CN114852330A - Medium-crossing multi-purpose unmanned system with coaxial rotor - Google Patents

Medium-crossing multi-purpose unmanned system with coaxial rotor Download PDF

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Publication number
CN114852330A
CN114852330A CN202210438308.9A CN202210438308A CN114852330A CN 114852330 A CN114852330 A CN 114852330A CN 202210438308 A CN202210438308 A CN 202210438308A CN 114852330 A CN114852330 A CN 114852330A
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China
Prior art keywords
power
unmanned system
rotating
rolling wheel
rod
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CN202210438308.9A
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Chinese (zh)
Inventor
吴忠勋
于建强
李伟鹏
边慧杰
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Nanhu Research Institute Of Electronic Technology Of China
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Nanhu Research Institute Of Electronic Technology Of China
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Priority to CN202210438308.9A priority Critical patent/CN114852330A/en
Publication of CN114852330A publication Critical patent/CN114852330A/en
Pending legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C35/00—Flying-boats; Seaplanes
    • B64C35/008—Amphibious sea planes
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H7/00—Propulsion directly actuated on air
    • B63H7/02—Propulsion directly actuated on air using propellers
    • 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
    • B64C27/10—Helicopters with two or more rotors arranged coaxially
    • 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
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
    • B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
    • 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
    • Y02T70/00—Maritime or waterways transport
    • Y02T70/10—Measures concerning design or construction of watercraft hulls

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Remote Sensing (AREA)
  • Transportation (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Ocean & Marine Engineering (AREA)
  • Toys (AREA)

Abstract

The application discloses a coaxial rotor cross-medium multi-dwelling unmanned system, which comprises a main body cabin and a plurality of power units symmetrically arranged relative to the main body cabin; each power unit comprises a variant mechanism and a coaxial rotor wing assembly arranged on the variant mechanism, the variant mechanism comprises a fixed bracket fixedly connected with the main cabin and a rotating bracket rotatably connected with the fixed bracket, and the rotating bracket is provided with a driving motor and a power rod connected with an output shaft of the driving motor; the coaxial rotor assembly comprises a propeller mounted in a coaxial manner on an axially outer side of the power rod and a rolling wheel mounted on an axially inner side of the power rod; the driving mechanism drives the rotating support to rotate at different angles relative to the fixed support in a vertical plane through the push rod, so that the propeller and the rolling wheels are arranged at a plurality of working positions corresponding to a plurality of motion modes of the unmanned system respectively. The application can deal with the various natural environment of topography, has simple structure, switches convenient quick characteristics.

Description

Medium-crossing multi-purpose unmanned system with coaxial rotor
Technical Field
The application relates to the technical field of unmanned systems, in particular to a coaxial rotor wing cross-medium multi-purpose unmanned system with a multiplexing type variant mechanism, such as an unmanned aerial vehicle, an unmanned boat and the like.
Background
At present, amphibious aircraft taking off and landing on water and amphibious aircraft on water are in mature development stages, but a cross-medium unmanned system with underwater diving and repeated water inlet and outlet capabilities still has problems in aspects of power, water inlet and outlet capabilities, sealing performance and the like during navigation.
Chinese patent application CN201711386555 discloses a fixed-wing sea-air multi-purpose aircraft and a control method thereof, which can realize aerial large-range flight observation and underwater long-range gliding observation, and realize the switching of different motion modes in water and air by means of the vertical take-off and landing function. However, when the underwater gliding aircraft moves underwater, the zigzag underwater gliding motion can be carried out only by adjusting the forward movement and the backward movement of the floating core of the aircraft body and combining the fixed wings, and the motion mode has the advantages of low speed, long steering path and low power efficiency. Meanwhile, due to the existence of the fixed wing, the mode conversion between the rotor wing and the fixed wing is needed when the multi-purpose aircraft moves in the air, so that the motion control system of the aircraft in the air becomes very complicated, and the body volume is increased.
The invention discloses a coaxial tilting sea-air vehicle, which realizes the omnibearing motion of the coaxial tilting vehicle in water and air across media by the vector cooperation of a coaxial sea-air dual-purpose combined motor and a tilting combined motor. However, the underwater motion of the underwater vehicle requires four underwater propellers to generate the same oblique downward force, the vertical component always performs gravity offset, the horizontal component controls the forward movement and the steering movement, the submerged energy consumption is large, and an underwater motion control system is complex.
