CN112140820A

CN112140820A - Automatic many rotors of folding water-air amphibious robot

Info

Publication number: CN112140820A
Application number: CN202010876478.6A
Authority: CN
Inventors: 沈秋毅; 杨嘉鹏
Original assignee: Individual
Current assignee: Individual
Priority date: 2020-08-27
Filing date: 2020-08-27
Publication date: 2020-12-29
Anticipated expiration: 2040-08-27
Also published as: CN112140820B

Abstract

The invention discloses an automatic folding multi-rotor water-air amphibious robot which comprises a main body cabin, an empennage and an underwater propeller, wherein the empennage is arranged on the main body cabin; a plurality of horn control units are arranged around the main cabin; each machine arm control unit is provided with a base and a baffle which are coaxially arranged in parallel, an axial sliding assembly is arranged between the base and the baffle, a machine arm support is hinged to a sliding block of the sliding assembly, and a machine arm is hinged to one end, far away from the sliding block, of the machine arm support; one end of the horn extends to the baffle and is movably hinged with the main body cabin, and the other end of the horn is connected with a rotor wing unit through a motor base; a roll shaft control unit is further arranged on the periphery of the main body cabin, which is close to the tail wing; the robot does not need to additionally carry a ballast water tank to control sinking and floating, the size and weight of amphibious equipment are obviously reduced, the underwater forward resistance is small, the robot is suitable for underwater navigation, can be automatically folded and unfolded, and obviously reduces carrying difficulty and preparation work before release.

Description

Automatic many rotors of folding water-air amphibious robot

Technical Field

The invention relates to the technical field of amphibious underwater vehicles, in particular to an automatic folding multi-rotor water-air amphibious robot.

Background

At present, unmanned underwater operations such as underwater inspection and sampling mainly adopt an underwater vehicle, but the preparation work of the underwater vehicle in the early stage is complicated, the underwater operation needs manual operation when the underwater vehicle is released underwater, and adverse factors such as unsuitable release in places far away from a water area or higher on the bank exist. The existing amphibious unmanned aerial vehicle has shallow diving depth, and the fixed wing amphibious unmanned aerial vehicle has higher requirements on take-off and landing ground on land; the rotary wings have large underwater resistance and low forward speed, so the working efficiency is low.

For example, Chinese utility model patent (publication No. CN206615393U) discloses a floating body throwing-off type amphibious four-rotor unmanned aerial vehicle in 2017, which comprises four propellers, a rigid cross-shaped support mechanism and a control system, wherein the cross-shaped support mechanism comprises a frame main body and four arms connected to the periphery of the frame main body, a floating body is hermetically installed at the top of the frame main body, an inner cabin body is hermetically installed at the bottom of the frame main body, and watertight connectors for installing waterproof wires are arranged at the periphery and the top of the frame main body; although the unmanned aerial vehicle can sail in the air and in water, the unmanned aerial vehicle is insufficient in underwater sailing stability and accuracy control and has large underwater driving resistance in underwater sailing postures.

For another example, in 2019, the chinese patent application (publication No. CN109229374A) discloses a cabin-type flying underwater vehicle, which includes a main control cabin, a power conversion cabin, a communication device, and a rotor; in a flight state, the steering engine drives the rotor wings to rotate to form a traditional four-rotor unmanned aerial vehicle structure; when the ship is in a water surface navigation state, the steering engine drives the rotor wing to rotate to form a paddle wheel structure; when the underwater vehicle is in an underwater diving state, the steering engine drives the rotor wing to rotate to form a novel unmanned underwater vehicle structure; the flying underwater vehicle can also sail in the air and underwater, and can adjust the angle, but the flying underwater vehicle is inconvenient to take off and land on land, and needs foreign object assistance in static release.

Disclosure of Invention

The invention aims to provide an automatic folding multi-rotor water-air amphibious robot aiming at the problems in the prior art.

