CN116729659A - Ground-air amphibious spherical unmanned aerial vehicle - Google Patents
Ground-air amphibious spherical unmanned aerial vehicle Download PDFInfo
- Publication number
- CN116729659A CN116729659A CN202310492893.5A CN202310492893A CN116729659A CN 116729659 A CN116729659 A CN 116729659A CN 202310492893 A CN202310492893 A CN 202310492893A CN 116729659 A CN116729659 A CN 116729659A
- Authority
- CN
- China
- Prior art keywords
- connecting piece
- unmanned aerial
- aerial vehicle
- steering engine
- spherical shell
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000005096 rolling process Methods 0.000 abstract description 8
- 230000005484 gravity Effects 0.000 abstract description 2
- 230000000694 effects Effects 0.000 description 3
- 230000004888 barrier function Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 239000000428 dust Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000001681 protective effect Effects 0.000 description 2
- 241001465754 Metazoa Species 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 239000004576 sand Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/70—Convertible aircraft, e.g. convertible into land vehicles
-
- 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
- B64U20/00—Constructional aspects of UAVs
- B64U20/70—Constructional aspects of the UAV body
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U30/00—Means for producing lift; Empennages; Arrangements thereof
- B64U30/20—Rotors; Rotor supports
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U30/00—Means for producing lift; Empennages; Arrangements thereof
- B64U30/20—Rotors; Rotor supports
- B64U30/29—Constructional aspects of rotors or rotor supports; Arrangements thereof
- B64U30/299—Rotor guards
-
- 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
- Y02T50/00—Aeronautics or air transport
- Y02T50/40—Weight reduction
Abstract
The invention belongs to the technical field of unmanned aerial vehicles, and particularly relates to an underground-air amphibious spherical unmanned aerial vehicle, which specifically comprises a spherical shell, an unmanned aerial vehicle main body and a bogie mechanism, wherein the spherical shell is of a hollowed-out structure and is formed by assembling two mutually symmetrical hemispherical structures, and a spherical shell connecting piece is arranged at the center position of each of the two hemispherical structures; the unmanned aerial vehicle main part pass through steering ring frame mechanism and spherical shell connecting piece and be connected and install in spherical shell, specifically, steering ring frame mechanism passes through spherical shell connecting piece and connects and install in spherical shell, unmanned aerial vehicle main part set up and install in steering ring frame mechanism. According to the steering engine-driven single-shaft unmanned aerial vehicle steering system, the steering engine is adopted to drive the single-shaft unmanned aerial vehicle to swing, a scheme that a traditional single-shaft rotary wing unmanned aerial vehicle uses a flap to control steering is replaced, the unmanned aerial vehicle is driven by the steering engine to shift the gravity center while the air flight advantage of the unmanned aerial vehicle is guaranteed, the spherical shell can be utilized to perform hidden rolling running on the ground, the structure is simpler and smaller, and the operation range of the unmanned aerial vehicle is widened.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicles, and relates to an air-ground amphibious spherical unmanned aerial vehicle.
Background
The rotor unmanned aerial vehicle has the advantages of vertical take-off and landing, simple operation and flight operation, but the lower energy conversion efficiency makes the cruising performance of the rotor unmanned aerial vehicle obviously weaker than that of a fixed wing and a helicopter, and the rotor unmanned aerial vehicle is greatly limited when long-distance and long-time tasks are executed; in addition, the unmanned aerial vehicle carrying the high-speed rotating propeller can face serious safety problems when encountering barriers such as buildings, plants, people and animals, and if the unmanned aerial vehicle can not be found in time, serious consequences of unmanned aerial vehicle crash or damage to people and objects can be caused.
The spherical unmanned aerial vehicle adopts the solution that the spherical protective frame is carried on the unmanned aerial vehicle, and the unmanned aerial vehicle main body is arranged in the protective frame, so that the damage to an internal device when the unmanned aerial vehicle collides or rolls can be reduced; the spherical unmanned aerial vehicle provides rolling thrust through the screw, and the unmanned aerial vehicle ground advancing is realized to passive roll of leaning on spherical safety cover subaerial, and the ground advancing as far as possible can save the energy consumption under the environment allows.