Chinese patent application CN201910533404 discloses a cross-shaped coaxial tilting rotor amphibious unmanned aerial vehicle, it has set up tilting type coaxial many rotor mechanism, control through verting the rotor, the yaw angle that changes the organism through the increase and decrease speed change reaction torque of motor replaces, it is forward to vert both sides motor during underwater motion, the organism keeps the level in order to reduce the resistance, improve the utilization efficiency of the maximum lift of motor, make unmanned aerial vehicle realize self rotation and work under aerial and underwater big resistance condition. However, when the underwater robot moves underwater, the average density of the robot body is greater than that of water, the robot body can sink in a natural state, the floating and sinking of the robot body are adjusted by continuously increasing and reducing the speed of the motors on the two coaxial multi-rotor mechanisms, the energy consumption of the floating and sinking is large, and an underwater motion control system is complex.
Disclosure of Invention
The application discloses an unmanned system to solve the problem that a traditional single-medium or amphibious unmanned robot is poor in environmental adaptability.
According to one embodiment of the application, an unmanned system is provided and comprises a main body cabin and a power system connected with the main body cabin, wherein the power system comprises a plurality of power units symmetrically arranged relative to the main body cabin;
each power unit comprises a variant mechanism and a coaxial rotor wing assembly arranged on the variant mechanism, the variant mechanism comprises a fixed bracket fixedly connected with the main body cabin and a rotating bracket rotatably connected with the fixed bracket, and the rotating bracket is provided with a driving motor and a power rod connected with an output shaft of the driving motor; the coaxial rotor assembly includes a propeller mounted in a coaxial manner on an axially outer side of the power rod and a rolling wheel mounted on an axially inner side of the power rod;
the main body cabin further comprises a driving mechanism, the driving mechanism is connected with the rotating support through a push rod and used for driving the rotating support to rotate for different angles relative to the fixed support in a vertical plane, and therefore the propeller and the rolling wheels are arranged at a plurality of working positions corresponding to a plurality of motion modes of the unmanned system respectively.
In some other examples, the rolling wheel comprises a central wheel shaft, a peripheral wheel rim and a plurality of paddle blades for connecting the central wheel shaft and the peripheral wheel rim, wherein the central wheel shaft is movably sleeved on the power rod; the driving mechanism drives the rolling wheel to move along the axial direction of the power rod through the push rod so as to switch between a first working state and a second working state; wherein, in the first working state, the rolling wheel is in power coupling with the power rod; in the second working state, the rolling wheel and the power rod are decoupled from power.
In other examples, the rotating bracket comprises a sliding sleeve sleeved outside the power rod, and the push rod is connected with the sliding sleeve; the rolling wheel is fixedly installed at one end of the sliding sleeve through a bearing assembly, so that the rolling wheel can freely rotate relative to the sliding sleeve.
In some other examples, the rolling wheel or the bearing assembly is provided with a first locking mechanism, the power rod is provided with a second locking mechanism, and in the first working state, the first locking mechanism is clamped with the second locking mechanism so as to realize power coupling between the rolling wheel and the power rod; in the second operating state, the first locking mechanism is disengaged from the second locking mechanism to decouple power between the roller wheel and the power bar.
In other examples, the sliding sleeve is provided with two clamping pins which are eccentrically arranged relative to the central line of the sliding sleeve on two sides along the direction vertical to the rotating plane of the rotating bracket, and each clamping pin is connected with the driving mechanism through one push rod.
In other examples, the rotating bracket includes an annular body extending radially outward to form a cylindrical portion in which the drive motor is mounted; the fixed bolster includes first hemisphere casing and second hemisphere casing, and two hemisphere casings are in order to follow both sides centre gripping the mode of annular main part is connected as an organic wholely through the inside connecting axle of casing, makes annular main part can wind when external drive between two hemisphere casings the connecting axle rotates.
In some other examples, a sealing ring is disposed between each of the two hemispherical shells and the annular main body to form a sealed chamber therebetween, and a circuit board is disposed in the sealed chamber and connected to the driving motor.
In other examples, the fixed bracket further comprises a floating water tank for water inflow or drainage. Or the sinking and floating water tank can be arranged in the main cabin.
