CN114852330B - A coaxial rotor cross-medium multi-habitat unmanned system - Google Patents
A coaxial rotor cross-medium multi-habitat unmanned systemInfo
- Publication number
- CN114852330B CN114852330B CN202210438308.9A CN202210438308A CN114852330B CN 114852330 B CN114852330 B CN 114852330B CN 202210438308 A CN202210438308 A CN 202210438308A CN 114852330 B CN114852330 B CN 114852330B
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- rolling wheel
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- unmanned system
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- propeller
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C35/00—Flying-boats; Seaplanes
- B64C35/008—Amphibious sea planes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F5/00—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media
- B60F5/02—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media convertible into aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H7/00—Propulsion directly actuated on air
- B63H7/02—Propulsion directly actuated on air using propellers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
- B64C27/10—Helicopters with two or more rotors arranged coaxially
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T70/00—Maritime or waterways transport
- Y02T70/10—Measures concerning design or construction of watercraft hulls
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Remote Sensing (AREA)
- Transportation (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Ocean & Marine Engineering (AREA)
- Toys (AREA)
Abstract
The application discloses a coaxial rotary wing medium-spanning multi-purpose unmanned system which comprises a main body cabin and a plurality of power units symmetrically arranged relative to the main body cabin, wherein each power unit comprises a variant mechanism and a coaxial rotary wing assembly arranged on the variant mechanism, the variant mechanism comprises a fixed support fixedly connected with the main body cabin and a rotating support rotatably connected with the fixed support, the rotating support is provided with a driving motor and a power rod connected with an output shaft of the driving motor, the coaxial rotary wing assembly comprises a propeller coaxially arranged on the outer side of the axial direction of the power rod and a rolling wheel axially arranged on the inner side of the axial direction of the power rod, and the driving mechanism drives the rotating support to rotate at different angles relative to the fixed support through a push rod so as to place the propeller and the rolling wheel at a plurality of working positions corresponding to a plurality of movement modes of the unmanned system. The application can cope with various natural environments of terrains and has the characteristics of simple structure and convenient and rapid switching.
Description
Technical Field
The application relates to the technical field of unmanned systems, in particular to a coaxial rotary wing medium-span amphibious unmanned system with a multiplexing type deformation mechanism, such as an unmanned plane, an unmanned vehicle, an unmanned ship and the like.
Background
At present, waterway amphibious aircraft taking off and landing on the water surface and water surface aircraft are in a mature development stage, but a cross-medium unmanned system with underwater diving and repeated underwater access capability still has problems in aspects of power, water access capability, tightness and the like during navigation.
The Chinese patent application CN201711386555 discloses a fixed-wing sea-air amphibious aircraft and a control method, which can realize the large-scale flight observation in the air and the observation of underwater long-distance navigation Cheng Huaxiang, and realize the switching between different movement modes in water and air by means of the provided vertical take-off and landing function. However, when the device moves underwater, the device can only move forward and backward through adjusting the floating center of the body, and the saw-tooth-shaped underwater gliding movement is carried out by combining the fixed wings. Meanwhile, due to the existence of the fixed wings, the amphibious aircraft needs to perform mode conversion between the rotor wings and the fixed wings when in air movement, so that a movement control system of the aircraft in the air becomes very complex, and the body volume is increased.
The invention discloses a coaxial tilting sea-air craft, which realizes the omnibearing motion of the coaxial tilting craft in water and air by the vector cooperation of a coaxial sea-air dual-purpose combined motor and a tilting combined motor. However, the underwater motion of the device requires four underwater propellers to generate the same downward inclined force, the vertical component always counteracts gravity, the horizontal component controls forward movement and steering, the energy consumption of diving is large, and the underwater motion control system is complex.
