CN213948054U - Unmanned aerial vehicle is strideed across to medium - Google Patents

Abstract

The utility model provides a medium strides across unmanned aerial vehicle, unmanned aerial vehicle has the shell, the shell includes fuselage upper half 2 and fuselage lower half 3, still includes lift device, aquatic advancing device, aquatic elevating gear and flight control system that set up on unmanned aerial vehicle, wherein, the lift device provides lift for unmanned aerial vehicle to and control the aerial posture adjustment of unmanned aerial vehicle; the underwater propulsion device provides power for navigation when the unmanned aerial vehicle is in underwater navigation; the underwater lifting device changes/controls the lifting of the unmanned aerial vehicle in water; and the flight control system receives the control signal through the receiver, so that the lifting device, the underwater propulsion device and the underwater lifting device are controlled through the flight control system.

Description

Unmanned aerial vehicle is strideed across to medium

Technical Field

The utility model belongs to the aircraft field relates to medium strides across unmanned aerial vehicle (one kind can be used to the crossing medium navigation ware under the empty medium of water).

Background

Up to now, no published research on medium crossing unmanned aerial vehicles has been seen at home and abroad.

From the ballistic characteristics, the closest current genus flying anti-submarine missile (also called rocket assisted flying torpedo) in the existing weapons realizes the combination of an anti-ship missile and an anti-submarine torpedo, and the torpedo is delivered to a farther target water area by utilizing the remote carrying technology of the missile, which represents a quartz flying anti-submarine missile with the maximum range of 55km in Russia, a Millas anti-submarine missile with the maximum range of 55km in France, and an ultra-Ikara anti-submarine missile with the maximum range of 96km developed by combining British and Australia. The nature of the flying anti-diving missile is an anti-diving torpedo for increasing an air carrier, and the most important capability of a medium to cross an unmanned aerial vehicle, namely the capability of freely reciprocating in air and seawater media, is not provided.

The ability is possessed by some aircrafts, namely, in recent years, diving airplanes or flying submarines which get more and more attention abroad can fly in the air and can also sail on the water surface and under the water, and the unmanned multifunctional aircraft is a manned aircraft. From the description of the capability, the aqueous-air media span aircrafts in the same category but with different functions and different performances than the unmanned aerial vehicles.

The overseas research on diving airplanes can be traced back to 30 years in the 20 th century at the earliest, and at that time, the Wu Sha-K BP in Soviet Union assumes an aircraft combining an airplane and a submarine, and according to a design scheme, the takeoff quality of the aircraft reaches 15t, the voyage reaches 800km, the diving depth reaches 45m, and the aircraft can stay under water for 48h at most. In the 70 s of the 20 th century, a large diving plane scheme was proposed in the united states for decentralized deployment of strategic nuclear weapons to improve viability for strategic missile launching missions. The takeoff quality of the aircraft can reach 180t, the aircraft can carry two polarisators A-3 ballistic missiles, a turbofan engine is used in the air, the operational radius exceeds 4000km, and the aircraft can stay for 5 days by using a Stirling engine underwater. These studies have not made practical progress, limited to the state of the art at the time. In recent years, with the progress of aviation and navigation technologies and the promotion of military requirements, some countries have promoted the research of diving airplanes. In 2008, the united states department of defense advanced technology research (DARPA) began researching manned diving aircraft conceptuals for special combat operations that assault the coast of an enemy. According to preliminary assumptions, a diving plane launched by DARPA can fly for 185km against the water surface to the enemy coast after 1853km of continuous flight, and can continue to dive for at least 22km under water thereafter. The project was terminated in 2011 due to funding issues.

At the same time, france began the pre-research of the aegis (aeelius) diving unmanned aerial vehicle, which can take off and land on water, expand the wings during flying, and fold the wings during diving. Elliuss is equipped with 2 engines, one being a small jet kerosene engine and the other being an underwater electric turbine. The cruising ability is 360km in the air and 40km under the water.

By 2013, the U.S. naval laboratory released the first trial details of launching an unmanned aircraft by a submarine that was submerged at ocean depth. The water discharge of the unmanned aircraft is realized by a variant of a foldable X-shaped pneumatic wing, and the unmanned aircraft belongs to a single-water-discharge submarine-launched unmanned aircraft.

Because the conventional design concepts of the airplane and the submarine conflict with each other, the development of the 'diving airplane' is a revolutionary innovation on the design concept of the aircraft, and from conception to reality, the diving airplane faces significant technical challenges in the aspects of a power system, the shape of the airplane body, the layout of wings, mass-volume ratio and the like.

