CN114889375A - Water-air cross-medium folding wing unmanned aerial vehicle - Google Patents
Water-air cross-medium folding wing unmanned aerial vehicle Download PDFInfo
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- CN114889375A CN114889375A CN202210330170.0A CN202210330170A CN114889375A CN 114889375 A CN114889375 A CN 114889375A CN 202210330170 A CN202210330170 A CN 202210330170A CN 114889375 A CN114889375 A CN 114889375A
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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
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H11/00—Marine propulsion by water jets
- B63H11/02—Marine propulsion by water jets the propulsive medium being ambient water
- B63H11/04—Marine propulsion by water jets the propulsive medium being ambient water by means of pumps
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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
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D27/00—Arrangement or mounting of power plants in aircraft; Aircraft characterised by the type or position of power plants
- B64D27/02—Aircraft characterised by the type or position of power plants
- B64D27/24—Aircraft characterised by the type or position of power plants using steam or spring force
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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
- B64C2001/0045—Fuselages characterised by special shapes
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T50/00—Aeronautics or air transport
- Y02T50/60—Efficient propulsion technologies, e.g. for aircraft
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Abstract
The invention relates to a water-air span medium folding wing unmanned aerial vehicle, and belongs to the technical field of aircrafts. Unmanned aerial vehicle includes: a head section, a middle fuselage section and a tail; the integral machine body adopts a hollow truss structure; the streamline outline structure design based on skipjack and fish disclosed by the invention adopts a bionic structure and a duck-type layout design, combines an elliptic wing outline with better load utilization rate and a rectangular wing outline with higher stall resistance, and performs quasi-ovalization treatment on a part with smaller bearing load at wing tips at two ends respectively, so that the contradiction between the design targets of control instability and control stability caused by aerodynamic sudden change and gravity center position change of a cross-medium unmanned aerial vehicle in the process of deformation is effectively solved in aerodynamic appearance, and the stability of amphibious activity is further improved.
Description
Technical Field
The invention relates to a water-air span medium folding wing unmanned aerial vehicle, and belongs to the technical field of aircrafts.
Background
The cross-medium folding wing unmanned aerial vehicle is an unmanned aerial vehicle which can independently realize water-air transition and air-water transition in a controlled manner, and can enter water rapidly and be more concealed and safe when encountering dangerous conditions. When the unmanned aerial vehicle is used for battle at sea, the warhead is arranged at the head of the unmanned aerial vehicle, so that the characteristics of strong maneuverability, high speed and good torpedo concealment of the cruise missile can be realized.
The existing design of the related unmanned aerial vehicle is characterized by being bionic, mostly adopting flapping wing type wing design and not flexible enough. The structural strength of the wings is low, and the wings cannot adapt to multiple accidents; structurally, when the unmanned aerial vehicle navigates underwater, water can generate buoyancy on the navigated object, so that the navigated object has to overcome the buoyancy by increasing the self weight to smoothly sink, extra useless loads are increased unnecessarily, or the buoyancy is reduced by reducing the self volume, but the unmanned aerial vehicle cannot carry more effective loads, and the application value is lost; in the power configuration, many designs still adopt single power, for example, only a single motor provides pushing force or pulling force, so that the underwater moving speed is too slow.
