CN110775263B - Tailseat sea-air cross-domain unmanned aerial vehicle - Google Patents

Abstract

The invention relates to a tailstock type sea-air cross-domain unmanned aerial vehicle in the technical field of aircrafts, which comprises a shell, a propelling device, a steering mechanism, a controller, a power source and a bearing seat, wherein the shell is provided with a thrust bearing part; the power source provides energy for the propelling device, the steering mechanism and the controller, and the controller controls the propelling device and the steering mechanism; the machine shell comprises a machine body, a main wing and a tail wing; the propulsion device comprises air contra-rotating propellers and propellers, the propellers are connected to the tail of the aircraft body, the two air contra-rotating propellers are symmetrically arranged in the middle of the two main wings, and the air contra-rotating propellers are positioned on one side away from the propellers; the steering mechanisms comprise steering engines and rudder blades, the two groups of steering mechanisms are symmetrically arranged on the two main wings, the rudder blades are positioned on one sides of the main wings, which are far away from the air contra-rotating oar, and the steering engines provide steering power for the rudder blades; the bearing seats are arranged on the tail wing and the main wing, and the bearing seats are used for enabling the tailstock type sea-air cross-region unmanned aerial vehicle to be in a vertical state when the bearing seats are static. The invention can realize the vertical take-off and landing of the aircraft.

Description

Tailseat sea-air cross-domain unmanned aerial vehicle

technical field

The invention relates to the field of aircraft technology, in particular to a tail seat type sea-air cross-domain unmanned aerial vehicle and its sea-air flight mode.

Background technique

At present, unmanned autonomous vehicles have occupied a place in marine scientific research, exploration and development of seabed resources, military and other fields. Due to its wide range of motion, and other advantages, it will occupy an increasingly important position in the future. However, due to the limited speed of underwater movement during unmanned autonomous navigation, when it is necessary to move quickly from one sea area to another, it often takes a long time. Especially in terms of military affairs, the battlefield is changing rapidly, and a vehicle that can maneuver quickly and be submerged in water is needed. Therefore, it is necessary to design an unmanned autonomous vehicle that can cross both sea and air domains. In this way, the following purposes can be met: when fast maneuvering is required, the aircraft flies out of the water and moves rapidly in the air; when fast maneuvering is not required, the aircraft just lurks at the bottom of the water, completes the monitoring task, and can wait for an opportunity to attack the enemy.

According to the prior art search, the Chinese invention patent publication number WO2016062223A1 specifically discloses a vertical take-off and landing aircraft, including a fuselage (1), a main wing, and a main thrust that can be tilted between a horizontal position and a vertical position. Device (2), a tilting device for tilting the main thrust device, and an attitude control device for controlling the flight attitude; the wing includes a left half wing and a right half wing, and the main thrust device uses a heat engine as a power device; it is characterized in that: The attitude control device is composed of at least two attitude adjustment devices (4), a power supply module (5), a governor module (9), and a flight control system (6); the attitude adjustment device consists of a motor (4a), a propeller or ducted fan (4b); at least one attitude adjustment device is arranged on the left half-wing, and at least one attitude adjustment device is arranged on the right half-wing. The aircraft structure of this invention is still comparatively complicated, and control precision is low, and is not suitable for two kinds of environments of sea and air.

Contents of the invention

Aiming at the defects in the prior art, the object of the present invention is to provide a tail seat type sea-air cross-domain unmanned aerial vehicle and its sea-air flight mode.

A tailseat type sea-air cross-domain unmanned aerial vehicle provided according to the present invention includes a casing, a propulsion device, a steering mechanism, a controller, a power source, and a bearing seat;

The power source provides energy for the propulsion device, the steering mechanism and the controller, and the controller controls the propulsion device and the steering mechanism;

The casing includes a fuselage, a main wing and an empennage;

The propulsion device includes a counter-rotating air propeller and a propeller, the propeller is connected to the tail of the fuselage, and the two counter-rotating air propellers are symmetrically installed in the middle of the two main wings, and the counter-rotating air propeller is located at the the side facing away from said propeller;

The steering mechanism includes steering gear and rudder blades. Two sets of steering mechanisms are symmetrically installed on the two main wings. The engine provides power for the rudder blade;

The bearing base is installed on the empennage and the main wing, and when the tail seat type sea-air cross-domain unmanned aerial vehicle is stationary, the bearing base is used to make it stand upright.

