CN116001764A - Triphibian hovercraft - Google Patents
Triphibian hovercraft Download PDFInfo
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- CN116001764A CN116001764A CN202310080840.2A CN202310080840A CN116001764A CN 116001764 A CN116001764 A CN 116001764A CN 202310080840 A CN202310080840 A CN 202310080840A CN 116001764 A CN116001764 A CN 116001764A
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- 230000005540 biological transmission Effects 0.000 claims abstract description 51
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 claims description 16
- 229910052799 carbon Inorganic materials 0.000 claims description 16
- 230000001681 protective effect Effects 0.000 claims description 5
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 abstract description 8
- 230000000694 effects Effects 0.000 description 6
- 230000007246 mechanism Effects 0.000 description 5
- 230000008859 change Effects 0.000 description 3
- 230000006835 compression Effects 0.000 description 3
- 238000007906 compression Methods 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 239000000725 suspension Substances 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
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- 238000006467 substitution reaction Methods 0.000 description 1
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Abstract
The invention provides a triphibian hovercraft, comprising: the device comprises a machine body, a first motor, a second motor, a third motor, a fourth motor, a fifth motor, a sixth motor and a tilting adjusting device; the machine body comprises an air cushion main body, a first fixing seat, a second fixing seat and a third fixing seat, wherein the lower end of the first fixing seat is connected with the lower end of the third fixing seat through a first transmission shaft, the upper end of the second fixing seat is connected with the upper end of the third fixing seat through a second transmission shaft, a second motor and a fourth motor are respectively fixed at two ends of the second transmission shaft, a fifth motor is fixed at one side, far away from the air cushion main body, of the third fixing seat, and a sixth motor is fixed at one side, close to the air cushion main body, of the third fixing seat and penetrates through the air cushion main body; the tilting adjusting device is fixed on the air cushion main body and is in transmission connection with the second transmission shaft to adjust the rotation of the second transmission shaft. The triphibian air cushion ship can switch three modes of water, land and air, realizes triphibian capability and has wide application range.
Description
Technical Field
The invention relates to the technical field of air cushion ships, in particular to a triphibian air cushion ship.
Background
The main amphibious ships in the world are amphibious air cushion ships and water-air amphibious ground effect wing ships. The amphibious air cushion ship has large weight and relatively heavy weight, and cannot enter the air; the amphibious ground effect wing ship can only fly in a specific area, and the amphibious ground effect wing ship can not be used for amphibious and air. In view of this, triphibian air cushion vessels capable of being used in water, land and sky appear in the market, and the wing installation angle is an important parameter of the triphibian air cushion vessels, and directly influences the service performance of the triphibian air cushion vessels, and the existing wing installation angle of the triphibian air cushion vessels adopts a field test method, so that repeated improvement and test are required, and time and labor are wasted.
Currently, air cushion ships generally have amphibious capability, are difficult to pass under the conditions of rugged land, protrusions, cliffs and the like, and have large limitation on use situations; some air cushion vessels have triphibian capability, but cannot autonomously change the form of water, land and air, so that the air cushion vessels are inconvenient for practical application.
Therefore, the amphibious ability of the hovercraft has single function and small application range.
Disclosure of Invention
In order to overcome the defects of the related art, the invention provides the triphibian air cushion ship with the autonomous tilting rotor system, which can change a machine body structure and a control mode through a tilting mechanism, can switch three modes of water, land and air and realize triphibian capability.
