CN109896008B - Self-adaptive water-air amphibious unmanned aerial vehicle adopting rotor wing tilting mechanism - Google Patents
Self-adaptive water-air amphibious unmanned aerial vehicle adopting rotor wing tilting mechanism Download PDFInfo
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Abstract
The invention provides a self-adaptive water-air amphibious unmanned aerial vehicle adopting a rotor wing tilting mechanism, which comprises a vehicle body, a vehicle body shell, an undercarriage and a control system, and is characterized in that: the organism includes the flight control box, be located the headstock at organism middle part, wear out the main shaft that four directions set up all around of headstock, be located the inside built-in duct of both sides around the engine body shell, and be located the external duct that the outside set up about the engine body shell, all be equipped with the screw in external duct and the built-in duct, four through-holes that the main shaft passed to set up on the engine body shell are connected with four vector motor bases respectively, four vector motor bases are connected with four screws respectively, still include two sets of rotors mechanism of verting in the organism, be used for controlling the flight state of two pairs of screws respectively. The unmanned aerial vehicle solves the stability problem in different flight environments and in the process of switching flight environments, and improves the applicability of the water-air amphibious unmanned aerial vehicle.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicles, and particularly relates to a self-adaptive water-air amphibious unmanned aerial vehicle adopting a rotor wing tilting mechanism.
Background
Unmanned aerial vehicles, collectively known as "drones," are unmanned aerial vehicles that are operated by radio remote control devices and self-contained program control devices. Along with the development of science and technology, unmanned aerial vehicle's application area is more and more extensive, and it all plays huge effect in aspects such as electric power inspection, agricultural plant protection, logistics transportation, signal transfer, earth's surface survey and drawing, consequently attracts more talents and resources to drop into wherein.
In the research in the field of unmanned aerial vehicles, water-air-amphibious is an important direction. Diversified activity spaces add more possibilities for application of the drone. The water-air amphibious unmanned aerial vehicle combines the advantages of an aircraft and a submarine, not only can play a role in the air, but also can enter water to perform special operation. The water-air amphibious unmanned aerial vehicle has a large development space in the fields of marine rescue, entertainment, marine survey, military and the like.
The technical key point of the water-air amphibious aircraft is to design an aircraft capable of normally working in water and in the air, and the aircraft can be freely and stably switched between two flight modes. In the water-air amphibious unmanned aerial vehicle that has appeared at present, lack the analysis to unmanned aerial vehicle at different flight environment, can not accomplish stable flight in two kinds of flight environment at water, sky to lead to the flight inefficiency, flight stability is poor, and the flexibility is poor, has influenced water-air amphibious unmanned aerial vehicle's application possibility. Therefore, a novel water-air amphibious unmanned aerial vehicle is designed, so that the unmanned aerial vehicle can stably and flexibly fly in different flight environments, and great significance is achieved for the application of the unmanned aerial vehicle.
Disclosure of Invention
The self-adaptive water-air amphibious unmanned aerial vehicle adopting the rotor wing tilting mechanism is provided aiming at the defects of the existing water-air amphibious unmanned aerial vehicle, the problems of different flight environments and stability in the process of switching the flight environments are solved, and the applicability of the water-air amphibious unmanned aerial vehicle is improved. The technical scheme adopted for solving the problems in the prior art is as follows:
the utility model provides an adopt rotor to vert self-adaptation empty amphibious unmanned aerial vehicle of mechanism, includes organism, engine body shell, undercarriage and control system, its characterized in that: the organism includes the flight control box, be located the headstock at organism middle part, wear out the main shaft that four directions set up all around of headstock, be located the inside built-in duct of both sides around the engine body shell, and be located the external duct that the outside set up about the engine body shell, all be equipped with the screw in external duct and the built-in duct, four through-holes that the main shaft passed to set up on the engine body shell are connected with four vector motor bases respectively, four vector motor bases are connected with four screws respectively, still include two sets of rotors mechanism of verting in the organism, be used for controlling the flight state of two pairs of screws respectively.
