Dual-power amphibious unmanned vehicle

Abstract

The invention provides a dual-power amphibious unmanned aircraft, and relates to the technical field of aircrafts. The dual-power amphibious unmanned aircraft comprises an aircraft body, and a coaxial reverse propeller unit, a rotor attitude adjusting unit, a gravity center adjusting unit, a submerging attitude adjusting unit and a submerging propulsion unit which are arranged on the aircraft body. The unmanned aerial vehicle has excellent underwater submerging performance and reliable cross-domain capability, the aircraft adopts a dual-power system working mode, lifting force and attitude control are provided for cross-domain flight by the coaxial reverse propeller unit and the rotor attitude adjusting unit, and the front rotor and the rear rotor adopt reverse rotation design to counteract reaction torque and avoid spinning of the aircraft; underwater navigation is driven by the submerging propulsion unit, and the front propeller and the rear propeller are designed to rotate reversely, so that underwater rolling torque is effectively counteracted, and stability and control precision of underwater navigation are guaranteed. The two sets of power systems do not interfere with each other, so that the aircraft can realize long-time and low-resistance underwater submerging, and can reliably complete a cross-domain transition task.

Description

Technical Field

[0001] This invention relates to the field of aircraft technology, and more specifically to a dual-powered amphibious unmanned aircraft. Background Technology

[0002] Underwater vehicles play a vital role in marine resource exploration, hydro-meteorological surveys, and seabed searches. To expand operational scope and mission flexibility, amphibious vehicles with cross-domain capabilities (water and air) are gradually becoming a research hotspot. These vehicles can perform underwater navigation missions and also surface for aerial maneuvers or communication relays, greatly enhancing their adaptability in complex marine environments.

[0003] Currently, traditional amphibious vehicles mainly include biomimetic wings, fixed wings, and multi-rotor structures. However, these structures generally suffer from complex overall structures, making them inconvenient to disassemble, store, and launch and transport underwater. Biomimetic and fixed-wing structures place stringent demands on the mechanical strength and power system of the airframe during entry and exit from the water, and fixed-wing structures struggle to achieve stable low-speed entry into the water, making cross-domain process control difficult and time-consuming. The multi-arm layout of multi-rotor structures results in a redundant and bulky overall structure, greatly hindering the underwater streamlined design of the vehicle, increasing underwater drag and energy consumption, and making deployment and recovery difficult.

[0004] Therefore, there is an urgent need to design a new type of dual-powered amphibious unmanned vehicle that is compact in structure, stable in operation, and has both excellent underwater driving performance and reliable cross-domain capability. Summary of the Invention

[0005] The purpose of this invention is to provide a dual-powered amphibious unmanned vehicle that can combine excellent underwater driving performance with reliable cross-domain capability.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is as follows: A dual-powered amphibious unmanned vehicle includes a vehicle body and a coaxial counter-rotating propeller unit, a rotor attitude adjustment unit, a center of gravity adjustment unit, a submerged attitude adjustment unit, and a submerged propulsion unit disposed on the vehicle body. The coaxial counter-rotor unit includes a rotary drive mechanism and a front rotor and a rear rotor that are powered by the rotary drive mechanism. The front rotor is located at the front end of the rear rotor, and the front rotor and the rear rotor rotate in opposite directions. The rotor attitude adjustment unit drives the pitch change of the front rotor and / or rear rotor; The center of gravity adjustment unit includes a gravity block and a push drive mechanism. The push drive mechanism can drive the gravity block to move in the forward and backward directions relative to the main body of the aircraft. The underwater attitude adjustment unit includes a rudder and a swing drive mechanism. A rudder is arranged on the top, bottom, left and right sides of the vehicle body. The swing drive mechanism can drive any rudder to swing at a set angle. The underwater propulsion unit is used to propel the vehicle body forward.

[0007] Furthermore, the coaxial counter-rotor unit includes a support main shaft, a front connector, a front wing support, a front wing clamp, a rear connector, a rear wing support, and a rear wing clamp; the support main shaft is mounted on the vehicle body; the front connector is rotatably connected to the support main shaft, and a front wing support is provided on each opposite side of the front connector; one end of the front wing clamp is hinged to the end of the front wing support, and the other end of the front wing clamp is connected to the front rotor; the rear connector is rotatably connected to the support main shaft, and a rear wing support is provided on each opposite side of the rear connector; one end of the rear wing clamp is hinged to the end of the rear wing support, and the other end of the rear wing clamp is connected to the rear rotor.