In some embodiments, the load-bearing base is a cylindrical structure, and the three load-bearing bases are respectively fixed on the empennage and the two main wings, and the free ends of the three load-bearing bases are located on the same horizontal plane and extending beyond the axial end surface of the propeller.

In some embodiments, the bearing seat is connected to the empennage and the main wing respectively through carbon fiber mold opening and integral molding.

In some embodiments, the main wing is provided with a groove adapted to the rudder blade, and the rudder blade is rotatably connected in the groove.

In some embodiments, the surface area of the rudder blade accounts for 23%-33% of the surface area of the main wing.

In some embodiments, the main wing and the fuselage are integrally formed through carbon fiber mold opening, and the joints are processed in a smooth arc transition manner.

In some embodiments, the included angle between the main wing and the fuselage is 30°-60°.

The present invention also provides a sea-air flight mode of a tailseat type sea-air cross-domain unmanned aerial vehicle. The tailseat type sea-air cross-domain unmanned aerial vehicle includes a straight line navigation mode and a sea-air switching flight mode. The straight-line sailing mode and the sea-air switching flight mode are realized by adjusting the pitch angle of the rudder blade relative to the main wing.

In some embodiments, the straight-line navigation mode is that the tailseat type sea-air cross-domain unmanned aerial vehicle maintains straight-line navigation in water or in the air at a certain speed. The lower part of the main wing rotates at the same angle α, and the angle α makes the steering moment generated by the rudder blades act in the opposite direction to the stabilizing moment generated by the main wing. When the torques are equal in size, the rotation is stopped, so that the aircraft can maintain a straight line in the water or in the air at a certain speed.

In some implementations, the sea-to-air flight mode includes a sea-to-air flight mode and an air-to-sea flight mode:

The sea-to-air flight mode is that the tailseat type sea-air cross-domain unmanned aerial vehicle tilts from the water into the air at a certain speed. Angle β, the angle β makes the steering moment generated by the rudder blades act in the same direction as the stabilizing moment generated by the main wing, both of which make the aircraft look up, and then the pitch angle of the aircraft will increase rapidly. When the angle β reaches When a certain value is reached, a pair of rudder blades are rotated in the opposite direction toward the bottom of the main wing at the same angle β0 at the same time, and the angle β0 makes the steering moment produced by the rudder blades to make the aircraft bow its head offset part of the control moment generated by the main wing to make the aircraft head up The stabilizing moment of , making the aircraft fly from the water into the air in an inclined manner at a certain speed;

The air-to-sea flight mode is that the tailseat type sea-to-air cross-domain unmanned aerial vehicle flies into the water from the air at a certain speed, and the process is as follows: the pair of rudder blades are simultaneously rotated toward the bottom of the main wing by the same angle γ, The angle γ makes the steering moment generated by the rudder blades to lower the aircraft’s head greater than the stabilizing moment generated by the main wing to raise the aircraft’s head. Under the interaction of the two moments, the pitch angle of the aircraft will gradually decrease. The steering moment produced by the rudder blades to lower the aircraft's head gradually decreases, and when the stabilizing moment generated by the main wing to raise the aircraft's head is equal to the steering moment produced by the rudder blades to lower the aircraft's head, stop rotating the rudder blades, and the aircraft will Fly at a certain speed from the air into the water at an angle. Compared with the prior art, the present invention has the following beneficial effects:

1. The present invention designs a tail seat type sea-air cross-domain unmanned autonomous aircraft based on the principle of lift. The tail of the aircraft has a bearing seat to support the aircraft, which better realizes the vertical take-off and landing function of the aircraft. .

2. The aircraft of the present invention adopts the wing-body fusion method, and adopts a smooth arc transition at the junction of the wing and the fuselage, thereby reducing the resistance of the aircraft and increasing its speed of motion.

3. The aircraft of the present invention obtains the best rudder effect without affecting the lift-drag performance of the aircraft through the design of the shape of the rudder blade and the proportion range on the surface of the main wing.

