CN104669964B - A kind of land, water and air three are dwelt, and nobody investigates device - Google Patents
A kind of land, water and air three are dwelt, and nobody investigates device Download PDFInfo
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- CN104669964B CN104669964B CN201510106825.6A CN201510106825A CN104669964B CN 104669964 B CN104669964 B CN 104669964B CN 201510106825 A CN201510106825 A CN 201510106825A CN 104669964 B CN104669964 B CN 104669964B
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Abstract
A kind of land, water and air three are dwelt, and nobody investigates device, and when on land, fuselage is two mutual symmetrical structures, and both are by middle chain connection；The vertical cross-section of fuselage is inverted trapezoidal structure, and fuselage bottom and top are parallel to the ground；The periphery of fuselage is arranged with four belt boxes, and belt box is connected by electrode axis with runner；Fuselage, belt box, runner three collectively constitute the agent structure of the investigation device.In flight or surface condition, tail plate a, tail plate b rotate 90 ° with hinge along direction perpendicular to the ground, and the two constitutes the empennage of the device, is used to adjust the direction of control device；Motor stops operating, and transmission belt a, transmission belt b, transmission belt c stop operating.Hydraulic system respectively controls the direction controlling and the control of each rod member, motor of valve, duct motor cut-offs, the power on/off of spiral plug-in type propeller is programmed control by the center processing unit of controlling and regulating system.
Description
Technical field
Realize that device is investigated in land, water and air using fuselage is folded the present invention relates to one kind, belong to technical field of aircraft design.
Background technology
The world today is continuous due to the regional conflict of the reason such as race, religion, resource, anti-terrorism situation growing tension.Because of anti-terrorism
Focal point of operation is quick effective, and prewar investigation is particularly important.Terrorist often conceal in it is with a varied topography, be easy to hold but hard to conquer
Ground, be to reduce non-combat casualty, unmanned detector gone on front.Although their species are various, separate unit unitary function, nothing
Method performs multitask.Once performing different task, often carry different types of machine and make troubles.Design is a kind of more
The unmanned detector of function, land and water null object can all control information.It is reply varying environment and task, the detector is mainly protruded
Cross-country and airflight the performance in land, marine reconnaissance is miscellaneous function.The detector can at any time tackle emergency situations, increased
The flexibility ratio held to battlefield, while reduce scouting cost.
Current organizational equipment is mostly simple ground reconnaissance car or unmanned plane, realizes the less of water surface investigation.Come out
Have some amphibious products, the automobile that can such as fly, the speedboat that can fly.But often cross-country ability is inadequate for these machines, and must volume
Larger place is wanted in outer wing, propulsion plant etc., landing, relatively costly using underaction.So to make the product designed
Have race, winged, trip function concurrently and take up an area small.To have stronger by property as surface car；Then to have good as aircraft
It is handling and disguised with perform scout task；Stronger fordability and water surface stability are then applied as ship.
The content of the invention
Realize that land, water and air three are dwelt the flight instruments of investigation function it is an object of the invention to provide a kind of vehicle body that folds, to
Realize that aerial, waterborne, land three is dwelt comprehensive investigation.
To achieve the above object, for a kind of land, water and air three are dwelt, nobody investigates device, the dress to the technical solution adopted by the present invention
Put including motor driven systems, Hydraulic Power Transmission System, support transmission system, controlling and regulating system.
Motor driven systems include motor 15, duct motor 27.
Hydraulic Power Transmission System includes hydraulic push rod a10, hydraulic push rod b11, hydraulic stem a20, hydraulic stem b21.
Support transmission system includes fuselage 1, belt box 2, runner 3, hinge 4, latch segment 5, locking slot 6, contact 7, empennage
Plate a8, tail plate b9, spiral plug-in type propeller 12, transmission belt a16, power transmission shaft a17, transmission belt b18, power transmission shaft b19, fastening
Seat 22, fixed block 23, electrode axis 26, worm screw 28, worm gear 29, transmission belt c30, connecting rod a31, connecting rod b32.
Controlling and regulating system includes center processing unit.
Belt box 2 includes shell a24, shell b25.
Runner 3 includes spoke 13, rotary wheel shell 14.
When on land, fuselage 1 is two mutual symmetrical structures, and both are connected by middle hinge 4；Fuselage 1 it is perpendicular
It is inverted trapezoidal structure to section, the bottom of fuselage 1 and top are parallel to the ground；The periphery of fuselage 1 is arranged with four belt boxes 2,
Belt box 2 is connected by electrode axis 26 with runner 3；Fuselage 1, belt box 2, the three of runner 3 collectively constitute the master of the investigation device
Body structure.
Tail plate a8, tail plate b9 are respectively symmetrically the tail surface on two symmetrical structures of fuselage 1, and tail plate
A8 is connected with hydraulic push rod a10, and tail plate b9 is connected with hydraulic push rod b11；Tail plate a8, the surface of tail plate b9 are draw-in groove knot
Structure, the two is connected by draw-in groove.
