CN116461263A - Cross-medium aircraft - Google Patents

Abstract

The invention discloses a cross-medium aircraft, which relates to the technical field of cross-medium aircraft and comprises a machine body, a plurality of rotor wing assemblies, a tilting driving device and a propelling device, wherein the rotor wing assemblies are arranged on the machine body; each rotor wing assembly comprises a power cabin, a fixed shaft, a first driving assembly, a second driving assembly, a plurality of third driving assemblies, a plurality of connecting frames and a plurality of paddles, wherein the first driving assembly drives each paddle to synchronously rotate relative to the power cabin around the axis of the fixed shaft; the second driving assembly drives each blade to rotate relative to the fixed shaft so as to adjust the pitch angle of each blade; each third driving component drives the corresponding blade to rotate relative to the connecting frame so that one end of each blade, which is away from the fixed shaft, is close to and far away from the fixed shaft; the tilting driving device can drive the whole rotor wing assemblies to tilt relative to the machine body so as to enable the rotor wing assemblies to be converted between a horizontal state and a vertical state; the propulsion device provides power for the machine body to navigate underwater. The cross-medium aircraft provided by the invention is convenient for flexibly adjusting the flight direction and the attitude of the aircraft.

Description

Cross-medium aircraft

Technical Field

The invention relates to the technical field of cross-medium aircrafts, in particular to a cross-medium aircraft.

Background

The appearance of the medium-crossing aircraft is a method for solving the contradiction problem between the aircraft and the submarine, and the medium-crossing aircraft is a new concept aircraft capable of flying in the air and diving under water, and has the speed of the aircraft and the concealment of the submarine. As a 'submarine capable of flying', the target can be quickly approached in the air, and the congenital defect that the submarine is difficult to master the battlefield situation information can be avoided, so that the submarine has enough battlefield transparency; as a "submersible aircraft," there is provided an underwater fight capability including underwater latency, target detection, hidden attack, and the like. Through the advantages of the two platforms, the cross-medium aircraft has high-efficiency anti-striking capability and multi-task capability, and is suitable for executing coastal fast and secret plug-in combat tasks; the water-air double-power tilting rotor wing cross-medium unmanned aerial vehicle provided by the patent CN115320843A is provided with a flying blade and a propelling blade, wherein the flying blade and the propelling blade are both arranged in a foldable structure, so that the propelling blade is in a folded state when the unmanned aerial vehicle flies in the air, and the flying blade is in a folded state when the unmanned aerial vehicle sails in water; but when the medium-crossing unmanned aerial vehicle flies in the air, the direction of the rotation plane of the flying blade can be controlled by adjusting the rotation of the support, so that the flying direction and the flying gesture can be controlled, and the flying direction and the flying gesture of the aircraft can not be flexibly adjusted.

Disclosure of Invention

The invention aims to provide a cross-medium aircraft, which solves the problems in the prior art and is convenient for flexibly adjusting the flight direction and the attitude of the aircraft.

In order to achieve the above object, the present invention provides the following solutions:

the invention provides a cross-medium aircraft, comprising: the device comprises a machine body, a plurality of rotor wing assemblies, a tilting driving device and a propelling device, wherein the rotor wing assemblies, the tilting driving device and the propelling device are arranged on two sides of the machine body; each rotor wing assembly comprises a power cabin, a fixed shaft, a first driving assembly, a second driving assembly, a plurality of third driving assemblies, a plurality of connecting frames and a plurality of paddles, wherein the fixed shaft and the power cabin are coaxially arranged, the first driving assembly is fixedly arranged in the power cabin, one end of the fixed shaft is fixedly connected with the output end of the first driving assembly, and the third driving assemblies, the connecting frames and the paddles are all distributed along the circumferential direction of the fixed shaft; the second driving assembly is movably connected with the fixed shaft, the second driving assembly is respectively and movably connected with the connecting frames, each connecting frame is rotatably connected with the fixed shaft, each connecting frame is respectively and movably provided with a third driving assembly, and each third driving assembly is respectively and fixedly connected with one blade; the first driving assembly is used for driving the fixed shaft to rotate and driving the second driving assembly, the third driving assemblies, the connecting frames and the paddles to synchronously rotate relative to the power cabin around the axis of the fixed shaft; the second driving assembly is used for driving each connecting frame to rotate relative to the fixed shaft around a direction perpendicular to the axis of the fixed shaft and driving each third driving assembly and each blade to rotate relative to the fixed shaft so as to adjust the pitch angle of each blade; each third driving component is used for driving the corresponding blade to rotate relative to the connecting frame so as to enable one end of each blade, which is away from the fixed shaft, to be close to and far away from the fixed shaft; the tilting driving device is arranged on the machine body and connected with the power cabin of each rotor wing assembly, and can drive the whole rotor wing assemblies to tilt relative to the machine body so as to enable the rotor wing assemblies to be converted between a horizontal state and a vertical state; the propulsion device is arranged on the machine body and used for providing power for the machine body to navigate underwater.

