Water-air cross-medium aircraft design and working method based on coupling vector power

Abstract

The invention provides a water-air cross-medium aircraft based on coupling vector power and a working method thereof.The cross-medium aircraft comprises a streamline fuselage, transverse type vector double rotors are installed on the two sides of the fuselage to serve as a flight power system, and a single vector underwater propeller is installed at the tail of the fuselage; a coupling vector power system is formed by vector double rotors on the two sides of the fuselage, the system adopts a coupling output mode and is suitable for underwater movement and water outlet movement, and effective control over the sailing angle through power driving and the tilting angle can be achieved. For underwater motion, the system drives the cross-medium aircraft to achieve stable and flexible vertical diving, fixed-angle linear sailing and underwater yawing motion. For the water outlet movement, the system promotes the cross-media aircraft to quickly discharge water. According to the coupling vector power system, the movement modes of the cross-medium aircraft are enriched, the underwater navigation movement capacity of the cross-medium aircraft is effectively enhanced, and a cross-medium multi-mode work task is completed.

Description

Technical Field

[0001] The present invention relates to the technical field of aircraft design, and in particular to a design and operating method of a water-air cross-medium aircraft based on coupled vector power. Background Art

[0002] With the rapid development of unmanned aerial and underwater vehicles (UAVs), while they can already perform mapping, biological population observation, and search and rescue tasks in a single medium, UAVs require greater maneuverability and a wider range of flexible motion modes. Water-air cross-medium vehicles, which adapt to both water and air, can enhance the operational capabilities of UAVs in both military and civilian applications. Ships, vessels, and underwater pipelines, submerged for extended periods, are susceptible to corrosion and cracking. Water-air cross-medium vehicles can perform cross-medium inspections of both submerged and surface decks, improving the efficiency of inspection, maintenance, and emergency response. Furthermore, the observation of biological populations often requires more comprehensive and multidimensional information to obtain effective insights for more comprehensive ecological protection. Water-air cross-medium vehicles observe species from varying distances and in diverse media environments, capturing both the overall appearance of a population and information on individual differences. In terms of military defense, my country is a country with a long and narrow coastline and vast territorial waters. The water-air cross-media aircraft integrates air reconnaissance capabilities, underwater detection capabilities, and multi-media rapid response capabilities, enriching and strengthening combat capabilities.

[0003] However, when a trans-medium aircraft uses a rotor propulsion system as its trans-medium propulsion, its underwater motion capability needs to be further improved. Therefore, this invention proposes a design and operating method for a water-air trans-medium aircraft based on coupled vector propulsion, providing a new method for multimodal motion of the water-air trans-medium aircraft and improving its underwater navigation capability. Summary of the Invention

[0004] In order to solve the problems of the prior art, the present invention provides a water-air cross-medium aircraft based on coupled vector power and a working method thereof. The cross-medium aircraft includes a streamlined fuselage, with horizontally arranged vector twin rotors installed on both sides of the fuselage as a flight power system, and a single vector underwater propeller installed at the tail of the fuselage, which forms a coupled vector power system with the vector twin rotors on both sides of the fuselage. The system adopts a coupled output method and is suitable for underwater movement and out-of-water movement, and can achieve effective control of the navigation angle by power drive and tilt angle. For underwater movement, the system drives the cross-medium aircraft to achieve stable and flexible vertical diving, fixed-angle straight navigation and underwater yaw movement. For out-of-water movement, the system prompts the cross-medium aircraft to quickly exit the water. The present invention proposes a coupled vector power system to enrich the motion modes of the cross-medium aircraft, effectively enhance the underwater navigation and motion capabilities of the cross-medium aircraft, and complete cross-medium multi-modal work tasks.

[0005] A water-air cross-medium aircraft based on coupled vector power is characterized by: including a drag-reducing nose, a streamlined fuselage, arm rotors on both sides of the streamlined fuselage, and a tail vector underwater propeller mechanism; the arm rotor includes an arm, and a tiltable vector rotor mechanism is installed at the end of the arm.

