CN107972869A - A kind of across water sky medium unmanned vehicle of variable configuration binary - Google Patents
A kind of across water sky medium unmanned vehicle of variable configuration binary Download PDFInfo
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- CN107972869A CN107972869A CN201711225664.8A CN201711225664A CN107972869A CN 107972869 A CN107972869 A CN 107972869A CN 201711225664 A CN201711225664 A CN 201711225664A CN 107972869 A CN107972869 A CN 107972869A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F5/00—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media
- B60F5/02—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media convertible into aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
- B64C1/14—Windows; Doors; Hatch covers or access panels; Surrounding frame structures; Canopies; Windscreens accessories therefor, e.g. pressure sensors, water deflectors, hinges, seals, handles, latches, windscreen wipers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C3/00—Wings
- B64C3/38—Adjustment of complete wings or parts thereof
- B64C3/40—Varying angle of sweep
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C3/00—Wings
- B64C3/38—Adjustment of complete wings or parts thereof
- B64C3/56—Folding or collapsing to reduce overall dimensions of aircraft
-
- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C35/00—Flying-boats; Seaplanes
- B64C35/008—Amphibious sea planes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C5/00—Stabilising surfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C5/00—Stabilising surfaces
- B64C5/08—Stabilising surfaces mounted on, or supported by, wings
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
- B64C2001/0045—Fuselages characterised by special shapes
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
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Abstract
The present invention discloses a kind of across the water sky medium unmanned vehicle of variable configuration binary, two fuselages are arranged symmetrically, connected by wing centre section with empennage, outside wing can change angle of sweep around rotation axis, the airflight opportunity span is opened, wing sweepback is housed to fuselage both sides during underwater submariner, the rectification of wing body and wing shape fairing transition, water rudder is arranged in rear body bottom, empennage is in reverse V-shaped arrangement, underwater propeller is installed on afterbody, aerial motor and aerial propeller are installed on waist by motor tower, motor tower can be toppled over after axial direction in collecting such as fuselage, topple over rear screw shaft and fit in fuselage upper surface.Integrated aircraft of the present invention and submariner device design method are, it can be achieved that continuous several times cross over water sky interface, and are persistently navigated by water in two media, and handling stability can be good, and load-carrying ability is strong, can perform the tasks such as hidden prominent anti-investigation strike.
Description
Technical field
The present invention relates to aircraft and submariner device field, and in particular to a kind of across water sky medium of variable configuration binary nobody
Aircraft.
Background technology
Across water sky medium aircraft is a kind of adaptation air and water two media environment, repeatedly can cross over water sky interface simultaneously
The new concept aircraft that can be persistently navigated by water in two media.Across water sky medium aircraft has airflight and underwater submariner
Two kinds of configurations, can realize the conversion of configuration by structural variant.Its sail mode can be divided into airflight pattern, approximately level flies
Row mode, Water Exit surface model and underwater submariner pattern, using the blind area of various detecting devices, switch air-sea sail mode
To hide the monitoring of enemy, available for tasks such as execution naval reconnaissance, strike, extraordinary force projections.Across water sky medium aircraft
Many science and technology such as aircraft and submariner device are integrated with, for the difference of air and water environmental media, in navigation principle, cloth
Office, stability, manipulation, material, structure, power etc. are many-sided to carry out comprehensive design.In view of across medium aircraft is with important
Military value and wide application prospect, domestic and international each main military power are being engaged in the exploitation of such New Equipments always.But
Since the design variable of across water sky medium aircraft is more, subsystem is complicated, and engineering difficulty is big, at present both at home and abroad in the field
Research is substantially all also in general conception design, tackling problems in key technologies and model machine Qualify Phase, and there has been no country successfully to grind
Make the product with engineering practical value.
The content of the invention
In order to fill up the blank both at home and abroad on across water sky medium aircraft field, the present invention proposes one kind can allosteric
Across the water sky medium unmanned vehicle of type binary.
Across the water sky medium unmanned vehicle of variable configuration binary of the present invention, is arranged symmetrically, two waists using twin fuselage
Connected by wing centre section, afterbody is connected by reverse V-shaped empennage；Wing is symmetrically installed on the outside of twin fuselage, and wing has around rotation axis
Rotational freedom, changes wing setting；Under water during submariner, wing sweepback is housed to fuselage both sides, wing body rectification at this time with
Wing shape fairing transition；
Above-mentioned twin fuselage bottom-rear installs water rudder；End is installed by underwater propeller；V tails on wing centre section with being disposed with rudder face；
Port wing has aileron with starboard wing trailing edge.