Preferably, the second driving assembly comprises a driving mechanism and a sliding sleeve, wherein the driving mechanism is fixedly arranged on the fixed shaft and is movably connected with the sliding sleeve, and the sliding sleeve is sleeved on the fixed shaft in a sliding manner; the fixed shaft is fixedly provided with a plurality of connecting shafts perpendicular to the axis of the fixed shaft along the circumferential direction, and each connecting frame is respectively and rotatably connected with one connecting shaft; a plurality of sliding blocks are arranged on the circumferential edge of the sliding sleeve, inclined sliding grooves are formed in each connecting frame, and each sliding block is respectively arranged in one sliding groove in a sliding manner; the driving mechanism is used for driving the sliding sleeve to linearly reciprocate relative to the fixed shaft along the axial direction of the fixed shaft, enabling the sliding blocks to slide in the corresponding sliding grooves and driving the connecting frames to rotate around the axial lines of the corresponding connecting shafts, and further enabling the paddles to rotate relative to the fixed shaft so as to adjust the pitch angles of the paddles.

Preferably, the driving mechanism comprises a stepping motor and a screw rod, the stepping motor is fixedly arranged on the fixed shaft, the screw rod is parallel to the axis of the fixed shaft, one end of the screw rod is fixedly connected with the output end of the stepping motor, and the other end of the screw rod is in threaded connection with the sliding sleeve; the stepping motor is used for driving the screw rod to rotate and driving the sliding sleeve to linearly reciprocate relative to the fixed shaft along the axial direction of the fixed shaft.

Preferably, the number of the driving mechanisms is set to be plural, and the plural driving mechanisms are distributed along the circumferential direction of the fixed shaft.

Preferably, each third driving assembly comprises a driving motor, a worm and a worm wheel, wherein the driving motor is fixedly arranged on the corresponding connecting frame, the worm and the worm wheel are both in rotary connection with the corresponding connecting frame, one end of the worm is fixedly connected with the output end of the driving motor, the worm is in meshed connection with the worm wheel, and the worm wheel is fixedly connected with one end of the corresponding blade; the driving motor can drive the worm to rotate and drive the worm wheel to drive the blade to synchronously rotate relative to the connecting frame so that one end of the blade, which is away from the fixed shaft, is close to and far away from the fixed shaft.

Preferably, the front end of each power cabin is coaxially provided with a rotary cabin, one end of the fixed shaft, which is away from the first driving assembly, is fixedly connected with the inner wall of the rotary cabin, and the second driving assembly, the third driving assemblies and the connecting frames are correspondingly arranged in the rotary cabin; and a plurality of through holes are formed in each rotary cabin, and one end of each blade extends into the rotary cabin through one through hole and is fixedly connected with the third driving assembly.

Preferably, the machine body comprises a machine body and two symmetrically arranged wings, and one end of each wing is fixedly connected with the middle upper part of the machine body; the two rotor wing assemblies are respectively arranged at the other ends of the two wings and are connected with the tilting driving device; and ailerons are movably arranged on each wing.

Preferably, the machine body further comprises two horizontal tail wings symmetrically arranged at the tail part of the machine body, and the two horizontal tail wings are provided with elevators.

Preferably, the machine body further comprises two symmetrically arranged vertical tail wings, the middle parts of the two vertical tail wings are fixedly connected with one ends of the two horizontal tail wings, which deviate from the machine body, respectively, and the parts of the vertical tail wings, which are positioned on two sides of the horizontal tail wings, are provided with rudders.

Preferably, the propulsion device comprises a tail propulsion propeller arranged at the tail of the machine body.