In order to solve the above technical problems, an embodiment of the present invention provides a amphibious air cushion vehicle, including: the device comprises a machine body, a first motor, a second motor, a third motor, a fourth motor, a fifth motor, a sixth motor and a tilting adjusting device;
the machine body comprises an air cushion main body, a first fixing seat, a second fixing seat and a third fixing seat, wherein the first fixing seat is oppositely arranged on the air cushion main body, the second fixing seat is oppositely arranged on the air cushion main body, the third fixing seat is arranged between the first fixing seat and the second fixing seat, the lower end of the first fixing seat is connected with the lower end of the third fixing seat through a first transmission shaft, the upper end of the second fixing seat is connected with the upper end of the third fixing seat through a second transmission shaft, the first motor and the third motor are respectively fixed at two ends of the second transmission shaft, the second motor and the fourth motor are respectively fixed at two ends of the second transmission shaft, the fifth motor is fixed at one side, far away from the air cushion main body, of the third fixing seat, and the sixth motor is fixed at one side, close to the air cushion main body, and penetrates through the air cushion main body. The tilting adjustment device is fixed on the air cushion main body and is in transmission connection with the second transmission shaft to adjust the rotation of the second transmission shaft;
the protective cover is sleeved and fixed on the machine body;
the first motor, the second motor, the third motor, the fourth motor, the fifth motor and the sixth motor are respectively and fixedly provided with a first rotor wing, a second rotor wing, a third rotor wing, a fourth rotor wing, a fifth rotor wing and a sixth rotor wing; the first rotor wing, the second rotor wing, the third rotor wing, the fourth rotor wing and the fifth rotor wing are arranged on one side of the air cushion main body; the sixth rotor wing is arranged on the other side of the air cushion main body, and the arrangement direction of the sixth rotor wing is opposite to that of the fifth rotor wing.
Preferably, the second transmission shaft is rotatably disposed in the second fixing seat and the third fixing seat.
Preferably, the tilting adjustment device comprises a tilting stepping motor fixed on the air cushion main body, a worm fixed on the output end of the tilting stepping motor and a worm wheel fixed on the second transmission shaft, wherein the worm is in transmission connection with the worm wheel, and the tilting stepping motor drives the worm to rotate so as to drive the worm wheel to rotate, so that the rotation function of the second transmission shaft is realized.
Preferably, the amphibious air cushion vehicle further comprises a magnet and a magnetic encoder which is arranged corresponding to the magnet, and the magnet is fixed at the tail end of the worm.
Preferably, the tilting adjustment device further comprises a mounting seat, the mounting seat is fixed on the air cushion main body, and the tilting stepping motor is fixed on the mounting seat.
Preferably, the first transmission shaft is a longitudinal carbon tube, the second transmission shaft is a transverse carbon tube, and the transverse carbon tube and the longitudinal carbon tube are mutually perpendicular.
Preferably, the second fixing seat is a bearing, and the second transmission shaft is fixed in the bearing.
Preferably, the fifth motor is a first-stage compressor motor.
Preferably, the sixth motor is a secondary compressor motor.
Compared with the related art, the amphibious air cushion ship with the autonomous tilting rotor system has the advantages that the body structure is changed through the tilting mechanism, the control mode is switched, the amphibious and air modes can be switched, and the triphibian capability is realized. Therefore, the design scheme of the traditional air cushion ship is broken through, an autonomous deformation mechanism is arranged, the autonomous switching of different structures and control modes of the amphibious and the air cushion ship is realized, the triphibian capability of the air cushion ship is realized, and the obstacle crossing capability and the use situation of the air cushion ship are greatly enhanced.
Drawings
The present invention will be described in detail with reference to the accompanying drawings. The foregoing and other aspects of the invention will become more apparent and more readily appreciated from the following detailed description taken in conjunction with the accompanying drawings. In the accompanying drawings:
FIG. 1 is a schematic view of the overall structure of the amphibious air cushion vehicle of the present invention;
FIG. 2 is a schematic diagram of a tilt adjusting apparatus according to the present invention;
FIG. 3 is a schematic view of the direction of rotor rotation of the amphibious air-cushion vehicle of the present invention;
FIG. 4 is a schematic view of an amphibious air cushion vehicle of the present invention in amphibious mode;
FIG. 5 is a schematic view of the force action of the amphibious air cushion vehicle of the present invention in amphibious mode;
FIG. 6 is a schematic representation of the air mode of the amphibious air cushion vehicle of the present invention.
