CN114671019A - Hybrid unmanned aerial vehicle - Google Patents

Hybrid unmanned aerial vehicle Download PDF

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Publication number
CN114671019A
CN114671019A CN202210434201.7A CN202210434201A CN114671019A CN 114671019 A CN114671019 A CN 114671019A CN 202210434201 A CN202210434201 A CN 202210434201A CN 114671019 A CN114671019 A CN 114671019A
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CN
China
Prior art keywords
driving
air bag
unmanned aerial
aerial vehicle
connecting rod
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Granted
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CN202210434201.7A
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Chinese (zh)
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CN114671019B (en
Inventor
苏少辉
张高祥
高尚
王家栋
蒋林贝
裴鑫
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Hangzhou Dianzi University
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Hangzhou Dianzi University
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Publication of CN114671019B publication Critical patent/CN114671019B/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C37/00—Convertible aircraft
    • B64C37/02—Flying units formed by separate aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K17/00—Arrangement or mounting of transmissions in vehicles
    • B60K17/04—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K17/00—Arrangement or mounting of transmissions in vehicles
    • B60K17/04—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing
    • B60K17/06—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing of change-speed gearing
    • B60K17/08—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing of change-speed gearing of mechanical type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L50/00—Electric propulsion with power supplied within the vehicle
    • B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
    • 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
    • B64C1/30—Parts of fuselage relatively movable to reduce overall dimensions of aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/04—Helicopters
    • B64C27/08—Helicopters with two or more rotors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/04—Helicopters
    • B64C27/12—Rotor drives
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/04—Helicopters
    • B64C27/12—Rotor drives
    • B64C27/14—Direct drive between power plant and rotor hub
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D27/00—Arrangement or mounting of power plants in aircraft; Aircraft characterised by the type or position of power plants
    • B64D27/02—Aircraft characterised by the type or position of power plants
    • B64D27/24—Aircraft characterised by the type or position of power plants using steam or spring force
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D47/00—Equipment not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/10—Propulsion
    • B64U50/19—Propulsion using electrically powered motors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2220/00—Electrical machine types; Structures or applications thereof
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Remote Sensing (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Power Engineering (AREA)
  • Toys (AREA)

Abstract

The invention discloses a hybrid unmanned aerial vehicle which comprises a main body mechanism, an extension mechanism, a driving mechanism and an adsorption mechanism. The stretching mechanism and the adsorption mechanism are both arranged above the main body mechanism. The stretching mechanism comprises a servo motor, a rotating rod and a connecting rod. The adsorption mechanism comprises an air pump, a pipe, an air bag, a check valve plate, a sucker and a gel ring, wherein the air pump is connected with the air bag through the pipe, the check valve plate is attached to the inner surface of the air bag, the air bag is installed on the sucker, and the gel ring is installed on the sucker. The driving mechanisms are positioned on two sides of the main body mechanism, are respectively connected with the main body mechanism and the stretching mechanism in a rotating mode, and can rotate at an angle ranging from 0 degree to 90 degrees. The hybrid unmanned aerial vehicle can be switched between a flight mode and a walking mode, so that the hybrid unmanned aerial vehicle is suitable for different working occasions; in addition, through the adsorption structure, the hybrid unmanned aerial vehicle can be firmly adsorbed on objects such as walls, wood boards and the like, and normal work is guaranteed under severe weather conditions.

Description

Hybrid unmanned aerial vehicle
Technical Field
The invention relates to the field of unmanned aerial vehicles, in particular to a hybrid unmanned aerial vehicle.
Background
Micro flying drones have been rapidly developing in the past decade. However, there are still many limitations to using drones because they are susceptible to wind and rain. Furthermore, when drones are operated in indoor areas, small tunnels, pipes, sewage channels, ventilation ducts and closed environments where accidental obstacles may occur, their functionality may also be limited. Therefore, the capability of the unmanned aerial vehicle in the indoor space and the closed space is improved, and the requirement is very high.
Disclosure of Invention
The hybrid unmanned aerial vehicle comprises a flying mode and a walking mode, and can be switched to the walking mode when the hybrid unmanned aerial vehicle needs to work in a narrow space. In addition, the hybrid unmanned aerial vehicle is also provided with an adsorption mechanism, and when severe weather such as wind and rain occurs, the hybrid unmanned aerial vehicle can be adsorbed on objects such as walls and wood boards by using the adsorption mechanism.