Compared with the prior art, the invention has the following technical effects:

according to the medium-crossing aircraft provided by the invention, the aircraft body is driven by the rotor wing assemblies at two sides to fly, and the tilting driving device can drive the rotor wing assemblies to tilt integrally relative to the aircraft body, so that the rotor wing assemblies are converted relative to the aircraft body in vertical and horizontal parallel states, and the aircraft is switched from the vertical take-off state to the high-speed cruising state; the first power component of each rotor wing component can drive the second driving component, each third driving component and each connecting frame to synchronously rotate through the fixed shaft, so that each blade is driven to rotate around the axis of the fixed shaft relative to the power cabin, and the flying of the machine body is realized; in addition, the second driving component of each rotor wing component can rotate relative to the fixed shaft around the direction perpendicular to the axis of the fixed shaft through driving of each connecting frame, and as the blades are arranged on the connecting frame through the third driving component, the connecting frame rotates to drive the third driving component and the blades to synchronously rotate around the direction perpendicular to the axis of the fixed shaft, the pitch angle of the blades of the rotor wing component can be adjusted, and then the pitch of the rotor wing component can be adjusted, in a helicopter state, the up-and-down motion is realized by simultaneously increasing or reducing the pitch of each rotor wing component, and the left-and-right lifting force of two sides of the machine body is different by enabling the rotor wing components on two sides of the machine body to have different pitches, so that the left-and-right motion is realized, and the flying direction and the attitude of the aircraft can be flexibly adjusted; when the aircraft is in the underwater navigation stage, each third driving component can drive each blade to rotate relative to the connecting frame so that one end of each blade deviating from the fixed shaft is close to the fixed shaft to realize folding of the blade, the resistance of underwater navigation is reduced, the propulsion device provides power for the machine body to navigate underwater, and when the aircraft is separated from the water surface, each third driving component can drive each blade to rotate relative to the connecting frame so that one end of each blade deviating from the fixed shaft is far away from the fixed shaft to realize unfolding of the blade.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic diagram of an axial side structure of a cross-medium aircraft in an air cruising state according to the first embodiment;

FIG. 2 is a schematic front view of a cross-medium aircraft in cruise condition according to the first embodiment;

FIG. 3 is a schematic top view of the cross-medium aircraft provided in FIG. 2;

FIG. 4 is a schematic left-hand view of the cross-medium aircraft provided in FIG. 2;

FIG. 5 is a schematic axial side structure of a cross-medium aircraft in a helicopter provided in accordance with an embodiment;

FIG. 6 is a schematic front view of a cross-medium aircraft in a helicopter condition according to the first embodiment;

FIG. 7 is a schematic top view of the cross-medium aircraft provided in FIG. 6;

FIG. 8 is a schematic left-hand view of the cross-medium aircraft provided in FIG. 6;

FIG. 9 is a schematic diagram of an axial side structure of a cross-medium aircraft in an underwater submerged state according to the first embodiment;

fig. 10 is a schematic diagram of an axial structure of a rotor assembly (with power and rotor removed) according to a first embodiment:

figure 11 is a schematic front view of a rotor assembly (with the power and rotor pods removed) provided in accordance with a first embodiment;

fig. 12 is a schematic view showing a connection structure of the fixing shaft, a driving mechanism, a connecting frame, a third driving assembly and a blade according to the first embodiment.

Icon: 1-a cross-medium aircraft; 10-a machine body; 11-a fuselage; 12-wing; 13-ailerons; 14-horizontal rear wing; 15-elevator; 16-vertical fin; 17-rudder; a 20-rotor assembly; 21-a power cabin; 22-a fixed shaft; 221-connecting shaft; 23-a first drive assembly; 24-a second drive assembly; 241-a drive mechanism; 2411 a stepper motor; 2412-a screw rod; 242-sliding sleeve; 2421-a slider; 25-a third drive assembly; 251-driving a motor; 252-worm; 253-worm gear; 26-connecting frames; 261-chute; 27-paddle; 28-rotating cabin; 30-propulsion means.

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.

The invention aims to provide a cross-medium aircraft, which solves the problems in the prior art and is convenient for flexibly adjusting the flight direction and the attitude of the aircraft.

In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.

