CN105836124A - Unmanned underwater aircraft - Google Patents

Abstract

The invention relates to an unmanned diving aircraft, which includes a fuselage, a retractable wing that can rotate horizontally and vertically around the body, an engine, a propulsion propeller, an underwater power motor, an energy storage system, an underwater rudder, and a retractable wing. Fill and drain buoys. The beneficial effects of the present invention are: the wings are unfolded to provide lift for flight, the wings are placed on both sides of the fuselage, and the span is parallel to the axis of the fuselage to reduce the resistance of navigation in water; the buoys are filled with water and drained to adjust the density of the aircraft , so that it enters the water or emerges from the water, the buoys are deployed, which can increase the anti-wave resistance of water surface sliding, and the buoys are retracted, which can reduce the resistance; the engine provides power for air propulsion, and at the same time charges the battery. When navigating underwater, the battery is the motor. Power supply to drive the underwater propeller; when passing through the water and air medium, the power and motor will be switched accordingly. The invention adapts to the use requirements of water and air media, and can switch between the two states of sailing in water and flying in the air for many times.

Description

An unmanned submersible aircraft

technical field

The invention relates to the technical field of aircraft, in particular to an unmanned submersible aircraft. Through the application of rotatable and retractable wings, retractable filling and drainage buoy technology and two sets of power systems, the aircraft can realize two mediums of water and air. Flying and sailing in the environment.

Background technique

As a kind of aircraft that can cross water and air, the submersible aircraft attracted the attention of researchers in the 1930s. However, due to many technical conditions, the development of submersible aircraft was not successful until the end of the 20th century. . In 2008, the U.S. Defense Advanced Research Projects Agency proposed a series of challenging indicators for submersible vehicles, including the ability to fly in the air and submerge in water. From 2008 to 2011, the U.S. Defense Advanced Research Projects Agency extensively solicited feasible solutions for submersible aircraft around the world. However, few institutions or individuals submitted viable proposals, so the program was forced to end in 2011. In recent years, the United States plans to develop the "cormorant" submarine-launched drone. Liang Jianhong's team from Beijing University of Aeronautics and Astronautics in China successfully developed the "Boobies" drone and conducted flight experiments. The "Cormorant" submarine-launched UAV is launched from a submarine and sails underwater by a rocket. After flying out of the water, the turbofan engine is started. After performing its mission, it lands on the water surface and waits for recovery. The "Cormorant" submarine-launched UAV cannot enter the water twice and take off from the water twice. The mission envelope of each mission is a one-way irreversible process from water to air. The "Boobies" UAV can realize multiple conversions between water and air media. Unmanned submersible aircraft can be used as a platform for aerial photography and detection of water and air, and can also take advantage of the characteristics of cross-media flight to become an advanced weapon platform with excellent sea penetration capabilities, which has high research value. Unmanned submersible aircraft should be adapted to flying and sailing in water and air. Flying in the air requires wings that provide sufficient lift. When navigating in water, the density of water is much higher than that of air. It is necessary to reduce the sailing resistance through the design of the shape as much as possible. Flying in the air requires the body to be as light as possible, while diving in the water requires the body to have a density close to that of water. The aircraft also needs to have a power system that can be used in the air and water. In addition, the structure of the aircraft needs to withstand a certain amount of water pressure. The tail of the aircraft needs to provide a suitable torque to control the aircraft to fly in the air and sail in the water. Comprehensive weighing of various technical issues is a necessary condition for unmanned submersible aircraft to go into practice.

Compared with the current submersible aircraft, this unmanned submersible aircraft can pass through the water-air medium many times. The underwater navigation phase has less resistance. This unmanned submersible aircraft adopts two retractable filling and draining buoys. When the aircraft floats on the water surface, the two buoys are unfolded to provide lateral stabilizing moment, so that the aircraft has certain wave resistance and is suitable for swimming in complex sea conditions. application. In addition, the unmanned submersible aircraft can adjust its own density change through the water filling and drainage of the buoy, so that the aircraft enters the water or floats on the water surface to complete the navigation medium conversion process.

Contents of the invention

The purpose of the invention is to solve the problem of reciprocating flight of aircraft in water and air. The invention adopts technologies such as rotatable and retractable wings, retractable water-filled and drainage buoys, and two power systems for water and air, so that this unmanned submersible aircraft can fly in the air and navigate in water, and can operate in two state switching multiple times.