In order to solve the technical problems, the invention adopts the following technical scheme:
the invention relates to a hybrid unmanned aerial vehicle, comprising: the device comprises a main body mechanism, an extension mechanism, a driving mechanism and an adsorption mechanism. Wherein:
the main body mechanism comprises a machine body, a first bolt, a retainer, a camera, a battery and a first rotating shaft. The organism is the basis of each mechanism assembly of this unmanned aerial vehicle, install the camera on the organism, the one end at camera place is this unmanned aerial vehicle's head, and the other end is the afterbody. The battery is arranged inside the machine body, two first rotating shafts are respectively arranged on two sides of the machine body, and the first rotating shafts are connected with the driving mechanism through shaft holes. Four retainers are arranged above the machine body, the head part and the tail part are respectively two, and the retainers are uniformly distributed in a symmetrical mode. The retainer is fixed on the machine body through first bolts, the number of the first bolts is eight, and two of the first bolts are arranged on each retainer.
The stretching mechanism comprises a servo motor, a rotating rod, a first connecting rod and a second connecting rod. The servo motor is installed in the middle position above the unmanned aerial vehicle, and the servo motor used by the unmanned aerial vehicle is allowed to rotate within an angle range of 0-135 degrees. The servo motor is provided with a rotating rod, the rotating rod rotates along with the rotation of the servo motor, the rotating angle range of the rotating rod is limited by the servo motor, and the allowed rotating range is 0-135 degrees. The two ends of the rotary rod are respectively provided with a first connecting rod, the tail end of the first connecting rod is provided with a second connecting rod, and the rotary rod, the first connecting rod and the second connecting rod are all in rotating connection.
The driving mechanism comprises a side wing, a shaft hole, a first driving motor, a second driving motor, a propeller, a fixing frame, a second bolt, a second rotating shaft, a driving belt wheel, a driving belt, a driven belt wheel, a driving gear, a driven gear, a rear wheel and a front wheel. Actuating mechanism is located unmanned aerial vehicle's both sides, and both sides respectively have one, are the symmetric distribution, actuating mechanism is connected with major structure through the flank. The side wings are connected with a first rotating shaft on the main structure through shaft holes, and the side wings can rotate around the first rotating shaft, so that the rotation is allowed to be in an angle range of 0-90 degrees. Install two first driving motor on the flank, unmanned aerial vehicle both sides respectively have two, totally four. Install a second driving motor on the flank, unmanned aerial vehicle both sides respectively have one, totally two. The first driving motor and the second driving motor both adopt brushless direct current motors, a propeller is installed on the first driving motor, and the propeller is a three-blade propeller. Two fixing frames are respectively installed on two sides of the second driving motor, the fixing frames are fixed on the side wings through second bolts, and each fixing frame is provided with two second bolts, namely four second bolts. And a second rotating shaft is arranged between the fixing frames and is connected with a second connecting rod in the stretching mechanism, and the second rotating shaft is parallel to the shaft hole. And a driving belt wheel is arranged below the side wing, and the driving belt wheel is coaxially connected with the second driving motor and keeps synchronous rotation. The driving belt wheel drives the driven belt wheel to rotate through a driving belt, the driven belt wheel is provided with a driving gear, and the driving gear and the driven belt wheel are coaxially connected and keep synchronous rotation. The driving gear and the driven gear form straight-tooth cylindrical gear transmission, the gear ratio of two wheels is 1:4, the driven gear is provided with a rear wheel, and the rear wheel and the driven gear are coaxially connected and keep synchronous rotation. The other end of the side wing is provided with a front wheel, the front wheel is a driven wheel, the rear wheel is a driving wheel, the rear wheel drives the front wheel to rotate, and the front wheel and the rear wheel are positioned on the same straight line.
The adsorption mechanism comprises an air pump, a pipe, an air bag hole, a check valve plate, a sucker, a gel ring, a bracket and a third bolt. The air pump is installed on the machine body in the main body mechanism, a pipe is connected above the air pump and connected with the air bag, an air bag hole is formed in the top of the air bag, a check valve plate is installed below the air bag hole and is rectangular, the check valve plate is attached to the inner surface of the air bag, a group of two opposite side edges are welded to the inner surface of the air bag, and the other pair of side edges are not welded. The gasbag is installed on the sucking disc, install the gel ring on the sucking disc, the gel ring uses polyurethane gel material, has viscidity. The sucking disc is fixed on the support, and the support passes through the third bolt will the sucking disc is fixed on the organism.