Most unmanned aerial vehicles adopted by the solution adopt four rotor wings, the spherical shell is driven to passively rotate by the thrust provided by the unmanned aerial vehicle propeller so as to realize ground rolling, but the miniaturization of the spherical unmanned aerial vehicle is limited by the large wheelbase of the four rotor wings; the passively rotating spherical shell results in poor flexibility when the ground of the unmanned aerial vehicle rolls; the unmanned aerial vehicle propeller runs under the condition of being close to the ground, is not only influenced by ground effect, but also can face the potential safety hazard caused by the fact that ground stones and sundries are lifted; noise and rolled dust generated during the operation of the propeller are unfavorable for hiding the track of the unmanned aerial vehicle, and the detection task with the hiding requirement is difficult to execute.
Disclosure of Invention
In order to solve the technical problems in the prior art, the invention provides a novel ground-air amphibious spherical unmanned aerial vehicle, which uses a steering engine to control the gravity center offset of the unmanned aerial vehicle, and can safely and covertly roll in all directions on the ground by virtue of a spherical shell while the air flight advantage of the unmanned aerial vehicle is maintained, so that the problems of short unmanned aerial vehicle endurance, insufficient safety and concealment when the spherical unmanned aerial vehicle rolls on the ground are solved, and the ground-air amphibious spherical unmanned aerial vehicle can be used for reconnaissance, monitoring and detection in special environments, and the specific technical scheme is as follows:
the spherical unmanned aerial vehicle comprises a spherical shell, an unmanned aerial vehicle main body and a steering ring frame mechanism, wherein the spherical shell is of a hollowed-out structure and is formed by assembling two mutually symmetrical hemispherical structures, and spherical shell connecting pieces are arranged at the middle positions of the two hemispherical structures; the unmanned aerial vehicle main part pass through steering ring frame mechanism and spherical shell connecting piece and be connected and install in spherical shell, specifically, steering ring frame mechanism passes through spherical shell connecting piece and connects and install in spherical shell, unmanned aerial vehicle main part set up and install in steering ring frame mechanism.
Further, the steering ring frame mechanism comprises a steering engine, a rotating inner ring, a supporting outer ring and a connecting component; the steering engine comprises an inner ring steering engine and an outer ring steering engine which have the same structure, and the inner ring steering engine and the outer ring steering engine are respectively and fixedly arranged on the inner sides of the rotating inner ring and the supporting outer ring; the rotating inner ring is installed and connected on the inner side of the supporting outer ring through a connecting component and is in driving connection with the outer ring steering engine; the inner ring steering engine is in driving connection with the unmanned aerial vehicle main body; the support outer ring is connected with the spherical shell through the spherical shell connecting piece.
Further, the connection assembly includes: the inner steering engine fixing connecting piece, the engine body supporting connecting piece and the outer ring connecting piece are arranged on the rotating inner ring, and the inner ring connecting piece and the outer steering engine fixing connecting piece are arranged on the supporting outer ring at positions corresponding to each other; bearing structures are arranged on the machine body support connecting piece, the inner ring connecting piece and the outer ring steering engine fixing connecting piece; the outer ring connecting piece is rotatably connected with the inner ring connecting piece through a bearing, and specifically, the outer ring connecting piece 303 is rotatably connected with the bearing arranged on the inner ring connecting piece in a matched manner through a shaft structure arranged on the outer ring connecting piece.
Further, the inner ring connecting piece and the outer steering engine fixing connecting piece are also respectively connected with spherical shell connecting pieces on the two hemispherical structures through bearing structures.
