CN112549885A - Folding wing submerged cross-domain marine robot capable of vertically taking off and landing - Google Patents
Folding wing submerged cross-domain marine robot capable of vertically taking off and landing Download PDFInfo
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- CN112549885A CN112549885A CN202011515480.7A CN202011515480A CN112549885A CN 112549885 A CN112549885 A CN 112549885A CN 202011515480 A CN202011515480 A CN 202011515480A CN 112549885 A CN112549885 A CN 112549885A
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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
- B64C29/00—Aircraft capable of landing or taking-off vertically, e.g. vertical take-off and landing [VTOL] aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C35/00—Flying-boats; Seaplanes
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
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Abstract
The invention relates to the technical field of marine robots, in particular to a folding wing submerged cross-domain marine robot capable of taking off and landing vertically. Comprises a fuselage, a water-air dual-purpose propeller, a rear wing, a front wing and a folding wing; the fuselage comprises a bow section, a front control cabin section, a battery cabin section, a rear control cabin section and a stern section, wherein front wings are arranged on two sides of the front control cabin section, and rear wings are arranged on two sides of the rear control cabin section; the tail ends of the front wing and the rear wing are respectively provided with a water-air dual-purpose propeller; folding wings are respectively arranged at the top and the bottom of the battery cabin section. The invention has the characteristics of water and air navigation and reciprocating cross-domain, and can be used for executing related mission tasks such as quick arrival in the air, underwater concealed operation and the like.
Description
Technical Field
The invention relates to the technical field of marine robots, in particular to a folding wing submerged cross-domain marine robot capable of taking off and landing vertically.
Technical Field
The marine robots comprise aerial robots (UAVs, unmanned aerial vehicles) applied to marine environments, water surface robots (USVs, unmanned ships) and underwater robots (UUV, unmanned underwater vehicles), and the traditional marine robots of various types are navigated and operated in a single medium, so that the application range of the single marine robot is greatly limited. With continuous progress of science and technology, hybrid marine robots (HMUV) appear, including the mixing of Autonomous Underwater Vehicles (AUV) and remote-control underwater vehicles (ROV), the mixing of water surface robots (USV) and underwater robots (UUV), and the like, so that the operation range of the single marine robot is expanded, and the function of the marine robot is improved in a crossing manner. However, the hybrid ocean robot still cannot meet the requirements of quiet stealth and aerial high-speed remote maneuvering of the unmanned aerial vehicle, and does not have the capabilities of realizing water-air amphibious reciprocating cross-domain and navigation and multi-medium operation.
Disclosure of Invention
In view of the above problems, the present invention aims to provide a folding wing submerged cross-area marine robot capable of taking off and landing vertically, which has three functions of taking off and landing vertically on the water surface, flying in the air and submerging underwater.
In order to achieve the purpose, the invention adopts the following technical scheme:
a folding wing submerged cross-area marine robot capable of vertically taking off and landing comprises a body, a water-air dual-purpose propeller, a rear wing, a front wing and a folding wing;
the aircraft body comprises a bow section, a front control cabin section, a battery cabin section, a rear control cabin section and a stern section, wherein front wings are arranged on two sides of the front control cabin section, and rear wings are arranged on two sides of the rear control cabin section; the tail ends of the front wing and the rear wing are respectively provided with a water-air dual-purpose propeller; and the top and the bottom of the battery cabin section are respectively provided with a folding wing.
And the four water-air dual-purpose propellers are respectively controlled by four tilting mechanisms to be overturned.
The tilting mechanism comprises a water-air dual-purpose propeller driving shaft assembly, a connecting rod, a steering engine and a tilting shaft sleeve, wherein the steering engine is arranged in the front control cabin section and the rear control cabin section; two connecting rods are symmetrically hinged on a steering engine disc of the steering engine, and a turnover shaft sleeve is hinged between the two connecting rods; one end of the driving shaft assembly of the water-air dual-purpose propeller is connected with the turning shaft sleeve, and the other end of the driving shaft assembly of the water-air dual-purpose propeller is connected with the water-air dual-purpose propeller.