Motor tower, motor top of tower installation power motor, power motor output Zhou Shangan are installed in the middle part of above-mentioned twin fuselage
Fill propeller；Motor tower has topples over the free degree after axial direction so that after motor tower is toppled over backward, power motor and propeller
House in fuselage.
The advantage of the invention is that：
1st, a kind of across water sky medium unmanned vehicle of variable configuration binary of the present invention, it is horizontal using twin-fuselage configuration form
Stability is good, and roll damping is big, is conducive to the gesture stability that aircraft is navigated by water under water and interface is crossed over；
2nd, a kind of across water sky medium unmanned vehicle of variable configuration binary of the present invention, using twin-fuselage configuration form, increase
Cabin space, improves flexibility and the diversity of load arrangement, has expanded aircraft task envelope curve；
3rd, a kind of across water sky medium unmanned vehicle of variable configuration binary of the present invention, using the technological approaches of allosteric type, solution
The contradiction of aircraft of having determined performance requirement in two kinds of different fluid media, aerial configuration, which uses, to be showed than twin-fuselage configuration greatly,
Lift resistance ratio is high, and aeroperformance is good.Wing and propeller are housed into fuselage under water, effectively reduce underwater wetted area, hydrodynamic(al) resistance
Power reduces.It is comprehensive improve full mission profile is pneumatic, hydrodynamic(al) performance, it can be achieved that airflight, underwater submariner and repeatedly continuously across
The more function such as water surface；
4th, a kind of across water sky medium unmanned vehicle of variable configuration binary of the present invention, left and right fuselage are connected by wing centre section, in
The wing is equipped with lifting rudder face, and wing centre section focus approaches with full machine position of centre of gravity, the lift that wing centre section produces on the influence of full machine posture compared with
It is small, it can be considered side-jet control.Underwater navigation can rely on wing centre section control surface deflection to produce lift and carry out deep-controlled, empennage rudder face
Deflection carries out gesture stability, and the control for realizing depth and posture decouples, and reduces control difficulty；
Brief description of the drawings
Fig. 1 is the aerial configuration schematic diagram of across the water sky medium unmanned vehicle of variable configuration binary of the present invention；
Fig. 2 is the underwater configuration schematic diagram of across the water sky medium unmanned vehicle of variable configuration binary of the present invention；
Fig. 3 is reverse V-shaped tail structure schematic diagram in across the water sky medium unmanned vehicle of variable configuration binary of the present invention；
Fig. 4 is power transmission knot in the flank of reverse V-shaped empennage in across the water sky medium unmanned vehicle of variable configuration binary of the present invention
Structure schematic diagram；
Fig. 5 is the horizontal connection wing panel of reverse V-shaped empennage in across the water sky medium unmanned vehicle of variable configuration binary of the present invention
Interior force transferring structure schematic diagram；
Fig. 6 is reverse V-shaped empennage each several part connection mode in across the water sky medium unmanned vehicle of variable configuration binary of the present invention
Schematic diagram；
Fig. 7 is the horizontal connection wing panel of reverse V-shaped empennage in across the water sky medium unmanned vehicle of variable configuration binary of the present invention
Interior force transferring structure adjustment apertures schematic diagram；
Fig. 8 is motor tower structure schematic diagram in across the water sky medium unmanned vehicle of variable configuration binary of the present invention；
Fig. 9 is that the gear of motor tower in across the water sky medium unmanned vehicle of variable configuration binary of the present invention pitches structure diagram；
Figure 10 is motor tower folding and unfolding view in across the water sky medium unmanned vehicle of variable configuration binary of the present invention；
Figure 11 is propeller phase lock mechanism structure in across the water sky medium unmanned vehicle of variable configuration binary of the present invention
Schematic diagram；
Figure 12 is to be led in across the water sky medium unmanned vehicle of variable configuration binary of the present invention in propeller phase lock mechanism
To chip architecture schematic diagram；
Figure 13 is propeller phase lock mechanism lock-out state in across the water sky medium unmanned vehicle of variable configuration binary of the present invention
Schematic diagram.
