Fuel explosion-based jet cross-medium coaxial counter-rotating aircraft

Abstract

The application discloses a fuel explosion type jet cross-medium coaxial counter-rotating aircraft, and relates to the technical field of cross-medium aircrafts, which comprises a fuselage shell, a pitch angle adjusting mechanism, a coaxial counter-rotating rotor device, a jet propulsion device, an X-shaped tail rudder, a storage battery and a PLC controller, and the rear end of the fuselage shell is provided with a fairing. The two self-folding propellers of the coaxial counter-rotating rotor device are coaxially arranged in front and back, and the coaxial counter-rotating brushless motor and the pitch angle adjusting mechanism are arranged in front of the fuselage shell. The front part of the fuselage shell is provided with a plurality of drag reduction injection holes. The jet propulsion device comprises a piston assembly, a bellows and an igniter, the piston assembly is movably arranged in a piston cavity, and the bellows is arranged at the rear side of the piston assembly and communicates with the outside through a jet nozzle on the fairing. The fuel explosion type jet cross-medium coaxial counter-rotating aircraft designed by the application has the characteristics of low resistance and fast acceleration, and has the advantages of high cross-medium conversion success rate and low risk, and can be converted between water and gas media.

Description

Technical Field

[0001] This invention relates to the field of cross-medium vehicle technology, and more specifically to a fuel-explosive jet cross-medium coaxial counter-propeller vehicle. Background Technology

[0002] With the continuous growth in demand for marine development and three-dimensional operations, water-to-air cross-medium vehicles capable of continuous maneuvering in both underwater and air environments have become an essential and urgently needed piece of equipment in the field of marine engineering. Cross-medium vehicles typically need to simultaneously meet the different power requirements of underwater propulsion and air propulsion. Therefore, they often employ multiple propulsion devices or complex power conversion structures, resulting in complex overall structures, low system reliability, and increased structural mass of the vehicle.

[0003] Furthermore, due to the constraints of the overall size and mass of the vehicle, the battery capacity that can be carried is limited. During cross-medium navigation, the vehicle needs to overcome significant additional drag and energy loss due to interface fragmentation during the water entry and exit phases. The propulsion system often needs to output a large amount of thrust in a short period of time to complete the maneuvering process across the gas-liquid interface, resulting in high instantaneous energy consumption. These factors together lead to low energy utilization efficiency, resulting in the short endurance of existing cross-medium vehicles. At the same time, during the water entry and exit process, due to the large additional drag and attitude disturbances at the interface, existing propulsion systems cannot provide stable and sufficient thrust output in a short period of time, easily leading to low success rates in cross-medium processes. Existing vehicles generally suffer from short endurance, complex propulsion structures, and low cross-medium efficiency and success rates. Water-air continuous maneuvering platforms urgently need propulsion capabilities that are "high specific impulse, high thrust, repeatable, and high efficient." Summary of the Invention

[0004] To address the shortcomings of the existing technology, the present invention aims to propose a fuel-explosive jet cross-medium coaxial counter-rotating propeller vehicle, which solves the problems of insufficient water jet impulse during the water-to-air medium conversion stage, high underwater resistance, low success rate and poor stability in the cross-medium process, and short endurance of existing cross-medium vehicles.

[0005] To achieve the above objectives, the technical solution adopted by this invention is as follows: A fuel-explosive jet transmedium coaxial counter-rotor aircraft includes a fuselage shell, a pitch and roll adjustment mechanism, a coaxial counter-rotor device, a jet propulsion device, an X-shaped tail rudder, a battery, and a PLC controller. The fuselage shell is a streamlined cylindrical shell with an integrated fairing at its rear end.

[0006] The coaxial reverse rotor system includes a coaxial reverse brushless motor and two self-folding propellers. The coaxial reverse brushless motor is located at the front of the fuselage through a pitch angle adjustment mechanism. The coaxial reverse brushless motor has two coaxial and oppositely rotating output shafts.

[0007] Two self-folding propellers are coaxially arranged one in front of the other in front of the coaxial reverse-rotating brushless motor. The two outputs of the coaxial reverse-rotating brushless motor drive the two self-folding propellers to rotate synchronously in opposite directions.

[0008] The casing contains, from front to back, a battery compartment, a pressure buffer chamber, a gas storage chamber, an explosion chamber, and a piston chamber. The battery and PLC controller are located inside the battery compartment.

[0009] A vertical partition 1 is provided between the pressure buffer chamber and the gas storage chamber, and a vertical partition 2 is provided between the gas storage chamber and the explosion generating chamber. The gas storage chamber has an independent fuel chamber and an oxidizer chamber, which supply gas to the explosion generating chamber respectively.

