CN107953987B - Series hybrid power vector propulsion sea-air detection carrying platform - Google Patents
Series hybrid power vector propulsion sea-air detection carrying platform Download PDFInfo
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- CN107953987B CN107953987B CN201711235102.1A CN201711235102A CN107953987B CN 107953987 B CN107953987 B CN 107953987B CN 201711235102 A CN201711235102 A CN 201711235102A CN 107953987 B CN107953987 B CN 107953987B
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- wing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U30/00—Means for producing lift; Empennages; Arrangements thereof
- B64U30/20—Rotors; Rotor supports
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
Abstract
The utility model provides a serial-type hybrid vector impels sea and air exploration lift-launch platform belongs to moving platform technical field, and aim at solves the unable problem that realizes the ocean exploration that prior art exists. The invention comprises the following steps: a body; the machine body comprises a machine body and a support arranged at the bottom of the machine body, and four cabin doors are arranged at symmetrical positions on two sides of the machine body; the four wings are respectively matched with the four doors through a parallel moving device, and the extending length of the wings relative to the fuselage is adjusted through the parallel moving device; the wings provide underwater thrust and aerial lift; the steering structure arranged in each parallel moving device drives each wing to rotate around the axis of the wing; the tail pushing structure is arranged at the tail end of the machine body and provides forward propelling force; the tail wing is arranged at the rear part of the upper end of the machine body; and the hybrid power system is arranged in the fuselage and provides power for the wings, the steering structure and the tail pushing structure.
Description
Technical Field
The invention belongs to the technical field of mobile platforms, and particularly relates to a tandem type hybrid power vector propulsion sea-air exploration carrying platform.
Background
The existing detection platform can only work in one mode, namely three independent modes of land, sea and sky, and has relatively low mobility. Since some target positions to be detected cannot be reached by only a single motion mode, the target positions are reached by combining multiple motion modes. Therefore, a mobile platform with multiple motion modes is needed, and a chinese patent with publication number CN205417054U discloses a technical scheme named as a land-air detection rescue machine, and the detection platform can only detect land and sky, cannot detect ocean, and has low flexibility.
Disclosure of Invention
The invention aims to provide a tandem type hybrid power vector propulsion sea-air detection carrying platform, which solves the problem that sea detection cannot be realized in the prior art.
In order to achieve the above object, the present invention provides a tandem hybrid propulsion sea-air detection carrying platform, comprising:
a body; the machine body comprises a machine body and a support arranged at the bottom of the machine body, and four cabin doors are arranged at symmetrical positions on two sides of the machine body;
the length of the wing extending out relative to the fuselage is adjusted through a parallel moving device by four wings which are respectively matched with the four hatches through the parallel moving device, and the wings provide underwater thrust and air lift;
the steering structure arranged in each parallel moving device drives each wing to rotate around the axis of the wing;
the tail pushing structure is arranged at the tail end of the machine body and provides forward propelling force;
the tail wing is arranged at the rear part of the upper end of the machine body;
the hybrid power system is arranged in the engine body and is an oil-electricity hybrid power system; the hybrid power system provides power for the wings, the steering structure and the tail pushing structure.
The wing includes:
one end of the lower layer wing is connected with the parallel moving device, and the advancing direction of the lower layer wing is vertical to the advancing direction of the fuselage;
the connecting motor is fixed at the other end of the lower-layer wing;
the middle position of the upper layer wing is connected with the output shaft of the connecting motor, and the plane where the upper layer wing is located is parallel to the plane where the lower layer wing is located;
the aerial paddle motor is fixed at one end of the upper end face of the upper layer of the wing;
the aerial paddle is connected with the output shaft of the aerial paddle motor;
the underwater paddle motor is fixed at the other end of the upper end face of the upper layer of the wing;
and the underwater paddle is connected with the output shaft of the underwater paddle motor.