[0008] Furthermore, a front support frame is provided at the end of the front wing support, and the two ends of the front spring are respectively connected to the front support frame and the front wing clamp; a rear support frame is provided at the end of the rear wing support, and the two ends of the rear spring are respectively connected to the rear support frame and the rear wing clamp.

[0009] Furthermore, the rotary drive mechanism includes a front disc motor and a rear disc motor mounted on the support spindle; the output end of the front disc motor is connected to the front connector to drive the front connector to rotate relative to the support spindle; the output end of the rear disc motor is connected to the rear connector to drive the rear connector to rotate relative to the support spindle.

[0010] Furthermore, the rear wing support is rotatably connected to the rear connector, and a pitch control arm is provided on the rear wing support; The rotor attitude adjustment unit includes a servo mounting frame, a first servo, a servo lever, a first joint bearing, a rotating disk, a first rotary bearing, a fixed disk, a fixed arm, a pull rod, and a traction rod; The servo mounting bracket is mounted on the support spindle, and the first servo is mounted on the servo mounting bracket. The output end of the first servo is connected to one end of the servo lever. The inner ring of the first spherical bearing is connected to the supporting spindle, the outer ring of the first spherical bearing is connected to the rotating disk, the inner ring of the first rotary bearing is connected to the rotating disk, the outer ring of the first rotary bearing is connected to the fixed disk, and a fixed arm is provided on the fixed disk. The two ends of the lever are respectively connected to the other end of the servo lever and the fixed arm; The two ends of the traction rod are connected to a rotating disk and a variable pitch arm, respectively.

[0011] Furthermore, a second joint bearing is connected between the other end of the pull rod and the servo lever and / or between the pull rod and the fixed arm; A third joint bearing connects the traction rod to the rotary table and / or the traction rod to the variable pitch arm.

[0012] Furthermore, the gravity block is configured as a battery pack; The pushing drive mechanism includes a pushing support frame, an assembly frame, a lead screw, a lead nut, and a stepper motor; The mounting frame slides and moves the support frame so that the mounting frame can move along the front and rear directions of the vehicle body. The battery pack is mounted on the mounting frame. The lead screw is mounted on the assembly frame, and the lead screw mates with the lead screw, with one end of the lead screw connected to the output terminal of the stepper motor.

[0013] Furthermore, the swing drive mechanism includes a rudder shaft, a driven gear, a second rudder, and a driving gear; The rudder is rotatably connected to the vehicle body via the rudder shaft, and a driven gear is provided at the end of the rudder shaft; The output of the second servo motor is connected to the drive gear, and the drive gear meshes with the driven gear.

[0014] Furthermore, the submersible propulsion unit includes a submersible propulsion mechanism and a front propeller and a rear propeller that are poweredly connected to the submersible propulsion mechanism. The front propeller is located at the front end of the rear propeller, and the front propeller and the rear propeller rotate in opposite directions.

[0015] Furthermore, the submersible propulsion mechanism includes a propulsion motor, a propulsion shaft, a driving bevel gear, an intermediate bevel gear, a driven bevel gear, and a propulsion sleeve; The output end of the propulsion motor is connected to one end of the propulsion shaft, and the other end of the propulsion shaft is connected to the rear propeller. The driving bevel gear is connected to the propulsion shaft. The driving bevel gear meshes with one side of the intermediate bevel gear, and the other side of the intermediate bevel gear meshes with the driven bevel gear. The driven bevel gear is connected to one end of the propulsion sleeve, and the other end of the propulsion sleeve is connected to the front propeller. The propulsion shaft is nested inside the propulsion sleeve.

[0016] Compared with the prior art, the dual-powered amphibious unmanned vehicle provided by the present invention has the following significant advantages: 1. This invention combines excellent underwater driving performance with reliable cross-domain capabilities. The vehicle employs a dual-power system. Cross-domain flight is provided with lift and attitude control by a coaxial counter-rotating propeller unit and a rotor attitude adjustment unit. The front and rear rotors are designed to rotate in opposite directions to counteract counter-torque and prevent the vehicle from spinning. Underwater navigation is driven by a submersible propulsion unit, with the front and rear propellers also designed to rotate in opposite directions to effectively counteract underwater roll torque, ensuring stability and control precision during underwater navigation. The two power systems do not interfere with each other, enabling the vehicle to achieve long-duration, low-drag underwater navigation while reliably completing cross-domain transition missions.

