Water-air amphibious cooperative cross-medium unmanned vehicle

Abstract

The utility model relates to a water-air amphibious collaborative cross-medium unmanned vehicle which comprises a main body cabin, wings capable of being stored in the main body cabin are arranged on the left side and the right side of the main body cabin, rotor wing assemblies are arranged on the wings, a vector propeller is arranged at the abdomen position in the main body cabin, and the vector propeller is connected with the main body cabin. The water inlet end of the vector thruster is communicated with a water inlet formed in the front end of the bottom of the main body cabin, and the rear end of the main body cabin is provided with an opening through which an exhaust nozzle of the vector thruster can stretch out. The structure design is reasonable, the vector thruster is installed on the belly portion of the main body cabin, the exhaust nozzle of the vector thruster can be adjusted in a rotating mode so as to change the direction, and compared with a traditional propeller propelling mode, steering is more convenient, noise is smaller, steering stability is good, and steering response time is greatly shortened.

Description

TECHNICAL FIELD

[0001] The utility model relates to a water air amphibious cooperative cross -medium unmanned vehicle. BACKGROUND

[0002] The water air amphibious unmanned vehicle is a cross -medium carrying platform with high mobility for navigating in the air, water surface and underwater.

[0003] The conventional water air amphibious unmanned vehicle uses a propeller as the underwater propulsion mode when navigating in water due to the physical properties of water, but the axial thrust of the propeller is uncontrollable, resulting in turning lag, and the propeller generates cavitation noise when operating at high speed. Therefore, it is necessary to improve this technical problem. UTILITARY MODEL

[0004] The utility model makes improvements in view of the problems existing in the prior art, that is, the technical problem to be solved by the utility model is to provide a water air amphibious cooperative cross -medium unmanned vehicle, which is reasonable in design, improves the turning convenience of underwater navigation and reduces noise.

[0005] In order to achieve the above purpose, the utility model adopts the technical scheme of: a water air amphibious cooperative cross -medium unmanned vehicle, comprising a main cabin, the left and right sides of the main cabin are provided with wings that can be stored in the main cabin, a rotor assembly is arranged on the wing, a vector propeller is arranged at the abdominal position in the main cabin, the water inlet end of the vector propeller is communicated with the water inlet arranged at the front end of the bottom of the main cabin, and an opening is arranged at the rear end of the main cabin to facilitate the extension of the tail nozzle of the vector propeller.

[0006] Further, the vector propeller comprises a water inlet pipe, a fixed connecting pipe, an active connecting pipe and a tail nozzle, the front end of the water inlet pipe is communicated with the water inlet arranged at the front end of the bottom of the main cabin; the front end of the fixed connecting pipe is fixedly arranged at the rear end of the water inlet pipe; the front end of the active connecting pipe is rotatably connected with the rear end of the fixed connecting pipe, and the active connecting pipe is driven to rotate in the rear end of the fixed connecting pipe by the first rotary driving piece; the front end of the tail nozzle is rotatably connected with the rear end of the active connecting pipe, and the tail nozzle is driven to rotate in the rear end of the active connecting pipe by the second rotary driving piece.

[0007] Further, the water inlet pipe comprises a tilt section and a horizontal section arranged in sequence from front to back, the tilt section is in a tilt shape with the front end lower and the rear end higher, the lower end of the tilt section is communicated with the water inlet at the front end of the bottom of the main cabin, and the upper end of the tilt section is provided with the horizontally arranged propeller shaft, the front end of the propeller shaft is connected with the propeller drive motor, the rear end of the propeller shaft extends into the horizontal section and is fixed with the spiral impeller, and the propeller drive motor drives the impeller to rotate in the horizontal section through the propeller shaft.

[0008] Further, the first rotary drive member comprises a first rotary motor, a first driving gear, a first driven gear and a first rotary drive shaft, the first driven gear is fixedly installed on the outer circumferential side of the movable connecting pipe, the first driving gear is engaged with the first driven gear, the first rotary drive shaft is arranged on the outer circumferential side of the fixed connecting pipe, the first rotary motor is installed on the outer surface of the water inlet pipe, the output shaft of the first rotary motor is connected with the front end of the first rotary drive shaft, and the rear end of the first rotary drive shaft is connected with the first driving gear; the second rotary drive member comprises a second rotary motor, a second driving gear, a second driven gear and a second rotary drive shaft, the second driven gear is fixedly installed on the outer circumferential side of the tail nozzle, the second driving gear is engaged with the second driven gear, the second rotary drive shaft is arranged on the outer circumferential side of the movable connecting pipe, the second rotary motor is installed on the outer surface of the movable connecting pipe, the output shaft of the second rotary motor is connected with the front end of the second rotary drive shaft, and the rear end of the second rotary drive shaft is connected with the second driving gear.

