CN104986002A - Micro triphibian quadrocopter - Google Patents
Micro triphibian quadrocopter Download PDFInfo
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- CN104986002A CN104986002A CN201510306015.5A CN201510306015A CN104986002A CN 104986002 A CN104986002 A CN 104986002A CN 201510306015 A CN201510306015 A CN 201510306015A CN 104986002 A CN104986002 A CN 104986002A
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Abstract
The invention discloses a micro triphibian quadrocopter. The micro triphibian quadrocopter comprises a quadrocopter mechanism, a water and land running mechanism, a control system and an energy source. In the air, the micro triphibian quadrocopter disclosed by the invention obtains good flying performance through the quadrocopter mechanism; motions on the land or on the water are achieved by means of the same mechanism; and the micro triphibian quadrocopter disclosed by the invention runs on the land through light wheels; and on the water surface, the micro triphibian quadrocopter disclosed by the invention floats on the water surface by means of buoyancy of the light wheels and performs paddling through patterns on the surfaces of the wheels to realize motions. Through hardware structural design and a corresponding software program, the micro triphibian quadrocopter disclosed by the invention also has normal triphibian functions when being inverted. The micro triphibian quadrocopter disclosed by the invention has the advantages of small size, light weight, less energy consumption, low noise and very good application prospect in reconnaissance and searching and can completely fly under extremely complicated environments in a stable way.
Description
Technical field
The invention belongs to unmanned flight's equipment technical field, particularly a kind of can the water surface, land and aerial travel miniature three to dwell four-axle aircraft.
Background technology
Four-axle aircraft is a kind of unmanned flight's equipment that development in recent years is also ripe gradually rapidly.Different from traditional helicopter, this aircraft does not have complicated physical construction, but can realize various motion by carrying out simple control to the rotor of four arranged in arrays.Four-axle aircraft has obtained good application in police investigation, line walking, some fields such as to take photo by plane at present.But four-axle aircraft is near small space, land, the water surface at present, and when needing in highly hidden investigation environment, there is noise large, the problem of manoevreability difference.For addressing these problems, there is miniature compound type four axle that some are succeeded in developing at present, but still effectively can not work in the region of the water surface or other complexity.Disclose a kind of land, water and air three in CN103522855A to dwell class wheeled mobile robot, this robot water route form module uses class ratcheting mechanism.Traveling part waterborne, adopts the full enclosed of fuselage, body can be kept afloat.To dwell function though this robot also can realize three, its walking stability, Dent resistance and compatible with environment are strong, so be still difficult to carry out three to dwell motion in complex environment.
Summary of the invention
Object of the present invention is exactly the deficiency in order to overcome above-mentioned background technology, provide a kind of can the water surface, land and aerial travel miniature three to dwell four-axle aircraft.
Involved in the present invention miniature three dwell four-axle aircraft, comprise four axle aviation mechanisms of implementation space flight function, realize the land and water traveling mechanism of land and water driving functions, control system and energy source,