[0010] The side walls of the fuselage have air passages that connect the explosion chamber and the pressure buffer chamber. The front of the fuselage has multiple drag-reducing injection holes that are evenly distributed in a ring and can communicate with the pressure buffer chamber.

[0011] The jet propulsion device includes a piston assembly, a bellows, and an igniter. The igniter is located on the rear side of the second vertical partition. The piston assembly is movably located inside the piston chamber. The bellows is located on the rear side of the piston assembly, and its interior communicates with the outside through a jet nozzle located at the center of the fairing.

[0012] Furthermore, the pitch adjustment mechanism includes a roll platform, a pitch platform, a servo motor one and a servo motor two, and two bearing seats one are symmetrically provided at the front end of the fuselage shell. The inner side of the roll platform has a rotating shaft one fixedly inserted along its centerline.

[0013] The two ends of the rotating shaft are respectively rotatably engaged with two bearing seats. The servo motor is located at the front end of the fuselage shell, and its output shaft is connected to the end of the rotating shaft to drive the roll platform to rotate around the axis of the rotating shaft.

[0014] Furthermore, the pitch platform has a second rotating shaft fixedly inserted along its centerline on its inner side. The second rotating shaft is arranged perpendicularly to the first rotating shaft, and the two ends of the second rotating shaft are respectively rotatably engaged with two bearing seats located on the front side of the roll platform.

[0015] The second servo motor is located at the front end of the roll platform, and its output shaft is connected to the end of the second rotating shaft, driving the pitch platform to rotate around the axis of the second rotating shaft.

[0016] Furthermore, the coaxial reverse-propeller brushless motor is fixed to the front end of the pitch platform via a motor bracket.

[0017] The coaxial reverse-propulsion brushless motor includes a housing and an upper motor body and a lower motor body located inside the housing. The output shaft of the upper motor body is a hollow shaft, and the output shaft of the lower motor body is a solid shaft.

[0018] The solid shaft is located inside the hollow shaft and is coaxially and sealed with the hollow shaft. The outer wall of the hollow shaft is sealed with the housing. The hollow shaft and the solid shaft form the two output ends of the coaxial reverse-propeller brushless motor.

[0019] Furthermore, the two self-folding propellers have the same structure and each includes a propeller disk and a set of blades, with the two propeller disks arranged in parallel with a gap between them.

[0020] The outer diameter of the front propeller disk is larger than that of the rear propeller disk. The front end of one output shaft of the coaxial reverse-propeller brushless motor is fixedly connected to the center of the front propeller disk, and the front end of its other output shaft is fixedly connected to the center of the rear propeller disk. The two output shafts of the coaxial reverse-propeller brushless motor drive the two propeller disks to rotate in opposite directions respectively.

[0021] Each set of blades includes two blades arranged symmetrically on the outside of the propeller disk, with one end of each blade rotatably connected to the outer wall of the corresponding propeller disk within a range of 0-90°.

[0022] During the accelerated rotation of the propeller disk, each blade unfolds outward under the action of centrifugal force.

[0023] Furthermore, the propeller disk is a circular planar steel frame with two symmetrically arranged hinge supports on the outer wall of the propeller disk, and a single lug seat integrally formed with the root of the propeller blade.

[0024] The ear plate of the single ear seat is located in the groove of the corresponding hinge support and is rotatably connected to the hinge support through a pin. A torsion spring is sleeved on the outside of the pin. During the deceleration rotation of the propeller disk, the force of the torsion spring will drive the corresponding blade to retract inward.

[0025] Each of the hinge supports is fixed with a limiting block located on the side below the pin shaft near the propeller disk.

[0026] Furthermore, each of the drag-reducing injection holes is arranged at an angle relative to the axis of the fuselage housing, and the outlet end of the drag-reducing injection hole is located on the outer wall of the fuselage housing near its front end.

[0027] Each of the drag-reducing injection holes is equipped with a one-way valve, which is located at the end of the drag-reducing injection hole near the air pressure buffer chamber.

[0028] There are at least two air passages, each located inside the side wall of the fuselage and evenly distributed along the circumference. One end of the air passage is located on the side wall of the explosion chamber, and the other end is located on the side wall of the pressure buffer chamber. Each air passage is equipped with the same one-way valve.

[0029] Furthermore, the second vertical partition has a fuel inlet and an oxygen inlet, which correspond to the fuel compartment and the combustion aid compartment, respectively. Solenoid valves are embedded on the inner side of both the fuel inlet and the oxygen inlet. The igniter is fixed to the center of the rear side wall of the second vertical partition. The signal terminals of the igniter and each solenoid valve are connected to the PLC controller for communication.