In order to achieve the purpose, the invention adopts the technical scheme that:

an automatic folding multi-rotor water-air amphibious robot comprises a main body cabin, wherein the tail part of the main body cabin is connected with a plurality of empennages, and underwater propellers are arranged among the empennages; a plurality of horn control units are arranged around the main cabin in a central symmetry manner; each machine arm control unit is provided with a base and a baffle which are coaxially arranged in parallel, the base and the baffle are fixedly arranged at the tail part and the head part of the main cabin respectively, an axial sliding assembly is arranged between the base and the baffle, a machine arm support is hinged on a sliding block of the sliding assembly, and a machine arm is hinged at one end, away from the sliding block, of the machine arm support; one end of the horn extends to the baffle and is movably hinged with the main body cabin, and the other end of the horn is connected with a rotor wing unit through a motor base; and a roll shaft control unit is also arranged on the periphery of the main body cabin close to the tail wing.

This automatic many rotors of folding water and air amphibious robot is through setting up the horn that can fold automatically around the main part cabin, makes the rotor unit that the horn tip set up can be in a plurality of positions such as horizontal direction and vertical direction, has improved holistic flexibility, can carry out the adjustment that suits according to the aerial or aquatic position of locating, realizes different operation modes.

When the underwater vehicle is used, the rotor wing units can be quickly arrived at a preset water area from the air and then submerged under the water, most of resistance can be reduced by retracting the horn, and the underwater advancing speed capability is greatly increased; the underwater rapid or low-speed advancing and attitude control is realized by controlling different opening angles of the horn and the thrust of the rotor wing unit, and the free switching of various operation modes is realized.

Specifically, in the air, the horn is in an unfolded state, the four rotor units are located on the same horizontal plane by taking the vertical direction as a reference, the camera at the head of the main cabin can realize 360-degree surrounding shooting on the horizontal plane, the same action as that of the existing X-shaped multi-rotor can be executed to realize air flight, the robot is prevented from moving forwards in the water in the process of not reaching the designated water area, and the time of reaching the designated water area by the robot is shortened in the air flight mode;

in water, the aircraft moves forwards by taking the horizontal direction as a reference, and the four rotor wing units can sail underwater at a higher speed by combining with the underwater propeller; the resistance is reduced by retracting the machine arm, the low-speed, stable and long-endurance operation can be realized, and the front 180-degree non-shielding visual angle shooting can be realized by the camera.

In addition, the robot does not need to additionally carry a ballast water tank to control sinking and floating, the size and the weight of amphibious equipment are obviously reduced, compared with other amphibious robots, the robot runs underwater as a common underwater vehicle, has good visual field conditions, is suitable for underwater navigation, can be automatically folded and unfolded, and obviously reduces carrying difficulty and preparation work before release.

The roll shaft control unit can maintain the roll shaft stable. The arrangement of the empennage can improve the underwater navigation capacity and maintain the navigation stability; the underwater thruster arranged between the empennages can generate larger underwater thrust.

The rotation of the horn can be realized through the arrangement of the base, the baffle, the sliding assembly and the horn support, so that the horn can be freely adjusted in angle from a tightening state parallel to the main body cabin to a stretching state perpendicular to the main body cabin, and the angle change range is not less than 90 degrees.

Further, the horn is L-shaped, and the length of the horn is not shorter than the axial length of the main body cabin; the horn support is a pair of, and the setting of symmetry is in the both sides of horn are articulated fixed, the horn support with the articulated department of horn is kept away from the rotor unit sets up.

The arrangement of the machine arm of the structure is convenient for unfolding and folding the machine arm; the pair of horn support set up can improve connection stability, and the normal receiving and releasing of horn can enough be guaranteed in the selection of pin joint, also can reduce the length of horn support.

Further, the motor base is provided with an integrated socket part and an installation part, the socket part is sleeved and fixed at the tail end of the horn, a brushless motor is installed on the installation part, and the output end of the brushless motor is connected with a rotor propeller; the central axis of the rotor propeller is perpendicular to the length direction of the horn.

The socket part and the installation part are convenient to connect, install and fix.

Furthermore, the sliding assembly comprises a plurality of linear guide rails arranged between the base and the baffle, and a screw rod driving motor arranged on the base, wherein the output end of the screw rod driving motor is connected with a screw rod, and the other end of the screw rod is connected with the baffle; the linear guide reaches the lead screw all is on a parallel with the axis setting in main part cabin, the slider cover is established linear guide with on the lead screw.