[0009] Further, the main cabin is provided with an electric injector buoyancy system, the electric injector buoyancy system comprises a cylindrical shell arranged at the middle of the front end of the main cabin and an adjusting motor arranged at the rear side of the shell, the axis of the shell extends in the front-rear direction, a transmission screw rod is coaxially arranged in the shell, the rear end of the transmission screw rod extends out of the shell and is connected with the output end of the adjusting motor, a screw rod sliding block is connected with the transmission screw rod, and a piston plate is installed on the screw rod sliding block, a buoyancy adjusting cavity is surrounded between the piston plate and the front side wall of the shell, and the adjusting motor drives the piston plate to move in the front-rear direction through the transmission screw rod to adjust the volume of the buoyancy adjusting cavity.

[0010] Further, the front end of the bottom and the rear end of the bottom of the main cabin are provided with a pair of take-off and landing accommodation openings, the pair of take-off and landing accommodation openings are distributed left and right, a landing gear is arranged in each take-off and landing accommodation opening, the shape of the landing gear is adapted to the shape of the take-off and landing accommodation opening to seal the take-off and landing accommodation opening, and the landing gear is driven by a landing drive member to downwardly swing and extend out of the take-off and landing accommodation opening.

[0011] Further, the landing gear comprises a landing leg and a landing gear shell arranged below the landing leg; the landing drive member comprises a drive support frame, a first gear, a second gear, a third gear, a fourth gear, a drive motor, a crank, a first connecting rod, a second connecting rod and a third connecting rod, the drive support frame is installed in the main cabin, the drive motor is installed on the inner side of the drive support frame, the output end of the drive motor is connected with the central shaft of the first gear installed on the outer side of the drive support frame, and the drive motor drives the first gear to rotate; the second gear and the third gear are respectively arranged on the front side and the rear side of the first gear and are both installed on the drive support frame, and the second gear and the third gear are both engaged with the first gear; the fourth gear is installed on the lower part of the drive support frame and is engaged with the second gear, the central shaft of the fourth gear is fixedly connected with the connecting lug at the top front end of the landing gear shell, and the landing gear shell is driven to swing when the fourth gear rotates; the upper end of the crank is fixedly connected with the central shaft of the third gear, the third gear drives the crank to rotate when the third gear rotates, the lower end of the crank is hingedly connected with the upper end of the first connecting rod, the lower end of the first connecting rod is hingedly connected with the upper end of the landing leg, the second connecting rod and the third connecting rod are arranged in an upper and lower distribution mode and are both hingedly connected with the lower end of the drive support frame at the front end, the rear end of the second connecting rod is hingedly connected with the middle upper part of the first connecting rod, and the rear end of the third connecting rod is hingedly connected with the middle upper part of the landing leg, when the landing gear shell is in a horizontal state and located in the landing parking port, the landing leg is in a vertical state and the bottom is abutted on the top groove of the landing gear shell.

[0012] Further, the left and right ends of the main cabin are both provided with accommodating cavities for accommodating wing assemblies and rotor assemblies, the front end bottom and the rear end top of each accommodating cavity are both hingedly connected with a wing through a vertical hinge shaft, the wing is provided with a rotor assembly away from the hinge end connected with the accommodating cavity, each wing is driven to swing and stored in the accommodating cavity by a wing swinging assembly, the wing swinging assembly comprises a wing swinging motor, a worm and gear transmission member, a circular arc track and a swinging block, the circular arc track is installed in the accommodating cavity and is coaxially arranged with the vertical hinge shaft, the swinging block is in sliding fit with the circular arc track, the wing is fixedly connected with the swinging block, the vertical hinge shaft is fixedly connected with the wing, the vertical hinge shaft is connected with the output end of the wing swinging motor through the worm and gear transmission member, and the wing swinging motor drives the wing to swing along the circular arc track through the worm and gear transmission member and the vertical hinge shaft, so that the wing is extended out of the accommodating cavity or stored in the accommodating cavity.

[0013] Further, the inside upper end of the accommodating cavity is horizontally provided with a waterproof cover, the waterproof cover is driven by a turnover assembly to turn over outward to a vertical state and seal the opening of the accommodating cavity, the turnover assembly comprises a pair of front and rear distributed turnover supporting plates located below the waterproof cover, the distal end surface of the pair of turnover supporting plates is provided with a 3-shaped cam groove, the side of the pair of turnover supporting plates away from each other is provided with a driving arm, a driven arm, a sliding rod and an arm sleeve, the arm sleeve is hingedly connected with the turnover supporting plate, the driven arm comprises a vertical section and a bending section arranged at the upper end of the vertical section, the bending section is fixedly connected with the waterproof cover, the vertical section is slidably penetrated through the inner cavity of the arm sleeve, the lower end of the side of the vertical section facing the turnover supporting plate is fixedly connected with the sliding rod, the sliding rod extends into the 3-shaped cam groove and is in sliding fit with the 3-shaped cam groove, one end of the driving arm is fixedly connected with a hinged rotating shaft, the hinged rotating shaft is rotatably connected with the turnover supporting plate, the driving arm is provided with a long strip sliding groove along the length direction, the sliding rod penetrates through the long strip sliding groove and is in sliding fit with the long strip sliding groove, one of the turnover supporting plates is provided with a turnover motor, the output end of the turnover motor is connected with the hinged rotating shaft, and the turnover motor drives the driving arm to rotate through the hinged rotating shaft.

