CN204802082U - Land, water and air no. 3 four coaxial rotor crafts of dwelling - Google Patents

Land, water and air no. 3 four coaxial rotor crafts of dwelling Download PDF

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Publication number
CN204802082U
CN204802082U CN201520469774.9U CN201520469774U CN204802082U CN 204802082 U CN204802082 U CN 204802082U CN 201520469774 U CN201520469774 U CN 201520469774U CN 204802082 U CN204802082 U CN 204802082U
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CN
China
Prior art keywords
land
water
shaft
arm
coaxial
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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.)
Expired - Fee Related
Application number
CN201520469774.9U
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Chinese (zh)
Inventor
梁超
何华光
梁浩
陈威琦
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Guangxi University
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Guangxi University
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Priority to CN201520469774.9U priority Critical patent/CN204802082U/en
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Publication of CN204802082U publication Critical patent/CN204802082U/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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Abstract

The utility model discloses a land, water and air no. 3 four coaxial rotor crafts of dwelling has four reflexibie support arms on the organism, the reflexibie support arm includes fuselage support arm end, rotor support arm, the section and the actuating mechanism that replicates replicate, fuselage support arm end and rotor support arm are connected through the section of turning back, and the actuating mechanism that turns back is used for driving fuselage support arm end and the rotor support arm becomes an angle of 90 degrees rotation with the section of turning back respectively, reflexibie support arm tip has a drive arrangement, and the motor use with the motor with empty in the installation land in drive arrangement included the fixing base, have on the fixing base coaxial land with interior axle with empty with outer axle, the land is with interior crown of roll portion installation shaft and light tire, and is empty with three pages of rotors of outer crown of roll portion installation, the land with the output connection land of motor with interior, the sky is used outward spool with the output connection sky of motor. The utility model discloses the nimble conversion of dwelling in realization land, water and air no. 3 realizes energy -conservation through changing the motion state, widens the usage of four rotor crafts, improves navigation speed on water, keep -It -Simple -Control system, reduce cost.