Preferably, the one end that the regulation camera place is unmanned aerial vehicle's head, and the other end is unmanned aerial vehicle's afterbody.
Preferably, four holders are mounted on the machine body of the main mechanism, and two holders are arranged at the front and the rear of the machine body and are symmetrically and uniformly distributed.
Preferably, the rotating rod in the stretching mechanism is driven by the servo motor to be allowed to rotate within an angle range of 0 ° to 135 °, and the angle corresponding to the position of the rotating rod is 0 ° when the servo motor is in the non-operating state.
Preferably, the rotating rod and the first link in the stretching mechanism rotate in a horizontal plane, and the second link rotates in a vertical plane.
Preferably, the second connecting rod in the extension mechanism is coaxially connected with the second rotating shaft in the driving mechanism, and the second connecting rod slides freely on the second rotating shaft.
Preferably, the wing of the driving mechanism is rotatable about a first axis of rotation in the main body structure, the range of angles of rotation being allowed to be 0 ° to 90 °, with the provision that the angle between the wing surface and the body surface of the main body structure is 0 ° when the two surfaces are in the same plane.
Preferably, the propeller in the driving mechanism is rotated by using a first driving motor, the front wheel and the rear wheel are rotated by using a second driving motor, and the first driving motor and the second driving motor both adopt brushless direct current motors.
Preferably, the gear ratio of the driving gear to the driven gear in the driving mechanism is 1:4, and the rear wheel is driven to rotate by using a speed reduction spur gear.
Preferably, a driving pulley in the driving mechanism is coaxially connected with the second driving motor and keeps rotating synchronously, a driven pulley is coaxially connected with the driving gear and keeps rotating synchronously, and a driven gear is coaxially connected with the rear wheel and keeps rotating synchronously.
Preferably, the gel ring in the adsorption mechanism is made of a polyurethane gel material and has good viscosity.
Preferably, the check valve plate in the adsorption mechanism is rectangular and attached to the inner surface of the air bag, one set of two opposite sides are welded on the inner surface of the air bag, and the other pair of opposite sides are not welded.
Preferably, the central axes of the air bag, the suction cup, the gel ring and the tube in the adsorption mechanism are on the same straight line.
The hybrid unmanned aerial vehicle has the following working modes:
first, flight mode
The battery in the main part mechanism provides the electric energy for whole unmanned aerial vehicle, and under this mode, servo motor among the extension mechanism does not have the circular telegram, can not rotate, so, rotary rod, first connecting rod and second connecting rod also can not carry out corresponding rotation. At the moment, the corresponding angle of the position of the rotating rod is 0 degree, and the axes of the first connecting rod and the second connecting rod are on the same straight line. One end of the second connecting rod is rotatably connected with the driving mechanism through the second rotating shaft, and the main body mechanism is rotatably connected with the driving mechanism through the first rotating shaft, so that the upper surface of the machine body in the main body mechanism and the upper surface of the side wing in the driving mechanism are always in the same plane in the mode. Among the actuating mechanism, first driving motor work, second driving motor closes, and at this moment, the screw rotates under first driving motor's effect, drives unmanned aerial vehicle's flight, and the rear wheel is owing to not receiving drive power, so can not rotate.
Second, walking mode
And a first driving motor in the driving mechanism stops working, and the propeller stops rotating. The servo motor in the extension mechanism starts to work, the rotating rod in the extension mechanism starts to rotate under the driving of the servo motor, the rotating rod is allowed to rotate within the angle range of 0-135 degrees, the first connecting rod and the second connecting rod extend outwards under the pushing of the rotating rod, and one end of the second connecting rod is connected with the second rotating shaft in the driving mechanism. Because the shaft hole in the driving mechanism is connected with the first rotating shaft in the main body mechanism, the side wing in the driving mechanism can only do rotating motion around the first rotating shaft, and the extending motion of the second connecting rod can be limited. Therefore, the second connecting rod can rotate at a certain angle while extending outwards so as to drive the side wings to rotate, the allowed rotation angle range of the side wings is 0-90 degrees, and corresponding angle rotation can be performed according to different working occasions. At this moment, second driving motor among the actuating mechanism begins work, drives driving pulley and rotates, and driven pulley rotates under the effect of drive belt, and then the driving gear rotates and drives driven gear and rotate, and the rear wheel rotates under driven gear's effect, drives unmanned aerial vehicle and moves forward.