[0017] 2. This invention features a compact overall structure, facilitating deployment, storage, and transportation. By integrating the coaxial counter-rotor unit onto the top of the vehicle body and employing a foldable design for both the front and rear rotors, deployment and folding are achieved through centrifugal force and spring assistance. This allows the rotors to fold tightly against the outer wall of the vehicle body when not in operation, significantly reducing the overall volume and dimensions of the vehicle. This design avoids the redundant multi-arm layout of traditional multi-rotor structures, achieving a high degree of integration and facilitating underwater launch, transportation, storage, and rapid deployment and recovery of the vehicle.

[0018] 3. This invention features low underwater drag and optimized energy consumption. After the rotor is retracted, it fits flush with the outer wall of the vehicle body. Combined with the streamlined design of the vehicle body, the vehicle maintains an excellent fluid shape underwater, which greatly reduces underwater drag and energy consumption and extends underwater operation time.

[0019] 4. This invention offers stable and efficient cross-domain operation with sensitive control response. Through the coordinated action of the center-of-gravity adjustment unit (causing the battery pack to move forward and backward) and the rotor attitude adjustment unit, the vehicle's attitude can be rapidly adjusted during water entry and exit. Center-of-gravity adjustment allows the vehicle to quickly transition to an upright position as it approaches the water surface, reducing the impact of water entry and exit. The rotor attitude adjustment unit, through an innovative transmission mechanism consisting of a servo motor, fixed disk, rotating disk, linkage, and spherical bearings, precisely controls the rear rotor pitch, achieving sensitive attitude adjustment. This avoids the spin or wobbling problems easily caused by traditional swashplate structures, improving the stability and efficiency of the cross-domain operation. Attached Figure Description

[0020] Figure 1 This is a perspective view of the dual-powered amphibious unmanned vehicle with its rotors deployed, according to an embodiment of the present invention. Figure 2 This is a side view of the dual-powered amphibious unmanned vehicle in the deployed state according to an embodiment of the present invention. Figure 3 This is a three-dimensional representation of a dual-powered amphibious unmanned vehicle with its rotors folded, according to an embodiment of the present invention. Figure 1 ; Figure 4 This is a three-dimensional representation of a dual-powered amphibious unmanned vehicle with its rotors folded, according to an embodiment of the present invention. Figure 2 ; Figure 5 This is a perspective view of the coaxial counter-rotating propeller unit and the rotor attitude adjustment unit according to an embodiment of the present invention; Figure 6 for Figure 5 A magnified view of a section at point A in the middle; Figure 7 This is a side view of a portion of the structure of the coaxial counter-rotor unit and the rotor attitude adjustment unit according to an embodiment of the present invention; Figure 8This is a bottom view of the coaxial counter-rotating propeller unit and rotor attitude adjustment unit according to an embodiment of the present invention; Figure 9 for Figure 8 BB section view; Figure 10 for Figure 9 A magnified view of a section at point C; Figure 11 The three-dimensional center-of-gravity adjustment unit of this invention embodiment Figure 1 ; Figure 12 The three-dimensional center-of-gravity adjustment unit of this invention embodiment Figure 2 ; Figure 13 This is a side view of the center of gravity adjustment unit according to an embodiment of the present invention; Figure 14 This is a perspective view of the underwater attitude adjustment unit and the underwater propulsion unit according to an embodiment of the present invention; Figure 15 This is a side view of the underwater attitude adjustment unit and the underwater propulsion unit according to an embodiment of the present invention; Figure 16 for Figure 15 DD section view; Figure 17 This is a front view of the underwater attitude adjustment unit and the underwater propulsion unit according to an embodiment of the present invention; Figure 18 This is a rear view of the underwater attitude adjustment unit and the underwater propulsion unit according to an embodiment of the present invention; Figure label: 1. Vehicle body; 2. Coaxial counter-rotor unit; 21. Front rotor; 22. Rear rotor; 23. Support shaft; 241. Front connector; 242. Front wing support; 243. Front wing clip; 244. Front support frame; 245. Front spring; 251. Rear connector; 252. Rear wing support; 253. Rear wing clip; 254. Rear support frame; 255. Rear spring; 256. Pitch control arm; 257. Rotor linkage; 258. Second swivel bearing; 261. Front disc motor; 262. Rear disc motor; 3. Rotor attitude adjustment unit; 31. Servo mounting frame; 32. First servo; 33. Servo lever; 34. First articulated bearing; 35. Rotary disk; 36. First swivel bearing; 37. Fixed disk; 3 71. Fixed arm; 38. Pull rod; 381. Second joint bearing; 39. Traction rod; 391. Third joint bearing; 4. Center of gravity adjustment unit; 41. Battery pack; 42. Push support frame; 421. Slide rod; 43. Assembly frame; 431. Slide seat; 44. Lead screw; 45. Lead nut; 46. Stepper motor; 5. Submersible attitude adjustment unit; 51. Rudder plate; 521. Rudder plate shaft; 522. Driven gear; 523. Second servo motor; 6. Submersible propulsion unit; 60. Propeller guard; 61. Front propeller; 62. Rear propeller; 63. Propulsion motor; 64. Propulsion shaft; 65. Driving bevel gear; 66. Intermediate bevel gear; 67. Driven bevel gear; 68. Propulsion sleeve; 69. Gearbox. Detailed Implementation

