CN115648870A

CN115648870A - Water-air amphibious cross-medium unmanned aerial vehicle

Info

Publication number: CN115648870A
Application number: CN202211337254.3A
Authority: CN
Inventors: 艾骏; 王子淳; 何秉承; 龙家鑫; 陈龙昊
Original assignee: Beihang University
Current assignee: Beihang University
Priority date: 2022-10-28
Filing date: 2022-10-28
Publication date: 2023-01-31

Abstract

The invention discloses a water-air amphibious cross-medium unmanned aerial vehicle which comprises a body unit, a main wing unit, an undercarriage and a power unit, wherein the main wing unit comprises a sweepback main wing and a sweepforward main wing, a folding mechanism can drive the sweepback main wing and the sweepforward main wing to unfold and fold, so that the take-off resistance of the aerial vehicle is reduced, the undercarriage can support the aerial vehicle when in an unfolding state, when the aerial vehicle reaches a certain height, the main wing unit unfolds, at the moment, the aerial vehicle enters a fixed wing flying state, the undercarriage unfolds when the aerial vehicle lands, and the aerial vehicle can land on the ground or other equipment. According to the water-air amphibious cross-medium unmanned aerial vehicle, the aircraft can realize a fixed wing flight mode by unfolding and folding the main wing unit, the taking-off and landing condition limit of the aircraft is reduced by unfolding and folding the undercarriage, and the flexible adaptability of the aircraft is improved on the premise of ensuring the flight performance of the aircraft.

Description

Water-air amphibious cross-medium unmanned aerial vehicle

Technical Field

The invention relates to the technical field of aircrafts, in particular to a water-air amphibious cross-medium unmanned aerial vehicle.

Background

The water-air amphibious cross-medium unmanned aerial vehicle can adaptively realize motion transition between two different fluid media, namely water and air, can autonomously and continuously sail in the two different fluid media, and has the advantages of high-speed high-maneuverability and rapid deployment capability of the aerial vehicle, rapid cruising capability of an unmanned surface naval vessel, high concealment performance of the unmanned underwater vehicle and the like, so that the water-air amphibious cross-medium unmanned aerial vehicle has wide application prospect in the military and civil fields.

The conventional fixed wing unmanned aerial vehicle mainly adopts a take-off mode of running take-off, catapult take-off and rocket-assisted take-off, and a recovery mode mainly adopts arresting net recovery, line collision recovery, parachuting and airbag recovery. The above lifting modes have higher requirements on the field. Compared with the prior art, the take-off and landing of the rotor unmanned aerial vehicle are not easily limited by places, but indexes such as horizontal flight speed, flight height, cruising speed and endurance time are all lower than those of the fixed-wing unmanned aerial vehicle on the same level. If the fixed-wing aircraft is adopted to ensure the flight performance of the aircraft, the throwing limit of the water-air amphibious cross-medium unmanned aircraft is undoubtedly increased, and the adaptability of the water-air amphibious cross-medium unmanned aircraft is reduced.

Therefore, how to improve the adaptability of the water-air amphibious cross-medium unmanned aerial vehicle becomes a problem to be solved urgently by the technical personnel in the field.

Disclosure of Invention

The invention aims to provide a water-air amphibious cross-medium unmanned aerial vehicle, which aims to solve the problems in the prior art, reduce the taking-off and landing difficulty of the aerial vehicle and improve the adaptability of the water-air amphibious cross-medium unmanned aerial vehicle on the premise of ensuring the flight performance of the aerial vehicle.

In order to achieve the purpose, the invention provides the following scheme: the invention provides a water-air amphibious cross-medium unmanned aerial vehicle, which comprises:

the water storage mechanism is arranged in the machine body shell and can change the quality of the machine body unit through water supply and drainage;

the main wing unit comprises a folding mechanism, a sweepback main wing and a sweepforward main wing, the folding mechanism is arranged in the fuselage shell, the sweepback main wing and the sweepforward main wing are both connected with the folding mechanism, the folding mechanism can drive the sweepback main wing and the sweepforward main wing to unfold and fold, and when the sweepback main wing and the sweepforward main wing are in a folded state, the sweepback main wing and the sweepforward main wing are both parallel to the length direction of the fuselage shell;

the undercarriage is connected with one end of the fuselage unit, can be unfolded and folded, and can support the fuselage unit and the main wing unit when being unfolded;

the power unit, the power unit with the other end of fuselage unit links to each other, the main wing unit is located the undercarriage with between the power unit, the power unit includes actuating mechanism and control mechanism, the power unit is used for driving the fuselage unit the main wing unit and the undercarriage motion, control mechanism is used for controlling the fuselage unit the main wing unit and the direction of motion of undercarriage.