Example 1

The present embodiment provides a cross-medium aircraft 1, please refer to fig. 1-12, comprising: a machine body 10, a plurality of rotor assemblies 20 arranged at two sides of the machine body 10, a tilting driving device and a propelling device 30; each rotor wing assembly 20 comprises a power cabin 21, a fixed shaft 22, a first driving assembly 23, a second driving assembly 24, a plurality of third driving assemblies 25, a plurality of connecting frames 26 and a plurality of paddles 27, wherein the fixed shaft 22 and the power cabin 21 are coaxially arranged, the first driving assembly 23 is fixedly arranged in the power cabin 21, one end of the fixed shaft 22 is fixedly connected with the output end of the first driving assembly 23, and the plurality of third driving assemblies 25, the plurality of connecting frames 26 and the plurality of paddles 27 are all distributed along the circumferential direction of the fixed shaft 22; the second driving assembly 24 is arranged on the fixed shaft 22, the second driving assembly 24 is movably connected with a plurality of connecting frames 26, each connecting frame 26 is rotatably connected with the fixed shaft 22, each connecting frame 26 is movably provided with a third driving assembly 25, and each third driving assembly 25 is fixedly connected with a paddle 27; the first driving component 23 is used for driving the fixed shaft 22 to rotate and driving the second driving component 24, the third driving components 25, the connecting frames 26 and the paddles 27 to synchronously rotate relative to the power cabin 21 around the axis of the fixed shaft 22; the second driving components 24 are used for driving each connecting frame 26 to rotate relative to the fixed shaft 22 around the direction perpendicular to the axis of the fixed shaft 22 and driving each third driving component 25 and each blade 27 to rotate relative to the fixed shaft 22 so as to adjust the pitch angle of each blade 27 (i.e. the installation angle of the blade 27); each third driving assembly 25 is configured to drive the corresponding blade 27 to rotate relative to the connecting frame 26 so that an end of each blade 27 facing away from the fixed shaft 22 approaches and moves away from the fixed shaft 22; the tilting driving device is arranged on the machine body 10 and connected with the power cabin 21 of each rotor wing assembly 20, and can drive the whole rotor wing assemblies 20 to tilt relative to the machine body 10 so as to enable each rotor wing assembly 20 to be switched between a horizontal state and a vertical state; the propulsion device 30 is disposed on the machine body 10, and is used for providing power for the machine body 10 to navigate underwater.

The machine body 10 is driven by the rotor wing assemblies 20 at two sides to realize flying, and the tilting driving device can drive each rotor wing assembly 20 to tilt relative to the machine body as a whole, so that each rotor wing assembly is converted in a vertical state and a horizontal state relative to the machine body, and the aircraft is switched from a vertical take-off state (see fig. 5-8) to a high-speed cruising state (see fig. 1-4); referring to fig. 10, 11 and 12, the first power assembly 23 of each rotor assembly 20 can drive the second driving assembly 24, each third driving assembly 25 and each connecting frame 26 to synchronously rotate through the fixed shaft 22, so as to drive each blade 27 to rotate around the axis of the fixed shaft 22 relative to the power cabin 21, thereby realizing the flying of the machine body 10; in addition, the second driving component 24 of each rotor component 20 can be driven by each connecting frame 26 to rotate relative to the fixed shaft 22 around the direction perpendicular to the axis of the fixed shaft 22, and the blades 27 are arranged on the connecting frame 26 through the third driving component 25, so that the connecting frame 26 rotates to drive the third driving component 25 and the blades 27 to synchronously rotate around the direction perpendicular to the axis of the fixed shaft 22, the pitch angle of the blades 27 of the rotor components 20 can be adjusted, and then the pitch of the rotor components 20 can be adjusted, in a helicopter state, the up-and-down motion is realized by simultaneously increasing or reducing the pitch of each rotor component 20, the pulling force is changed, and the left-right motion of the two sides of the machine body 10 is realized by enabling the rotor components 20 on the two sides of the machine body 10 to have different pitch, so that the left-right lifting force on the two sides of the machine body 10 is different, and the flying direction and the attitude of the aircraft can be flexibly adjusted; when the aircraft is in the underwater navigation stage (see fig. 9), each third driving assembly 25 can drive each blade 27 to rotate relative to the connecting frame 26 so that one end of each blade 27 away from the fixed shaft 22 is close to the fixed shaft 22 to fold the blade 27, resistance to underwater navigation is reduced, power of the machine body 10 for underwater navigation is provided through the propulsion device 30, and when the aircraft is out of the water, each third driving assembly 25 can drive each blade 27 to rotate relative to the connecting frame 26 so that one end of each blade 27 away from the fixed shaft 22 is far away from the fixed shaft 22 to unfold the blade 27.