In other examples, the main body compartment is provided with a control unit, which is connected to the driving mechanism and is connected to the circuit board through a wire provided inside the fixing bracket.
In some more specific examples, the unmanned system wherein the working position comprises at least: a first working position, in which the rotating bracket and the fixed bracket are substantially perpendicular to each other in a vertical plane, so that the rotating surfaces of the propeller and the rolling wheels are located in a horizontal plane, and the rolling wheels are in the second working state; a second working position in which the rotating bracket is arranged substantially coaxially with the fixed bracket in a vertical plane, so that the rotating surfaces of the propeller and the rolling wheels are located in the vertical plane, and the rolling wheels are in the first working state; and the third working position is positioned between the first working position and the second working position, a preset included angle is formed between the rotating support and the fixed support in a vertical plane, so that the rotating surfaces of the propeller and the rolling wheels are positioned in an inclined plane, and the rolling wheels are in the second working state.
In some more specific examples, the unmanned system comprises four power units, wherein propellers and paddle blades of a first power unit and a third power unit are in a forward structure, propellers and paddle blades of a second power unit and a fourth power unit are in a reverse structure, the first power unit and the second power unit are arranged on one side of the main body cabin, and the third power unit and the fourth power unit are arranged on the other side of the main body cabin; in the first working position, the unmanned system can execute a flight motion mode, and the four propellers provide power to realize air flight and hovering; under the second working position, the unmanned system can execute a ground motion mode, wherein four rolling wheels provide ground thrust, or execute an underwater motion mode, and blades of the rolling wheels on the same side of the main cabin provide underwater thrust; in the third working position, the unmanned system can execute a water surface movement mode, and propellers on the same side of the main cabin provide air thrust.
In the unmanned system, preferably, the driving mechanism drives the rotating bracket to rotate within 180 ° relative to the fixed bracket in a vertical plane through a push rod.
The power structure selection is carried out through the mode that the power transmission rod switches to this application to adopt the coaxial structure of single pole, realized the combination of the air screw of traditional unmanned aircraft and unmanned surface ship, the marine screw of unmanned naval vessel and submarine, the road surface gyro wheel of unmanned dolly, solved traditional single medium or amphibious unmanned robot's environmental adaptation and had the problem of limitation, can deal with the manifold condition of natural environment topography, have simple structure, switch convenient quick characteristics.
Further features of the present application and advantages thereof will become apparent from the following detailed description of exemplary embodiments thereof, which is to be read in connection with the accompanying drawings.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application.
In the drawings:
fig. 1 is a schematic view of the overall structure of an unmanned system according to an embodiment of the application;
FIG. 2 is a schematic diagram of a single power unit configuration of an unmanned system according to an embodiment of the present application;
FIGS. 3 and 4 are exploded schematic views of a single power unit of an unmanned system according to an embodiment of the application;
FIG. 5 is a schematic view of a flight motion pattern of an unmanned system according to an embodiment of the application;
FIG. 6 is a schematic view of a water surface motion pattern of an unmanned system according to an embodiment of the application;
FIG. 7 is a schematic view of the unmanned system flipping in a surface motion mode;
FIG. 8 is a schematic view of an underwater motion pattern of an unmanned system according to an embodiment of the application;
fig. 9 is a schematic ground movement pattern of an unmanned system according to an embodiment of the application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. It is to be understood that the embodiments described are only a few embodiments of the present application and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the application, its application, or uses.
Fig. 1 is a schematic diagram of an overall structure of an unmanned system according to an embodiment of the present application. As shown in fig. 1, the present application discloses an unmanned system comprising a main body compartment 10 and a power system connected with the main body compartment, wherein the power system comprises a plurality of power units 11-14 which are symmetrically arranged relative to the main body compartment.
Each power unit 11-14 includes a variant mechanism 100 and a coaxial rotor assembly 111, 112 mounted thereon; 121. 122; 131. 132; 141. 142 of the carrier.
Fig. 2 is a schematic structural diagram of a single power unit of an unmanned system according to an embodiment of the application, and fig. 3 and 4 are schematic exploded structural diagrams of the single power unit of the unmanned system according to the embodiment of the application. As shown in the figure, the variant mechanism 100 includes a fixed bracket 1 fixedly connected with the main body cabin 11, and a rotating bracket 3 rotatably connected with the fixed bracket, and the rotating bracket 3 is provided with a driving motor 32 and a power rod 4 connected with an output shaft 321 of the driving motor 32.