Three, adsorption mode
Unmanned aerial vehicle leans on to adsorb the object, and gasbag and this object contact in the adsorption apparatus structure up to, and at this moment, the air pump begins work, through the inside air of pipe suction gasbag, unmanned aerial vehicle continues upwards flight, and until the inside air of air extraction gasbag, the gel ring on the sucking disc and this object surface contact. The air pump continues to work, and the check valve piece produces the clearance under the effect of suction with between the gasbag internal surface, and at this moment, the gasbag hole on the gasbag plays a role, and the air pump passes through the air in the gasbag hole suction gasbag cavity, and atmospheric pressure in the sucking disc is less than outside atmospheric pressure, and under the effect of outside atmospheric pressure, the gel ring adsorbs tightly on this object, accomplishes unmanned aerial vehicle's adsorption work.
Four, separation mode
The air pump inputs air into the air bag, the check valve plate is attached to the surface of the air bag under the pushing of the air flow until no gap exists between the check valve plate and the inner surface of the air bag, and at the moment, the air bag hole does not work any more. The air pump continues the air delivery, and when atmospheric pressure in the sucking disc cavity was greater than outside atmospheric pressure, there was no suction in the sucking disc cavity inside, and the gel ring separates with this object surface, and then unmanned aerial vehicle accomplishes the separation work.
The invention has the beneficial effects that:
1. the invention adopts two driving motors to respectively control the propeller and the wheel. When the unmanned aerial vehicle is in a flight mode, the first driving motor works, and the second driving motor is closed; when unmanned aerial vehicle was in walking mode, the work of second driving motor, first driving motor closed. The structure can ensure that the propeller and the wheel do not interfere with each other when working respectively, and simultaneously, the problem of failure caused by overlarge motor load is also avoided.
2. The hybrid unmanned aerial vehicle can fold the side wings, can be switched from a flight mode to a walking mode in special environments or occasions with limited width of the unmanned aerial vehicle body, can move by using the wheels, and can adapt to different working occasions by adjusting the folding angle.
3. According to the invention, the rear wheel is driven by using the 1:4 speed reduction spur gear, so that the speed of the wheel is reduced and the torque is increased, thereby improving the load capacity of the unmanned aerial vehicle.
4. The suction structure is arranged, and when severe weather such as wind and rain occurs, the unmanned aerial vehicle can be firmly sucked on objects such as walls, wood boards and the like by using the suction disc, so that the influence on the unmanned aerial vehicle is reduced, and the normal work is ensured.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is an overall schematic view of the main body mechanism of the present invention;
FIG. 3 is an overall schematic view of the extension mechanism of the present invention;
FIG. 4 is an overall schematic view of the drive mechanism of the present invention;
FIG. 5 is a partial schematic view of the drive mechanism of the present invention;
FIG. 6 is an overall schematic view of the adsorption mechanism in the present invention;
FIG. 7 is a schematic partial cross-sectional view of a suction mechanism in accordance with the present invention;
FIG. 8 is a schematic view of the flight pattern of the drone of the present invention;
fig. 9 is a schematic view of the walking mode of the unmanned aerial vehicle in the invention;
FIG. 10 is a schematic diagram of the operation of the adsorption mechanism of the present invention;
FIG. 11 is a schematic view showing the operation of the check valve sheet of the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
As shown in fig. 1, the hybrid unmanned aerial vehicle of the present invention includes a main body mechanism 1, an extension mechanism 2, a driving mechanism 3, and an adsorption mechanism 4.
