CN109896008A - A kind of empty amphibious unmanned plane of adaptive water using rotor inclining rotary mechanism - Google Patents
A kind of empty amphibious unmanned plane of adaptive water using rotor inclining rotary mechanism Download PDFInfo
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- CN109896008A CN109896008A CN201910248361.0A CN201910248361A CN109896008A CN 109896008 A CN109896008 A CN 109896008A CN 201910248361 A CN201910248361 A CN 201910248361A CN 109896008 A CN109896008 A CN 109896008A
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Abstract
The present invention provides a kind of empty amphibious unmanned plane of the adaptive water using rotor inclining rotary mechanism, including body, body fuselage, undercarriage and control system, it is characterized by: the body includes flying control box, spindle box in the middle part of body, it is pierced by the main shaft of spindle box four direction setting all around, built-in duct inside body fuselage front and rear sides, with the external duct for being located at the setting of body fuselage or so outside, propeller is equipped in external duct and built-in duct, four main shafts pass through the through-hole opened up on body fuselage and connect respectively with four vector motor seats, four vector motor seats are connect with four propellers respectively, it further include two groups of rotor inclining rotary mechanisms in body, it is respectively used to the state of flight of two pairs of propellers of control.Unmanned plane of the present invention solves the stability problem during different flight environment of vehicle, and switching flight environment of vehicle, improves the applicability of the empty amphibious unmanned plane of water.
Description
Technical field
The invention belongs to air vehicle technique fields, and in particular to a kind of amphibious using the adaptive water sky of rotor inclining rotary mechanism
Unmanned plane.
Background technique
Unmanned plane, full name " UAV " are grasped using radio robot and the presetting apparatus provided for oneself
Vertical not manned vehicle.With the development of science and technology, the application field of unmanned plane is more and more extensive, in electric inspection process, agricultural
Plant protection, logistics transportation, signal transfer, surface mapping etc. all play great function, therefore attract more talents and money
Source is put into wherein.
In the research in unmanned plane field, amphibious water sky is an important direction.The activity space of diversification is for nobody
The application of machine adds a possibility that more.The empty amphibious unmanned plane of water combines the advantage of aircraft and submarine, not only can be with
Its effect is played in the sky, and be can also pass into and carried out job that requires special skills in water.The empty amphibious unmanned plane of water in ocean rescue field,
The fields such as entertainment field, marine surveys and military affairs suffer from very big development space.
The key problem in technology of the empty amphibious aircraft of water is to design one kind can in water, the aircraft worked normally in the air, and
And it can steadily switch freely between two kinds of offline mode.At present in the empty amphibious unmanned plane of the water that has emerged, lack pair
Unmanned plane can not accomplish stabilized flight in water, empty two kinds of flight environment of vehicle, so as to cause flying in the analysis of different flight environment of vehicle
Line efficiency is low, and flight stability is poor, and flexibility is poor, affects the application possibility of the empty amphibious unmanned plane of water.Therefore one kind is designed
The empty amphibious unmanned plane of new-type water, so that unmanned plane can be stablized in different flight environment of vehicle, flexibly fly, for answering for unmanned plane
With having a very big significance.
Summary of the invention
For the empty amphibious unmanned plane of existing water deficiency provide it is a kind of amphibious using the adaptive water sky of rotor inclining rotary mechanism
Unmanned plane solves the stability problem during different flight environment of vehicle, and switching flight environment of vehicle, improves the empty amphibious nothing of water
Man-machine applicability.The present invention to solve problems of the prior art the technical solution adopted is as follows:
A kind of empty amphibious unmanned plane of adaptive water using rotor inclining rotary mechanism, including body, body fuselage, undercarriage and
Control system, it is characterised in that: the body includes left before and after flying control box, the spindle box in the middle part of body, being pierced by spindle box
The main shaft of right four direction setting, the built-in duct inside body fuselage front and rear sides, and it is outer positioned at body fuselage or so
The external duct of side setting is equipped with propeller in external duct and built-in duct, and four main shafts pass through to be opened up on body fuselage
Through-hole connect respectively with four vector motor seats, four vector motor seats are connect with four propellers respectively, are also wrapped in body
Two groups of rotor inclining rotary mechanisms are included, the state of flight of two pairs of propellers of control is respectively used to.