The main shaft box comprises a main shaft box steering engine and a gear set, a driving gear in the gear set is connected with an output shaft of the main shaft box steering engine, a driven gear of the gear set is connected with a main shaft positioned on the left side and the right side of the machine body, and the four main shafts extend out of the main shaft box.
The main shaft comprises a square pipe main shaft and a round pipe main shaft, wherein the front side and the rear side of the square pipe main shaft are symmetrically arranged, the left side and the right side of the square pipe main shaft are symmetrically arranged, the square pipe main shaft penetrates out of the main shaft box and then is communicated with the built-in ducts on the front side and the rear side of the main shaft box, the round pipe main shaft penetrates out of the main shaft box and then is communicated with the external ducts on the left side and the right side of the main shaft, and the square pipe main shaft is located above the horizontal position of the round pipe main shaft.
Two sets of rotors mechanism of verting are built-in duct rotor mechanism of verting and external duct rotor mechanism of verting respectively, and wherein built-in duct rotor mechanism of verting includes the square pipe main shaft of wearing out by the headstock, the vector motor cabinet of being connected with square pipe main shaft and the screw motor of being connected with the vector motor cabinet, external duct rotor mechanism of verting includes the pipe main shaft of wearing out by the headstock, the vector motor cabinet of being connected with the pipe main shaft and the screw motor of being connected with the vector motor cabinet, and wherein the pipe main shaft passes through gear train and headstock steering wheel output shaft, and under the rotatory drive of headstock steering wheel output shaft, the whole external duct that takes place of pipe main shaft and verts that drives is whole to take place to vert.
The vector motor base comprises a motor base steering engine, a steering engine support and a motor support, the motor base steering engine is installed on the steering engine support and fixedly connected with a main shaft, a propeller motor is installed on the motor support, a plurality of protruding steps are symmetrically arranged below the motor support and above the steering engine support at intervals, through holes penetrating in the axial direction are formed in the steps, rolling shafts are arranged in the through holes, an output shaft of the motor base steering engine is connected with the rolling shafts, the rolling shafts are fixedly connected with through holes in the steps in the motor support and are in clearance fit with the through holes in the steps in the steering engine support, the motor base steering engine output shaft outputs rotary power to the rolling shafts, the rolling shafts drive the motor support to rotate, the motor support drives the propeller motor to rotate, and then drives a propeller connected with the propeller motor output shaft to deflect.
The machine body shell is of a streamline structure, and can reduce motion resistance in water.
The machine body shell comprises an upper machine shell and a lower machine shell which are connected through bolts, and a spindle box is arranged in the middle of the shell in a hollow mode.
The flight control box is arranged on the upper part of the main spindle box and is used for containing part of hardware in the control system.
The control system comprises a power supply module, a communication module, a single-chip microcomputer control module and an execution module, wherein the modules are connected through circuits and signal transmission, the power supply module comprises a distribution plate and an aeromodelling battery, and current in the aeromodelling battery is transmitted to the single-chip microcomputer control module and the execution module through the distribution plate; the communication module comprises a receiver and an antenna, the antenna is arranged on the receiver and used for receiving signals of the remote controller, and the receiver is used for performing frequency demodulation processing on the signals and sending the signals to the single chip microcomputer control module; the single chip microcomputer control module comprises an STM32 single chip microcomputer chip and a motor speed regulator, wherein the STM32 chip directly controls a steering engine in the vector motor base to rotate, and the motor speed regulator controls the rotating speed of a propeller motor; the execution module comprises a propeller motor and a vector motor base, wherein the propeller motor provides movement force through rotation, and a steering engine in the vector motor base changes the flight mode of the unmanned aerial vehicle through rotation. The specific control flow of the control system is as follows: the model aeroplane and model ship battery passes through the distributor plate and gives each module power supply, the remote controller sends for unmanned aerial vehicle communication module electromagnetic wave signal, antenna received signal in the unmanned aerial vehicle transmits for the receiver, the receiver is to signal demodulation processing and send for single chip microcomputer control module, STM32 single chip microcomputer chip carries out analysis processes to the signal according to built-in procedure, turn into executive instruction with it and send each execution module, wherein, the change of flight mode is realized in the rotation of rudder machine in the single chip microcomputer direct control vector motor cabinet, change screw motor rotational speed through the motor speed regulator.
