CN206856988U - A kind of land and air double-used rotor craft - Google Patents
A kind of land and air double-used rotor craft Download PDFInfo
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- CN206856988U CN206856988U CN201720660658.4U CN201720660658U CN206856988U CN 206856988 U CN206856988 U CN 206856988U CN 201720660658 U CN201720660658 U CN 201720660658U CN 206856988 U CN206856988 U CN 206856988U
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Abstract
The utility model discloses a kind of land and air double-used rotor craft.Aerial Drones for surveillance can not understand surface state in detail, and the mobility of existing ground Detecting Robot and the ability of avoiding barrier are poor.The utility model includes carrier board and rotor deformation arm.Rotor deformation arm includes the first deformation block, the second deformation block, the 3rd deformation block, the 4th deformation block, motor base, the dual-purpose wheel wing, the first actuator, the second actuator, the 3rd actuator, fourth drive member and wheel wing motor.First deformation block and the inner of the second deformation block form the first revolute pair.The outer end of second deformation block forms the second revolute pair with the inner of the 3rd deformation block.The outer end of 3rd deformation block forms the 3rd revolute pair with the inner of the 4th deformation block.The outer end of 4th deformation block and the inner of motor base form the 4th revolute pair.The utility model has flight and land row both of which, can undertake the function of aerial Drones for surveillance and ground Detecting Robot simultaneously.
Description
Technical field
The utility model belongs to unmanned air vehicle technique field, and in particular to a kind of land and air double-used rotor craft.
Background technology
28 divide 04 second during 12 days 14 May in 2008, to be total to using Wenchuan County in Sichuan Province Ying Xiu towns as there occurs the Chinese people in earthquake centre
Influence the one earthquake of maximum since the establishment of the nation certainly with state.But the exactly such one epic level violent earthquake for having affected hundreds of millions compatriots
Earthquake centre disaster-stricken situation but after individual hour more than 40, just understood for the first time by rescue worker.Shortage can rapidly enter by
The means at calamity center, it is the main reason for causing this time information barrier to lack effective detecting means.In subsequent China
Occur a series of large-scale natures or man-made disaster in more or less all run into read fortune similar to the problem of.Although in later disaster
Also enable aerial Drones for surveillance in rescue, but they all there is confirm it is doubtful have location of survivor after, it is necessary to
Send ground Detecting Robot to be again introduced into disaster field again and carry out detailed search.This has resulted in temporal extreme loss, no
Beneficial to the rescue to trapped personnel.Even if ground Detecting Robot can enter disaster area by the lifting of aerial Drones for surveillance,
But this will also result in great power waste, cause rescue efficiency to decline.Simultaneously because the mobility of ground Detecting Robot
Poor with the ability of avoiding barrier, if secondary disaster occurs for disaster area, that is possible to the damage for causing ground Detecting Robot
Lose.
Therefore, designing investigation device that is a kind of while having ground Detecting Robot and aerial Drones for surveillance's function can
Greatly improve the search efficiency and search and rescue success rate for trapped personnel after calamity.Trapped personnel is effectively served in, helps their energy
It is enough to depart from stranded situation as early as possible.
The content of the invention
The purpose of this utility model is to provide a kind of land and air double-used rotor craft.
The utility model includes carrier board (19) and rotor deformation arm.Described rotor deformation arm includes the first deformation block
(1), the second deformation block (2), the 3rd deformation block (3), the 4th deformation block (4), motor base (5), the dual-purpose wheel wing (6), first drive
Moving part, the second actuator, the 3rd actuator, fourth drive member and wheel wing motor (18).
