CN107521688A - A kind of rotor class flight submariner device - Google Patents
A kind of rotor class flight submariner device Download PDFInfo
- Publication number
- CN107521688A CN107521688A CN201710656940.XA CN201710656940A CN107521688A CN 107521688 A CN107521688 A CN 107521688A CN 201710656940 A CN201710656940 A CN 201710656940A CN 107521688 A CN107521688 A CN 107521688A
- Authority
- CN
- China
- Prior art keywords
- flight
- fuselage
- wing
- rotating shaft
- gear
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C35/00—Flying-boats; Seaplanes
- B64C35/005—Flying-boats; Seaplanes with propellers, rudders or brakes acting in the water
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C35/00—Flying-boats; Seaplanes
- B64C35/008—Amphibious sea planes
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q1/00—Details of, or arrangements associated with, antennas
- H01Q1/27—Adaptation for use in or on movable bodies
- H01Q1/28—Adaptation for use in or on aircraft, missiles, satellites, or balloons
- H01Q1/285—Aircraft wire antennas
Abstract
The present invention proposes a kind of rotor class flight submariner device of new airframe structure, is adapted to navigate by water in water, empty two media；In state of flight, by steering wheel open wing enter state of flight, into it is underwater when, its wing gathering；Rotor class flight submariner device of the present invention proposes that as driving power, ROV existing equipment is utilized with maximum for a kind of new type water sky integrated motor to control the weight of ROV；Secondly, rotor class flight submariner device of the present invention controls ROV weight, it is proposed that a kind of Novel Communication antenna to solve the water sky communication barrier, it is ensured that communication security in the air and in water.
Description
Technical field
The present invention relates to flight submariner device technical field, particularly a kind of new airframe structure is adapted in water, empty two kinds of Jie
The rotor class flight submariner device navigated by water in matter.
Background technology
The development and exploitation of flight submariner device are that afflux mechanics, structural mechanics, control subject, a material subject are equal to
The Comprehensive Science technology of one, there is great technological challenge and pioneering, while also there is huge application prospect, than
The empty search and rescue of such as water, underwater structure detection, hydrologic monitoring, water course survey, harbour monitoring, maritime affairs cruise.
The rotor class flight submariner device of flight submariner device is only under current technical conditions can to complete airflight, water
Lower navigation, the empty ROV crossed over of water, it is laying recovery simply.But Controlling model extra coarse is faced with, cruising time is short, under water
The technical barriers such as difficult communication.
The driving equipment of existing flight submariner ROV is mostly to separate, during its flight in the air by flight motor as
Driving, it is then to rely on motor in another set of water to provide power drive under water, so causes the waste of load-carrying resource, limit boat
The load-carrying and continuation of the journey of row device.And existing ROV its communication be always problem, its across water sky medium electromagnetic communication signal attenuation
Quickly.If using electromagnetic communication in the air, under water using acoustic communication, this just brings very big burden to ROV, complicated
Its circuit design and add heavy burden and energy consumption bring various inconvenience.
The content of the invention
It is an object of the invention to provide it is a kind of it is simple in construction, cruising time is long, the rotor class flight submariner of communication security
Device.
The technical solution for realizing the object of the invention is：
A kind of rotor class flight submariner device, it is characterised in that including fuselage, wing, head, communication device, it is upper driving cover plate, under
Drive cover plate, wing connection rotating shaft and waterproof steering wheel；The fuselage is internally provided with controller and power module, controller and
Power module is connected；The front end of the fuselage is mutually fixedly connected with the end of head, and the front end of head is provided with communication device；
The both sides of the fuselage cap end are provided with driving cover plate, and the both sides of fuselage bottom end are provided with lower driving lid
Plate；The both sides of the fuselage are provided with wing, and wing is mutually flexibly connected by wing connection rotating shaft with fuselage；The fuselage bottom
The both sides in portion are provided with waterproof steering wheel, and waterproof steering wheel is connected by gear drive with wing connection rotating shaft, waterproof steering wheel
Control terminal be connected with controller；The wing includes housing, front driving device and the rear drive equipment of upper and lower opening；It is described
The front end of housing is provided with front driving device, and the end of housing is provided with rear drive equipment；The front driving device and rear driving
The device cylinder including upper and lower opening, motor and driving fan blade；The bottom of the cylinder is provided with motor, driving
Driving fan blade is provided with the top of motor, the controller of motor is connected with controller；The cylinder of the rear drive equipment
One end is provided with water inlet, and the cylinder other end of rear drive equipment is provided with delivery port.