The spindle box includes spindle box steering engine, gear set, driving gear and spindle box steering engine output shaft in gear set
It is connected, gear set driven gear is connected with body left and right sides main shaft is located at, and four main shafts are stretched out from spindle box.
The main shaft includes the symmetrically arranged round tube main shaft of the symmetrically arranged square tube main shaft in front and rear sides and the left and right sides, side
Pipe main shaft is pierced by after spindle box to be connected to duct built in front and rear sides, and round tube main shaft is pierced by after spindle box and the external duct in right and left
Connection, square tube main shaft are located above round tube major axis horizontal orientation.
The respectively built-in duct rotor inclining rotary mechanism of two groups of rotor inclining rotary mechanisms and external duct rotor inclining rotary mechanism,
Wherein built-in duct rotor inclining rotary mechanism includes the square tube main shaft being pierced by by spindle box, the vector motor seat connecting with square tube main shaft
The propeller motor connecting with vector motor seat, the external duct rotor inclining rotary mechanism includes the round tube being pierced by by spindle box
Main shaft, the vector motor seat connecting with round tube main shaft and the propeller motor connecting with vector motor seat, wherein round tube main shaft is logical
It crosses gear set and spindle box steering engine exports axis connection, in the case where the rotation of spindle box steering engine output shaft drives, round tube main shaft integrally occurs
It verts and external duct is driven integrally to vert.
The vector motor seat includes motor cabinet steering engine, steering engine support and motor support base, and motor cabinet steering engine is mounted on steering engine
It is fixedly connected on support with main shaft, propeller motor is installed, between motor support base lower section and steering engine support top on motor support base
Every being symmetrically arranged with several raised steps, the through-hole axially penetrated through is offered on step, roller bearing, motor cabinet steering engine are set in through-hole
Output shaft connect with roller bearing, roller bearing is fixedly connected with motor support base top bar through-hole, with steering engine support top bar via clearance
Cooperation, motor cabinet steering engine output shaft export rotary power to roller bearing, drive motor support base rotation by roller bearing, motor support base drives
The rotation of propeller motor, and then the propeller connecting with propeller motor output shaft is driven to deflect.
The body fuselage is streamlined structure, can reduce the resistance of motion in water.
The body fuselage includes upper casing and lower casing, and two parts are bolted, the hollow placement master of housing central section
Axle box.
The winged control box is placed in main shaft upper box part, for holding the fractional hardware in control system.
The control system includes power supply module, communication module, single chip control module, execution module, between each module
Connection is transmitted by circuit and with signal, the power supply module includes section board and model airplane battery, and the electric current in model airplane battery is logical
It crosses section board and is transported to single chip control module and execution module；The communication module includes receiver and antenna, antenna cloth
It sets on the receiver, antenna is used to receive remote controller signal, and receiver, which solve to signal, to be handled frequently and be sent to single-chip microcontroller control
Molding block；The single chip control module includes STM32 singlechip chip and machine governor, wherein STM32 chip is directly controlled
Steering engine rotation in vector motor seat processed, controls propeller motor speed by machine governor；The execution module includes
Propeller motor and vector motor seat, wherein propeller motor provides motoricity by rotation, and the steering engine in vector motor seat is logical
Cross the offline mode that rotation changes unmanned plane.The specific control flow of control system are as follows: model airplane battery gives each mould by section board
Block power supply, remote controler are sent to UAV Communication module electromagnetic wave signal, and antenna receives signal and passes to reception in unmanned plane
Machine, receiver carry out solution frequency to signal and handle and be sent to single chip control module, and STM32 singlechip chip is according to plug-in
Signal is analyzed and processed, is translated into execute instruction and issues each execution module, wherein single-chip microcontroller directly controls vector electricity
The transformation of offline mode is realized in steering engine rotation in base, changes propeller motor speed by machine governor.