The water-air dual-purpose propeller driving shaft assembly comprises a water-air dual-purpose propeller overturning shaft, a rigid connecting rod and a water-air dual-purpose propeller driving shaft which are sequentially connected, wherein the water-air dual-purpose propeller overturning shaft is connected with the water-air dual-purpose propeller; and the driving shaft of the water-air dual-purpose propeller is connected with the turning shaft sleeve.
The machine body is of a revolving body structure; the bow section and the stern section are streamlined, and the bow section, the front control cabin section, the battery cabin section, the rear control cabin section and the stern section are connected through anchor ears in sequence and are sealed through sealing rings.
The length of the front fixed wing is smaller than that of the rear fixed wing.
The front fixed wing and the rear fixed wing are both straight wings.
The foldable wings are connected with the rotating mechanism and are driven by the motor to be folded and unfolded.
The water-air dual-purpose propeller adopts a ducted fan mode, and can realize the propelling function of two different media, namely high-rotation-speed small-torque in air and low-rotation-speed large-torque in water.
When the folding wing submerged cross-domain marine robot flies in the air, the water-air dual-purpose propeller is propelled forwards in a horizontal state, and the folding wings are unfolded;
when the folding wing submerged cross-domain marine robot vertically takes off and lands on the water surface, the water-air dual-purpose water-air propeller is propelled upwards in a vertical state; the folding wings are closed;
when the folding wing submerged cross-domain marine robot moves forward underwater, the water-air dual-purpose pushing machine can be pushed forwards and downwards in an inclined state; the folding wings are closed.
The invention has the advantages and beneficial effects that:
the invention can realize vertical take-off and landing in a small range, can convert the fixed wing to cruise and fly for a long time during flying, and can realize underwater diving; by the characteristics of sailing with two media, namely water and air, and reciprocating cross-domain, the invention can be used for executing related mission tasks such as quick arrival in the air, underwater concealed operation and the like.
Drawings
FIG. 1 is an isometric view of the invention in a vertical take-off and landing position on a water surface;
FIG. 2 is a top view of the invention in a vertical water surface takeoff and landing state;
FIG. 3 is a side view of the invention in a vertical water surface takeoff and landing state;
FIG. 4 is a front view of the present invention in a vertical water surface takeoff and landing state;
fig. 5 is a schematic structural view of the tilt drive mechanism of the present invention;
fig. 6 is a schematic view of a tilting mechanism for tilting a water-air propeller according to the present invention;
FIG. 7 is an isometric view of the air cruise condition of the present invention;
FIG. 8 is a top plan view of the air cruise condition of the present invention;
FIG. 9 is a side view of the air cruise condition of the present invention;
FIG. 10 is a front elevational view of the air cruise condition of the present invention;
FIG. 11 is an isometric view of the underwater submergence of the present invention;
FIG. 12 is a top plan view of the underwater submergence of the present invention;
FIG. 13 is a side view of the submersible condition of the present invention;
FIG. 14 is a front view of the underwater submergence of the present invention.
In the figure: the device comprises a bow section 1, a front control cabin section 2, a battery cabin section 3, a hoop 4, a stern section 5, a water-air dual-purpose propeller 6, a rear wing 7, a front wing 8, a guide cover 9, a folding wing 10, a wing framework 11, a water-air dual-purpose propeller overturning shaft 12, a rigid connecting rod 13, a cabin penetrating piece 14, a steering wheel disc 15, a water-air dual-purpose propeller driving shaft 16, a connecting rod 17, a rudder rack 18, an underwater propeller controller 19, an air propeller controller 20, a steering wheel 21, a pin 22, an overturning shaft sleeve 23 and a rear control cabin section 24.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1, the folding wing submerged cross-area marine robot capable of vertically taking off and landing provided by the invention comprises a fuselage, a water-air dual-purpose propeller 6, a rear wing 7, a front wing 8 and a folding wing 10; the fuselage comprises a bow section 1, a front control cabin section 2, a battery cabin section 3, a rear control cabin section 24 and a stern section 5, wherein front wings 8 are arranged on two sides of the front control cabin section 2, and rear wings 7 are arranged on two sides of the rear control cabin section 24; the tail ends of the front wing 8 and the rear wing 7 are provided with a water-air dual-purpose propeller 6; the top and the bottom of the battery compartment section 3 are respectively provided with a folding wing 10.