The steering structure includes:
the output shaft of the steering motor passes through the parallel moving device and is fixedly connected with the end part of the lower layer wing of the wing;
and the hydraulic columns are uniformly distributed on the circumference by taking the output shaft of the steering motor as an axis, a large sphere at one end of each hydraulic column and the end face of the parallel moving device form a spherical pair, and a small sphere at the other end of each hydraulic column and the end part of the lower-layer wing form a spherical pair.
The number of the hydraulic columns is three.
The parallel moving device is of a square structure and is in sliding fit with a cabin door of the machine body, and the joint of the parallel moving device and the machine body is sealed.
The tail pushing structure comprises a tail pushing motor fixed at the tail end of the machine body and a tail pushing paddle connected with an output shaft of the tail pushing motor.
The tail wing is a horizontal tail wing fixed at the rear part of the upper end of the fuselage and comprises a horizontal stabilizer and a rudder for adjusting the lifting of the airplane.
The hybrid power system comprises an oil tank, an engine, a generator, a rectifier, a storage battery pack and a controller;
the oil tank is connected with the engine, the engine is connected with the generator, the generator is connected with the rectifier through a power line, the rectifier is respectively connected with the storage battery and the controller, the controller is connected with the four connecting motors, the four underwater paddle motors, the four aerial paddle motors and the tail pushing motor to control the overall action of the carrying platform, and the controller controls the overall action of the carrying platform.
The support comprises three.
The invention has the beneficial effects that: the tandem type hybrid power vector propulsion sea-air detection carrying platform provided by the invention adopts oil-electricity hybrid energy supply, so that the sailing distance is increased. The energy is supplied simultaneously or singly by oil electricity when flying in the air and working underwater. Four aerial blades distributed around the aircraft body and a tail pushing blade positioned at the tail of the aircraft body provide power during aerial flight; when sailing in water, four underwater blades distributed around the body and a tail pushing blade positioned at the tail of the body provide power. The working state switching respectively corresponds to the reversing devices driven by four motors around the machine body. The invention can move in the air and underwater, adopts vector propulsion, has more flexible motion, is suitable for complex environment and has good cruising ability.
Drawings
FIG. 1 is a schematic view of the overall structure of a tandem hybrid power vector propulsion sea-air exploration carrying platform according to the present invention;
FIG. 2 is a front view of a tandem hybrid propulsion vector propulsion sea-air exploration carrying platform according to the present invention;
FIG. 3 is a schematic view of a steering structure in a tandem hybrid power vector propulsion sea-air detection carrying platform according to the present invention;
FIG. 4 is a schematic structural diagram of a hydraulic column in a tandem hybrid power vector propulsion sea-air detection carrying platform according to the present invention;
FIG. 5 is a left side view of a wing of a tandem hybrid propulsion vector propulsion sea-air detection carrying platform according to the present invention;
FIG. 6 is a schematic diagram of a hybrid power system in a tandem hybrid power vector propulsion sea-air detection carrying platform according to the present invention;
wherein: 1. the airplane comprises an airplane body, 101, an airplane body, 102, a support, 2, wings, 201, lower-layer wings, 202, a connecting motor, 203, upper-layer wings, 204, an aerial paddle motor, 205, aerial paddles, 206, an underwater paddle motor, 207, underwater paddles, 3, a parallel moving device, 4, a steering structure, 401, a steering motor, 402, a hydraulic column, 5, a tail pushing structure, 501, a tail pushing motor, 502, tail pushing paddles, 6, an empennage, 601, a horizontal stabilizing plane, 602 and a rudder.
Detailed Description
The following further describes embodiments of the present invention with reference to the drawings.
Referring to fig. 1-6, the tandem hybrid power vector propulsion sea-air detection carrying platform of the present invention comprises:
a machine body 1; the machine body 1 comprises a machine body 101 and a support 102 arranged at the bottom of the machine body 101, wherein four cabin doors are arranged at the symmetrical positions of two sides of the machine body 101;
the length of the extending of the wings 2 relative to the fuselage 101 is adjusted through a parallel moving device 3 and four wings 2 matched with the four hatches respectively, and the wings 2 provide underwater thrust and air lift;
the steering structure 4 arranged in each parallel moving device 3 drives each wing 2 to rotate around the axis of the wing;
the tail pushing structure 5 is arranged at the tail end of the machine body 101 and provides forward propelling force;
a tail wing 6 provided at the rear of the upper end of the body 101;
the hybrid power system is arranged in the machine body 1 and is an oil-electricity hybrid power system; the hybrid power system provides power for the wing 2, the steering structure 4 and the tail pushing structure 5.
The wing 2 comprises:
a lower wing 201 with one end connected with the parallel moving device 3, wherein the lower wing 201 is vertical to the advancing direction of the fuselage 101;
a connecting motor 202 fixed at the other end of the lower layer wing 201;
the upper-layer wing 203 is connected with the output shaft of the connecting motor 202 at the middle position, the space angle between the upper-layer wing 203 and the lower-layer wing 201 can be changed by rotating the output shaft of the connecting motor 202, the space positions of an aerial paddle motor 204 fixed at one end of the upper end surface of the upper-layer wing 203 and an underwater paddle motor 206 fixed at the other end of the upper end surface of the upper-layer wing 203 relative to the body 1 are changed, and the plane where the upper-layer wing 203 is located is parallel to the plane where the lower-layer wing 201 is located;
an aerial paddle motor 204 fixed at one end of the upper end face of the upper layer wing 203;
an aerial blade 205 connected to an output shaft of the aerial blade motor 204;
an underwater paddle motor 206 fixed to the other end of the upper end surface of the upper wing 203;
and a submerged blade 207 connected to an output shaft of the submerged blade motor 206.
The lower layer wing 201 is connected with the upper layer wing 203 through a connecting motor 202, the relative rotation angle of the lower layer wing 201 and the upper layer wing 203 is controlled through the connecting motor 202, and the spatial position of the upper layer wing 203 relative to the fuselage 101 is adjusted by controlling the connecting motor 202; an underwater paddle motor 206 and an aerial paddle motor 204 are arranged on the upper-layer wing 203, and the aerial paddle motor 204 is connected with an aerial paddle 205 to control the rotating speed of the aerial paddle 205; the underwater paddle motor 206 is connected with the underwater paddle 207 to control the speed of the underwater paddle 207, and the tail pushing paddle 502 is connected with the direct-drive tail pushing motor 501 and fixed at the tail of the machine body 1 to provide power.
The steering structure 4 includes:
the steering motor 401 is fixed in the parallel moving device 3, and an output shaft of the steering motor 401 passes through the parallel moving device 3 and is fixedly connected with the end part of the lower-layer wing 201 of the wing 2;
and a plurality of hydraulic columns 402, the plurality of hydraulic columns 402 are uniformly distributed around the output shaft of the steering motor 401, a large sphere at one end of each hydraulic column 402 and the end face of the parallel moving device 3 form a spherical pair, and a small sphere at the other end of each hydraulic column 402 and the end part of the lower wing 201 form a spherical pair.
The hydraulic columns 402 are three.
The tail pushing structure 5 comprises a tail pushing motor 501 fixed at the tail end of the machine body 101 and a tail pushing paddle 502 connected with an output shaft of the tail pushing motor 501.
The rear wing 6 is a horizontal rear wing fixed to the rear upper end of the body 101, and includes a horizontal stabilizer 601 and a rudder 602 for adjusting an airplane ascent and descent.
The hybrid power system comprises an oil tank, an engine, a generator, a rectifier, a storage battery pack and a controller;
the oil tank is connected with the engine, the engine is connected with the generator, the generator is connected with the rectifier through a power line, the rectifier is respectively connected with the storage battery and the controller, the controller is connected with the four connecting motors 202, the four underwater paddle motors 206, the four aerial paddle motors 204 and the tail pushing motor 501 to control the integral action of the carrying platform, and the controller controls the integral action of the carrying platform.
The holder 102 includes three.
The horizontal flying speed of the platform is controlled by adjusting the rotating speeds of four underwater paddle motors 206, four aerial paddle motors 204 and a direct-drive type tail-pushing motor 501 at the tail part. The vector propulsion sea-air dual-purpose platform mainly relies on a tail propulsion motor 501 at the tail of the machine body 1 to provide navigation power in motion, and the rest four underwater paddle motors 206 and four aerial paddle motors 204 are used for providing certain navigation power and also used for providing lift force and adjusting the stability of the platform.
Claims (7)
1. A serial-type hybrid power vector propulsion sea-air exploration carrying platform is characterized by comprising:
a body (1); the machine body (1) comprises a machine body (101) and a support (102) arranged at the bottom of the machine body (101), wherein four cabin doors are arranged at the symmetrical positions of two sides of the machine body (101);
the length of the extending part of the wing (2) relative to the fuselage (101) is adjusted through the parallel moving device (3) by four wings (2) which are respectively matched with the four hatches through the parallel moving device (3), and the wing (2) provides underwater thrust and air lift;
the steering structure (4) arranged in each parallel moving device (3) drives each wing (2) to rotate around the axis of the wing;
the tail pushing structure (5) is arranged at the tail end of the machine body (101) and provides forward propelling force;
a tail wing (6) arranged at the rear part of the upper end of the machine body (101);
the hybrid power system is arranged in the machine body (1), and is an oil-electricity hybrid power system; the hybrid power system provides power for the wings (2), the steering structure (4) and the tail pushing structure (5);
the wing (2) comprises:
one end of the lower-layer wing (201) is connected with the parallel moving device (3), and the advancing direction of the lower-layer wing (201) is vertical to the advancing direction of the fuselage (101);
a connecting motor (202) fixed at the other end of the lower layer wing (201);
the middle position of the upper layer wing (203) is connected with the output shaft of the connecting motor (202), and the plane of the upper layer wing (203) is parallel to the plane of the lower layer wing (201);
an aerial paddle motor (204) fixed at one end of the upper end face of the upper layer wing (203);
an aerial blade (205) coupled to an output shaft of the aerial blade motor (204);
the underwater paddle motor (206) is fixed to the other end of the upper end face of the upper-layer wing (203);
and an underwater blade (207) connected to an output shaft of the underwater blade motor (206);
the steering structure (4) comprises:
the steering motor (401) is fixed in the parallel moving device (3), and an output shaft of the steering motor (401) penetrates through the parallel moving device (3) and is fixedly connected with the end part of the lower-layer wing (201) of the wing (2);
and the hydraulic columns (402) are uniformly distributed on the circumference of the output shaft of the steering motor (401), a large sphere at one end of each hydraulic column (402) and the end face of the parallel moving device (3) form a spherical pair, and a small sphere at the other end of each hydraulic column (402) and the end part of the lower-layer wing (201) form a spherical pair.
2. A series hybrid vector propulsion sea-air detection load-carrying platform according to claim 1, characterized in that the number of hydraulic columns (402) is three.
3. The series hybrid power vector propulsion sea-air detection carrying platform as claimed in claim 1, wherein the parallel moving device (3) is a square structure and is in sliding fit with a cabin door of the body (101), and the joint of the parallel moving device (3) and the body (101) is sealed.
4. The series hybrid power vector propulsion sea-air detection carrying platform as claimed in claim 1, wherein the tail pushing structure (5) comprises a tail pushing motor (501) fixed at the end of the body (101) and tail pushing blades (502) connected with an output shaft of the tail pushing motor (501).