Further, the rotating inner ring is of a combined special-shaped annular structure, and is formed by fixedly connecting a semi-annular left layer plate and a semi-annular right layer plate through an inner steering engine fixed connecting piece and an engine body supporting connecting piece which are respectively arranged at two ends of the left layer plate and the right layer plate, so that the positions of the inner steering engine fixed connecting piece and the engine body supporting connecting piece on the rotating inner ring are corresponding, and the inner steering engine is fixedly arranged on the inner steering engine fixed connecting piece; wherein a groove is arranged at the middle position of the left layer plate, and an auxiliary part is arranged at the groove; the outer ring connecting piece is arranged at the middle position of the right layer plate and is arranged at the position opposite to the groove.
Furthermore, the support outer ring is of a combined annular structure, and is formed by fixedly connecting an upper semi-annular layer plate and a lower semi-annular layer plate which are completely identical in structure through an inner ring connecting piece and an outer ring steering engine fixing connecting piece which are respectively arranged at two ends of the layer plate, so that the positions of the inner ring connecting piece and the outer steering engine fixing connecting piece on the support outer ring are corresponding, and the positions of the outer steering engine fixing connecting piece and the groove are corresponding; the outer ring steering engine is fixedly arranged on the outer steering engine fixed connecting piece and is in driving connection with an auxiliary piece arranged at the groove.
Further, unmanned aerial vehicle main part includes the frame, and both ends are equipped with coaxial bracing piece about the frame and connect respectively in inner ring steering wheel and organism support connecting piece, and frame top fixed mounting has mutual electric signal connection's battery, airborne computer and flight controller, and frame below fixed mounting has the motor with flight controller signal connection to and the rotor of being connected by motor drive.
Advantageous effects
(1) The invention designs a novel spherical unmanned aerial vehicle with omnidirectional degree of freedom, which can realize ground-air amphibious, uses a single-shaft rotor unmanned aerial vehicle to provide power and uses a steering engine to provide steering.
(2) The unmanned aerial vehicle main body designed by the invention is a single-shaft rotor unmanned aerial vehicle, the structure is smaller and more compact, and the steering ring frame mechanism is arranged in the spherical shell, so that the whole miniaturization of the spherical unmanned aerial vehicle is realized, and the unmanned aerial vehicle has more advantages when traversing complex and narrow spaces.
(3) The steering ring frame mechanism designed by the invention is used for controlling the unmanned aerial vehicle to rotate so as to realize the steering of the air and the ground, isolating the contact between the propeller and the peripheral barrier, providing protection when the unmanned aerial vehicle falls down carelessly, reducing the damage of the unmanned aerial vehicle and realizing the double protection of the human and the unmanned aerial vehicle.
(4) The invention shares the same set of driving device under two movement modes of the air and the ground, and the supporting rod and the rotating inner ring are respectively driven to rotate by the steering engine, so as to drive the unmanned aerial vehicle main body to realize front-back and left-right rotation; in an air flight mode, the steering mode replaces the scheme that the traditional single-shaft rotor unmanned aerial vehicle uses a flap to control steering; under the ground rolling mode, the unmanned aerial vehicle generates centroid offset due to swinging, so that the unmanned aerial vehicle is driven to roll on the ground, not only can the omnidirectional movement of the spherical unmanned aerial vehicle in the air and on the ground be realized, the operation range of the unmanned aerial vehicle is expanded, but also the spherical unmanned aerial vehicle is more compact, simpler and lighter in structure.
(5) In the ground rolling mode, the invention only relies on the steering engine to provide power, thereby greatly saving unmanned aerial vehicle energy, being safe and hidden, and avoiding noise and dust generated by the rotation of the propeller and hidden danger caused by sand lifting entering the unmanned aerial vehicle.
