CN206615393U - A kind of floating body casts amphibious four rotor wing unmanned aerial vehicle of formula aside - Google Patents
A kind of floating body casts amphibious four rotor wing unmanned aerial vehicle of formula aside Download PDFInfo
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- CN206615393U CN206615393U CN201720162885.4U CN201720162885U CN206615393U CN 206615393 U CN206615393 U CN 206615393U CN 201720162885 U CN201720162885 U CN 201720162885U CN 206615393 U CN206615393 U CN 206615393U
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- 238000007667 floating Methods 0.000 title claims abstract description 66
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- 238000009434 installation Methods 0.000 claims description 2
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- RZVAJINKPMORJF-UHFFFAOYSA-N Acetaminophen Chemical compound CC(=O)NC1=CC=C(O)C=C1 RZVAJINKPMORJF-UHFFFAOYSA-N 0.000 description 1
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Abstract
Amphibious four rotor wing unmanned aerial vehicle of formula is cast aside the utility model discloses a kind of floating body, including four propellers, rigid right-angled intersection bracket institution and control system, right-angled intersection bracket institution includes frame main body and is connected to four horns of frame main body surrounding, floating body is sealed and installed with the top of frame main body, sealed bottom is provided with interior nacelle, and surrounding and top are equipped with the watertight connector for installing water proof wire.Amphibious four rotor wing unmanned aerial vehicle of the present utility model is improved on the basis of four rotor wing unmanned aerial vehicle technologies in the air, can free movement under water, by encapsulation process, frame main body inside main member is protected.When hydraulic pressure sensor detect depth it is excessive when, the floating body Automatic-falling that is assembled together with receiver and floating to the water surface to keep the stable of signal to receive.The preset value that control floating body comes off can connect computer by flight control panel and set；Meanwhile, mode can be received according to four rotor submerged depth Regulate signals.
Description
Technical field
The utility model is related to airmanship field, and specially a kind of floating body casts amphibious four rotor wing unmanned aerial vehicle of formula aside.
Background technology
The not manned aircraft referred to as unmanned plane manipulated using the presetting apparatus and radio robot provided for oneself.
It can be divided into from technical standpoint definition：Unmanned fixed-wing aircraft, unmanned VTOL machine, unmanned airship, nobody goes straight up to
Machine, unmanned multi-rotor aerocraft, unmanned parasol etc..Unmanned plane is provided with the equipment machine such as automatic pilot, presetting apparatus
But without driving cabin.On ground, naval vessels or machine tool remote control station personnel are by equipment such as radars, it is tracked, positioned, remote control,
Remote measurement and Digital Transmission.It can take off or be launched with booster rocket as conventional airplane under wireless remotecontrol, also can be by
Machine tool takes aerial deliver to and flown.During recovery, it be able to can also be passed through with the mode automatic Landing as conventional airplane landing mission
Remote control parachute or block are reclaimed.Can repetitiousness use it is multiple.It is widely used in aerial reconnaissance, monitoring, communication, antisubmarine and electronics
Interference etc. is compared with manned aircraft, and it has small volume, low cost, easy to use, low to operational environment requirement, battlefield existence energy
The advantages of power is stronger.Because UAV has great significance to Future Air Combat, each main military country of the world all exists
Step up the development work of progress UAV.
Multiclass sensor is loaded on unmanned plane, is sensed such as angular speed, posture, position, acceleration, height and air speed
Device, is the basis of flight control system.Wherein, acceleration transducer is the standard configuration of many unmanned planes, is mainly used in determining position and nothing
Man-machine flight attitude, plays the effect of key in UAV Flight Control is maintained.Camera, it is possible to achieve image is passed in real time
Defeated, high-risk areas detecting function, is widely used in the fields such as fire-fighting, military affairs, traffic, police service, exploration and meteorology, with realization pair
The cruise shooting of designated area and monitoring.
At present, unmanned plane is that the flight theory based on helicopter is designed manufacture mostly, can be achieved vertical lift and
High-altitude is hovered, so as to meet the requirement taken photo by plane and monitor, it is most common be single shaft single-blade, single shaft be total to oar and many rotors (for example,
Four rotors) form.
Quadrotor is different from helicopter, and typical conventional helicopters are equipped with a main rotor and a tail slurry.