Description of drawings

Other characteristics, objects and advantages of the present invention will become more apparent by reading the detailed description of non-limiting embodiments made with reference to the following drawings:

Fig. 1 is the perspective view of the structure of the tail seat type sea-air cross-domain unmanned aerial vehicle of the present invention;

Fig. 2 is a schematic diagram of the sea-air flight mode of the tailseat type sea-air cross-domain unmanned aerial vehicle of the present invention;

Fig. 3 is a schematic diagram of the overall appearance of the tail seat type sea-air cross-domain unmanned aerial vehicle of the present invention.

Detailed ways

The present invention will be described in detail below in conjunction with specific embodiments. The following examples will help those skilled in the art to further understand the present invention, but do not limit the present invention in any form. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

Example 1

As shown in Figures 1-3, the present invention provides a tailseat-type sea-air cross-domain unmanned aerial vehicle, including a casing 1, a propulsion device 2, a steering mechanism 3, a controller 4, a power source 5 and a bearing seat 6 ;

The power source 5 provides energy for the propulsion device 2, the steering mechanism 3 and the controller 4, the power source 5 is a lithium-lead battery, and a rechargeable high-performance lithium-lead battery is used to supply power to the aircraft;

The casing 1 includes a fuselage 11, a main wing 12 and an empennage 13, two main wings 12 are symmetrically connected to both sides of the fuselage 11, and the empennage 13 is vertically installed on the tail of the fuselage 11;

The propulsion device 2 includes an air counter-rotating propeller 21 and a propeller 22, the propeller 22 is connected to the tail of the fuselage 11, the central axes of the propeller 22 and the fuselage 11 coincide, and the two The air counter-rotating propellers 21 are symmetrically installed in the middle of the two main wings 12, and the air counter-rotating propellers 21 are located on the side away from the propellers 22;

The controller 4 is installed in the fuselage 11, and the controller 4 controls the propulsion device 2 and the steering mechanism 3 through the electric regulator 7;

The steering mechanism 3 includes a steering gear 31 and a rudder blade 32. Two sets of the steering gear 3 are symmetrically installed on the two main wings 12. The steering gear 31 is located in the main wing 12 and turns away from the air. Said rudder blade 32 is installed on one side of said main wing 12 of paddle 22, said rudder blade 32 is provided with rudder angle 33, said rudder angle 33 is fixed on the rudder blade 32 by screw nut, and is connected with said rudder blade by a pull rod. Said steering gear 31 is connected. When the steering gear rotates, the pull rod will drive the rudder blades 32 to rotate through the rudder angle 33, so that an included angle is formed between the rudder blades 32 and the main wing 12: when the sea-air environment changes, the same angle is given to a pair of rudder blades to realize The conversion of sea and air; when turning, the method of inserting and dividing the rudder is adopted, and the pair of rudder blades are set at different angles, so as to realize the steering of the aircraft;

The bearing base 6 is installed on the empennage 13 and the main wing 12. When the tailstock type sea-air cross-domain unmanned aerial vehicle is stationary, the bearing base 6 is used to make the tailstock type sea-air cross-domain unmanned The aircraft is in an upright state.

The aircraft uses a pair of air counter-rotating propellers and an underwater propeller to provide the power for the aircraft to advance when navigating in the water and in the air. By connecting the rudder blades that can rotate relatively and form an included angle with the main wings, the steering blade is used when turning. In the way of split rudders, a pair of rudders can be turned at different angles to realize the steering of the aircraft; when the flight environment changes between sea and air, the pair of rudder blades can be turned at the same angle to realize the conversion between sea and air. Compared with the existing unmanned autonomous aircraft, the tail of the aircraft also has a bearing seat for supporting the aircraft to realize the function of vertical take-off and landing.

The bearing base 6 is a cylinder structure, the bearing base 6 is a cylindrical or tapered cylinder, and the three bearing bases 6 are respectively fixed on the empennage 13 and the two main wings 12, The free ends of the three bearing seats 6 are located on the same horizontal plane and extend beyond the end surface of the propeller 22 in the axial direction. The effect of load-bearing base 6 is to support aircraft so that it can maintain a vertical state and is convenient to realize vertical takeoff and landing. High reliability.