The screw rod driving motor drives the screw rod to rotate so as to drive the sliding block to move up and down along the linear guide rail, so that the machine arm support is driven to move up and down, and due to the hinged arrangement, the machine arm support can rotate, so that the retraction control of the machine arm is realized. In the air state, the machine arm does not move to keep stable when maintaining the horizontal position (when the main body cabin is in the vertical state); when the machine arm is retracted after landing, the machine arm is retracted to reach a vertical position.

Furthermore, the linear guide rails are in a pair, the linear guide rails and the screw rod are distributed in a delta shape, and the screw rod is arranged close to the outside; one end of the sliding block, which is close to the screw rod, is provided with a lug structure, and the end part of the machine arm support is hinged with the lug structure.

The linear guide rails can support and connect the sliding blocks and can also play a role in guiding, and a stable connecting structure can be formed by the triangular arrangement.

Furthermore, a plurality of machine arm connectors are arranged on the periphery of the main cabin close to the head, the machine arm connectors are of a concave structure, the end portions of the machine arms are hinged and fixed with the machine arm connectors, and the baffle is abutted to the bottoms of the machine arm connectors.

The arrangement of the machine arm connecting port can enable the machine arm to rotate around the connecting port, so that the machine arm is opened, and the interference between the machine arm and the baffle when the machine arm rotates is avoided; the end part of the short side of the machine arm is of an arc-shaped structure, so that the machine arm can rotate on the baffle; the baffle is abutted with the machine arm connecting port (can be screwed/welded and fixed), so that the whole structure is simple and compact.

Further, the main part cabin is cylindric, spherical cabin is installed to the head in main part cabin, the afterbody in main part cabin is equipped with round flange limit, the flange edge sets firmly the base, install on the outer circumference on flange limit the roll control unit.

The spherical cabin can be arranged in a transparent mode, and a camera can be arranged in the spherical cabin; the flange edge is arranged to facilitate the installation and connection of components.

Furthermore, the four tail wings are arranged in a central symmetry manner, and the tail wings are all of polygonal structures which are arranged in an inclined manner; the middle part of the tail wing is connected with a propeller fixing seat, and the underwater propeller is sleeved in the propeller fixing seat; the tail fin is kept away from the one end in main part cabin is connected with the foot rest respectively, be connected with the foot rest support between the foot rest.

The four tail wings can form a structure with a small upper part and a large lower part, so that on one hand, an underwater propeller is convenient to arrange in a space enclosed by the tail wings, and on the other hand, the robot can stand vertically through the arrangement of the foot rests, and is convenient to start from a static state; the setting of foot rest support can improve connection stability. The lamellar tail can also reduce the resistance, and the setting of slope and broad is convenient for the regulation of stability.

Further, an underwater propeller and a propeller driving motor for driving the underwater propeller to rotate are arranged inside the underwater propeller, and the underwater propeller and the main body cabin are coaxially arranged; the roll control unit comprises a support fixedly arranged on the main body cabin, a rotating motor is arranged on the support, the output end of the rotating motor is connected with a rotating blade, and the central axis of the rotating blade is perpendicular to the central axis of the main body cabin.

Furthermore, a waterproof Hall sensor is arranged on the baffle; nine sensors are arranged on the machine arm and inside the main cabin; the Hall sensor and the nine-axis sensor are connected with a control system in the main body cabin.

The Hall sensor can sense the position of the sliding block, when the screw rod driving motor drives the machine arm to be opened to a maximum angle (for example, 90 degrees), the Hall sensor is triggered, on one hand, the limiting operation of the sliding block is carried out, the sliding block is prevented from moving beyond a stroke, and on the other hand, the nine-axis sensor is matched for calibrating the angle; the shaft sensor arranged on the horn is combined with the shaft sensor arranged in the cabin, so that the current horn opening angle can be calculated, and accurate control can be realized.

The control system and the battery are arranged in the main body cabin, and wires are led out from the tail of the main body cabin through the wall-penetrating connector and are connected with the sensors and the various motors.