Preferably, the communication device includes anti-sliding plug, mast, buoy, rotating shaft, camera sensing device and antenna body
Platform；One end of the antenna body platform is connected with the front end of head, the other end of antenna body platform and the one of rotating shaft
End is connected, and the other end of rotating shaft is connected with camera sensing device；Mast, the top of mast are provided with the rotating shaft
Anti- sliding plug is provided with, buoy is provided with mast；The mast and camera sensing device are connected with controller.
Preferably, the gear drive includes first gear and second gear；The first gear is arranged on waterproof
In the output end of steering wheel, second gear is arranged on wing connection rotating shaft, first gear and the mutually ratcheting connection of second gear.
Preferably, the bottom of the cylinder is fixed with motor by support.
Preferably, the controller uses embedded scm controller.
Preferably, the power module uses rechargeable type lithium battery.
Preferably, the motor uses water sky dual-purpose motor.
The present invention compared with prior art, its remarkable advantage：
（1）Rotor class flight submariner device of the present invention is driven using water sky dual-purpose motor, does flying power driving during flight in the air,
Underwater engine driving is done when navigating by water under water, to mitigate the weight of ROV, improves its continuation of the journey and lifting capacity.
（2）Rotor class flight submariner device of the present invention is communicated by communication device by electromagnetic wave, when being navigated by water in water
Exposed the surface by antenna and overcome flight submariner device and wave the influence brought.
The present invention is described in further detail below in conjunction with the accompanying drawings.
Brief description of the drawings
Fig. 1 is the structural representation of rotor class flight submariner device of the present invention.
Fig. 2 is the structural representation that wing connects in rotor class flight submariner device of the present invention.
Fig. 3 is the structural representation of communication device in rotor class flight submariner device of the present invention.
Fig. 4 is the structural representation of rotor class flight submariner device state of the present invention switching.
Embodiment
Embodiment 1：
As shown in Figure 1, Figure 2 and Figure 3, a kind of rotor class flight submariner device, including fuselage 1, wing 2, head 3, communication device 4,
Upper driving cover plate 5, lower driving cover plate 6, wing connection rotating shaft 7 and waterproof steering wheel 8；The fuselage 1 is internally provided with controller
And power module, controller are connected with power module；The controller uses embedded scm controller, the power supply mould
Block uses rechargeable type lithium battery；The front end of the fuselage 1 is mutually fixedly connected with the end of head 3, and the front end of head 3 is provided with
Communication device 4；The communication device 4 includes anti-sliding plug 17, mast 18, buoy 19, rotating shaft 20, camera sensing device 21 and day
Line main platform 22；One end of the antenna body platform 22 is connected with the front end of head 3, antenna body platform 22 it is another
End is connected with one end of rotating shaft 20, and the other end of rotating shaft 20 is connected with camera sensing device 21；Set in the rotating shaft 20
There is mast 18, the top of mast 18 is provided with anti-sliding plug 17, buoy 19 is provided with mast 18；The He of mast 18
Camera sensing device 21 is connected with controller；The both sides of the cap end of fuselage 1 are provided with driving cover plate 5, machine
The both sides of the bottom end of body 1 are provided with lower driving cover plate 6；The both sides of the fuselage 1 are provided with wing 2, and wing 2 passes through machine
Wing connection rotating shaft 7 is flexibly connected with the phase of fuselage 1；The both sides of the bottom of fuselage 1 are provided with waterproof steering wheel 8, and waterproof steering wheel 8 passes through
Gear drive is connected with wing connection rotating shaft 7, and the control terminal of waterproof steering wheel 8 is connected with controller；The gear passes
Motivation structure includes first gear 23 and second gear 24；The first gear 23 is arranged in the output end of waterproof steering wheel 8, and second
Gear 24 is arranged on wing connection rotating shaft 7, first gear 23 and 24 mutually ratcheting connection of second gear；The wing 2 includes upper
Housing 9, front driving device 10 and the rear drive equipment 11 of under shed；The front end of the housing 9 is provided with front driving device 10, shell
The end of body 9 is provided with rear drive equipment 11；The front driving device 10 and rear drive equipment 11 include the cylinder of upper and lower opening
Body 12, motor 13 and driving fan blade 14；The bottom of the cylinder 12 is fixed with motor 13, motor by support
13 top is provided with driving fan blade 14, and the controller of motor 13 is connected with controller；Motor 13 is empty using water
Dual-purpose motor；One end of cylinder 12 of the rear drive equipment 11 is provided with water inlet 15, and the cylinder 12 of rear drive equipment 11 is another
End is provided with delivery port 16.
