CN220410909U - Pneumatic horn folding device suitable for cross-sea air medium amphibious unmanned aerial vehicle - Google Patents

Abstract

The utility model discloses a pneumatic horn folding device suitable for a cross-sea air medium amphibious unmanned aerial vehicle, which adopts an electric control mechanism to drive an air pressure adjusting mechanism by reasonably controlling the opening and closing of a high-pressure resistant electromagnetic valve, controls the inflation and deflation of an air bag through a high-pressure air path structure capable of circulating inside and outside a cabin body, further converts the volume change of the air bag into the up-and-down reciprocating motion of a transmission mechanism to realize the rotary unfolding or folding and shrinkage of the horn, and has strong repeatability and low maintenance cost; compared with the traditional motor-driven folding mode, the folding type amphibious unmanned platform has the advantages of simple structure, seawater corrosion resistance, carrier weight reduction and convenience for lightweight design of the amphibious unmanned platform; when the air bag is inflated and swelled, the buoyancy of the machine body is increased while the horn is unfolded, and the amphibious unmanned aerial vehicle is further beneficial to water-air span medium movement after underwater operation is completed. The weight of the amphibious unmanned aerial vehicle in the air can be reduced, the resistance in the underwater movement of the machine body is reduced, and the amphibious unmanned aerial vehicle is convenient to operate, stable and reliable.

Description

Pneumatic horn folding device suitable for cross-sea air medium amphibious unmanned aerial vehicle

Technical Field

The utility model belongs to the technical field of amphibious unmanned aerial vehicle equipment manufacturing, and particularly relates to a pneumatic horn folding device suitable for a cross-sea air medium amphibious unmanned aerial vehicle.

Background

The amphibious unmanned aerial vehicle capable of moving in air and water medium and having medium-crossing flying capability is an unmanned platform. The unmanned platform can finish underwater and air monitoring tasks by means of self energy and carrying corresponding sensors, and can be used for marine environment conventional monitoring, emergency monitoring, marine rescue and the like.

Compared with an amphibious unmanned aerial vehicle with fixed wings, the amphibious unmanned aerial vehicle based on multiple rotors has smoother water inlet and water outlet process transition and is easy to control, and therefore the amphibious unmanned aerial vehicle based on multiple rotors is adopted by existing prototypes at home and abroad. The amphibious unmanned aerial vehicle is required to be capable of taking into consideration the motion performance in the air and underwater, so that the weight of the amphibious unmanned aerial vehicle is required to be reduced as much as possible when the amphibious unmanned aerial vehicle flies in the air, and the resistance brought by a machine body is required to be reduced as much as possible when the amphibious unmanned aerial vehicle moves underwater, so that the design structure is simple, and the light-weight automatic folding machine arm becomes a better solution. The folding mode of the amphibious unmanned aerial vehicle horn in the prior art generally adopts the basic driving motion based on engineering machinery to be converted into corresponding controlled motion so as to realize folding and unfolding of the horn, and the driving device mostly adopts a waterproof steering engine or hydraulic driving, however, the motor is exposed to seawater and is easily affected by seawater corrosion, the weight of the machine body is increased, and the weight of the horn folding device is required to be reduced, and the reliability is designed.

Disclosure of Invention

In order to solve the problems in the prior art, the utility model aims to provide the pneumatic horn folding device suitable for the amphibious unmanned aerial vehicle crossing the sea and air medium, which can reduce the weight of the amphibious unmanned aerial vehicle when flying in the air, reduce the resistance when the body moves underwater, and is convenient to operate, stable and reliable.

The technical scheme adopted by the utility model is as follows:

a pneumatic horn folding device suitable for a cross-sea air medium amphibious unmanned aerial vehicle comprises a sealed cabin and a plurality of horns uniformly distributed around the sealed cabin;

the first support assembly, the second support assembly, the third hinge assembly and the fourth drive assembly are arranged outside the sealed cabin; each arm is hinged to the first support component and the second support component through a third hinge component;

the first supporting component is fixedly arranged on the outer wall of the sealed cabin, the second supporting component is arranged outside the sealed cabin in a surrounding mode, the fourth driving component is arranged between the first supporting component and the second supporting component and is used for driving the second supporting component to linearly move along the outer wall of the sealed cabin, and accordingly the arm is driven to be unfolded or folded in a rotating mode through the third hinging component.

Further, a reset mechanism is further arranged between the first support component and the second support component.

Further, the first support assembly comprises an annular first base, and a plurality of first fixing seats protruding outwards are arranged on the first base; the second support assembly comprises an annular second base part, and a plurality of second hinging seats protruding outwards are arranged on the second base part;

the fourth driving component comprises a plurality of air bags which can be inflated and deflated; each air bag is arranged in the space between the first fixed seat and the second hinging seat respectively.

Further, the third hinging assembly comprises a plurality of hinging mechanisms, the number and positions of the hinging mechanisms correspond to those of the locomotive arms, and each locomotive arm is hinged between the first supporting assembly and the second supporting assembly through the hinging mechanism; and the fourth driving assembly is used for driving each hinge mechanism to drive the arm to rotate and expand or fold and contract.

Further, each hinge mechanism comprises a pair of first connecting plates and a pair of second connecting plates;

the pair of first connecting plates are symmetrically arranged and fixedly clamped and connected to two sides of the first fixing seat, and the outer ends of the first connecting plates extend downwards in an inclined manner;

the pair of second connecting plates are symmetrically arranged on two sides of the second hinging seat, the inner ends of the pair of second connecting plates are hinged to the second hinging seat, the middle parts of the pair of second connecting plates are hinged to the lower ends of the pair of first connecting plates, and the front sections of the pair of first connecting plates are fixedly connected on two sides of the root of the horn.

Further, a guide slot is formed in the second hinge seat in a penetrating manner, a rotating shaft is arranged between the roots of the pair of second connecting plates, and the rotating shaft is arranged in the guide slot in a penetrating manner in a sliding manner.

Still further, each first connecting plate is an isosceles triangle plate, and the top angle and one bottom angle of each first connecting plate are fixedly connected to the first fixing seat;

each second connecting plate is provided with a first connecting part and a second connecting part, and an included angle between the first connecting part and the second connecting part is an obtuse angle, so that each second connecting plate is of a V-shaped plate structure; the root of the first connecting part is hinged on the second hinge seat, and the second connecting part is used for fixedly connecting the horn.