In figure：
1- fuselage 2- wing 3- wing centre sections
The reverse V-shaped empennage 5- water rudders 6- underwater propellers of 4-
7- motor tower 8- power motor 9- propellers
10- folding and unfolding driving mechanism 11- fuselage crossbeam 12- propeller phase lock mechanisms
V tails on the left of 101- wing body rectification 102- wing host cavities 401-
V tail 403- horizontal connection wing panel 402a- ribs on the right side of 402-
Beam web 402d- cornual plates after beam web 402c- before 402b-
Box is connected after connecting box 403b- before 402e- adjustment holes 403a-
403c- bottom plate 701- rocking arm 702- motor support bases
703- gear fork 704- auricle 705- limited blocks
706- connection projection 10a- hydraulic cylinder 10b-I type joints
10c- bearing A 10d- bearing B 12a- guide pins
12b- start steering engine 12c- pilot sleeve 12d- guide rods
12e- steering engine rocking arm 12f- first connecting rod 12g- second connecting rods
12h- third connecting rod 12a1- center sections 12a2- left halfs
The spacing cooperation sides of 12a3- right halfs 12a4-
Embodiment
Specifically name is done further to the present invention below in conjunction with the accompanying drawings.
A kind of across water sky medium unmanned vehicle of variable configuration binary of the present invention, including fuselage 1, wing 2, wing centre section 3, the V that falls
Type tail 4, water rudder 5, underwater propeller 6, motor tower 7, power motor 8 and propeller 9, as shown in Figure 1.
The fuselage 1 includes left fuselage and right fuselage, is symmetrically arranged, outside is designed with wing body rectification 101.Meanwhile
Left fuselage is provided with underwater propeller 6 with right tail cone end, for providing onward impulse under submariner state.Left fuselage with
Right fuselage afterbody arranged beneath has water rudder 5, for underwater and surface navigation directional control.The shape root of left fuselage and right fuselage
It is designed according to shark streamline shape, 1 resistance of fuselage can be reduced, and produce negative lift, easy to navigates by water in water under action edge
It is latent.Left fuselage is designed with right underbelly using hull formula, easy to aircraft in hydroplaning and landing.Meanwhile left fuselage with
Horizontal span is big between right fuselage, is the 20%~30% of the span, hydroplaning lateral stability is good, and roll damping is fast, sea-keeping
It is good；Underwater navigation roll damping is big, and the lateral control arm of force is big, easy to gesture stability.
Connected between on the inside of above-mentioned left fuselage and right waist by horizontal wing centre section 3, wing centre section 3 uses symmetrical airfoil, trailing edge
With wing centre section elevator.Underwater cruise can carry out heave operation by controlling wing centre section elevator to change lift to aircraft；It is empty
Lift-increasing flap can be used as under middle landing process wing centre section elevator rudder face partially.Pass through reverse V-shaped empennage between left fuselage and right afterbody
4 connections, overall stiffness are good.
The wing 2 includes port wing and starboard wing, is designed using high lift-drag ratio, is respectively arranged in left fuselage and the right side
On the outside of waist, it is connected by shaft with left fuselage and right fuselage, port wing can change angle of sweep around the shaft with starboard wing.
The outside of fuselage 1 is designed with wing host cavity 102, and 1 covering of fuselage is equipped with hatch door at wing host cavity 102.Cruise in the air
When, port wing is expanded to high aspect ratio state with starboard wing, there is provided cruise lift；At this time, hatch door remains off, and ensures
1 surface smoothing of fuselage is continuous.When underwater cruise, during 2 back rotation of wing, hatch door is inwardly opened, port wing and starboard wing point
Other sweepback takes in left fuselage with the wing host cavity 102 on right fuselage side wall, solving 2 variation of wing and covering interference
Problem, as shown in Figure 2；At this time port wing and starboard wing respectively with the 101 shape fairing of wing body rectification on left fuselage and right fuselage
Transition；And port wing no longer produces lift with starboard wing, resistance is also reduced to minimum, improves underwater cruise performance.It is above-mentioned
Port wing and starboard wing trailing edge have aileron, and for state of flight when carries out roll guidance.
