A folding wing type water-air cross-medium unmanned underwater vehicle

Abstract

The application discloses a folding wing type water-air cross-medium unmanned underwater vehicle and belongs to the technical field of underwater robots, and aims to solve the problems of high resistance of a mechanical arm structure under water, limited maneuverability, a single power system failing to consider water-air dual-domain efficiency and traditional materials failing to balance light weight and corrosion resistance. The application comprises a support control module, a folding wing flight power module connected to one end of the support control module, a folding wing mechanism arranged on the outer circumference of the upper top cover and a driving adjustment module for driving the folding wing mechanism to unfold or fold, a navigation power module connected to the other end of the support control module, an energy module carried on the support control module and electrically connected with the support control module to provide power for the whole system.

Description

Technical Field

[0001] This invention belongs to the field of underwater robot technology, specifically relating to a folding-wing type trans-medium unmanned underwater vehicle. Background Technology

[0002] With the increasing demands for marine resource development and military reconnaissance, cross-medium unmanned underwater vehicles (UUVs) have become a research hotspot due to their ability to freely navigate between water and air. Traditional vehicles are limited by their single-medium operation capabilities. For example, fixed-wing vehicles rely on Bernoulli's principle to generate lift, possessing the advantage of high-speed cruising in the air, but exhibiting poor underwater maneuverability and complex structures. While biomimetic designs offer advantages in transitional modes, their high precision requirements for motion mechanisms lead to insufficient reliability, and biomimetic propulsion efficiency significantly decreases in underwater environments. Multi-rotor architectures have become the mainstream approach due to mature control and flexible vertical takeoff and landing, but the deployed arms of conventional quadcopters generate significant drag underwater, severely limiting speed and endurance.

[0003] The current technical bottlenecks are concentrated on the contradiction of media adaptability: (1) The efficient rotor system in the air becomes a source of drag underwater. (2) A single power system is difficult to adapt to the density difference between water and air. (3) The contradiction between lightweight and corrosion resistance: the marine environment requires materials to resist salt corrosion, but aluminum alloy frames are prone to pitting corrosion, while titanium alloys are expensive and difficult to popularize. Summary of the Invention

[0004] The purpose of this invention is to propose a folding-wing type water-air cross-medium unmanned underwater vehicle to solve the problems of high drag generated by the arm structure underwater, which limits maneuverability, the inability of a single power system to achieve efficiency in both water and air domains, and the difficulty of balancing lightweight and corrosion resistance of traditional materials; and to resolve the core contradiction between "lift generation in the air" and "low drag underwater navigation".

[0005] To achieve the above objectives, the present invention provides a folding-wing type transmedium unmanned underwater vehicle comprising:

[0006] Support control module;

[0007] The folding wing flight power module connected to one end of the support control module is used to provide lift and control flight attitude in the air medium. The folding wing flight power module includes an upper cover fixedly connected to the support control module, a folding wing mechanism disposed on the outer circumference of the upper cover, and a drive adjustment module that drives the folding wing mechanism to unfold or fold.

[0008] The navigation power module, connected to the other end of the support control module, is used to provide propulsion in the underwater medium;

[0009] And an energy module mounted on the support control module, the energy module being electrically connected to the support control module to provide power to the overall system.

[0010] The support control module includes:

[0011] The control cabin contains an electronic speed controller (ESC) that coordinates the actions of the folding wing flight power module and the navigation power module.

[0012] The upper hatch located at one end of the control cabin;

[0013] The lower hatch is located at the other end of the control cabin, and the lower hatch and the upper hatch are arranged opposite to each other;

[0014] It also includes multiple guide pillars evenly distributed around the circumference, each guide pillar being connected to the upper and lower hatches respectively. One end of each guide pillar is fixedly connected to the top cover of the folding wing flight power module, and the other end is fixedly connected to the flight power module.

[0015] The control cabin adopts a symmetrical design of a rotating body, with four threaded flanges evenly distributed on the outer circumference; the lower and upper hatch covers have the same structure, with eight flanges evenly distributed on the outer circumference of the upper hatch cover, of which four flanges are connected to the four threaded flanges of the control cabin with screws, and the other four flanges are installed and positioned in conjunction with the guide post.