Motor 15 is symmetrically installed at two symmetrical structures for being fixed on the afterbody of fuselage 1, the output shaft of motor 15
The main axis of transmission belt a16, transmission belt a16 are driven to be connected with power transmission shaft a17 by decelerator, drive axle；Power transmission shaft a17 consolidates
Determine on the fuselage 1；Two ends are connected with transmission belt a16 in power transmission shaft a17 and are symmetrically installed with two transmission belt b18, be respectively used to drive
Two runners 3 of the side of fuselage 1；Transmission belt b18 connects power transmission shaft a17 and power transmission shaft b19, and power transmission shaft b19 is arranged in fuselage 1
Portion；Power transmission shaft b19 is driven by transmission belt b18, and power transmission shaft b19 stretches out one end fuselage 1, and one end of belt box 2 is installed in the transmission
The external part of axle b19.
The shell a24 of belt box 2, the mutual clampings of shell b25 are fixed, and cavity structure is formed in the middle of both；It is shell a24, outer
Shell b25 is respectively equipped with external part along power transmission shaft b19, electrode axis 26 on direction；Transmission belt c30 connection power transmission shafts b19, electrode axis
26, and transmission belt c30 is in the cavity structure of belt box 2；Transmission belt c30 is coaxial with transmission belt b18 and by transmission belt
B18 drives；Shell b25 is arranged on the central shaft of runner 3 along the external part of electrode axis 26；Electrode axis 26 are divided with power transmission shaft b19
Not An Zhuan the two ends of belt box 2, electrode axis 26 stretch out belt box 2, the central shaft of runner 3 and logical with spiral plug-in type propeller 12
Cross and be screwed；Electrode axis 26 are connected with the central shaft of runner 3 by reverse thread, are used to drive the rotation of runner 3.
Spoke 13 is evenly arranged between the central shaft and rotary wheel shell 14 of runner 3, spoke 13 is connected with rotary wheel shell 14, spoke
13 are used to support rotary wheel shell 14, to ensure the friction rolling of runner 3 and ground；Carve irregular bar in the surface of the rotary wheel shell 14
Line, is used to increase the frictional force of rotary wheel shell 14 and ground.
Two power transmission shaft b19 middle settings have fastening seat 22, and fastening seat 22 is connected with fuselage 1；Fastening seat 22 and two is passed
Hydraulic stem a20, hydraulic stem b21, connecting rod a31, connecting rod b32 are respectively arranged between moving axis b19；Hydraulic stem a20, hydraulic stem b21
Respectively by connecting rod a31, connecting rod b32 and two shells of the power transmission shaft b19 junctions of front and rear two belt box 2 and two of the side of fuselage 1
On external part on a24；Hydraulic stem a20, hydraulic stem b21 are controlled by two solenoid directional control valves respectively；Hydraulic stem a20, hydraulic stem b21
It is flexible to realize that belt box 2 is rotated around power transmission shaft b19, the belt box 2 of the both sides of fuselage 1 is synchronized with the movement and realizes the device on land
Lofty stance during upper walking is moved with low profile.
Motor 15 with afterbody in fuselage 1 is corresponding, and the front portion in fuselage 1 is provided with fixed block 23, is used to put down
The overall stress of weighing apparatus fuselage 1；Reversion motor or Hydraulic Cylinder fixed block 23 are installed on fixed block 23, fixed block 23 is to it
Apply opposite force so as to the two parts for driving fuselage 1 are folded along hinge 4；The upper surface of fuselage 1 be disposed with latch segment 5,
Locking slot 6, contact 7；Wherein, latch segment 5, locking slot 6 are respectively symmetrically on two symmetrical structures for being arranged in fuselage 1, two contacts 7
It is also respectively installed at two symmetric positions of fuselage 1；Two contacts 7 contact when being folded along hinge 4, while the protrusion of latch segment 5
Structure enters locking slot 6, while latch segment 5 is lockable and is fixed in locking slot 6；Now, two symmetrical structures of fuselage 1 are folded
Together, each belt box 2 rotates 90 ° along direction perpendicular to the ground, and state runner 3 perpendicular to the ground in land is parallel to the ground, should
Device enters flight or surface condition.
In flight or surface condition, tail plate a8, tail plate b9 rotate 90 °, tail with hinge 4 along direction perpendicular to the ground
Wing plate a8, tail plate b9 are overlapped, and tail plate a8 is released by hydraulic push rod a10, and tail plate b9 is released by hydraulic push rod b11, the two
It is connected by draw-in groove.Now, tail plate a8, tail plate b9 are perpendicular to the ground, and the two constitutes the empennage of the device, are used to adjust
The direction of whole control device；Motor 15 stops operating, and transmission belt a16, transmission belt b18, transmission belt c30 stop operating.