Disclosure of Invention
The invention aims to solve the problem that the prior art cannot meet the use requirement, and provides a water-air span medium folding wing unmanned aerial vehicle; the unmanned aerial vehicle is hollow, and wings are folded backwards to quickly enter water; a dual power system; a load bearing device;
the purpose of the invention is realized by the following technical scheme:
a water-air cross-media folding wing drone, comprising: a head section, a middle fuselage section and a tail; the integral machine body adopts a hollow truss structure;
the head section includes: the foldable propeller, the motor, the electric controller, the first steering engine, the duck wing, the power supply equipment and the electric control equipment are arranged in the waterproof box; the electric regulator converts direct current of the power supply equipment into alternating current for driving a motor; the motor drives the foldable propeller to provide tension and provide air flight power; the first steering engine is used for controlling the deflection of the duck wing, so that the aim of attitude control is fulfilled; the electric control equipment is used for controlling the whole machine;
the fuselage middle section includes: a wing and a deformation mechanism between the two wings; the deformation mechanism is positioned between the head section and the tail section and is used for controlling the wing to unfold and fold;
the deformation mechanism includes: the deformation mechanism comprises a deformation mechanism base, a center block, a wing supporting rod and a second steering engine; the deformation mechanism base is fixed on the machine body; the wing supporting rod is respectively movably connected with the wing and the central block; the second steering engine is used for providing power for deformation movement of the deformation section;
the deformation mechanism base includes: the rotating shaft connecting rod, the large rotating rod limiting mechanism and the deformation driving rod are arranged on the rotating shaft; the rotating shaft connecting rod is of a structure with two thick ends and a thin middle section and is used for connecting the central block; the large rotating rod limiting mechanism is of a fan-shaped structure and is used for limiting the large rotating rod so as to realize the folding of the wings; the deformation driving rod consists of a large rotating rod and a combined universal joint; the universal joints are symmetrically arranged on two sides of the large rotating rod; the large rotating rod slides along the large rotating rod limiting mechanism; the universal joint is used for connecting the wing supporting rod;
the central block is of a circular structure;
the wing is of a double-layer structure, the upper layer is a foam plate, and the lower layer is a 3D printing piece (photosensitive resin);
the tail is of a hollow structure, and the third steering engine is used for controlling deflection of a control surface of the tail; the pump is sprayed at the middle section of the tail close to the body and used for providing underwater power;
a working process of a water-air cross-medium folding wing unmanned aerial vehicle comprises the following steps:
step one, in the plane flight stage of the unmanned aerial vehicle, cruising is carried out at a constant speed and a constant attack angle
And step two, when the unmanned aerial vehicle carries out air-water transition, the body dives in a negative attack angle posture, and meanwhile, the wings are folded. The folding process is as follows:
when the unmanned aerial vehicle enters water from the outside, the main wing rotates anticlockwise around the Y axis until the wing chord line is perpendicular to the X axis, and then rotates anticlockwise around the Z axis until the wing is tightly attached to the body, so that the posture conversion of the whole air-water unmanned aerial vehicle is completed, and when the unmanned aerial vehicle is seen from the inside, the steering engine drives the center block to rotate through the ball head buckle pull rod, and the center block drives the deformation driving rod to rotate. Under the motion limitation of the sliding groove and the large rotating rod on the central block, the deformation driving rod pulls the wing supporting rod to the central block. The first wing supporting rod can pull the second wing supporting rod when being folded towards the central block to drive the wings to move downwards, so that the wings are retracted. The wing deployment process is the reverse of the retraction process. Meanwhile, the tail rudder and the canard wing control the stability of the attitude stability of the whole unmanned aerial vehicle, when the pitch angle speed of the unmanned aerial vehicle body is larger than 5m/s during attitude conversion, the tail rudder deflects to generate aerodynamic torque, the pitch angle speed is reduced, and the attitude stability of the whole unmanned aerial vehicle is kept; the canard attack angle is increased, and the attitude control response speed is improved. In the water inlet process, the water enters from the water inlet holes, water flows into the machine body, the machine body is accelerated to sink, and meanwhile, the underwater power pump starts to work.
Thirdly, when the unmanned aerial vehicle is submerged, the pump spray provides power, the wings are kept in a folded state, and the stability of the posture of the unmanned aerial vehicle is controlled by the combined action of the empennage and the canard wing;
when the unmanned aerial vehicle is in 'water-air' transition, the wing is seen from the outside to rotate clockwise around the y axis until the wing chord line is parallel to the X axis, the wing rotates to be flat along the X axis, and the motion process of the internal mechanism is the 'air-water' inverse process; and during transition, the negative direction of the tail vane deflects to generate a head-up torque, the machine body is prevented from rolling by deflecting the canard, the throttle value of the underwater power pump is increased to the maximum, and the unmanned aerial vehicle is enabled to discharge water in a large attack angle posture.
Has the advantages that:
(1) the streamline outline structure design based on skipjack and fish disclosed by the invention adopts a bionic structure and a duck-type layout design, combines an elliptic wing outline with better load utilization rate and a rectangular wing outline with higher stall resistance, and performs quasi-ovalization treatment on a part with smaller bearing load at wing tips at two ends respectively, so that the contradiction between the design targets of control instability and control stability caused by aerodynamic sudden change and gravity center position change of a cross-medium unmanned aerial vehicle in the process of deformation is effectively solved in aerodynamic appearance, and the stability of amphibious activity is further improved.
(2) The aircraft deformation mechanism with the linkage of the steering engine and the connecting rod disclosed by the invention has the advantages that the flight stability is ensured through the connecting rod mechanism with a stronger structure, and the aircraft deformation mechanism is easy to assemble, compact in structure and high in transmission and deformation efficiency.
