CN113459742A - Air-ground amphibious multi-rotor unmanned aerial vehicle - Google Patents
Air-ground amphibious multi-rotor unmanned aerial vehicle Download PDFInfo
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- CN113459742A CN113459742A CN202110976108.4A CN202110976108A CN113459742A CN 113459742 A CN113459742 A CN 113459742A CN 202110976108 A CN202110976108 A CN 202110976108A CN 113459742 A CN113459742 A CN 113459742A
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- 238000013016 damping Methods 0.000 claims abstract description 17
- 239000000463 material Substances 0.000 claims abstract description 5
- 230000008878 coupling Effects 0.000 claims description 3
- 238000010168 coupling process Methods 0.000 claims description 3
- 238000005859 coupling reaction Methods 0.000 claims description 3
- 230000007246 mechanism Effects 0.000 claims description 2
- 230000005489 elastic deformation Effects 0.000 description 5
- 230000035939 shock Effects 0.000 description 3
- 239000002131 composite material Substances 0.000 description 2
- 208000035473 Communicable disease Diseases 0.000 description 1
- 239000006096 absorbing agent Substances 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000002238 attenuated effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 208000015181 infectious disease Diseases 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 230000000116 mitigating effect Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
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Classifications
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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
- B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
- B64C1/06—Frames; Stringers; Longerons ; Fuselage sections
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
- B64C1/06—Frames; Stringers; Longerons ; Fuselage sections
- B64C1/068—Fuselage sections
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/32—Alighting gear characterised by elements which contact the ground or similar surface
- B64C25/34—Alighting gear characterised by elements which contact the ground or similar surface wheeled type, e.g. multi-wheeled bogies
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/32—Alighting gear characterised by elements which contact the ground or similar surface
- B64C25/58—Arrangements or adaptations of shock-absorbers or springs
- B64C25/62—Spring shock-absorbers; Springs
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/52—Tilting of rotor bodily relative to fuselage
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
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Abstract
The invention discloses an air-ground amphibious multi-rotor unmanned aerial vehicle, which belongs to the field of unmanned aerial vehicles and comprises an upper body and a lower body which are fixedly connected in a laminated manner; at least two pairs of arms are symmetrically arranged on the side surface of the upper machine body about the central axis; the tip parts of the arms of the machine arms can be rotatably connected with tilting bases, steering engines are connected between the machine arms and the tilting bases, the rotating axes of the tilting bases are horizontal and perpendicular to the central axis of the upper machine body, ducted propellers are fixedly installed on the tilting bases, and the axes of the ducted propellers are perpendicular to the rotating axes of the tilting bases; at least two pairs of foot rests are symmetrically arranged on the side surface of the lower machine body about the central axis, and rollers are arranged at the bottom ends of the foot rests; the foot rest is made of elastic deformable materials, and a combined type spring damping device is connected between the two foot rests which are arranged in pairs. The invention can enable the unmanned aerial vehicle to slide on the ground, and also can buffer impact force during landing, improve the stability of the unmanned aerial vehicle and protect airborne electronic equipment.
Description
Technical Field
The invention relates to the field of unmanned aerial vehicles, in particular to an air-ground 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 real life, require unmanned aerial vehicle frequently to accomplish the air-ground operation transition to many works, reconnaissance unmanned aerial vehicle sometimes needs to avoid aerial radar detection, needs unmanned aerial vehicle to land subaerial this moment, moves with the mode of unmanned car again, but many rotor unmanned aerial vehicle among the prior art do not have the ability of moving subaerial to frequently carry out the air-ground and trade and also make unmanned aerial vehicle receive more ground impact, consequently put forward higher requirement to unmanned aerial vehicle's foot rest and shock mitigation system.
Disclosure of Invention
Aiming at the problems that a multi-rotor unmanned aerial vehicle in the prior art does not have ground movement capability and impact force is caused to the unmanned aerial vehicle by frequent take-off and landing, the invention aims to provide an air-ground amphibious multi-rotor unmanned aerial vehicle.
In order to achieve the purpose, the technical scheme of the invention is as follows:
an air-ground amphibious multi-rotor unmanned aerial vehicle comprises an upper body and a lower body which are fixedly connected in a laminated manner; at least two pairs of machine arms are mounted on the side surface of the upper machine body, and the two machine arms arranged in pairs are symmetrical about the central axis of the upper machine body; the tilting mechanism comprises a machine arm, a tilting base, a steering engine, ducted propellers, a fan blade and a fan blade, wherein the fan blade tip of the machine arm is rotatably connected with the tilting base; at least two pairs of foot rests are mounted on the side face of the lower machine body, rollers are mounted at the bottom ends of the foot rests, and the two foot rests which are arranged in pairs are symmetrically arranged around the central axis of the lower machine body; the foot rest is made of an elastic deformable material, and a combined type spring damping device is connected between the two foot rests which are arranged in pairs.
