CN114379776A - Cross-medium unmanned aerial vehicle device - Google Patents

Abstract

The invention discloses a cross-medium unmanned aerial vehicle device, which relates to the technical field of cross-medium unmanned aerial vehicles. The rotor is mounted on the second half-shell through a folding device, and the folding device can drive the rotor to open outward or be folded on the second half-shell; the first half-shell and the A casing driving mechanism is arranged between the second half casings, and the casing driving mechanism can drive the first half casing and the second half casing to separate when the rotor needs to be opened; After being folded, the first half-shell and the second half-shell are driven to butt against each other. The invention solves the problems that the fixed-wing unmanned aerial vehicle is difficult to control and has poor maneuverability after the water emerges, and the attitude of the unmanned aerial vehicle does not need to be adjusted before and after the water emerges.

Description

A Transmedia UAV Device

technical field

The invention relates to the technical field of cross-medium unmanned aerial vehicles, in particular to a cross-medium unmanned aerial vehicle device.

Background technique

In recent years, aircraft and submarines have developed rapidly, the performance of various types of aircraft in the air has become more and more excellent and perfect, and the diving performance of submarines has also continued to develop and improve. However, the above two machines can only navigate in a single medium. Therefore, in order to combine the air flight ability of the aircraft and the diving navigation ability of the submarine, a new concept UAV that crosses the water and air mediums is created, that is, the cross water and air two mediums. Medium Drone. The two-medium UAV across the water and the air is a combination of a submarine and an aircraft. It can fly in the air like an aircraft, with good maneuverability and wide field of vision, and can sneak in the water like a submarine, with good concealment. capabilities and underwater operation capabilities.

In terms of military applications, UAVs that cross water and air comprehensively utilize the reconnaissance, penetration and attack capabilities of aircraft and submarines, and utilize the characteristics of cross-media to obtain a wide range of underwater, surface and air. Enemy information; using the air flight ability of the aircraft, you can quickly grasp the battlefield situation, with a wider perspective and rapid penetration and strike capabilities; using the submarine's diving ability, you can achieve underwater lurking, target detection, and covertly attack the enemy. Ability. When the cross-media UAV is diving, it can observe the position of enemy warships or submarines, so that it can carry out a series of important pre-war tasks such as near-shore protection, breaking through blockades, reconnaissance and covering up special forces operations; its main attack target is the enemy. The transport ship or merchant ship can use the water medium cover to carry out concealed activities and carry out surprise attacks on the enemy; it has greater self-sufficiency, endurance and combat radius, and can be far away from the base, in a long time and in a large ocean area and even penetrate deep into the enemy. Fanghai District operates independently and has strong assault power. When the cross-media UAV flies from the water to the air, it can carry explosives, missiles, torpedoes and other devices to attack sea and land targets. This kind of cross-media UAV can greatly improve the comprehensive combat capability of the modern navy.

In terms of civil applications, cross-media UAVs also have huge economic benefits and practical application significance. This unmanned unmanned aerial vehicle can not only detect various natural disasters such as fires, floods and shipwrecks in the air like drones, but also can monitor water quality like underwater detectors or submarines. A series of tasks such as marine scientific research, rescue of property, exploration and mining, scientific detection, maintenance of equipment, search and rescue, submarine cable repair, underwater tourism, and academic investigation. Only one cross-media UAV can realize multi-media, multi-faceted functions and tasks that currently require a variety of equipment, which greatly improves work efficiency and saves the production cost of various equipment. multipurpose".

In order to develop the above-mentioned cross-media UAV, many people, teams and institutions have proposed a variety of design methods, including the American "Cormorant" submarine-launched UAV, the American "Maritime Searcher" UAV, and the U.S. Naval Research The "XFC submarine-launched unmanned aerial vehicle" developed by the laboratory, Siddall of Imperial College London and others used a bionic animal design and developed a paddle-propelled booby-like amphibious unmanned aerial vehicle "AquaMav", North Carolina State University and Tellus "Eagle Ray" fixed-wing trans-medium vehicle jointly developed by Dan Science and Imaging Company, a booby-like water-air amphibious trans-medium unmanned unmanned aerial vehicle developed by Beihang University, Liao Baoquan, Air Force Engineering University , Feng Jinfu and others proposed a cross-medium sailing that changes the shape by folding the wings upward twice.