The invention has the following advantages:
1. unique external ducts and internal ducts are designed, the external ducts are arranged outside the body shell and mainly provide horizontal thrust, the internal ducts are arranged inside the body shell and mainly provide vertical lift, and the flight efficiency and flight stability of the amphibious unmanned aerial vehicle under different flight environments are guaranteed;
2. a novel rotor wing tilting mechanism is designed, the rotor wing tilting mechanism comprises a gear set and a vector motor base, wherein the gear set is driven by a main shaft box steering engine to drive front and rear rotor wing shafts to tilt at a large angle, so that the unmanned aerial vehicle changes the flight attitude; the vector motor base is directly connected with the rotor shaft to drive the rotor shaft to tilt in a small range, so that the unmanned aerial vehicle keeps dynamic balance under external interference;
3. the streamlined body shell is designed, the motion resistance of the unmanned aerial vehicle flying underwater is reduced, and the flying efficiency is improved.
Drawings
FIG. 1 is a schematic view of the overall structure of the unmanned aerial vehicle of the present invention;
FIG. 2 is a schematic diagram of the overall structure of the present invention in a disassembled state;
FIG. 3 is a schematic view of the structure of the main spindle box gear set;
FIG. 4 is a schematic structural view of a vector motor base connected with a built-in duct;
FIG. 5 is an enlarged view of the vector motor base;
FIG. 6 is a schematic structural view of a vector motor base connected with an external duct;
in the figure: 1. the aircraft comprises an engine body shell, 2 propeller motors, 3 undercarriage, 4 external ducts, 5 main shafts, 6 flight control boxes, 7 internal ducts, 8 gear sets, 9 spindle box steering engines, 10 spindle boxes, 11 vector motor bases, 12 motor base steering engines, 13 propellers, 14 motor supports and 15 steering engine supports.
Detailed Description
The technical scheme of the invention is further concretely explained by the embodiment and the attached drawings, as shown in fig. 1-6, a self-adaptive water-air amphibious unmanned aerial vehicle adopting a rotor wing tilting mechanism comprises a machine body, a machine body shell 1, an undercarriage 3 and a control system, wherein the machine body comprises a flight control box 6, a main shaft box 10 positioned in the middle of the machine body, main shafts 5 arranged in the front, back, left and right directions and penetrating through the main shaft box, built-in ducts 7 positioned in the front and back sides of the machine body shell, and the external duct 4 is arranged on the left side and the right side of the engine body shell, propellers are arranged in the external duct and the built-in duct, four main shafts 5 penetrate through holes formed in the engine body shell and are connected with four vector motor bases 11 respectively, the four vector motor bases 11 are connected with four propellers 13 respectively, and the aircraft body also comprises two groups of rotor wing tilting mechanisms which are used for controlling the flight states of the two pairs of propellers respectively.
The main shaft box 10 comprises a main shaft box steering engine 9 and a gear set 8, a driving gear in the gear set is connected with a main shaft of the main shaft box steering engine, a driven gear of the gear set is connected with a main shaft 5 positioned on the left side and the right side of the machine body, and the four main shafts extend out of a through hole in the main shaft box.
The main shaft 5 comprises a square pipe main shaft and a round pipe main shaft, wherein the front side and the rear side of the square pipe main shaft are symmetrically arranged, the left side and the right side of the square pipe main shaft are symmetrically arranged, the square pipe main shaft penetrates out of the main shaft box and then is communicated with the built-in ducts on the front side and the rear side of the main shaft box, the round pipe main shaft penetrates out of the main shaft box and then is communicated with the external ducts on the left side and the right side of the main shaft box, and the square pipe main shaft is located above the horizontal position of the round pipe main shaft.