Chinese patent application CN201910533404 discloses an amphibious unmanned aerial vehicle of coaxial tilting rotor of cross, and it has set up coaxial many rotor mechanisms of tilting, through carrying out tilting control to the rotor, replaces the yaw angle that changes the organism through the change of the increase and decrease speed of motor anti-torque moment, tilts both sides motor forward when moving under water, and the organism keeps the level in order to reduce the resistance, improves the utilization efficiency of the biggest lift of motor, makes unmanned aerial vehicle realize self rotation and work under the high resistance circumstances in air and under water. However, when the underwater vehicle moves, the average density of the vehicle body is larger than that of water, the vehicle body sinks under a natural state, the electric motors on the two coaxial multi-rotor mechanisms are required to continuously increase and decrease to adjust the floating and the submerging of the vehicle body, the energy consumption of the floating and the submerging is large, and the underwater motion control system is complex.
Disclosure of Invention
The application discloses an unmanned system for solving the problem of poor environmental adaptability of a traditional single medium or amphibious unmanned robot.
According to one embodiment of the application, there is provided an unmanned system comprising a main body compartment and a power system connected to the main body compartment, the power system comprising a plurality of power units symmetrically arranged with respect to the main body compartment;
each power unit comprises a variant mechanism and a coaxial rotor assembly arranged on the variant mechanism, wherein the variant mechanism comprises a fixed bracket fixedly connected with the main body cabin, a rotating bracket rotationally connected with the fixed bracket, and a driving motor and a power rod connected with an output shaft of the driving motor, and the coaxial rotor assembly comprises a propeller coaxially arranged on the outer side of the axial direction of the power rod and a rolling wheel axially arranged on the inner side of the axial direction of the power rod;
The main body cabin further comprises a driving mechanism, the driving mechanism is connected with the rotating support through a push rod and used for driving the rotating support to rotate at different angles relative to the fixed support in a vertical plane, so that the propeller and the rolling wheel are arranged at a plurality of working positions corresponding to a plurality of movement modes of the unmanned system respectively.
In other examples, the rolling wheel comprises a central wheel shaft, a peripheral rim and a plurality of paddle blades for connecting the central wheel shaft and the peripheral rim, the central wheel shaft is movably sleeved on the power rod, the driving mechanism drives the rolling wheel to move along the axial direction of the power rod through the push rod so as to switch between a first working state and a second working state, wherein in the first working state, the rolling wheel is in power coupling with the power rod, and in the second working state, the rolling wheel is out of power coupling with the power rod.
In other examples, the rotary support comprises a sliding sleeve sleeved outside the power rod, the push rod is connected with the sliding sleeve, and the rolling wheel is fixedly arranged at one end of the sliding sleeve through a bearing assembly, so that the rolling wheel can freely rotate relative to the sliding sleeve.
In some other examples, the roller wheel or the bearing assembly is provided with a first locking mechanism, the power lever is provided with a second locking mechanism, in the first working state, the first locking mechanism is clamped with the second locking mechanism to realize power coupling between the roller wheel and the power lever, and in the second working state, the first locking mechanism is separated from the second locking mechanism to release the power coupling between the roller wheel and the power lever.
In other examples, the sliding sleeve is provided with two clamping pins eccentrically arranged relative to the central line of the sliding sleeve on two sides along the direction perpendicular to the rotation plane of the rotating bracket, and each clamping pin is connected with the driving mechanism through one push rod.
In other examples, the rotating bracket comprises an annular main body which extends outwards in a radial direction to form a cylindrical part, the driving motor is installed in the cylindrical part, the fixed bracket comprises a first hemispherical shell and a second hemispherical shell, the two hemispherical shells are connected into a whole through a connecting shaft inside the shell in a mode of clamping the annular main body from two sides, and the annular main body can rotate around the connecting shaft between the two hemispherical shells when driven by external force.
In other examples, sealing rings are respectively arranged between the two hemispherical shells and the annular main body, so that a sealed cabin is formed between the two hemispherical shells, and a circuit board is arranged in the sealed cabin and connected with the driving motor.
In other examples, the fixed bracket further comprises a sink and float water tank for water intake or drainage. Or the floating water tank can be arranged in the main body cabin.
In other examples, the main body compartment is provided with a control unit connected to the drive mechanism and to the circuit board via a wire provided inside the fixed bracket.