The outer surface of the electrode axis 26 is provided with metal threaded and its end for metal end；The outer surface thread of electrode axis 26 with
Metal end passes through insulator separation；Power transmission shaft in the middle of spiral plug-in type propeller 12 is female thread structure, is gold at bosom
Category pole；It is metal threaded together with the screw-internal thread fit of spiral plug-in type propeller 12 that the outer surface of electrode axis 26 is provided with, electrode
The metal end of axle 26 is in contact with the metal pole of spiral plug-in type propeller 12；By the outer surface thread and metal of electrode axis 26
End is powered to spiral plug-in type propeller 12, and then drives spiral plug-in type propeller 12 around electrode by its built-in motor
Axle 26 rotates；Realize that ground is left in the device vertical flight.
Duct motor 27, worm screw 28, worm gear 29 are installed at the shell a24 of the belt box 2, shell b25 cavitys；It is described
It is deflected joint at belt box 2 and the length of 1/5th belt box 2 of the abutting end of electrode axis 26, the deflected joint is belt box 2
A part and can be rotated around belt box 2；Duct motor 27 is arranged on shell b25 inwalls, and duct motor 27 connects with worm screw 28
Connect, worm screw 28 is connected with worm gear 29, wherein, worm screw 28 is parallel with the transmission belt c30 in belt box 2, and duct motor 27 drives snail
Bar 28 rotates, and the central shaft of worm gear 29 is vertical with transmission belt c30；Central shaft one end of worm gear 29 is provided with fastening post, the fastening
Post is mutually fixed with shell a24, shell the b25 inside at deflected joint respectively；When duct motor 27 is rotated, fastening post drives
The deflected joint is reversed, and now transmission belt c30 is also reversed therewith；The concomitant rotation of runner 3 being connected with electrode axis 26, runner 3 with
Ground enters plumbness；Spiral plug-in type propeller 12 changes direction, so that state in drive device realization flight or water
Horizontal displacement.
The hydraulic system respectively controls direction controlling and each rod member control of valve, motor 15, duct motor 27 to cut-off,
The power on/off of spiral plug-in type propeller 12 is programmed 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.
The front portion of fuselage 1 is equipped with phased-array radar and sensing system, the attitudes vibration reality that it can be in flight course
When calculate to maintain the rotating speed that need to change of flight attitude and tilt angle and feeding back to the center processing unit of the device.
The fuselage 1, belt box 2, empennage are made up of laminated-type plastic material.
The flute profile belt that the transmission belt a16, transmission belt b18, transmission belt c30 are made up of aluminum alloy materials.
The device is by radio control.
The rotary wheel shell 14 is made up of to strengthen its wearability carbon fibre material.The hinge 4, power transmission shaft a17, power transmission shaft
B19 is manufactured by carbon fibre material.The spiral plug-in type propeller 12 is made up of polystyrene polyethylene mix-froth plastics,
Fragmentation and chip will not be produced after impact, with outstanding impact resistance, particularly its multiple dropping impact property, rotation can be improved
The performance of the wing.
The surface of the belt box 2 is plano-convex airfoil structure, all-wing aircraft during as airflight.
The edge of the fuselage 1 is provided with hollow rubber pipe with closed fuselage 1, prevents inner inlet.
It is motor 15, duct motor 27, spiral plug-in type propeller 12, hydraulic pressure that the present apparatus uses fuel cell
Pump carries out power output.
Compared with prior art, the present invention has the advantages that.
1st, the present apparatus can be realized optimizing by corresponding construction and the motion of dwelling of land, water and air three is combined as a whole, same to realize
Device is provided simultaneously with various operation attitude functions, more many condition, on a large scale suitable investigation.
2nd, present apparatus set belt is rotated and hydraulic drive, and belt transmission can relax load impacting, is operated steadily, low is shaken
It is dynamic；Simple structure, it is easy to adjust；With overload protection function；Hydraulic oil has shock sucking function, therefore member motion is steady, drives
The mechanical energy of element acting is also big, and carrying could be big, and height herein can be preferably maintained after having adjusted chassis height.
3rd, belt box is most integrated the present apparatus wing, belt protection cover, support frame three, not only save space and weight
Amount, and can to greatest extent adjust chassis height.
Brief description of the drawings
Fig. 1 runs overall structure figure during lofty stance for the land of the present apparatus.
Fig. 2 runs overall structure figure during pose adjustment for the land of the present apparatus.
Fig. 3 runs overall structure figure during low profile for the land of the present apparatus.
Fig. 4 is the belt box and runner, electrode axis assembly structure figure of the present apparatus.
Flights or waterborne perpendicular attitude schematic diagram of the Fig. 5 for the present apparatus.
Fig. 6 is the row or horizontal attitude schematic diagram waterborne of the present apparatus.
Fig. 7 is the duct motor-driven structure figure of the present apparatus.