In the embodiment of the invention, the four water-air dual-purpose propellers 6 are respectively controlled by four tilting mechanisms to be turned. The tilting mechanism can change the angle of the water-air dual-purpose propeller 6 to realize the state conversion of the system during air cruise or water surface vertical take-off and landing.
As shown in fig. 5-6, the tilting mechanism comprises a water-air dual-purpose propeller drive shaft assembly, a connecting rod 17, a steering engine 21 and a turnover shaft sleeve 23, wherein the steering engine 21 is arranged in the front control cabin section 2 and the rear control cabin section 24; two connecting rods 17 are symmetrically hinged on a steering wheel disc 15 of the steering engine 21, and a turning shaft sleeve 23 is hinged between the two connecting rods 17; one end of the driving shaft component of the water-air dual-purpose propeller is connected with the turnover shaft sleeve 23, and the other end of the driving shaft component of the water-air dual-purpose propeller is connected with the water-air dual-purpose propeller 6.
In the embodiment of the invention, the water-air dual-purpose propeller driving shaft assembly comprises a water-air dual-purpose propeller overturning shaft 12, a rigid connecting rod 13 and a water-air dual-purpose propeller driving shaft 16 which are sequentially connected, wherein the water-air dual-purpose propeller overturning shaft 12 is connected with a water-air dual-purpose propeller 6; the water-air propeller driving shaft 16 is connected with the turning shaft sleeve 23.
Specifically, the steering engines 21 are fixedly connected to the rudder mount 18 and symmetrically distributed. The steering engine disk 15 is installed on the gear of the steering engine 21 and is fixedly connected with the gear through screws, two circles of uniform threaded holes are formed in the disk surface of the steering engine disk 15, and the connecting rod 17, the steering engine disk 15 and the turning shaft sleeve 23 are connected together through a pin 22. The overturning shaft sleeve 23 is connected with the driving shaft 16 of the water-air dual-purpose propeller through a jackscrew, the other end of the driving shaft 16 of the water-air dual-purpose propeller is sequentially connected with the rigid connecting rod 13 and the overturning shaft 12 of the water-air dual-purpose propeller, and the overturning shaft 12 of the water-air dual-purpose propeller is connected with the support on the water-air dual-purpose propeller 6 through a flange.
In the embodiment of the invention, the fuselage is of a revolving body structure; the bow section 1 and the stern section 5 are streamline, and the bow section 1, the front control cabin section 2, the battery cabin section 3, the rear control cabin section 24 and the stern section 5 are connected through the hoop 4 in sequence and are sealed through the sealing ring.
Furthermore, the front fixed wing 8 and the rear fixed wing 7 are both straight wings, the length of the front fixed wing 8 is smaller than that of the rear fixed wing 7, namely, the rear wing 7 is longer than the front wing 8 and is in trapezoidal distribution, the folding wings 10 and the water-air dual-purpose propeller 6 are not in the same plane and are distributed vertically, the pneumatic layout can reduce the disturbance between the front water-air dual-purpose propeller 6 and the rear water-air dual-purpose propeller 6 to a certain extent, the mutual interference between the folding wings can be reduced, and the overall pneumatic layout of the robot is improved.
In the embodiment of the invention, the foldable wing 10 is connected with a rotating mechanism, and the folding and unfolding of the wing are realized through the driving of a motor.
In the embodiment of the invention, the water-air dual-purpose propeller 6 adopts a ducted fan mode, and can realize the propelling function of two different media, namely high-rotation-speed small-torque in air and low-rotation-speed large-torque in water.
As shown in fig. 1-4, when the folding-wing submerged cross-domain marine robot vertically takes off and lands on the water surface, the water-air dual-purpose propeller 6 is in a vertical state and propels upwards; the folding wing 10 is closed.
