CN116353263A - Water-air amphibious unmanned aerial vehicle with foldable fixed wings - Google Patents

Water-air amphibious unmanned aerial vehicle with foldable fixed wings Download PDF

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Publication number
CN116353263A
CN116353263A CN202310170484.3A CN202310170484A CN116353263A CN 116353263 A CN116353263 A CN 116353263A CN 202310170484 A CN202310170484 A CN 202310170484A CN 116353263 A CN116353263 A CN 116353263A
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CN
China
Prior art keywords
fixed wing
fixed
wing
unmanned aerial
rod
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Pending
Application number
CN202310170484.3A
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Chinese (zh)
Inventor
张锋
赵玉成
张君宇
宁扬
王汉鹏
金波
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Zhejiang University ZJU
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Zhejiang University ZJU
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Application filed by Zhejiang University ZJU filed Critical Zhejiang University ZJU
Priority to CN202310170484.3A priority Critical patent/CN116353263A/en
Publication of CN116353263A publication Critical patent/CN116353263A/en
Pending legal-status Critical Current

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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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H1/00—Propulsive elements directly acting on water
    • B63H1/02—Propulsive elements directly acting on water of rotary type
    • B63H1/12—Propulsive elements directly acting on water of rotary type with rotation axis substantially in propulsive direction
    • B63H1/14—Propellers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/22—Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft
    • B64C27/26—Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft characterised by provision of fixed wings
    • 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
    • Y02T50/40—Weight reduction

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Transportation (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Ocean & Marine Engineering (AREA)
  • Toys (AREA)

Abstract

The invention discloses a water-air amphibious unmanned aerial vehicle with a foldable fixed wing, which comprises a frame, wherein a sealed cabin body is fixed below the frame, a plurality of tilting rotors are arranged in front of and behind the frame, and the fixed wing and a driving mechanism for driving the fixed wing to fold and stretch are arranged above the frame; the fixed wing comprises a fixed wing supporting rod, a plurality of fixed wing frameworks which are sleeved on the fixed wing supporting rod side by side, and a soft wing film which is attached to the fixed wing frameworks, and a movable connecting rod connecting block with a sliding groove is arranged on the fixed wing frameworks; the driving mechanism comprises a diamond-shaped driving connecting rod, and a revolute pair of the diamond-shaped driving connecting rod is in sliding connection with the corresponding sliding groove. The invention combines and innovates the foldable fixed wing and the tilting rotor wing, thereby giving consideration to the water-air running efficiency and solving the problem of difficult drainage of the fixed wing.