Fig. 8 is the duct motor-driven structure enlarged drawing of the present apparatus.
Fig. 9 is hydraulic stem, connecting rod and the belt box annexation schematic diagram of the present apparatus.
In figure：1st, 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 propeller, 13, spoke, 14, rotary wheel shell,
15th, motor, 16, transmission belt a, 17, power transmission shaft a, 18, transmission belt b, 19, power transmission shaft b, 20, hydraulic stem a, 21, hydraulic stem
B, 22, fastening seat, 23, fixed block, 24, shell a, 25, shell b, 26, electrode axis, 27, duct motor, 28, worm screw, 29, snail
Wheel, 30, transmission belt c, 31, connecting rod a, 32, connecting rod b.
Specific embodiment
The present invention is described in further detail below in conjunction with accompanying drawing.
As shown in figs 1-9, a kind of land, water and air three are dwelt, and nobody investigates device, and the device includes that motor driven systems, hydraulic pressure are passed
Dynamic system, support transmission system, controlling and regulating system.
Motor driven systems include motor 15, duct motor 27.
Hydraulic Power Transmission System includes hydraulic push rod a10, hydraulic push rod b11, hydraulic stem a20, hydraulic stem b21.
Support transmission system includes fuselage 1, belt box 2, runner 3, hinge 4, latch segment 5, locking slot 6, contact 7, empennage
Plate a8, tail plate b9, spiral plug-in type propeller 12, transmission belt a16, power transmission shaft a17, transmission belt b18, power transmission shaft b19, fastening
Seat 22, fixed block 23, electrode axis 26, worm screw 28, worm gear 29, transmission belt c30, connecting rod a31, connecting rod b32.
Controlling and regulating system includes center processing unit.
Belt box 2 includes shell a24, shell b25.
Runner 3 includes spoke 13, rotary wheel shell 14.
When on land, fuselage 1 is two mutual symmetrical structures, and both are connected by middle hinge 4；Fuselage 1 it is perpendicular
It is inverted trapezoidal structure to section, the bottom of fuselage 1 and top are parallel to the ground；The periphery of fuselage 1 is arranged with four belt boxes 2,
Belt box 2 is connected by electrode axis 26 with runner 3；Fuselage 1, belt box 2, the three of runner 3 collectively constitute the master of the investigation device
Body structure.
Tail plate a8, tail plate b9 are respectively symmetrically the tail surface on two symmetrical structures of fuselage 1, and tail plate
A8 is connected with hydraulic push rod a10, and tail plate b9 is connected with hydraulic push rod b11；Tail plate a8, the surface of tail plate b9 are draw-in groove knot
Structure, the two is connected by draw-in groove.
Motor 15 is symmetrically installed at two symmetrical structures for being fixed on the afterbody of fuselage 1, the output shaft of motor 15
The main axis of transmission belt a16, transmission belt a16 are driven to be connected with power transmission shaft a17 by decelerator, drive axle；Power transmission shaft a17 consolidates
Determine on the fuselage 1；Two ends are connected with transmission belt a16 in power transmission shaft a17 and are symmetrically installed with two transmission belt b18, be respectively used to drive
Two runners 3 of the side of fuselage 1；Transmission belt b18 connects power transmission shaft a17 and power transmission shaft b19, and power transmission shaft b19 is arranged in fuselage 1
Portion；Power transmission shaft b19 is driven by transmission belt b18, and power transmission shaft b19 stretches out one end fuselage 1, and one end of belt box 2 is installed in the transmission
The external part of axle b19.
The shell a24 of belt box 2, the mutual clampings of shell b25 are fixed, and cavity structure is formed in the middle of both；It is shell a24, outer
Shell b25 is respectively equipped with external part along power transmission shaft b19, electrode axis 26 on direction；Transmission belt c30 connection power transmission shafts b19, electrode axis
26, and transmission belt c30 is in the cavity structure of belt box 2；Transmission belt c30 is coaxial with transmission belt b18 and by transmission belt
B18 drives；Shell b25 is arranged on the central shaft of runner 3 along the external part of electrode axis 26；Electrode axis 26 are divided with power transmission shaft b19
Not An Zhuan the two ends of belt box 2, electrode axis 26 stretch out belt box 2, the central shaft of runner 3 and logical with spiral plug-in type propeller 12
Cross and be screwed；Electrode axis 26 are connected with the central shaft of runner 3 by reverse thread, are used to drive the rotation of runner 3.
Spoke 13 is evenly arranged between the central shaft and rotary wheel shell 14 of runner 3, spoke 13 is connected with rotary wheel shell 14, spoke
13 are used to support rotary wheel shell 14, to ensure the friction rolling of runner 3 and ground；Carve irregular bar in the surface of the rotary wheel shell 14
Line, is used to increase the frictional force of rotary wheel shell 14 and ground.