[0030] The explosion chamber is connected to the piston chamber, and the side wall at the connection between the two has a limiting step. The piston assembly includes a piston body, a heat insulation plate, and piston rings. The piston rings are embedded in the circumferential side wall of the piston body. The piston body slides against the inner wall of the piston chamber through the piston rings. The heat insulation plate is fixed to the front end face of the piston body.

[0031] Furthermore, the bellows is made of polymer material, with a tapered tail section. The outer wall of the tapered section is attached and fixed to the rear of the piston cavity. The front end of the bellows is fixedly and sealed to the piston body. The internal cavity of the bellows is connected to the jet nozzle.

[0032] Furthermore, the X-shaped tail rudder includes rudder blades and a waterproof servo motor. There are four rudder blades arranged in an X-shape on the outer side of the tail of the fuselage shell. Each rudder blade is rotated and sealed with the fuselage shell through a rudder shaft.

[0033] The side wall of the fuselage has sealed cavities that are equal in number and correspond one-to-one with the number of rudder blades, and each sealed cavity is equipped with the waterproof servo motor.

[0034] The output end of each of the waterproof servo motors is connected to the end of the rudder shaft through a worm gear mechanism, driving the corresponding rudder blade to rotate around the rudder shaft.

[0035] By adopting the above technical solution, the beneficial technical effects of the present invention are as follows: 1. The blades of the coaxial counter-rotating propeller of the present invention are foldable, which can reduce the resistance of underwater navigation. After leaping out of the water, the blades of the coaxial counter-rotating propeller can be quickly unfolded under the action of centrifugal force. During flight, the flight attitude and flight direction can be adjusted by the pitch angle adjustment mechanism.

[0036] 2. This invention utilizes the explosion of a mixture of butane and oxygen to generate high-pressure gas, which drives a piston to propel water at high speed through a bellows, achieving underwater acceleration with a strong reverse impulse. Simultaneously, the high-pressure gas is uniformly ejected through the front sidewall of the fuselage, forming active air bubbles that adhere to the outer surface, thus reducing drag. This facilitates attitude control during underwater acceleration, improves the success rate of cross-medium conversion, and enables mutual conversion between water and gas media.

[0037] 3. The cross-medium coaxial counter-rotating propeller of the present invention has the advantages of low cost, high thrust-to-weight ratio, low drag, high success rate and low risk. Attached Figure Description

[0038] Figure 1 This is a three-dimensional structural schematic diagram of a fuel-explosive jet transmedium coaxial counter-propeller vehicle according to the present invention.

[0039] Figure 2 This is a schematic diagram of the combined structure of the pitch angle adjustment mechanism and the coaxial counter-rotor device of the present invention.

[0040] Figure 3 This is a schematic diagram of the combination of the pitch angle adjustment mechanism and the coaxial reverse brushless motor of the present invention.

[0041] Figure 4 This is a rear view of a fuel-explosive jet transmedium coaxial counter-propeller vehicle according to the present invention.

[0042] Figure 5 yes Figure 4 The present invention is a cross-sectional view along the AA direction.

[0043] Figure 6 This is a state diagram of a fuel-explosive jet transmedium coaxial counter-propeller vehicle of the present invention before it leaps out of the water.

[0044] Figure 7 This is an aerial flight diagram of a fuel-explosive jet transmedium coaxial counter-propeller aircraft according to the present invention.

[0045] The diagram shows: 1. Fuselage shell; 11. Fairing; 12. Front cover; 13. Jet nozzle; 14. Bearing housing one; 15. Vertical partition one; 16. Vertical partition two; 17. Fuel inlet; 18. Oxygen inlet; 19. Longitudinal partition; 2. Pitch adjustment mechanism; 21. Roll platform; 22. Pitch platform; 23. Servo one; 24. Servo two; 25. Shaft one; 26. Shaft two; 27. Bearing housing two; 3. Coaxial counter-rotating rotor assembly; 31. Coaxial counter-rotating brushless motor; 32. Motor bracket; 33. Rotor disk; 34. Rotor blade; 35. Hinge support; 36. Single lug mount; 37. Torsion spring; 38. Pin; 39. Limiting block; 4. Jet propulsion device; 41. Bellows; 42. Igniter; 43. Piston body; 44. Heat insulation plate; 45. Piston ring; 5. X-type tail rudder; 51. Rudder blade; 52. Waterproof servo motor; 53. Rudder shaft; 54. Worm gear mechanism; 6. Battery; 7. Drag-reducing injection orifice; 71. One-way valve; 8. PLC controller; 101. Battery compartment; 102. Air pressure buffer chamber; 103. Fuel compartment; 104. Combustion oxidizer compartment; 105. Explosion chamber; 106. Piston chamber; 107. Air passage; 108. Sealed cavity. Detailed implementation methods; The present invention will now be described in detail with reference to the accompanying drawings: Combination Figures 1 to 7 A fuel-explosive jet transmedium coaxial counter-rotating propeller vehicle includes a fuselage shell 1, a pitch and roll adjustment mechanism 2, a coaxial counter-rotating rotor device 3, a jet propulsion device 4, an X-shaped tail rudder 5, a battery 6, and a PLC controller 8. The fuselage shell 1 is a streamlined cylindrical shell. The front end of the fuselage shell 1 has a front cover 12. The front cover 12 is detachably fixed and sealed with the fuselage shell 1 to close the battery compartment 101, so that the battery 6 and the PLC controller 8 located inside the battery compartment 101 are in a sealed space. The rear end of the fuselage shell 1 has an integrated fairing 11.

