A cross-water space medium multi-modal operational flying submarine

Abstract

This invention relates to the field of amphibious vehicle technology, and in particular to a multi-modal amphibious vehicle capable of operating across water and air media. The amphibious vehicle comprises a main shell, a dual-rotor counter-rotating motor, a connecting rod, aerial rotors, and an underwater duct propulsion system. The dual-rotor counter-rotating motor is located on the top of the main shell, with its output end connected to the connecting rod. Aerial rotors are mounted at both ends of the connecting rod. The main shell extends to both sides to form biomimetic wings, with underwater duct propulsion systems mounted at their ends. The rotor configuration is adjusted using an electrically operated telescopic rod. This invention reduces overall size and weight by using the dual-rotor counter-rotating motor to deploy and retract the rotors, avoiding interference between the water and air propulsion devices. During flight, the rotors deploy to increase airflow coverage, and retract upon entering the water to reduce drag, achieving dual-mode switching between water and air. The structure is compact, highly stable, and suitable for multi-scenario, cross-media operations.

Description

Technical Field

[0001] This invention relates to the field of amphibious vehicle technology, and in particular to a multi-modal flying submersible that operates across water and air media. Background Technology

[0002] Currently, most amphibious vehicles use air-mounted rotors and underwater propellers for propulsion. However, due to the significant differences in the density and dynamic viscosity of air and water, the efficiency of high-speed air-mounted rotors is greatly reduced when used for underwater propulsion, while underwater propellers often cannot provide sufficient thrust for aerial flight. To provide sufficient power for the vehicle to navigate in both water and air media, a widely researched approach is to use different propulsion methods for underwater and aerial operation. Underwater operation uses propellers, while aerial operation uses a multi-rotor structure. When designing a cross-medium vehicle using this propulsion method, the appropriate arrangement of the two propulsion devices significantly enhances the vehicle's amphibious capabilities and its ability to transition between air and water interfaces. However, the different propulsion systems of current cross-medium amphibious vehicles interfere with each other in the two navigation modes, resulting in significant differences between their basic navigation performance and the number of media crossings and the ideal target. Meanwhile, most current research on aircraft crossing media is limited to unidirectional media crossing, with relatively few comprehensive studies on bidirectional media crossing of the same configuration. Summary of the Invention

[0003] In order to solve the technical problem that existing technologies have mutual interference between air and underwater propulsion devices in two navigation modes, and are mostly limited to unidirectional medium crossing, the present invention provides a multi-modal flying and submersible vehicle that crosses water and air media.

[0004] Therefore, the present invention provides the following technical solution:

[0005] A multi-modal aerial submersible operating across water and air media includes a main shell, a dual-rotor counter-rotating motor, a connecting rod, an aerial rotor, and an underwater duct propulsion system. The dual-rotor counter-rotating motor is fixedly installed on the top of the main body shell. The two output ends of the dual-rotor counter-rotating motor are respectively connected to connecting rods. Both ends of the connecting rods are equipped with aerial rotors (to achieve single-motor drive of multiple rotors to rotate synchronously, with a compact structure and reduced weight and volume; in flight mode, the dual-rotor counter-rotating motor drives the connecting rods to rotate, causing the aerial rotors to deploy; in underwater mode, the dual-rotor counter-rotating motor drives the connecting rods to rotate, causing the aerial rotors to retract, avoiding mutual interference between the aerial and underwater propulsion devices in the two modes). Both sides of the main shell extend outward to form biomimetic wings, and underwater duct thrusters are fixedly installed at the ends of the biomimetic wings (to achieve dual-mode propulsion in water and air, taking into account both air flight and underwater submersion).

[0006] Furthermore, both ends of the connecting rod are equipped with electric telescopic rods, and the telescopic ends of the electric telescopic rods are fixedly connected to the drive motor of the air rotor (the deployment state of the rotor can be adjusted).