Specifically, rotor assemblies 20 are provided in two, and third drive assembly 25, link 26, and blades 27 are provided in three.

In an alternative of the present embodiment, as shown in fig. 12, preferably, the second driving assembly 24 includes a driving mechanism 241 and a sliding sleeve 242, where the driving mechanism 241 is fixedly disposed on the fixed shaft 22 and movably connected to the sliding sleeve 242, and the sliding sleeve 242 is slidably sleeved on the fixed shaft 22; the fixed shaft 22 is fixedly provided with a plurality of connecting shafts 221 perpendicular to the axis of the fixed shaft 22 along the circumferential direction, each connecting frame 26 is respectively and rotatably connected to one connecting shaft 221, specifically, the connecting frame 26 is provided with a bearing, and the connecting frames are rotatably connected with the connecting shafts 221 through the bearing; a plurality of sliding blocks 2421 are arranged on the circumferential edge of the sliding sleeve 242, inclined sliding grooves 261 are arranged on each connecting frame 26, and each sliding block 2421 is respectively arranged in one sliding groove 261 in a sliding way; since the sliding groove 261 is obliquely arranged, the sliding blocks 2421 slide in the sliding groove 261 and can rotate the connecting frames 26, and therefore the driving mechanism 241 is used for driving the sliding sleeves 242 to linearly reciprocate relative to the fixed shaft 22 along the axial direction of the fixed shaft 22, and enabling the sliding blocks 2421 to slide in the corresponding sliding grooves 261 to drive the connecting frames 26 to rotate around the axial line of the corresponding connecting shafts 221, and further enabling the paddles 27 to rotate relative to the fixed shaft 22 to adjust the pitch angle of the paddles 27; a second drive assembly 24 is capable of driving the blades 27 of rotor assembly 20 in rotation simultaneously to adjust pitch.

In the alternative of this embodiment, as shown in fig. 12, preferably, the driving mechanism 241 includes a stepper motor 2411 and a screw rod 2412, the stepper motor 2411 is fixedly disposed on the fixed shaft 22, the screw rod 2412 is parallel to the axis of the fixed shaft 22, one end of the screw rod 2412 is fixedly connected with the output end of the stepper motor 2411, and the other end is in threaded connection with the sliding sleeve 242; the stepper motor 2411 is used for driving the screw rod 2412 to rotate, and driving the sliding sleeve 242 to linearly reciprocate relative to the fixed shaft 22 along the axial direction of the fixed shaft 22, so that each sliding block 2421 on the sliding sleeve 242 slides in the corresponding sliding groove 261, and driving each connecting frame 26 to synchronously rotate.

In an alternative of this embodiment, preferably, referring to fig. 11, the number of driving mechanisms 241 is set to be plural, the plural driving mechanisms 241 are distributed along the circumference of the fixed shaft 22, and the plural driving mechanisms 241 are set to drive the sliding sleeve 242 to move, so as to improve the stability of the movement of the sliding sleeve 242.

In the alternative of the present embodiment, as shown in fig. 12, each third driving assembly 25 includes a driving motor 251, a worm 252 and a worm wheel 253, the driving motor 251 is fixedly disposed on the corresponding connecting frame 26, the worm 252 and the worm wheel 253 are both rotatably connected with the corresponding connecting frame 26, specifically, the worm 252 and the worm wheel 253 are both rotatably connected with the connecting frame 26 through bearings; one end of the worm 252 is fixedly connected with the output end of the driving motor 251, the worm 252 is in meshed connection with the worm wheel 253, the worm wheel 253 is fixedly connected with one end of the corresponding blade 27, and specifically, the worm wheel 253 can be welded and fixed with the root of the blade 27; the driving motor 251 can drive the worm 252 to rotate, and drive the worm wheel 253 to drive the paddles 27 to synchronously rotate relative to the connecting frame 26 so that one end of each paddle 27, which is far away from the fixed shaft 22, is close to and far away from the fixed shaft 22, thus folding and unfolding of each paddle 27 are realized, and stability is ensured by adopting the worm 252 and worm wheel 253 for transmission.

