CN104669964A - Water-land-air triphibious unmanned investigation device - Google Patents
Water-land-air triphibious unmanned investigation device Download PDFInfo
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- CN104669964A CN104669964A CN201510106825.6A CN201510106825A CN104669964A CN 104669964 A CN104669964 A CN 104669964A CN 201510106825 A CN201510106825 A CN 201510106825A CN 104669964 A CN104669964 A CN 104669964A
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Abstract
The invention discloses a water-land-air triphibious unmanned investigation device. When on land, the machine consists of two symmetrical structures which are connected through a middle hinge; the vertical section of the machine body has an inverted trapezoidal structure; the bottom and top of the machine body are parallel to the ground; four belt boxes are symmetrically arranged on the periphery of the machine body; the belt boxes are connected with runners; the machine body, the belt boxes and the runners construct the main body structure of the investigation device. In a flying or water state, an empennage plate a and an empennage b rotate by 90 degrees along a direction vertical to the ground along with the hinge, and construct the empennages of the device for adjusting and controlling the direction of the device; a driving motor stops rotating, and a transmission belt a, a transmission belt b and a transmission belt c stop rotating. The direction control of each control valve of a hydraulic system, the control of each rod part, the switch-on/off of the driving motor and a duct motor, and the switch-on/off of a spiral spliced propeller are controlled in a programmed way by a central processing unit of a control and adjusting system.
Description
Technical field
The present invention relates to the folding fuselage of a kind of utilization and realize land, water and air investigation device, belong to technical field of aircraft design.
Background technology
The world today due to the reason regional conflicts such as race, religion, resource continuous, anti-terrorism situation growing tension.Because fight-terrorism warfare focuses on fast effectively, prewar, investigation seemed particularly important.Terrorist often conceals in ground that is with a varied topography, that be easy to hold but hard to conquer, and for reducing non-combat casualty, front gone on by unmanned detector.Although they are of a great variety, separate unit function singleness, cannot perform multitask.Once will different task be performed, often carry different types of machine and make troubles.A kind of multi-functional unmanned detector of design, land, water and air target all can control information.For reply varying environment and task, the performance of the main cross-country and airflight in outstanding land of this detector, marine reconnaissance is additional function.This detector can tackle emergency situations at any time, adds the flexibility ratio held battlefield, reduces simultaneously and scouts cost.
Current organizational equipment be simple ground reconnaissance car or unmanned plane mostly, realize the water surface investigation less.What come out has some amphibious products, as the automobile that can fly, the speedboat etc. that can fly.But these machines often off-road capability are inadequate, and wing, propelling unit etc. that must be extra, landing will larger place, and use underaction, cost is higher.So the product designed will be made to have race concurrently, fly, the function of swimming and take up an area little.Stronger crossing ability to be had as land vehicle; Then to have good handling and disguised to perform the task of scouting as aircraft; Stronger fordability and water surface stability is then applied as ship.
Summary of the invention
The object of the present invention is to provide a kind of folding vehicle body to realize land, water and air three to dwell the flight instruments of investigation function, to dwell comprehensive investigation to realizing aerial, waterborne, land three.
For achieving the above object, the technical solution used in the present invention is dwell unmanned investigation device in a kind of land, water and air three, and this device comprises motor driven systems, power hydraulic system, support driving system, controlling and regulating system.
Motor driven systems comprises drive motor 15, duct motor 27.
Power hydraulic system comprises hydraulic push rod a10, hydraulic push rod b11, hydraulic stem a20, hydraulic stem b21.
Support driving system and comprise fuselage 1, belt box 2, runner 3, hinge 4, latch segment 5, locking slot 6, contact 7, tail plate a8, tail plate b9, spiral plug-in type screw propeller 12, driving band a16, transmission shaft a17, driving band b18, transmission shaft b19, fastening base 22, fixed block 23, electrode axis 26, worm screw 28, worm gear 29, driving band c30, connecting rod a31, connecting rod b32.
Controlling and regulating system comprises center processing unit.
Belt box 2 comprises shell a24, shell b25.
Runner 3 comprises spoke 13, rotary wheel shell 14.
When on land, fuselage 1 is two mutual symmetrical structures, and both are connected by middle hinge 4; The vertical cross-section of fuselage 1 is inverted trapezoidal structure, and bottom fuselage 1 and top is parallel to the ground; The periphery of fuselage 1 is arranged with four belt boxes 2, and belt box 2 is connected with runner 3 by electrode axis 26; Fuselage 1, belt box 2, runner 3 three form the agent structure of this investigation device jointly.
Tail plate a8, tail plate b9 be the symmetrical tail surface be arranged on two symmetrical structures of fuselage 1 respectively, and tail plate a8 is connected with hydraulic push rod a10, and tail plate b9 is connected with hydraulic push rod b11; The surface of tail plate a8, tail plate b9 is notch, and the two is connected and fixed by draw-in groove.