They are the propeller pitch angles for changing propeller by controlling steering wheel, so as to control posture and the position of helicopter.Four rotor flyings
Device is to change variable rotor speed by adjusting four motor speeds, realizes the change of lift, thus control aircraft posture and
Position.Four rotor wing unmanned aerial vehicles are a kind of aircraft with four propellers and four propellers are in decussation structure,
Four relative rotors have identical direction of rotation, are divided to two groups, two groups of direction of rotation different.It is different from traditional helicopter,
Four-rotor helicopter can only realize various actions by changing the speed of propeller.Four rotor wing unmanned aerial vehicles, which have, freely to be hanged
Stop, the advantages of Windsor, small volume, environment-friendly, reliability are high and manipulate simple.Four rotor wing unmanned aerial vehicles are mainly applied
In streetscape shooting, monitoring cruising, electric inspection process, really environmental protection, power problem, agricultural insurance express delivery, movie and television play shooting, Post disaster relief etc.
Field.
At present, in terms of the research of four rotor wing unmanned aerial vehicles is concentrated mainly on aerial unmanned plane, notification number is CN104494817A
Chinese patent literature a kind of four rotor wing unmanned aerial vehicle of knowing clearly disclosed, including four propellers, rigid right-angled intersection support and master control
System processed, four propellers are connected firmly on rigid right-angled intersection bracket institution by four independent motors drivings, main control
System authority is arranged on the rigid positive lower end of right-angled intersection support, and four rotor wing unmanned aerial vehicles can realize that accuracy rating is 1 meter in the air
Hovering, can effectively long-time object observing dynamic, and manipulation is flexible, the battery module is 10000mAh, up to 30 points
The endurance of clock can flight 10km, maximal rate is 10m/s, and the pardon of flying height is 0-1000m, can adapt to temperature
It is -10 °~-45 ° to spend scope, its take-off weight 3kg, and payload capacity is 1kg, can carry the equipment such as video camera and observe in detail
The mankind are difficult the place of observation.
However, the limitation due to radio signal in terms of water transmission ability, equipment waterproof, for four rotor under water
The research of unmanned plane is then seldom related to.This has largely limited to the submerged applications of four rotors.
Utility model content
In view of the deficienciess of the prior art, the utility model there is provided a kind of floating body cast aside amphibious four rotor of formula nobody
Machine, the unmanned plane can free movement under water, when hydraulic pressure sensor detect depth it is excessive when, be assembled together with receiver
Floating body Automatic-falling and floating to the water surface to keep the stable of signal to receive.
The technical solution of the utility model is as follows：
A kind of floating body casts amphibious four rotor wing unmanned aerial vehicle of formula aside, including four propellers, rigid right-angled intersection bracket institution and
Control system, described right-angled intersection bracket institution includes frame main body and is connected to four horns of frame main body surrounding, institute
Floating body is sealed and installed with the top of the frame main body stated, sealed bottom is provided with interior nacelle, and surrounding and top are equipped with for installing
The watertight connector of water proof wire.
In the above-mentioned technical solutions, described amphibious four rotor wing unmanned aerial vehicle, is combining aerial four rotor wing unmanned aerial vehicles technology
On the basis of improved.Can free movement under water, by encapsulation process, frame main body inside main member is protected
Shield.
Preferably, described control system includes remote control, the remote-control receiver being arranged in floating body, is arranged on frame master
Hydraulic pressure sensor on body and the flight control panel in interior nacelle.
The signal output part of the remote-control receiver and hydraulic pressure sensor is all connected with the signal input part of flight control panel.Will
Remote-control receiver is placed in floating body, when hydraulic pressure sensor detect hydraulic pressure it is too high when, represent that water depth is excessive, floating body can be automatic
Come off floating to the water surface, make remote control reception function is stable to receive the signal from remote control.Flight control panel come control floating body come off and
The posture under water of unmanned plane.
As the further improvement for above technical scheme, the problem of the utility model will further be solved is to provide one
Floating body installing mechanism is planted, the mechanism can allow floating body to be fixed in frame main body and can make floating body in the control of flight control panel
Depart from frame main body under effect at any time.
Therefore, in the further technical scheme of the utility model, frame main body is provided with the buckle for being used for installing floating body
With the spring for pushing floating body；Described buckle includes a pair be oppositely arranged；Described floating body include floating body lid, bottom plate and
Warning light installed in floating body caping end；Described bottom plate is provided with a pair of block button holes with being clasped, a pair of described cards
Steering wheel is provided between button hole.