Still further, be provided with extension spring between the root of first fixing base and the root of second articulated seat, constitute elastic reset mechanism.

Still further, the inner cavity of the sealed cabin is provided with a recyclable air pressure regulating mechanism and an electric control mechanism based on a high-pressure-resistant electromagnetic valve, and the air pressure regulating mechanism is communicated to each air bag in a penetrating way through an air duct;

the outside of the sealed cabin is also provided with a waterproof sonar module and a depth sensor;

and the electric control mechanism is used for driving the air pressure adjusting mechanism to control the inflation and deflation of the air bag according to the detection data of the waterproof sonar module and the depth sensor.

Finally, the sealed cabin is of a sealed cylindrical structure, and the first base part and the second base part are of a ring sleeve structure formed by combining a plurality of sector ring segments;

the end part of each ring section is respectively provided with a buckle structure protruding outwards;

the buckles at the ends of two adjacent ring segments of the first base are fastened and connected through fasteners, so that the first base is fixedly sleeved on the outer wall of the sealed cabin through interference fit;

and a pulley is further arranged between buckles at the ends of two adjacent ring segments of the second base, so that the inner diameter of the second base is larger than the outer diameter of the sealed cabin, and the second base is movably sleeved on the outer wall of the sealed cabin through the pulley.

Compared with the prior art, the utility model has the following beneficial effects:

the utility model provides a pneumatic horn folding device suitable for stride marine empty medium amphibious unmanned aerial vehicle, adopts electric control mechanism to control the gassing of filling of gasbag through the switching drive atmospheric pressure adjustment mechanism of the high pressure resistant solenoid valve of rational control, and then drives the rotatory expansion or folding shrink of horn through hinge mechanism, has simple structure in traditional motor drive folding mode, and is resistant to seawater corrosion, alleviates carrier weight, the amphibious unmanned aerial vehicle platform lightweight design of being convenient for.

By adopting a high-pressure air path structure capable of circulating inside and outside the cabin, the electric control mechanism controls the deflation shrinkage and inflation bulge of the inelastic air bag outside the cabin by reasonably controlling the opening and closing of the high-pressure resistant electromagnetic valve, so that the volume change of the air bag is converted into the up-and-down reciprocating motion of the transmission mechanism to realize the rotary unfolding or folding shrinkage of the horn, the repeatability is strong, and the maintenance cost is low.

The air pressure adjusting mechanism is used for controlling the inflation and deflation of the air bag, when the air bag is inflated and swelled, the buoyancy of the machine body is increased while the horn is unfolded, and the amphibious unmanned aerial vehicle is further beneficial to water-air span medium movement after underwater operation is completed.

The weight of the amphibious unmanned aerial vehicle in the air can be reduced, the resistance in the underwater movement of the machine body is reduced, and the amphibious unmanned aerial vehicle is convenient to operate, stable and reliable.

Drawings

Fig. 1 is a schematic perspective view of a pneumatic horn folding device suitable for a cross-sea air medium amphibious unmanned aerial vehicle according to an embodiment of the present utility model when the horn is unfolded;

fig. 2 is a schematic perspective view of a pneumatic horn folding device suitable for a cross-sea air medium amphibious unmanned aerial vehicle according to an embodiment of the present utility model when the horn is folded and contracted;

FIG. 3 is a schematic perspective view of a first support assembly and a second support assembly of a pneumatic horn folding device for a cross-sea air medium amphibious unmanned aerial vehicle according to an embodiment of the present utility model;

Fig. 4 to 5 are enlarged schematic views of an internal three-dimensional structure of a pneumatic horn folding device suitable for a cross-sea air medium amphibious unmanned aerial vehicle according to an embodiment of the present utility model;

FIG. 6 is a schematic diagram of a pneumatic horn folding device for a cross-sea air medium amphibious unmanned aerial vehicle according to an embodiment of the present utility model;

fig. 7 is a schematic diagram of a circuit connection structure of a pneumatic horn folding device suitable for a cross-sea air medium amphibious unmanned aerial vehicle according to an embodiment of the present utility model.

Detailed Description

The following description of the embodiments of the present utility model 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 utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art without the inventive effort, are intended to be within the scope of the present utility model.

As shown in fig. 1 to 7, in order to solve the technical problems in the prior art, the utility model provides a pneumatic horn folding device suitable for a cross-sea air medium amphibious unmanned aerial vehicle, and the whole planning scheme is firstly conceived to provide a structure suitable for the cross-sea air medium amphibious unmanned aerial vehicle, wherein the main structure is composed of a sealed cabin and a plurality of horns 38 uniformly distributed around the sealed cabin;

Providing a first support assembly 30, a second support assembly 33, a third hinge assembly and a fourth drive assembly outside the capsule 29; each arm 38 is hingedly connected between the first support assembly 30 and the second support assembly 33 by a third hinge assembly, respectively;

the first supporting component 30 is fixedly arranged on the outer wall of the sealed cabin, the second supporting component 33 is arranged outside the sealed cabin in a surrounding mode, the fourth driving component is arranged between the first supporting component 30 and the second supporting component 33, and the second supporting component 33 can be driven to linearly move along the outer wall of the sealed cabin through the fourth driving component, so that the horn 38 is driven to rotate and unfold to the horizontal direction or rotate to vertically fold and store around a hinge point through the third hinge component.

Further, a reset mechanism is further provided between the first support assembly 30 and the second support assembly 33, by which the horn is assisted to rotate from the horizontal direction to the vertical direction, i.e. to switch from the extended state in flight to the folded collapsed state in diving.

Further, the main structure of the first support assembly 30 is an annular first base 301, and a plurality of first fixing seats 302 protruding outwards are uniformly distributed around the first base 301 along the circumferential direction; the main structure of the second support assembly 33 is an annular second base 331, and a plurality of second hinge seats 332 protruding outwards are uniformly distributed in the circumferential direction of the second base 331.

The fourth driving component is formed by combining a plurality of inflatable and deflatable air bags 31; each airbag 31 is respectively and limitedly clamped in the space between the first fixing seat 302 and the second hinging seat 332, and the airbag 31 is inflated, so that the volume of the airbag is expanded, a downward thrust effect is generated on the second hinging seat 332, the second hinging seat 332 is pushed to move downwards, and the arm is pushed to rotate and open by the third hinging assembly.