Taking power unit 11 as an example, the coaxial rotor assembly comprises a propeller 111 mounted in a coaxial manner on the axially outer side of power rod 4 and a rolling wheel 112 mounted in a coaxial manner on the axially inner side of power rod 4.
The main body compartment 10 further includes a driving mechanism (not shown) connected to the rotating bracket 3 through a push rod 7, and configured to drive the rotating bracket 3 to rotate at different angles in a vertical plane with respect to the fixed bracket 1, so as to place the propeller 111 and the rolling wheel 112 in a plurality of working positions corresponding to a plurality of movement modes of the unmanned aerial system, respectively.
The rolling wheel 112 comprises a central axle, a peripheral rim 1121 and a plurality of paddle blades 1122 for connecting the central axle and the peripheral rim 1121. The central wheel shaft is movably sleeved on the power rod 4. The driving mechanism drives the rolling wheel 112 to move along the axial direction of the power rod 4 through the push rod 7 so as to switch between a first working state and a second working state. Wherein, in the first working state, the rolling wheel is in power coupling with the power rod. In the second working state, the rolling wheel and the power rod are decoupled from power.
The rotating support 3 comprises a sliding sleeve 5 sleeved outside the power rod, and the push rod 7 is connected with the sliding sleeve 5. The rolling wheel is fixedly arranged at one end of the sliding sleeve 5 through bearing assemblies 52 and 53, so that the rolling wheel can freely rotate relative to the sliding sleeve.
Referring to fig. 3 and 4, the bearing assembly illustratively comprises a bearing 52 and a rotating bayonet 53, wherein an outer ring of the bearing 52 is fixed in a push-pull ring 51 of the sliding sleeve 5, a central wheel shaft of the rolling wheel is fixedly sleeved on the rotating bayonet 53, and the rotating bayonet 53 is fixedly connected with an inner ring of the bearing 52, so that the rolling wheel and the sliding sleeve 5 are fixed in the axial direction but can freely rotate relative to the sliding sleeve 5.
The rotating bayonet lock is provided with a first locking mechanism, the power rod is provided with a second locking mechanism, and in the first working state, the first locking mechanism is clamped with the second locking mechanism so as to realize power coupling between the rolling wheel and the power rod; in the second operating state, the first locking mechanism is disengaged from the second locking mechanism to decouple power between the roller wheel and the power bar.
Illustratively, the first locking mechanism is, for example, a locking groove provided at an end of the rotary locking pin, and at least a part of the locking groove is exposed from an end face of the central wheel shaft. The second locking mechanism is a bayonet 8 arranged on the power rod, and when the bayonet is engaged with the bayonet groove, power coupling is realized between the rolling wheel and the power rod, namely, the driving motor transmits power provided by the output shaft to the power rod to the rolling wheel.
Referring to fig. 2 and 4, two clamping pins 6 which are eccentrically arranged relative to the central line of the sliding sleeve are arranged on two sides of the sliding sleeve 5 along the direction perpendicular to the rotating plane of the rotating bracket, and each clamping pin is connected with the driving mechanism through one push rod 7.
Referring to fig. 3, the rotating bracket includes an annular body 31, the annular body 31 extending radially outward to form a cylindrical portion 311, and the driving motor 32 being mounted in the cylindrical portion 311. The fixing bracket comprises a first hemispherical shell 21 and a second hemispherical shell 22, the two hemispherical shells are connected into a whole through a connecting shaft 221 inside the shells in a mode of clamping the annular main body from two sides, so that the annular main body can rotate around the connecting shaft between the two hemispherical shells when driven by external force.
Sealing rings 24 are respectively arranged between the two hemispherical shells and the annular main body so as to form a sealed cabin between the two hemispherical shells, a circuit board 23 is arranged in the sealed cabin, and the circuit board 23 is connected with the driving motor 32.
In some examples, each of the fixed brackets further includes a ballast tank 9 for water intake and drainage. Alternatively, the float water tanks 9 may be disposed on the main body chamber, for example, 2 or 4 float water tanks are symmetrically disposed around the main body chamber.
