CN113859494B - Aircraft capable of converting attitude - Google Patents
Aircraft capable of converting attitude Download PDFInfo
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- CN113859494B CN113859494B CN202111317896.2A CN202111317896A CN113859494B CN 113859494 B CN113859494 B CN 113859494B CN 202111317896 A CN202111317896 A CN 202111317896A CN 113859494 B CN113859494 B CN 113859494B
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- water
- bag system
- aircraft
- attitude
- convertible
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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
- 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
- B63G8/14—Control of attitude or depth
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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
- B63G8/14—Control of attitude or depth
- B63G8/22—Adjustment of buoyancy by water ballasting; Emptying equipment for ballast tanks
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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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
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Abstract
The invention discloses an aircraft capable of converting postures, which comprises an aircraft body, an inflatable bag system, a water injection bag system and a controller, wherein the inflatable bag system is arranged at the head end of the aircraft body, the water injection bag system is arranged at the tail end of the aircraft body, and the aircraft body, the inflatable bag system and the water injection bag system are respectively in communication connection with the controller. The attitude transformation of the underwater vehicle body is realized by controlling the inflatable bag system and the water injection bag system, the inflatable bag system enables the underwater vehicle to move towards the stern seriously, and the underwater vehicle body can rapidly rotate from the horizontal direction to the vertical direction under the action of the stern water injection bag system, so that the effect of rapidly and stably transforming the attitude of the underwater vehicle is achieved, the operation requirement is met, and the operation efficiency is improved.
Description
Technical Field
The invention relates to the technical field of aircraft, in particular to an aircraft capable of converting postures.
Background
With the development of the unmanned underwater vehicle, the unmanned underwater vehicle plays an increasingly important role in the aspects of personnel search and rescue, equipment exploration, exploration and the like. The unmanned underwater vehicle is in a horizontal posture when navigating normally, and the underwater vehicle needs to adjust the posture due to working or functional requirements, and returns to the navigation posture after completing the task and moves to the next operation point. Therefore, there is a need for an underwater vehicle capable of realizing rapid attitude change to meet the operation requirements.
Disclosure of Invention
The invention aims to provide a navigation device capable of converting postures, which is used for solving the problems in the prior art, so that the underwater vehicle can realize quick posture conversion, meet the operation requirements and improve the operation efficiency.
In order to achieve the purpose, the invention provides the following scheme:
the invention provides an aircraft capable of converting postures, which comprises an aircraft body, an inflatable bag system, a water injection bag system and a controller, wherein the inflatable bag system is arranged at the head end of the aircraft body, the water injection bag system is arranged at the tail end of the aircraft body, and the aircraft body, the inflatable bag system and the water injection bag system are respectively in communication connection with the controller.
Preferably, the housing of the aircraft body comprises a head cylinder and a tail cylinder, the end parts of the head cylinder and the tail cylinder are clamped through an annular clamping ring, an annular bin is arranged at the end part of the head cylinder, the end part of the tail cylinder is sleeved on the annular bin, and the water injection bag system is arranged in the annular bin.
Preferably, a parallel movement's mechanism of opening is provided with between the head drum and the tail drum, it includes bracing piece, slider-crank mechanism and connecting rod to open the storehouse mechanism, the one end of bracing piece connect in be provided with on the tail drum, on the other end slider-crank mechanism, slider-crank mechanism's motor pass through the connecting plate connect in on the bracing piece, slider slide set up in the slot hole of bracing piece of slider-crank mechanism, the slider sets up through two symmetries the connecting rod with the head drum is connected.
Preferably, the gas cell system includes gasbag, nitrogen gas jar and two-way air pump, the nitrogen gas jar passes through two-way air pump and pipeline with the gasbag intercommunication, the gasbag sealed set up in the front end of head drum, the gasbag be provided with at least two and the equipartition in the surface of head drum, be fan-shaped after the gasbag expandes, two-way air pump with the controller electricity is connected.
Preferably, the water injection bag system comprises a water bag and a bidirectional water pump, the water bag can be communicated with a water source outside the aircraft body through the bidirectional water pump and a water pipe, the water bag is annular and is arranged in the annular bin, an electromagnetic valve is arranged on the water pipe, and the bidirectional water pump and the electromagnetic valve are electrically connected with the controller.
Preferably, a plurality of telescopic supporting mechanisms are uniformly distributed in the water bag and comprise a rack, a gear set, a motor and an arc-shaped supporting surface, one end of the rack is connected to the middle of the supporting surface, the other end of the rack penetrates through the annular bin to be meshed with the gear set, the gear set is meshed with a central gear on the motor, and the motor and the gear set are both arranged on a supporting plate in the middle of the tail cylinder.