The basic scheme of the above-mentioned cross-medium drone is: when entering the water, fold the wings through the variant structure and then dive into the water; when exiting the water, first change the density of the drone to make the drone surface, and then adjust the attitude to be launched by its own power or carrier Out of the water, during the take-off process, through the variant structure (as shown in Figure 1-Figure 3), the wings are opened and transformed into fixed-wing flight.

Existing cross-media UAVs dive into the water with folded wings when entering the water, and rely on their own power devices (for example: water pumps, chemical reaction devices) or carriers (ejection devices, torpedo launchers or small rocket boosters) when they exit the water, although The complete process of crossing the medium can be completed, but these designs have some common shortcomings: 1) The folding device is highly destructive to the structure when entering the water during the water entry process; 2) This kind of cross-media UAV is a single span The medium UAV needs to be adjusted again after it is launched once; 3) When it is converted into a fixed-wing flight state after exiting the water, the control requirements are higher and the control is difficult.

Therefore, a novel cross-media UAV device is provided to solve the above problems existing in the prior art.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a cross-media unmanned aerial vehicle device, which solves the problems of difficult control and poor maneuverability of the fixed-wing unmanned aerial vehicle after exiting the water, and does not need to adjust the attitude of the unmanned aerial vehicle before and after exiting the water.

For achieving the above object, the present invention provides the following scheme:

The present invention provides a cross-medium unmanned aerial vehicle device, comprising: a main casing and a rotor, wherein the main casing includes a first half casing and a second half casing, and the second half casing is installed on the second half casing by a folding device With the rotors, the folding device can drive the rotors to open outward or to be retracted on the second half-shell; a shell is arranged between the first half-shell and the second half-shell A body driving mechanism, the casing driving mechanism can drive the first half-shell and the second half-shell to separate when the rotor needs to be opened; after the rotor is folded, drive the first half-shell The body and the second half-shell are butted.

Preferably, the first half shell and the second half shell are both hemispherical shells, and the first half shell and the second half shell can form a sealed spherical main shell.

Preferably, an accommodating cavity is provided on the first half-shell, and the accommodating cavity can accommodate the folded rotor.

Preferably, the folding device adopts a rotating arm, the first end of the rotating arm is hinged with the second half-shell, the second end of the rotating arm is rotatably mounted with a rotor rotating disk, and the rotor is mounted on the on the rotor rotating disk.

Preferably, the rotor includes several rotor blades, and the several rotor blades are all rotatably connected to the rotor rotating disk through a blade rotation shaft.

Preferably, the rotating arm, the rotor rotating disk and the rotor blade are all connected with a power system, and the power system adopts a hydraulic system or an electric transmission system.

Preferably, the rotors are provided with four, the four rotors are evenly distributed along the circumference, the rotating arms and the rotor rotating disk are respectively provided with four correspondingly, and the four rotating arms are opened and folded. The rotation directions of the two rotor disks are the same, and the rotation directions of the two rotor rotating disks distributed diagonally are the same.

Preferably, a water storage tank is arranged in the first half-shell and/or the second half-shell, and a water outlet and a water inlet are arranged on the water storage tank.

Preferably, a power launching device is provided on the main casing, and the power launching device can push the main casing to discharge water.

Preferably, the casing driving mechanism adopts a telescopic device, and the telescopic device can drive the first half casing to extend or retract.

The present invention has achieved the following beneficial technical effects with respect to the prior art:

1) The present invention adopts a rotor structure to form a rotor drone, and the rotor is opened after the water comes out, which solves the problems that the fixed-wing drone is difficult to control and has poor maneuverability after the water comes out, and there is no need to adjust the drone before and after the water. attitude;

2) The present invention can cooperate with submarines, warships, aircraft carriers or carriers equipped with any launch device, and can truly realize the purpose of the UAV crossing the medium multiple times;

3) The present invention has an outer casing to cover the rotor when entering and exiting the water, and has a certain protective effect on the internal structure, thereby solving some problems of material strength and structural loss.