The inner of described the first deformation block (1) and the second deformation block (2) forms parallelism of common axes in carrier board (19)
First revolute pair of top surface, the second deformation block (2) are driven by the first actuator.The outer end of second deformation block (2) and the 3rd deformation
The inner of block (3) forms the second revolute pair, and the 3rd deformation block (3) is driven by the second actuator.The outer end of 3rd deformation block (3) with
The inner of 4th deformation block (4) forms the 3rd revolute pair, and the 4th deformation block (4) is driven by the 3rd actuator.4th deformation block (4)
The inner of outer end and motor base (5) form the 4th revolute pair, motor base (5) is driven by fourth drive member.Described
The common axis of one revolute pair is non-coplanar and vertical with the common axis of the second revolute pair；The common axis of second revolute pair and the
The common axis of three revolute pairs is coplanar and vertical；The common axis of 3rd revolute pair is vertical with the common axis of the 4th revolute pair；
Described wheel wing motor (18) is fixed on the outer end of motor base (5), and the output shaft axis of wheel wing motor (18) and the 4th rotate
Secondary common axis is vertical；The described dual-purpose wheel wing (6) is made up of rotor and travel wheel；Described rotor is by wheel hub and n piece leaves
Piece forms, 3≤n≤10；The output shaft of described wheel hub and wheel wing motor (18) is fixed；Described n piece blades it is inner with
Wheel hub outer circumference surface is fixed；N pieces blade is uniform along the circumference of wheel hub；The outer end of n piece blades is interior with cylindrical travel wheel
Wall is fixed；
Two pieces of carrier boards (19) be arranged in parallel up and down, and rectangular shape.Described rotor deformation arm shares four；Four
The first deformation block (1) top surface of rotor deformation arm is fixed respectively with four angles positioned at upper carrier plate (19) bottom surface.Four rotations
The first deformation block (1) bottom surface of wing deformation arm is fixed respectively with four angles positioned at lower carrier plate (19) top surface.
The utility model also includes controller, camera and gyroscope.Described four the first revolute pair common axis with
The distance of corresponding second revolute pair common axis is a, 40mm≤a≤60mm；Four described the second revolute pair common axis
Distance with corresponding 4th revolute pair common axis is b, 70mm≤b≤90mm；The radius of the travel wheel excircle is
R,Four described travel wheel inner faces are d with the distance of corresponding 4th revolute pair common axis, 40mm≤d
≤60mm；The common axis of four described the first revolute pairs is c, 6mm with the distance positioned at lower carrier plate (19) bottom surface
≤c≤10mm；Described four rotors deformation arm is respectively rotor deformation arm, left back rotary wing changing before left front rotor deformation arm, the right side
Rotor deformation arm after shape arm and the right side.The common axis of first revolute pair and rotor deformation arm before the right side in the left front rotor deformation arm
The common axis of interior first revolute pair overlaps.The common axis of first revolute pair and rotor behind the right side in the left back rotor deformation arm
The common axis for deforming the first revolute pair in arm overlaps.In the left front rotor deformation arm the second revolute pair common axis with it is right before
The spacing of the second revolute pair common axis is e, e ＞ 2r-b in rotor deformation arm.Second rotates in the left back rotor deformation arm
The spacing that secondary common axis deforms the second revolute pair common axis in arm with rotor behind the right side is e.Left front rotor deforms the dual-purpose of arm
Take turns the wing (6) outer face and the dual-purpose wheel wing (6) outer face of left back rotor deformation arm is coplanar.The dual-purpose wheel wing of rotor deformation arm before the right side
(6) outer face and the dual-purpose wheel wing (6) outer face of rotor deformation arm behind the right side are coplanar.Centering is fixed on one of carrier board (19)
There are two cameras, described two cameras are arranged at before left front rotor deformation arm and the right side between rotor deformation arm.It is described
Gyroscope and controller be each attached on one of carrier board (19).Camera and gyroscope are connected with controller.