[0014] Further, the inside of the main cabin is further provided with a counterweight assembly, the counterweight assembly comprises a horizontally arranged circular track, a track sliding block in sliding fit with the circular track, a counterweight driving motor coaxially arranged below the circular track and a counterweight block horizontally arranged, the output end of the counterweight driving motor is connected with one end of the counterweight block, the other end of the counterweight block is fixedly connected with the track sliding block, and the counterweight driving motor drives the counterweight block to move along the circular track.

[0015] Compared with the prior art, the utility model has the following effects: the utility model discloses reasonable structure design, installs vector propeller in the abdomen of main cabin, and the tail nozzle of vector propeller can be adjusted to change direction, compared with traditional propeller propulsion mode, and the steering is more convenient, and the noise is smaller, and the steering stability is good, and the steering response time is greatly shortened. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 It is the three-dimensional structure schematic of the embodiment of the utility model Figure 1 ;

[0017] Figure 2 It is the three-dimensional structure schematic of the embodiment of the utility model Figure 2 ;

[0018] Figure 3 It is the inside structure schematic drawing (omits main cabin) of the embodiment of the utility model;

[0019] Figure 4 It is Figure 3 The overhead structure schematic drawing of

[0020] Figure 5 is Figure 4 A-A cross-sectional configuration schematic in figure

[0021] Figure 6 is Figure 3 enlarged schematic at A in figure

[0022] Figure 7 is a three-dimensional schematic diagram of the upper shell omitted in the embodiment of the utility model;

[0023] Figure 8 is a three-dimensional schematic diagram of the lower shell omitted in the embodiment of the utility model;

[0024] Figure 9 is Figure 7 enlarged schematic at B in figure

[0025] Figure 10 is Figure 8 enlarged schematic at C in figure

[0026] Figure 11 is a three-dimensional configuration schematic diagram of the vector propeller in the embodiment of the utility model;

[0027] Figure 12 is a three-dimensional configuration schematic diagram of the electric injector buoyancy system in the embodiment of the utility model;

[0028] Figure 13 is a three-dimensional configuration schematic diagram of the take-off driving part in the embodiment of the utility model;

[0029] Figure 14 is Figure 13 schematic diagram of use state;

[0030] Figure 15 is a configuration schematic diagram of the wing swing assembly in the embodiment of the utility model;

[0031] Figure 16 is a configuration schematic diagram of the turnover assembly in the embodiment of the utility model;

[0032] Figure 17 is Figure 16 schematic diagram of exploded state;

[0033] Figure 18 is an internal partial configuration schematic diagram of the embodiment of the utility model;

[0034] Figure 19 is a state schematic diagram of underwater diving of the embodiment of the utility model. DETAILED DESCRIPTION

[0035] The utility model will be explained further in detail below in combination with the drawings and specific embodiments.

[0036] In the description of the utility model, need understanding is, the orientation or position relation that the terms "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" indicate is based on the orientation or position relation shown in the drawing, just is for the convenience of describing the utility model, and is not indicate or imply the device or element that is indicated must have a particular orientation, with a particular orientation structure and operation, therefore can not be understood as the restriction of the utility model.

[0037] As Figures 1-19 The utility model discloses a water air amphibious cooperative cross -medium unmanned vehicle, including main body cabin 1, the left and right sides of main body cabin 1 are provided with the wing 2 that can be stored to the inside of main body cabin 1, be provided with rotor assembly 3 on wing 2, and rotor assembly is as the power piece of this unmanned vehicle in the air flight, the inside of main body cabin 1 is provided with vector propeller 4 in the abdominal position, and the water inlet of vector propeller 4 is communicated with the water inlet 5 of setting in the bottom front end of main body cabin 1, to facilitate the water inlet, the rear end of main body cabin 1 is equipped with the opening 6 of the tail nozzle 7 of vector propeller 4 to facilitate the extension, and vector propeller is the power piece of this unmanned vehicle in the water movement. Install vector propeller in the abdominal portion of main body cabin, and the tail nozzle of vector propeller can be rotated and adjusted, to change direction, compared with the traditional propeller propulsion mode, and turning is more convenient, and noise is smaller, and turning stability is good, and turning response time is greatly shortened.