Drawings
FIG. 1 is a schematic diagram of the overall structure of an air-ground amphibious spherical unmanned aerial vehicle;
FIG. 2 is a schematic view of the bogie mechanism of the present invention;
FIG. 3 is a schematic view of the structure of the rotating inner ring and the connecting assembly thereon according to the present invention;
FIG. 4 is a schematic view of the structure of the support outer ring and its upper connection assembly according to the present invention;
FIG. 5 is a schematic view of the main body structure of the unmanned aerial vehicle of the present invention;
reference numerals illustrate: the unmanned aerial vehicle comprises a 1-unmanned aerial vehicle main body, a 2-supporting rod, a 3-connecting component, a 4-steering engine, a 5-rotating inner ring, a 6-supporting outer ring, a 7-spherical shell connecting piece, an 8-spherical shell, a 101-battery, a 102-onboard computer, a 103-flight controller, a 104-rack, a 105-motor, a 106-rotor, a 301-inner steering engine fixing connecting piece, a 302-engine body supporting connecting piece, a 303-outer ring connecting piece, a 304-inner ring connecting piece, a 305-outer steering engine fixing connecting piece, a 401-inner ring steering engine and a 402-outer ring steering engine.
Detailed Description
In order to make the objects, technical solutions and technical effects of the present invention more apparent, the present invention will be further described in detail with reference to the drawings and examples of the specification.
As shown in fig. 1, the ground-air amphibious spherical unmanned aerial vehicle provided by the embodiment of the invention comprises a spherical shell 8, an unmanned aerial vehicle main body 1 and a bogie mechanism; the spherical shell 8 is of a hollowed-out structure and is formed by splicing two mutually symmetrical hemispherical structures through slots at the splicing position, and a spherical shell connecting piece 7 is arranged at the center position of the two hemispherical structures; the unmanned aerial vehicle main body 1 is connected with the spherical shell connecting piece 7 through the steering ring frame mechanism and is installed in the spherical shell 8, specifically, the steering ring frame mechanism is connected through the spherical shell connecting piece 7 and is installed in the spherical shell 8, unmanned aerial vehicle main body 1 set up and install in the steering ring frame mechanism.
As shown in fig. 2 to 4, the bogie mechanism comprises a steering engine 4, a rotating inner ring 5, a supporting outer ring 6 and a connecting assembly 3; the outer diameter of the support outer ring 6 is smaller than the inner diameter of the spherical shell 8, the outer dimension of the rotary inner ring 5 is smaller than the inner diameter of the support outer ring 6, and the inner diameter of the rotary inner ring 5 is larger than the outer dimension of the unmanned aerial vehicle main body 1; the steering engine 4 comprises an inner ring steering engine 401 and an outer ring steering engine 402 which are identical in structure, the inner ring steering engine 401 and the outer ring steering engine 402 are respectively and fixedly arranged on the inner sides of a rotary inner ring 5 and a support outer ring 6, and the rotary inner ring 5 is arranged and connected on the inner side of the support outer ring 6 through a connecting component 3 and is in driving connection with the outer ring steering engine 402 and is driven to rotate by the outer ring steering engine 402; the inner ring steering engine 401 is in driving connection with the unmanned aerial vehicle main body 1; the support outer ring 6 is connected to the spherical shell 8 by means of a spherical shell connection 7 and can rotate independently of the spherical shell 8.
Specifically, the connection assembly 3 includes: an inner steering engine fixing connecting piece 301, a machine body supporting connecting piece 302 and an outer ring connecting piece 303 which are arranged on the rotary inner ring 5, and an inner ring connecting piece 304 and an outer steering engine fixing connecting piece 305 which are arranged on the supporting outer ring 6 and correspond to each other in position; bearing structures are arranged on the engine body support connecting piece 302, the inner ring connecting piece 304 and the outer ring steering engine fixing connecting piece 305; the outer ring connecting piece 303 is rotatably connected with the inner ring connecting piece 304 through a bearing, specifically, the outer ring connecting piece 303 is rotatably connected with the bearing arranged on the inner ring connecting piece 304 in a matched mode through a shaft structure arranged on the outer ring connecting piece 303.