As shown in figure 4, a kind of control method of rotor class flight submariner device, comprises the following steps：
（1）Flight submariner device is started shooting, and into automatic detection state, whether detection signal intensity, battery electric quantity are setting safe model
In enclosing, if the not alarm in safe range, current geographic position information is recorded if in safe range, is waited in next step
Instruction；
（2）Flight submariner device has four kinds of states, and it is state of flight respectively, floating on water state（Propeller leaves the water surface）, water
Face operational configuration（Propeller is under water）, underwater navigation state（Propeller is under water）；
A, flight submariner device receives state of flight order, flight submariner device detection current state：
If current state is floating on water state, flight submariner device initializes into state of flight；
If current state is not floating on water state, flight submariner device keeps current state, waits and instructing in next step；
State of flight initializes：Sump draining to state of flight, wing is opened, and flight submariner device enters state of flight, under wait
One step instructs；
B, flight submariner device receives floating on water status command, flight submariner device detection current state：
If current state is state of flight, flight submariner device automatic retarding is initial subsequently into floating on water to being parked on the water surface
Change state；
If current state is surface navigation state；Then flight submariner device enters floating on water init state；
If current state is not state of flight or surface navigation state, flight submariner device keeps current state, waits in next step
Instruction；
Floating on water init state：Sump draining confirms that wing collapses, flight submariner device enters upstream face to floating on water state
Floating state, wait and instructing in next step；
C, flight submariner device receives surface navigation status command, flight submariner device detection current state：
If current state is floating on water state or underwater navigation state, flight submariner device enters surface navigation initialization shape
State；
If current state is not floating on water state or underwater navigation state, flight submariner device keeps current state, under wait
One step instructs；
Surface navigation init state：Sump draining confirms that wing collapses, flight submariner device enters upstream face to surface navigation state
Floating state, wait and instructing in next step；
D, flight submariner device receives underwater navigation status command, flight submariner device detection current state：
If current state is surface navigation state, flight submariner device enters underwater navigation init state；
If current state is not underwater navigation state, flight submariner device keeps current state, waits and instructing in next step；
Underwater navigation init state：Sump draining confirms that wing collapses, flight submariner device enters underwater to underwater navigation state
Operational configuration, wait and instructing in next step；
（3）If flight submariner device system detectio current signal strength, battery electric quantity return automatically less than in setting safe range
Boat.
In summary, rotor class flight submariner device of the present invention is driven using water sky dual-purpose motor, is done in the air during flight winged
Action edge is driven, and underwater engine driving is done when navigating by water under water, to mitigate the weight of ROV, improves its continuation of the journey and load-carrying energy
Power；Rotor class flight submariner device of the present invention is communicated by communication device by electromagnetic wave, passes through antenna when being navigated by water in water
Expose the surface and overcome flight submariner device and wave the influence brought.
Claims (7)
1. a kind of rotor class flight submariner device, it is characterised in that including fuselage（1）, wing（2）, head（3）, communication device
（4）, upper driving cover plate（5）, lower driving cover plate（6）, wing connection rotating shaft（7）With waterproof steering wheel（8）；The fuselage（1）It is interior
Portion is provided with controller and power module, and controller is connected with power module；The fuselage（1）Front end and head（3）'s
End is mutually fixedly connected, head（3）Front end be provided with communication device（4）；The fuselage（1）The both sides of cap end are respectively provided with
There is upper driving cover plate（5）, fuselage（1）The both sides of bottom end are provided with lower driving cover plate（6）；The fuselage（1）Both sides
It is provided with wing（2）, wing（2）Pass through wing connection rotating shaft（7）With fuselage（1）Mutually it is flexibly connected；The fuselage（1）Bottom
Both sides be provided with waterproof steering wheel（8）, waterproof steering wheel（8）Pass through gear drive and wing connection rotating shaft（7）It is connected, prevents
Water rudder machine（8）Control terminal be connected with controller；The wing（2）Housing including upper and lower opening（9）, front driving device
（10）And rear drive equipment（11）；The housing（9）Front end be provided with front driving device（10）, housing（9）End set
There is rear drive equipment（11）；The front driving device（10）And rear drive equipment（11）Include the cylinder of upper and lower opening（12）、
Motor（13）With driving fan blade（14）；The cylinder（12）Bottom be provided with motor（13）, motor（13）
Top be provided with driving fan blade（14）, motor（13）Controller be connected with controller；The rear drive equipment
（11）Cylinder（12）One end is provided with water inlet（15）, rear drive equipment（11）Cylinder（12）The other end is provided with delivery port
（16）.