Preferably, the combined type spring damping device comprises four sections of springs, one ends of the four sections of springs are respectively fixed to the upper portion and the lower portion of the two foot rests which are arranged in pairs, and the other ends of the four springs are connected and fixed to the same circular ring.
Preferably, the combined type spring damping device is X-shaped.
Preferably, the upper part and the lower part of the foot rest are both fixed with semicircular rings, and the spring is fixedly connected with the foot rest through the semicircular rings.
Preferably, the ducted propeller comprises a ducted casing, a bracket, a motor and blades; wherein, duct shell fixed mounting be in on the base that verts, support fixed mounting be in the inside of duct shell, motor fixed connection just on the support the output shaft of motor with the duct shell is coaxial, paddle fixed mounting be in on the output shaft of motor.
Preferably, the steering wheel is installed inside the horn, install the fixed axle on the base of verting, the fixed axle with horn rotatable coupling, just the fixed axle stretches into the inside one end of horn with the output shaft mechanical connection of steering wheel.
Preferably, the foot rest is rod-shaped, and an included angle is formed between two foot rests which are arranged in pairs.
Preferably, the horn comprises an inclined section and a horizontal section, the root of the inclined section is fixedly installed on the side wall of the upper fuselage, and the inclined section inclines upwards from the root to the tip; the horizontal segment is the level form and arranges, the root fixed connection of horizontal segment is in the tip of slope section, the base that verts is connected the tip of horizontal segment.
Preferably, the root of the inclined section is fixedly connected with a fixed block, and the fixed block can be detachably and fixedly connected to the side wall of the upper machine body.
Preferably, the horn and the foot rest are four, and the central axis of the upper body is parallel to the central axis of the lower body.
By adopting the technical scheme, due to the arrangement of the tilting base, the steering engine, the ducted propeller and the idler wheels arranged on the foot rest, the angle of the ducted propeller can be changed after the tilting base is driven by the steering engine, so that the aerial flight state of the unmanned aerial vehicle can be ensured when the axis of the ducted propeller is vertical, and the horizontal thrust requirement of the unmanned aerial vehicle during the movement on the ground can be ensured when the ducted propeller is horizontal; and due to the arrangement of the foot rest made of the elastic deformable material and the combined type spring damping device, when the unmanned aerial vehicle lands, the impact force on the ground can be partially converted into the elastic deformation of the foot rest, and the combined type spring damping device is used for further damping the elastic deformation of the foot rest, so that the impact force is buffered and attenuated, and airborne electronic equipment is protected.
Drawings
Fig. 1 is a front view of the unmanned aerial vehicle of the present invention in flight;
fig. 2 is a side view of the drone of the present invention in flight;
fig. 3 is a front view of the drone of the present invention when taxiing on the ground;
fig. 4 is a side view of the drone of the present invention when taxiing on the ground.
In the figure, 1-upper machine body, 2-lower machine body, 3-machine arm, 31-inclined section, 32-horizontal section, 33-fixed block, 4-tilting base, 5-ducted propeller, 51-ducted shell, 52-bracket, 53-motor, 54-blade, 6-foot rest, 7-roller, 8-composite spring damping device, 81-spring, 82-circular ring and 83-semicircular ring.
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.
An air-ground amphibious multi-rotor unmanned aerial vehicle comprises an upper body 1 and a lower body 2 which are fixedly connected in a stacked mode, for example, the upper body 1 and the lower body 2 are detachably connected through bolts.
At least two pairs of arms 3 are mounted on the side surface of the upper body 1, the two arms 3 arranged in pairs are symmetrical about a central axis of the upper body 1, wherein the arms 3 are mounted on the left side and the right side of the upper body 1, and the central axis refers to an axis of the upper body 1 in the front-back direction. For example, in the present embodiment, four horn arms 3 are arranged, the four horn arms 3 are divided into two pairs, the two pairs of horn arms 3 are arranged at intervals in the front-rear direction of the upper body 1, and the two pairs of horn arms 3 are symmetrically arranged in the front and rear portions of the upper body 1.
Wherein, the arm tip department of horn 3 all can rotate and be connected with base 4 that verts, in addition, still is connected with the steering wheel (not shown in the figure) that is used for driving the base 4 rotation that verts between horn 3 and the base 4 that verts. The rotation axis of the tilting base 4 is disposed horizontally and perpendicular to the central axis of the upper body 1. Specifically, the base 4 that verts goes up fixed axle fixed connection of fixedly connected with, installs the bearing on this fixed axle, and the arm tip department of horn 3 is provided with the bearing frame so that the installation of fixed axle to make base 4 and horn 3 realize rotatable coupling verts. Meanwhile, one end of the fixed shaft extending into the inner part of the horn 3 is mechanically connected with an output shaft of the steering engine, such as a coupler. Or in another embodiment, the fixed shaft can be omitted, and the output shaft of the steering engine directly extends out of the inner part of the horn 3 and then is fixedly connected with the tilting base 4.
