CN117262267A - Amphibious unmanned plane - Google Patents
Amphibious unmanned plane Download PDFInfo
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- CN117262267A CN117262267A CN202311549033.7A CN202311549033A CN117262267A CN 117262267 A CN117262267 A CN 117262267A CN 202311549033 A CN202311549033 A CN 202311549033A CN 117262267 A CN117262267 A CN 117262267A
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- unmanned aerial
- aerial vehicle
- air cushion
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- rotor
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- 230000007246 mechanism Effects 0.000 claims abstract description 44
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 37
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims abstract description 20
- 238000001125 extrusion Methods 0.000 claims description 16
- 230000000149 penetrating effect Effects 0.000 claims description 4
- 230000008878 coupling Effects 0.000 claims description 3
- 238000010168 coupling process Methods 0.000 claims description 3
- 238000005859 coupling reaction Methods 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 claims description 3
- 125000004122 cyclic group Chemical group 0.000 claims description 2
- 150000007530 organic bases Chemical class 0.000 claims description 2
- 230000001681 protective effect Effects 0.000 claims description 2
- 238000003780 insertion Methods 0.000 claims 1
- 230000037431 insertion Effects 0.000 claims 1
- 238000013461 design Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 3
- 230000008961 swelling Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 239000006260 foam Substances 0.000 description 2
- 206010030113 Oedema Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000002522 swelling effect Effects 0.000 description 1
Classifications
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F5/00—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media
- B60F5/02—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media convertible into aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/20—Vertical take-off and landing [VTOL] aircraft
-
- 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
- B64U30/296—Rotors with variable spatial positions relative to the UAV body
- B64U30/297—Tilting rotors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U60/00—Undercarriages
- B64U60/10—Undercarriages specially adapted for use on water
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Remote Sensing (AREA)
- Transportation (AREA)
- Toys (AREA)
Abstract
The invention discloses an amphibious unmanned aerial vehicle, which belongs to the technical field of unmanned aerial vehicles, and comprises an annular engine body, a main rotating mechanism is rotatably arranged in the middle of the engine body, a rotor wing included in the main rotating mechanism can be lifted when rotating horizontally, the unmanned aerial vehicle moves forwards when the rotor wing axis inclines forwards, meanwhile, the bottoms of wing connecting frames at two sides of the engine body are symmetrically rotated to be connected with a turbulence guide assembly, when the unmanned aerial vehicle is sailed on water, the inner cavity of a lower turbulence air cushion is controlled to open air to enter through a double-port exhaust valve by a folding control assembly, the middle of the lower turbulence air cushion bulges, the resistance of sailing on water can be greatly reduced due to the bulge of the middle, the buoyancy can be provided for the whole unmanned aerial vehicle, meanwhile, the upper turbulence plate and the lower turbulence air cushion can also serve as functions of a water guide blade, steering can be realized rapidly, and when sailing on water, the rotor wing axis of the main rotating mechanism is controlled to incline forwards through a flight control system, the maximum angle is 90 degrees, namely the rotation axis of the rotor wing is horizontal, and the sailing speed on water can be greatly improved.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to an amphibious unmanned aerial vehicle.
Background
The amphibious unmanned aerial vehicle is an unmanned aerial vehicle with unique performance, can operate in two environments of the air and the water area, and is commonly used for tasks such as aerial photography, target positioning and communication relay.
However, in the traditional amphibious unmanned aerial vehicle, buoyancy bodies such as foam plates, buoyancy hanging cabins or air bags stored through a containing box are additionally arranged on two sides or the bottom of a machine body, when the water sails, the air bags are opened, the air bags gush out of the containing box, so that the purpose of water sailing is achieved, through practical application and state analysis, on one hand, the buoyancy pod or the foam plates can increase flight resistance in the flight process, the sailing distance is reduced, and if the air bags are clamped with the containing box air bags, the resistance is also increased when the air bags sail on the water, and meanwhile, the problem that the air bags are not easy to pack is solved; on the other hand to the fixed wing unmanned aerial vehicle of four rotor, still need set up alone and support the frame, the structure is complicated, turns to in aqueous moreover and still need cooperate through the rotor, leads to turning to fly to control complicatly, and when four rotor unmanned aerial vehicle sails on water perpendicularly simultaneously, the unable horizontal thrust that directly provides of perpendicular rotor leads to sailing on water speed slower.