Compared with the prior art, the invention has the beneficial effects that: 1. according to the automatic folding multi-rotor water-air amphibious robot, the automatically folding booms are arranged on the periphery of the main body cabin, so that the rotor units arranged at the end parts of the booms can be positioned in multiple directions such as the horizontal direction and the vertical direction, the overall flexibility is improved, the adaptive adjustment can be carried out according to the air or water positions, and different operation modes are realized; 2. the rotor wing units can be quickly arrived at a preset water area from the air and then submerged under the water, most of resistance can be reduced by retracting the horn, and the underwater advancing speed capability is greatly increased; 3. compared with other amphibious robots, the robot has the advantages that the underwater operation is the same as that of a common underwater vehicle, the robot has good visual field conditions, is suitable for underwater navigation, can be automatically folded and unfolded, and obviously reduces carrying difficulty and preparation work before release; 4. the setting of hall sensor can enough prevent that the slider from removing and surpassing the stroke, also can cooperate nine sensor calibration angles, realizes accurate control.

Drawings

FIG. 1 is a schematic overall structure diagram of an automatic folding multi-rotor water-air amphibious robot of the invention;

FIG. 2 is a schematic structural diagram of a horn control unit of the automatic folding multi-rotor water-air amphibious robot;

FIG. 3 is a schematic structural diagram of a main body cabin of the automatic folding multi-rotor water-air amphibious robot;

FIG. 4 is a schematic structural diagram of the tail wing arrangement of the automatic folding multi-rotor water-air amphibious robot;

FIG. 5 is a schematic structural diagram of a single empennage of the automatic folding multi-rotor water-air amphibious robot;

FIG. 6 is a schematic structural diagram of a foot rest of the automatic folding multi-rotor air-water amphibious robot;

FIG. 7 is an overall schematic diagram of the automatic folding multi-rotor water-air amphibious robot with the arms fully retracted;

FIG. 8 is a schematic side view of the automatically folded multi-rotor amphibious robot with the arms fully retracted;

FIG. 9 is a schematic perspective view of a fully unfolded arm of an automatically folded multi-rotor water-air amphibious robot according to the present invention;

FIG. 10 is a schematic diagram of a state that a horn part of an automatic folding multi-rotor water-air amphibious robot is unfolded;

in the figure: 1. a main body compartment; 2. a flange edge; 3. a spherical cabin; 4. a tail wing; 401. an upper mounting portion; 402. a vertical mounting section; 403. a lower mounting portion; 5. a propeller fixing seat; 6. an underwater propeller; 601. a propeller housing; 602. an underwater propeller; 603. a propeller drive motor; 7. a base; 8. a baffle plate; 9. a sliding assembly; 901. a linear guide rail; 902. the screw rod drives the motor; 903. a screw rod; 10. a slider; 11. a horn support; 12. a horn; 13. a motor base; 1301. a socket portion; 1302. an installation part; 14. a rotor unit; 1401. a brushless motor; 1402. a prop-rotor; 15. a machine arm connecting port; 16. a foot rest; 1601. mounting blocks; 1602. connecting sheets; 17. a foot rest support; 18. a roll shaft control unit; 19. a first motor; 20. a second motor; 21. a third motor; 22. a fourth motor; 23. a fifth motor; 24. a number six motor.

Detailed Description

The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "middle", "upper", "lower", "left", "right", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

The first embodiment is as follows:

as shown in fig. 1-4, an automatic folding multi-rotor water-air amphibious robot comprises a main body cabin 1, wherein four groups of empennages 4 are connected to the tail of the main body cabin 1, and underwater propellers 6 are arranged among the empennages 4; four groups of horn control units are respectively arranged around the main body cabin 1 in a centrosymmetric manner; each machine arm control unit is provided with a base 7 and a baffle 8 which are coaxially arranged in parallel, the base 7 and the baffle 8 are fixedly arranged at the tail part and the head part of the main cabin 1 respectively, an axial sliding assembly 9 is arranged between the base 7 and the baffle 8, a sliding block 10 of the sliding assembly 9 is hinged with a machine arm support 11, and one end, far away from the sliding block 10, of the machine arm support 11 is hinged with a machine arm 12; one end of the horn 12 extends to the baffle 8 and is movably hinged with the main body cabin 1, and the other end is connected with a rotor wing unit 14 through a motor base 13; and a roll shaft control unit 18 is also arranged on the periphery of the main body cabin 1 close to the tail wing 4.

This automatic many rotors of folding water and air amphibious robot is through setting up the horn 12 that can fold automatically around main part cabin 1, makes rotor unit 14 that the tip of horn 12 set up can be in a plurality of positions such as horizontal direction and vertical direction, has improved holistic flexibility, can carry out the adjustment that suits according to the aerial or aquatic position of locating, realizes different operation modes.