Drive motor 15 symmetry is fixed on two symmetrical structure places of fuselage 1 afterbody, and the output shaft of drive motor 15 drives the main axis of driving band a16 by retarder, drive axle, driving band a16 is connected with transmission shaft a17; Transmission shaft a17 is fixing on the fuselage 1; Be connected two ends at transmission shaft a17 with driving band a16 and be symmetrically installed with two driving band b18, be respectively used to two runners 3 driving fuselage 1 side; It is inner that driving band b18 connection for transmission axle a17 and transmission shaft b19, transmission shaft b19 are arranged on fuselage 1; Transmission shaft b19 is driven by driving band b18, and transmission shaft b19 stretches out fuselage 1 in one end, and one end of belt box 2 is arranged on the external part of this transmission shaft b19.
Shell a24, the shell b25 of belt box 2 clamp fixing mutually, form cavity structure in the middle of both; Shell a24, shell b25, along transmission shaft b19, electrode axis 26, direction is respectively equipped with external part; Driving band c30 connection for transmission axle b19, electrode axis 26, and driving band c30 is arranged in the cavity structure of belt box 2; Driving band c30 is coaxial and driven by driving band b18 with driving band b18; Shell b25 is arranged on the center shaft of runner 3 along the external part of electrode axis 26; Electrode axis 26 and transmission shaft b19 are arranged on belt box 2 two ends respectively, electrode axis 26 stretch out belt box 2, runner 3 center shaft and fixed by screw thread with spiral plug-in type screw propeller 12; Electrode axis 26 is connected by reverse thread with the center shaft of runner 3, in order to drive the rotation of runner 3.
Be evenly arranged spoke 13 between the center shaft of runner 3 and rotary wheel shell 14, spoke 13 is connected with rotary wheel shell 14, spoke 13 in order to support rotary wheel shell 14, to ensure the friction rolling on runner 3 and ground; Irregular striped is carved on the surface of described rotary wheel shell 14, in order to increase the friction force of rotary wheel shell 14 and ground.
Be provided with fastening base 22 in the middle of two transmission shaft b19, fastening base 22 and fuselage 1 are connected and fixed; Hydraulic stem a20, hydraulic stem b21, connecting rod a31, connecting rod b32 is respectively arranged with between fastening base 22 and two transmission shaft b19; Hydraulic stem a20, hydraulic stem b21 are respectively by the external part on connecting rod a31, connecting rod b32 and front and back two belt box 2 of fuselage 1 side and two shell a24 of two transmission shaft b19 junctions; Hydraulic stem a20, hydraulic stem b21 are controlled by two solenoid directional control valves respectively; The flexible of hydraulic stem a20, hydraulic stem b21 rotates around transmission shaft b19 to realize belt box 2, and the belt box 2 of fuselage 1 both sides is synchronized with the movement and realizes lofty stance when this device is walked on land and low profile is moved.
Corresponding with the drive motor 15 of afterbody in fuselage 1, the front portion in fuselage 1 is provided with fixed block 23, stressed in order to the entirety balancing fuselage 1; Fixed block 23 is installed reverse motors or Hydraulic Cylinder fixed block 23, and fixed block 23 applies opposite force to it thus drives two parts of fuselage 1 to fold along hinge 4; The upper surface of fuselage 1 is furnished with latch segment 5, locking slot 6, contact 7; Wherein, latch segment 5, locking slot 6 are arranged symmetrically on two symmetrical structures of fuselage 1 respectively, and two contacts 7 are also arranged on two symmetric position places of fuselage 1 respectively; When folding along hinge 4, two contacts 7 contact, and the structure that latch segment 5 protrudes simultaneously enters locking slot 6, and latch segment 5 is lockable and is fixed in locking slot 6 simultaneously; Now, two symmetrical structures of fuselage 1 fold, and each belt box 2 rotates 90 ° along vertical ground direction, and state runner 3 perpendicular to the ground in land is parallel to the ground, and this device enters flight or surface condition.
In flight or surface condition, tail plate a8, tail plate b9 rotate 90 ° with hinge 4 along vertical ground direction, and tail plate a8, tail plate b9 overlap, and tail plate a8 is released by hydraulic push rod a10, tail plate b9 is released by hydraulic push rod b11, and the two is connected and fixed by draw-in groove.Now, tail plate a8, tail plate b9 are perpendicular to the ground, and the two forms the empennage of this device, in order to adjust the direction of control setup; Drive motor 15 stops operating, and driving band a16, driving band b18, driving band c30 stop operating.