Description

Water-air amphibious unmanned aerial vehicle with foldable fixed wings
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a water-air amphibious unmanned aerial vehicle with foldable fixed wings.
Background
The water-air amphibious unmanned aerial vehicle is an emerging technology combining an air aircraft and an underwater aircraft, and the current amphibious unmanned aerial vehicle mainly comprises three directions, and one is a bionic structure, such as a bonito bird, and a divider. The wing is generally of a sweepback wing structure, the whole structure is smaller, and the bearing capacity is limited. One type of structure is an aircraft, such as COPOS, which seals a small aircraft for underwater functions. The amphibious aircraft mainly considers the flight characteristics, and when sailing in water, the underwater resistance generated by the fixed wings is larger. The last is a quad-rotor configuration. The structure can hover, vertically take off, and also can navigate underwater, and can bear heavy weight, but the whole structure is heavy, and the energy consumption is high.
The above structural arrangements all take into account single characteristics such as the hovering of a quadrotor or the flying characteristics of a fixed wing. These air-to-water characteristics are not combined with underwater characteristics and the compatibility of water and air is not sufficient.
The patent specification with the publication number of CN112278259A discloses a folding wing assisted flying four-rotor unmanned aerial vehicle, which comprises a body, four main rotors arranged on two sides of the body, and two folding wing assisted flying mechanisms; the two folding wing auxiliary flying mechanisms are respectively folded at two sides of the machine body; when two folding wings assist the unfolding of the flying mechanism, auxiliary wings are formed on two sides of the fuselage.
Patent specification CN112278258A discloses a four-rotor unmanned aerial vehicle with a folding type soft wing auxiliary flying mechanism. The folding type soft wing aircraft comprises a fuselage, four main rotors arranged on two sides of the fuselage, and two folding type soft wing mechanisms; the two folding soft wing mechanisms are respectively arranged at two sides of the machine body; when the two folding soft wing mechanisms are unfolded, auxiliary wings are formed on two sides of the fuselage. Shrink cavities are arranged on two sides of the machine body; the two folding soft wing mechanisms are respectively accommodated in the contraction cavities at the two sides of the machine body.
The two mechanisms can be used as the direction of the water-air amphibious robot. However, this mechanism requires a large size between the quadrotors in order to avoid blocking the thrust of the quadrotors after deployment by the soft wing and the folding wing. In addition, the mechanism of the soft wing is of a cantilever type connecting rod structure, so that the lifting force provided by the soft wing is limited, and the folding fixed wing is small in lifting force and limited in auxiliary flying effect due to the size.
Disclosure of Invention
The invention aims to provide a water-air amphibious unmanned aerial vehicle with a foldable fixed wing, which combines and innovates the foldable fixed wing and a tilting rotor wing, gives consideration to water-air running efficiency and solves the problem of difficult drainage of the fixed wing.
The amphibious unmanned aerial vehicle comprises a frame, wherein a sealing cabin is fixed below the frame, tilting rotors are arranged in front of and behind the frame, and a fixed wing and a driving mechanism for driving the fixed wing to fold and stretch are arranged above the frame;
the fixed wing comprises a fixed wing supporting rod, a plurality of fixed wing frameworks which are sleeved on the fixed wing supporting rod side by side, and a soft wing film which is attached to the fixed wing frameworks, and a movable connecting rod connecting block with a sliding groove is arranged on the fixed wing frameworks;
the driving mechanism comprises a diamond-shaped driving connecting rod, and a revolute pair of the diamond-shaped driving connecting rod is in sliding connection with the corresponding sliding groove.
According to the invention, the retractable fixed wings and the tilting multi-rotor wings are combined, the fixed wings are unfolded in the air to fly, the retractable fixed wings are carried out in a multi-rotor wing mode when crossing a water-air interface, the tilting multi-rotor wings are used for providing thrust under water, the functions of fixed-point hovering, vertical take-off and landing, the fixed wing flying and the underwater vector propulsion can be realized, and the effect of considering the water-air movement efficiency is achieved.
Preferably, the driving mechanism further comprises a transmission assembly for driving the diamond-shaped driving connecting rod to act;
the transmission assembly comprises a belt transmission bidirectional screw module, a first transmission rod and a second transmission rod which are respectively fixed on two sliding seats of the belt transmission bidirectional screw module; the first transmission rod and the second transmission rod are respectively connected with two revolute pairs positioned at the middle positions of the diamond-shaped driving connecting rods.