[0021] To make the objectives, technical solutions, and beneficial effects of this invention clearer, the invention will be further described in detail below with reference to specific embodiments and the accompanying drawings. Certain embodiments of the invention will be described more fully below with reference to the accompanying drawings, and some, but not all, of these embodiments will be shown. In fact, various embodiments of the invention can be implemented in many different forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided to enable the invention to meet applicable legal requirements.

[0022] In the description of this invention, it should be noted that the terms "inner," "outer," "upper," "lower," "front," and "rear," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0023] In this embodiment of the invention, a dual-powered amphibious unmanned vehicle is provided; please refer to [reference needed]. Figures 1 to 18 As shown.

[0024] A dual-powered amphibious unmanned vehicle includes a streamlined vehicle body 1 and a coaxial counter-rotating propeller unit 2, a rotor attitude adjustment unit 3, a center of gravity adjustment unit 4, a submerged attitude adjustment unit 5, and a submerged propulsion unit 6 disposed on the vehicle body 1.

[0025] The coaxial counter-rotating rotor unit 2 includes a rotary drive mechanism and a front rotor 21 and a rear rotor 22 powered by the rotary drive mechanism. The front rotor 21 is located at the front end of the rear rotor 22. The rotary drive mechanism drives the front rotor 21 and the rear rotor 22 to rotate in opposite directions. The front rotor 21 and the rear rotor 22 rotate in opposite directions to counteract the anti-torque and prevent the aircraft from spinning.

[0026] The rotor attitude adjustment unit 3 drives the pitch change of the front rotor 21 and / or the rear rotor 22 to change the flight attitude of the aircraft in the airspace. In this embodiment, the rotor attitude adjustment unit 3 drives the pitch change of the rear rotor 22. Compared with the traditional swashplate adjustment, the rotor attitude adjustment unit 3 in this embodiment can avoid the spin and wobbling states of the aircraft caused by unstable control.

[0027] The center of gravity adjustment unit 4 includes a gravity block and a thrust drive mechanism. The thrust drive mechanism can move the gravity block in the forward and backward directions relative to the vehicle body 1. By moving the gravity block in the forward and backward directions relative to the vehicle body 1, the center of gravity of the vehicle is changed.

[0028] When the vehicle is navigating underwater, the gravity block moves relative to the vehicle body 1 in the forward and backward directions, causing the vehicle's center of gravity to coincide with its center of buoyancy, thus keeping the vehicle in a horizontal position and ensuring smooth underwater navigation and control of its course and attitude. When the vehicle approaches the water surface for attitude adjustment, the gravity block moves relative to the vehicle body 1 in the forward and backward directions, maximizing the distance between the vehicle's center of buoyancy and center of gravity, ensuring the vehicle is in a vertical position, so that the vehicle can easily leave the water and enter the airspace.

[0029] The underwater attitude adjustment unit 5 includes rudder plates 51 and a swing drive mechanism. One rudder plate 51 is arranged on the upper, lower, left, and right sides of the vehicle body 1. The swing drive mechanism can drive any one of the rudder plates 51 to swing at a set angle. The underwater attitude of the vehicle is adjusted by the underwater attitude adjustment unit 5. The upper and lower rudder plates 51 swing left and right to control the left and right movement of the vehicle, and the left and right rudder plates 51 swing up and down to control the up and down movement of the vehicle.

[0030] The underwater propulsion unit 6 is used to propel the vehicle body 1.

[0031] The coaxial counter-rotor unit 2 includes a support main shaft 23, a front connector 241, a front wing support 242, a front wing clip 243, a rear connector 251, a rear wing support 252, and a rear wing clip 253. The support main shaft 23 is mounted on the vehicle body 1; the front connector 241 is rotatably connected to the support main shaft 23, and a front wing support 242 is provided on each opposite side of the front connector 241; one end of the front wing clip 243 is hinged to the end of the front wing support 242, and the front wing clip 243 can swing vertically relative to the front wing support 242; the other end of the front wing clip 243 is connected to the front rotor 21; the rear connector 251 is rotatably connected to the support main shaft 23, and a rear wing support 252 is provided on each opposite side of the rear connector 251; one end of the rear wing clip 253 is hinged to the end of the rear wing support 252, and the rear wing clip 253 can swing vertically relative to the rear wing support 252; the other end of the rear wing clip 253 is connected to the rear rotor 22. The rotary drive mechanism drives the front connector 241 and the rear connector 251 to rotate relative to the support spindle 23.