Described electrode axis 26 outside face is provided with metal threaded and its end is metal end; Outer surface thread and the metal end of electrode axis 26 pass through insulator separation; Transmission shaft in the middle of spiral plug-in type screw propeller 12 is female thread structure, and bosom place is metal pole; It is metal threaded together with the screw-internal thread fit of spiral plug-in type screw propeller 12 that electrode axis 26 outside face is provided with, and the metal end of electrode axis 26 contacts with the metal pole of spiral plug-in type screw propeller 12; By the outer surface thread of electrode axis 26 and metal end, spiral plug-in type screw propeller 12 is powered, and then drive spiral plug-in type screw propeller 12 to rotate around electrode axis 26 by its built-in motor; Realize this device vertical flight and leave ground.
Shell a24, the shell b25 cavity place of described belt box 2 are provided with duct motor 27, worm screw 28, worm gear 29; Described belt box 2 is deflected joint with 1/5th belt box 2 length places of electrode axis 26 abutting end, and this deflected joint is a part for belt box 2 and can rotates around belt box 2; Duct motor 27 is arranged on shell b25 inwall, and duct motor 27 is connected with worm screw 28, and worm screw 28 is connected with worm gear 29, wherein, worm screw 28 is parallel with the driving band c30 in belt box 2, and duct motor 27 drives worm screw 28 to rotate, and the center shaft of worm gear 29 is vertical with driving band c30; Center shaft one end of worm gear 29 is provided with fastening post, and this fastening post fixes with the shell a24 at deflected joint place, shell b25 inside respectively; When duct motor 27 rotates time, fastening cornice moves this deflected joint and reverses, and now driving band c30 also reverses thereupon; The runner 3 be connected with electrode axis 26 rotates thereupon, and runner 3 and ground enter plumbness; Spiral plug-in type screw propeller 12 changes direction, thus actuating device realizes the horizontal displacement of state in flight or water.
The direction controlling of each control cock of described hydraulic efficiency pressure system and the control of each rod member, drive motor 15, duct motor 27 are cut-off, the power on/off of spiral plug-in type screw propeller 12 carries out programming Control by the center processing unit of controlling and regulating system.
The middle part of fuselage 1 is provided with Telescopic pick-up head and sonar.
Phased array radar and sensing system are equipped with in the front portion of fuselage 1, and it can calculate as maintaining the flight attitude rotating speed that need change and tilt angle and feeding back to the center processing unit of this device in real time according to the attitudes vibration in flight course.
Described fuselage 1, belt box 2, empennage are made up of laminated-type plastic material.
The flute profile belt that described driving band a16, driving band b18, driving band c30 are made up of aluminum alloy materials.
This device is by radio control.
Described rotary wheel shell 14 is made up of to strengthen its resistance to abrasion carbon fibre material.Described hinge 4, transmission shaft a17, transmission shaft b19 are manufactured by carbon fibre material.Described spiral plug-in type screw propeller 12 is made up of polystyrene polyethylene mix-froth plastics, can not produce cracked and chip after the blow, have outstanding impact resistance, and particularly its repeatedly dropping impact property, can improve the in-use performance of rotor.
The surface of described belt box 2 is plano-convex airfoil structure, as all-wing aircraft during airflight.
Described fuselage 1 edge is provided with hollow rubber pipe with closed fuselage 1, prevents inner inlet.
Described device adopts that fuel cell is drive motor 15, duct motor 27, spiral plug-in type screw propeller 12, Hydraulic Pump carry out Power output.
Compared with prior art, the present invention has following beneficial effect.
1, this device can realize being combined as a whole by corresponding construction optimization motion of being dwelt land, water and air three, possesses multiple operation attitude function to realizing same device simultaneously, more many condition, be applicable to investigation on a large scale.
2, this device sets belt rotates and hydrostatic drive, and belt-driving can relax load impacting, operates steadily, low vibration; Structure is simple, easy to adjust; There is overload protection function; Hydraulic oil has shock sucking function, therefore member motion is steady, and the mechanical energy of driver element acting is also large, and carrying could be large, better can maintain this height after having regulated chassis height.
3, belt box is integrated wing, belt protection cover, bracing frame three most by this device, not only saves space and weight, and can regulate chassis height to greatest extent.
Accompanying drawing explanation
Integral structure figure when Fig. 1 is the land operation lofty stance of this device.
Integral structure figure when Fig. 2 is the land operation pose adjustment of this device.
Integral structure figure when Fig. 3 is the land operation low profile of this device.
Fig. 4 is belt box and runner, the electrode axis assembly structure figure of this device.
Fig. 5 is the flight of this device or perpendicular attitude schematic diagram waterborne.
Fig. 6 is the row of this device or horizontal attitude schematic diagram waterborne.
Fig. 7 is the duct motor-driven structure figure of this device.
Fig. 8 is the duct motor-driven structure enlarged drawing of this device.