In the alternative of this embodiment, preferably, the front end of each power cabin 21 is coaxially provided with a rotary cabin 28, the rotary cabin 28 and the front end of the power cabin 21 can be rotationally connected through a bearing arranged at the front end of the power cabin 21, one end of the fixed shaft 22, which is away from the first driving component 23, is fixedly connected with the inner wall of the rotary cabin 28, the corresponding second driving component 24, each third driving component 25 and each connecting frame 26 are all arranged in the rotary cabin 28, and the rotary cabin 28 can protect the second driving component 24, each third driving component 25 and each connecting frame 26 and reduce the flight resistance; each rotating cabin 28 is provided with a plurality of through holes, one end of each blade 27 extends into the rotating cabin 28 through one through hole to be fixedly connected with the third driving assembly 25, and the through holes can be rectangular and can provide a space for changing the pitch of the blades 27 and a space for folding and unfolding the blades 27.

In the alternative of this embodiment, preferably, the machine body 10 includes a machine body 11 and two symmetrically arranged wings 12, one end of each wing 12 is fixedly connected with the middle upper portion of the machine body 11, so that the wing surface of the wing 12 has enough space from the water surface, and the rotor wing assembly 20 is far away from the water surface when the cross-medium aircraft 1 takes off from the water surface, so that a better working environment is obtained; the number of the rotor wing assemblies 20 is two, and the two rotor wing assemblies 20 are respectively arranged at the other ends of the two wings 12 and are connected with a tilting driving device; and each wing 12 is movably provided with an aileron 13, and the whole rolling motion is realized through the deflection of the aileron 13.

Specifically, the structure of the tilting driving device and the aileron 13 adopts a conventional structure, for example, the tilting driving device may include a tilting motor disposed on the fuselage 11 and a transmission shaft penetrating the wing 12, the transmission shaft is fixedly connected with the power cabin 21 of the rotor assembly 20, and the tilting motor drives the transmission shaft to rotate and drives the rotor assembly 20 to tilt; in the helicopter mode, the tilt drive may tilt rotor assembly 20 forward/backward a small angle to obtain a forward/backward tension component, thereby enabling forward/backward movement of cross-medium aircraft 1 in the helicopter mode.

In the alternative of this embodiment, preferably, the machine body 10 further includes two horizontal tail fins 14 symmetrically disposed at the tail of the machine body 11, and the two horizontal tail fins 14 are both provided with elevators 15; further preferably, the machine body 10 further comprises two symmetrically arranged vertical tail fins 16, the middle parts of the two vertical tail fins 16 are fixedly connected with one ends of the two horizontal tail fins 14, which are away from the machine body 11, respectively, and rudders 17 are arranged at the parts of the two vertical tail fins 16, which are positioned at two sides of the horizontal tail fins 14; yaw and pitch motions of the aircraft are controlled by the rudders 17 and 15; specifically, the rudder 17 and the elevator 15 are structured in a conventional manner.

In the alternative of this embodiment, preferably, the propulsion device 30 includes a tail propulsion propeller disposed at the tail of the machine body 10, the underwater navigation speed is adjusted by adjusting the rotation speed of the tail propulsion propeller, and the tail propulsion propeller can also provide auxiliary forward power for the medium-crossing aircraft 1 in the helicopter state.

Further preferably, the cross-medium aircraft 1 provided in this embodiment may be provided with a control cabin controlling the actions of the first drive assemblies 23, the second drive assemblies 24, the third drive assemblies 25, the ailerons 13, the elevators 15 and the rudders 17.

Specifically, the cross-medium aircraft 1 provided with respect to the present embodiment has the following operating conditions:

(1) In the vertical take-off phase, please refer to fig. 5: the cross-medium aircraft 1 is in a helicopter mode and vertically takes off from a ship deck, an airport or the water surface, and vertically climbs to a cruising altitude by means of the tension of the rotor assemblies 20.

(2) Vertical takeoff transitions to the high speed cruise phase: after the rotor assembly 20 is vertically climbed to the cruising altitude, the tilting driving device drives the rotor assembly 20 to start tilting from the vertical direction to the horizontal direction, the pulling force of the blades 27 is gradually transited from the vertical direction to the horizontal direction, the cross-medium aircraft 1 is continuously accelerated in the horizontal direction, the lift force provided by the rotor assembly 20 is continuously increased along with the increase of the flying speed, and when the rotor assembly 20 is completely tilted to the horizontal state, the cross-medium aircraft 1 finishes the conversion from the helicopter mode to the screw aircraft mode.