By the cooperation of buckle and block button hole, floating body is arranged in frame main body, transmitted when receiving flight control panel
Instruction after, the steering wheel setting in motion in floating body promotes buckle to come off, in pushing under effect for spring, and floating body is from frame main body
On come off floating to the water surface.Now, the radio signal that remote control is sent is received by the receiver in floating body and by water proof wire
Reach flight control panel to control posture under water, so as to solve the problem of underwater wireless propagation of electrical signals loss.Meanwhile, four rotations
When wing unmanned plane works under water, if can also be controlled when running into the situation such as low electricity, unstability, out of control by flight control panel
Floating body comes off, and the warning light on floating body flashes to remind operator.
In addition, in the above-mentioned technical solutions, horn end is provided with motor cabinet, described motor cabinet and is provided with anti-water power
Machine, motor cabinet bottom is provided with the hollow nacelle of support feet；Described propeller is arranged on anti-water power by motor cap nut
The output end of machine.
To increase the stability of aircraft posture under water by way of designing hollow nacelle under four motor cabinets, it is ensured that
Unmanned plane stress balance, can effectively prevent from toppling.When four rotor wing unmanned aerial vehicles drop to ground, support feet plays support body
Effect.
Preferably, being arranged with outer nacelle outside described interior nacelle, the space between described outer nacelle and interior nacelle is formed
Sealed body counterweight cabin.
Counterweight cabin can not only increase the water resistance of aircraft, and the space between outer cabin and interior cabin can pass through and increase
Plus the mode born a heavy burden adjusts the deadweight of aircraft.Own wt can reasonably be adjusted with adjusting dead weight according to the heavy burden of unmanned plane
It is close with buoyancy.
Preferably, described interior nacelle is adjusted equipped with four electronics being connected respectively by water proof wire with four propellers
Fast device and the battery that energy is provided.Electron speed regulator is used for controlling the letter of the speed of propeller, its signal input part and control panel
Number output end connection, electron speed regulator is used for controlling the speed of propeller, and battery is that whole four rotor wing unmanned aerial vehicle provides institute of continuing a journey
The energy needed.
Preferably, the wire clamp of fixed water proof wire is provided with described horn along horn.The wire clamp is used to fix
The water proof wire of waterproof machine and watertight connector is connected, makes whole device more neat and artistic.
Preferably, described frame main body is surrounded by the horn interface for installing horn, for connecting horn, it is easy to tear open
Unload.
Compared with prior art, the beneficial effects of the utility model are：
Amphibious four rotor wing unmanned aerial vehicle that the utility model is provided can both work in the air, can also realize in water freely
Work, by controlling the stable reception for coming off and signal being kept floating to the water surface of floating body, can be effectively increased the work of four rotors
Depth.The preset value that control floating body comes off can connect computer by flight control panel and set；Meanwhile, can be according under four rotors
Latent depth adjustment receiving side signal formula.
Brief description of the drawings
Fig. 1 is the overall structure main structure diagram of amphibious four rotor wing unmanned aerial vehicle of the utility model；
Fig. 2 is the overall structure overlooking the structure diagram of amphibious four rotor wing unmanned aerial vehicle of the utility model；
Fig. 3 is the overall structure axle geodesic structure schematic diagram of amphibious four rotor wing unmanned aerial vehicle of the utility model；
Fig. 4 is monolithically fabricated structural representation for amphibious four rotor wing unmanned aerial vehicle of the utility model；
Fig. 5 is the floating body detailed structure schematic diagram of amphibious four rotor wing unmanned aerial vehicle of the utility model；
Fig. 6 is the hollow nacelle detailed structure schematic diagram of amphibious four rotor wing unmanned aerial vehicle of the utility model；
Operating diagram after Fig. 7 dishes out for the floating body of amphibious four rotor wing unmanned aerial vehicle of the utility model.
Wherein：1st, cap nut；2nd, propeller；3rd, waterproof machine；4th, motor cabinet；5th, hollow nacelle；6th, support feet；7th, machine
Arm；8th, wire clamp；9th, water proof wire；10th, floating body lid；11st, warning light；12nd, frame main body；13rd, the first watertight connector；14th, buckle；
15th, electron speed regulator；16th, flight control panel；17th, battery；18th, interior nacelle；19th, outer nacelle；20th, steering wheel；21st, hydraulic pressure is sensed
Device；22nd, horn interface；23rd, the second watertight connector.