Preferably, the folding mechanism includes a first driver, a sliding rod, an installation block and a sliding block, the sliding rod and the installation block are both fixed in the machine body shell, the sliding rod is parallel to the length direction of the machine body shell, the sliding block is slidably arranged on the sliding rod, and the first driver is in transmission connection with the sliding block; the sweepback main wing comprises two first wing pieces, two the first wing pieces are arranged by taking the axis of the body shell as symmetrical axis symmetry, the sweepback main wing comprises two second wing pieces, two the second wing pieces are arranged by taking the axis of the body shell as symmetrical axis symmetry, one end of the first wing pieces extends into the body shell and is hinged with the mounting block, the other end of the first wing pieces is hinged with one end of the second wing pieces, the other end of the second wing pieces extends into the body shell and is hinged with the sliding block, the sweepback main wing and the sweepback main wing are in a spreading state, and the first wing pieces and the second wing pieces are enclosed into a diamond structure.

Preferably, the first wing piece is further provided with an aileron, the aileron is rotatably connected with the first wing piece and is in one-to-one correspondence with the first wing piece, a second driver is arranged in the fuselage shell, and the second driver is in transmission connection with the aileron.

Preferably, folding mechanism still includes drive wheel, reel and pull wire, the drive wheel and the reel all rotationally set up in the fuselage shell, first driver with the drive wheel links to each other, the pull wire bypass the drive wheel and the reel and with the sliding block links to each other.

Preferably, the number of the sliding rods is two, the two sliding rods are arranged in parallel, and the sliding block is slidably sleeved outside the sliding rods; the slide bar is hollow rod structure, the slide bar and the sliding block is made by carbon fiber material.

Preferably, the landing gear comprises a third driver, a connecting ring and support sheets, the third driver is fixed in the fuselage shell, the connecting ring is connected with the fuselage shell, the support sheets are hinged to the connecting ring, the support sheets are distributed uniformly in the circumferential direction around the axis of the fuselage shell, the third driver is connected with the support sheets through connecting rod assemblies, and the third driver can drive the support sheets to turn over.

Preferably, the connecting rod assembly comprises a driving rod, a first linkage rod, a connecting piece and a second linkage rod, one end of the driving rod is connected with the third driver, the other end of the driving rod is hinged with one end of the first linkage rod, the other end of the first linkage rod is hinged with the connecting piece, the second linkage rod is connected with the connecting piece and the supporting piece, the second linkage rod is respectively hinged with the connecting piece and the supporting piece, and the second linkage rod and the supporting piece correspond to each other one by one; the hinge position of the driving rod and the first linkage rod can be adjusted.

Preferably, actuating mechanism includes mount pad, fourth driver and two sets of screw, the mount pad with the fuselage shell links to each other, the fourth driver set up in on the mount pad, the fourth driver includes two driving motor, driving motor can drive the screw rotates and the two one-to-one, the screw rotationally with driving motor links to each other, the screw for driving motor's axis of rotation perpendicular to driving motor's output shaft axis of rotation.

Preferably, the mounting seat comprises an inner ring and an outer ring, the fourth driver is arranged on the inner ring, the inner ring is rotatably connected with the outer ring, the outer ring is rotatably connected with the fuselage housing, and the inner ring and the outer ring are both connected with a fifth driver.

Preferably, the control mechanism comprises a mounting plate, a tail wing and a sixth driver, the mounting plate is fixed in the fuselage shell, the sixth driver is fixed on the mounting plate, one end of the tail wing is rotatably connected with the mounting plate, and the sixth driver is in transmission connection with the tail wing; the number of the tail wings is two, the two tail wings are symmetrically arranged by taking the axis of the fuselage shell as a symmetry axis, and the two tail wings can be folded.