Fig. 9 is the hydraulic stem of this device, pipe link and belt box annexation schematic diagram.
In figure: 1, fuselage, 2, belt box, 3, runner, 4, hinge, 5, latch segment, 6, locking slot, 7, contact, 8, tail plate a, 9, tail plate b, 10, hydraulic push rod a, 11, hydraulic push rod b, 12, spiral plug-in type screw propeller, 13, spoke, 14, rotary wheel shell, 15, drive motor, 16, driving band a, 17, transmission shaft a, 18, driving band b, 19, transmission shaft b, 20, hydraulic stem a, 21, hydraulic stem b, 22, fastening base, 23, fixed block, 24, shell a, 25, shell b, 26, electrode axis, 27, duct motor, 28, worm screw, 29, worm gear, 30, driving band c, 31, connecting rod a, 32, connecting rod b.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention is described in further detail.
As shown in figs 1-9, dwelling in a kind of land, water and air three, nobody investigates device, and this device comprises motor driven systems, power hydraulic system, support driving system, controlling and regulating system.
Motor driven systems comprises drive motor 15, duct motor 27.
Power hydraulic system comprises hydraulic push rod a10, hydraulic push rod b11, hydraulic stem a20, hydraulic stem b21.
Support driving system and comprise fuselage 1, belt box 2, runner 3, hinge 4, latch segment 5, locking slot 6, contact 7, tail plate a8, tail plate b9, spiral plug-in type screw propeller 12, driving band a16, transmission shaft a17, driving band b18, transmission shaft b19, fastening base 22, fixed block 23, electrode axis 26, worm screw 28, worm gear 29, driving band c30, connecting rod a31, connecting rod b32.
Controlling and regulating system comprises center processing unit.
Belt box 2 comprises shell a24, shell b25.
Runner 3 comprises spoke 13, rotary wheel shell 14.
When on land, fuselage 1 is two mutual symmetrical structures, and both are connected by middle hinge 4; The vertical cross-section of fuselage 1 is inverted trapezoidal structure, and bottom fuselage 1 and top is parallel to the ground; The periphery of fuselage 1 is arranged with four belt boxes 2, and belt box 2 is connected with runner 3 by electrode axis 26; Fuselage 1, belt box 2, runner 3 three form the agent structure of this investigation device jointly.
Tail plate a8, tail plate b9 be the symmetrical tail surface be arranged on two symmetrical structures of fuselage 1 respectively, and tail plate a8 is connected with hydraulic push rod a10, and tail plate b9 is connected with hydraulic push rod b11; The surface of tail plate a8, tail plate b9 is notch, and the two is connected and fixed by draw-in groove.
Drive motor 15 symmetry is fixed on two symmetrical structure places of fuselage 1 afterbody, and the output shaft of drive motor 15 drives the main axis of driving band a16 by retarder, drive axle, driving band a16 is connected with transmission shaft a17; Transmission shaft a17 is fixing on the fuselage 1; Be connected two ends at transmission shaft a17 with driving band a16 and be symmetrically installed with two driving band b18, be respectively used to two runners 3 driving fuselage 1 side; It is inner that driving band b18 connection for transmission axle a17 and transmission shaft b19, transmission shaft b19 are arranged on fuselage 1; Transmission shaft b19 is driven by driving band b18, and transmission shaft b19 stretches out fuselage 1 in one end, and one end of belt box 2 is arranged on the external part of this transmission shaft b19.
Shell a24, the shell b25 of belt box 2 clamp fixing mutually, form cavity structure in the middle of both; Shell a24, shell b25, along transmission shaft b19, electrode axis 26, direction is respectively equipped with external part; Driving band c30 connection for transmission axle b19, electrode axis 26, and driving band c30 is arranged in the cavity structure of belt box 2; Driving band c30 is coaxial and driven by driving band b18 with driving band b18; Shell b25 is arranged on the center shaft of runner 3 along the external part of electrode axis 26; Electrode axis 26 and transmission shaft b19 are arranged on belt box 2 two ends respectively, electrode axis 26 stretch out belt box 2, runner 3 center shaft and fixed by screw thread with spiral plug-in type screw propeller 12; Electrode axis 26 is connected by reverse thread with the center shaft of runner 3, in order to drive the rotation of runner 3.
Be evenly arranged spoke 13 between the center shaft of runner 3 and rotary wheel shell 14, spoke 13 is connected with rotary wheel shell 14, spoke 13 in order to support rotary wheel shell 14, to ensure the friction rolling on runner 3 and ground; Irregular striped is carved on the surface of described rotary wheel shell 14, in order to increase the friction force of rotary wheel shell 14 and ground.