(3) The invention discloses a structure design for water inlet and sinking of a machine body, wherein the machine body, wings and empennage are all made into hollow communicated shells, and a water inlet and a water outlet are designed. In the submerging state, water flow flows into the machine body from the water inlet and is sprayed out from the water outlet of the tail after being accelerated by pump spraying; when the unmanned aerial vehicle takes off in the effluent, the unmanned aerial vehicle takes off in the posture with a large elevation angle, water in the aircraft body is discharged from the water outlet, and a water discharge pipe is designed for diversion, so that the requirements of two media on the weight of the aircraft are met, and the size of the unmanned aerial vehicle is effectively reduced.
(4) The traditional single power system has the problem of too low underwater moving speed, the air-underwater dual power system disclosed by the invention adopts a power system with foldable blades, a motor and pump jet as a whole machine, the power system is powered by a foldable propeller with high rotating speed and the motor in the air, and the power system is propelled by the dual pump jet in the underwater, so that the underwater moving speed is effectively increased compared with a scheme that a single motor provides thrust or pull.
Drawings
Fig. 1 is a schematic structural diagram of the external structure of a head section of a water-air cross-medium folding wing unmanned aerial vehicle according to the invention;
FIG. 2 is a schematic view of the internal structure of the nose section of the water-air cross-medium folding wing unmanned aerial vehicle;
fig. 3 is a schematic structural diagram of the internal structure of the deformation mechanism of the water-air crossing medium folding wing unmanned aerial vehicle;
fig. 4 is an external structural schematic diagram of a deformation mechanism of the water-air crossing medium folding wing unmanned aerial vehicle according to the invention;
fig. 5 is a schematic structural diagram of a tail section of the water-air crossing medium folding wing unmanned aerial vehicle according to the invention;
FIG. 6 is a schematic diagram of the aerial and underwater power of the water-air cross-medium folding wing unmanned aerial vehicle according to the invention;
fig. 7 is a schematic view of a wing of the water-air crossing medium folding wing unmanned aerial vehicle according to the invention;
fig. 8 is a schematic view of the wing folding of the water-air cross-medium folding wing drone according to the invention;
fig. 9 is a schematic view of the wing of the water-air crossing medium folding wing unmanned aerial vehicle of the invention;
fig. 10 is a schematic view of the operation of the unmanned aerial vehicle of the water-air cross-medium folding wing unmanned aerial vehicle according to the present invention;
fig. 11 is a supplementary schematic view of a tail section structure of the water-air cross-medium folding wing unmanned aerial vehicle according to the invention;
wherein, 1-foldable rotor wing, 2-canard wing, 3-aircraft nose section mask shell, 4-fairing, 5-motor, 6-aerial electric regulation, 7-first steering engine, 8-electric control equipment (flight control plate), 9-battery, 10-electric control equipment (receiver), 11-waterproof box, 12-deformation driving rod, 13-combined universal joint, 14-deformation mechanism base, 15-center block supporting seat, 16-second steering engine, 17-center quick supporting seat, 18-aircraft wing (main wing), 19-4 mm carbon tube, 20-steering engine pull rod, 21-center block connecting rod, 22-center block, 23-T type rod (deformation driving rod), 24-aircraft wing supporting rod, 24 a-second aircraft wing supporting rod, 24 b-first aircraft wing supporting rod, 25-third steering engine, 26-pump-spray, 26 a-water inlet, 27-vertical tail, 28-aircraft tail section mask shell, 29-pump spray fixing part, 30-horizontal tail, 31-air power device (motor), 32-underwater power device (double pump spray), 33-wing steering engine, 34-aileron, 35-main wing, 36-center block connecting piece and 37-big rotating rod.
Detailed Description
For a better understanding of the objects and advantages of the present invention, reference should be made to the following detailed description taken in conjunction with the accompanying drawings and examples.
Example 1:
as shown in fig. 8 and 9, the present example discloses the folding and unfolding postures of the water-air cross-medium folding wing drone, including the structure of the head section in fig. 1 and 2, the structure of the deformation section in fig. 3 and 4, the structure of the tail section in fig. 5, and the structure of the wing in fig. 7. .
As shown in figure 1, the main shaft of the duck wing 2 is coaxially matched with the small hole on the side plate of the machine head mask framework 3, is fixed with the fixing piece of the mask framework 3 inside, and is driven by a steering engine 7. The fairing 4 is matched with a tenon-and-mortise structure formed by the mask framework and is fixed by glue.