Wherein, all fixed mounting has duct screw 5 on the base 4 that verts, and the axis of duct screw 5 is perpendicular to the rotation axis of base 4 that verts. In this embodiment, the ducted propeller 5 is configured to include a ducted casing 51, a bracket 52, a motor 53, and blades 54. The ducted shell 51 is a cylindrical shell-shaped structure with two open ends, and the outer wall of the ducted shell 51 is fixedly arranged on the tilting base 4; the bracket 52 is in a spoke shape, and the bracket 52 is fixedly arranged inside the ducted shell 51; the motor 53 is fixedly connected to the bracket 52, and the output shaft of the motor 53 is coaxial with the ducted shell 51; and the paddle 54 is fixedly mounted on the output shaft of the motor 53. So set up, duct screw 5 compares and has higher pneumatic efficiency in isolated screw, and has advantages such as pneumatic noise is low, the security is high.
Wherein, the side of lower fuselage 2 is installed with two at least pairs of foot rests 6, and gyro wheel 7 is all installed to the bottom of foot rest 6, and two foot rests 6 that arrange in pairs arrange about the axis symmetry of lower fuselage 2, and foot rest 6 specifically is installed in the left side and the right side of lower fuselage 2, and the axis of lower fuselage 2 refers to the axis of lower fuselage 2 fore-and-aft direction to the axis of preferred upper fuselage 1 is parallel to each other with the axis of lower fuselage 2. In this embodiment, four foot rests 6 are arranged, the four foot rests 6 are divided into two pairs, the two pairs of foot rests 6 are arranged at intervals along the front-rear direction of the lower body 2, and the two pairs of foot rests 6 are symmetrically arranged at the front and rear parts of the lower body 2. In the embodiment, the foot rest 6 is made of an elastic deformable material, and a composite spring damping device 8 is further connected between the two foot rests 6 arranged in pairs.
In this embodiment, the combined spring shock absorber 8 includes four springs 81, one end of each of the four springs 81 is fixed to the upper and lower portions of the two paired foot rests 6, and the other ends of the four springs 81 are connected and fixed to the same ring 82. Wherein, the combined type spring damping device 8 is in an X shape as a whole; in addition, the combined type spring damping device 8 further includes four semicircular rings 83, and the semicircular rings 83 are fixed to the upper and lower portions of the two foot rests 6 arranged in pairs, so that the four-section spring 81 is fixedly connected to the upper or lower portion of the corresponding foot rest 6 through the four semicircular rings 93. When the foot rest 6 is deformed due to the impact of the ground, the springs 81 in the combined type spring damping device 8 are stretched or compressed, so that the deformation of the foot rest 6 is transmitted to the springs 81, the circular ring 82 is displaced, and the deformation of the foot rest 6 can be buffered by the deformation of the four springs 81.
In the embodiment, the tilting base 4 and the steering engine are arranged, so that the steering engine drives the tilting base 4 to rotate, and the orientation of the ducted propeller 5 can be controlled, for example, when the axis of the ducted propeller 5 is in a vertical state, the lift force is generated, so that the unmanned aerial vehicle can vertically take off and land and fly in the air; when the axis of the ducted propeller 5 is in a horizontal state, the horizontal thrust is generated, so that the unmanned aerial vehicle can slide on the ground; when the axis of the ducted propeller 5 is in a state between horizontal and vertical, it generates both lift and horizontal thrust, thereby enabling the unmanned aerial vehicle to switch between horizontal navigation and vertical take-off and landing. It can be understood that when the unmanned aerial vehicle slides on the ground, only the ducted propellers 5 on one pair of the arms 3 (for example, the pair of arms 3 located behind the upper body 1) need to be angularly deflected.
This embodiment is through the setting of foot rest 6 and combined type spring damping device 8 that have elastic deformation ability for when unmanned aerial vehicle descends, the impact force on ground can be partly converted into the elastic deformation of foot rest 6, carries out further shock attenuation by combined type spring damping device 8 to the elastic deformation of foot rest 6 again, thereby cushions and attenuates impact force, protects airborne electronic equipment.
In this embodiment, the foot rests 6 are rod-shaped, and an included angle is formed between two foot rests 6 arranged in pairs, that is, the foot rests 6 are arranged obliquely relative to the lower body 2, so that the foot rests 6 can be deformed better under impact.