(3) During the high speed cruise phase, please refer to fig. 1: the cross-medium aircraft 1 completes a given flight mission by means of the horizontal pulling force provided by the rotor assemblies 20, at which time the aircraft flies at high efficiency maintaining cruising speed.

(4) Landing and submerging stage: two schemes are available, and quick submergence or accurate position submergence can be flexibly selected according to specific working conditions;

fast submergence scheme: the cross-medium aircraft 1 arrives near the mission sea area, slides down on the sea surface and starts to submerge, meanwhile, the blades 27 stop rotating and fold back to reduce the underwater submerging resistance, the tail pushing screw begins to work to provide the underwater thrust, and the conversion from the screw airplane mode to the underwater submerging aircraft mode is completed.

Accurate position submergence scheme: the process can firstly convert the propeller airplane mode into a helicopter mode, slowly forward in the helicopter mode to search and reach the position above a task target, vertically fall to the task water surface, stall the blades 27 when entering water, fold and retract, tilt to the rotor assembly 20 level, then dive and start the tail pushing propeller, and thus convert into an underwater submarine mode.

(5) Floating and take-off stage:

the cross-medium aircraft 1 floats to the water surface after completing the underwater task, the tail pushing propeller stops rotating when water is discharged, the rotor wing assembly 20 tilts to be vertical, and then the blades 27 are unfolded and started to realize vertical take-off from the water surface.

The principles and embodiments of the present invention have been described in detail with reference to specific examples, which are provided to facilitate understanding of the method and core ideas of the present invention; also, it is within the scope of the present invention to be modified by those of ordinary skill in the art in light of the present teachings. In view of the foregoing, this description should not be construed as limiting the invention.

Claims (10)

1. A cross-medium aircraft, characterized by: comprising the following steps:

a body (10);

the rotor wing assembly (20) is arranged on two sides of the engine body (10), each rotor wing assembly (20) comprises a power cabin (21), a fixed shaft (22), a first driving assembly (23), a second driving assembly (24), a plurality of third driving assemblies (25), a plurality of connecting frames (26) and a plurality of paddles (27), the fixed shafts (22) are coaxially arranged in the power cabin (21), the first driving assemblies (23) are fixedly arranged in the power cabin (21), one ends of the fixed shafts (22) are fixedly connected with the output ends of the first driving assemblies (23), and a plurality of third driving assemblies (25), a plurality of connecting frames (26) and a plurality of paddles (27) are distributed along the circumferential direction of the fixed shafts (22); the second driving components (24) are arranged on the fixed shaft (22), the second driving components (24) are movably connected with a plurality of connecting frames (26), each connecting frame (26) is rotatably connected with the fixed shaft (22), each connecting frame (26) is movably provided with one third driving component (25) respectively, and each third driving component (25) is fixedly connected with one blade (27) respectively; the first driving assembly (23) is used for driving the fixed shaft (22) to rotate and driving the second driving assembly (24), the third driving assemblies (25), the connecting frames (26) and the paddles (27) to synchronously rotate relative to the power cabin (21) around the axis of the fixed shaft (22); the second driving assembly (24) is used for driving each connecting frame (26) to rotate relative to the fixed shaft (22) around the direction perpendicular to the axis of the fixed shaft (22) and driving each third driving assembly (25) and each blade (27) to rotate relative to the fixed shaft (22) so as to adjust the pitch angle of each blade (27); each third driving assembly (25) is used for driving the corresponding blade (27) to rotate relative to the connecting frame (26) so as to enable one end of each blade (27) away from the fixed shaft (22) to be close to and far away from the fixed shaft (22);

a tilting drive device, which is provided on the machine body (10) and is connected to the power pod (21) of each rotor assembly (20), and which can drive each rotor assembly (20) as a whole to tilt relative to the machine body (10) so as to switch each rotor assembly (20) between a horizontal state and a vertical state; a kind of electronic device with high-pressure air-conditioning system

And the propulsion device (30) is arranged on the machine body (10) and is used for providing power for the machine body (10) to navigate underwater.

