CN115320843B - Water-air double-power tilting rotor wing medium-crossing unmanned aerial vehicle - Google Patents
Water-air double-power tilting rotor wing medium-crossing unmanned aerial vehicle Download PDFInfo
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- CN115320843B CN115320843B CN202211071852.0A CN202211071852A CN115320843B CN 115320843 B CN115320843 B CN 115320843B CN 202211071852 A CN202211071852 A CN 202211071852A CN 115320843 B CN115320843 B CN 115320843B
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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
- 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
- B63G8/16—Control of attitude or depth by direct use of propellers or jets
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C11/00—Propellers, e.g. of ducted type; Features common to propellers and rotors for rotorcraft
- B64C11/16—Blades
- B64C11/20—Constructional features
- B64C11/28—Collapsible or foldable blades
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D27/00—Arrangement or mounting of power plant in aircraft; Aircraft characterised thereby
- B64D27/02—Aircraft characterised by the type or position of power plant
- B64D27/24—Aircraft characterised by the type or position of power plant using steam, electricity, or spring force
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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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- 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
Abstract
The invention discloses a water-air double-power tilting rotor wing medium-crossing unmanned aerial vehicle, which comprises a machine body, a middle propeller component and a comprehensive power component, wherein the middle propeller component is arranged on the machine body; the middle part of the machine body is provided with a duct in the vertical direction, a middle propeller assembly is arranged in the duct, the comprehensive power assembly comprises a first motor, a rotating shaft, a support, flying blades, a flying rotating member, a propelling blade, a propelling rotating member and a folding driving assembly, the first motor drives the rotating shaft to rotate, and the support is connected with the rotating shaft; the folding driving assembly drives the flying blades and the propelling blades to fold and unfold; according to the invention, the middle propeller is arranged in the duct in the middle of the machine body, so that the unmanned aerial vehicle can float on the water surface and keep the flying blades above the water surface, and the state is taken as the middle state of the unmanned aerial vehicle crossing medium, so that the stability of the unmanned aerial vehicle crossing medium can be effectively improved.
Description
Technical Field
The invention relates to the field of unmanned aerial vehicles, in particular to a water-air double-power tilting rotor wing medium-crossing unmanned aerial vehicle.
Background
A medium-crossing unmanned aerial vehicle refers to an aircraft capable of performing sailing tasks in different mediums, and in most cases refers to an aircraft with underwater and air sailing capabilities, and can cross water and air two mediums once or multiple times by self energy. The medium-crossing unmanned aerial vehicle integrates concealment of the underwater vehicle and rapidness of the air vehicle, can navigate under water, cooperatively operate and provide relay service, can fly near water, performs rapid searching, transporting and transferring work, and can be capable of meeting various complex tasks.
Many researches on a medium-crossing unmanned aerial vehicle in the prior art are carried out, for example, china patent application No. 2022111662611.9, namely a sea-air amphibious medium-crossing bionic aircraft and a working method thereof, provides an aircraft comprising a fuselage, tilting duct rotors and tail propellers, wherein the aircraft utilizes the rotors on two sides of the fuselage to provide lift force for flying in the air, and utilizes the tail propellers to provide power for underwater navigation. The disadvantage of this aircraft is that the rotor and the tail rotor do not have a shrink function, especially in the air flight regime, the tail rotor has a negative effect on the aerodynamic layout of the whole aircraft, resulting in a reduced flying capacity.
Disclosure of Invention
The technical problem to be solved by the invention is that a flying power mechanism and an underwater navigation power mechanism of a cross-medium unmanned aerial vehicle in the prior art lack of flexibility, so that the flying and underwater navigation of the unmanned aerial vehicle are influenced.