[0047] The coaxial counter-rotor device 3 includes a coaxial counter-rotor brushless motor 31 and two self-folding propellers. The coaxial counter-rotor brushless motor 31 is located in front of the fuselage shell 1 via a pitch angle adjustment mechanism 2. The coaxial counter-rotor brushless motor 31 has two coaxial and oppositely rotating output shafts. The two output shafts of the coaxial counter-rotor brushless motor 31 drive the two self-folding propellers to rotate synchronously in opposite directions.

[0048] The pitch adjustment mechanism 2 includes a roll platform 21, a pitch platform 22, a first servo motor 23, and a second servo motor 24. Two bearing seats 14 are symmetrically arranged at the front end of the fuselage shell 1. The inner side of the roll platform 21 has a rotating shaft 25 fixedly inserted along its centerline. Both ends of the rotating shaft 25 are rotatably engaged with the two bearing seats 14. The first servo motor 23 is located at the front end of the fuselage shell 1, and its output shaft is connected to the end of the rotating shaft 25, driving the roll platform 21 to rotate around the axis of the rotating shaft 25.

[0049] The pitch platform 22 has a second rotating shaft 26 fixedly running along its centerline on its inner side. The second rotating shaft 26 is arranged perpendicularly to the first rotating shaft 25. The two ends of the second rotating shaft 26 are respectively rotatably engaged with two bearing seats 27 located on the front side of the roll platform 21. The second servo motor 24 is located at the front end of the roll platform 21, and its output shaft is connected to the end of the second rotating shaft 26, driving the pitch platform 22 to rotate around the axis of the second rotating shaft 26. During flight, the jet-type transmedium coaxial counter-rotating propeller aircraft adjusts the tilt angle of the deployed propeller relative to the fuselage shell 1 through the pitch tilt angle adjustment mechanism 2, thereby adjusting the flight state and flight direction of the jet-type transmedium coaxial counter-rotating propeller aircraft.

[0050] The coaxial reverse-propeller brushless motor 31 is fixed to the front end of the pitch platform 22 by a motor bracket 32. The coaxial reverse-propeller brushless motor 31 includes a housing and an upper motor body and a lower motor body disposed inside the housing. The output shaft of the upper motor body is a hollow shaft, and the output shaft of the lower motor body is a solid shaft. It should be particularly noted that both the upper and lower motor bodies of the coaxial reverse-propeller brushless motor 31 utilize existing technology.

[0051] The solid shaft is located inside the hollow shaft and is coaxially and sealed with the hollow shaft. The outer wall of the hollow shaft is sealed with the housing. The hollow shaft and the solid shaft form the two output ends of the coaxial reverse-propeller brushless motor 31.

[0052] Specifically, two self-folding propellers are coaxially arranged one in front of the other in front of the coaxial counter-rotating brushless motor 31. The two outputs of the coaxial counter-rotating brushless motor 31 drive the two self-folding propellers to rotate synchronously in opposite directions. The two self-folding propellers have the same structure and each includes a propeller disk 33 and a set of blades 34. The two propeller disks 33 are arranged in parallel with a gap between them.

[0053] The outer diameter of the front propeller disk 33 is larger than that of the rear propeller disk 33. One output shaft of the coaxial counter-rotating brushless motor 31 is fixedly connected to the center of the front propeller disk 33, and the other output shaft is fixedly connected to the center of the rear propeller disk 33. The two output shafts of the coaxial counter-rotating brushless motor 31 drive the two propeller disks 33 to rotate in opposite directions. Each set of blades 34 includes two blades 34 arranged symmetrically on the outer side of the propeller disk 33. One end of each blade 34 is rotatably connected to the outer wall of the corresponding propeller disk 33 within a range of 0-90°. During the accelerated rotation of the propeller disk 33, each blade 34 unfolds outward under the action of centrifugal force, and the unfolded two blades 34 are approximately on the same plane as the corresponding propeller disk 33.

