CN113492975A

CN113492975A - Cross-medium multi-rotor unmanned aerial vehicle

Info

Publication number: CN113492975A
Application number: CN202110935782.8A
Authority: CN
Inventors: 张立; 艾剑良
Original assignee: Fudan University
Current assignee: Fudan University
Priority date: 2021-08-16
Filing date: 2021-08-16
Publication date: 2021-10-12

Abstract

The invention discloses a medium-crossing 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 fixedly connected in a laminated manner, wherein the lower fuselage is ship-shaped so as to be convenient for navigation in water, and the tail part of the lower fuselage is provided with a tail vane; at least two pairs of machine arms are symmetrically arranged on the left side and the right side of the lower machine body relative to the central axis of the lower machine body, the arm tips of the machine arms can be rotatably connected with a tilting base, and a duct propeller is fixedly arranged on the tilting base; wherein, be connected with the steering wheel of verting between horn and the base of verting and rotate in order to drive the base of verting, and the axis of rotation of base of verting is perpendicular to the axis of fuselage down, and the rotation axis of the base of verting is perpendicular to the duct screw. When the unmanned aerial vehicle lands on the water surface from the air, the thrust direction of the ducted propeller is changed by tilting of the tilting base, so that the unmanned aerial vehicle moves on the water surface, and the ducted propeller system has the advantages of higher pneumatic efficiency, low pneumatic noise, high safety and the like.

Description

Cross-medium multi-rotor unmanned aerial vehicle

Technical Field

The invention relates to the field of unmanned aerial vehicles, in particular to a cross-medium 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 the civil aspect, the unmanned aerial vehicle is widely applied to the aspects of 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 fly in the air, and in the in-service use, this kind of unmanned aerial vehicle limitation is very strong, in real life, requires unmanned aerial vehicle to accomplish the water and air transition frequently to many works. At present, the work of the aerial part is generally finished by a multi-rotor unmanned aerial vehicle in modern countries, and the underwater work is finished by an underwater vehicle or an underwater vehicle, so that two types of equipment are required to be prepared, and the inconvenience in the aspects of use, logistics and management is brought.

Disclosure of Invention

Aiming at the problem that the traditional unmanned aerial vehicle in the prior art cannot execute a wading task, the invention aims to provide a cross-medium multi-rotor unmanned aerial vehicle.

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

a cross-medium multi-rotor unmanned aerial vehicle comprises an upper body and a lower body which are fixedly connected in a laminated manner, wherein the lower body is ship-shaped so as to be convenient for navigation in water, and a tail rudder is arranged at the tail part of the lower body; at least two pairs of machine arms are symmetrically arranged on the left side and the right side of the lower machine body relative to the central axis of the lower machine body, arm tips of the machine arms can be rotatably connected with a tilting base, and a duct propeller is fixedly arranged on the tilting base; the aircraft horn with be connected with the steering wheel of verting between the base of verting in order to drive the base of verting rotates, just the axis of rotation perpendicular to of base of verting the axis of fuselage down, the duct screw perpendicular to the axis of rotation of base of verting.

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 two tail rudders are symmetrically arranged at the tail part of the lower fuselage.

Preferably, the lower fuselage comprises two hulls connected in a catamaran shape, and the two tail rudders are respectively installed at the tails of the two hulls.

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 lower fuselage, and the inclined section inclines downwards 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 is detachably and fixedly connected to the side wall of the lower machine body.

Preferably, the tail rudder includes rudder body, rudder blade, rudderstock and tail rudder steering wheel, rudder body fixed connection be in the afterbody of fuselage down, just be provided with on the rudder body with the breach of rudder blade looks adaptation, the rudder stock with rudder blade fixed connection, just the rudder stock with rudder body rotatable coupling, tail rudder steering wheel fixed mounting be in the inside of rudder body, just the output of tail rudder steering wheel with the rudder stock mechanical connection is with the drive the rudder blade for the rudder body deflects.

By adopting the technical scheme, due to the arrangement of the lower body in the shape of the hull, when the unmanned aerial vehicle needs to execute a task on water, the unmanned aerial vehicle can obtain better support and navigation adaptability on the water surface through the lower body in the shape of the hull; because the tip of horn portion of the aircraft nose tip of the aircraft is the setting of base of verting again for when driving the base of verting rotatory through the steering wheel that verts, can change the direction of duct screw, make the duct screw can produce the thrust that is used for promoting unmanned aerial vehicle at the surface of water navigation, thereby improve unmanned aerial vehicle adaptability on the surface of water.