Disclosure of Invention

In view of above-mentioned technical problem, the utility model provides an unmanned aerial vehicle is strideed across to medium aims at can solving the problem among the prior art.

In order to solve the technical problem, the technical scheme of the utility model as follows:

a medium strides across unmanned aerial vehicle, the unmanned aerial vehicle has outer casing, the outer casing includes fuselage upper half 2 and fuselage lower half 3, also include the lift device, underwater propulsion unit, underwater lifting gear and flight control system set up on unmanned aerial vehicle, wherein, the said lift device, provide the lift for unmanned aerial vehicle, and control the aerial attitude adjustment of unmanned aerial vehicle; the underwater propulsion device provides power for navigation when the unmanned aerial vehicle is in underwater navigation; the underwater lifting device changes/controls the lifting of the unmanned aerial vehicle in water; and the flight control system receives the control signal through the receiver, so that the lifting device, the underwater propulsion device and the underwater lifting device are controlled through the flight control system.

Furthermore, the front end of the shell is of an arch structure, the upper half part 2 of the machine body is connected with the lower half part 3 of the machine body in a matched mode through a flange, the joint of the upper half part 2 of the machine body and the lower half part 3 of the machine body is sealed through an O-shaped ring and waterproof glue, and reinforcing ribs are arranged inside the shell.

Further, two grooves are respectively arranged on two sides of the upper half part 2 of the machine body, the lifting force devices are arranged in the grooves, and each lifting force device comprises: the device comprises a brushless motor 1, wings 7, a carbon tube frame 5, a carbon tube clamp 4, a steering engine 9, a U-shaped bracket 8, a motor base 6 and an adapter 10; the wing 7 is driven to rotate through the brushless motor 1, the brushless motor is connected with the motor base 6, the motor base is sequentially connected with the U-shaped support 8, the adapter 10 and the steering engine 9 through the carbon tube frame 5 which is rotatably arranged on the carbon tube clamp 4, the carbon tube clamp 4 and the steering engine 9 are fixed on the upper half portion 2 of the machine body, four groups of wiring controls are led out through one channel of the four steering engines 9, and the four brushless motors are respectively controlled by the flight control system.

Furthermore, aquatic advancing device includes propulsion motor 15, screw 14, rudder 13 and turns to steering wheel 12, the shell rear end is provided with the through-hole, draws forth propulsion motor 15's output shaft and is connected with screw 14 from the through-hole, turns to steering wheel 12 control rudder 13, sets up sealing device in through-hole department, and flight control system control propulsion motor, turn to the steering wheel.

Further, the aquatic goes up latent device and includes two water pump system 16, the body sets up the sealed sump of title under the fuselage of fuselage the latter half, and two water pump system 16 that set up on fuselage the latter half 3 are connected with the sump through the aperture, two water pump system 16 are arranged in with the water suction of outside to the sump, also can take out the water in the sump, can change the lift of hull in aqueous through the change of the water level in the sump, and flight control system controls two water pump system 16.

Furthermore, still have the power module, supply power to brushless motor 1, steering wheel, propulsion motor, two water pump system, turn to steering wheel and flight control system etc..

The utility model has the advantages that: stride medium unmanned aerial vehicle have following function:

1. the four-shaft aircraft has the advantages that the four-shaft aircraft is in a cross type, compared with a common rotor aircraft, the four-shaft aircraft has the greatest characteristic that the reaction torque generated by the rotor wing can be offset without using a reaction torque paddle, and the four-shaft aircraft has the characteristic of simple and compact mechanical structure, is simpler and more convenient to control, reduces the weight and reduces the energy consumption.

2. The system is suitable for complex environments, can execute three tasks of air tasks, water tasks and underwater tasks, and can be switched between a water mode and an air mode.

3. Due to the unique characteristics and the control system of the unmanned aerial vehicle, the unmanned aerial vehicle can be completely regarded as an integrated dual-purpose cross-medium unmanned aerial vehicle with higher independence. Taking take-off as an example, and completing a complete cycle medium crossing process, the working state of the unmanned aerial vehicle can be divided into: the initial state, wing spreading take-off, controlled water entry, underwater diving, water surface navigation and controlled water exit are 6 stages. In the using process, the required operation stage can be determined completely according to the using place and the purpose.

