CN113276613A - Configuration-variable air-ground unmanned platform capable of air-ground joint debugging - Google Patents
Configuration-variable air-ground unmanned platform capable of air-ground joint debugging Download PDFInfo
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- CN113276613A CN113276613A CN202110670227.7A CN202110670227A CN113276613A CN 113276613 A CN113276613 A CN 113276613A CN 202110670227 A CN202110670227 A CN 202110670227A CN 113276613 A CN113276613 A CN 113276613A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F5/00—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media
- B60F5/02—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media convertible into aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C37/00—Convertible aircraft
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Abstract
The invention discloses a variable-configuration air-ground unmanned platform capable of air-ground joint debugging, which comprises a vehicle body, a machine arm, a stretching arm, a deflection mechanism and a power assembly, wherein the vehicle body is connected with the machine arm through a connecting rod; the two sides of the vehicle body are symmetrically provided with extending arms, the extending arms are rotatably connected with the machine arms through a deflection mechanism, and the length directions of the machine arms are parallel to the length direction of the vehicle body; the two ends of the machine arm are provided with power assemblies; the deflection mechanism drives the machine arm and the power assembly to deflect around the axis of the machine arm; in the land walking mode, the power assembly is used as a walking wheel; in flight mode, the power assembly provides lift. The invention can realize the dynamic switching between the flight mode and the land walking mode.
Description
Technical Field
The invention relates to the technical field of reconnaissance and rescue equipment, in particular to a configuration-variable type air-ground unmanned platform capable of air-ground joint debugging.
Background
Unmanned platforms are more and more used for executing logistics transportation, disaster-resistant rescue, routing inspection detection and other tasks, but existing unmanned aerial vehicles are poor in cruising ability, cannot pass through narrow space, are low in traveling speed of unmanned vehicles, are difficult to cross over higher obstacles, and cannot be adapted to work in complex scenes such as cities, disaster areas and underground tunnels with dense buildings.
In the prior art, a technical scheme that a rotor wing is directly used as a ground running wheel exists, but in a flying state, the rotor wing rotates at a high speed, so that certain danger exists, an undercarriage is needed during land-air conversion, a platform must be stopped on the ground during land-air conversion, the lift force and the walking traction force of the platform cannot be provided at the same time during land-air joint regulation, and dynamic conversion cannot be realized.
Disclosure of Invention
In view of this, the invention provides a configuration-variable air-ground unmanned platform capable of air-ground joint debugging, which can realize dynamic switching between a flight mode and a land walking mode.
The technical scheme adopted by the invention is as follows:
a variable-configuration air-ground unmanned platform capable of air-ground joint debugging comprises a vehicle body, a machine arm, a projecting arm, a deflection mechanism and a power assembly;
the two sides of the vehicle body are symmetrically provided with extending arms, the extending arms are rotatably connected with the machine arms through a deflection mechanism, and the length directions of the machine arms are parallel to the length direction of the vehicle body; power assemblies are arranged at two ends of the machine arm; the deflection mechanism drives the machine arm and the power assembly to deflect around the axis of the machine arm; in the land walking mode, the power assembly is used as a walking wheel; in flight mode, the power assembly provides lift.
Furthermore, the deflection mechanism comprises a motor for deflection and a transmission mechanism, and the deflection motor drives the transmission mechanism to drive the machine arm to rotate around the axis of the deflection motor; when the deflection motor does not work, the transmission mechanism is in a self-locking state.
Furthermore, the transmission mechanism adopts a worm gear and worm structure, the deflection motor is connected with the worm, and the worm gear is fixedly connected with the machine arm.
Further, the power assembly comprises a duct, a rotor wing, a flying motor and a land motor;
the duct is composed of a wheel hub and a duct body, the duct body is used as a wheel body of the travelling wheel, and the wheel hub is positioned in the duct body cavity and used for supporting the duct body; the rotor wing is positioned in the ducted body cavity, and the plane where the rotor wing is positioned is parallel to the plane where the hub is positioned; the flight electric motor is used for driving the rotor wing to rotate; the land motor is connected with the hub and used for driving the duct to rotate.