The reverse V-shaped empennage 4 uses reverse V-shaped design, including left side V tails 401, right side V tails 402；Left side V tails 401 and the right side
V tails 402 bottom in side is fixed with left fuselage and right afterbody respectively, has not only played the connection function between two fuselages, but also reduce leaching
Moisten area, reduce resistance.Meanwhile reverse V-shaped empennage 4 is formed three-legged structure with wing centre section, add overall structure rigidity；And V
Tail 4 is located among left fuselage and right fuselage, avoids the influence of outer wing downwash flow and rectification LEX vortex, and be in propeller
In slip-stream, empennage steerage is added.Above-mentioned left side V tails 401 have V tail vanes face with 402 trailing edge of right side V tails, for carrying out pitching
And yaw control.
Also connected in the present invention between design left side V tails 401 and the top of right side V tails 402 by horizontal connection wing panel 403, such as
Shown in Fig. 3；And the fairing transition between 403 exterior skin of horizontal connection wing panel；Flow field width at the top of V tails is thereby increased, so as to subtract
Interfering with each other between weak left side V tails 401 and right side V tails 402, improves the pneumatic efficiency of the type tail of falling V 4.And conventional reverse V-shaped tail
The left side V tails 401 of the wing are connected directly with the top of right side V tails 402, form Delta Region, and left side V tails 401 connect with right side V tails 402
Flow field interferes with each other between the place of connecing, and pneumatic efficiency reduces, and influences shipping-direction stability.In order to meet left side V tails 401 and right side V tails
The adjustable requirement of 402 established angles, left side V tails 401 are connected point of 403 left and right sides of wing panel connection with 402 same level of right side V tails
Left side V tails 401 and 2 established angle of right side V tails adjustment axis are respectively perpendicular to from face, during the change of V tails established angle, level is even
Connecing wing panel will not interfere with it.
Above-mentioned left side V tails 401 inside the inside of right side V tails 402 and horizontal connection wing panel 403 with being mounted on power transmission knot
Structure.Wherein, left side V tails 401 are identical with 402 inside force transferring structure of right side V tails, including ribs 402a, preceding beam web 402b,
Beam web 402c and cornual plate 402d afterwards, as shown in Figure 4.Ribs 402a rear and front ends respectively with preceding beam web 402b and the back rest
Web 402c is connected between top by cornual plate 402d, by ribs 402a, preceding beam web 402b and rear beam web 402c
Flange, increase and the connection area of covering are designed in the left and right sides, make ribs 402a, preceding beam web 402b and rear beam web
Firmly it is connected between 402c and covering.Above-mentioned type of attachment is simple and reliable, and bonding strength is high, and structure efficiency is high.
Force transferring structure inside horizontal connection wing panel 403 includes preceding connection box 403a, rear connection box 403b and bottom plate
403c, as shown in Figure 5.Wherein, preceding connection box 403a is connected box 403b using double web box structures with after, and upper surface is opened
Put and facilitate bolt to install.Preceding connection box 403a is connected box 403b with after and is respectively placed in bottom plate 403c rear ends, forms irregular beam
Moment of torsion, can be switched to the opposite moment of flexure transmission in a pair of of direction by form.Preceding connection box 403a leads to the rear lower surface for being connected box 403b
Cross between bolt and bottom plate 403c and be fixedly connected, preceding connection box 403a and the rear left and right end face for being connected box 403b respectively with left side V tails
Fixation is bolted between 401 and 402 Top stiffener 402a of right side V tails.Bottom plate 403c is not involved in structure power transmission, primarily serves
Location and installation acts on.The horizontal connection wing panel 403 of said structure has preferable bending resistance and anti-twisting property.Preceding connection box 403a
It is bolted respectively between 402 Top stiffener 402a of left side V tails 401 and right side V tails with the left and right end face of rear connection box 403b
It is fixed.Thus in reverse V-shaped empennage, moment of flexure, moment of torsion, shearing on left side V tails 401 and right side V tails 402 can be by ribs
Connection box 403a is connected box 403b with after before 402a is passed to by bolt.Between preceding connection box 403a and rear connection box 403b
Space can place the communication apparatus such as receiver, transmitter, and antenna height is put, and can reduce body and signal is blocked, increase communication
Reliability.
Above-mentioned 403 skin shape of horizontal connection wing panel, is drawn high to obtain in the horizontal direction by left and right V tail covering end profiles,
Covering slitless connection, 403 upper surface of horizontal connection wing panel are equipped with covering lid.