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

according to the water-air amphibious cross-medium unmanned aerial vehicle, the main wing unit comprises the sweepback main wing and the sweepforward main wing, the folding mechanism can drive the sweepback main wing and the sweepforward main wing to be unfolded and folded, when the aerial vehicle is in a take-off stage, the sweepback main wing and the sweepforward main wing are folded and folded, take-off resistance of the aerial vehicle is reduced, the undercarriage is in an unfolding state to support the aerial vehicle, vertical take-off of the aerial vehicle is realized, and requirements of the aerial vehicle on a take-off site are reduced; the driving mechanism drives the aircraft to take off, the undercarriage is folded, when the aircraft reaches a certain height in the air, the main wing unit is unfolded, at the moment, the aircraft enters a fixed wing flight state, the aircraft glides, and the control mechanism can control the flight direction of the aircraft; when the aircraft needs to enter water across the medium, the undercarriage faces downwards, the main wing unit is folded, the water entering resistance of the aircraft is reduced, and the aircraft dives into water; after the aircraft enters underwater, the water storage mechanism is used for storing water to increase the mass of the aircraft body unit, so that the aircraft reaches the operation depth, after the aircraft reaches a certain operation depth underwater, the main wing unit is unfolded and is consistent with the attitude of flying in the air, and the power unit drives the aircraft to move and controls the movement direction of the aircraft; when the aircraft needs to be drained after operation is finished, the main wing unit is folded, the water storage mechanism drains water, the aircraft ascends after the mass of the aircraft is reduced, the power unit drives the aircraft to ascend, the undercarriage is unfolded, and the aircraft can land on the ground or other equipment. According to the water-air amphibious cross-medium unmanned aerial vehicle, the flying mode of the fixed wing can be realized by unfolding and folding the main wing unit, meanwhile, the influence of the main wing on the taking-off and landing and cross-over medium of the flying vehicle is avoided, the limitation of taking-off and landing conditions of the flying vehicle is reduced by unfolding and folding the undercarriage, and the flexible adaptability of the flying vehicle is improved on the premise of ensuring the flying performance of the flying vehicle.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required in the embodiments will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.

FIG. 1 is a schematic structural diagram of a water-air amphibious cross-medium unmanned aerial vehicle of the invention;

FIG. 2 is a schematic structural diagram of the water-air amphibious cross-medium unmanned aerial vehicle at other angles;

FIG. 3 is a schematic structural diagram of a main wing unit of the water-air amphibious cross-medium unmanned aerial vehicle of the invention;

FIG. 4 is a partial structural schematic diagram of a landing gear of the water-air amphibious cross-medium unmanned aerial vehicle;

FIG. 5 is a schematic structural diagram of a power unit of the water-air amphibious cross-medium unmanned aerial vehicle;

FIG. 6 is a schematic diagram of the water-air amphibious cross-medium unmanned aerial vehicle of the invention during vertical takeoff;

FIG. 7 is a schematic view of a water-air amphibious cross-medium unmanned aerial vehicle according to the invention during flight;

FIG. 8 is a schematic view of a water-air amphibious cross-media unmanned aerial vehicle of the present invention prepared for entry into water;

FIG. 9 is a schematic view of the water-air amphibious cross-medium unmanned aerial vehicle according to the invention when entering water;

FIG. 10 is a schematic diagram of the water-air amphibious cross-medium unmanned aerial vehicle according to the invention during underwater diving;

FIG. 11 is a schematic view of the water-air amphibious cross-media unmanned aerial vehicle of the present invention when it is out of water;

fig. 12 is a schematic view of the landing gear of the water-air amphibious cross-medium unmanned aerial vehicle provided by the invention when the landing gear is unfolded.

Wherein 100 is a fuselage unit, 200 is a main wing unit, 300 is a landing gear, and 400 is a power unit;

the aircraft comprises a main body shell 1, a sweepback main wing 2, a sweepforward main wing 3, a driving mechanism 4, a control mechanism 5, a first driver 6, a sliding rod 7, a mounting block 8, a sliding block 9, a first wing 10, a second wing 11, a driving wheel 12, a reel 13, a third driver 14, a connecting ring 15, a supporting sheet 16, a driving rod 17, a first linkage rod 18, a connecting piece 19, a second linkage rod 20, a fourth driver 21, a propeller 22, an inner ring 23, an outer ring 24, a tail fin 25 and a mounting plate 26.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In order to make the aforementioned objects, features and advantages of the present invention more comprehensible, the present invention is described in detail with reference to the accompanying drawings and the detailed description thereof.