Two power transmission shaft b19 middle settings have fastening seat 22, and fastening seat 22 is connected with fuselage 1；Fastening seat 22 and two is passed
Hydraulic stem a20, hydraulic stem b21, connecting rod a31, connecting rod b32 are respectively arranged between moving axis b19；Hydraulic stem a20, hydraulic stem b21
Respectively by connecting rod a31, connecting rod b32 and two shells of the power transmission shaft b19 junctions of front and rear two belt box 2 and two of the side of fuselage 1
On external part on a24；Hydraulic stem a20, hydraulic stem b21 are controlled by two solenoid directional control valves respectively；Hydraulic stem a20, hydraulic stem b21
It is flexible to realize that belt box 2 is rotated around power transmission shaft b19, the belt box 2 of the both sides of fuselage 1 is synchronized with the movement and realizes the device on land
Lofty stance during upper walking is moved with low profile.
Motor 15 with afterbody in fuselage 1 is corresponding, and the front portion in fuselage 1 is provided with fixed block 23, is used to put down
The overall stress of weighing apparatus fuselage 1；Reversion motor or Hydraulic Cylinder fixed block 23 are installed on fixed block 23, fixed block 23 is to it
Apply opposite force so as to the two parts for driving fuselage 1 are folded along hinge 4；The upper surface of fuselage 1 be disposed with latch segment 5,
Locking slot 6, contact 7；Wherein, latch segment 5, locking slot 6 are respectively symmetrically on two symmetrical structures for being arranged in fuselage 1, two contacts 7
It is also respectively installed at two symmetric positions of fuselage 1；Two contacts 7 contact when being folded along hinge 4, while the protrusion of latch segment 5
Structure enters locking slot 6, while latch segment 5 is lockable and is fixed in locking slot 6；Now, two symmetrical structures of fuselage 1 are folded
Together, each belt box 2 rotates 90 ° along direction perpendicular to the ground, and state runner 3 perpendicular to the ground in land is parallel to the ground, should
Device enters flight or surface condition.
In flight or surface condition, tail plate a8, tail plate b9 rotate 90 °, tail with hinge 4 along direction perpendicular to the ground
Wing plate a8, tail plate b9 are overlapped, and tail plate a8 is released by hydraulic push rod a10, and tail plate b9 is released by hydraulic push rod b11, the two
It is connected by draw-in groove.Now, tail plate a8, tail plate b9 are perpendicular to the ground, and the two constitutes the empennage of the device, are used to adjust
The direction of whole control device；Motor 15 stops operating, and transmission belt a16, transmission belt b18, transmission belt c30 stop operating.
The outer surface of the electrode axis 26 is provided with metal threaded and its end for metal end；The outer surface thread of electrode axis 26 with
Metal end passes through insulator separation；Power transmission shaft in the middle of spiral plug-in type propeller 12 is female thread structure, is gold at bosom
Category pole；It is metal threaded together with the screw-internal thread fit of spiral plug-in type propeller 12 that the outer surface of electrode axis 26 is provided with, electrode
The metal end of axle 26 is in contact with the metal pole of spiral plug-in type propeller 12；By the outer surface thread and metal of electrode axis 26
End is powered to spiral plug-in type propeller 12, and then drives spiral plug-in type propeller 12 around electrode by its built-in motor
Axle 26 rotates；Realize that ground is left in the device vertical flight.
Duct motor 27, worm screw 28, worm gear 29 are installed at the shell a24 of the belt box 2, shell b25 cavitys；It is described
It is deflected joint at belt box 2 and the length of 1/5th belt box 2 of the abutting end of electrode axis 26, the deflected joint is belt box 2
A part and can be rotated around belt box 2；Duct motor 27 is arranged on shell b25 inwalls, and duct motor 27 connects with worm screw 28
Connect, worm screw 28 is connected with worm gear 29, wherein, worm screw 28 is parallel with the transmission belt c30 in belt box 2, and duct motor 27 drives snail
Bar 28 rotates, and the central shaft of worm gear 29 is vertical with transmission belt c30；Central shaft one end of worm gear 29 is provided with fastening post, the fastening
Post is mutually fixed with shell a24, shell the b25 inside at deflected joint respectively；When duct motor 27 is rotated, fastening post drives
The deflected joint is reversed, and now transmission belt c30 is also reversed therewith；The concomitant rotation of runner 3 being connected with electrode axis 26, runner 3 with
Ground enters plumbness；Spiral plug-in type propeller 12 changes direction, so that state in drive device realization flight or water
Horizontal displacement.
The hydraulic system respectively controls direction controlling and each rod member control of valve, motor 15, duct motor 27 to cut-off,
The power on/off of spiral plug-in type propeller 12 is programmed 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.
The front portion of fuselage 1 is equipped with phased-array radar and sensing system, the attitudes vibration reality that it can be in flight course
When calculate to maintain the rotating speed that need to change of flight attitude and tilt angle and feeding back to the center processing unit of the device.