[0054] The propeller disk 33 is a circular planar steel frame. Two symmetrically arranged hinge supports 35 are located on the outer wall of the propeller disk 33. The root of the blade 34 has an integrally formed single-ear seat 36. The ear plate of the single-ear seat 36 is located in the groove of the corresponding hinge support 35 and is rotatably connected to the hinge support 35 via a pin 38. A torsion spring 37 is sleeved on the outside of the pin 38. During the deceleration rotation of the propeller disk 33, the force of the torsion spring 37 drives the corresponding blade 34 to retract inward. Each hinge support 35 is fixedly equipped with a limiting block 39, located below the pin 38 and close to the side of the propeller disk 33. Each of the aforementioned limiting blocks 39 and the corresponding hinge support 35 are integral structures. The limiting blocks 39 have two mutually perpendicular working surfaces. After the blades 34 retract inward, one working surface of the limiting block 39 contacts the side of the ear plate of the single ear seat 36, restricting the single ear seat 36 from continuing to rotate around the pin shaft 38 and preventing the blades 34 from contacting the outer wall of the fuselage shell 1. In addition, after the blades 34 unfold upward under the action of centrifugal force, the side of the ear plate of the single ear seat 36 contacts the other working surface of the limiting block 39, restricting the single ear seat 36 from continuing to rotate around the pin shaft 38.

[0055] This invention employs two self-folding propellers, enabling the cross-medium coaxial reverse-rotor vehicle to generate sufficient lift during flight. The blades 34 of the self-folding propellers can be folded using torsion springs 37 and kept close to the fuselage shell 1, effectively reducing drag when the cross-medium coaxial reverse-rotor vehicle is navigating in water. When leaping vertically out of the water, the blades 34 of the self-folding propellers can unfold using the centrifugal force generated by the rotation of the propeller disk 33. The blades 34, in a high-speed rotating state, remain on the same plane as the propeller disk 33, enabling flight in the air. After completing its aerial flight mission, the cross-medium coaxial reverse-rotor vehicle maintains a vertical position and gradually reduces the rotational speed of the propeller disk 33. During this process, the blades 34 retract inward under the action of the torsion springs 37. The cross-medium coaxial reverse-rotor vehicle enters the water in a vertical position under the action of gravity. The cross-medium coaxial reverse-rotor vehicle adjusts its attitude using the X-shaped tail rudder 5 and enters underwater navigation.

[0056] The casing 1 contains, from front to back, a battery compartment 101, a pressure buffer chamber 102, a gas storage chamber, an explosion generating chamber 105, and a piston chamber 106. The battery 6 is a rechargeable lithium battery, and the PLC controller 8 is a controller already available in the prior art. A vertical partition 15 is provided between the pressure buffer chamber 102 and the gas storage chamber, and a second vertical partition 16 is provided between the gas storage chamber and the explosion generating chamber 105. The gas storage chamber contains independent fuel compartments 103 and oxidizer compartments 104, which supply gas to the explosion generating chamber 105.

[0057] The fuselage shell 1 of the cross-medium coaxial counter-rotating propeller has a built-in high-precision wireless gyroscope attitude sensor that monitors the working status of the fuselage in real time when it is affected by ocean currents or wind, and transmits the data to the system for processing and calculation to adjust the position and attitude of the vehicle in order to achieve stable control of the vehicle during operation.

[0058] Specifically, the front cover 12 seals the battery 6 and the PLC controller inside the battery compartment 101. The gas storage chamber has a longitudinal partition 19 arranged along the axial direction of the outer casing 1. The front and rear sides of the longitudinal partition 19 are fixedly and sealed to the vertical partition 15 and the vertical partition 16 respectively, and the left and right sides are fixedly and sealed to the inner wall of the outer casing 1. The longitudinal partition 19 divides the gas storage chamber into a fuel compartment 103 and a combustion aid compartment 104. The fuel compartment 103 is used to store high-pressure butane gas, and the combustion aid compartment 104 is used to store high-pressure oxygen.

[0059] The sidewall of the fuselage outer shell 1 has an air passage 107 that connects the explosion generating chamber 105 and the pressure buffer chamber 102. The front of the fuselage outer shell 1 has eight drag-reducing injection holes 7 evenly distributed in a ring, which can communicate with the pressure buffer chamber 102. All eight drag-reducing injection holes 7 are arranged at an angle relative to the axis of the fuselage outer shell 1, and the outlet end of the drag-reducing injection hole 7 is located on the outer wall of the fuselage outer shell 1 near its front end.