In order to solve the above-mentioned problems, the present invention is realized through the following technical solutions: an unmanned submersible aircraft, comprising a drop-shaped fuselage, a retractable wing that can rotate horizontally and vertically around the fuselage, a retractable filling and draining buoy, an engine , air propulsion propeller, underwater propulsion propeller, energy storage system, underwater power motor, V-shaped tail, underwater rudder. The drop-shaped fuselage can reduce the resistance of the underwater navigation state. The retractable wings provide enough lift in the air, and can make the underwater navigation resistance less. The retractable filling and drainage buoy can increase the anti-wave performance of the aircraft when sliding on the water surface, and can also adjust the density of the aircraft so that it can enter and exit water and air. The engine recharges the battery while in the air, which can increase the endurance time of the underwater voyage. The V-shaped tail and the underwater rudder provide enough moment for the maneuvering of the aircraft. Taken together, the present invention can enter and exit water and air mediums for many times, and has good performance in flying in the air, gliding on the water surface, and navigating underwater.

The drop-shaped fuselage of the present invention has a streamlined head, a streamlined back of the middle fuselage, and two recessed cabins are symmetrically arranged on both sides of the abdomen for placing retractable filling and draining buoys and installing retractable buoys actuator. The abdomen of the tail section of the fuselage is upturned, and the upturned tail can reduce the resistance during takeoff and taxiing on the water surface.

The retractable wing that can rotate horizontally and vertically around the body of the present invention is installed in the middle of the fuselage and belongs to the middle single wing. The entire wing is divided into three sections, the middle section is the central wing box, which is installed inside the fuselage. The remaining two sections are the outer sections of the wing, exposed on the sides of the fuselage. The first retractable device is installed in the central wing box, which can drive the outer section of the wing to rotate 90 degrees around the transverse axis of the wing, and rotate from a horizontal state to a vertical state. At the junction of the outer wings on both sides and the central wing box, a second retractable device is installed, which can drive the outer wings on both sides to rotate 90 degrees around the longitudinal direction, so that the span of the wings is parallel to the axis of the fuselage. When the retractable wings are deployed, they can provide sufficient lift for air flight, and when they are retracted, the underwater navigation resistance is small. The outer section of the wing is provided with an aileron near the tip, and the attitude of the aircraft can be adjusted by the aileron.

There are two retractable filling and draining buoys in the present invention, which are respectively placed in the concave cabins on both sides of the belly of the fuselage, and are connected with the fuselage through the actuating cylinder. The actuator drives the buoy to retract or unfold. The head of the retractable filling and draining buoy is equipped with an electromagnetic hatch, which can be opened when it needs to be filled with water, allowing external water to flow in. A water pump is installed at its tail, and a drainage hole is arranged. When drainage is required, the water pump is used to drain water. There is a ventilation pipe inside the buoy to be connected with the air vent on the head of the fuselage, so that the internal air pressure of the buoy is balanced with the external atmospheric pressure when filling and draining.

The engine of the present invention is installed in the engine compartment at the back of the tail section of the fuselage, and is connected with the propulsion propeller in the air. The engine compartment is sealed and waterproof, and the air intake hole of the engine can be opened and closed.

The energy storage system of the present invention includes fuel storage tanks, accumulators, oil pipelines, wires and other components, and is installed inside the fuselage close to the wings. The energy storage system can supply fuel to the engine. When the engine is started, it drives the propeller in the air and charges the battery on the other hand. When the underwater power motor starts, the accumulator supplies power to it.

The underwater power motor of the present invention is installed on the abdomen of the tail section of the fuselage. The underwater propulsion propeller is connected to this motor. A duct is arranged outside the propeller, and an underwater rudder is installed at the end of the duct, and the rudder is used to control the direction of the aircraft when gliding on the water surface.

The V-shaped empennage of the present invention is installed on the back of the tail section of the fuselage. The V-shaped tail is a full-motion tail, which can control and adjust the attitude of the aircraft in the air and in the water.

Description of drawings

Fig. 1 is a schematic side view of an embodiment of an unmanned diving vehicle of the present invention.

Fig. 2 is a schematic left view of an embodiment of an unmanned diving vehicle of the present invention.

Fig. 3 is a schematic bottom view of an embodiment of an unmanned diving vehicle of the present invention.

Fig. 4 is a schematic diagram of a wing retracted state of an embodiment of an unmanned submersible aircraft according to the present invention.

Fig. 5 is a schematic diagram of the unfolded state of the buoy of an embodiment of an unmanned submersible aircraft according to the present invention.

Fig. 6 is a schematic side view of the structure of a retractable filling and draining buoy according to an embodiment of an unmanned submersible aircraft of the present invention.

Fig. 7 is a schematic front view of the structure of a retractable filling and draining buoy of an embodiment of an unmanned submersible aircraft according to the present invention.

Fig. 8 is a schematic diagram of the retractable wing retractable mechanism and the right outer wing of an embodiment of an unmanned diving aircraft according to the present invention.