Other technical solutions in the description of the present invention have also achieved the following beneficial technical effects with respect to the prior art:

1) The main shell of the present invention can adopt a spherical shape and a "cannonball" launching method, which enables the UAV to easily complete the cross-media process;

2) The present invention performs precise rotation control through a hydraulic system or a telex system, which further ensures that the rotor UAV has excellent maneuverability and controllability.

Description of drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the accompanying drawings required in the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some of the present invention. In the embodiments, for those of ordinary skill in the art, other drawings can also be obtained according to these drawings without any creative effort.

1 is a schematic structural diagram of a transversely folded wing in the prior art;

Fig. 2 is the structural representation of the variable-sweep wing in the prior art;

Fig. 3 is the structural representation of the bionic flapping aircraft in the prior art;

Fig. 4 is the initial state diagram of the cross-media UAV device of the present invention;

Fig. 5 is the state diagram of the present invention when the first half-shell extends outward after the water is emitted;

6 is a state diagram of the present invention when the rotating arm is opened;

Fig. 7 is the state diagram (flying state) of the quadrotor unmanned aerial vehicle after the rotor blades are opened according to the present invention;

Fig. 8 is the front view of the initial state of the present invention;

Fig. 9 is the side view of the initial state of the present invention;

10 is a top view of the initial state of the present invention;

Fig. 11 is the front view of the state of the quadrotor unmanned aerial vehicle of the present invention;

Fig. 12 is the side view of the state of the quadrotor unmanned aerial vehicle of the present invention;

Fig. 13 is the top view of the state of the quadrotor unmanned aerial vehicle of the present invention;

Among them, 1-rotor blade, 2-blade rotating shaft, 3-first half-shell, 4-rotating arm, 5-rotor rotating disk, 6-second half-shell.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

The purpose of the present invention is to provide a cross-media unmanned aerial vehicle device, which solves the problems of difficult control and poor maneuverability of the fixed-wing unmanned aerial vehicle after exiting the water, and does not need to adjust the attitude of the unmanned aerial vehicle before and after exiting the water.

In order to make the above objects, features and advantages of the present invention more clearly understood, the present invention will be described in further detail below with reference to the accompanying drawings and specific embodiments.

Example 1

As shown in FIGS. 4-13 , this embodiment provides a cross-media UAV device, including: a main casing and a rotor. The main casing includes a first half casing 3 and a second half casing 6 , and the second half casing 3 A rotor is installed on the half-shell 6 through a folding device, and the folding device can drive the rotor to open or close on the second half-shell 6; a shell is provided between the first half-shell 3 and the second half-shell 6 Body drive mechanism, the shell drive mechanism can drive the first half shell 3 and the second half shell 6 to separate when the rotor needs to be opened; after the rotor is retracted, drive the first half shell 3 and the second half shell 6 to dock .

In this embodiment, the first half-shell 3 and the second half-shell 6 are both hemispherical shells, and the first half-shell 3 and the second half-shell 6 can form a sealed spherical main shell; or Other shapes can be selected according to work requirements, such as oval shape, etc.; the first half-shell 3 is provided with a accommodating cavity, and the accommodating cavity can accommodate the folded rotor. In this embodiment, when the cross-medium UAV device is ready to exit the water, the shape is a sealed sphere, like a cannonball, and can be directly launched into the water by a submarine, a warship, an aircraft carrier or any launching device.

In this embodiment, the folding device can use a rotating arm 4, the first end of the rotating arm 4 is hinged with the second half-shell 6, and the second end of the rotating arm 4 is installed with a rotor; A rotor rotating disk 5 is rotatably installed on the end, and the rotor is mounted on the rotor rotating disk 5 .

In this embodiment, the rotor rotating disk 5 is provided with a blade rotating shaft 2 , and the rotor includes several rotor blades 1 , preferably two, both of which rotate with the rotor rotating disk 5 through a blade rotating shaft 2 connect.

In this embodiment, the rotating arm 4, the rotor rotating disk 5 and the rotor blade 1 are all connected with a power system, and the power system is used to drive their movement; wherein, the power system adopts a hydraulic system or a telex system. Specifically, the hydraulic system may include hydraulic components such as hydraulic pumps and hydraulic cylinders, which are connected to the rotating arm 4, the rotor rotating disc 5, and the rotor blades 1, etc. to realize hydraulic drive; and the telex system may include a drive motor, a reducer, and a gear. and other transmission mechanisms to achieve electric drive.