In the figure, 1, a first motor, 2, a second motor, 3, a third motor, 4, a fourth motor, 5, a fifth motor, 6, a sixth motor, 7, a machine body, 71, an air cushion body, 72, a first fixing seat, 73, a second fixing seat, 74, a third fixing seat, 8, a first transmission shaft, 9, a second transmission shaft, 10, a protective cover, 11, a first rotor, 12, a second rotor, 13, a third rotor, 14, a fourth rotor, 15, a fifth rotor, 16, a sixth rotor, 17, a tilting adjustment device, 171, a tilting stepping motor, 172, a worm, 173, a worm wheel, 18, a magnet, 19, a magnetic encoder, 20 and a mounting seat.
Detailed Description
The following describes in detail the embodiments of the present invention with reference to the drawings.
The detailed description/examples set forth herein are specific embodiments of the invention and are intended to be illustrative and exemplary of the concepts of the invention and are not to be construed as limiting the scope of the invention. In addition to the embodiments described herein, those skilled in the art will be able to adopt other obvious solutions based on the disclosure of the claims and specification of the present application, including those adopting any obvious substitutions and modifications to the embodiments described herein, all within the scope of the present invention.
Example 1
As shown in fig. 1-6, the present invention provides a amphibious air-cushion vehicle comprising: a machine body 7, a first motor 1, a second motor 2, a third motor 3, a fourth motor 4, a fifth motor 5, a sixth motor 6, and a tilting adjustment device 17.
The machine body 7 comprises an air cushion main body 71, a first fixing seat 72 oppositely arranged on the air cushion main body 71, a second fixing seat 73 oppositely arranged on the air cushion main body 71, and a third fixing seat 74 arranged between the first fixing seat 72 and the second fixing seat 73, wherein the lower end of the first fixing seat 72 and the lower end of the third fixing seat 74 are connected through a first transmission shaft 8, the upper end of the second fixing seat 73 and the upper end of the third fixing seat 74 are connected through a second transmission shaft 9, the first motor 1 and the third motor 3 are respectively fixed at two ends of the second transmission shaft 9, the second motor 2 and the fourth motor 4 are respectively fixed at two ends of the second transmission shaft 9, the fifth motor 5 is fixed at one side, far away from the air cushion main body 71, of the third fixing seat 74, and the sixth motor 6 is fixed at one side, near the air cushion main body 71, and penetrates through the air cushion main body 71; the tilting adjustment device 17 is fixed on the air cushion main body 71, and the tilting adjustment device 17 is in transmission connection with the second transmission shaft 9 to adjust the rotation of the second transmission shaft 9.
Specifically, the air cushion body 71 is used to mount the first motor 1, the second motor 2, the third motor 3, the fourth motor 4, the fifth motor 5, the sixth motor 6, and the tilting adjustment device 17. The second transmission shaft 9 is driven to rotate through the tilting adjusting device 17, and two ends of the second transmission shaft 9 drive the second motor 2 and the fourth motor 4 to tilt, so that the tilting of the motors is realized, the tilting of the rotor wings on the second motor 2 and the fourth motor 4 is conveniently adjusted, and the operation mode of the amphibious air cushion ship is convenient.
The device also comprises a protective cover 10, and the protective cover 10 is sleeved and fixed on the machine body 7. The device is used for protecting the machine body 7 and the first motor 1, the second motor 2, the third motor 3, the fourth motor 4, the fifth motor 5, the sixth motor 6 and the tilting adjustment device 17 which are arranged on the machine body, so that the hovercraft can realize triphibian use conveniently.
A first rotor 11, a second rotor 12, a third rotor 13, a fourth rotor 14, a fifth rotor 15 and a sixth rotor 16 are fixedly arranged on the first motor 1, the second motor 2, the third motor 3, the fourth motor 4, the fifth motor 5 and the sixth motor 6 respectively; the first rotor 11, the second rotor 12, the third rotor 13, the fourth rotor 14, and the fifth rotor 15 are provided on one side of the air cushion body 71; the sixth rotor 16 is disposed on the other side of the air cushion body 71, and the sixth rotor 16 is disposed opposite to the fifth rotor 15. Thus, the triphibian capability is realized by changing the structure of the body 7 and switching the control mode through the tilting mechanism by using the triphibian with the autonomous tilting rotor system. Therefore, the design scheme of the traditional air cushion ship is broken through, an autonomous deformation mechanism is arranged, the autonomous switching of different structures and control modes of the amphibious and the air cushion ship is realized, the triphibian capability of the air cushion ship is realized, and the obstacle crossing capability and the use situation of the air cushion ship are greatly enhanced.