As shown in fig. 7 to 10, when the folding wing submerged cross-region marine robot flies in the air, the water-air dual-purpose propeller 6 is propelled forward in a horizontal state, and the folding wing 10 is unfolded. Namely, the folding wings 10 positioned above are unfolded forwards, the folding wings 10 positioned below are unfolded backwards to play a role of fixing wings, enough lift force is provided by overcoming gravity, the folding wings 10 can be unfolded to provide the lift force when the aircraft cruises in the air, and the flight endurance time in the air is prolonged.
As shown in fig. 11 to 14, when the folding wing potential-space cross-domain marine robot moves forward underwater, the hydraulic-air dual-purpose pusher 6 can be in an inclined state, and the underwater potential can be realized by pushing forward and downward; the folding wing 10 is closed. When water is discharged, the water-air dual-purpose pusher 6 can be used for pushing forward and upward, and the water can quickly float to the water surface. When underwater diving, the front and rear folding wings 10 are closed, and a flow guide cover 9 is arranged at the folding wings 10 to reduce the resistance of the folding wings 10 generated underwater.
According to the invention, the front fixed wing 8 and the rear fixed wing 7 are respectively provided with a set of water-air dual-purpose propeller 6, and the horizontal plane large maneuvering capacity can be realized through differential speed during underwater navigation. When the aerial patrol is carried out, the water-air dual-purpose propeller 6 is in a horizontal position and is pushed forward, the folding wing submerged cross-region ocean robot capable of taking off and landing vertically flies in a fixed wing aircraft mode, and aerial maneuver is achieved through differential speed among the multiple water-air dual-purpose propellers.
In conclusion, the folding wing submerged cross-area marine robot capable of vertically taking off and landing provided by the invention is provided with a water-air dual-purpose propulsion device, and can realize the propulsion functions of two different media, namely high-rotation-speed small torque in air and low-rotation-speed large torque in water. The folding wing submerged cross-area marine robot capable of taking off and landing vertically takes off from the water surface in a vertical take-off and landing mode, and the four water-air dual-purpose propellers are erected and run at a high rotating speed to push the folding wing submerged cross-area marine robot capable of taking off and landing vertically to take off vertically from the water surface in a four-rotor aircraft mode. When the aircraft flies in the air, the four sets of water-air dual-purpose propellers are propelled forwards in a horizontal state, and fly in a fixed wing mode under the action of the lifting force of the unfolded wings. When the robot is submerged, the four sets of water-air dual-purpose propellers change the tilting angle to propel the robot to the front lower side, and the folding wings of the robot reduce the navigation resistance to realize the submergence.
The invention has the characteristics of navigation in two media of water and air, reciprocating span, and capability of realizing functions of quick arrival in the air, underwater operation and the like or related mission tasks.
The above description is only an embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, extension, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.
Claims (10)
1. A folding wing submerged cross-regional marine robot capable of vertically taking off and landing is characterized by comprising a body, a water-air dual-purpose propeller (6), a rear wing (7), a front wing (8) and a folding wing (10);
the aircraft body comprises a bow section (1), a front control cabin section (2), a battery cabin section (3), a rear control cabin section (24) and a stern section (5), wherein front wings (8) are arranged on two sides of the front control cabin section (2), and rear wings (7) are arranged on two sides of the rear control cabin section (24); the tail ends of the front wing (8) and the rear wing (7) are respectively provided with a water-air dual-purpose propeller (6); the top and the bottom of the battery cabin section (3) are respectively provided with a folding wing (10).
2. The vtol folding-wing submerged cross-regional marine robot according to claim 1, wherein the four water-air propellers (6) are respectively controlled to turn by four tilting mechanisms.
3. The folding wing submerged cross-domain marine robot capable of vertically taking off and landing according to claim 2, wherein the tilting mechanism comprises a water-air propeller drive shaft assembly, a connecting rod (17), a steering engine (21) and a tilting shaft sleeve (23), wherein the steering engine (21) is arranged in the front control cabin section (2) and the rear control cabin section (24); two connecting rods (17) are symmetrically hinged to a steering wheel disc (15) of the steering wheel (21), and a turning shaft sleeve (23) is hinged between the two connecting rods (17); one end of the water-air dual-purpose propeller driving shaft assembly is connected with the turning shaft sleeve (23), and the other end of the water-air dual-purpose propeller driving shaft assembly is connected with the water-air dual-purpose propeller (6).