In some more specific examples, the unmanned system comprises at least a first working position, wherein the rotating support and the fixed support are basically vertical to each other in a vertical plane, so that the rotating surfaces of the propeller and the rolling wheel are positioned in a horizontal plane, and the rolling wheel is in the second working state, a second working position, wherein the rotating support and the fixed support are basically coaxial in the vertical plane, so that the rotating surfaces of the propeller and the rolling wheel are positioned in a vertical plane, and the rolling wheel is in the first working state, and a third working position, positioned between the first working position and the second working position, is formed by a preset included angle between the rotating support and the fixed support in the vertical plane, so that the rotating surfaces of the propeller and the rolling wheel are positioned in an inclined plane, and the rolling wheel is in the second working state.
In some more specific examples, the unmanned system comprises four power units, wherein the propellers and the propeller blades of the first power unit and the third power unit are of a forward structure, the propellers and the propeller blades of the second power unit and the fourth power unit are of a reverse structure, the first power unit and the second power unit are arranged on one side of the main cabin, the third power unit and the fourth power unit are arranged on the other side of the main cabin, in the first working position, the unmanned system can execute a flight movement mode, power is provided by the four propellers to realize air flight and hover, in the second working position, the unmanned system can execute a ground movement mode, ground thrust is provided by the four rolling wheels, or underwater movement mode, water in-thrust is provided by the propeller blades of the rolling wheels on the same side of the main cabin, in the third working position, the unmanned system can execute a water movement mode, and air thrust is provided by the propellers on the same side of the main cabin.
In the unmanned system of the present application, preferably, the driving mechanism drives the rotating bracket to rotate within 180 ° relative to the fixed bracket in a vertical plane through a push rod.
The application selects the power structure by means of switching the power transmission rod, adopts a single-rod coaxial structure, realizes the combination of the air propeller of the traditional unmanned plane and the unmanned water surface ship, the water propeller of the unmanned ship and the submarine and the road surface roller of the unmanned trolley, solves the problem that the traditional single-medium or amphibious unmanned robot has limitation in environmental adaptation, can cope with the situation of various natural environment topography, and has the characteristics of simple structure and convenient and quick switching.
Other features of the present application and its advantages will become apparent from the following detailed description of exemplary embodiments of the application, which proceeds with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute a limitation on the application.
In the drawings:
FIG. 1 is a schematic diagram of the overall structure of an unmanned system according to an embodiment of the present application;
FIG. 2 is a schematic diagram of a single power unit configuration of an unmanned system according to an embodiment of the application;
FIGS. 3 and 4 are schematic diagrams of an exploded configuration of a single power unit of the unmanned system according to an embodiment of the present application;
FIG. 5 is a schematic illustration of a flight movement pattern of an unmanned system according to an embodiment of the application;
FIG. 6 is a schematic view of a water surface movement pattern of an unmanned system according to an embodiment of the application;
FIG. 7 is a schematic diagram of the unmanned system turning in a surface motion mode;
FIG. 8 is a schematic view of an underwater motion pattern of an unmanned system according to an embodiment of the present application;
fig. 9 is a schematic view of a ground movement pattern of the unmanned system according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. It will be apparent that the described embodiments are only some, but not all, embodiments of the application. The following description of at least one exemplary embodiment is merely exemplary in nature and is in no way intended to limit the application, its application, or uses.
Fig. 1 is a schematic diagram of the overall structure of an unmanned system according to an embodiment of the application. As shown in fig. 1, the present application discloses an unmanned system comprising a main body compartment 10 and a power system connected to the main body compartment, the power system comprising a plurality of power units 11-14 symmetrically arranged with respect to the main body compartment.
Each power unit 11-14 includes a variant mechanism 100 and coaxial rotor assemblies 111, 112;121, 122;131, 132;141, 142 mounted thereon.