In this embodiment, the second transmission shaft 9 is rotatably disposed in the second fixing base 73 and the third fixing base 74. The second transmission shaft 9 is driven to rotate by the convenient tilting adjusting device 17, so that the tilting adjustment of the second motor 2 and the fourth motor 4 can be adjusted, and the amphibious driving mode is realized.
In this embodiment, the tilting adjustment device 17 includes a tilting stepping motor 171 fixed to the air cushion body 71, a worm 172 fixed to an output end of the tilting stepping motor 171, and a worm gear 173 fixed to the second transmission shaft 9, where the worm 172 is in driving connection with the worm gear 173, and the tilting stepping motor 171 drives the worm 172 to rotate to drive the worm gear 173 to rotate, so as to implement the rotation function of the second transmission shaft 9. By starting the tilting step motor 171, the tilting step motor 171 drives the worm 172 to rotate, the worm 172 is connected with the worm gear 173 in a matched manner, and the worm gear 173 also rotates along with the rotation of the worm 172, so that the worm gear 173 drives the second transmission shaft 9 to rotate, and tilting adjustment of the second motor 2 and the fourth motor 4 is realized.
Optionally, when the tilting stepper motor 171 rotates forward or backward, the second transmission shaft 9 rotates clockwise or counterclockwise, so as to adjust the tilting positions of the second motor 2 and the fourth motor 4, and facilitate adjusting the second rotor 12 and the fourth rotor 14, thereby realizing multi-mode use of the hovercraft.
In this embodiment, the amphibious air-cushion vehicle further includes a magnet 18 and a magnetic encoder 19 disposed corresponding to the magnet 18, and the magnet 18 is fixed to the end of the worm 172. The magnetic encoder 19 is also called a magnetic sensor, and the magnetic sensor is used for converting a change in magnetic properties of the sensing element caused by external factors such as a magnetic field, a current, stress strain, temperature, light, etc. into an electrical signal. Providing the magnet 18 and the magnetic encoder 19 to be disposed correspondingly facilitates the detection of the magnet 18 by the magnetic encoder 19.
Alternatively, the magnet 18 is a permanent magnet or an electromagnet, preferably permanent magnet, which is conveniently mounted and secured to the end of the worm 172 and moves rotationally with the worm 172.
In this embodiment, the tilt adjusting apparatus 17 further includes a mounting base 20, the mounting base 20 fixes the air cushion body 71, and the tilt stepping motor 171 is fixed on the mounting base 20. The mounting base 20 is detachably and fixedly connected with the air cushion main body 71, and is convenient to maintain or replace. The tilting step motor 171 is mounted and fixed on the mounting base 20, so that the tilting step motor 171 is convenient to assemble and use.
In this embodiment, the first transmission shaft 8 is a longitudinal carbon tube, the second transmission shaft 9 is a transverse carbon tube, and the transverse carbon tube and the longitudinal carbon tube are perpendicular to each other. The initial rotating surfaces of the first rotor wing 11, the second rotor wing 12, the third rotor wing 13 and the fourth rotor wing 14 on the first motor 1, the second motor 2, the third motor 3 and the fourth motor 4 are the same, and the machine body 7 can be driven to hang in the air during operation, so that the air mode effect is realized.
In this embodiment, the second fixing seat 73 is a bearing, and the second transmission shaft 9 is fixed in the bearing. The second transmission shaft 9 has small rotation friction, high stability and long service life.
In this embodiment, the fifth motor 5 is a first-stage compressor motor.