The fuselage 1, belt box 2, empennage are made up of laminated-type plastic material.
The flute profile belt that the transmission belt a16, transmission belt b18, transmission belt c30 are made up of aluminum alloy materials.
The device is by radio control.
The rotary wheel shell 14 is made up of to strengthen its wearability carbon fibre material.The hinge 4, power transmission shaft a17, power transmission shaft
B19 is manufactured by carbon fibre material.The spiral plug-in type propeller 12 is made up of polystyrene polyethylene mix-froth plastics,
Fragmentation and chip will not be produced after impact, with outstanding impact resistance, particularly its multiple dropping impact property, rotation can be improved
The performance of the wing.
The surface of the belt box 2 is plano-convex airfoil structure, all-wing aircraft during as airflight.
The edge of the fuselage 1 is provided with hollow rubber pipe with closed fuselage 1, prevents inner inlet.
It is motor 15, duct motor 27, spiral plug-in type propeller 12, hydraulic pressure that the present apparatus uses fuel cell
Pump carries out power output.
Claims (10)
1. a kind of land, water and air three are dwelt, and nobody investigates device, it is characterised in that：The device includes motor driven systems, hydraulic drive system
System, support transmission system, controlling and regulating system；
Motor driven systems include motor (15), duct motor (27)；
Hydraulic Power Transmission System includes hydraulic push rod a (10), hydraulic push rod b (11), hydraulic stem a (20), hydraulic stem b (21)；
Support transmission system include fuselage (1), belt box (2), runner (3), hinge (4), latch segment (5), locking slot (6), touch
Point (7), tail plate a (8), tail plate b (9), spiral plug-in type propeller (12), transmission belt a (16), power transmission shaft a (17), transmission
Band b (18), power transmission shaft b (19), fastening seat (22), fixed block (23), electrode axis (26), worm screw (28), worm gear (29), transmission belt
C (30), connecting rod a (31), connecting rod b (32)；
Controlling and regulating system includes center processing unit；
Belt box (2) includes shell a (24), shell b (25)；
Runner (3) includes spoke (13), rotary wheel shell (14)；
When on land, fuselage (1) is two mutual symmetrical structures, and both are connected by middle hinge (4)；Fuselage (1)
Vertical cross-section is inverted trapezoidal structure, and fuselage (1) bottom and top are parallel to the ground；The periphery of fuselage (1) is arranged with four skins
Tape drum (2), belt box (2) is connected by electrode axis (26) with runner (3)；Fuselage (1), belt box (2), runner (3) three are common
With the agent structure for constituting the investigation device；
Tail plate a (8), tail plate b (9) are respectively symmetrically the tail surface on two symmetrical structures of fuselage (1), and empennage
Plate a (8) is connected with hydraulic push rod a (10), and tail plate b (9) is connected with hydraulic push rod b (11)；Tail plate a (8), tail plate b (9)
Surface be notch, the two is connected by draw-in groove；
Motor (15) is symmetrically installed and is fixed at two symmetrical structures of fuselage (1) afterbody, the output of motor (15)
Axle drives the main axis of transmission belt a (16), transmission belt a (16) to be connected with power transmission shaft a (17) by decelerator, drive axle；Pass
Moving axis a (17) is fixed on fuselage (1)；Two ends are connected with transmission belt a (16) be symmetrically installed with two transmission belts in power transmission shaft a (17)
B (18), is respectively used to drive two runners (3) of fuselage (1) side；Transmission belt b (18) connects power transmission shaft a (17) and power transmission shaft b
(19), power transmission shaft b (19) is internal installed in fuselage (1)；Power transmission shaft b (19) is driven by transmission belt b (18), power transmission shaft b (19)
Fuselage (1) is stretched out at end, and one end of belt box (2) is arranged on the external part of power transmission shaft b (19)；
Shell a (24), the shell b (25) of belt box (2) mutually clampings are fixed, and cavity structure is formed in the middle of both；Shell a
(24), shell b (25) is respectively equipped with external part along power transmission shaft b (19), electrode axis (26) direction；Transmission belt c (30) connections are passed
Moving axis b (19), electrode axis (26), and transmission belt c (30) is in the cavity structure of belt box (2)；Transmission belt c (30) with
Transmission belt b (18) is coaxial and is driven by transmission belt b (18)；Shell b (25) is arranged on runner (3) along the external part of electrode axis (26)
Central shaft on；Electrode axis (26) are separately mounted to belt box (2) two ends with power transmission shaft b (19), and electrode axis (26) stretch out belt
Box (2), the central shaft of runner (3) are simultaneously threadably secured with spiral plug-in type propeller (12)；Electrode axis (26) and runner (3)
Central shaft by reverse thread connect, be used to drive the rotation of runner (3)；
Spoke (13) is evenly arranged between the central shaft and rotary wheel shell (14) of runner (3), spoke (13) is with rotary wheel shell (14) even
Connect, spoke (13) is used to support rotary wheel shell (14), to ensure the friction rolling of runner (3) and ground；The rotary wheel shell (14)