When the underwater vehicle is used, the rotor wing units 14 can be quickly arrived at a preset water area from the air and then submerged under the water, most of resistance can be reduced by retracting the horn 12, and the underwater advancing speed capability is greatly increased; the underwater rapid or low-speed advancing and attitude control is realized by controlling different opening angles of the horn 12 and the thrust of the rotor wing unit, and the free switching of various operation modes is realized.

Specifically, in the air, the horn 12 is in an unfolded state, based on the vertical direction, the four rotor units 14 are located on the same horizontal plane, the camera at the head of the main body cabin 1 can perform 360-degree surrounding shooting on the horizontal plane, the same action as that of the existing X-type multi-rotor can be performed to realize air flight, the robot is prevented from moving forward in the water in the process of not reaching the designated water area, and the time for the robot to reach the designated water area is shortened in the air flight mode;

in water, the four rotor units 14 can sail underwater at a high speed by taking the horizontal direction as a reference; the resistance is reduced by retracting the machine arm 12, the low-speed, stable and long-endurance operation can be realized, and the front 180-degree non-shielding visual angle shooting can be realized by the camera.

The roll control unit 18 can maintain the roll stable. The arrangement of the tail fin 4 can improve the underwater navigation capability and maintain the navigation stability; the underwater propellers 6 arranged between the empennages 4 can generate large underwater thrust.

The rotation of the horn 12 can be realized through the arrangement of the base 7, the baffle 8, the sliding assembly 9 and the horn bracket 11, so that the horn 12 can be freely adjusted in angle from a state parallel to the tightening state of the main body cabin 1 to a state perpendicular to the opening state of the main body cabin 1, and the angle change range is not less than 90 degrees.

Further, the horn 12 is in an "L" shape, and the length of the horn 12 is not shorter than the axial length of the body chamber 1; the horn support 11 is a pair of, and the symmetrical setting is in the both sides of horn 12 are articulated fixedly, horn support 11 with the articulated department of horn 12 is kept away from rotor unit 14 sets up.

The arrangement of the machine arm is convenient for the machine arm 12 to be unfolded and folded; the arrangement of the horn support 11 can improve the connection stability, the selection of the hinged point can ensure the normal retraction of the horn 12, and the length of the horn support 11 can be reduced.

Further, as shown in fig. 2, the motor base 13 has an integrated socket portion 1301 and a mounting portion 1302, the socket portion 1301 is sleeved and fixed at the end of the horn 12, a brushless motor 1401 is mounted on the mounting portion 1302, and an output end of the brushless motor 1401 is connected with a prop-rotor 1402; the central axis of the prop-rotor 1402 is arranged perpendicular to the length direction of the horn 12. The socket portion 1301 and the mounting portion 1302 are arranged to facilitate connection, mounting and fixing.

The sliding assembly 9 comprises a pair of linear guide rails 901 arranged between the base 7 and the baffle 8, and a screw rod driving motor 902 arranged on the base 7, wherein the output end of the screw rod driving motor 902 is connected with a screw rod 903, and the other end of the screw rod 903 is connected with the baffle 8; the linear guide 901 and the screw rod 903 are both arranged in parallel to the central axis of the main body cabin 1, and the slider 10 is sleeved on the linear guide 901 and the screw rod 903.

The screw rod driving motor 902 drives the screw rod 903 to rotate so as to drive the slider 10 to move up and down along the linear guide 901, so as to drive the machine arm support 11 to move up and down, and due to the hinged arrangement, the machine arm support 11 can rotate, so that the retraction control of the machine arm 12 is realized. In the air state, the horn 12 will maintain the horizontal position (when the main body cabin is in the vertical state) without moving to keep stable; upon retrieval after landing, the horn 12 will be retrieved to a vertical position.

Further, the linear guide 901 and the screw rod 903 are distributed in a delta shape, and the screw rod 903 is arranged close to the outside; one end of the sliding block 10 close to the screw rod 903 is provided with a lug structure, and the end of the machine arm bracket 11 is hinged with the lug structure.