Four small holes with the diameter of 2mm are formed in four corners of the edge of each air bag 31, the air bags and the locomotive arms are bound and fixed through the small holes by means of a binding belt or a rope and other tools, the binding degree is that the fixing tools are in a tight state when the air bags 31 are inflated and opened, and the air in the air bags 31 is drawn back to an air tank in a cabin and is in a loose state but not free to move. The fixing means used is not limited, and may be, for example, a tie or a string.

Further, the third hinge assembly is formed by combining a plurality of hinge mechanisms, the number and the positions of the hinge mechanisms correspond to those of the arms, and each arm 38 is hinged between the first support assembly 30 and the second support assembly 33 through one hinge mechanism; the fourth driving assembly is used for driving each hinge mechanism to drive the arm 38 to rotate to unfold or fold and retract.

Further, the specific structure of each hinge mechanism is as follows:

each hinge mechanism is formed by combining a pair of first connecting plates 303 and a pair of second connecting plates 333;

the pair of first connecting plates 303 are symmetrically arranged and fixedly clamped on two sides of the first fixing base 302, and the outer ends of the first connecting plates extend downwards in an inclined manner;

the pair of second connecting plates 333 are symmetrically disposed at two sides of the second hinge base 332, and inner ends of the pair of second connecting plates 333 are hinged to the second hinge base 332, and middle parts of the pair of second connecting plates 333 are hinged to lower ends of the pair of first connecting plates 303, and front sections of the pair of first connecting plates 333 are fixedly connected at two sides of the root of the arm 38.

Further, a transverse guiding slot 334 is formed in the second hinge base 332, a rotating shaft 335 is connected between the root portions of the pair of second connecting plates 333, the rotating shaft 335 is hinged to the inner ends of the root portions of the pair of second connecting plates 333 after penetrating through the guiding slot 334, and the rotating shaft 335 is slidably disposed in the guiding slot.

Still further, each first connecting plate 303 is an isosceles triangle plate, and each first connecting plate 303 is fixedly connected to the first fixing base 301 through a top angle and a bottom angle; one sloping side of each first connecting plate 303 extends forwards and downwards from the front end of the first fixing seat 301, and the other bottom corner of the first connecting plate 303 forms a hinged connection fulcrum.

Each second connecting plate 333 is provided with a first connecting part 3331 and a second connecting part 3332, and an included angle between the first connecting part and the second connecting part is an obtuse angle of 135 degrees, so that each second connecting plate is of a V-shaped plate structure; the root of the first connecting portion is hinged to the second hinge seat 331, and each second connecting plate 333 is fixedly connected to the arm 38 through the second connecting portion.

Still further, an extension spring 36 is disposed between each side root of each first fixing seat 301 and each side root of each second hinge seat 331, so as to form an elastic restoring mechanism.

The inner end, namely the bottom corner, of each first connecting plate 303 is fixedly connected to the first fixing base 301 through a long bolt; two long bolts are symmetrically and fixedly arranged at the root of each second hinging seat 331; the outer end of each long bolt is provided with an anti-skid groove respectively; the upper and lower ends of the extension spring 36 are respectively clamped on the long bolts through anti-skid grooves, and the extension spring is stable and reliable.

Still further, a recyclable air pressure regulating mechanism and an electric control mechanism based on a high pressure resistant electromagnetic valve are arranged in the inner cavity of the sealed cabin, and the air pressure regulating mechanism is communicated to each air bag 31 in a penetrating manner through an air duct, so that each air bag 31 can be controlled to be inflated and deflated.

The waterproof sonar module 27 and the depth sensor 25 are further arranged outside the sealed cabin, and the real-time position and depth data information of the pneumatic horn folding device suitable for the cross-sea air medium amphibious unmanned aerial vehicle and the data information of whether obstacles exist in the external environment or not can be monitored and collected in real time through the waterproof sonar module 27 and the depth sensor 25.

The air pressure adjusting mechanism can be driven to control the inflation and deflation of the air bag 31 according to detection data which are monitored and collected in real time by the waterproof sonar module 27 and the depth sensor 25 through the electric control mechanism.

Finally, the sealed cabin is in a sealed cylindrical structure, and the first base 301 and the second base 331 are both in a ring sleeve structure formed by combining four ring segments in a right-angle sector shape.

The end part of each ring segment is respectively provided with a buckle structure protruding outwards; the buckles at the ends of the two adjacent ring segments of the first base 301 are fastened and connected through fasteners, so that the first base 301 is fixedly sleeved on the outer wall of the sealed cabin through interference fit.

The pulley 37 is further arranged between the buckles of the ends of the two adjacent ring segments of the second base 331, and the buckles of the ends of the two adjacent ring segments are also fastened and connected with the pulley 37 through fasteners at the same time, so that the second base 331 is movably sleeved on the outer wall of the sealed cabin through clearance fit.

In this example, four first fixing seats 302 protruding outwards are uniformly distributed around the first base 301 of the first support assembly 30 along the circumferential direction; four second hinge seats 332 protruding outward are uniformly disposed in the circumferential direction of the second base 331 of the second support member 33.

The fourth driving assembly is composed of four inflatable and deflatable air bags 31.

The second base 331 is provided with four pulleys in total, so that the inner diameter of the second base 331 is larger than the outer diameter of the sealed cabin, and the second base 331 is movably sleeved on the outer wall of the sealed cabin through the rotary movement of the four pulleys.

The four pulleys 37 are respectively arranged between the buckles at the ends of the two adjacent ring segments in a clamping mode after penetrating through the fasteners, the inner end faces of the four pulleys can be located in the same virtual cylindrical surface with the inner surface of the second base, and the inner surface of the second base and the outer wall of the sealed cabin form clearance fit.

Or the inner diameter of the virtual cylindrical surface where the inner end surfaces of the four pulleys are positioned is smaller than the inner diameter of the second base part, namely, only the inner ends of the four pulleys are propped against the outer wall of the sealed cabin, and a spacing space is formed between the inner surface of the second base part and the outer wall of the sealed cabin.