Further, the outer circumference of the duct body is additionally provided with a crawler belt.
Further, the flight motor and the land motor are arranged on the same side of the horn, the output shaft of the flight motor is a hollow shaft, and the output shaft of the land motor penetrates through the output shaft of the flight motor to be connected with the hub.
Further, the flight motor and the land motor are arranged on the same side of the duct, the output shaft of the land motor is a hollow shaft, and the output shaft of the flight motor penetrates through the output shaft of the land motor to be connected with the rotor wing.
Furthermore, the flying motor and the land motor are arranged on two sides of the duct, two ends of the horn are both of U-shaped structures, one side of each U-shaped structure is fixedly connected with the flying motor, and the other side of each U-shaped structure is fixedly connected with the land motor.
Furthermore, the cantilever arm is a fixed wing and provides lift force for the unmanned platform when the unmanned platform is changed from a land walking mode to a flight mode.
Has the advantages that:
1. the unmanned aerial vehicle combines the four-axis aircraft with the unmanned vehicle, the power assembly can provide the lift force required in the flight mode and the traction force required in the land walking mode, dynamic switching can be performed between the flight mode and the land walking mode according to the actual situation, and the two modes can adjust the horn and the deflection angle on the power assembly fixed on the horn through the deflection mechanism, so that the size of the unmanned platform is changed, and the unmanned platform can conveniently pass through narrow space or cross obstacles.
The invention has strong obstacle-crossing capability, is convenient for large-scale outdoor maneuvering, can run quietly and accurately control the movement, and is convenient for the detection, rescue and other tasks under complex conditions such as the field, earthquake disaster areas and the like.
2. When the deflection motor does not work, the transmission mechanism is in a self-locking state, so that the deflection angle of the machine arm can be conveniently fixed, and the electric quantity can be saved.
3. The outer circumference of the culvert can be additionally provided with a crawler belt to enhance the trafficability of the culvert during land running.
4. The extending arms on the two sides of the vehicle body adopt a fixed wing form, and can provide certain lift force for the unmanned platform when the unmanned platform is converted from a land walking mode to a flying mode.
Drawings
FIG. 1 is a schematic view of the unmanned platform flight mode of the present invention;
FIG. 2 is a schematic diagram of a land walking mode of the unmanned platform powertrain of the present invention when tilted;
FIG. 3 is a schematic diagram of a land walking mode of the unmanned platform powertrain of the present invention when upright;
fig. 4(a) and fig. 4(b) are a three-dimensional schematic view and a front view of the unmanned platform air-ground transition of the present invention, respectively;
FIG. 5 is a schematic view of the unmanned platform deflection mechanism of the present invention;
FIGS. 6(a) and 6(b) are schematic top and interior views, respectively, of the unmanned platform powertrain of the present invention in an upright position;
FIG. 7 is a schematic view of the outer ring additional track of the unmanned platform duct of the present invention;
fig. 8 is a schematic view of another embodiment of the present invention.
The system comprises a vehicle body 1, a power assembly 2, a horn 3, a fixed wing 101, a deflection motor 102, a worm 103, a turbine 104, a rotor 201, a duct 202, a flight motor 203, a land motor 204 and a hub 205.
Detailed Description
The invention is described in detail below by way of example with reference to the accompanying drawings.
The invention provides a variable-configuration air-ground unmanned platform capable of air-ground joint debugging, which comprises a vehicle body 1, a machine arm 3, a projecting arm, a deflection mechanism and a power assembly 2, as shown in figure 1.