The pair of linear guides 901 can support and connect the slider 10, and can also play a role in guiding, and a stable connection structure can be formed by the delta-shaped arrangement.

Further, as shown in fig. 3, four horn connectors 15 are arranged around the main body cabin 1 near the head, the horn connectors 15 are of a concave structure, the end of the horn 12 is hinged and fixed with the horn connectors 15, and the baffle 8 is abutted to the bottom of the horn connectors 15.

The arrangement of the machine arm connecting port 15 can enable the machine arm 12 to rotate around the connecting port, so that the machine arm 12 is opened, and the interference between the machine arm 12 and the baffle 8 is avoided when the machine arm 12 rotates; the end part of the short side of the machine arm 12 is in a circular arc structure, so that the machine arm can rotate on the baffle plate 8.

Further, the main body cabin 1 is cylindrical, the spherical cabin 3 is installed at the head of the main body cabin 1, a circle of flange edge 2 is arranged at the tail of the main body cabin 1, the base 7 is fixedly arranged on the flange edge 2, and the transverse roller control unit 18 is installed on the outer circumference of the flange edge 2.

The roll shaft control unit 18 comprises a support fixedly arranged on the main body cabin 1, a rotating motor is arranged on the support, the output end of the rotating motor is connected with a rotating blade, and the central axis of the rotating blade is perpendicular to the central axis of the main body cabin 1

The spherical cabin 3 can be arranged in a transparent mode, and a camera can be arranged in the spherical cabin; the flange 2 is arranged to facilitate the installation and connection of the components.

Further, as shown in fig. 4, the tail fins 4 are four pieces arranged with central symmetry, and the tail fins 4 are all polygon structures arranged in an inclined manner; the middle part of the tail wing 4 is connected with a propeller fixing seat 5, and the underwater propeller 6 is sleeved in the propeller fixing seat 5; the tail fin 4 is far away from one end of the main body cabin 1 and is connected with foot rests 16 respectively, and foot rest supports 17 are connected between the foot rests 16.

The four tail wings 4 can form a structure with a small upper part and a large lower part, so that on one hand, an underwater propeller 6 is convenient to be arranged in a space enclosed by the tail wings 4, and on the other hand, the robot can stand vertically through the arrangement of the foot rests 16, so that the robot can be started from a static state conveniently; the arrangement of the foot rest support 17 can improve the connection stability. The lamellar tail 4 also reduces drag, and the inclined and wider arrangement facilitates adjustment of stability.

Further, the underwater propeller 6 has a propeller housing 601, an underwater propeller 602 is disposed inside the propeller housing 601, and a propeller driving motor 603 for driving the underwater propeller 602 to rotate, and the underwater propeller 602 is disposed coaxially with the main body chamber 1.

Further, a waterproof Hall sensor is arranged on the baffle 8; nine sensors are arranged on the machine arm 12 and inside the main body cabin 1; the Hall sensor and the nine-axis sensor are connected with a control system in the main body cabin 1.

The hall sensor is arranged to sense the position of the slider 10, and when the lead screw driving motor 902 drives the horn 12 to open to a maximum angle (for example, 90 degrees), the hall sensor is triggered to perform the slider limiting operation to prevent the slider from moving beyond the stroke, and to calibrate the angle by cooperating with the nine-axis sensor; the shaft sensor arranged on the horn is combined with the shaft sensor arranged in the cabin, so that the current horn opening angle can be calculated, and accurate control can be realized.

A control system and a battery are arranged in the main body cabin 1, and wires are led out from the tail of the main body cabin through a wall-penetrating connector and are connected with the sensors and various motors.

Example two:

the embodiment provides a structure and a connection installation mode of an empennage.

As shown in fig. 5, the tail fin 4 has an irregular polygonal shape, the outer side is straight, and the inner side is multi-fold; the tail wing 4 is provided with an upper mounting part 401, a lower mounting part 403 and a vertical mounting part 402, wherein mounting screw holes are formed in the upper mounting part 401, the lower mounting part 403 and the vertical mounting part 402; the upper mounting part 401 is fixed with a pair of connecting sheets below the main body cabin 1 in a threaded manner; the vertical mounting part 402 is fixed with a connecting sheet on the outer circumference of the propeller fixing seat in a threaded manner.

