CN113428360A

CN113428360A - Water-air amphibious multi-rotor unmanned aerial vehicle

Info

Publication number: CN113428360A
Application number: CN202110932373.2A
Authority: CN
Inventors: 张立; 艾剑良
Original assignee: Fudan University
Current assignee: Fudan University
Priority date: 2021-08-13
Filing date: 2021-08-13
Publication date: 2021-09-24

Abstract

The invention discloses a water-air amphibious multi-rotor unmanned aerial vehicle, which belongs to the field of unmanned aerial vehicles and comprises an upper fuselage and a lower fuselage which are fixed in a stacked mode, wherein a plurality of arms are arranged on the upper fuselage and the lower fuselage in a central symmetry mode or a circumferential uniform mode, and the arms are lockable telescopic arms; the arm tip of the horn is rotatably connected with a tilting base and a tilting steering engine for driving the tilting base to rotate is fixedly installed on the horn tip, and the rotation axis of the tilting base is parallel to the horn; every all installs the rotor subassembly on verting the base, and the rotor subassembly includes the motor and installs the paddle on the output shaft of motor, and the output shaft perpendicular to of motor verts the axis of rotation of base. The invention has simple structure and reasonable design, can navigate in the air, on the water surface and under the water, and can improve the transport capacity and the passing capacity of narrow terrains by shortening the machine arm.

Description

Water-air amphibious multi-rotor unmanned aerial vehicle

Technical Field

The invention relates to the technical field of unmanned aerial vehicles, in particular to a water-air amphibious multi-rotor unmanned aerial vehicle.

Background

An unmanned aircraft, abbreviated as "drone", and abbreviated in english as "UAV", is an aircraft that is operated by means of a radio remote control device and a self-contained program control device, or is operated autonomously, either completely or intermittently, by an onboard computer. The unmanned aerial vehicle is wide in application field at present and has general application in military use, civil use and other aspects. For military use, unmanned aerial vehicles divide into reconnaissance aircraft and target drone. In civil aspects, unmanned aerial vehicles are widely applied to aerial photography, agriculture, plant protection, miniature self-timer, express transportation, disaster relief, wild animal observation, infectious disease monitoring, surveying and mapping, news reporting, power inspection, movie and television shooting and the like.

Traditional unmanned aerial vehicle can only realize the sky flight, and among the practical application, this kind of unmanned aerial vehicle limitation is very strong. In the real life, the unmanned aerial vehicle is required to frequently finish the water-air transition for a plurality of works, the multi-rotor unmanned aerial vehicle is generally adopted by modern countries to finish the work of the aerial part, and the underwater work is finished by the underwater vehicle, so that a lot of inconvenience is brought.

Disclosure of Invention

Aiming at the problem that the unmanned aerial vehicle in the prior art does not have amphibious capability, the invention aims to provide a water-air amphibious multi-rotor unmanned aerial vehicle.

In order to achieve the purpose, the technical scheme of the invention is as follows:

a water-air amphibious multi-rotor unmanned aerial vehicle comprises an upper fuselage and a lower fuselage which are fixed in a stacked mode, wherein a plurality of booms are arranged on the upper fuselage and the lower fuselage in a central symmetry mode or a circumferential uniform mode, and the booms are lockable telescopic booms; the arm tip of the horn is rotatably connected with a tilting base and a tilting steering engine for driving the tilting base to rotate is fixedly installed on the horn tip, and the rotation axis of the tilting base is parallel to the horn; every all install the rotor subassembly on the base of verting, the rotor subassembly includes the motor and installs paddle on the output shaft of motor, just the output shaft perpendicular to of motor the axis of rotation of the base of verting.

Preferably, the horn comprises a fixed joint and a movable joint, the fixed joint is fixedly connected to the upper machine body or the lower machine body, and the movable joint is axially movably inserted into the fixed joint; and a spring buckle is fixedly arranged in the movable joint, and clamping holes matched with the spring buckle are formed in the two ends of the fixed joint.