When the arm needs to be unfolded, all the air bags 31 are inflated, each air bag 31 applies a downward thrust action to each second hinging seat 332, and all the air bags 31 push all the second hinging seats 332 to drive the second supporting components 33 to move downwards along the outer wall of the sealed cabin through the pulleys 37; the second hinge base 332 moves downward, and the rotating shaft 335 is limited by the guide slot 334, so that the rotating shaft 335 moves downward along with the guide slot 334, and the rotating shaft 335 slides in the guide slot 334 at the same time, so that the rear ends of the first connecting parts of the pair of second connecting plates 333 are driven to rotate downward around the hinge point by the rotating shaft 335, and the second connecting parts of the pair of second connecting plates 333 drive the arm 38 to rotate upward together, thereby realizing the rotation opening of the arm 38. The tension spring 36 is simultaneously deformed by tension to generate an elastic restoring force.

When the arm 38 needs to be folded and contracted, the air bag 31 is deflated, the volume of the air bag 31 is reduced, the second hinging seat loses the thrust action of the air bag, and meanwhile, under the action of the elastic restoring force of the stretching spring 36, the second hinging seat is pulled to reset upwards, so that the second supporting component 33 is driven to move upwards along the outer wall of the sealed cabin through the pulley; the second hinging seat moves upwards and drives the rear ends of the pair of second connecting plates to rotate upwards around the hinging pivot through the guide shaft, and the second connecting parts of the pair of second connecting plates rotate downwards together with the horn 38, so that the rotation, folding and shrinkage of the horn 38 are realized; because the flight rotor is installed to horn 38 outer end, after the thrust effect of gasbag was lost to the articulated seat of second, the flight rotor also assisted promotion horn down rotation simultaneously with the self gravity effect of horn, labour saving and time saving, convenient operation, reliable and stable.

The utility model is suitable for the pneumatic horn folding device of the amphibious unmanned aerial vehicle with the cross sea and air medium, and the pneumatic control mechanism is adopted to control the inflation and deflation of the air bags by reasonably controlling the opening and closing driving air pressure regulating mechanism of the high-pressure resistant electromagnetic valve, and then the articulated mechanism is used for driving the horn to rotate and expand or fold and contract.

By adopting a high-pressure air path structure capable of circulating inside and outside the cabin, the electric control mechanism controls the deflation shrinkage and inflation bulge of the inelastic air bag outside the cabin by reasonably controlling the opening and closing of the high-pressure resistant electromagnetic valve, so that the volume change of the air bag is converted into the up-and-down reciprocating motion of the transmission mechanism to realize the rotary unfolding or folding shrinkage of the horn, the repeatability is strong, and the maintenance cost is low.

The air pressure adjusting mechanism is used for controlling the inflation and deflation of the air bag, when the air bag is inflated and swelled, the buoyancy of the machine body is increased while the horn is unfolded, and the amphibious unmanned aerial vehicle is further beneficial to water-air span medium movement after underwater operation is completed.

The weight of the amphibious unmanned aerial vehicle in the air can be reduced, the resistance in the underwater movement of the machine body is reduced, and the amphibious unmanned aerial vehicle is convenient to operate, stable and reliable.

The technical scheme of the specific implementation modes of the sealed cabin, the recyclable air pressure regulating mechanism and the electric control mechanism based on the high-pressure-resistant electromagnetic valve in the first embodiment is as follows:

the main structure of the sealed cabin is a cabin body 29 with a cylindrical structure, an upper sealing cover 26 and a lower sealing seat 1 are respectively arranged at the upper end and the lower end of the cabin body 29, and four air bags 31 are uniformly arranged along the circumferential direction of the periphery of the upper sealing cover 26 and correspond to the number and the hinging positions of four machine arms; the inflation and deflation thrust and the buoyancy are regulated stably and uniformly; the waterproof sonar module 27 is fixedly arranged in the middle of the bottom surface of the lower sealing seat 1, the depth sensor 25 is fixedly arranged on the top surface of the upper sealing cover 26, and detection data are stable and reliable.

The electric control mechanism drives the air pressure adjusting mechanism to realize the rotation expansion or folding contraction of the horn through the inflation and deflation of the air bag 31 according to the detection data of the waterproof sonar module 27 and the depth sensor 25, and simultaneously adjusts the buoyancy; the unmanned aerial vehicle can meet the use requirements of miniaturization and modularized design of the amphibious unmanned aerial vehicle, the gas cylinder is not required to be replaced or inflated, the underwater depth and gesture control operation is convenient when the amphibious unmanned aerial vehicle runs for a long time, and the safety redundancy is high; the structure is simple and compact, the volume is small, the weight is light, the occupied space is small, and the unmanned aerial vehicle can meet the use requirements of miniaturization and modularized design of the amphibious unmanned aerial vehicle.

Further, the main structure of the air pressure adjusting mechanism is a pressure-resistant air storage tank 2 and a diaphragm vacuum air pump 14, wherein the pressure-resistant air storage tank 2 is connected to an air bag 31 through the diaphragm vacuum air pump 14; the gas in the pressure-resistant gas tank 2 can be delivered into the airbag 31 by the diaphragm vacuum gas pump 14 to inflate and increase buoyancy, or the gas in the airbag 31 can be pumped back into the pressure-resistant gas tank 2 to deflate and reduce buoyancy.

Further, the main structure of the electrical control mechanism is that a propeller control module 16 is firstly provided, the propeller control module 16 is connected to the diaphragm vacuum air pump 14, the waterproof sonar module 27 and the depth sensor 25, and the propeller control module 16 can drive and control the operation state of the diaphragm vacuum air pump 14 according to the detection data of the waterproof sonar module 27 and the depth sensor 24 so as to drive the diaphragm vacuum air pump 14 to make the operation state of increasing buoyancy or reducing buoyancy.

The inner cavity of the cabin 29 is provided with a supporting frame 3, the supporting frame 3 is specifically composed of a plurality of vertical supporting columns 28 and supporting plates in the multilayer horizontal direction, the supporting columns 28 are uniformly arranged at the positions, close to the inner wall, of the inner cavity of the cabin 29 along the circumferential direction, the lower ends of the supporting columns 28 are fixedly supported and connected to the lower sealing seat 1 respectively, and the supporting plates in the multilayer are fixedly connected to the supporting columns 28.