Two sets of rotors mechanism of verting are built-in duct rotor mechanism of verting and external duct rotor mechanism of verting respectively, wherein built-in duct rotor mechanism of verting includes the square pipe main shaft of wearing out by the headstock, the vector motor cabinet 11 of being connected with square pipe main shaft and the screw motor 2 of being connected with the vector motor cabinet, external duct rotor mechanism of verting includes the pipe main shaft of wearing out by the headstock, the vector motor cabinet 11 of being connected with the pipe main shaft and the screw motor 2 of being connected with the vector motor cabinet, wherein the pipe main shaft passes through the gear train and is connected with headstock steering wheel output shaft, under the rotatory drive of headstock steering wheel output shaft, the whole emergence of pipe main shaft is verted and is driven external duct and wholly takes place to vert.
Vector motor seat 11 includes motor cabinet steering wheel 12, steering wheel support 15 and motor support 14, motor cabinet steering wheel 12 installs on steering wheel support 15 with main shaft fixed connection, install screw motor 2 on the motor support 14, motor support 14 below and steering wheel support 15 top interval symmetry are provided with a plurality of protruding steps, set up the through-hole that the axial runs through on the step, set up the roller bearing in the through-hole, the output shaft and the roller bearing of motor cabinet steering wheel 12 are connected, roller bearing and motor support 14 upper step through-hole fixed connection, with steering wheel support 15 upper step through-hole clearance fit, motor cabinet steering wheel 12 output shaft gives the roller bearing with rotatory power output, drive motor support 14 by the roller bearing and rotate, motor support drives screw motor 2 and rotates, and then drive the screw that is connected with screw motor 2 output shaft and take place to deflect.
The machine body shell 1 is of a streamline structure and can reduce motion resistance in water.
The machine body shell 1 comprises an upper machine shell and a lower machine shell which are connected through bolts, and a spindle box is arranged in the middle of the shell in a hollow mode.
The flight control box 6 is arranged on the upper part of the main spindle box 10 and used for containing part of hardware in a control system, the control system comprises a power supply module, a communication module, a single-chip microcomputer control module and an execution module, all the modules are connected through a circuit and signal transmission, the power supply module comprises a distribution board and a model airplane battery, and current in the model airplane battery is transmitted to the single-chip microcomputer control module and the execution module through the distribution board; the communication module comprises a receiver and an antenna, the antenna is arranged on the receiver and used for receiving signals of the remote controller, and the receiver is used for performing frequency demodulation processing on the signals and sending the signals to the single chip microcomputer control module; the single chip microcomputer control module comprises an STM32 single chip microcomputer chip and a motor speed regulator, wherein the STM32 chip directly controls a steering engine in the vector motor base to rotate, and the motor speed regulator controls the rotating speed of a propeller motor; the execution module comprises a propeller motor and a vector motor base, wherein the propeller motor provides movement force through rotation, and a steering engine in the vector motor base changes the flight mode of the unmanned aerial vehicle through rotation.
The specific control flow of the control system is as follows: the model aeroplane and model ship battery passes through the distributor plate and gives each module power supply, the remote controller sends for unmanned aerial vehicle communication module electromagnetic wave signal, antenna received signal in the unmanned aerial vehicle transmits for the receiver, the receiver is to signal demodulation processing and send for single chip microcomputer control module, STM32 single chip microcomputer chip carries out analysis processes to the signal according to built-in procedure, turn into executive instruction with it and send each execution module, wherein, the change of flight mode is realized in the rotation of rudder machine in the single chip microcomputer direct control vector motor cabinet, change screw motor rotational speed through the motor speed regulator.