Disclosure of Invention
The invention aims at: the amphibious unmanned aerial vehicle aims to solve the problems that a traditional amphibious unmanned aerial vehicle is additionally provided with a buoyancy body, the buoyancy body has large resistance when the unmanned aerial vehicle is sailed in an airspace or a water area, steering and flight control are complex when the unmanned aerial vehicle is sailed in the water area, and sailing speed is low.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
amphibious unmanned aerial vehicle, including organism, tail rotor mechanism and main rotating mechanism, the organism is cyclic annular, and the radial outer fringe of organism is through being equipped with tailstock connection tail rotor mechanism, and main rotating mechanism rotates the assembly and link up in the organism middle part department, and the pivot is perpendicular with the line around the organism: the two sides of the machine body in the longitudinal direction are connected with the side wings through the side wing connecting frames, the bottom of the side wing connecting frames is rotationally provided with a turbulence guiding component in the vertical direction, the machine body is provided with a steering control component for synchronously controlling the turbulence guiding components on the two sides to rotate in the same direction, the turbulence guiding component comprises an upper turbulence plate and a lower turbulence air cushion, the profiles of the horizontal sections of the upper turbulence plate and the lower turbulence air cushion are the same in normal state, before sailing in a water area, the inner cavity of the middle part of the lower turbulence air cushion is controlled to bulge through a stretching control component arranged on the machine body, and the lower turbulence air cushion is provided with a double-port exhaust valve; the steering control system also comprises an angle sensor group used for monitoring and feeding back the rotation angle of the main rotation mechanism and the steering control assembly to the flight control system.
The invention adopts a unique engine body design, when the unmanned aerial vehicle vertically lifts, the rotor of the main rotary mechanism is in a horizontal rotation state, the lifting force is provided for the whole unmanned aerial vehicle, the reverse torque of the main rotary mechanism which is reacted with the engine body is eliminated through the tail rotor mechanism, the rotor axis of the main rotary mechanism is controlled to incline forwards through the flight control system when the unmanned aerial vehicle needs to advance, the advancing function is realized, the deflection of the vortex guide components at the bottom of the side wing connecting frame is controlled through the steering control component to change the pressure difference at the two longitudinal sides of the vortex guide components, the function of pushing the unmanned aerial vehicle to steer is realized, simultaneously when the unmanned aerial vehicle is ready to descend to water for sailing, the opening air of the cavity of the lower vortex air cushion is controlled to enter through the double-port exhaust valve through the folding control component, the middle part of the lower vortex air cushion bulges because the middle part bulges, the thickness at both ends still with last spoiler both sides parallel and level, can greatly reduced the resistance of sailing on water, can also provide buoyancy for unmanned aerial vehicle is whole, go up spoiler and lower vortex air cushion simultaneously can also act as the function of sailing guide vane on water, can quick realization turn to, when sailing on water, through the rotor axis forward slope of the main mechanism that revolves of flight control system control, the biggest angle is 90 degrees, the axis of rotation level of rotor promptly, and the air current that the main mechanism that revolves compressed and impels flows backward from top to bottom through the organism, can improve the speed of a ship on water greatly, when finishing sailing on water, the rotor of main mechanism that revolves resets to the horizontality, until unmanned aerial vehicle leaves the surface, then control down vortex air cushion inner chamber through receipts and open control assembly and close, reduce the resistance of vortex air cushion in the flight in-process promptly.
As a further description of the above technical solution:
the machine body comprises an annular machine seat, an annular equipment cavity is arranged on the annular machine seat, a convex ring is arranged on the outer edge of the annular machine seat in an upward extending mode, and an organic seat cover is buckled on the annular machine seat.