As shown in fig. 2 and 4, the main body mechanism 1 includes a body 1-1, a first bolt 1-2, a holder 1-3, a camera 1-4, a battery 1-5, and a first shaft 1-6. The unmanned aerial vehicle is characterized in that the body 1-1 is a foundation for assembling various mechanisms of the unmanned aerial vehicle, the body 1-1 is provided with a camera 1-4, one end of the camera 1-4 is a head part of the unmanned aerial vehicle, and the other end of the camera is a tail part. The battery 1-5 is arranged in the machine body 1-1, two first rotating shafts 1-6 are respectively arranged on two sides of the machine body 1-1, and the first rotating shafts 1-6 are connected with the driving mechanism 3 through shaft holes 3-6. Four retainers 1-3 are arranged above the machine body 1-1, the head part and the tail part are respectively two, and the retainers 1-3 are uniformly distributed in a symmetrical mode. The retainer 1-3 is fixed on the machine body 1-1 through first bolts 1-2, the number of the first bolts 1-2 is eight, and two of the retainers 1-3 are arranged.
As shown in fig. 2 and 3, the stretching mechanism 2 includes a servo motor 2-1, a rotating rod 2-2, a first link 2-3, and a second link 2-4. The servo motor 2-1 is arranged in the middle position above the machine body 1-1, and the servo motor 2-1 used by the unmanned aerial vehicle is allowed to rotate by an angle ranging from 0 degree to 135 degrees. The servo motor 2-1 is provided with a rotating rod 2-2, the rotating rod 2-2 rotates along with the rotation of the servo motor 2-1, the rotating angle range of the rotating rod 2-2 is limited by the servo motor 2-1, and the allowed rotating range is also 0-135 degrees. Two ends of the rotating rod 2-2 are respectively provided with a first connecting rod 2-3, the tail end of the first connecting rod 2-3 is provided with a second connecting rod 2-4, and the rotating rod 2-2, the first connecting rod 2-3 and the second connecting rod 2-4 are in rotating connection.
As shown in fig. 2, 3, 4 and 5, the driving mechanism 3 includes a side wing 3-2, a shaft hole 3-6, a first driving motor 3-7, a second driving motor 3-9, a propeller 3-1, a fixing bracket 3-4, a second bolt 3-3, a second rotating shaft 3-5, a driving pulley 3-11, a driving belt 3-12, a driven pulley 3-13, a driving gear 3-14, a driven gear 3-15, a rear wheel 3-8 and a front wheel 3-10. Actuating mechanism 3 is located unmanned aerial vehicle's both sides, and both sides respectively have one, are the symmetric distribution, actuating mechanism 3 is connected with major structure 1 through flank 3-2. The wing 3-2 is connected with a first rotating shaft 1-6 on the main body structure 1 through a shaft hole 3-6, and the wing 3-2 can rotate around the first rotating shaft 1-6, and the rotation is allowed to be in an angle range of 0-90 degrees. Two first driving motors 3-7 are installed on the side wings 3-2, and two sides of the unmanned aerial vehicle are provided, namely four sides. A second driving motor 3-9 is installed on the side wing 3-2, and two sides of the unmanned aerial vehicle are provided with one driving motor respectively. The first driving motor 3-7 and the second driving motor 3-9 both adopt brushless direct current motors, a propeller 3-1 is installed on the first driving motor 3-7, and the propeller 3-1 is a three-blade propeller. Two fixing frames 3-4 are respectively arranged on two sides of the second driving motor 3-9, the fixing frames 3-4 are fixed on the side wings 3-2 through second bolts 3-3, and four second bolts 3-3 are respectively arranged on each fixing frame 3-4. A second rotating shaft 3-5 is arranged between the fixed frames 3-4, the second rotating shaft 3-5 is connected with a second connecting rod 2-4 in the stretching mechanism 2, and the second rotating shaft 3-5 is parallel to the shaft hole 3-6. And a driving belt wheel 3-11 is arranged below the side wing 3-2, and the driving belt wheel 3-11 and the second driving motor 3-9 are coaxially connected and keep synchronous rotation. The driving belt wheels 3-11 drive the driven belt wheels 3-13 to rotate through the transmission belts 3-12, driving gear wheels 3-14 are mounted on the driven belt wheels 3-13, and the driving gear wheels 3-14 are coaxially connected with the driven belt wheels 3-13 and keep synchronous rotation. The driving gears 3-14 and the driven gears 3-15 form straight-tooth cylindrical gear transmission, the gear ratio of two wheels is 1:4, the driven gears 3-15 are provided with rear wheels 3-8, and the rear wheels 3-8 and the driven gears 3-15 are coaxially connected and keep synchronous rotation. The other end of the side wing 3-2 is provided with a front wheel 3-10, the front wheel 3-10 is a driven wheel, the rear wheel 3-8 is a driving wheel, the rear wheel 3-8 drives the front wheel 3-10 to rotate, and the front wheel 3-8 and the rear wheel 3-10 are positioned on the same straight line.