[0006] The tiltable vector rotor mechanism includes a tilt base, a coupling, a steering wheel, and a tilt servo. The tilt base is mounted on one end of the aircraft arm and can rotate relative to the aircraft arm. The tilt servo is fixedly mounted on one end of the tilt base, and the axis of the tilt servo coincides with the axis of the aircraft arm. The steering wheel is installed in conjunction with the tilt servo and is fixed relative to the end of the aircraft arm via a coupling. The mechanism also includes a brushless motor and rotor blades mounted on the tilt base. The tail vector underwater propeller mechanism includes an underwater propeller, a waterproof brushless motor, a single-sided rotating part, a servo fixing part, a tail tilting base, a steering wheel and a waterproof servo; the waterproof servo is installed at the tail of the streamlined fuselage through the servo fixing part; the steering wheel cooperates with the waterproof servo; the steering wheel and the single-sided rotating part are respectively located on both sides of the servo fixing part; the two sides of the tail tilting base are respectively installed on the servo fixing part through the steering wheel and the single-sided rotating part; the waterproof brushless motor is installed on the tail tilting base, and the underwater propeller is installed on the waterproof brushless motor.

[0007] The working method of the water-air cross-medium aircraft based on coupled vector power is characterized by including air flight, underwater navigation, and out-of-water motion states: The brushless motor drives the rotor blades to generate lift, and the tilting vector rotor mechanism changes the thrust direction generated by the rotor blades; the tail vector underwater propeller mechanism and the tilting vector rotor mechanism form a coupled vector power system; In aerial flight mode, the tail vector underwater propeller mechanism is fixed in a horizontal state and stops output to ensure the stability of the aircraft's center of gravity. The rotor blades on both sides of the aircraft are driven by brushless motors to rotate, providing the lift required for the cross-medium aircraft. The vector rotor tilt mechanism changes the thrust direction and controls the pitch and yaw moments. In underwater navigation mode, the tiltable vector rotor mechanism on both sides of the streamlined fuselage is coupled with the vector underwater propeller mechanism at the tail for output, the tiltable vector rotor mechanism of the vector rotors on both sides changes from a vertical state to a tilted state, and the underwater propeller changes from a horizontal state to a tilted state, and the rotor blades and the underwater propeller rotate under the drive of the brushless motor and the waterproof brushless motor to generate thrust and torque, thereby changing the tilt angle and thrust size of the rotor blades and the underwater propeller to achieve underwater navigation angle control; among them, underwater movement is divided into vertical diving, fixed-angle straight navigation and underwater yaw movement; when the tiltable vector rotor mechanism on both sides of the streamlined fuselage changes to vertical downward and the rotor blades on both sides generate the same thrust, the anti-torque torque generated by the rotor blades and the relative center of gravity The torques of the changing degrees of freedom cancel each other out, and the aircraft dives vertically in a horizontal posture; when the angles of the rotor blades on both sides are tilted downward and are less than 30 degrees, the rotors on both sides generate the same thrust, which offsets the anti-torque moment, but because the center of gravity is lower than the point of action of the rotor thrust, the aircraft will rotate around the center of gravity, and the underwater propeller will tilt upward and output a small value to achieve controllable underwater navigation angle of the aircraft in the direction of the nose; when the aircraft performs underwater yaw motion, the tail underwater propeller tilts slightly around the horizontal line and generates thrust to control pitch and forward motion; when the aircraft yaws to the right / left, the rotors on both sides tilt to a horizontal state and face the nose, the left / right rotors rotate, generating right / left yaw torque to achieve underwater yaw motion; In out-of-water mode, the tilting vectored rotors on either side of the streamlined fuselage return from their underwater tilted position to a vertical position, changing the thrust direction of the rotor blades and generating lift and control torque. The tail underwater propeller's tilt angle is limited to a vertical downward vector. This, combined with the thrust control of the vectored rotors on both sides, fine-tunes the aircraft's out-of-water attitude and generates out-of-water thrust. Once the aircraft is completely out of the water, the vectored underwater propellers immediately shut down, transitioning to airborne flight mode. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] Figure 1 This is a front oblique side schematic diagram of the aircraft in flight mode according to the present invention; Figure 2 This is a schematic diagram of the rear oblique side of the aircraft in flight mode according to the present invention; Figure 3 This is a schematic diagram of the underwater fixed-angle straight-line navigation mode of the aircraft of the present invention; Figure 4 This is a schematic diagram of the vertical diving mode of the aircraft of the present invention; Figure 5 This is a schematic diagram of the underwater yaw mode of the aircraft of the present invention; Figure 6 This is a schematic diagram of the water exit mode of the aircraft of the present invention; Figure 7This is a schematic diagram of the aircraft vector tilt mechanism of the present invention; Figure 8 This is a schematic diagram of the single vector underwater propeller power system of the aircraft of the present invention; In the figure: 1-tilt vector rotor mechanism; 2-brushless motor; 3-rotor blade; 4-arm; 5-streamlined fuselage; 6-telescopic soft tail tube; 7-single vector underwater propeller power system; 8-drag reduction nose; 9-arm fixings; 10-frame carbon plate; 101-tilt base; 102-coupling; 103-waterproof servo; 104-steering wheel; 701-underwater propeller; 702-waterproof brushless motor; 703-single-sided rotating part; 704-servo fixings; 705-tail tilt base; 706-steering wheel; 707-waterproof servo. DETAILED DESCRIPTION