In this embodiment, there are four rotors, and the four rotors are evenly distributed along the circumference. There are four corresponding rotor arms 4 and four rotor rotating disks 5. The rotation directions of the two rotor rotating disks 5 are diagonally distributed. Consistent.

In this embodiment, the casing driving mechanism can adopt a telescopic device, and the telescopic device can drive the first half-shell 3 to extend or retract; specifically, the telescopic device can adopt a cylinder, a telescopic rod or other piston-like structures.

In this embodiment, after the cross-medium UAV device emits water to a certain height, the UAV uses the principle of the piston structure, and the first half-shell 3 will protrude upward (the hydraulic system or the telex system can be used for precise control), The four rotating arms 4 rotate outward in the same direction (both clockwise or counterclockwise), and then the two rotor blades 1 on the same rotating arm 4 rotate 90° in the opposite direction around the blade rotation axis 2. At this time, the cross-media UAV device is transformed into a quad-rotor UAV; compared with the fixed-wing flight mode of some existing cross-media UAVs, the rotary-wing UAV is easier to control and more flexible. Moreover, the four rotating arms 4 and the rotor blades 1 are precisely rotated through the hydraulic system or the telex system, which further ensures the excellent maneuverability and controllability of the quadrotor UAV.

When the cross-medium unmanned aerial vehicle device in this embodiment is ready to enter the water, all the rotor blades 1 stop rotating, the four rotating arms 4 rotate inward, and are folded to the original state, and the first half-shell 3 will slide downward. At this time, the entire trans-media UAV device package is spherical, and then freely falls into the water. In this embodiment, the cross-media UAV device can float vertically on the water surface after entering the water or submerge itself in the water through the water storage tank, waiting to be recovered by the ship or submarine, completing a cycle of entering and exiting the water.

After the recovery is completed, the cross-media UAV device can launch water again, so that the purpose of the UAV crossing the medium multiple times can be realized.

Embodiment 2

This embodiment is an improvement on the basis of the first embodiment. The improvement lies in that: the first half-shell 3 and/or the second half-shell 6 is provided with a water storage tank, and the water storage tank is provided with a drainage tank Outlet and water inlet, in which the drain outlet and the water inlet can share the same outlet.

In this embodiment, the main casing can have its own power launching device, which can push the main casing to discharge water; wherein, the power launching device can be selected from existing technologies as required, such as selecting a water pump, a chemical reaction device, etc. .

In this embodiment, the cross-medium UAV device can be released by a submarine, change its own density through the water storage tank (drainage), surface, float vertically on the water surface like a fishing gear buoy, and then use its own power launch device to launch the water ; After entering the water, it can absorb water through the water storage tank to make itself dive into the water, waiting to be recovered by the ship or submarine.

The cross-medium unmanned aerial vehicle device of the invention cleverly combines the variant structure and the quadrotor unmanned aerial vehicle, effectively achieves the purpose of crossing the medium, and is highly innovative and feasible; Out, four non-rotating arms and rotor blades are precisely rotated by hydraulic system or telex system, the quadrotor UAV has excellent maneuverability and controllability; in the process of entering and exiting the water, it can always remain vertical state, so the preparation work before entering and exiting the water is relatively simple, without adjusting the angle and attitude of the drone, it is easier to directly launch the water like a cannonball; in the process of cross-water-air medium and cross-air-water medium process, The present invention is always in the state of a sealed sphere surrounded by a shell, and the shape not only reduces the resistance during the process of crossing the medium, but also protects the structure of the drone to a certain extent, and solves the problems of material strength and rigidity.

The cross-media UAV device of the present invention can be applied to military and civil fields; in military application, the cross-media UAV cooperates with, warships, aircraft carriers, etc., and comprehensively utilizes the reconnaissance, penetration and attack of aircraft and submarines ability. In terms of civil applications, the cross-media UAV cooperates with the ship to realize the application of three dimensions of sea, land and air. Only one cross-media UAV can achieve the functions and tasks that currently require a variety of equipment, which greatly improves the Work efficiency and save the production cost of various equipment, to achieve "multi-purpose.