[0016] The control cabin, upper hatch, lower hatch, and guide pillars are made of carbon fiber composite materials.

[0017] The folding wing mechanism includes:

[0018] A plurality of cranks are evenly distributed around the circumference, and one end of each crank is hinged to the upper top cover;

[0019] A slider nut is located between the top cover and the support control module. The other end of each crank is connected to the slider nut via a connecting rod. Each crank, the corresponding connecting rod of the crank, and the slider nut form a crank-slider mechanism.

[0020] Multiple folding wing aluminum tubes, one end of which is fixedly connected to multiple cranks;

[0021] Multiple folding wing motors are mounted on the other end of multiple folding wing aluminum tubes via multiple motor mounts.

[0022] And multiple blades, which are respectively disposed at the output ends of the multiple folding wing motors.

[0023] The drive adjustment module includes:

[0024] The motor flange on the top cover is connected via a connecting aluminum tube;

[0025] A drive motor that is fixedly mounted on the motor flange;

[0026] Bearing mounting bracket fixed to the top cover;

[0027] And a lead screw, one end of which is axially fixed on a bearing mounting seat and connected to the output end of a drive motor via a coupling, and the other end is radially supported by a slider nut to form a lead screw nut pair.

[0028] The navigation propulsion module includes:

[0029] Landing gear, wherein the landing gear is fixedly connected to the guide column;

[0030] Four motor mounts are evenly distributed around the bottom of the landing gear;

[0031] Four underwater propulsion motors are evenly distributed around the circumference, and the four underwater propulsion motors are fixed on the same side of the four motor brackets respectively;

[0032] And four propeller blades, which are fixed to four underwater propulsion motors respectively.

[0033] The energy module includes a battery compartment that is fixedly mounted on the lower hatch.

[0034] The battery compartment is made of carbon fiber composite material.

[0035] The beneficial effects of this invention are as follows: This invention provides a folding-wing, cross-medium unmanned underwater vehicle (UUV) that achieves efficient conversion between water and air media through a unique folding-wing flight propulsion module. Its core lies in a dynamic folding mechanism driven by a screw-crank-slider mechanism. When the UUV enters the underwater environment from the air, the arms can quickly fold to a state parallel to the fuselage axis, significantly reducing underwater drag and solving the problem of drastically increased fluid resistance caused by the deployment of the arms in traditional quadcopter structures. Simultaneously, the synergistic design of the carbon fiber composite fuselage and nickel-plated aluminum alloy moving parts significantly reduces the overall weight while ensuring structural strength and effectively resisting seawater corrosion, extending the service life of the equipment in harsh marine environments. The independent layout of the propulsion module avoids interference with the flight components. The underwater thruster is directly integrated into the bottom of the landing gear, and the power mode is intelligently switched through a control module within the sealed control cabin, ensuring maximum efficiency in both domains. The rotating sealed cabin supporting the control module and the multi-layered waterproof structure, such as the flange locking of the upper / lower hatches and the watertight joints through the cabin, construct a reliable waterproof barrier. The integrated design of the energy module's battery compartment and carbon fiber frame optimizes the center of gravity distribution, enhancing flight stability, and provides modular disassembly and assembly interfaces for rapid maintenance. Through structural innovation and material optimization, the overall design overcomes the common contradiction of "high efficiency in the air but cumbersome underwater" in cross-media equipment, providing a new generation of operational platforms that combine agility, durability, and environmental adaptability for scenarios such as marine exploration and military reconnaissance. Attached Figure Description

[0036] Figure 1 This is an assembly diagram of the overall structure of a folding-wing type trans-medium unmanned underwater vehicle according to the present invention;

[0037] Figure 2 This is a schematic diagram of the flight mode of a folding-wing type trans-medium unmanned underwater vehicle according to the present invention;

[0038] Figure 3 This is a schematic diagram of the folding wing flight power module in a folding wing type trans-medium underwater unmanned vehicle of the present invention.