In some examples, the body compartment is provided with a control unit (not shown) connected to the drive mechanism and to the circuit board 23 by wires arranged inside the fixed support (via channels 222).
In the present application, the working position comprises at least: a first working position, in which the rotating bracket and the fixed bracket are substantially perpendicular to each other in a vertical plane, so that the rotating surfaces of the propeller and the rolling wheels are located in a horizontal plane, and the rolling wheels are in the second working state; a second working position in which the rotating bracket is arranged substantially coaxially with the fixed bracket in a vertical plane, so that the rotating surfaces of the propeller and the rolling wheels are located in the vertical plane, and the rolling wheels are in the first working state; and the third working position is positioned between the first working position and the second working position, a preset included angle is formed between the rotating support and the fixed support in a vertical plane, so that the rotating surfaces of the propeller and the rolling wheels are positioned in an inclined plane, and the rolling wheels are in the second working state.
Illustratively, referring to fig. 1, the unmanned system comprises four power units, wherein the propellers and blades of the first power unit 11 and the third power unit 13 are in a forward structure, and the propellers and blades of the second power unit 12 and the fourth power unit 14 are in a reverse structure. The first power unit 11 and the fourth power unit 14 are disposed at one side of the main body compartment, and the second power unit 12 and the third power unit 13 are disposed at the other side of the main body compartment. Therefore, the first power unit 11 is provided with a forward propeller and a forward rolling wheel, the second power unit 12 is provided with a reverse propeller and a reverse rolling wheel, the third power unit 13 is provided with a forward propeller and a forward rolling wheel, and the fourth power unit 14 is provided with a reverse propeller and a reverse rolling wheel.
Illustratively, each rolling wheel consists of a circular wheel and a paddle for water. Alternatively, the circular wheels may be ground engaging mechanisms of other shapes, such as wheel-legged engaging mechanisms.
Illustratively, the propeller may be a two-bladed propeller, or alternatively a three-bladed or four-bladed propeller.
In this application, forward propeller provides the air lift upwards when the corotation, provides the air and descends the power during the reversal. The reverse propeller provides air to lift upwards when rotating reversely and provides air to descend when rotating positively. The forward rolling wheel (or forward paddle blade) is used for providing thrust in a direction far away from the main body cabin in water in forward rotation and providing thrust in a direction close to the main body cabin in water in reverse rotation. The reverse rolling wheel (or the reverse paddle blade) provides thrust in a direction far away from the main body cabin in water during reverse rotation, and provides thrust in a direction close to the main body cabin in water during forward rotation.
In the first working position, the unmanned system is capable of executing a flight motion mode. In the second working position, the unmanned system can execute a ground motion mode or an underwater motion mode. In the third operating position, the unmanned system is capable of performing a surface motion mode.
In the unmanned system, the propeller of each power unit is used for providing lift force in a flight motion mode and thrust force in a water surface motion mode (a water surface navigation mode), the rolling wheels are used for providing thrust force in an underwater motion mode (an underwater diving mode) and a ground motion mode (a land mode), and the floating water tank is used for providing floating and sinking force in water. The push rod and the eccentrically arranged bayonet lock are used for controlling the propeller and the rolling wheel to synchronously rotate and deform around the center by at most 180 degrees. The push rod and the sliding sleeve are used for controlling the position of the rolling wheel on the power rod so as to enable the rolling wheel and the power rod to realize power coupling or release power coupling.
The data interface C is arranged on the fixed support, so that data interaction between the circuit board on the fixed support and the control unit in the main cabin is realized, for example, control instructions are received and sent.
The unmanned system in the application is transformed into a fan of an aerodynamic ship on the water surface to provide forward power and is transformed into a roller of a four-wheel vehicle on the land to provide forward power through the state switching of the variant mechanism. Meanwhile, by matching with floating and sinking acting forces of a water area provided by the small floating and sinking water tank and adjustment changes of the variant mechanism and the multi-mode motion control unit, the unmanned system can be further transformed into a submarine underwater to realize underwater diving motion.
The above-described movement pattern of the unmanned system is described in detail below with reference to fig. 5 to 9.