Fig. 2 is a schematic diagram of a single power unit structure of an unmanned system according to an embodiment of the present application, and fig. 3 and fig. 4 are schematic diagrams of an exploded structure of a single power unit of an unmanned system according to an embodiment of the present application. As shown in the figure, the variant mechanism 100 includes a fixed bracket 1 fixedly connected to the main body compartment 11, a rotating bracket 3 rotatably connected to the fixed bracket, and a driving motor 32 and a power rod 4 connected to an output shaft 321 of the driving motor 32 are mounted on the rotating bracket 3.
Taking the power unit 11 as an example, the coaxial rotor assembly comprises a propeller 111 mounted in a coaxial manner on the axially outer side of the power rod 4 and a rolling wheel 112 on the axially inner side of the power rod 4.
The main body cabin 10 further comprises a driving mechanism (not shown) connected to the rotating bracket 3 through a push rod 7, and configured to drive the rotating bracket 3 to rotate at different angles relative to the fixed bracket 1 in a vertical plane, so as to place the propeller 111 and the rolling wheel 112 in a plurality of working positions corresponding to a plurality of movement modes of the unmanned system respectively.
The wheel 112 includes a central hub, a peripheral rim 1121, and a plurality of paddles 1122 connecting the central hub and the peripheral rim 1121. The center wheel shaft is movably sleeved on the power rod 4. The driving mechanism drives the rolling wheel 112 to move along the axial direction of the power rod 4 through the push rod 7 so as to switch between a first working state and a second working state. And in the first working state, the rolling wheel is in power coupling with the power rod. In the second operating state, the rolling wheel is decoupled from the power rod.
The rotary support 3 comprises a sliding sleeve 5 sleeved outside the power rod, and the push rod 7 is connected with the sliding sleeve 5. The rolling wheel is fixedly arranged at one end of the sliding sleeve 5 through bearing assemblies 52 and 53, so that the rolling wheel can rotate freely relative to the sliding sleeve.
Referring to fig. 3 and 4, the bearing assembly illustratively includes a bearing 52 and a rotating bayonet 53, an outer ring of the bearing 52 is fixed in a push-pull ring 51 of the sliding sleeve 5, a central axle of the rolling wheel is fixedly sleeved on the rotating bayonet 53, and the rotating bayonet 53 is fixedly connected with an inner ring of the bearing 52, so that the rolling wheel and the sliding sleeve 5 are fixed in an axial direction, but can rotate freely relative to the sliding sleeve 5.
The rotary bayonet lock is provided with a first locking mechanism, the power rod is provided with a second locking mechanism, the first locking mechanism is clamped with the second locking mechanism in the first working state so as to realize power coupling between the rolling wheel and the power rod, and the first locking mechanism is separated from the second locking mechanism in the second working state so as to decouple the power coupling between the rolling wheel and the power rod.
The first locking mechanism is illustratively a detent provided at an end of the rotational detent, at least a portion of which detent exposes an end face of the center axle. The second locking mechanism is a bayonet lock 8 arranged on the power rod, and when the bayonet lock is clamped with the clamping groove, power coupling is realized between the rolling wheel and the power rod, namely, the driving motor transmits power provided by the output axial power rod to the rolling wheel.
Referring to fig. 2 and 4, two clamping pins 6 eccentrically arranged relative to the central line of the sliding sleeve are arranged on two sides of the sliding sleeve 5 along the direction perpendicular to the rotation plane of the rotating bracket, and each clamping pin is connected with the driving mechanism through a push rod 7.
Referring to fig. 3, the rotating bracket includes an annular body 31, the annular body 31 extends radially outwardly to form a cylindrical portion 311, and the driving motor 32 is mounted in the cylindrical portion 311. The fixing support comprises a first hemispherical shell 21 and a second hemispherical shell 22, the two hemispherical shells are integrally connected through a connecting shaft 221 inside the shell in a mode of clamping the annular body from two sides, so that the annular body can rotate around the connecting shaft between the two hemispherical shells when driven by external force.
Sealing rings 24 are respectively arranged between the two hemispherical shells and the annular main body, so that a sealed cabin is formed between the two hemispherical shells, a circuit board 23 is arranged in the sealed cabin, and the circuit board 23 is connected with the driving motor 32.