As shown in fig. 2, 6 and 7, the adsorption mechanism 4 comprises an air pump 4-1, a pipe 4-2, an air bag 4-3, an air bag hole 4-9, a check valve plate 4-8, a suction cup 4-5, a gel ring 4-4, a bracket 4-6 and a third bolt 4-7. The air pump 4-1 is installed on a machine body 1-1 in the main body mechanism 1, a pipe 4-2 is connected above the air pump 4-1, the pipe 4-2 is connected with an air bag 4-3, an air bag hole 4-9 is formed in the top of the air bag 4-3, a check valve plate 4-8 is installed below the air bag hole 4-9, the check valve plate 4-8 is rectangular, the check valve plate 4-8 is attached to the inner surface of the air bag 4-3, two opposite side edges of one group are welded to the inner surface of the air bag 4-3, and the other pair of side edges are not welded. The air bag 4-3 is installed on the suction cup 4-5, the gel ring 4-4 is installed on the suction cup 4-5, and the gel ring 4-4 is made of polyurethane gel materials and has viscosity. The suction disc 4-5 is fixed on the support 4-6, and the support 4-6 fixes the suction disc 4-5 on the machine body 1-1 through a third bolt 4-7.
Preferably, as shown in fig. 3, the rotating rod 2-2 in the stretching mechanism 2 is driven by the servo motor 2-1 to be allowed to rotate by an angle ranging from 0 ° to 135 °, and the angle corresponding to the position of the rotating rod 2-2 is 0 ° when the servo motor 2-1 is in the non-operating state.
Preferably, as shown in fig. 3 and 4, the second link 2-4 of the extension mechanism 2 is coaxially connected with the second rotating shaft 3-5 of the driving mechanism 3, and the second link 2-4 slides freely on the second rotating shaft 3-5.
Preferably, as shown in fig. 2 and 4, the wing 3-2 of the driving mechanism 3 can rotate around the first rotating shaft 1-6 of the main body structure 1, the rotation is allowed to be in the range of 0 ° to 90 °, and the angle between the surface of the wing 3-2 and the surface of the main body 1-1 of the main body structure is 0 ° when the two surfaces are in the same plane.
Preferably, as shown in fig. 4 and 5, the gear ratio of the driving gear 3-14 and the driven gear 3-15 in the driving mechanism 3 is 1:4, and the rear wheel 3-8 is driven to rotate by using a speed reduction spur gear.
Preferably, as shown in fig. 4 and 5, the driving pulley 3-11 of the driving mechanism 3 is coaxially connected with the second driving motor 3-9 and keeps rotating synchronously, the driven pulley 3-13 is coaxially connected with the driving pulley 3-14 and keeps rotating synchronously, and the driven gear 3-15 is coaxially connected with the rear wheel 3-8 and keeps rotating synchronously.
Preferably, as shown in fig. 6, 7, 9 and 11, the check valve sheet 4-8 in the adsorption mechanism 4 is rectangular and attached to the inner surface of the air bag 4-3, one set of two opposite sides are welded on the inner surface of the air bag 4-3, and the other pair of sides are not welded.
The hybrid unmanned aerial vehicle comprises four application modes, specifically as follows:
first, flight mode
As shown in fig. 1, 2, 3, 4, and 8, the battery 1-5 in the main body mechanism 1 provides power for the whole drone, and in this mode, the servo motor 2-1 in the extending mechanism 2 is not energized and does not rotate, so the rotating rod 2-2, the first link 2-3, and the second link 2-4 do not rotate correspondingly. At the moment, the corresponding angle of the position of the rotating rod 2-2 is 0 degree, and the axes of the first connecting rod 2-3 and the second connecting rod 2-4 are in the same straight line. One end of the second connecting rod 2-4 is rotatably connected with the driving mechanism 3 through a second rotating shaft 3-5, and the main body mechanism 1 is rotatably connected with the driving mechanism 3 through a first rotating shaft 1-6, so that, in this mode, the upper surface of the machine body 1-1 in the main body mechanism 1 and the upper surface of the wing 3-2 in the driving mechanism 3 are always in the same plane. In the driving mechanism 3, a first driving motor 3-7 works, a second driving motor 3-9 is closed, at the moment, a propeller 3-1 rotates under the action of the first driving motor 3-7 to drive the unmanned aerial vehicle to fly, and a rear wheel 3-8 cannot rotate due to the fact that no driving force is applied to the rear wheel.