As a further description of the above technical solution:
the main rotary mechanism comprises a rotor wing protection cover, the radial outer side of the rotor wing protection cover is arranged in the middle of the annular base through two rotating shafts, a first servo motor for controlling the rotor wing protection cover to rotate is arranged in the equipment cavity, a cross support is clamped at the bottom opening of the rotor wing protection cover, a direct current brushless motor is arranged in the middle of the cross support, and the output end of the direct current brushless motor is connected with the rotor wing through a coupling.
As a further description of the above technical solution:
the angle sensor group comprises a first angle sensor and a second angle sensor, wherein the first angle sensor is arranged in a device cavity symmetrical to the first servo motor and is connected with the rotating shaft on the other side of the rotor wing protection cover.
As a further description of the above technical solution:
the turbulent flow guiding assembly further comprises a built-in cylinder vertically penetrating through the center of the upper turbulent flow plate, the built-in cylinder is fixedly connected with the upper turbulent flow plate, the bottom end of the built-in cylinder is communicated with the lower turbulent flow air cushion cavity and the top end of the built-in cylinder is inserted into the built-in cavity of the side wing connecting frame.
As a further description of the above technical solution:
the steering control assembly comprises a gear disc which is arranged in the equipment cavity in a rotating mode through a plurality of clamping seats, a first toothed ring is arranged on the bottom surface of the gear disc, a second toothed ring is arranged on the inner annular surface of the gear disc, a second servo motor is arranged on one clamping seat which is positioned at the front end, the output end of the second servo motor is connected with a first gear which is meshed with the second toothed ring, the steering control assembly further comprises two fixed rotating shafts, one ends of the fixed rotating shafts penetrate through the outer side wall of the annular base and are inserted into the built-in cavity, a second gear which is meshed with the first toothed ring is assembled on the fixed rotating shafts, a first bevel gear is further arranged at one end of each fixed rotating shaft, a second bevel gear which is meshed with the first bevel gear is sleeved at the top end of the built-in cylinder, and one fixed rotating shaft is connected with the input end of the second angle sensor.
As a further description of the above technical solution:
the folding control assembly comprises a swivel which is arranged on the outer side of the convex ring in a rotating mode, two arc-shaped extrusion grooves are formed in the arc-shaped surface of the swivel, the top surface of each extrusion groove is an arc-shaped surface which ascends along the rotating direction of the swivel, arc racks are further arranged on the outer wall of the swivel between each extrusion groove and the tailstock, a third servo motor is further arranged on the tailstock, and the output end of each third servo motor is connected with a third gear meshed with each arc rack.
As a further description of the above technical solution:
the folding control assembly further comprises two push rods which slide to penetrate through the built-in barrel, the top ends of the push rods are hemispherical and are inserted into the extrusion grooves, the bottom ends of the push rods are inserted into the cavity of the lower turbulent air cushion and are connected with a plurality of elastic plates, and the bottom ends of the elastic plates are obliquely downwards acted on two longitudinal side walls of the inner cavity of the lower turbulent air cushion.
As a further description of the above technical solution:
the side wall of the inner cavity of the lower turbulent air cushion is provided with a plurality of ribs which are transversely distributed in parallel, and the bottom end of the elastic plate is fixedly connected with the ribs.
As a further description of the above technical solution:
the transverse two sides of the upper spoiler and the lower spoiler air cushion are both in blade shapes.
In summary, due to the adoption of the technical scheme, the beneficial effects of the invention are as follows:
through the annular organism of design and rotate the installation main mechanism of rotating in the middle part of the organism, the main mechanism of rotating includes that rotor level rotates can realize going up and down, unmanned aerial vehicle then moves forward when the rotor axis leans forward, still at the wing link bottom symmetry rotation connection vortex direction subassembly of the vertical both sides of organism, when navigating on water, open the air through two mouthful discharge valves entering through receipts control assembly control down vortex air cushion inner chamber, lower vortex air cushion middle part bulge, owing to be the middle part bulge, the thickness at both ends still with last spoiler both sides parallel and level, can greatly reduced the resistance of navigating on water, can also provide buoyancy for unmanned aerial vehicle is whole, go up the spoiler simultaneously and lower vortex air cushion can also act as the function of navigation guide vane on water, realize turning to that can be quick, when navigating on water, through the rotor axis forward slope of the main mechanism of control of flight control system, the rotation axis level of rotor promptly, and the air current that main mechanism compressed and impelled flows backward from top to bottom through the organism, can improve the speed of navigating on water greatly.
Drawings
Fig. 1 shows a perspective view of an amphibious unmanned aerial vehicle provided according to an embodiment of the invention;
fig. 2 shows a second perspective view of the amphibious unmanned aerial vehicle provided according to the embodiment of the invention;
fig. 3 shows a perspective view of an amphibious unmanned aerial vehicle seat cover separation provided according to an embodiment of the invention;
FIG. 4 illustrates a perspective view of a swivel provided in accordance with an embodiment of the invention;
FIG. 5 shows a top view of a base cover removal and swivel provided in accordance with an embodiment of the invention;
fig. 6 shows a perspective view of an amphibious unmanned aerial vehicle provided according to an embodiment of the invention with a base cover removed;
FIG. 7 illustrates a partially exploded perspective view of a steering control assembly provided in accordance with an embodiment of the present invention;
FIG. 8 illustrates a partial perspective view of a steering control assembly provided in accordance with an embodiment of the present invention;
FIG. 9 illustrates a partial and turbulent flow guide assembly perspective view of an annular housing half cut and turn control assembly provided in accordance with an embodiment of the present invention;
fig. 10 illustrates a semi-cutaway perspective view of a spoiler guide assembly provided in accordance with an embodiment of the present invention.
Legend description:
10. a body; 11. an annular stand; 12. an equipment chamber; 13. a convex ring; 14. a flank connecting frame; 141. a built-in cavity; 15. a tailstock; 16. a base cover;
20. a tail rotor mechanism;
30. a main rotation mechanism; 31. rotor wing protective cover; 32. a first servo motor; 33. a cross brace; 34. a DC brushless motor; 35. a rotor;
40. an angle sensor group; 41. a first angle sensor; 42. a second angle sensor;
50. a steering control assembly; 51. a gear plate; 511. a first toothed ring; 512. a second toothed ring; 52. a clamping seat; 53. a second servo motor; 54. a first gear; 55. fixing the rotating shaft; 56. a second gear; 57. a first bevel gear; 58. a second bevel gear;
60. a turbulent flow guiding component; 61. an upper spoiler; 62. a lower turbulent air cushion; 63. a built-in cylinder; 64. a double-port exhaust valve;
70. a take-up control assembly; 71. a swivel; 711. an extrusion groove; 712. an arc-shaped rack; 72. a third servo motor; 73. a third gear; 74. a push rod; 75. an elastic plate; 76. rib.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
As shown in fig. 1-10, the amphibious unmanned aerial vehicle provided by the invention comprises a body 10, a tail rotor mechanism 20 and a main rotating mechanism 30, and is mainly characterized in that the body 10 is annular, an annular device cavity 12 is arranged in the body 10, an existing flight control system, a battery system and a communication component are assembled in the device cavity 12, specifically, the body 10 comprises an annular base 11, the annular base 11 is provided with the annular device cavity 12, a convex ring 13 extends upwards from the outer edge of the annular base 11, an organic base cover 16 is buckled on the annular base 11, the base cover 16 is matched with the annular base 11 to seal the device cavity 12, the radial outer edge of the body 10 is connected with the tail rotor mechanism 20 through a tail rotor 15, the main rotating mechanism 30 is rotatably assembled in the middle of the body 10, and a rotating shaft is perpendicular to the front-back connecting line of the body 10, the design aims at changing the inclination angle of a rotating axis 35 of the main rotating mechanism 30, when the rotating axis is in a vertical lifting state, when the rotating axis is in a forward inclination, and when the rotating axis is in a forward direction, the main rotating mechanism 30 is in a maximum rotation state, and the main rotating mechanism 30 can only rotate in a horizontal state when the main rotating axis 35 is required to be kept under the horizontal state.
The two longitudinal sides of the machine body 10 are connected with wings through wing connecting frames 14, the wings are not shown in the middle, and can be understood as common horizontal fixed wings, the bottom of the wing connecting frames 14 is rotationally provided with a turbulence guiding component 60 in the vertical direction, the machine body 10 is provided with a steering control component 50 for synchronously controlling the turbulence guiding components 60 on the two sides to rotate in the same direction, the turbulence guiding component 60 comprises an upper turbulence plate 61 and a lower turbulence air cushion 62, the upper turbulence plate 61 and the lower turbulence air cushion 62 have the same horizontal section outline in normal state, before sailing in a water area, the inner cavity of the middle of the lower turbulence air cushion 62 is controlled to bulge through a folding and unfolding control component 70 arranged on the machine body 10, and the lower turbulence air cushion 62 is provided with a double-port exhaust valve 64; the unmanned aerial vehicle steering system further comprises an angle sensor group 40 which is used for monitoring and feeding back the main rotating mechanism 30 and the steering control assembly 50 to the flight control system, wherein the flight control system is in a horizontal rotation state through the rotor wing 35 of the main rotating mechanism 30 when the flight control system is lifted vertically, lifting force is integrally provided for the unmanned aerial vehicle, reverse torque of the main rotating mechanism which is reacted to the unmanned aerial vehicle is eliminated through the tail rotor mechanism 20, the axis of the rotor wing 35 of the main rotating mechanism 30 is controlled to incline forwards through the flight control system when the unmanned aerial vehicle is required to advance, the advancing function is achieved, meanwhile, the steering control assembly 50 is used for controlling the deflection of the spoiler guide assembly 60 at the bottom of the flank connecting frame 14 to change the pressure difference of the two longitudinal sides of the spoiler guide assembly 60, and the unmanned aerial vehicle steering pushing function is achieved.
Before the air is ready to descend to the water surface and voyage, the inner cavity of the lower turbulent air cushion 62 is controlled by the folding and unfolding control assembly 70 to open air and enter through the double-port exhaust valve 64, the double-port exhaust valve 64 is used for allowing air to pass through bidirectionally, but can isolate water from passing through, so that buoyancy is provided by swelling when required, the shrinkage is not required to reduce flying resistance, the middle part of the lower turbulent air cushion 62 is swelled, the thicknesses of the two ends are still flush with the two sides of the upper spoiler 61 due to the swelling of the middle part, the voyage resistance of the water surface can be greatly reduced, buoyancy can be provided for the whole unmanned aerial vehicle, and meanwhile, the upper spoiler 61 and the lower turbulent air cushion 62 can also serve as the functions of the water surface voyage guide blades, and steering can be realized rapidly through deflection of the controller.
When sailing on water, the rotor 35 axis of the main rotary mechanism 30 is controlled to incline forwards through the flight control system, the maximum angle is 90 degrees, namely the rotation axis of the rotor 35 is horizontal, and the air flow compressed and propelled by the main rotary mechanism 30 flows upwards and downwards to the rear through the machine body 10, so that the sailing speed on water can be greatly improved, when sailing on water is finished, the rotor of the main rotary mechanism 30 is reset to be in a horizontal state until the unmanned aerial vehicle leaves the water surface, and then the inner cavity of the lower turbulent air cushion 62 is controlled to be closed through the folding and unfolding control assembly, namely the resistance of the lower turbulent air cushion 62 in the flying process is reduced.
As shown in fig. 6, the main rotation mechanism 30 includes a rotor protection cover 31, the radial outside of the rotor protection cover 31 is installed in the middle of the annular base 11 through two rotating shafts, the rotor protection cover 31 serves as a protection function for a rotor 35 on one hand, on the other hand, a foundation is provided for the inclination of the rotation axis of the rotor 35, a first servo motor 32 for controlling the rotation of the rotor protection cover 31 is installed in the equipment cavity 12, a cross brace 33 is clamped at the bottom opening of the rotor protection cover 31, a direct current brushless motor 34 is installed in the middle of the cross brace 33, the output end of the direct current brushless motor 34 is connected with the rotor 35 through a coupling, and the function of controlling the rotation axis inclination of the rotor protection cover 31, the cross brace 33, the direct current brushless motor 34 and the rotor 35 is achieved through the rotation of a flight control system.
As shown in fig. 6 and 7, the angle sensor group 40 includes a first angle sensor 41 and a second angle sensor 42, where the first angle sensor 41 and the second angle sensor 42 are connected with the flight control system, and the first angle sensor 41 is disposed in the equipment cavity 12 symmetrical to the first servo motor 32 and connected with the other side rotating shaft of the rotor wing protecting cover 31, so as to realize the function of feeding back the inclination angle of the rotating shaft of the rotor wing 35 in real time, and facilitate the adjustment of the flight attitude by the flight control system.
As shown in fig. 6-9, the spoiler guiding assembly 60 further includes a built-in cylinder 63 vertically penetrating through the center of the upper spoiler 61, the built-in cylinder 63 is fixedly connected with the upper spoiler 61, the bottom end of the built-in cylinder 63 is communicated with the cavity of the lower spoiler air cushion 62 and the top end of the built-in cylinder is inserted into the built-in cavity 141 of the flank connecting frame 14, the steering control assembly 50 includes a gear disc 51 rotatably arranged in the equipment cavity 12 through a plurality of clamping seats 52, the clamping seats 52 are in an F-shape, one side of the clamping seats 52 is matched with a plug-in rail arranged on the side wall of the equipment cavity 12 through a slot, the plug-in mounting and dismounting are convenient, the bottom surface of the gear disc 51 is provided with a first toothed ring 511, the inner annular surface of the gear disc 51 is provided with a second toothed ring 512, a second servo motor 53 is mounted on one clamping seat 52 positioned at the front end, the second servo motor 53 is connected with a flight control system, and the output end of the second servo motor 53 is connected with a first gear 54 meshed with the second toothed ring 512, namely the flight control system can control the forward and backward rotation of the gear disc 51.
Further, the device further comprises two fixed rotating shafts 55, one ends of the fixed rotating shafts 55 penetrate through the outer side wall of the annular base 11 and are inserted into the built-in cavity 141, the other ends of the fixed rotating shafts 55 are clamped through shaft seats arranged in the device cavity 12 in a rotating mode, the other ends of one fixed rotating shaft 55 penetrate through the shaft seats and are connected with the input end of the second angle sensor 42, second gears 56 meshed with the first toothed ring 511 are assembled on the fixed rotating shafts 55, first bevel gears 57 are further installed at one ends of the fixed rotating shafts 55, second bevel gears 58 meshed with the first bevel gears 57 are sleeved at the top ends of the built-in cylinders 63, the gear plates 51 drive the two second gears 56 to rotate in the rotating process, the two second bevel gears 58 are controlled to rotate through the first bevel gears 57 on two sides, and the second bevel gears 58 drive the built-in cylinders 63, the upper spoilers 61 and the lower spoilers 62 to rotate, so that steering functions in the air-borne navigation and steering in the water are achieved.
As shown in fig. 1-4, the folding control assembly 70 comprises a swivel 71 rotatably arranged at the outer side of a convex ring 13, two arc-shaped extrusion grooves 711 are arranged on the arc-shaped surface of the swivel 71, the arc-shaped center fillets corresponding to the extrusion grooves 711 are smaller than 90 degrees, the top surface of the extrusion grooves 711 is an arc-shaped surface rising along the rotation direction of the swivel 71, the arc-shaped surface is an extrusion surface, an arc-shaped rack 712 is further arranged on the outer wall of the swivel 71 between the extrusion grooves 711 and a tailstock 15, a third servo motor 72 is further arranged on the tailstock 15, the third servo motor 72 is connected with a flight control system, the output end of the third servo motor 72 is connected with a third gear 73 meshed with the arc-shaped rack 712, the third servo motor 72 is controlled by the flight control system to drive the swivel 71 to rotate positively and negatively, the rotation angle is 0-90 degrees, the folding control assembly 70 further comprises two push rods 74 which slide through the inner cylinder 63, the push rods 74 are cylindrical, because the inner-side air cushion is not only required to axially slide along the inner cylinder 63, but also can circumferentially and relatively rotate, namely limit during steering is avoided, the top end of the push rod 74 is hemispherical and is inserted into the extrusion groove 711, when the swivel 71 rotates, the extrusion surface pushes the push rod 74 to axially slide, the bottom end of the push rod 74 is inserted into the cavity of the lower spoiler air cushion 62 and is connected with a plurality of elastic plates 75, the bottom ends of the elastic plates 75 obliquely and downwards act on the two longitudinal side walls of the inner cavity of the lower spoiler air cushion 62, when the push rod 74 pushes down, the two longitudinal sides of the inner cavity of the lower spoiler air cushion 62 can be pushed by the elastic plates 75 to be outwards stretched so as to realize the swelling action, the bottom ends of the elastic plates 75 are fixedly connected with the ribs 76 in parallel, the purpose of avoiding uneven and small swelling of the two sides of the lower spoiler air cushion 62 is achieved by arranging the ribs 76, the buoyancy is reduced, on the other hand, the bump is inevitably formed on the outer side wall, the sailing stability is affected, the sailing resistance is increased, a certain bulge curve can be kept while the bulge is formed through the arrangement of the ribs 76, and the sailing resistance in water is reduced as much as possible.
Further, both lateral sides of the upper spoiler 61 and the lower spoiler cushion 62 are in a blade shape, and the shape design can reduce the forward resistance in the air or in the edema navigation as much as possible.
The foregoing is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art, who is within the scope of the present invention, should make equivalent substitutions or modifications according to the technical scheme of the present invention and the inventive concept thereof, and should be covered by the scope of the present invention.
Claims (10)
1. Amphibious unmanned aerial vehicle, including organism (10), tail rotor mechanism (20) and main rotatory mechanism (30), its characterized in that, organism (10) are cyclic annular, and tail rotor mechanism (20) is connected through being equipped with tailstock (15) to organism (10) radial outer fringe, and main rotatory mechanism (30) rotate and assemble in organism (10) middle part department of link up, and the pivot is perpendicular with the line around organism (10):
the two longitudinal sides of the machine body (10) are connected with the side wings through side wing connecting frames (14), the bottom of the side wing connecting frames (14) is rotationally provided with a turbulence guiding component (60) in a vertical plane trend, the machine body (10) is provided with a steering control component (50) for synchronously controlling the turbulence guiding components (60) on the two sides to rotate in the same direction, the turbulence guiding component (60) comprises an upper turbulence plate (61) and a lower turbulence air cushion (62), the profiles of the horizontal sections of the upper turbulence plate (61) and the lower turbulence air cushion (62) are the same in normal state, and before sailing in a water area, the inner cavity of the middle part of the lower turbulence air cushion (62) is controlled to bulge through a stretching control component (70) arranged on the machine body (10), and the lower turbulence air cushion (62) is provided with a double-port exhaust valve (64);
the intelligent steering control system also comprises an angle sensor group (40) which is used for monitoring and feeding back the rotation angle of the main rotation mechanism (30) and the steering control assembly (50) to the flight control system.
2. Amphibious unmanned aerial vehicle according to claim 1, wherein the body (10) comprises an annular base (11), an annular equipment cavity (12) is arranged on the annular base (11), a convex ring (13) is arranged on the outer edge of the annular base (11) in an upward extending mode, and an organic base cover (16) is buckled on the annular base (11).