The support frame 3 in this example specifically sets up four vertical support columns 28 and six layers of backup pads, from bottom to top in proper order be first backup pad 31, first 32 backup pads, third backup pad 33, fourth backup pad 34, fifth backup pad 35 and sixth backup pad 36, can separate each control module in pneumatic adjustment mechanism and the electric control mechanism, electrical components, coupling hose and other relevant spare part and support the inner chamber at the cabin 29 through six layers of backup pads, four vertical support columns and six layers of backup pads of support frame 3 all adopt acrylic, aluminum alloy or other materials that light weight is high, simultaneously cabin 29, upper seal cover 26 and lower seal seat 1 also can adopt corresponding materials, reach the purpose that whole light weight is high in intensity, and simple structure is compact, and is small, and space utilization is high, and mechanical support intensity is reliable, separates each other to set up, and is reliable and stable.

The specific structure of the four vertical support columns and the six layers of support plates is as follows: each vertical support column is formed by combining a plurality of sections of separation support columns, each section of separation support column is respectively of a hexagonal prism structure, and four vertical support columns form a square support frame; the upper end of each section of separation support column is provided with an external thread connecting section, and the lower end of each section of separation support column is provided with an internal thread hole; each layer of supporting plate is of a flower plate-shaped structure formed by cutting four concave circular arc edges, and a wiring space is formed between the concave circular arc edges of each layer of supporting plate and the inner wall of the cabin body, so that the weight can be reduced; round holes are respectively formed in positions, corresponding to the vertical support columns, of each layer of support plate, and each layer of support plate is supported between two adjacent sections of separation support columns through limiting clamping of the round holes.

A plurality of mounting holes and wiring holes are also respectively arranged on each layer of supporting plate, and the purposes of reducing weight can be achieved through the plurality of mounting holes and the wiring holes.

A first threading bolt 23 and a second threading bolt 24 are provided on the top surface of the upper seal cover 26; the first threading bolt 23 is used for the waterproof sonar module 27 to be connected to an electrical control mechanism in the cabin body in a sealing penetrating manner through an electrical lead 60, and the second threading bolt 24 is used for the four air bags 31 to be connected to an air pressure adjusting mechanism in the cabin body in a sealing penetrating manner through an air duct 32.

Specifically, the specifications of the depth sensor 25, the first threading bolt 23 and the second threading bolt 24 are M10, and the depth sensor 25, the first threading bolt 23 and the second threading bolt 24 are uniformly distributed at positions close to the middle on the top surface of the upper sealing cover 26 in a positive angle along the circumferential direction, which is beneficial to maintaining balance and stability.

Further, the pressure-resistant air storage tank 2 is fixedly supported and arranged on the support frame 3 at a position close to the bottom end through the first support plate 31; the diaphragm vacuum air pump 14 is fixedly supported and arranged on the support frame 3 at a position close to the middle part through a third support plate 33; the propeller control module 16 is fixedly supported and arranged on the support frame 3 at a position close to the upper end through a fourth support plate 34; six layers of backup pads on the support frame 3 can carry out adaptability setting according to the in-service use demand, and space layout adaptability is strong.

The height distance between the first support plate 31 and the second support plate 32 in this example is adapted to the height of the pressure-resistant air tank 2, and further, the stable reliability and the support strength of the pressure-resistant air tank 2 are ensured. The height distance between the second support plate 32 and the third support plate 33 is smaller, so that the installation space requirement of the subsequent battery management module is met; the spacing distance between the third support 33 and the fourth support plate 34 is higher, so that the requirement of the installation space of the diaphragm vacuum air pump 14 is met; the distance between the fourth supporting plate 34 and the fifth supporting plate 35, the fifth supporting plate 35 and the sixth supporting plate 36 and the distance between the sixth supporting plate 36 and the bottom surface of the upper sealing cover 26 are smaller, so that the installation space requirements of the following control modules are met; further improving the space utilization and reducing the volume.

Still further, the air pressure regulating mechanism further comprises a first electromagnetic valve 6, a second electromagnetic valve 7, a third electromagnetic valve 10, a fourth electromagnetic valve 11, a fifth electromagnetic valve 12 and a high-pressure air pipe 15; the pressure-resistant air storage tank 2 is communicated to an air inlet of the diaphragm vacuum air pump 14 through a high-pressure air pipe 15 through a first electromagnetic valve 6, a second electromagnetic valve 7 and a third electromagnetic valve 10, an air outlet of the diaphragm vacuum air pump 14 is connected to an air bag 31 through a gas conduit 32 through a fourth electromagnetic valve 11 and a fifth electromagnetic valve 12 of the first electromagnetic valve 6, and air path control is realized through the first electromagnetic valve 6, the second electromagnetic valve 7, the third electromagnetic valve 10, the fourth electromagnetic valve 11, the fifth electromagnetic valve 12 and the high-pressure air pipe 15, so that the pressure-resistant air storage tank is stable and reliable.

Still further, the air pressure regulating mechanism further includes an emergency gas cylinder 8, a gas cylinder port 9, and a pressure reducing valve 13, the emergency gas cylinder 8 being also connected to the gas conduit 32 via the gas cylinder port 9, the pressure reducing valve 13, and the fifth solenoid valve 12 in this order, so as to be also connected to the airbag 31 via the gas conduit 32. The gas conduit 32 may also employ a high pressure gas line.

Still further, the electrical control mechanism also includes the microcomputer 18, voltage dividing and dividing board 4, power management control module 5, water leakage detection sensor 17, electromagnetic relay 19 and remote controller module 20; the voltage dividing and distributing plate 4 and the power management control module 5 are fixedly supported and installed in the space between the pressure-resistant air storage tank 2 and the diaphragm vacuum air pump 14 on the support frame through the second support plate 32, so that the structure is compact, and the space layout is reasonable; the voltage division plate 4 and the power management control module 5 are connected to the diaphragm vacuum air pump 14 and the electromagnetic valves through electromagnetic relays 19; and providing power for each electric device.

The water leakage detection sensor 17 is used for detecting whether the sealed cabin leaks data and transmitting the data to the propeller control module 16, so that safety performance is ensured.

The power management control module 5 is used for providing power and managing and controlling the power.

The voltage dividing and distributing board 4 is used for dividing and transmitting the electric energy output by the battery management module 5 to each power utilization module.

The remote controller module 20 is configured to receive and feed back a remote control signal, so as to implement remote control.