Preferably, the gear set comprises a plurality of gears meshed in an arc shape, the first gear of the gear set is meshed with the central gear, and the last gear of the gear set is meshed with the rack.
Preferably, the water pressure of the water bag after being filled with water is greater than the water pressure outside the aircraft body.
Preferably, the water sac and the air sac are both made of PVC.
Preferably, the end parts of the annular snap rings on the head cylinder and the tail cylinder are provided with sealing rings, and the sealing rings are made of rubber.
Compared with the prior art, the invention achieves the following technical effects:
the posture of the underwater vehicle body is changed by controlling the inflatable bag system and the water injection bag system, the inflatable bag system enables the underwater vehicle to move towards the stern, and the underwater vehicle body can rapidly rotate from horizontal to vertical under the action of the stern water injection bag system, so that the effect of rapidly and stably converting the posture of the underwater vehicle is achieved, the operation requirement is met, and the operation efficiency is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a schematic representation of a configuration of a convertible position aircraft according to the present invention;
FIG. 2 is a schematic view of a hull of the convertible position aircraft of the present invention;
FIG. 3 is a schematic structural diagram of a slider-crank mechanism in the attitude convertible aircraft of the present invention;
figure 4 is a schematic diagram of the structure of a support mechanism in the attitude convertible aircraft according to the invention;
wherein: 1-an aircraft body, 2-a water bag, 3-an air bag, 4-a head cylinder, 5-a tail cylinder, 6-an annular snap ring, 7-an annular bin, 8-a support rod, 9-a crank block mechanism, 10-a connecting rod, 11-a slide block, 12-a bidirectional air pump, 13-a nitrogen tank, 14-a central gear, 15-a support surface, 16-a bidirectional water pump, 17-a motor, 18-a rack and 19-a gear set.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without inventive effort based on the embodiments of the present invention, are within the scope of protection of the present invention.
The invention aims to provide a navigation device capable of converting postures, which aims to solve the problems in the prior art, so that the underwater vehicle can realize quick posture conversion, meet the operation requirements and improve the operation efficiency.
In order to make the aforementioned objects, features and advantages of the present invention more comprehensible, the present invention is described in detail with reference to the accompanying drawings and the detailed description thereof.
As shown in fig. 1 to 4: the embodiment provides an aircraft capable of converting postures, which comprises an aircraft body 1, an inflatable bag system, a water injection bag system and a controller, wherein the inflatable bag system is arranged at the head end of the aircraft body 1, the water injection bag system is arranged at the tail end of the aircraft body 1, the inflatable bag system and the water injection bag system are respectively in communication connection with the controller, and the automatic posture change is carried out.
The shell of the aircraft body 1 comprises a head cylinder 4 and a tail cylinder 5, the end parts of the head cylinder 4 and the tail cylinder 5 are clamped through an annular clamping ring 6, an annular bin 7 is arranged at the end part of the head cylinder 4, the end part of the tail cylinder 5 is sleeved on the annular bin 7, and a water injection bag system is arranged in the annular bin 7. The end parts of the annular clamping rings 6 on the head cylinder 4 and the tail cylinder 5 are provided with sealing rings made of rubber, so that the sealing property of the inner cavity is guaranteed.
A parallel moving type bin opening mechanism is arranged between the head cylinder 4 and the tail cylinder 5 and comprises a supporting rod 8, a slider-crank mechanism 9 and a connecting rod 10, one end of the supporting rod 8 is connected to the tail cylinder 5, the slider-crank mechanism 9 is arranged at the other end of the supporting rod 8, a motor 17 of the slider-crank mechanism 9 is connected to the supporting rod 8 through a connecting plate, a slider 11 of the slider-crank mechanism 9 is arranged in a long hole of the supporting rod 8 in a sliding mode, and the slider 11 is connected with the head cylinder 4 through the connecting rod 10 which is symmetrically arranged. An independent and sealed cabin is established at the head of the head cylinder 4 and used for storing a controller and a motor 17, and the rotating speed of a propeller of the aircraft body 1 can be controlled to realize the depth adjustment of the underwater vehicle in a vertical state.
The inflatable bag system comprises an airbag 3, a nitrogen tank 13 and a bidirectional air pump 12, wherein the nitrogen tank 13 is communicated with the airbag 3 through the bidirectional air pump 12 and a pipeline, the airbag 3 is hermetically arranged at the front end of the head cylinder 4, the airbag 3 is provided with at least two and evenly distributed on the surface of the head cylinder 4, the airbag 3 is fan-shaped after being unfolded, can stabilize the aircraft and provide buoyancy and change the center of gravity, and the bidirectional air pump 12 is electrically connected with the controller.