Fig. 5 is a schematic view of a flight motion pattern of an unmanned system according to an embodiment of the application. As shown in the figure, when the unmanned aerial vehicle system is in an aerial flight mode, four groups of push rods on four variant mechanisms around the main cabin are pushed towards the inside of the main cabin, and the other ends of the push rods drive a sliding structure (a sliding sleeve 5) to enable the center of a power rod and the center of a fixed support to form an included angle of 90 degrees. The driving motor drives the four propellers to rotate through the power rod. The forward propeller of the first power unit rotates forwards, the reverse propeller of the second power unit rotates backwards, the forward propeller of the third power unit rotates forwards, and the reverse propeller of the fourth power unit rotates backwards, so that the whole unmanned system can realize the functions of aerial flight movement and aerial hovering like a traditional four-rotor unmanned aerial vehicle.
Fig. 6 is a schematic view of a water surface movement pattern of an unmanned system according to an embodiment of the application. As shown in the figure, when the unmanned system is in a water surface navigation mode, four groups of push rods on four surrounding variant mechanisms are pushed to the outside of the main cabin, and the other ends of the push rods drive the sliding structure to enable the center of the power rod and the center of the fixed support to form an obtuse included angle, such as an included angle of 135 degrees. When the whole machine body moves horizontally towards the right side of the main body cabin (in the direction shown in the figure), the driving motor drives the two propellers on the left side of the main body cabin to rotate through the power rod. Wherein, the forward propeller of the first power unit rotates reversely, and the reverse propeller of the fourth power unit rotates forwardly. When the whole machine body moves horizontally towards the left side of the main body cabin, the driving motor drives the two propellers on the right side of the main body cabin to rotate through the power rod. Wherein, the reverse propeller of the second power unit rotates forwards, and the forward propeller of the third power unit rotates backwards. The whole unmanned system can realize the function of water surface navigation movement like the traditional unmanned surface ship by the air thrust generated by the two propellers at the same side.
When the unmanned system is in a water surface navigation mode, the unmanned system can be beaten by large water waves to cause the whole machine body to turn horizontally, four propellers for providing air thrust can be totally immersed in water, and the machine body can not normally move on the water surface. In order to solve the problem, when the body is detected to be horizontally overturned on the water surface (for example, an overturn detection device is arranged in a main body cabin), the control driving mechanism firstly adjusts the rotating support to be horizontal to the fixed support (namely, the rotating support and the fixed support are in a coaxial state) by utilizing the push rods, then respectively adjusts the thrust of the two push rods, so that the thrust borne by the two eccentric clamping pins is different (when the rotating support and the fixed support are in a horizontal state, one of the two eccentric clamping pins is positioned at a higher position, and the other eccentric clamping pin is positioned at a lower position, and applies a larger inward thrust, namely a pulling force, to the clamping pin at the higher position, as shown in fig. 7), so that an included angle between the center of the power rod and the center of the fixed support is changed, thereby controlling the propellers and the rolling wheels to rotate around the centers to deform, so that the four propellers are exposed out of the water surface again to provide air thrust, and the body continues to normally move on the water surface.
Fig. 8 is a schematic view of an underwater motion pattern of an unmanned system according to an embodiment of the application. As shown in the figure, when the unmanned system is in the underwater diving mode, four groups of push rods on four surrounding variant mechanisms are pushed to the outside of the main cabin, and the other ends of the push rods drive the sliding structure to enable the center of the power rod and the center of the fixed support to form an included angle of 180 degrees. The driving motor drives the two propellers at the same side to rotate through the power rod, and meanwhile, the rolling wheel is in a first working state and is driven to rotate through the bayonet lock 8.
In the application, the propeller adopts slender air blades, and the blades of the rolling wheels adopt wide blades for water. The underwater water flowing rate of the water paddle is much higher than that of the air paddle, so that the generated thrust is also much higher, and the water paddle provides the main thrust when the unmanned system moves underwater.
Four small-sized floating water tanks around the main cabin adjust the buoyancy of the machine body in each direction through water inlet and water discharge, and control the underwater balance, underwater sinking and water surface floating processes of the whole machine body. This application carries out organism buoyancy state through inhaling drainage device and adjusts, solves the aquatic in-process air screw and touches the surface of water and lead to going out the water failure problem, has reduced come-up and submerged energy consumption simultaneously, can also help the organism to realize balance adjustment, the surface of water is taken off perpendicularly and is descended the function under water.