[0038] In the embodiment, as Figure 4 , 5As shown in FIG. 11, the vector propeller 4 comprises a water inlet pipe 8, a fixed connection pipe 9, a movable connection pipe 10 and a tail nozzle 7. The water inlet pipe 8 comprises a tilted section 801 and a horizontal section 802 arranged in sequence from front to back. The tilted section 801 is in a tilted shape with the front end lower than the rear end. The lower end of the tilted section 801 is communicated with the water inlet 5 at the front end of the bottom of the main cabin 1. The upper end of the tilted section 801 is provided with the horizontally arranged propeller shaft 11. The front end of the propeller shaft 11 is connected with the propeller driving motor 12. The rear end of the propeller shaft 11 extends into the horizontal section 802 and is fixed with the helical impeller 13. The propeller driving motor 12 drives the impeller 13 to rotate in the horizontal section 802 through the propeller shaft 11. The front end of the fixed connection pipe 9 is fixedly arranged at the rear end of the horizontal section 802 of the water inlet pipe 8. The front end of the movable connection pipe 10 is rotatably connected with the rear end of the fixed connection pipe 9. The movable connection pipe 10 is driven to rotate in the rear end of the fixed connection pipe 9 by the first rotary driving member. The front end of the tail nozzle 7 is rotatably connected with the rear end of the movable connection pipe 10. The tail nozzle 7 is driven to rotate in the rear end of the movable connection pipe 10 by the second rotary driving member. The tail nozzle has a bending part between the front end and the rear end. The first rotary driving member and the second rotary driving member are cooperated to realize the rotation of the tail nozzle.

[0039] In the embodiment, the front end of the movable connection pipe 10 is inserted into the rear end of the fixed connection pipe 9. The angular contact ball bearing and the deep groove ball bearing are arranged between the outer wall of the front end of the movable connection pipe 10 and the inner wall of the rear end of the fixed connection pipe 9. The angular contact ball bearing bears the axial load and the deep groove ball bearing supports the radial load to ensure the steering accuracy of the tail nozzle within ±50°.

[0040] Specifically, the first rotary driving member comprises a first rotary motor 14, a first driving gear 15, a first driven gear 16 and a first rotary driving shaft 17. The first driven gear 16 is annularly arranged on the outer circumferential side of the movable connection pipe 10. The first driving gear 15 is engaged with the first driven gear 16. The first rotary driving shaft 17 is arranged on the outer circumferential side of the fixed connection pipe 9. The first rotary motor 14 is fixedly arranged on the outer surface of the horizontal section 802 of the water inlet pipe. The output shaft of the first rotary motor 15 is connected with the front end of the first rotary driving shaft 17. The rear end of the first rotary driving shaft 17 is connected with the first driving gear 15. In operation, the first rotary motor rotates through the first driving gear. The first driving gear drives the first driven gear to rotate. The first driven gear drives the movable connection pipe to rotate. The movable connection pipe drives the tail nozzle and the second rotary driving member to rotate synchronously.

[0041] Specifically, the second rotating driving member comprises a second rotating motor 18, a second driving gear 19, a second driven gear 20, and a second rotating driving shaft 21, the second driven gear 20 is annular and fixedly installed on the outer circumferential side of the tail nozzle 7, the second driving gear 19 is engaged with the second driven gear 20, the second rotating driving shaft 21 is arranged on the outer circumferential side of the movable connecting pipe 10, the second rotating motor 18 is installed on the outer surface of the movable connecting pipe 10, the output shaft of the second rotating motor 18 is connected with the front end of the second rotating driving shaft 21, and the rear end of the second rotating driving shaft 21 is connected with the second driving gear 19, in operation, the second rotating motor rotates through the second driving gear, the second driving gear drives the second driven gear to rotate, and the second driven gear drives the tail nozzle to rotate.

[0042] In this embodiment, as shown in Figs. 1 and 2, the body cabin 1 is provided with a water pressure sensor 13 and a gas pressure sensor 14, the water pressure sensor 13 is arranged on the outer surface of the tail nozzle 7, and the gas pressure sensor 14 is arranged on the outer surface of the movable connecting pipe 10. Figures 3-5 As shown in Figs. 1 and 2, the body cabin 1 is provided with an electric injector buoyancy system 22, which is used for adjusting buoyancy when underwater diving, specifically: the electric injector buoyancy system 22 comprises a cylindrical shell 23 arranged at the middle of the front end of the body cabin 1, and an adjusting motor 24 arranged on the rear side of the shell 23, the axis of the shell 23 extends along the front-rear direction, a transmission screw rod 25 is coaxially arranged in the shell 23, the rear end of the transmission screw rod 25 extends out of the shell 23 and is connected with the output end of the adjusting motor 24, a screw rod sliding block 26 is connected on the transmission screw rod 23, a piston plate 27 is installed on the screw rod sliding block 26, and a buoyancy adjusting cavity 28 is formed between the piston plate 27 and the front side wall of the shell 23, the adjusting motor drives the piston plate to move along the front-rear direction through the transmission screw rod, so as to adjust the volume of the buoyancy adjusting cavity. In operation, the adjusting motor drives the transmission screw rod to rotate, the transmission screw rod drives the piston plate to move along the axis of the shell, when the volume of the buoyancy adjusting cavity is reduced, the gas pressure in the buoyancy adjusting cavity is increased, when the volume of the buoyancy adjusting cavity is increased, the gas pressure in the buoyancy adjusting cavity is reduced, that is, the buoyancy control is realized by changing the volume of the buoyancy adjusting cavity.

[0043] In another embodiment, the electric injector buoyancy system can also be provided with a water pressure sensor and a gas pressure sensor, which are used for monitoring the water depth and the gas pressure in real time, forming a closed loop control, and the sensor data is interacted in real time through the CAN bus.