The water injection bag system comprises a water bag 2 and a bidirectional water pump 16, the water bag 2 can be communicated with a water source outside the aircraft body 1 through the bidirectional water pump 16 and a water pipe, the water bag 2 is annular and is arranged in an annular bin 7, and in the normal navigation process, the water bag 2 is hidden in the annular bin 7, so that the navigation resistance and the damage to the water bag 2 can be reduced. The water pipe is provided with an electromagnetic valve, and the bidirectional water pump 16 and the electromagnetic valve are electrically connected with the controller. The water pressure of the water bag 2 after being filled with water is larger than the water pressure outside the aircraft body 1. The water bag 2 and the air bag 3 are both made of PVC.
A plurality of telescopic supporting mechanisms are uniformly distributed in the water bag 2 and comprise a rack 18, a gear set 19, a motor 17 and an arc-shaped supporting surface 15, one end of the rack 18 is connected to the middle of the supporting surface 15, the other end of the rack passes through the annular bin 7 to be meshed with the gear set 19, the gear set 19 is meshed with a central gear 14 on the motor 17, and the motor 17 and the gear set 19 are both arranged on a supporting plate in the middle of the tail cylinder 5. One end of the rack 18, which is connected with the supporting surface 15, is a polished rod or a rectangular rod, the rack 18 is mainly positioned inside the annular bin 7 for transmission, and meanwhile, the sealing performance of the connection between the rod end of the rack 18 and the wall of the annular bin is guaranteed through a water stopping structure. The gear set 19 includes a plurality of gears engaged in an arc shape, and a first gear of the gear set 19 is engaged with the sun gear 14 and a last gear is engaged with the rack 18 to give a sufficient moving distance to the rack 18. The support surface 15 maintains the water bladder 2 in a fixed configuration with appropriate clearance between adjacent gear sets 19 to facilitate the reciprocal movement of the rack 18.
The water bag 2 and the air bag 3 change the gravity of the underwater vehicle body, so that the gravity center of the underwater vehicle body moves towards the tail part, the air bag 3 increases the volume and the buoyancy of the first cylinder 4 to generate a rotating moment, and the ship body can be quickly changed from a horizontal posture to a vertical state. The underwater vehicle body is adjusted to be in a vertical state, the water bag 2 is fully expanded, the shape of the underwater vehicle body is similar to that of a swimming ring, the gravity center of the underwater vehicle body can be lowered, the underwater vehicle is prevented from swinging in water, and the stability of the underwater vehicle and the reliability of operation are improved.
The principle and the implementation mode of the present invention are explained by applying specific examples in the present specification, and the above descriptions of the examples are only used to help understanding the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (8)
1. An attitude convertible aircraft, characterized by: the aircraft comprises an aircraft body, an inflatable bag system, a water injection bag system and a controller, wherein the inflatable bag system is arranged at the head end of the aircraft body, the water injection bag system is arranged at the tail end of the aircraft body, and the aircraft body, the inflatable bag system and the water injection bag system are respectively in communication connection with the controller; the hull of the aircraft body comprises a head cylinder and a tail cylinder, the end parts of the head cylinder and the tail cylinder are clamped and connected through an annular clamping ring, an annular bin is arranged at the end part of the head cylinder, the end part of the tail cylinder is sleeved on the annular bin, and the water injection bag system is arranged in the annular bin; the bin opening mechanism is characterized in that a parallel moving bin opening mechanism is arranged between the head cylinder and the tail cylinder and comprises a supporting rod, a slider-crank mechanism and a connecting rod, one end of the supporting rod is connected to the tail cylinder and the other end of the supporting rod is provided with the slider-crank mechanism, a motor of the slider-crank mechanism is connected to the supporting rod through the connecting plate, a slider of the slider-crank mechanism slides in a long hole of the supporting rod, and the slider is symmetrically arranged through the two connecting rods and is connected with the head cylinder.
2. The convertible attitude of an aircraft according to claim 1, characterized in that: the gas cell system includes gasbag, nitrogen gas jar and two-way air pump, the nitrogen gas jar pass through two-way air pump and pipeline with the gasbag intercommunication, the gasbag sealed set up in the front end of head drum, the gasbag be provided with at least two and the equipartition in the surface of head drum, the gasbag is fan-shaped after launching, two-way air pump with the controller electricity is connected.
3. The convertible attitude of an aircraft according to claim 1, characterized in that: the water injection bag system comprises a water bag and a bidirectional water pump, the water bag can be communicated with a water source outside the aircraft body through the bidirectional water pump and a water pipe, the water bag is annular and is arranged in the annular bin, an electromagnetic valve is arranged on the water pipe, and the bidirectional water pump and the electromagnetic valve are electrically connected with the controller.