The first described actuator includes the first motor (14), first bevel gear (7) and second bevel gear (8)；Described
Second actuator includes the second motor (15), third hand tap gear (9) and the 4th bevel gear (10)；The 3rd described actuator includes
3rd motor (16), contiguous block (13)；Described fourth drive member includes the 4th motor (17), the 5th bevel gear (11) and the 6th
Bevel gear (12).Described first bevel gear (7) and the output shaft of the first motor (14) is fixed.Described second bevel gear (8)
It is fixed on the second deformation block (2)；The axis of second bevel gear (8) overlaps with the common axis of the first revolute pair；First cone tooth
Wheel (7) engages with second bevel gear (8).Described third hand tap gear (9) and the output shaft of the second motor (15) is fixed.Described
4th bevel gear (10) is fixed on the 4th deformation block (4)；The axis of 4th bevel gear (10) and the common axis of the second revolute pair
Line overlaps；Third hand tap gear (9) engages with the 4th bevel gear (10).The output shaft of 3rd motor (16) by contiguous block (13) with
3rd deformation block (3) is fixed.Described the 5th bevel gear (11) and the output shaft of the 4th motor (17) is fixed.The 6th described cone
Gear (12) is fixed on motor cabinet, and the axis of the 6th bevel gear (12) overlaps with the common axis of the 4th revolute pair.5th cone
Gear (11) engages with the 6th bevel gear (12).
Described the first motor (14) is fixed in the first deformation block (1), and described the second motor (15) is fixed on second
In deformation block (2), the 3rd described motor (16) is fixed in the 3rd deformation block (3), and the 4th described motor (17) is fixed on
In 4th deformation block (4).
The utility model has an advantageous effect in that：
1st, the utility model has flight and land row both of which, can undertake aerial Drones for surveillance simultaneously and ground is detectd
Look into the function of robot.
2nd, the utility model can automatically adjust pitch under offline mode, and big oar is used in the case where wind speed is larger
Away from enhancing stability；Small pitch is used in the case of wind speed is less, increases flying speed.
3rd, the utility model can automatically adjust wheelspan and bottom plate heights under the row mode of land, and there is powerful landform to lead to
Cross ability.
4th, the utility model flight flexibility ratio is high, and control is simple, requires low to landing condition, can hover.
Brief description of the drawings
Fig. 1 is the overall structure diagram under the utility model offline mode；
Fig. 2 is the overall structure diagram under the row mode of the utility model land；
Fig. 3 is the stereogram that rotor deforms arm in the utility model；
Fig. 4 is the transmission schematic diagram that rotor deforms arm in the utility model；
Fig. 5 is the top view of land row mode initial attitude in the utility model.
Embodiment
Below in conjunction with accompanying drawing, the utility model is described in further detail.
As shown in Fig. 1,2,3 and 4, a kind of land and air double-used rotor craft, including carrier board 19, rotor deformation arm, shooting
Head, gyroscope and controller.Rotor deformation arm includes the first deformation block 1, the second deformation block 2, the deformation of the 3rd deformation block the 3, the 4th
Block 4, motor base 5, the dual-purpose wheel wing 6, first bevel gear 7, second bevel gear 8, third hand tap gear 9, the 4th bevel gear the 10, the 5th
Bevel gear 11, the 6th bevel gear 12, contiguous block 13, the first motor 14, the second motor 15, the 3rd motor 16, the and of the 4th motor 17
Take turns wing motor 18.