The microcomputer 8 is configured to receive the detection feedback signals and perform logic operation, and then output control signals to the control module 16, the voltage dividing and distributing board 4, and the power management control module 5.

Still further, the electrical control mechanism is further provided with one or more power control waterproof switches 22, and each power control waterproof switch 22 is wrapped and arranged inside the air bag 31, so that the power control is realized while the waterproof performance is ensured.

Finally, the upper sealing cover 26 and the lower sealing seat 1 are of disc-shaped structures, and are respectively and hermetically connected to the upper end and the lower end of the cabin 9 through two O-shaped sealing rings to realize sealing connection; limiting and locking structures can be arranged between the upper sealing cover 26, the lower sealing seat 1 and the inner wall of the cabin body, so that the sealing connection reliability is further ensured.

The specific gas path control connection operation mode in the actual operation process is as follows:

pneumatic horn folding device: comprising pneumatic and electronic cabin 29, wherein the top of the cabin is provided with a threading bolt 23 for leading high-pressure gas out of the air storage tank 2 in the cabin into four air bags 31 outside the cabin, the periphery of the cabin is provided with two sets of different aluminum alloy sleeve members 30 and 33 for connecting the cabin 29 with a folding arm 38, the upper sleeve member 30 is divided into four small parts which are fixed by screws, the middle of the four small parts is integrally provided with a round shape for fixing the middle round cabin 29, the middle of the outer wall of each small sleeve member is outwards extended with a cuboid baffle for clamping the air bag 31 and connecting the arm 38, the extension part is provided with two screw hole sites, wherein the hole site screw close to the arc-shaped inner wall is extended and provided with an anti-falling groove for connecting a tension fitting 36 such as a spring, an elastic rope, and the like, the size and thickness are determined according to the size or other conditions of the actual air bag 31, the lower part is provided with a sleeve member 33 with a similar shape, the lower sleeve 33 can slide up and down around the cabin 29 by installing small wheels 37 between each small sleeve in the lower sleeve 33 and fixing the small sleeve by screws, a cuboid baffle plate and two screw holes which extend outwards from the outer wall in four directions are also used for installing screws, the hole near the arc-shaped inner wall is also extended and lengthened and provided with an anti-drop groove, the position is used for fixing tension fittings 36 such as springs, elastic ropes and the like which are installed with the upper sleeve 30, the tension fittings 36 are used for pulling the lower sleeve 33 to slide up and down, the baffle sides of the extending parts are provided with a guide rail, as shown in figure 4, an air bag 31 is arranged between the upper sleeve 33 and the lower sleeve, two hole positions at one end of a connecting plate 34 forming an included angle of 135 DEG are installed on the arm, wherein the hole positions near the inner part are rotatable shafts, the other end is mounted in the guide groove of the lower sleeve 33 by means of a rolling connection 41, which is folded with the aforementioned arm connection plate 34 and arm 38, which need to be turned around an axis, so that on the sides of both sleeves there is a triangular connection plate 35, which is provided with a hole at each corner, two holes being mounted in the upper sleeve 30 and the other hole being mounted for turning the arm bar around an axis. A motor mount 40, a motor, a propeller 39, and the like are mounted on the other end of the carbon fiber horn 38.

Introduction of internal structure:

as shown in fig. 2, the inner bottom of the sealed cabin 29 is a pressure-resistant air storage tank 2, the air storage tank 2 is placed on the bracket 3 in the cabin, four corners of each bracket 3 are fixed by connecting columns 28 and are connected with each layer of bracket 3, the air storage tank 2 is placed upwards by a power management board 5 and a pressure-dividing and power-dividing board 4, the power management board 5 supplies power for other electronic accessories and controls the on-off of a power supply, meanwhile, the power management board has a voltage and current detection function so as to conveniently display the residual power of the power supply, the power management board is fixed on the bracket 3 by screws, the diaphragm vacuum air pump 14 is placed above the power management board, and because the volume of an electromagnetic valve is smaller, the electromagnetic valves 6, 7, 10, 11 and 12 are placed around the diaphragm vacuum air pump 14 to fully utilize the space, the emergency gas small steel cylinder 8 and the gas cylinder interface piece 9 are arranged on the electromagnetic valves 6 and 7 through screws, the lead-out gas pipe is connected to the pressure reducing valve 13 arranged above the electromagnetic valves 10 and 11, the electromagnetic valves 6, 7, 10, 11 and 12, the high-pressure small steel cylinder 8 and the interface 9 of the pressure reducing valve 13 and the diaphragm vacuum air pump 14 are fixed on the bracket 3 through screws, the gas circuit and propeller control board 16, the microcomputer 18 and the water leakage detection sensor 17 are arranged on the bracket above the bracket, the electromagnetic relay 19 is arranged on the bracket 3 through screws, and the data transmission, the remote controller module 20 and the flight control board 21 are arranged on the layer. The bracket 3 can be made of acrylic, aluminum alloy and other materials, and the pressure-resistant air storage tank 2 can be made of various high-pressure air tank air cylinders for storing various high-pressure air; the electromagnetic valves 6, 7, 10, 11 and 12 can be two-position two-way normally-closed electromagnetic valves, and the electromagnetic relay 20 can be a miniature digital single-way or multi-way relay.

The gas path connections of the submerged buoyancy adjustment device are further described in connection with figures 1 and 2

As shown IN fig. 2 and the air circuit diagram, the air storage tank 2 is communicated with the OUT air outlet of the electromagnetic valve 6 and the IN air inlet of the electromagnetic valve 7 through a quick-plug tee joint, the OUT air outlet of the electromagnetic valve 7 and the OUT air outlet of the electromagnetic valve 10 are connected with the IN air inlet of the diaphragm vacuum pump 14 through the quick-plug tee joint, the OUT air outlet of the diaphragm vacuum pump 14 is respectively connected with the OUT air outlets of the electromagnetic valve 11 and the electromagnetic valve 6 through the tee joint, the OUT air outlet of the electromagnetic valve 11, the OUT air outlet of the electromagnetic valve 12 and the IN air inlet of the electromagnetic valve 10 are connected with an external annular or square air bag 31 through a quick-plug four-way joint and the high-pressure air pipe 15 through a threading bolt 24, and the emergency high-pressure air small steel cylinder 8 is connected to the IN air inlet of the pressure reducing valve 13 through a gas cylinder interface 9 and is output from the OUT port to the IN port of the electromagnetic valve 12 through pressure reduction. Finally, the outer four airbags 31 are connected for controlling the buoyancy and unfolding and folding of the horn 38. The high-pressure air pipe can be a high-pressure air pipe made of various materials.