[0044] In the electric injector buoyancy system, the piston plate is made of PTFE+metal composite material.

[0045] In this embodiment, as shown in Figs. 1 and 2, the body cabin 1 is provided with a water pressure sensor 13 and a gas pressure sensor 14, the water pressure sensor 13 is arranged on the outer surface of the tail nozzle 7, and the gas pressure sensor 14 is arranged on the outer surface of the movable connecting pipe 10. Figure 2As shown, the bottom front end and the bottom rear end of the main cabin 1 are provided with a pair of landing and parking openings 29, which are distributed left and right. Each landing and parking opening 29 is provided with a landing gear 30. The shape of the landing gear 30 is adapted to the shape of the landing and parking opening 29 to seal the landing and parking opening. The landing gear 30 is driven downward by a landing drive member 31 to extend out of the landing and parking opening.

[0046] In this embodiment, as shown in Figure 6 、 13 As shown in FIG. 14, the landing gear 30 includes a leg 42 and a landing gear shell 43 below the leg 42. The landing drive member 31 includes a drive support frame 32, a first gear 33, a second gear 34, a third gear 35, a fourth gear 36, a drive motor 37, a crank 38, a first connecting rod 39, a second connecting rod 40, and a third connecting rod 41. Specifically,

[0047] The drive support frame 32 is installed in the main cabin 1. The drive motor 37 is installed on the inner side of the drive support frame 32. The output end of the drive motor 37 is connected to the central shaft of the first gear 33 installed on the outer side of the drive support frame 32. The drive motor 37 drives the first gear 33 and its central shaft to rotate.

[0048] The second gear 34 and the third gear 35 are located on the front and rear sides of the first gear 33 and are both installed on the drive support frame 32. The second gear 34 and the third gear 35 are both engaged with the first gear 33. When the first gear rotates, it drives the second gear and the third gear to rotate.

[0049] The fourth gear 36 is installed on the lower part of the drive support frame 32. The fourth gear 36 is located below the second gear 34 and is engaged with the second gear 34. When the second gear 34 rotates, it drives the fourth gear 36 to rotate. The central shaft of the fourth gear 36 is fixedly connected to the connecting lug 431 on the top front end of the landing gear shell 43. When the fourth gear rotates, it drives the landing gear to rotate to extend out of the landing and parking opening.

[0050] The upper end of the crank 38 is fixedly connected to the central shaft of the third gear 35. When the third gear 35 rotates, it drives the crank 38 to rotate. The lower end of the crank 38 is hingedly connected to the upper end of the first connecting rod 39. The lower end of the first connecting rod 39 is hingedly connected to the upper end of the leg 42. The second connecting rod 40 and the third connecting rod 41 are distributed above and below. The front ends of the second connecting rod 40 and the third connecting rod 41 are hingedly connected to the lower end of the drive support frame 32. The rear end of the second connecting rod 40 is hingedly connected to the middle upper part of the first connecting rod 39. The rear end of the third connecting rod 41 is hingedly connected to the middle upper part of the leg 42. In this way, a four-bar mechanism is formed. When the landing gear shell 43 is in a horizontal state in the landing and parking opening, the leg 42 is in a vertical state and the bottom is abutted against the top recess of the landing gear shell 43.

[0051] When the landing driving member works: the initial state is that the landing gear shell 43 is in a horizontal state and is located in the landing position 29, and seals the landing position 29, and the supporting leg 42 is in a vertical state and the bottom abuts against the top groove of the landing gear shell 43; when the driving motor 37 drives the first gear 33 to rotate, the first gear 33 drives the second gear 34 and the third gear 35 to rotate, the third gear 35 drives the crank 38 to rotate counterclockwise, the crank 38 drives the first connecting rod 39 to swing, the first connecting rod 39, the second connecting rod 40 and the third connecting rod 41 drive the supporting leg 42 to move downward, at the same time, the fourth gear 36 rotates under the drive of the second gear 34, and the fourth gear 36 drives the landing gear shell 43 to swing downward, so as to open the landing position 29 and make the supporting leg 42 extend downward out of the landing position 29, as shown in the figure. Figure 14

[0052] In the embodiment, the left and right ends of the main body cabin 1 are both provided with accommodating cavities 44 for accommodating the wings 2 and the rotor assemblies 3, the front end bottom and the rear end top of each accommodating cavity 44 are both hinged to one wing 2 through a vertical hinge shaft 45, that is, each accommodating cavity is hinged to two wings distributed in front and back, and the two wings are arranged in up and down staggered positions so as to not interfere with each other when being accommodated in the accommodating cavities, and the total unmanned vehicle has four wings; the wings 2 away from the hinged end of the accommodating cavities 44 are all provided with rotor assemblies 3, and each wing 3 is driven to swing and accommodated in the accommodating cavity 44 by a wing swinging assembly 46.