In some examples, each of the fixing brackets further comprises a sink and float water tank 9 for water intake and drainage. Alternatively, the floating and sinking tanks 9 may be disposed on the main body cabin, for example, 2 or 4 floating and sinking tanks are symmetrically disposed around the main body cabin.
In some examples, the main body compartment is provided with a control unit (not shown) connected to the drive mechanism and to the circuit board 23 by a wire provided inside the fixed bracket (via a channel 222).
The working positions at least comprise a first working position, a second working position and a third working position, wherein the rotating support is basically vertical to the fixed support in a vertical plane, so that the rotating surfaces of the propeller and the rolling wheel are located in a horizontal plane, the rolling wheel is located in the second working state, the rotating support is basically coaxial with the fixed support in the vertical plane, so that the rotating surfaces of the propeller and the rolling wheel are located in a vertical plane, the rolling wheel is located in the first working state, and a preset included angle is formed between the rotating support and the fixed support in the vertical plane, so that the rotating surfaces of the propeller and the rolling wheel are located in an inclined plane, and the rolling wheel is located in the second working state.
Illustratively, referring to fig. 1, the unmanned system includes four of the power units, wherein the propellers and blades of the first power unit 11 and the third power unit 13 are in a forward configuration, and the propellers and blades of the second power unit 12 and the fourth power unit 14 are in a reverse configuration. The first power unit 11 and the fourth power unit 14 are disposed on one side of the main body compartment, and the second power unit 12 and the third power unit 13 are disposed on the other side of the main body compartment. Thus, the first power unit 11 is provided with a forward propeller and forward rolling wheel, the second power unit 12 is provided with a reverse propeller and reverse rolling wheel, the third power unit 13 is provided with a forward propeller and forward rolling wheel, and the fourth power unit 14 is provided with a reverse propeller and reverse rolling wheel.
Illustratively, each rolling wheel is comprised of a circular wheel and a water paddle. Alternatively, the round wheels may be ground engaging mechanisms of other shapes, such as wheel leg engaging mechanisms.
The propeller may be a two-bladed propeller, for example, or may be replaced by a three-bladed or four-bladed propeller.
In the application, the forward propeller provides an air lifting force when rotating forward and provides an air descending force when rotating backward. Reverse propellers provide air lift when reversing and air descent when reversing. Forward rolling wheels (or forward paddles) provide thrust in the water in a direction away from the nacelle during forward rotation and in a direction toward the nacelle during reverse rotation. Reverse rolling wheels (or reverse paddle blades) refer to providing thrust in the water in a direction away from the nacelle during reverse rotation and providing thrust in the water in a direction closer to the nacelle during forward rotation.
In the first operating position, the unmanned system is capable of executing a flight movement mode. In said second operating position, the unmanned system is capable of performing a ground movement mode or an underwater movement mode. In the third operating position, the unmanned system is capable of executing a surface motion mode.
In the unmanned system of the application, the propeller of each power unit is used for providing the lift force of a flight movement mode and the thrust of a water surface movement mode (a water surface navigation mode), the rolling wheel is used for providing the thrust of an underwater movement mode (an underwater diving mode) and a ground movement mode (a land movement mode), and the submerged water tank is used for providing the floating and sinking force in water. The push rod and the eccentric bayonet lock are used for controlling the screw propeller and the rolling wheel to synchronously perform the rotation deformation around the center by 180 degrees at most. The push rod and the sliding sleeve are used for controlling the position of the rolling wheel on the power rod so as to realize power coupling or decoupling of the rolling wheel and the power rod.
The data interface C is arranged on the fixed support, so that the circuit board on the fixed support can interact data with the control unit in the main cabin, for example, receive and dispatch control instructions and the like.