The driving chain is formed by the stepping motor, the synchronous belt wheel, the lead screw and the connecting rod, so that the precise control of the foldable fixed wing is realized.
Further preferably, one of the first transmission rod and the second transmission rod is provided with a slot, and the other rod is in sliding fit with the slot.
Preferably, the frame comprises supporting frames fixed on the sealed cabin at intervals, guide rods are respectively arranged on two sides of the sealed cabin on the supporting frames, four rectangular sliding blocks are slidingly matched on the two guide rods, adjacent sliding blocks on the two guide rods are fixed on the sliding seat on the same side, and four rotor wing mounting rods for setting tilting four rotor wings are fixed on the four sliding blocks.
This scheme is because rotor installation pole can be along with the slider action, so at fixed wing folding or extend in-process, rotor installation pole also can follow the wing folding or extend, consequently this design not only can restrict great size between four rotors, has still avoided folding fixed wing to block four rotor's thrust after expanding.
Still preferably, the four-rotor mounting rod comprises a longitudinal mounting rod fixed on each sliding block and parallel to the length direction of the sealed cabin body, and a transverse mounting rod mounted on adjacent longitudinal mounting rods located on two sides of the sealed cabin body, wherein the ends of the front transverse mounting rod and the rear transverse mounting rod are used for setting the tilting four-rotor.
Preferably, the longitudinal mounting rod, the transverse mounting rod, the guide rod and the fixed wing support rod are all made of carbon tubes.
Preferably, the tilting rotor comprises a propeller tilting steering engine arranged at the end part of the transverse mounting rod, a propeller motor arranged on the propeller tilting steering engine and a propeller arranged on the propeller motor.
Preferably, the fixed wing support rods are arranged in parallel, and the fixed wing framework is integrally formed with a sleeve in sliding fit with the fixed wing support rods.
The invention has the beneficial effects that:
(1) The novel amphibious unmanned aerial vehicle structure layout is designed, the water-air movement efficiency is compatible, the amphibious unmanned aerial vehicle flies in the air with the fixed wings, the amphibious unmanned aerial vehicle sails with the tilting four rotors under water, and the problem that the fixed wings are difficult to drain is solved by the shrinkage fixed wing structure.
(2) The foldable fixed wing design reduces underwater resistance, and in addition, the foldable fixed wing adopts a mode of combining the fixed wing framework with the soft wing membrane, so that the fixed wing structure is light in weight, and the flight and navigation energy consumption is reduced.
(3) The invention adopts the stepping motor, the synchronous belt wheel, the lead screw and the connecting rod to form the driving chain, thereby realizing the precise control of the foldable fixed wing.
Drawings
FIG. 1 is a schematic view of a structure of a folding state of a fixed wing of the present invention;
FIG. 2 is a schematic view of the structure of the fixed wing of the present invention in a turned open state;
FIG. 3 is a schematic view of a driving mechanism driving a fixed wing framework to be unfolded;
FIG. 4 is a schematic view of a structure in which a driving mechanism drives a fixed wing framework to fold;
FIG. 5 is a schematic diagram of a diamond-shaped drive link mated with a link connection block;
FIG. 6 is a schematic diagram of a transmission assembly disposed on a frame;
FIG. 7 is a schematic diagram of the structure of the transmission assembly;
in the figure, 1, a rack; 11. a support frame; 12. a vertical rod; 13. a guide rod; 14. a slide block; 15. a connecting rod; 16. a longitudinally mounted rod; 17. a transverse mounting bar; 2. sealing the cabin; 3. tilting the four rotors; 31. the propeller tilts the steering engine; 32. a propeller motor; 33. a propeller; 4. a fixed wing; 41. a fixed wing support bar; 42. a fixed wing framework; 421. connecting rod connecting blocks; 422. a sleeve; 43. a soft wing membrane; 5. a driving mechanism; 51. a diamond-shaped driving connecting rod; 52. a screw rod; 53. a belt wheel; 54. a slide; 55. a first transmission rod; 551. a slot; 56. and a second transmission rod.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
As shown in fig. 1-4, the amphibious unmanned aerial vehicle with the foldable fixed wings comprises a frame 1, a sealed cabin 2 is fixed below the frame 1, tilting four rotor wings 3 are arranged in front and back, the fixed wings 4 and a driving mechanism 5 are arranged above the frame, and the driving mechanism 5 is used for driving the fixed wings 4 to fold and stretch.
The fixed wing 4 comprises two fixed wing support rods 41 which are arranged in parallel, a fixed wing framework 42 which is sleeved on the fixed wing support rods 41, and a soft wing film 43 which is attached to the fixed wing framework 42; in this embodiment, eight fixed wing skeletons 42 are symmetrically arranged. The middle two are fixed and fixed on the frame 1, and the other six are movable and can slide along the fixed wing support rods 41. In order to ensure the sliding effect, a sleeve 422 in sliding fit with the fixed wing support bar 41 is integrally formed on the fixed wing skeleton 42.