Carve irregular striped in surface；
Two power transmission shaft b (19) middle settings have fastening seat (22), and fastening seat (22) is connected with fuselage (1)；Fastening seat (22)
Hydraulic stem a (20), hydraulic stem b (21), connecting rod a (31), connecting rod b (32) are respectively arranged between two power transmission shaft b (19)；Hydraulic pressure
Bar a (20), hydraulic stem b (21) are respectively by connecting rod a (31), connecting rod b (32) and front and rear two belt box (2) of fuselage (1) side
On the external part on the two shell a (24) of two power transmission shaft b (19) junctions；Hydraulic stem a (20), hydraulic stem b (21) respectively by
Two solenoid directional control valves are controlled；Hydraulic stem a (20), hydraulic stem b (21) it is flexible realizing that belt box (2) turns around power transmission shaft b (19)
Dynamic, the lofty stance that the belt box (2) of fuselage (1) both sides is synchronized with the movement when realizing that the device is walked on land is transported with low profile
It is dynamic；
Motor (15) with fuselage (1) interior afterbody is corresponding, and the front portion in fuselage (1) is provided with fixed block (23), uses
To balance the overall stress of fuselage (1)；Reversion motor or Hydraulic Cylinder fixed block (23) are installed on fixed block (23), Gu
Determine block (23) and apply opposite force to it so as to the two parts for driving fuselage (1) are folded along hinge (4)；Fuselage (1) it is upper
Surface layout has latch segment (5), locking slot (6), contact (7)；Wherein, latch segment 5, locking slot 6 are respectively symmetrically and are arranged in fuselage 1
Two symmetrical structures on, two contacts (7) are also respectively installed at two symmetric positions of fuselage (1)；Two when being folded along hinge (4)
Individual contact (7) contact, while the structure of latch segment (5) protrusion enters locking slot (6), while latch segment (5) is lockable and fixed
In locking slot (6)；Now, two symmetrical structures of fuselage (1) are folded, and each belt box (2) turns along direction perpendicular to the ground
Dynamic 90 °, land state runner perpendicular to the ground (3) is parallel to the ground, and the 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 direction perpendicular to the ground,
Tail plate a (8), tail plate b (9) are overlapped, and tail plate a (8) is released by hydraulic push rod a (10), and tail plate b (9) is by hydraulic push rod b
(11) release, the two is connected by draw-in groove；Now, tail plate a (8), tail plate b (9) are perpendicular to the ground, and the two composition should
The empennage of device, is used to adjust the direction of control device；Motor (15) stops operating, transmission belt a (16), transmission belt b
(18), transmission belt c (30) stops operating；
Electrode axis (26) outer surface is provided with metal threaded and its end for metal end；The outer surface thread of electrode axis (26) with
Metal end passes through insulator separation；Power transmission shaft in the middle of spiral plug-in type propeller (12) is female thread structure, is at bosom
Metal pole；The screw-internal thread fit of metal threaded and spiral plug-in type propeller (12) that electrode axis (26) outer surface is provided with is one
Rise, the metal end of electrode axis (26) is in contact with the metal pole of spiral plug-in type propeller (12)；By the outer of electrode axis (26)
Thread surface is powered with metal end to spiral plug-in type propeller (12), and then drives spiral grafting by its built-in motor
Formula propeller (12) rotates around electrode axis (26)；Realize that ground is left in the device vertical flight；
Duct motor (27), worm screw (28), worm gear are installed at the shell a (24) of the belt box (2), shell b (25) cavity
(29)；It is deflected joint at the belt box (2) and 1/5th belt boxes (2) length of electrode axis (26) abutting end, this is inclined
Adapter is a part for belt box (2) and can be rotated around belt box (2)；Duct motor (27) is installed in shell b (25) inwall
On, duct motor (27) is connected with worm screw (28), and worm screw (28) is connected with worm gear (29), wherein, worm screw (28) and belt box (2)
Interior transmission belt c (30) is parallel, and duct motor (27) drives worm screw (28) rotation, central shaft and the transmission belt c of worm gear (29)
(30) it is vertical；Central shaft one end of worm gear (29) is provided with fastening post, the fastening post respectively with deflected joint at shell a
(24), shell b (25) is internal mutually fixed；When duct motor (27) is rotated, fastening post drives the deflected joint to reverse, now
Transmission belt c (30) is also reversed therewith；Runner (3) concomitant rotation being connected with electrode axis (26), runner (3) enters vertical with ground
State；Spiral plug-in type propeller (12) changes direction, so that drive device realizes the horizontal displacement of state in flight or water；
The Hydraulic Power Transmission System respectively controls the control of direction controlling and each rod member, motor (15), the duct motor (27) of valve
Cut-off, the power on/off of spiral plug-in type propeller (12) is programmed control by the center processing unit of controlling and regulating system.
2. a kind of land, water and air three according to claim 1 are dwelt, and nobody investigates device, it is characterised in that：The middle part of fuselage (1)
Telescopic pick-up head and sonar are installed.
3. a kind of land, water and air three according to claim 1 are dwelt, and nobody investigates device, it is characterised in that：The front portion of fuselage (1)
Equipped with phased-array radar and sensing system, the attitudes vibration that it can be in flight course is calculated to maintain flight appearance in real time
Rotating speed that state need to change and tilt angle simultaneously feed back to the center processing unit of the device.
4. a kind of land, water and air three according to claim 1 are dwelt, and nobody investigates device, it is characterised in that：The fuselage (1), skin
Tape drum (2), empennage are made up of laminated-type plastic material.
5. a kind of land, water and air three according to claim 1 are dwelt, and nobody investigates device, it is characterised in that：The transmission belt a
(16), the flute profile belt that transmission belt b (18), transmission belt c (30) are made up of aluminum alloy materials.
6. a kind of land, water and air three according to claim 1 are dwelt, and nobody investigates device, it is characterised in that：The device is by radio
Control.
7. a kind of land, water and air three according to claim 1 are dwelt, and nobody investigates device, it is characterised in that：The rotary wheel shell (14)
It is made up of to strengthen its wearability carbon fibre material；The hinge (4), power transmission shaft a (17), power transmission shaft b (19) are by carbon fiber material
Material manufacture；The spiral plug-in type propeller (12) is made up of polystyrene polyethylene mix-froth plastics.
8. a kind of land, water and air three according to claim 1 are dwelt, and nobody investigates device, it is characterised in that：The belt box (2)
Surface be plano-convex airfoil structure, all-wing aircraft during as airflight.
9. a kind of land, water and air three according to claim 1 are dwelt, and nobody investigates device, it is characterised in that：Fuselage (1) side
Hollow rubber pipe is provided with edge with closed fuselage (1).
10. a kind of land, water and air three according to claim 1 are dwelt, and nobody investigates device, it is characterised in that：The present apparatus is adopted
With fuel cell be motor (15), duct motor (27), spiral plug-in type propeller (12), that hydraulic pump enters action edge is defeated
Go out.
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 |
Applications Claiming Priority (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 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104669964A CN104669964A (en) | 2015-06-03 |
| CN104669964B true CN104669964B (en) | 2017-06-16 |
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ID=53305772
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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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Families Citing this family (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9493235B2 (en) * | 2002-10-01 | 2016-11-15 | Dylan T X Zhou | Amphibious vertical takeoff and landing unmanned device |
| CN106155080B (en) * | 2015-07-28 | 2020-04-10 | 英华达（上海）科技有限公司 | Unmanned plane |
| CN105172502A (en) * | 2015-10-10 | 2015-12-23 | 上海德理孚自动化系统有限公司 | Novel modular air-land integrated carrier |
| WO2018087614A1 (en) * | 2016-11-14 | 2018-05-17 | Andrew Zhou | Amphibious vertical takeoff and landing unmanned device |
| 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 |
| 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 |
| 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 |
| 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 |
| CN113910852B (en) * | 2021-11-19 | 2024-04-09 | 重庆警察学院 | Investigation device is used in field service investigation |
| 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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| FR2974760A1 (en) * | 2011-05-05 | 2012-11-09 | Andre Schaer | Remotely controlled mobile platform for use in water and air mediums to carry out underwater and air recognitions, has switching unit whose reversing unit reverses rotation of electric motors that rotate marine/aerial propellers |
| CN204506376U (en) * | 2015-03-11 | 2015-07-29 | 北京工业大学 | Dwelling in a kind of land, water and air three, nobody investigates device |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2264306C2 (en) * | 2003-05-07 | 2005-11-20 | Красин Юрий Александрович | Vehicle with roll control |
| US7472863B2 (en) * | 2004-07-09 | 2009-01-06 | Steve Pak | Sky hopper |
| DE102004063205B3 (en) * | 2004-12-23 | 2006-05-04 | Julian Kuntz | Aircraft for transporting persons, has rotors/propellers with sheathings, which enable independent drive movement of aircraft on land according to function of wheel rims based on direct power transmission from aircraft to land |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2974760A1 (en) * | 2011-05-05 | 2012-11-09 | Andre Schaer | Remotely controlled mobile platform for use in water and air mediums to carry out underwater and air recognitions, has switching unit whose reversing unit reverses rotation of electric motors that rotate marine/aerial propellers |
| CN204506376U (en) * | 2015-03-11 | 2015-07-29 | 北京工业大学 | Dwelling in a kind of land, water and air three, nobody investigates device |
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