The movement process of the invention is as follows: in the take-off process, the built-in duct 7 and the external duct 4 of the water-air amphibious unmanned aerial vehicle are in a state parallel to the ground, and the unmanned aerial vehicle is driven to lift through the rotation of the four propellers 13. When the unmanned aerial vehicle flies in the air, the unmanned aerial vehicle can realize roll, yaw and pitch motions like a common four-axis unmanned aerial vehicle. The main shaft box steering engine 9 drives the propeller of the external duct 4 to rotate to a vertical state through the motor base steering engine 12 in the rotor wing tilting mechanism, so that the horizontal quick movement is realized.
When entering water in the air, the four propellers 13 are adjusted by the motor base steering engines 12 to be parallel to the water surface. In the process, the four propellers 13 are gradually decelerated, and the external duct 4 is lower than the internal duct 7, so that the propellers 13 of the external duct 4 stop rotating firstly and enter the water when entering the water, and then the propellers 13 of the internal duct 7 stop rotating, and the whole machine body stably enters the water.
When the ship moves in water, a propeller motor in the external duct 4 is turned to the vertical direction through a main shaft box steering engine 9. In the process, the propeller 13 of the external duct 4 of the unmanned aerial vehicle provides power for moving forwards and backwards in parallel underwater, and the yaw motion can be realized through the rotation speed difference. The screw 13 of the built-in duct 7 of the unmanned aerial vehicle mainly provides the lift in the aquatic, controls the motion in the vertical direction under water to can realize the correction of unmanned aerial vehicle attitude angle through the fine setting of motor cabinet steering wheel 12.
When entering the air from the underwater, the motors of the four propellers 13 are adjusted by the motor base steering engines 12 to keep the horizontal direction. Four propellers 13 improve the rotational speed, make unmanned aerial vehicle come-up. Because the external duct 4 is lower than the internal duct 7, the internal duct 7 leaves the water surface firstly. When approaching the water surface, the rotating speed of the propeller 13 of the built-in duct 7 is reduced to be very low, and the lift is mainly provided by the propeller 13 of the external duct 4. When the built-in duct 7 discharges water, the propeller 13 of the built-in duct 7 increases the rotating speed, and the whole unmanned aerial vehicle is taken away from the water surface.
The protective scope of the present invention is not limited to the above-described embodiments, and it is apparent that various modifications and variations can be made to the present invention by those skilled in the art without departing from the scope and spirit of the present invention. It is intended that the present invention cover the modifications and variations of this invention provided they come within the scope of the appended claims and their equivalents.
Claims (5)
1. The utility model provides an adopt rotor to vert self-adaptation empty amphibious unmanned aerial vehicle of mechanism, includes organism, engine body shell, undercarriage and control system, its characterized in that: the aircraft body comprises a flight control box, a spindle box positioned in the middle of the aircraft body, spindles penetrating through the spindle box and arranged in four directions, namely front, back, left and right, built-in ducts positioned inside the front and back sides of an aircraft body shell, and external ducts positioned outside the left and right sides of the aircraft body shell, wherein propellers are arranged in the external ducts and the built-in ducts;
the main shaft box comprises a main shaft box steering engine and a gear set, a driving gear in the gear set is connected with an output shaft of the main shaft box steering engine, a driven gear of the gear set is connected with main shafts positioned on the left side and the right side of the machine body, and the four main shafts extend out of the main shaft box;
the main shaft comprises a square pipe main shaft and a round pipe main shaft, wherein the front side and the rear side of the square pipe main shaft are symmetrically arranged, the left side and the right side of the square pipe main shaft are symmetrically arranged, the square pipe main shaft penetrates through the main shaft box and then is communicated with the built-in ducts on the front side and the rear side of the square pipe main shaft, the round pipe main shaft penetrates through the main shaft box and then is communicated with the left external duct and the right external duct, and the square pipe main shaft is positioned above the horizontal position of the round pipe main shaft;