2. rotor class flight submariner device according to claim 1, it is characterised in that the communication device（4）Including anti-skidding
Plug（17）, mast（18）, buoy（19）, rotating shaft（20）, camera sensing device（21）With antenna body platform（22）；The day
Line main platform（22）One end and head（3）Front end be connected, antenna body platform（22）The other end and rotating shaft（20）
One end be connected, rotating shaft（20）The other end and camera sensing device（21）It is connected；The rotating shaft（20）On be provided with day
Line bar（18）, mast（18）Top be provided with anti-sliding plug（17）, mast（18）On be provided with buoy（19）；The antenna
Bar（18）And camera sensing device（21）It is connected with controller.
3. rotor class flight submariner device according to claim 1, it is characterised in that the gear drive includes first
Gear（23）And second gear（24）；The first gear（23）It is arranged on waterproof steering wheel（8）Output end on, second gear
（24）It is arranged on wing connection rotating shaft（7）On, first gear（23）With second gear（24）Mutually ratcheting connection.
4. rotor class flight submariner device according to claim 1, it is characterised in that the cylinder（12）Bottom pass through branch
Frame is fixed with motor（13）.
5. rotor class flight submariner device according to claim 1, it is characterised in that the controller uses embedded monolithic
Machine controller.
6. rotor class flight submariner device according to claim 1, it is characterised in that the power module uses rechargeable type
Lithium battery.
7. rotor class flight submariner device according to claim 1, it is characterised in that the motor（13）It is empty using water
Dual-purpose motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710656940.XA CN107521688B (en) | 2017-08-03 | 2017-08-03 | Rotor wing type flying underwater vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710656940.XA CN107521688B (en) | 2017-08-03 | 2017-08-03 | Rotor wing type flying underwater vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107521688A true CN107521688A (en) | 2017-12-29 |
| CN107521688B CN107521688B (en) | 2020-01-14 |
Family
ID=60680693
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710656940.XA Active CN107521688B (en) | 2017-08-03 | 2017-08-03 | Rotor wing type flying underwater vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107521688B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109229375A (en) * | 2018-10-11 | 2019-01-18 | 上海海事大学 | A kind of control method of cabin formula structure flight submariner device |
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| CN201447063U (en) * | 2009-03-30 | 2010-05-05 | 张洪武 | Sea-air aircraft |
| CN103895860A (en) * | 2014-03-28 | 2014-07-02 | 西北工业大学 | Novel coaxial double-rotary double-degree-of-freedom eight-rotor-wing amphibious aircraft |
| CN104816821A (en) * | 2015-04-20 | 2015-08-05 | 上海交通大学 | Multi-rotor wing triphibian aircraft |
| CN104925253A (en) * | 2015-07-03 | 2015-09-23 | 广西大学 | Triphibious coaxial four-rotor aircraft |
| CN105539831A (en) * | 2015-12-20 | 2016-05-04 | 华南理工大学 | Amphibious power propulsion device suitable for sea and air and multi-axis aircraft |
| WO2017081668A1 (en) * | 2015-11-13 | 2017-05-18 | Zhou Dylan | Amphibious vertical takeoff and landing unmanned system and flying car with multiple aerial and aquatic flight modes for capturing panoramic virtual reality views, interactive video and transportation with mobile and wearable application |
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2017
- 2017-08-03 CN CN201710656940.XA patent/CN107521688B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201447063U (en) * | 2009-03-30 | 2010-05-05 | 张洪武 | Sea-air aircraft |
| CN103895860A (en) * | 2014-03-28 | 2014-07-02 | 西北工业大学 | Novel coaxial double-rotary double-degree-of-freedom eight-rotor-wing amphibious aircraft |
| CN104816821A (en) * | 2015-04-20 | 2015-08-05 | 上海交通大学 | Multi-rotor wing triphibian aircraft |
| CN104925253A (en) * | 2015-07-03 | 2015-09-23 | 广西大学 | Triphibious coaxial four-rotor aircraft |
| WO2017081668A1 (en) * | 2015-11-13 | 2017-05-18 | Zhou Dylan | Amphibious vertical takeoff and landing unmanned system and flying car with multiple aerial and aquatic flight modes for capturing panoramic virtual reality views, interactive video and transportation with mobile and wearable application |
| CN105539831A (en) * | 2015-12-20 | 2016-05-04 | 华南理工大学 | Amphibious power propulsion device suitable for sea and air and multi-axis aircraft |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109229375A (en) * | 2018-10-11 | 2019-01-18 | 上海海事大学 | A kind of control method of cabin formula structure flight submariner device |
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| Publication number | Publication date |
|---|---|
| CN107521688B (en) | 2020-01-14 |
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