CN206242832U - Land and air double-used quadrotor - Google Patents
Land and air double-used quadrotor Download PDFInfo
- Publication number
- CN206242832U CN206242832U CN201621178272.1U CN201621178272U CN206242832U CN 206242832 U CN206242832 U CN 206242832U CN 201621178272 U CN201621178272 U CN 201621178272U CN 206242832 U CN206242832 U CN 206242832U
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- controller
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- airflight
- chassis
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Abstract
The utility model is related to aircraft field, specifically a kind of land and air double-used quadrotor, including airflight system, ground run system, controller and sensing component, airflight system and ground run system are connected with each other, wherein, airflight system：Including wing, motor and flabellum, the quantity of wing is 4 and the distribution that is centrosymmetric, and wing is provided with motor, and motor is provided with flabellum；Ground run system：Including vehicle bridge, suspension, chassis, motor and wheel, vehicle bridge is included front axle and rear axle and is connected on chassis by suspension, and wheel is located at vehicle bridge both sides, and motor is located on chassis and indirect driving moment.The utility model compared with prior art, with good flying quality, at the same also have preferable ground run ability.
Description
Technical field：
The utility model is related to aircraft field, specifically a kind of land and air double-used quadrotor.
Background technology：
UAV referred to as " unmanned plane ", is manipulated using radio robot and the presetting apparatus provided for oneself
Not manned aircraft.In recent years, flourishing and innovation with new material, microelectric technique and inertial navigation technology, nothing
It is man-machine to be applied to military, civilian detection inspection etc. is many-sided step by step from theoretical model.Because of its unique control mode, one is allowed
Kind more favored unmanned plane --- quadrotor becomes the research object for domestic and foreign scholars.
Gradually, only nowadays the quadrotor of flight function can not meet requirement of the people to aircraft, just produce
Give birth on quadrotor fuselage equipped with components such as various sensor, controller, actuators, aircraft is realized live shape
The functions such as image transmitting, Data Collection, the crop protection of condition.
However, in the prior art, under there is good flying quality with the quadrotor of various functions, often lack
The ability for travelling on land, the driveability that existing quadrotor is usually found in land is not high, fuselage stabilization
Property it is not strong, the phenomenon such as enormous impact is easily produced during landing.
Utility model content：
The utility model provides a kind of land and air double-used quadrotor to solve the shortcoming in background technology, has
Good airflight performance, while also having preferable ground run ability, overall structure stability is strong, can be kept away during landing
Exempt to produce enormous impact.
The utility model provide technical scheme be：A kind of land and air double-used quadrotor, including airflight system,
Ground run system, controller and sensing component, airflight system and ground run system are connected with each other, wherein,
Airflight system：Including wing, motor and flabellum, the quantity of wing is 4 and is centrosymmetric
Distribution, wing is provided with motor, and motor is provided with flabellum；
Ground run system：Including vehicle bridge, suspension, chassis, motor and wheel, vehicle bridge includes front axle and rear axle simultaneously
And be connected on chassis by suspension, wheel is located at vehicle bridge both sides, and motor is located on chassis and indirect driving moment；
Controller：Including airflight controller and ground run controller, airflight controller is located at airflight
It is connected in system and with motor, ground run controller is located in ground run system and is connected with motor；
Sensing component：It is located in airflight system and is connected with controller, including three axis accelerometer and three axle tops
Spiral shell instrument.
Preferably, the airflight system also includes the first immersion gold plate, the second immersion gold plate and connector, the machine
The wing is located between the first immersion gold plate and the second immersion gold plate, and connector is located on the second immersion gold plate and described for being fixedly connected
Face driving system.
Preferably, the chassis is provided with steering power system, steering power system respectively with the wheel, the control
Device connection processed.
Preferably, the chassis is provided with transmission system, transmission system includes power transmission shaft, differential mechanism and transfer gear,
The motor is connected with power transmission shaft, and power transmission shaft is connected with differential mechanism, transfer gear respectively, and differential mechanism is connected with the front axle, point
Dynamic device is connected with the rear axle.
Preferably, the suspension includes connecting plate and Buffer Unit, Buffer Unit is made up of damper and spring.
Preferably, also include signal receiving unit and remote control, wherein,
Signal receiving unit：Its output end is connected with the input of the controller；
Remote control：Including input block and signal transmitting unit, the output end of input block is defeated with signal transmitting unit
Enter end connection, signal transmitting unit is used to send information to signal receiving unit.
Preferably, also include head, image data acquiring unit, wireless transport module and receiving terminal, wherein,
Head：The center chassis are located at, its input is connected with the output end of the controller；
Image data acquiring unit：Including camera, camera is located on head；
Wireless transport module：It is located on the wing, its input is connected with the output end of the controller；
Receiving terminal：For receiving image and the information that wireless transport module sends, the receiving terminal can be with the remote control
Device becomes one.