As shown in Figures 3 and 4, the inner parallelism of common axes that forms of the first deformation block 1 and the second deformation block 2 is in carrier board 19
First revolute pair of top surface.The outer end of second deformation block 2 forms the second revolute pair with the inner of the 3rd deformation block 3.3rd deformation
The outer end of block 3 forms the 3rd revolute pair with the inner of the 4th deformation block 4.The outer end of 4th deformation block 4 and the inner of motor base 5
Form the 4th revolute pair.The common axis of first revolute pair is non-coplanar and vertical with the common axis of the second revolute pair；Second turn
Move secondary common axis and the common axis of the 3rd revolute pair is coplanar and vertical；The common axis of 3rd revolute pair rotates with the 4th
Secondary common axis is vertical.The distance of first revolute pair common axis and the second revolute pair common axis is a, a=50mm.Second
The distance of revolute pair common axis and the 4th revolute pair common axis is b, b=80mm.Wheel wing motor 18 is fixed on motor base 5
Outer end, the output shaft axis of wheel wing motor 18 is vertical with the common axis of the 4th revolute pair.The dual-purpose wheel wing 6 is by rotor and traveling
Wheel composition.Rotor is made up of wheel hub and six blades；Wheel hub is fixed with taking turns the output shaft of wing motor 18.The inner of six blades is
Fixed with wheel hub outer circumference surface, six blades are uniform along the circumference of wheel hub.The outer end of six blades with cylindrical travel wheel
Inwall fix.The radius of travel wheel excircle is r, r=80mm.Travel wheel inner face and the 4th revolute pair common axis away from
From for d, d=50mm.First motor 14 is fixed in the first deformation block 1, and the second motor 15 is fixed in the second deformation block 2, the
Three motors 16 are fixed in the 3rd deformation block 3, and the 4th motor 17 is fixed in the 4th deformation block 4.The electricity of first bevel gear 7 and first
The output shaft of machine 14 is fixed.Second bevel gear 8 is fixed on the second deformation block 2；The axis of second bevel gear 8 and the first revolute pair
Common axis overlap；First bevel gear 7 engages with second bevel gear 8.Third hand tap gear 9 and the output shaft of the second motor 15 are consolidated
It is fixed.4th bevel gear 10 is fixed on the 3rd deformation block 3；The axis of 4th bevel gear 10 and the common axis weight of the second revolute pair
Close；Third hand tap gear 9 engages with the 4th bevel gear 10.The output shaft of 3rd motor 16 passes through the deformation block 4 of contiguous block 13 and the 4th
It is fixed.5th bevel gear 11 and the output shaft of the 4th motor 17 are fixed.6th bevel gear 12 is fixed on motor cabinet, the 6th cone tooth
The axis of wheel 12 overlaps with the common axis of the 4th revolute pair.5th bevel gear 11 engages with the 6th bevel gear 12.
As shown in Fig. 1,2,3 and 4, two pieces of carrier boards be arranged in parallel about 19, and rectangular shape.Rotor deformation arm shares
Four.The top surface of the first deformation block 1 of four rotor deformation arms is fixed respectively with four angles positioned at the bottom surface of upper carrier plate 19.Four
The bottom surface of the first deformation block 1 of root rotor deformation arm is fixed respectively with four angles positioned at the top surface of lower carrier plate 19.Four first
The common axis of revolute pair is c, c=8mm with the distance positioned at the bottom surface of lower carrier plate 19.Four rotors deform arms
Rotor deformation arm behind rotor deformation arm, left back rotor deformation arm and the right side before left front rotor deformation arm, the right side.In left front rotor deformation arm
The common axis that the common axis of first revolute pair deforms the first revolute pair in arm with rotor before the right side overlaps.Left back rotor deforms arm
The common axis that the common axis of interior first revolute pair deforms the first revolute pair in arm with rotor behind the right side overlaps.Left front rotor deformation
The spacing that the second revolute pair common axis deforms the second revolute pair common axis in arm with rotor before the right side in arm is e, e=120mm.
The second revolute pair common axis deforms the spacing of the second revolute pair common axis in arm with rotor behind the right side in left back rotor deformation arm
For e.The dual-purpose outer face of the wheel wing 6 of left front rotor deformation arm and the dual-purpose outer face of the wheel wing 6 of left back rotor deformation arm are coplanar.Before the right side
The dual-purpose outer face of the wheel wing 6 of rotor deformation arm and the dual-purpose outer face of the wheel wing 6 of rotor deformation arm behind the right side are coplanar.One of carrier
Centering is fixed with two cameras on plate 19, two cameras be arranged at left front rotor deformation arm with it is right before rotor deformation arm it
Between.Gyroscope and controller are each attached on one of carrier board 19.Camera and gyroscope are connected with controller.