4. The convertible attitude craft of claim 3, wherein: the equipartition has a plurality of telescopic supporting mechanism in the water pocket, supporting mechanism includes rack, gear train, motor and curved holding surface, the one end of rack connect in the middle part of holding surface, the other end pass annular storehouse with the gear train meshing, the gear train with sun gear on the motor meshes, the motor with the gear train all set up in the backup pad at tail drum middle part.
5. The convertible attitude of an aircraft according to claim 4, characterized in that: the gear set comprises a plurality of gears which are meshed in an arc shape, the first gear of the gear set is meshed with the central gear, and the last gear of the gear set is meshed with the rack.
6. The convertible attitude of an aircraft according to claim 4, characterized in that: the water pressure of the water bag after being filled with water is larger than the water pressure outside the aircraft body.
7. The convertible attitude of an aircraft according to claim 3 or 4, characterized in that: the water bag and the air bag are both made of PVC.
8. The convertible attitude craft of claim 1, wherein: the end parts of the annular snap rings on the head cylinder and the tail cylinder are provided with sealing rings, and the sealing rings are made of rubber.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111317896.2A CN113859494B (en) | 2021-11-09 | 2021-11-09 | Aircraft capable of converting attitude |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111317896.2A CN113859494B (en) | 2021-11-09 | 2021-11-09 | Aircraft capable of converting attitude |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113859494A CN113859494A (en) | 2021-12-31 |
| CN113859494B true CN113859494B (en) | 2022-06-28 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111317896.2A Active CN113859494B (en) | 2021-11-09 | 2021-11-09 | Aircraft capable of converting attitude |
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| CN (1) | CN113859494B (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1999001338A1 (en) * | 1997-07-03 | 1999-01-14 | The Secretary Of State For Defence | Depth control device |
| JP2000038197A (en) * | 1998-07-24 | 2000-02-08 | Ishikawajima Harima Heavy Ind Co Ltd | Recovery device for underwater running body |
| CN103085952A (en) * | 2013-01-31 | 2013-05-08 | 中国舰船研究设计中心 | Manless underwater vehicle |
| CN108163164A (en) * | 2017-12-19 | 2018-06-15 | 海南大学 | A kind of submarine navigation device based on Maxwell effect |
| CN109204753A (en) * | 2018-07-27 | 2019-01-15 | 南京航空航天大学 | The launch vehicle and the means of delivery of submarine multitask unmanned plane |
| CN111634398A (en) * | 2020-06-05 | 2020-09-08 | 武汉理工大学 | Unmanned underwater vehicle capable of rapidly converting postures |
| CN111907670A (en) * | 2020-07-23 | 2020-11-10 | 天津大学 | Small-size continuous section deep-Yuan exploration type underwater glider |
| CN112027038A (en) * | 2020-08-14 | 2020-12-04 | 天津大学 | Umbrella rib type underwater vehicle depth and attitude adjusting device and control method thereof |
| CN113212713A (en) * | 2021-05-12 | 2021-08-06 | 浙江大学 | Underwater vehicle supporting vertical emission and attitude conversion control method thereof |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20130125806A1 (en) * | 2011-11-19 | 2013-05-23 | Stephen C. Lubard | Long-range UUVs |
-
2021
- 2021-11-09 CN CN202111317896.2A patent/CN113859494B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1999001338A1 (en) * | 1997-07-03 | 1999-01-14 | The Secretary Of State For Defence | Depth control device |
| JP2000038197A (en) * | 1998-07-24 | 2000-02-08 | Ishikawajima Harima Heavy Ind Co Ltd | Recovery device for underwater running body |
| CN103085952A (en) * | 2013-01-31 | 2013-05-08 | 中国舰船研究设计中心 | Manless underwater vehicle |
| CN108163164A (en) * | 2017-12-19 | 2018-06-15 | 海南大学 | A kind of submarine navigation device based on Maxwell effect |
| CN109204753A (en) * | 2018-07-27 | 2019-01-15 | 南京航空航天大学 | The launch vehicle and the means of delivery of submarine multitask unmanned plane |
| CN111634398A (en) * | 2020-06-05 | 2020-09-08 | 武汉理工大学 | Unmanned underwater vehicle capable of rapidly converting postures |
| CN111907670A (en) * | 2020-07-23 | 2020-11-10 | 天津大学 | Small-size continuous section deep-Yuan exploration type underwater glider |
| CN112027038A (en) * | 2020-08-14 | 2020-12-04 | 天津大学 | Umbrella rib type underwater vehicle depth and attitude adjusting device and control method thereof |
| CN113212713A (en) * | 2021-05-12 | 2021-08-06 | 浙江大学 | Underwater vehicle supporting vertical emission and attitude conversion control method thereof |
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| Publication number | Publication date |
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| CN113859494A (en) | 2021-12-31 |
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