Preferably, also including sensor cluster, sensor cluster is located on the wing, its output end and the control
The input connection of device.
Preferably, the airflight system and the ground run system are connected by magnetic force.
Preferably, the wing and the chassis are manufactured using light plastic.
Compared with prior art, the utility model has advantages below：
1st, the utility model has good flying quality, while also having preferable ground run ability, overall structure
Stability is strong, can avoid producing enormous impact during landing.
2nd, the utility model has chassis, has vehicle bridge, suspension and wheel on chassis, makes whole land and air double-used four rotor
Aircraft keeps stability higher in descent, is unlikely to be impacted by larger, improves durability.And chassis
On along with the mechanical structure systems such as steering power system, transmission system use, strengthen whole land and air double-used four rotor and fly
Flexibility of the row device during ground run, dynamic property, shock resistance, stability and durability.
3rd, technical scheme provided by the utility model also includes controller and sensing component, land and air double-used four rotor flying
Device can improve flight attitude stationarity.Additionally, indicating land and air double-used quadrotor by the input block of remote control
Flown in the air by corresponding track or in ground run, enhance operability.Increase camera and sensor cluster etc. to set
It is standby that land and air double-used quadrotor can be allowed to fly in the air during with ground run with the ability for gathering image and information.
4th, wing and chassis can mitigate the weight of land and air double-used quadrotor using light plastic material, increase and fly
The light and handy degree of row.
Brief description of the drawings：
Fig. 1 is the overall structure diagram of embodiment 1；
Fig. 2 is the view of Y-direction in Fig. 1；
Fig. 3 is the structural representation of the airflight system of embodiment 1；
Fig. 4 is the structural representation of the ground run system of embodiment 1；
In accompanying drawing：1- airflight systems, 2- ground run systems, 111- flabellums, 112- motors, 121- horns,
122- horns are hung oneself from a beam, the immersion gold plates of 131- first, the immersion gold plates of 132- second, 133- connectors, 21- motors, 22- chassis, 231- rudders
Machine, 232- crank connecting links, 241- power transmission shafts, 242- vehicle bridge, 25- wheels, 26- differential mechanisms, 27- connecting plates, 281- dampers,
282- springs, 29- transfer gears, 311- airflight controllers, 312- ground run controllers, 313- sensing components, 321- temperature
Humidity sensor, 322-GPS sensors, 323- cameras, 33- electricity is adjusted, 34- wireless transport modules, 35- batteries.
Specific embodiment：
The utility model is described in detail with reference to the accompanying drawings and examples.Embodiment is with the utility model technical side
Implemented premised on case, given detailed implementation method and specific operating process, but protection domain of the present utility model
It is not limited to following embodiments.
Embodiment 1：
As shown in Figures 1 to 4, a kind of land and air double-used quadrotor, including airflight system are present embodiments provided
1st, ground run system 2, controller, sensing component 313 and battery 35, airflight system 1 and ground run system 2 are mutual
Connection, the electric energy that battery 35 is used for needed for giving whole land and air double-used quadrotor, wherein,
Airflight system 1：33, flabellum 111, the first immersion gold plate 131, second are adjusted including wing, motor 112, electricity
Immersion gold plate 132 and connector 133, the quantity of wing is 4 and the distribution that is centrosymmetric, and wing is provided with motor
112, motor 112 is provided with flabellum 111, and wing is located between the first immersion gold plate 131 and the second immersion gold plate 132, connector
133 are located on the second immersion gold plate 132 and for being fixedly connected ground run system 2.Wing includes that horn 121 and horn are hung oneself from a beam
122, horn 121 is fixedly connected with the first immersion gold plate 131 and the second immersion gold plate 132 respectively by screw.Electricity adjusts 33 to be located at horn
On 121, its output end is connected with motor 112, and its input is connected with controller, for adjusting turning for motor 112
Speed.Said structure can obtain ideal value of lift as the airflight system 1 of the present embodiment, improve stability, and
And with good performance.