[0053] In the embodiment, the rotor assembly 3 includes a steering engine installed on the wing 2, and the output shaft of the steering engine is connected to the rotor.

[0054] In the embodiment, the wing swinging assembly 46 includes a wing swinging motor 47, a worm gear transmission member 48, a circular arc track 49 and a swinging slider 50, the circular arc track 49 is installed in the accommodating cavity 44 and coaxially arranged with the vertical hinge shaft 45, the swinging slider 50 is in sliding cooperation with the circular arc track 49, the wing 2 is fixedly connected with the swinging slider 50, the vertical hinge shaft 45 is fixedly connected with the wing 2, the vertical hinge shaft 45 is connected with the output end of the wing swinging motor 47 through the worm gear transmission member 48, and the wing swinging motor 47 drives the wing 2 to swing along the circular arc track 49 through the worm gear transmission member 48 and the vertical hinge shaft 45, so as to realize the extension or accommodation of the wing out of or into the accommodating cavity.

[0055] ​Further, the main body cabin 1 comprises an upper shell 51 and a lower shell 52 which are connected together, and after the connection, the upper shell 51 and the lower shell 52 form a containing cavity 44, and in the wing swing assembly 46 corresponding to the wing 2 located at the lower end of the containing cavity, the circular arc track 49 is installed on the lower shell 52; and in the wing swing assembly 46 corresponding to the wing 2 located at the upper end of the containing cavity 44, the circular arc track 49 is installed on the upper shell 51.

[0056] In the embodiment, the inner upper end of the containing cavity 44 is horizontally provided with a waterproof cover 53, and the waterproof cover 53 is driven by a turnover assembly to turn over outward to a vertical state and seal the opening 441 of the containing cavity 44, so as to seal the containing cavity when underwater diving. Preferably, the shape of the waterproof cover is adapted to the shape of the opening of the containing cavity. Further, the waterproof cover is provided with a bending structure, which enhances the bending stiffness and reduces the deformation.

[0057] In the embodiment, as shown in the figure, Figures 16-17 the turnover assembly comprises a pair of front and rear distributed turnover support plates 54 located below the waterproof cover, the turnover support plates are vertically arranged, and the end face of the pair of turnover support plates 54 away from each other is provided with a 3-shaped cam groove 55, and the side of the pair of turnover support plates 54 away from each other is respectively provided with a driving arm 56, a driven arm 57, a sliding rod 58 and an arm sleeve 59, the arm sleeve 59 is hingedly connected with the turnover support plate 54, the driven arm 57 comprises a vertical section 571 and a bending section 572 provided at the upper end of the vertical section 571, the bending section 572 is fixedly connected with the waterproof cover 53, the vertical section 571 is slidably penetrated through the inner cavity of the arm sleeve 59, the vertical section 571 is hingedly connected with the turnover support plate 5 through the arm sleeve 59, the lower end of the side of the vertical section 571 facing the turnover support plate is fixedly provided with the sliding rod 58, the sliding rod 58 extends into the 3-shaped cam groove 55 and is slidably matched with the 3-shaped cam groove 55; one end of the driving arm 56 is fixedly provided with a hinged rotating shaft, the hinged rotating shaft is rotatably connected with the turnover support plate 54, the driving arm 56 is provided with a long strip sliding groove 561 along the length direction, the sliding rod 58 penetrates through the long strip sliding groove 561 and is slidably matched with the long strip sliding groove 561; one of the turnover support plates 54 is provided with a turnover motor 60, the output end of the turnover motor 60 is connected with the hinged rotating shaft, and the turnover motor 60 drives the driving arm 56 to rotate through the hinged rotating shaft. When working, the turnover motor 60 drives the driving arm 56 to rotate through the hinged rotating shaft, and when the driving arm 56 rotates, the sliding rod 58 slides along the long strip sliding groove 561 and the 3-shaped cam groove 55, and at the same time, the sliding rod 58 drives the driven arm 57 to act, and the driven arm 57 slides along the arm sleeve 59 and drives the waterproof cover 53 to rotate, and through the positive turnover of the turnover motor, the waterproof cover can be controlled to open or close. The turnover assembly has a compact structure, so that the waterproof cover rotates in a limited space, and the waterproof cover opens and closes quickly.

[0058] In the embodiment, the interior of the main cabin 1 is further provided with a counterweight assembly 61, the counterweight assembly 61 comprises a horizontally arranged circular track 62, a track slider 63 in sliding cooperation with the circular track 62, a counterweight driving motor 64 coaxially arranged below the circular track 62 and a counterweight block 65 arranged horizontally, the output end of the counterweight driving motor 64 is connected with one end of the counterweight block 65, the other end of the counterweight block 65 is fixedly connected with the track slider 63, and the counterweight driving motor 64 drives the counterweight block 65 to move along the circular track 62. By adjusting the position of the counterweight block, the counterweight effect of different positions can be realized.