Referring to fig. 1 to 12, fig. 1 is a schematic structural diagram of a water-air amphibious cross-medium unmanned aerial vehicle of the invention, fig. 2 is a schematic structural diagram of another angle of the water-air amphibious cross-medium unmanned aerial vehicle of the invention, fig. 3 is a schematic structural diagram of a main wing unit of the water-air amphibious cross-medium unmanned aerial vehicle of the invention, fig. 4 is a schematic structural diagram of a landing gear of the water-air amphibious cross-medium unmanned aerial vehicle of the invention, fig. 5 is a schematic structural diagram of a power unit of the water-air amphibious cross-medium unmanned aerial vehicle of the invention, fig. 6 is a schematic diagram of the water-air amphibious cross-medium unmanned aerial vehicle of the invention when the water-air amphibious cross-medium unmanned aerial vehicle is vertical, fig. 7 is a schematic diagram of the water-air cross-medium unmanned aerial vehicle of the invention when flying, fig. 8 is a schematic diagram of the water-air amphibious cross-medium unmanned aerial vehicle of the invention when preparing to enter water, fig. 9 is a schematic diagram of the water-air amphibious cross-medium unmanned aerial vehicle of the invention when the water-air amphibious cross-air unmanned aerial vehicle enters water, fig. 10 is a schematic diagram of the water-air unmanned aerial vehicle of the invention when the water-air amphibious cross-air unmanned aerial vehicle of the invention when the water unmanned aerial vehicle travels, fig. 11 is a schematic diagram of the invention when the water cross-air unmanned aerial vehicle travels, and the invention is a schematic diagram of the invention 12 is a schematic diagram of the invention when the water-air unmanned aerial vehicle when the invention.

The invention provides a water-air amphibious cross-medium unmanned aerial vehicle, which comprises a fuselage unit 100, a main wing unit 200, an undercarriage 300 and a power unit 400, wherein the fuselage unit 100 comprises a fuselage shell 1 and a water storage mechanism, the water storage mechanism is arranged in the fuselage shell 1, and the water storage mechanism can change the quality of the fuselage unit 100 through water supply and drainage; the main wing unit 200 comprises a folding mechanism, a sweepback main wing 2 and a sweepforward main wing 3, the folding mechanism is arranged in the fuselage housing 1, the sweepback main wing 2 and the sweepforward main wing 3 are both connected with the folding mechanism, the folding mechanism can drive the sweepback main wing 2 and the sweepforward main wing 3 to unfold and fold, and when the sweepback main wing 2 and the sweepforward main wing 3 are in a folded state, the sweepback main wing 2 and the sweepforward main wing 3 are both parallel to the length direction of the fuselage housing 1; the landing gear 300 is connected to one end of the fuselage cell 100, the landing gear 300 can be deployed and folded, and the landing gear 300 can support the fuselage cell 100 and the main wing cell 200 when deployed; the power unit 400 is connected to the other end of the fuselage cell 100, the main wing unit 200 is located between the landing gear 300 and the power unit 400, the power unit 400 includes a driving mechanism 4 and a control mechanism 5, the power unit 400 is used for driving the fuselage cell 100, the main wing unit 200 and the landing gear 300 to move, and the control mechanism 5 is used for controlling the moving directions of the fuselage cell 100, the main wing unit 200 and the landing gear 300.

According to the water-air amphibious cross-medium unmanned aerial vehicle, the main wing unit 200 comprises the sweepback main wing 2 and the sweepforward main wing 3, the folding mechanism can drive the sweepback main wing 2 and the sweepforward main wing 3 to be unfolded and folded, when the aerial vehicle is in a takeoff stage, the sweepback main wing 2 and the sweepforward main wing 3 are folded and folded, takeoff resistance of the aerial vehicle is reduced, the undercarriage 300 is in an unfolded state to support the aerial vehicle, vertical takeoff of the aerial vehicle is achieved, and requirements of the aerial vehicle on a takeoff field are reduced; the driving mechanism 4 drives the aircraft to take off, the landing gear 300 is folded, when the aircraft reaches a certain height in the air, the main wing unit 200 is unfolded, at the moment, the aircraft enters a fixed wing flight state, the aircraft glides, and the control mechanism 5 can control the flight direction of the aircraft; when the aircraft needs to enter water in a medium crossing manner, the undercarriage 300 faces downwards, the main wing unit 200 is folded, the water entering resistance of the aircraft is reduced, and the aircraft dives into water; after the aircraft enters the water, the water storage mechanism is used for storing water to increase the mass of the fuselage unit 100, so that the aircraft reaches the operation depth, after the aircraft reaches a certain operation depth, the main wing unit 200 is unfolded and is consistent with the attitude of flying in the air, and the power unit 400 drives the aircraft to move and controls the motion direction of the aircraft; when the aircraft needs to be drained after operation is finished, the main wing unit 200 is folded, the water storage mechanism drains water, the aircraft ascends after the mass of the aircraft is reduced, the power unit 400 drives the aircraft to ascend, the undercarriage 300 is unfolded, and the aircraft can land on the ground or other equipment. According to the water-air amphibious cross-medium unmanned aerial vehicle, the aircraft can realize a fixed wing flight mode by unfolding and folding the main wing unit 200, meanwhile, the influence of the main wing on the taking-off and landing and cross-over medium of the aircraft is avoided, the limitation of taking-off and landing conditions of the aircraft is reduced by unfolding and folding the undercarriage 300, and the flexible adaptability of the aircraft is improved on the premise of ensuring the flight performance of the aircraft.