Second, walking mode
As shown in fig. 1, 2, 3, 4, 5 and 9, the first driving motor 3-7 in the driving mechanism 3 stops operating, and the propeller 3-1 stops rotating. A servo motor 2-1 in the extension mechanism 2 starts to work, a rotating rod 2-2 in the extension mechanism 2 starts to rotate under the driving of the servo motor 2-1, the rotating rod 2-2 is allowed to rotate within an angle range of 0-135 degrees, a first connecting rod 2-3 and a second connecting rod 2-4 extend outwards under the pushing of the rotating rod 2-2, and one end of the second connecting rod 2-4 is connected with a second rotating shaft 3-5 in the driving mechanism 3. Because the shaft hole 3-6 in the driving mechanism 3 is connected with the first rotating shaft 1-6 in the main body mechanism 1, the wing 3-2 in the driving mechanism 3 can only do rotating movement around the first rotating shaft 3-6, and the extending movement of the second connecting rod 2-4 is limited. Therefore, the second connecting rod 2-4 can rotate at a certain angle while extending outwards, so that the side wing 3-2 is driven to rotate, the allowed rotation angle range of the side wing 3-2 is 0-90 degrees, and corresponding angle rotation can be performed according to different working occasions. At the moment, a second driving motor 3-9 in the driving mechanism 3 starts to work to drive a driving belt wheel 3-11 to rotate, a driven belt wheel 3-13 rotates under the action of a driving belt 3-12, then the driving belt wheel 3-14 rotates and drives a driven gear 3-15 to rotate, and a rear wheel 3-8 rotates under the action of the driven gear 3-15 to drive the unmanned aerial vehicle to move forwards.
Three, adsorption mode
As shown in fig. 1, 6, 7, 10 and 11 (a), the unmanned aerial vehicle leans against the object to be adsorbed until the air bag 4-3 in the adsorption mechanism contacts with the adsorbed object, at which time, the air pump 4-1 starts to work to pump the air in the air bag 4-3 through the tube 4-2, and the unmanned aerial vehicle continues to fly upwards until the air in the air bag 4-3 is pumped, and the gel ring 4-4 on the suction cup 4-5 contacts with the surface of the object. The air pump 4-1 continues to work, a gap is formed between the check valve plate 4-8 and the inner surface of the air bag 4-3 under the action of suction force, at the moment, the air bag hole 4-9 of the air bag 4-3 plays a role, the air pump 4-1 sucks air in the cavity of the air bag 4-3 through the air bag hole 4-9, so that the air pressure in the suction disc 4-5 is smaller than the external air pressure, and the gel ring 4-4 is tightly adsorbed on the object under the action of the external atmospheric pressure, so that the adsorption work of the unmanned aerial vehicle is completed.
Four, separation mode
As shown in fig. 1, 6, 7, 10 and 11 (b), the air pump 4-1 inputs air into the air bag 4-3, and the check valve plate 4-8 is attached to the surface of the air bag 4-3 under the push of the air flow until no gap exists between the check valve plate 4-8 and the inner surface of the air bag 4-3, and at this time, the air bag hole 4-9 does not work any more. The air pump 4-1 continues to transmit air, when the air pressure in the cavity of the sucker 4-5 is larger than the external air pressure, no suction force exists in the cavity of the sucker 4-5, the gel ring 4-4 is separated from the surface of the object, and then the unmanned aerial vehicle finishes the separation work.