[0032] A front support frame 244 is provided at the end of the front wing support 242, and the two ends of the front spring 245 are respectively connected to the front support frame 244 and the front wing clip 243; a rear support frame 254 is provided at the end of the rear wing support 252, and the two ends of the rear spring 255 are respectively connected to the rear support frame 254 and the rear wing clip 253.

[0033] The rotary drive mechanism includes a front disc motor 261 and a rear disc motor 262 mounted on the support spindle 23; the output end of the front disc motor 261 is connected to the front connector 241 to drive the front connector 241 to rotate relative to the support spindle 23; the output end of the rear disc motor 262 is connected to the rear connector 251 to drive the rear connector 251 to rotate relative to the support spindle 23.

[0034] When the vehicle is about to leave the water and enter the airspace, the output of the front disc motor 261 drives the front connector 241 to rotate, which in turn drives the front wing support 242 to rotate. Under the action of centrifugal force, the front wing clamp 243 swings vertically upward relative to the front wing support 242. The front rotor 21 and the front wing clamp 243 change from a state of being "folded and attached to the outer wall of the vehicle body 1" to a state of being "detached from the outer wall of the vehicle body 1", and finally to a state where "the front connector 241, the front wing support 242, the front wing clamp 243 and the front rotor 21 are in the same horizontal state", thus putting the front rotor 21 in the deployed state. Among them, the state where "the front connector 241, the front wing support 242, the front wing clamp 243 and the front rotor 21 are in the same horizontal state" is the normal rotational operation state of the front rotor 21. When the vehicle is about to enter the water from the airspace, the output end of the front disc motor 261 stops rotating. Under the gravity of the front rotor 21, the front wing clip 243 swings vertically downward relative to the front wing support 242. The front rotor 21 and the front wing clip 243 change from "the front connector 241, the front wing support 242, the front wing clip 243 and the front rotor 21 are in the same horizontal state" to "the state close to the outer wall of the vehicle body 1", and finally to "the state of being folded and attached to the outer wall of the vehicle body 1".

[0035] The aircraft body 1 is equipped with a first locking mechanism. When the output end of the front disc motor 261 stops rotating, the first locking mechanism locks the front wing clamp 243. Before the output end of the front disc motor 261 rotates, the first locking mechanism disengages from the front wing clamp 243.

[0036] During the process where "the front connector 241, front wing support 242, front wing clamp 243 and front rotor 21 are in the same horizontal state", the elastic force of the front spring 245 assists the centrifugal force, and the two are superimposed to overcome the gravity of the front rotor 21.

[0037] When the vehicle is about to leave the water and enter the airspace, the output of the rear disc motor 262 drives the rear connector 251 to rotate, which in turn drives the rear wing support 252 to rotate. Under the action of centrifugal force, the rear wing clip 253 swings vertically upward relative to the rear wing support 252. The rear rotor 22 and the rear wing clip 253 change from a state of being "folded and attached to the outer wall of the vehicle body 1" to a state of being "detached from the outer wall of the vehicle body 1", and finally to a state where "the rear connector 251, the rear wing support 252, the rear wing clip 253 and the rear rotor 22 are in the same horizontal state", thus putting the rear rotor 22 in the deployed state. Among them, the state where "the rear connector 251, the rear wing support 252, the rear wing clip 253 and the rear rotor 22 are in the same horizontal state" is the normal rotational operation state of the rear rotor 22. When the vehicle is about to enter the water from the air, the output end of the rear disc motor 262 stops rotating. Under the gravity of the rear rotor 22, the rear wing clip 253 swings vertically downward relative to the rear wing support 252. The rear rotor 22 and the rear wing clip 253 change from "the rear connector 251, the rear wing support 252, the rear wing clip 253 and the rear rotor 22 are in the same horizontal state" to "the state close to the outer wall of the vehicle body 1", and finally to "the state of being folded and attached to the outer wall of the vehicle body 1".

[0038] The aircraft body 1 is equipped with a second locking mechanism. When the output end of the front disc motor 261 stops rotating, the second locking mechanism locks onto the rear wing clip 253. Before the output end of the rear disc motor 262 rotates, the second locking mechanism disengages from the rear wing clip 253.