[0059] The utility model discloses a vector propeller is used to advance, solves the steering lag problem of traditional propeller axial thrust uncontrolled, and spiral impeller is located inside the inlet pipe, can reduce cavitation noise problem of spiral impeller high -speed operation in use process, and the landing gear retracts and releases compact structure, and it is convenient to realize folding and accomodating in the narrow space, and folding and accomodating are convenient, through increasing electric injector buoyancy system, it is convenient to adjust buoyancy when underwater.

[0060] If the utility model discloses or involves mutually fixed connection's spare parts or structural member, then, except another declaration, fixed connection can be understood as: the fixed connection of detachable (for example uses bolt or screw connection), also can be understood as: the fixed connection of undetachable (for example riveting, welding), of course, the mutual fixed connection can also be replaced by integral structure (for example using casting process integral forming and manufacturing) (obviously cannot adopt integral forming process except).

[0061] In addition, the terms used to represent the position relationship or shape in any of the above technical solutions of the utility model disclosed herein include the approximate, similar or close state or shape, unless otherwise stated.

[0062] Any component provided by the utility model can be assembled from multiple individual components, or can be an individual component manufactured by integral forming process.

[0063] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the utility model and not to limit them; although the utility model has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the specific embodiments of the utility model can be modified or some technical features can be replaced by equivalents; without departing from the spirit of the technical solutions of the utility model, they should be covered in the technical solution range of the utility model claimed.

Claims

1. An amphibious, cross-medium unmanned aerial vehicle, comprising a main cabin, wherein wings retractable into the main cabin are provided on both the left and right sides of the main cabin, and rotor assemblies are provided on the wings, characterized in that: The main body is equipped with a vector thruster located in the abdomen. The water inlet of the vector thruster is connected to a water inlet located at the front bottom of the main body. The rear end of the main body is provided with an opening to facilitate the extension of the tail nozzle of the vector thruster.

2. The amphibious collaborative cross-medium unmanned aerial vehicle according to claim 1, characterized in that: The vector thruster includes a water inlet pipe, a fixed connecting pipe, a movable connecting pipe, and a tail nozzle. The front end of the water inlet pipe is connected to the water inlet at the front end of the bottom of the main body. The front end of the fixed connecting pipe is fixedly installed at the rear end of the water inlet pipe. The front end of the movable connecting tube is rotatably connected to the rear port of the fixed connecting tube, and the movable connecting tube is driven by the first rotary driving component to rotate within the rear port of the fixed connecting tube. The front end of the tail nozzle is rotatably connected to the rear port of the movable connecting pipe, and the tail nozzle is driven to rotate within the rear port of the movable connecting pipe by the second rotary drive component.

3. The amphibious, cross-medium unmanned aerial vehicle according to claim 2, characterized in that: The water inlet pipe includes an inclined section and a horizontal section arranged sequentially from front to back. The inclined section is inclined with a lower front end and a higher rear end. The lower end of the inclined section is connected to the water inlet at the front end of the bottom of the main body. A horizontally arranged propulsion shaft is inserted through the upper end of the inclined section. The front end of the propulsion shaft is connected to a propulsion drive motor. The rear end of the propulsion shaft extends into the horizontal section and is fixed with a spiral impeller. The propulsion drive motor drives the impeller to rotate in the horizontal section through the propulsion shaft.

4. The amphibious collaborative cross-medium unmanned aerial vehicle according to claim 2, characterized in that: The first rotary drive component includes a first rotary motor, a first drive gear, a first driven gear, and a first rotary drive shaft. The first driven gear is fixedly mounted on the outer peripheral side of the movable connecting pipe. The first drive gear meshes with the first driven gear. The first rotary drive shaft is disposed on the outer peripheral side of the fixed connecting pipe. The first rotary motor is mounted on the outer surface of the water inlet pipe. The output shaft of the first rotary motor is connected to the front end of the first rotary drive shaft. The rear end of the first rotary drive shaft is connected to the first drive gear. The second rotary drive component includes a second rotary motor, a second drive gear, a second driven gear, and a second rotary drive shaft. The second driven gear is fixedly mounted on the outer peripheral side of the tailpipe. The second drive gear meshes with the second driven gear. The second rotary drive shaft is disposed on the outer peripheral side of the movable connecting pipe. The second rotary motor is mounted on the outer surface of the movable connecting pipe. The output shaft of the second rotary motor is connected to the front end of the second rotary drive shaft. The rear end of the second rotary drive shaft is connected to the second drive gear.

5. The amphibious collaborative cross-medium unmanned aerial vehicle according to claim 1, characterized in that: The main body is equipped with an electric injector buoyancy system, which includes a cylindrical outer shell located at the front center of the main body and an adjustment motor located at the rear of the outer shell. The axis of the outer shell extends in the front-rear direction, and a transmission screw is coaxially arranged inside the outer shell. The rear end of the transmission screw extends out of the outer shell and is connected to the output end of the adjustment motor. A screw slider is connected to the transmission screw, and a piston plate is installed on the screw slider. The piston plate and the front side wall of the outer shell form a buoyancy adjustment cavity. The adjustment motor drives the piston plate to move in the front-rear direction through the transmission screw to adjust the volume of the buoyancy adjustment cavity.