In this embodiment, the entire horn 3 is a long strip structure, the extending direction of the horn 3 is perpendicular to the central axis of the upper body 1, the horn 3 specifically includes an inclined section 31 and a horizontal section 32, the root of the inclined section 31 is fixedly mounted on the sidewall of the upper body 1, and the inclined section 31 inclines upward from the root to the tip; the horizontal section 32 is arranged horizontally, the root of the horizontal section 32 is fixedly connected to the tip of the inclined section 31, and the tilting base 4 is connected to the tip of the horizontal section 32. Furthermore, the root of the inclined section 31 is fixedly connected with a fixed block 33, and the fixed block 33 is detachably and fixedly connected to the side wall of the upper machine body 1 through a bolt or a screw, so as to facilitate quick detachment and replacement of the machine arm 3. With the arrangement, the position of the ducted propeller 5 can be raised by inclining the horn 3, so that the ducted propeller 5 is prevented from rubbing the bottom surface when in use.
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 (10)
1. The utility model provides an air-ground amphibious many rotor unmanned aerial vehicle which characterized in that: comprises an upper machine body and a lower machine body which are fixedly connected in a laminated manner; at least two pairs of machine arms are mounted on the side surface of the upper machine body, and the two machine arms arranged in pairs are symmetrical about the central axis of the upper machine body; the tilting mechanism comprises a machine arm, a tilting base, a steering engine, ducted propellers, a fan blade and a fan blade, wherein the fan blade tip of the machine arm is rotatably connected with the tilting base; at least two pairs of foot rests are mounted on the side face of the lower machine body, rollers are mounted at the bottom ends of the foot rests, and the two foot rests which are arranged in pairs are symmetrically arranged around the central axis of the lower machine body; the foot rest is made of an elastic deformable material, and a combined type spring damping device is connected between the two foot rests which are arranged in pairs.
2. An air-ground amphibious multi-rotor unmanned aerial vehicle according to claim 1, wherein: the combined type spring damping device comprises four sections of springs, one ends of the four sections of springs are respectively fixed to the upper portion and the lower portion of the two foot rests which are arranged in pairs, and the other ends of the four springs are connected and fixed to the same circular ring.
3. An air-ground amphibious multi-rotor unmanned aerial vehicle according to claim 2, wherein: the combined type spring damping device is X-shaped.
4. An air-ground amphibious multi-rotor unmanned aerial vehicle according to claim 2, wherein: the upper part and the lower part of the foot rest are both fixed with semicircular rings, and the spring is fixedly connected with the foot rest through the semicircular rings.
5. An air-ground amphibious multi-rotor unmanned aerial vehicle according to claim 1, wherein: the ducted propeller comprises a ducted shell, a bracket, a motor and blades; wherein, duct shell fixed mounting be in on the base that verts, support fixed mounting be in the inside of duct shell, motor fixed connection just on the support the output shaft of motor with the duct shell is coaxial, paddle fixed mounting be in on the output shaft of motor.
6. An air-ground amphibious multi-rotor unmanned aerial vehicle according to claim 5, wherein: the steering wheel is installed the inside of horn, install the fixed axle on the base of verting, the fixed axle with horn rotatable coupling, just the fixed axle stretches into the inside one end of horn with the output shaft mechanical connection of steering wheel.
7. An air-ground amphibious multi-rotor unmanned aerial vehicle according to claim 1, wherein: the foot rest is rod-shaped, and an included angle is formed between two foot rests which are arranged in pairs.
8. An air-ground amphibious multi-rotor unmanned aerial vehicle according to claim 1, wherein: the machine arm comprises an inclined section and a horizontal section, the root of the inclined section is fixedly arranged on the side wall of the upper machine body, and the inclined section inclines upwards from the root to the tip; the horizontal segment is the level form and arranges, the root fixed connection of horizontal segment is in the tip of slope section, the base that verts is connected the tip of horizontal segment.
9. An air-ground amphibious multi-rotor unmanned aerial vehicle according to claim 8, wherein: the root fixedly connected with fixed block of slope section, the fixed block can dismantle fixed connection be in on the lateral wall of last fuselage.
10. An air-ground amphibious multi-rotor unmanned aerial vehicle according to claim 1, wherein: the horn with the foot rest is four, just go up the axis of fuselage with the axis of fuselage is parallel to each other down.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110976108.4A CN113459742A (en) | 2021-08-24 | 2021-08-24 | Air-ground amphibious multi-rotor unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110976108.4A CN113459742A (en) | 2021-08-24 | 2021-08-24 | Air-ground amphibious multi-rotor unmanned aerial vehicle |
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| CN113459742A true CN113459742A (en) | 2021-10-01 |
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| CN202110976108.4A Pending CN113459742A (en) | 2021-08-24 | 2021-08-24 | Air-ground amphibious multi-rotor unmanned aerial vehicle |
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