In order to which the V tails 401 on the left of realization and 402 same level of right side V tails are connected on the connection immobilizing foundation between wing panel 403,
It is provided simultaneously with left side V tails 401 and 402 established angle of right side V tails and adjusts function, horizontal connection wing panel 403 and left side in the present invention
Specific connection mode between V tails 401 and right side V tails 402 is, as shown in Figure 6：Box 403b is connected with after in preceding connection box 403a
Left and right sidewall on be respectively provided with two screw hole 403c of upper-lower position, while correspond to position in the front and rear end of ribs 402a
Put and be respectively provided with two adjustment hole 402e, connection box before thus being completed between corresponding screw hole 403c and adjustment hole 402e by bolt
The fixation between ribs 402a in 403a and rear connection box 403b and left side V tails 401 and right side V tails 402, bonding strength is high,
It is solid and reliable, it is convenient to disassembly.As shown in fig. 7, above-mentioned adjustment hole 402e is designed as bar hole, and on ribs 402a
In front and rear end, two bar hole lines of centres positioned at heteropleural intersect at a point, and are left side V tails 401 and right side at the point
The established angle adjustment shaft of V tails 402.Thus, when left side V tails 401 or right side V tails 402 are rotated around each self-adjusting shaft, adjust
Bolt installation site at knothole 402e also can be adjusted accordingly, need not adjust 403 position of horizontal connection wing panel at this time, it is only necessary to
Change positioning of the bolt on screw hole 403c, you can realize the change of V tail established angles；Dashed region show left side V in Fig. 5
Tail 401 and 402 established angle adjustable range of right side V tails；Thus on the premise of bonding strength is not influenced, V tails can be adjusted flexibly
Established angle, to meet that aircraft difference flight load, different task require the difference of aeroplane performance, has expanded flight significantly
The task envelope curve of device and load diversity.
In order to meet outfield fast assembling-disassembling requirement, horizontal connection wing panel 403 can be connected fastening with side V tails in advance, then
Outfield only needs four bolts of installation to be connected with another flank, you can completes the assembling of reverse V-shaped empennage, greatly shortens structure
Built-up time.
The motor tower 7 is installed on left fuselage and the relative position on right fuselage, for supporting the power motor of aircraft
8, while realize that power motor 8 enters in left fuselage and right fuselage with 9 folding and unfolding of propeller by folding and unfolding driving mechanism 10.Motor tower 7
703 are pitched including rocking arm 701, motor support base 702 and gear, as shown in Figure 8.The rocking arm 701 is hollow rectangular cross-sectioned tube；
Hollow-core construction rocking arm 701 can mitigate rocking arm weight to greatest extent in the case where meeting intensity and toughness requirement.Peace is fixed on 701 top of rocking arm
Equipped with motor support base 702, power motor 8 is fixedly mounted on motor support base 702, passes through 702 support power motor 8 of motor support base.
701 lower end of rocking arm is installed with gear fork 703.As shown in figure 9, gear fork 703 is inverted U-shaped structure, tip designs have connection projection
706, it is inserted into by connecting projection 706 in 701 bottom of rocking arm, realizes the positioning between gear fork 703 and rocking arm 701.Above-mentioned motor branch
The through hole connected with the inside of rocking arm 701 is provided with seat 702, while keeps off 703 tops of fork and is also provided with the through hole connected with rocking arm 701,
Make the cable of power motor 8 can be by 701 inside of rocking arm after, through gear fork 703 inside introduce fuselages.
The folding and unfolding driving mechanism 10 is a set of fluid power system, including hydraulic cylinder 10a, I type joint 10b, bearing
A10c and bearing B10d.Wherein, bearing A10c is used for the driving piston rod of connection liquid cylinder pressure 10a, while is used for realization rocking arm
Connection between 701 and gear fork 703.Bearing A10c is installed on 701 bottom side wall of rocking arm, and bearing A10c is pitched with rocking arm 701 and gear
Specific fixed form between 703 is：First, two through holes are provided with bearing A10c.On gear 703 top front-rear side walls of fork
Two screw holes are respectively provided with, 701 lower end front-rear side walls correspondence position of rocking arm is respectively provided with two screw holes, and gear fork 703 is inserted into rocking arm 1
Afterwards, it is screwed into by screw by the screw hole on 1 front side wall of bearing A10c and rocking arm in the screw hole on gear 703 front side walls of fork.Again
It is screwed into by screw by the screw hole on 701 rear wall of rocking arm in the screw hole on gear 703 rear walls of fork.Hereby it is achieved that bearing
A10c, rocking arm 701 and gear 703 triangular fixations of fork.The driving piston rod end of hydraulic cylinder 10a is installed with I type joints
I type joints 10b, is connected on bearing A10c by 10b with axis pin.The body end of hydraulic cylinder 10a is connected to bearing by axis pin
On B10d, bearing B10d is fixed on wing 2 by 2 connection positions.