[0060] Each of the drag-reducing injection holes 7 is equipped with a one-way valve 71, located at the end of the drag-reducing injection hole 7 near the pressure buffer chamber 102. There are at least two air passages 107, each located within the side wall of the fuselage outer shell 1 and evenly distributed circumferentially. One end of each air passage 107 is located on the side wall of the explosion generating chamber 105, and the other end is located on the side wall of the pressure buffer chamber 102. Each air passage 107 is equipped with the same one-way valve 71. In operation, after a measured amount of butane and oxygen mixes in the explosion generating chamber 105, an electric arc is formed at the metal tip of the igniter 42. The mixture of butane and oxygen undergoes a deflagration reaction within the explosion generating chamber 105, causing the gas to expand rapidly in a short time. The high-pressure gas quickly enters the interior of the pressure buffer chamber 102 through each air passage 107. The pressure causes the one-way valve 71 inside each of the drag-reducing injection holes 7 to open and continuously eject gas through the outlet located on the surface of the fuselage outer shell 1.

[0061] The jet propulsion device 4 includes a piston assembly, a bellows 41, and an igniter 42. The igniter 42 is installed at the center of the rear side wall of the vertical partition 16. The piston assembly is movably disposed inside the piston chamber 106. The bellows 41 is disposed on the rear side of the piston assembly, and its interior communicates with the outside through a jet nozzle 13 opened at the center of the fairing 11.

[0062] The second vertical partition 16 has a fuel inlet 17 and an oxygen inlet 18, which correspond to the fuel compartment 103 and the oxidizer compartment 104, respectively. A solenoid valve is fixedly embedded inside each of the fuel inlet 17 and the oxygen inlet 18. An igniter 42 is fixed to the center of the rear side wall of the second vertical partition 16. The signal terminals of the igniter 42 and each solenoid valve are connected to the PLC controller 8. The solenoid valves inside the fuel inlet 17 and the oxygen inlet 18 have the function of metering gas flow. The PLC controller 8 controls the opening and closing of each solenoid valve through signal commands, quantitatively supplying butane and oxygen into the explosion chamber 105, respectively. During the gas supply process, the one-way valves 71 inside each of the gas passages 107 remain closed. After a deflagration reaction occurs in the explosion chamber 105, the pressure of the rapidly expanding high-pressure gas causes the one-way valves 71 in each gas passage 107 to open.

[0063] The explosion chamber 105 communicates with the piston chamber 106, and the sidewall at the connection point has a limiting step. The piston assembly includes a piston body 43, a heat insulation plate 44, and a piston ring 45. The piston ring 45 is embedded in the circumferential sidewall of the piston body 43. The piston body 43 slides against the inner wall of the piston chamber 106 through the piston ring 45. The heat insulation plate 44 is fixed to the front end face of the piston body 43. The bellows 41 is made of polymer material, and its tail is a tapered section. The outer wall of the tapered section is attached to and fixed to the rear of the piston chamber 106. The front end of the bellows 41 is fixedly and sealed to the piston body 43. The internal cavity of the bellows 41 communicates with the jet nozzle 13.

[0064] After a deflagration reaction occurs in the explosion chamber 105, the gas expands rapidly in a short time, pushing the piston body 43 backward. The upper end of the piston body 43 with the bellows 41 moves backward rapidly, and the bellows 41 is compressed along its axis. The water inside the bellows 41 is compressed and ejected backward from the jet nozzle 13, generating a high-speed jet. The cross-medium coaxial reverse propeller vehicle thus obtains a strong reverse impulse, accelerates and leaps vertically upward out of the water. At the moment of leaving the water, the coaxial reverse brushless motor 31 drives the two self-folding propellers to rotate rapidly, and then enters the flight phase.

[0065] The X-shaped tail rudder 5 includes rudder blades 51 and waterproof servo motors 52. There are four rudder blades 51 arranged in an X-shape on the outer tail of the fuselage shell 1. Each rudder blade 51 is rotatably and sealed to the fuselage shell 1 via a rudder shaft 53. The side wall of the fuselage shell 1 has sealed cavities 108, the number of which corresponds to the number of rudder blades 51 and their positions. Each sealed cavity 108 contains one of the waterproof servo motors 52. The output end of each waterproof servo motor 52 is connected to the end of the rudder shaft 53 via a worm gear mechanism 54, driving the corresponding rudder blade 51 to rotate around the rudder shaft 53, thus adjusting the angle and attitude of the rudder blade 51.