Ground run system 2：Including vehicle bridge 242, suspension, chassis 22, motor 21 and wheel 25, vehicle bridge 242 includes preceding
Vehicle bridge and rear axle and it is connected on chassis 22 by suspension, wheel 25 is located at the both sides of vehicle bridge 242, and motor 21 is located at chassis 22
Upper and indirect driving moment 25.Chassis 22 is provided with steering power system, and the steering power system includes steering wheel 231 and crank
Connecting rod 232, steering wheel 231 is connected with controller, and crank connecting link 232 is connected with wheel 25.Transmission system also is provided with chassis 22, is passed
Dynamic system includes power transmission shaft 241, differential mechanism 26 and transfer gear 29, and motor 21 is connected with power transmission shaft 241, and power transmission shaft 241 is distinguished
It is connected with differential mechanism 26, transfer gear 29, differential mechanism 26 is connected with front axle, transfer gear 29 is connected with rear axle.Suspension includes connecting
Fishplate bar 27 and Buffer Unit, Buffer Unit are made up of damper 281 and spring 282.Ground run system 2 by remote-control handle come
Reach the purpose of accurate motion.When surely or between wheel 25 center of gravity height is different for front Uneven road, the He of damper 281
The collective effect of spring 282 increases the stationarity of land and air double-used quadrotor with good elasticity effect on chassis 22, realizes
The flexibility of ground run system 2 and convenience.
Controller：Including airflight controller 311 and ground run controller 312, airflight controller 311 is located at
Be connected in airflight system 1 and with motor 112, ground run controller 312 be located in ground run system 2 and
It is connected with motor 21.
Sensing component 313：It is located in airflight system 1 and is connected with controller, including three axis accelerometer and three
Axle gyroscope, for trying to achieve the position and drift angle of the land and air double-used quadrotor, the accuracy of position is ensured with this.
The present embodiment also includes signal receiving unit and remote control, wherein, the output end and controller of signal receiving unit
Input connection；Remote control includes input block and signal transmitting unit, the output end and signal transmitting unit of input block
Input connection, signal transmitting unit be used for signal receiving unit send information.
The present embodiment also includes head, image data acquiring unit, wireless transport module 34, receiving terminal and sensor
Component, wherein, wireless transport module 34 is located on horn 121, and its input is connected with the output end of controller；Head is located at bottom
The center of disk 22, its input is connected with the output end of controller；Receiving terminal is used to receive the figure that wireless transport module 34 sends
Picture and information, the receiving terminal can become one with remote control.Image data acquiring unit includes camera 323, camera
323 are located on head, and the image that will be collected is sent to receiving terminal by wireless transport module 34.Sensor cluster is located at machine
On the wing, its output end is connected with the input of controller.Sensor cluster is by Temperature Humidity Sensor 321 and the structure of GPS sensor 322
Into the information that Temperature Humidity Sensor 321 will be measured is sent to receiving terminal by wireless transport module 34, and GPS sensor 322 will
The information of real time position is sent to receiving terminal by wireless transport module 34.Carrying out information gathering by using the present embodiment can
To realize the purpose that full spectrum information is gathered.
Additionally, wing and chassis 22 are manufactured using light plastic, the light plastic is a kind of TPX section bars material.
Embodiment 2：
The structure member and connected mode of the land and air double-used quadrotor that the present embodiment is provided are with the basic phase of embodiment 1
Together, its difference is：
Airflight system 1 and ground run system 2 are connected by magnetic force, reach the purpose of convenient separation, improve the land
The flexibility of empty dual-purpose quadrotor.
Airflight system 1 uses carbon fiber material, can improve intensity, toughness and the life-span of structure.Ground run
System 2 is also adopted by carbon fiber material, can improve its intensity.At the same time, carbon fiber material can mitigate whole land sky
The weight of dual-purpose quadrotor.
Claims (10)
1. a kind of land and air double-used quadrotor, including airflight system, ground run system, controller and sensing group
Part, airflight system and ground run system are connected with each other, it is characterised in that：Wherein,
Airflight system：Including wing, motor and flabellum, the quantity of wing is 4 and the distribution that is centrosymmetric,
Wing is provided with motor, and motor is provided with flabellum；
Ground run system：Including vehicle bridge, suspension, chassis, motor and wheel, vehicle bridge includes front axle and rear axle and leads to
Cross suspension to be connected on chassis, wheel is located at vehicle bridge both sides, motor is located on chassis and indirect driving moment；
Controller：Including airflight controller and ground run controller, airflight controller is located at airflight system
It is connected above and with motor, ground run controller is located in ground run system and is connected with motor；
Sensing component：It is located in airflight system and is connected with controller, including three axis accelerometer and three-axis gyroscope.
2. land and air double-used quadrotor according to claim 1, it is characterised in that：The airflight system is also wrapped
The first immersion gold plate, the second immersion gold plate and connector are included, the wing is located between the first immersion gold plate and the second immersion gold plate, connected
Part is located on the second immersion gold plate and for being fixedly connected the ground run system.
3. land and air double-used quadrotor according to claim 1, it is characterised in that：It is dynamic that the chassis is provided with steering
Force system, steering power system is connected with the wheel, the controller respectively.
4. land and air double-used quadrotor according to claim 1, it is characterised in that：The chassis is provided with power train
System, transmission system includes power transmission shaft, differential mechanism and transfer gear, and the motor is connected with power transmission shaft, power transmission shaft respectively with differential
Device, transfer gear connection, differential mechanism are connected with the front axle, and transfer gear is connected with the rear axle.