The unmanned system of the application provides forward power for the fan of the aerodynamic ship by changing the state of the changing mechanism, and provides forward power for the roller of the four-wheel vehicle by changing on land. Meanwhile, the unmanned system can be further deformed into a submarine under water to realize underwater diving motions by matching with the floating and sinking acting force of a water area provided by the small-sized floating water tank and the adjustment and change of the variant mechanism and the multi-mode motion control unit.
The above-described movement patterns of the unmanned system are described in detail below in connection with fig. 5-9.
Fig. 5 is a schematic view of a flight movement pattern of an unmanned system according to an embodiment of the application. As shown in the figure, when the unmanned system is in an air flight mode, four groups of push rods on four variant mechanisms around the main cabin are pushed to the inside of the main cabin, and the other ends of the push rods drive a sliding structure (a sliding sleeve 5) to enable the center of a power rod to form an included angle of 90 degrees with the center of a fixed support. The driving motor drives the four propellers to rotate through the power rod. The forward propeller of the first power unit rotates forward, the reverse propeller of the second power unit rotates forward, the forward propeller of the third power unit rotates forward, and the reverse propeller of the fourth power unit rotates backward, so that the whole unmanned system achieves the functions of flying in the air and hovering in the air like a traditional four-rotor unmanned plane.
Fig. 6 is a schematic view of a water surface movement pattern of the unmanned system according to an embodiment of the present application. As shown in the figure, when the unmanned system is in a water surface navigation mode, four groups of push rods on four surrounding variant mechanisms are pushed out of the main cabin, and the other ends of the push rods drive the sliding structures to enable the center of the power rod to form an obtuse angle, such as an included angle of 135 degrees, with the center of the fixed support. When the whole machine body moves horizontally to the right side of the main body cabin (in the direction of illustration), the driving motor drives the two propellers at the left side of the main body cabin to rotate through the power rod. Wherein, the forward propeller of the first power unit rotates reversely, and the reverse propeller of the fourth power unit rotates positively. When the whole machine body horizontally moves to the left side of the main body cabin, the driving motor drives the two propellers at the right side of the main body cabin to rotate through the power rod. Wherein, the reverse propeller of the second power unit rotates forward, and the forward propeller of the third power unit rotates backward. The whole unmanned system can realize the water surface sailing movement function like a traditional unmanned water surface vessel through the air thrust generated by the two propellers at the same side.
When the unmanned system is in a water surface navigation mode, the whole machine body can be turned horizontally due to the fact that the unmanned system is flapped by large water waves, four propellers for providing air thrust can be all submerged, and the machine body cannot normally move on the water surface. In order to solve the problem, when the machine body is detected to horizontally overturn on the water surface (for example, an overturning detection device is arranged in a main body cabin), the control driving mechanism firstly adjusts the rotating support to be horizontal with the fixed support (namely, the rotating support and the fixed support are in a coaxial state), then respectively adjusts the thrust of the two pushing rods, so that the thrust of the two eccentric bayonet locks is different (when the rotating support and the fixed support are in a horizontal state, one of the two eccentric bayonet locks is positioned at a higher position, the other one is positioned at a lower position, and a larger inward thrust, namely, a pulling force, is applied to the bayonet lock at the higher position, so that the included angle between the center of the power rod and the center of the fixed support is changed, and therefore, the rotating deformation of the screw and the rolling wheel is controlled, and the four screw are exposed out of the water surface again to provide air thrust, and the machine body is enabled to move normally on the water surface.
Fig. 8 is a schematic view of an underwater motion pattern of the unmanned system according to an embodiment of the present application. As shown in the figure, when the unmanned system is in the underwater diving mode, four groups of push rods on four surrounding variant mechanisms are pushed out of the main cabin, and the other ends of the push rods drive the sliding structure to enable the center of the power rod to form an included angle of 180 degrees with the center of the fixed support. The driving motor drives the two propellers at the same side to rotate through the power rod, and meanwhile, the rolling wheel is in a first working state and is driven to rotate through the bayonet lock 8.
In the application, the screw propeller adopts a slender air blade, and the blade of the rolling wheel adopts a wide water blade. Because the water flowing rate of the water blade under water is much larger than that of the air blade, the generated thrust is much larger, and therefore, the unmanned system provides main thrust when the water blade moves under water.