The bearing seat 6 is respectively connected to the empennage 13 and the main wing 12 through carbon fiber mold opening and integral molding. The integral molding of the carbon fiber mold can greatly improve the firmness of the connection between the bearing seat 6 and the empennage 13 and the main wing 12, ensuring the best stability when the aircraft is in an upright state.

The main wing 12 is provided with a groove adapted to the rudder blade 32, and the rudder blade 32 is rotatably connected in the groove. The rudder blade 32 will act as a part of the main wing after being installed in the groove that the main wing 12 offers, and its realization mode can be to be provided with groove on the wing surface, be provided with two protruding short rods at the two ends of the rudder blade 32, the rudder blade When 32 rotates, two short rods rotate in groove simultaneously, promptly by rotating, make rudder blade 32 take main wing 12 central planes as reference plane, all can form angle up and down.

The percentage of the surface area of the rudder blade to the surface area of the main wing is 23%-33%. The shape and size of the rudder blade 32 can affect the rudder effect, and the shape of the rudder blade 32 is adapted to the shape of the main wing 12, preferably a right-angled trapezoidal structure. In its structure, both sides are parallel to the axis of the fuselage 11, and the bottom The side is flush with the bottom edge of the main wing 12, and the extension line of the other side opposite to the bottom edge is perpendicular to the axis of the fuselage 11. Through hydrodynamic software calculation and experimental results, it is found that the rudder blade with this right-angled trapezoidal structure is selected. The rudder effect is better when the ratio of the blade area to the surface area of the main wing 12 is 23%-33%, in particular, 27% is the best, and it will not affect the lift-drag performance of the aircraft.

The main wing 12 and the fuselage 11 adopt a circular arc smooth transition method, and are integrally formed through carbon fiber mold opening. The fusion of wing and body is adopted, and the smooth transition of the arc is adopted at the connection between the wing and the fuselage, so as to reduce the resistance of the aircraft and increase its movement speed.

The included angle corresponding to the arc of the main wing 12 and the fuselage 11 is 30°-60°. In the design stage, the main wing and the fuselage are designed separately, and then the two are connected by a circle with a radius of 30mm and a smooth transition method. The angle range corresponding to the arc is roughly between 30° and 60°. It changes with the position, which can greatly reduce the drag of the aircraft.

Example 2

As shown in Figure 1-2, this embodiment provides a sea-air flight mode of a tailseat type sea-air cross-domain unmanned aerial vehicle, using the tailseat type sea-air cross-domain unmanned aerial vehicle described in Embodiment 1, It includes a straight-line sailing mode and a sea-air switching flight mode, and the straight-line sailing mode and the sea-air switching flight mode are realized by adjusting the pitch angle of the rudder blade 32 relative to the main wing 12 .

The straight-line navigation mode is that the tailseat type sea-air cross-domain unmanned aerial vehicle maintains a straight line navigation in water or in the air at a certain speed. The same angle α, the angle α makes the steering moment generated by the rudder blade 32 act in the opposite direction to the stabilizing moment generated by the main wing 12, when the steering moment generated by the rudder blade 32 is opposite to that generated by the main wing 12 Stop rotation when the stabilizing moments are equal, so that the aircraft can maintain a straight line in the water or in the air at a certain speed;

The sea-to-air flight mode includes sea-to-air flight mode and air-to-sea flight mode, wherein:

The sea-to-air flight mode is that the tail seat type sea-air cross-domain unmanned aerial vehicle tilts from the water into the air at a certain speed. The same angle β, the angle β makes the steering moment generated by the rudder blade 32 act in the same direction as the stabilizing moment generated by the main wing 12, both of which make the aircraft look up, and then the pitch angle of the aircraft will increase rapidly, When the angle β reaches a certain value, the pair of rudder blades 32 are rotated in the opposite direction at the same angle β0 below the main wing 12 at the same time. The stabilizing moment that the main wing 12 produces makes the aircraft look up, so that the aircraft flies into the air from the water in an inclined manner at a certain speed, and its inclination angle is angle β0;