Embodiment
Cast amphibious four rotor wing unmanned aerial vehicle of formula aside to a kind of floating body of the utility model with reference to the accompanying drawings and detailed description
It is described in further detail.
As shown in Figure 1, Figure 2, Figure 3 shows, a kind of floating body casts amphibious four rotor wing unmanned aerial vehicle of formula, including four propellers 2, rigidity aside
Right-angled intersection bracket institution and control system, right-angled intersection bracket institution include frame main body 12 and are connected to frame main body 12 4
Four horns 7 in week, the top of frame main body 12 is sealed and installed with floating body, is surrounded by the first water for connecting water proof wire
Contiguity first 13, meanwhile, top is provided with the second watertight connector 23 for being used for connecting water proof wire.It is provided with horn 7 along horn
The wire clamp 8 of fixed water proof wire 9.Floating body includes floating body lid 10, bottom plate and the warning light 11 installed in the top of floating body lid 10.
The end of horn 7 is provided with motor cabinet 4, motor cabinet 4 and is provided with waterproof machine 3, and the bottom of motor cabinet 4 is provided with
The hollow nacelle 5 of support feet 6, the detail section of hollow nacelle 5 is as shown in Figure 5；Propeller 2 is arranged on waterproof by cap nut 1
The output end of motor 3.Waterproof machine 3 is screwed with motor cabinet 4.
As shown in figure 4, the sealed bottom of frame main body 12, which is provided with outside interior nacelle 18, interior nacelle 18, is arranged with outer nacelle
19, the space between outer nacelle 19 and interior nacelle 18 forms sealed body counterweight cabin.Interior nacelle 18 is equipped with to be led by waterproof respectively
Line connects four electron speed regulators 15 of four propellers 2 and provides the battery 17 of energy.
Control system includes remote control, the remote-control receiver being arranged in floating body, the hydraulic pressure being arranged in frame main body 12 and passed
Sensor 21 and the flight control panel 16 in interior nacelle 18.
As shown in figure 5, frame main body 12 is provided with the buckle 14 for installing floating body and the spring for pushing floating body；Card
Button 14 includes a pair be oppositely arranged；Bottom plate is provided between a pair of the block button holes coordinated with buckle 14, a pair of block button holes and installed
There is steering wheel 20.The horn interface 22 for being surrounded by installation horn 7 of frame main body 12.
The course of work of the present utility model is as follows：
When amphibious four rotor wing unmanned aerial vehicles flight in the air, its flight attitude of remote control is passed through by operator.
When amphibious four rotor wing unmanned aerial vehicle is moved under water, as shown in fig. 6, in certain depth, by hydraulic pressure sensor 21
To detect hydraulic pressure.When hydraulic pressure is when in the range of setting, floating body and the frame main body 12 of amphibious four rotor wing unmanned aerial vehicle are connected to one
Rise.Now, aircraft is in a shallower Depth Motion relatively, and the control instruction radio signal that remote control is sent can be worn well
Flow surface reaches the receiver in floating body.And when the submerged depth of amphibious four rotor wing unmanned aerial vehicle is larger, installed in unmanned owner
The pressure that hydraulic pressure sensor 21 on body is experienced exceedes preset value, and the rudder in an instruction, floating body is provided by flight control panel
The setting in motion of machine 20, promotes buckle 14 to come off, floating body comes off floating to the water surface from four rotor wing unmanned aerial vehicles under the action of the spring.
Steering wheel 20, which is moved at block button hole, to be stopped projection and blocks, so that block button hole be sealed, effectively prevents floating body
Water inlet.Steering wheel 20 is by the watertight connector in cable connection frame main body 12, and the battery 17 in interior nacelle 18 is powered.Now,
The radio signal that remote control is sent is received by the receiver in floating body and admittance line reaches flight control panel 16 to control under water
Posture, so as to solve the problem of underwater wireless propagation of electrical signals loss.
The preset value that control floating body comes off can connect computer by flight control panel 16 and set.Four rotor wing unmanned aerial vehicles are in water
During lower work, if by flight control panel 16 floating body can also be controlled to come off when running into the situation such as low electricity, unstability, out of control,
Warning light 11 on floating body flashes to remind operator.
In addition, the utility model devises the counterweight cabin between inside and outside cabin, it can not only increase the water resistance of aircraft, and
And the space between outer nacelle 19 and interior nacelle 18 can adjust the deadweight of aircraft by way of increasing and bearing a heavy burden.Work as buoyancy
With gravity it is close when can reach a good working condition.Meanwhile, all devised under four motor cabinets 4 hollow nacelle 5 with
Increase the stability of aircraft posture under water.