The control method of the land and air double-used rotor craft is as follows：
The land and air double-used rotor craft has two kinds of mode of operations, respectively land row mode and offline mode.
Under the row mode of land, four output shaft axis of wheel wing motor 18 are put down respectively with the common axis of corresponding first revolute pair
OK；The common axis of four the 3rd revolute pairs is θ with the corner dimension of the corresponding output shaft axis of wheel wing motor 18.Left front rotor
Deform the wheelspan f=2bcos θ+2d+e that the dual-purpose wheel wing 6 in arm deforms the dual-purpose wheel wing 6 in arm with rotor before the right side.Four second turn
The size for moving secondary common axis and the bottom surface institute angulation of lower carrier plate 19 is α.Positioned at the bottom surface of lower carrier plate 19 and ground
Distance h=r-c+ (a+bsin θ) cos α.
As shown in figure 5, under the row mode of land, if the public affairs of the common axis of four the first revolute pairs and corresponding 3rd revolute pair
Coaxial line is respectively perpendicular, the common axis of four the second revolute pairs with positioned at the plane perpendicular of lower carrier plate 19, then in land
The initial attitude of row mode.
Two cameras shoot forward image and are transferred to controller, and controller calculates the width s of front channel.If 2d
+ e ＜ 0.8s ＜ f, then the second motor 15, the 4th motor 17 rotate in four rotor deformation arms；So that θ increases, f reduces, until f
Equal to 0.8s.If f ＜ 0.8s ＜ 2b+2d+e, the second motor 15, the 4th motor 17 rotate in four rotor deformation arms；So that θ
Reduce, f increases, until f is equal to 0.8s.If 0.8s ＞ 2b+2d+e, the electricity of the second motor the 15, the 4th in four rotor deformation arms
Machine 17 rotates, and θ is adjusted to 0 ° so that f=2b+2d+e.
Two cameras shoot forward image and are transferred to controller, and controller calculates whether front has barrier；If
There is barrier, then calculate barrier width p, the height q of barrier.If p ＜ 0.8f and h ＜ 1.1q ＜ r-c+a+bsin θ,
The first motor 14 rotates in four rotor deformation arms；So that α reduces, h increases, until h is equal to 1.1q；Carrier board positioned at bottom
19 directly pass through above barrier.If p ＞ 0.8f or 1.1q ＞ r-c+a+bsin θ, around the barrier.
Under offline mode, the common axis of four output shaft axis of wheel wing motor 18 and four the second revolute pairs is with being located at
The plane perpendicular of lower carrier plate 19.The corner dimension of four the 3rd revolute pair common axis and corresponding first revolute pair common axis
It is β, 0 °≤β≤60 °.The left front output shaft axis of rotor deformation arm lubrication groove wing motor 18 and rotor deformation arm lubrication groove wing electricity before the right side
The spacing l=e+2bcos β of the output shaft axis of machine 18.
The angle γ of the top surface of carrier board 19 and horizontal plane where gyroscope detects gyroscope；If 10 ° of γ ＞, four rotations
The second motor 15 rotates in wing deformation arm；So that β reduces, l increases, flight stability enhancing, γ reduces, until 5 ° of ＜ γ ＜
10°.If 5 ° of γ ＜, the second motor 15 rotates in four rotor deformation arms；So that β increases, l reduces, flying speed increase,
γ increases, until 5 ° of 10 ° of ＜ γ ＜.
When needing flight under the row mode of land, the first motor 14, the second motor 15 in arm are deformed by four rotors first
With the rotation of the 4th motor 17, adjust to the initial attitude of land row mode；Then the first motor in arm is deformed by four rotors
14th, the rotation of the second motor 15 and the 3rd motor 16, offline mode is converted to from the initial attitude of land row mode.In offline mode
Under need Lu Hangshi, by the rotation of the first motor 14, the second motor 15 and the 3rd motor 16, land row is converted to from offline mode
The initial attitude of pattern.