Drawings

FIG. 1 is a front view of the overall structure of the present invention;

FIG. 2 is a perspective view of the lower hull structure of the present invention;

FIG. 3 is a schematic view of a boom of the present invention;

figure 4 is a cross-sectional view of the lower hull of the present invention;

in the figure, a brushless motor 1, an upper half part 2 of a machine body, a lower half part 3 of the machine body, a carbon tube clamp 4, a carbon tube rack 5, a motor base 6, wings 7, a U-shaped frame 8, a steering engine 9, an adapter 10, a lower body 11 of the machine body, a steering engine 12, a rudder 13, a propeller 14, a propulsion motor 15, a water pump 16 and a water sump 17 are arranged

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

In the description of the present invention, it is to be understood that the terms "center", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial", "circumferential", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.

In the present invention, unless otherwise expressly stated or limited, the terms "disposed," "mounted," "connected," and "fixed" are to be construed broadly, e.g., as meaning either a fixed connection or a removable connection; may be a mechanical connection; may be directly connected or indirectly connected through an intermediate. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature.

The application relates to a medium crossing unmanned aerial vehicle, which is provided with a shell, wherein the shell comprises an upper body half part 2 and a lower body half part 3, and further comprises a lift device, an underwater propulsion device, an underwater lifting device and a flight control system which are arranged on the unmanned aerial vehicle, wherein the lift device provides lift for the unmanned aerial vehicle and controls the aerial attitude adjustment of the unmanned aerial vehicle; the underwater propulsion device provides power for navigation when the unmanned aerial vehicle is in underwater navigation; the underwater lifting device changes/controls the lifting of the unmanned aerial vehicle in water; and the flight control system receives the control signal through the receiver, so that the lifting device, the underwater propulsion device and the underwater lifting device are controlled through the flight control system. The receiver and the flight control system are arranged inside the shell.

The front end of the shell is of an arch structure, the upper half part 2 of the machine body is connected with the lower half part 3 of the machine body in a matched mode through a flange, the joint of the upper half part 2 of the machine body and the lower half part 3 of the machine body is sealed through an O-shaped ring and waterproof glue, and reinforcing ribs are arranged inside the shell.

Two grooves are respectively arranged on two sides of the upper half part 2 of the machine body, and the lifting force devices are arranged in the grooves and comprise: the device comprises a brushless motor 1, wings 7, a carbon tube frame 5, a carbon tube clamp 4, a steering engine 9, a U-shaped bracket 8, a motor base 6 and an adapter 10; the wing 7 is driven to rotate through the brushless motor 1, the brushless motor is connected with the motor base 6, the motor base is sequentially connected with the U-shaped support 8, the adapter 10 and the steering engine 9 through the carbon tube frame 5 which is rotatably arranged on the carbon tube clamp 4, and the steering engine controls the angle of the motor base, so that the control of the wing angle is realized. The carbon tube clamp 4 and the steering engines 9 are fixed on the upper half part 2 of the machine body, four steering engines 9 are directly controlled by four groups of wiring led out from one channel of a flight control system, and the flight control system controls four brushless motors respectively.

The underwater propulsion device comprises a propulsion motor 15, a propeller 14, a rudder 13 and a steering engine 12, a through hole is formed in the rear end of the shell, an output shaft leading out the propulsion motor 15 from the through hole is connected with the propeller 14, the steering engine 12 controls the rudder 13, a sealing device is arranged at the through hole, and a flight control system controls the propulsion motor and the steering engine.

The aquatic rises latent device and includes two water pump system 16, the body sets up the sealed sump of title under the fuselage of fuselage the latter half, and two water pump system 16 that set up on fuselage the latter half 3 are connected with the sump through the aperture, two water pump system 16 are arranged in with the water suction of outside to the sump, also can take out the water in the sump, can change the lift of hull in aqueous through the change of the water level in the sump, and flight control system controls two water pump system 16.

The system is also provided with a power supply module which supplies power to the brushless motor 1, the steering engine, the propulsion motor, the double water pump system, the steering engine, the flight control system and the like.

A shell mechanism: the whole front end of shell is domes, the rear end is in the thickening of local junction, the rib is strengthened in the cabin body (because strengthen the effect that the rib only is used for playing the reinforcement, technical staff in the art can set up as required, concrete the position of setting in the fuselage is not fixed, or not place at certain position, because as long as set up the effect just can of the enhancement that can play in inside, consequently this application does not do specific limit to the position of strengthening the rib from the angle consideration of technical protection scope), in order to provide sufficient compressive rigidity and intensity. The four sides are provided with grooves to accommodate the lift device, so that the resistance is reduced. The mechanism is integrally divided into an upper part and a lower part, flanges are arranged on the upper hull and the lower hull to be matched, a locking effect is achieved, the connecting part of the structure is sealed by an O-shaped ring and hot melt adhesive (waterproof adhesive), the sealing performance is enhanced, and meanwhile good pressure resistance and reliability are also taken into consideration.