The driving mechanism 5 comprises a diamond-shaped driving connecting rod 51, and a connecting rod connecting block 421 with a sliding groove is arranged on the movable fixed wing framework 42; the revolute pair of the diamond-shaped driving connecting rod 51 is in sliding connection with the sliding groove on the corresponding connecting rod connecting block 421 through a bearing, the connecting rod provides pretightening force after the fixed wing is unfolded, and the wing profile of the fixed wing is kept, and the specific structure is shown in fig. 5.
The driving mechanism 5 further comprises a transmission component, and the transmission component is used for driving the diamond-shaped driving connecting rod 51 to act; as shown in fig. 7, the transmission assembly specifically includes a belt-driven bi-directional screw module, a first transmission rod 55, and a second transmission rod 56.
The belt transmission bidirectional screw module comprises a screw rod 52 with a belt wheel 53 at one end, the screw rod 52 is provided with bidirectional threads and is matched with two bidirectional sliding seats 54, and the belt wheel 53 is driven by a motor in the sealed cabin 2; one end of a first transmission rod 55 is fixed on one of the sliding seats 54, and one end of a second transmission rod 56 is fixed on the other sliding seat 54; in this embodiment, the first transmission rod 55 is provided with a slot 551, and the second transmission rod 56 is in sliding fit with the slot 551; the screw 52 rotates to drive the two sliding seats 54 to move oppositely and back, so as to drive the first transmission rod 55 and the second transmission rod 56 to move oppositely and back.
The other ends of the first transmission rod 55 and the second transmission rod 56 are respectively connected with two revolute pairs of the diamond-shaped driving connecting rod 51 at the middle position; the first transmission rod 55 and the second transmission rod 56 move oppositely and back to drive the diamond-shaped driving connecting rod 51 to extend and retract, and further drive the fixed wing framework 42 to extend and retract, so that the fixed wing can be folded.
As shown in fig. 6, the frame 1 includes three supporting frames 11 fixed on the sealed cabin 2 at intervals, in this embodiment, the three supporting frames 11 are distributed at the head, tail and middle of the sealed cabin 2; the middle two fixed wing frameworks 42 are fixed on the three supporting frames 11 at intervals through the vertical rods 12; the two ends of the screw rod 52 are fixed on the first and the last supporting frames 11 through bearings.
Guide rods 13 are respectively arranged on two sides of the support frame 11, which are positioned on the sealed cabin body 2, four rectangular sliding blocks 14 are slidably matched on the two guide rods 13, adjacent sliding blocks 14 respectively positioned on the two guide rods 13 are fixed on sliding seats 54 on the same side through connecting rods 15, and four rotor wing mounting rods for setting tilting four rotor wings are fixed on the four sliding blocks 14.
The four-rotor mounting bar comprises a longitudinal mounting bar 16 fixed on each slide block 14 and parallel to the length direction of the sealed cabin 2, and a transverse mounting bar 17 mounted on the adjacent longitudinal mounting bars 16 respectively positioned at two sides of the sealed cabin 2, wherein the end parts of the front transverse mounting bar 17 and the rear transverse mounting bar 17 are used for setting the tilting four-rotor 4.
The screw 52 rotates to drive the two sliding seats 54 to move oppositely and back, so that the front and rear transverse mounting rods 17 are driven to move oppositely and back.
Tiltrotor 3 includes a propeller tilting engine 31 disposed at the end of transverse mounting bar 17, a propeller motor 32 disposed on propeller tilting engine 31, and a propeller 33 disposed on propeller motor 32.
In this embodiment, the longitudinal mounting rod 16, the transverse mounting rod 17, the guide rod 13 and the fixed wing support rod 41 all adopt carbon tubes, so that the structure is light, and the load of the unmanned aerial vehicle is reduced.
When the fixed wing is in the folded state, the unmanned aerial vehicle is in a four-rotor flight state, can take off and land, and can hover operation, so that the water-air interface vertical take off and landing can be realized.
When the unmanned plane moves underwater, the fixed wings are folded, the four tilting rotors are adopted to provide thrust, and the underwater minimum resistance movement control is performed.
When the unmanned aerial vehicle discharges water, the fixed wings are in a folded state, so that rapid water discharge is facilitated, the fixed wings are unfolded after the unmanned aerial vehicle vertically takes off, the tilting propeller provides forward flight power, and the unmanned aerial vehicle flies in a manner of combining the fixed wings with the tilting four rotors. The fixed wing and the four rotors jointly provide lift force in the flying process, and the flying efficiency is higher than that of the common four rotors.
Although the present invention has been described with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described, or equivalents may be substituted for elements thereof, and any modifications, equivalents, improvements and changes may be made without departing from the spirit and principles of the present invention.