As shown in fig. 6, the foot rest 16 has an integrally formed mounting block 1601, a pair of connecting pieces 1602 is provided at a diagonal of the mounting block 1601, and the lower mounting portion 403 is inserted between the pair of connecting pieces 1602 and fixed by screwing; and connecting holes are formed in the adjacent side walls of the mounting blocks 1601 respectively to connect the foot rest supports.

Example three:

the embodiment provides a motion control mode of the robot in water in the first embodiment.

As shown in fig. 7 to 10, motors on the robot are relabeled by serial numbers for convenience of description and understanding; a first motor 19, a second motor 20, a third motor 21 and a fourth motor 22 (the first motor to the fourth motor are brushless motors on the rotor unit 14); a fifth motor 23 (a drive motor of the roll shaft control unit); a number six motor 24 (propeller drive motor).

When the underwater mode is switched to the air mode, after the lower half part (the lower part of the main body cabin 1 and the tail wing 4) of the robot is vertically immersed in water, the motors from the first to the fourth stop rotating and the four arms 12 are recovered, the gravity is greater than the buoyancy to enable the robot to naturally sink, and the center of the buoyancy is located in the front half part, so that the vertical direction can be kept in the process of sinking. After sinking a certain degree of depth, because a motor is located the robot centroid to four after, start motor 19 makes the fuselage tilting to the horizontal direction, reachs the horizontal direction and reduces thrust, because the buoyancy center is preceding at the centroid, motor 19 thrust action point is behind the centroid, controls motor 19 can realize the level with less thrust and maintain the degree of depth. Forward and backward power is mainly provided by No. six motors 24, namely underwater propellers, No. one motor 19 and No. three motor 21 are used for maintaining the underwater pitch axis stable, No. two motor 20 and No. four motor 22 are used for controlling the yaw axis, and No. five motor 23 is used for controlling the roll axis stable. Because the advancing thrust is mainly provided by the underwater propeller, the attitude change only needs smaller thrust of the motors from the first to the fifth, and the horn 12 is in the retraction state, and the resistance is smaller, so that the long-endurance or low-speed operation mode can be realized. And the front part is not shielded by airborne equipment, which is beneficial to expanding the front observation range.

When moving under water, need with faster speed, by a wide margin, when changing the gesture fast, the horn of a to No. four motors can rise to the highest position (open 90 degrees), and a to No. four motors, No. six motors start simultaneously and can obtain the biggest antedisplacement power, obtain the biggest antedisplacement speed, and a to No. four motor thrust action points all are before the barycenter this moment, No. two motor 20 thrust can make the fuselage turn left, No. four motor 22 thrust can make the fuselage turn right, a motor 19 thrust can make the fuselage downward sloping, No. three motor 21 thrust can make the fuselage upward sloping. Because the moment arm becomes long, the moment of deflection of the fuselage is larger, the rotating speed of the pitch axis and the yaw axis is faster, the first motor 19 and the third motor 21 can be lifted according to requirements to accelerate the control of the pitch axis or the second motor 20 and the fourth motor 22 can accelerate the control of the yaw axis, and the fifth motor 23 only needs to maintain the stability of the roll axis.

Because the gravity of the fuselage is greater than the buoyancy and the fuselage tends to naturally sink, the opening angle of the horn of the first motor 19 (as shown in fig. 10) is reduced, the thrust of the third motor 21 is reduced, the opening angle and the thrust of the first motor 19 are controlled by a pid algorithm, the horizontal forward component force of the first motor 19 is controlled to be the same as the thrust of the third motor 21, the balance of the pitching moment of the fuselage is maintained, the vertical upward component force is the same as the buoyancy and the gravity, and the stability of the fuselage is maintained.

When needing to leave the surface of water, a motor horn to No. four opens to the biggest angle, No. three motor 21 accelerates to make the fuselage vert to vertical direction, then a to No. four motor 24 all increases thrust, makes the fuselage leave the surface of water, then closes No. six motor 24 cuts into aerial four rotor operation modes.