The two sides of the vehicle body 1 are symmetrically provided with extending arms, the extending arms are rotatably connected with the machine arms 3 through a deflection mechanism, and the length direction of the machine arms 3 is parallel to the length direction of the vehicle body 1; two ends of the machine arm 3 are provided with power assemblies 2; the deflection mechanism drives the machine arm 3 and the power assembly 2 to deflect around the axis of the machine arm 3. In this embodiment, the cantilever is a fixed wing 101, which provides lift for the unmanned platform when the unmanned platform changes from a land walking mode to a flight mode.
The deflection mechanism comprises a motor 102 for deflection and a transmission mechanism, and the deflection motor drives the transmission mechanism to drive the machine arm 3 to rotate around the axis of the deflection motor; when the deflection motor 102 does not operate, the transmission mechanism is in a self-locking state. In this embodiment, as shown in fig. 5, the transmission mechanism is a worm gear and worm structure, the deflection motor 102 is connected to the worm 103, and the worm gear is fixedly connected to the arm 3. The worm 103 is driven by the rotation of the deflection motor 102, and the arm 3 rotates around the axis of the arm along with the worm wheel 104 to adjust the deflection angle of the power assembly 2, so that the configuration change and the air-ground mode switching of the air-ground unmanned platform are realized. When the deflection motor 102 does not rotate, the worm gear is in a self-locking state, so that the deflection angle of the arm 3 can be conveniently fixed, and the electric quantity can be saved.
As shown in fig. 6(a) and 6(b), the powertrain 2 includes a duct 202, a rotor 201, an electric motor for flight 203, and an electric motor for land 204; the duct 202 is composed of a wheel hub 205 and a duct body, the duct body is also used as a wheel body of the travelling wheel, and the wheel hub 205 is positioned in the duct body cavity and used for supporting the duct body; the rotor 201 is positioned in the cavity of the ducted body, is not contacted with the ducted body, can rotate in the ducted body cavity, and the plane of the rotor 201 is parallel to the plane of the hub 205; preferably, as shown in fig. 7, the outer circumference of the culvert body may be attached with a crawler belt to enhance its trafficability when driving on land. The flying motor 203 is used for driving the rotor 201 to rotate; the land motor 204 is connected to the hub 205 for rotating the culvert 202. The duct 202 and the rotor 201 are driven by a land motor 204 and a flight motor 203 which can work independently, and the two motors can work simultaneously, namely, the flight motor 203 drives the rotor 201 to rotate, and the land motor 204 can also drive the duct 202 to rotate.
The flight motor 203 and the land motor 204 are provided on the same side of the horn 3, and an output shaft of the flight motor 203 may be a hollow shaft, and an output shaft of the land motor 204 may be connected to the hub 205 through an output shaft of the flight motor 203. The output shaft of the land motor 204 may be a hollow shaft, and the output shaft of the flying motor 203 passes through the output shaft of the land motor 204 and is connected to the rotor 201.
In the land walking mode, the power assembly 2 is used as a walking wheel, namely, the land motor 204 drives the duct 202 to rotate, so as to provide the traction force required by the land walking mode; in the flight mode, the power assembly 2 provides lift, that is, the flight motor 203 drives the rotor 201 to rotate, so as to provide lift required in the flight mode.
As shown in fig. 8, in another embodiment, the flying motor 203 and the land motor 204 are disposed on two sides of the duct 202, two ends of the horn 3 are both U-shaped structures, one side of the U-shaped structure is fixedly connected with the flying motor 203, and the other side of the U-shaped structure is fixedly connected with the land motor 204.
The deflection mechanism can adjust the rotation of the horn 3 about its axis. When the vehicle travels on land, the yaw motor 102 rotates to change the yaw angle of the arm 3 and the powertrain 2 through the worm wheel 104 and the worm 103, so as to raise or lower the bottom surface of the vehicle body 1, as shown in fig. 2 and 3, in order to pass through a low obstacle or a height-limited area. During flying, the angle of the power assembly 2 is adjusted, and the width and height of the unmanned platform are changed so as to pass through a narrow space. When the deflection angle of the arm 3 does not need to be adjusted, the deflection motor 102 stops rotating, and the worm 103 of the worm wheel 104 is in a self-locking state.