It should be explained that the water storage mechanism includes a water storage cabin and a peristaltic pump, the peristaltic pump is communicated with the water storage cabin, the water storage cabin is arranged in the fuselage shell 1, when the aircraft enters underwater, the water storage cabin can store water by using the peristaltic pump, the aircraft mass is increased, the aircraft dives smoothly, when the aircraft ascends, the water storage cabin uses the peristaltic pump to drain water outwards, and the aircraft ascends smoothly under the action of buoyancy and the driving of the power unit 400.

Specifically, the folding mechanism comprises a first driver 6, a sliding rod 7, a mounting block 8 and a sliding block 9, as shown in detail in fig. 3, the sliding rod 7 and the mounting block 8 are both fixed in the machine body shell 1, the sliding rod 7 is parallel to the length direction of the machine body shell 1, the sliding block 9 is slidably arranged on the sliding rod 7, and the first driver 6 is in transmission connection with the sliding block 9; sweepback main wing 2 includes two first fins 10, two first fins 10 use the axis of fuselage shell 1 to set up as symmetry axis symmetry, sweepback main wing 3 includes two second fins 11, two second fins 11 use the axis of fuselage shell 1 to set up as symmetry axis symmetry, the one end of first fin 10 stretches into in fuselage shell 1 and articulates with installation piece 8, the other end of first fin 10 is articulated with the one end of second fin 11, the other end of second fin 11 stretches into in fuselage shell 1 and articulates with sliding block 9, sweepback main wing 2 and sweepback main wing 3 are when expanded the state, first fin 10 and second fin 11 enclose into the diamond structure. The first driver 6 can drive the sliding block 9 to slide back and forth along the sliding rod 7, so as to drive the second wing piece 11 to unfold and fold up, and further utilize the second wing piece 11 to drive the first wing piece 10 to rotate, thereby forming a parallel wing structure, realizing the unfolding and folding up of the main wing unit 200, and enabling the main wing unit 200 to adapt to various working states of the aircraft.

It should be further noted that the first wing panel 10 is further provided with an aileron, the aileron is rotatably connected with the first wing panel 10 and is in one-to-one correspondence with the first wing panel and the aileron, a second driver is arranged in the fuselage shell 1 and is in transmission connection with the aileron, and the second driver controls the rotation of the aileron, so that the flying state of the aircraft can be conveniently adjusted.

In this embodiment, folding mechanism still includes drive wheel 12, reel 13 and pull wire, drive wheel 12 and reel 13 all rotationally set up in fuselage shell 1, first driver 6 links to each other with drive wheel 12, the pull wire walks around drive wheel 12 and reel 13 and links to each other with sliding block 9, first driver 6 drives drive wheel 12 and rotates, and then cooperate with reel 13 and drive the pull wire motion, the pull wire drives sliding block 9 and slides, first driver 6 can select step motor, through the rotation direction who changes drive wheel 12, change the pulling direction of pull wire to sliding block 9, realize that the pull wire drives sliding block 9 and follows the reciprocating sliding of slide bar 7, sliding block 9 drives second wing 11 and rotates, realize the expansion and the foling of host wing unit 200.

In order to improve the reciprocating motion precision of the sliding block 9, the number of the sliding rods 7 is two, the two sliding rods 7 are arranged in parallel, the sliding block 9 is slidably sleeved outside the sliding rods 7, the two sliding rods 7 are arranged, the rotating dislocation of the sliding block 9 is effectively avoided, the motion accuracy of the forward swept main wing 3 is improved, and the normal work of the backward swept main wing 2 is ensured. In addition, for lightening the aircraft quality, slide bar 7 is hollow rod structure, and slide bar 7 and sliding block 9 are made by carbon fiber material, when guaranteeing folding mechanism structural strength, alleviate folding mechanism quality, are favorable to reducing the aircraft energy consumption, promote the flight performance.

More specifically, the landing gear 300 includes a third actuator 14, a connection ring 15, and a support plate 16, where the third actuator 14 is fixed in the fuselage housing 1, the connection ring 15 is connected to the fuselage housing 1, the support plate 16 is hinged to the connection ring 15, the number of the support plates 16 is multiple, the multiple support plates 16 are circumferentially and uniformly distributed around the axis of the fuselage housing 1, the third actuator 14 is connected to the support plate 16 by a link assembly, and the third actuator 14 can drive the support plate 16 to turn. The third driver 14 drives the support sheet 16 to rotate so as to realize folding and unfolding of the landing gear 300, when the landing gear 300 is unfolded, one end, far away from the connecting ring 15, of the support sheet 16 serves as a support leg to support the aircraft, taking-off and landing of the aircraft are facilitated, taking-off and landing requirements of the aircraft are reduced, the support sheet 16 is axially and uniformly distributed around the axis of the aircraft body shell 1, and stress uniformity of the support sheet 16 is improved. When the landing gear 300 is folded, the adjacent support pieces 16 abut against each other and form a curved surface structure similar to an ellipsoid, so that the resistance of the aircraft in the flying and diving processes is reduced. In this embodiment, the number of the support pieces 16 is three, so that the structure is compact and the support is stable when the support is unfolded.