Four described axle aviation mechanisms are by strut bar A33, strut bar B37, center plate 13, motor cabinet A16, motor cabinet B36, Connection Block A3, Connection Block B23, motor A2, motor B15, motor C 25, motor D 34, screw propeller A1, screw propeller B14, screw propeller C24, screw propeller D35 is formed, strut bar A33 and strut bar B37 is two holes of cross top-bottom cross through center plate 13, strut bar B37 two ends are separately installed with motor cabinet A16 and motor cabinet B36, strut bar A33 installs at two ends Connection Block A3 and Connection Block B23 respectively, motor A2, motor C25 is arranged in Connection Block A3 and Connection Block B23 respectively, motor B15 and motor D 34 are arranged in motor cabinet A16 and motor cabinet B36 respectively, motor A2, motor B15, motor C25, motor D 34 installs screw propeller A1 respectively, screw propeller B14, screw propeller C24, screw propeller D35,
Described land and water traveling mechanism is by reducing motor A12, reducing motor B39, belt A 10, belt B32, belt C31, belt D40, driving wheel A11, driving wheel B38, hollow stem A6, hollow stem B19, hollow stem C28, hollow stem D42, flower wheel A5, flower wheel B21, flower wheel C27, flower wheel D44, strut bar C8, strut bar D18, lightweight wheel A7, lightweight wheel B20, lightweight wheel C29, lightweight wheel D43, back-up ring A4, back-up ring B22, back-up ring C26, back-up ring D45, block A9, block B17, block C30, block D41 are formed.Reducing motor B39, reducing motor A12 are arranged in the hole, two, left and right of center plate 13 respectively, and the axle head of reducing motor A12 and reducing motor B39 inserts driving wheel A11 and driving wheel B38 respectively; Strut bar C8, strut bar D18 are each passed through the hole of Connection Block 3 and Connection Block B23, the right-hand member of strut bar C8 is inserted in back-up ring A4, hollow stem A6 and block A9, hollow stem A6 installs flower wheel A5 and lightweight wheel A7 in outside, the left end of strut bar C8 is inserted in back-up ring D45, hollow stem D42 and block D41, and hollow stem D42 installs flower wheel D44 and lightweight wheel D43 in outside; The right-hand member of strut bar D18 is inserted in back-up ring B22, hollow stem B19 and block B17, hollow stem B19 installs flower wheel B21 and lightweight wheel B20 in outside, the left end of strut bar D18 is inserted in back-up ring C26, hollow stem C28 and block C30, and hollow stem C28 installs flower wheel C27 and lightweight wheel C29 in outside; Driving wheel A11 is connected with flower wheel A5 and flower wheel B21 with belt B32 respectively by belt A 10, and driving wheel B38 is connected with flower wheel C27 and flower wheel D44 with belt D40 respectively by belt C31;
Promising motor A2, motor B15, motor C 25, motor D 34 and reducing motor A12 are installed in bottom, reducing motor B39 provides power energy source and the control system thereof of described center plate 13.
Compared with existing four-axle aircraft, beneficial effect of the present invention is following four aspects.
(1) the present invention integrates miniature and dwells with three, can adapt to complex environment;
(2) there is certain protective effect the upper and lower of lightweight wheel to screw propeller of the present invention, greatly improves its safety;
(3) the present invention still possesses normal three and to dwell performance after aircraft is inverted;
(4) volume of the present invention is little, lightweight, energy consumption and noise little.
Accompanying drawing explanation
Fig. 1 is exploded perspective view of the present invention;
Fig. 2 is integral structure schematic diagram of the present invention;
Fig. 3 is the schematic diagram of center plate of the present invention;
Fig. 4 is the schematic diagram of Connection Block of the present invention;
In above-mentioned figure:
1, screw propeller A; 2, motor A; 3, Connection Block A; 4, back-up ring A; 5, flower wheel A; 6, hollow stem A; 7, lightweight wheel A; 8, strut bar C; 9, block A; 10, belt A; 11, driving wheel A; 12, reducing motor A; 13, center plate; 14, screw propeller B; 15, motor B; 16, motor cabinet A; 17, block B; 18, strut bar D; 19, hollow stem B; 20, lightweight wheel B; 21, flower wheel B; 22, back-up ring B; 23, Connection Block B; 24, screw propeller C; 25, motor C; 26, back-up ring C; 27, flower wheel C; 28, hollow stem C; 29, lightweight wheel C; 30, block C; 31, belt B; 32, belt C; 33, strut bar A; 34, motor D; 35, screw propeller D; 36, motor cabinet B; 37, strut bar B; 38, driving wheel B; 39, reducing motor B; 40, belt D; 41, block D; 42, hollow stem D; 43, lightweight wheel D; 44, flower wheel D; 45, back-up ring D.