Be provided with fastening base 22 in the middle of two transmission shaft b19, fastening base 22 and fuselage 1 are connected and fixed; Hydraulic stem a20, hydraulic stem b21, connecting rod a31, connecting rod b32 is respectively arranged with between fastening base 22 and two transmission shaft b19; Hydraulic stem a20, hydraulic stem b21 are respectively by the external part on connecting rod a31, connecting rod b32 and front and back two belt box 2 of fuselage 1 side and two shell a24 of two transmission shaft b19 junctions; Hydraulic stem a20, hydraulic stem b21 are controlled by two solenoid directional control valves respectively; The flexible of hydraulic stem a20, hydraulic stem b21 rotates around transmission shaft b19 to realize belt box 2, and the belt box 2 of fuselage 1 both sides is synchronized with the movement and realizes lofty stance when this device is walked on land and low profile is moved.
Corresponding with the drive motor 15 of afterbody in fuselage 1, the front portion in fuselage 1 is provided with fixed block 23, stressed in order to the entirety balancing fuselage 1; Fixed block 23 is installed reverse motors or Hydraulic Cylinder fixed block 23, and fixed block 23 applies opposite force to it thus drives two parts of fuselage 1 to fold along hinge 4; The upper surface of fuselage 1 is furnished with latch segment 5, locking slot 6, contact 7; Wherein, latch segment 5, locking slot 6 are arranged symmetrically on two symmetrical structures of fuselage 1 respectively, and two contacts 7 are also arranged on two symmetric position places of fuselage 1 respectively; When folding along hinge 4, two contacts 7 contact, and the structure that latch segment 5 protrudes simultaneously enters locking slot 6, and latch segment 5 is lockable and is fixed in locking slot 6 simultaneously; Now, two symmetrical structures of fuselage 1 fold, and each belt box 2 rotates 90 ° along vertical ground direction, and state runner 3 perpendicular to the ground in land is parallel to the ground, and this device enters flight or surface condition.
In flight or surface condition, tail plate a8, tail plate b9 rotate 90 ° with hinge 4 along vertical ground direction, and tail plate a8, tail plate b9 overlap, and tail plate a8 is released by hydraulic push rod a10, tail plate b9 is released by hydraulic push rod b11, and the two is connected and fixed by draw-in groove.Now, tail plate a8, tail plate b9 are perpendicular to the ground, and the two forms the empennage of this device, in order to adjust the direction of control setup; Drive motor 15 stops operating, and driving band a16, driving band b18, driving band c30 stop operating.
Described electrode axis 26 outside face is provided with metal threaded and its end is metal end; Outer surface thread and the metal end of electrode axis 26 pass through insulator separation; Transmission shaft in the middle of spiral plug-in type screw propeller 12 is female thread structure, and bosom place is metal pole; It is metal threaded together with the screw-internal thread fit of spiral plug-in type screw propeller 12 that electrode axis 26 outside face is provided with, and the metal end of electrode axis 26 contacts with the metal pole of spiral plug-in type screw propeller 12; By the outer surface thread of electrode axis 26 and metal end, spiral plug-in type screw propeller 12 is powered, and then drive spiral plug-in type screw propeller 12 to rotate around electrode axis 26 by its built-in motor; Realize this device vertical flight and leave ground.
Shell a24, the shell b25 cavity place of described belt box 2 are provided with duct motor 27, worm screw 28, worm gear 29; Described belt box 2 is deflected joint with 1/5th belt box 2 length places of electrode axis 26 abutting end, and this deflected joint is a part for belt box 2 and can rotates around belt box 2; Duct motor 27 is arranged on shell b25 inwall, and duct motor 27 is connected with worm screw 28, and worm screw 28 is connected with worm gear 29, wherein, worm screw 28 is parallel with the driving band c30 in belt box 2, and duct motor 27 drives worm screw 28 to rotate, and the center shaft of worm gear 29 is vertical with driving band c30; Center shaft one end of worm gear 29 is provided with fastening post, and this fastening post fixes with the shell a24 at deflected joint place, shell b25 inside respectively; When duct motor 27 rotates time, fastening cornice moves this deflected joint and reverses, and now driving band c30 also reverses thereupon; The runner 3 be connected with electrode axis 26 rotates thereupon, and runner 3 and ground enter plumbness; Spiral plug-in type screw propeller 12 changes direction, thus actuating device realizes the horizontal displacement of state in flight or water.
The direction controlling of each control cock of described hydraulic efficiency pressure system and the control of each rod member, drive motor 15, duct motor 27 are cut-off, the power on/off of spiral plug-in type screw propeller 12 carries out programming Control by the center processing unit of controlling and regulating system.
The middle part of fuselage 1 is provided with Telescopic pick-up head and sonar.
Phased array radar and sensing system are equipped with in the front portion of fuselage 1, and it can calculate as maintaining the flight attitude rotating speed that need change and tilt angle and feeding back to the center processing unit of this device in real time according to the attitudes vibration in flight course.