As shown in fig. 2, the foldable rotor 5 is fixed with the motor 31 by screws, and the motor 31 is matched with the circular hole structure formed by the mask framework 3 and fixed by glue; the electricity is transferred 6 then forms the appearance cooperation and fixes completely with glue with the connecting piece that mask skeleton 3 was fixed, and wherein the left side electricity is transferred and is installed from top to bottom, and the right side electricity is transferred and is fixed with glue after inserting from the right side left. The steering engine 7 is also matched with the mask framework 3 in shape, and is inserted from right to left as shown in figure 2 and then fixed by glue. Automatically controlled equipment 8, 9, 10 then are put into from waterproof box 11's opening part, rely on the cooperation structure in the waterproof box 11 to fix, waterproof box 11 lid department seals with waterproof glue behind the upper cover, it opens all around simultaneously and inserts the electricity and be in sealing with waterproof glue behind the connecting circuit, waterproof box 11 is turned left by the right side and is put into inside the mask skeleton 3, wherein the left side is hugged closely with the carbon-plate, it is fixed with glue, the bottom is fixed by glue with the cooperation structure of skeleton 3.
As shown in fig. 3 and 4, the center block support seat 15 is matched with the 4mm carbon tube 19, the nose section mask framework 3 and the tail section mask framework 28, and is fixed by glue. The deformation mechanism base 14 is matched by a mortise and tenon structure formed by the bottom and the central block supporting seat 15 and is fixed by glue. The steering engine 16 and the center block support seat 15 are fixed through a bolt structure. The steering engine 16 drives the center block 22 to rotate through the ball buckle pull rod 21, wherein the steering engine pull rod 20 and the ball buckle pull rod 21 form coaxial matching in an end hole, and the ball buckle pull rod 21 and the center block 22 form coaxial matching through a hole-shaped structure. The center block 22 in turn rotates the deformation driving rod 12. The central block connecting piece 36 is matched with the central blocks 22 on the two sides through a jack structure and is fixed by glue, the groove in the middle of the combined universal joint 13 is fixed with the large rotating rod 37 by the glue, and the large rotating rod 37 is coaxially matched with the circle center of the sector structure on the left side of the deformation mechanism base 14. Under the limitation of the movement of the sliding groove on the central block 22 and the deformation mechanism base 14, the deformation driving rod 12 pulls the wing supporting rod 24 to the central block. When the first wing support rod 24b is folded towards the central block, the second wing support rod 24a is pulled to drive the wings 18 to move downwards, so that the wings 18 are contracted. Wherein the wing support rods 24 are coaxially matched with the central block 22 and the protrusion matching structure on the wing 18 respectively and fixed by a stainless steel optical axis.
As shown in fig. 5, the steering engine 25 is matched with the connecting piece of the tail panel framework 28, the steering engine 25 of the left control vertical tail 27 control surface is fixed by glue after being inserted from bottom to top, the bottoms of the steering engines 25 of the right two control horizontal tails 30 control surfaces are symmetrically arranged from bottom to bottom, the connecting piece is inserted from right to left, and the connecting piece is fixed by glue. The pump nozzle 26 is fixed on the tail cover plate framework 28 by a pump nozzle fixing piece 29 through screws. The vertical tails 27 and the horizontal tails 30 are fitted through special openings in the skin panel frame 28 and their own slots in the frame and are secured by glue. The folding and unfolding steps of the water-air cross-medium folding wing unmanned aerial vehicle are as follows.