The flight mode is changed into a land walking mode: when the unmanned platform flies or hovers forward, the deflection motor 102 rotates to drive the turbine 104 and the worm 103 to rotate, so that the horn 3 rotates a certain angle around the axis of the turbine 104, the power assembly 2 fixedly connected to the horn 3 is changed from a horizontal state to an inclined state, and the grounding side of the duct 202 is lower than the bottom surface of the unmanned platform body, as shown in fig. 4(a) and 4 (b). At this point, the land motor 204 may be activated, causing the duct 202 to rotate, enabling the unmanned platform to land while flying forward without losing significant speed. Meanwhile, the corresponding flight control system adjusts the rotating speed of the flying motor 203, maintains the balance of the unmanned platform force and the moment, enables the unmanned platform to descend, enables the culvert 202 or the crawler belt to touch the ground, and provides walking power by the land motor 204.
The land walking mode is converted into the flight mode: in rest or in travel, the yaw motor 102 adjusts the rotation of the horn 3 about its axis by a certain angle, so that the component of the lift force provided by the duct 202 and the rotor 201 of the power assembly 2 in the direction of its gravity is sufficient to overcome the gravity, as shown in fig. 4(a) and 4 (b). At this time, the flying motor 203 can be started to drive the rotor 201 to rotate to provide the flying lift force, and the fixed wing 101 can provide a certain lift force for the flying motor during traveling without cutting off the power of the land motor 204. The unmanned platform is lifted to be changed into a flight mode, the deflection motor 102 is used for adjusting the deflection angle of the power assembly 2 again, the power assembly 2 is changed from inclination to horizontal, and meanwhile, the flight control system adjusts the rotating speed of the flight motor 203 to maintain the balance of the force and the moment of the unmanned platform.
In summary, the above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. A configuration-variable land-air unmanned platform capable of realizing land-air joint debugging is characterized by comprising a vehicle body, a machine arm, a stretching arm, a deflection mechanism and a power assembly;
the two sides of the vehicle body are symmetrically provided with extending arms, the extending arms are rotatably connected with the machine arms through a deflection mechanism, and the length directions of the machine arms are parallel to the length direction of the vehicle body; power assemblies are arranged at two ends of the machine arm; the deflection mechanism drives the machine arm and the power assembly to deflect around the axis of the machine arm; in the land walking mode, the power assembly is used as a walking wheel; in flight mode, the power assembly provides lift.
2. The configuration-changeable land-air unmanned platform capable of realizing air-ground joint debugging of claim 1, wherein the deflection mechanism comprises a deflection motor and a transmission mechanism, and the deflection motor drives the transmission mechanism to drive the mechanical arm to rotate around the axis of the mechanical arm; when the deflection motor does not work, the transmission mechanism is in a self-locking state.
3. The configuration-changeable land-air unmanned platform capable of realizing air-ground joint debugging of claim 2, wherein the transmission mechanism adopts a worm gear structure, a deflection motor is connected with a worm, and a worm gear is fixedly connected with a machine arm.
4. The convertible structure land-air unmanned platform of claim 1 or 2, wherein the power assembly comprises a duct, a rotor, a flight motor and a land motor;
the duct is composed of a wheel hub and a duct body, the duct body is used as a wheel body of the travelling wheel, and the wheel hub is positioned in the duct body cavity and used for supporting the duct body; the rotor wing is positioned in the ducted body cavity, and the plane where the rotor wing is positioned is parallel to the plane where the hub is positioned; the flight electric motor is used for driving the rotor wing to rotate; the land motor is connected with the hub and used for driving the duct to rotate.
5. The variable configuration land-air unmanned platform capable of being adjusted by land-air combination as claimed in claim 4, wherein the outer circumference of the duct body is additionally provided with a crawler belt.