[0009] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, but the protection scope of the present invention is not limited thereto.

[0010] In the description of the present invention, it should be understood that the terms "horizontal", "vertical", "left", "right", etc. indicating the orientation or position relationship are based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the present invention and cannot be understood as limiting the present invention; the terms "installation", "connection", "fixed", etc. should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection, it can be a direct connection, it can be an indirect connection through an intermediate medium, or it can be a connection between the two elements; for ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances.

[0011] like Figure 1 As shown, the conventional layout of the water-air cross-medium aircraft based on coupled vector power described in the present invention includes a drag-reducing nose 8, a streamlined fuselage 5, arm rotors on both sides of the streamlined fuselage 5, and a tail vector underwater propeller mechanism; the arm rotor includes an arm 4, and a tiltable vector rotor mechanism 1 is installed at the end of the arm 4.

[0012] like Figure 1 、 2 As shown in Figures 3, 4, 5 and 6, the tiltable vector rotor mechanism 1 includes a tilt base 101, a coupling 102, a steering wheel 104 and a tilt servo 103; wherein the tilt base 101 is mounted on one end of the machine arm 4 and can rotate relative to the machine arm 4; the tilt servo 103 is fixedly mounted on one end of the tilt base 101, and the axis of the tilt servo 103 coincides with the axis of the machine arm 4; the steering wheel 104 is installed in conjunction with the tilt servo 103, and the steering wheel 104 is relatively fixed to the end of the machine arm 4 through the coupling 102; and also includes a brushless motor 2 and a rotor blade 3 mounted on the tilt base 101; The tail vector underwater propeller mechanism includes an underwater propeller 701, a waterproof brushless motor 702, a single-sided rotating part 703, a servo fixing part 704, a tail tilting base 705, a steering wheel 706 and a waterproof servo 707; the waterproof servo 707 is installed at the tail of the streamlined fuselage 5 through the servo fixing part 704; the steering wheel 706 cooperates with the waterproof servo 707; the steering wheel 706 and the single-sided rotating part 703 are respectively located on both sides of the servo fixing part 704; the two sides of the tail tilting base 705 are respectively installed on the servo fixing part 704 through the steering wheel 706 and the single-sided rotating part 703; the waterproof brushless motor 702 is installed on the tail tilting base 705, and the underwater propeller 701 is installed on the waterproof brushless motor 702.