The robot does not need to additionally carry a ballast water tank to control sinking and floating, the size and weight of amphibious equipment are obviously reduced, compared with other amphibious unmanned aerial vehicles, the robot runs underwater as a common underwater vehicle, has a good visual field condition, is more suitable for underwater navigation, can be automatically folded and unfolded, and obviously reduces carrying difficulty and preparation work before release.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. An automatic folding multi-rotor water-air amphibious robot comprises a main body cabin and is characterized in that the tail of the main body cabin is connected with a plurality of empennages, and underwater propellers are arranged among the empennages; a plurality of horn control units are arranged around the main cabin in a central symmetry manner; each machine arm control unit is provided with a base and a baffle which are coaxially arranged in parallel, the base and the baffle are fixedly arranged at the tail part and the head part of the main cabin respectively, an axial sliding assembly is arranged between the base and the baffle, a machine arm support is hinged on a sliding block of the sliding assembly, and a machine arm is hinged at one end, away from the sliding block, of the machine arm support; one end of the horn extends to the baffle and is movably hinged with the main body cabin, and the other end of the horn is connected with a rotor wing unit through a motor base; and a roll shaft control unit is also arranged on the periphery of the main body cabin close to the tail wing.

2. The automatic folding multi-rotor water-air amphibious robot of claim 1, wherein the horn is "L" shaped, and the length of the horn is not shorter than the axial length of the main body cabin; the horn support is a pair of, and the setting of symmetry is in the both sides of horn are articulated fixed, the horn support with the articulated department of horn is kept away from the rotor unit sets up.

3. The automatic folding multi-rotor water-air amphibious robot according to any one of claims 1 or 2, wherein the motor base is provided with an integrated socket part and a mounting part, the socket part is sleeved and fixed at the tail end of the horn, a brushless motor is mounted on the mounting part, and the output end of the brushless motor is connected with a rotor propeller; the central axis of the rotor propeller is perpendicular to the length direction of the horn.

4. The automatic folding multi-rotor water-air amphibious robot according to claim 1, wherein the sliding assembly comprises a plurality of linear guide rails installed between the base and the baffle, and a lead screw driving motor installed on the base, an output end of the lead screw driving motor is connected with a lead screw, and the other end of the lead screw is connected with the baffle; the linear guide reaches the lead screw all is on a parallel with the axis setting in main part cabin, the slider cover is established linear guide with on the lead screw.

5. The automatic folding multi-rotor water-air amphibious robot according to claim 4, wherein the pair of linear guide rails are distributed in a delta shape with the lead screw arranged close to the outside; one end of the sliding block, which is close to the screw rod, is provided with a lug structure, and the end part of the machine arm support is hinged with the lug structure.

6. The automatic folding multi-rotor water-air amphibious robot according to claim 1, wherein a plurality of horn connectors are arranged on the periphery of the main body cabin, close to the head, the horn connectors are of a concave structure, the end portions of the horns are hinged and fixed with the horn connectors, and the baffle abuts against the bottoms of the horn connectors.

7. The automatic folding multi-rotor air-water amphibious robot according to claim 1, wherein the main body cabin is cylindrical, a spherical cabin is mounted at a head of the main body cabin, a circle of flange edge is arranged at a tail of the main body cabin, the base is fixedly arranged on the flange edge, and the roll shaft control unit is mounted on an outer circumference of the flange edge.

8. The automatic folding multi-rotor water-air amphibious robot according to claim 1, wherein the four empennages are centrosymmetrically arranged, and are all of polygonal structures which are obliquely arranged; the middle part of the tail wing is connected with a propeller fixing seat, and the underwater propeller is sleeved in the propeller fixing seat; the tail fin is kept away from the one end in main part cabin is connected with the foot rest respectively, be connected with the foot rest support between the foot rest.

9. The automatic folding multi-rotor water-air amphibious robot according to claim 1, wherein an underwater propeller and a propeller driving motor for driving the underwater propeller to rotate are disposed inside the underwater propeller, and the underwater propeller is disposed coaxially with the main body cabin; the roll control unit comprises a support fixedly arranged on the main body cabin, a rotating motor is arranged on the support, the output end of the rotating motor is connected with a rotating blade, and the central axis of the rotating blade is perpendicular to the central axis of the main body cabin.

10. The automatic folding multi-rotor water-air amphibious robot of claim 1, wherein a waterproof hall sensor is disposed on the barrier; nine sensors are arranged on the machine arm and inside the main cabin; the Hall sensor and the nine-axis sensor are connected with a control system in the main body cabin.