The rotating inner ring 5 is a combined special-shaped annular structure and comprises a left semi-annular layer plate and a right semi-annular layer plate with different structures, wherein a groove is formed in the middle position of the left semi-annular layer plate, a rotating space is reserved, namely, a space required by the outer ring steering engine 402 is reserved during rotation, an auxiliary part for connecting the outer ring steering engine 402 is arranged at the groove, the reserved space prevents the rotating inner ring 5 from colliding with the outer ring steering engine 402 during rotation, and the outer ring connecting part 303 is arranged in the middle position of the right semi-annular layer plate, namely, opposite to the groove; the left layer plate and the right layer plate are fixedly connected into a whole through the inner steering engine fixing connecting piece 301 and the engine body supporting connecting piece 302 which are respectively arranged at the two ends of the left layer plate and the right layer plate, so that the positions of the inner steering engine fixing connecting piece 301 and the engine body supporting connecting piece 302 on the rotating inner ring 5 are corresponding, and the inner ring steering engine 401 is fixedly arranged on the inner steering engine fixing connecting piece 301.
The support outer ring 6 is of a combined type circular ring structure, comprises an upper semi-annular laminate and a lower semi-annular laminate which are identical in structure, and is fixedly connected into a whole through an inner ring connecting piece 304 and an outer ring steering engine fixing connecting piece 305 which are respectively arranged at two ends of the laminate, so that the positions of the inner ring connecting piece 304 and the outer steering engine fixing connecting piece 305 on the support outer ring 6 are corresponding, the positions of the outer steering engine fixing connecting piece 305 correspond to the positions of the grooves, the outer ring steering engine 402 is fixedly arranged on the outer steering engine fixing connecting piece 305 and is in driving connection with auxiliary parts arranged at the grooves, and then the inner ring 5 is connected and rotated through the outer ring steering engine 402, so that the inner ring 5 is driven by the outer ring steering engine 402 to relatively support the outer ring 6 for 360 degrees of rotation. The inner ring connecting piece 304 and the outer steering engine fixing connecting piece 305 are respectively connected with the spherical shell connecting pieces 7 with two hemispherical structures through bearing structures.
The unmanned aerial vehicle main body 1 is installed and erected on the inner side of the rotating inner ring 5, is connected by the inner ring steering engine 401 in a driving way and rotates around the central axis where the rotating inner ring 5 is positioned; the rotating inner ring 5 is powered by the outer ring steering engine 402 to rotate around the central axis where the supporting outer ring 6 is located.
As shown in fig. 5, the unmanned aerial vehicle main body 1 includes a frame 104, two ends of the frame 104 are provided with coaxial support rods 2 and are respectively connected with an inner ring steering engine 401 and a machine body support connecting piece 302, a battery 101, an onboard computer 102 and a flight controller 103 which are electrically connected with each other are fixedly installed above the frame 104, a motor 105 and a rotor 106 which is driven and connected by the motor 105 are fixedly installed below the frame 104, and the motor 105 is electrically connected with the flight controller 103. Through inner ring steering wheel 401 joint support pole 2, can make unmanned aerial vehicle main part 1 rotate inner ring 5 relatively under the drive of inner ring steering wheel 401 and carry out 360 rotations.
The land-air amphibious spherical unmanned aerial vehicle is provided with an air flight mode and a ground rolling mode, the two movement modes share the same set of driving device, the supporting rod 2 and the rotating inner ring 5 are respectively driven to rotate through the steering engine 4, and then the unmanned aerial vehicle main body 1 is driven to rotate back and forth and left and right, and in the air flight mode, the steering mode replaces the scheme that the traditional single-shaft rotor unmanned aerial vehicle uses a flap to control steering; in the ground rolling mode, the unmanned aerial vehicle generates mass center offset due to swinging, so that the unmanned aerial vehicle is driven to realize ground rolling. The design not only can realize the omnidirectional movement of the spherical unmanned aerial vehicle in the air and on the ground, but also can make the spherical unmanned aerial vehicle more compact, simple and portable in structure.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Although the foregoing detailed description of the invention has been provided, it will be apparent to those skilled in the art that modifications may be made to the embodiments described in the foregoing examples, and that certain features may be substituted for those illustrated and described herein. Modifications, equivalents, and alternatives falling within the spirit and principles of the invention are intended to be included within the scope of the invention.