The present invention has the advantage that
1. devising unique external duct and built-in duct, external duct is arranged in outside body fuselage, main to provide
Horizontal thrust, built-in duct are arranged in inside body fuselage, mainly provide vertical lift, ensure that the empty amphibious unmanned plane of water not
With the flight efficiency and flight stability under flight environment of vehicle；
2. devising novel rotor inclining rotary mechanism, rotor inclining rotary mechanism includes gear set, vector motor seat, middle gear
Group is driven front and back rotor shaft that wide-angle occurs and verted, made unmanned plane change of flight posture by spindle box servo driving；Vector electricity
Base is connected directly with rotor shaft, is driven rotor shaft that small range occurs and is verted, unmanned plane is made to keep dynamic flat under external interference
Weighing apparatus；
3. devising streamlined body fuselage, reduce the resistance of motion that unmanned plane flies under water, improves flight effect
Rate.
Detailed description of the invention
Fig. 1 is unmanned plane overall structure diagram of the present invention；
Fig. 2 is overall structure disassembled form schematic diagram of the invention；
Fig. 3 is the structural schematic diagram of spindle box gear set；
Fig. 4 is the structural schematic diagram for the vector motor seat connecting with built-in duct；
Fig. 5 is vector motor holder structure enlarged diagram；
Fig. 6 is the structural schematic diagram for the vector motor seat connecting with external duct；
In figure: 1. body fuselages, 2. propeller motors, 3. undercarriages, 4. external ducts, 5. main shafts, 6. fly control boxes, in 7.
Set duct, 8. gear sets, 9. spindle box steering engines, 10. spindle boxes, 11. vector motor seats, 12. motor cabinet steering engines, 13. propellers,
14. motor support base, 15. steering engine supports.
Specific embodiment
Below with reference to the embodiments and with reference to the accompanying drawing the technical solutions of the present invention will be further described, such as Fig. 1-
Shown in 6, a kind of empty amphibious unmanned plane of adaptive water using rotor inclining rotary mechanism, including body, body fuselage 1,3 and of undercarriage
Control system, body includes winged control box 6, the spindle box 10 in the middle part of body, being pierced by spindle box, all around four direction is set
The main shaft 5 set, the built-in duct 7 inside body fuselage front and rear sides, and be arranged on the outside of body fuselage or so outer
Duct 4 is set, propeller is equipped in external duct and built-in duct, four main shafts 5 pass through the through-hole point opened up on body fuselage
It is not connect with four vector motor seats 11, four vector motor seats 11 are connect with four propellers 13 respectively, further include in body
Two groups of rotor inclining rotary mechanisms are respectively used to the state of flight of two pairs of propellers of control.
Spindle box 10 includes spindle box steering engine 9, gear set 8, driving gear and spindle box steering engine main shaft phase in gear set
Even, gear set driven gear is connected with body left and right sides main shaft 5 is located at, and four main shafts through-hole from spindle box stretches out.
Main shaft 5 includes the symmetrically arranged round tube main shaft of the symmetrically arranged square tube main shaft in front and rear sides and the left and right sides, square tube
Main shaft is pierced by after spindle box to be connected to duct built in front and rear sides, and round tube main shaft connects after being pierced by spindle box with the external duct in right and left
Logical, square tube main shaft is located above round tube major axis horizontal orientation.
The respectively built-in duct rotor inclining rotary mechanism of two groups of rotor inclining rotary mechanisms and external duct rotor inclining rotary mechanism, wherein
Built-in duct rotor inclining rotary mechanism include the square tube main shaft being pierced by by spindle box, the vector motor seat 11 being connect with square tube main shaft and
The propeller motor 2 being connect with vector motor seat, external duct rotor inclining rotary mechanism include the round tube main shaft being pierced by by spindle box,
The vector motor seat 11 connecting with round tube main shaft and the propeller motor 2 connecting with vector motor seat, wherein round tube main shaft passes through
Gear set and spindle box steering engine export axis connection, and in the case where the rotation of spindle box steering engine output shaft drives, round tube main shaft integrally inclines
Turn that external duct is driven integrally to vert.
Vector motor seat 11 includes motor cabinet steering engine 12, steering engine support 15 and motor support base 14, and motor cabinet steering engine 12 is installed
It is fixedly connected on steering engine support 15 with main shaft, propeller motor 2,14 lower section of motor support base and rudder is installed on motor support base 14
Interval is symmetrically arranged with several raised steps above machine support 15, and the through-hole axially penetrated through, setting in through-hole are offered on step
The output shaft of roller bearing, motor cabinet steering engine 12 is connect with roller bearing, and roller bearing is fixedly connected with 14 top bar through-hole of motor support base, with steering engine
The cooperation of 15 top bar via clearance of support, 12 output shaft of motor cabinet steering engine export rotary power to roller bearing, drive electricity by roller bearing
Machine support 14 rotates, and motor support base drives propeller motor 2 to rotate, and then drives the spiral shell that axis connection is exported with propeller motor 2
Rotation paddle deflects.