Preferably, an axial guide structure is arranged between the movable joint and the fixed joint.

Preferably, the rotor assembly comprises a double layer blade.

Preferably, the rotor subassembly includes two motors, two the motor is coaxial and set up symmetrically the both sides of base, every vert all install on the output shaft of motor the paddle.

Preferably, the number of the arms arranged on the upper body and the lower body is the same, and the positions of the arms are overlapped.

Preferably, the horn is evenly distributed circumferentially on the upper fuselage and the lower fuselage.

Preferably, the number of the arms arranged on the upper body and the lower body is four.

By adopting the technical scheme, due to the arrangement of the telescopic arm capable of being locked, the unmanned aerial vehicle can reduce the volume by shortening the arm when not in use so as to be convenient for transportation and transfer, and can pass through narrow terrain by shortening the arm when in use so as to improve the passing capacity under the condition of not reducing the voyage and load; in addition, because the base that verts, install on the base that verts rotor subassembly and install the horn and be used for driving the setting of the base pivoted steering wheel that verts for can drive the base rotation that verts through the steering wheel that verts, make the angle of rotor subassembly change then, make it can produce the thrust that advances when the surface of water or underwater navigation, thereby possess the ability of amphibious operation.

Drawings

FIG. 1 is a schematic structural diagram of the unmanned aerial vehicle in vertical take-off and landing;

FIG. 2 is a schematic structural view of the unmanned aerial vehicle during horizontal navigation;

fig. 3 is a schematic structural view of the unmanned aerial vehicle according to the present invention after the arm is retracted.

In the figure, 1-upper fuselage, 2-lower fuselage, 3-horn, 31-fixed joint, 32-movable joint, 4-spring buckle, 5-tilting base, 6-rotor assembly, 61-motor and 62-blade.

Detailed Description

The following further describes embodiments of the present invention with reference to the drawings. It should be noted that the description of the embodiments is provided to help understanding of the present invention, but the present invention is not limited thereto. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

It should be noted that in the description of the present invention, the terms "upper", "lower", "left", "right", "front", "rear", and the like indicate orientations or positional relationships based on structures shown in the drawings, and are only used for convenience in describing the present invention, 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.

In the technical scheme, the terms "first" and "second" are only used for referring to the same or similar structures or corresponding structures with similar functions, and are not used for ranking the importance of the structures, or comparing the sizes or other meanings.

In addition, unless expressly stated or limited otherwise, the terms "mounted" and "connected" are to be construed broadly, e.g., the connection may be a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; the two structures can be directly connected or indirectly connected through an intermediate medium, and the two structures can be communicated with each other. To those skilled in the art, the specific meanings of the above terms in the present invention can be understood in light of the present general concepts, in connection with the specific context of the scheme.

Example one

A water-air amphibious multi-rotor unmanned aerial vehicle comprises an upper fuselage 1 and a lower fuselage 2 which are fixed in a stacked mode, wherein the upper fuselage 1 and the lower fuselage 2 are of rectangular structures and respectively comprise four side walls, the side walls of the upper fuselage 1 and the lower fuselage 2 face each other in the up-down direction, and the top surfaces and the bottom surfaces of the upper fuselage and the lower fuselage are fixedly connected through connecting pieces, such as plates or rods.

Wherein, a plurality of horn 3 are evenly arranged on both the upper machine body 1 and the lower machine body 2 in a central symmetry way or a circumferential direction, and the horn 3 is a lockable telescopic horn. In this embodiment, it is configured that 4 horn 3 are mounted on both the upper body 1 and the lower body 2, and for any one of the upper body 1 and the

lower body

2, 4 horn 3 are mounted on 4 side walls thereof, respectively, so that the 4 horn 3 are arranged in a central symmetry manner and a circumferential uniform manner. In the present embodiment, since the upper body 1 and the lower body 2 are aligned, 4 arms 3 on the

upper body

1 and 4 arms 3 on the lower body 2 are overlapped.