[0039] During the process where "the rear connector 251, rear wing support 252, rear wing clip 253 and rear rotor 22 are in the same horizontal state", the elastic force of the rear spring 255 assists the centrifugal force, and the two are superimposed to overcome the gravity of the rear rotor 22.

[0040] The rear wing support 252 is rotatably connected to the rear connector 251, and a pitch control arm 256 is provided on the rear wing support 252. The two ends of the rotor tie rod 257 are rotatably connected to the rear connector 251 and the rear wing support 252 through the second rotary bearing 258.

[0041] The rotor attitude adjustment unit 3 includes a servo mounting frame 31, a first servo 32, a servo lever 33, a first joint bearing 34, a rotating disk 35, a first rotating bearing 36, a fixed disk 37, a fixed arm 371, a pull rod 38, and a traction rod 39.

[0042] The servo mounting bracket 31 is mounted on the support spindle 23, and the first servo 32 is mounted on the servo mounting bracket 31. The output end of the first servo 32 is connected to one end of the servo lever 33.

[0043] The inner ring of the first joint bearing 34 is connected to the support spindle 23, the outer ring of the first joint bearing 34 is connected to the rotating disk 35, the inner ring of the first rotary bearing 36 is connected to the rotating disk 35, the outer ring of the first rotary bearing 36 is connected to the fixed disk 37, and a fixed arm 371 is provided on the fixed disk 37.

[0044] The two ends of the pull rod 38 are connected to the other end of the servo lever 33 and the fixed arm 371, respectively. The two ends of the traction rod 39 are connected to the rotating disk 35 and the variable pitch arm 256, respectively. Second joint bearings 381 are connected between the pull rod 38 and the other end of the servo lever 33, and between the pull rod 38 and the fixed arm 371, to increase the spatial freedom between these two locations. Third joint bearings 391 are connected between the traction rod 39 and the rotating disk 35, and between the traction rod 39 and the variable pitch arm 256, to further increase the spatial freedom between these two locations.

[0045] The output of the first servo motor 32 drives the servo lever 33 to swing, which in turn drives the fixed disk 37 and the rotating disk 35 to swing vertically relative to the supporting main shaft 23 via the first joint bearing 34. The rotating disk 35 drives the pitch control arm 256 to swing via the traction rod 39. The pitch control arm 256 drives the rear wing support 252 to rotate relative to the rear connector 251 along the axis of the rear connector 251, thereby changing the pitch of the rear rotor 22. At the same time, the output of the rear disc motor 262 drives the rear rotor 22 to rotate, and the rotating disk 35 rotates relative to the supporting main shaft 23 via the first joint bearing 34 and relative to the fixed disk 37 via the first rotating bearing 36.

[0046] The gravity block is configured as a battery pack 41, which provides power to the various motors, servos, and sensors. The push drive mechanism includes a push support frame 42, an assembly frame 43, a lead screw 44, a lead nut 45, and a stepper motor 46. The assembly frame 43 slides in conjunction with the push support frame 42, allowing it to move along the front and rear directions of the vehicle body 1. The battery pack 41 is mounted on the assembly frame 43. A slide bar 421 is mounted on the push support frame 42, arranged along the front and rear directions of the vehicle body 1. A slide block 431 is mounted on the assembly frame 43, sliding in conjunction with the slide bar 421. The lead nut 45 is mounted on the assembly frame 43, and the lead screw 44 engages with the lead nut 45. One end of the lead screw 44 is connected to the output of the stepper motor 46.

[0047] The output end of the stepper motor 46 drives the lead screw 44 to rotate in the forward or reverse direction. The lead screw 44 cooperates with the lead nut 45 and the mounting frame 43 slides to push the support frame 42, thereby driving the battery pack 41 to move in the forward and backward directions relative to the vehicle body 1.

[0048] The oscillation drive mechanism includes a rudder shaft 521, a driven gear 522, a second servo motor 523, and a drive gear. The rudder 51 is rotatably connected to the vehicle body 1 via the rudder shaft 521. The driven gear 522 is provided at the end of the rudder shaft 521. The output end of the second servo motor 523 is connected to the drive gear, and the drive gear meshes with the driven gear 522.

[0049] The output of the second servo motor 523 drives the drive gear to rotate by a set angle, which in turn drives the driven gear 522 to rotate by a set angle, thereby causing the servo shaft 521 and the servo plate 51 to swing by a set angle.