Four small-sized sinking and floating water tanks positioned around the main body cabin regulate buoyancy in all directions of the machine body through water inflow and water drainage, and control the underwater balance, underwater sinking and water surface floating processes of the whole machine body. The application adjusts the buoyancy state of the machine body through the water suction and discharge device, solves the problem of water discharge failure caused by the fact that the air propeller touches the water surface in the water discharge process, reduces the energy consumption of floating and submerging, and can also help the machine body to realize the functions of underwater balance adjustment and water surface vertical take-off and landing.
When the whole machine body moves horizontally to the left side of the main cabin, the driving motor drives the two rolling wheels on the right side of the main cabin to rotate through the power rod. The reverse rolling wheel of the second power unit rotates positively, and the forward rolling wheel of the third power unit rotates reversely. When the whole machine body moves horizontally to the right side of the main cabin, the driving motor drives the two rolling wheels on the left side of the main cabin to rotate through the power rod. The forward rolling wheel of the first power unit rotates reversely, and the reverse rolling wheel of the fourth power unit rotates positively. The unmanned system realizes the underwater diving function like a traditional unmanned submarine through the underwater thrust generated by the two rolling wheels at the same side.
Fig. 9 is a schematic view of a ground movement pattern of the unmanned system according to an embodiment of the present application. As shown in the figure, when the unmanned system is in a ground land line mode, four groups of push rods on four surrounding variant mechanisms are pushed out of the main cabin, and the other ends of the push rods drive the sliding structure to enable the center of the power rod to form an included angle of 180 degrees with the center of the fixed support. The driving motor drives the four propellers to rotate through the power rod, meanwhile, the rolling wheel is in a first working state, and the rolling wheel is driven to rotate through the bayonet 8.
When the whole machine body moves to the front of the main body cabin, the driving motor drives the four rolling wheels at the two sides of the main body cabin to rotate through the power rod. The forward rolling wheel of the first power unit is reversed, the reverse rolling wheel of the fourth power unit is reversed, the reverse rolling wheel of the second power unit is positively rotated, and the forward rolling wheel of the third power unit is positively rotated. When the whole machine body moves to the rear of the main body cabin, the driving motor drives the four rolling wheels at the two sides of the main body cabin to rotate through the power rod. The forward rolling wheels of the first power unit rotate forward, the reverse rolling wheels of the fourth power unit rotate forward, the reverse rolling wheels of the second power unit rotate reversely, and the forward rolling wheels of the third power unit rotate reversely. The unmanned system achieves the ground land movement function like a traditional unmanned trolley through ground thrust generated by four rolling wheels on two sides.
The foregoing embodiments are only for illustrating the technical scheme of the present application and not for limiting the same, and although the present application has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that the present application may be modified or parts of technical features may be equivalently replaced without departing from the spirit of the technical scheme of the present application, and the scope of the technical scheme of the present application is covered by the claims.
Claims (9)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| CN115583125B (en) * | 2022-10-21 | 2024-08-02 | 中国人民解放军国防科技大学 | Multi-mode monitoring device for intelligent manufacturing |
| CN116945827B (en) * | 2023-06-15 | 2025-08-29 | 中国电子科技南湖研究院 | A multi-habitat robot with variable posture and cross-medium capability |
| CN117262172A (en) * | 2023-10-08 | 2023-12-22 | 深圳大学 | Cross-sea air medium amphibious underwater diffusion attenuation coefficient observation device |
| CN117549329B (en) * | 2024-01-10 | 2024-03-22 | 中国农业大学 | An environmental information collection robot that can move across media |
| CN117784822B (en) * | 2024-02-27 | 2024-04-26 | 中国空气动力研究与发展中心空天技术研究所 | Method and control system for correcting water surface overturning of aircraft |
| CN118181309B (en) * | 2024-03-12 | 2024-12-27 | 武汉理工大学 | Dual-mode underwater cleaning detection robot |
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