Preferable implementation example of the present utility model is the foregoing is only, the utility model is not limited to, it is all in this reality
Within new spirit and principle, any modification, equivalent substitution and improvements made etc. should be included in guarantor of the present utility model
Within the scope of shield.
Claims (8)
1. a kind of floating body casts amphibious four rotor wing unmanned aerial vehicle of formula aside, including four propellers, rigid right-angled intersection bracket institution and control
System processed, it is characterised in that：Described right-angled intersection bracket institution includes frame main body and is connected to the four of frame main body surrounding
Floating body is sealed and installed with the top of individual horn, described frame main body, sealed bottom is provided with interior nacelle, and surrounding and top are equipped with
Watertight connector for installing water proof wire.
2. amphibious four rotor wing unmanned aerial vehicle according to claim 1, it is characterised in that：Described control system include remote control,
The remote-control receiver that is arranged in floating body, the hydraulic pressure sensor being arranged in frame main body and the flight control in interior nacelle
Making sheet.
3. amphibious four rotor wing unmanned aerial vehicle according to claim 1, it is characterised in that：Described frame main body, which is provided with, to be used for
The buckle of floating body and the spring for pushing floating body are installed；Described buckle includes a pair be oppositely arranged；Described floating body bag
Include floating body lid, bottom plate and the warning light installed in floating body caping end；Described bottom plate is provided with a pair of buckles with being clasped
Steering wheel is provided between hole, a pair of described block button holes.
4. amphibious four rotor wing unmanned aerial vehicle according to claim 1, it is characterised in that：Described horn end is provided with motor
Waterproof machine is installed on seat, described motor cabinet, motor cabinet bottom is provided with the hollow nacelle of support feet；Described spiral
Oar is arranged on the output end of waterproof machine by motor cap nut.
5. amphibious four rotor wing unmanned aerial vehicle according to claim 1, it is characterised in that：Outer cabin is arranged with outside described interior nacelle
Body, the space between described outer nacelle and interior nacelle forms sealed body counterweight cabin.
6. amphibious four rotor wing unmanned aerial vehicle according to claim 1, it is characterised in that：Described interior nacelle is equipped with to be passed through respectively
Four electron speed regulators and the battery of offer energy that water proof wire is connected with four propellers.
7. amphibious four rotor wing unmanned aerial vehicle according to claim 1, it is characterised in that：Installed on described horn along horn
There is the wire clamp of fixed water proof wire.
8. amphibious four rotor wing unmanned aerial vehicle according to claim 1, it is characterised in that：Described frame main body is surrounded by peace
The horn interface of installation arm.
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| CN201720162885.4U CN206615393U (en) | 2017-02-22 | 2017-02-22 | A kind of floating body casts amphibious four rotor wing unmanned aerial vehicle of formula aside |
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| CN201720162885.4U CN206615393U (en) | 2017-02-22 | 2017-02-22 | A kind of floating body casts amphibious four rotor wing unmanned aerial vehicle of formula aside |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106945827A (en) * | 2017-02-22 | 2017-07-14 | 浙江大学 | A kind of floating body casts amphibious four rotor wing unmanned aerial vehicle of formula aside |
| CN107963205A (en) * | 2017-11-13 | 2018-04-27 | 西北工业大学 | A kind of across medium aircraft promoted based on more rotors |
| CN112874773A (en) * | 2021-03-30 | 2021-06-01 | 北京机电工程研究所 | Air-immersed unmanned aerial vehicle |
-
2017
- 2017-02-22 CN CN201720162885.4U patent/CN206615393U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106945827A (en) * | 2017-02-22 | 2017-07-14 | 浙江大学 | A kind of floating body casts amphibious four rotor wing unmanned aerial vehicle of formula aside |
| CN106945827B (en) * | 2017-02-22 | 2023-08-25 | 浙江大学 | Floating body throwing type amphibious four-rotor unmanned aerial vehicle |
| CN107963205A (en) * | 2017-11-13 | 2018-04-27 | 西北工业大学 | A kind of across medium aircraft promoted based on more rotors |
| CN112874773A (en) * | 2021-03-30 | 2021-06-01 | 北京机电工程研究所 | Air-immersed unmanned aerial vehicle |
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