[0050] The submersible propulsion unit 6 includes a submersible propulsion mechanism and a front propeller 61 and a rear propeller 62, which are powered by the propulsion mechanism. The front propeller 61 is located at the front end of the rear propeller 62, and the front propeller 61 and the rear propeller 62 rotate in opposite directions. A propeller protection shield 60 is provided at the tail of the vehicle body 1. The front propeller 61 and the rear propeller 62 are located inside the propeller protection shield 60 to protect the front propeller 61 and the rear propeller 62 from being hit or entangled by underwater foreign objects, thereby improving the reliability of the system.

[0051] The submersible propulsion mechanism includes a propulsion motor 63, a propulsion shaft 64, a driving bevel gear 65, an intermediate bevel gear 66, a driven bevel gear 67, and a propulsion sleeve 68. Among them, the driving bevel gear 65, the intermediate bevel gear 66, and the driven bevel gear 67 are all rotatably connected within a gearbox 69.

[0052] The output end of the propulsion motor 63 is connected to one end of the propulsion shaft 64, and the other end of the propulsion shaft 64 is connected to the rear propeller 62. The propulsion shaft 64 is configured as two sections, which are connected by a coupling 641 located inside the gearbox 69 to facilitate the assembly of the propulsion shaft 64.

[0053] The driving bevel gear 65 is connected to the propulsion shaft 64. The driving bevel gear 65 meshes with one side of the intermediate bevel gear 66, and the other side of the intermediate bevel gear 66 meshes with the driven bevel gear 67. The driven bevel gear 67 is connected to one end of the propulsion sleeve 68, and the other end of the propulsion sleeve 68 is connected to the front propeller 61. The propulsion shaft 64 is nested inside the propulsion sleeve 68.

[0054] The output of the propulsion motor 63 drives the propulsion shaft 64 to rotate in the forward direction, which in turn drives the rear propeller 62 to rotate in the forward direction. Simultaneously, the driving bevel gear 65 on the propulsion shaft 64 meshes with the driven bevel gear 67 via the intermediate bevel gear 66, causing the propulsion sleeve 68 to rotate in the reverse direction. The propulsion sleeve 68 then drives the front propeller 61 to rotate in the reverse direction. Thus, the submersible propulsion mechanism drives the front propeller 61 and the rear propeller 62 to rotate in opposite directions.

[0055] By setting a front propeller 61 and a rear propeller 62, and having the front propeller 61 and the rear propeller 62 rotate in opposite directions, the roll phenomenon during underwater navigation can be counteracted, thereby enabling the vehicle to travel smoothly underwater.

[0056] The main body of the vehicle is also equipped with obstacle avoidance sonar, scanning sonar, inertial navigation, Doppler velocity gauge (DVL), underwater lights, cameras, attitude sensors, GPS / BeiDou communication modules, barometers, and altimeters. With these various onboard sensors, it can flexibly perform diverse tasks such as marine exploration, target search, and communication relay, demonstrating broad application value.

[0057] The present invention has been described in detail above with reference to the accompanying drawings. Based on the above description, those skilled in the art should have a clear understanding of the dual-powered amphibious unmanned aerial vehicle of the present invention. Of course, the specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above descriptions are merely specific embodiments of the present invention and are 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 within the protection scope of the present invention.

Claims

1. A dual-powered amphibious unmanned vehicle, characterized in that, It includes the vehicle body and the coaxial counter-rotor unit, rotor attitude adjustment unit, center of gravity adjustment unit, submerged attitude adjustment unit and submerged propulsion unit installed on the vehicle body; The coaxial counter-rotor unit includes a rotary drive mechanism and a front rotor and a rear rotor that are powered by the rotary drive mechanism. The front rotor is located at the front end of the rear rotor, and the front rotor and the rear rotor rotate in opposite directions. The rotor attitude adjustment unit drives the pitch change of the front rotor and / or rear rotor; The center of gravity adjustment unit includes a gravity block and a push drive mechanism. The push drive mechanism can drive the gravity block to move in the forward and backward directions relative to the main body of the aircraft. The underwater attitude adjustment unit includes a rudder and a swing drive mechanism. A rudder is arranged on the top, bottom, left and right sides of the vehicle body. The swing drive mechanism can drive any rudder to swing at a set angle. The underwater propulsion unit is used to propel the vehicle body forward.