[0007] Furthermore, the underwater duct propulsion device includes a duct, an underwater motor, and a propeller. The duct is fixedly installed at the end of the biomimetic wing, the underwater motor is fixedly installed inside the duct, and the propeller is installed at the output end of the underwater motor (the duct can improve propulsion efficiency, reduce cavitation and water flow disturbance, and enhance underwater submersible propulsion performance).

[0008] Furthermore, the main body shell has protruding ribs at the top and bottom of the centerline, and the ends of the protruding ribs are streamlined (to enhance underwater straight-line navigation stability, suppress fuselage roll and yaw, and reduce water resistance).

[0009] Furthermore, the edge of the biomimetic wing is divided by the underwater duct thruster, and the edges on both sides of the division are concave parabolic in shape (optimizing the water-air cross-medium fluid shape, reducing flight and underwater drag, and improving overall aerodynamic and hydrodynamic performance).

[0010] Furthermore, a connecting block is fixedly installed at the end of the bionic wing, and the conduit is fixedly connected to the bionic wing through the connecting block.

[0011] Furthermore, the air rotor includes a drive motor and blades, with the blades mounted on the output end of the drive motor.

[0012] Advantages and positive effects of the present invention: This invention employs a dual-rotor counter-rotating motor, where a single power source can drive the deployment and retraction of each aerial rotor, thus reducing the overall size and weight of the flying submersible. Simultaneously, it utilizes an electric telescopic boom that deploys during flight and retracts upon entry into the water, reducing underwater drag and collision risks, and avoiding interference between the aerial and underwater propulsion systems in both flight and underwater modes.

[0013] In flight mode, the air rotor is moved outward from the fuselage by a dual-rotor counter-rotating motor and an electric telescopic boom, expanding the coverage area of ​​the airflow generated by the air rotor; in underwater mode, the air rotor is retracted by a dual-rotor counter-rotating motor and an electric telescopic boom, reducing underwater resistance and enabling bidirectional crossing between air and underwater media.

[0014] The main body integrates an air rotor and an underwater duct thruster, enabling free switching between three modes: air flight, surface navigation, and underwater submersion, making it applicable to a wider range of scenarios. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This invention provides a schematic diagram of the flight mode structure of a multi-modal underwater vehicle capable of operating across water and air media.

[0017] Figure 2 This is a partial structural diagram of the underwater mode of a multi-modal underwater vehicle for cross-water and air media provided by the present invention.

[0018] In the picture: 1. Bionic wing; 2. Underwater duct propulsion device; 3. Air rotor; 4. Main shell; 5. Dual-rotor counter-rotating motor; 6. Connecting rod; 7. Electric telescopic rod; 8. Drive motor; 9. Duct; 10. Propeller; 11. Protrusion; 12. Connecting block; 13. Blade. Detailed Implementation

[0019] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0020] This invention provides a multi-modal operational flying submersible that operates across water and air media, such as... Figure 1-2 As shown, it includes a main body shell 4, a dual-rotor counter-rotating motor 5, a connecting rod 6, an aerial rotor 3, and an underwater duct thruster 2; A dual-rotor counter-rotating motor 5 is fixedly installed on the top of the main body shell 4. The two output ends of the dual-rotor counter-rotating motor 5 are respectively connected to connecting rods 6. Electric telescopic rods 7 are installed at both ends of the connecting rods 6. The telescopic ends of the electric telescopic rods 7 are fixedly connected to the drive motor 8 of the air rotor 3. The air rotor 3 includes a drive motor 8 and blades 13. The blades 13 are installed at the output end of the drive motor 8.

[0021] Both sides of the main shell 4 extend outward to form biomimetic wings 1. Connecting blocks 12 are fixedly installed at the ends of the biomimetic wings 1, and the duct 9 is fixedly connected to the biomimetic wings 1 through the connecting blocks 12. The main shell 4 has protruding ribs 11 at the top and bottom of its centerline, and the ends of the protruding ribs 11 are streamlined. The edge of the biomimetic wings 1 is divided by the underwater duct propeller 2, and the edges on both sides of the division are concave parabolic.