Claims (7)
1. The ground-air amphibious spherical unmanned aerial vehicle comprises a spherical shell (8), an unmanned aerial vehicle main body (1) and a steering ring frame mechanism, and is characterized in that the spherical shell (8) is of a hollowed-out structure and is formed by assembling two mutually symmetrical hemispherical structures, and spherical shell connecting pieces (7) are arranged at the middle positions of the two hemispherical structures; unmanned aerial vehicle main part (1) connect through steering ring frame mechanism and spherical shell connecting piece (7) and install in spherical shell (8), specifically, steering ring frame mechanism connects through spherical shell connecting piece (7) and installs in spherical shell (8), unmanned aerial vehicle main part (1) set up and install in steering ring frame mechanism.
2. The ground-air amphibious spherical unmanned aerial vehicle according to claim 1, wherein the bogie mechanism comprises a steering engine (4), a rotating inner ring (5), a supporting outer ring (6) and a connecting assembly (3); the steering engine (4) comprises an inner ring steering engine (401) and an outer ring steering engine (402) which are identical in structure, and the inner ring steering engine (401) and the outer ring steering engine (402) are respectively and fixedly arranged on the inner sides of the rotating inner ring (5) and the supporting outer ring (6); the rotating inner ring (5) is installed and connected on the inner side of the supporting outer ring (6) through the connecting component (3) and is in driving connection with the outer ring steering engine (402); the inner ring steering engine (401) is in driving connection with the unmanned aerial vehicle main body (1); the support outer ring (6) is connected with the spherical shell (8) through the spherical shell connecting piece (7).
3. A ground-air amphibious spherical unmanned aerial vehicle according to claim 2, wherein the connection assembly (3) comprises: an inner steering engine fixed connecting piece (301), a machine body supporting connecting piece (302) and an outer ring connecting piece (303) which are arranged on the rotary inner ring (5), and an inner ring connecting piece (304) and an outer steering engine fixed connecting piece (305) which are arranged on the supporting outer ring (6) and correspond to each other in position; bearing structures are arranged on the engine body support connecting piece (302), the inner ring connecting piece (304) and the outer ring steering engine fixing connecting piece (305); the outer ring connecting piece (303) is rotationally connected with the inner ring connecting piece (304) through a bearing, and particularly, the outer ring connecting piece (303) is matched and rotationally connected with the bearing arranged on the inner ring connecting piece (304) through a shaft structure arranged on the outer ring connecting piece.
4. A spherical unmanned aerial vehicle according to claim 3, wherein the inner ring connecting member (304) and the outer steering engine fixing connecting member (305) are further connected to spherical shell connecting members (7) on the two hemispherical structures respectively through bearing structures.
5. A ground-air amphibious spherical unmanned aerial vehicle according to claim 3, wherein the rotary inner ring (5) is of a combined special-shaped annular structure, and is formed by fixedly connecting a semi-annular left layer plate and a semi-annular right layer plate through an inner steering engine fixing connecting piece (301) and a machine body supporting connecting piece (302) which are respectively arranged at two ends of the left layer plate and the right layer plate, the positions of the inner steering engine fixing connecting piece (301) and the machine body supporting connecting piece (302) on the rotary inner ring (5) are corresponding, and the inner ring steering engine (401) is fixedly arranged on the inner steering engine fixing connecting piece (301); wherein a groove is arranged at the middle position of the left layer plate, and an auxiliary part is arranged at the groove; the outer ring connecting piece (303) is arranged at the middle position of the right layer plate and is arranged at the position opposite to the groove.
6. The ground-air amphibious spherical unmanned aerial vehicle according to claim 5, wherein the supporting outer ring (6) is of a combined annular structure, and is formed by fixedly connecting an upper semi-annular layer plate and a lower semi-annular layer plate which are identical in structure through an inner ring connecting piece (304) and an outer ring steering engine fixing connecting piece (305) which are respectively arranged at two ends of the layer plates, the positions of the inner ring connecting piece (304) and the outer steering engine fixing connecting piece (305) on the supporting outer ring (6) are corresponding, and the positions of the outer steering engine fixing connecting piece (305) are corresponding to the positions of the grooves; the outer ring steering engine (402) is fixedly arranged on the outer steering engine fixed connecting piece (305) and is in driving connection with an auxiliary piece arranged at the groove.