Labels in the figure: 1, air vent; 2, fuselage; 3, wing outer section; 4, aileron; 5, V-shaped tail;

6. Air propulsion propeller; 7. Engine; 8. Underwater rudder; 9. Underwater propulsion propeller;

10. Underwater power motor; 11. Retractable filling and drainage buoy; 12. Actuating cylinder; 13. Ventilation pipe;

14. Drain hole; 15. Water pump; 16. Electromagnetic hatch; 17. First retractable device; 18. Second retractable device;

19. Transmission device.

detailed description

In order to describe the technical content, structural features, achieved goals and effects of the present invention in detail, the following will be described in detail in conjunction with the embodiments and accompanying drawings.

The most critical idea of this patent is to introduce retractable wings that can rotate horizontally and vertically around the body, and introduce retractable filling and drainage buoys.

Please refer to Fig. 1 to Fig. 5, a kind of unmanned submersible aircraft, comprises air vent 1, fuselage 2, retractable wing 3 that can rotate horizontally and longitudinally around the body, a pair of ailerons 4, V-shaped tail 5 , propulsion propeller 6 in the air, engine 7, underwater rudder 8, propulsion propeller 9 underwater, underwater power motor 10, retractable filling and drainage buoy 11, actuating cylinder 12.

As can be seen from the above description, the beneficial effects of the present invention are: the retractable wings that can rotate horizontally and vertically around the body can keep the wings straight when the aircraft is flying in the air, so as to provide sufficient lift for the flight. It can be stowed as far as possible to keep the body streamlined to reduce the resistance of underwater navigation. Retractable filling and drainage buoys, when the aircraft is flying in the air or underwater, the retractable filling and drainage buoys are stored in the grooves on both sides of the fuselage belly to keep the fuselage streamlined and reduce resistance. When the aircraft falls from the air to the water surface, the buoys are deployed. After the aircraft hits the water, the buoys increase the resistance of the water surface sliding, accelerate the deceleration of the aircraft, and make the water surface sliding distance of the aircraft shorter. When the aircraft floats on the water, the buoys can provide lateral moment, which makes the aircraft float more stably, enhances its anti-wave performance, and makes it applicable in complex sea conditions. In addition, the filling and drainage buoys can be retracted. After the electromagnetic hatch is opened, water flows into the buoys, and the density of the aircraft increases, allowing it to dive into the water. When the aircraft needs to enter the air from the water, it first sails close to the water surface, so that the head vent 1 is exposed to the water surface, and then the water pump in the buoy is started to work to discharge the water in the buoy, so that the density of the aircraft is reduced and it emerges from the water.

As can be seen from the above description, the V-shaped tail 5 of the present invention can be used in both air and water states to adjust the flight attitude of the aircraft. The underwater rudder 8 can be used in two states of the aircraft gliding on the water surface and the aircraft navigating underwater, and is used to adjust the heading attitude of the aircraft.

As can be seen from the above description, the engine 7 of the present invention is installed in a sealed engine compartment. Used when the aircraft is flying in the air, the output power is used to drive the propeller 6 in the air to provide power for the air flight. When the engine 7 is working, it can charge the accumulator in the energy storage system. When the aircraft sails into the water, the engine is turned off and the engine air intake is closed. The battery is discharged to supply power to the underwater motor 10 to drive the propeller 9 underwater.

Please refer to FIG. 5 to FIG. 7 , an unmanned diving vehicle includes a retractable filling and discharging buoy 11 . A water pump 15 is installed in the buoy, and the water pump 15 is connected to the drain hole 14, and the drain hole 14 leads to the outside of the buoy. The ventilation pipe 13 connects the inside of the buoy with the ventilation port 1 . The ventilation pipe passes through the interior of the actuator 12 and the interior of the fuselage 2, and is connected with the ventilation port 1. The head of the buoy is provided with an electromagnetic cabin door 16 . The buoy is connected with the fuselage 2 through the actuator 12 .

As can be seen from the above description, the filling and draining buoy 11 can be retracted in the present invention, the electromagnetic hatch 16 is opened when water needs to be filled, and the electromagnetic hatch 16 is closed after the water flows into the buoy. Start the water pump 15 when needing drainage, and the water in the buoy is discharged to the outside through the drain hole 14. The ventilation pipe 13 communicates with the outside world through the ventilation port 1 to ensure the air pressure inside and outside the buoy is balanced, and the water filling and drainage are smooth. The buoy adjusts the density of the aircraft by filling and draining water, and controls its water entry and exit. Each buoy is connected with the fuselage 2 through two actuating cylinders 12, and the actuating cylinder 12 drives the buoy to be stored in the belly groove under the fuselage or unfolded. When the buoy 11 is deployed, there is no water inside the buoy, and the aircraft floats on the water surface. The buoyancy on the buoy has a moment to the axis of the aircraft fuselage, and the aircraft is in a laterally stable state. When the water surface surge tilts the aircraft, the aircraft can return to the horizontal balance position with the help of the torque generated by the buoys. Therefore, after the buoys are deployed, the lateral stability of the aircraft floating on the water surface can be improved, thereby increasing the wave resistance of the aircraft and increasing its ability to adapt to complex sea conditions.