In the stage of level flight of the unmanned aerial vehicle, cruising is carried out at a constant speed and a constant attack angle;
secondly, when the unmanned aerial vehicle carries out air-water transition, the body dives in a negative attack angle posture, and meanwhile, the wings 18 are folded; the folding process is as follows:
as shown in fig. 8, when the unmanned aerial vehicle enters water in the air from the outside, the main wing 18 rotates counterclockwise around the Y axis until the wing chord line is perpendicular to the X axis, and then rotates counterclockwise around the Z axis until the wing clings to the fuselage, so as to complete the attitude conversion of the whole "air-water" vehicle, and when viewed from the inside, the steering engine 16 drives the center block 22 to rotate through the ball head buckle pull rod 21, and the center block 22 drives the deformation driving rod 12 to rotate; under the motion limitation of the sliding groove and the large rotating rod 37 on the central block 22, the deformation driving rod 12 pulls the wing 18 supporting rod 24 to the central block; the first wing support rod 24b can pull the second wing support rod 24a while being folded towards the central block to drive the wings to move downwards, so that the wings 18 are contracted; the process of extending the wing 18 is the reverse of the process of retracting; meanwhile, the tail rudder 30 and the canard wing 2 control the stability of the attitude stability of the whole unmanned aerial vehicle, when the pitching angle speed of the unmanned aerial vehicle body is larger than 5m/s during attitude conversion, the tail rudder 30 deflects to generate aerodynamic moment, the pitching angle speed is reduced, and the attitude stability of the whole unmanned aerial vehicle is kept; the attack angle of the canard 2 is increased, and the attitude control response speed is improved; in the water inlet process, water enters from the water inlet holes, flows into the machine body, and accelerates the machine body to sink, and meanwhile, the underwater power pump 26 starts to work;
step three, as shown in fig. 6, when the unmanned aerial vehicle submerges, the pump jet 26 provides power, the wings 18 keep folded states, and the empennage 30 and the canard 2 jointly act to control the stability of the posture of the unmanned aerial vehicle;
step four, as shown in fig. 9, when the unmanned aerial vehicle is in the 'water-air' transition, the wing 18 rotates clockwise around the y axis to the wing chord line parallel to the X axis when viewed from the outside, the wing rotates to the wing flat along the X axis, and the motion process of the internal mechanism is the 'air-water' inverse process; and during transition, the tail rudder 30 deflects in the negative direction to generate a head-up torque, the canard wing 2 is deflected to prevent the airframe from rolling, and the throttle value of the underwater power pump for spraying 26 is increased to the maximum, so that the unmanned aerial vehicle can discharge water in a large attack angle posture.
The overall deformation process is shown in figure 10
Example 2:
as shown in fig. 6, the water inlet of the dual pump 32 is matched with the water inlet 26a of the tail cover frame 28 in position, and the water outlet of the dual pump 32 is matched with the circular holes of the carbon plates at the upper right and lower right of the tail cover frame 28 in coaxial mode.
In the submergence state, water flows into the machine body from the water inlet 26a as shown in fig. 11, and is sprayed out from the water outlet of the tail after being accelerated by the pump spray 30; when the unmanned aerial vehicle takes off in water, the unmanned aerial vehicle takes off in a large-elevation attitude, water in the unmanned aerial vehicle body is discharged from the water outlet, the water discharge pipe is designed for guiding water, the requirement of two media on the weight of the unmanned aerial vehicle is met, the size of the unmanned aerial vehicle is effectively reduced, and compared with other cross-medium unmanned aerial vehicles, the unmanned aerial vehicle has the advantages that the size constraint is guaranteed, and meanwhile the loading capacity is guaranteed.
Example 3:
as shown in fig. 6, the air-underwater dual-power system adopts a foldable propeller blade 5, a motor 31 and a pump nozzle 26 as a power system of the whole machine, and the foldable propeller 5 and the motor 31 with high rotating speed provide power in the air; when the unmanned aerial vehicle enters water, the motor 31 stops rotating, power is switched to the pump jet 26, and the unmanned aerial vehicle is propelled by the double pump jet 32 when underwater.
The above detailed description is intended to illustrate the objects, aspects and advantages of the present invention, and it should be understood that the above detailed description is only exemplary of the present invention and is not intended to limit the scope of the present invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (6)
1. The utility model provides a medium folding wing unmanned aerial vehicle is striden to empty, its characterized in that: the method comprises the following steps: a head section, a middle fuselage section and a tail;
the head section includes: the foldable propeller, the motor, the electric controller, the first steering engine, the duck wing, the power supply equipment and the electric control equipment are arranged in the waterproof box; the electric regulator converts direct current of the power supply equipment into alternating current for driving a motor; the motor drives the foldable propeller to provide tension and provide air flight power; the first steering engine is used for controlling the deflection of the duck wing, so that the aim of attitude control is fulfilled; the electric control equipment is used for controlling the whole machine;
the fuselage middle section includes: a wing and a deformation mechanism between the two wings; the deformation mechanism is positioned between the head section and the tail section and is used for controlling the wing to unfold and fold;
the tail is of a hollow structure, and the third steering engine is used for controlling deflection of a control surface of the tail; the pump is arranged at the tail of the aircraft close to the middle section of the aircraft body and used for providing underwater power.
2. The aerial cross-media folding-wing drone of claim 1, characterized in that: the integral machine body adopts a hollow truss structure.