Body fuselage 1 is streamlined structure, can reduce the resistance of motion in water.
Body fuselage 1 includes upper casing and lower casing, and two parts are bolted, the hollow placement main shaft of housing central section
Case.
Fly control box 6 and be placed in 10 top of spindle box, for holding the fractional hardware in control system, control system includes supplying
Electric module, communication module, single chip control module, execution module are connected between each module, institute by circuit and transmitting with signal
Stating power supply module includes section board and model airplane battery, and the electric current in model airplane battery is transported to single-chip microcontroller by section board and controls mould
Block and execution module；The communication module includes receiver and antenna, and antenna arranges that on the receiver antenna is used to receive remote control
Device signal, receiver, which solve to signal, to be handled frequently and is sent to single chip control module；The single chip control module includes
STM32 singlechip chip and machine governor, wherein STM32 chip directly controls the rotation of the steering engine in vector motor seat, leads to
Cross machine governor control propeller motor speed；The execution module includes propeller motor and vector motor seat, wherein spiral shell
It revolves paddle motor and provides motoricity by rotation, the steering engine in vector motor seat changes the offline mode of unmanned plane by rotation.
The specific control flow of control system are as follows: model airplane battery gives each module for power supply by section board, and remote controler is sent to
UAV Communication module electromagnetic wave signal, antenna receives signal and passes to receiver in unmanned plane, and receiver carries out signal
Xie Pin handles and is sent to single chip control module, and STM32 singlechip chip is analyzed and processed signal according to plug-in,
It is translated into execute instruction and issues each execution module, wherein single-chip microcontroller directly controls steering engine rotation in vector motor seat and realizes
The transformation of offline mode changes propeller motor speed by machine governor.
Motion process of the invention are as follows: in take-off process, built-in duct 7, the external duct 4 of the empty amphibious unmanned plane of water are in
It is parallel to the state of ground, unmanned plane raising is driven by the rotation of four propellers 13.When unmanned plane flight in the sky, nobody
Machine can realize roll, yaw, pitching movement as four common axis unmanned planes.Spindle box steering engine 9 is verted machine by rotor
Motor cabinet steering engine 12 in structure drives the propeller of external duct 4 to rotate to vertical state, to realize the quick of horizontal direction
It is mobile.
When entering water in the sky, four propellers 13 adjust equal keeping parallelism and water surface direction by motor cabinet steering engine 12.
In this process, four propellers 13 gradually slow down, and since external duct 4 is lower than built-in duct 7, enter external culvert when water
The propeller 13 in road 4 stalls first and enters under water, and then the propeller 13 of built-in duct 7 stalls, and realizes the flat of entire body
Surely enter water.
When moving in water, the propeller motor in external duct 4 is overturn by spindle box steering engine 9 to vertical direction.?
During this, the propeller 13 of the external duct 4 of unmanned plane provides the power that front and back moves in parallel under water, and can be by turning
Speed difference realizes yawing rotation.The propeller 13 of the built-in duct 7 of unmanned plane mainly provides the lift in water, controls underwater vertical side
Upward movement, and the correction at UAV Attitude angle can be realized by the fine tuning of motor cabinet steering engine 12.
From when entering aerial under water, four 13 motors of propeller are adjusted by motor cabinet steering engine 12 and keep horizontal direction.
Four propellers 13 improve revolving speed, and unmanned plane is made to float.Since external duct 4 is lower than built-in duct 7, built-in duct 7 is first left
The water surface.When close to the water surface, 13 revolving speed of propeller of built-in duct 7 is down to very low, is mainly mentioned by the propeller 13 of external duct 4
For lift.When the water outlet of built-in duct 7, the propeller 13 of built-in duct 7 improves revolving speed, and entire unmanned plane is taken away the water surface.