In this embodiment, the sixth motor 6 is a two-stage compressor motor. The second-stage air compressor motor needs a higher rotating speed than the first-stage air compressor motor to efficiently compress air to the air cushion; and spin torque can be generated by the first motor 1 and the third motor 3 in the amphibious mode, and the spin torque generated by the differential speed of the fifth motor 5 and the sixth motor 6 (central motor) is counteracted at the moment, so that the stability of the posture of the engine body 7 in running and the rotation stability of the propeller direction are ensured.
Specifically, the triphibian is a disc-shaped hovercraft as a whole, and an upper coaxial counter-paddle central suspension motor and a lower coaxial counter-paddle central suspension motor are arranged in the disc-shaped hovercraft; each of the front and rear suspension motors is fixed on a fixed longitudinal carbon tube passing through the center; tilting control devices are arranged on two sides of the machine body, the form can be switched automatically, and the two sides of the machine body are connected with propulsion motors through a central transverse carbon tube penetrating through the center of the machine body 7. The center transverse carbon tube is fixedly provided with a worm wheel 173, the worm wheel 173 is matched with a worm 172 below, the worm 172 is connected with a low-rotation-speed high-torque stepping motor 171, the worm 172 can be rotated by controlling the stepping motor 171 to drive the worm wheel 173 to rotate steadily, so that the tilting of the propulsion motor is realized, a high-precision encoder is arranged on the carbon tube, and absolute position information is fed back to the controller. When switching to the amphibious mode, the stepping motor 171 drives the propulsion motor to move forward, and the forward and steering are controlled; when the air-borne type rotor is switched into an air-borne type, the propulsion motor faces upwards, and the overall configuration approximates to a cross-shaped six-axis multi-rotor.
In this embodiment, the first motor 1 is set to be a motor No. 1, the second motor 2 is set to be a motor No. 2, the third motor 3 is set to be a motor No. 3, the fourth motor 4 is set to be a motor No. 4, the fifth motor 5 is set to be a motor No. 5, and the sixth motor 6 is set to be a motor No. 6; the working principle of the triphibian hovercraft is as follows:
in the amphibious mode, the No. 1,3,5 and 6 motors are used for compressing air to the air cushion, the air cushion is inflated and raised at the moment, and an air flow layer between the air cushion and the water surface/ground is formed by using the surface effect generated in the air cushion, so that the machine body is lifted, and the running resistance is reduced. The waterproof barometer is arranged between the front part, the left part, the right part, the rear part and the No. 5 and 6 motors of the air cushion to collect the air pressure parameters of each part of the air chamber, when the air cushion runs on the water surface, the angle parameters of the gyroscope are combined, the partial air pressure in the air cushion is changed by controlling the air compression amount of the No. 1 and No. 3 motors, the pitching angle of the machine body can be adjusted by controlling the difference value of the air compression amount of the No. 3 motors to the air compression amount of the No. 1 motors, and then the windward angle is controlled in the running process, so that the running stability is ensured.
When the vehicle runs on water and land, as shown in fig. 4, the motors 1,3,5 and 6 are responsible for generating surface effects to enable the vehicle body to leave the water surface/the ground, wherein the motors 1 and 3 are also responsible for controlling the slight pitch angle of the vehicle body; the forward movement, turning and rotation of the machine body are realized through the differential control of the No. 2 motor and the No. 4 motor. As shown in fig. 5 below, F1 is a motor No. 2 generating thrust; f2 is the thrust generated by the motor No. 4; ftotal is the resultant force of F1, F2 at the centroid, the relation is { ftotal=min (F1, F2) }, i.e. the smaller of F1, F2; m is the torque generated by the differential speed of the motors No. 2 and No. 4, and the clockwise direction is taken as the positive direction; f total generates course acceleration, M total generates spin acceleration, and then controls body movement.
In the air mode, as shown in fig. 6, the motors No. 2 and No. 4 face upwards, and the motors No. 1,2,3 and No. 4 act together at the moment, so that the same control mode is adopted with the existing four-axis cross type multi-rotor system; the central No. 5 and No. 6 motors provide a certain lifting force for the machine body, but only respond to a high accelerator and do not respond to gesture control.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any such modifications, equivalents, and improvements that fall within the spirit and principles of the present invention are intended to be covered by the following claims.