When the whole machine body moves horizontally towards the left side of the main body cabin, the driving motor drives the two rolling wheels on the right side of the main body cabin to rotate through the power rod. The reverse rolling wheel of the second power unit rotates forwards, and the forward rolling wheel of the third power unit rotates backwards. When the whole machine body moves horizontally towards the right side of the main cabin, the driving motor drives the two rolling wheels on the left side of the main cabin to rotate through the power rod. The forward rolling wheel of the first power unit rotates reversely, and the reverse rolling wheel of the fourth power unit rotates positively. Through the underwater thrust generated by the two rolling wheels at the same side, the unmanned system realizes the underwater diving motion function like the traditional unmanned submarine.
Fig. 9 is a schematic ground movement pattern of an unmanned system according to an embodiment of the application. As shown in the figure, when the unmanned system is in a ground land-walking mode, four groups of push rods on four surrounding variant mechanisms are pushed to the outside of the main cabin, and the other ends of the push rods drive the sliding structure to enable the center of the power rod and the center of the fixed support to form an included angle of 180 degrees. The driving motor drives the four propellers to rotate through the power rod, and meanwhile, the rolling wheels are in a first working state and are driven to rotate through the bayonet pins 8.
When the whole machine body moves towards the front of the main body cabin, the driving motor drives the four rolling wheels on the two sides of the main body cabin to rotate through the power rods. The forward rolling wheel of the first power unit rotates reversely, the reverse rolling wheel of the fourth power unit rotates reversely, the reverse rolling wheel of the second power unit rotates positively, and the forward rolling wheel of the third power unit rotates positively. When the whole machine body moves towards the rear of the main body cabin, the driving motor drives the four rolling wheels on the two sides of the main body cabin to rotate through the power rods. The forward rolling wheel of the first power unit rotates forwards, the reverse rolling wheel of the fourth power unit rotates forwards, the reverse rolling wheel of the second power unit rotates backwards, and the forward rolling wheel of the third power unit rotates backwards. The unmanned system can realize the ground land movement function like the traditional unmanned trolley through the ground thrust generated by the four rolling wheels on the two sides.
The above embodiments are only for illustrating the technical solutions of the present application and not for limiting the same, and although the present application is described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that: modifications to the specific embodiments of the application or equivalent replacements of some of the technical features may still be made; all of which are intended to be encompassed within the scope of the claims appended hereto without departing from the spirit and scope of the present disclosure.

Claims (10)

1. An unmanned system comprises a main body cabin and a power system connected with the main body cabin, and is characterized in that the power system comprises a plurality of power units which are symmetrically arranged relative to the main body cabin;
each power unit comprises a variant mechanism and a coaxial rotor wing assembly arranged on the variant mechanism, the variant mechanism comprises a fixed bracket fixedly connected with the main body cabin and a rotating bracket rotatably connected with the fixed bracket, and the rotating bracket is provided with a driving motor and a power rod connected with an output shaft of the driving motor; the coaxial rotor assembly includes a propeller mounted in a coaxial manner on an axially outer side of the power rod and a rolling wheel mounted on an axially inner side of the power rod;
the main cabin further comprises a driving mechanism, the driving mechanism is connected with the rotating support through a push rod and used for driving the rotating support to rotate at different angles relative to the fixed support in a vertical plane, and therefore the propeller and the rolling wheels are arranged at a plurality of working positions corresponding to a plurality of movement modes of the unmanned system respectively.
2. The unmanned system of claim 1, wherein the rolling wheel comprises a central axle, a peripheral rim, and a plurality of paddle blades for connecting the central axle and the peripheral rim, the central axle movably sleeved on the power rod; the driving mechanism drives the rolling wheel to move along the axial direction of the power rod through the push rod so as to switch between a first working state and a second working state; wherein, in the first working state, the rolling wheel is in power coupling with the power rod; in the second working state, the rolling wheel and the power rod are decoupled from power.
3. The unmanned system of claim 2, wherein the rotating bracket comprises a sliding sleeve sleeved outside the power rod, and the push rod is connected with the sliding sleeve; the rolling wheel is fixedly arranged at one end of the sliding sleeve through a bearing assembly, so that the rolling wheel can freely rotate relative to the sliding sleeve.