[0013] The working method of the water-air cross-medium aircraft based on coupled vector power is characterized by including air flight, underwater navigation, and out-of-water motion states: like Figure 1 、 2 As shown, the brushless motor 2 drives the rotor blades 3 to generate lift, and the tiltable vector rotor mechanism 1 changes the thrust direction generated by the rotor blades 3; the tail vector underwater propeller mechanism and the tiltable vector rotor mechanism form a coupled vector power system; like Figure 1 、 2 As shown, in the aerial flight mode, the tail vector underwater propeller mechanism is fixed in a horizontal state and stops output to ensure the stability of the aircraft's center of gravity. The rotor blades 3 on both sides of the aircraft are driven to rotate by the brushless motor 2 to provide the lift required for the cross-medium aircraft. The vector rotor tilt mechanism 1 changes the thrust direction to control the pitch and yaw moments. like Figure 3 、 4As shown in Figure 5, in the underwater navigation mode, the tiltable vector rotor mechanisms on both sides of the streamlined fuselage 5 are coupled to the tail vector underwater propeller mechanism for output, the tiltable vector rotor mechanisms 1 of the vector rotors on both sides change from a vertical state to a tilted state, and the underwater propeller 701 changes from a horizontal state to a tilted state. The rotor blades 3 and the underwater propeller 701 rotate under the drive of the brushless motor 2 and the waterproof brushless motor 702 to generate thrust and torque, and change the inclination angle and thrust of the rotor blades 3 and the underwater propeller 701 to achieve underwater navigation angle control; wherein, underwater motion is divided into vertical diving, fixed angle straight navigation and underwater yaw motion; when the tiltable vector rotor mechanisms 1 on both sides of the streamlined fuselage 5 change to vertical downward and the rotor blades 3 on both sides generate the same thrust, the rotor blades 3 generate The anti-torque moment and the relative center of gravity change freedom moment cancel each other out, and the aircraft dives vertically in a horizontal posture; when the rotor blades 3 on both sides are tilted downward at an angle less than 30 degrees, the rotors on both sides generate the same thrust, which offsets the anti-torque moment, but because the center of gravity is lower than the rotor thrust action point, the aircraft will rotate around the center of gravity, and the underwater propeller 701 tilts upward at an angle and outputs a small value to achieve controllable underwater navigation angle of the aircraft in the direction of the nose; when the aircraft performs underwater yaw movement, the tail underwater propeller 701 tilts slightly around the horizontal line and generates thrust to control pitch and forward motion; when the aircraft yaws to the right / left, the rotors on both sides tilt to a horizontal state and face the nose, the left / right rotors rotate, generating right / left yaw torque to achieve underwater yaw movement; like Figure 6 As shown, in the out-of-water mode, the tiltable vectored rotor mechanisms 1 on either side of the streamlined fuselage 5 return from their underwater tilted state to a vertical position, changing the thrust direction of the rotor blades 3 to generate lift and control torque. The tilt angle of the tail underwater propeller 701 is limited to rotation around a vertical downward vector. This, combined with the thrust control of the vectored rotors on both sides, fine-tunes the aircraft's out-of-water posture and generates out-of-water thrust. Once the aircraft is completely out of the water, the vectored underwater propellers immediately shut down, transitioning to airborne flight mode.

[0014] The embodiments described are preferred implementations of the present invention, but the present invention is not limited to the above implementations. Any obvious improvements, substitutions or modifications that can be made by those skilled in the art without departing from the essence of the present invention are within the scope of protection of the present invention.

Claims

1. A water-air cross-medium aircraft based on coupled vector propulsion, characterized by: The invention comprises a drag-reducing nose (8), a streamlined fuselage (5), arm rotors on both sides of the streamlined fuselage (5), and a tail vector underwater propeller mechanism; the arm rotor comprises an arm (4), and a tiltable vector rotor mechanism (1) is installed at the end of the arm (4).