In another embodiment of the present invention, the link assembly includes a driving rod 17, a first linkage rod 18, a connecting piece 19 and a second linkage rod 20, as shown in fig. 4, one end of the driving rod 17 is connected to the third driver 14, the other end of the driving rod 17 is hinged to one end of the first linkage rod 18, the other end of the first linkage rod 18 is hinged to the connecting piece 19, the second linkage rod 20 is connected to the connecting piece 19 and the support piece 16, the second linkage rod 20 is hinged to the connecting piece 19 and the support piece 16, the second linkage rod 20 corresponds to the support piece 16 one by one, the third driver 14 drives the driving rod 17 to rotate, and further drives the connecting piece 19 to move by using the first linkage rod 18, the connecting piece 19 is hinged to the support piece 16 by using the second linkage rod 20, and the connecting ring 16 is hinged to achieve the purpose that the connecting piece 19 drives the support piece 16 to turn by using the second linkage rod 20, and the second linkage rod 20 corresponds to the support piece 16 one by one, and the connecting piece 19 drives all the support pieces 16 to turn, thereby achieving the unfolding and the folding of the landing gear 300. It should be emphasized that the hinged position of the driving rod 17 and the first linkage rod 18 can be adjusted, and the purpose of adjusting the movement stroke of the connecting piece 19 is achieved by adjusting the hinged position of the driving rod 17 and the first linkage rod 18, the turning angle of the supporting piece 16 is adjusted, the unfolding degree of the landing gear 300 is adjusted, and the improvement of the working reliability of the landing gear 300 is facilitated.

Further, actuating mechanism 4 includes mount pad, fourth driver 21 and two sets of screw 22, and the mount pad links to each other with fuselage shell 1, and fourth driver 21 sets up on the mount pad, and fourth driver 21 includes two driving motor, and driving motor can drive screw 22 and rotate and the two one-to-one, and screw 22 rotationally links to each other with driving motor, and screw 22 is perpendicular to driving motor's output shaft axis of rotation for driving motor's axis of rotation. The 4D screw can be selected to screw 22, brushless motor can be selected to driving motor, two driving motor superposes and sets up, the driving motor's on upper strata motor shaft is hollow structure, the driving motor's on lower floor motor shaft is reverse extension, link to each other with screw 22 behind the driving motor's on passing the upper strata motor shaft, two sets of screws 22 rotate and provide the power source for the aircraft, reverse moment of torsion can be offset to two sets of screws 22 of coaxial contrarotating, the difference in rotation speed of controlling two sets of screws 22 can also make the aircraft produce the rotation of given angle. In addition, the propeller 22 can also rotate relative to the driving motor, and when the aircraft enters water, the propeller 22 is folded, so that the resistance of the aircraft entering the water is further reduced.

Meanwhile, the mounting seat comprises an inner ring 23 and an outer ring 24, the fourth driver 21 is arranged on the inner ring 23, the inner ring 23 is rotatably connected with the outer ring 24, the outer ring 24 is rotatably connected with the fuselage shell 1, the inner ring 23 and the outer ring 24 are both connected with fifth drivers, and the two fifth drivers respectively drive the inner ring 23 and the outer ring 24 to rotate, so that the flight direction of the aircraft is adjusted when the fuselage of the aircraft flies in a vertical state. In the present embodiment, tie rod assemblies are disposed between the fifth driver and the outer ring 24 and between the fifth driver and the inner ring 23, so as to realize the rotation of the inner ring 23 and the outer ring 24.