Please refer to Fig. 4, Fig. 5, Fig. 8, a kind of unmanned submersible aircraft, the retractable wing that can rotate around body horizontally and vertically, comprises central wing box, wing outer section 3, aileron 4, the first Retractable device 17, second retractable device 18, transmission device 19.

As can be seen from the above description, the retractable wing that can rotate around the body horizontally and vertically in the present invention, its first retractable device 17 and transmission device 19 are all installed in the central wing box, and the second retractable device 18 is installed in the central wing box. The connection between the wing box and the wing outer section 3. The first retractable device 17 can drive the outer section 3 of the wing to rotate around the axis of the transmission device 19 (the lateral direction of the aircraft), and the second retractable device can drive the outer section 3 of the wing to rotate around the vertical axis (longitudinal), so that the outer section of the wing can The span direction of segment 3 is parallel to the fuselage axis. Through two rotations, the wing outer section 3 can be rotated from the straight unfolded state to the final stowed position. Likewise, the reverse process can also be implemented, so that the wing outer section 3 changes from the stowed position to the deployed position. When the wings are extended, they can provide the lift needed for air flight, and when the wings are retracted, they can reduce the resistance of underwater navigation.

To sum up, the technical solution provided by the present invention enables the unmanned submersible vehicle to fly in the air and navigate underwater, and can pass through water and air media multiple times. The wings can be rotated and retracted to provide sufficient lift when deployed, and to reduce the resistance of underwater navigation when retracted. Retractable filling and drainage buoys, when unfolded, increase the anti-wave performance of the aircraft's water surface navigation, and reduce navigation and flight resistance after being stowed. Two sets of power systems provide power for air and underwater travel respectively. The V-shaped tail and ailerons provide the steering moment when flying in the air. The underwater rudder surface provides the yaw moment when sailing on the water.

The above description is only an embodiment of the present invention, and does not limit the patent scope of the present invention. All equivalent transformations made by using the description of the present invention and the contents of the accompanying drawings, or directly or indirectly used in related technical fields, are all included in the same way. Within the scope of patent protection of the present invention.

Claims (6)

1. a unmanned diving aircraft, it is characterised in that aircraft is by rotating the wing of folding and unfolding, folding and unfolding can fill row Propelling screws, electromotor, aerial propelling screws, vee tail, under water direction in water floating drum, water medium power motor, water The device compositions such as rudder.

Unmanned diving aircraft the most according to claim 1, it is characterised in that can rotate during the wing of folding and unfolding is Single-blade, central authorities' wing box is arranged in fuselage, and the part outside fuselage is in two sections of outer section wings of fuselage both sides.Wing is adapted to Navigation two states in airflight, water.During airflight, wing launches, and level is fixed, it is provided that lift；During diving navigation, Wing first by be arranged on central authorities wing box in first draw off gear drive, around wing transverse axis rotate to vertical state, then by Second draw off gear of centre wing box and outer section of wing joining place drives, around longitudinally rotate to wing exhibition to fuselage axis parallel position, Wing is placed in fuselage both sides after rotating, and can reduce the resistance of navigation in water.

Diving unmanned vehicle the most according to claim 1, it is characterised in that being provided with two on fuselage folding and unfolding can fill row Water floating drum, floating drum is connected with fuselage by the pressurized strut that can stretch.Pressurized strut can be handled floating drum and stretches out fuselage or be placed in fuselage In the matrix freight space of lower section.

Diving unmanned vehicle the most according to claim 1, it is characterised in that folding and unfolding can fill in draining floating drum and be provided with electricity Magnetic hatch door, water pump, osculum, breather line.Breather line passes pressurized strut, fuselage, and with the aerofluxus on fuselage head top Mouth is connected.Electromagnetism hatch door is arranged at pontoon nose.Water pump is close tail position in being installed on floating drum.Osculum is connected with water pump, Lead to outside floating drum.

Diving unmanned vehicle the most according to claim 1, it is characterised in that flying instrument is standby in the air, under water two sets dynamic Force system.Airborne Propellant System is made up of with propelling screws electromotor.The sealing that electromotor is installed on the upside of afterbody is started In cabin.Underwater propulsion system is made up of with propelling screws submersible machine, is arranged on the downside of afterbody.Underwater propulsion system In, propeller is positioned at duct, and duct afterbody is provided with rudder under water.

Diving unmanned vehicle the most according to claim 1, it is characterised in that aircraft interior is provided with energy-storage system, Energy-storage system includes the parts such as fuel storage case, accumulator, oil pipeline, wire.Aloft during flight, electromotor works, Charge for accumulator.When navigating by water under water, engine stop works, and engine intake is closed, now battery discharging, for Underwater engine motor is powered, and drives underwater propulsion propeller.