Claims (9)
1. An amphibious air-cushion vehicle, comprising: the device comprises a machine body, a first motor, a second motor, a third motor, a fourth motor, a fifth motor, a sixth motor and a tilting adjusting device;
the machine body comprises an air cushion main body, a first fixing seat, a second fixing seat and a third fixing seat, wherein the first fixing seat is oppositely arranged on the air cushion main body, the second fixing seat is oppositely arranged on the air cushion main body, the third fixing seat is arranged between the first fixing seat and the second fixing seat, the lower end of the first fixing seat is connected with the lower end of the third fixing seat through a first transmission shaft, the upper end of the second fixing seat is connected with the upper end of the third fixing seat through a second transmission shaft, the first motor and the third motor are respectively fixed at two ends of the second transmission shaft, the second motor and the fourth motor are respectively fixed at two ends of the second transmission shaft, the fifth motor is fixed at one side, far away from the air cushion main body, of the third fixing seat, and the sixth motor is fixed at one side, close to the air cushion main body, and penetrates through the air cushion main body. The tilting adjustment device is fixed on the air cushion main body and is in transmission connection with the second transmission shaft to adjust the rotation of the second transmission shaft;
the protective cover is sleeved and fixed on the machine body;
the first motor, the second motor, the third motor, the fourth motor, the fifth motor and the sixth motor are respectively and fixedly provided with a first rotor wing, a second rotor wing, a third rotor wing, a fourth rotor wing, a fifth rotor wing and a sixth rotor wing; the first rotor wing, the second rotor wing, the third rotor wing, the fourth rotor wing and the fifth rotor wing are arranged on one side of the air cushion main body; the sixth rotor wing is arranged on the other side of the air cushion main body, and the arrangement direction of the sixth rotor wing is opposite to that of the fifth rotor wing.
2. The amphibious air-cushion vessel of claim 1, wherein the second drive shaft is rotatably disposed within the second mount and the third mount.
3. The amphibious air cushion vehicle according to claim 1, wherein the tilting adjustment device comprises a tilting stepping motor fixed on the air cushion main body, a worm fixed on an output end of the tilting stepping motor and a worm wheel fixed on the second transmission shaft, the worm is in transmission connection with the worm wheel, and the tilting stepping motor drives the worm to rotate so as to drive the worm wheel to rotate, so that the second transmission shaft rotating function is achieved.
4. The amphibious air-cushion vehicle of claim 3, further comprising a magnet and a magnetic encoder disposed in correspondence with the magnet, the magnet being secured to a distal end of the worm.
5. The amphibious air cushion vehicle of claim 3, wherein the tilting adjustment means further comprises a mounting base to which the air cushion body is secured, the tilting stepper motor being secured to the mounting base.
6. The amphibious air cushion vehicle of claim 1, wherein the first drive shaft is a longitudinal carbon tube and the second drive shaft is a transverse carbon tube, the transverse carbon tube and the longitudinal carbon tube being disposed perpendicular to each other.
7. The amphibious air-cushion vessel of claim 1, wherein the second fixed seat is a bearing and the second drive shaft is fixed in the bearing.
8. The amphibious air-cushion vehicle of claim 1, wherein the fifth motor is a primary compressor motor.
9. The amphibious air-cushion vehicle of claim 8, wherein the sixth motor is a two-stage compressor motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310080840.2A CN116001764A (en) | 2023-02-03 | 2023-02-03 | Triphibian hovercraft |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310080840.2A CN116001764A (en) | 2023-02-03 | 2023-02-03 | Triphibian hovercraft |
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| CN116001764A true CN116001764A (en) | 2023-04-25 |
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| CN202310080840.2A Pending CN116001764A (en) | 2023-02-03 | 2023-02-03 | Triphibian hovercraft |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117103919A (en) * | 2023-10-16 | 2023-11-24 | 广东工业大学 | Water-air amphibious catamaran and control method thereof |
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Application publication date: 20230425 |