2. The dual-powered amphibious unmanned vehicle according to claim 1, characterized in that: The coaxial counter-rotor unit includes a support main shaft, a front connector, a front wing support, a front wing clamp, a rear connector, a rear wing support, and a rear wing clamp. The support main shaft is mounted on the vehicle body. The front connector is rotatably connected to the support main shaft. A front wing support is provided on each opposite side of the front connector. One end of the front wing clamp is hinged to the end of the front wing support, and the other end of the front wing clamp is connected to the front rotor. The rear connector is rotatably connected to the support main shaft. A rear wing support is provided on each opposite side of the rear connector. One end of the rear wing clamp is hinged to the end of the rear wing support, and the other end of the rear wing clamp is connected to the rear rotor.

3. The dual-powered amphibious unmanned vehicle according to claim 2, characterized in that: A front support frame is installed at the end of the front wing support, and the two ends of the front spring are connected to the front support frame and the front wing clamp, respectively; a rear support frame is installed at the end of the rear wing support, and the two ends of the rear spring are connected to the rear support frame and the rear wing clamp, respectively.

4. A dual-powered amphibious unmanned vehicle according to claim 2, characterized in that: The rotary drive mechanism includes a front disc motor and a rear disc motor mounted on the supporting main shaft; the output end of the front disc motor is connected to the front connector to drive the front connector to rotate relative to the supporting main shaft; the output end of the rear disc motor is connected to the rear connector to drive the rear connector to rotate relative to the supporting main shaft.

5. A dual-powered amphibious unmanned vehicle according to any one of claims 2 to 4, characterized in that: The rear wing support is rotatably connected to the rear connector, and a pitch control arm is provided on the rear wing support; The rotor attitude adjustment unit includes a servo mounting frame, a first servo, a servo lever, a first joint bearing, a rotating disk, a first rotary bearing, a fixed disk, a fixed arm, a pull rod, and a traction rod; The servo mounting bracket is mounted on the support spindle, and the first servo is mounted on the servo mounting bracket. The output end of the first servo is connected to one end of the servo lever. The inner ring of the first spherical bearing is connected to the supporting spindle, the outer ring of the first spherical bearing is connected to the rotating disk, the inner ring of the first rotary bearing is connected to the rotating disk, the outer ring of the first rotary bearing is connected to the fixed disk, and a fixed arm is provided on the fixed disk. The two ends of the lever are respectively connected to the other end of the servo lever and the fixed arm; The two ends of the traction rod are connected to a rotating disk and a variable pitch arm, respectively.

6. A dual-powered amphibious unmanned vehicle according to claim 5, characterized in that: A second joint bearing is connected between the other end of the pull rod and the servo lever and / or between the pull rod and the fixed arm; A third joint bearing connects the traction rod to the rotary table and / or the traction rod to the variable pitch arm.

7. A dual-powered amphibious unmanned vehicle according to claim 1, characterized in that: The gravity block is configured as a battery pack; The pushing drive mechanism includes a pushing support frame, an assembly frame, a lead screw, a lead nut, and a stepper motor; The mounting frame slides and moves the support frame so that the mounting frame can move along the front and rear directions of the vehicle body. The battery pack is mounted on the mounting frame. The lead screw is mounted on the assembly frame, and the lead screw mates with the lead screw, with one end of the lead screw connected to the output terminal of the stepper motor.

8. A dual-powered amphibious unmanned vehicle according to claim 1, characterized in that: The swing drive mechanism includes a rudder shaft, a driven gear, a second rudder, and a driving gear; The rudder is rotatably connected to the vehicle body via the rudder shaft, and a driven gear is provided at the end of the rudder shaft; The output of the second servo motor is connected to the drive gear, and the drive gear meshes with the driven gear.

9. A dual-powered amphibious unmanned vehicle according to claim 1, characterized in that: The submersible propulsion unit includes a submersible propulsion mechanism and a front propeller and a rear propeller that are powered by the submersible propulsion mechanism. The front propeller is located at the front end of the rear propeller, and the front propeller and the rear propeller rotate in opposite directions.

10. A dual-powered amphibious unmanned vehicle according to claim 9, characterized in that: The submersible propulsion mechanism includes a propulsion motor, a propulsion shaft, a driving bevel gear, an intermediate bevel gear, a driven bevel gear, and a propulsion sleeve; The output end of the propulsion motor is connected to one end of the propulsion shaft, and the other end of the propulsion shaft is connected to the rear propeller. The driving bevel gear is connected to the propulsion shaft. The driving bevel gear meshes with one side of the intermediate bevel gear, and the other side of the intermediate bevel gear meshes with the driven bevel gear. The driven bevel gear is connected to one end of the propulsion sleeve, and the other end of the propulsion sleeve is connected to the front propeller. The propulsion shaft is nested inside the propulsion sleeve.

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