Described fuselage 1, belt box 2, empennage are made up of laminated-type plastic material.
The flute profile belt that described driving band a16, driving band b18, driving band c30 are made up of aluminum alloy materials.
This device is by radio control.
Described rotary wheel shell 14 is made up of to strengthen its resistance to abrasion carbon fibre material.Described hinge 4, transmission shaft a17, transmission shaft b19 are manufactured by carbon fibre material.Described spiral plug-in type screw propeller 12 is made up of polystyrene polyethylene mix-froth plastics, can not produce cracked and chip after the blow, have outstanding impact resistance, and particularly its repeatedly dropping impact property, can improve the in-use performance of rotor.
The surface of described belt box 2 is plano-convex airfoil structure, as all-wing aircraft during airflight.
Described fuselage 1 edge is provided with hollow rubber pipe with closed fuselage 1, prevents inner inlet.
Described device adopts that fuel cell is drive motor 15, duct motor 27, spiral plug-in type screw propeller 12, Hydraulic Pump carry out Power output.
Claims (10)
1. dwell in land, water and air three, and nobody investigates a device, it is characterized in that: this device comprises motor driven systems, power hydraulic system, support driving system, controlling and regulating system;
Motor driven systems comprises drive motor (15), duct motor (27);
Power hydraulic system comprises hydraulic push rod a (10), hydraulic push rod b (11), hydraulic stem a (20), hydraulic stem b (21);
Support driving system and comprise fuselage (1), belt box (2), runner (3), hinge (4), latch segment (5), locking slot (6), contact (7), tail plate a (8), tail plate b (9), spiral plug-in type screw propeller (12), driving band a (16), transmission shaft a (17), driving band b (18), transmission shaft b (19), fastening base (22), fixed block (23), electrode axis (26), worm screw (28), worm gear (29), driving band c (30), connecting rod a (31), connecting rod b (32),
Controlling and regulating system comprises center processing unit;
Belt box (2) comprises shell a (24), shell b (25);
Runner (3) comprises spoke (13), rotary wheel shell (14);
When on land, fuselage (1) is two mutual symmetrical structures, and both are connected by middle hinge (4); The vertical cross-section of fuselage (1) is inverted trapezoidal structure, and bottom fuselage (1) and top is parallel to the ground; The periphery of fuselage (1) is arranged with four belt boxes (2), and belt box (2) is connected with runner (3) by electrode axis (26); Fuselage (1), belt box (2), runner (3) three form the agent structure of this investigation device jointly;
Tail plate a (8), tail plate b (9) respectively symmetry are arranged on the tail surface on two symmetrical structures of fuselage (1), and tail plate a (8) is connected with hydraulic push rod a (10), tail plate b (9) is connected with hydraulic push rod b (11); The surface of tail plate a (8), tail plate b (9) is notch, and the two is connected and fixed by draw-in groove;
Drive motor (15) symmetry is fixed on two symmetrical structure places of fuselage (1) afterbody, the output shaft of drive motor (15) drives the main axis of driving band a (16) by retarder, drive axle, driving band a (16) is connected with transmission shaft a (17); Transmission shaft a (17) is fixed on fuselage (1); Be connected two ends at transmission shaft a (17) with driving band a (16) and be symmetrically installed with two driving band b (18), be respectively used to two runners (3) driving fuselage (1) side; It is inner that driving band b (18) connection for transmission axle a (17) and transmission shaft b (19), transmission shaft b (19) are arranged on fuselage (1); Transmission shaft b (19) is driven by driving band b (18), and fuselage (1) is stretched out in transmission shaft b (19) one end, and one end of belt box (2) is arranged on the external part of this transmission shaft b (19);
Clamping is fixing mutually for shell a (24), the shell b (25) of belt box (2), forms cavity structure in the middle of both; Shell a (24), shell b (25) are respectively equipped with external part along on transmission shaft b (19), electrode axis (26) direction; Driving band c (30) connection for transmission axle b (19), electrode axis (26), and driving band c (30) is arranged in the cavity structure of belt box (2); Driving band c (30) is coaxial and driven by driving band b (18) with driving band b (18); Shell b (25) is arranged on the center shaft of runner (3) along the external part of electrode axis (26); Electrode axis (26) and transmission shaft b (19) are arranged on belt box (2) two ends respectively, electrode axis (26) stretch out belt box (2), runner (3) center shaft and fixed by screw thread with spiral plug-in type screw propeller (12); Electrode axis (26) is connected by reverse thread with the center shaft of runner (3), in order to drive the rotation of runner (3);
Spoke (13) has been evenly arranged between the center shaft of runner (3) and rotary wheel shell (14), spoke (13) is connected with rotary wheel shell (14), spoke (13) in order to support rotary wheel shell (14), to ensure the friction rolling on runner (3) and ground; Irregular striped is carved on the surface of described rotary wheel shell (14);