2. The water-air cross-medium aircraft based on coupled vector propulsion according to claim 1, characterized in that: The tiltable vector rotor mechanism (1) comprises a tilting base (101), a coupling (102), a steering wheel (104) and a tilting servo (103); wherein the tilting base (101) is mounted on one end of an arm (4) and can rotate relative to the arm (4); the tilting servo (103) is fixedly mounted on one end of the tilting base (101), and the axis of the tilting servo (103) coincides with the axis of the arm (4); the steering wheel (104) is mounted in conjunction with the tilting servo (103), and the steering wheel (104) is relatively fixed to the end of the arm (4) via the coupling (102); and further comprises a brushless motor (2) and a rotor blade (3) mounted on the tilting base (101); The tail vector underwater propeller mechanism comprises an underwater propeller (701), a waterproof brushless motor (702), a single-sided rotating part (703), a steering gear fixing part (704), a tail tilting base (705), a steering wheel (706) and a waterproof steering gear (707); the waterproof steering gear (707) is mounted on the tail of the streamlined fuselage (5) through the steering gear fixing part (704); the steering wheel (706) cooperates with the waterproof steering gear (707); the steering wheel (706) and the single-sided rotating part (703) are respectively located on both sides of the steering gear fixing part (704); both sides of the tail tilting base (705) are respectively mounted on the steering gear fixing part (704) through the steering wheel (706) and the single-sided rotating part (703); the waterproof brushless motor (702) is mounted on the tail tilting base (705), and the underwater propeller (701) is mounted on the waterproof brushless motor (702).

3. The operating method of the water-air cross-medium aircraft based on coupled vector power according to claim 2 is characterized in that Including air flight, underwater navigation, and water movement states: The brushless motor (2) drives the rotor blades (3) to generate lift, and the tiltable vector rotor mechanism (1) changes the thrust direction generated by the rotor blades (3); the tail vector underwater propeller mechanism and the tiltable vector rotor mechanism form a coupled vector power system; In the air flight mode, the tail vector underwater propeller mechanism is fixed in a horizontal state and stops output to ensure the stability of the aircraft's center of gravity. The rotor blades (3) on both sides of the aircraft are driven to rotate by the brushless motor (2) to provide the lift required by the cross-medium aircraft. The vector rotor tilt mechanism (1) changes the thrust direction to control the pitch and yaw moments. In the underwater navigation mode, the tiltable vector rotor mechanisms on both sides of the streamlined fuselage (5) are coupled with the tail vector underwater propeller mechanism to output, the tiltable vector rotor mechanisms (1) of the vector rotors on both sides change from a vertical state to a tilted state, and the underwater propeller (701) changes from a horizontal state to a tilted state. The rotor blades (3) and the underwater propeller (701) rotate under the drive of the brushless motor (2) and the waterproof brushless motor (702) to generate thrust and torque, and change the tilt angle and thrust size of the rotor blades (3) and the underwater propeller (701) to achieve underwater navigation angle control; wherein, underwater motion is divided into vertical diving, fixed angle straight navigation and underwater yaw motion; when the tiltable vector rotor mechanisms (1) on both sides of the streamlined fuselage (5) change to vertical downward and the rotor blades (3) on both sides generate the same thrust, the rotor blades (3) and the underwater propeller (701) rotate ... the rotor blades (3) and the underwater propeller (7 The anti-torque moment generated by the blade (3) and the relative center of gravity change freedom moment cancel each other out, and the aircraft dives vertically in a horizontal posture; when the angle of the rotor blades (3) on both sides is tilted downward and is less than 30 degrees, the rotors on both sides generate the same thrust, which cancels out the anti-torque moment, but because the center of gravity is lower than the rotor thrust action point, the aircraft will rotate around the center of gravity, and the underwater propeller (701) tilts upward and outputs a small value, so as to achieve the controllability of the underwater navigation angle of the aircraft in the direction of the nose; when the aircraft performs underwater yaw movement, the tail underwater propeller (701) tilts slightly around the horizontal line and generates thrust to control the pitch and forward motion; when the aircraft yawing to the right / left, the rotors on both sides tilt to a horizontal state and face the nose, and the left / right rotors rotate to generate right / left yaw moments, so as to achieve underwater yaw movement; In the out-of-water motion mode, the tiltable vector rotor mechanisms (1) on both sides of the streamlined fuselage (5) are restored from an underwater tilted state to a vertical state, changing the thrust direction of the rotor blades (3) to generate lift and control torque. The tilt angle of the tail underwater propeller (701) is limited to rotating around a vertical downward vector, and in conjunction with the thrust control of the vector rotors on both sides, the aircraft's out-of-water posture is fine-tuned and out-of-water thrust is generated. When the aircraft is completely out of the water, the vector underwater propeller is immediately turned off, and the aircraft transitions to the air flight mode.

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