[0022] The underwater duct thruster 2 includes a duct 9, an underwater motor, and a propeller 10. The duct 9 is fixedly installed at the end of the bionic wing 1, the underwater motor is fixedly installed inside the duct 9, and the propeller 10 is installed at the output end of the underwater motor.

[0023] Working principle: like Figure 1 As shown, when the flying submersible is in the air, the dual-rotor counter-rotating motor 5 drives the two connecting rods 6 to rotate in opposite directions to reach the designated position. Then, the electric telescopic rod 7 extends, causing each aerial rotor 3 to move away from the dual-rotor counter-rotating motor 5 to the designated position. Subsequently, the drive motor 8 drives the blades 13 to rotate at high speed, generating lift and thrust, realizing takeoff, hovering, cruise, and attitude adjustment. The biomimetic wing 1 provides auxiliary aerodynamic lift, and the concave parabolic edge reduces wind resistance, improving flight efficiency and stability.

[0024] like Figure 2 As shown, after the submersible enters the water, the aerial rotor 3 stops working, the electric telescopic boom 7 retracts, and the dual-rotor counter-rotating motor 5 drives the two connecting rods 6 to reset, reducing underwater drag and collision risk. The underwater duct thrusters 2 on both sides of the fuselage are activated, and the underwater motor drives the propeller 10 to rotate. The water flow is pressurized in the duct 9, generating efficient underwater thrust to achieve forward movement, turning, surfacing, and diving. The streamlined protrusions 11 on the upper and lower parts of the main shell 4 act as a stabilizing keel, suppressing roll, yaw, and sideslip of the fuselage, ensuring straight underwater navigation and attitude stability.

[0025] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A multi-modal aerial vehicle capable of operating across water and air media, characterized in that, It includes the main body shell (4), the dual-rotor counter-rotating motor (5), the connecting rod (6), the air rotor (3), and the underwater duct thruster (2); The dual-rotor counter-rotating motor (5) is fixedly installed on the top of the main body shell (4). The two output ends of the dual-rotor counter-rotating motor (5) are respectively connected to the connecting rod (6), and air rotors (3) are installed at both ends of the connecting rod (6). Both sides of the main shell (4) extend outward to form bionic wings (1), and underwater duct thrusters (2) are fixedly installed at the ends of the bionic wings (1).

2. The multi-modal aerial vehicle for cross-water and air media operation according to claim 1, characterized in that, Both ends of the connecting rod (6) are equipped with electric telescopic rods (7), and the telescopic ends of the electric telescopic rods (7) are fixedly connected to the drive motor (8) of the air rotor (3).

3. The multi-modal aerial vehicle for cross-water and air media operation according to claim 1, characterized in that, The underwater duct thruster (2) includes a duct (9), an underwater motor, and a propeller (10). The duct (9) is fixedly installed at the end of the bionic wing (1), the underwater motor is fixedly installed inside the duct (9), and the propeller (10) is installed at the output end of the underwater motor.

4. The multi-modal aerial vehicle for cross-water and air media operation according to claim 1, characterized in that, The main body shell (4) has protruding ribs (11) at the center line position above and below, and the ends of the protruding ribs (11) are streamlined.

5. A multi-modal aerial submersible operating across water and air media according to claim 1, characterized in that, The edge of the bionic wing (1) is divided by the underwater duct thruster (2), and the edges on both sides of the dividing line are concave parabolic.

6. A multi-modal aerial submersible operating across water and air media according to claim 3, characterized in that, A connecting block (12) is fixedly installed at the end of the bionic wing (1), and the conduit (9) is fixedly connected to the bionic wing (1) through the connecting block (12).

7. A multi-modal aerial submersible operating across water and air media according to claim 2, characterized in that, The air rotor (3) includes a drive motor (8) and blades (13), with the blades (13) mounted on the output end of the drive motor (8).

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