Above-mentioned rocking arm 701 is connected on fuselage crossbeam 11 with gear 703 axis of fork, and specific connection mode is：On fuselage crossbeam 11
Lug-mounted 704, is provided with bearing on auricle 704, and rocking arm 701 and gear fork 703 are connected to one with auricle 704 by axis pin
Rise, rocking arm 701 and gear fork 703 is rotated around axis pin.Thus, when the driving piston rod of hydraulic cylinder 10a is flexible, rocking arm
701 rotate with gear fork 703 around axis pin, realize the folding and unfolding of power motor 8 and propeller 9.In the state of income, power motor 8
It is located at propeller 9 in the income cabin designed on wing 2；As shown in Figure 10, power motor 8 and propeller 9 take in wing 2
During, hydraulic cylinder 10a is passed through from gear fork 703, avoids mechanical interferences, compact-sized, is effectively saved fuselage interior
Space.In open mode, 701 axis of rocking arm makes 9 axis of propeller along fuselage anteroposterior direction perpendicular to horizontal plane.
During above-mentioned open mode, the open angle of rocking arm 701 can be limited by limited block 705, the limited block 706
It is installed on for L-type structure on the bulkhead of fuselage, immediately below fuselage crossbeam midpoint.In 704 opening procedure of rocking arm, gear fork
703 bottoms can be contacted with 705 side wall of limited block, and rocking arm 701 is stopped by limited block 705 and can not continue to open at this time, at this time rocking arm
701 axis vertical levels.And in aircraft flight, the pulling force that propeller produces is transmitted to by rocking arm 701 and gear fork 703
On fuselage and limited block 705,9 height of propeller is put the moment of torsion produced to fuselage and is therefore unloaded, and substantially improves wing and machine
The mechanical characteristic of body.
Above-mentioned power motor 8, in income, is fixed, it is necessary to make propeller keep solid with propeller 9 due to taking in cabin shape
Folding and unfolding is carried out after determining angle, can just be entered in income cabin.Cabin is taken in the present invention and is designed as bar shaped, when income needs to make spiral
Paddle 9 is overlapped with 701 axis of rocking arm, integral into carrying out folding and unfolding after a word.Therefore by installing propeller on rocking arm in the present invention
Phase lock mechanism 12, realizes the positioning of propeller 9.
The propeller phase lock mechanism 12 includes guide pin 12a, start steering engine 12b, pilot sleeve 12c, guide rod
12d and multi-jointed gear unit, as shown in figure 11.
The guide pin 12a has center section 12a1, left half 12a2 and right half 12a3, as shown in the figure.Wherein,
Center section 12a1 for rectangle up and down side be limited position coordinate side 12a4, left and right side respectively with left half 12a2 and right part
12a3 is divided to connect.Left half 12a2 and right half 12a3 symmetrical configurations, are the triangle of end taper；Thus overall guiding is made
Piece 12a is in fusiformis structure.Guide pin 12a is connected by the perforate on the 12a1 centers of center section and is installed on power motor 8
Shaft on, and make guide pin 12a center section 14a1 up and down side parallel to propeller 9 blade.
The start steering engine 12b is fixedly installed on rocking arm, guide rod 12c be placed in installation at the top of motor rack along vertical z
Direction of principal axis is set in pilot sleeve 12c；Pilot sleeve 12c is located at 8 lower front of power motor, and in guide pin 12a just under
Put in orientation.
The multi-connecting-rod mechanism is used for connecting start steering engine 12b and guide rod 12c, by multi-connecting-rod mechanism by start rudder
The rotary motion of machine 12b output shafts is changed into linear motion, drives guide rod 12c to move up and down in pilot sleeve 12c.