Description

Dwell coaxial quadrotor in land, water and air three
Technical field
The utility model relates to vehicle technology field, and particularly dwell coaxial quadrotor in land, water and air three.
Background technology
Quadrotor is also called four-axle aircraft, it is a kind of common multi-rotor aerocraft, it installs the fixing rotor in four inclination angles at grade, compared with traditional single-rotor helicopter, quadrotor can adopt less rotor, thus make flight become safer, and the static state that the thrust that the more single rotor of thrust of four rotor generations produces can better realize aircraft is spiraled.
Existing quadrotor is generally the under-actuated systems having four Input Forces, six-freedom degree, but also there is following problem in use:
1, existing quadrotor work power consumption is large, and the energy content of battery stores little, without other energy conservation states.
2, existing quadrotor only has airflight one use, greatly affected by environment during flight, is suitable for movement environment narrow.
3, existing quadrotor landing is dangerous, is not suitable with the landing work under various environment.
Utility model content
For above-mentioned deficiency of the prior art, the utility model provides a kind of land, water and air three to dwell coaxial quadrotor, realize the flexible conversion dwelt in land, water and air three, realize energy-conservation by changing state of kinematic motion, widen the purposes of quadrotor simultaneously, improve water sailing speed, simplified control system, reduces costs.
The utility model for achieving the above object, is achieved through the following technical solutions:
Dwelling coaxial quadrotor in land, water and air three, body is arranged four reflexibie hold-down arms, each reflexibie hold-down arm includes supporting fuselage arm end, rotor wing bracket arm, turn back section and driver train of turning back, supporting fuselage arm end is connected by section of turning back with rotor wing bracket arm, driver train of turning back becomes an angle of 90 degrees to rotate with section of turning back for driving fuselage hold-down arm end and rotor wing bracket arm respectively, all there is actuating device each reflexibie hold-down arm end, actuating device comprises permanent seat, respectively sky motor and land type motor are installed in permanent seat, permanent seat there is the interior axle of coaxial sky outer shaft and land, sky outer shaft in land with outside interior axle, empty with outer shaft top installation rotor, wheel shaft is installed at interior axle top, land, wheel shaft installs light tyre, sky connects sky outer shaft with the output of motor, the output of land type motor connects the interior axle in land.
Described driver train of turning back comprises support lower shaft, the first multi-directional ball, telescopic supporting rod, the second multi-directional ball and rotating machine; Support lower shaft and be arranged on supporting fuselage arm bottom portion, the first multi-directional ball is arranged on and supports on lower shaft; Second multi-directional ball is arranged on bottom permanent seat; Telescopic supporting rod two ends connect the first multi-directional ball and the second multi-directional ball respectively; The output of rotating machine connects telescopic supporting rod.
Described rotor is three pages of rotors.
The structure of described four reflexibie hold-down arms is all identical with physical dimension.
Also comprise under-chassis, under-chassis has two, is arranged on the two bottom sides of body respectively.
Contrast prior art, the beneficial effects of the utility model are:
1, the utility model aircraft adopts coaxial technology and light material, the light tyre that the three pages of rotors used in-flight and land locomotion use is arranged on four independently on reflexibie axle, and light tyre is arranged on the outside of three pages of rotors, as protect-ing frame structure during flight, improve flight balance and safety; Realize land and air double-used, realizing energy-conservation by changing state of kinematic motion, widening the purposes of quadrotor.
2, body adopts light material, reduces the draft amount of body itself, quadrotor is in and partly enters water state, reduces power consumption of advancing, realizes the water use of quadrotor, and improve water sailing speed.
3, driver train of turning back of the present utility model, controls rotor plane and rotates, and produces the new moment of torsion of flight and realize walking to turn flexibly, simplified control system.
Accompanying drawing explanation
Accompanying drawing 1 is the schematic top plan view of the utility model aircraft.
Accompanying drawing 2 is structural representations of reflexibie hold-down arm in Fig. 1.
Accompanying drawing 3 is the utility model aircraft structural representations when applying on land.
In figure: 1, body; 2, supporting fuselage arm end; 3, rotor wing bracket arm; 4, to turn back section; 5, rotating machine; 6, light tyre; 7, wheel shaft; 8, rotor; 9, lower shaft is supported; 10, the first multi-directional ball; 11, telescopic supporting rod; 12, the second multi-directional ball; 13, permanent seat; 14, sky outer shaft; 15, the interior axle in land; 16, sky motor; 17, land type motor; 18, under-chassis.
Detailed description of the invention
By reference to the accompanying drawings and specific embodiment, the utility model is described in further detail.Should be understood that these embodiments are only not used in restriction scope of the present utility model for illustration of the utility model.In addition should be understood that those skilled in the art can make various changes or modifications the utility model, and these equivalent form of values fall within the application's appended claims limited range equally after the content of having read the utility model instruction.
Dwelling coaxial quadrotor in land, water and air three, body 1 is arranged four reflexibie hold-down arms, each reflexibie hold-down arm includes supporting fuselage arm end 2, rotor wing bracket arm 3, turn back section 4 and driver train of turning back, supporting fuselage arm end 2 is connected by section 4 of turning back with rotor wing bracket arm 3, and driver train of turning back rotates with section 4 one-tenth an angle of 90 degrees of turning back respectively for driving fuselage hold-down arm end 2 and rotor wing bracket arm 3, all there is the actuating device that structure is identical each reflexibie hold-down arm end, actuating device comprises permanent seat 13, in permanent seat 13, empty motor 16 and land type motor 17 are installed respectively, permanent seat 13 there is the interior axle 15 of coaxial sky outer shaft 14 and land, sky outer shaft 14 is enclosed within land with outside interior axle 15, and interior axle 15 two ends, land are all exposed to outside sky outer shaft 14, empty with outer shaft 14 top installation rotor 8, wheel shaft 7 is installed at interior axle 15 top, land, wheel shaft 7 is installed light tyre 6, sky motor 16 drives sky outer shaft 14 to drive three pages of rotors 8 to rotate by transmission device, land type motor 17 drives the interior axle 15 in land to drive tire 6 to rotate by transmission device.Four are arranged on independently on reflexibie hold-down arm by the light tyre 6 that the three pages of rotors 8 used in-flight and land locomotion are used, and light tyre 6 is arranged on the periphery of three pages of rotors 8, as protect-ing frame structure during flight, improve flight balance and safety; Make quadrotor realize land and air double-used conversion, widen the purposes of quadrotor.
Described driver train of turning back comprises support lower shaft 9, first multi-directional ball 10, telescopic supporting rod 11, second multi-directional ball 12 and rotating machine 5; Supporting lower shaft 9 is arranged on bottom supporting fuselage arm end 2, and the first multi-directional ball 10 is arranged on and supports on lower shaft 9; Second multi-directional ball 12 is arranged on bottom permanent seat 13; Telescopic supporting rod 11 two ends connect the first multi-directional ball 10 and the second multi-directional ball 12 respectively; The output of rotating machine 5 connects telescopic supporting rod 11.Drive telescopic supporting rod 11 to stretch by rotating machine 5, control reflexibie hold-down arm level or 90 degree turn back, rotor plane is rotated, produces the new moment of torsion of flight or realize walking and turn flexibly, realize switching and fly or land locomotion state, also simplified control system.
The structure of described four reflexibie hold-down arms is all identical with physical dimension.
Also comprise under-chassis 18, under-chassis 18 has two, is arranged on the two bottom sides of body respectively, is convenient to land support.
Fuselage adopts light material, reduces the draft amount of body itself, quadrotor can be in the water used time and partly enter water state, reduces power consumption of advancing, realizes the water use of quadrotor, and improve water sailing speed.