In order to solve the technical problems, the invention adopts the following technical scheme: a water-air double-power tilting rotor wing medium-crossing unmanned aerial vehicle comprises a machine body, a middle propeller assembly and a comprehensive power assembly;
the middle part of the machine body is provided with a duct in the vertical direction, a middle propeller component is arranged in the duct, and two sides of the machine body are respectively provided with a comprehensive power component;
the comprehensive power assembly comprises a first motor, a rotating shaft, a support, a flying blade, a flying rotating piece, a propelling blade, a propelling rotating piece and a folding driving assembly, wherein the first motor and the rotating shaft are arranged on the side surface of the machine body, the rotating shaft is driven by the first motor to rotate, and the support is connected with the rotating shaft; a flying motor and a propelling motor are arranged in the support, the flying motor drives the flying rotating member to rotate, and the propelling motor drives the propelling rotating member to rotate; the folding driving assembly drives the flying blades and the propelling blades to fold and unfold;
the folding driving assembly comprises a driving sleeve, a flying sliding sleeve, a flying connecting rod, a propelling sliding sleeve and a propelling connecting rod, wherein the supporting seat is cylindrical, the driving sleeve and the flying sliding sleeve are sleeved on the supporting seat, the propelling sliding sleeve is sleeved on the propelling rotating piece, the flying rotating piece and the propelling rotating piece are respectively positioned at two ends of the supporting seat, and the flying rotating piece and the propelling rotating piece are coaxial; the two ends of the flying connecting rod are respectively hinged with the flying blade and the flying sliding sleeve, and the two ends of the propelling connecting rod are respectively hinged with the propelling blade and the propelling sliding sleeve; the driving sleeve enables the folding and unfolding actions of the flying blade and the pushing blade to keep linkage, and when the flying blade is unfolded, the pushing blade is folded; when the flying blade is folded, the propulsion blade is extended.
In the invention, the flight blades provide lift force for the unmanned aerial vehicle to fly in the air after rotating, the propulsion blades provide forward power for the unmanned aerial vehicle to navigate in water after rotating, and the middle propeller positioned in the middle duct of the machine body is used for controlling the unmanned aerial vehicle to float and dive in water.
Specifically, annular grooves are formed in the flying sliding sleeve and the pushing sliding sleeve, a hooking tongue is arranged at each of two ends of the driving sleeve, the two hooking tongues are respectively inserted into the annular grooves of the flying sliding sleeve and the pushing sliding sleeve, the hooking tongues and the annular grooves are used for ensuring that the driving sleeve can drive the flying sliding sleeve and the pushing sliding rail to translate along the axial direction of the support, and meanwhile, the flying sliding sleeve and the pushing sliding sleeve can rotate relative to the driving sleeve; the driving sleeve enables the folding and unfolding actions of the flying blade and the pushing blade to keep linkage, and when the flying blade is unfolded, the pushing blade is folded; when the flying blades are folded, the propulsion blades are unfolded; when the unmanned aerial vehicle flies in the air, the propelling blades are in a folding state, when the unmanned aerial vehicle flies in water, the flying blades are in a folding state, the effect of the propelling blades on the flying of the unmanned aerial vehicle is avoided as much as possible, and the effect of the flying blades on the flying of the unmanned aerial vehicle in water is avoided.
Further, the folding driving assembly further comprises a second motor and a screw rod, the second motor is arranged on the rotating shaft, the second motor drives the screw rod to rotate, and the screw rod is parallel to the cylindrical support; the driving sleeve is provided with a threaded hole, and the screw rod is in threaded connection with the driving sleeve through the threaded hole; when the second motor drives the screw rod to rotate, the driving sleeve moves along the axial direction of the cylindrical support.
Furthermore, the flying motor and the propelling motor are brushless motors.
Specifically, two sides of the machine body are respectively provided with a horizontal beam, and the horizontal beams are used for installing the comprehensive power assembly, namely the first motor and the rotating shaft are installed on the horizontal beams; the tail part of the machine body is provided with a full-motion tail wing.
Specifically, middle part screw subassembly includes third motor and middle part screw, and third motor and middle part screw all are located the duct, and third motor drive middle part screw is rotatory, in order to reduce the yaw moment, improves stability, the quantity of middle part screw is two, and two middle part screws are upper and lower distribution and coaxial.
The beneficial effects are that: (1) According to the medium-crossing unmanned aerial vehicle, the middle propeller is arranged in the duct in the middle of the body, so that the unmanned aerial vehicle can float on the water surface and keep the flying blades above the water surface, and the state is used as the medium state of the unmanned aerial vehicle, so that the stability of the unmanned aerial vehicle in the medium crossing process can be effectively improved. (2) According to the cross-medium unmanned aerial vehicle, both the flying blades and the propelling blades are of the foldable structure, so that when the unmanned aerial vehicle flies in the air, the propelling blades are in a folded state, and when the unmanned aerial vehicle flies in water, the flying blades are in the folded state, so that the flying blades are prevented from influencing the unmanned aerial vehicle to fly in the air as far as possible, and the flying blades are prevented from influencing the unmanned aerial vehicle to fly in the water. (3) According to the cross-medium unmanned aerial vehicle, the driving sleeve is utilized in the folding driving assembly to enable the folding and unfolding actions of the flying blade and the pushing blade to be kept linked, so that the control structure is simplified, and the reliability of the mechanism is improved. (4) The medium-crossing unmanned aerial vehicle integrates the flying power and the propelling power into the comprehensive power assembly, and the working directions of the flying blades and the propelling blades can be controlled by utilizing one rotating shaft, so that the water-air power switching can be realized, and the air flying attitude can be controlled.