4. The collapsible-wing submarine bay marine robot according to claim 3, wherein the dual-purpose propeller drive shaft assembly comprises a dual-purpose propeller overturning shaft (12), a rigid connecting rod (13) and a dual-purpose propeller drive shaft (16) which are connected in sequence, wherein the dual-purpose propeller overturning shaft (12) is connected with the dual-purpose propeller (6); the water-air dual-purpose propeller driving shaft (16) is connected with the turning shaft sleeve (23).
5. The vtol folding wing submerged cross-regional marine robot of claim 1, wherein the body is a solid of revolution structure; the bow section (1) and the stern section (5) are streamlined, and the bow section (1), the front control cabin section (2), the battery cabin section (3), the rear control cabin section (24) and the stern section (5) are connected through the anchor ear (4) in sequence and are sealed through the sealing ring.
6. The vtol folding wing submerged cross-regional marine robot according to claim 1, characterized in that the length of the front fixed wing (8) is less than the length of the rear fixed wing (7).
7. The VTOL folding wing potential space cross-country marine robot according to claim 1, characterized in that the front fixed wing (8) and the rear fixed wing (7) are both straight wings.
8. The folding wing submerged cross-regional marine robot capable of vertically taking off and landing according to claim 1, is characterized in that the folding wings (10) are connected with a rotating mechanism, and the folding and unfolding of the wings are realized through motor driving.
9. The folding wing submerged cross-regional marine robot capable of vertically taking off and landing according to claim 1, wherein the water-air dual-purpose propeller (6) is in the form of a ducted fan, and can realize the propelling function of two different media, namely high-rotation-speed low-torque in air and low-rotation-speed high-torque in water.
10. The folding-wing submarine-flying cross-regional marine robot capable of taking off and landing vertically according to claim 1, wherein when the folding-wing submarine-crossing cross-regional marine robot flies in the air, the water-air dual-purpose propeller (6) is pushed forward in a horizontal state, and the folding wings (10) are unfolded;
when the folding wing submerged cross-domain marine robot vertically takes off and lands on the water surface, the water-air dual-purpose propeller (6) is propelled upwards in a vertical state; the folding wings (10) are closed;
when the folding wing submerged cross-domain marine robot moves forward underwater, the water-air dual-purpose pushing machine (6) can be pushed forwards and downwards in an inclined state; the folding wings (10) are closed.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011515480.7A CN112549885B (en) | 2020-12-21 | 2020-12-21 | Folding wing submerged cross-domain marine robot capable of taking off and landing vertically |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011515480.7A CN112549885B (en) | 2020-12-21 | 2020-12-21 | Folding wing submerged cross-domain marine robot capable of taking off and landing vertically |
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| CN112549885A true CN112549885A (en) | 2021-03-26 |
| CN112549885B CN112549885B (en) | 2022-05-31 |
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Cited By (4)
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| 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 |
| CN113753233A (en) * | 2021-08-31 | 2021-12-07 | 南京航空航天大学 | Amphibious unmanned aerial vehicle based on differential transmission system and control method thereof |
| CN114834635A (en) * | 2022-03-07 | 2022-08-02 | 武汉理工大学 | Water-air amphibious propelling device |
| CN117261509A (en) * | 2023-10-08 | 2023-12-22 | 哈尔滨工程大学 | Amphibious cross-domain aircraft |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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| CN113753233A (en) * | 2021-08-31 | 2021-12-07 | 南京航空航天大学 | Amphibious unmanned aerial vehicle based on differential transmission system and control method thereof |
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| CN117261509A (en) * | 2023-10-08 | 2023-12-22 | 哈尔滨工程大学 | Amphibious cross-domain aircraft |
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| Publication number | Publication date |
|---|---|
| CN112549885B (en) | 2022-05-31 |
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