Detailed description of the invention
Below in conjunction with drawings and Examples, the present invention is further described as follows:
Embodiment
Involved by the present embodiment miniature three is dwelt four-axle aircraft, its structure is as shown in Figures 1 to 4: strut bar A33 and strut bar B37 is two holes of cross top-bottom cross through center plate 13, ensure that strut bar A33 and strut bar B37 is all relative to center plate 13 Central Symmetry, strut bar B37 two ends are separately installed with motor cabinet A16 and motor cabinet B36, strut bar A33 installs at two ends Connection Block A3 and Connection Block B23 respectively, motor A2, motor C25 is arranged in Connection Block A3 and Connection Block B23 respectively, motor B15 and motor D 34 are arranged in motor cabinet A16 and motor cabinet B36 respectively, ensure motor A2, motor B15, motor C25, motor D 34 is all identical to the distance of center plate 13 perpendicular to the baseplane of center plate 13, motor A2, motor B15, motor C25, motor D 34 are installed respectively screw propeller A1, screw propeller B14, screw propeller C24, screw propeller D35, above junction is all fixing by glue bonding.Reducing motor A12, reducing motor B39 are arranged in the hole, two, left and right of center plate 13 respectively, and the axle head of reducing motor A12 and reducing motor B39 inserts driving wheel A11 and driving wheel B38 respectively; Strut bar C8, strut bar D18 are each passed through the hole of Connection Block 3 and Connection Block B23, ensure that strut bar C8, strut bar D18 are all symmetrical about strut bar A33; The right-hand member of strut bar C8 is inserted in back-up ring A4, hollow stem A6 and block A9, hollow stem A6 installs flower wheel A5 and lightweight wheel A7 in outside, the left end of strut bar C8 is inserted in back-up ring D45, hollow stem D42 and block D41, and hollow stem D42 installs flower wheel D44 and lightweight wheel D43 in outside; The right-hand member of strut bar D18 is inserted in back-up ring B22, hollow stem B19 and block B17, hollow stem B19 installs flower wheel B21 and lightweight wheel B20 in outside, the left end of strut bar D18 is inserted in back-up ring C26, hollow stem C28 and block C30, and hollow stem C28 installs flower wheel C27 and lightweight wheel C29 in outside; Driving wheel A11 is connected with flower wheel A5 and flower wheel B21 with belt B32 respectively by belt A 10, and driving wheel B38 is connected with flower wheel C27 and flower wheel D44 with belt D40 respectively by belt C31;
Belt A 10 one end is enclosed within the belt grooves of flower wheel A5, the other end is enclosed within the belt grooves outside driving wheel A11; Belt B32 one end is enclosed within the belt grooves of flower wheel B21, the other end is enclosed within the belt grooves inside driving wheel A11; Belt C31 one end is enclosed within the belt grooves of flower wheel C27, the other end is enclosed within the belt grooves inside driving wheel B38; Belt D40 one end is enclosed within the belt grooves of flower wheel D44, the other end is enclosed within the belt grooves inside driving wheel B38; Energy source and control system are fixedly mounted on the base plate of center plate 13.
It is below the principle of work explanation of the present embodiment.
During airflight: by control system control motor A2, motor B15, motor C 25, motor D 34 rotating speed and turn to, thus control screw propeller A1, screw propeller B14, screw propeller C24, screw propeller D35 rotating speed and turn to, change the rotating speed of screw propeller and turn to, different lift can be produced, with the object reaching rising, decline, hovering, side fly.
When land or traveling waterborne: the present invention uses same mechanism to realize on land or operation waterborne, travelled by wheel time on land, time on the water surface, because aircraft volume is little, lightweight, lightweight wheel A7, lightweight wheel B20, lightweight wheel C29, lightweight wheel D43 can make aircraft flotation at the water surface, when wheel rotates at the water surface, the decorative pattern drying of wheel outside face, makes aircraft at surface motions.On the water or land locomotion time, aviation mechanism is out of service, reducing motor A12, the rotation of reducing motor B39 is passed through successively: driving wheel A11, driving wheel B38, drive belt A10, belt B32, belt C31, belt D40, flower wheel A5, flower wheel B21, flower wheel C27, flower wheel D44, hollow stem A6, hollow stem B19, hollow stem C28, hollow stem D42 passes to lightweight wheel A7, lightweight wheel B20, lightweight wheel C29, lightweight wheel D43, by control system by controlling reducing motor A12, reducing motor B39 turns to and rotating speed, thus control lightweight wheel A7, lightweight wheel B20, lightweight wheel C29, lightweight wheel D43 turns to and rotating speed, and then control travel direction and the speed of aircraft.When the rotating speed of reducing motor A12, reducing motor B39 with when turning to identical, aircraft will advance (retrogressing), when reducing motor A12, reducing motor B39 rotating speed or when turning to difference, aircraft is by differential steering.Such aircraft can advance with different speed with the water surface by land, retreats, turns left, turn right.
Simultaneously, this flight control is by the attitude of built-in sensor identifiable design aircraft, and lightweight wheel A7, lightweight wheel B20, lightweight wheel C29, lightweight wheel D43 lower edges are respectively the highest and nadir of aircraft, other parts are all between wheel lower edges, only there is wheel to contact with land or the water surface when land or the water surface, when aircraft is inverted (bottom-up), its control program makes corresponding adjustment automatically, aircraft can be made still to possess normal three and to dwell performance.
Finally it should be noted that, above embodiment is only in order to illustrate technical scheme of the present invention but not restriction technologies scheme, although applicant's reference preferred embodiment is to invention has been detailed description, those of ordinary skill in the art is to be understood that, those are modified to technical scheme of the present invention or equivalent replacement, and do not depart from aim and the scope of the technical program, all should be encompassed in the middle of right of the present invention.
Claims (1)
1. miniature three to dwell a four-axle aircraft, comprise four axle aviation mechanisms of implementation space flight function, realize the land and water traveling mechanism of land and water driving functions, control system and energy source, is characterized in that:
Four described axle aviation mechanisms are by strut bar A (33), strut bar B (37), center plate (13), motor cabinet A (16), motor cabinet B (36), Connection Block A (3), Connection Block B (23), motor A (2), motor B (15), motor C (25), motor D (34), screw propeller A (1), screw propeller B (14), screw propeller C (4), screw propeller D (35) is formed, strut bar A (33) and strut bar B (37) passes two holes of center plate (13) in cross top-bottom cross, strut bar B (37) two ends are separately installed with motor cabinet A (16) and motor cabinet B (36), strut bar A (33) two ends install Connection Block A (3) and Connection Block B (23), motor A (2) respectively, motor C (25) is arranged in Connection Block A (3) and Connection Block B (23) respectively, motor B (15) and motor D (34) are arranged in motor cabinet A (16) and motor cabinet B (36) respectively, motor A (2), motor B (15), motor C (25), motor D (34) is installed respectively screw propeller A (1), screw propeller B (14), screw propeller C (24), screw propeller D (35),
Described land and water traveling mechanism is by reducing motor A (12), reducing motor B (39), belt A (10), belt B (32), belt C (31), belt D (40), driving wheel A (11), driving wheel B (38), hollow stem A (6), hollow stem B (19), hollow stem C (28), hollow stem D (42), flower wheel A (5), flower wheel B (21), flower wheel C (27), flower wheel D (44), strut bar C (8), strut bar D (18), lightweight wheel A (7), lightweight wheel B (20), lightweight wheel C (29), lightweight wheel D (43), back-up ring A (4), back-up ring B (22), back-up ring C (26), back-up ring D (45), block A (9), block B (17), block C (30), block D (41) is formed, reducing motor B (39), reducing motor A (12) is arranged in the hole, two, left and right of center plate (13) respectively, and the axle head of reducing motor A (12) and reducing motor B (39) inserts driving wheel A (11) and driving wheel B (38) respectively, strut bar C (8), strut bar D (18) are each passed through the hole of Connection Block A (3) and Connection Block B (23), the right-hand member of strut bar C (8) is inserted in back-up ring A (4), hollow stem A (6) and block A (9), hollow stem A (6) installs flower wheel A (5) and lightweight wheel A (7) in outside, the left end of strut bar C (8) is inserted in back-up ring D (45), hollow stem D (42) and flower wheel D (44) and lightweight wheel D (43) are installed in block D (41), hollow stem D (42) outside, the right-hand member of strut bar D (18) is inserted in back-up ring B (22), hollow stem B (19) and block B (17), hollow stem B (19) installs flower wheel B (21) and lightweight wheel B (20) in outside, the left end of strut bar D (18) is inserted in back-up ring C (26), hollow stem C (28) and block C (30), hollow stem C (28) installs flower wheel C (27) and lightweight wheel C (29) in outside, driving wheel A (11) is connected with flower wheel A (5) and flower wheel B (21) with belt B (32) respectively by belt A (10), driving wheel B (38) is connected with flower wheel C (27) and flower wheel D (44) with belt D (40) respectively by belt C (31),