More applications of the cross-media UAV device of the present invention are as follows:

Military application: reconnaissance, penetration, grasp the battlefield situation, have a broad perspective, fast strike ability, latent, target detection, the ability to covertly attack the enemy, can carry explosives, missiles, torpedoes and other devices, can observe enemy warships or submarines location, nearshore protection, breaking blockades, disguising special forces operations, etc.;

Civil applications: detection of various natural disasters such as fires, floods and shipwrecks, water quality monitoring, marine scientific research, rescue of property, exploration and mining, scientific detection, maintenance equipment, search and rescue, submarine cable repair, underwater tourism, academic investigation, etc.

It should be noted that it is obvious to those skilled in the art that the present invention is not limited to the details of the above-mentioned exemplary embodiments, and the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the present invention. . Therefore, the embodiments are to be regarded in all respects as illustrative and not restrictive, and the scope of the invention is to be defined by the appended claims rather than the foregoing description, which are therefore intended to fall within the scope of the claims. All changes that come within the meaning and range of equivalents of , are intended to be embraced within the invention, and any reference signs in the claims shall not be construed as limiting the involved claim.

In the present invention, specific examples are used to illustrate the principles and implementations of the present invention, and the descriptions of the above embodiments are only used to help understand the method and the core idea of the present invention; There will be changes in the specific implementation manner and application scope of the idea of the invention. In conclusion, the contents of this specification should not be construed as limiting the present invention.

Claims (10)

1. A cross-medium unmanned aerial vehicle device, characterized in that it comprises: a main casing and a rotor, the main casing includes a first half casing and a second half casing, and the second half casing passes through the The folding device is installed with the rotor, and the folding device can drive the rotor to open or retract on the second half-shell; between the first half-shell and the second half-shell A casing driving mechanism is provided, and the casing driving mechanism can drive the first half casing and the second half casing to separate when the rotor needs to be opened; after the rotor is folded, drive the first half casing. The shell half and the second shell half are butted. 2. The trans-media UAV device according to claim 1, wherein the first half-shell and the second half-shell are hemispherical shells, and the first half-shell and the second half-shell are both hemispherical shells. The second half shell can form a spherical main shell. 3 . The cross-media UAV device according to claim 2 , wherein the first half-shell is provided with an accommodation cavity, and the accommodation cavity can accommodate the retracted rotor. 4 . 4 . The cross-media UAV device according to claim 1 , wherein the folding device adopts a rotating arm, the first end of the rotating arm is hinged with the second half-shell, and the rotating arm is hinged. 5 . The second end of the rotor is rotatably mounted with a rotor rotating disk, and the rotor is mounted on the rotor rotating disk. 5 . The cross-media UAV device according to claim 4 , wherein the rotor comprises a plurality of rotor blades, and the plurality of rotor blades are rotatably connected to the rotor rotating disk through a blade rotation shaft. 6 . 6 . The cross-media UAV device according to claim 5 , wherein the rotating arm, the rotor rotating disk and the rotor blade are all connected with a power system, and the power system adopts a hydraulic system or an electric power system. 7 . transmission system. 7. The cross-media unmanned aerial vehicle device according to claim 4, characterized in that: the rotors are provided with four, and the four rotors are evenly distributed along the circumference, and the rotating arm and the rotor rotating disk are corresponding to each other. There are four, and the rotation directions of the four rotating arms are the same when they are unfolded and folded, and the rotation directions of the two rotor rotating discs distributed diagonally are the same. 8 . The cross-media UAV device according to claim 1 , wherein a water storage tank is arranged in the first half-shell and/or the second half-shell, and a water storage tank is arranged on the water storage tank. 9 . There are drains and water inlets. 9 . The cross-media UAV device according to claim 8 , wherein a power launching device is provided on the main casing, and the power launching device can push the main casing to discharge water. 10 . 10 . The cross-media UAV device according to claim 1 , wherein the casing driving mechanism adopts a telescopic device, and the telescopic device can drive the first half casing to extend or retract. 11 .

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