Be provided with fastening base (22) in the middle of two transmission shaft b (19), fastening base (22) and fuselage (1) are connected and fixed; Hydraulic stem a (20), hydraulic stem b (21), connecting rod a (31), connecting rod b (32) is respectively arranged with between fastening base (22) and two transmission shaft b (19); Hydraulic stem a (20), hydraulic stem b (21) are respectively by the external part on connecting rod a (31), connecting rod b (32) and the front and back two belt box (2) of fuselage (1) side and two shell a (24) of two transmission shaft b (19) junctions; Hydraulic stem a (20), hydraulic stem b (21) are controlled by two solenoid directional control valves respectively; The flexible of hydraulic stem a (20), hydraulic stem b (21) rotates around transmission shaft b (19) to realize belt box (2), and the belt box (2) of fuselage (1) both sides is synchronized with the movement and realizes lofty stance when this device is walked on land and low profile is moved;
Corresponding with the drive motor (15) of fuselage (1) interior afterbody, the front portion in fuselage (1) is provided with fixed block (23), stressed in order to the entirety balancing fuselage (1); At fixed block (23) upper installation reverse motors or Hydraulic Cylinder fixed block (23), fixed block (23) applies opposite force to it thus drives two parts of fuselage (1) to fold along hinge (4); The upper surface of fuselage (1) is furnished with latch segment (5), locking slot (6), contact (7); Wherein, latch segment 5, locking slot 6 are arranged symmetrically on two symmetrical structures of fuselage 1 respectively, and two contacts (7) are also arranged on two symmetric position places of fuselage (1) respectively; Two contact (7) contacts time folding along hinge (4), the structure that latch segment (5) protrudes simultaneously enters locking slot (6), and latch segment (5) is lockable and is fixed in locking slot (6) simultaneously; Now, two symmetrical structures of fuselage (1) fold, each belt box (2) rotates 90 ° along vertical ground direction, and state runner (3) perpendicular to the ground in land is parallel to the ground, and this device enters flight or surface condition;
In flight or surface condition, tail plate a (8), tail plate b (9) rotate 90 ° with hinge (4) along vertical ground direction, tail plate a (8), tail plate b (9) overlap, tail plate a (8) is released by hydraulic push rod a (10), tail plate b (9) is released by hydraulic push rod b (11), and the two is connected and fixed by draw-in groove; Now, tail plate a (8), tail plate b (9) are perpendicular to the ground, and the two forms the empennage of this device, in order to adjust the direction of control setup; Drive motor (15) stops operating, and driving band a (16), driving band b (18), driving band c (30) stop operating;
Described electrode axis (26) outside face is provided with metal threaded and its end is metal end; Outer surface thread and the metal end of electrode axis (26) pass through insulator separation; Transmission shaft in the middle of spiral plug-in type screw propeller (12) is female thread structure, and bosom place is metal pole; It is metal threaded together with the screw-internal thread fit of spiral plug-in type screw propeller (12) that electrode axis (26) outside face is provided with, and the metal end of electrode axis (26) contacts with the metal pole of spiral plug-in type screw propeller (12); By the outer surface thread of electrode axis (26) and metal end, spiral plug-in type screw propeller (12) is powered, and then drive spiral plug-in type screw propeller (12) to rotate around electrode axis (26) by its built-in motor; Realize this device vertical flight and leave ground;
The shell a (24) of described belt box (2), shell b (25) cavity place are provided with duct motor (27), worm screw (28), worm gear (29); Described belt box (2) is deflected joint with 1/5th belt boxes (2) the length place of electrode axis (26) abutting end, and this deflected joint is a part for belt box (2) and can rotates around belt box (2); Duct motor (27) is arranged on shell b (25) inwall, duct motor (27) is connected with worm screw (28), worm screw (28) is connected with worm gear (29), wherein, worm screw (28) is parallel with the driving band c (30) in belt box (2), duct motor (27) drives worm screw (28) to rotate, and the center shaft of worm gear (29) is vertical with driving band c (30); Center shaft one end of worm gear (29) is provided with fastening post, and this fastening post fixes with the shell a (24) at deflected joint place, shell b (25) inside respectively; When duct motor (27) rotates time, fastening cornice moves this deflected joint and reverses, and now driving band c (30) also reverses thereupon; The runner (3) be connected with electrode axis (26) rotates thereupon, and runner (3) and ground enter plumbness; Spiral plug-in type screw propeller (12) changes direction, thus actuating device realizes the horizontal displacement of state in flight or water;
The direction controlling of each control cock of described power hydraulic system and the control of each rod member, drive motor (15), duct motor (27) are cut-off, the power on/off of spiral plug-in type screw propeller (12) carries out programming Control by the center processing unit of controlling and regulating system.