Drawings
Fig. 1 is a perspective view of the unmanned aerial vehicle of embodiment 1.
Fig. 2 is a perspective view (cut-away body) of the unmanned aerial vehicle of embodiment 1.
Fig. 3 is a perspective view of the integrated power module of example 1.
Fig. 4 is a perspective view of the integrated power module of example 1 (with the propulsion blades deployed and the flying blades hidden).
Fig. 5 is a perspective view (partially cut away) of the folding drive assembly of embodiment 1.
Wherein: 100. a body; 110. a duct; 120. a horizontal beam; 130. full-motion tail wing; 200. a middle propeller assembly; 210. a third motor; 220. a middle propeller; 300. a comprehensive power assembly; 310. a first motor; 320. a rotating shaft; 330. a support; 340. flying blades; 350. a flight rotator; 360. propelling the blade; 370. advancing the rotating member; 380. a folding drive assembly; 381. a drive sleeve; 382. a flight sliding sleeve; 383. a flight linkage; 384. pushing the sliding sleeve; 385. a push link; 386. a second motor; 387. and (5) a screw rod.
Detailed Description
The present invention will be described in further detail with reference to the following embodiments.
Example 1
As shown in fig. 1 to 5, the water-air dual-power tilting rotor cross-medium unmanned aerial vehicle of the present embodiment includes a machine body 100, a middle propeller assembly 200 and a comprehensive power assembly 300.
The middle part of organism 100 sets up the duct 110 of vertical direction, and the organism 100 both sides each set up a horizontal beam 120, and horizontal beam 120 is used for installing integrated power assembly 300, and the afterbody of organism 100 is provided with full-motion fin 130.
As shown in fig. 2, the middle propeller assembly 200 includes a third motor 210 and two middle propellers 220, the third motor 210 and the middle propellers 220 are both located in the duct 110, the two middle propellers 220 are vertically distributed and coaxial, and the third motor 210 drives the two middle propellers 220 to rotate.
As shown in fig. 3 to 5, the integrated power assembly 300 includes a first motor 310, a rotation shaft 320, a support 330, a flying blade 340, a flying rotator 350, a propelling blade 360, a propelling rotator 370, and a folding driving assembly 380, the first motor 310 and the rotation shaft 320 are mounted on the horizontal beam 120 at the side of the body 100, the first motor 310 drives the rotation shaft 320 to rotate, and the support 330 is connected to the rotation shaft 320; a flying motor and a propelling motor are arranged in the support 330, the flying motor drives the flying rotating member 350 to rotate, and the propelling motor drives the propelling rotating member 370 to rotate; a plurality of flying blades 340 are hinged to the flying rotator 350, and a plurality of propelling blades 360 are hinged to the propelling rotator 370.
The folding driving assembly 380 comprises a driving sleeve 381, a flying sliding sleeve 382, a flying connecting rod 383, a propelling sliding sleeve 384, a propelling connecting rod 385, a second motor 386 and a lead screw 387, wherein the supporting seat 330 is cylindrical, the driving sleeve 381 and the flying sliding sleeve 382 are sleeved on the supporting seat 330, the propelling sliding sleeve 384 is sleeved on the propelling rotating member 370, the flying rotating member 350 and the propelling rotating member 370 are respectively positioned at two ends of the supporting seat 330, the flying rotating member 350 and the propelling rotating member 370 are coaxial, annular grooves are respectively arranged on the flying sliding sleeve 382 and the propelling sliding sleeve 384, one hook tongue is respectively arranged at two ends of the driving sleeve 381, the two hook tongues are respectively inserted into the annular grooves of the flying sliding sleeve 382 and the propelling sliding sleeve 384, and the hook tongues and the annular grooves are used for ensuring that the driving sleeve 381 can drive the flying sliding sleeve 382 and the propelling sliding sleeve 384 to axially translate along the supporting seat 330, and simultaneously the flying sliding sleeve 382 and the propelling sliding sleeve 384 can rotate relative to the driving sleeve 381; both ends of the flying link 383 are respectively hinged with the flying blade 340 and the flying slide sleeve 382, and both ends of the pushing link 385 are respectively hinged with the pushing blade 360 and the pushing slide sleeve 384; the driving sleeve 381 keeps the folding and unfolding actions of the flying blade 340 and the pushing blade 360 linked, and when the flying blade 340 is unfolded, the pushing blade 360 is folded; as flying blades 340 collapse, propulsion blades 360 are deployed.