A lift device: the brushless motor 1 is connected with the wings 7, is connected to the steering engines through the carbon tube frame 5 and the U-shaped bracket 8, and is controlled by adjusting the angles of the steering engines, and the steering engines are directly controlled by leading out four groups of wiring from one channel of the receiver, so that the four steering engines move simultaneously and the moving angles are consistent; in order to reduce the influence of water flow on the wing, the wing of the present application may also adopt a folding wing in the prior art CN1112232207A, and since the characteristics of the wing are not the object of the present application, no specific description is made, and the existing technology exists in the prior art.

An underwater propulsion device: the propeller is driven by the output shaft of the propulsion motor 15 to obtain power in the water medium, and the direction is controlled by the rudder.

The underwater diving device comprises: the bidirectional water pump system can adjust the water quantity in the water bin so as to change the lifting of the machine body on the water medium. Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications and variations can be made in the embodiments or in part of the technical features of the embodiments without departing from the spirit and the scope of the invention.

Claims (6)

1. A media-spanning drone, characterized by: the unmanned aerial vehicle is provided with a shell, the shell comprises an upper body half part (2) and a lower body half part (3), and also comprises a lift force device, an underwater propulsion device, an underwater lifting device and a flight control system which are arranged on the unmanned aerial vehicle,

wherein the content of the first and second substances,

the lift device provides lift for the unmanned aerial vehicle and controls the unmanned aerial vehicle to adjust the air attitude;

the underwater propulsion device provides power for navigation when the unmanned aerial vehicle is in underwater navigation;

the underwater lifting device changes/controls the lifting of the unmanned aerial vehicle in water;

and the flight control system receives the control signal through the receiver, so that the lifting device, the underwater propulsion device and the underwater lifting device are controlled through the flight control system.

2. A media-spanning drone as claimed in claim 1, wherein: the front end of the shell is of an arch structure, the upper half part (2) of the machine body is connected with the lower half part (3) of the machine body in a flange matching mode, the joint of the upper half part (2) of the machine body and the lower half part (3) of the machine body is sealed by an O-shaped ring and waterproof glue, and reinforcing ribs are arranged inside the shell.

3. A media-spanning drone as claimed in claim 2, wherein: two grooves are respectively arranged on two sides of the upper half part (2) of the machine body, the lifting force devices are arranged in the grooves, and each lifting force device comprises: the device comprises a brushless motor (1), wings (7), a carbon tube frame (5), a carbon tube clamp (4), a steering engine (9), a U-shaped support (8), a motor base (6) and an adapter (10); the wing (7) is driven to rotate through the brushless motor (1), the brushless motor is connected with the motor base (6), the motor base is sequentially connected with the U-shaped support (8), the adaptor (10) and the steering engine (9) through the carbon tube frame (5) which is rotatably arranged on the carbon tube clamp (4), the carbon tube clamp (4) and the steering engine (9) are fixed on the upper half part (2) of the airplane body, four groups of wiring control are directly led out from one channel of the flight control system through the four steering engines (9), and the flight control system controls the four brushless motors respectively.

4. A media-spanning drone as claimed in claim 2, wherein: the underwater propulsion device comprises a propulsion motor (15), a propeller (14), a rudder (13) and a steering engine (12), wherein a through hole is formed in the rear end of the shell, an output shaft leading out the propulsion motor (15) from the through hole is connected with the propeller (14), the steering engine (12) controls the rudder (13), a sealing device is arranged at the through hole, and a flight control system controls the propulsion motor and the steering engine.

5. A media-spanning drone as claimed in claim 2, wherein: the aquatic goes up latent device and includes two water pump system (16), body setting is called sealed sump (17) under the fuselage of fuselage the latter half, sets up two water pump system (16) on fuselage the latter half (3) and is connected with the sump through the aperture, two water pump system (16) are arranged in with the water suction of outside to the sump, also can take out the water in the sump, can change the lift of hull in aqueous through the change of the water level in the sump, and flight control system controls two water pump system (16).

6. A media-spanning drone as claimed in claim 2, wherein: the system is also provided with a power supply module which supplies power to the brushless motor (1), the steering engine (9), the propulsion motor (15), the double-water-pump system (16), the steering engine (12), the flight control system and the like.

Images