The control method that land row mode is adjusted to initial attitude is specific as follows：
The first motor 14 rotates in four rotor deformation arms, until the common axis of four the second revolute pairs is with being located at
The plane perpendicular of lower carrier plate 19, i.e. α increase to 90 °.The second motor 15, the 4th motor 17 turn in four rotor deformation arms
It is dynamic so that the common axis of four the 3rd revolute pairs is respectively perpendicular with the output shaft axis of corresponding wheel wing motor 18, i.e., θ is increased to
90°。
The control method that the initial attitude of land row mode is transformed to offline mode is specific as follows：
Step 1: the first motor 14 rotates 45 ° in four rotor deformation arms；So that four rotors deform arm around first
Revolute pair common axis is flipped up, and is contacted positioned at the bottom surface of lower carrier plate 19 with ground.
Step 2: the second motor 15 rotates 30 ° in four rotor deformation arms；So that four dual-purpose wheel wings 6 are turned-out
Turn.
Step 3: the 3rd motor 16 rotates 90 ° in four rotor deformation arms；So that the output shaft of four wheel wing motors 18 is equal
Tilt upward.
Step 4: the first motor 14 rotates 45 ° in four rotor deformation arms；So that the output shaft of four wheel wing motors 18
Axis with the plane perpendicular positioned at lower carrier plate 19.
The control method that offline mode is transformed to land row mode initial attitude is specific as follows：
Step 1: the first motor 14 rotates 45 ° in four rotor deformation arms；So that four rotors deform arm around first
Revolute pair common axis is flipped up.
Step 2: the 3rd motor 16 rotates 90 ° in four rotor deformation arms；So that the output shaft of four wheel wing motors 18
Tilt towards outside.
Step 3: the second motor 15 rotates in four rotor deformation arms, until the common axis of four the 3rd revolute pairs
It is respectively perpendicular with the common axis of corresponding first revolute pair.
Step 4: the first motor 14 rotates 45 ° in four rotor deformation arms；So that four dual-purpose wheel wings 6 connect with ground
Touch.
Claims (4)
1. a kind of land and air double-used rotor craft, including carrier board (19) and rotor deformation arm；Described rotor deformation arm includes
First deformation block (1), the second deformation block (2), the 3rd deformation block (3), the 4th deformation block (4), motor base (5), the first driving
Part, the second actuator, the 3rd actuator, fourth drive member and wheel wing motor (18)；It is characterized in that：Also include the dual-purpose wheel wing
(6)；The inner of described the first deformation block (1) and the second deformation block (2) forms parallelism of common axes in carrier board (19) top surface
The first revolute pair, the second deformation block (2) by the first actuator drive；The outer end of second deformation block (2) and the 3rd deformation block (3)
It is inner form the second revolute pair, the 3rd deformation block (3) is driven by the second actuator；The outer end and the 4th of 3rd deformation block (3)
The inner of deformation block (4) forms the 3rd revolute pair, and the 4th deformation block (4) is driven by the 3rd actuator；Outside 4th deformation block (4)
End forms the 4th revolute pair with the inner of motor base (5), and motor base (5) is driven by fourth drive member；Described first turn
It is non-coplanar and vertical with the common axis of the second revolute pair to move secondary common axis；The common axis of second revolute pair with the 3rd turn
It is coplanar and vertical to move secondary common axis；The common axis of 3rd revolute pair is vertical with the common axis of the 4th revolute pair；It is described
Wheel wing motor (18) be fixed on the outer ends of motor base (5), the output shaft axis of wheel wing motor (18) and the 4th revolute pair
Common axis is vertical；The described dual-purpose wheel wing (6) is made up of rotor and travel wheel；Described rotor is by wheel hub and n piece blade groups
Into 3≤n≤10；The output shaft of described wheel hub and wheel wing motor (18) is fixed；Described n piece blades it is inner and wheel hub
Outer circumference surface is fixed；N pieces blade is uniform along the circumference of wheel hub；Inwall of the outer end of n piece blades with cylindrical travel wheel is consolidated
It is fixed；
Two pieces of carrier boards (19) be arranged in parallel up and down, and rectangular shape；Described rotor deformation arm shares four；Four rotors
The first deformation block (1) top surface and four angles positioned at upper carrier plate (19) bottom surface for deforming arm are fixed respectively；Four rotary wing changings
The first deformation block (1) bottom surface of shape arm is fixed respectively with four angles positioned at lower carrier plate (19) top surface.