A second motor 386 is mounted on the rotating shaft 320, the second motor 386 drives a lead screw 387 to rotate, and the lead screw 387 is parallel to the cylindrical support 330; the driving sleeve 381 is provided with a threaded hole, and the lead screw 387 is in threaded connection with the driving sleeve 381 through the threaded hole; when the second motor 386 drives the lead screw 387 to rotate, the driving sleeve 381 moves along the axial direction of the cylindrical holder 330.
The double dynamical rotor that verts of water sky of this embodiment strides medium unmanned aerial vehicle possesses the ability of flying in the air and sailing under water, and specific theory of operation is:
(1) As shown in fig. 3, the second motor 386 drives the screw 387 to rotate, so that the driving sleeve 381 descends, the driving sleeve 381 drives the flying sliding sleeve 382 and the pushing sliding sleeve 384 to descend, the flying blade 340 is unfolded, and the pushing blade 360 is folded; the unmanned aerial vehicle is in a flight state at this moment, the flight blades 340 rotate to provide flight power for the unmanned aerial vehicle, and the direction of the rotation plane of the flight blades 340 is adjusted through the rotating shaft 320 to control the flight direction and the gesture of the unmanned aerial vehicle; it should be noted that, the two left and right integrated power assemblies 300 in fig. 1 are in different states for convenience of illustration only, and in practical application, the two left and right integrated power assemblies 300 are always in the same state; when the unmanned aerial vehicle is in a flight state, the right comprehensive power assembly 300 in fig. 1 should be adjusted to be consistent with the left comprehensive power assembly 300;
(2) When the unmanned aerial vehicle is ready to enter water, the unmanned aerial vehicle first descends vertically above the water surface until the middle propeller 220 is completely submerged; then the flying blade 340 stops rotating, the first motor 310 controls the rotating shaft 320 to rotate, so that the two integrated power assemblies 300 rotate to the state of the right integrated power assembly 300 in fig. 1, the second motor 386 drives the lead screw 387 to rotate, and the driving sleeve 381, the flying sliding sleeve 382 and the pushing sliding sleeve 384 enable the flying blade 340 to be folded, and the pushing blade 360 to be unfolded;
(3) The third motor 210 drives the middle propeller 220 to rotate so that the unmanned aerial vehicle submerges under water, and then the propulsion blades 360 rotate to provide power for the underwater navigation of the unmanned aerial vehicle; the middle propeller 220 controls the ascent and descent of the unmanned aerial vehicle in the water.
The water outlet process of the cross-medium unmanned aerial vehicle is similar to the water inlet process, and will not be described again. The cross-medium unmanned aerial vehicle of the embodiment sets the flying blade 340 and the propelling blade 360 to be in a foldable structure, so that when the unmanned aerial vehicle flies in the air, the propelling blade 360 is in a folded state, and when the unmanned aerial vehicle flies in water, the flying blade 340 is in a folded state; not only has realized unmanned aerial vehicle perpendicular water inlet and water outlet, but also very big avoided propulsion blade 360 to influence unmanned aerial vehicle aerial flight and avoided flying blade 340 to influence unmanned aerial vehicle underwater navigation.
Although embodiments of the present invention have been described in the specification, these embodiments are presented only, and should not limit the scope of the present invention. Various omissions, substitutions and changes in the form of examples are intended in the scope of the invention.