The air-to-sea flight mode is that the tailseat type sea-air cross-domain unmanned aerial vehicle flies into the water from the air at a certain speed, and the process is as follows: the pair of rudder blades 32 are simultaneously rotated at the same angle below the main wing 12 γ, the angle γ makes the steering moment produced by the rudder blades 32 to lower the aircraft’s head greater than the stabilizing moment generated by the main wing 12 to raise the aircraft’s head. Under the interaction of the two moments, the pitch angle of the aircraft will gradually decrease. Small, the steering moment that the rudder blade 32 produces to make the aircraft bow its head will gradually decrease, and stop when the stabilizing moment that the main wing 12 produces to make the aircraft look up is equal to the steering moment that the rudder blade 32 produces to make the aircraft bow its head Rotate described rudder blade 32, aircraft will fly into water from the air in an inclined manner at a certain speed.

This embodiment is a flight method of a tailseat type sea-air cross-domain unmanned aerial vehicle based on the lift principle for vertical take-off and landing. As shown in Figure 2, when a mission needs to be performed, the aircraft can take off vertically on a ship. After taking off, after adjusting the attitude, it can fly in the air in different ways. If you need to perform underwater reconnaissance or enter the water for concealment purposes, you can adjust the rudder angle to enter the water in a tilted or vertical manner. After entering the water, you can achieve underwater movement in different motions. When it is necessary to get out of the water again, adjust the rudder angle to make the aircraft get out of the water in an inclined or vertical manner. When the air task is completed and ready to be recovered, the rudder angle can be adjusted to make it return to land or a ship in a vertical landing manner. in:

For the power source part, a high-performance lithium-lead battery that can be recharged is used to supply power to various devices of the aircraft;

The controller part is used to control the propulsion device and the steering mechanism;

The wing part of the fuselage mainly provides lift for the aircraft when it moves in the air, and can increase its load when navigating underwater;

The bearing seat part supports the aircraft to facilitate its vertical take-off and landing;

The propulsion device part, the aircraft uses a pair of air counter-rotating propellers and an underwater propeller, which can provide the power for the aircraft to move forward when navigating in water and in the air;

For the steering mechanism, when the sea-air environment changes, the same angle is given to the pair of rudder blades to realize the conversion of the flight mode from sea to air or from air to sea. The rudder blades are turned at different angles to realize the steering of the aircraft.

In Embodiment 1, the structure and related equipment and components of the tailseat type sea-air cross-domain unmanned aerial vehicle are described in detail, which are all available in Embodiment 2, and will not be repeated here.

In summary, the present invention designs a tailseat type sea-air cross-domain unmanned autonomous aircraft that takes off and lands vertically based on the principle of lift. The aircraft adopts the wing-body fusion method, and adopts a smooth arc transition at the connection between the wing and the fuselage, so as to reduce the resistance of the aircraft and increase its movement speed. Compared with the existing unmanned autonomous aircraft, the tail of the aircraft has a tail seat, which can support the aircraft so that it can realize the function of vertical take-off and landing.

Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art may make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. In the case of no conflict, the embodiments of the present application and the features in the embodiments can be combined with each other.

Claims (6)

1. A tailstock type sea-air cross-region unmanned aerial vehicle is characterized by comprising a shell (1), a propelling device (2), a steering mechanism (3), a controller (4), a power source (5) and a bearing seat (6);

the power source (5) provides energy for the propulsion device (2), the steering mechanism (3) and the controller (4), and the controller (4) controls the propulsion device (2) and the steering mechanism (3);

the machine shell (1) comprises a machine body (11), a main wing (12) and a tail wing (13);

the propulsion device (2) comprises air contra-rotating propellers (21) and propellers (22), the propellers (22) are connected to the tail of the fuselage (11), the two air contra-rotating propellers (21) are symmetrically arranged in the middle of the two main wings (12), and the air contra-rotating propellers (21) are positioned on one side away from the propellers (22);

the steering mechanisms (3) comprise steering engines (31) and rudder blades (32), the two groups of steering mechanisms (3) are symmetrically arranged on the two main wings (12), the rudder blades (32) are positioned on the main wings (12) on one side departing from the air contra-rotating propellers (21), and the steering engines (31) provide power for the rudder blades (32);

the force bearing seat (6) is arranged on the tail wing (13) and the main wing (12), and when the tailstock type sea-air cross-region unmanned aerial vehicle is static, the force bearing seat (6) is used for enabling the tail wing type sea-air cross-region unmanned aerial vehicle to be in a vertical state;