A kind of 2. land and air double-used rotor craft according to claim 1, it is characterised in that：Also include controller, shooting
Head and gyroscope；Four described the first revolute pair common axis are a with the distance of corresponding second revolute pair common axis,
40mm≤a≤60mm；Four described the second revolute pair common axis are with the distance of corresponding 4th revolute pair common axis
B, 70mm≤b≤90mm；The radius of the travel wheel excircle is r,Four described travel wheel inner faces
Distance with corresponding 4th revolute pair common axis is d, 40mm≤d≤60mm；Four described the first revolute pairs it is public
Axis is c, 6mm≤c≤10mm with the distance positioned at lower carrier plate (19) bottom surface；Described four rotors deformation arm difference
Arm is deformed for rotor before left front rotor deformation arm, the right side, left back rotor deforms rotor deformation arm behind arm and the right side；The left front rotary wing changing
In shape arm the common axis of the first revolute pair with it is right before in rotor deformation arm the common axis of the first revolute pair overlap；It is described left back
In rotor deformation arm the common axis of the first revolute pair with it is right after rotor deform the common axis of the first revolute pair in arm and overlap；Institute
State in left front rotor deformation arm before the second revolute pair common axis and the right side in rotor deformation arm between the second revolute pair common axis
Away from for e, e ＞ 2r-b；The second revolute pair common axis deforms in arm second turn with rotor behind the right side in the left back rotor deformation arm
The spacing for moving secondary common axis is e；The dual-purpose wheel wing (6) outer face of left front rotor deformation arm is dual-purpose with left back rotor deformation arm
It is coplanar to take turns the wing (6) outer face；The dual-purpose wheel wing (6) outer face of rotor deformation arm and the dual-purpose wheel wing of rotor deformation arm behind the right side before the right side
(6) outer face is coplanar；Centering is fixed with two cameras on one of carrier board (19), and two cameras are arranged at left front
Before rotor deformation arm and the right side between rotor deformation arm；Described gyroscope and controller is each attached to one of carrier board (19)
On；Described camera and gyroscope is connected with controller.
A kind of 3. land and air double-used rotor craft according to claim 1, it is characterised in that：The first described actuator bag
Include the first motor (14), first bevel gear (7) and second bevel gear (8)；The second described actuator include the second motor (15),
Third hand tap gear (9) and the 4th bevel gear (10)；The 3rd described actuator includes the 3rd motor (16), contiguous block (13)；Institute
The fourth drive member stated includes the 4th motor (17), the 5th bevel gear (11) and the 6th bevel gear (12)；The first described cone tooth
Wheel (7) and the output shaft of the first motor (14) are fixed；Described second bevel gear (8) is fixed on the second deformation block (2)；Second
The axis of bevel gear (8) overlaps with the common axis of the first revolute pair；First bevel gear (7) engages with second bevel gear (8)；Institute
The third hand tap gear (9) and the output shaft of the second motor (15) stated are fixed；The 4th described bevel gear (10) is fixed on the 3rd change
On shape block (3)；The axis of 4th bevel gear (10) overlaps with the common axis of the second revolute pair；Third hand tap gear (9) and the 4th
Bevel gear (10) engages；The output shaft of 3rd motor (16) is fixed by contiguous block (13) and the 4th deformation block (4)；Described
Five bevel gears (11) and the output shaft of the 4th motor (17) are fixed；The 6th described bevel gear (12) is fixed on motor cabinet, the
The axis of six bevel gears (12) overlaps with the common axis of the 4th revolute pair；5th bevel gear (11) nibbles with the 6th bevel gear (12)
Close.