Furthermore, the control mechanism 5 comprises a mounting plate 26, a tail wing 25 and a sixth driver, wherein the mounting plate 26 is fixed in the fuselage shell 1, the sixth driver is fixed on the mounting plate 26, one end of the tail wing 25 is rotatably connected with the mounting plate 26, and the sixth driver is in transmission connection with the tail wing 25; the number of the tail wings 25 is two, the two tail wings 25 are symmetrically arranged by taking the axis of the body shell 1 as a symmetry axis, the sixth driver drives the tail wings 25 to move, and the two tail wings 25 can be folded. The empennage 25 has the functions of a vertical tail and a horizontal tail at the same time, and can play a role in stabilizing the longitudinal direction and the heading direction, and the empennage 25 is provided with control surfaces, so that when the control surfaces of the two empennages 25 deflect towards the same direction, the two empennages play a role of an elevator, and conversely, when the control surfaces on the two sides deflect towards different directions, the two empennages play a role of a rudder. The tail wing 25 adopts a V-shaped tail wing, the controllability of the large elevation angle of the V-shaped tail wing is better, and the stealth performance is improved. In addition, the power unit 400 further includes a power source for providing power source for each unit, and the power source is a conventional means for those skilled in the art and will not be described herein.

In the vertical takeoff phase of the water-air amphibious cross-medium unmanned aerial vehicle, the landing gear 300 can ensure that the aircraft can take off vertically on a ship deck, the main wing unit 200 and the tail wing 25 are in folded states in the whole takeoff phase, interference of external factors on the aircraft can be reduced to the maximum extent, the change of the air position is realized by virtue of the two coaxial symmetrical groups of propellers 22 of the tail driving mechanism 4, the vector control of the propellers 22 is completed by the cooperation of the two steering engines, and compared with a conventional running takeoff fixed wing aircraft, the requirement of the take-off phase on the field can be greatly reduced.

At the end of the vertical takeoff phase, after the aircraft reaches a certain height, the driving mechanism 4 is stopped, meanwhile, the main wing unit 200 and the tail wing 25 are completely unfolded, the aircraft enters the autonomous gliding phase, then the two groups of driving motors which coaxially rotate in pairs, and because the 4D propeller is adopted as the propeller 22, the sufficient thrust can still be ensured when the driving motors rotate in pairs. After the driving mechanism 4 is started up for the second time, the aircraft enters a flat flying mode, the aircraft in the mode is converted into a waist-pushing type fixed-wing aircraft, and high-speed long-distance cruising can be achieved.

After the aircraft reaches the position above the designated patrol area, the driving mechanism 4 stops again, the main wing unit 200 and the tail wing 25 are folded, the driving motor rotates reversely to pull up the aircraft body, so that the aircraft head is vertically downward, and the aircraft can realize hovering and staring targets under the action of the driving mechanism 4 and is ready to enter water at any time. According to the working task situation, the aircraft has two water inlet modes of high speed and low speed. In the high-speed water inlet mode, the driving mechanism 4 is stopped before the aircraft enters the water, and the main wing unit 200 and the tail wing 25 are folded and dive into the water from high altitude. When entering water at low speed, the falling speed is slowed down by the pulling force generated by the driving mechanism 4, so that the purpose of enabling the aircraft to enter water at constant speed is achieved.

After the completely water-entering posture is stable, the peristaltic pump starts to pump water into the rubber water storage bag in the water storage cabin, the integral gravity of the aircraft is gradually increased due to the pumping of the water, and when the gravity is larger than the buoyancy borne by the aircraft, the aircraft can realize diving. In the diving stage, the main wing unit 200 and the tail wing 25 are in a fully unfolded state, the attitude control is consistent with the attitude control in the air, the ailerons of the first wing 10 are used for controlling the roll of the body, the tail wing 25 and the driving mechanism 4 are coupled to control the yaw and the pitch, and water can be discharged from the water storage tank through the peristaltic pump to reduce the whole weight, so that the floating action is realized.

In the water outlet stage, the main wing unit 200 and the tail wing 25 of the aircraft are folded before water outlet, the driving motor rotates positively to generate pulling force, the aircraft body is adjusted to be in a vertical state, the peristaltic pump acts, water in the water storage cabin is gradually discharged, the propeller 22 gradually exposes out of the water surface, and the propeller 22 generates pulling force in the air to pull the aircraft body out of the water. After the task is completed, the aircraft can flexibly recover various recovery modes such as land vertical landing recovery, ship deck landing recovery, underwater submarine recovery and the like, so that the use cost of the aircraft can be reduced.

According to the water-air amphibious cross-medium unmanned aerial vehicle, the aircraft can realize a fixed wing flight mode by unfolding and folding the main wing unit 200, meanwhile, the lifting and landing condition limitation of the aircraft is reduced by unfolding and folding the undercarriage 300, and the flexible adaptability of the aircraft is improved on the premise of ensuring the flight performance of the aircraft.

The principle and the implementation mode of the invention are explained by applying a specific example, and the description of the embodiment is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.