3. The amphibious unmanned aerial vehicle according to claim 2, wherein the main rotation mechanism (30) comprises a rotor protection cover (31), the radial outer side of the rotor protection cover (31) is arranged in the middle of the annular base (11) through two rotating shafts, a first servo motor (32) for controlling the rotor protection cover (31) to rotate is arranged in the equipment cavity (12), a cross support (33) is clamped at the bottom opening of the rotor protection cover (31), a direct current brushless motor (34) is arranged in the middle of the cross support (33), and the output end of the direct current brushless motor (34) is connected with a rotor (35) through a coupling.
4. An amphibious unmanned aerial vehicle according to claim 3, wherein the angle sensor group (40) comprises a first angle sensor (41) and a second angle sensor (42), and the first angle sensor (41) is arranged in the equipment cavity (12) symmetrical to the first servo motor (32) and is connected with the other side rotating shaft of the rotor protective cover (31).
5. The amphibious unmanned aerial vehicle according to claim 4, wherein the turbulence guiding assembly (60) further comprises a built-in barrel (63) vertically penetrating through the center of the upper spoiler (61), the built-in barrel (63) is fixedly connected with the upper spoiler (61), and the bottom end of the built-in barrel (63) is communicated with a cavity of the lower turbulence air cushion (62) and a built-in cavity (141) of the top end insertion flank connecting frame (14).
6. The amphibious unmanned aerial vehicle according to claim 5, wherein the steering control assembly (50) comprises a gear disc (51) which is arranged in the equipment cavity (12) in a rotating mode through a plurality of clamping seats (52), a first toothed ring (511) is arranged on the bottom surface of the gear disc (51), a second toothed ring (512) is arranged on the inner annular surface of the gear disc (51), a second servo motor (53) is arranged on one clamping seat (52) at the front end, a first gear (54) meshed with the second toothed ring (512) is connected to the output end of the second servo motor (53), the amphibious unmanned aerial vehicle further comprises two fixed rotating shafts (55), one end of each fixed rotating shaft (55) penetrates through the outer side wall of the annular base (11) and is inserted into the built-in cavity (141), a second gear (56) meshed with the first toothed ring (511) is arranged on one end of each fixed rotating shaft (55), a second bevel gear (58) meshed with the first bevel gear (57) is sleeved on the top end of each built-in cylinder (63), and one fixed rotating shaft (55) is connected with the input end of the second rotating shaft (42).
7. The amphibious unmanned aerial vehicle according to claim 5, wherein the folding and unfolding control assembly (70) comprises a rotating ring (71) which is rotatably arranged on the outer side of the convex ring (13), two arc-shaped extrusion grooves (711) are formed in the arc-shaped surface of the rotating ring (71), the top surface of each extrusion groove (711) is an arc-shaped surface which ascends along the rotating direction of the corresponding rotating ring (71), an arc-shaped rack (712) is further arranged on the outer wall of the rotating ring (71) between each extrusion groove (711) and the corresponding tailstock (15), a third servo motor (72) is further arranged on the corresponding tailstock (15), and a third gear (73) meshed with the corresponding arc-shaped rack (712) is connected to the output end of the third servo motor (72).
8. The amphibious unmanned aerial vehicle according to claim 7, wherein the folding and unfolding control assembly (70) further comprises two push rods (74) penetrating through the built-in barrel (63) in a sliding mode, the top ends of the push rods (74) are hemispherical and are inserted into the extrusion grooves (711), the bottom ends of the push rods (74) are inserted into the cavities of the lower turbulent air cushion (62) and are connected with a plurality of elastic plates (75), and the bottom ends of the elastic plates (75) obliquely act on two longitudinal side walls of the inner cavity of the lower turbulent air cushion (62) downwards.
9. The amphibious unmanned aerial vehicle according to claim 8, wherein a plurality of ribs (76) which are transversely distributed are arranged on the side wall of the inner cavity of the lower turbulent air cushion (62) in parallel, and the bottom end of the elastic plate (75) is fixedly connected with the ribs (76).
10. The amphibious unmanned aerial vehicle according to claim 8, wherein both lateral sides of the upper spoiler (61) and the lower spoiler cushion (62) are blade-shaped.
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Cited By (1)
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| CN117262267B (en) | 2024-02-09 |
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