In this embodiment, the horn 3 includes a fixed joint 31 and a movable joint 32, and both the fixed joint 31 and the movable joint 32 are of a shell-shaped hollow structure. The root of the fixed joint 31 (the side facing the fuselage) is fixedly connected to the sidewall of the upper fuselage 1 or the lower fuselage 2, and the root of the movable joint 32 is axially movably inserted into the tip of the fixed joint 31. And a spring buckle 4 is fixedly arranged in the movable joint 32, and correspondingly, clamping holes matched with the spring buckle 4 are respectively arranged at one end of the root part and one end of the tip part of the fixed joint 31.

In this embodiment, the spring lock catch 4 is further configured to include a buckle body fixedly mounted relative to the movable joint 32, the two sides (or one side) of the buckle body are symmetrically provided with the locking springs, the tail end of the locking spring can move relative to the buckle body, and the tail end of the locking spring is fixedly provided with the lock head, correspondingly, the side wall of the movable joint 32 is provided with the lock hole matched with the lock head, so that the lock head can pop out under the elastic action of the locking spring, and further extend into the clamping hole on the fixed joint 31, and the fixed joint 31 and the movable joint 32 are locked with each other. And it can be understood that, in order to prevent the movable joint 32 from rotating relative to the fixed joint 31, an axial guiding structure is provided between the movable joint 32 and the fixed joint 31, for example, an axial sliding slot is provided on a side wall of one of the movable joint 32 and the fixed joint 31, and a sliding block adapted to the axial sliding slot is provided on the other, so that the movable joint 32 can only move axially relative to the fixed joint 31 under the limitation of the axial sliding slot and the sliding block.

Wherein, the tip of the arm 3 is rotatably connected with the tilting base 5, for example, a stub shaft is rotatably connected with the tip of the arm 3 through a bearing, and the tilting base 5 is fixed on the stub shaft. And the arm tip department (inside) of horn 3 still fixed mounting have the steering wheel of verting (not shown in the figure), the output shaft and the base 5 (being the minor axis) mechanical connection that verts of verting so that the drive base 5 that verts takes place to rotate for horn 3. In addition, the present embodiment configures the rotation axis (i.e., the minor axis) of the tilt base 5 to be parallel to the axis of the horn 3. Each tilting base 5 is provided with a rotor assembly 6, the rotor assembly 6 comprises a motor 61 and a blade 62 mounted on an output shaft of the motor 61, and the output shaft of the motor 61 is perpendicular to the rotation axis of the tilting base 5.

In this embodiment, further set up the steering wheel that verts and have a plurality of positions (gears) of verting or stepless deflection (arbitrary angle can fix a position) to the angular direction of base 5 that verts is adjusted according to the use scene of difference, thereby makes the direction of the thrust that rotor subassembly 6 installed on it produced. For example, the tilting steering engine is configured to have the function of angle fixing and locking, so that the output shaft of the tilting steering engine can be fixed at any angle. With the arrangement, when the tilting steering engine rotates and the thrust generated by the rotor wing assembly 6 is in the vertical direction, the lift force for driving the unmanned aerial vehicle to vertically take off and land can be generated, as shown in fig. 1; on the contrary, when the steering wheel that verts rotated and made the thrust that rotor subassembly 6 produced be in the level, can make the thrust that produces the drive unmanned aerial vehicle and go forward as shown in figure 2. And it is easy to understand that when the tilt steering engine rotates to make the thrust generated by the rotor assembly 6 in the tilt state, the thrust has two components, one component is the lift force, and the other component is the forward thrust, so that the switching of the flight state can be performed, such as taking off from the water surface, lifting the flight height, or preparing to enter into vertical landing.