[0066] Before the deflagration reaction occurs within the explosion chamber 105, the cross-medium coaxial reverse-rotor vehicle is in an underwater lurking phase. Upon receiving a command signal, water in the bellows 41 is ejected rearward from the jet nozzle 13. During underwater acceleration, the X-shaped tail rudder 5 independently adjusts the vehicle's attitude by controlling its four rudder blades 51, allowing the vehicle to leap out of the water vertically. Simultaneously, during underwater acceleration, the gas ejected from the drag-reducing jet 7 adheres to the outer surface of the fuselage hull 1 under water pressure, achieving drag reduction and acceleration. When in a deeper underwater lurking position, acceleration can be achieved through two or more intermittent ignition explosions to gain sufficient speed to leap out of the water. After the bellows 41 is drained, it automatically refills with water under pressure, resetting the piston body 43 and preparing for the next ignition explosion.

[0067] For any parts not mentioned in this invention, existing technologies can be used or referenced.

[0068] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0069] In the description of this invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and 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 this invention.

[0070] Of course, the above description is not intended to limit the present invention, and the present invention is not limited to the examples given above. Any changes, modifications, additions or substitutions made by those skilled in the art within the scope of the present invention should also fall within the protection scope of the present invention.

Claims

1. A fuel-explosive jet transmedium coaxial counter-rotating propeller vehicle, characterized in that, It includes a fuselage shell, pitch and tilt adjustment mechanism, coaxial counter-rotor device, jet propulsion device, X-type tail rudder, battery and PLC controller. The fuselage shell is a streamlined cylindrical shell with an integrated fairing at its rear end. The coaxial counter-rotor unit includes a coaxial counter-rotor brushless motor and two self-folding propellers. The coaxial counter-rotor brushless motor is located in front of the fuselage through a pitch angle adjustment mechanism. The coaxial counter-rotor brushless motor has two coaxial and oppositely rotating output shafts. Two self-folding propellers are coaxially arranged one in front of the coaxial reverse-rotating brushless motor. The two outputs of the coaxial reverse-rotating brushless motor drive the two self-folding propellers to rotate synchronously in opposite directions. The casing contains, from front to back, a battery compartment, a pressure buffer chamber, a gas storage chamber, an explosion chamber, and a piston chamber. The battery and PLC controller are located inside the battery compartment. A vertical partition 1 is provided between the pressure buffer chamber and the gas storage chamber, and a vertical partition 2 is provided between the gas storage chamber and the explosion generating chamber. The gas storage chamber has an independent fuel chamber and an oxidizer chamber, which supply gas to the explosion generating chamber respectively. The side walls of the fuselage have air passages that connect the explosion chamber and the pressure buffer chamber. The front of the fuselage has multiple drag-reducing injection holes that are evenly distributed in a ring shape. These drag-reducing injection holes can communicate with the pressure buffer chamber. The jet propulsion device includes a piston assembly, a bellows, and an igniter. The igniter is located on the rear side of the second vertical partition. The piston assembly is movably located inside the piston chamber. The bellows is located on the rear side of the piston assembly, and its interior communicates with the outside through a jet nozzle located at the center of the fairing.

2. The fuel-explosive jet transmedium coaxial counter-rotating propeller vehicle according to claim 1, characterized in that, The pitch angle adjustment mechanism includes a roll platform, a pitch platform, a servo motor one and a servo motor two. Two bearing seats one are symmetrically provided at the front end of the fuselage shell. The inner side of the roll platform has a rotating shaft one that is fixedly inserted along its centerline. The two ends of the rotating shaft are respectively rotatably engaged with two bearing seats. The servo motor is located at the front end of the fuselage shell, and its output shaft is connected to the end of the rotating shaft to drive the roll platform to rotate around the axis of the rotating shaft.

3. A fuel-explosive jet transmedium coaxial counter-rotating propeller vehicle according to claim 2, characterized in that, The pitch platform has a second rotating shaft fixedly running along its centerline on its inner side. The second rotating shaft is arranged perpendicularly to the first rotating shaft. The two ends of the second rotating shaft are respectively rotatably engaged with two bearing seats located on the front side of the roll platform. The second servo motor is located at the front end of the roll platform, and its output shaft is connected to the end of the second rotating shaft, driving the pitch platform to rotate around the axis of the second rotating shaft.