Claims (6)

1. dwell coaxial quadrotor in land, water and air three, it is characterized in that: body (1) is arranged four reflexibie hold-down arms, each reflexibie hold-down arm includes supporting fuselage arm end (2), rotor wing bracket arm (3), section of turning back (4) and driver train of turning back, supporting fuselage arm end (2) is connected by section of turning back (4) with rotor wing bracket arm (3), driver train of turning back becomes an angle of 90 degrees to rotate with section of turning back (4) for driving fuselage hold-down arm end (2) with rotor wing bracket arm (3) respectively, all there is actuating device each reflexibie hold-down arm end, actuating device comprises permanent seat (13), respectively empty motor (16) and land type motor (17) are installed in permanent seat (13), permanent seat (13) there are coaxial sky outer shaft (14) and the interior axle in land (15), sky outer shaft (14) is enclosed within the interior axle in land (15) outward, rotor (8) is installed at empty outer shaft (14) top, wheel shaft (7) is installed at interior axle (15) top, land, wheel shaft (7) is installed light tyre (6), sky connects sky outer shaft (14) with the output of motor (16), the output of land type motor (17) connects land with interior axle (15).
2. dwell coaxial quadrotor in land, water and air three according to claim 1, it is characterized in that: described in driver train of turning back comprise and support lower shaft (9), the first multi-directional ball (10), telescopic supporting rod (11), the second multi-directional ball (12) and rotating machine (5); Support lower shaft (9) and be arranged on supporting fuselage arm end (2) bottom, the first multi-directional ball (10) is arranged on and supports on lower shaft (9); Second multi-directional ball (12) is arranged on permanent seat (13) bottom; Telescopic supporting rod (11) two ends connect the first multi-directional ball (10) and the second multi-directional ball (12) respectively; The output of rotating machine (5) connects telescopic supporting rod (11).
3. dwell coaxial quadrotor in land, water and air three according to claim 1, it is characterized in that: described rotor (8) is three pages of rotors.
4. dwell coaxial quadrotor in land, water and air three according to claim 1, it is characterized in that: the structure of described four reflexibie hold-down arms is all identical with physical dimension.
5. dwell coaxial quadrotor in land, water and air three according to claim 1, and it is characterized in that: also comprise under-chassis (18), under-chassis (18) has two, is arranged on the two bottom sides of body respectively.
6. to dwell coaxial quadrotor according to the land, water and air three one of claim 1-5 Suo Shu, it is characterized in that: described body (1) adopts light material to make.
CN201520469774.9U 2015-07-03 2015-07-03 Land, water and air no. 3 four coaxial rotor crafts of dwelling Expired - Fee Related CN204802082U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201520469774.9U CN204802082U (en) 2015-07-03 2015-07-03 Land, water and air no. 3 four coaxial rotor crafts of dwelling