the vector motor base comprises a motor base steering gear, a steering gear support and a motor support, the motor base steering gear is arranged on the steering gear support and fixedly connected with the main shaft, a propeller motor is arranged on the motor support, a plurality of protruding steps are symmetrically arranged below the motor support and above the steering gear support at intervals, through holes which axially penetrate are formed in the steps, rolling shafts are arranged in the through holes, an output shaft of the motor base steering gear is connected with the rolling shafts, and the rolling shafts are fixedly connected with the through holes of the steps on the motor support and in clearance fit with the through holes of the steps on the steering gear support;
two sets of rotors mechanism of verting are built-in duct rotor mechanism of verting and external duct rotor mechanism of verting respectively, and wherein built-in duct rotor mechanism of verting includes the square pipe main shaft of wearing out by the headstock, the vector motor cabinet of being connected with square pipe main shaft and the screw motor of being connected with the vector motor cabinet, external duct rotor mechanism of verting includes the pipe main shaft of wearing out by the headstock, the vector motor cabinet of being connected with the pipe main shaft and the screw motor of being connected with the vector motor cabinet, and wherein the pipe main shaft passes through gear train and headstock steering wheel output shaft, and under the rotatory drive of headstock steering wheel output shaft, the whole external duct that takes place of pipe main shaft and verts that drives is whole to take place to vert.
2. The adaptive water-air amphibious unmanned aerial vehicle adopting the rotor tilting mechanism as claimed in claim 1, is characterized in that: the machine body shell is of a streamline structure, and can reduce motion resistance in water.
3. The adaptive water-air amphibious unmanned aerial vehicle adopting the rotor tilting mechanism as claimed in claim 1, is characterized in that: the machine body shell comprises an upper machine shell and a lower machine shell which are connected through bolts, and a spindle box is arranged in the middle of the shell in a hollow mode.
4. The adaptive water-air amphibious unmanned aerial vehicle adopting the rotor tilting mechanism as claimed in claim 1, is characterized in that: the flight control box is arranged on the upper part of the spindle box and is used for containing part of hardware in the control system.
5. The adaptive water-air amphibious unmanned aerial vehicle adopting the rotor tilting mechanism as claimed in claim 1, is characterized in that: the control system comprises a power supply module, a communication module, a single-chip microcomputer control module and an execution module, wherein the modules are connected through circuits and signal transmission, the power supply module comprises a distribution plate and an aeromodelling battery, and current in the aeromodelling battery is transmitted to the single-chip microcomputer control module and the execution module through the distribution plate; the communication module comprises a receiver and an antenna, the antenna is arranged on the receiver and used for receiving signals of the remote controller, and the receiver is used for performing frequency demodulation processing on the signals and sending the signals to the single chip microcomputer control module; the single chip microcomputer control module comprises an STM32 single chip microcomputer chip and a motor speed regulator, wherein the STM32 chip directly controls a steering engine in the vector motor base to rotate, and the motor speed regulator controls the rotating speed of a propeller motor; the execution module comprises a propeller motor and a vector motor base.
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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 true CN109896008B (en) | 2022-08-05 |
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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 |
| CN110466752B (en) * | 2019-08-07 | 2021-11-26 | 深圳市道通智能航空技术股份有限公司 | Control method of tilt rotor unmanned aerial vehicle and tilt rotor unmanned aerial vehicle |
| CN111169622A (en) * | 2020-01-20 | 2020-05-19 | 张世栋 | Tilting duct lift fan |
| CN111422348B (en) * | 2020-04-02 | 2021-11-16 | 沈阳航空航天大学 | Vertical take-off and landing unmanned aerial vehicle and control method thereof |
| CN113665303A (en) * | 2020-05-15 | 2021-11-19 | 北京臻迪科技股份有限公司 | Amphibious aircraft |
| CN111717382B (en) * | 2020-05-27 | 2022-04-08 | 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 |
| CN112758314B (en) * | 2020-12-15 | 2022-07-26 | 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 |
| 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 |
| 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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