Drawings

FIG. 1 is a front view of a cross-medium multi-rotor unmanned aerial vehicle in vertical take-off and landing;

FIG. 2 is a side view of the cross-media multi-rotor drone of the present invention in vertical take-off and landing;

fig. 3 is a front view of the cross-medium multi-rotor drone of the present invention when navigating horizontally;

FIG. 4 is a side view of the present invention in horizontal flight across a medium multi-rotor drone;

fig. 5 is a partially enlarged view of a portion a in fig. 2.

In the figure, 1-upper airframe, 2-lower airframe, 3-horn, 31-inclined section, 32-horizontal section, 4-tilting base, 5-ducted propeller, 51-ducted shell, 52-bracket, 53-motor, 54-blade, 6-tail rudder, 61-rudder body, 62-rudder blade, 63-rudder stock, 7-fixed block and 8-sheet structure.

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.

A cross-medium multi-rotor drone, as shown in fig. 1-4, comprises an upper fuselage 1 and a lower fuselage 2, wherein the lower fuselage 2 is boat-shaped to facilitate navigation through the water, and the upper fuselage 1 is fixedly connected to the top of the lower fuselage 2, so that the upper fuselage 1 and the lower fuselage 2 are fixedly connected together in a stacked manner. Generally, the upper body 1 is used to mount various electrical components, such as sensors, communication devices, control devices, and the like.

Wherein, the side walls of the left and right sides of the lower body 2 are uniformly provided with the horn 3, the number of the horns 3 on each side is the same, and the side walls of the left and right sides of the lower body 2 are provided with the horns 3 which are symmetrical about the central axis (axis along the front-rear direction) of the lower body 2. For example, four horn 3 are provided, and two horn 3 are disposed on each of the left and right sides of the lower body 2.

Wherein, the arm tip department of horn 3 all can be connected with base 4 that verts in the rotation, and vert on the base 4 then fixed mounting have duct screw 5. Specifically, base 4 and a minor axis fixed connection vert is fixed with the bearing on this minor axis, and the arm tip department of horn 3 is provided with the bearing frame so that the installation of minor axis to make base 4 and horn 3 realize rotatable coupling vert, in addition, seal structure is put with waterproof, for example sealing washer or sealing filler to the equipartition between bearing and the bearing frame and between bearing frame and the horn 3. A tilting steering engine (not shown in the figure) is connected between the horn 3 and the tilting base 4 to drive the tilting base 4 to rotate. In this embodiment, the tilting steering engine is fixedly installed inside the horn 3, two ends of the short shaft are respectively located inside and outside the horn 3, one end of the short shaft located outside the horn 3 is used for fixing the tilting base 4, and one end of the short shaft located inside the horn 3 is used for being mechanically connected with an output shaft of the tilting steering engine, such as a coupler. Or in another embodiment, the short shaft can be omitted, and the output shaft of the tilting steering engine directly extends out of the inner part of the horn 3 and then is fixedly connected with the tilting base 4.

Wherein, the rotation axis of the tilting base 4 is vertical to the central axis of the lower machine body 2, and the axis of the ducted propeller 5 is vertical to the rotation axis of the tilting base 4. With the arrangement, the orientation of the ducted propeller 5 can be controlled by driving the tilting base 4 to rotate through the tilting steering engine, for example, when the axis of the ducted propeller 5 is in a vertical state, the lift force is generated by the ducted propeller, so that the unmanned aerial vehicle can vertically take off and land; for example, when the axis of the ducted propeller 5 is horizontal, it generates horizontal thrust, so that the drone can sail on the water surface, or fly in the air; for another example, when the axis of the ducted propeller 5 is in a state between horizontal and vertical, it generates both lift and horizontal thrust, so that the unmanned aerial vehicle can be switched between horizontal navigation and vertical take-off and landing. It will be appreciated that when the drone is on the water, it is only necessary to angularly deflect the ducted propellers 5 on a pair of booms 3 (for example a pair of booms 3 located behind the lower fuselage 2), as shown in figure 4.

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.