3. The aerial cross-media folding-wing drone of claim 1, characterized in that: the deformation mechanism includes: the aircraft comprises a deformation mechanism base, a central block, a first wing supporting rod, a second wing supporting rod, a ball head buckle pull rod and a second steering engine; the deformation mechanism base is fixed on the machine body; the wing supporting rod is respectively movably connected with the wing and the central block; the second steering engine is used for providing power for deformation movement of the deformation section;
the deformation mechanism base includes: the rotating shaft connecting rod, the large rotating rod limiting mechanism and the deformation driving rod are arranged on the rotating shaft; the rotating shaft connecting rod is of a structure with two thick ends and a thin middle section and is used for connecting the central block; the large rotating rod limiting mechanism is of a fan-shaped structure and is used for limiting the large rotating rod so as to realize folding of the wings; the deformation driving rod consists of a large rotating rod and a combined universal joint; the universal joints are symmetrically arranged on two sides of the large rotating rod; the large rotating rod slides along the large rotating rod limiting mechanism; the universal joint is used for connecting the first wing supporting rod and the second wing supporting rod;
the center block is of a circular structure.
4. The aerial cross-media folding-wing drone of claim 3, characterized in that: the deformation mechanism includes: the wing is of a double-layer structure, the upper layer is a foam plate, and the lower layer is formed by photosensitive resin 3D printing parts.
5. The aerial cross-media folding-wing drone of claim 1, characterized in that: the machine tail is provided with a water inlet.
6. The aerial cross-media folding-wing drone of any one of claims 1 to 5, characterized in that: the working process is as follows:
in the unmanned plane level flight stage, cruising is carried out at a constant speed and a constant attack angle;
secondly, when the unmanned aerial vehicle carries out air-water transition, the body dives in a negative attack angle posture, and meanwhile wings are folded; the folding process is as follows:
when the unmanned aerial vehicle is seen from the outside, the main wing rotates anticlockwise around the Y axis until the wing chord line is vertical to the X axis and then rotates anticlockwise around the Z axis until the wing is tightly attached to the machine body, so that the posture conversion of the whole air-water unmanned aerial vehicle is completed, and when the unmanned aerial vehicle is seen from the inside, the steering engine drives the center block to rotate through the ball head buckle pull rod, and the center block drives the deformation driving rod to rotate; under the motion limitation of the sliding groove and the large rotating rod on the central block, the deformation driving rod pulls the wing supporting rod to the central block; the first wing support rod can pull the second wing support rod while being folded towards the central block to drive the wings to move downwards, so that the wings are contracted; the unfolding process of the wing is the reverse process of the folding process; meanwhile, the tail rudder and the canard wing control the stability of the attitude stability of the whole unmanned aerial vehicle, when the pitch angle speed of the unmanned aerial vehicle body is larger than 5m/s during attitude conversion, the tail rudder deflects to generate aerodynamic torque, the pitch angle speed is reduced, and the attitude stability of the whole unmanned aerial vehicle is kept; the canard attack angle is increased, and the attitude control response speed is improved; in the water inlet process, water enters from the water inlet holes, flows into the machine body, accelerates the machine body to sink, and simultaneously, the underwater power pump starts to work;
thirdly, when the unmanned aerial vehicle is submerged, the pump spray provides power, the wings are kept in a folded state, and the stability of the posture of the unmanned aerial vehicle is controlled by the combined action of the empennage and the canard wing;
when the unmanned aerial vehicle is in 'water-air' transition, the wing is seen from the outside to rotate clockwise around the y axis until the wing chord line is parallel to the X axis, the wing rotates to be flat along the X axis, and the motion process of the internal mechanism is the 'air-water' inverse process; and during transition, the negative direction of the tail vane deflects to generate a head-up torque, the machine body is prevented from rolling by deflecting the canard, the throttle value of the underwater power pump is increased to the maximum, and the unmanned aerial vehicle is enabled to discharge water in a large attack angle posture.
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| CN202210330170.0A CN114889375A (en) | 2022-03-28 | 2022-03-28 | Water-air cross-medium folding wing unmanned aerial vehicle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116160810A (en) * | 2022-10-25 | 2023-05-26 | 南京航空航天大学 | Sea-air amphibious cross-medium aircraft capable of being put in all regions and flight control method thereof |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116160810A (en) * | 2022-10-25 | 2023-05-26 | 南京航空航天大学 | Sea-air amphibious cross-medium aircraft capable of being put in all regions and flight control method thereof |
| CN116160810B (en) * | 2022-10-25 | 2024-02-13 | 南京航空航天大学 | Sea-air amphibious cross-medium aircraft capable of being put in all regions and flight control method thereof |
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