the bearing seats (6) are of a cylindrical structure, the three bearing seats (6) are respectively fixed on the tail wing (13) and the two main wings (12), and the free ends of the three bearing seats (6) are positioned on the same horizontal plane and extend out of the end surface of the propeller (22) in the axial direction;

the tailstock type sea-air cross-domain unmanned aerial vehicle comprises a linear navigation mode and a sea-air switching flight mode, wherein the linear navigation mode and the sea-air switching flight mode are realized by adjusting the size of a pitching included angle of a rudder blade (32) relative to a main wing (12);

the straight-line sailing mode is that the stern-type air-sea cross-domain unmanned aerial vehicle keeps straight-line sailing in water or in the air at a certain speed, and the implementation method comprises the following steps: rotating a pair of the rudder blades (32) simultaneously under the main wing (12) by the same angle alpha, wherein the angle alpha enables the steering moment generated by the rudder blades (32) to act in the opposite direction to the stabilizing moment generated by the main wing (12), and when the steering moment generated by the rudder blades (32) is equal to the stabilizing moment generated by the main wing (12), the rotation is stopped, so that the aircraft keeps straight-line navigation in water or in the air at a certain speed;

the sea-air switching flight mode comprises a sea-in-air flight mode and an air-in-sea flight mode:

the sea-to-air flight mode is that the tailstock type sea-to-air cross-domain unmanned aerial vehicle obliquely flies into the air from water at a certain speed, and the implementation method comprises the following steps: rotating a pair of the rudder blades (32) towards the upper part of the main wing (12) at the same time by the same angle beta, wherein the angle beta enables the operating moment generated by the rudder blades (32) to be consistent with the action direction of the stabilizing moment generated by the main wing (12), both the operating moment and the stabilizing moment generate by the main wing (12) to raise the head of the aircraft, so that the longitudinal inclination angle of the aircraft can be rapidly increased, when the angle beta reaches a certain value, the pair of the rudder blades (32) are simultaneously and reversely rotated towards the lower part of the main wing (12) by the same angle beta 0, and the angle beta 0 enables the operating moment generated by the rudder blades (32) and enabling the aircraft to lower to counteract part of the stabilizing moment generated by the main wing (12) and enabling the aircraft to raise the head, so that the aircraft flies into the air from water in an inclined mode at a certain speed;

the air-to-sea flight mode is a tailstock type air-to-sea cross-domain unmanned aerial vehicle flying into water from the air at a certain speed, and the process is as follows: rotating a pair of said rudder blades (32) simultaneously under said main wing (12) by the same angle gamma which makes the steering moment by said rudder blades (32) which lowers the aircraft more than the stabilizing moment by said main wing (12) which raises the aircraft, under the interaction of the two moments the pitch angle of the aircraft will gradually decrease, the steering moment by said rudder blades (32) which lowers the aircraft will gradually decrease, stopping rotating said rudder blades (32) when the stabilizing moment by said main wing (12) which raises the aircraft is equal to the steering moment by said rudder blades (32) which lowers the aircraft, the aircraft will fly at a certain speed from the air into the water in an inclined manner.

2. The tailstock-type sea-air span unmanned aerial vehicle according to claim 1, characterized in that the force bearing seat (6) is connected to the tail wing (13) and the main wing (12) respectively through carbon fiber mold-sinking integrated molding.

3. The unmanned aerial vehicle in sea and air space style according to claim 1, characterized in that the main wing (12) is provided with a groove adapted to the rudder blade (32), and the rudder blade (32) is rotatably connected in the groove.

4. The unmanned aerial vehicle of claim 3, wherein the rudder blade (32) has a surface area that is 23-33% of the surface area of the main wing (12).

5. The tailstock-type sea-air span unmanned aerial vehicle according to claim 1, characterized in that the main wing (12) and the fuselage (11) are integrally formed by carbon fiber mold opening and are processed in a circular arc smooth transition mode at the joint.

6. The tailstock-type sea-air span unmanned aerial vehicle according to claim 5, characterized in that the angle between the main wing (12) and the fuselage (11) is 30-60 °.

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