5. land and air double-used quadrotor according to claim 1, it is characterised in that：The suspension include connecting plate and
Buffer Unit, Buffer Unit is made up of damper and spring.
6. land and air double-used quadrotor according to claim 1, it is characterised in that：Also include signal receiving unit and
Remote control, wherein,
Signal receiving unit：Its output end is connected with the input of the controller；
Remote control：Including input block and signal transmitting unit, the output end of input block and the input of signal transmitting unit
Connection, signal transmitting unit is used to send information to signal receiving unit.
7. land and air double-used quadrotor according to claim 6, it is characterised in that：Also include head, view data
Collecting unit, wireless transport module and receiving terminal, wherein,
Head：The center chassis are located at, its input is connected with the output end of the controller；
Image data acquiring unit：Including camera, camera is located on head；
Wireless transport module：It is located on the wing, its input is connected with the output end of the controller；
Receiving terminal：For receiving image and the information that wireless transport module sends, the receiving terminal can be with the remote control collection
It is integrally formed.
8. land and air double-used quadrotor according to claim 1, it is characterised in that：Also include sensor cluster, pass
Sensor component is located on the wing, and its output end is connected with the input of the controller.
9. land and air double-used quadrotor according to claim 1, it is characterised in that：The airflight system and institute
Ground run system is stated to be connected by magnetic force.
10. land and air double-used quadrotor according to claim 1, it is characterised in that：The wing and the chassis
Manufactured using light plastic.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621178272.1U CN206242832U (en) | 2016-11-03 | 2016-11-03 | Land and air double-used quadrotor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621178272.1U CN206242832U (en) | 2016-11-03 | 2016-11-03 | Land and air double-used quadrotor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206242832U true CN206242832U (en) | 2017-06-13 |
Family
ID=58996008
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621178272.1U Expired - Fee Related CN206242832U (en) | 2016-11-03 | 2016-11-03 | Land and air double-used quadrotor |
Country Status (1)
| Country | Link |
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| CN (1) | CN206242832U (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109606041A (en) * | 2019-01-03 | 2019-04-12 | 张夯 | A kind of land sky aircraft |
| CN110488863A (en) * | 2019-08-07 | 2019-11-22 | 清华大学 | Air-ground amphibious unmanned platform |
| CN110975301A (en) * | 2019-12-25 | 2020-04-10 | 刘佳田 | Actuating mechanism for simulating air-ground dual-purpose automobile model and automobile model |
| CN111746207A (en) * | 2020-06-11 | 2020-10-09 | 复旦大学 | Amphibious robot |
| CN112319162A (en) * | 2020-09-30 | 2021-02-05 | 浙江理工大学 | Air-land amphibious unmanned aerial vehicle device and control method |
| WO2021022728A1 (en) * | 2019-08-07 | 2021-02-11 | 清华大学 | Control system of land-air amphibious unmanned vehicle |
| CN112744227A (en) * | 2021-01-21 | 2021-05-04 | 清华大学 | Multi-mode land-air amphibious vehicle take-off and landing control method and device and computer storage medium |
-
2016
- 2016-11-03 CN CN201621178272.1U patent/CN206242832U/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109606041A (en) * | 2019-01-03 | 2019-04-12 | 张夯 | A kind of land sky aircraft |
| CN110488863A (en) * | 2019-08-07 | 2019-11-22 | 清华大学 | Air-ground amphibious unmanned platform |
| WO2021022728A1 (en) * | 2019-08-07 | 2021-02-11 | 清华大学 | Control system of land-air amphibious unmanned vehicle |
| CN110975301A (en) * | 2019-12-25 | 2020-04-10 | 刘佳田 | Actuating mechanism for simulating air-ground dual-purpose automobile model and automobile model |
| CN111746207A (en) * | 2020-06-11 | 2020-10-09 | 复旦大学 | Amphibious robot |
| CN112319162A (en) * | 2020-09-30 | 2021-02-05 | 浙江理工大学 | Air-land amphibious unmanned aerial vehicle device and control method |
| CN112744227A (en) * | 2021-01-21 | 2021-05-04 | 清华大学 | Multi-mode land-air amphibious vehicle take-off and landing control method and device and computer storage medium |
| CN112744227B (en) * | 2021-01-21 | 2021-10-22 | 清华大学 | Multi-mode land-air amphibious vehicle take-off and landing control method and device and computer storage medium |
| US11493937B2 (en) | 2021-01-21 | 2022-11-08 | Tsinghua University | Takeoff and landing control method and control apparatus of multimodal air-ground amphibious vehicle, and computer storage medium |
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Legal Events
| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| 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: 20170613 Termination date: 20171103 |