4. The unmanned system of claim 3, wherein the rolling wheel or the bearing assembly is provided with a first locking mechanism, the power rod is provided with a second locking mechanism, and in the first working state, the first locking mechanism is clamped with the second locking mechanism to realize power coupling between the rolling wheel and the power rod; in the second operating state, the first locking mechanism is disengaged from the second locking mechanism to decouple power between the roller wheel and the power bar.
5. The unmanned system of claim 3, wherein the sliding sleeve is provided with two clamping pins eccentrically arranged relative to the central line of the sliding sleeve at two sides along the direction vertical to the rotating plane of the rotating bracket, and each clamping pin is connected with the driving mechanism through one push rod.
6. The unmanned system of claim 3, wherein the rotational support comprises an annular body extending radially outward to form a cylindrical portion in which the drive motor is mounted; the fixed bolster includes first hemisphere casing and second hemisphere casing, and two hemisphere casings are in order to follow both sides centre gripping the mode of annular main part is connected as an organic wholely through the inside connecting axle of casing, makes annular main part can wind when external drive between two hemisphere casings the connecting axle rotates.
7. The unmanned system of claim 6, wherein a sealing ring is disposed between each of the two hemispherical shells and the annular body to form a sealed chamber between the two hemispherical shells, and a circuit board is disposed in the sealed chamber and connected to the driving motor.
8. The unmanned system of claim 6, wherein the stationary support further comprises a ballast tank for water intake or drainage.
9. Unmanned system according to any of claims 2-8, characterized in that the working position comprises at least: a first working position, in which the rotating bracket and the fixed bracket are substantially perpendicular to each other in a vertical plane, so that the rotating surfaces of the propeller and the rolling wheels are located in a horizontal plane, and the rolling wheels are in the second working state; a second working position in which the rotating bracket is arranged substantially coaxially with the fixed bracket in a vertical plane, so that the rotating surfaces of the propeller and the rolling wheels are located in the vertical plane, and the rolling wheels are in the first working state; and the third working position is positioned between the first working position and the second working position, a preset included angle is formed between the rotating support and the fixed support in a vertical plane, so that the rotating surfaces of the propeller and the rolling wheels are positioned in an inclined plane, and the rolling wheels are in the second working state.
10. The unmanned system of claim 9, comprising four of the power units, wherein propellers and paddle blades of a first power unit and a third power unit are in a forward configuration, propellers and paddle blades of a second power unit and a fourth power unit are in a reverse configuration, the first power unit and the second power unit are disposed on one side of the main body compartment, and the third power unit and the fourth power unit are disposed on the other side of the main body compartment; in the first working position, the unmanned system can execute a flying motion mode, and the four propellers provide power to realize air flight and hovering; under the second working position, the unmanned system can execute a ground motion mode, wherein four rolling wheels provide ground thrust, or execute an underwater motion mode, and blades of the rolling wheels on the same side of the main cabin provide underwater thrust; in the third working position, the unmanned system can execute a water surface movement mode, and propellers on the same side of the main cabin provide air thrust.
CN202210438308.9A 2022-04-25 2022-04-25 Medium-crossing multi-purpose unmanned system with coaxial rotor Pending CN114852330A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202210438308.9A CN114852330A (en) 2022-04-25 2022-04-25 Medium-crossing multi-purpose unmanned system with coaxial rotor

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202210438308.9A CN114852330A (en) 2022-04-25 2022-04-25 Medium-crossing multi-purpose unmanned system with coaxial rotor

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CN114852330A true CN114852330A (en) 2022-08-05

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117549329A (en) * 2024-01-10 2024-02-13 中国农业大学 Environment information acquisition robot capable of moving across medium
CN117784822A (en) * 2024-02-27 2024-03-29 中国空气动力研究与发展中心空天技术研究所 Method and control system for correcting water surface overturning of aircraft

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117549329A (en) * 2024-01-10 2024-02-13 中国农业大学 Environment information acquisition robot capable of moving across medium
CN117549329B (en) * 2024-01-10 2024-03-22 中国农业大学 Environment information acquisition robot capable of moving across medium
CN117784822A (en) * 2024-02-27 2024-03-29 中国空气动力研究与发展中心空天技术研究所 Method and control system for correcting water surface overturning of aircraft
CN117784822B (en) * 2024-02-27 2024-04-26 中国空气动力研究与发展中心空天技术研究所 Method and control system for correcting water surface overturning of aircraft

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