6. The configuration-changeable land-air unmanned platform capable of realizing air-ground joint debugging of claim 4, wherein the flying motor and the land motor are arranged on the same side of the horn, the output shaft of the flying motor is a hollow shaft, and the output shaft of the land motor penetrates through the output shaft of the flying motor to be connected with the hub.
7. A configuration-changeable land-air unmanned platform capable of realizing air-ground joint debugging according to claim 4, wherein the flying motor and the land motor are arranged on the same side of the duct, the output shaft of the land motor is a hollow shaft, and the output shaft of the flying motor passes through the output shaft of the land motor to be connected with the rotor wing.
8. The configuration-changeable land-air unmanned platform capable of realizing air-ground joint debugging of claim 4, wherein the flying motor and the land motor are arranged on two sides of the duct, two ends of the horn are both of U-shaped structures, one side of each U-shaped structure is fixedly connected with the flying motor, and the other side of each U-shaped structure is fixedly connected with the land motor.
9. The reconfigurable land-air integrated-tunable unmanned platform of any one of claims 1-8, wherein the outrigger arms are fixed wings that provide lift to the unmanned platform when it is converted from a land-walking mode to a flight mode.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110670227.7A CN113276613A (en) | 2021-06-17 | 2021-06-17 | Configuration-variable air-ground unmanned platform capable of air-ground joint debugging |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110670227.7A CN113276613A (en) | 2021-06-17 | 2021-06-17 | Configuration-variable air-ground unmanned platform capable of air-ground joint debugging |
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| CN113276613A true CN113276613A (en) | 2021-08-20 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113665305A (en) * | 2021-09-27 | 2021-11-19 | 北京理工大学重庆创新中心 | Air-ground vehicle |
| CN114771181A (en) * | 2022-05-19 | 2022-07-22 | 深圳乐生机器人智能科技有限公司 | Dual-mode movement device and land and flying dual-purpose equipment |
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| US20160257400A1 (en) * | 2012-08-29 | 2016-09-08 | Draganfly Innovations Inc. | Vehicle with aerial and ground mobility |
| CN107719049A (en) * | 2017-11-15 | 2018-02-23 | 内蒙古工业大学 | Land and air double-used quadrotor |
| CN109532360A (en) * | 2019-01-07 | 2019-03-29 | 罗堂军 | A kind of hovercar |
| CN111645860A (en) * | 2020-06-18 | 2020-09-11 | 航大汉来（天津）航空技术有限公司 | Unmanned aerial vehicle is perched to air space that rotor triaxial verts and wing is folding more |
| CN111845232A (en) * | 2020-06-19 | 2020-10-30 | 北京理工大学 | Wheel hub duct shared sea, land and air submersible multi-purpose unmanned platform |
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2021
- 2021-06-17 CN CN202110670227.7A patent/CN113276613A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20160257400A1 (en) * | 2012-08-29 | 2016-09-08 | Draganfly Innovations Inc. | Vehicle with aerial and ground mobility |
| CN107719049A (en) * | 2017-11-15 | 2018-02-23 | 内蒙古工业大学 | Land and air double-used quadrotor |
| CN109532360A (en) * | 2019-01-07 | 2019-03-29 | 罗堂军 | A kind of hovercar |
| CN111645860A (en) * | 2020-06-18 | 2020-09-11 | 航大汉来（天津）航空技术有限公司 | Unmanned aerial vehicle is perched to air space that rotor triaxial verts and wing is folding more |
| CN111845232A (en) * | 2020-06-19 | 2020-10-30 | 北京理工大学 | Wheel hub duct shared sea, land and air submersible multi-purpose unmanned platform |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113665305A (en) * | 2021-09-27 | 2021-11-19 | 北京理工大学重庆创新中心 | Air-ground vehicle |
| CN114771181A (en) * | 2022-05-19 | 2022-07-22 | 深圳乐生机器人智能科技有限公司 | Dual-mode movement device and land and flying dual-purpose equipment |
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Application publication date: 20210820 |