Circuit connection of underwater buoyancy adjusting device

The power supply is connected with the power management control board 5 through a wire, the waterproof switch 22 is connected with the power management control board 5 and used for controlling the power supply of the whole circuit, the voltage division and electric board 4 is connected with the output interface of the power management control board 5 through a wire, the output port of the voltage division and electric board 4 is respectively connected with the air circuit and the propeller control board 16 (5V power supply output port) and the electromagnetic relay 19 through a wire, the electromagnetic relay is connected with the electromagnetic valves 6, 7, 10, 11 and 12 and the diaphragm vacuum pump 14 (the cathodes of the electromagnetic relay are commonly grounded, the anodes of the electromagnetic relay are respectively connected with the output anodes of the relay), the depth sensor 25, the sonar 27 and the water leakage sensor 17 are connected on the air circuit and the propeller control board 16 through signal wires, the sensors acquire energy from UART and I2C ports of the air circuit and the propeller control board 16 and send back collected data information to the air circuit and the propeller control board 16 at the same time for judging and selecting, and the air circuit and the propeller control board 16 are connected with the electromagnetic relay 19 through signal wires and control the on-off of the electromagnetic valves and the diaphragm vacuum pump.

The control working principle of the actual operation process is as follows:

the control process of the rotation and deployment of the horn comprises the following steps:

when the underwater buoyancy intelligent adjusting device is sunk to a certain depth and is expected to float upwards for recovery, the air inflation is needed to provide buoyancy, the horn 38 is unfolded for taking off, the air path and propeller control board 16 sends signals to the electromagnetic relay 19, the electromagnetic valves 7 and 11 are in an electrified normally open state, the diaphragm vacuum pump 14 starts to be electrified and work, the air storage tank 2 in the sealed cabin 29 starts to be led into the external air bag 31 through the pressure-resistant air pipe 15, the electromagnetic valves 7, the diaphragm vacuum pump 14 and the electromagnetic valve 11, and the electromagnetic valves 6, 10 and 12 are in a normally closed state in the outage and do not participate in operation. With the gradual increase of the gas in the external airbag 31, the volume of the airbag 31 gradually increases, at this time, the lower sleeve 33 is pushed to move downwards due to the inflated state of the airbag 31, the horn part is connected to the guide rail of the lower sleeve 33 through the 135-degree connecting plate 34 and also moves along with the lower sleeve, the horn is connected with the upper sleeve 30 fixed above through the triangular connecting plate 35, the horn 38 can only rotate around one axis to realize the deployment of the horn, the buoyancy gradually increases along with the horn, and finally the gravity is larger than the buoyancy, namely the floating movement and the deployment action of the horn are started. In this process, the depth sensor 25, the sonar ranging 27, and the water leakage sensor 17 are always in the working state, and the air path and the propeller control board 16 acquire data in real time, which is used as a basis for whether the state is normal, and an emergency measure is necessary to be taken, so that the floating process is described above.

The folding and shrinking control process of the horn comprises the following steps:

when the external air bag 31 is in an inflated state, the submerging and arm folding actions are started, at the moment, the electromagnetic valves 6 and 10 and the diaphragm vacuum pump 14 start to work according to the command sent to the electromagnetic relay 19 through the air path and propeller control board 16, and the air of the external air bag 31 is pumped back into the cabin air storage tank 2, namely the air of the external air bag 31 is led into the air storage tank through the electromagnetic valve 10, then passes through the diaphragm vacuum pump 14 and then passes through the electromagnetic valve 6, and in the process, the electromagnetic valve 7 of the electromagnetic valve 11 and the electromagnetic valve 12 are in a normally closed state and do not participate in operation. Along with the gradual reduction of the volume of the gas in the external airbag 31, the volume of the gas in the external airbag 31 is continuously reduced, and similarly, the airbag 31 is contracted and the elastic force of an elastic fitting 36 such as a spring, the weight of the tail end of a horn 38 is transmitted to a 135-degree connecting plate 34 by sliding upwards, and then transmitted to a triangular connecting plate 35 to be folded downwards around an axis, so that the folding of the horn part is realized, the buoyancy is gradually reduced, the final gravity is larger than the buoyancy to generate the submerging motion, and the underwater propeller loaded by the gas can be used for rapid submerging, and in the submerging process, the sonar 27 and the depth sensor 25 can read data in real time and feed back to the gas path and the propeller control plate 16 as the basis of stopping submerging, and after submerging to a certain depth, the airbag can hover to a certain depth or be inflated to the external airbag 31 to float upwards, the horn 38 can be unfolded, and the like.

The water free-running control process with convenient operation:

it can be simply understood that when the outer airbag 31 needs to be deflated and the volume-reduced horn 38 needs to be folded when the submergence needs to be started, the upper-floating horn 38 is required to be unfolded, and the unfolding and folding of the horn 38 are realized by adopting the unfolding and shrinkage of the airbag 31. The upper sleeve 30 is fixedly connected to the cabin 29, the lower sleeve is capable of sliding up and down around the cabin 29, the airbag 31 expands or contracts, the elastic force of the spring 36 and the gravity of the tail end of the arm 38 enable the lower sleeve to slide up, the arm and the lower sleeve are provided with a 135 ° connecting piece 34, so that the displacement of the lower sleeve 33 is transmitted to the arm 38, but the arm 38 needs to be unfolded up and down, i.e. the arm needs to be displaced up and down around an axis, so that a connecting piece 35 is required to be connected with the upper sleeve 30 to play a fixed role and realize movement around an axis, thereby realizing the folding and unfolding of the arm 38.

Compared with the prior art, the pneumatic horn folding device suitable for the cross-sea air medium amphibious unmanned aerial vehicle has the following advantages:

compared with the traditional motor-driven folding mode, the pneumatic horn folding device has the advantages of simple structure, seawater corrosion resistance, carrier weight reduction and contribution to the lightweight design of an amphibious unmanned platform.