Energy source and control system thereof that promising motor A (2), motor B (15), motor C (25), motor D (34) and reducing motor A (12), reducing motor B (39) provide power are installed in the bottom of described center plate 13.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510306015.5A CN104986002A (en) | 2015-06-04 | 2015-06-04 | Micro triphibian quadrocopter |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510306015.5A CN104986002A (en) | 2015-06-04 | 2015-06-04 | Micro triphibian quadrocopter |
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| Publication Number | Publication Date |
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| CN104986002A true CN104986002A (en) | 2015-10-21 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510306015.5A Pending CN104986002A (en) | 2015-06-04 | 2015-06-04 | Micro triphibian quadrocopter |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106042800A (en) * | 2016-06-16 | 2016-10-26 | 姜忠昱 | Search and rescue device capable of being applied to sea, land and air areas |
| CN108638773A (en) * | 2018-06-15 | 2018-10-12 | 南京理工大学 | The wheeled land, water and air of a kind of three rotors three are dwelt robot |
| CN113752763A (en) * | 2021-08-17 | 2021-12-07 | 重庆文理学院 | Robot base structure |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1135439A (en) * | 1995-05-05 | 1996-11-13 | 李炳先 | Concealed craft |
| DE19840847A1 (en) * | 1998-09-07 | 2000-03-09 | Mathias Klug | Modular hybrid vehicle for air, land or sea operation has cell module, bearing surface module, water drive mechanism module as well as appropriate units for air, land and water travel |
| DE102008055842A1 (en) * | 2008-11-04 | 2010-05-12 | Alexandra Schuster | Aircraft i.e. glider, has body and wings, where volume of body is varied with constant weight of body by using hand lever or hand screw mechanism, and lifting of aircraft is controlled by pilot |
| CN203449867U (en) * | 2013-07-22 | 2014-02-26 | 山东沃尔华工程机械有限公司 | Car body structure of amphibious type ice breaking car |
-
2015
- 2015-06-04 CN CN201510306015.5A patent/CN104986002A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1135439A (en) * | 1995-05-05 | 1996-11-13 | 李炳先 | Concealed craft |
| DE19840847A1 (en) * | 1998-09-07 | 2000-03-09 | Mathias Klug | Modular hybrid vehicle for air, land or sea operation has cell module, bearing surface module, water drive mechanism module as well as appropriate units for air, land and water travel |
| DE102008055842A1 (en) * | 2008-11-04 | 2010-05-12 | Alexandra Schuster | Aircraft i.e. glider, has body and wings, where volume of body is varied with constant weight of body by using hand lever or hand screw mechanism, and lifting of aircraft is controlled by pilot |
| CN203449867U (en) * | 2013-07-22 | 2014-02-26 | 山东沃尔华工程机械有限公司 | Car body structure of amphibious type ice breaking car |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106042800A (en) * | 2016-06-16 | 2016-10-26 | 姜忠昱 | Search and rescue device capable of being applied to sea, land and air areas |
| CN108638773A (en) * | 2018-06-15 | 2018-10-12 | 南京理工大学 | The wheeled land, water and air of a kind of three rotors three are dwelt robot |
| CN113752763A (en) * | 2021-08-17 | 2021-12-07 | 重庆文理学院 | Robot base structure |
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Application publication date: 20151021 |
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