The multi-connecting-rod mechanism includes steering engine rocking arm 12e, first connecting rod 12f, second connecting rod 12g and third connecting rod 12h.
Wherein, steering engine rocking arm 12e input terminals are fixedly installed on start steering engine 12b output shafts；Steering engine rocking arm 12e output terminals and first
Connecting rod 12f input terminals are hinged, and first connecting rod 12f output terminals are hinged with second connecting rod 12g input terminals；Second connecting rod 12g output terminals
It is hinged with third connecting rod 12h input terminals, 12 output terminal of third connecting rod is hinged with guide rod 12c bottoms；And wherein second connecting rod
12f centers are connected on rocking arm 701 by shaft, form revolute pair.
Thus, after propeller 9 stalls, guide rod 12c is driven to move upwards by start steering engine 12b, guide rod 12c
In upward motion process, top touches guide pin 12a side walls first, promotes guide pin 12a rotations by guide rod 12c at this time,
So as to drive propeller 9 to rotate by the shaft of power motor 8.It is subsequently directed to bar 12d to continue to move up, is eventually led to bar 12d sides
Wall is close to guide pin 12a center sections side wall, and guide pin 12a and propeller 9 stop operating at this time, and 9 phase of propeller is locked
It is fixed, as shown in the figure；The blade of propeller 9 is along the z-axis direction at this time.In the above process, the movement of guide rod 12d does not pass through guiding
The shaft of piece 12a, so as to avoid dead point during start.
Under across the water sky medium unmanned vehicle state of flight of variable configuration binary of the present invention, wing 3 is unfolded, and motor tower 7 is perpendicular
Rise, power motor 8 drives propeller 9 to provide forward thrust；Under submariner state, to reduce outer form drag, 3 sweepback of wing is received
Hold in the wing folding and unfolding groove of fuselage both sides, power motor 8 stalls, by 12 locking screw paddle 9 of propeller phase place organization, motor tower 7
Fall down to be placed in income cabin, and close income cabin door, play the role of reducing water resistance and protect propeller 9.Afterbody
Propeller provides onward impulse.Motor hatch door is equipped with above-mentioned income cabin, when motor tower 7 is holded up, hatch door remains turned-off shape
State；When motor tower 7 is toppled over backward, hatch door is inwardly opened, and motor tower 7, power motor 8 and propeller 9 are taken in fuselage, with
Rear door turns off, and solves the problems, such as with covering to interfere when power motor and propeller house,
In above-mentioned state of flight and submariner state, attitude of flight vehicle control mode is different：During airborne status, by machine
The wing 3 provides prevailing lift, and reverse V-shaped empennage 4 can carry out pitching and yaw control, the aileron progress rolling of port wing and starboard wing
Manipulate, wing centre section 3 is used as lift-increasing flap, the differential controllable yaw of propeller 9.During submariner state, negative lift is provided by fuselage 1, can
Realize power dive, reverse V-shaped empennage 4 can carry out pitching and yaw control, and centre of buoyancy gravity adjusting device can manipulate rolling in fuselage 1
Turn, wing centre section can side-jet control heave, underwater propeller 6 is differential to manipulate yaw.
Claims (4)
- A kind of 1. across water sky medium unmanned vehicle of variable configuration binary, it is characterised in that：It is arranged symmetrically using twin fuselage, two machines Connected in the middle part of body by wing centre section, afterbody is connected by reverse V-shaped empennage；Be symmetrically installed wing on the outside of twin fuselage, and wing have around Rotation axis rotational freedom, changes wing setting；Under water during submariner, wing sweepback is housed to fuselage both sides, at this time wing body Rectification and wing shape fairing transition；Above-mentioned twin fuselage bottom-rear installs water rudder；End is installed by underwater propeller；V tails on wing centre section with being disposed with rudder face；Left machine The wing has aileron with starboard wing trailing edge.Motor tower is installed, motor top of tower installs power motor, spiral shell is installed on power motor output shaft in the middle part of above-mentioned twin fuselage Revolve paddle；Motor tower has topples over the free degree after axial direction so that after motor tower is toppled over backward, power motor is housed with propeller and arrived In fuselage.
- A kind of 2. across water sky medium unmanned vehicle of variable configuration binary as claimed in claim 1, it is characterised in that：Fuselage outer side Covering is equipped with hatch door, and when wing is unfolded, hatch door remains off；When wing back rotation, hatch door is inwardly opened, machine Wing sweepback, its middle and back, which houses, to be entered in fuselage.