2. dwell in a kind of land, water and air three according to claim 1, and nobody investigates device, it is characterized in that: the middle part of fuselage (1) is provided with Telescopic pick-up head and sonar.
3. dwell in a kind of land, water and air three according to claim 1, and nobody investigates device, it is characterized in that: phased array radar and sensing system are equipped with in the front portion of fuselage (1), it can calculate as maintaining the flight attitude rotating speed that need change and tilt angle and feeding back to the center processing unit of this device in real time according to the attitudes vibration in flight course.
4. dwell in a kind of land, water and air three according to claim 1, and nobody investigates device, it is characterized in that: described fuselage (1), belt box (2), empennage are made up of laminated-type plastic material.
5. dwell in a kind of land, water and air three according to claim 1, and nobody investigates device, it is characterized in that: the flute profile belt that described driving band a (16), driving band b (18), driving band c (30) are made up of aluminum alloy materials.
6. dwell in a kind of land, water and air three according to claim 1, and nobody investigates device, it is characterized in that: this device is by radio control.
7. dwell in a kind of land, water and air three according to claim 1, and nobody investigates device, it is characterized in that: described rotary wheel shell (14) is made up of to strengthen its resistance to abrasion carbon fibre material; Described hinge (4), transmission shaft a (17), transmission shaft b (19) are manufactured by carbon fibre material; Described spiral plug-in type screw propeller (12) is made up of polystyrene polyethylene mix-froth plastics.
8. dwell in a kind of land, water and air three according to claim 1, and nobody investigates device, it is characterized in that: the surface of described belt box (2) is plano-convex airfoil structure, as all-wing aircraft during airflight.
9. dwell in a kind of land, water and air three according to claim 1, and nobody investigates device, it is characterized in that: described fuselage (1) edge is provided with hollow rubber pipe with closed fuselage (1).
10. dwell unmanned investigation device in a kind of land, water and air three according to claim 1, it is characterized in that: described device adopts that fuel cell is drive motor (15), duct motor (27), spiral plug-in type screw propeller (12), Hydraulic Pump carry out Power output.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510106825.6A CN104669964B (en) | 2015-03-11 | 2015-03-11 | A kind of land, water and air three are dwelt, and nobody investigates device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510106825.6A CN104669964B (en) | 2015-03-11 | 2015-03-11 | A kind of land, water and air three are dwelt, and nobody investigates device |
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| Publication Number | Publication Date |
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| CN104669964A true CN104669964A (en) | 2015-06-03 |
| CN104669964B CN104669964B (en) | 2017-06-16 |
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| CN201510106825.6A Active CN104669964B (en) | 2015-03-11 | 2015-03-11 | A kind of land, water and air three are dwelt, and nobody investigates device |
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| CN106476546A (en) * | 2016-11-28 | 2017-03-08 | 江苏洛尧智慧通信科技有限公司 | A kind of land sky double-purpose cameras people |
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| CN107650603A (en) * | 2017-10-09 | 2018-02-02 | 南京航空航天大学 | A kind of multi-rotor unmanned aerial vehicle of dwelling more |
| CN108583812A (en) * | 2018-04-19 | 2018-09-28 | 东南大学 | Device of diving is picked up under a kind of wheel paddle Compound Water |
| CN111645860B (en) * | 2020-06-18 | 2023-09-05 | 航大汉来（天津）航空技术有限公司 | Air-ground amphibious unmanned aerial vehicle with three-axis tilting rotor wings and folding wings |
| CN111645860A (en) * | 2020-06-18 | 2020-09-11 | 航大汉来（天津）航空技术有限公司 | Unmanned aerial vehicle is perched to air space that rotor triaxial verts and wing is folding more |
| CN112172425A (en) * | 2020-08-31 | 2021-01-05 | 南京航空航天大学 | Sea-air amphibious unmanned aerial vehicle for underwater multi-degree-of-freedom navigation and control method thereof |
| CN114043830A (en) * | 2021-10-25 | 2022-02-15 | 浙江大学台州研究院 | Land, water and air three-purpose safety intelligent robot |
| CN114043830B (en) * | 2021-10-25 | 2024-03-05 | 浙江大学台州研究院 | Land, water and air three-purpose safe intelligent robot |
| CN113910852A (en) * | 2021-11-19 | 2022-01-11 | 重庆警察学院 | Detection device for field work detection |
| CN113910852B (en) * | 2021-11-19 | 2024-04-09 | 重庆警察学院 | Investigation device is used in field service investigation |
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| CN113955102B (en) * | 2021-11-23 | 2024-01-30 | 厦门大学 | Land-air double-domain allosteric duct unmanned aerial vehicle |
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