Claims (10)

1. The utility model provides a hybrid unmanned aerial vehicle, includes main part mechanism, extends mechanism, actuating mechanism and adsorption apparatus structure, its characterized in that:
the stretching mechanism and the adsorption mechanism are both arranged above the main body mechanism;
the stretching mechanism comprises a servo motor, a rotating rod and a connecting rod; the servo motor is arranged in the middle position above the main body mechanism; the rotating rod is arranged on the servo motor and rotates along with the rotation of the servo motor; two ends of the rotating rod are respectively provided with a set of connecting rod, and the connecting rods are connected with a driving mechanism;
the adsorption mechanism comprises an air pump, a pipe, an air bag, a check valve plate, a sucker and a gel ring; the air pump is arranged on the main body mechanism, and the upper part of the air pump is connected with the air bag through a pipe; the check valve plate is attached to the inner surface of the air bag, the air bag is installed on the sucker, and the sucker is provided with a gel ring;
the driving mechanisms are positioned on two sides of the main body mechanism, are respectively in rotating connection with the main body mechanism and the extension mechanism, and comprise side wings, first driving motors, second driving motors, propellers and driving belt wheels, the first driving motors and the second driving motors are installed on the side wings, and the propellers are installed on the first driving motors; the driving belt wheel and the second driving motor are coaxially connected and keep synchronous rotation, and are arranged below the side wings.
2. A hybrid drone according to claim 1, characterized in that:
the main body mechanism comprises a machine body, a camera, a battery and a first rotating shaft; the camera is arranged at the head of the machine body; a battery is arranged in the machine body, and a first rotating shaft is arranged on each of two sides of the machine body; the first rotating shaft is connected with the driving mechanism through a shaft hole of the driving mechanism.
3. A hybrid drone according to claim 2, characterized in that:
four holding frames are arranged above the machine body, and the head part and the tail part are respectively two and are uniformly distributed in a symmetrical mode.
4. A hybrid drone according to claim 1, characterized in that:
the rotating angle range of the servo motor and the rotating rod is 0-135 degrees;
the connecting rod includes first connecting rod and second connecting rod, is the rotation connection between rotary rod, first connecting rod and the second connecting rod.
5. A hybrid drone according to claim 1, characterized in that:
the driving mechanism is connected with the main body structure through a side wing; the wings are rotatable about a first axis of rotation, allowing an angular range of rotation of 0 to 90.
6. Hybrid drone according to claim 1, characterized in that:
the first driving motor and the second driving motor both adopt brushless direct current motors;
the propeller is a three-blade propeller; and two fixing frames are respectively arranged on two sides of the second driving motor, a second rotating shaft is further arranged between the fixing frames, the second rotating shaft is connected with a second connecting rod, and the second rotating shaft is parallel to the shaft hole.
7. A hybrid drone according to claim 1, characterized in that:
the driving mechanism also comprises a transmission belt, a driven belt wheel, a driving gear, a driven gear, a rear wheel and a front wheel;
the driving belt wheel drives the driven belt wheel to rotate through a driving belt, a driving gear is mounted on the driven belt wheel, and the driving gear and the driven belt wheel are coaxially connected and keep synchronous rotation; the driving gear and the driven gear form straight-tooth cylindrical gear transmission, a rear wheel is mounted on the driven gear, and the rear wheel and the driven gear are coaxially connected and keep synchronous rotation.
8. A hybrid drone according to claim 7, characterized in that:
the gear ratio of the driving gear to the driven gear is 1:4, and the rear wheel is driven to rotate by the deceleration straight gear.
9. A hybrid drone according to claim 1, characterized in that:
the top of the air bag is provided with an air bag hole;
the gel ring is made of a polyurethane gel material and has viscosity.
10. Hybrid drone according to any one of claims 1 to 9, characterised in that it comprises the following four modes:
firstly, a flight mode: the propeller rotates under the action of the first driving motor to drive the hybrid unmanned aerial vehicle to fly;
II, a walking mode: the first driving motor stops working, and the propeller stops rotating; the servo motor starts to work, the second connecting rod extends outwards to push the side wings to rotate, the second driving motor starts to work at the moment, the rear wheels are driven to rotate through gear transmission and belt transmission, and the hybrid unmanned aerial vehicle moves forwards;
thirdly, an adsorption mode: the air pump sucks the air in the air bag cavity through the air bag hole, and when the air pressure in the sucker is smaller than the external air pressure, the gel ring is tightly adsorbed on a target object under the action of the external atmospheric pressure;
fourthly, a separation mode: the air pump inputs air into the air bag, when the air pressure in the sucker cavity is larger than the external air pressure, the suction force does not exist in the sucker cavity any more, and the gel ring is separated from the surface of the target object.
CN202210434201.7A 2022-04-24 2022-04-24 Hybrid unmanned aerial vehicle Active CN114671019B (en)

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