Protection scope of the present invention is not limited to the above embodiments, it is clear that those skilled in the art can be to this hair
It is bright to carry out various changes and deformation without departing from scope and spirit of the present invention.If these changes and deformation belong to power of the present invention
In the range of benefit requirement and its equivalent technologies, then including the intent of the present invention also includes these changes and deforms.
Claims (9)
1. a kind of empty amphibious unmanned plane of adaptive water using rotor inclining rotary mechanism, including body, body fuselage, undercarriage and control
System processed, it is characterised in that: the body includes flying control box, the spindle box in the middle part of body, being pierced by spindle box all around
The main shaft of four direction setting, the built-in duct inside body fuselage front and rear sides, and positioned at body fuselage or so outside
Propeller is equipped in the external duct being arranged, external duct and built-in duct, what four main shafts opened up on body fuselage
Through-hole is connect with four vector motor seats respectively, and four vector motor seats are connect with four propellers respectively, further includes in body
Two groups of rotor inclining rotary mechanisms are respectively used to the state of flight of two pairs of propellers of control.
2. a kind of empty amphibious unmanned plane of adaptive water using rotor inclining rotary mechanism as described in claim 1, it is characterised in that:
The spindle box includes spindle box steering engine, gear set, and the driving gear in gear set is connected with spindle box steering engine output shaft, gear
Group driven gear is connected with body left and right sides main shaft is located at, and four main shafts are stretched out from spindle box.
3. a kind of empty amphibious unmanned plane of adaptive water using rotor inclining rotary mechanism as described in claim 1, it is characterised in that:
The main shaft includes the symmetrically arranged round tube main shaft of the symmetrically arranged square tube main shaft in front and rear sides and the left and right sides, and square tube main shaft is worn
Out after spindle box with front and rear sides built in duct be connected to, round tube main shaft is connected to after being pierced by spindle box with the external duct in right and left, side
Pipe main shaft is located above round tube major axis horizontal orientation.
4. a kind of empty amphibious unmanned plane of adaptive water using rotor inclining rotary mechanism as described in claim 1, it is characterised in that:
Two groups of rotor inclining rotary mechanisms are respectively built-in duct rotor inclining rotary mechanism and external duct rotor inclining rotary mechanism, wherein built-in
Duct rotor inclining rotary mechanism includes the square tube main shaft being pierced by by spindle box, the vector motor seat connecting with square tube main shaft and and vector
Motor cabinet connection propeller motor, the external duct rotor inclining rotary mechanism include the round tube main shaft being pierced by by spindle box, with
The vector motor seat of round tube main shaft connection and the propeller motor connecting with vector motor seat, wherein round tube main shaft passes through gear set
Axis connection is exported with spindle box steering engine, in the case where the rotation of spindle box steering engine output shaft drives, round tube main shaft integrally verts drive
External duct integrally verts.
5. a kind of empty amphibious unmanned plane of adaptive water using rotor inclining rotary mechanism as described in claim 1, it is characterised in that:
The vector motor seat includes motor cabinet steering engine, steering engine support and motor support base, motor cabinet steering engine be mounted on steering engine support with
Main shaft is fixedly connected, and propeller motor is equipped on motor support base, is symmetrically set below motor support base with interval above steering engine support
Several raised steps are equipped with, the through-hole axially penetrated through is offered on step, roller bearing, the output shaft of motor cabinet steering engine are set in through-hole
It is connect with roller bearing, roller bearing is fixedly connected with motor support base top bar through-hole, is cooperated with steering engine support top bar via clearance.
6. a kind of empty amphibious unmanned plane of adaptive water using rotor inclining rotary mechanism as described in claim 1, it is characterised in that:
The body fuselage is streamlined structure, can reduce the resistance of motion in water.
7. a kind of empty amphibious unmanned plane of adaptive water using rotor inclining rotary mechanism as described in claim 1, it is characterised in that:
The body fuselage includes upper casing and lower casing, and two parts are bolted, the hollow placement spindle box of housing central section.
8. a kind of empty amphibious unmanned plane of adaptive water using rotor inclining rotary mechanism as described in claim 1, it is characterised in that:
The winged control box is placed in main shaft upper box part, for holding the fractional hardware in control system.