6. The amphibious collaborative cross-medium unmanned aerial vehicle according to claim 1, characterized in that: The main body is provided with a pair of landing clearance openings at the bottom front end and bottom rear end. The pair of landing clearance openings are distributed on the left and right. Each landing clearance opening is provided with a landing gear. The shape of the landing gear is adapted to the shape of the landing clearance opening to seal the landing clearance opening. The landing gear is driven by the landing drive component to swing downward and extend out of the landing gear clearance opening.

7. The amphibious collaborative cross-medium unmanned aerial vehicle according to claim 6, characterized in that: The landing gear includes outriggers and a landing gear housing located below the outriggers; the landing drive includes a drive support frame, a first gear, a second gear, a third gear, a fourth gear, a drive motor, a crank, a first connecting rod, a second connecting rod, and a third connecting rod. The drive support frame is installed inside the main body compartment, and the drive motor is installed on the inner side of the drive support frame. The output end of the drive motor is connected to the central shaft of the first gear installed on the outer side of the drive support frame, and the drive motor drives the first gear to rotate. The second gear and the third gear are located on the front and rear sides of the first gear, respectively, and are both installed on the drive support frame. The second gear and the third gear mesh with the first gear. The fourth gear is installed on the lower part of the drive support frame and meshes with the second gear. The fourth gear is engaged, with its central shaft fixedly connected to the connecting lug at the top front end of the landing gear housing. When the fourth gear rotates, it causes the landing gear housing to swing. The upper end of the crank is fixedly connected to the central shaft of the third gear. When the third gear rotates, it causes the crank to rotate. The lower end of the crank is hinged to the upper end of the first connecting rod, and the lower end of the first connecting rod is hinged to the upper end of the outrigger. The second and third connecting rods are distributed vertically, with their front ends hinged to the lower end of the drive support frame. The rear end of the second connecting rod is hinged to the upper middle part of the first connecting rod, and the rear end of the third connecting rod is hinged to the upper middle part of the outrigger. When the landing gear housing is in a horizontal position within the landing clearance opening, the outrigger is in a vertical position with its bottom abutting against the top groove of the landing gear housing.

8. The amphibious collaborative cross-medium unmanned aerial vehicle according to claim 1, characterized in that: The main cabin has cavities at both the left and right ends for accommodating wings and rotor assemblies. Each cavity has a wing hinged to its front bottom and rear top via a vertical hinge shaft. A rotor assembly is located at the end of each wing furthest from the cavity. Each wing is driven to swing and retract into the cavity by a wing swing assembly. The wing swing assembly includes a wing swing motor, a worm gear transmission component, an arc-shaped track, and a swing slider. The arc-shaped track is installed in the cavity and coaxial with the vertical hinge shaft. The swing slider slides in conjunction with the arc-shaped track. The wing is fixedly connected to the swing slider. The vertical hinge shaft is fixedly connected to the wing. The vertical hinge shaft is connected to the output end of the wing swing motor via the worm gear transmission component. The wing swing motor drives the wing to swing along the arc-shaped track via the worm gear transmission component and the vertical hinge shaft, allowing the wing to extend out of or retract into the cavity.

9. The amphibious collaborative cross-medium unmanned aerial vehicle according to claim 8, characterized in that: A waterproof cover is horizontally installed at the upper end of the cavity. This waterproof cover is driven by a flipping assembly to flip outwards to a vertical position and seal the opening of the cavity. The flipping assembly includes a pair of front- and rear-distributed flipping support plates located below the waterproof cover. Each pair of flipping support plates has a 3-shaped cam groove on its opposite end face. Each of the opposite sides of the pair of flipping support plates has an active arm, a driven arm, a sliding rod, and an arm sleeve. The arm sleeve is hinged to the flipping support plate. The driven arm includes a vertical section and a bent section located at the upper end of the vertical section. The bent section is fixedly connected to the waterproof cover. The vertical section slides through the inner cavity of the arm sleeve. A sliding rod is fixed to the lower end of the side of the vertical section facing the flip support plate. The sliding rod extends into the 3-shaped cam groove and slides in cooperation with the 3-shaped cam groove. A hinge shaft is fixed to one end of the active arm. The hinge shaft is rotatably connected to the flip support plate. An elongated groove is opened along the length of the active arm. The sliding rod passes through the elongated groove and slides in cooperation with the elongated groove. A flip motor is installed on one of the flip support plates. The output end of the flip motor is connected to the hinge shaft. The flip motor drives the active arm to rotate through the hinge shaft.

10. The amphibious collaborative cross-medium unmanned aerial vehicle according to claim 1, characterized in that: The main compartment is also equipped with a counterweight assembly, which includes a horizontally arranged circular track, a track slider that slides with the circular track, a counterweight drive motor coaxially arranged below the circular track, and a horizontally arranged counterweight block. The output end of the counterweight drive motor is connected to one end of the counterweight block, and the other end of the counterweight block is fixedly connected to the track slider. The counterweight drive motor drives the counterweight block to move along the circular track.

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