[0039] Figure 4 This is a schematic diagram of the drive adjustment module in a folding-wing type trans-medium underwater vehicle according to the present invention.

[0040] Figure 5 This is a schematic diagram of the support control module and energy module in a folding-wing type trans-medium underwater vehicle according to the present invention.

[0041] Figure 6 This is a schematic diagram of the propulsion module in a folding-wing type trans-medium underwater vehicle according to the present invention.

[0042] Among them: 1. Folding wing flight power module, 101. Top cover, 102. Crank, 103. Connecting aluminum tube, 104. Coupling, 105. Drive motor, 106. Motor flange, 107. Bearing mounting seat, 108. Slider nut, 109. Connecting rod, 110. Folding wing aluminum tube, 111. Motor seat, 112. Folding wing motor, 113. Blade, 114. Lead screw;

[0043] 2. Navigation and propulsion module, 201. Landing gear, 202. Motor bracket, 203. Underwater propulsion motor, 204. Propeller blade;

[0044] 3. Support control module, 301. Guide column, 302. Upper hatch cover, 303. Control compartment, 304. Lower hatch cover.

[0045] 4. Energy module, 401, battery compartment. Detailed Implementation

[0046] The embodiments of the present invention will be further described below with reference to the accompanying drawings.

[0047] See Figures 1-6 The present invention provides a folding-wing type transmedium unmanned underwater vehicle comprising:

[0048] Support control module 3;

[0049] The folding wing flight power module 1, connected to one end of the support control module 3, is used to provide lift and control flight attitude in the air medium. The folding wing flight power module 1 includes an upper cover 101 fixedly connected to the support control module 3, a folding wing mechanism disposed on the outer circumference of the upper cover 101, and a drive adjustment module that drives the folding wing mechanism to unfold or fold.

[0050] The navigation power module 2, connected to the other end of the support control module 3, is used to provide propulsion in the underwater medium;

[0051] And an energy module 4 mounted on the support control module 3, wherein the energy module 4 is electrically connected to the support control module 3 to provide power to the overall system.

[0052] The support control module 3 includes:

[0053] The control cabin 303 is equipped with an electronic speed controller (ESC) that coordinates the actions of the folding wing flight power module 1 and the navigation power module 2.

[0054] The upper hatch 302 is located at one end of the control cabin 303;

[0055] The lower hatch 304 is located at the other end of the control cabin 303, and the lower hatch 304 and the upper hatch 302 are arranged opposite to each other.

[0056] And a plurality of guide posts 301 evenly distributed around the circumference, each guide post 301 being connected to the upper hatch 302 and the lower hatch 304 respectively. One end of the guide post 301 is fixedly connected to the upper top cover 101 of the folding wing flight power module 1, and the other end is fixedly connected to the flight power module 2.

[0057] The control cabin 303 adopts a symmetrical design of rotation to ensure that the center of gravity is as close as possible to the fuselage central axis, and four threaded flanges are evenly distributed on the outer circumference. The lower hatch cover 304 and the upper hatch cover 302 have the same structure. The upper hatch cover 302 has eight flanges evenly distributed on the outer circumference. Four of the evenly distributed flanges are connected to the four threaded flanges of the control cabin 303 with screws, and the other four evenly distributed flanges are installed and positioned in conjunction with the guide post 301.

[0058] The upper hatch 302 has a large through hole in the center and four threaded holes around it for installing the screw support flange of the folding wing mechanism; two threaded holes are provided for installing a watertight connector, which connects the folding wing flight power module 1 on the upper part of the fuselage to the electrical control unit in the control cabin 303; the lower hatch 304 has holes for installing a watertight connector, which connects the lower flight power module 2 to the electrical control unit in the control cabin 303.

[0059] The battery compartment 401, control compartment 303, upper cover 302, lower cover 304, and guide column 301 are made of carbon fiber composite material to meet the requirements of lightweight and compressive strength.