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201520469774.9U CN204802082U (en) 2015-07-03 2015-07-03 Land, water and air no. 3 four coaxial rotor crafts of dwelling

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Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104925253A (en) * 2015-07-03 2015-09-23 广西大学 Triphibious coaxial four-rotor aircraft
CN105539831A (en) * 2015-12-20 2016-05-04 华南理工大学 Amphibious power propulsion device suitable for sea and air and multi-axis aircraft
CN105730172A (en) * 2016-03-25 2016-07-06 杨成志 Overhead-ground amphibious armed motorcycle
CN105730173A (en) * 2016-05-06 2016-07-06 吉林大学 Water, land, air and wall type quadruple robot
CN106143032A (en) * 2016-07-12 2016-11-23 诺伯特智能装备(山东)有限公司 Dwell robot in land, water and air three
CN106240262A (en) * 2016-08-05 2016-12-21 广州市轻工职业学校 The compound mobile flight amphibious robot device of wing wheel
CN106347049A (en) * 2016-12-01 2017-01-25 吉林大学 Wheel position changing device of electric vehicle and flying-driving electric vehicle
CN108819630A (en) * 2018-06-15 2018-11-16 南京理工大学 A kind of land, water and air Bi Duoqi robot and its control method
CN109334365A (en) * 2018-08-21 2019-02-15 哈工大机器人义乌人工智能研究院 A kind of land, water and air three are dwelt rotor robot and its working method
CN110303840A (en) * 2019-06-28 2019-10-08 左红 A kind of rotor of bicycle flight instruments

Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104925253A (en) * 2015-07-03 2015-09-23 广西大学 Triphibious coaxial four-rotor aircraft
CN105539831A (en) * 2015-12-20 2016-05-04 华南理工大学 Amphibious power propulsion device suitable for sea and air and multi-axis aircraft
CN105730172A (en) * 2016-03-25 2016-07-06 杨成志 Overhead-ground amphibious armed motorcycle
CN105730172B (en) * 2016-03-25 2018-05-25 杨成志 The amphibious arms motorcycle of Air-Ground
CN105730173A (en) * 2016-05-06 2016-07-06 吉林大学 Water, land, air and wall type quadruple robot
CN106143032A (en) * 2016-07-12 2016-11-23 诺伯特智能装备(山东)有限公司 Dwell robot in land, water and air three
CN106143032B (en) * 2016-07-12 2018-04-03 诺伯特智能装备(山东)有限公司 Land, water and air three are dwelt robot
CN106240262A (en) * 2016-08-05 2016-12-21 广州市轻工职业学校 The compound mobile flight amphibious robot device of wing wheel
CN106347049A (en) * 2016-12-01 2017-01-25 吉林大学 Wheel position changing device of electric vehicle and flying-driving electric vehicle
CN106347049B (en) * 2016-12-01 2018-09-11 吉林大学 A kind of electric vehicle wheel position conversion device and land and air double-used electric vehicle
CN108819630A (en) * 2018-06-15 2018-11-16 南京理工大学 A kind of land, water and air Bi Duoqi robot and its control method
CN109334365A (en) * 2018-08-21 2019-02-15 哈工大机器人义乌人工智能研究院 A kind of land, water and air three are dwelt rotor robot and its working method
CN110303840A (en) * 2019-06-28 2019-10-08 左红 A kind of rotor of bicycle flight instruments

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C14 Grant of patent or utility model
GR01 Patent grant
CF01 Termination of patent right due to non-payment of annual fee
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20151125

Termination date: 20160703