5. A series hybrid vector propulsion sea-air detection embarkation platform according to claim 1, characterized in that the tail wing (6) is a horizontal tail wing fixed at the upper rear part of the fuselage (101) and comprises a horizontal stabilizer (601) and a rudder (602) connected with the horizontal stabilizer (601).
6. The series hybrid power vector propulsion sea-air detection carrying platform according to claim 1, wherein the hybrid power system comprises an oil tank, an engine, a generator, a rectifier, a storage battery pack and a controller;
the oil tank is connected with the engine, the engine is connected with the generator, the generator is connected with the rectifier through a power line, the rectifier is respectively connected with the storage battery and the controller, the controller is connected with the four connecting motors (202), the four underwater paddle motors (206), the four aerial paddle motors (204) and the tail pushing motor (501) to control the overall action of the carrying platform, and the controller controls the overall action of the carrying platform.
7. A series hybrid vector propulsion sea-air detection load-carrying platform according to claim 1, characterized in that said support (102) comprises three.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711235102.1A CN107953987B (en) | 2017-11-30 | 2017-11-30 | Series hybrid power vector propulsion sea-air detection carrying platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711235102.1A CN107953987B (en) | 2017-11-30 | 2017-11-30 | Series hybrid power vector propulsion sea-air detection carrying platform |
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| Publication Number | Publication Date |
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| CN107953987A CN107953987A (en) | 2018-04-24 |
| CN107953987B true CN107953987B (en) | 2021-05-04 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201711235102.1A Active CN107953987B (en) | 2017-11-30 | 2017-11-30 | Series hybrid power vector propulsion sea-air detection carrying platform |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108945354B (en) * | 2018-08-28 | 2020-06-26 | 江苏科技大学 | Underwater and water surface auxiliary propeller |
| CN109760836A (en) * | 2019-03-12 | 2019-05-17 | 姜佩奇 | A kind of amphibious submersible of air-sea |
| CN113580860A (en) * | 2021-08-10 | 2021-11-02 | 上海交通大学 | High-speed large-load combined propulsion type sea-air cross-domain flight detection platform |
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| DE202015104591U1 (en) * | 2015-08-28 | 2015-09-21 | Hung-Fu Lee | Helicopter with multiple rotors and variable pitch |
| CN105151301A (en) * | 2015-07-28 | 2015-12-16 | 浙江大学 | Aerial and underwater amphibious robot and method |
| CN105217033A (en) * | 2015-09-23 | 2016-01-06 | 蓝劲松 | Amphibious rotor wing unmanned aerial vehicle |
| CN105711826A (en) * | 2016-03-31 | 2016-06-29 | 陈萌 | Tandem type oil-electric hybrid unmanned aerial vehicle |
| CN105856995A (en) * | 2016-04-08 | 2016-08-17 | 吉林大学 | Duct type low-diving aircraft |
| CN106564349A (en) * | 2016-10-31 | 2017-04-19 | 广东工业大学 | Triphibian unmanned aerial vehicle |
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2017
- 2017-11-30 CN CN201711235102.1A patent/CN107953987B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105151301A (en) * | 2015-07-28 | 2015-12-16 | 浙江大学 | Aerial and underwater amphibious robot and method |
| DE202015104591U1 (en) * | 2015-08-28 | 2015-09-21 | Hung-Fu Lee | Helicopter with multiple rotors and variable pitch |
| CN105217033A (en) * | 2015-09-23 | 2016-01-06 | 蓝劲松 | Amphibious rotor wing unmanned aerial vehicle |
| CN105711826A (en) * | 2016-03-31 | 2016-06-29 | 陈萌 | Tandem type oil-electric hybrid unmanned aerial vehicle |
| CN105856995A (en) * | 2016-04-08 | 2016-08-17 | 吉林大学 | Duct type low-diving aircraft |
| CN106564349A (en) * | 2016-10-31 | 2017-04-19 | 广东工业大学 | Triphibian unmanned aerial vehicle |
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