9. a kind of empty amphibious unmanned plane of adaptive water using rotor inclining rotary mechanism as described in claim 1, it is characterised in that:
The control system includes power supply module, communication module, single chip control module, execution module, passes through circuit between each module
It is connected with being transmitted with signal, the power supply module includes section board and model airplane battery, and the electric current in model airplane battery passes through section board
It is transported to single chip control module and execution module；The communication module includes receiver and antenna, and antenna is arranged in reception
On machine, antenna is used to receive remote controller signal, and receiver, which solve to signal, to be handled frequently and be sent to single chip control module；Institute
Stating single chip control module includes STM32 singlechip chip and machine governor, wherein STM32 chip directly controls vector electricity
Steering engine rotation in base, controls propeller motor speed by machine governor；The execution module includes propeller electricity
Machine and vector motor seat.
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| CN201910248361.0A CN109896008B (en) | 2019-03-29 | 2019-03-29 | Self-adaptive water-air amphibious unmanned aerial vehicle adopting rotor wing tilting mechanism |
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| CN201910248361.0A CN109896008B (en) | 2019-03-29 | 2019-03-29 | Self-adaptive water-air amphibious unmanned aerial vehicle adopting rotor wing tilting mechanism |
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| CN109896008B CN109896008B (en) | 2022-08-05 |
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| CN111717382A (en) * | 2020-05-27 | 2020-09-29 | 西南科技大学 | Many rotor crafts of medium are striden to empty amphibious of water |
| CN111823797A (en) * | 2020-07-23 | 2020-10-27 | 江苏科技大学 | Duct type water-air amphibious unmanned aircraft capable of tilting |
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| CN115071971A (en) * | 2022-07-28 | 2022-09-20 | 江苏大学 | Water-air amphibious aircraft based on four vector rotors and control method |
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| CN110217389A (en) * | 2019-06-19 | 2019-09-10 | 中国人民解放军空军工程大学 | A kind of coaxial double-rotary wing unmanned plane that vector verts |
| WO2021023187A1 (en) * | 2019-08-07 | 2021-02-11 | 深圳市道通智能航空技术有限公司 | Control method of tilt rotor unmanned aerial vehicle, and tilt rotor unmanned aerial vehicle |
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| CN111717382A (en) * | 2020-05-27 | 2020-09-29 | 西南科技大学 | Many rotor crafts of medium are striden to empty amphibious of water |
| CN111823797A (en) * | 2020-07-23 | 2020-10-27 | 江苏科技大学 | Duct type water-air amphibious unmanned aircraft capable of tilting |
| CN112339514A (en) * | 2020-10-14 | 2021-02-09 | 武汉理工大学 | Water-air amphibious wing-changing type unmanned aerial vehicle |
| CN112498675B (en) * | 2020-11-30 | 2022-04-08 | 南京航空航天大学 | Three-shaft type four-rotor unmanned submersible aircraft |
| CN112498675A (en) * | 2020-11-30 | 2021-03-16 | 南京航空航天大学 | Three-shaft type four-rotor unmanned submersible aircraft |
| CN112758314A (en) * | 2020-12-15 | 2021-05-07 | 北京交通大学 | Deformable composite wing cross-medium flying submersible vehicle |
| CN113459742A (en) * | 2021-08-24 | 2021-10-01 | 复旦大学 | Air-ground amphibious multi-rotor unmanned aerial vehicle |
| CN114802657A (en) * | 2022-03-18 | 2022-07-29 | 中国舰船研究设计中心 | Gyro-type cross-medium unmanned aircraft and working method thereof |
| CN114802657B (en) * | 2022-03-18 | 2024-01-26 | 中国舰船研究设计中心 | Gyro type cross-medium unmanned aircraft and working method thereof |
| CN114802748A (en) * | 2022-05-05 | 2022-07-29 | 江苏大学 | Water-air amphibious aircraft based on vector rotor and control method |
| CN115071971A (en) * | 2022-07-28 | 2022-09-20 | 江苏大学 | Water-air amphibious aircraft based on four vector rotors and control method |
| CN115593653A (en) * | 2022-10-28 | 2023-01-13 | 中国工程物理研究院总体工程研究所（Cn） | High-speed air-water medium crossing test recovery test device and test method |
| CN115593653B (en) * | 2022-10-28 | 2024-04-16 | 中国工程物理研究院总体工程研究所 | High-speed air-water medium crossing test recovery test device and test method |
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