- A kind of 3. across water sky medium unmanned vehicle of variable configuration binary as claimed in claim 1, it is characterised in that：Fuselage upper table Face is equipped with motor hatch door, and when motor tower is holded up, hatch door remains off；When motor tower is toppled over backward, hatch door is inwardly beaten Open, after motor tower, power motor and propeller income fuselage skin, hatch door turns off.
- A kind of 4. across water sky medium unmanned vehicle of variable configuration binary as claimed in claim 1, it is characterised in that：Fuselage appearance With reference to shark streamline, lower fuselage designs for hull formula, and lower surface is divided into former and later two planing surfaces by faulted-stage, easy to aircraft with cunning Line mode Water Exit.
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| CN201711225664.8A CN107972869B (en) | 2017-11-29 | 2017-11-29 | Variable-configuration double-body cross-water-air-medium unmanned aerial vehicle |
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| CN109018341A (en) * | 2018-09-30 | 2018-12-18 | 中国特种飞行器研究所 | It is a kind of can launch mission load land and water landing unmanned plane |
| CN109178306A (en) * | 2018-10-26 | 2019-01-11 | 四川腾盾科技有限公司 | A kind of seaplane |
| CN110143282A (en) * | 2019-06-18 | 2019-08-20 | 中国空气动力研究与发展中心计算空气动力研究所 | A kind of aircraft using high aspect ratio twin fuselage Flying-wing |
| CN110154658A (en) * | 2019-05-29 | 2019-08-23 | 吉林大学 | Across the medium variant unmanned vehicles of assembled bionic based on kingfisher and predacious diving beetle shape |
| CN110466749A (en) * | 2018-05-09 | 2019-11-19 | 绿灯实验室(深圳)科技有限公司 | Vertically taking off and landing flyer and its flight control method |
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| CN113335517A (en) * | 2021-08-09 | 2021-09-03 | 中国空气动力研究与发展中心空天技术研究所 | Double-fuselage tandem rotor wing composite wing aircraft layout |
| CN113665306A (en) * | 2021-10-25 | 2021-11-19 | 中国空气动力研究与发展中心空天技术研究所 | Cross-medium aircraft water-air dual-purpose empennage |
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| WO2022222238A1 (en) * | 2021-04-23 | 2022-10-27 | 南京航空航天大学 | Cross-medium unmanned aerial vehicle device and control method therefor |
| WO2023087038A1 (en) * | 2021-11-17 | 2023-05-25 | Glass Knuth | Ground effect vehicle |
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| CN110466749A (en) * | 2018-05-09 | 2019-11-19 | 绿灯实验室(深圳)科技有限公司 | Vertically taking off and landing flyer and its flight control method |
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| CN110154658A (en) * | 2019-05-29 | 2019-08-23 | 吉林大学 | Across the medium variant unmanned vehicles of assembled bionic based on kingfisher and predacious diving beetle shape |
| CN110154658B (en) * | 2019-05-29 | 2022-06-07 | 吉林大学 | Combined bionic cross-medium variant unmanned aircraft based on shapes of kingfishers and psyllids |
| CN110143282A (en) * | 2019-06-18 | 2019-08-20 | 中国空气动力研究与发展中心计算空气动力研究所 | A kind of aircraft using high aspect ratio twin fuselage Flying-wing |
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| WO2022222238A1 (en) * | 2021-04-23 | 2022-10-27 | 南京航空航天大学 | Cross-medium unmanned aerial vehicle device and control method therefor |
| CN113335517A (en) * | 2021-08-09 | 2021-09-03 | 中国空气动力研究与发展中心空天技术研究所 | Double-fuselage tandem rotor wing composite wing aircraft layout |
| CN113665306A (en) * | 2021-10-25 | 2021-11-19 | 中国空气动力研究与发展中心空天技术研究所 | Cross-medium aircraft water-air dual-purpose empennage |
| WO2023087038A1 (en) * | 2021-11-17 | 2023-05-25 | Glass Knuth | Ground effect vehicle |
| CN114802726A (en) * | 2022-04-12 | 2022-07-29 | 南昌航空大学 | Large-scale amphibious logistics unmanned aerial vehicle capable of taking off and landing vertically |
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