2. The cross-medium aircraft of claim 1, wherein: the second driving assembly (24) comprises a driving mechanism (241) and a sliding sleeve (242), the driving mechanism (241) is fixedly arranged on the fixed shaft (22) and is movably connected with the sliding sleeve (242), and the sliding sleeve (242) is slidably sleeved on the fixed shaft (22); the fixed shaft (22) is fixedly provided with a plurality of connecting shafts (221) perpendicular to the axis of the fixed shaft (22) along the circumferential direction, and each connecting frame (26) is respectively and rotatably connected with one connecting shaft (221); a plurality of sliding blocks (2421) are arranged on the circumferential edge of the sliding sleeve (242), inclined sliding grooves (261) are formed in each connecting frame (26), and each sliding block (2421) is respectively arranged in one sliding groove (261) in a sliding mode;

the driving mechanism (241) is used for driving the sliding sleeve (242) to linearly reciprocate relative to the fixed shaft (22) along the axial direction of the fixed shaft (22), enabling the sliding blocks (2421) to slide in the corresponding sliding grooves (261) and driving the connecting frames (26) to rotate around the axes corresponding to the connecting shafts (221), and further enabling the paddles (27) to rotate relative to the fixed shaft (22) so as to adjust the pitch angle of the paddles (27).

3. The cross-medium aircraft of claim 2, wherein: the driving mechanism (241) comprises a stepping motor (2411) and a screw rod (2412), the stepping motor (2411) is fixedly arranged on the fixed shaft (22), the screw rod (2412) is parallel to the axis of the fixed shaft (22), one end of the screw rod (2412) is fixedly connected with the output end of the stepping motor (2411), and the other end of the screw rod is in threaded connection with the sliding sleeve (242);

the stepping motor (2411) is used for driving the screw rod (2412) to rotate and driving the sliding sleeve (242) to linearly reciprocate relative to the fixed shaft (22) along the axial direction of the fixed shaft (22).

4. A cross-medium aircraft as claimed in claim 3, wherein: the number of the driving mechanisms (241) is set to be a plurality, and the driving mechanisms (241) are distributed along the circumferential direction of the fixed shaft (22).

5. The cross-medium aircraft of claim 1, wherein: each third driving assembly (25) comprises a driving motor (251), a worm (252) and a worm wheel (253), the driving motor (251) is fixedly arranged on the corresponding connecting frame (26), the worm (252) and the worm wheel (253) are rotationally connected with the corresponding connecting frame (26), one end of the worm (252) is fixedly connected with the output end of the driving motor (251), the worm (252) is meshed with the worm wheel (253), and the worm wheel (253) is fixedly connected with one end of the corresponding blade (27);

the driving motor (251) can drive the worm (252) to rotate, and drive the worm wheel (253) to drive the blade (27) to synchronously rotate relative to the connecting frame (26) so that one end of the blade (27) deviating from the fixed shaft (22) is close to and far away from the fixed shaft (22).

6. The cross-medium aircraft of claim 1, wherein: the front end of each power cabin (21) is coaxially provided with a rotary cabin (28), one end of the fixed shaft (22) deviating from the first driving component (23) is fixedly connected with the inner wall of the rotary cabin (28), and the second driving component (24), the third driving component (25) and the connecting frames (26) are correspondingly arranged in the rotary cabin (28); each rotating cabin (28) is provided with a plurality of through holes, and one end of each blade (27) extends into the rotating cabin (28) through one through hole and is fixedly connected with the third driving assembly (25).

7. The cross-medium aircraft of claim 1, wherein: the machine body (10) comprises a machine body (11) and two wings (12) which are symmetrically arranged, and one end of each wing (12) is fixedly connected with the middle upper part of the machine body (11); the number of the rotor wing assemblies (20) is two, and the two rotor wing assemblies (20) are respectively arranged at the other ends of the two wings (12) and are connected with the tilting driving device; and ailerons (13) are movably arranged on the wings (12).

8. The cross-medium aircraft of claim 7, wherein: the machine body (10) further comprises two horizontal tail wings (14) symmetrically arranged at the tail part of the machine body (11), and the two horizontal tail wings (14) are provided with elevators (15).

9. The cross-medium aircraft of claim 8, wherein: the machine body (10) further comprises two symmetrically arranged vertical tail wings (16), the middle parts of the two vertical tail wings (16) are fixedly connected with one ends of the two horizontal tail wings (14) deviating from the machine body (11) respectively, and the parts of the vertical tail wings (16) located on two sides of the horizontal tail wings (14) are provided with rudders (17).

10. The cross-medium aircraft of claim 1, wherein: the propulsion device (30) comprises a tail pushing propeller arranged at the tail part of the machine body (10).