It can be understood that, because the body of the unmanned aerial vehicle is divided into the upper body 1 and the lower body 2, when the unmanned aerial vehicle is sailed on the water surface, the upper body 2 can be exposed above the water surface (for example, floating on the water surface is realized by buoyancy of the body), so that the rotor assembly 6 configured on the lower body 2 can be used as a propeller driven underwater, while the rotor assembly 6 configured on the upper body 1 can be used as a fan to generate thrust, and the two cooperate with each other to provide the water surface sailing speed of the unmanned aerial vehicle. When unmanned aerial vehicle is in aquatic when diving and voyage, then rotor subassembly 6 is whole to be used as the screw, because horn 3 is evenly arranged with 90 intervals circumference, consequently only half the screw is used for the drive to advance, and under the cooperation of tilting steering wheel, can regard as the adjustment course and keep the state of diving and use through angle of adjustment then the screw of other half.

It will be appreciated that a watertight seal, such as a gasket or packing, is provided between the stub shaft and the horn 3, whilst the motor 61 in the rotor assembly 6 is configured as a watertight motor. Therefore, the unmanned aerial vehicle can sail on the water surface or submerge underwater.

Example two

The difference from the first embodiment is that: rotor assembly 6 is provided to include a double layer of blades 62. For example, the rotor assembly 6 includes two motors 61, the two motors 61 are coaxially and symmetrically disposed on two sides of the tilting base 5, and a blade 62 is mounted on an output shaft of each motor 61. During the use, through the rotational speed and the direction of adjusting two motors 61, can be so that two paddle 62 coaxial reversals to form coaxial reversal screw, make unmanned aerial vehicle have higher efficiency of hovering, and have lower induced resistance, simultaneously, unmanned aerial vehicle's mobility increases to some extent, and can guarantee comparatively good stability.

The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the described embodiments. It will be apparent to those skilled in the art that various changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, and the scope of protection is still within the scope of the invention.

Claims

1. The utility model provides an empty amphibious many rotor unmanned aerial vehicle of water which characterized in that: the device comprises an upper machine body and a lower machine body which are fixed in a stacked mode, wherein a plurality of machine arms are arranged on the upper machine body and the lower machine body in a central symmetry mode or a circumferential uniform mode, and the machine arms are lockable telescopic machine arms; the arm tip of the horn is rotatably connected with a tilting base and a tilting steering engine for driving the tilting base to rotate is fixedly installed on the horn tip, and the rotation axis of the tilting base is parallel to the horn; every all install the rotor subassembly on the base of verting, the rotor subassembly includes the motor and installs paddle on the output shaft of motor, just the output shaft perpendicular to of motor the axis of rotation of the base of verting.

2. An air-water amphibious multi-rotor unmanned aerial vehicle according to claim 1, wherein: the machine arm comprises a fixed joint and a movable joint, the fixed joint is fixedly connected to the upper machine body or the lower machine body, and the movable joint is axially movably inserted into the fixed joint; and a spring buckle is fixedly arranged in the movable joint, and clamping holes matched with the spring buckle are formed in the two ends of the fixed joint.

3. A water-air amphibious multi-rotor unmanned aerial vehicle according to claim 2, wherein: an axial guide structure is arranged between the movable joint and the fixed joint.

4. An air-water amphibious multi-rotor unmanned aerial vehicle according to claim 1, wherein: the rotor assembly includes a dual layer blade.

5. An air-water amphibious multi-rotor unmanned aerial vehicle according to claim 4, wherein: the rotor subassembly includes two motors, two the motor is coaxial and set up symmetrically the both sides of base, every vert all install on the output shaft of motor the paddle.

6. An air-water amphibious multi-rotor unmanned aerial vehicle according to claim 1, wherein: the number of the arms arranged on the upper machine body and the lower machine body is the same, and the positions of the arms are overlapped.

7. An air-water amphibious multi-rotor unmanned aerial vehicle according to claim 6, wherein: the horn is in go up the fuselage and the even distribution of circumference on the fuselage down.

8. An air-water amphibious multi-rotor unmanned aerial vehicle according to claim 7, wherein: the upper machine body and the lower machine body are provided with four machine arms.