Claims (8)

1. The amphibious unmanned aerial vehicle comprises a frame, wherein a sealed cabin body is fixed below the frame, and a plurality of tilting rotors are arranged in front of and behind the frame;
the fixed wing comprises a fixed wing supporting rod, a plurality of fixed wing frameworks which are sleeved on the fixed wing supporting rod side by side, and a soft wing film which is attached to the fixed wing frameworks, and a movable connecting rod connecting block with a sliding groove is arranged on the fixed wing frameworks;
the driving mechanism comprises a diamond-shaped driving connecting rod, and a revolute pair of the diamond-shaped driving connecting rod is in sliding connection with the corresponding sliding groove.
2. The water-air amphibious unmanned aerial vehicle of claim 1, wherein the driving mechanism further comprises a transmission assembly for driving the diamond-shaped driving connecting rod to act;
the transmission assembly comprises a belt transmission bidirectional screw module, a first transmission rod and a second transmission rod which are respectively fixed on two sliding seats of the belt transmission bidirectional screw module; the first transmission rod and the second transmission rod are respectively connected with two revolute pairs positioned at the middle positions of the diamond-shaped driving connecting rods.
3. The water-air amphibious unmanned aerial vehicle of claim 2, wherein one of the first transmission rod and the second transmission rod is provided with a slot, and the other rod is in sliding fit with the slot.
4. The amphibious unmanned aerial vehicle according to claim 2, wherein the frame comprises supporting frames fixed on the sealed cabin body at intervals, guide rods are respectively arranged on two sides of the sealed cabin body on the supporting frames, four rectangular sliding blocks are slidingly matched on the two guide rods, adjacent sliding blocks respectively arranged on the two guide rods are fixed on the sliding seat on the same side, and four rotor wing mounting rods for setting tilting four rotor wings are fixed on the four sliding blocks.
5. The amphibious unmanned aerial vehicle of claim 4, wherein the four-rotor mounting bars comprise longitudinal mounting bars fixed on each sliding block in parallel with the length direction of the sealed cabin body and transverse mounting bars mounted on adjacent longitudinal mounting bars located on two sides of the sealed cabin body, and the ends of the front and rear transverse mounting bars are used for setting the tilting four-rotor.
6. The amphibious unmanned aerial vehicle of claim 5, wherein the longitudinal mounting rods, the transverse mounting rods, the guide rods and the fixed wing support rods are all carbon tubes.
7. The amphibious unmanned aerial vehicle of claim 5, wherein the tilt rotor comprises a propeller tilting steering engine disposed at an end of the transverse mounting rod, a propeller motor disposed on the propeller tilting steering engine, and a propeller disposed on the propeller motor.
8. The amphibious unmanned aerial vehicle of claim 1, wherein the fixed wing support bars are provided with two parallel fixed wing support bars, and the fixed wing framework is integrally formed with a sleeve in sliding fit with the fixed wing support bars.
CN202310170484.3A 2023-02-27 2023-02-27 Water-air amphibious unmanned aerial vehicle with foldable fixed wings Pending CN116353263A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202310170484.3A CN116353263A (en) 2023-02-27 2023-02-27 Water-air amphibious unmanned aerial vehicle with foldable fixed wings

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202310170484.3A CN116353263A (en) 2023-02-27 2023-02-27 Water-air amphibious unmanned aerial vehicle with foldable fixed wings

Publications (1)

Publication Number Publication Date
CN116353263A true CN116353263A (en) 2023-06-30

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ID=86932224

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202310170484.3A Pending CN116353263A (en) 2023-02-27 2023-02-27 Water-air amphibious unmanned aerial vehicle with foldable fixed wings

Country Status (1)

Country Link
CN (1) CN116353263A (en)

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