The utility model adopts a high-pressure air path structure capable of circulating inside and outside the cabin, the electric control mechanism reasonably controls the opening and closing of the high-pressure resistant electromagnetic valve to realize the contraction and the bulge of the inelastic air bag outside the cabin, and further converts the volume change of the air bag into the up-and-down reciprocating motion of the transmission mechanism to realize the folding and the unfolding of the horn, and the utility model has strong repeatability and low maintenance cost.

According to the pneumatic folding horn device designed by the utility model, the air bags swell, so that the buoyancy of the machine body is increased when the horn is unfolded, and the water-air span medium movement of the amphibious unmanned aerial vehicle after the underwater operation is finished is facilitated.

The execution actions of the propulsion, floating, folding and unfolding, flying and the like of all the motion mechanisms can be uniformly and intelligently controlled by the intelligent control center according to an intelligent control program.

The utility model is not limited to the above-described alternative embodiments, and any person who may derive other various forms of products in the light of the present utility model, however, any changes in shape or structure thereof, all falling within the technical solutions defined in the scope of the claims of the present utility model, fall within the scope of protection of the present utility model.

Claims (10)

1. Pneumatic horn folding device suitable for stride marine empty medium amphibious unmanned aerial vehicle, its characterized in that: the device comprises a sealed cabin and a plurality of machine arms which are uniformly distributed around the sealed cabin;

The first support assembly, the second support assembly, the third hinge assembly and the fourth drive assembly are arranged outside the sealed cabin; each arm is hinged to the first support component and the second support component through a third hinge component;

the first supporting component is fixedly arranged on the outer wall of the sealed cabin, the second supporting component is arranged outside the sealed cabin in a surrounding mode, the fourth driving component is arranged between the first supporting component and the second supporting component and is used for driving the second supporting component to linearly move along the outer wall of the sealed cabin, and accordingly the arm is driven to be unfolded or folded in a rotating mode through the third hinging component.

2. The pneumatic horn folding device of claim 1 adapted for use in a cross-sea air medium amphibious unmanned aerial vehicle, wherein: and a reset mechanism is further arranged between the first support assembly and the second support assembly.

3. The pneumatic horn folding device of claim 1 adapted for use in a cross-sea air medium amphibious unmanned aerial vehicle, wherein: the first support assembly comprises an annular first base, and a plurality of first fixing seats protruding outwards are arranged on the first base; the second support assembly comprises an annular second base part, and a plurality of second hinging seats protruding outwards are arranged on the second base part;

The fourth driving component comprises a plurality of air bags which can be inflated and deflated; each air bag is arranged in the space between the first fixed seat and the second hinging seat respectively.

4. A pneumatic horn folding apparatus adapted for use in a cross-sea air medium amphibious unmanned aerial vehicle as claimed in claim 3 wherein: the third hinging assembly comprises a plurality of hinging mechanisms with the number and positions corresponding to those of the locomotive arms, and each locomotive arm is hinged and connected between the first supporting assembly and the second supporting assembly through the hinging mechanism; and the fourth driving assembly is used for driving each hinge mechanism to drive the arm to rotate and expand or fold and contract.

5. The pneumatic horn folding device of claim 4 adapted for use in a cross-sea air medium amphibious unmanned aerial vehicle, wherein: each hinge mechanism comprises a pair of first connecting plates and a pair of second connecting plates;

the pair of first connecting plates are symmetrically arranged and fixedly clamped and connected to two sides of the first fixing seat, and the outer ends of the first connecting plates extend downwards in an inclined manner;

the pair of second connecting plates are symmetrically arranged on two sides of the second hinging seat, the inner ends of the pair of second connecting plates are hinged to the second hinging seat, the middle parts of the pair of second connecting plates are hinged to the lower ends of the pair of first connecting plates, and the front sections of the pair of first connecting plates are fixedly connected on two sides of the root of the horn.

6. The pneumatic horn folding device of claim 4 adapted for use in a cross-sea air medium amphibious unmanned aerial vehicle, wherein: the second hinge seat is provided with a guide slot in a penetrating way, a rotating shaft is arranged between the roots of the pair of second connecting plates, and the rotating shaft is arranged in the guide slot in a penetrating way in a sliding way.

7. The pneumatic horn folding device of claim 5 adapted for use in a cross-sea air medium amphibious unmanned aerial vehicle, wherein: each first connecting plate is an isosceles triangle plate, and the top angle and one bottom angle of each first connecting plate are fixedly connected to the first fixing seat;

each second connecting plate is provided with a first connecting part and a second connecting part, and an included angle between the first connecting part and the second connecting part is an obtuse angle, so that each second connecting plate is of a V-shaped plate structure; the root of the first connecting part is hinged on the second hinge seat, and the second connecting part is used for fixedly connecting the horn.

8. The pneumatic horn folding device of claim 5 adapted for use in a cross-sea air medium amphibious unmanned aerial vehicle, wherein: an extension spring is arranged between the root of the first fixing seat and the root of the second hinging seat to form an elastic reset mechanism.

9. A pneumatic horn folding apparatus adapted for use in a cross-sea air medium amphibious unmanned aerial vehicle as claimed in claim 3 wherein: the inner cavity of the sealed cabin is provided with a recyclable air pressure regulating mechanism and an electric control mechanism based on a high-pressure-resistant electromagnetic valve;

the air pressure regulating mechanism is communicated to each air bag in a penetrating way through an air conduit;

the outside of the sealed cabin is also provided with a waterproof sonar module and a depth sensor;

and the electric control mechanism is used for driving the air pressure adjusting mechanism to control the inflation and deflation of the air bag according to the detection data of the waterproof sonar module and the depth sensor.

10. A pneumatic horn folding apparatus adapted for use in a cross-sea air medium amphibious unmanned aerial vehicle as claimed in claim 3 wherein: the sealed cabin is of a sealed cylindrical structure, and the first base part and the second base part are of a ring sleeve structure formed by combining a plurality of sector ring segments;

the end part of each ring section is respectively provided with a buckle structure protruding outwards;

the buckles at the ends of two adjacent ring segments of the first base are fastened and connected through fasteners, so that the first base is fixedly sleeved on the outer wall of the sealed cabin through interference fit;

and a pulley is further arranged between buckles at the ends of two adjacent ring segments of the second base, so that the inner diameter of the second base is larger than the outer diameter of the sealed cabin, and the second base is movably sleeved on the outer wall of the sealed cabin through the pulley.