4. A fuel-explosive jet transmedium coaxial counter-rotating propeller vehicle according to claim 2, characterized in that, The coaxial reverse-propeller brushless motor is fixed to the front end of the pitch platform by a motor bracket; The coaxial reverse propulsion brushless motor includes a housing and an upper motor body and a lower motor body located inside the housing. The output shaft of the upper motor body is a hollow shaft, and the output shaft of the lower motor body is a solid shaft. The solid shaft is located inside the hollow shaft and is coaxially and sealed with the hollow shaft. The outer wall of the hollow shaft is sealed with the housing. The hollow shaft and the solid shaft form the two output ends of the coaxial reverse-propeller brushless motor.

5. A fuel-explosive jet transmedium coaxial counter-rotating propeller vehicle according to claim 1, characterized in that, The two self-folding propellers have the same structure and each includes a propeller disk and a set of blades. The two propeller disks are arranged in parallel with a gap between them. The outer diameter of the front propeller disk is larger than that of the rear propeller disk. The front end of one output shaft of the coaxial reverse brushless motor is fixedly connected to the center of the front propeller disk, and the front end of its other output shaft is fixedly connected to the center of the rear propeller disk. The two output shafts of the coaxial reverse brushless motor drive the two propeller disks to rotate in opposite directions respectively. Each set of blades includes two blades arranged symmetrically on the outside of the propeller disk, with one end of each blade rotatably connected to the outer wall of the corresponding propeller disk within a range of 0-90°. During the accelerated rotation of the propeller disk, each blade unfolds outward under the action of centrifugal force.

6. A fuel-explosive jet transmedium coaxial counter-rotating propeller vehicle according to claim 5, characterized in that, The propeller disk is a circular planar steel frame with two symmetrically arranged hinge supports on the outer side wall of the propeller disk, and a single lug seat integrally formed with the root of the propeller blade. The ear plate of the single ear seat is located in the groove of the corresponding hinge support and is rotatably connected to the hinge support through a pin. A torsion spring is sleeved on the outside of the pin. During the deceleration rotation of the propeller disk, the force of the torsion spring will drive the corresponding blade to retract inward. Each of the hinge supports is fixed with a limiting block located on the side below the pin shaft near the propeller disk.

7. A fuel-explosive jet transmedium coaxial counter-rotating propeller vehicle according to claim 1, characterized in that, Each of the aforementioned drag-reducing injection holes is arranged at an angle relative to the axis of the fuselage housing, and the outlet end of the drag-reducing injection hole is located on the outer wall of the fuselage housing near its front end. Each of the aforementioned drag-reducing injection holes is equipped with a one-way valve, which is located at the end of the drag-reducing injection hole near the air pressure buffer chamber. There are at least two air passages, each located inside the side wall of the fuselage and evenly distributed along the circumference. One end of the air passage is located on the side wall of the explosion chamber, and the other end is located on the side wall of the pressure buffer chamber. Each air passage is equipped with the same one-way valve.

8. A fuel-explosive jet transmedium coaxial counter-rotating propeller vehicle according to claim 1, characterized in that, The second vertical partition has a fuel inlet and an oxygen inlet, which correspond to the fuel compartment and the combustion aid compartment, respectively. Solenoid valves are embedded on the inner side of both the fuel inlet and the oxygen inlet. The igniter is fixed to the center of the rear side wall of the second vertical partition. The signal terminals of the igniter and each solenoid valve are connected to the PLC controller. The explosion chamber is connected to the piston chamber, and the side wall at the connection between the two has a limiting step. The piston assembly includes a piston body, a heat insulation plate, and piston rings. The piston rings are embedded in the circumferential side wall of the piston body. The piston body slides against the inner wall of the piston chamber through the piston rings. The heat insulation plate is fixed to the front end face of the piston body.

9. A fuel-explosive jet transmedium coaxial counter-rotating propeller vehicle according to claim 8, characterized in that, The bellows is made of polymer material, with a tapered tail section. The outer wall of the tapered section is attached and fixed to the rear of the piston cavity. The front end of the bellows is fixedly and sealed to the piston body. The internal cavity of the bellows is connected to the jet nozzle.

10. A fuel-explosive jet transmedium coaxial counter-rotating propeller vehicle according to claim 1, characterized in that, The X-shaped tail rudder includes rudder blades and a waterproof servo motor. There are four rudder blades arranged in an X-shape on the outer side of the tail of the fuselage. Each rudder blade is rotated and sealed with the fuselage through a rudder shaft. The side wall of the fuselage has sealed cavities that are equal in number and correspond one-to-one in position to the rudder blades, and each sealed cavity is equipped with the waterproof servo motor. The output end of each of the waterproof servo motors is connected to the end of the rudder shaft through a worm gear mechanism, driving the corresponding rudder blade to rotate around the rudder shaft.

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