In this embodiment, in order to improve the adaptability of the unmanned aerial vehicle when navigating in water, the tail rudder 6 is installed at the tail of the lower body 2, and the tail rudder 6 includes a rudder body 61, a rudder blade 62, a rudder stock 63, and a tail rudder steering engine (not shown in the figure). As shown in fig. 5, the rudder body 61 is fixedly connected to the tail of the lower body 2, a notch adapted to the rudder blade 62 is formed on the rudder body 61 (on the rear side) to facilitate installation of the rudder blade 62, the rudder stock 63 is fixedly connected to the rudder blade 62, the rudder blade 62 fixed with the rudder stock 63 is embedded in the notch of the rudder body 61, the rudder stock 63 is further rotatably connected to the rudder body 1, the tail rudder steering engine is fixedly installed inside the rudder body 61, and the output end of the tail rudder steering engine is mechanically connected (e.g., a coupling) to the rudder stock 63 to drive the rudder blade 62 to deflect relative to the rudder body 61. In the embodiment, a sheet structure 8 is integrally formed at the bottom of the lower body 2, the sheet structure 8 is vertically arranged, the sheet structure 8 can be used as a fin to prevent the ship from turning on one side, the fin extends from the head to the tail of the lower body 2, and the tail rudder 6 is mounted on the tail of the sheet structure 8.

In this embodiment, in order to further improve the direction control ability of unmanned aerial vehicle when aquatic navigation, the afterbody bilateral symmetry of fuselage 2 installs two foretell tailgates 6 down in the configuration for two tailgates 6 cooperate each other and improve the direction control ability of unmanned aerial vehicle when the surface of water navigation. It is understood that in the present embodiment, the lower fuselage 2 is further configured to include two hulls connected in a catamaran type, the two hulls are connected and fixed by the upper fuselage 1 located above, and the two tail rudders 6 are respectively installed at the tail parts of the two hulls.

In order to ensure that the ducted propeller 5 can be extended into the water to drive the water flow when the unmanned aerial vehicle is sailing on the water surface, in the present embodiment, the horn 3 is arranged to be inclined downward from the root to the tip thereof so as to enable the ducted propeller 5 to be extended into the water for use. Specifically, the configuration horn 3 includes an inclined section 31 and a horizontal section 32, a root of the inclined section 31 is fixedly installed on a side wall of the lower body 2, the inclined section 31 is inclined downward from the root to a tip, the horizontal section 32 is horizontally arranged, the root of the horizontal section 32 is fixedly connected to the tip of the inclined section 31, and the tilting base 4 is fixedly connected to the tip of the horizontal section 32. Correspondingly, the motor 53 in the ducted propeller 5 is configured to be a waterproof motor.

Further, the root fixedly connected with fixed block 7 that sets up slope section 31, this fixed block 7 can be dismantled fixed connection through modes such as bolt or screw on the lateral wall of fuselage 2 down to quick dismantlement and change horn 3.

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 a cross many rotor unmanned aerial vehicle of medium which characterized in that: the underwater vehicle comprises an upper body and a lower body which are fixedly connected in a stacked manner, wherein the lower body is ship-shaped so as to be convenient for navigation in water, and a tail rudder is arranged at the tail part of the lower body; at least two pairs of machine arms are symmetrically arranged on the left side and the right side of the lower machine body relative to the central axis of the lower machine body, arm tips of the machine arms can be rotatably connected with a tilting base, and a duct propeller is fixedly arranged on the tilting base; the aircraft horn with be connected with the steering wheel of verting between the base of verting in order to drive the base of verting rotates, just the axis of rotation perpendicular to of base of verting the axis of fuselage down, the duct screw perpendicular to the axis of rotation of base of verting.

2. The cross-media multi-rotor drone of 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.

3. The cross-media multi-rotor drone of claim 1, wherein: the tail part of the lower fuselage is provided with two tail rudders in a bilateral symmetry mode.

4. The cross-media multi-rotor drone of claim 3, wherein: the lower fuselage comprises two hulls connected in a catamaran shape, and the two tail rudders are respectively arranged at the tails of the two hulls.

5. The cross-media multi-rotor drone of claim 1, wherein: the horn comprises an inclined section and a horizontal section, the root of the inclined section is fixedly arranged on the side wall of the lower fuselage, and the inclined section inclines downwards 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.

6. The cross-media multi-rotor drone of claim 5, wherein: the root fixedly connected with fixed block of slope section, the fixed block can be dismantled fixed connection and be in on the lateral wall of fuselage down.

7. The cross-media multi-rotor drone of claim 1, wherein: the tail rudder comprises a rudder body, rudder blades, a rudder stock and a tail rudder steering engine, wherein the rudder body is fixedly connected to the tail of the lower fuselage, the rudder body is provided with a notch matched with the rudder blades, the rudder stock is fixedly connected with the rudder blades, the rudder stock is rotatably connected with the rudder body, the tail rudder steering engine is fixedly installed in the rudder body, the output end of the tail rudder steering engine is mechanically connected with the rudder stock to drive the rudder blades to deflect the rudder body.