Claims (9)
1. A water-air double-power tilting rotor wing medium-crossing unmanned aerial vehicle is characterized in that: comprises a machine body (100), a middle propeller component (200) and a comprehensive power component (300);
the middle part of the machine body (100) is provided with a duct (110), a middle propeller component (200) is arranged in the duct (110), and two sides of the machine body (100) are respectively provided with a comprehensive power component (300); the comprehensive power assembly (300) comprises a first motor (310), a rotating shaft (320), a support (330), flying blades (340), a flying rotating piece (350), propelling blades (360), a propelling rotating piece (370) and a folding driving assembly (380), wherein the first motor (310) and the rotating shaft (320) are arranged on the side face of the machine body (100), the rotating shaft (320) is driven by the first motor (310) to rotate, and the support (330) is connected with the rotating shaft (320); a flying motor and a propelling motor are arranged in the support (330), the flying motor drives the flying rotating piece (350) to rotate, and the propelling motor drives the propelling rotating piece (370) to rotate; a plurality of flying blades (340) are hinged on the flying rotating member (350), a plurality of propelling blades (360) are hinged on the propelling rotating member (370), and a folding driving assembly (380) drives the flying blades (340) and the propelling blades (360) to fold and unfold;
the folding driving assembly (380) comprises a driving sleeve (381), a flying sliding sleeve (382), a flying connecting rod (383), a propelling sliding sleeve (384) and a propelling connecting rod (385), the supporting seat (330) is cylindrical, the driving sleeve (381) and the flying sliding sleeve (382) are sleeved on the supporting seat (330), and the propelling sliding sleeve (384) is sleeved on the propelling rotating piece (370); both ends of the flying connecting rod (383) are respectively hinged with the flying blade (340) and the flying sliding sleeve (382), both ends of the propelling connecting rod (385) are respectively hinged with the propelling blade (360) and the propelling sliding sleeve (384), the driving sleeve (381) keeps linkage of folding and unfolding actions of the flying blade (340) and the propelling blade (360), and when the flying blade (340) is unfolded, the propelling blade (360) is folded; when the flying blade (340) is folded, the propulsion blade (360) is extended.
2. The water-air dual-power tilting rotor medium-crossing unmanned aerial vehicle of claim 1, wherein: annular grooves are formed in the flight sliding sleeve (382) and the propelling sliding sleeve (384), a hook tongue is arranged at each of two ends of the driving sleeve (381), and the two hook tongues are inserted into the annular grooves of the flight sliding sleeve (382) and the propelling sliding sleeve (384) respectively.
3. The water-air dual-power tilting rotor medium-crossing unmanned aerial vehicle of claim 2, wherein: the flying rotating member (350) and the pushing rotating member (370) are respectively positioned at two ends of the support (330), and the flying rotating member (350) and the pushing rotating member (370) are coaxial.
4. The water-air dual-power tilting rotor medium-crossing unmanned aerial vehicle of claim 3, wherein: the folding driving assembly (380) further comprises a second motor (386) and a screw rod (387), the second motor (386) is arranged on the rotating shaft (320), and the second motor (386) drives the screw rod (387) to rotate; the driving sleeve (381) is provided with a threaded hole, and the lead screw (387) is in threaded connection with the driving sleeve (381) through the threaded hole.
5. The water-air dual-power tilting rotor medium-crossing unmanned aerial vehicle of claim 4, wherein: the flying motor and the propelling motor are brushless motors.
6. The water-air dual-power tilting rotor medium-crossing unmanned aerial vehicle of claim 5, wherein: two sides of the machine body (100) are respectively provided with a horizontal beam (120), and the first motor (310) and the rotating shaft (320) are arranged on the horizontal beams (120).
7. The water-air dual-power tilting rotor medium-crossing unmanned aerial vehicle of claim 1, wherein: the tail part of the machine body (100) is provided with a full-motion tail wing (130).
8. The water-air dual-power tilting rotor medium-crossing unmanned aerial vehicle of claim 1, wherein: the middle propeller assembly (200) comprises a third motor (210) and a middle propeller (220), the third motor (210) and the middle propeller (220) are both positioned in the duct (110), and the third motor (210) drives the middle propeller (220) to rotate.
9. The water-air dual-power tilting rotor medium-crossing unmanned aerial vehicle of claim 8, wherein: the number of the middle propellers (220) is two, and the two middle propellers (220) are distributed up and down and are coaxial.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211071852.0A CN115320843B (en) | 2022-09-02 | 2022-09-02 | Water-air double-power tilting rotor wing medium-crossing unmanned aerial vehicle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211071852.0A CN115320843B (en) | 2022-09-02 | 2022-09-02 | Water-air double-power tilting rotor wing medium-crossing unmanned aerial vehicle |
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| CN115320843A CN115320843A (en) | 2022-11-11 |
| CN115320843B true CN115320843B (en) | 2023-07-14 |
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| CN115649423B (en) * | 2022-12-29 | 2023-03-21 | 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 coaxial double-paddle structure |
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| CN114524091A (en) * | 2022-01-28 | 2022-05-24 | 北京大学 | Trans-medium aircraft with variable structure |
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| CN109624626A (en) * | 2018-12-19 | 2019-04-16 | 中国人民解放军国防科技大学 | Coaxial double-paddle mechanism capable of realizing synchronous folding of paddles |
| CN114084341A (en) * | 2021-11-26 | 2022-02-25 | 哈尔滨工程大学 | Vortex propeller pump integrated water-span medium aircraft power device capable of repeatedly entering and exiting |
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