[0060] The folding wing mechanism includes:

[0061] A plurality of cranks 102 are evenly distributed around the circumference, one end of each crank 102 being hinged to the upper top cover 101; each rotating pair is connected by pins and secured with cotter pins;

[0062] The slider nut 108 is located between the top cover 101 and the support control module 3. The other end of each crank 102 is connected to the slider nut 108 via a connecting rod 109. Each crank 102, the corresponding connecting rod 109 of the crank 102 and the slider nut 108 form a crank 102 slider mechanism.

[0063] Multiple folding wing aluminum tubes 110, one end of each of the multiple folding wing aluminum tubes 110 is fixedly connected to multiple cranks 102;

[0064] Multiple folding wing motors 112 are respectively mounted on the other end of multiple folding wing aluminum tubes 110 via multiple motor mounts 111;

[0065] And multiple blades 113, which are respectively disposed at the output ends of the multiple folding wing motors 112. When the folding wing mechanism is deployed, the blades 113 and the folding wing aluminum tubes 110 are both perpendicular to the axis of the submersible; when the folding wing mechanism is folded, the blades 113 and the folding wing aluminum tubes 110 are both parallel to the axis of the submersible.

[0066] The drive adjustment module includes:

[0067] The motor flange 106 on the top cover 101 is connected via the connecting aluminum tube 103;

[0068] A drive motor 105 is fixedly mounted on the motor flange 106;

[0069] Bearing mounting seat 107 fixed on the top cover 101;

[0070] And a lead screw 114, one end of which is axially fixed on a bearing mounting seat 107 and connected to the output end of a drive motor 105 via a coupling 104, and the other end is radially supported by a slider nut 108 to form a lead screw 114 nut pair.

[0071] The drive motor 105 controls the rotation of the lead screw 114 through the coupling 104, which in turn drives the slider nut 108 to move linearly along the direction of the lead screw 114. The slider nut 108, as the active component in the slider mechanism of the crank 102, transmits power through the connecting rod 109, causing the crank 102 to perform a 90° circular reciprocating motion, thereby realizing the folding or unfolding motion of the wing.

[0072] The bearing mounting base 107 and the slider nut 108 are made of aluminum alloy with chemical nickel plating to enhance their resistance to seawater corrosion.

[0073] The navigation power module 2 includes:

[0074] Landing gear 201, which is placed at the bottom of the aircraft by being connected to four guide posts 301 by screws, with grooves and small holes machined around it for positioning and mounting motor brackets 202;

[0075] Four motor brackets 202 are evenly distributed around the bottom of the landing gear 201;

[0076] Four underwater propulsion motors 203 are evenly distributed around the circumference, and the four underwater propulsion motors 203 are respectively fixed on the same side of the four motor brackets 202;

[0077] It also includes four propeller blades 204, which are respectively fixed to four underwater propulsion motors 203. The output shafts of the underwater propulsion motors 203 and the axes of the propeller blades 204 are arranged parallel to the axis of the submersible.

[0078] The energy module 4 includes a battery compartment 401 fixedly mounted on the lower hatch 304.

[0079] This invention employs a modular design. The flight propulsion system utilizes a folding wing mechanism, which folds the wings during the transition from air to water, significantly reducing the drag area between the trans-medium vehicle and the incoming flow direction, effectively improving the vehicle's maneuverability and mobility underwater. In the control system, a sealed control cabin 303 protects the control components, including the main control microcontroller, flight controller, ESC, motor drivers, and various sensors. The optimized component layout stabilizes the vehicle's center of gravity, facilitating control. In the energy system, the power battery is housed in the battery compartment 401, ensuring its fixed position and preventing displacement or misalignment during flight, thus guaranteeing safe and reliable operation. In the underwater navigation system, four underwater propulsion motors 203 are fixedly connected to the unmanned underwater vehicle's landing gear 201, evenly distributed circumferentially, similar to aerial flight control, enabling the vehicle to move flexibly with multiple degrees of freedom underwater.