Claims

1. A water-air amphibious cross-medium unmanned aerial vehicle is characterized by comprising:

the undercarriage is connected with one end of the fuselage unit and can be unfolded and folded, and the undercarriage can support the fuselage unit and the main wing unit when being unfolded;

2. The water-air amphibious cross-medium unmanned aerial vehicle of claim 1, wherein: the folding mechanism comprises a first driver, a sliding rod, an installation block and a sliding block, wherein the sliding rod and the installation block are fixed in the machine body shell, the sliding rod is parallel to the length direction of the machine body shell, the sliding block is slidably arranged on the sliding rod, and the first driver is in transmission connection with the sliding block; the sweepback main wing comprises two first wing pieces, two the first wing pieces are arranged by taking the axis of the body shell as symmetrical axis symmetry, the sweepback main wing comprises two second wing pieces, two the second wing pieces are arranged by taking the axis of the body shell as symmetrical axis symmetry, one end of the first wing pieces extends into the body shell and is hinged with the mounting block, the other end of the first wing pieces is hinged with one end of the second wing pieces, the other end of the second wing pieces extends into the body shell and is hinged with the sliding block, the sweepback main wing and the sweepback main wing are in a spreading state, and the first wing pieces and the second wing pieces are enclosed into a diamond structure.

3. The water-air amphibious cross-medium unmanned aerial vehicle of claim 2, wherein: still be provided with the aileron on the first fin, the aileron rotationally with first fin links to each other and the one-to-one correspondence, be provided with the second driver in the fuselage shell, the second driver with the aileron transmission links to each other.

4. The water-air amphibious cross-medium unmanned aerial vehicle of claim 2, wherein: folding mechanism still includes drive wheel, reel and pull wire, the drive wheel and the reel all rotationally set up in the fuselage shell, first driver with the drive wheel links to each other, the pull wire bypasses the drive wheel and the reel and with the sliding block links to each other.

5. The water-air amphibious cross-medium unmanned aerial vehicle of claim 4, wherein: the number of the sliding rods is two, the two sliding rods are arranged in parallel, and the sliding block is slidably sleeved outside the sliding rods; the slide bar is hollow rod structure, the slide bar and the sliding block is made by carbon fiber material.

6. An air-water amphibious cross-media unmanned aerial vehicle according to claim 1, wherein: the landing gear comprises a third driver, a connecting ring and support sheets, the third driver is fixed in the fuselage shell, the connecting ring is connected with the fuselage shell, the support sheets are hinged to the connecting ring, the support sheets are multiple, the support sheets are circumferentially and uniformly distributed around the axis of the fuselage shell, the third driver is connected with the support sheets through connecting rod assemblies, and the third driver can drive the support sheets to turn over.

7. The water-air amphibious cross-medium unmanned aerial vehicle of claim 6, wherein: the connecting rod assembly comprises a driving rod, a first linkage rod, a connecting piece and a second linkage rod, one end of the driving rod is connected with the third driver, the other end of the driving rod is hinged with one end of the first linkage rod, the other end of the first linkage rod is hinged with the connecting piece, the second linkage rod is connected with the connecting piece and the supporting piece, the second linkage rod is respectively hinged with the connecting piece and the supporting piece, and the second linkage rod corresponds to the supporting piece one by one; the hinge position of the driving rod and the first linkage rod can be adjusted.

8. The water-air amphibious cross-medium unmanned aerial vehicle of claim 1, wherein: actuating mechanism includes mount pad, fourth driver and two sets of screw, the mount pad with the fuselage shell links to each other, the fourth driver set up in on the mount pad, the fourth driver includes two driving motor, driving motor can drive the screw rotates and the two one-to-one, the screw rotationally with driving motor links to each other, the screw for driving motor's axis of rotation perpendicular to driving motor's output shaft axis of rotation.

9. The water-air amphibious cross-media unmanned aerial vehicle of claim 8, wherein: the mounting base comprises an inner ring and an outer ring, the fourth driver is arranged on the inner ring, the inner ring is rotatably connected with the outer ring, the outer ring is rotatably connected with the machine body shell, and the inner ring and the outer ring are both connected with a fifth driver.

10. The water-air amphibious cross-medium unmanned aerial vehicle of claim 1, wherein: the control mechanism comprises a mounting plate, an empennage and a sixth driver, the mounting plate is fixed in the fuselage shell, the sixth driver is fixed on the mounting plate, one end of the empennage is rotatably connected with the mounting plate, and the sixth driver is in transmission connection with the empennage; the number of the tail wings is two, the two tail wings are symmetrically arranged by taking the axis of the fuselage shell as a symmetry axis, and the two tail wings can be folded.