A kind of 4. land and air double-used rotor craft according to claim 3, it is characterised in that：Described the first motor (14)
It is fixed in the first deformation block (1), described the second motor (15) is fixed in the second deformation block (2), the 3rd described motor
(16) it is fixed in the 3rd deformation block (3), the 4th described motor (17) is fixed in the 4th deformation block (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720660658.4U CN206856988U (en) | 2017-06-08 | 2017-06-08 | A kind of land and air double-used rotor craft |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720660658.4U CN206856988U (en) | 2017-06-08 | 2017-06-08 | A kind of land and air double-used rotor craft |
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| Publication Number | Publication Date |
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| CN206856988U true CN206856988U (en) | 2018-01-09 |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107215158A (en) * | 2017-06-08 | 2017-09-29 | 杭州师范大学钱江学院 | Land and air double-used rotor craft |
| CN108237856A (en) * | 2018-01-11 | 2018-07-03 | 山东大学 | A kind of dwell robot and method more |
| CN108583181A (en) * | 2018-05-11 | 2018-09-28 | 西南交通大学 | Deformable air-ground amphibious unmanned plane |
| CN110758035A (en) * | 2019-11-08 | 2020-02-07 | 杭州师范大学钱江学院 | Road-air dual-purpose unmanned aerial vehicle with stair climbing function and operation method thereof |
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| CN107215158A (en) * | 2017-06-08 | 2017-09-29 | 杭州师范大学钱江学院 | Land and air double-used rotor craft |
| CN107215158B (en) * | 2017-06-08 | 2019-04-09 | 杭州师范大学钱江学院 | Land and air double-used rotor craft |
| CN108237856B (en) * | 2018-01-11 | 2019-10-25 | 山东大学 | A kind of dwell robot and method more |
| CN108237856A (en) * | 2018-01-11 | 2018-07-03 | 山东大学 | A kind of dwell robot and method more |
| CN108583181B (en) * | 2018-05-11 | 2020-03-10 | 西南交通大学 | Deformable air-ground amphibious unmanned aerial vehicle |
| CN108583181A (en) * | 2018-05-11 | 2018-09-28 | 西南交通大学 | Deformable air-ground amphibious unmanned plane |
| CN110758035A (en) * | 2019-11-08 | 2020-02-07 | 杭州师范大学钱江学院 | Road-air dual-purpose unmanned aerial vehicle with stair climbing function and operation method thereof |
| CN110758035B (en) * | 2019-11-08 | 2020-10-27 | 杭州师范大学钱江学院 | Road-air dual-purpose unmanned aerial vehicle with stair climbing function and operation method thereof |
| CN113734429A (en) * | 2020-05-28 | 2021-12-03 | 乐天集团股份有限公司 | Aircraft with a flight control device |
| JP2021187247A (en) * | 2020-05-28 | 2021-12-13 | 楽天グループ株式会社 | Flying object |
| CN114368255A (en) * | 2020-10-14 | 2022-04-19 | 中南大学 | Water, land and air multi-purpose robot |
| CN114368255B (en) * | 2020-10-14 | 2024-03-19 | 中南大学 | Amphibious robot |
| CN113147292A (en) * | 2021-04-25 | 2021-07-23 | 安徽索骥智能科技有限公司 | Deformable triphibian obstacle crossing robot for water, land and air |
| CN113147292B (en) * | 2021-04-25 | 2022-09-23 | 安徽索骥智能科技有限公司 | Deformable triphibian obstacle crossing robot for water, land and air |
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