7. The ground-air amphibious spherical unmanned aerial vehicle according to claim 5, wherein the unmanned aerial vehicle main body (1) comprises a frame (104), the left end and the right end of the frame (104) are provided with coaxial supporting rods (2) and are respectively connected with an inner ring steering engine (401) and a machine body supporting connecting piece (302), a battery (101), an airborne computer (102) and a flight controller (103) which are electrically connected with each other are fixedly arranged above the frame (104), a motor (105) which is in signal connection with the flight controller (103) is fixedly arranged below the frame (104), and a rotor (106) which is in driving connection with the motor (105).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310492893.5A CN116729659A (en) | 2023-05-05 | 2023-05-05 | Ground-air amphibious spherical unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310492893.5A CN116729659A (en) | 2023-05-05 | 2023-05-05 | Ground-air amphibious spherical unmanned aerial vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116729659A true CN116729659A (en) | 2023-09-12 |
Family
ID=87903362
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310492893.5A Pending CN116729659A (en) | 2023-05-05 | 2023-05-05 | Ground-air amphibious spherical unmanned aerial vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116729659A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117382941A (en) * | 2023-12-11 | 2024-01-12 | 山东字节信息科技有限公司 | Single rotor unmanned aerial vehicle |
-
2023
- 2023-05-05 CN CN202310492893.5A patent/CN116729659A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117382941A (en) * | 2023-12-11 | 2024-01-12 | 山东字节信息科技有限公司 | Single rotor unmanned aerial vehicle |
| CN117382941B (en) * | 2023-12-11 | 2024-03-05 | 山东字节信息科技有限公司 | Single rotor unmanned aerial vehicle |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US7959104B2 (en) | Flying device with improved movement on the ground | |
| CN205675235U (en) | A kind of unmanned plane with gravity adjusting device | |
| CA2787279C (en) | Vehicle with aerial and ground mobility | |
| EP1775214A1 (en) | Rapid air quantity generating and wind direction changing device and aircraft having the device mounted on side face of airframe | |
| CN116729659A (en) | Ground-air amphibious spherical unmanned aerial vehicle | |
| CN108146169A (en) | The land and air double-used vehicle of folding after a kind of wing | |
| CN104773290A (en) | Twin-duct coaxial multi-rotor flying motor | |
| CN102910285B (en) | A kind of rotor craft | |
| CN110254148A (en) | A kind of foot-rotor mechanism of air-ground amphibious robot | |
| CN107856856A (en) | A kind of Flyable spherical robot | |
| CN105711827A (en) | Oil and electricity hybrid power multi-rotor aircraft | |
| CN106828906A (en) | Double hair turbine wheel shaft power depopulated helicopters | |
| CN112776981A (en) | Multi-purpose unmanned aerial vehicle | |
| CN108556577B (en) | Air-ground dual-purpose spherical robot | |
| CN211869684U (en) | Vector coaxial double-propeller unmanned aerial vehicle | |
| CN205418095U (en) | Many rotor crafts of oil -electricity hybrid vehicle | |
| CN106927037A (en) | A kind of export structure using the depopulated helicopter engine for surmounting one-way clutch | |
| CN202295283U (en) | Aircraft with a rotary base | |
| CN207550511U (en) | Unmanned plane protects structure and UAV system | |
| KR102133590B1 (en) | Landing device of multi-rotor-type unmanned aircraft | |
| CN113022848A (en) | Wing passenger plane | |
| CN205872483U (en) | Unmanned aerial vehicle load upset jack | |
| CN116834988A (en) | Ground-air amphibious double-rotor unmanned aerial vehicle and control method thereof | |
| CN111546843A (en) | Air-ground dual-purpose vehicle | |
| CN211001888U (en) | Four rotor unmanned aerial vehicle camera linkage |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |