. External airbag; 6. Exhaust pipe; 7. Tail rack; 8. Hinge; 101. Motor; 102. Fixed pulley; 103. Internal spring; 104. External spring; 105. Traction cable; 201. Inner wing plate; 202. Outer wing plate; 301. Correcting spring; 302. Fixture; 303. Rotating shaft; 304. Slide groove; 401. Skin; 402. Spiral air pipe; 403. Self-locking device; 4011. Upper buckle; 4012. Center pin; 4013. Connecting spring; 4014. Lower support; 4015. Hanging part; 4016. Hook part; 4017. Pin part; 901. Main air pipe; 902. Branch air pipe; 903. Corrugated pipe. Detailed Implementation

[0017] To better understand the purpose, structure, and function of this invention, the invention will be described in further detail below with reference to the accompanying drawings.

[0018] like Figure 1 As shown, this invention provides a stepped airbag folding-wing cross-medium unmanned aerial vehicle, including a hull 1, wings 2, tailstock 7, inner airbag 4, outer airbag 5, exhaust pipe 6, folding wing mechanism, and ventilation mechanism. The hull 1 is connected to the wings 2 on both sides. Both wings 2 are folding wings, which are composed of an inner wing plate 201 and an outer wing plate 202 that are rotatably connected. The lower surface of the inner wing plate 201 is connected to the inner airbag 4, and the lower surface of the outer wing plate 202 is connected to the outer airbag 5. A folding wing mechanism is connected between the inner wing plate 201 and the outer wing plate 202 of each wing 2. At the same time, the folding wing mechanism is connected to the bottom of the outer airbag 5, which can pull the outer wing plate 202 and the outer airbag 5 to fold. A ventilation mechanism is installed on each wing 2. The tailstock 7 is connected to the inner wing plate 201 by a snap-fit. The exhaust pipe 6 is connected to the compressor inside the hull 1.

[0019] like Figure 2 As shown, the folding wing mechanism includes a traction cable 105, a motor 101, an internal spring 103, a fixed pulley 102, and an external spring 104. The motor 101 is located inside the hull 1. A fixed pulley 102 is provided on each of the inner wing plate 201 and the outer wing plate 202. One end of the traction cable 105 is wound around the output shaft of the motor 101, and the other end of the traction cable 105 passes through the two fixed pulleys 102 in sequence before entering the outer airbag 5 and connecting to the bottom of the outer airbag 5. The top and bottom of the outer airbag 5 are connected to the internal spring 103. The inner wing plate 201 and the outer wing plate 202 are simultaneously connected to the external spring 104 by a hinge 8.

[0020] The number of external airbags 5 and internal airbags 4 must be at least one, and preferably two.

[0021] When there are two or more external airbags 5, the other end of the traction cable 105 passes through the fixed pulley 102 and is divided into multiple strands of rope, which are connected to each external airbag 5 respectively.

[0022] like Figure 3 As shown, the ventilation mechanism includes a main air pipe 901, branch air pipes 902, and a corrugated pipe 903. The main air pipe 901 is connected to the compressor, and the main air pipe 901 is connected to the inner airbag 4 and the outer airbag 5 through multiple branch air pipes 902. The main air pipe 901 consists of two sections connected by a corrugated pipe 903, which corresponds to the folding section of the wing 2. The corrugated pipe 903 is designed to accommodate the bending at the folding section of the wing 2.

[0023] Before the aircraft enters the water, the wings 2 are folded. The motor 101 pulls the traction cable 105, causing the outer wing panel 202 and the inner wing panel 201 to fold. At the same time, the traction cable 105 pulls the lower surface inside the outer airbag 5, causing the outer airbag 5 to be in a flat state. The internal spring 103 is in a compressed state, and the external spring 104 is in a stretched state. The inner airbag 4 is in a naturally flat state. The tailstock 7 is fixed to the wings 2, and the fuselage is in a gliding state. The tailstock 7 makes the gliding more stable.

[0024] As the aircraft approaches the water surface and begins its taxiing phase, it senses the water surface through sensors and controls motor 101 to release tether cable 105 while simultaneously opening the latch, causing tailstock 7 to detach from wing 2. After tether cable 105 is released, outer wingplate 202 rapidly opens under the action of external spring 104, while external airbag 5 rapidly inflates under the influence of internal spring 103 and the release of tether cable 105. At this point, compressor starts, exhaust pipe 6 draws in air, which is then inflated through main air pipe 901 to branch air pipe 902, simultaneously further filling external airbag 5 with air. After completing this series of maneuvers, the aircraft taxis on the water surface, achieving shock absorption, load reduction, and speed reduction. The pre-inflation of the external airbags is rapid and, due to the internal spring 103, provides greater impact resistance, allowing it to contact the water surface first.

[0025] like Figure 4 , Figure 5 As shown, the rotation of the wing 2 can be achieved by both control and mechanical structure. Vibration reduction and load reduction mainly rely on the mechanical structure, namely, the corrective spring 301, together with the stepped inner airbag 4, outer airbag 5 and external spring 104, constitute a vibration system. Both layers of slide grooves 304 are annular and are set inside the hull 1. The two fixed frames 302 are hinged in the middle and each end is slidably inserted into a slide groove 304. The two rotating shafts 303 are respectively set in the cross gap of the two fixed frames 302. The two rotating shafts 303 are connected to the inner wing plate 201. Each rotating shaft 303 is connected to the two fixed frames 302 by a corrective spring 301.

[0026] The specific steps of vibration reduction are as follows: Due to the presence of the built-in spring 103 inside the outer airbag 5 and the large size of the outer airbag, it will contact the water surface first, causing the wing 2 and the hull 1 to rotate. Under the action of the external spring 104 and the corrective spring 301, a damping vibration reduction system is formed. As the vibrating hull 1 moves downward, the stepped characteristics of the outer airbag 5 and the inner airbag 4 cause them to contact the water in sequence to reduce the load, transforming the instantaneous impact in the radial direction of the hull 1 into a weaker impact over a long period of time and at multiple frequencies.

[0027] When the shaft 303 twists, it pulls the corrective spring 301, stretching one side and compressing the other, causing the frame 302 to rotate within the groove 304. Since the forces on both sides are in the same direction, the torques acting on the frame 302 cancel each other out. Simultaneously, the grooves on the frame and the addition of a square section in the middle enhance its torsional resistance. The groove 304 also enhances the hull's pressure resistance. This part of the device can be used to achieve multiple effects in enhancing load reduction.

[0028] like Figure 6 As shown, the inner airbag 4 includes a skin 401, a spiral air tube 402, and a self-locking device 403; the spiral air tube 402 and the self-locking device 403 are both located inside the skin 401, the spiral air tube 402 is connected to the bronchus 902, and the spiral air tube 402 is wrapped around the outside of the self-locking device 403.

[0029] Working principle of the inner airbag 4: Compared to the requirement for the outer airbag 5 to deploy rapidly, the inner airbag 4 can inflate slowly under normal circumstances. The internal spiral air tube 402 further ensures load reduction performance due to its spiral structure, and its stability is ensured by the skin 401 and the self-locking device 403. The lower part of the spiral air tube 402 is a circular air cushion, which extends upward spirally and connects to the bronchus tube 902, and the whole thing wraps around the self-locking device 403.

[0030] like Figure 7 As shown, the self-locking device 403 includes an upper buckle 4011, a middle pin 4012, a connecting spring 4013, and a lower support 4014. A connecting spring 4013 is provided between the upper buckle 4011 and the lower support 4014. The lower end of the upper buckle 4011 is provided with a hook 4016 with an inclined surface. The upper end of the middle pin 4012 is provided with a hanging part 4015 that cooperates with the hook 4016. The lower support 4014 is provided with an insertion hole. The lower end of the middle pin 4012 is provided with a pin part 4017 that cooperates with the insertion hole. A connecting spring 4013 is also provided between the lower support 4014 and the pin part 4017 of the middle pin 4012.

[0031] The self-locking device 403 functions as follows: In the event of an emergency, such as improper posture, failure of the outer airbag 5, or wave impact, the inner airbag 4 is impacted prematurely. After the lower support 4014 is subjected to force, it presses against the middle pin 4012, causing the middle pin 4012 to shift outward and disengage from the upper buckle 4011. Under the action of the connecting spring 4013, the upper buckle 4011 and the lower support 4014 quickly separate. Under the action of the connecting spring 4013, the middle pin 4012 returns to its original position inward. When tightening the self-locking device, it is only necessary to pump air to retract the spiral air tube 402, which will then press the lower support 4014 upward again to relock the device.

[0032] After the vehicle taxis to a suitable speed and enters the water, the internal compressor compresses and stores the air in the inner airbag 4 and the outer airbag 5. At the same time, the motor 101 pulls the traction cable 105 to return the vehicle to its initial state. At this time, due to the short wings and lack of a tailstock, the vehicle has good navigation performance in the water, and the short wings can also be used as rudders for control.

[0033] During the water emergence and takeoff phase, the aircraft adjusts to a suitable water emergence attitude and uses jet propulsion to lift the body off the water surface. After leaving the water surface, the traction cable 105 is released again by motor 101 to bring the aircraft to a standstill on the water surface. At this time, jet propulsion is used again to achieve a large wingspan and leave the water surface.

[0034] It is understood that the present invention has been described through some embodiments, and those skilled in the art will recognize that various changes or equivalent substitutions can be made to these features and embodiments without departing from the spirit and scope of the invention. Furthermore, under the teachings of the present invention, these features and embodiments can be modified to adapt to specific situations and materials without departing from the spirit and scope of the invention. Therefore, the present invention is not limited to the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of this application are within the protection scope of the present invention.

Claims

1. A stepped airbag folding-wing cross-medium unmanned aerial vehicle, characterized in that: The system includes a hull (1), wings (2), tailstock (7), inner airbag (4), outer airbag (5), exhaust pipe (6), folding wing mechanism, and ventilation mechanism. The hull (1) is connected to the wings (2) on both sides. Both wings (2) are folding wings. The folding wings are composed of an inner wing plate (201) and an outer wing plate (202) that are rotatably connected. The lower surface of the inner wing plate (201) is connected to the inner airbag (4), and the lower surface of the outer wing plate (202) is connected to the outer airbag (5). The folding wing mechanism is connected between the inner wing plate (201) and the outer wing plate (202) of each wing (2). At the same time, the folding wing mechanism is connected to the bottom of the outer airbag (5) and can pull the outer wing plate (202) to fold and the outer airbag (5) to fold. Each wing (2) is equipped with a ventilation mechanism. The tailstock (7) is connected to the inner wing plate (201) by a buckle. The exhaust pipe (6) is connected to the compressor inside the hull (1). The folding wing mechanism includes a traction cable (105), a motor (101), an internal spring (103), a fixed pulley (102), and an external spring (104). The motor (101) is located inside the hull (1). A fixed pulley (102) is provided on each of the inner wing plate (201) and the outer wing plate (202). One end of the traction cable (105) is wound around the output shaft of the motor (101), and the other end of the traction cable (105) passes through the two fixed pulleys (102) in sequence before entering the outer airbag (5) and connecting to the bottom of the outer airbag (5). The top and bottom of the outer airbag (5) are connected to the internal spring (103). The inner wing plate (201) and the outer wing plate (202) are connected to the external spring (104) by a hinge (8). A vibration damping system is provided at the connection between the wing (2) and the hull (1); the vibration damping system includes a corrective spring (301), a frame (302), a rotating shaft (303), and a groove (304); both grooves (304) are annular and are located inside the hull (1); the two frames (302) are hinged in the middle and each end is slidably inserted into a groove (304); the two rotating shafts (303) are respectively located in the cross gap between the two frames (302); the two rotating shafts (303) are connected to the inner wing plate (201); and a corrective spring (301) is connected between each rotating shaft (303) and the two frames (302). Because of the presence of the built-in spring (103) inside the outer airbag (5) and the large size of the outer airbag (5), it will contact the water surface first, causing the wing (2) and the hull (1) to rotate. Under the action of the external spring (104) and the corrective spring (301), a damping and vibration reduction system is formed. As the vibrating hull (1) plunges down, the stepped characteristics of the outer airbag (5) and the inner airbag (4) cause them to contact the water and reduce load in turn.

2. The stepped airbag folding-wing cross-medium unmanned aerial vehicle according to claim 1, characterized in that: The ventilation mechanism includes a main air pipe (901), branch air pipes (902) and a corrugated pipe (903); the main air pipe (901) is connected to the compressor, and the main air pipe (901) is connected to the inner air bag (4) and the outer air bag (5) through multiple branch air pipes (902); the main air pipe (901) is composed of two sections of pipe, which are connected by a corrugated pipe (903), and the corrugated pipe (903) corresponds to the folding part of the wing (2).

3. A stepped airbag folding-wing cross-medium unmanned aerial vehicle according to claim 2, characterized in that: The internal airbag (4) includes a skin (401), a spiral air tube (402), and a self-locking device (403); the spiral air tube (402) and the self-locking device (403) are both located inside the skin (401), the spiral air tube (402) is connected to the bronchus (902), and the spiral air tube (402) is wrapped around the outside of the self-locking device (403).

4. A stepped airbag folding-wing cross-medium unmanned aerial vehicle according to claim 3, characterized in that: The self-locking device (403) includes an upper buckle (4011), a middle pin (4012), a connecting spring (4013), and a lower support (4014). A connecting spring (4013) is provided between the upper buckle (4011) and the lower support (4014). The lower end of the upper buckle (4011) is provided with a hook (4016) with a bevel. The upper end of the middle pin (4012) is provided with a hanging part (4015) that cooperates with the hook (4016). The lower support (4014) is provided with a socket. The lower end of the middle pin (4012) is provided with a pin part (4017) that cooperates with the socket. A connecting spring (4013) is also provided between the pin part (4017) of the lower support (4014) and the middle pin (4012).

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