Claims

1. A folding-wing type transmedium unmanned underwater vehicle, characterized in that, include: Support control module (3); The folding wing flight power module (1) connected to one end of the support control module (3) is used to provide lift and control flight attitude in the air medium. The folding wing flight power module (1) includes an upper cover (101) fixedly connected to the support control module (3), a folding wing mechanism set on the outer circumference of the upper cover (101), and a drive adjustment module that drives the folding wing mechanism to unfold or fold. The navigation power module (2), connected to the other end of the support control module (3), is used to provide propulsion in the underwater medium; And an energy module (4) mounted on the support control module (3), wherein the energy module (4) is electrically connected to the support control module (3) to provide power to the overall system; The folding wing mechanism includes: A plurality of cranks (102) are evenly distributed around the circumference, one end of each of the cranks (102) being hinged to the top cover (101); The slider nut (108) is located between the top cover (101) and the support control module (3). The other end of each crank (102) is connected to the slider nut (108) via a connecting rod (109). Each crank (102), the connecting rod (109) corresponding to the crank (102), and the slider nut (108) form a crank (102) slider mechanism. Multiple folding wing aluminum tubes (110), one end of each of the multiple folding wing aluminum tubes (110) is fixedly connected to multiple cranks (102); Multiple folding wing motors (112) are respectively mounted on the other end of multiple folding wing aluminum tubes (110) via multiple motor mounts (111); And multiple blades (113), which are respectively disposed at the output ends of the multiple folding wing motors (112).

2. The folding-wing type transmedium unmanned underwater vehicle according to claim 1, characterized in that, The support control module (3) includes: The control cabin (303) is equipped with an electronic speed controller (ESC) to coordinate the actions of the folding wing flight power module (1) and the navigation power module (2). The upper hatch (302) is located at one end of the control cabin (303); The lower hatch (304) is located at the other end of the control cabin (303), and the lower hatch (304) and the upper hatch (302) are arranged opposite to each other; And a plurality of guide posts (301) evenly distributed around the circumference, each guide post (301) being connected to the upper hatch (302) and the lower hatch (304) respectively. One end of the guide post (301) is fixedly connected to the upper top cover (101) of the folding wing flight power module (1), and the other end is fixedly connected to the flight power module (2).

3. A folding-wing type transmedium unmanned underwater vehicle according to claim 2, characterized in that, The control cabin (303) adopts a symmetrical design of a rotating body, with four threaded flanges evenly distributed on the outer circumference; the lower cover (304) and the upper cover (302) have the same structure, with eight flanges evenly distributed on the outer circumference of the upper cover (302), of which four flanges are connected to the four threaded flanges of the control cabin (303) by screws, and the other four flanges are installed and positioned in conjunction with the guide post (301).

4. A folding-wing type transmedium unmanned underwater vehicle according to claim 2, characterized in that, The control cabin (303), upper hatch (302), lower hatch (304) and guide column (301) are made of carbon fiber composite material.

5. A folding-wing type transmedium unmanned underwater vehicle according to claim 1, characterized in that, The drive adjustment module includes: The motor flange (106) is connected to the top cover (101) via a connecting aluminum tube (103). A drive motor (105) is fixedly mounted on the motor flange (106); Bearing mounting seat (107) fixed on the top cover (101); And a lead screw (114), one end of which is axially fixed on a bearing mounting seat (107) and connected to the output end of a drive motor (105) via a coupling (104), and the other end is radially supported by a slider nut (108) to form a lead screw nut pair.

6. A folding-wing type transmedium unmanned underwater vehicle according to claim 2, characterized in that, The navigation power module (2) includes: Landing gear (201), wherein the landing gear (201) and guide column (301) are fixedly connected; Four motor brackets (202) are evenly distributed around the bottom of the landing gear (201). Four underwater propulsion motors (203) are evenly distributed around the circumference, and the four underwater propulsion motors (203) are respectively fixed on the same side of the four motor brackets (202); And four propeller blades (204), which are respectively fixed on four underwater propulsion motors (203).

7. A folding-wing type transmedium unmanned underwater vehicle according to claim 2, characterized in that, The energy module (4) includes a battery compartment (401) fixedly mounted on the lower hatch (304).

8. A folding-wing type transmedium unmanned underwater vehicle according to claim 7, characterized in that, The battery compartment (401) is made of carbon fiber composite material.

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